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Roland Liaubet (CLS) [email protected] Jean-Pierre Malardé (CLS) [email protected] ARGOS LOCATION CALCULATION. Argos location principles Standard location processing description Others types of location Argos location class definition, interpretation and limits

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Argos location calculation l.jpg

Roland Liaubet (CLS)

[email protected]

Jean-Pierre Malardé (CLS)

[email protected]

ARGOS LOCATIONCALCULATION


Summary l.jpg

Argos location principles

Standard location processing description

Others types of location

Argos location class definition, interpretation and limits

Argos location : main causes of error

How to improve your number of locations and their accuracy

Argos location software improvements foreseen

Summary


Argos location principles l.jpg

Location based on Doppler shift measured on each message

Argos location principles

Apparent frequency shift observed

when the receiver and the transmitter

are in motion relative to each other


Doppler curve characteristics tca cta definition l.jpg

TCA Time of Closest Approach

CTA Cross Track Angle

Doppler curve characteristicsTCA/CTA definition

Distance too short

Doppler shift

Sub-satellite track

Cross

Track

Angle

CTA

TX

Time of closest

approach

TCA

Time

Distance

too long

CTA also called distance from the ground sat track


Argos location principles5 l.jpg

3 Hypothesis :

Transmission frequency is stable during the satellite pass

The platform is motionless during the satellite pass ( in principle)

the altitude is known

Argos location principles


Standard location processing l.jpg

The location process follows 7 steps:

A priori checks

Geometric initialization

Newton linearization

Least-squares method

Removing ambiguity

Plausibility checks

Location class estimation

Standard location processing


Standard location processing7 l.jpg

Standard location is attempted if at least 4 messages are received during a satellite pass

3 parameters are calculated :

latitude,

longitude,

transmission frequency

Standard location processing

1 : A priori checks


Standard location processing8 l.jpg

TX frequency received during a satellite passcalculated from the previous satellite pass

2 messages -> 2 Doppler shifts -> 2 cones

Intersection with ellipsoid = 2 positions

Which is the true position?

Which is the mirror position?

Standard location processing

2 - Geometric initialization

V1

V2


Standard location processing9 l.jpg
Standard location processing received during a satellite pass

4 : Least-squares method

Minimize the quantity :

IC = SQRT (|| AX-F||2) = SQRT [ Σni=1( Fri – Fci)2/ (n-3)]

The iterative processing

stops when the residual

error does not change

significantly from an

iteration to the next one

Fr

IC = internal consistency or residual error


Standard location processing10 l.jpg

Convergence received during a satellite pass

towards the

true position

Convergence

towards the

mirror position

Standard location processing

5 : Removing ambiguity

Satellite

ground

track


Radius error calculation l.jpg

Where : received during a satellite pass

K : is the coefficient corresponding to the probability that the actual location of the transmitter is inside the circle with radius R. K = 1,414…corresponds to a probability of approximately 63% (*)

HDOP : is the horizontal dilution of precision (*)

Q : is the frequency noise estimator ( residual error)

B : is the orbit error (B=100 m)

Radius error calculation

The radius R of the circle of error is given by:

(*) Argos location is assumed to be a bi-normal distribution

(*) HDOP can be interpreted as the geometrical factor of observation error propagation


Hdop effect on location accuracy l.jpg

Good HDOP received during a satellite pass

T=120s

T=60s

T=30s

HDOP effect on location accuracy

At 8°, error = 1.414*200*0.25 ~ 70 m

At 2°, error = 1.414*600*0.25 ~212 m

TX at the horizon

(2500km)

TX closed

to sat track


Effect of the ptt position relative to satellite ground track l.jpg
Effect of the PTT position received during a satellite passrelative to satellite ground track

Curves

intersection

is not precise

Poor HDOP

Curves

intersection

is not precise

Poor HDOP

Curves

intersection

is optimal

Good HDOP


Classification limits l.jpg

Residual error translates random errors received during a satellite pass

Modeling errors or bias errors ( except for orbit error) are not taken into account in the ARGOS location and underestimated when calculating the radius of the circle of error

Classification limits


Two message location processing l.jpg

Only latitude and longitude are calculated. We assume the transmission frequency has not changed since the last location ( CLASS B)

A priori checks

Geometric initialization

Removing ambiguity

1 criterion :minimum distance traveled from last location

Plausibility checks

2 criteria:

Solution selected matches minimum distance traveled from the previous location

Distance traveled from the previous location is compatible with the maximum velocity of the platform

Two-message location processing


Two message location l.jpg

Location accuracy depends chiefly on the difference between the transmission frequency used in the geometric initialization and the actual PTT transmission frequency

Two-message location


Three message location l.jpg

Latitude, longitude and transmission frequency are calculated. We assume the transmission frequency noise is negligible ( CLASS A)

A priori checks

Geometric initialization

Newton linearization

Resolution of a precisely determined linear system

Removing ambiguity

Frequency continuity with respect to the last calculated frequency

Minimum distance traveled from last location

Plausibility checks

Transmitter frequency of the chosen solution is significantly closer to the previous calculated frequency than than the one of the solution candidate

Minimum distance traveled from last location

Distance traveled from the previous location is compatible with the maximum velocity of the platform

Three message location


Standard location assuming a moving ptt l.jpg

The platform is assumed to be moving from its previous location with a mean velocity in latitude and longitude ( and during the current satellite pass)

Standard location assuming a moving PTT

Standard locations only

0.5 h < delta T < 3.5 h

Pnew

Plast

The new location is kept if the residual error (IC) is smaller than the one obtained for a stationary platform


Argos location main sources of error l.jpg
Argos location : main sources of error location with a mean velocity in latitude and longitude ( and during the current satellite pass)

- timestamp

- orbit error

Hardware

- ionosphere

- troposphere

TX power

- relativistic effect

Hardware

- Speed

- Altitude

- CTA


Error caused by frequency drift due to temperature variation l.jpg
Error caused by frequency drift location with a mean velocity in latitude and longitude ( and during the current satellite pass)( due to temperature variation )

Doppler shift without freq. drift

Measured Doppler shift

Real position

Computed position

Drift


Errors uso quality l.jpg
errors : USO quality location with a mean velocity in latitude and longitude ( and during the current satellite pass)


Error due to frequency drift l.jpg

Error due to platform speed location with a mean velocity in latitude and longitude ( and during the current satellite pass)

Error due to frequency drift

400 m

7 km

Elat(m) = 200*Vlat(km/h)

Elon(m) = 100*Vlon(km/h)


Error of altitude l.jpg
Error of location with a mean velocity in latitude and longitude ( and during the current satellite pass)altitude

Error due topropagation in ionosphere

2.0 km

0.5 km


L activit solaire l.jpg
L ’activité solaire location with a mean velocity in latitude and longitude ( and during the current satellite pass)


Solar activity affects orbit precision l.jpg
Solar activity affects orbit precision location with a mean velocity in latitude and longitude ( and during the current satellite pass)


Impact of output power l.jpg
Impact of output power location with a mean velocity in latitude and longitude ( and during the current satellite pass)

PTT 18781 - CLASSES 1,2,3 - KL

Nesdis data streams

100

90

2W

80

70

60

%

50

40

0,25 W

30

20

10

0

0

250

500

750

1000

1250

1500

1750

2000

Distance from the true position (m)


Location performance l.jpg
Location performance location with a mean velocity in latitude and longitude ( and during the current satellite pass)


How to improve your locations l.jpg
How to improve your locations location with a mean velocity in latitude and longitude ( and during the current satellite pass)

  • How to increase the number of messages received per satellite pass

  • How to improve the location accuracy


More location better precision l.jpg

Number of locations : location with a mean velocity in latitude and longitude ( and during the current satellite pass)Today, not enough messages received per satellite pass : it is the biggest cause of location problems

Several explanations can be put forward :

repetition rate too low,

hardware quality and antenna efficiency,

TX signal power too weak,

TX environment (surrounding noise),

data loss due to system occupancy ( TX concentration and transmission at the same frequency).

More location & better Precision


More locations better precision l.jpg

How to increase the number of messages received and improve location accuracy

Use multi-satellite service,

Select good quality USO ( CLASS A recommended)

Tuning TX parameters such as :

output power,

repetition rate,

transmission frequency ( outside the Argos 1 band)

Declare platform (average) altitude

Declare correct maximum velocity of the platform

More locations & better Precision


Using a dem in argos location l.jpg

Current status location accuracy

PTT altitude is assumed to be known

An error in PTT altitude is translated into an error varying between ½ and 4 times on longitude

Command MOD is not much used

Land platforms represent 20 %

DEM : digital Elevation Model

Using a DEM in Argos location


Usgs model l.jpg
USGS Model location accuracy

30’’ arc resolution / 100 m accuracy (  1000 m)


Statistic in the european zone l.jpg
Statistic in location accuracy the European zone

Altitude declared at the User Office : 0 m in 93 % of cases

Altitude error greater than 100 m in 40%


Validation l.jpg

Experimentation location accuracy

Validation

Dh = 1000m

Dh = 0m

Using a DEM


Multi pass location l.jpg
Multi-pass location location accuracy

  • Current status :

  • Only single pass location

  • Seven satellites in operation

  • Waiting time between two successive satellite overpasses at 43 ° latitude :

    • 5 % : less than 5 minutes

    • 25 % : less than 10 minutes

    • 57 % : less than 15 minutes


Multi pass location36 l.jpg

Selected location accuracy

PTT Location

Multi-pass location


Example l.jpg
Example location accuracy


Slide38 l.jpg

Multi-pass location location accuracy

Advantages

  • Increase the number of standard locations

  • Decrease the risk of selecting the wrong solution

Disadvantages

  • When the TX is drifting too much

  • When the platform is moving with a high speed


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