Principles of Differential GPS,

Surveying methods and

integration with GIS themes

Ashutosh Bhardwaj
(ashutosh@iirs.gov.in)
Photogrammetry and Remote Sensing Division
Indian Institute of Remote Sensing
http://www.aero.org/education/primers/gps/index.html
Differential GPS Survey :
What it serves?

High Accuracy
 How Well Does It Work?

DGPS gives cm level accuracy

GPS- 15m

LORAN C- 180m

Transit- 200m

TACAN- 400m

Inertial- 1km

Omega- 2km

Navigation Accuracy Comparisons

Steps for Data Preparation & Integration
• Geocoding: assigning geographic coord. to points
– Perhaps the most basic form of spatial data entry
• data media conversion : scanning/digitizing
• data format conversion-raster & vector
• data reduction
• Topology, error detection and topological editing
• rectification and registration (one on top of the other)
– overlaying sheets and referencing to the real world
• edge matching & image adjustment (side by side)
– linking & balancing adjacent sheets
• interpolation
• GIS Application
 DGPS
¾ Method to remove errors from GPS measurements

¾ Uses a GPS receiver at a fixed, surveyed location i.e. base

station, to measure error in pseudo range

¾ Base station receives the same GPS signals as the roving

receiver and instead of using timing signal to calculate its
position, it uses its known position to calculate timing.

¾ Pseudorange error for each satellite is subtracted from

rover before calculating position during RTK mode or post
processing

¾ Signal time at reference location is compared to time at

remote location. Time difference represents error in
satellite’s signal; clock bias
Differential GPS Correction

Post - Processed
Differential GPS Correction Signal-RTK
• Uses standardized output: RTCM-104
• Binary code, not directly readable
• Receivers often provide RTCM-104 on a RS-232 serial port

Real - Time
Example: Field Work- Static

R1 R2

R1/3

Base

R2/4
 The Technique

• In the post processing, some of the errors between the

base station and rover data can be recognized, & corrected.

• Requires post-processing of field data.

(1) download the rover data

(2) download the base station data

(3) use software to make the corrections

• Remove or reduce all errors except multipath.

 Sources of error

1. [Selective availability]

2. Clock errors

3. Ephemeris errors

4. Atmospheric delays

5. Multipath effects

6. Receiver errors
 GPS Errors Diff. Corrected

Atmospheric partial

Clock and Ephemeris yes

Multipath no

Receiver noise no
 Typical Error Budget (m)

Standard Differential GPS

Source: GPS
Satellite clocks 1.5 ~0
Ephemeris errors 2.5 ~0
Ionosphere delays 5.0 ~0
Troposphere delays 0.5 0.2
Multi-path (reflections) 0.6 ~0
#Choke Ring Antenna, open
area

Receiver errors 0.3 0.3

Typical totals ~10 Sub-meter accuracy
GPS Data Post Processing Software

• Commercial Software
– SKIPRO from LEICA
– GPSURVEY from TRIMBLE
– GPSS from ASHTECH
– SPECTRUM SURVEY from SOKKIA
GPS Data Post Processing Software

• Scientific Post Processing

– BERNESE from University of Berne,
Switzerland
– GAMIT from MIT, USA
– GIPSY from Jet Propulsion Laboratory, USA
– DIPOP from University of Brunswick, Canada
– GEONAP from University of Hannover,
Germany
 Advantage of Differential GPS

? Improved accuracy has a profound effect

on the importance of GPS as a resource.
? It becomes more and more useful for
applications where cm accuracies are
required, like:
1. Urban mapping.
2. Alignment: Road, Railways, canal.
3. Cartography,etc.
 Integration with latest technologies
• GPS Juno ST GPS Handheld
Stylus holder Headset connector
• Mobile
GPS Reset
• Camera antenna button
connector
• GIS s/w
• TS + GPS Power
button
SD card
slot
Lock
switch

Calendar Contacts

Today Messaging
screen

Directional
MIO Power/USB socket button
 A GPS View of GIS Features
– Point features are one or more positions
averaged into a point
• Mapping Grade Receivers : Called “Points”
• Recreational Grade Receivers : Called “Waypoints”

Point
Line Area

– String of positions converted into a line / area

• Mapping Grade Receivers : Collected directly in the
field as a line / area feature
• Recreational Grade Receivers : Collected as a
“TrackLog” then converted back in the office
 GIS/GPS Field Mapping Tools

• GPS unit + Handheld PC + ArcPad:

– Realtime display of vector /raster data
– Hook to any GPS
– Unlimited Storage (dependent on storage
capacity of device)
– Instant shapefile creation

Garmin and IPAQ

running ArcPad
Use of GPS/DGPS Precision farming

Power Grid
Interfaces Personal Navigation
Surveying &
Mapping
Trucking &
Shipping
Aviation

Railroads Communications
Recreation

Fishing &
Boating
Off shore
Drilling
 GPS Opportunities in India
• Indian GPS market can be broadly divided in
following segments
• National Survey Agencies (NRSC, SOI,Mil.
Survey,NHO,)
• Land Records (Kerala,TN,J&K, Rajasthan,Gujrat,
etc.)
• Oil and Energy( OIL, ONGC, BPCL, HPCL)
• Power(NHPC Assam, Himachal, J&K,Arunachal,
Kaveri Basin)
• Defense
• Scientific Institution(IIGM,CMMAC,CESS,WIHG,
NGRI, SAC,GSI)
 Cont…..

• Mining and Consultancy Engineering

/Infrastructure(IRCON,RITES,Delhi Metro, NHAI)
• Private Surveying Companies (ICT, Theowell,
Secon, Shiv Vani)
• Marine and Maritime Boards (DGLL,Port Trust,
NIO, MMB, ICMAM)
• Remote Sensing and Forestry
• Education
• GIS
 References
• Gunter Seeber: Satellite Geodesy, 2nd Edition, Walter de Gruyter,
Germany
• www.garmin.com/aboutGPS/waas.html
• http://www.gdgps.net/
• http://gipsy.jpl.nasa.gov/igdg/system/index.html
• http://www.glonass-ianc.rsa.ru/pls/htmldb/f?p=202:1:15000421459964108253
• http://igscb.jpl.nasa.gov/
• http://www.navcen.uscg.gov/gps/precise/default.htm
• http://www.aero.org/education/primers/gps/index.html

Interface Control Documents:

• http://www.navcen.uscg.gov
• http://www.Glonass-ianc.ras.ru
• http://www.Galileoju.com
 GPS GLONASS GALILEO

Master Control 1station in US 1 in Russia 2 in EU

Surveillance 11 stations 7 30-40

Satellites 30(03/2007) 19(03/2007) 30(2011)

Orbital planes 6 Minm 4 sat Ø=15° 3(120°/45°) 3(9+1-40°)

Inclination 55° 64.8° 56°

Altitude (Km) 20180near- 19100-24680 23222-28920

25820far
Ground track repeatition 1 day 7d 23h 27m28s 10 days

Revolution time 11h 57m 58s 11h 15m 44s 14h 4min

SelectiveAvailability Off No No

Anti-spoofing YES No No

services 2(SPS,PPS) 2(SPS,HPS) OS, SoL,CS,PRS,SAR

Frequency bands 3(L1,L2, M) 3 5(L1,E5a,E5b,E6,L6)

Velocity(m/s) 3870 3950 3675

c=299792458m/s
PropagationTime(T-ms) 67-86 64-82 77-96

Distance travelled during T 260-333m 252-325m 285-355m

• Integrated
Coastal and
Marine Area
Management,
Ministry of Earth
Sciences
(MoES), GOI.
• Maharashtra
Maritime Board
(MMB)
• Directorate
General of
Lighthouses and
Lightships
• Integrated Coastal and Marine Area
Management, Ministry of Earth
Sciences (MoES), GOI.
• Maharashtra Maritime Board (MMB)
• Directorate General of Lighthouses and
Lightships