04/19/23 G. L. Mader 1

kinpos

GPS Kinematic Positioning Program

Dr. G. L. Mader

04/19/23 G. L. Mader 2

kinpos

K A R S

kinematic rapid-static

kinpos

04/19/23 G. L. Mader 3

Kinematic GPS

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

double difference phase

double difference bias

Ambiguity search: at least 4 dd’s

trial suites of N j

track rms for each suite

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C:\KARS DIRECTORY

Kinpos.exeant_info.001splot.exedos4gw.exe

c:\kars

c:

Create the directory c:\kars

Copy the above files to this directory

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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

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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

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PROJECT DIRECTORY

Project Name

Data

97_252

97_253

RINEX Observation and Navigation files and SP3 files

kinpos.inpparamkars.edtphifix

Create project directory(s) as suggested above

Load rover and reference rinex files, orbit files

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

kinpos.inp

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.

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Input FilesRinex observation files for the rover and reference data.****###*.##o

****###*.##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.

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kinpos.inp

96 12 03 16 40 18.096 12 03 17 48 00.00 1 0 0 1 1 0 1 3 1 1 1 01 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

start time (ymdhms)stop time (ymdhms)run optionsplot optionsrover rinex file path/namerover xyz rover n,e,u [xyz] to ARPT(C), P(mBar), H(%)rover standard antenna nameref rinex file path/nameref xyz ref n,e,u [xyz] to ARPT(C), P(mBar), H(%)ref standard antenna namerinex nav file path/nameorbit file path/nameantenna file path/name

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kinpos.inp

96 12 03 16 40 18.096 12 03 17 48 00.00 1 0 0 1 1 0 1 3 1 1 1 01 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 3888805.845-2700502.685 -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

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.

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kinpos.inp

96 12 03 16 40 18.096 12 03 17 48 00.00 1 0 0 1 1 0 1 3 1 1 1 01 1 1 1 0 0 0 0 1 1 0 1 1/mz3/sfbay/96_338a/data/BS06338A.96O -2700502.685 -4261785.127 3888805.845-2700502.685 -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

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.

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kinpos.inp

96 12 03 16 40 18.096 12 03 17 48 00.00 1 0 0 1 1 0 1 3 1 1 1 01 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 22020.00TRM 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 22020.00TRM 22020.00/mz3/sfbay/96_338a/data/BS06338A.96N /mz3/sfbay/96_338a/data/igs08822.sp3/mz1/antcal/ant_info.001

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.

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kinpos.inp

up component from user

offset from ant_info.001

xyz from user

antenna reference point (ARP)

L1 phase center

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kinpos.inp - run options0 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.

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

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kinpos.inp - run options0 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).

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kinpos.inp - run options0 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.

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kinpos.inp - run options0 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.

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kinpos.inp - run options0 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.

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kinpos.inp - plot options

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

elevationion residualphase-rangew

idelane# of sv’srange solution residuals

phase solution residuals

range solutionphase solution

ion corrections

tropo scale factor

rng-phs,wln-phs soln diffs

rng & phs rdop &

rms

elvion

pmrwln

svnrrs

rslprs

pslcor

tsfdif

qck

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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

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

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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 0.02 0.00 0.3 2.0 0.30 2.00 0.06 30

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.

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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 0.02 0.00 0.3 2.0 0.30 2.00 0.06 30

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)

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.

Ellipsoidal flattening

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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 0.02 0.00 0.3 2.0 0.30 2.00 0.06 30

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.

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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 0.02 0.00 0.30 2.0 0.30 2.00 0.06 30

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.

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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 0.02 0.00 0.30 2.0 0.30 2.00 0.06 300

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

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

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

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

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phifix

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

sv # ref sv #L1 and L2 phase bias for selected start time

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

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kars.edt

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.

sv prn number (0=apply to all sv’s

Station number, 1=rover, 2=ref.

instruction start date/time

Instruction stop date/time

L1, L2 delete instructions

L1, L2 add cycles instructions

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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)

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Output FilesThe 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.

psolxyz

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.

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Output FilesThe 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.

rsolxyz

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.

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Output FilesFile 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.

integer

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

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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’

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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.

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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’.