GNSS Data Processing Laboratory Exercises

Professors Dr. Jaume Sanz Subirana, Dr. J. M. Juan Zornoza

Dr. Adrià Rovira Garcia and Deimos Ibáñez

Research group of Astronomy & Geomatics (gAGE)

Universitat Politècnica de Catalunya (UPC)
Barcelona, Spain

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 OVERVIEW
• Introduction
• The gLAB tool suite
• Examples of GNSS Positioning using gLAB
• Laboratory session organization

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 Introduction
• This practical lecture is devoted to analyze and assess different issues
associated with Standard and Precise Point Positioning with GPS data.
• The laboratory exercises will be developed with actual GPS measurements,
and processed with the ESA/UPC GNSS-Lab Tool suite (gLAB), which is an
interactive software package for GNSS data processing and analysis.
• Some examples of gLAB capabilities and usage will be shown before
starting the laboratory session.
• All software tools (including gLAB) and associated files for the laboratory
session are included in the USB stick delivered to lecture attendants.
• The laboratory session will consist in a set of exercises organized in three
different levels of difficulty (Basic, Medium and Advanced). Its content
ranges from a first glance assessment of the different model components
involved on a Standard or Precise Positioning, to the kinematic positioning of
a LEO satellite, as well as an in-depth analysis of the GPS measurements
and associated error sources.

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 OVERVIEW
• Introduction
• The gLAB tool suite
• Examples of GNSS Positioning using gLAB
• gLAB software installation

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 The gLAB Tool suite
 The GNSS-Lab Tool suite (gLAB) is an interactive
multipurpose educational and professional package for
GNSS Data Processing and Analysis.
• gLAB has been developed under the ESA contracts N.
P1081434 and C4000113054.

Main features:
• High Accuracy Positioning
capability.
• Fully configurable.
• Easy to use.
• Access to internal computations.

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 The gLAB Tool suite

• gLAB has been designed to cope with the

needs of two main target groups:
– Students/Newcomers: User-friendly tool, with a
lot of explanations and some guidelines.

– Professionals/Experts: Powerful Data

Processing and Analysis tool, fast to configure
and use, and able to be included in massive
batch processing.

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 The gLAB Tool suite
• Students/Newcomers:
– Easiness of use: Intuitive GUI.
– Explanations: Tooltips over the different options of the GUI.
– Guidelines: Several error and warning messages. Templates for
pre-configured processing.

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 The gLAB Tool suite
• Students/Newcomers:
– Easiness of use: Intuitive GUI.
– Explanations: Tooltips over the different GUI options.
– Guidelines: Several error and warning messages.
Templates for pre-configured processing.

• Professionals/Experts:
– Powerful tool with High Accuracy Positioning capability.
– Fast to configure and use: Templates and carefully chosen defaults.
– Able to be executed in command-line and to be included in batch
processing.

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 The gLAB Tool suite
• In order to broad the tool availability, gLAB
Software has been designed to work in Windows,
Linux and Mac environments.

• The package contains:

– Windows binaries (with an installable file).
– Linux .tgz file.
– Mac installable .dmg file.
– Source code (to compile it in both Linux, Windows and
Mac OS) under an Apache 2.0 and LGPL v3. licenses.
– Example data files.
– Software User Manual.
– HTML files describing the standard formats.

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 The gLAB Tool suite
 Read files capability:  Modelling module:
• RINEX observation v2.11 & v3.00
• RINEX navigation message. • Fully configurable model.
• SP3 precise satellite clocks and orbits files • Satellite positions.
• ANTEX Antenna information files. • Satellite clock error correction.
• Constellation status. • Satellite movement during signal flight
• DCBs files. time.
• GPS_Receiver_Type files.
• SINEX position files.
• Earth rotation during signal flight time.
• SBAS files: EMS, RINEX-B • Satellite phase center correction.
• RTCM-v2x and RTCM-x3x • Receiver phase center correction.
(frequency dependent).
 Pre-processing module: • Relativistic clock correction.
• Carrier-phase prealignment.
• Relativistic path range correction.
• Carrier-phase / pseudorange consistency
check. • Ionospheric correction (Klobuchar,
• Cycle-slip detection (customizable NeQuick, IONEX).
parameters) • Tropospheric correction
- Melbourne-Wübbena.
- Simple and Niell mappings.
- Geometry-free CP combination.
- Simple and UNB-3 nominals.
- L1-C1 difference (single frequency).
• Pseudorange smoothing. • Differential Code Bias corrections.
• Decimation capability. • Wind up correction.
• On demand satellite enable/disable. • Solid tides correction (up to 2nd degree).
• Elevation mask.
• SBAS Messages.
• Frequency selection.
• Discard eclipsed satellites. • RTCM messages.

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 The gLAB Tool suite
 Filtering module:  Output module:
• Cartesian / NEU coordinates.
• Able to chose different • Configurable message output.
measurements to process (1 or
more), with different weights. This
design could be useful in future  Other functionalities:
Galileo processing, where processing • Computation of satellite coordinates
with different measurements may be and clocks from RINEX and SP3 files.
desired. • Satellite coordinates comparison
• Fixed or elevation-dependant mode. For instance RINEX navigation
weights per observation. vs. SP3, or SP3 vs. SP3 (along-track,
• Troposphere estimation on/off. cross-track and radial orbit errors,
clock errors, SISRE).
• Carrier-Phase or Pseudorange
positioning. • Show input mode. No processing, only
parsing RINEX observation files.
• Static/Kinematic positioning (full
Q/Phi/P0 customization).
• Able to do a forward/backward • Current version allows full GPS data
processing. processing, and partial handling of
• Able to compute trajectories (no Galileo and GLONASS data.
need for a priori position). • Future updates may include full GNSS
data processing.

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 GNSS learning material package
Includes three different parts, allowing to follow
either a guided or a self-learning GNSS course:

– GNSS Book: Complete book with theory and

algorithms (Volume 1), and with a Lab. course on
GNSS Data Processing & Analysis (Volume 2).

– gLAB tool suite: Source code and binary software

files, plus configuration files, allowing processing
GNSS data from standard formats. The options
are fully configurable through a GUI.

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 OVERVIEW
• Introduction
• The gLAB tool suite
• Examples of GNSS Positioning using gLAB
• gLAB software installation

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 Basic: Introductory Lab. Exercises
• Standard and Precise Point Positioning

– To Illustrate how easy to process GNSS data using

gLAB, a GPS receiver will be positioned in the next
examples using:
• Example 1: Broadcast orbits and clocks (SPP, kinematic).
• Example 2: Precise Orbits and clocks (PPP, static).
• Example 3: Precise Orbits and clocks (PPP, kinematic).

– Solutions will be compared with an accurate reference value

of receiver coordinates to asses the positioning error.
Note: the receiver coordinates were keep fixed during the data collection.

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We will work after the correlator: Our input data are code
and carrier measurements and satellite orbits and clocks.

RINEX FILES

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GNSS Format Descriptions
• GNSS data files follow a well defined set of standards
formats: RINEX, ANTEX, SINEX…
• Understanding a format description is a tough task.
• These standards are explained in a very easy and
friendly way through a set of html files.
• Described formats:
– Observation RINEX
– Navigation RINEX
– RINEX CLOCKS
– SP3 Version C
– ANTEX

Open GNSS Formats

with Firefox internet browser

More details at: http://www.gage.es/gLAB

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 Example 1: Standard Point Positioning (SPP)
SPP Template: Kinematic positioning with single freq. C1
code + broadcast orbits and clocks.
1
1. Select the SPP Template
2 2. Upload the RINEX files:
- Measurement: roap1810.09o
- Navigation: brdc1810.09n
3. RUN gLAB

3 Default output file:

gLAB.out
Note: Reference coordinates are from RINEX

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 Example 1: Standard Point Positioning (SPP)
• Plotting Results

Positioning with few meters of error is

achieved in kinematic SPP mode.
• Receiver navigated as a rover in pure
kinematic mode.
• Single frequency C1 code is used.
• Broadcast orbits and clocks.

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Example 2: Static Precise Point Positioning (PPP)
PPP Template: Static positioning with dual freq. code & carrier (ionosphere-free
combination PC,LC) + post-processed precise orbits & clocks.

1 1. Select the PPP Template

2. Upload data files:
-Measurement: roap1810.09o
- ANTEX: igs05_1525.atx
- Orbits & clocks: igs15382.sp3

2 - SINEX: igs09P1538.snx
3. RUN gLAB

Default output file:

3 gLAB.out

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Example 2: Static Precise Point Positioning (PPP)
• Plotting Results
•Coordinates are taken as
constants in nav. filter.
•Dual frequency Code and
Carrier measurements.
•Precise orbits and clocks.
•Measurements modelling
at the
centimetre Centimetre level accuracy
over 24h data is achieved in
level. PPP static mode

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Example 3: Kinematic Precise Point Positioning
From default configuration of [PPP Template],
• Select kinematics in the [Filter] panel. Run gLAB and plot results.

Decimetre error level

navigation after the best
part of an hour
Receiver navigated as a rover
in a pure kinematic mode.

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 OVERVIEW
• Introduction
• The gLAB tool suite
• Examples of GNSS Positioning using gLAB
• gLAB software installation

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 Installing the software
This tutorial has been designed to be executed under UNIX (Linux) Operative
System (OS), which is a very powerful and robust environment.

Nevertheless, the necessary tools are provided for Windows or Macintosh

users to install this software and to emulate a UNIX command line shell over
Windows.

Macintosh

Linux users Windows users can install Macintosh users can

can install the
the windows version of gLAB and install the software with the
native version
the Cygwin emulator of a Linux “gLAB_Install.pkg” file.
of the software
command shell.
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Inside the “Windows” folder, there is the installable gLAB program.
Follow the instructions of Software Installation
file.

cl

Inside the “Macintosh” folder, there is the dmg file. Double click on the
“gLAB_Install.pkg” file, and follow the instructions.

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 Installing the software
Windows users

The Medium and Advanced exercises of this tutorial have been

designed to be executed under UNIX (Linux) Operative System
(OS). Which is a very powerful and robust environment.

Nevertheless, Windows OS users can do the laboratory session

by using Cygwin, which is a tool that allows to emulate a UNIX
command line shell over Windows.

Indeed, after installing Cygwin, users can develop the laboratory

session as if they were working on a UNIX system (as this
tutorial was designed).

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 Installing gLAB + Cygwin
1.- First step: Click over the icon

Check the folder:

C:\gLAB

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 2.- Second Step: Completing the gLAB Setup Wizard

Cygwin and gLAB

installation must
be selected.

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Once the
installation
finish, the
icons of
gLAB,
Cygwin
Terminal
and the Professional_training

Professional
training
folder will
appear.
Tutorial slides

UNIX (Linux) console to execute

“command line” sentences

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Suggested desk configuration to start working

Professional_training

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 Model Components Analysis

Exercises 1 and 2.
They consist of simple exercises to assess the model components
for Standard and Precise Point Positioning.
“Background information" slides are provided, summarizing the
main concepts associated with these exercises.

Brief summaries of
fundamentals in backup slides

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 Model Components Analysis

Exercise 1: Model components analysis for SPP

– This exercise is devoted to analyze the different model

components of measurements (ionosphere,
troposphere, relativity, etc.). This is done both in the
Signal-In-Space (SIS) and User Domains.

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Exercise 1: SPP Model components analysis
1. Compute SPP using files: chpi0010.04o,brdc0010.04n
Cachoeira Paulista station (in the south of Brazil: λ=-22.7º, φ=-45.0º). January 1st 2004.

1
4
2 Set vertical range: -40, 40
5

3 gLAB.out
6

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 NEU Position Error plot from gLAB.out

NEU plot template configuration

FULL SPP model

North East Up

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Exercise 1: SPP Model components analysis
The different model
components will be
analyzed with gLAB:
• Using the previous data
file, the impact of
neglecting each model
component will be
evaluated in the Range
The modeling options and Position domains
set in this panel are
applied by default to • A baseline example of
the SPP solution. this analysis procedure
for the ionospheric
correction is provided as
follows.
• The same scheme must
be applied for all model
terms.

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Example of model component analysis: IONO.
The procedure
explained here is
applicable for all the
cases: iono, tropo…
Default 1. In Modeling panel, 1 Disable
Ionospheric
configuration disable the model
for SPP component to correction
analyze.
(in this example: disable
Ionospheric correction)

2. Save as gLAB1.out
the associated
In the Default
output file.
Notice that the gLAB.out
2Set output file
configuration the file contains the
output file was as
3
processing results with
gLAB.out the FULL model, as it gLAB1.out
was set in the default
configuration.

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 NEU Position Error plot from gLAB1.out

NEU plot template configuration

gLAB1.out No Iono. correction

North East Up

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Vertical Position Error plot from gLAB.out, gLAB1.out

1
Click Clear to
restart plots

Y-min, Y-max

2
OUPUT
3
gLAB1.out gLAB.out
Time (sec): 4
Vertical: DSTAU: 20
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 Horizontal Position Error plot: gLAB.out, gLAB1.out

1 Click Clear to
restart plots

X-min, Y-min, Y-max

2
OUPUT

gLAB1.out 3
gLAB.out East: 19 North: 18

East: DSTAE: 19
North: DSTAN: 18 gAGE/UPC
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Ionospheric model component plot: gLAB.out

Code
delay

Carrier
advance

Ionosphere delays code and

advances carrier measurements.

Select IONO Note: Use the gLAB.out file.

In gLAB1.out file this model
component was switched off.
gLAB.out
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Summary: Iono. model component analysis

gLAB1.out gLAB1.out

gLAB.out gLAB.out gLAB.out

Ionospheric correction
gLAB.out
(broadcast Klobuchar )
Ionospheric delays are larger
at noon due to the higher
insulation.

Code delay Large positioning errors

gLAB1.out (mainly in vertical) appear
Plot only
when neglecting iono. corr.

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Exercise 1: SPP Model components analysis
Ionospheric delay
The ionosphere extends from about 60 km over the Earth surface
until more than 2000 km, with a sharp electron density
maximum at around 350 km. The ionospheric refraction
depends, among other things, of the location, local time and
solar cycle (11 years).
40.3
• First order (~99.9%) ionospheric delay δ ion depends δ ion = 2
I
on the inverse of squared frequency: f
where I is the number of electrons per area unit
along ray path (STEC: Slant Total Electron Content). I = ∫ N e ds
• Two-frequency receivers can remove this error source
(up to 99.9%) using ionosphere-free combination f12 L1 − f 22 L 2
of pseudoranges (PC) or carriers (LC). LC =
f12 − f 22
• Single-frequency users can remove about a 50% of the
ionospheric delay using the Klobuchar model, whose
parameters are broadcast in the GPS navigation message.

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Example of model component analysis: TROPO.
The gLAB configuration can be set-up as follows, to repeat the processing without
applying the tropospheric correction (but using the ionosphere again!):

Set again: Iono keep

Disable: Tropo
gLAB1.out
as output file

• The same scheme must be applied for all other model terms (TGDs, relat...)

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Exercise 1: SPP Model components analysis

gLAB1.out gLAB1.out

gLAB.out gLAB.out gLAB.out

Tropospheric correction
gLAB.out (blind model)
Tropospheric and vertical
error are highly correlated.
A displacement of vertical
component appears when
gLAB1.out neglecting tropospheric
corrections.

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Exercise 1: SPP Model components analysis
Tropospheric delay
The troposphere is the atmospheric layer placed between Earth’s surface and an
altitude of about 60 km.
The effect of troposphere on GNSS signals appears as an extra delay in the
measurement of the signal travelling from satellite to receiver.
The tropospheric delay does not depend on frequency and affects both the
pseudorange (code) and carrier phases in the same way. It can be modeled by:
– An hydrostatic component, composed of dry gases (mainly nitrogen and oxygen)
in hydrostatic equilibrium. This component can be treated as an ideal gas. Its
effects vary with the temperature and atmospheric pressure in a quite predictable
manner, and it is the responsible of about 90% of the delay.
– A wet component caused by the water vapor condensed in the form of clouds. It
depends on the weather conditions and varies faster than the hydrostatic
component and in a quite random way. For high accuracy positioning, this
component must be estimated together with the coordinates and other parameters
in the navigation filter.

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Exercise 1: SPP Model components analysis

gLAB1.out gLAB1.out

gLAB.out gLAB.out gLAB.out

Relativistic correction
on satellite clock due to
orbit eccentricity.
This is an additional
correction to apply at the
receiver level. The satellite
gLAB1.out gLAB.out
clock oscillator is modified
on factory to compensate
the main effect (~40µs/day).

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Exercise 1: SPP Model components analysis

Relativistic clock correction

1) A constant component, depending only on nominal value of satellite’s orbit major semi-axis. It
is corrected modifying satellite’s clock oscillator frequency:

f 0' − f 0 1  v  ∆U
2

=   + 2 =−4.464 ⋅10−10
f0 2c c

being f0 = 10.23 MHz, we have ∆f=4.464 10-10 f0= 4.57 10-3 Hz. So, satellite should use f’0=10.22999999543 MHz.

2) A periodic component due to orbit eccentricity must be corrected by user receiver:

µa r⋅v
rel =
−2 e sin( E ) =
−2 (meters )
c c
Being µ=G ME =3.986005 1014 (m3/s2) the gravitational constant, c =299792458 (m/s) light speed in vacuum,
a is orbit’s major semi-axis, e is its eccentricity, E is satellite’s eccentric anomaly, and r and v are
satellite’s geocentric position and speed in an inertial system.

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Exercise 1: SPP Model components analysis

gLAB1.out gLAB1.out

gLAB.out gLAB.out gLAB.out

P2-P1 Differential Code Bias

(Total Group Delay [TGD])
correction.
These instrumental delays
can affect up to few
meters, being the satellite
gLAB1.out gLAB.out TGDs broadcast in the
navigation message for
single frequency users.

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Exercise 1: SPP Model components analysis
Total Group Delay correction (TGD)
(P2-P1 Differential Code Bias [DCB])

• Instrumental delays are associated to antennas, cables, as well as different filters

used in receivers and satellites. They affect both code and carrier measurements.
• Code instrumental delays depend on the frequency and the codes used, and are
different for the receiver and the satellites.
• Dual frequency users cancel such delays when using the ionosphere free
combination of codes and carrier phases.
• For single frequency users, the satellite instrumental delays (TGDs) are broadcast
in the navigation message. The receiver instrumental delay, on the other hand, is
assimilated into the receiver clock estimation. That is, being common for all
satellites, it is assumed as zero and it is included in the receiver clock offset
estimation.

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Exercise 1: SPP Model components analysis

gLAB1.out gLAB1.out

gLAB.out gLAB.out gLAB.out

Satellite clock offsets

This is the largest error
source, and it may
introduce errors up to a
thousand kilometers.
gLAB1.out gLAB.out

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Exercise 1: SPP Model components analysis

Satellite clock offsets

– They are time-offsets between satellite/receiver clocks time and
GPS system time (provided by the ground control segment).

– The receiver clock offset is estimated together with receiver

coordinates.

– Satellite clock offset values are provided:

• In real-time, within the broadcast navigation message with a
few meters of error
or,
• In post-process mode, by IGS precise products with
centimeter-level accuracy.

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Basic: Introductory laboratory exercises
Exercise 2: Model components analysis for PPP

– This exercise is devoted to analyse the additional model

components used in Precise Point Positioning (the ones
which are not required by SPP). This is done in Range
and Position Domains.

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 Exercise 2: PPP Model components analysis
• Compute the kinematic PPP solution using files:
chpi0010.04o, igs_pre1400.atx, igs12514.sp3

1
Set Kinematic
2
3

Note: The igs_pre1400.atx file contains the APC

used by IGS before GPS week 1400.

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Exercise 2: PPP Model components analysis
Kinematic PPP solution using files chpi0010.04o,
igs_pre1400.atx, igs12514.sp3

4 Set output file

gLAB.out
for the FULL model,
as in previous case.
gLAB.out
5

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Exercise 2: PPP Model components analysis
• Additional model
components are used
now in the FULL
model to assure a
centimeter level
modeling.
• Precise orbits and clocks
instead of broadcast ones.
• Dual frequency Code and
Carrier data instead of only
single frequency code.
• Iono-free combination of
codes and carriers to
remove ionospheric error
and P1-P2 DCBs.

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 Exercise 2: PPP Model components analysis
Code and carrier Measurement noise
• Code measurements are unambiguous
but noisy (meter level measurement
Carrier is ambiguous, but precise noise).
• Carrier measurements are precise but
Cycle-slip ambiguous, meaning that they have
some millimetres of noise, but also have
unknown biases that could reach
thousands of km.
• Carrier phase biases are estimated in the
Code is
navigation filter along with the other
Zoom of unambiguous,
parameters (coordinates, clock offsets,
carrier noise but noisy
etc.). If these biases were fixed,
measurements accurate to the level of
few millimetres would be available for
positioning. However, some time is
Note: Figure shows the noise of code and carrier prefit- needed to decorrelate such biases from
residuals, which are the input data for navigation equations. the other parameters in the filter, and
the estimated values are not fully
unbiased.
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Exercise 2: PPP Model components analysis
Orbits & clocks accuracies

Broadcast:
• Few metres of
accuracy for
broadcast orbits
and clocks

Precise:
• Few centimetres
of accuracy for
broadcast orbits
and clocks

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Example of model component analysis: Solid Tides

Proceed as in the
previous exercise:
1. In Modeling panel,
disable the model
component to
Default
configuration
analyze. 1 Disable
2. Save as Solid Tides
for PPP gLAB1.out the correction
associated output
file.
Notice that the gLAB.out

In the Default
file contains the
processing results with
2 Set output file
the FULL model, as it
configuration the
was set in the default as
output file was gLAB1.out
3
configuration.
gLAB.out Make plots as in previous
exercises (see slides 38-40).

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 Vertical Position Error plot from gLAB.out, gLAB1.out

1 Click Clear to
restart plots

Y-min, Y-max

2 3
OUPUT

gLAB1.out gLAB.out Time (sec) Vertical

Time (sec): 4
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Horizontal Position Error plot: gLAB.out, gLAB1.out

1 Click Clear to
restart plots

X-min, Y-min, Y-max

2
OUPUT

3
gLAB1.out East: 19
gLAB.out North: 18

East: DSTAE: 19
North: DSTAN: 18

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Solid Tides model component plot: gLAB.out

Solid Tides plot

gLAB.out
Select
SOLIDTIDES
Note: Use the gLAB.out file.
In gLAB1.out file this model
component was switched off.

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Exercise 2: PPP Model components analysis
Solid Tides
It comprises the Earth’s gLAB1.out
crust movement (and gLAB1.out
thence receiver coordinates
variations) due to the
gravitational attraction
forces produced by external
bodies, mainly the Sun and gLAB.out gLAB.out
the Moon.

Solid Tides:
These effects do not affect the
Sun GNSS signals, but if they were
not considered, the station
coordinates would oscillate
with relation to a mean value.
gLAB.out They produce vertical (mainly)
and horizontal displacements.
Moon

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 Exercise 2: PPP Model components analysis
Receiver Antenna Phase
center (APC) gLAB1.out
gLAB1.out
L2 Antenna Phase center
APC L1 Antenna Phase center

Antenna Reference Point

ARP (ARP)
gLAB.out gLAB.out
(ARP)

GNSS measurements are

referred to the APC. This is not Receiver APC:
necessarily the geometric The antenna used for this
center of the antenna, and it experiment, has the APC
depends on the signal position vertically shifted
frequency and the incoming regarding ARP.
radio signal direction. Thence, neglecting this
For geodetic positioning a gLAB.out correction, an error on the
reference tied to the antenna vertical component occurs,
but not in the horizontal one.
(ARP) or to monument is used.

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 Exercise 2: PPP Model components analysis
Satellite Mass Center to
Antenna Phase Center gLAB1.out
gLAB1.out
Satellite
Antenna
Phase Center
(APC)

gLAB.out gLAB.out
Satellite
Mass
Center
(MC) Satellite MC to APC:
gLAB.out The satellite MC to APC
eccentricity vector depends on
Broadcast orbits are the satellite. The APC values
referred to the antenna used in the IGS orbits and
phase center, but IGS clocks products are referred to
precise orbits are referred the iono-free combination (LC,
PC) . They are given in the IGS
to the satellite mass center. ANTEX files (e.g., igs05.atx).

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 Exercise 2: PPP Model components analysis
Wind-up affects only carrier
phase. It is due to the
gLAB1.out
electromagnetic nature of gLAB1.out
circularly polarized waves of
GNSS signals.
As the satellite moves along its
orbital path, it performs a
rotation to keep its solar panels gLAB.out gLAB.out
pointing to the Sun direction.
This rotation causes a carrier
variation, and thence, a range
measurement variation. Wind-Up
Wind-up changes smoothly along
Satellite rotation continuous carrier phase arcs.
Phase
variation
In the position domain, wind-up
affects both vertical and
gLAB.out horizontal components.

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Exercise 3: Kinematic positioning of a LEO
• A kinematic positioning of GRACE-A satellite is proposed in this
exercise as a driven example to study and discuss the different
navigation modes and modelling options for code or code & carrier
positioning of a rover receiver.
GPS Omnidirectional
Antenna: Satellite Attitude
and Orbit Control System

GPS 45º FOV Antenna: Radio

GPS Backup
Occultation Data
Omnidirectional
Antenna: AOCS

More details at: http://op.gfz-potsdam.de/grace/index_GRACE.html

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Kinematic positioning of a LEO satellite

• The following “preliminary” questions are posed:

– Could a LEO satellite like GRACE-A be kinematically positioned as a
rover receiver (i.e., car, aircraft...)? Why?
– Would both Standard and Precise Positioning be achievable?
Note: The RINEX file graa0800.07o contains GPS dual freq.
Measurements.
– Which model components should be set for each positioning mode?
• Relativistic correction?
• Tropospheric correction?
• Ionospheric correction?
• Instrumental delays (TGDs)?
• Solid Tides correction?
• Antenna phase centre corrections?
• Others ???
– In case of successful positioning, which accuracy is expected?

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Kinematic positioning of a LEO satellite
 The following positioning modes are proposed to be explored:

– Code positioning + broadcast orbits:

1. Single frequency: C1 code (and no ionospheric corrections).
2. Dual frequency: PC code combination (i.e., ionosphere-free
combination).
– Code and carrier positioning + precise orbits and clocks:
3. Dual frequency: PC, LC combinations (i.e., ionosphere-free
combinations).
4. GRAPHIC combination of C1 code and L1 carrier phase.
5. Single frequency: C1 code and L1 carrier (and no ionospheric
corrections).

 Data files:
 Measurements file: graa0800.07o
 GPS orbits and clocks:
 Broadcast: brdc0800.07n
 Precise: cod14193.sp3, cod14193.clk, igs05_1402.atx
 GRACE-A Precise Reference Orbit file: GRAA_07_080.sp3

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Mode1: Single frequency C1 code with broadcast orbits & clocks
Example of computation with gLAB:
Code positioning + broadcast orbits: Single frequency: C1 code.

1 Set SPP

3
Select files Set calculate Set data decimation to 30
graa0800.07o seconds instead of 300 to
Set SPP
brdc0800.07n 2 have a higher number of
output samples

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Mode1: Single frequency C1 code with broadcast orbits & clocks

Example of computation with gLAB:

Code positioning + broadcast orbits: Single frequency: C1 code.

Set output SP3 file as

gLAB.sp3

From SPP template

disable:
Disable all messages except:
• Ionospheric • Print INFO Messages
• Tropospheric • Print OUTPUT Messages
to avoid big output files

Run gLAB

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Mode1: Single frequency C1 code with broadcast orbits & clocks
• Accuracy assessment of the computed solution (from gLAB.sp3 file) with
the reference coordinates of file GRAA_07_080.sp3:

1
2 3
Select files
GRAA_07_080.sp3 Set: 30s
gLAB.sp3 Disable: Compare satellite
clock Correction

Set dif.out
as output file
5
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Mode1: Single frequency C1 code with broadcast orbits & clocks

Plotting
3 dif.out
Set plotting ranges
X:[ 43000 : 67000] Y:[ -20 : 20] with the GUI
1

2 4
Upload file dif.out in
Plot 1, Plot 2 & Plot 3

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Mode1: Single frequency C1 code with broadcast orbits & clocks

Questions
1. Is it reasonable to disable
the tropospheric and
ionospheric corrections?

2. Like GPS satellites, LEOs

are also affected by
relativistic effects. Is it
necessary to introduce an
Zoom additional model term to
account for this effect?

3. What could be the reason

for the large error peaks
seen in the plots?

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Mode1: Single frequency C1 code with broadcast orbits & clocks

 Answer to Question 1:
Is it reasonable to disable the tropospheric and ionospheric corrections?
– Troposphere:
The troposphere is the atmospheric layer placed between Earth’s surface and an
altitude of about 60 km.
GRACE-A satellite is orbiting at about 450 km altitude, thence no tropospheric error
is affecting the measurements.
– Ionosphere:
The ionosphere extends from about 60 km over the Earth surface until more than
2000 km, with a sharp electron density maximum at around 350 km.
GRACE-A satellite, orbiting at about 450 km altitude, is less affected by the
ionosphere than on the ground, but nonetheless a few meters of slant delay
could be experienced. On the other hand, as the correction from Klobuchar
model is tuned for ground receivers, its usage could produce more harm than
benefit (see HW1).

 Homework:
 HW1: Assess the ionospheric delay on the GRACE-A satellite measurements.
Compare with the Klobuchar model corrections.

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Mode1: Single frequency C1 code with broadcast orbits & clocks

 Answer to Question 2:
In this approach, is it necessary to introduce an additional model term to
account for the relativity effect on LEO satellite?
– GRACE-A clock is affected by general and special relativistic effects (due to the
gravitational potential and satellite speed). But this is not a problem, because the
receiver clock is estimated along with the coordinates.
Notice that this relativistic effect will affect all measurements in the same way, and
thence, it will be absorbed into the receiver clock offset estimation.

 Answer to Question 3:
What could be the reason for the large error peaks seen in the plots?
– The large error peaks are associated to bad GPS-LEO satellite geometries and
mismodelling. Notice that the satellite is moving at about 8 km/s and therefore the
geometry changes quickly (see HW2). Also, the geometry is particularly poor when
GRACE-A satellite is over poles.

 Homework:
 HW2: Plot in the same graph the “True 3D error”, the “Formal 3D error” (i.e, the 3D-
sigma) and the number of satellites used. Analyze the evolution of the error.

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Mode 2. Dual frequency PC code with broadcast orbits & clocks
Example of computation with gLAB:
Code positioning + broadcast orbits: Dual frequency: PC
code combination.
Complete the steps

From previous
1 (from previous configuration):
1. [Modeling]:
configuration, disable • Disable P1-P2 correction
(TGD):
2. [Filter]:
2
From previous
• P1 – P2 Correction configuration, set:
• Dual Frequency • Dual Frequency
• PC Measurement • PC measurement
3. Run gLAB
4. In Compare Orbits &
Clocks mode:
• Compute differences
with reference file
GRAA_07_080.sp3
3
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Mode 2. Dual frequency PC code with broadcast orbits & clocks

Plotting
• Make the same plots as in
the previous case.

Questions
4. Why is the solution noisier
than the previous one with
Zoom C1 code?
5. Discuss the pros and cons
of the ionosphere-free
combination of codes (PC),
compared with C1 code.
6. How could the
performance be improved?

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Mode 2. Dual frequency PC code with broadcast orbits & clocks

Plotting
• Make the same plots as in
the previous case.

Questions
4. Why is the solution noisier
than the previous one with
Zoom C1 code?
5. Discuss the pros and cons
of the ionosphere-free
combination of codes (PC),
compared with C1 code.
6. How could the
performance be improved?

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Mode 2. Dual frequency PC code with broadcast orbits & clocks

 Answer to Question 4:
Why the solution is noisier than the previous one with C1 code?
f12 P1 − f 22 P2 γ P1 − P2  77 
2

=
The iono-free combination of codes P1 and P2 is computed as: Pc = ; γ = 
f12 − f 22 γ −1  60 

Thence, assuming uncorrelated P1, P2 measurements with equal noise σ, it follows: σ Pc = 3 σ

 Answer to Question 5:
Discuss the pros and cons of the ionosphere-free combination of codes (PC).
– Combination PC removes about the 99.9% of ionospheric delay, one of the most difficult error
sources to model, but two frequency signals are needed. On the other hand, PC is noisier than the
individual codes C1, P1 or P2 (see HW3).

 Answer to Question 6:
How could the performance be improved?
– Smoothing the code with the carrier and/or using precise orbits and clock products as well.

 Homework:
 HW3: Assess the measurement noise on the C1, P1, P2 and PC code measurements.

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Mode 3. Dual freq. LC, PC carrier and code with precise orbits & clocks

Example of computation with gLAB:

Code & Carrier + precise orbits & clocks: Dual frequency (LC, PC)

Set PPP
1
Set Precise (2 files)

2
Set calculate
Select files Set data decimation to
graa0800.07o 30 seconds instead of
cod14193.sp3 300 to have a higher
cod14193.clk
igs05_1402.atx
number of output
samples 3

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Mode 3. Dual freq. LC, PC carrier and code with precise orbits & clocks

Example of computation with gLAB:

Code & Carrier + precise orbits & clocks: Dual frequency (LC, PC)

Disable Estimate
Troposphere
From PPP configuration, disable:
• Receiver Antenna Phase Center Switch to
• Receiver Antenna Ref. Point Kinematic
• Ionospheric (already disabled)
• P1 – P2 (already disabled)
• Tropospheric
• Solid Tides correction

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Mode 3. Dual freq. LC, PC carrier and code with precise orbits & clocks

Example of computation with gLAB:

Code & Carrier + precise orbits & clocks: Dual frequency (LC, PC)
Set output SP3 file as
gLAB.sp3
2
Disable all messages except:
• Print INFO Messages 3 1. Run gLAB
Set plotting ranges
• Print OUTPUT Messages X:[ 43000 : 67000] Y:[ -2 : 2] 2. Generate
to avoid big output files dif.out file

3. Make plots
Run gLAB as before

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Mode 3. Dual freq. LC, PC carrier and code with precise orbits & clocks

Questions
7. Which is the improvement
in precise orbits and clocks
accuracy, regarding the
broadcast case?
8. How do carrier phase
measurements allow to
improve the accuracy?
9. Why do large peaks appear?
Zoom 10. Why does a 40-50 cm bias
appear in the radial
component?
11. Why do wind-up and
satellite antenna phase
center offset corrections
have to be applied? What
about the solid tides
correction?

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Mode 3. Dual freq. LC, PC carrier and code with precise orbits & clocks

 Answer to Question 7:
Which is the improvement in precise orbits and clocks accuracy, regarding
the broadcast case?
– Broadcast orbits and clocks are accurate at the level of few meters.
– Precise orbits and clocks IGS products are accurate at few centimeter level (see HW4).

 Answer to Question 8:
How do carrier phase measurements allow to improve the accuracy?
– Code measurements are unambiguous but noisy (meter-level measurement noise).
– Carrier measurements are precise but ambiguous (few millimetres of noise, but with
an unknown bias that can reach thousands of kilometres).
– The carrier phase biases are estimated in the navigation filter along with the other
parameters (coordinates, clock offsets, etc.). If these biases were fixed, then
measurements accurate at the level of few millimetres, would be available for
positioning. However, some time is needed to decorrelate such biases from the other
parameters in the filter, and the estimated values are not fully unbiased.

• Homework:
 HW4: Assess the broadcast orbits and clock accuracy using the precise products as
the truth.

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Mode 3. Dual freq. LC, PC carrier and code with precise orbits & clocks

 Answer to Question 9:
Why do large peaks appear?
– The peaks are related to massive cycle-slips experienced after each revolution (about
1.5 h).
– After a cycle-slip happens, the filter has to restart the carrier ambiguity. This is not a
problem when it occurs on a single satellite (being the others well determined), as its
ambiguity is estimated quickly. But when a massive cycle-slip occurs, the filter needs
more time to converge (see HW5).

 Answer to Question 10:

Why does a 40-50 cm bias appear in the radial component?
– This is the GRACE-A antenna phase centre offset. Please notice that we are
positioning the Antenna Phase Centre (APC), while the coordinates in the SP3
reference file (GRAA_07_080.sp3) are referred to the satellite Mass Centre (MC).

• Homework:
 HW5: Analyze the carrier phase biases convergence in this kinematic PPP
positioning.

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Mode 3. Dual freq. LC, PC carrier and code with precise orbits & clocks

 Answer to Question 11:

Why do wind-up and GPS satellite antenna phase center offset corrections
have to be applied? What about the solid tides correction?

– Wind-up correction: Wind-up only affects the carrier phase measurements, but not
the code ones. This is due to the electromagnetic nature of circularly polarised waves
of GPS signals.
The correction implemented in gLAB only accounts for the satellite movement relative
to a receiver with fixed coordinates. An additional correction to account for the
GRACE-A motion along its orbital path could also be included, but since most part of
this effect will be common for all satellites, it will be absorbed by the receiver clock
offset estimation.

– GPS satellite antenna phase center: Precise orbits and clocks of IGS products are
relative to the GPS satellite mass centre (unlike the broadcast ones, which are
relative to the satellite antenna phase centre [APC]). Thence an APC offset vector
must be applied.

– Solid tides correction: No Earth’s Solid Tides corrections are needed because the
rover is not on the ground.

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Mode 4. Single freq. with L1, C1 GRAPHIC comb. and precise orbits & clocks

Example of computation with gLAB: Code and Carrier + precise

orbits & clocks: Single frequency (GRAPHIC)
Complete the steps
Single frequency (from PPP configuration mode):
1. [Filter]:
1
[*] Note: C1C must be set due
to gLAB architecture, but it • Single Frequency
C1C is assigned a large sigma to
avoid the C1 code noise
• C1C (C1 code [*])
G1C and ionospheric error. • G1C (GRAPHIC)
σC1=100 • Set Kinematic Mode
Kinematic meters 2. [Model]:
σG1=0.5 meters • Disable P1 – P2 Corr.
3. [Output]:
• Set gLAB.sp3 format file.
4. [Preprocess]:
• Unable MW, LI detectors
3 5. Run gLAB
6. In Compare Orbits & Clocks:

2 •
•
Disable dual-freq detectors
Enable single-freq detector
• Compute differences with
reference file
GRAA_07_080.sp3
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Make plots as before.
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Mode 4. Single freq. with L1, C1 GRAPHIC comb. and precise orbits & clocks

Questions
12. Which is the main benefit
of the GRAPHIC
combination?

Zoom 13. Why is the solution noisier

than the previous one with
LC, PC?

14. Would the performance be

improved directly using the
L1, P1 measurements (like
in the LC, PC case)?

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Mode 4. Single freq. with L1, C1 GRAPHIC comb. and precise orbits & clocks

 Answer to Question 12:

Which is the main benefit of the GRAPHIC combination?
1
– The GRAPHIC combination is defined as:=
G ( P1 + L1 )
2
– Thence, since the ionospheric refraction has opposite sign in code P1 and carrier L1,
GRAPHIC removes the ionospheric error.
– On the other hand the code noise is reduced by a factor 2 (i.e., σ G = 1/ 2 σ ).
– However, this is an ambiguous measurement due to the unknown carrier phase bias.
– Note: Due to the gLAB filter design, a code measurement must also be provided to the
filter along with the GRAPHIC one. Nevertheless, a large sigma noise is set to this code
in order to downweight this measurement in the filter (in this way the solution will be
driven by the GRAPHIC combination).
 Answer to Question 13:
Why is the solution noisier than the previous one with LC, PC?
– Unlike the previous case (where carrier phase data with few millimetres of error were
provided), now the most accurate measure provided to the filter is the GRAPHIC
combination with tens of centimetres of error.
 Answer to Question 14: Let’s see the next two exercises.

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Mode 5. Single freq. L1, C1 carrier and code with precise orbits & clocks

Example of computation with gLAB:

Code and Carrier + precise orbits & clocks: Single frequency (L1, C1)
From previous configuration, complete
the following steps:
1. [Input]: Upload the brdc0800.07n
file in the P1-P2 correction.
Select DCB source: Broadcast (specify)
2. [Model]: Set P1-P2 correction, select
RINEX Navigation as DCB File.

1
Note:
TGDs (i.e, P1-P2

2
DCBs) are needed
for single-
frequency
positioning.

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Mode 5. Single freq. L1, C1 carrier and code with precise orbits & clocks

Example of computation with gLAB:

Code and Carrier + precise orbits & clocks: Single frequency (L1, C1)
Complete the steps
C1P Single frequency 3. [Filter]:
L1P • Single Frequency

3
measurements
Set • L1P (L1 carrier)
• C1P (P1 code)
σC1P=1 meter
4. [Output]:
σL1P=0.01 meters • Set gLAB.sp3 format file.
5. [Preprocess]:
• Unable MW, LI detectors
6. Run gLAB
In Compare Orbits & Clocks:
5 • Compute differences with
reference file

4 • Disable dual-freq detectors GRAA_07_080.sp3

• Enable single-freq detector Make plots as before.
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Mode 5. Single freq. L1, C1 carrier and code with precise orbits & clocks

Questions
15. Explain why the solution
has a more defined
pattern, with large
oscillations.

16. No ionospheric corrections

have been applied in this
run. What would happen if
the Klobuchar model is
applied?

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Mode 5. Single freq. L1, C1 carrier and code with precise orbits & clocks

 Answer to Question 15:

Explain why the solution has a more defined pattern, with large
oscillations.
– This effect is due to the error introduced by the ionosphere and the broadcast
differential code biases inaccuracy.

 Answer to Question 16:

No ionospheric corrections have been applied in this run. What would
happen if the Klobuchar model is applied?
– In general, the performance will degrade. As commented before, the correction from
Klobuchar model is tuned for ground receivers, only removes about the 50% of
ionospheric delay, and its usage can produce more harm than benefit. (see HW6).

 Homework:
 HW6: Apply the Klobuchar model and discuss the results.
 HW7: Generate a file with the satellite track (in a Earth-Fixed Earth-Centered
reference frame) to be viewed with .

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 Backup slides

Homework help and answers

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 Proposed Homework exercises
 HW1: Assess the ionospheric delay on the GRACE-A satellite measurements.
Compare with the Klobuchar model corrections.

 HW2: Plot in the same graph the “True 3D error”, the “Formal 3D error” (i.e,
the 3D-sigma) and the number of satellites used. Analyze the evolution of
the error.

 HW3: Assess the measurement noise on the C1, P1, P2 measurements and
the PC code combination.

 HW4: Assess the broadcast orbits and clocks accuracy using the precise
products as the truth.

 HW5: Analyze the carrier phase biases convergence in this kinematic PPP
positioning.

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 Proposed Homework exercises

 HW6: Apply the Klobuchar model to the L1, P1 positioning with precise
orbits and clocks and discuss the results.

 HW7: Generate a file with the satellite track (in a Earth-Fixed Earth-Centered
reference frame) to be viewed with .

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HW1: Assessing the ionospheric delay on the GRACE-A satellite

Configure gLAB as in Mode 1 and

complete the following steps:

1. [Output]: set
• Print INPUT Message
• Print MODEL Message
(see message content in the Tooltips)
2. Run gLAB.

3. Make plots:
[Analysis] section:
• Click on the preconfigured Ionospheric
combinations option.
• Complete the [Plot1, Plot2, Plot3] panels
configuration as indicated in the next
slide.
Note: This configuration will provide:
Plot 1: L1-L2 as a function of time for ALL sat.
Plot 2: L1-L2 as a function of time for PRN16.
Plot 3: P2-P1 as a function of time for PRN16

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HW1: Assessing the ionospheric delay on the GRACE-A satellite

Plot 1
Plot 3

$11-$12 L1-L2

Plot 2
Note: This plot take $11-$12 L1-L2
some time to be
$10-$9 P2-P1 generated !!

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HW1: Assessing the ionospheric delay on the GRACE-A satellite

1mL1-L2 delay=1.55 mL1 delay Plot HW1-a Comments:

• The ionospheric delay (STEC) computed from L1-L2 (aligned)
carriers is shown in blue for all satellites.
• The red circles show the L1-L2 delay for sat. PRN16
• The green circles show the ionospheric delay on PRN16
computed from P2-P1 code measurements.
As it is shown in the plot, the STEC variations are typically at
the meter level, but in some cases they increase up to
several meters.
The code measurement noise and multipath in the P2-P1
combination is typically at the meter level, but in the ends of
data arcs (low elevation rays) can reach up to a few meters.

The previous plot can be also generated in console mode as follows (see graph.py –help):
graph.py -f gLAB.out -c '($1=="INPUT")' -x4 -y'($11-$12)' --l "ALL"
-f gLAB.out -c '($1=="INPUT")&($6==16)' -x4 –y '($10-$9)' -so --l "PRN16 P2-P1"
-f gLAB.out -c '($1=="INPUT")&($6==16)' -x4 –y '($11-$12)' -so --l "PRN16 L1-L2"
--xn 43000 --xx 67000 --yn -10 --yx 15

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HW1: Assessing the ionospheric delay on the GRACE-A satellite

 Working in console mode

The next commands compute the ionospheric delay from C1, L1 measurements:
1. Using the configuration file meas.cfg, read the RINEX and generate the MEAS message with
data format: [Id YY Doy sec GPS PRN el Az N. list C1C L1C C1P L1P C2P L2P]
1 2 3 4 5 6 x x 9 10 11 xx 13 14 15 16 ]
Execute:
gLAB_linux -input:cfg meas.cfg -input:obs graa0800.07o > meas.txt

I1 1 ( C1 − L1) + bias
2. From file meas.txt, compute the ionospheric delay as = 2
gawk '{print $6,$4,($11-$14)/2}' meas.txt > I1.txt

3. From previous file, plot the ionospheric delay for the time interval [43000:67000]. Show in the
same plot: 1) ALL satellites, 2) PRN16 and 3) PRN21 (see Plot HW1-b in next slide).
graph.py -f I1.txt -x2 -y3 -s. --cl y -l "ALL"
-f I1.txt -c '($1==16)' -x2 -y3 -so --cl r -l "PRN16"
-f I1.txt -c '($1==21)' -x2 -y3 -so --cl g -l "PRN21"
--xn 43000 --xx 67000 --yn -10 --yx 10
–-xl "time (s)" --yl "STEC (meters of L1 delay)"

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HW1: Assessing the ionospheric delay on the GRACE-A satellite

Large discrepancies with Klobuchar appear

Plot HW1-b: Plot HW1-c:

STEC variations of few meters are typically L1-C1 iono estimate is less noisier than the P2-P1. On
experienced , but in some cases they reach the other hand, large discrepancies appear when
up to 8 meters of L1 delay. comparing with Klobuchar corrections

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 HW1: Assessing the ionospheric delay on the GRACE-A satellite

 Plot HW1-c generation (working with the GUI and in console mode):
1. Using the gLAB configuration of exercise 1, activate the “Ionospheric Correction” option in the
[Modelling] panel and run again gLAB. The program will output the file gLAB.out.
(see help and file format executing: gLAB_linux –messages, or gLAB_linux –help).

2. “grep” the MODEL messages of file gLAB.out, selecting the C1P [PRN, time Klob_iono] data:

grep MODEL gLAB.out |grep C1P|gawk '{print $6,$4,$25-3}' > klob.txt

Note: the Klob_data is shifted by “-3” meters to align the curves in the plot

3. Plot in the same graph the ionospheric delays of satellites PRN16 and PRN21 from I1.txt and
klob.txt file (see Plot HW1-c in the previous slide).
Note: Both the Graphic User Interface (GUI) panel or the graph.py tool (in console mode) can be
used for plotting.

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HW2: Plot in the same graph the “True 3D error”, the “Formal 3D
error” and the number of satellites used. Analyze the result.
 Complete the following steps
1. Configure gLAB as in Mode1 and set Print EPOCHSAT Messages in Output panel.
(see message content in the Tooltip, or executing gLAB_linux –messages).
Remember that IONO corrections were unable in Mode 1.
2. Run gLAB.
The program will output the file gLAB.out.
3. Generate the dif.out file from gLAB.out as in the previous exercises.

Plot the results:

In the same graph, plot the “3D error” [from file dif.out], the formal error (the 3-D sigma) and
the number of satellites used in the computation [from file gLAB.out].
graph.py -f dif.out -x4 -y9 -s- -l "3D error" -c '($1=="SATDIFF")'
-f gLAB.out -c '($1=="OUTPUT")' -x4 -y'($5*5)' -s- --cl r --l "5*sigma"
-f gLAB.out -c '($1=="EPOCHSAT")' -x4 -y6 -s- --cl g --l "N. sat. used"
--xn 43000 --xx 67000 --yn 0 --yx 20

Note: 3D-sigma ≈ σ PDOP

In the previous plot, the 3-D sigma is multiplied by 5 to enlarge the image.

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HW2: Plot in the same graph the “True 3D error”, the “Formal 3D
error” and the number of satellites used. Analyze the result.

STEC variations of few meters, but in some

cases, reaching up to 8 meters of L1 delay. Large discrepancies with Klobuchar appear

Plot HW2-a Plot HW2-b: Zoom of Plot HW2-a.

Periodic error peaks appear, mostly Along the peaks associated to bad geometries,
associated with losing a satellite and/or mismodelling is also producing some error
with bad geometries. trends.

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HW3: Code measurements noise assessment: C1, P1, P2 and PC

A) The next commands compute the C1 code noise and multipath:

1. Using the configuration file meas.cfg, READ the RINEX and generate the MEAS message with
data format:
[Id YY Doy sec GPS PRN el Az N. list C1C L1C C1P L1P C2P L2P]
1 2 3 4 5 6 x x 9 10 11 xx 13 14 15 16 ]
Execute:
gLAB_linux -input:cfg meas.cfg -input:obs graa0800.07o > meas.txt

2. From meas.txt file, 2

 77 
Compute C1 code noise and multipath as: M C1 = C1 − L1 − 2 γ − 1( L1 − L 2) γ = 
 60 

gawk 'BEGIN{g=(77/60)^2}{print $6, $4 , $11-$14-2*($14-$16)/(g-1)}' meas.txt > C1.txt

3. From C1.txt file,

Plot the C1 code noise and multipath for time interval [43000:67000]. Show in the same graph: 1)
ALL satellites, 2) PRN16 and 3) PRN21 (see Plot HW3-a)
graph.py -f C1.txt -x2 -y3 -s. --cl y --l "ALL"
-f C1.txt -c '($1==16)' -x2 -y3 -so --cl r --l "PRN16"
-f C1.txt -c '($1==21)' -x2 -y3 -so --cl g --l "PRN21"
--xn 43000 --xx 67000 --yn 8 --yx 28

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HW3: Code measurements noise assessment: C1, P1, P2 and PC

B) The next commands compute the P1 code noise and multipath:

1. Using the meas.txt file generated before, with the MEAS message data format:

[Id YY Doy sec GPS PRN el Az N. list C1C L1C C1P L1P C2P L2P]
1 2 3 4 5 6 x x 9 10 11 xx 13 14 15 16 ]

2
 77 
Compute P1 code noise and multipath as: M P1 = P1 − L1 − 2 γ − 1( L1 − L 2) γ = 
 60 

gawk 'BEGIN{g=(77/60)^2}{print $6, $4 , $13-$14-2*($14-$16)/(g-1)}' meas.txt > P1.txt

2. From previous P1.txt file,

Plot the P1 code noise and multipath for time interval [43000:67000]. Show in the same graph:
1) ALL satellites, 2) PRN16 and 3) PRN21 (see Plot HW3-b)
graph.py -f P1.txt -x2 -y3 -s. --cl y --l "ALL"
-f P1.txt -c '($1==16)' -x2 -y3 -so --cl r --l "PRN16"
-f P1.txt -c '($1==21)' -x2 -y3 -so --cl g --l "PRN21"
--xn 43000 --xx 67000 --yn 8 --yx 28

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HW3: Code measurements noise assessment: C1, P1, P2 and PC

C) The next commands compute the P2 code noise and multipath:

1. Using the meas.txt file generated before, with the MEAS message data format:

[Id YY Doy sec GPS PRN el Az N. list C1C L1C C1P L1P C2P L2P]
1 2 3 4 5 6 x x 9 10 11 xx 13 14 15 16 ]

2
 77 
M P 2 = P 2 − L 2 − 2γ γ = 
γ − 1( L1 − L 2)
Compute P2 code noise and multipath as:
 60 

gawk 'BEGIN{g=(77/60)^2}{print $6, $4 , $15-$16-2*g*($14-$16)/(g-1)}' meas.txt > P2.txt

2. From previous P2.txt file,

Plot the P2 code noise and multipath for time interval [43000:67000]. Show in the same
graph: 1) ALL satellites, 2) PRN16 and 3) PRN21 (see Plot HW3-c)
graph.py -f P2.txt -x2 -y3 -s. --cl y --l "ALL"
-f P2.txt -c '($1==16)' -x2 -y3 -so --cl r --l "PRN16"
-f P2.txt -c '($1==21)' -x2 -y3 -so --cl g --l "PRN21"
--xn 43000 --xx 67000 --yn 8 --yx 28

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HW3: Code measurements noise assessment: C1, P1, P2 and PC

D) The next commands compute the PC combination noise and multipath:

1. Using the meas.txt file generated before, with the MEAS message data format:

[Id YY Doy sec GPS PRN el Az N. list C1C L1C C1P L1P C2P L2P]
1 2 3 4 5 6 x x 9 10 11 xx 13 14 15 16 ]
f12 P1 − f 22 P2 γ P1 − P2
=Pc = ;
f12 − f 22 γ −1
= Pc − Lc
Compute PC noise and multipath as: M Pc
f12 L1 − f 22 L2 γ L1 − L2
=Lc =
f12 − f 22 γ −1

gawk 'BEGIN{g=(77/60)^2}{print $6, $4, (g*($13-$14)-($15-$16))/(g-1)}' meas.txt > PC.txt

2. From previous PC.txt file,

Plot the PC combination noise and multipath for time interval [43000:67000]. Show in the
same graph: 1) ALL satellites, 2) PRN16 and 3) PRN21 (see Plot HW3-d)
graph.py -f PC.txt -x2 -y3 -s. --cl y --l "ALL"
-f PC.txt -c '($1==16)' -x2 -y3 -so --cl r --l "PRN16"
-f PC.txt -c '($1==21)' -x2 -y3 -so --cl g --l "PRN21"
--xn 43000 --xx 67000 --yn 8 --yx 28

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HW3: Code measurements noise assessment: C1, P1, P2 and PC

Comments
• Large noise patterns appear at the end
of each data arc. This is due to
interference cross-talk with other
components. The figure at bottom shows
the multipath map for the GRACE-A .
• P2 code is noisier than P1 or C1.
Plot HW3-a Plot HW3-b • PC code combination is the noisiest one,
as expected.

C1 multipath
map of sat.
GRACE_A.
A GPS satellite
track is
shown in
blue
Plot HW3-c Plot HW3-d This figure is from
P. Ramos-Bosch
PhD dissertation,
gAGE/UPC 2008].

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HW4: Broadcast orbits and clocks accuracy assessment using the IGS
precise products as the accurate reference (i.e, the truth).
Complete the following steps:
File brdc0800.07n contains the orbit and clocks data broadcast in the GPS navigation message.
Files cod14193.sp3, cod14193.clk contain the precise orbits and clocks computed in post-
process by “CODE” center (IGS precise orbits and clocks products program).
1. Execute the following sentence to compute the difference of satellite coordinates and clock
offsets between both orbits and clocks sources:
gLAB_linux -input:nav brdc0800.07n -input:SP3 cod14193.sp3 -input:ant igs05_1402.atx > dif.tmp

2. Select the SATDIFF message of dif.tmp file:

grep SATDIFF dif.tmp > dif.out
SATDIFF message content is shown in the table beside.
(see gLAB_linux –messages).
The IGS post-processed products are accurate at few cm
level, thence they can be taken as the truth.
3. Plot dif.out file as in the first exercise.

Note: SISRE= (∆Rad − ∆Clk)2 + 1

49
(∆Alon 2 + ∆Cross 2 )

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HW4: Broadcast orbits and clocks accuracy assessment using the IGS
precise products as the accurate reference (i.e, the truth).

Comments
• Meter level errors are found on
broadcast orbits and clocks.
• The bias seen in the radial component is
due to the different APC’s used by the
GPS ground segment (i.e, in broadcast
orbits) and by IGS (precise products).
• This bias is compensated by a similar
Plot HW4-a1 Plot HW4-b1 shift in clocks.
• For the Signal-In-Space-Range-Error
(SISRE), please see the plot below.

Plot HW4-e1

Plot HW4-c1 Plot HW4-d1

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HW4: Broadcast orbits and clocks accuracy assessment using the IGS
precise products as the accurate reference (i.e, the truth).

Comments
The previous computations have been
repeated, but using the ANTEX file
gps_brd.atx, instead of
igs05_1402.atx.
This new ANTEX file contains the GPS
antenna phase center offsets used by the
Plot HW4-a2 Plot HW4-b2 GPS ground segment, not the IGS ones.
• Notice that the biases in the radial
component have disappeared.

Plot HW4-e2

Plot HW4-c2 Plot HW4-d2

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HW5: Analyze the carrier phase biases convergence in the kinematic
PPP positioning.

 Complete the following steps

1. Configure gLAB as in Mode 2 for the Kinematic PPP positioning. Activate the “Print POSTFIT
messages” in the OUPUT panel
(see message content in the Tooltip, or executing gLAB_linux –messages).

2. Run gLAB.
The program will output the file gLAB.out.

3. From gLAB.out, “grep” the POSTFIT message and generate the file amb.out, containing
the estimates of ambiguities for each epoch. Take the last estimated value of the ambiguities
for each epoch. This can be done by executing:
grep POSTFIT gLAB.out| gawk '{i=$6" "$4;a[i]=$13}END{for (i in a) print i,a[i]}' |sort -n > amb.out

Plot the results: Plot the ionosphere-free bias estimates as a function of time for the time interval
[40000:70000]. Show in the same graph: 1) ALL satellites, 2) PRN16 and 3) PRN21 (see
Plot HW5-d).
Note: The GUI can be graph.py -f amb.out -x2 -y3
used instead of the -f amb.out -x2 -y3 -c '($1==16)' --l "PRN16"
“graph.py” command. -f amb.out -x2 -y3 -c '($1==21)' --l "PRN21"
--xn 40000 --xx 70000 --yn -10 --yx 10

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HW5: Analyze the carrier phase biases convergence in the kinematic
PPP positioning.

Zoom Comments
• Large peaks appear in the carrier phase
biases due to massive cycle-slips:
– Satellite tracking loses happen
periodically after each revolution.
– These satellite loses produce massive
Plot HW5-a Plot HW5-b cycle slips which leads to a global
reinitialization of carrier-phase biases
in the navigation (Kalman) filter .
– After such ambiguities reinitialization,
Zoom Zoom the filter needs some time to
converge.

• Carrier phase ambiguities converge

quickly thanks to the rapid variation of
geometry due to the LEO movement
along its orbital path.
Plot HW5-c Plot HW5-d

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HW6: Single freq. L1, C1 carrier and code with precise orbits & clocks
using Klobuchar ionospheric corrections

Code and Carrier + precise orbits & clocks: Single frequency (L1, C1)
+ Klobuchar ionosphere
Configure gLAB as in Mode 5 and
complete the following steps:
1. [Input]: Upload the
• brdc0800.07n file to IONO
• brdc0800.07n file to DCBs

2. [Model]: set
• P1 – P2 corr.
• IONO corr.

1
2
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HW6: Single freq. L1, C1 carrier and code with precise orbits & clocks
using Klobuchar ionospheric corrections

Code and Carrier + precise orbits & clocks: Single frequency (L1, C1) +
Klobuchar ionosphere
Complete the steps
C1P Single frequency 3. [Filter]:
L1P • Single Frequency
3 Set
measurements:
• L1P (L1 carrier)
σC1P=1 meter • C1P (P1 code)
σL1P=0.01 meters 4. Compute differences
with reference file
GRAA_07_080.sp3
4
Make plots as before.

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HW6: Single freq. L1, C1 carrier and code with precise orbits & clocks
using Klobuchar ionospheric corrections

Comments
• A clear degradation is seen when
applying the Klobuchar model to the LEO.
• This is due to the large error introduced
by this model which was designed for
ground receivers, not for LEO’s.
• Next plot compares the L1 delay
computed from Klobuchar with the STEC
experienced by the GPS signal.

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HW7: Generate a file with the satellite track (in a Earth-Fixed Earth-
Centered reference frame) to be viewed with
 Option A: GUI

1. Set KML File:

• gLAB.kml

 Option B: Command Line

1. Add the header (Prefix.kml)
2. Select the satellite [longitude, latitude, height] coordinates of message OUTPUT in the gLAB.out
file. Generate a file with these coordinates (comma-separated).
3. Add the tail (Postfix.kml) files to the previous track data file
cat Prefix.kml > grace_track.kml
grep OUTPUT gLAB.out |gawk 'BEGIN{OFS=","}
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{print $16,$15,$17}' >> gAGE/UPC
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grace_track.kml
117
cat Postfix.kml >> grace_track.kml
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 Thanks for your
attention

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Other Tutorials are available at
http://www.gage.upc.edu

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 Acknowledgements

• The ESA/UPC GNSS-Lab Tool suit (gLAB) has been developed under the ESA
Education Office contract N. P1081434.
• The data set of GRACE-A LEO satellite was obtained from the NASA Physical
Oceanography Distributed Active Archive Center at the Jet Propulsion
Laboratory, California Institute of Technology.
• The other data files used in this study were acquired as part of NASA's Earth
Science Data Systems and archived and distributed by the Crustal Dynamics
Data Information System (CDDIS).
• To Pere Ramos-Bosch for his fully and generous disposition to perform gLAB
updates in his afterhours.
• To Adrià Rovira-Garcia for his contribution to the edition of this material and
gLAB updating.
• To Deimos Ibáñez for his contribution to gLAB updating and making the
Windows, Mac and LINUX installable versions for this tutorial.

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