GPS Basic Theory (2)

Dr. Eng. Essam Ghanem

Prof. Dr. Eng. Mostafa Rabah
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 GPS Basic Course

Different GPS Operation

Types and Applications

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 GPS Basic Course
Using GPS for Surveying

• All GPS Surveying is carried out using differential techniques.

That is to say a baseline is measured from a fixed point, (a
reference station) to a unknown point (a rover station).

• This is undertaken using one of two methods:

• Post Processing
– The raw GPS data from the satellites is recorded and
processed in the office using software

• Real Time
– The processing of the data is carried out as you work
giving an instantaneous and accurate position

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Using GPS for Surveying

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Using GPS for Surveying

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Static Survey (STS) ‫طرق الرصد الثابت التقليدي‬
• The classical method for long lines and the highest accuracy
5mm + 0.1ppm baseline r.m.s
– Classical GPS baseline measurement, where each line is
observed for at least one hour
– The observation time is proportional to the length of the
line
– Standard method for lines over 20 Km
• Applications
– Geodetic control over large areas
– National and continental networks
– Monitoring tectonic movement
– Network adjustments for highest accuracy
‫فً هذه الطرٌمة ٌحتل الجهاز الثابت نمطة معلومة اإلحداثٌات بٌنما ٌموم الجهاز اآلخر )أوعدد من األجهزة( باحتالل‬
‫النمطة )أو النماط( المجهولة المطلوب موالعها وفً نفس الولت تبدأ كل األجهزة فً إستمبال اإلشارة من األلمار الصناعٌة‬
‫ دلٌمة و عدة ساعات طبما لطول المسافات بٌن‬30 ‫التً تعمل خاللها أجهزة اإلستمبال بٌن‬session ‫فترة الرصد المشترن‬
‫تموم أجهزة اإلستمبال‬Base Line ( )‫الجهاز الثابت واألجهزة األخرى ما ٌطلك علٌه خط الماعدة أو خطوط المواعد‬
.‫ ثانٌة‬20 – 15 ‫رصده كل‬Sample Rate ( ) ‫بتجمٌع األرصاد بمعدل‬

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‫)‪Rapid Static Survey (STS‬‬ ‫طرق الرصد الثابت السريع‬
‫تتمٌز طرٌمة الرصد الثابت السرٌع أنها تملل بدرجة كبٌرة من الولت الالزم لتجمٌع البٌانات الحملٌة مما ٌجعلها ‪ ،‬مناسبة‬
‫لألعمال المساحٌة التفصٌلٌة و الطبوغرافٌة فً منطمة صغٌرة ‪ .‬لكن وعلً الجانب اآلخر فإن الدلة المتولعة لهذه‬
‫الطرٌمة لد ال تصل لنفس دلة طرٌمة الرصد الثابت التملٌدٌة مما ٌجعلها غٌر مطبمة فً األعمال الجٌودٌسٌا الدلٌمة‪.‬‬

‫‪• Short observation time for baselines up to 20 km. Accuracy‬‬

‫‪5-10mm +0.1ppm‬‬

‫‪• Applications‬‬
‫‪– Control Surveys, GIS city inventories, detail surveys.‬‬
‫‪Replace traversing and local triangulation. Any job where‬‬
‫‪many points have to be surveyed‬‬
‫‪Advantages‬‬
‫‪– Easy, quick, efficient‬‬
‫‪– Ideal for short range survey‬‬
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‫)‪Kinematic Survey (KIS‬‬ ‫طرق الرصد المتحركة‬

‫تعتمد فكرة الرصد المتحرن علً وجود جهاز ثابت مرجعً ‪Base‬علً النمطة المعلومة بٌنما ٌتحرن الجهاز اآلخر‬
‫‪( Rover‬أواألجهزة ) المجهولة لرصد عدد من النماط‪ .‬تختلف طرق الرصد المتحرن بناءا‬
‫علً عاملٌن ‪ :‬أسلوب حركة الجهاز الثانً ‪ ,‬طرٌمة نمل التصحٌحات من الجهاز الثابت لبالً األجهزة ‪.‬‬

‫‪• Stop Mode‬‬

‫‪– The rover must first initialize‬‬

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 ‫)‪Kinematic Survey (KIS‬‬
‫فً هذه النوعٌة من أسالٌب الرصد المتحرن ٌتم االعتماد علً أن التصحٌحات التً ٌموم بحسابها ‪ -‬الجهاز المثبت فوق‬
‫النمطة المعلومة سٌتم نملها الً أرصاد األجهزة المتحركة عن طرٌك برنامج – الحساب ‪Software‬فً الحاسب األلً بعد‬
‫اإلنتهاء من األعمال الحملٌة‪ ,‬اي ان حساب إحداثٌات النماط المرصودة سٌكون فً المكتب أو ‪Post Processing‬و‬
‫لٌس فً الحمل ( تسمً هذه الطرٌمة ‪PPK‬إختصارا لكلمات ‪)Post Processing Kinematic‬‬

‫أوال ‪ :‬طرٌمة الذهاب و التولف ‪Stop and Go‬و فٌها ٌولف الجهاز المتحرن ‪Rover‬لمدة ‪ 30 – 15‬ثانٌة لٌرصد كل‬
‫نمطة من النماط المجهولة‪ٌ .‬تولف جهاز لالستمبال لمدة ‪ 10 - 5‬دلائك ٌجمع فٌها عدد من أرصاد األلمار الصناعٌة ٌسمح‬
‫بحساب لٌمة الغموض ‪Ambiguity ,‬وتسمً هذه الخطوة اإلعداد ‪ ،Initialization‬ثم ٌبدأ التحرن إلً النمطة الثانٌة ثم‬
‫الثالثة و هكذا وهو مستمر فً تجمٌع األرصاد ‪ .‬طالما لم ٌنمطع االتصال (استمرارٌة استمبال الموجات) بٌن المستمبل و‬
‫األلمار الصناعٌة فتستمر حركة الجهاز إما إذا ‪ ،‬أنمطع هذا االستمرار أي حدث – ‪Cycle Slip‬خطأ تغٌر الدورة فٌجب‬
‫العودة آلخر نمطة مرصودة و البماء أعالها فً وضع – الثبات لمدة ‪ 10- 5‬دلائك ‪ ( -‬عملٌة إعداد جدٌدة) ‪ ،‬ومن هنا جاء‬
‫اسم هذه الطرٌمة ‪ :‬الذهاب و التولف التً تناسب الرفع المساحً التفصٌلً فً حدود ‪ 15 - 10‬كٌلومترحول النمطة المعلومة‬

‫ثانٌا ‪ :‬أحدث طرق الرصد المتحرن هً ما تعرف باسم طرٌمة الرصد الشبه متحرن ‪Pseudo-Kinematic‬والبعض‬
‫ٌسمٌها طرٌمة الرصد المتحرن ‪Kinematic‬مباشرة‪ .‬وأهم ممٌزتها أنها ال تتطلب الولوف عند كل نمطة مجهولة‪ ،‬إنما‬
‫تكتفً برصدها حتى ولو ثانٌة واحدة ‪ .‬أٌضا ال تتطلب طرٌمة الرصد شبه المتحرن إجراء عملٌة اإلعداد ألنها تطبك مبدأ‬
‫رٌاضً حدٌث ٌسمح بحساب لٌمة الغموض أثناء بدء حركة الجهاز ‪Rover‬من نمطة ألخري‪.‬‬

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 GPS Basic Course

Kinematic Survey (KIS)

• Moving Mode
– The rover must first initialize
– Once enough data is collected to resolve the
ambiguities the user can now move the receiver
– Lock must be maintained on a minimum of 4
satellites at all times
– Rover records data at a specific time interval
– If lock is lost, the system must re-initialized

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 GPS Basic Course

Ambiguity Resolution On The Fly (KOF)

• Moving Mode
– This technique does not require a static initialization
– While moving, once the rover is continuously tracking
a minimum of 5 satellites on the L1 & L2 for a period of
time the ambiguities can be resolved

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 GPS Basic Course

Ambiguity Resolution On The Fly (KOF)

• Moving Mode
– This technique does not require a static initialization;
– While moving, once the rover is continuously tracking
a minimum of 5 satellites on the L1 & L2 for a period of
time the ambiguities can be resolved.

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 GPS Basic Course

Ambiguity Resolution On The Fly (KOF)

• Moving Mode
– If traveling under an obstruction and loss of lock occurs,

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 GPS Basic Course

Ambiguity Resolution On The Fly (KOF)

• Moving Mode
– If traveling under an obstruction and loss of lock occurs,
– Ambiguity resolution will re-occur once 5 satellites on L1 &
L2 are acquired and tracking is consistent for a short period
of time

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 GPS Basic Course

Ambiguity Resolution On The Fly (KOF)

• Moving Mode
– If traveling under an obstruction and loss of lock occurs,
– Ambiguity resolution will re-occur once 5 satellites on L1 &
L2 are acquired and tracking is consistent for a short period
of time
– This technique allows positions to be determined up to the
point that the min. satellites were re-acquired

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 GPS Basic Course

Ambiguity Resolution On The Fly (KOF)

• Moving Mode
– If traveling under an obstruction and loss of lock occurs,
– Ambiguity resolution will re-occur once 5 satellites on L1 &
L2 are acquired and tracking is consistent for a short period
of time
– This technique allows positions to be determined up to the
point that the min. satellites were re-acquired

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 ‫‪Real-Time‬‬ ‫طرق الرصد المتحرك مع الحساب اللحظي‬

‫‪Differential GPS Concept‬‬

‫تعتمد هذه الطرق علً وجود جهاز رادٌو عند النمطة الثابتة ٌموم بإرسال أو بث التصحٌحات التً ٌموم الجهاز المرجعً‬
‫بحسابها إلً الجهاز( أو األجهزة ) المتحرن والذي بدورها ٌكون متصل بجهاز رادٌو السلكً آخر أي أن الجهاز المتحرن‬
‫سٌتكون من وحدتٌن ‪ :‬وحدة استمبال إشارات األلمار الصناعٌة‪ ،‬باإلضافة إلً وحدة استمبال ال سلكٌة الستمبال التصحٌحات‬
‫المرسلة من الجهاز الثابت ‪ .‬من أرصاد األلمار الصناعٌة ٌموم الجهاز المتحرن بحساب إحداثٌات النمطة لمرصودة‬
‫ومن تصحٌحات الجهاز المرجعً ٌموم الجهاز المتحرن بتصحٌح اإلحداثٌات للوصول إلً لٌم دلٌمة فً نفس اللحظة‬
‫فتسمً هذه الطرق بطرق الرصد المتحرن اآلنً ‪Real-Time‬‬

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Concept of Real Time
GPS Basic Course
• Real Time Code, Real Time Phase
– No post processing required
– Results are instantly available
– Can operate in two modes
• RTK
• RT-DGPS

B
A

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 REAL-TIME Code DGPS

Rover
Reference

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 GPS Basic Course

Differential Positioning

• It is possible to determine the

position of Rover „B‟ in relation
to Reference „A‟ provided
– The coordinates of the
Reference Station (A)
are known
– Satellites are tracked
simultaneously

• Differential Positioning
– eliminates errors in the
sat. and receiver clocks A B
– minimizes atmospheric
delays
– Accuracy 0.5 cm - 5 m

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DGPS in Photogrammetry
Differential Positioning

• If using the Code only

part of the signal,
accuracy’s in the range
of 0.5 - 5 m can be
achieved
• This is typically referred
to as DGPS

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REAL-TIME KINEMATIC “RTK” SURVEYING
Disadvantages:
- Needs a radio modem (data link);
- Radio contact can be interrupted by obstructions
such as hills, valleys buildings etc.

Advantages:
•Coordinates in real time in the field (WGS84 or local
coordinates);
•Quality control - you know in the field that the
ambiguities are resolved and that the results are
correct;
•No post processing;
•One person system;
•Several rovers can use one reference station;
•All high precision applications (Land, Marine&
Aviation).

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 GPS Basic Course

Differential Positioning
• If using Phase or Code &
Phase accuracy is in the
order of 5 - 10 mm + 1ppm

A B

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 GPS Basic Course

Differential Positioning
• If using the Code and
Phase part of the
signal, accuracy’s in
the order of 5 - 10 mm
+ 1ppm can be
achieved

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 GPS Basic Course

Summary of GPS Positioning

• Point Positioning Methods using stand alone receivers
provide 10 - 100 m accuracy
– Dependent on SA
– 1 Epoch solution

• Differential Positioning Methods using 2 receivers,

simultaneously tracking a minimum of 4 satellites (preferably
5) will yield 0.5 cm to 5 m accuracy with respect to a
Reference Station

• Remember
– Differential Techniques using Code will give meter accuracy
– Differential Techniques using Phase will give centimeter
accuracy

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 Real Time GPS

Real Time Phase (RTK)

• The Action takes Initialization Moving Part

Rapid Static Move continuously to determine trajectories,
place at the Rover SR9400, SR399, SR9500 recording automatically at predetermined intervals.

Unit. The System

can be initialized.
This normally
takes about 1 min. Known Point
SR9400, SR399, SR9500
Initializing on a
known point takes Move quickly from point to point

15 sec.
• Then the moving On the fly
part can begin. SR399, SR9500

This is where
points and assoc.
information can be Positions to centimeter level accuracy

recorded

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Real Time GPS

Quality Assurance
• Blunder Detection
– Base Station Coordinates
– Heights of Instrumentation
– Transformation (if used)
– Vector determination

• Vector Confirmation

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Real Time GPS

Dilution of Precision (DOP)

• Operating in RTK mode

– Recommended to use a minimum
of 5 Satellites and a GDOP of 8 or
less. (Once integers are fixed)

• Operating in Code only mode

– Recommended to use a minimum
of 5 satellites with a GDOP of 6 or
less.

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Real Time GPS

Understanding the CQ

• The coordinate Quality Indicator (CQ) is a 3-Dimensional

estimator of the accuracy of a point derived in Real Time.

• GPS results normally yield Horizontal accuracy's 2-3 times

better than the Vertical

• Coordinate Quality indicator………. 0.03 m

• Vertical accuracy……………………. 0.03 m
• Horizontal accuracy………………… 0.01 m

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Real Time GPS

Recording Quality Control Data

• Mode of Operation
• Navigation (0), Differential Code (1),
• Differential Float (3), Differential Phase (4)
• GDOP, PDOP, HDOP, VDOP
• Antenna Height
• Number of satellites used in solution
• Number of epochs on a point
• Length of interval between epochs
• Receiver Serial Type and Serial Number

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 Real Time GPS

Features…..Stakeout

• Orientation.
– To North, to a point, last point, to a line

Target
Position
•Stakeout a point by
Azimuth and Distance
Offset

Present Position
Distance

Target
Position
ce
•Stakeout a point in orthogonal Azimuth Di s
tan

mode (Distance and Offset)

Present Position

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Real Time GPS Surveying

Features…..Stakeout
Line to be Staked

• Stakeout Lines
– Auto Increment and Defined Line
Offset

• Stakeout Hidden Points

– East/North/Height

• Minimum Key Strokes Start Point

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Real Time GPS

Features…..Applications

• COGO (Coordinate Geometry)

– Inverse, Traverse, Intersections
– Arcs, Station Offset
Well Head

Crossline
Distance

Source Line

Inline Distance

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Real Time GPS

Features…..Auto Record

• Continuous Recording
– By Distance
– By Time
– Targeting available during
continuous tracking

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Real Time GPS

Features…..Coordinate Conversion

• Getting into Local Coordinate

Z
Systems
• Choose from one of two methods
• Classical
– Compute it in the field
– Download it from the
appropriate software.
Y

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Real Time GPS

Limitations

• GPS is not always the correct tool

– Obstructions
• Multipath
• Loss of lock

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GPS Applications (Photogrammetry)

Use of GPS in Airborne Surveying

• Ground Control Determination

• Flight Management and

Camera Control

• Determination of Perspective
Centers

• Orientation of non-imaging
sensors

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GPS Applications (Photogrammetry)

Ground Control Determination

• Ground Control
– Survey techniques identical to
cadastral or other applications
– High Accuracy
– Faster than conventional
techniques
– No direct line of sight
necessary
– 3-D Ground Control Points
– Ground units may be used as
reference receivers for
airborne operations

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GPS Applications (Photogrammetry)

Flight Navigation and Camera Control

• Flight Navigation
– Guidance from airport to
project area
– Optimum flight path between
flight lines
• Camera Control
– Shutter release at predefined
positions
– Annotation of position on the
image
– Side lap control

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GPS Applications (Photogrammetry)

Positions at Camera Events

Camera
• GPS measurements are taken at regular intervals
Event
or epochs
– for kinematic applications, usually 1 sec
• The camera is triggered as required
– Camera firing is not coincidental with GPS epoch
– Controlled by operator or flight management GPS
system Position
• Camera positions are interpolated from GPS
results
– Correct time of camera event is critical
– Must be accurate relative to GPS measurement time
– Use the same time source for both GPS and
trapping the camera event. This is an important role
of the „event catcher‟

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GPS Applications (Photogrammetry)

Aircraft System Components

Antenna
Pilot
Display

ACU30

28v DC

Operator
Terminal

NSF3 RC30

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 GPS Applications (Photogrammetry)

Data Processing Flow

Airborne Transfer Reference Data and

Data Airborne Data to PC

Reference Process GPS data to

generate epoch positions
Data

Compute camera positions from

GPS epochs and actual times of camera events
Camera
Event Epoch
Positions Positions

Local Aero
Transform to Local Coordinates Triangulation
Coordinate System
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