Open PPP/PPP-RTK 보정정보 서비스 동향 임철순; Cheolsoon Lim; 조용래 ...
한국항행학회논문지,
12/2022, Letnik:
26, Številka:
6
Journal Article
Odprti dostop
반송파 기반 위성항법 보강시스템은 GNSS(global navigation satellite system) 측정치 오차를 보상하는 방식에 따라 OSR(observation space representation)과 SSR(state space representation)으로 구분된다. 대표적인 OSR 기반 보강시스템인 N-RTK(network real ...time kinematics)는 약 100 km 수준의 서비스 영역 내에서 cm급 측위 정확도를 확보할 수 있는 시스템이지만, 일반적으로 사용자-인프라 간 양방향 통신 방식에 의해 서비스가 구현된다. 이러한 특징으로 인해 N-RTK를 활용한 위성 기반 cm급 전국토 정밀 측위 서비스 구축은 현실적으로 많은 제약이 따른다. 반면, SSR 보강시스템은 서비스 영역 내 모든 사용자에게 동일한 보정정보를 제공하기 때문에 단방향 서비스에 적합하고, 각 보정정보의 전송주기를 유동적으로 조절할 수 있으므로 위성 기반 광역 정밀 보정정보 방송 서비스에 적합하다. 이러한 장점으로 인해 위성항법시스템을 보유한 각국은 SSR 보정정보 기반의 PPP(precise point positioning)/PPP-RTK 정밀 측위 서비스 구축에 박차를 가하고 있다. 이에 본 논문에서는 위성 기반 SSR 보정정보 방송 서비스들의 구성 및 특징, 측위 성능 분석을 통해 PPP/PPP-RTK 서비스 동향과 정밀 측위 현황을 파악하고자 한다.
Unlike OSR(observation space representation), the SSR(state space representation) augmentation system is suitable for a one-way broadcasting service because it provides the same corrections to all users in the service area. Due to this advantage, several GNSS(global navigation system) systems such as Galileo, BDS(beidou navigation satellite system), QZSS(quasi zenith satellite system) are establishing PPP (precise point positioning)/PPP-RTK precision positioning services based on SSR messages. Therefore, in this paper, we try to understand the trends of satellite-based PPP/PPP-RTK correction services by analyzing the system configurations, characteristics, and precise positioning performance of satellite-based SSR correction broadcasting services.
Abstract
In terms of quality control of ambiguity estimation, the common partial ambiguity fixation algorithm is improved, and the SC-PAR (Single frequency Combined Partial Ambiguity Resolution) ...algorithm is proposed. After the algorithm fails to fix the full ambiguity, it filters the ambiguity subset step by step according to the number of continuous satellite lock epochs, satellite elevation angle, satellite signal-to-noise ratio, geometric precision factor, ambiguity variance and ambiguity precision attenuation factor, and searches Optimal ambiguity subset. According to the R-ratio value and the success rate index, the search results are jointly tested, and the remaining subsets are corrected with the subsets that pass the test. The results show that compared with the FAR and conventional PAR algorithms, the fixed rate of the SC-PAR algorithm is increased by 65.01% and 27.97%, respectively, and the accuracy is also significantly improved.
In this study, the authors mainly explore the relationship between the data quality of smartphones equipped with global navigation satellite system (GNSS) modules and the accuracy and reliability of ...single-frequency real-time kinematic (RTK) positioning. Specifically, the visible satellite number, code minus carrier and the signal-to-noise ratio of the GNSS raw observations were evaluated through static experiments and dynamic experiments, and the performance difference between single-frequency global positioning system (GPS) RTK and single-frequency BeiDou Navigation Satellite System (BDS) RTK positioning was compared and analysed. In the static experiment, the average values of visible satellites of BDS and GPS in Xiaomi Mi 8 smartphone are 7.4 and 8.4, respectively. The average code minus carrier error of GPS is 5.234 m, the BDS is 5.518 m, and the average signal-to-noise ratio of GPS is ∼29.092 dB Hz and the BDS is ∼28.718 dB Hz. The data quality of the dynamic experiment is similar to the static experimental result. The positioning accuracy obtained by the static experiment from the single-frequency GPS RTK and single-frequency BDS RTK in the east/north/up (E/N/U) directions is 0.146/0.555/0.464 m and 0.843/0.287/0.317 m, respectively. The instability of BDS-locked satellite in dynamic experiment results the positioning accuracy of BDS RTK is lower than that of GPS.
Intracellular localization has been reported for over three‐quarters of receptor tyrosine kinase (RTK) families in response to environmental stimuli. Internalized RTK may bind to non‐canonical ...substrates and affect various cellular processes. Many of the intracellular RTKs exist as fragmented forms that are generated by γ‐secretase cleavage of the full‐length receptor, shedding, alternative splicing, or alternative translation initiation. Soluble RTK fragments are stabilized and intracellularly transported into subcellular compartments, such as the nucleus, by binding to chaperone or transcription factors, while membrane‐bound RTKs (full‐length or truncated) are transported from the plasma membrane to the ER through the well‐established Rab‐ or clathrin adaptor protein‐coated vesicle retrograde trafficking pathways. Subsequent nuclear transport of membrane‐bound RTK may occur via two pathways, INFS or INTERNET, with the former characterized by release of receptors from the ER into the cytosol and the latter characterized by release of membrane‐bound receptor from the ER into the nucleoplasm through the inner nuclear membrane. Although most non‐canonical intracellular RTK signaling is related to transcriptional regulation, there may be other functions that have yet to be discovered. In this review, we summarize the proteolytic processing, intracellular trafficking and nuclear functions of RTKs, and discuss how they promote cancer progression, and their clinical implications.
UAVs for coastal surveying Turner, Ian L.; Harley, Mitchell D.; Drummond, Christopher D.
Coastal engineering (Amsterdam),
August 2016, 2016-08-00, Letnik:
114
Journal Article
Recenzirano
UAVs (Unmanned Aerial Vehicles or “drones”) for routine survey applications at the coast have come of age, and are no longer ‘the latest thing’ more suited to the specialist researcher or amateur ...enthusiast. Off-the-shelf, survey-grade UAV equipment, data processing and analysis tools are now readily available to practicing coastal engineers, managers and researchers. Within the regulatory constraints that determine their use in many countries, UAVs provide an efficient and cost-effective survey tool for topographic mapping and measurement in the coastal zone. At the practical level, the specialist training required to operate off-the-shelf UAV suited to coastal surveying is now comparable in time and degree of difficulty to learning how to use the equivalent survey capabilities of professional hand-held RTK-GPS equipment. While incremental improvements to both the flight technology and data processing will no doubt continue to occur, from the coastal practitioner's perspective, no more step changes in UAV technology or ease of useability are required. In particular, survey-grade UAVs that incorporate internal RTK-GPS for high accuracy positioning and requiring a single operator only to safely deploy in the field, remove the need for separate and time-consuming on-ground surveying of ground control points (GCPs), previously required during post-deployment data processing. A coastal engineering application of UAV is used here to exemplify the practical use and potential benefits of this now mature survey technology. Over the past 2years, rapid post-storm deployment of UAV surveying has been successfully integrated into an established coastal monitoring program spanning 4 decades at Narrabeen Beach, Australia. This has extended the scope of this program to include detailed measurements of dune and beachface erosion spanning the full 3.5km long embayment at a spatial scale and temporal resolution that were previously unfeasible. For both the researcher and practicing coastal engineer, UAVs now provide a practical option for routine coastal surveying.
•UAVs (or “drones”) provide a practical solution for routine surveying at the coast.•Off-the-shelf UAV data processing and analysis tools are now readily available.•UAV incorporating RTK positioning removes the need for additional GCP surveys.•UAV-RTK survey accuracy is comparable to on-ground RTK-GPS beach survey methods.
Global Navigation Satellite System (GNSS) has been widely used for navigation and positioning in many areas, from professional applications to the mass market. However, in the real-time kinematic ...(RTK) positioning, the ambiguities usually cannot be fixed in natural and urban canyon environments due to the high occlusion, strong reflection, and frequent maneuvering. In this paper, the best integer equivariant (BIE) estimation with quality control is proposed. Specifically, the quality control issues based on the observation and state domains are added to the BIE estimator. First, an improved multipath processing approach is used to mitigate the effects of multipath and diffraction, and a modified detection, identification, and adaptation procedure is adopted for processing the outliers and non-line-of-sight reception. For state-domain quality control, a two-step selection and segment estimation are used to refine the ambiguity candidates. Finally, the BIE estimator is obtained. To validate the effectiveness of the proposed method, two experiments, including natural and urban canyon environments, are conducted. Compared with the float, fixed, and traditional BIE solutions, the BIE solution with quality control has the best positioning performance, including precision and reliability. Moreover, the problem of ambiguity resolution is also alleviated to a great extent. Specifically, in real-time monitoring, the real-time single-epoch positioning accuracy in east, north, and up directions are approximately 0.023, 0.014, and 0.044 m, respectively. For the low-cost urban vehicle data, the proposed method performs best regarding availability, precision, and reliability.
Aerial photogrammetry by Unmanned Aerial Vehicles (UAVs) is a widespread method to perform mapping tasks with high-resolution to reconstruct three-dimensional (3D) building and façade models. ...However, the survey of Ground Control Points (GCPs) represents a time-consuming task, while the use of Real-Time Kinematic (RTK) drones allows for one to collect camera locations with an accuracy of a few centimeters. DJI Phantom 4 RTK (DJI-P4RTK) combines this with the possibility to acquire oblique images in stationary conditions and it currently represents a versatile drone widely used from professional users together with commercial Structure-from-Motion software, such as Agisoft Metashape. In this work, we analyze the architectural application of this drone to the photogrammetric modeling of a building with particular regard to metric survey specifications for cultural heritage for 1:20, 1:50, 1:100, and 1:200 scales. In particular, we designed an accuracy assessment test signalizing 109 points, surveying them with total station and adjusting the measurements through a network approach in order to achieve millimeter-level accuracy. Image datasets with a designed Ground Sample Distance (GSD) of 2 mm were acquired in Network RTK (NRTK) and RTK modes in manual piloting and processed both as single façades (S–F) and as an overall block (4–F). Subsequently, we compared the results of photogrammetric models generated in Agisoft Metashape to the Signalized Point (SP) coordinates. The results highlight the importance of processing an overall photogrammetric block, especially whenever part of camera locations exhibited a poorer accuracy due to multipath effects. No significant differences were found between the results of network real-time kinematic (NRTK) and real-time kinematic (RTK) datasets. Horizontal residuals were generally comparable to GNSS accuracy in NRTK/RTK mode, while vertical residuals were found to be affected by an offset of about 5 cm. We introduced an external GCP or used one SP per façade as GCP, assuming a poorer camera location accuracy at the same time, in order to fix this issue and comply with metric survey specifications for the widest architectural scale range. Finally, both S–F and 4–F projects satisfied the metric survey requirements of a scale of 1:50 in at least one of the approaches tested.
PPP-RTK combines the advantages of both precise point positioning (PPP) and real-time kinematic (RTK) techniques. While constructing PPP-RTK models based on undifferenced and uncombined observations ...offers apparent benefits, these observation equations suffer from a rank deficiency issue. To address this problem, the Singularity-system (S-system) theory can be utilized. This theory imposes constraints on a minimal subset of parameters, known as the S-basis, by setting them to arbitrary values, typically zeros. Despite the existence of multiple options for the S-basis, prevailing research conventionally selects the parameters of one receiver—the pivot—as the S-basis. In this study, we depart from this practice by selecting the mean of receiver-related parameters as the S-basis. This departure prompts an exploration into how the S-basis choices influence PPP-RTK outcomes regarding network product precision and user positioning performance. Our comparative analysis of the mean receiver (MR) and pivot receiver (PR) models unveils distinctions in the combined product precision. These products include satellite clocks, satellite phase biases, and ionospheric delays (excluding tropospheric delays). The distinction emerges because the estimable satellite clocks in the PR model incorporate atmospheric delays specific to the pivot receiver, in contrast to the MR model, which integrates mean atmospheric delays from all receivers. Despite the distinction in the analytical form of combined product and its precision, both model results in similar positioning performance. This is because variations in product precision levels caused by selecting different atmospheric parameters as the S-basis can be nullified by the parameterized atmospheric delays on the user side. With the inclusion of tropospheric delays, the PR and MR models also demonstrate similar performance and yield more accurate user positioning when located near the pivot receiver compared to positions farther from the pivot receiver when employing ambiguity-float network products. This dependence on the pivot receiver stems from both models selecting the pivot receiver ambiguities as the S-basis, while opting for mean ambiguities across all receivers negates the integer nature of ambiguities. Our conclusion underscores that identical positioning outcomes in PR and MR PPP-RTK models rely on both models selecting the same ambiguities as the S-basis. This highlights the potential variability in PPP-RTK performance when different ambiguity parameters are selected as the S-basis, particularly in the absence of network integer ambiguity resolution.
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