情報処理学会研究報告 IPSJ SIG Technical Report Vol.2018-DPS-175 No.11 Vol.2018-MBL-87 No.11 Vol.2018-ITS-73 No /5/24 RTK-GNSS 1, 1,a) Tiphat Areeyapinun

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1 RTK-GNSS 1, 1,a) Tiphat Areeyapinun 1, 1 1, 1 1, 1,b) RTK-GNSS RTK-GNSS RTK-GNSS (GNSS) RTK 1. RTK-GNSS RealTime Kinematic - Global Navigation Satellite Sysytem FIX FIX RTK-GNSS RTK-GNSS FIX RTK-GNSS 1 IPSJ, Chiyoda, Tokyo , Japan 1 Presently with Department of informatics, Graduate School of Integrate Science and Technology, Shizuoka University a) b) RTK-GNSS 3 [1] RTK-GNSS RTK-GNSS RTK- GNSS RTK-GNSS LOS Line of Sight GDOP Geometric Dilution of Precision FIX LOS GDOP c 2018 Information Processing Society of Japan 1

2 2. GNSS GNSS Global Navigation Satellite System GPS 24 ( ) GLONASS 24 BeiDou 35 ( ) 30 ( ) 4 7 ( 4 ) IRNSS [2] 0 [3] m 3m 10m 0.5m 0.5m 1m 10m 2.1 [4] 0 r i X i Y i Z i c x y z t r 1 = (x X 1 ) 2 + (y Y 1 ) 2 + (z Z 1 ) 2 + c t (1) r 2 = (x X 2 ) 2 + (y Y 2 ) 2 + (z Z 2 ) 2 + c t (2) r 3 = (x X 3 ) 2 + (y Y 3 ) 2 + (z Z 3 ) 2 + c t (3) r 4 = (x X 4 ) 2 + (y Y 4 ) 2 + (z Z 4 ) 2 + c t (4) RTK-GNSS RTK-GNSS 3 RTK-GNSS L m 5. λ ϕ cycle ρ m c (m/sec) dt sec dt sec I m T N cycle σ L c 2018 Information Processing Society of Japan 2

3 L λϕ = ρ + c(dt dt ) I + T + λn + σ L (5) 4 3 N cycle 6ϕ 0r cycle ϕ s 0 cycle n N = ϕ 0r ϕ s 0 + n (6) 1 [6] RTK-GNSS LAMBDA LAMBDA FLOAT 1 [6] RTK-GNSS RTK-GNSS FIX FLOAT FLOAT 5m [7] FIX FIX DOP 2.3 DOP DOP Dilution of Precision 5 DOP PDOP Position Dilution of Precision TDOP Time Dilution of Precision GDOP Geometric Dilution of Precision [8] GDOP 5 [9] GDOP 7 9 [10] AZ n EL n n 5 GDOP G = sin AZ 1 cos EL 1 cos AZ 1 cos EL 1 sin EL 1 1 sin AZ 2 cos EL 2 cos AZ 2 cos EL 2 sin EL 2 1 : : : : sin AZ N cos EL N cos AZ N cos EL N sin EL N 1 (7) C = (G T G) 1 (8) GDOP = C 11 + C 22 + C 33 + C 44 (9) 2.4 GNSS L MHz L MHz L MHz c 2018 Information Processing Society of Japan 3

4 L1 L1 RTK-GNSS RTK-GNSS [11] GEONET[12] 3. [1] RTK- GNSS [1] RTK-GNSS FIX 6 NLOS non-line-of-sight RTK-GNSS NLOS RTK-GNSS 7 RTK-GNSS RTK-GNSS RTK-GNSS RTK-GNSS 3 8 RTK-GNSS 6 NLOS RTK-GNSS 7 LOS OpenStreetMap 3 RTK-GNSS RTK-GNSS RTK-GNSS 3 SNR 3 8 RTK-GNSS 4. RTK-GNSS RTK-GNSS FIX LOS GDOP [1][10] 2 FIX 3 RTK-GNSS FIX c 2018 Information Processing Society of Japan 4

5 2 2 (Proposed Score) RTK Possible Poor Normal Good LOS Satellites Quantity < 8(0) 8-11(2) > 11(4) DOP > 5(0) 3-5(1) < 3(2) 4.1 LOS GDOP SNR 60 RTKLIB[13] FIX FIX 9 60 G GPS R GLONASS E Galilleo{G27} {G16} {E02 R10} {G01} {R22 G11} {G07} {G30} G27 GPS 27 GDOP Epoch /12/ Hz 7200 RTKLIB ver2.4.3 b23 RNX2RTKP 1 L1 Kinematic Continuous 20 Trimble NetR9 GPS GLONASS Galileo 2 ( 3-5-1) S 5.053km) () LOS GDOP FIX FIX LOS GDOP LOS Good GDOP Good Normal LOS Normal GDOP Normal FIX 2 11 LOS Good GDOP Normal LOS Good GDOP Poor LOS RTK LOS GDOP FIX 5 FIX FIX FIX FIX c 2018 Information Processing Society of Japan 5

6 5 2017/12/ Hz 7200 RTKLIB ver2.4.3 b23 RNX2RTKP 1 L1 Kinematic Continuous 20 Trimble NetR9 GPS GLONASS Galileo 2 ( 3-5-1) 10 LOS GDOP FIX S 5km) () 4 FIX LOS Satellites Quantity GDOP Obtaind fix rate[ ] Epoch Good Good ,300 Good Normal ,300 Good Poor Normal Good ,000 Normal Normal ,400 Normal Poor ,900 Poor Good ,300 Poor Normal ,800 Poor Poor ,222 FIX 6 LOS Satellites Quantity GDOP Proposed Score Obtaind fix rate[ ] Epoch Good(4) Good(2) ,132,200 Good(4) Normal(1) ,100 Good(4) Normal(2) Poor(0) Good(2) ,019,700 Normal(2) Normal(1) ,649 Normal(2) Poor(0) Poor(0) Good(2) ,629 Poor(0) Normal(1) ,439 Poor(0) Poor(0) , FIX 4 6cm[14] 6cm FIX FIX FIX 6 c 2018 Information Processing Society of Japan 6

7 6. RTK-GNSS FIX FIX LOS GDOP LOS GDOP FIX 3 NLOS NLOS FIX JSPS 17H01731 [11] HAMAMATSU-GNSS GNSS /01/25 [12] /01/25 [13] Takasu, T.: RTKLIB : An Open Source Program Package for GNSS Positioning, /01/25 [14] QZSS /01/25 [1] Areeyapinun, T.: A Framework of a Precision Forecasting System for RTK-GNSS as Its Suport Infrastructure, 2017 : Kitani, T. [2] (8) GNSS QZSS html 2018/01/25 [3] 29 GNSS pp.ii1 II37 AAI-GNSS 2017 [4] GNSS b14761.pdf 2018/01/25 [5] Takasu, T.,, symp htm 2018/02/11 [6] LAMBDA, 2005 : [7] Hall, K.W., Gagliardi, P. and Lawton D.C.: GPS accuracy part 2: RTK float versus RTK fixed, CREWES Research Report - Volume [8] Misra, P., Enge, P.: GLOBAL POSITIONING SYSTEM Signals, Measurements, and Performance,Ganga-Jamuna Press, Massachusetts (2006). GPS [9] GPS /02/11 [10] RTK, 37 p.iv c 2018 Information Processing Society of Japan 7

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