WUJNS
WUHAN UNIVERSITYJOURNALOF NATURALSCIENCES
Article ID: 1007-1202(2003)02B-0587-09
An Analysis of Single Point Positioning with
Real-Time Internet-Based Precise GPS Data
[] Chen Kong-zhe, Gao Yang,
Shen Xiao-bing
Department of Geomatics Engineering, The University of
Calgary, Calgary, Alberta, Canada T2N I N4
Abstract: Single Point Positioning (SPP) is currently capable of
providing position accuracy of several meters. To obtain a better
accuracy, the Differential GPS (DGPS) method must be applied. For
large-scale applications such as aerial survey and mapping, however,
the requirement of a base station(s) in conventional DGPS often
become problematic in practice due to the increased operational cost
and complexity. Recently a concept of Global Differential GPS
(GDGPS) has attracted increasing interests among the GPS
communities. GDGPS has the same user's implementation as SPP,
but its accuracy is augmented by the globally or regionally
distributed precise GPS data currently including precise satellite
orbit and clock corrections. The major advantage of GDGPS lies in
two aspects: system simplicity at the user's end, and globally
consistent positioning accuracy. This paper presents GDGPS
positioning results using the precise GPS data generated by the
Natural Resources Canada (NRCan). NRCan's precise data can be
retrieved real-time from lnternet base on Virtual Private Network
(VPN) and Multicast technology. The packet delay and Packet Loss
Rate (PLR) of multicasting over Internet will first be investigated.
The total latency of precise GPS data as well as the position accuracy
of GDGPS will then be analyzed. The numerical results have shown
that a meter to half-meter level accuracy is obtainable based on
epoch-by-epoch data processing. With phase-smoothed code
observations, the positioning accuracy can be further improved.
Key w o r d s : single point positioning; DGPS; GDGPS; VPN;
multicast; multipath
CLC number: P 228.4
Received date: 2002-09-30
Foundation Item: Supportedby the Natural Sciencesand Engineering
Research Council(NSERC)
Biography: Chen Kong-zhe(1971-), ma/e, Ph.Dcandidate, research direction:
GPS precise pointpositioning. E-mail:kzchen@ucalgary.ca
~ ~ V . ~ ~ i ~ / ~ ! e ~ LY.~!,~~IN~2
.g~,~{~o3]
Vol. 8 No.2B 2003 587-595
0 Introduction
ingle Point Positioning (SPP) is currently
S capable of providing several meters accuracy.
To obtain a better accuracy, the Differential GPS
(DGPS) method must be applied. For large-scale
applications such as aerial survey and mapping,
however, the requirement of a base station(s) in
conventional DGPS often become problematic in
practice due to the increased operational cost and
complexity. Therefore, a concept of Global
-.[11, which is implemented
Differential GPS (GDGP5)
similar to SPP but aided by the precise GPS data, has
attracted increasing interests among the GPS
communities.
The precise GPS data include satellite orbit and
clock corrections and/or ionospheric and tropospheric
delay parameters. The real-time precise GPS data
currently being distributed globally or regionally by
several organizations has made it possible for SPP to
achieve a comparable accuracy as the conventional
DGPS in certain circumstance. In real-time
applications, these precise data could be made
available to users through gee-stationary satellites or
radio beacons. Normally special receivers are required
to receive these global differential GPS corrections
either in a form of localized standard RTCM
pseudorange corrections for single frequency receiver
or separate corrections for dual-frequency receiver.
Today it becomes easier and easier for people to
access Internet. Using multicast technology and the
already existing Internet infrastructure, with very low
cost, the GPS correction providers can offer access to
their servers to as many users concurrently as
587
traditional radio does. Moreover the two-way
communication and extensible data transmission rate
over Internet can satisfy the needs of some special users.
So far many organizations have already tried to provide
their DGPS corrections through Internet. One example is
the Internet-based Global Differential GPS (IGDG)
system developed by JPL. Base on open Internet, data of
15 global GPS receivers is transferred to the JPL
processing center and orbit and clock corrections are
then determined and broadcasted to users in real-time.
Test results have shown real-time position accuracy of
about 10 cm RMS horizontally and less than 20 cm RMS
vertically after the ambiguity parameters converget2'3].
The correction data latency is in the order of severals. In
Japan, an Internet Based Augmentation Network (IBAN)
has been developed by WIDE, which is the biggest
Internet research group in Japan, and it can provide users
with real-time differential code and carrier phase
corrections over the Internet[4-6]. In Canada, the Canadian
Active Control System (CACS) was established to
improve the accuracy and efficiency of GPS positioning
and to provide a direct access to the Canadian Spatial
Reference System (CSRS). It can provide real-time
precise GPS Corrections (GPS.C) including satellite
orbit and clock corrections with an accuracy of 20-25 cm
and 1-2 ns respectively[7-9].
This paper describes the positioning method and
result of GDGPS positioning using real-time GPS.C
correction data over the Internet. The packet delay and
Packet Loss Rate (PLR) due to multicast using User
Datagram Protocol (UDP) over Internet will first be
presented. The total latency of GPS. C correction data is
then analyzed. In addition, the paper will demonstrate the
position accuracy improvement using precise orbit and
clock corrections under multipath-friendly and strong
multipath environments.
1 GPS.C System and Service Pro-
ducts
1.1 GPS.CSystem Component
In Canada, the Geodetic Survey Division (GSD) of
Natural Resources Canada (NRCan) currently is initia-
ting its own wide-area corrections, known as GPS. C.
The GPS-C system consists of the following
components (Fig. 1).
* Real-Time Active Control Points (RTACPs) for
data collection, validation and communication;
588
9 Real-Time Master Active Control Station
(RTMACS) for network control, generation and
multicasting of GPS. C corrections;
9 Virtual Active Control Points (VACPs), to
provide a user/distributor GPS. C interface;
9 Integrity Monitoring Stations (IMSs) for GPS.C
data integrity and quality monitoring.
The RTMACS is used to control and acquire GPS
and meteorological data from all RTACPs. This data is
verified and processed using predicted GPS orbits to
generate broadcast orbit and satellite clock corrections
and an ionospheric vertical delay grid, named GPS
Corrections (GPS.C). These corrections are then
available to VACP and IMS stations within the wide
area network via multicast service. VACPs are used as
the primary distribution points of GPS.C corrections for
service providers. The GPS. C correction multicast from
the RTMACS can be customized to suit user
requirements and data distribution interfaces (i.e. data
formats, update rates, etc). IMS are set up to monitor on
a continuous basis the differences between the local GPS
corrections and the GPS-C derived corrections.
PLANNED RTACP
9 VALIDATION SI~E
Fig.1 GPS.C network
As the current GPS. C production system is reaching
maturity in terms of robustness, the Canadian
Differential GPS (CDGPS) Service plans to distribute
the real-time GPS.C corrections via the MSAT
geostationary satellite by 2002. The CDGPS Service will
develop the MSAT satellite distribution hub and radios
required for GPS users to acquire the GPS.C
corrections. The CDGPS radios will convert the
corrections to the standard RTCM-104 serial format,
which enables single-frequency pseudorange users to
enhance their positioning precision. For the users
lilll illlliit r
equipped with dual-frequency receivers, CDGPS radios
will also relay the GPS.C wide area corrections in the
format defined in the GPS.C ICD tSl, allowing the most
demanding GPS.C users to achieve the highest possible
accuracy. But before GPS-C can be broadcasted by
MSAT geostationary satellite, NRCan has broadcasted
GPS.C data to users over Internet using multicast
technology. Moreover, user can localize the corrections
in the standard RTCM format and broadcast to regional
users over Internet.
1.2 GPS.C Service Products
The GPS.C service products comprise estimates of
satellite broadcast orbit corrections, satellite clock
corrections and ionospheric delay corrections.
GPS. C real-time orbit corrections have an accuracy of
20-25 cm; and the quality of the satellite clock corrections
is at the 1-2 ns. The maximum update interval is 2 s for
clock corrections, 120 s for orbit corrections, and 300 s for
ionospheric delay corrections18].
Corrections from GPS.C system are encoded in two
main formats: RTCA-159 like format in support of wide-
area type corrections, which include standard RTCA and
non-standard messages; and GPS. C proprietary format in
support of CACS data communications. These messages
are encapsulated in the GPS.C IP Multicast format for
transmission by the RTMACS.
The GPS. C correction data is based on the NAD83,
therefore, user's coordinates are in the same datum after
applying the GPS. C correction data.
2 Processing Model and Errors
Mitigation
In this paper, the position determination is primarily
based on the code measurements, with the carder phase
measurements used for code smoothing. Ionosphere-free
code combination is used to eliminate ionosphere delay
effects. The mathematical model is given in the following:
=P+c(dt-dl)+dorb+d~rop+dmr~n+e2)+e(Pl+P2) (1)
where, P1 is the measured L1 P-code pseudorange
(m); P2 is the measured L2 P-code pseudorange (m); p
is the true geometric range (m); c is the speed of light
(m/s); dt is the satellite clock error in the measured
pseudorange (s); dT is the receiver clock error in the
measured pseudorange (s); dtrop is the tropospheric delay
in the measured pseudorange (m); dorb is the satellite
orbit error in the measured pseudorange (m); fl is the
~ ~
frequency of L1 (Hz); f2 is the frequency of L2
(Hz);dmp/P1 is the multipath effect in the measured L1
P-code pseudorange (m);d~/e2 is the multipath effect
in the measured L2 P-code pseudorange (m).
Before GPS observations are applied for position
determination, the GPS.C real-time precise data is
applied to correct satellite orbit and clock errors. The
tropospheric delay is estimated with existing model
while a Choke Ring antenna can be used to mitigate
multipath error. Some other small error sources, such as
relativistic GPS satellite clock correction, phase windup,
satellite phase center eccentricity for Block II/IIA, earth
tide, are also considered in order to achieve the highest
accuracy possible. What is left in Eq. (I) after the above
error mitigation procedures are error residuals and noise,
which cannot be deterministically modeled.
To reduce the noise level in the code combination,
the following phase-smoothing-code procedure has been
developed when code smoothing is needed:
Psu(n)=~lpw(n)+(l-l )(psu(n-1)+~w(n)-~w(n- l))
m m
=p+c(dt-dT)+do~+d~p+d.v+e(Psu(n)) (2)
where n denotes the epoch number and m the number of
data epochs used in the smoothing. The unknowns for
this observation model include receiver coordinates and
receiver clock offset.
3 Correction Data Latency Analysis
over Internet
SPP positioning accuracy using real time correction
data depends on several major factors. Correction data
latency is one of them will be discussed in the following.
Latency is the time taken to estimate the correction
parameters plus the time spent for the corrections to
reach the users t~~ It also takes time to decode the
received correction data. Even this delay is very small,
we still took it into account in our analysis. Age is the
total delay of the correction data including the above
correction data latency and the time taken from when the
correction is decoded to the time when the correction is
actually applied by the users. Since users have to apply
the same correction till a new one arrives. As a result,
some corrections could maintain a constant latency for a
period time while the age is actually increasing. Fig.2
shows the relationship between the latency and the age.
589
 User received
Age ~[ another correction
Latency ~. I
Pseudorange Userdecoded User applied
measured the correction the correction
Fig.2 Relationship between latency and age
After SA was turned off in 2000, the age of the
differential corrections is not as vital as before regarding
its effect on the achievable positioning accuracy at the
remote receiver. Before SA turned off, satellite orbit
error and clock error changed rapidly and randomly.
Normally the age should not extend 20 s. After SA was
turned off, errors in the satellite orbits and clocks do not
change as quickly as the random shifts generated by SA.
A correction can be valid for several minutes with little
accuracy degradation. But minimizing the age values is
still of importance as to further improve the positioning
accuracy. GPS. C age is a function of the following:
9 The time it takes to have all RTACPs data
transmitted to RTMACS;
9 The time it takes for the RTMACS to calculate
corrections and encapsulate to IP Multicast format for
transmission;
9 The time it takes for the correction data to reach
the user over Internet;
9 The time required for the user to decode the
corrections;
9 Any data loss that occurs from reception
problems;
9 Corrections update rate.
To reduce the correction latency, GPS.C network
uses Virtual Private Network (VPN) to transmit data
between RTACPs and RTMACS. VPN is network
connectivity across a shared infrastructure (such as
Internet). It aims to provide the same policies and
performance as a private network, such as a Local Area
Network (LAN), so it can provide transmission over
Internet without block or any package loss. This ensures
that all RTACPs data can arrive at RTMACS in the
fastest way without any data loss. In order to provide
Canada wide coverage, satellite communication has to be
used in some points. Land and satellite communication
links between the RTMACS and the RTACPs support
TCP/IP (Transfer Control Protocol / Internet Protocol)
protocol with the maximum communication delays of
less than 0.5 and 1.5 s respectively. So it will take about
590
1.5 s for all RTACPs data to arrive at RTMACS.
To provide as many users as possible to access
corrections concurrently, GPS.C uses UDPflP (User
Datagram Protocol/Internet Protocol) multicast to
broadcast its corrections to users. Multicast is an efficient
paradigm for transmitting the same data to multiple
receivers. Multicast is a robust and scalable solution for
group communication where only 1 copy of the packet
needs to traverse a link. UDP is a many-to-one and one-
to-many protocol and TCP (Transfer Control Protocol) is
a one-to-one protocol. It is possible but more difficult to
build a many-to-one and one-to-many architecture using
TCP. Normally UDP is used when people want to
broadcast message. However, the drawback of UDP
multicast is that it does not guarantee the datagram to get
to its final destination. Unlike TCP, which is based on
connection, UDP is considered connectionless and it
sends and receives datagrams on a "best effort" basis.
Therefore, packet loss is unavoidable, and Packet Lost
Rate (PLR) is generally used to show the quality of UDP
multicast.
To obtain the PLR and packets delay of GPS. C over
Internet, a test was made by sending the packet data to
University of Calgary from Ottawa and then back to
Ottawa. Fig.3 shows the statistic of packet delay and
Fig.4 s h o w s P a c k e t Loss Rate. P a c k e t d e l a y is
correlative with PLR. It can be seen that most of the time
the packet delay is less than 0.5 s and the Packet Lost
Rate is less than 2%, with several peaks PLR of about
20%. Packet will delay about 2 s and 80% of packets
will lose when network is blocked badly. Considering
the distance between Calgary and Ottawa, which is
3 500 km so each packet traveled over 7 000 km, these
parameters are reasonable. The one-way delay and one-
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
o
1.5 ,,
-o 1
z
0 . 5 ~
0 I I
0 5O00 10000 15000
"time(min)
Fig.3 Packet delay over Internet statistics(March 24-31)
way PLR, therefore, are approximately 0.2 s and 1% high as 11 s. After SA was turned off, however, this
respectively. Compared to the total latency of the doesn't affect much to the user positioning result.
correction data, which will be discussed below, 0.2 s Normally orbit corrections are updated about every 45 s
delay over Internet is insignificant, comparable to where the age ranges between 6 and 60 s. Fig.7 shows
traditional radio transmission. one occurrence of a 150-second age because of two
continuous packet losses.
l O0 .......................................................................
Because GPS. C also broadcasts the orbit correction
80 rate data and the orbit corrections usually change
smoothly, the corrections are still valid even with a 150-
E 60
second age. Fig.9 describes orbit corrections of PRN1
40 and the correction difference between the 150-second
.ad

age and 0 second age. The figure proves the corrections

20 Ab 9 :
change very smoothly with less than 0.1 m difference
0
0 5000
"
10000
~
15000 most of the time.
Time (min)
12
Fig.4 Packet loss rate statistics (March 24.31)
I11
Fig.5 and Fig.6 show the latency of clock corrections I0

and orbit corrections where the latency ranges between 5 ~ 92 i

and6 s. ~, 8'_ I
< !
L 'ii !
5750
5700
5650
5600
/ 5',
161000
i
I

161300
| | | |BI! BillBilllll|
1

161600
I

161900 162100
I I

162400 162700
v~ 5 5 5 0 GPS time (s)
5500
Fig.7 Age of clock corrections
..a
5450 I Iill v" r
5400
160
5350
5300 140 /
/]
l i l ) t

161000 161300 161600 161900 162100 162400 162700 120

100
GPS time (s) /[
Fig.5 Latency of clock corrections < 60 / I
5580
40 /1 A /1 /1 /1 A /I / /
9 r /
/'I / /'1 A /1 ,/ I
/

5560
/1![/ /1//.~/I/ / /I,/ / !i/,/
2~ V V V V Vv V V V V V V V l; l/
5540 0 i l L i i
L/ . . . . . . . ': 161000 161300 161600 161900 162100 162400 162700
~5520 ~:'_/,~,-~,/
E5500 ,., GPS time (s)
5480 Fig.8 Age of orbit corrections
5460
J
5440
5420
5400 ...... ; ~ ,I I , , t
4 PositioningAccuracy Analysis
161000 161300 161600 161900 162100 162400 162700
GPS time (s)
In this section, the data processing results with and
Fig.6 Latency of orbit corrections without GPS-C corrections are presented based on
Fig.7 and Fig.8 show the age of clock corrections smoothed code and non-smoothed code observations. As
and orbit corrections. The clock corrections were multipath can be a very influencing factor for code
updated every two s, normally the age ranges between 6 positioning accuracy, data from two stations were
s and 7 s. With one packet loss, two more s were added processed, one station is a IGS reference station in a
to the correction age. The worst cases in Fig.7 contain multipath-friendly environment whereas another station
two continuous packet losses causing the age to reach as is located in a strong multipath environment.
 clock and orbit corrections in real-time situation). As a
(a) Orbit corrections of PRN 1
result, the results obtained from the post-processing
[~X ~Y -,--Z] would be compatible to the results from actual real-time
6
g processing
4
z= Fig.10 and Fig.~ 1 show the position errors in north,
east, and up components over a 24-hour period using
o
o non-smoothed and smoothed code observations
respectively. The 3D position errors, PDOP and satellite
C
.~ -4
number values are also included. The GPS. C corrections
were not applied in the above position determination.
9
Fig.12 and Fig.13 show the improved results with the
-8 -- t

382000 384000 386000 388000 390000 392000 394000

GPS. C corrections applied. Table 1 gives the statistics of
the processing results and the following conclusions can
GPS time (g)
be made:
(b) Corrections difference between age=150 s and age=0 s
0.4
9 A significant position accuracy improvement
.[.x can be obtained through carder smoothing and the
0.3
0.2
application of GPS. C orbit and clock corrections. The
0rl 3D position RMS has been improved from 3.3 m, when
~3 .... r ~ _ _ __J r = . : " .--.--. *%.__ . . . . . . . . --2._ ,
~ 0 ..... no carder smoothing and GPS.C corrections were
-01 -F applied, to an order of about half-meter, a total of 85%
-0.2 accuracy improvement.
-0.3 9 Based on non-smoothed code observations, the
-0,4 ' ' ' ' ' GPS.C corrections can bring more than 50% accuracy
382000 384000 386000 388000 390000 392909 394000 improvement, with 3D position RMS from 3.3 to 1.5 m.
GPS time (s) 9 The 3D position errors based on different
Fig.9 Correctiondograde with increased age processing schemes are in agreement with the residuals
of the error sources, which, in this case, are mainly from
4.1 Results in Multipath-Friendly Environment the orbit error and satellite clock errors. The broadcast
The data used in this processing are downloaded ephemeris and clock accuracy are about 260 cm and 7 ns
from NRCan website, and it was collected for 24 h respectively, wN~e tb.e accuracy of satellite orbi~ and
during the of day September 24 tb, 2002 at one 1GS clock of GPS-C corrections are approximate 20 cm and
station ALBH, which was well chosen to avoid any big 1 ns respectively.
multipath effects. We chose the station because it is near
Calgary and the same date can be used to compare result
obtained from another station in Calgary. The receiver at
z -10' ' ' " "
ALBH is a high-standard Rouge duN-frequency receiver
and AOA Dorne-Margolin choke-ring antenna that is
u1.10 r , f
specially designed for multipath mitigation. Therefore, 10 , , 9

the data can be considered multipath-free. Data sampling

rate was 30 s and the elevation mask was set to 10
, 10 , ,
degrees. The GPS.C corrections were also logged in ~ 5 - - ' - ' . . . . ' . . . . . .

real-time using a software package developed at The

University of Calgary. Position determination was
conducted in a manner of epoch-by-epoch in a post-
~ 194400 216000 237600 259200
processing mode without using any filter. Further, to 18:00:00 00:00:00 06:00:00 12:00:00 18:00:00
make the processing close to real-time situation, we have G P S time (s) / Local time (h : rain : s)

intentionally delayed the orbit and clock corrections for 7 Fig,10 Positioning results withoutsmoothing
and 30 s respectively (compatible to the average age of

592
 . . . . . . . . . . :::_:_ : :
Table 1 Statistic of positioning results
~" o
-5'
--
- . . . . . . . . . .
:- - " - - . . . . . .
:-:-
No Corrections With Corrections
10
No SM SM No SM SM
=9 o
.iSr , (m) (m) (m) (m)
10 North -0,448 -0.499 -0.017 -0.057
5 - - : - - -,- - -, . . . . . . ,: . . . . .
MEAN East -0.190 -0.199 0.001 -0.027
e .101 .- I
,
Up 0.643 0.531 0.117 0.032
North 1.572 1.452 0.797 0.317
East 0.476 0.443 0.221 0.097
RMS
( "12, , ,--,~,- Up 2.876 2.334 1.280 0.412
3D 3.312 2.784 1.528 0.529
?__-- North 1.507 1.363 0.797 0.312
~ 3800 194400 216000 237600 259200
18:00:00 00:00:00 06:00:00 12:00:00 18:00:00 STD East 0.436 0.396 0.221 0.093
GPS time (s) / Local time (h : rain : s)
Up 2.803 2.273 1.275 0.410
North 3.801 2.530 3.525 1.356
Fig.ll Positioning results with smoothing
MAX East 1.257 0.838 0.929 0.268
Up 9.468 6.746 3.994 1.663
North -8.692 -8.661 -3.201 -1.527
MIN East -1.555 -1.444 -0.868 -0.366
#
.~. 10F :. . . . . . . . . . . . . . . . . . . . . . . . . . "-: _: _'
Up -10.402 -6.595 -3.987 -1.927
~" oL 4.2 Results in S t r o n g Multipath Environment
10
5~- ~ ~ ; ~ ~ - . . . . . , . . . . =. -, . . . . . . .
In this case, data was collected at the roof o f the
o. -5[-I~_r?~_. _~ L~_"'-:- - " ' r - ~ ' - " ' T - -_:"_ "~_ : " :''~-, : ~ - ' ~ ? ' : " - . ' Y - _
. ,I U^ t ~
: Engineering Building at The University of Calgary.
10 Fig.14 shows several metal structures surrounding the
vE5
antenna and a big radiometer located about 8 m away to
0
the east side. Not shown in this picture, is a 3.5 m high
wall. Therefore, this environment can be considered with
> , . :3'-
"~ - .- . : -" - -- : : .-- --- - : --.:~
0)17"~800 194400 216000 237600 259200 very strong multipath.
18:00:00 00:00:00 06:00:00 12:00:00 18:00:00 A Javad Legacy dual frequency receiver was used
GPS time (s) / Local time (h : rain : s)
together with the same brand antenna, a type not
Fig.12 Results with corrections but no smoothing designed for multipath mitigation. The data rate was 1
Hz with an elevation mask of 10 degrees. Test was made
~" 10r 1 over two consecutive days from September 24 th to 25 th,
2002. The processing was conducted in real-time with an
z -10 ~ , . . . . r . . . . . . ". . . . . . '
epoch-by-epoch mode.
10 r I

~F
uJ .10 9
10~
5r . . . . . , . . . . . . , . . . . . . ,. . . . . :

10.

~ - - -,.-. .. -,-r -.-~,,- ; ,.a. - - -.,-._r,-.,-'v-h~

Q. D ~ ~. . _. . _. . . . . .r~,_
. . . . ..
"~ 3 '- . . . . '. . . . '. . . . . . .
c~ 194400 216000 237600 259200
18:00:00 00:00:00 06:00:00 12:00:00 18:00:00

GPS time (s) / Local time (h : min : s)

F|g.13 Results with corrections and smoothing

Fig.14 Antenna setup

~ - ~ ~ 593
 Fig.15 and Fig.16 show the position errors of the
days 24 t~ and 25 'h respectively. Smoothed code was used
and the GPS.C corrections were applied. Table 2 shows
the statistics results of days 24 t~ and 25 t~. A RMS
approximately 0.6 m in horizontal and 1 m vertically was
obtained in this strong multipath environment, which is
much worse than the half-meter result presented in
Section 4.1 at the IGS station ALBH.
1 0 - .
The results in Fig.15 and Fig. 16 show very strong
similarity. As we know, among all the GPS error sources,
the, multipath effects possess a feature of day-to-day
correlations. Code multipath has non-zero mean, the
stronger multipath signal, the bigger mean value is. The
big negative bias in vertical and correlations of days 24 t~
and 25 t~ indicate the influence of multipath. Multipath
effects could be removed by an inter-day differenced
time series on coordinate errors with a 3 min and 56 s
- - - , . . . . ,

backward shift between two neighboring days. As a

-10 L result, the inter-day differenced time series could be used
~ - 1Or - - -i - - - T _'_ _ _-_--1 _ ,. . . . . . .
5t -- to show the actual accuracy of GDGPS positioning in a
~ " O~. . . . . . ~ .......
multipath-friendly environment.
10, --
~" 5" . . . . . . . . . . . . . , . . . . . ~ . . . . . . Fig.17 shows the inter-day differenced time series of
o ~ ~ t ~ - - .
the positioning errors between days 24th and 25th. Table
1 0 , , , 3 shows the statistics results of the differenced time
series. Two conclusions can be made:
I x 12 , 9 There is a big accuracy improvement after the
~>s - - ~ - ---_--- : .... inter-day differencing. As the differencing doubles the
o91]-2800 194400 216000 237600 259200 noise level, the results should be divided by ~ in order
18:00:00 00:00:00 06:00:00 12:00:00 18:00:00 to get the noise level without conducting this
G P S time (s) / Local time (h : min : s)
differencing process. As a result, the 3D position RMS
Fit, J 5 Results of Sep. 24 tb
in a multipath-friendly environment is 0.372 m.
9 The 0.372 m position accuracy from the inter-day
differenced processing is better than the 0.529 m that
10 was obtained earlier from the IGS station ALBH in a
E 5
.~ 0 ~. . . . . . . , . . . . . . . . . . . ~ . . . . . , multipath friendly environment. This confirms that the
tu .101
inter-day differencing has removed the multipath effects.
However, the inter-day differencing also removes some
=.i0~I - _: , . . . . . ,. . . . . ; . . . . 3 other systematic error, which may come from the GPS. C
10f
corrections and account for an approximate 10-20 cm
~E 5 . . .' . . . ' .0 . . . . . ~ '. . . . . . ', . . . . .
error.
~" 12 , -- , -----~

u~25~200 280800 302400 324000 345600

18:00:00 00:00:00 06:00:00 12:00:00 18:00:00
~.10r-s - -~- ---' ...... ,a# . . . . . .,. . ~,
G P S time (s) / Local time (h : min : s)
10,
5r
Fig.16 Results of Sep. 25 tb

Table 2 Statistics of results of day 24 & 25 10~ . . . . . . , . . . . . . . . . . . . . . . .

Sep. 24m(m) Sep. 25m(m)

= .(o/ . . . . . . . . . .
North -0.001 -0.055 10~
MEAN East -0.019 0.114
Up -0.422 -0.537
North 0.531 0.553 9 ~ - __- z....,,,_,~---- --.-w~, ..c_ ~ .-.m_.r~.e "-',
East 0.309 0.304
RMS Up 1.017 1.019 cn17t)2800 194400 ..... 216000-" ~*~X) 259200
3D 1.189 1.199 18:00:00 (30:00:00 06:00:00 12:00:00 18:00:00

North 0.531 0.550 G P S time (s) / Local time (h : rain : s)

STD East 0.309 0.282

Fig.17 Differenced position errors
Up 0.926 0.866

594 ~ ~ . ~ . ~ . . A ~ i ~ t ~ ! ~ , ~ ' ~ ! ~ ~ , ~ i ~ : ~ i
 Table 3 Statistic of inter-day differenced results systematic errors such as errors in the precise GPS data
Vl (m) (V1)/~- (m) at the same time.
North 0.052 0.037 Acknowledgements: Contribution of data and
MEAN East -0.133 -0.094 consultation with personnel from Natural Resources
Up 0.095 0.067 Canada, Geodetic Survey Division is also appreciated.
North 0.257 0.182
East 0.190 0.134
RMS Up 0.418 0.296 References
3D 0.526 0.372
[1] Gao Y, Shen X, Abdel-Salem M. Global Differnetial GPS
North 0.251 0.178 wihtout a Base Station. Journal of Geographic Information
STD East 0.135 0.096
Up 0.407 0.288 Sceinces, 2002, 8(1):9-15.
[2] Muellerschoen R J, Bertiger W I, Lough M, et al. An
Intemet-Based Global Differential GPS System, Initial
5 Conclusions
Results. Proceedings oflON GPS 2000. Salt Lake City: UT,
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