Principles of Differential GPS,

Surveying methods and

integration with GIS themes

Ashutosh Bhardwaj
([email protected])
Photogrammetry and Remote Sensing Division
Indian Institute of Remote Sensing

GIS

Remote Sensing

Acquiring Information
from remotely sensed data

Data management, manipulation,

analysis and visualization in
computer environment

Photogrammetry
GPS

Science/technology of obtaining
spatial measurements/information
from photographs.

Accurate positional information

Integration of disciplines dealing with spatial information

Basic Functions of GPS

Position and coordinates of GCPs
(known location).
The distance and direction between your position
and a destination/waypoint/GCP.
Velocity and travel progress reports.
Time measurements.
Serves as data input to GIS besides navigation.
Integration with aerial photos or satellite images.

Features
Point
Line
Area
Features can have different attributes and their
values.
Trimble Pathfinder Office Software.
Leica GeoOffice / SkiPro.
Spectrum, Sokkia.

A GPS View of GIS Features

Point features are one or more positions
averaged into a point
Mapping Grade Receivers : Called Points
Recreational Grade Receivers : Called Waypoints

Point

Line

Area

String of positions converted into a line / area

Mapping Grade Receivers : Collected directly in the
field as a line / area feature
Recreational Grade Receivers : Collected as a
TrackLog then converted back in the office

Steps for Data Preparation & Integration

Geocoding: assigning geographic coord. to points
Perhaps the most basic form of spatial data entry
data media conversion : scanning/digitizing
data format conversion-raster & vector
data reduction
Topology, error detection and topological editing
rectification and registration (one on top of the other)
overlaying sheets and referencing to the real world
edge matching & image adjustment (side by side)
linking & balancing adjacent sheets
interpolation
GIS Application: Position data, attribute data

http://www.aero.org/education/primers/gps/index.html

Differential GPS Survey :

What it serves?

High Accuracy

How Well Does It Work?

DGPS gives cm/mm level accuracy
GPS- 15m
LORAN C- 180m
Transit- 200m
TACAN- 400m

Inertial- 1km

Omega- 2km

Navigation Accuracy Comparisons

DGPS

Method to remove errors from GPS measurements

Uses a GPS receiver at a fixed, surveyed location i.e. base
station, to measure error in pseudo range

Base station receives the same GPS signals as the roving
receiver and instead of using timing signal to calculate its
position, it uses its known position to calculate timing.

Pseudorange error for each satellite is subtracted from
rover before calculating position during RTK mode or post
processing

Signal time at reference location is compared to time at
remote location. Time difference represents error in
satellites signal; clock bias

Differential GPS Correction

Post - Processed

Differential GPS Correction Signal-RTK

Uses standardized output: RTCM-104
Binary code, not directly readable
Receivers often provide RTCM-104 on a RS-232 serial port

Real - Time

Example: Field Work- Static

R1

R2

R1/3
Base
R2/4

The Technique
In the post processing, some of the errors between the
base station and rover data can be recognized, & corrected.
Requires post-processing of field data.
(1) download the rover data
(2) download the base station data
(3) use software to make the corrections
Remove or reduce all errors except multipath.

Differencing Techniques
Single Differencing:
Eliminate satellite clock bias.

Double Differencing:
Eliminate receiver clock bias.

Triple Differencing:
Eliminate integer ambiguity.
Identify and remove the cycle slips.

Sources of error
1. [Selective availability]
2. Clock errors
3. Ephemeris errors
4. Atmospheric delays
5. Multipath effects
6. Receiver errors

Sources Of Error
Geometric Degree of Precision
(GDOP)
Selective Availability
Discontinued from 1st May 2000

Atmospheric Effects
Ionospheric
Tropospheric

Multipath
Ephemeris Error
(satellite position data)
Satellite Clock Error
Receiver Clock Error

GPS Errors Diff. Corrected

Atmospheric

partial

Clock and Ephemeris

yes

Multipath

no

Receiver noise

no

Typical Error Budget (m)

Source:
Satellite clocks
Ephemeris errors
Ionosphere delays
Troposphere delays
Multi-path (reflections)

Standard Differential GPS

GPS
1.5
2.5
5.0
0.5
0.6

~0
~0
~0
0.2
~0
#Choke Ring Antenna, open
area

Receiver errors
Typical totals

0.3
~10

0.3
Sub-meter accuracy

Error Mitigation Techniques

Carriers at L1 and L2 frequencies
Ionospheric error is frequency dependent so
using two frequencies helps to limit error
Differential GPS
Post-Process user measurements using
measured error values
Space Based Augmentation Systems(SBAS)
SBAS provides atmospheric, ephemeris and
satellite clock error correction values in real
time
Examples are U.S. Wide Area Augmentation
System (WAAS), European Geostationary
Navigational Overlay Service (EGNOS)
GAGAN, India

GPS Data Post Processing Software

Commercial Software
SKIPRO from LEICA
GPSURVEY from TRIMBLE
GPSS from ASHTECH
SPECTRUM SURVEY from SOKKIA

GPS Data Post Processing Software

Scientific Post Processing
BERNESE from University of Berne,
Switzerland
GAMIT from MIT, USA
GIPSY from Jet Propulsion Laboratory, USA
DIPOP from University of Brunswick, Canada
GEONAP from University of Hannover,
Germany

Advantage of Differential GPS

 Improved accuracy has a profound effect
on the importance of GPS as a resource.
 It becomes more and more useful for
applications where cm accuracies are
required, like:
1. Urban mapping.
2. Alignment: Road, Railways, canal.
3. Cartography,etc.

Integration with latest technologies

GPS
Mobile
Camera
GIS s/w
TS + GPS

Juno ST GPS Handheld

Stylus holder
GPS
antenna
connector
Power
button

Headset connector

Reset
button

SD card
slot

Lock
switch

Calendar
Today
screen

MIO

Power/USB socket

Contacts
Messaging

Directional
button

GIS/GPS Field Mapping Tools

GPS unit + Handheld PC + ArcPad:
Realtime display of vector /raster data
Hook to any GPS
Unlimited Storage (dependent on storage
capacity of device)
Instant shapefile creation

Garmin and IPAQ

running ArcPad

Trimble Field Computers with GPS Receiver

GeoXH

PostProcessed
Accuracy

GeoXT

Subfoot Submeter
<30 cm <1 m

GeoX
M

Juno
ST

XB
Edition

1-3 m

2-5 m

2-5 m

XC Edition

2-5 m

Everest Multipath
Rejection Technology

Yes

Yes

No

No

No

No

H-Star Technology

Yes

No

No

No

No

No

Bluetooth

Yes

Yes

Yes

Yes

Yes

Yes

Integrated wireless
LAN & TrimPix
technology

Yes

Yes

Yes

Yes

Yes

Yes

Logging Memory
(MB)
Windows Mobile 6

512
Yes

512
Yes

512
Yes

128
Yes

128
Yes

128
Yes

Use of GPS/DGPS
Power Grid
Interfaces

Personal Navigation
Trucking &
Shipping

Precision farming

Surveying &
Mapping

Aviation
Railroads

Recreation

Off shore
Drilling

Communications

Fishing &
Boating

References
Gunter Seeber: Satellite Geodesy, 2nd Edition, Walter de Gruyter,
Germany
www.garmin.com/aboutGPS/waas.html

http://www.gdgps.net/
http://gipsy.jpl.nasa.gov/igdg/system/index.html

http://www.glonass-ianc.rsa.ru/pls/htmldb/f?p=202:1:15000421459964108253

http://igscb.jpl.nasa.gov/
http://www.navcen.uscg.gov/gps/precise/default.htm
http://www.aero.org/education/primers/gps/index.html

Interface Control Documents:

http://www.navcen.uscg.gov
http://www.Glonass-ianc.ras.ru
http://www.Galileoju.com