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kinpos. GPS Kinematic Positioning Program Dr. G. L. Mader. kinpos. K A R S. kinematic. rapid-static. kinpos. Kinematic GPS. double difference phase.  2  j + N j = [ ( x j - x ) x + ( y j - y ) y + ( z j - z ) z ] / D j. Ambiguity search:. at least 4 dd’s

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Kinpos

kinpos

GPS Kinematic Positioning Program

Dr. G. L. Mader

G. L. Mader


Kinpos1

kinpos

K A R S

kinematic

rapid-static

kinpos

G. L. Mader


Kinematic gps

Kinematic GPS

double difference phase

2  j + N j = [ ( xj - x ) x + ( yj - y ) y + ( zj - z ) z ] / Dj

Ambiguity search:

at least 4 dd’s

trial suites of N j

track rms for each suite

double difference bias

G. L. Mader


C kars directory

C:\KARS DIRECTORY

c:

Kinpos.exe

ant_info.001

splot.exe

dos4gw.exe

c:\kars

Create the directory c:\kars

Copy the above files to this directory

G. L. Mader


System files

SYSTEM FILES

  • Add c:\kars to the PATH in the AUTOEXEC.BAT file.

    Go to the c: drive.

    Edit AUTOEXEC.BAT

    Add: PATH=%PATH%;c:\kars

  • Add ANSI character set to the CONFIG.SYS file.

    Go to the c: drive

    Edit CONFIG.SYS

    Add: DEVICE=C:\WINDOWS\COMMAND\ANSI.SYS

  • Reboot the computer

G. L. Mader


Kars ini

kars.ini

  • The kars.ini file resides in c:\kars

  • It tells kinpos the path to the current project

  • Create/modify kars.ini by:

    edit kars.ini

    type project path (ex. c:\project\98aug09

G. L. Mader


Project directory

PROJECT DIRECTORY

RINEX Observation and Navigation files and SP3 files

Data

Project Name

97_252

kinpos.inp

param

kars.edt

phifix

97_253

Create project directory(s) as suggested above

Load rover and reference rinex files, orbit files

G. L. Mader


Input files

Input Files

kinpos.inp

File specifying start/stop times, location of data files, run options, and plot options.

param

File containing the numerical values of various parameters.

phifix

File containing the values of the integer bias, if known, at a particular time to start the phase solution without an otf ambiguity search. This file is optional: a blank or missing file will initiate an otf search.

kars.edt

File containing edit instructions for the kinpos program. This file is optional and is usually used to delete bad data.

ant_info.001

File containing antenna offsets and phase center variations with elevation for a catalog of standard antennas.

G. L. Mader


Input files1

Input Files

****###*.##o

Rinex observation files for the rover and reference data.

****###*.##n

Rinex navigation file.

***#####.sp3

Standard sp3 format file for satellite ephemerides. This file is optional. If precise ephemeris option is not elected, this file is not read and satellite positions are determined from the broadcast message in the navigation file.

G. L. Mader


Kinpos inp

kinpos.inp

start time (ymdhms)

stop time (ymdhms)

run options

plot options

rover rinex file path/name

rover xyz

rover n,e,u [xyz] to ARP

T(C), P(mBar), H(%)

rover standard antenna name

ref rinex file path/name

ref xyz

ref n,e,u [xyz] to ARP

T(C), P(mBar), H(%)

ref standard antenna name

rinex nav file path/name

orbit file path/name

antenna file path/name

96 12 03 16 40 18.0

96 12 03 17 48 00.0

0 1 0 0 1 1 0 1 3 1 1 1 0

1 1 1 1 0 0 0 0 1 1 0 1 1

/mz3/sfbay/96_338a/data/BS06338A.96O

-2700502.685 -4261785.127 3888805.845

0.000 0.000 0.000

15. 1010. 75.

TRM 22020.00

/mz3/sfbay/96_338a/data/BOUY338x.96O

-2700502.685 -4261785.127 3888805.845

0.000 0.000 2.0625

15. 1010. 75.

TRM 22020.00

/mz3/sfbay/96_338a/data/BS06338A.96N

/mz3/sfbay/96_338a/data/igs08822.sp3

/mz1/antcal/ant_info.001

G. L. Mader


Kinpos inp1

kinpos.inp

The xyz position (m) of the reference station should be as accurate as possible. The vector positions for the rover contained in the psolxyz output file are weakly dependent on this position, but the rover positions are relative to this position. The program needs to know the antenna phase center position. It will obtain this by adding to this xyz position the up component of the eccentricty given here by the user, and the up offset contained in the antenna info file for the antenna named by the user.

96 12 03 16 40 18.0

96 12 03 17 48 00.0

0 1 0 0 1 1 0 1 3 1 1 1 0

1 1 1 1 0 0 0 0 1 1 0 1 1

/mz3/sfbay/96_338a/data/BS06338A.96O

-2700502.685 -4261785.127 3888805.845

0.000 0.000 0.000

15. 1010. 75.

TRM 22020.00

/mz3/sfbay/96_338a/data/BOUY338x.96O

-2700502.685 -4261785.127 3888805.845

0.000 0.000 2.0625

15. 1010. 75.

TRM 22020.00

/mz3/sfbay/96_338a/data/BS06338A.96N

/mz3/sfbay/96_338a/data/igs08822.sp3

/mz1/antcal/ant_info.001

G. L. Mader


Kinpos inp2

kinpos.inp

When kinpos is running it will display on the screen the displacement of the rover from this position. It will also produce an output file (psolneu) with the approximate n,e,u displacements of the rover from this position. This position otherwise has no significance for the ambiguity search unless the constrained search position option is selected. In that case this position (plus the antenna reference point eccentricity and antenna offset) becomes the center search position.

96 12 03 16 40 18.0

96 12 03 17 48 00.0

0 1 0 0 1 1 0 1 3 1 1 1 0

1 1 1 1 0 0 0 0 1 1 0 1 1

/mz3/sfbay/96_338a/data/BS06338A.96O

-2700502.685 -4261785.127 3888805.845

0.000 0.000 0.000

15. 1010. 75.

TRM 22020.00

/mz3/sfbay/96_338a/data/BOUY338x.96O

-2700502.685 -4261785.127 3888805.845

0.000 0.000 2.0625

15. 1010. 75.

TRM 22020.00

/mz3/sfbay/96_338a/data/BS06338A.96N

/mz3/sfbay/96_338a/data/igs08822.sp3

/mz1/antcal/ant_info.001

G. L. Mader


Kinpos inp3

kinpos.inp

The antenna names that are entered here must be the standard form as found in the ant_info.001 file that may be found at www.grdl.noaa.gov/GRD/

PROJECTS/ANTCAL/. This entry may not be left blank. If no match is found, the antenna offsets and phase variation are set to zero. The user must be cautious how the components of the antenna position are used.

96 12 03 16 40 18.0

96 12 03 17 48 00.0

0 1 0 0 1 1 0 1 3 1 1 1 0

1 1 1 1 0 0 0 0 1 1 0 1 1

/mz3/sfbay/96_338a/data/BS06338A.96O

-2700502.685 -4261785.127 3888805.845

0.000 0.000 0.000

15. 1010. 75.

TRM 22020.00

/mz3/sfbay/96_338a/data/BOUY338x.96O

-2700502.685 -4261785.127 3888805.845

0.000 0.000 2.0625

15. 1010. 75.

TRM 22020.00

/mz3/sfbay/96_338a/data/BS06338A.96N

/mz3/sfbay/96_338a/data/igs08822.sp3

/mz1/antcal/ant_info.001

G. L. Mader


Kinpos inp4

kinpos.inp

L1 phase center

offset from ant_info.001

antenna reference point (ARP)

up component from user

xyz from user

G. L. Mader


Kinpos inp run options

kinpos.inp - run options

0 1 0 0 1 1 0 1 3 1 1 1 0

0 1 0 0 1 1 0 1 3 1 1 1 0

Controls the source of the position used for the ambiguity search volume. 0=use the pseudorange solution position (normal case for kinematic), 1=use the rover position in kinpos.inp (used for static data).

Selects the source of the file for determining satellite positions. 0=use the broadcast ephemeris contained in the rinex nav file (no sp3 file will be read), 1=use a precise sp3 format format specified by the user.

Controls if a relative tropospheric scale factor is to be solved as part of the kinematic solution. 0=don’t solve, 1=solve for tropo scale factor.

G. L. Mader


Kinpos inp run options1

kinpos.inp - run options

0 1 0 0 1 1 0 1 3 1 1 1 0

Controls if the phase&range widelane will be used to filter integer choices. 0=don’t use this widelane filter, 1=use this filter (recommended response is 0).

Controls if the sigma from the widelane phase solution will be used to rescale the integer suite selection process. 0=don’t use, 1=use this rescaling. (recommended response is 1).

Controls if the position difference between the widelane phase solution and the L3 solution will be used to rescale the integer suite selection process. 0=don’t use, 1=use this rescaling. (recommended response is 1).

G. L. Mader


Kinpos inp run options2

kinpos.inp - run options

0 1 0 0 1 1 0 1 3 1 1 1 0

Controls if the ellipsoid search height during an otf search is to be constrained to the last good phase solution height. Used for ocean surface work. 0=don’t constrain, 1=constrain.

Controls the range solution frequency. There are two choices: 1=L1 solution (single frequency), 2=ion free (dual frequency).

Controls the phase solution frequency. There are 3 choices: 1=L1 only, 2=L1 and L2 combined as 2 single frequency data types, 3=ion free.

G. L. Mader


Kinpos inp run options3

kinpos.inp - run options

0 1 0 0 1 1 0 1 3 1 1 1 0

Controls if a differential pseudorange solution is to be done. 0=don’t do the range solution, 1=do the range solution.

Controls if a double difference phase solution is to be done. 0=don’t do the phase solution, 1=do the phase solution.

Controls if a widelane phase solution is to be included during the processing. This solution is intended as a diagnostic to evaluate its utility during ambiguity searches. 0=don’t do, 1=do widelane phase solution and include in dif plot file.

G. L. Mader


Kinpos inp run options4

kinpos.inp - run options

0 1 0 0 1 1 0 1 3 1 1 1 0

Controls if a global solution for ambiguities is to be attempted. Used when normal otf techniques may not work. If used, data segment must be cycle slip free. 0=don’t do (recommended), 1=do global integer solution.

G. L. Mader


Kinpos inp plot options

kinpos.inp - plot options

pmr

elv

svn

rsl

psl

tsf

qck

ion

wln

rrs

prs

cor

dif

1 1 1 1 0 0 0 0 1 1 0 1 1

ion residual

phase-range

widelane

# of sv’s

range solution residuals

range solution

phase solution residuals

phase solution

ion corrections

tropo scale factor

rng-phs,wln-phs soln diffs

rng & phs rdop & rms

elevation

G. L. Mader


Param

15.0

1 1

2.0 2.0 2.0

0.5 0.5 0.5

8000.000

2000.000

6378135.000

0.00335278

0.04

0.02

0.03

0.00

0.3

2.0

0.30

2.00

0.06

30

PARAM

Elevation cutoff angle (deg). No observations below this cutoff will be used.

L1, L2 wavelength scale factors. A ‘1’ means full wavelength, a ‘2’ means half wavelength (frequency squaring). If either receiver used frequency squaring, a 2 must appear for the appropriate frequency

G. L. Mader


Param1

15.0

1 1

2.0 2.0 2.0

0.5 0.5 0.5

8000.000

2000.000

6378135.000

0.00335278

0.04

0.02

0.02

0.00

0.3

2.0

0.30

2.00

0.06

30

PARAM

North, East, Up dimensions (m) of the search volume used for the ambiguity search. This volume is centered on the a priori rover position, which comes from the pseudorange solution or the kinpos.inp file. The true position must lie within this volume. This volume determines the search range for each satellite bias.

North, East, Up constraints (m) when using the fixed position option. During the ambiguity search, trial integer suites not yielding positions with these constraints of the position in kinpos.inp will be discarded. Used only when static position is already known.

G. L. Mader


Param2

15.0

1 1

2.0 2.0 2.0

0.5 0.5 0.5

8000.000

2000.000

6378135.000

0.00335278

0.04

0.02

0.02

0.00

0.3

2.0

0.30

2.00

0.06

30

PARAM

Dry troposphere scale height (m) used to attenuate the surface value of the pressure with respect to the ellipsoid height.

Wet troposphere scale height (m) used to attenuate the surface value of the humidity with respect to the ellipsoid height.

Equatorial radius (m)

Ellipsoidal flattening

The radius and flattening are used only to produce approximate north, east, up displacements from the kinpos.inp rover coordinates for estimation and plotting purposes only.

G. L. Mader


Param3

15.0

1 1

2.0 2.0 2.0

0.5 0.5 0.5

8000.000

2000.000

6378135.000

0.00335278

0.04

0.02

0.02

0.00

0.3

2.0

0.30

2.00

0.06

30

PARAM

Maximum rms (m) for inclusion in integer search. Integer suites yielding rms’s greater than this value are eliminated.

Maximun rms (m) for selecting the successful integer suite. The chosen suite must yield an rms below this value.

Contrast (m) required between the lowest integer suite and the next best integer suite.

When these 2 conditions are met, the integer search is over.

G. L. Mader


Param4

15.0

1 1

2.0 2.0 2.0

0.5 0.5 0.5

8000.000

2000.000

6378135.000

0.00335278

0.04

0.02

0.02

0.00

0.30

2.0

0.30

2.00

0.06

30

PARAM

Center value (cy) for double difference ionosphere delay filter. Used only for initial OTF ambiguity resolution.

Window width (cy) for ionosphere delay filter. Used only for initial OTF ambiguity resolution.

Factor used the set size of dynamic ionosphere delay window from range of current ion delays. Used for OTF ambiguity resolution after a successful resolution has already been achieved.

G. L. Mader


Param5

15.0

1 1

2.0 2.0 2.0

0.5 0.5 0.5

8000.000

2000.000

6378135.000

0.00335278

0.04

0.02

0.02

0.00

0.30

2.0

0.30

2.00

0.06

300

PARAM

Trigger value (cy) for detecting cycle slips from the change in ionosphere delay values for individual satellites.

Trigger value (m) for detecting cycle slips from the change in phase-range values for individual satellites.

Maximum average (last 10 values) rms (m) allowed before sending the program into cold start mode.

Number of seconds to compute each tropospheric scale factor when that option is selected.

G. L. Mader


Phifix

phifix

Provides a set of fixed bias’s for selected start time

4 16 -7225411.91 -5630189.05

5 16 -5638456.97 -4393602.09

6 16 367243.07 286164.92

20 16 -2064513.88 -1608712.06

24 16 -4191493.95 -3266099.01

L1 and L2 phase bias for selected start time

sv #

ref sv #

G. L. Mader


Kars edt

kars.edt

sv prn number (0=apply to all sv’s

instruction start date/time

L1, L2 delete instructions

24 1 97 03 13 03 27 32 97 03 13 03 28 45 -9999. -9999.

00 1 97 05 13 05 40 00 97 03 13 05 42 00 -9999. -9999.

17 2 97 05 13 06 17 30 97 03 13 24 00 00 -12345. 0.

Station number, 1=rover, 2=ref.

Instruction stop date/time

L1, L2 add cycles instructions

G. L. Mader


Downloading sp3 files

Downloading sp3 Files

To get a precise IGS ephemeris file:

ftp cddis.gsfc.nasa.gov

name: anonymous

password: your email address

cd gps3:[products.0918] (GPS week)

get igs09183.sp3  (append day of week, 0=Sunday)

G. L. Mader


Output files

Output Files

psolxyz

The primary output file from the bias fixed phase solution. The xyz vector from the reference ‘monument’ to the rover ‘monument’ is given for each solution epoch. The reference ‘monument’ is the reference position given in the kinpos.inp file. The rover ‘monument’ is the rover antenna phase center position minus the antenna offset (from ant_info.001) minus the ARP eccentricity (from kinpos.inp). The reference ‘monument’ position is given at the front of the file. The file contains the date/time the rdop, rms, x,y,z and x,y,z formal errors. All units are meters.

psolneu

The file giving the neu displacement of the rover ‘monument’ from the rover ‘monument’ position given in the kinpos.inp file determined by the phase solution. These displacements are approximate and are intended plotting or interpretation only. The file contains similar information to the psolxyz file.

G. L. Mader


Output files1

Output Files

rsolxyz

The output file from the differential pseudorange solution. The xyz vector from the reference ‘monument’ to the rover ‘monument’ is given for each solution epoch. The reference ‘monument’ position is given at the front of the file. The file contains the date/time the rdop, rms, x,y,z and x,y,z formal errors. All units are meters.

rsolneu

The file giving the neu displacement of the rover ‘monument’ from the rover ‘monument’ position given in the kinpos.inp file determined by the differential paeudorange solution. These displacements are approximate and are intended for plotting or interpretation only. The file contains similar information to the rsolxyz file.

G. L. Mader


Output files2

Output Files

integer

File containing a history of the integer bias’s determined and used by the program. The complete suite of bias’s is date/time stamped and listed for any change: rising sv’s, cycle slips, new ref sv, cold start etc.

kinpos.out

File containing summaries of information related to ambiguity searches. Can be used as a diagnostic for unsuccessful searches.

G. L. Mader


Diagnostics

Diagnostics

Why it might not work and what to try when it doesn’t:

Correct integer suite was not among suites being tested:

1) Search volume did not contain true position. Improve the a priori position; enlarge search volume in ‘param’.

2) Ion filter eliminated correct suite. Increase ion filter width in ‘param’

G. L. Mader


Diagnostics1

Diagnostics

Correct integer suite was rejected by rms test:

1) Bad data at location of otf. Change start time.

2) rms limits may be set too low for this data. Increase max allowed rms in ‘param’.

3) Widelane solution too different from L3 solution. Turn off widelane options.

G. L. Mader


Diagnostics2

Diagnostics

Rising sv does not initialize or initializes incorrectly:

1) Bad data at location of otf. Delete several minutes data in ‘kars.edt’ for this sv.

2) Dynamically determined ion window is too small. Increase ion window scale factor in ‘param’

3) Contrast parameter may be too small. Increase contrast in ‘param’.

G. L. Mader


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