Labs in Precise GNSS

(Prof. Urs. Hugentobler)

Exercise 3:
Introduction to Bernese GNSS Software

by

Hunaiz Ali
(hunaiz.ali@tum.de)
and
Jingwei Xie

January 07, 2015

Earth Oriented Space Science and Technology
Technical University of Munich

Contents
1 Data collection

2 Comparison of Different Days

3 Influence of Satellite Orbits

4 GPS and GLONASS

Chapter 1

Data collection
In this exercise, the observation data from 6 ground stations are processed in the Bernese
software to calculate each stations coordinates. Then we analyse the impact of different
satellite constellation and orbits on the performance of resulted coordinates.
The data used in this exercise are from following 6 different observation stations whose
coordinates we calculate using Bernese are:
BRUX (Brussels)
JOZ2 (Josefoslaw)
ONSA (Onsala)
POTS (Potsdam)
WTZR (Wettzell)
ZIM2 (Zimmerwald)
We use data on days of the year (DOY) 100 and 101 of 2012 which contains both GPS
and GLONASS signals.
With the resulted coordinates, we will use the Helmert transformation tool in the Bernese
GNSS Software to make comparison of coordinates in the following parts.

Chapter 2

Comparison of Different Days

In this chapter, coordinates calculated from day 100 and 101 of 2012 will be compared,
which are based on GPS & GLONASS observation data processed using CODE rapid
satellite orbits. The resulted station coordinates are subtracted with each other and
also by IGS08 coordinates. The residual as well as statistical analysis results are listed
in table 2.1

Table 2.1: Station coordinates residual for day 100 and 101 of 2012
Residual [mm]
Station DOY100-DOY101
DOY100-IGS
DOY101-IGS
x
y
z
x
y
z
x
y
z
BRUX 0.09 0.05 3.98 -3.89 8.00 7.26 -3.98 7.94 3.28
JOZ2
-0.17 -2.21 -0.42 -2.11 -2.41 -4.88 -1.94 -0.20 -4.46
ONSA 0.88 1.22 0.08 3.18 -1.45 3.99 2.30 -2.66 3.91
POTS
0.33 0.06 -0.49 6.80 -2.10 7.51 6.47 -2.16 8.01
WTZR 0.23 1.50 -1.11 -0.63 1.54 -8.67 -0.85 0.04 -7.56
ZIM2
-1.29 -0.31 -2.04 -3.55 -2.30 -5.21 -2.26 -2.00 -3.18
RMS
0.73 1.32 2.08 4.22 4.10 7.09 3.81 3.97 5.95
MEAN 0.01 0.05 0.00 -0.03 0.21 0.00 -0.04 0.16 0.00
MIN
-1.29 -2.21 -2.04 -3.89 -2.41 -8.67 -3.98 -2.66 -7.56
MAX
0.88 1.50 3.98 6.80 8.00 7.51 6.47 7.94 8.01
From the table above, the difference in value of coordinates between DOY 100 and 101
can be observed at the level of millimeter, which shows a stable performance of the coordinate results. Among 3 axis, z axis gives the worst stability for 7 stations listed with
largest varying range and largest standard deviation. Also there is significant difference between stations: station POTS have the smallest mean residual on 3 axis, station
BRUX gets smallest change on x and y axis while biggest change on z axis.
If we use IGS coordinates as standard coordinates for stations subtract that value from
the processing result, we can get an accuracy under 10 mm for all stations. The mean
value of residual is very small on z axis and smaller than 0.3 mm for all 3 axis, which
means the result is relatively stable over the region. The standard deviation of DOY
101 is smaller than DOY 100, means a better stability of measurements on DOY 101.
But the range of residuals has small difference. Overall we can say that the performance
between DOY 100 and DOY 101 is similar using the GPS & GLONASS data and CODE
rapid orbits.

Chapter 3

Influence of Satellite Orbits

Using the Bernese software we are able to use different orbits to calculate station coordinates. For example, we can use Broadcast Orbits, CODE Ultra Rapid Orbits, CODE
Rapid Orbits, CODE Final Orbits, IGS Ultra Rapid Orbits, IGS Rapid Orbits IGS Final
Orbits and so on.[1]
In this practice, we compare the performance of Broadcast orbits with CODE rapid
orbits by subtracting DOY 100 and 101 result for different orbits using GPS data.
Table 3.1: Station coordinate difference between day 100 and 101 of 2012 for different
orbits
Residual [mm]
Station
Broadcast orbits
CODE rapid orbits
x
y
z
x
y
z
BRUX 0.28 1.30 -9.85 0.32 -0.20 2.35
JOZ2
-1.07 -6.13 11.77 -0.26 -2.29 1.47
ONSA 3.25 4.26
6.73
0.74 1.23 -0.13
POTS
0.96 -0.69 1.38
0.37 -0.07 -0.51
WTZR -0.57 -0.34 -1.60 0.18 1.53 0.01
ZIM2
-3.72 -0.82 -8.43 -1.37 -0.32 -3.19
RMS
2.32 3.43
8.44
0.74 1.36 1.90
MEAN -0.14 -0.40 0.00 -0.00 -0.02 0.00
MIN
-3.72 -6.13 -9.85 -1.37 -2.29 -3.19
MAX
3.25 4.26 11.77 0.74 1.53 2.35
As listed in table 3.1, there is a big difference in the performance of 2 orbits. The mean
values of residual value for CODE rapid orbits are nearly 0, the standard deviations
of CODE rapid orbits results are apparently smaller, and also the ranges of residual
value for CODE rapid orbits are smaller compared to broadcast orbits, all leads to the
conclusion that using CODE rapid orbits lead to better repeatability.

Rolf Dach, Urs Hugentobler,Pierre Fridez, Michael Meindl.Bernese GPS Software Version 5.0. Astronomical Institute, University of Bern, 2007.

Chapter 4

GPS and GLONASS

In this part the comparison of GPS-only solution with GLONASS-only and GPS-GLONASS
solution will be made, using CODE rapid orbits and Earth rotation parameters for DOY
100 and 101 of year 2012. This will let us know which is better, the ones using one constellation alone or the one combined, in precise point positioning.
Table 4.1 shows the residuals for day 100/2012 compared with IGS08. Table 4.2 shows
the residuals for day 101/2012 compared with IGS08. Table 4.3 shows the residuals of
day 100/2012 vs 101/2012.
Table 4.1: GPS, GLONASS, GPS-GLONASS Code Comparison: Residuals of Day
100/2012 vs IGS08
Residual [mm]
Station
GPS-only
GLONASS-only
GPS/GLONASS
x
y
z
x
y
z
x
y
z
BRUX
-3.61 7.55 5.36 -4.31 8.80
9.78 -3.89 8.00 7.26
JOZ2
-1.94 -2.24 -2.99 -2.26 -2.76 -6.07 -2.11 -2.41 -4.88
ONSA
4.35 -2.24 2.29 2.13 -0.33
7.25
3.18 -1.45 3.99
POTS
3.63 -2.34 9.08 9.99 -2.04
6.39
6.80 -2.10 7.51
WTZR
-0.25 2.22 -7.06 -0.84 0.62 -14.62 -0.63 1.54 -8.67
ZIM2
-2.38 -2.26 -6.67 -5.11 -2.31 -2.72 -3.55 -2.30 -5.21
RMS
3.30 4.06 6.63 5.56 4.36
9.45
4.22 4.10 7.09
Mean
-0.03 0.12 0.00 -0.07 0.33
0.00 -0.03 0.21 0.00
Min
-3.61 -2.34 -7.06 -5.11 -2.76 -14.62 -3.89 -2.41 -8.67
Max
4.35 7.55 9.08 9.99 8.80
9.78
6.80 8.00 7.51
Transformations
5.05 mm
7.05 mm
5.50 mm
RMS
From table 4.1-4.3, two prominent results can be observed. Firstly GLONASS residuals
are the highest among the three systems. Secondly it is hard to decide between GPS
and GPS/GLONASS systems that which one is better. It can be seen that in x-direction
GPS-only residuals are smaller for more stations while in y-direction combined GPSGLONASS system results better for most of the stations. In z sometimes GPS-only
leads and sometimes combined system leads.
If only the mean value is considered, then GPS is comparatively the leading system with
respect to other two system under consideration.

CHAPTER 4. GPS AND GLONASS

Table 4.2: GPS, GLONASS, GPS-GLONASS Code Comparison: Residuals of Day

101/2012 vs IGS08
Residuals [mm]
Station
GPS-only
GLONASS-only
GPS/GLONASS
x
y
z
x
y
z
x
y
z
BRUX
-3.93 7.75 3.01 -4.21 8.24 3.94 -3.98 7.94 3.28
JOZ2
-1.68 0.05 -4.46 -2.12 -0.59 -4.18 -1.94 -0.20 -4.46
ONSA
3.61 -3.48 2.41 1.07 -1.64 5.93 2.30 -2.66 3.91
POTS
3.25 -2.27 9.59 9.54 -2.12 6.74 6.47 -2.16 8.01
WTZR
-0.43 0.69 -7.07 -1.00 -0.58 -9.87 -0.85 0.04 -7.56
ZIM2
-1.01 -1.94 -3.48 -3.71 -2.11 -2.55 -2.26 -2.00 -3.18
RMS
2.94 4.04 6.15 5.08 4.00 6.60 3.81 3.97 5.95
Mean
-0.03 0.14 0.00 -0.07 0.20 0.00 -0.04 0.16 0.00
Min
-3.93 -3.48 -7.07 -4.21 -2.12 -9.87 -3.98 -2.66 -7.56
Max
3.61 7.75 9.59 9.54 8.24 6.74 6.47 7.94 8.01
Transformations
4.73 mm
5.52 mm
4.84 mm
RMS

Table 4.3: GPS, GLONASS, GPS-GLONASS station coordinates Comparison: Residuals of DOY 100/2012 vs 101/2012
Residuals [mm]
Station
GPS-only
GLONASS-only
GPS/GLONASS
x
y
z
x
y
z
x
y
z
BRUX
0.32 -0.20 2.35 -0.09 0.56 5.84 0.09 0.05 3.98
JOZ2
-0.26 -2.29 1.47 -0.14 -2.17 -1.90 -0.17 -2.21 -0.42
ONSA
0.74 1.23 -0.13 1.06 1.31 1.32 0.88 1.22 0.08
POTS
0.37 -0.07 -0.51 0.45 0.08 -0.35 0.33 0.06 -0.49
WTZR
0.18 1.53 0.01 0.16 1.20 -4.74 0.23 1.50 -1.11
ZIM2
-1.37 -0.32 -3.19 -1.40 -0.20 -0.16 -1.29 -0.31 -2.04
RMS
0.74 1.36 1.90 0.82 1.28 3.52 0.73 1.32 2.08
Mean
-0.00 -0.02 -0.00 0.01 0.13 0.00 0.01 0.05 0.00
Min
-1.37 -2.29 -3.19 -1.40 -2.17 -4.74 -1.29 -2.21 -2.04
Max
0.74 1.53 2.35 1.06 1.31 5.84 0.88 1.50 3.98
Transformations
1.47 mm
2.29 mm
1.54 mm
RMS