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Effect of Quasi Zenith Satellite (QZS) on GPS Positioning

2009 International Symposium on GPS/GNSS. Effect of Quasi Zenith Satellite (QZS) on GPS Positioning. Tokyo University of Marine Science and Technology T. Takasu, T. Ebinuma and A. Yasuda. QZSS (1). QZSS (Quasi-Zenith Satellite System) Regional space-based PNT system around Japan

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Effect of Quasi Zenith Satellite (QZS) on GPS Positioning

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  1. 2009 International Symposium on GPS/GNSS Effect of Quasi Zenith Satellite (QZS) on GPS Positioning Tokyo University of Marine Science and Technology T. Takasu, T. Ebinuma and A. Yasuda

  2. QZSS (1) • QZSS (Quasi-Zenith Satellite System) • Regional space-based PNT system around Japan • First satellite launch: 2010 summer • 3-satellites in Phase 2 • Interoperability with GPS • Satellite Orbit Characteristics • IGSO (Inclined Geostationary Orbit) with slight eccentricity • 8 shape of satellite ground track • At least 1 satellite at higher-elev. angle than 70˚ at Tokyo • Effective in urban canyon or at mountainous location

  3. QZSS (2) • Expected Effects of QZSS on GPS Positioning • Improved satellite availability • Improved satellite geometry (DOP) especially on limited sky-view condition • Improved accuracy for single point positioning • Improved integer ambiguity resolution for RTK with triple-frequency signals (L1+L2+L5) • DGPS corrections provided by QZSS Out of scope of this study

  4. Satellite Constellation • 3 QZSs: 3 IGSO • 7 QZSs: 3 IGSO + 4 GEO (Future Enhancement) Ground Tracks Orbit Elements

  5. Evaluation Method • Software Simulator • Simulated (QZSS) and real (GPS) ephemerides • Various error models • Outputs RINEX OBS including GPS and QZSS data • Post processing analysis • Inputs RINEX OBS/NAV file • Analysis of satellite visibility, DOP etc. • Various positioning modes and options

  6. Software Simulator Receiver Clock-Bias Tropos. Model Multipath/ Rcv Noise GPS+QZSS Simulated Pseudorange/ Carrier-phase GPS Ephemeris Sat Pos /Clock Range+ Clocks RINEX NAV for phase RINEX OBS QZSS Simulated Ephemeris Orbit Error Receiver Position FOV Model Ionos. Model Phase Bias

  7. FOV Mask Model • Simulation of typical urban canyon environment • Limited sky-view by surrounding obstacles GPS and QZSS satellite tracks Sky-view by fish-eye lens FOV mask areas

  8. Post Processing Analysis • RTKLIB ver. 2.3.0b • Analysis of solution availability and DOP • Single point positioning • Carrier-based relative positioning to simulate RTK • Enhancement to support QZSS RINEX OBS/NAV GPS+QZSS RINEX NAV/OBS Solution File RTKPLOT RTKPOST Software Simulator

  9. Sky-Plots Beijing Seoul Tokyo :GPS :QZSS Bangkok Shanghai

  10. Satellite Visibility At Tokyo with FOV mask GPS (PRN) 1-3 QZS 4-7

  11. PDOP At Tokyo with FOV mask Average: 4.6 GPS Only Average: 4.4 GPS+3 QZSs Average: 3.5 GPS+7 QZSs : # of Sats<4

  12. Solution Availability and PDOP * Raito of epochs with proper positioning solutions

  13. Single Point Positioning • Positioning Options • Mode: Single point positioning • GPS+QZSS, L1 C/A, pseudorange • Elevation mask: 15˚ • Ionosphere correction: Klobuchar model • Troposphere correction: Saastamoinen model • No DGPS correction

  14. Solutions of Single Point Pos. At Tokyo with FOV mask GPS Only GPS+3 QZSs GPS+7 QZSs RMSE E: 2.0m N: 1.5m U: 4.3m RMSE E: 2.1m N: 1.3m U: 3.7m RMSE E: 6.2m N: 8.2m U: 15.2m

  15. Accuracy of Single Point Pos. RMS Errors (m)

  16. RTK Positioning • Positioning Options • Mode: Kinematic • GPS+QZSS, L1+L2+L5, pseudorange+carrier-phase (assume only 4 GPS satellites support L5) • Elevation mask: 15˚ • Ionosphere/troposphere correction: None • Integer ambiguity resolution: LAMBDA (thres.=3) • Baseline Length: 10 km • Rover relative position with refer to base-station

  17. Solutions of RTK Positioning At Tokyo with FOV mask GPS Only GPS+3 QZSs GPS+7 QZSs RMSE of Fixed Sol. E: 0.6cm N: 1.2cm U: 1.5cm RMSE of Fixed Sol E: 0.6cm N: 1.2cm U: 1.2cm RMSE of Fixed Sol. E: 1.6cm N: 3.0cm U: 3.1cm : Fixed Solution : Float Solution

  18. Accuracy of RTK Positioning Fixing Ratio and RMS Errors (cm) of Fixed Sol.

  19. Conclusions • Evaluation of the effects of QZSS on GPS positioning • More than 95% of solution availability with QZSS even on limited sky-view condition • More accurate single point solution primary due to DOP improvement with QZSS • More than 90% of fixing ratio is expected for RTK with QZSS and triple-frequency signals • QZSS combined with GPS will much enhance the positioning performance especially in sever environment like urban canyon.

  20. Appendix

  21. SatelliteVisibilityatSeoul At Seoul with FOV mask GPS (PRN) 1-3 QZS 4-7

  22. PDOPatSeoul At Seoul with FOV mask Average: 4.9 Average: 4.6 GPS Only Average: 4.4 Average: 4.2 GPS+3 QZSs Average: 3.5 Average: 3.3 GPS+7 QZSs : # of Sats<4 22

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