Facility Development and Testing New GNSS Signals and

Facility Development and Testing New GNSS Signals and Receivers Freddy Blume – UNAVCO D&T Manager USGS Geodesy Workshop, 12 March, 2010

Facility • Assembly Required… • The dog ate the instruction manual • … we’ll have to put it together ourselves… Development and Testing

Facility 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 manufacturer’s discretion – Tiered pricing structure based on total quantity purchased by Community semi-annually makes project planning difficult. • “Workhorse” affordable receiver (Trimble Net. RS) 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).

Facility Evaluation Process • UNAVCO Re-establishing Development and Testing Effort – Manager appointed 2009 (50% FTE) – D&T Engineer to be hired Q 1 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.

Facility GPS Signal Evolution • L 2 C: Civilian code on L 2 carrier broadcast by 8 Block IIR-M SV’s since 2005. (7 healthy) – Unencrypted code – Provides 6 -12 d. B-Hz SNR improvement over P 2, stronger than L 1 C/A. • L 5: Third carrier frequency – Demonstration signal launched 3/2009 on PRN 01 (SVN 49) • Needed to reserve L 5 with ITU. – 10 Block IIF SV’s to carry L 5 • 3 in 2010 • Launches complete by 2013?

Facility GPS Signal Evolution – L 2 C • Current carrier phase software (e. g. GAMIT) uses first-generation GPS observables only (L 1 and L 2 phases for C/A or P-codes) – Timetable for L 2 C and L 5 development TBD – New observables useful for real-time and special applications only? – L 2 C implementation on current receivers allows for low elevation tracking where lock would otherwise be lost. • L 2 C and L 5 use Quadrature PSK Modulation – ¼-wavelength shift between P 2 phase and C 2 – Some receivers remove this in raw data • Trimble, Ashtech – Others Don’t – Standard sought by IGS IC http: //www. geopp. de/media/docs/pdf/geopp_phase_shift_l 2 c. pdf • Critical to investigate the effect of L 2 C tracking on positioning. – PBO implemented L 2 C tracking on several stations in 2010 – Teqc modified to explicitly select C 2 vs. P 2 phases in RINEX files – No effect on position seen in PBO time series or limited short-baseline processing.

Facility GPS Signal Evolution – L 5 • L 5 Improves signal structure for enhanced performance – Third Frequency 1, 176. 45 MHz (25. 5 cm; L 1=19 cm, L 2 = 24. 4 cm) • • Higher power (-154. 9 d. BW), broad bandwidth (24 h. Mz) 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 L 5 (-9 d. B-Hz), but no PCV’s yet. – Other GNSS frequencies slightly attenuated. • In-situ LNA replacement upgrades a TRM 29659. 00 to TRM 59800. 80 • TRUE Absolute (robot) PCV calibrations essential. Glo L 2 L 5 L 2 Gal L 2 SBAS L 1 Glo L 1

Facility • 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 PCV’s 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

Facility • You should use GLONASS if: GLONASS

Facility • You should use GLONASS if you have limited sky view, are a position junkie and need a Fix. GLONASS

Facility GNSS Modernization Optimistic Deployment Timeline (1 -4 year delays? )

Facility What we’re used to: 1980 -2003 GNSS Modernization

Facility Where we’re heading: ~2015 GNSS Modernization

Facility New GNSS Receivers • General evaluation in progress of current top-of-the-line receivers: • All “multi-use”: Reference Station, Campaign, RTK Ashtech Pro. Flex CORS (née Magellan Pro. Flex 500) Leica GRX 1200+ Septentrio Pola. Rx 3 e. G Pro Topcon Net-G 3 A Trimble Net. R 8 Hardware on display during Wednesday Afternoon UNAVCO Facility Tour

Facility • 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 L 2 C, L 5 • 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…

Facility New GNSS Receivers Receiver Comparison – Trimble Net. RS Baseline Trimble Net. RS Trimble Net. R 8 Topcon Net-G 3 A Septentrio Pola. Rx 3 e. G PRO Ashtech Pro. Flex CORS Leica GRX 1200+ Power Low Power (<5 Watts) Yes Yes Yes Internal Battery/UPS (Campaign) No Yes Yes No Ethernet Yes Yes Yes Web Server (full control) Yes Limited Yes Future Firmware/Current GUI ftp Server Yes Yes Yes No ftp push No Yes Yes No email notification No Yes No Scriptable Command-line interface Yes Limited Yes No Yes Remote firmware upgrade Yes Yes Yes No Built in Ntrip No Yes Yes No Built-in PPP Yes Yes No No No Limited No Yes Yes No No No Yes* - NO remote access Yes No No Interface/Control Other serial communications Dyn. DNS Client Storage USB Host (external data storage) Removable CF card No No Yes - 2 GB Max No Yes - 1 GB Max No 1 GB 4 GB CF Only 128 MB 256 MB 2 GB No Yes Yes Yes GPS L 5 No Yes Future Firmware No Yes GPS L 2 C Yes Yes Yes None 3 Codes/SV (e. g. C 1, P 2, C 5) None L 2 -P OR L 2 C (Not both) None L 2 C OR L 5, not both No No Yes Yes Yes - 8 Yes - 2 No Fixed Internal memory size Signals GLONASS Tracking limitations Galileo Data Logging Multiple Sessions Configurable memory buffer Yes Future Firmware 10 Hz* (S/N, PR less) 50 Hz* (S/N, PR less) 100 Hz 20 Hz Yes Yes Yes No Binex support Yes (7 f-03) Yes (7 f-05) No No Yes (7 f-05) No TCP Streaming Yes Yes Yes High-rate Met Support Other Unique Features email file push Internal GSM Modem Spectrum Analyzer Detailed Constellation Info Anti-Interference Filter Upgradeable GNSS Board

Facility • • Ashtech Pro. Flex CORS Ashtech independent from Magellan January 2010 Eager to reestablish relationship with UNAVCO Community Responsive to feedback on beta products No L 5 or Galileo hardware yet. 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 Dyn. DNS Client Storage USB Host (external data storage) Removable CF card Fixed Internal memory size Signals GLONASS GPS L 5 GPS L 2 C Tracking limitations Galileo Data Logging Multiple Sessions Configurable memory buffer High-rate Met Support Binex support TCP Streaming Other Unique Features Ashtech Pro. Flex CORS Yes Yes No Yes No 128 MB Yes No Yes L 2 -P OR L 2 C (Not both) No Yes - 2 Future Firmware 20 Hz Yes No Yes Internal GSM Modem

Facility Leica GRX 1200+ • Advanced web interface • GNSS Binex capability and multiple ring buffers • ATHENA Pricing Program for Educational and non-profit organizations 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 Dyn. DNS Client Storage USB Host (external data storage) Removable CF card Fixed Internal memory size Signals GLONASS GPS L 5 GPS L 2 C Tracking limitations Galileo Data Logging Multiple Sessions Configurable memory buffer High-rate Met Support Binex support TCP Streaming Leica GRX 1200+ Yes Yes No Yes Yes No Yes - 1 GB Max 256 MB Yes Yes None Yes - 2 Yes 20 Hz Yes (7 f-05) Yes

Facility Septentrio Pola. Rx 3 e. G 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 Rx’s (RT attitude info, etc. ) 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 Dyn. DNS Client Storage USB Host (external data storage) Removable CF card Fixed Internal memory size Signals GLONASS GPS L 5 GPS L 2 C Tracking limitations Galileo Data Logging Multiple Sessions Configurable memory buffer High-rate Met Support Binex support TCP Streaming Other Unique Features Septentrio Pola. Rx 3 e. G PRO Yes No Yes Future Firmware/Current GUI No No No Yes No No No 2 GB Yes Yes L 2 C OR L 5, not both Yes No Future Firmware 20 Hz No No Yes Spectrum Analyzer Anti-Interference Filter Upgradeable GNSS Board 35 d B

Facility Topcon Net-G 3 A • 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 Dyn. DNS Client Storage USB Host (external data storage) Removable CF card Fixed Internal memory size Signals GLONASS GPS L 5 GPS L 2 C Tracking limitations Galileo Data Logging Multiple Sessions Configurable memory buffer High-rate Met Support Binex support TCP Streaming Other Unique Features Topcon Net-G 3 A Yes Limited Yes No No Yes Yes Yes No Yes* - NO remote access Yes - 2 GB Max CF Only Yes Future Firmware Yes None Yes - 2 Future Firmware 100 Hz Yes No Yes

Facility Trimble Net. R 8 • 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 Dyn. DNS Client Storage USB Host (external data storage) Removable CF card Fixed Internal memory size Signals GLONASS GPS L 5 GPS L 2 C Tracking limitations Galileo Data Logging Multiple Sessions Configurable memory buffer High-rate Met Support Binex support TCP Streaming Other Unique Features Trimble Net. R 8 Yes Yes Limited Yes Yes No Yes No No 4 GB Yes Yes 3 Codes/SV (e. g. C 1, P 2, C 5) No Yes - 8 Yes 50 Hz* (S/N, PR less) Yes (7 f-05) Yes email file push Detailed Constellation Info

Facility Trimble Net. R 8 • 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 Dyn. DNS Client Storage USB Host (external data storage) Removable CF card Fixed Internal memory size Signals GLONASS GPS L 5 GPS L 2 C Tracking limitations Galileo Data Logging Multiple Sessions Configurable memory buffer High-rate Met Support Binex support TCP Streaming Other Unique Features Trimble Net. R 8 Yes Yes Limited Yes Yes No Yes No No 4 GB Yes Yes 3 Codes/SV (e. g. C 1, P 2, C 5) No Yes - 8 Yes 50 Hz* (S/N, PR less) Yes (7 f-05) Yes email file push Detailed Constellation Info

Facility New GNSS Receiver Evaluation • What’s 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 – ? ? ?

Facility 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 RFP’s (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 Net. RS 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 you’ve paid for. • FW upgrade period, receiver options such as L 5, often not included in base price

Facility 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-Year’s 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 L 2 C soon, GLONASS for RT, be ready for GPS L 5. – There won’t 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/

Facility 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-Year’s Model” discounts. – Buy for now and/or the future? • Wait (if possible) to gather more information, encourage competition