CORS architecture and evaluation of positioning by low-cost GNSS receiver
Abstract
In recent years, the use of low cost GNSS receivers is becoming widespread due to their increasing performance in the spatial positioning, flexibility, ease of use and really interesting price. In addition, a recent technique of Global Navigation Satellite System (GNSS) survey, called Network Real Time Kinematic (NRTK), allows to obtain to rapid and accurate positioning measurements. The main feature of this approach is to use the raw measurements obtained and stored from a network of Continuously Operating Reference Stations (CORS) in order to generate more reliable error models that can mitigate the distance-dependent errors within the area covered by the CORS. Also, considering the huge potential of this GNSS positioning system, the purpose of this paper is to analyze and investigate the performance of the NTRK approach using a low cost GNSS receiver, in stop-and-go kinematic technique. By several case studies it was shown that, using a low cost RTK board for Arduino environment, a smartphone with open source application for Android and the availability of data correction from CORS service, a quick and accurate positioning can be obtained. Because the measures obtained in this way are quite noisy and, more in general, increasing with the baseline, by a simple and suitable statistic treatment, it was possible to increase the quality of the measure. In this way, this low cost architecture could be applied in many geomatics fields. In addition to presenting the main aspects of the NTRK infrastructure and a review of several types of correction, a general workflow in order to obtain quality data in NRTK mode, regardless of the type of GNSS receiver (multi constellations, single or many frequencies, etc.) is discussed.
Keyword : low-cost receivers, NRTK, GNSS, CORS, Arduino, DGPS
How to Cite
Pepe, M. (2018). CORS architecture and evaluation of positioning by low-cost GNSS receiver. Geodesy and Cartography, 44(2), 36-44. https://doi.org/10.3846/gac.2018.1255
This work is licensed under a Creative Commons Attribution 4.0 International License.
References
Al-Shaery, A., Zhang, S., & Rizos, C. (2013). An enhanced calibration method of GLONASS inter-channel bias for GNSS RTK. GPS solutions, 17(2), 165-173. https://doi.org/10.1007/s10291-012-0269-5
Altamimi, Z., Collilieux, X., Legrand, J., Garayt, B., & Boucher, C. (2007). ITRF2005: A new release of the International Terrestrial Reference Frame based on time series of station positions and Earth Orientation Parameters. Journal of Geophysical Research: Solid Earth, 112(B9). https://doi.org/10.1029/2007JB004949
Altamimi, Z., Rebischung, P., Métivier, L., & Collilieux, X. (2016). ITRF2014: A new release of the International Terrestrial Reference Frame modeling nonlinear station motions. Journal of Geophysical Research: Solid Earth, 121(8), 6109-6131. https://doi.org/10.1002/2016JB013098
Aponte, J., Meng, X., Hill, C., Moore, T., Burbidge, M., & Dodson, A. (2009). Quality assessment of a network-based RTK GPS service in the UK. Journal of Applied Geodesy, 3(1), 25-34. https://doi.org/10.1515/JAG.2009.003
Barbarella, M., Gandolfi, S., Ricucci, L., & Zanutta, A. (2009). The new Italian geodetic reference network (RDN): a comparison of solutions using different software packages. In Proceedings of EUREF Symposium (pp. 27-30). Florence, Italy.
Blewitt, G., Boucher, C., Davies, P. B. H., Heflin, M. B., Herring, T. A., & Kouba, J. (1998). ITRF Densification and continuous realization by the IGS. In Advances in positioning and reference frames (pp. 8-17). Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-03714-0_2
Brown, N., Keenan, R., Richter, B., & Troyer, L. (2005, September). Advances in ambiguity resolution for RTK applications using the new RTCM V3.0 Master-Auxiliary messages. In Proc of ION GNSS 2005, Long Beach, California.
Brutto, M. L., Garraffa, A., & Meli, P. (2014). UAV platforms for cultural heritage survey: first results. ISPRS Annals of the Photogrammetry. Remote Sensing and Spatial Information Sciences, 2(5), 227. https://doi.org/10.5194/isprsannals-II-5-227-2014
Cai, Y., Cheng, P., Meng, X., Tang, W., & Shi, C. (2011). Using network RTK corrections and low-cost GPS receiver for precise mass market positioning and navigation applications. In Intelligent Vehicles Symposium (IV), pp. 345-349. https://doi.org/10.1109/IVS.2011.5940570
Caldera, S. (2010). GNSS permanent networks monitoring: problems and solution: PhD Thesis.
Cina, A., Dabove, P., Manzino, A., & Piras, M. (2015). Network Real Time Kinematic (NRTK) positioning-description, architectures and performances. https://doi.org/10.5772/59083
Commins, R., & Janssen, V. (2012). Improving GNSS CORS Design: The CORSnet-NSW AdjusTable Antenna Mount (CAAM). Journal of Global Positioning Systems, 11(2), 109-115. https://doi.org/10.5081/jgps.11.2.109
Dabove, P., & Manzino, A., M. (2014). GPS & GLONASS massmarket receivers: positioning performances and peculiarities. Sensors, 14(2), 22159-22179. https://doi.org/10.3390/s141222159
Djaja, K., Putera, R., Rohman, A. F., Nanditho, I. S. G., & Suyanti, E. (2017). The integration of geography information system (GIS) and global navigation satellite system-real time kinematic (GNSS-RTK) for land use monitoring. International Journal of GEOMATE, 13(36), 31-34. https://doi.org/10.21660/2017.36.2768
Dobelis, D., & Zvirgzds, J. (2016). Network RTK performance analysis: a case study in Latvia. Geodesy and Cartography, 42(3), 69-74. https://doi.org/10.3846/20296991.2016.1226383
El-Mowafy, A. (2012). Precise real-time positioning using Network RTK. In Sh. Jin (Ed.), Global navigation satellite systems: signal, theory and applications (7, pp. 161-188). InTech. https://doi.org/10.5772/29502
Gandolfi, S. (2015), Impact of the updating of the National geodetic reference frame. iBollettino dell’Associazione Italiana di Cartografia, 153, 51-62.
Garrido, M. S., Giménez, E., de Lacy, M. C., & Gil, A. J. (2011). Testing precise positioning using RTK and NRTK corrections provided by MAC and VRS approaches in SE Spain. Journal of Spatial Science, 56(2), 169-184. https://doi.org/10.1080/14498596.2011.623341
Hofmann-Wellenhof, B., Lichtenegger, H., & Collins, J. (2012). Global positioning system: theory and practice. Springer Science & Business Media. https://doi.org/10.1007/978-3-7091-6199-9
Hossam-e-Haider, M., & Qishan, Z. (2000). Comparative study on OEM-based differential GPS. In Proceedings of the 13th International Technical Meeting of the Satellite Division of the Institute of Navigation (pp. 305-310).
Janssen, V. (2009, December). A comparison of the VRS and MAC principles for network RTK. In IGNSS 2009 Symposium. Surfers Paradise, Australia.
Kaplan, E., & Hegarty, C. (2005). Understanding GPS: principles and applications. Artech house.
Kitamura, M., Yasuoka, Y., & Suzuki, T. (2013). Path planning for autonomous vehicles using QZSS and satellite visibility map. Journal of Robotics and Mechatronics, 25(2), 400-407. https://doi.org/10.20965/jrm.2013.p0400
Lachapelle, G., Ryan, S., & Rizos, C. (2002). Servicing the GPS user. In J. Bossler, J. Jenson, R. McMaster & C. Rizos (Eds.), Manual of geospatial science and technology (Chapter 14, pp. 201-215). Taylor & Francis Inc.
Landau, H., Vollath, U., & Chen, X. (2009). Virtual reference station systems, Positioning, 1(2). Leica Geosystems. (2017). Last accessed 18/02/2017. Retrieved from http://leica-geosystems.com/services-and-support/smartnet---satellite-positioning
Odijk, D., & Teunissen, P. (2011). A theoretical study on the bottlenecks of GPS phase ambiguity resolution in a CORS RTK Network. Journal of Geodetic Science, 1(2), 143-153. https://doi.org/10.2478/v10156-010-0017-0
Odolinski, R. (2010). Swedish user guidelines for network RTK. In Proceedings of the XXIV FIG International Congress. Sydney, Australia.
Osório, I., & Cunha, M. (2013). The role of the TRS in precision agriculture: DGPS with EGNOS and RTK Positioning using data from NTRIP streams. In Reference frames for applications in geosciences (pp. 277-282). Berlin, Heidelberg: Springer. https://doi.org/10.1007/978-3-642-32998-2_40
Parkinson, B. W., & Enge, P. K. (1996). Differential GPS. In B. W. Parkinson, J. J. Spilker, P. Axelrad & P. Enge (Eds.). Global Positioning System: Theory and Applications (Vol. 2, pp. 3-50). Washington: American Institute of Aeronautics and Astronautics. https://doi.org/10.2514/5.9781600866395.0003.0050
Pepe, M. (2017a). Use of digital aerial photogrammetry sensors for land cover classification. International Journal of Applied Engineering Research, 12(24), 15610-15620.
Pepe, M. (2017b). A survey by Airborne Laser Scanner of open large structure: A case study of Pompeii Amphitheatre. ARPN Journal of Engineering and Applied Sciences, 12(21), 1-11.
Pepe, M., Fregonese, L., & Scaioni, M. (2018). Planning airborne photogrammetry and remote-sensing missions with modern platforms and sensors. European Journal of Remote Sensing, 51(1), 412-435. https://doi.org/10.1080/22797254.2018.1444945
Retscher, G. (2002). Accuracy performance of Virtual Reference Station (VRS) networks. Positioning, 1(3). https://doi.org/10.5081/jgps.1.1.40
Rizos, C., & Satirapod, C. (2011). Contribution of GNSS CORS infrastructure to the mission of modern geodesy and status of GNSS CORS in Thailand. Engineering Journal, 11(1), 25-42. https://doi.org/10.4186/ej.2011.15.1.25
Takasu, T., & Yasuda, A. (2009). Development of the low-cost RTK-GPS receiver with an open source program package RT-KLIB. In International Symposium on GPS/GNSS (pp. 4-6). Jeju, Korea: International Convention Centre.
Tsakiri, M., Sioulis, A., & Piniotis, G. (2016). The use of low-cost, single-frequency GNSS receivers in mapping surveys. Survey Review, pp 1-11. https://doi.org/10.1080/00396265.2016.1222344
Usui, S., Higuchi, H., Kanda, J., Wakimoto, K., Tanaka, S., & Satoh, F. (2004, June). Nation-wide RTK-GPS based on FKP method and applications for human navigation and location based services. In 2004 IEEE International Conference on Multimedia and Expo (ICME) (vol. 3, pp. 1587-1590). Taipei, Taiwan. https://doi.org/10.1109/ICME.2004.1394552
Wiśniewski, B., Bruniecki, K., & Moszyński, M. (2013). Evaluation of RTKLIB’s Positioning Accuracy Using low-cost GNSS Receiver and ASG-EUPOS. TransNav: International Journal on Marine Navigation and Safety of Sea Transportation, 7(1), 79-85. https://doi.org/10.12716/1001.07.01.10
Altamimi, Z., Collilieux, X., Legrand, J., Garayt, B., & Boucher, C. (2007). ITRF2005: A new release of the International Terrestrial Reference Frame based on time series of station positions and Earth Orientation Parameters. Journal of Geophysical Research: Solid Earth, 112(B9). https://doi.org/10.1029/2007JB004949
Altamimi, Z., Rebischung, P., Métivier, L., & Collilieux, X. (2016). ITRF2014: A new release of the International Terrestrial Reference Frame modeling nonlinear station motions. Journal of Geophysical Research: Solid Earth, 121(8), 6109-6131. https://doi.org/10.1002/2016JB013098
Aponte, J., Meng, X., Hill, C., Moore, T., Burbidge, M., & Dodson, A. (2009). Quality assessment of a network-based RTK GPS service in the UK. Journal of Applied Geodesy, 3(1), 25-34. https://doi.org/10.1515/JAG.2009.003
Barbarella, M., Gandolfi, S., Ricucci, L., & Zanutta, A. (2009). The new Italian geodetic reference network (RDN): a comparison of solutions using different software packages. In Proceedings of EUREF Symposium (pp. 27-30). Florence, Italy.
Blewitt, G., Boucher, C., Davies, P. B. H., Heflin, M. B., Herring, T. A., & Kouba, J. (1998). ITRF Densification and continuous realization by the IGS. In Advances in positioning and reference frames (pp. 8-17). Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-03714-0_2
Brown, N., Keenan, R., Richter, B., & Troyer, L. (2005, September). Advances in ambiguity resolution for RTK applications using the new RTCM V3.0 Master-Auxiliary messages. In Proc of ION GNSS 2005, Long Beach, California.
Brutto, M. L., Garraffa, A., & Meli, P. (2014). UAV platforms for cultural heritage survey: first results. ISPRS Annals of the Photogrammetry. Remote Sensing and Spatial Information Sciences, 2(5), 227. https://doi.org/10.5194/isprsannals-II-5-227-2014
Cai, Y., Cheng, P., Meng, X., Tang, W., & Shi, C. (2011). Using network RTK corrections and low-cost GPS receiver for precise mass market positioning and navigation applications. In Intelligent Vehicles Symposium (IV), pp. 345-349. https://doi.org/10.1109/IVS.2011.5940570
Caldera, S. (2010). GNSS permanent networks monitoring: problems and solution: PhD Thesis.
Cina, A., Dabove, P., Manzino, A., & Piras, M. (2015). Network Real Time Kinematic (NRTK) positioning-description, architectures and performances. https://doi.org/10.5772/59083
Commins, R., & Janssen, V. (2012). Improving GNSS CORS Design: The CORSnet-NSW AdjusTable Antenna Mount (CAAM). Journal of Global Positioning Systems, 11(2), 109-115. https://doi.org/10.5081/jgps.11.2.109
Dabove, P., & Manzino, A., M. (2014). GPS & GLONASS massmarket receivers: positioning performances and peculiarities. Sensors, 14(2), 22159-22179. https://doi.org/10.3390/s141222159
Djaja, K., Putera, R., Rohman, A. F., Nanditho, I. S. G., & Suyanti, E. (2017). The integration of geography information system (GIS) and global navigation satellite system-real time kinematic (GNSS-RTK) for land use monitoring. International Journal of GEOMATE, 13(36), 31-34. https://doi.org/10.21660/2017.36.2768
Dobelis, D., & Zvirgzds, J. (2016). Network RTK performance analysis: a case study in Latvia. Geodesy and Cartography, 42(3), 69-74. https://doi.org/10.3846/20296991.2016.1226383
El-Mowafy, A. (2012). Precise real-time positioning using Network RTK. In Sh. Jin (Ed.), Global navigation satellite systems: signal, theory and applications (7, pp. 161-188). InTech. https://doi.org/10.5772/29502
Gandolfi, S. (2015), Impact of the updating of the National geodetic reference frame. iBollettino dell’Associazione Italiana di Cartografia, 153, 51-62.
Garrido, M. S., Giménez, E., de Lacy, M. C., & Gil, A. J. (2011). Testing precise positioning using RTK and NRTK corrections provided by MAC and VRS approaches in SE Spain. Journal of Spatial Science, 56(2), 169-184. https://doi.org/10.1080/14498596.2011.623341
Hofmann-Wellenhof, B., Lichtenegger, H., & Collins, J. (2012). Global positioning system: theory and practice. Springer Science & Business Media. https://doi.org/10.1007/978-3-7091-6199-9
Hossam-e-Haider, M., & Qishan, Z. (2000). Comparative study on OEM-based differential GPS. In Proceedings of the 13th International Technical Meeting of the Satellite Division of the Institute of Navigation (pp. 305-310).
Janssen, V. (2009, December). A comparison of the VRS and MAC principles for network RTK. In IGNSS 2009 Symposium. Surfers Paradise, Australia.
Kaplan, E., & Hegarty, C. (2005). Understanding GPS: principles and applications. Artech house.
Kitamura, M., Yasuoka, Y., & Suzuki, T. (2013). Path planning for autonomous vehicles using QZSS and satellite visibility map. Journal of Robotics and Mechatronics, 25(2), 400-407. https://doi.org/10.20965/jrm.2013.p0400
Lachapelle, G., Ryan, S., & Rizos, C. (2002). Servicing the GPS user. In J. Bossler, J. Jenson, R. McMaster & C. Rizos (Eds.), Manual of geospatial science and technology (Chapter 14, pp. 201-215). Taylor & Francis Inc.
Landau, H., Vollath, U., & Chen, X. (2009). Virtual reference station systems, Positioning, 1(2). Leica Geosystems. (2017). Last accessed 18/02/2017. Retrieved from http://leica-geosystems.com/services-and-support/smartnet---satellite-positioning
Odijk, D., & Teunissen, P. (2011). A theoretical study on the bottlenecks of GPS phase ambiguity resolution in a CORS RTK Network. Journal of Geodetic Science, 1(2), 143-153. https://doi.org/10.2478/v10156-010-0017-0
Odolinski, R. (2010). Swedish user guidelines for network RTK. In Proceedings of the XXIV FIG International Congress. Sydney, Australia.
Osório, I., & Cunha, M. (2013). The role of the TRS in precision agriculture: DGPS with EGNOS and RTK Positioning using data from NTRIP streams. In Reference frames for applications in geosciences (pp. 277-282). Berlin, Heidelberg: Springer. https://doi.org/10.1007/978-3-642-32998-2_40
Parkinson, B. W., & Enge, P. K. (1996). Differential GPS. In B. W. Parkinson, J. J. Spilker, P. Axelrad & P. Enge (Eds.). Global Positioning System: Theory and Applications (Vol. 2, pp. 3-50). Washington: American Institute of Aeronautics and Astronautics. https://doi.org/10.2514/5.9781600866395.0003.0050
Pepe, M. (2017a). Use of digital aerial photogrammetry sensors for land cover classification. International Journal of Applied Engineering Research, 12(24), 15610-15620.
Pepe, M. (2017b). A survey by Airborne Laser Scanner of open large structure: A case study of Pompeii Amphitheatre. ARPN Journal of Engineering and Applied Sciences, 12(21), 1-11.
Pepe, M., Fregonese, L., & Scaioni, M. (2018). Planning airborne photogrammetry and remote-sensing missions with modern platforms and sensors. European Journal of Remote Sensing, 51(1), 412-435. https://doi.org/10.1080/22797254.2018.1444945
Retscher, G. (2002). Accuracy performance of Virtual Reference Station (VRS) networks. Positioning, 1(3). https://doi.org/10.5081/jgps.1.1.40
Rizos, C., & Satirapod, C. (2011). Contribution of GNSS CORS infrastructure to the mission of modern geodesy and status of GNSS CORS in Thailand. Engineering Journal, 11(1), 25-42. https://doi.org/10.4186/ej.2011.15.1.25
Takasu, T., & Yasuda, A. (2009). Development of the low-cost RTK-GPS receiver with an open source program package RT-KLIB. In International Symposium on GPS/GNSS (pp. 4-6). Jeju, Korea: International Convention Centre.
Tsakiri, M., Sioulis, A., & Piniotis, G. (2016). The use of low-cost, single-frequency GNSS receivers in mapping surveys. Survey Review, pp 1-11. https://doi.org/10.1080/00396265.2016.1222344
Usui, S., Higuchi, H., Kanda, J., Wakimoto, K., Tanaka, S., & Satoh, F. (2004, June). Nation-wide RTK-GPS based on FKP method and applications for human navigation and location based services. In 2004 IEEE International Conference on Multimedia and Expo (ICME) (vol. 3, pp. 1587-1590). Taipei, Taiwan. https://doi.org/10.1109/ICME.2004.1394552
Wiśniewski, B., Bruniecki, K., & Moszyński, M. (2013). Evaluation of RTKLIB’s Positioning Accuracy Using low-cost GNSS Receiver and ASG-EUPOS. TransNav: International Journal on Marine Navigation and Safety of Sea Transportation, 7(1), 79-85. https://doi.org/10.12716/1001.07.01.10