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POSGNSS User Manual

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POSGNSSUserManual
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Copyright © Applanix Corporation, 2013 POSGNSSTM User Manual Version 5.3 PUBS-MAN-000016 Revision 9 Copyright © Applanix Corporation, 2013 General Notice Although every care has been taken to ensure that this manual is reliable and accurate, Applanix Corporation (here after referred to as Applanix) provides it “as is” and without express, implied, or limited warranty of any kind. In no event shall Applanix be liable for any loss or damage caused by the use of this manual. This manual describes the POSGNSS post-processing software in detail and contains full operating instructions. The manual is an important part of the software package. It should remain with the software for use by those who will operate it. It is the customer’s responsibility to ensure that the software is installed on a system meeting the hardware requirements outlined in the accompanying POSPac manual. Applanix will not be responsible for loss or damage caused by improper installation or operation of its POSGNSS software. Applanix reserves the right to change the specifications and information in this document without notice. Release to third parties of this publication or of information contained herein is prohibited without the prior written consent of Applanix. Pentium® is a registered trademark of Intel Corporation. Microsoft®, Windows®, and Windows NT® are registered trademarks of Microsoft Corporation. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means without the prior written consent of Applanix Corporation. Copyright © Applanix Corporation / Novatel Incorporated, 2013. Printed in Canada. Copyright © Applanix Corporation, 2013 About This Document Text Conventions The following text conventions are used in this manual: • Emphasize a term - italic font or bold italic font (e.g. ‘An Inertial Frame is’ or ‘An Inertial Frame is’); a mixture is acceptable but, either one-or-the-other is preferable • Referring to another manual or to a file name - italic font (e.g. ‘read Power Requirements’ or ‘locate the start.exe file’) • Referring to a placard label - regular font (e.g. ‘the COM (2) connector’) • Referring to a window label - bold font (e.g. ‘select the Add, Remove Programs from’) or (‘select the Add | Remove Programs from’) • Path statement - bold font (e.g. ‘select directory C:\My Computer\ Working Files\’) • Menu statement - bold font (e.g. ‘select Insert, AutoText, Closing window menu’ or ‘select Insert | AutoText | Closing window menu’); a mixture is acceptable but, either one-or-the-other is preferable • Web address statement - bold font (e.g. ‘select http://www.applanix.com from’) Copyright © Applanix Corporation, 2013 Document Number PUBS-MAN-000016, Revision 9, dated March 4, 2013 References PUBS-MAN-001768, POSPac MMS, GNSS-Inertial Tools User Manual PUBS-MAN-002032, POSPac MMS Release Notes Copyright © Applanix Corporation, 2013 Table of Contents 1.0 Introduction 1-1 Overview 1-1 2.0 POSGNSS . 2-1 Get Started with POSGNSS 2-1 Process a Baseline 2-1 Process with Precise Point Positioning (PPP) 2-11 File Menu Options . 2-13 Start a New Project 2-13 Create a new POSGNSS project .2-14 Open an Existing Project .2-16 Save your Project File 2-17 Add Master File(s) 2-17 Load the Remote .GPB File .2-21 Choose an Alternate Ephemeris or Add an IONEX and a Satellite Clock File .2-22 Show Master File(s) Information 2-25 Load a Station File (.STA) 2-27 Load an Existing Solution 2-28 Load Camera Event Marks 2-28 Load Stations with Known Coordinates .2-32 Digital Elevation Models .2-33 Convert GNSS Data .2-34 GPB Utilities .2-34 View Raw Binary GNSS Data 2-34 Remove Processing Files 2-35 GNSS Processing Options 2-35 Process 2-35 General Tab .2-38 ARTK Tab 2-42 Measurement Tab 2-46 Ionosphere/Troposphere Tab 2-52 Fixed Static Tab .2-55 Copyright © Applanix Corporation, 2013 User Cmds Tab . 2-58 Datum Tab. 2-58 PPP Process . 2-61 PPP (Single Point) Settings Screen 2-61 Process Tab 2-62 General Tab 2-64 Measurement Tab . 2-66 User Cmds Tab . 2-67 Additional Features (Before and After Processing) 2-67 Master Station Coordinates . 2-67 Combine Forward and Reverse Solutions 2-68 Combine Any Two Solutions . 2-69 Combine Settings 2-70 Load Solutions 2-71 Import Solution and Settings . 2-71 View Menu 2-72 GNSS Observations 2-72 Epoch Output 2-72 Message Log . 2-73 Static Session/ARTK Summary 2-74 View Reverse Solution Output Files . 2-74 View Processing History . 2-75 View Processing Summary . 2-77 View Return Status . 2-78 View Features . 2-78 View Objects . 2-78 View an ASCII File 2-80 View the GNSS Raw Binary Data . 2-80 View Current GNV File 2-81 Settings Menu . 2-81 Grid Options 2-81 Preferences . 2-82 DEM Plotting Options 2-83 User Defined Commands 2-85 Manage Settings . 2-85 Compare Configuration Files 2-86 Output Menu . 2-87 Plot GPS Data . 2-87 Multi-Baseline Plotting . 2-97 Copyright © Applanix Corporation, 2013 Write Coordinates 2-101 Export to DXF 2-101 Export to POSPac GNSS-Inertial Processor .2-103 View/Edit Features (Feature Editor) 2-105 Export Coordinates Wizard . 2-109 Create Files and Profiles with Export Wizard 2-110 Variable Reference 2-117 Wizard Option Windows .2-128 Favourites Manager 2-145 Get Started .2-145 Working with the favourites manager 2-147 Interactive Windows 2-150 Mapping Window .2-150 Mouse Usage in Mapping Window 2-151 Processing Window .2-151 3.0 Utilities 3-1 GPBView . 3-1 Why Use GPBView? 3-1 How to Use GPB View? . 3-3 How to Move Through a GPB File . 3-6 Fix Corrupted GPB File 3-6 Convert to Old or New GPB Format 3-7 Concatenate, Slice, Resample Utility 3-7 GPB to RINEX (Windows) . 3-11 Section 1 Insert Static/Kinematic Markers 3-11 MAKEGEOID (Command Prompt) 3-13 Mission Planner . 3-14 What is the Mission Planner? 3-14 Get Started .3-16 Options for Mission Planner .3-18 Download Service Data . 3-28 About the Download Program 3-28 Download Service Data .3-28 Add Stations and Services .3-36 Copyright © Applanix Corporation, 2013 4.0 Convert . 4-1 CONVERT Interface/Functionality 4-1 How to Use Convert 4-1 CONVERT Interface Options 4-2 Message Options 4-5 Receivers 4-7 Allen Osborne Associates (AOA version only) 4-7 Conexant Jupiter . 4-8 Conexant NAVCOR 4-10 CSI SLX/DGPS-MAX 4-11 Javad/Topcon 4-12 Leica SR and MX 4-15 Leica System 500 4-18 Leica System 1200 4-20 Magellan ProMark . 4-22 Motorola Oncore . 4-24 NavCom 4-25 NovAtel CMC 4-27 NovAtel OEM2/3/SoftSurv . 4-28 NovAtel OEM4/OEMV . 4-33 RINEX . 4-36 Rockwell PLGR/MPE12 (Rockwell version only) 4-40 Septentrio SBF 4-42 Sirf Binary 4-44 Thales Download (B-File Format) . 4-47 Thales Real-Time 4-51 Thales DNSP 4-55 Trimble DAT 4-56 Trimble Real-Time . 4-58 Trimble TSIP . 4-59 Trimble TIPY . 4-60 U-Blox 4-62 5.0 File Formats . 5-1 Output Files 5-1 .FML or .RML File . 5-1 .FSS or .RSS File 5-7 .FWD or .REV . 5-20 Copyright © Applanix Corporation, 2013 .FBV or .RBV .5-22 .GNV File . 5-23 Binary GNSS data files 5-23 Station Files . 5-24 New Station File Format (.STA/.NST) 5-24 Ephemeris Files . 5-28 6.0 Processing Techniques . 6-1 Tips on Maximizing Accuracies . 6-1 Helpful POSGNSS Tips . 6-1 General Tips for Kinematic (POSGNSS) . 6-3 Tips for Using KAR 6-8 General Tips for Static .6-14 Long Baseline/Dual Frequency Processing in POSGNSS 6-17 Multi-Base Processing . 6-21 How important are base station coordinates? .6-21 How do I use the MB plots? .6-22 Do all of the masters need to utilize the same data interval? 6-24 How about data drop-outs at the master, will this affect processing? . 6- 24 Which base stations should be included? 6-25 What to do about problematic baselines? 6-25 How is KAR best used with MB-KF processing? .6-26 How about using the fixed static solution? .6-27 How to speed up processing? .6-28 Precise Point Positioning . 6-29 What is Precise Point Positioning? 6-29 How does PPP differ from differential processing? .6-29 How accurate is PPP? .6-31 What is PPP used for? .6-32 Who should use PPP? .6-32 Are there limitations to PPP? .6-33 FAQ . 6-34 Determine the Quality of Final Solution .6-34 Antenna Profiles .6-37 Copy User Files .6-40 Update Manufacturer Files.6-41 Copyright © Applanix Corporation, 2013 Shift Coordinates to Local Plane (XYZ Translation) . 6-41 Epoch Sampling 6-47 Processing Aerial Survey with Camera Event Marks . 6-49 Digital Elevation Models . 6-50 What are Digital Elevation Models? 6-51 Why should I use a DEM? . 6-51 How can DEMs be obtained? 6-52 How is the geoid handled and what formats are supported? 6-53 Importing DEMs 6-54 Handling Large DEMs . 6-57 Datum, Projections and Geoids 6-58 Introduction and Definitions. 6-58 Datum 6-61 Map Projections/Grids . 6-74 Geoids . 6-74 Transform Coordinates . 6-77 Appendices Technical Support and Service . A-1 Contact Applanix . A-1 How to Reach Technical Support . A-1 Summary of Commands . B-1 Glossary Copyright © Applanix Corporation, 2013 List of Abbreviations, Synonyms and Symbols AOA Allen Osborne Associates ARP Antenna Reference Point ASCII American Standard Code for Information Interchange ASCOT Aerial Survey Control Tool ASI Agenzia Spaziale Italiana AUSLIG Australian Surveying and Land Information Group BKGI Bundesamt für Kartographie und Geodäsie IGS C/A Course Acquisition CAD Computer Aided Design CD Compact Disk CDDIS Crustal Dynamics Data Information System CD-ROM Compact Disk - Read Only Memory CLK Clock cm Centimetre CNO Carrier to Noise Ratio CORS Continually Operating Reference Station CPU Central Processing Unit deg Degree deg/s Degree per Second DEM Digital Elevation Model DGPS Differential Global Positioning System Copyright © Applanix Corporation, 2013 DOP Dilution of Position DS Dansk Standard DXF Data Exchange Format ECEF Earth Centered Earth Fixed epp Ephemeris FTP File Transfer Protocol FWD Forward GIS Geographic Information System GLONASS Global Navigation Satellite System GMT Greenwich Mean Time GNSS Global Navigation Satellite System GPB Group Parameter Block GPBVIEW Group Parameter Block Viewer GPS Global Positioning System GSC Geological Survey of Canada GSI Geographical Survey Institute HDOP Horizontal Dilution of Precision HMS Hour, Minute, Second Hz Hertz IGN Institute Geographique National IGS International GPS Service IONEX Ionosphere Map Exchange ITRF International Terrestrial Reference Frame JPS Javad Positioning System KAR Kinematic Ambiguity Resolution Copyright © Applanix Corporation, 2013 km Kilometre LAT Latitude LOF List of Figures LON Longitude m Metre MB Multi-Base MB-KF Multi-Base Kalman Filter min Minute (time interval) mm Millimetre MSL Mean Sea Level NAD27 North American Datum of 1927 NAD83 North American Datum of 1983 NADCON North American Datum Conversion Utility NGS National Geodetic Survey NMEA National Marine Electronics Association OEM Original Equipment Manufacturer OLG Observatory Lustbühel-Graz OTF On-the-Fly PC Personal Computer PCMCIA Personal Computer Memory Card International Association PCS POS Computer System PDOP Positional Dilution of Position PPM Parts-Per-Million PPP Precise Point Positioning POS Position and Orientation System Copyright © Applanix Corporation, 2013 POSGNSS Position and Orientation System Global Navigation Satellite System POSPac Position and Orientation System Post-processing Package POSProc Position and Orientation System Post-processing PPM Parts Per Million PRN Pseudo Random Noise REV Reverse RINEX Receiver Independent Exchange Format RMS Root Mean Square RTCM Radio Technical Commission for Maritime Services RTK Real-time Kinematics s Second (time interval) SA Selective Availability SD Standard Deviation SNR Signal to Noise Ratio SSN Station Serial Number sta Station SV Space Vehicle TEC Total Electron Count TSIP Trimble Standard Interface Protocol TTP Time Tagged Points URL Universal Resource Locator UTC Universal Time Coordinated (or Coordinated Universal Time) UTM Universal Transverse Mercator VDOP Vertical Dilution of Precision Copyright © Applanix Corporation, 2013 VSF Vertical Scale Factor WINSAT Windows System Assessment Tool WGS World Geodetic System 1984POSGNSSTM User Manual Introduction Copyright © Applanix Corporation, 2013 1-1 1.0 Introduction Overview This manual is a reference for the Position and Orientation System Global Navigation Satellite System (POSGNSS) software application. Contained in this manual are step-by-step tutorials and in-depth information on each available option. POSGNSS is a GNSS post-processing package that includes relative positioning (baseline processor) and Precise Point Positioning (PPP) functionalities. The software supports most single and dual frequency commercial and OEM receivers, and processes GNSS/GLONASS combined data; POSGNSS supports Multi-Base (MB) processing. Kinematic Ambiguity Resolution (KAR) allows the user to start in kinematic mode and/or repair otherwise unrecoverable cycle slips. PPP permits dual frequency single point carrier phase processing without a base station. Although accuracies vary depending on many factors (i.e. age of data, time length of collection, satellite geometry, frequency of cycle slips, receiver type, and measurement quality), users can expect 10-40 cm kinematic accuracies and 2-10 cm static accuracies. The precise ephemeris and clock files (necessary for PPP) can be downloaded directly from POSGNSS. The Utilities and GNSS raw data converters are used to convert the manufacturer specific raw GNSS data files to POSGNSS format. The Mission Planner module supports GPS and GLONASS, downloads GPS and GLONASS almanacs (also, GLONASS almanacs are obtained from OEMV-3), and offers better support for the GPS almanacs. POSGNSSTM User Manual POSGNSS Copyright © Applanix Corporation, 2013 2-1 2.0 POSGNSS Get Started with POSGNSS This section goes through the basics of POSGNSS including how to process in a step-by-step tutorial for first time users. Note: In order to launch POSGNSS, the user must first run POSPac, create a new project and import POS raw data. Process a Baseline The following is a nine step tutorial to help you start processing a baseline. Each menu is defined in detail in the following sections. For first time users we suggest that you run the software and follow the steps below. Note: This manual assumes that you are familiar with your Windows operating system and are familiar with using a mouse. If not, please refer to Windows Help for assistance. It also assumes that you have master and remote GNSS data files collected in a directory that you have created. Step 1: Start POSGNSS After POS raw data has been imported into POSPac, press the “GNSS-Inertial Processor” button (star button) on main POSPac Tool Bar to make GNSS-Inertial Processor Tool Bar
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