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Technical Reports About Waypoint Software Products and Their Applications
Precise Point Positioning
Inertial Explorer
Waypoint's RTS smoother is introduced in this report, which is included in Waypoint Consulting's GPS/INS post-processing package Inertial Explorer v7.60. The effects of the smoother on position, velocity and attitude are shown when GPS data gaps are introduced of 10 minutes, 5 minutes, 100 seconds and 30 seconds. The data set processed is from a Novatel SPAN 1 degree/hr system under medium dynamics (maximum speed 100 km/hr) on a test run in Calgary, AB. RTKNav/RtStatic
This report describes how RTKNav was used to process data from GPS equiped sonobuoys in the calibration of underwater sonar systems. This report is provided here with the kind permission of Gregory J. Baker of the Defense Research Establishment and Hermes Electronics Inc. This report describes describes a 252 day test of RtStatic using two IGS stations on opposite sides of the San Andreas fault. RtStatic uses Waypoint's GrafNav processing receiver to provide Fixed Static solutions in near real-time. Simultaneously, the standard kinematic receiver processes the same data in real-time to monitor fast moving events. Kinematic Ambiguity Resolution
This report examines fast on the fly ambiguity resolution on baselines less than 10 km in length under various observation conditions. This research report observes the effects and precision of GPS processing solutions that are kinematic. Statistical measures of the Kinematic Ambiguity Resolution algorithm are presented as well as the accuracy attained from each test. Batch Processing
This report shows obtainable accuracies for one data set when batch processing using CORS base station data. In each run, three CORS stations are used at average baseline lengths of 130 km, 545 km and 1,270 km. Results are compared with the processing results from three locally established base stations which had an average baseline length of 14 km during the survey. Batch processing results are presented both with Waypoint's older style of batch processing as well as the new style available in version 7.50. The new method of batch processing uses all of the data simultaneously in one Kalman filter. This report compares the free email/ftp based static processing services of SCOUT, OPUS, and GIPSY. Batch results from GrafNet are also compared. ION Papers
GPS real-time kinematic (RTK) has been utilized for harbor dredging applications for a number of years. Such applications require both accurate position and heading in order to obtain the location of the dredging vessel implements. The method described here involves mounting two remote GPS antennae on the vessel, denoted R1 and R2. Their distance separation is pre-calibrated and will remain constant with vessel dynamics. A base station (M) is also employed on shore. The vessel's position is obtained by solving for the vector M-R1 or M-R2, while vessel azimuth is computed from R1-R2. Optimal accuracies are obtained using on-the-fly (OTF) techniques. This report describes the use of moving baseline software in tracking post-mission, the relative trajectories of 4 Ashtec G12 HDMA GPS receivers attached to payloads jettisoned from a Black Brant XII rocket. Low Cost Receivers
The ublox Antaris is a relatively new, low cost receiver. Float accuracies on three kinematic surveys are presented here. Detailed in this report are two kinematic GPS surveys performed with the very low cost, but suprisingly accurate CMC Superstar receiver. This report describes a series of kinematic GPS Surveys performed using the Canadian Marconi All-Star 12 channel receiver with 1-10 Hz carrier phase output. This is a summary of results from three surveys conducted with Rockwell PLGR-S 5-Channel GPS receivers in kinematic mode. Waypoint's GrafNav Post Processing Software was used to process the data collected. High End Receivers
The following report looks at the results for two dual frequency NovAtel OEM4 receivers tested in a kinematic survey. The purpose of the survey was to test the effectiveness of the OEM4 in on-the-fly (OTF) kinematic ambiguity resolution. The following report describes a static network adjustment using two 10-channel single frequency NovAtel receivers and a Navstar 12-channel XR5M receiver. This survey was performed by Matai Surveys of Calgary, Alberta, and the data was processed using GrafNet, our baseline processor/network adjustment package. This report outlines the results of an airborne GPS/Photogrammetric mapping mission flown by Northwest Geomatics of Edmonton, Alberta, Canada. The subsequent report describes an experimental seismic survey performed in post processing mode by Paladin Positioning Inc. of Calgary, Alberta, who used Ashtech GG-24 receivers provided by Gemini Positioning Systems. This report is a description of airborne GPS Tests with javad dual frequency GPS/Glonass receivers performed in January 1999 by John Welter of NorthWest Geomatics. This report describes two surveys using the new NovAtel MiLLennium L1 GPS/GLONASS receiver on kinematic data sets collected. Moving Baselines
The following report details one survey in an extensive series of tests carried out by James Doutt of Woods Hole Oceanographic Institute (WHOI) utilizing Ashtech G-12 GPS receivers and Waypoint's GrafMov relative moving baseline software package. Using the Navstar XR5M receivers, we have compiled a report demonstrating the results of an Air to Air refueling test. These tests were performed in conjunction with Kohlman Systems Research. Long Baselines
Examined in this report are static baseline accuracies for baseline lengths of 5, 20, 40, 60, 200, 300, 400, 500, 700, 800, 900 and 1000 km. Each baseline is processed with 1, 3, 6, 12 and 24 hours of data with both the broadcast and precise ephemeris in order to establish: This report compares the free email/ftp based static processing services of SCOUT, OPUS, and GIPSY. Batch results from GrafNet are also compared. This report tests the accuracy of GrafNav in determining 1000 KM baselines between CORS stations. The static results obtained by GrafNav are compared against results obtained by JPL's GIPSY program as obtained through their internet service. Lastly this report investigates GrafNav's ability to process 1000 KM baselines in kinematic mode. Although, this is not recommended, it is of interest to examine the results obtained. The purpose of this report is to demonstrate how to use GrafNet to establish a local base station by using a network of long baselines. This is often necessary when a DGPS survey is being performed in an area with no local control. The following is a report on a long baseline adjustment for a GPS survey performed in Kazakhstan by Stuart Engineering and Surveying (SESL) of Calgary. Apart from results of the survey, detailed information is provided on access to IGS RINEX data files, CORS precise ephemeris files and the NIMA EGM96 worldwide geoid model. These tests use four United States NGS CORS stations with baseline lengths of 460km, 1180km, and 2640km. We performed this test to determine the feasibility of utilizing kinematic carrier phase on long baselines. Airborne Surveys
This report discusses the accuracy of using CORS/IGS as base stations for Airborne data. Photogrammetry is used to map large areas of the ground using overlapping photographs. Instead of placing control points on the ground, the airborne GPS positions each photograph accurately by acting like a control point for each photo. Research Reports by Waypoint ConsultingThe goal of the following reports is not to promote any of our software packages, but rather to inform users regarding topics of interest in GPS. All reports are in PDF format. Disclaimer: These reports reflect the views of Waypoint Consulting. Users should conduct their own tests should the results be of interest in some application.
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