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Development and Testing

New GNSS Signals and Receivers

Freddy Blume UNAVCO D&T Manager
USGS Geodesy Workshop, 12 March, 2010

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Assembly Required
The dog ate the instruction manual
well have to put it together ourselves

Development and Testing

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Motivation

Last formal hardware evaluation done by UNAVCO in 2003 (PBO RFP)

CPU, data storage, communications technology has improved
GNSS modernization brings new observables, frequencies and
constellations incompatible with older hardware.

Community Pricing Agreements Depended on PBO Purchases

5-year agreements with Trimble and Topcon expired in 2008, carried
forward at manufacturers discretion
Tiered pricing structure based on total quantity purchased by Community
semi-annually makes project planning difficult.

Workhorse affordable receiver (Trimble NetRS) no longer available.

Keep existing network infrastructure functioning without breaking the
bank
What new features are important vs. simple plug & play replacement?
Compatibility with existing data retrieval systems.
Compatibility with existing GPS/GNSS antennas.
Compatibility with physical infrastructure (power, enclosures, cabling).

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Evaluation Process

UNAVCO Re-establishing Development and Testing Effort

Manager appointed 2009 (50% FTE)
D&T Engineer to be hired Q1 2010

Establish (and reestablish) high level technical and sales contacts

with GNSS hardware manufacturers.
Educate manufacturers of specific community needs and wants.
Learn what is currently available and what is under development.
Seek partnerships and participation in new system development
Non-Disclosure Agreements in place and pending
All manufacturers willing to modify firmware in response to UNAVCO
feedback to some extent.

To date, meetings held with Trimble, Topcon, Leica, Ashtech, and

Septentrio.

Formal Request for Information and Community Pricing Upcoming

Encourage competition for UNAVCO community purchases.
Will prioritize formal evaluation based on community feedback.
Moving target is a problem: new models constantly introduced.

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GPS Signal Evolution

L2C: Civilian code on L2 carrier broadcast by 8 Block IIR-M SVs

since 2005. (7 healthy)
Unencrypted code
Provides 6-12 dB-Hz SNR improvement over P2, stronger than L1 C/A.

L5: Third carrier frequency

Demonstration signal launched 3/2009 on PRN01 (SVN49)
Needed to reserve L5 with ITU.

10 Block IIF SVs to carry L5

3 in 2010
Launches complete by 2013?

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GPS Signal Evolution L2C

Current carrier phase software (e.g. GAMIT) uses first-generation GPS

observables only (L1 and L2 phases for C/A or P-codes)
Timetable for L2C and L5 development TBD
New observables useful for real-time and special applications only?
L2C implementation on current receivers allows for low elevation tracking
where lock would otherwise be lost.

L2C and L5 use Quadrature PSK Modulation

-wavelength shift between P2 phase and C2
Some receivers remove this in raw data
Trimble, Ashtech

Others Dont
Standard sought
by IGS IC
http://www.geopp.de/media/docs/pdf/geopp_phase_shift_l2c.pdf

Critical to investigate the effect of L2C tracking on positioning.

PBO implemented L2C tracking on several stations in 2010
Teqc modified to explicitly select C2 vs. P2 phases in RINEX files
No effect on position seen in PBO time series or limited short-baseline
processing.

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GPS Signal Evolution L5

L5 Improves signal structure for enhanced performance

Third Frequency 1,176.45 MHz (25.5 cm; L1=19 cm, L2 = 24.4 cm)

Higher power (-154.9 dBW), broad bandwidth (24 hMz)

Improved ionospheric delay correction capabilities,
Better interference protection and integrity,
Instantaneous carrier phase accuracy and ambiguity resolution for cm level
measurements.

Antenna Compatibility are new antennas necessary for GNSS upgrade?

Legacy choke ring antennas can receive L5 (-9 dB-Hz), but no PCVs yet.
Other GNSS frequencies slightly attenuated.
In-situ LNA replacement upgrades a TRM29659.00 to TRM59800.80
TRUE Absolute (robot) PCV calibrations essential.
Glo L2
L5

L2

Gal L2

SBAS

L1 Glo L1

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GLONASS Available Now Who Should Use It?

Operational but years (decades) behind schedule.

~5 year SV life-span; more frequent launches.
Orbit accuracy lower
Antenna PCVs are frequency dependent
GLONASS is FDMA, different frequency per SV

GLONASS use degrades GPS position accuracy

Real-time and post-processed

Precise orbits from IGS are available.

No SV clock corrections

Software from NGS under development

Track (high-rate) Support under development
Real-time receiver corrections are useful

GLONASS

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You should use GLONASS if:

GLONASS

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You should use GLONASS if you have limited sky view,

are a position
junkie and
need a Fix.

GLONASS

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GNSS Modernization

Optimistic Deployment Timeline (1-4 year delays?)

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What were used to: 1980-2003

GNSS Modernization

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Where were heading: ~2015

GNSS Modernization

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New GNSS Receivers

General evaluation in progress of current top-of-the-line receivers:

All multi-use: Reference Station, Campaign, RTK

Ashtech ProFlex CORS (ne Magellan ProFlex 500)

Leica GRX1200+

Septentrio PolaRx3eG Pro

Topcon Net-G3A

Trimble NetR8

Hardware on display during Wednesday Afternoon UNAVCO Facility Tour

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New GNSS Receivers

Important Features to be Considered Include:

Conforms to IGS Considerations for Future IGS Receivers Criteria
Tracking characteristics, multipath, many other data quality factors.

Rugged Design
Heat and cold resistant

Power Consumption
Internal batteries for campaign/RTK uses

GNSS Signals
GPS L2C, L5
GLONASS
Galileo, Compass (i.e. Future Proof)

User Interface Characteristics

Accessible via internet, web interface
Cross platform capability
Scriptable command-line control language

Data Logging and Access

High rate performance

Multiple logging sessions, separate memory buffers
Memory size, configuration, expandability (critical for high-rate)
Directory structure, file naming options, server options (e.g. ftp push)
Available data formats (Binex, proprietary formats compatible w/teqc)

Other

Compatibility with existing infrastructure/systems

Support for meteo, tilt meters, and other serial devices
Responsiveness of manufacturer, willingness to collaborate on development
Price

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New GNSS Receivers

Receiver Comparison Trimble NetRS Baseline

Ashtech ProFlex CORS Leica GRX1200+

Septentrio
PolaRx3eG PRO

Trimble NetRS

Trimble NetR8

Topcon Net-G3A

Low Power (<5 Watts)

Yes

Yes

Yes

Yes

Yes

Yes

Internal Battery/UPS (Campaign)

No

Yes

Yes

Yes

Yes

No

Ethernet

Yes

Yes

Yes

Yes

Yes

Yes

Web Server (full control)

Yes

Yes

Limited

Yes

Yes

Future Firmware/Current GUI

ftp Server

Yes

Yes

Yes

Yes

Yes

No

ftp push

No

Yes

No

Yes

Yes

No

email notification

No

Yes

No

No

Yes

No

Scriptable Command-line interface

Yes

Limited

Yes

Yes

No

Yes

Remote firmware upgrade

Yes

Yes

Yes

Yes

Yes

No

Built in Ntrip

No

Yes

Yes

Yes

Yes

No

Built-in PPP

Yes

Yes

Yes

No

No

No

Limited

No

Yes

Yes

Yes

Yes

No

Yes

No

No

Yes

No

Power

Interface/Control

Other serial communications

DynDNS Client
Storage
USB Host (external data storage)
Removable CF card

No

No

Yes* - NO remote access

Yes

No

No

No

No

Yes - 2 GB Max

No

Yes - 1 GB Max

No

1 GB

4 GB

CF Only

128 MB

256 MB

2 GB

GLONASS

No

Yes

Yes

Yes

Yes

Yes

GPS L5

No

Yes

Future Firmware

No

Yes

Yes

GPS L2C

Yes

Yes

Yes

Yes

Yes

Yes

None

3 Codes/SV (e.g. C1, P2, C5)

None

L2-P OR L2C (Not both)

None

L2C OR L5, not both

No

No

Yes

No

Yes

Yes

Yes - 8

Yes - 8

Yes - 2

Yes - 2

Yes - 2

No

Yes

Yes

Future Firmware

Future Firmware

Yes

Future Firmware

10 Hz* (S/N, PR less)

50 Hz* (S/N, PR less)

100 Hz

20 Hz

20 Hz

20 Hz

Yes

Yes

Yes

Yes

Yes

No

Binex support

Yes (7f-03)

Yes (7f-05)

No

No

Yes (7f-05)

No

TCP Streaming

Yes

Yes

Yes

Yes

Yes

Yes

Fixed Internal memory size

Signals

Tracking limitations
Galileo
DataLogging
Multiple Sessions
Configurable memory buffer
High-rate
Met Support

Other Unique Features

email file push

Detailed Constellation Info

Internal GSM Modem

Spectrum Analyzer
Anti-Interference Filter
Upgradeable GNSS Board

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Ashtech ProFlex CORS

Ashtech independent from Magellan January 2010

Eager to reestablish relationship with UNAVCO Community
Responsive to feedback on beta products
No L5 or Galileo hardware yet.

AshtechProFlexCORS

Power
Low Power (<5 Watts)
Internal Battery/UPS (Campaign)

Yes
Yes

Interface/Control
Ethernet
Web Server (full control)
ftp Server
ftp push
email notification
Scriptable Command-line interface
Remote firmware upgrade
Built in Ntrip
Built-in PPP
Other serial communications
DynDNS Client

Yes
Yes
Yes
Yes
No
Yes
Yes
Yes
No
Yes
No

Storage
USB Host (external data storage)
Removable CF card
Fixed Internal memory size
Signals
GLONASS
GPS L5
GPS L2C
Tracking limitations
Galileo
DataLogging
Multiple Sessions
Configurable memory buffer
High-rate
Met Support
Binex support
TCP Streaming
Other Unique Features

Yes
No
128 MB

Yes
No
Yes
L2-P OR L2C (Not both)
No

Yes - 2
Future Firmware
20 Hz
Yes
No
Yes
Internal GSM Modem

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Leica GRX1200+

Advanced web interface

GNSS Binex capability and multiple ring buffers
ATHENA Pricing Program for Educational and non-profit organizations

LeicaGRX1200+

Power
Low Power (<5 Watts)
Internal Battery/UPS (Campaign)

Yes
Yes

Interface/Control
Ethernet
Web Server (full control)
ftp Server
ftp push
email notification
Scriptable Command-line interface
Remote firmware upgrade
Built in Ntrip
Built-in PPP
Other serial communications
DynDNS Client

Yes
Yes
Yes
Yes
Yes
No
Yes
Yes
No
Yes
Yes

Storage
USB Host (external data storage)
Removable CF card
Fixed Internal memory size
Signals
GLONASS
GPS L5
GPS L2C
Tracking limitations
Galileo
DataLogging
Multiple Sessions
Configurable memory buffer
High-rate
Met Support
Binex support
TCP Streaming

No
Yes - 1 GB Max
256 MB

Yes
Yes
Yes
None
Yes

Yes - 2
Yes
20 Hz
Yes
Yes (7f-05)
Yes

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Septentrio PolaRx3eG PRO

Small, flexible company focused on development and special

applications (e.g. strong-motion triggering of high-rate mode).
Unique features such as spectrum analyzer/adaptive interference
mitigation, RT multipath, 2- and 3-antenna Rxs (RT attitude info, etc.)

Power
Low Power (<5 Watts)
Internal Battery/UPS (Campaign)

SeptentrioPolaRx3eGPRO

Yes
No

Interface/Control
Ethernet
Yes
Web Server (full control)
Future Firmware/Current GUI
ftp Server
No
ftp push
No
email notification
No
Scriptable Command-line interface
Yes
Remote firmware upgrade
No
Built in Ntrip
No
Built-in PPP
No
Other serial communications
Yes
DynDNS Client
No
Storage
USB Host (external data storage)
Removable CF card
Fixed Internal memory size
Signals
GLONASS
GPS L5
GPS L2C
Tracking limitations
Galileo
DataLogging
Multiple Sessions
Configurable memory buffer
High-rate
Met Support
Binex support
TCP Streaming
Other Unique Features

No
No
2 GB

Yes
Yes
Yes
L2C OR L5, not both
Yes

No
Future Firmware
20 Hz
No
No
Yes
Spectrum Analyzer
Anti-Interference Filter
Upgradeable GNSS Board

35d
B

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Topcon Net-G3A

Highly configurable with command-line language (1,008 page manual!)

USB Host with unlimited storage capacity (no remote file access)
Future-proof constellation capability.

Power
Low Power (<5 Watts)
Internal Battery/UPS (Campaign)
Interface/Control
Ethernet
Web Server (full control)
ftp Server
ftp push
email notification
Scriptable Command-line interface
Remote firmware upgrade
Built in Ntrip
Built-in PPP
Other serial communications
DynDNS Client
Storage
USB Host (external data storage)
Removable CF card
Fixed Internal memory size
Signals
GLONASS
GPS L5
GPS L2C
Tracking limitations
Galileo
DataLogging
Multiple Sessions
Configurable memory buffer
High-rate
Met Support
Binex support
TCP Streaming
Other Unique Features

TopconNet-G3A

Yes
Yes

Yes
Limited
Yes
No
No
Yes
Yes
Yes
Yes
Yes
No

Yes* - NO remote access

Yes - 2 GB Max
CF Only

Yes
Future Firmware
Yes
None
Yes

Yes - 2
Future Firmware
100 Hz
Yes
No
Yes

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Total control through advanced web interface.

Incorporated many features requested by UNAVCO.
Continued competitive tiered community pricing structure.

Power
Low Power (<5 Watts)
Internal Battery/UPS (Campaign)
Interface/Control
Ethernet
Web Server (full control)
ftp Server
ftp push
email notification
Scriptable Command-line interface
Remote firmware upgrade
Built in Ntrip
Built-in PPP
Other serial communications
DynDNS Client
Storage
USB Host (external data storage)
Removable CF card
Fixed Internal memory size
Signals
GLONASS
GPS L5
GPS L2C
Tracking limitations
Galileo
DataLogging
Multiple Sessions
Configurable memory buffer
High-rate
Met Support
Binex support
TCP Streaming
Other Unique Features

TrimbleNetR8

Yes
Yes

Yes
Yes
Yes
Yes
Yes
Limited
Yes
Yes
Yes
No
Yes

No
No
4 GB

Yes
Yes
Yes
3 Codes/SV (e.g. C1, P2, C5)
No

Yes - 8
Yes
50 Hz* (S/N, PR less)
Yes
Yes (7f-05)
Yes
email file push
Detailed Constellation Info

Trimble NetR8

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Total control through advanced web interface.

Incorporated many features requested by UNAVCO.
Continued competitive tiered community pricing structure.

Power
Low Power (<5 Watts)
Internal Battery/UPS (Campaign)
Interface/Control
Ethernet
Web Server (full control)
ftp Server
ftp push
email notification
Scriptable Command-line interface
Remote firmware upgrade
Built in Ntrip
Built-in PPP
Other serial communications
DynDNS Client
Storage
USB Host (external data storage)
Removable CF card
Fixed Internal memory size
Signals
GLONASS
GPS L5
GPS L2C
Tracking limitations
Galileo
DataLogging
Multiple Sessions
Configurable memory buffer
High-rate
Met Support
Binex support
TCP Streaming
Other Unique Features

TrimbleNetR8

Yes
Yes

Yes
Yes
Yes
Yes
Yes
Limited
Yes
Yes
Yes
No
Yes

No
No
4 GB

Yes
Yes
Yes
3 Codes/SV (e.g. C1, P2, C5)
No

Yes - 8
Yes
50 Hz* (S/N, PR less)
Yes
Yes (7f-05)
Yes
email file push
Detailed Constellation Info

Trimble NetR8

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New GNSS Receiver Evaluation

Whats Next
Solicit community input on evaluation and purchasing priorities.
Online questionnaire
Contact me directly

Formal Request for Information (RFI) to all GNSS Hardware

manufacturers requesting detailed specifications and UNAVCO
member pricing.
Both present and future products.
May request both specific and general information depending on community
requirements.

Proceed with formal evaluation of specific hardware set(s)

Define set of evaluation criteria
Data Quality
Usability
Special Features
???

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New GNSS Receiver Evaluation

In the meantime
Trimble continues semi-annual community purchases with tiered volumedependent prices.
Topcon continues PBO fixed-price agreement on GB-1000 GNSS receivers
under Year 5 terms.
Leica ATHENA prices available to all educational and non-profit research
organizations.
Project-specific RFPs (e.g. USGS, GNS New Zealand)
Small-scale purchases: direct inquiries through UNAVCO.
UNAVCO member price lists may be forthcoming from Ashtech and
Septentrio in the near future.

The Devil is in the Details!

Learn from recent experiences
13 months and 8 iterations of testing to finalize upcoming NetRS firmware!

System complexity makes finding all potential issues and conflicts

impossible, must direct evaluation efforts efficiently.
Make sure you know what you want and get what youve paid for.
FW upgrade period, receiver options such as L5, often not included in base price

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Development and Testing

Conclusions
This is a moving target; technology is evolving very quickly
Most or all manufacturers will be releasing new hardware in 2010.
Maybe a good opportunity to get Last-Years Model discounts.

Buy for now and/or the future?

Wait (if possible) to gather more information, encourage competition
Prioritize requirements for any purchases
My recommendation: use L2C soon, GLONASS for RT, be ready for GPS L5.

There wont be a One size fits all Solution

Purchase price is not the only consideration
Firmware upgrades
Warranty terms
User support for general use or special applications

Future information:
Contact me
Subscribe to UNAVCO Online Knowledge Base: http://facility.unavco.org/kb/

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Development and Testing

Conclusions
This is a moving target; technology is evolving very quickly
Most or all manufacturers will be releasing new hardware in 2010.
Maybe a good opportunity to get Last-Years Model discounts.

Buy for now and/or the future?

Wait (if possible) to gather more information, encourage competition