PEGASUS Software User Manual : Module WinGPSALL
Contents
1. which describes an important part of the data formats used and the Technical Notes TN 4 which describes the algorithmic implementation It will be helpful to read the ESTB User Interface documentation 10 although this document describes the ESTB Signal In Space V1 0 which is based in the specification contained in 6 1 2 Definitions Acronyms and Abbreviations AAIM Aircraft Autonomous Integrity Monitoring ASCII American Standard Code for Information Interchange Doc No Document Number DD Design Document EEC EUROCONTROL Experimental Centre EGNOS European Geostationary Navigation Overlay System ESTB EGNOS Satellite Test Bed ICD Interface Control Document GBAS Ground Based Augmentation System GLONASS Global Navigation Satellite System by Russia GNSS Global Navigation Satellite System GPS Global Positioning System MT Message Type Project PEGASUS PEG PEGASUS PRN RAIM RINEX RTCA SAPPHIRE SARPS SBAS SIS SUM TBD TN URD UTC WAAS WGS84 Doc No PEG SUM WGP 14 01 2004 EUROCONTROL Issue K Date Software User Manual WinGPSALL 7 of 37 Sheet PEGASUS Prototype EGNOS GBAS Analysis System Using SAPPHIRE Pseudo Random Noise Satellite Identifier Receiver Autonomous Integrity Monitoring Receiver Independent Navigation Exchange Radio Technical Commission for Aeronautics Satellite and Aircraft Database Project for System Integrity Research Standards and Recommended Prac2. This position then will be used in the determination of the deviations in east north and up directions see chapter 3 4 5 This initial position must be given in WGS84 co ordinates i e latitude and longitude in degrees and altitude as Height above ellipsoid not above MSL If no initial position is specified by the user the first receiver computed position will be used to initialise the process and to determine the position errors This position will be displayed in the appropriate field The receiver can be selected using the drop down list Receiver In WinGPSALL the following receiver types can be used gt lt Automatic gt The receiver type will be automatically detected looking in the convertor mif file Only the NovAtel OEM 3 DSNP Aquarius 5000 series Septentrio PolaRx and NovAtel OEM 4 receiver types can be detected NovAtel OEM 3 GPS standalone mode GPS local area mode SBAS NPA mode SBAS PA mode and GBAS PA mode DSNP Aquarius 5000 series GPS standalone mode GPS local area mode SBAS NPA mode SBAS PA mode and GBAS PA mode Septentrio PolaRx GPS standalone mode GPS local area mode SBAS NPA mode SBAS PA mode and GBAS PA mode NovAtel OEM 4 GPS standalone mode GPS local area mode SBAS NPA mode SBAS PA mode and GBAS PA mode Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 22 of 37 Litton 8 channel GPS standalone mod
3. can be found in the ICD 1 Warning Message Delimiter not found Cause A delimiter character for the parameter fields could not be determined in the input file The program stops the execution Recovery The user should ascertain that the parameters and values in the input files are delimited by a correct field delimiter Specified in the ICD 1 It is of importance to notice that the GNSS range and position data file determines the delimiter character used in all other input files Thus the ESTB data files or the reference station input data file must contain the identical delimiter Warning Message No fields were found but the end of line was reached Maybe the is a wrong field separator Terminating Cause A delimiter character for the parameter fields could not be determined in the input file The program stops the execution Recovery The user should ascertain that the parameters and values in the input files are delimited by a correct field delimiter specified in the ICD 1 It is of importance to notice that the GNSS range and position data file determines the delimiter character used in all other input files Thus the ESTB data files or the reference station input data file must contain the identical delimiter EUROCONTROL Doc No PEG SUM WGP Issue K 14 01 2004 Sheet Project PEGASUS Date Software User Manual WinGPSALL 33 of 37 Appendix C Format an
4. 6988 7571 UNIT Sia DOCUMENT STATUS STATUS CATEGORY CLASSIFICATION oe Working Draft Executive Task General Public Draft Specialist Task EATMP Proposed Issue Lower Layer Task Restricted Released Issue v ELECTRONIC BACKUP INTERNAL REFERENCE NAME SUM_WGP DOC Project PEGASUS Issue Date EUROCONTROL Doc No PEG SUM WGP Issu K Date 14 01 2004 Software User Manual WinGPSALL sheet 3 of 37 CHANGE RECORD Chapter Description of Changes Previous Issues for Software Versions 0 9 to 1 2 PEGASUS Software User Manual PEG SUM 01 Issue F 17 01 2003 Issue associated with PEGASUS Plus 2 0 Restructuring of Document due to a significant change in the Architecture of the Software and Modularisation 09 04 2003 Minor Documentation Correction 17 06 2003 Minor Editorial Changes 25 09 2003 Minor Editorial Changes 14 01 2004 Automatic receiver detection added Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 4 of 37 TABLES OF CONTENTS 1 INTRODUCTION 1 Purpose of this document 1 Definitions Acronyms and Abbreviations 1 References 1 Overview 1 Receiver Implemented 2 INSTALLATION AND SYSTEM REQUIREMENTS 2 1 Installation 2 2 System Requirements 3 WINGPSALL Introduction Managing a Position Computation Starting the WinGPSALL 3 2 2 Starting a Sequence 3 3 Data Input 3 4 Use of Software 3 4 1 G
5. Output The description of the complete format for the SAPPHIRE related output file can be found in the following table Parameter Format Note Sample integer sample number in the file ACUTC_year integer year of data set in UTC time ACUTC_month integer month of data set in UTC time ACUTC_day integer day of data set in UTC time ACUTC_hrs integer hour of data set in UTC time ACUTC_mins i integer Minute of data set in UTC time ACUTC_secs integer Second of data set in UTC time GPS _t float GNSS seconds in week uncorrected for receiver clock errors O MINI OD a AJOJN GPS_ClkErr i float Receiver clock error fo GPS_CkErrDr 2 float receiver clock drift GPS_Lat float latitude computed position WGS84 N GPS_Lon float longitude computed position WGS84 wo GPS_Alt float altitude computed position mean sea level A GPS_VNS j float north south computed velocity oa GPS_VEW float east west computed velocity o GPS_Vup float up down computed velocity GPS_GDOP float GDOP GPS_PDOP float PDOP GPS_HDOP float HDOP GPS_VDOP float VDOP GPS_TDOP float TDOP N o N N EUROCONTROL PEG SUM WGP Project PEGASUS K Date 14 01 2004 Software User Manual WinGPSALL 29 of 37 Parameter Format Note GPS_SATV integer number of
6. Smoothing H 100 MV weights M GLONASS M Pegasus Do 223A lono 7 DataGap EY 3 V SBAS I Sapphire Do 2298 Tropo Min Elev z 5 0 Figure 5 Screenshot of the General Options The user can select the ranging sources by checking the appropriate checkboxes GPS GLONASS and SBAS At least one ranging source must be chosen for the position computation process However it should be noted that choosing only the SBAS as a ranging source will not lead to a position solution Individual satellites can be selected and de selected using the Satellite Selection Option In the current version of PEGASUS the GPS and GEO ranging sources are enabled Due to the fact that the current SBAS systems do not transmit correction and integrity information for the GLONASS system the development of the GLONASS part of the PEGASUS project has been postponed until further notice There are four different pre set modes for the data evaluation run provided in the GPS mode drop down list GPS standalone The position is determined using only the range measurements from the GPS GPS local area The position is determined using the range measurements from the GPS Correction data is determined using range measurements from a local area reference station SBAS NPA The position is determined using the range measurements from the GPS Correction data is determined using the fast and slow corrections provided by the ESTB SBAS PA The position is determined usin
7. further calculation described in the complete set of PEGASUS Software User Manuals the interested reader is referred to the Software User Manual of the PEGASUS FRAME programme which is described by 5 This document contains the Software User Manual for the PEGASUS module WinGPSALL This section contains a short introduction to the PEGASUS approach of GNSS data processing In chapter 2 of this document a short description for the installation and de installation of the WinGPSALL module is given when they are used as stand alone programs Chapter 3 will describe the use of the WinGPSALL software The Appendix A contains a short summary of the output files of the WinGPSALL program whereas the Appendix B provides a list of possible error warnings and the associated recovery procedures for the WinGPSALL module and the Appendix C contains a description of the initialisation file which is associated with the WinGPSALL module Project PEGASUS EUROCONTROL Doc No PEG SUM WGP Issue K Date 14 01 2004 Software User Manual WinGPSALL shee 9 of 37 1 5 Receiver Implemented The PEGASUS tools developed allow experimental use of GNSS systems notably the European Satellite Test bed ranging and wide area differential ranging processing of GPS and ESTB and combinations Data recorded from the following receivers and receiver families can be used receiver used to collect data name of receiver implemented N
8. is provided in the appendix A 2 A weighted position solution is implemented in the precise wide area mode In the basic wide area mode the user can select a weighted position solution by checking the box Weights In the current version of WinGPSALL a standard range smoothing is implemented The time constant for the smoothing filter can be modified by the spin button Smoothing A range of values between 0 and 100 is provided where a selection of the value 0 implies no smoothing In order to be compliant with the current version of the GNSS SARPS the carrier smoothing will be applied in all positioning modes before any of the system inherent or externally provided corrections are applied to the range measurements In previous versions of WinGPSALL every instance where there had been an interruption in the data stream for one or more satellite s the carrier phase range smoothing filter had to be restarted thus resulting in a transition period for that particular satellite in which the measurements could not be used for positioning This was the case even if the carrier phase measurements for this satellite after the data interruption had been consistent with those before the data interruption e g in the situation of telemetry problems etc This feature proved to be very disadvantageous in local area differential applications In the current version of WinGPSALL the user can specify a Max DataGap period during which the car
9. mode is chosen see chapter 3 4 2 selection of user and reference receiver if applicable chosen see chapter 3 4 3 specification of the user and reference if applicable data rate see chapter 3 4 3 selection of at least one source of ranging see chapter 3 4 1 selection of a source for the ephemeris files see chapter 3 4 2 specification of the minimum elevation angle see chapter 3 4 1 selection of the tropospheric correction model see chapter 3 4 1 selection of the ionospheric correction model see chapter 3 4 1 specification of a smoothing time constant see chapter 3 4 1 specification of a value for the maximum allowable data gap see chapter 3 4 1 specification of an appropriate initial position if chosen see chapter 3 4 3 selection and de selection of individual satellites see chapter 3 4 4 When the information on these essential configuration data is supplied by the user the Start button will be enabled and the user can start a data evaluation run But before the position calculation process is started the consistency of the selected options is checked During this check the user is notified that the current version of WinGPSALL is processing the GPS SBAS data according to the current ESTB SIS V1 2 which is a mix of two different standards RTCA DO 229B for most of the correction and integrity information except the following two items gt the ionospheric corrections i e MT 18 and MT 26 are pr
10. output file for SAPPHIRE Cause The output file for SAPPHIRE could not be opened Either the file was not found or the user had no writing access rights to open the file Recovery The user should ascertain that the specified input file does exist Additionally it may be necessary to check in co ordination with the system administrator if needed that the user has the necessary rights to access the file In the interactive mode the user interface will appear and the operator can specify an appropriate input file In the background mode the program will create the log file which contains the appropriate error message and will terminate The name of the log file will be determined either by the name of the input file if provided or will be WinGPSALL ERR Warning Message Parameters not found The program will not start Cause WinGPSALL performs a name check on the parameters contained in one file For the evaluation of the positioning and integrity information certain parameters are of essential importance If these parameters are not found then the program stops the execution Recovery The user should ascertain whether the specified file contains a header i e the CONVERTOR program must be run with the option of creating a header If the ESTB data file was not created by the CONVERTOR program the user should ascertain additionally if the parameter name is provided correctly the relevant information on the parameter names
11. receiver option see chapter 3 4 3 the selected input files will be checked whether all needed parameters are contained in these files If certain important parameters can not be found in any of the specified files then an error message similar to the following figure 8 will appear and the program will not start Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 20 of 37 WinGPSALL X IN Parameters not found in M01 IODP_1 The Program will not start Figure 8 Screenshot of the Error Message Parameter Not Found gt The data files generated by the CONVERTOR i e for the receivers NovAtel OEM3 DSNP Aquarius Septentrio and NovAtel OEM4 must contain a header in order for WinGPSALL to be able to check the acronyms for the individual parameters It is assumed that the naming of the acronyms is done following the Interface Control Document 1 For the other receivers contained in the user receiver option i e for the receivers Litton Honeywell and D920 which had been implemented during the SAPPHIRE phases and Il this checking of parameter names has not been implemented OIL The user must select an output file for the navigation process in j Daten which the results are stored This can be done by pressing the E Pegasus button next to the Output field A standard windows file i AEN selection box then appears Alternati
12. solution the appropriate box must be unchecked Ee AMO Ae iM The SBAS PRN numbers will be enabled and thus dam Te 128 LL can be checked and unchecked if the range option as 130 OM SBAS see chapter 3 4 1 is checked The z ar GLONASS PRN numbers are disabled for the en WinGPSALL since this option will not be available 1387 until further notice m o a N a pin aak WO w N w a S1 S S118 KI S151 lt 1 1 61 S S S161 KIKKI cbs s s 31 Iv a After the Start button has been pressed and a 251A in position computation run is launched the Satellite 27 iv Iv Selection options will be disabled Thus the user is 293M iv not able to select de select satellites during a run AMM Instead the Satellite Selection option will be used to display the status of each individual satellite during Figure 11 Screenshot of the a position computation run chapter 3 4 5 Satellite Selection Option 3 4 5 Display of Progress The progress for the WinGPSALL program will be displayed by two indications As one means there is the progress bar as shown in the following figure 12 It also includes a numerical presentation of the progress Progess Figure 12 Screenshot of the Progress Bar Additionally the current achieved position solution will be shown in the graphical display see figure 13 If an initial WGPS position is provided by the user see chapter 3 4 3 then this position will be used to determine th
13. 0 series receiver gt the Septentrio PolaRx receivers gt the NovAtel OEM 4 receiver However since the WinGPSALL prototype is based on earlier developments in the context of the SAPPHIRE project additional receivers can be used for standalone or local area differential positioning Further information can be found in the relevant project documentation 20 notably on the following receiver types gt the Litton TSO 129 8 channel receiver gt the Honeywell TSO 129 16 channel receiver gt the Rockwell Collins D920 S CAT ground station 12 channel receiver 3 2Managing a Position Computation 3 2 1 Starting the WinGPSALL The user is able to access the main WinGPSALL dialog by double clicking on the icon shown in figure 1 or by calling the program in a shell environment The main screen of the WinGPSALL is displayed in the following figure 2 bake WinGPSALL Figure 1 Screenshot of the WinGPSALL Icon EUROCONTROL Project PEGASUS Software User Manual WinGPSALL PEGASUS WinGPSALL DO 229A4 B amp DO 2534 gt Output General Options Iv Header Ranges lv GPS GPS standalone fa GLGNESS F Pegasus Standard lorno M Sapphire Standard Tropa utput H users carsten D ata Oem4 onss_100 csv Bphenens Sete Director Evtemal C User Date User Weta users carsten E ph Progress User Station Z Use initia F U1G GRS Time Gorecton Lette Lorotde 2 34687163 or
14. 67 Ellip H m 145 4354 Receiver type 4 Data Rate Hz 1 000 UTC GPS Time Correction 0 Reference Station Filename j pplus data esa_20021125 0810 N4 ref 1Hz Initial Pos 1 Latitude 52 31767337 Longitude 10 55311378 Ellip H m 203 4578 Data Rate Hz 1 000 Receiver type 0 UTC GPS Time Correction 0 Satellite Selection Select SV 1 1 Select SV 2 1 keys for SVs 3 to 30 deleted here Select SV 31 1 Select SV 32 1 Select SV 38 1 Select SV 39 1 keys for SVs 40 to 59 deleted here Select SV 60 1 Select SV 61 1 Select SV 120 0 Select SV 121 0 keys for SVs 122 to 136 deleted here Select SV 137 0 Select SV 138 0 Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 37 of 37 END OF DOCUMENT
15. ASUS output file i is to be generated 1 yes Output Sapphire flag whether the SAPPHIRE output file is to be generated 1 yes 0 no Differential GPS DGPS mode 0 GPS standalone 1 GPS local area 2 SBAS NPA 3 SBAS PA 4 GBAS PA 5 GPS using SBAS satellites 6 GPS using GBAS satellites 0 standalone Smoothing Time time constant s for range smoothing 0 lt Smoothing Time lt 100 0 implying no smoothing 0 s no smooth ing Max DataGap maximum allowable interruption in the i data stream before the carrier smoothing range filter will be re initialised for a satellite 0 lt Max DataGap lt 10 Weighted Pos flag whether weighted position solution is to be used 0 no 1 yes Project PEGASUS EUROCONTROL Doc No PEG SUM WGP Issu K Date 14 01 2004 Software User Manual WinGPSALL sheet 34 of 37 Key name Description Type Limits amp Specifications Default Decoding of Ephemeris flag whether ephemeris is read in int 0 no 1 yes 0 no from receiver generated files or from externally supplied files Directory Name name of directory where ephemeris string max 255 characters data can be found Min Elevation Minimum satellite elevation to be float 0 0 lt Min Elevation lt 90 0 considered in the positioning Iono Correction lonospheric correction mode
16. EUROCONTROL Doc No PEG SUM WGP Issu K Date 14 01 2004 Software User Manual WinGPSALL sheet 1 of 37 Project PEGASUS PEGASUS Software User Manual Module WinGPSALL Prepared by GNSS Tools Team Date 14 01 2004 Checked by GNSS Tools Review Team Distribution PEGASUS development team EEC GNSS PEGASUS development team TU BS IFF Software Engineering Unit EEC SEU SBAS Project EEC GNSS GBAS Project EEC GNSS This document and the information therein is the property of EUROCONTROL It must not be reproduced in whole or in part or otherwise disclosed without prior written consent of the Director EUROCONTROL Experimental Centre The contents of this document only express the opinions of the author and does not necessarily reflect the official views or policy of the Agency Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 2 of 37 DOCUMENT IDENTIFICATION SHEET DOCUMENT DESCRIPTION Document Title PEGASUS Software User Manual Module WinGPSALL EDITION K EDITION DATE 14 01 2004 Abstract Software User Manual for the main GNSS processing module of the PEGASUS data processing and analysis system Keywords GNSS GPS Software user manual Receiver conversion GLONASS EGNOS Satellite selection Data processing SBAS PEGASUS Protection levels Positioning GBAS ESTB Processing configuration Error models CONTACT EATMP GNSS Programme TEL 33 1
17. UROCONTROL Doc No PEG SUM WGP PEGASUS Issu K Date 14 01 2004 Software User Manual WinGPSALL sheet 6 of 37 1 Introduction 1 1 Purpose of this document This document is intended to serve as a handbook for the users of the PEGASUS module WinGPSALL As the purpose of the PEGASUS is mainly based on the processing of data collected in flight and on ground with satellite navigation systems especially the EGNOS Satellite Test bed ESTB a background in the fields of satellite navigation and air traffic management is also necessary for every user working with the PEGASUS software programs The tools developed allow experimental use of satellite navigation and augmentation systems notably the EGNOS and ESTB ranging and wide area differential ranging processing of GPS and SBAS and combinations The purpose of the document is to describe the use of the software program WinGPSALL used either as module in the PEGASUS Project or as a standalone program It should be noted that the current PEGASUS module WinGPSALL is intended for use with the ESTB Signal In Space V1 2 which is based on a combination of the specifications 7 and 8 The PEGASUS Technical Notes 4 illustrate the currently existing specifications which are applied to the ESTB SIS V1 2 The relevant parts of the ESTB SIS V1 2 are as well described in 9 In order to use the prototypes correctly it is recommended that the user should read the Interface Control Document ICD 1
18. WGS84 GPS LON float longitude computed position WGS84 GPS ALT float altitude computed position WGS84 GPS H float altitude computed position mean sea level NSV float number of satellites used for position computation D NORTH float north south deviation of computed position D EAST float east west deviation of computed position D UP float up down deviation of computed position D HOR float horizontal deviation of computed position D POS float deviation of computed position Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 28 of 37 VALID XPL integer GPS standalone mode GPS local area differential mode 0 no valid position 1 valid position SBAS Non Precision Approach mode SBAS Precision Approach mode 0 XPL can not be computed 1 XPL computed XPL TYPE integer 0 no 1 protection levels MT 10 SBAS ionospheric corrections 2 protection levels MT 10 standard ionospheric corrections 3 protection levels no MT 10 standard ionospheric corrections float horizontal protection level float horizontal alarm limit float vertical protection level float vertical alarm limit for each tracked satellite for 24 channels GPS SVN N A integer PRN number of satellite Table A 1 Output Format of WinGPSALL Appendix A 2 SAPPHIRE
19. be opened Either the file was not found or the user had no reading access rights to open the file The program stops the execution Recovery The user should ascertain that the specified input file does exist Additionally it may be necessary to check in co ordination with the system administrator if needed that the user has the necessary rights to access the file Warning Message Sorry Could not open navigation input file Cause The GNSS range and position data file could not be opened Either the file was not found or the user had no reading access rights to open the file Recovery The user should ascertain that the specified input file does exist Additionally it may be necessary to check in co ordination with the system administrator if needed that the user has the necessary rights to access the file In the interactive mode the user interface will appear and the operator can specify an appropriate input file In the background mode the program will create the log file WinGPSALL ERR which contains the appropriate error message and will terminate Warning Message Sorry Could not open reference input file Cause The GNSS range and position data file could not be opened Either the file was not found or the user had no reading access rights to open the file Recovery The user should ascertain that the specified input file does exist Additionally it may be necessary to check in co ordination with th
20. box is displayed shown in figure 3 and all option and data fields of WinGPSALL are left blank or filled with standard values If an appropriate INI file is either provided by the operator or found in the appropriate directory a check on the settings of the parameters contained in the INI file will be made The format and the settings of the INI file is described in detail in appendix C WinGPSALL ERROR Can t find the options File E CBUTZMUEHLEN Sapphire Pegasus Progs WinGPSALLiWorkiDebug WinGPSALL ini Figure 3 Screenshot of the Error Message Missing INI File WinGPSALL X ERROR Bad data in options file Unknown user station receiver type See Software User Manual for allowed values Figure 4 Screenshot of the Error Message Erroneous Parameter Setting In the case of an error in the INI file when called in interactive mode a message box will notify the operator about the erroneous parameter shown in figure 4 The WinGPSALL interface will then appear with default settings for the faulty parameters and the operator is able to change the settings In the case of an error in the INI file when called in background mode a log file created will contain the appropriate error message The name of the log file is determined by the name of the input file provided in the INI file if specified If no input file is specified then the standard WinGPSALL ERR will be used as a log file If the two parameters are
21. colours are used D Height 0 7m HPL vP E gt grey HPL VPL can not be determined Figure 14 Screenshot of the gt red HPL VPL are above the relevant Position Deviation Display alarm limit gt green HPL VPL are below the relevant alarm limit In order to determine the relevant alarm limits for the SBAS NPA mode see chapter 3 4 1 the flight phase Non Precision Approach is assumed whereas for the SBAS PA see chapter 3 4 1 the flight phase CAT is assumed The scale of the graphical window is equal in both directions and can be selected from the following range 5m 10m 50 m 100 m 500 m 1km 5 km 10 km 50 km 100 km 500 km by using the drop down list Scale If the determined position deviations are greater in magnitude than the scaling would allow them to be displayed a cross on the frame of the window is drawn in the direction of the position deviation i e a clipping is implemented The scaling can be changed during one data evaluation run If the user changes the scaling Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 25 of 37 during one run the last thousand position solutions i e the deviations in north and east direction will be redrawn During a particular position computation run the status of each individual satellite is displayed using a colour coding scheme see figure 15 A legend for
22. d Description of the INI Files The user options and settings for the WinGPSALL program will be kept in corresponding initialisation files They will be saved on program exit so that they will be available on the next start The files may however also be edited manually or generated externally e g by the PEGASUS frame for more information the interested reader is referred to 3 Therefore the following sections describe the initialisation file contents and shows a sample file The WinGPSALL default initialisation file is named WinGPSALL INI and located in the WinGPSALL working directory A different file may be specified though as described in chapter 3 Appendix C 1 File Contents The description of the complete format for the WinGPSALL initialisation file can be found in the following table Any parameter that is not specified takes its default value as is the case when no initialisation file can be found at all Key name Description Type Limits amp Specifications Default System section max 255 characters Outputfile name of the output file string GNSS GPS flag whether GPS ranging is to be used 0 no 1 yes GNSS GLONASS flag whether GLONASS ranging is to be used 1 yes GNSS ESTB flag whether ESTB ranging is to be used 1 yes Write Header flag whether header for output files is to be generated 1 yes Output Pegasus flag whether the PEG
23. e GPS local area mode implemented in SAPPHIRE phases 1 and 2 Honeywell 16 channel GPS standalone mode GPS local area mode implemented in SAPPHIRE phases 1 and 2 D920 12 channel GPS standalone mode GPS local area mode implemented in SAPPHIRE phases 1 and 2 If the GNSS mode is set to SBAS NPA mode or SBAS PA and a receiver type other than the NovAtel OEM3 OEM4 DSNP Aquarius or Septentrio receivers are selected then the Start button will not be enabled until the user selects the appropriate mode or appropriate receiver User Station M Use initial WGS84 Position E OEGES Time Barection Latitude 48 60007746 Longitude 2 346871 63 Height m fi 39 9440 Receiver NovAtel DEM 4 bd Data Rate Hz i 00 Figure 10 Screenshot of the User and Reference Station Options The information for the field Data Rate must be provided by the user since the nominal update rate of the range measurement data will be used to check the consistency of the data internally It is recommended that the receiver set up described in the Interface Control Document ICD 1 is used where the data rate it set to 1 Hz as a default value However if other data rates are used the user must provide the appropriate value in the field Data Rate The checkbox UTC GPS Time Transformation is provided for consistency and compatibility reasons only The receivers implemented in SAPPHIRE phases and II use a time synchronisat
24. e K Date 14 01 2004 Software User Manual WinGPSALL sheet 30 of 37 Appendix B Errors Warnings and Recovery Procedures This appendix contains a list of errors and warning that are generated by the programs of the PEGASUS module WinGPSALL Additionally for each error message and warning a possible cause is given and an appropriate recovery procedure is proposed In this context errors are considered to be fault conditions that do not allow the associated program to run and to produce an output file Warnings are considered to be fault conditions that allow an associated program to run however due to the fault condition the result output file may be incomplete or less useful In contrast to that user notifications are considered to be conditions where the user has selected an option which may seem to be inappropriate for the associated program The user is presented at the time of the execution with a notification of the condition and the program proposes a suitable procedure to change the selected option These user notifications are not included in this appendix Error Message Could not find options file Cause The INI file could not be found since it was not in the specified directory If no INI file was specified at the start the program assumes the file WinGPSALL INI to be present in the directory where the executable is located Either the file was not found or the user had no reading access rights to open the fil
25. e K Date 14 01 2004 Software User Manual WinGPSALL sheet 8 of 37 10 ESTB SIS User Interface Description ESA Doc No E TN ITF E31 0008 ESA issue 0 revision 1 20 06 00 11 NAVSTAR Global Positioning System System Characteristics NATO MAS STANAG 4294 May 1995 12 OEM4 User Manual Volume 2 Command and Log Reference NovAtel Inc Pub No OM 20000047 Revision Level 7 2001 06 21 13 Millennium GPSCard Software Version 4 50 NovAtel Inc Doc No OM 2000000041 Revision Level 1 1998 14 Aquarius 5000 Series User s Manual Dassault Sercel Navigation Products DSNP Doc No 0311374 Rev B Jan 1999 15 _ConfPack Configuration Software for DSNP GNSS GPS Receivers Reference Manual Dassault Sercel Navigation Products DSNP Doc No 0311373 Rev B Jan 1999 16 Septentrio PolaRx evaluation kit description V1 01 July 2001 17 Portable MEDLL Receiver Installation and Operation Manual NovAtel OM 20000065 Rev OC 26 09 2001 18 SAPPHIRE Integrity Monitoring Technical Note 1996 19 SAPPHIRE II Integrity Monitoring Technical Note 1998 20 SAPPHIRE DUAU User Manual Doc No DUAU TN 2472 002 Issue J May 1999 21 PEGASUS Receiver Integration Description Document Ref PEG RID 01 1 4 Overview The PEGASUS frame and modules are based on several main software programs allowing the user to decode GNSS data that are then used to perform a GNSS navigation solution The user is then able to perform
26. e The user should ascertain that the specified input file does exist Additionally it may be necessary to check in co ordination with the system administrator if needed that the user has the necessary rights to access the file Recovery In the interactive mode the user interface will appear filled with blanks and default values where appropriate The operator can fill in the particular fields and start the program In the background mode a log file WinGPSALL ERR will be created which contains the appropriate message Warning Message Wrong Parameter Setting Cause The INI file contains at least for one parameter erroneous settings The appropriate values for each parameter are specified in the appendix C of this document Recovery In the interactive mode the user interface will appear filled with default settings for that particular parameter and the operator can fill in the particular fields and start the program In the background mode a log file will be created which contains the appropriate message The name of the log file will be determined by the name of the input file if provided or will be the standard WinGPSALL ERR Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 31 of 37 Warning Message Sorry Could not open file for MT Exiting now the process Cause The ESTB message type data file specified could not
27. e difference in north east and up direction Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 24 of 37 If an initial position is not supplied only possible in standalone mode basic wide area mode and precise wide area mode see section 3 4 3 then the first position solution of the receiver will be used to determine the difference of the further computed positions The current position deviation will be shown using a black cross whereas the history of the position solution is displayed using red crosses Thus if a static measurement set up had been used to collect the data and the real position of the antenna is provided then the display will show the current error in the position estimation If a dynamic measurement set up had been lt 5m ae used to collect the data and the starting point of the measurement activities is provided then the Figure 13 Screenshot of the display will show the covered distance during the Position Deviation measurement The deviations in east and north direction are displayed additionally as numeric values in the field below the graphical display see figure 14 Furthermore the date and time of the evaluated data is displayed Additionally the user will find a traffic light Time of Data UTC 18 09 00 12 52 07 display of the horizontal and vertical protection D North Goin DEt 17m level situation The following
28. e system administrator if needed that the user has the necessary rights to access the file In the interactive mode the user interface will appear and the operator can specify an appropriate input file In the background mode the program will create the log file which contains the appropriate error message and will terminate The name of the log file will be determined either by the name of the input file if provided or will be WinGPSALL ERR Warning Message Sorry Could not open output file for PEGASUS Cause The output file for PEGASUS could not be opened Either the file was not found or the user had no writing access rights to open the file Recovery The user should ascertain that the specified input file does exist Additionally it may be necessary to check in co ordination with the system administrator if needed that the user has the necessary rights to access the file In the interactive mode the user interface will appear and the operator can specify an appropriate input file In the background mode the program will create the log file which contains the appropriate error message and will terminate The name of the log file will be determined either by the name of the input file if provided or will be WinGPSALL ERR Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 32 of 37 Warning Message Sorry Could not open
29. emented and will read in the relevant data if Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 18 of 37 present but will until further notice disregard any potential application of that message type The drop down list Tropospheric Corrections contains a list of implemented tropospheric correction models No Tropo no tropospheric corrections are determined Standard Tropo the standard GPS tropospheric corrections are determined HOPFIELD model 11 RTCA Do 229B Tropo tropospheric corrections using the specifications 8 are determined If an inappropriate correction model has been selected by the user either the Start button will be disabled or the user will be asked if the evaluation should continue The drop down list lonospheric Corrections contains a list of implemented ionospheric correction models No lono no ionospheric corrections are determined Standard lono the standard GPS ionospheric corrections are determined KLOBUCHAR model 11 RTCA Do 229A lono ionospheric corrections using the specifications 7 are determined for more information refer as well to chapter 3 2 2 If an inappropriate correction model has been selected by the user either the Start button will be disabled or the user will be asked if the evaluation should continue The elevation of an individual satellite is the angle of that satellite above a pla
30. eneral Options 3 4 2 File Selection 3 4 3 User Receiver Options 3 4 4 Satellite Selection Options 3 4 5 Display of Progress 3 5 Data Output APPENDIX A OUTPUT FORMAT OF WINGPSALL Appendix A 1 PEGASUS Output Appendix A 2 SAPPHIRE Output APPENDIX B ERRORS WARNINGS AND RECOVERY PROCEDURES APPENDIX C FORMAT AND DESCRIPTION OF THE INI FILES Appendix C 1 File Contents Appendix C 2 Sample File Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 5 of 37 TABLES OF FIGURES Figure 1 Screenshot of the WinGPSALL Icon Figure 2 Screenshot of the WinGPSALL Program Figure 3 Screenshot of the Error Message Missing INI file Figure 4 Screenshot of the Error Message Erroneous Parameter Setting Figure 5 Screenshot of the General Options Section Figure 6 Screenshot of the Files Section Figure 7 Screenshot of the Error Message File Not Found Figure 8 Screenshot of the Error Message Parameter Not Found Figure 9 Directory Structure for Externally Provided Ephemeris Files Figure 10 Screenshot of the User Station Section Figure 11 Screenshot of the Satellite Selection Section Figure 12 Screenshot of the Progress Bar Figure 13 Screenshot of the Position Deviation Figure 14 Screenshot of the Position Deviation Display Figure 15 Screenshot of the Satellite Status Display Figure 16 Screenshot of the Satellite Status Legend Project E
31. er Manual WinGPSALL sheet 21 of 37 gt If the External ephemeris option is checked then the Ephemeris Source field will display a path in which the externally supplied ephemeris data is assumed to exist The directory structure and the naming convention for the externally supplied ephemeris data is contained in 20 The user can change the file path by pressing the button next to the Ephemeris Source field It should be noted that if the option External Ephemeris is specified the naming of the ephemeris file and the existing directory structure must follow a particular convention The ephemeris file shall be named BRDCddd0 yyN with ddd being the julian day of the year and yy being the year The directory structure must be specified to a base directory where the individual ephemeris files themselves are contained in a subdirectory YYYY with YYYY being the year The appropriate directory structure is shown in figure 9 and described in the relevant documentation 20 3 4 3 User Receiver Options The User Station options and the Reference Station options are shown in the next figure 10 The Reference Station options will only be enabled if the local area differential GNSS mode is selected see chapter 3 4 1 When the box Use Initial WGS84 Position is checked the user is able to provide the position of the antenna in a static measurement set up or the starting point of a dynamic measurement set up
32. eris Data Directory C External FADateniSapphiretESTEs200009185_N Egnt20 User Data Progress 0 Figure 6 Screenshot of the File Selection Option If the basic wide area GNSS mode or the precise wide area GNSS mode is selected see chapter 3 3 1 then it will be assumed that the other files that contain the SBAS correction and ranging processing will follow the naming convention that is provided in the Interface Control Document see 1 If an important file is not found e g it is missing has a different name etc an error message similar to the following figure 7 will appear and the program will not start It should be noted that due to the current implementation of the ESTB SIS V1 2 the presence of message type 10 data in the precise wide area mode is considered to be essential and the appropriate file containing the data must be present However in the current version of the ESTB SIS the message types MT 6 and MT 27 are considered to be optional see as well 4 The current version of WinGPSALL will consider files containing MT 6 and MT 27 data to be optional i e if the files are present the data will be evaluated WinGPSALL x x ERROR Cannot open file lt F Daten S apphire ESTB 20000918 N Eqn120 MO0 gt Figure 7 Screenshot of the Error Message File Not Found Additionally if the NovAtel OEM3 the DSNP Aquarius NovAtel OEM4 or the Septentrio receiver is used in the user
33. g the range measurements from the GPS Correction data is determined using the fast slow ionospheric and tropospheric corrections provided by the ESTB which are described in the documents 4 or by 7 and 8 GBAS PA The position is determined using the range measurements from the GPS Correction data is determined using the corrections of a GBAS ground station It should be noted that this additional processing capability is under development The result of the position computation consists of one or two data files containing the range data and the computed position data of WinGPSALL These data files can be written with or without a header The writing of the header can be selected by the user by clicking the appropriate check box Write Header The user has the option to create one or two output files The PEGASUS related output file option PEGASUS will only contain PEGASUS relevant information i e position and time solution protection levels and position errors The complete format of the PEGASUS related output file is provided in the appendix A 1 The SAPPHIRE related output file option SAPPHIRE will contain the original SAPPHIRE relevant information i e position velocity Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 17 of 37 and time solution and range related information for every satellite The complete format of the SAPPHIRE related output file
34. he delimiter that has been used by the CONVERTOR program will be recognised automatically by WinGPSALL This delimiter will as well be used for the writing of the output files If data files for one of the receivers implemented in the context of the SAPPHIRE project are used it is important to notice that the sequence of the input parameters must be fixed and must follow a certain standard Further information can be found in the relevant project documentation 20 It is important to notice that programs of the newest PEGASUS modules version should be used in combination The use of older versions of the parts of the PEGASUS project might result in unpredictable performance 3 4Use of Software 3 4 1 General Options The general options section is displayed in the next figure 5 The Exit button will close the dialog just as the standard windows message handlers The About button will display some useful information about the WinGPSALL program The Help button will display a help similar to this chapter of the Software User Manual SUM Pressing the Start button will launch the position computation process However it will only be enabled when all the necessary option in the WinGPSALL interface has been selected and specified Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 16 of 37 Ranges Output r General Options M GPS M Header spas P
35. ion scheme which is based on UTC time whereas the receivers implemented in the PEGASUS development will use a time synchronisation scheme which is based on the receiver delivered GPS time Thus this box will only be enabled when an appropriate receiver is selected For more information please refer to the relevant documentation 20 If the GPS local area mode is selected then the operator must specify an initial position for the antenna of the reference station in order for the program to be able to start Additionally if no initial position for the user receiver is provided in the local area differential mode then Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 23 of 37 the position of the reference station will be as well used for the user receiver i e to start the positioning and to compute the errors flight track 3 4 4 Satellite Selection Options The satellite selection options are displayed in the following figure 11 Individual satellites can be selected de selected for the use in the position computation before the start of a particular data evaluation The checkboxes are organised by the PRN number SY Selection of the satellites If a satellite is to be used in the position solution the box for the appropriate PRN ae BONO De number must be checked Conversely if a satellite S 20 MEL is to be masked and not used in the position Hmm i240
36. iting of the output file Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 26 of 37 gt The PEGASUS output file chapter 3 4 1 will contain PEGASUS relevant information i e position and time solution protection levels and position errors A detailed description of the file format can be found in appendix A 1 The SAPPHIRE output file chapter 3 4 1 will contain the original SAPPHIRE relevant information i e position velocity and time solution and range related information for every satellite A detailed description of the file format can be found in appendix A 2 If the input file for the conversion has been recorded on the 30 October 2000 and named EGNOS BIN the output files generated by the CONVERTOR are described in the in the Software User Manual for the PEGASUS Module CONVERTOR in the relevant chapter Using these files as an input for WinGPSALL the following output files of the position computation process will be created EGNOS WIF the log file for the position computation process EGNOS CSV the PEGASUS related output file EGNOS_S CSV the SAPPHIRE related output file Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 27 of 37 Appendix A Output Format of WinGPSALL The output of the WinGPSALL program consists of two files in which the relevant data is provided The forma
37. l int 0 none 1 standard GPS corrections 2 RTCA Do 229A corrections Tropo Correction Tropospheric correction model i 0 none 1 standard GPS corrections 2 RTCA Do 229B corrections ScaleGraph Scaling factor for the position solution i 0 5m 1 10m 2 50m display window 3 100 m 4 500 m 5 1km 6 5 km 7 10 km 8 50 km 9 100 km 10 500 km User Station section Filename name of navigation input file string max 255 characters empty Initial Pos flag whether provided initial position int 0 no 1 yes 1 yes is to be used otherwise first position solution will be taken Latitude user station initial latitude 90 0 lt Latitude 90 0 0 0 Longitude user station initial longitude 180 0 lt Longitude 0 0 lt 180 0 Ellip H m user station initial elliptic height m 457 2 lt SEllip H m 0 0 7 above geoid not above MSL lt 39950 7456 Receiver type Definition of user station receiver i 0 unknown 0 unknown type 1 Litton 8 channel 2 Honeywell 16 channel 3 D920 12 channel 4 DNSP Aquarius 5000 5 NovAtel WAAS Millennium 6 Septentrio PolaRx 7 NovAtel OEM4 Data Rate Hz data rate for user receiver ranging 0 0 lt Data Rate Hz 1 0 Hz data Hz UTC GPS Time Correction flag whether user station UTC to i 0 no 1 yes NOTE this 1 yes for GPS time tran
38. nate J Reiaht ml Height in gnam g NovAtel DEM 4 Receiver fi oo Date Hate Az l WEGEIVET Date Hate Hz Legend Status SV O masked WM selected E onoeph O bad raw data m don tuse M used 5 Doc No PEG SUM WGP Issue K 14 01 2004 Sheet Date 12 of 37 Time of Data UTC 05 04 03 18 06 15 D North 1 4m D East 0 9m D Height 1 0m HPL C YvPL C m SV Selection GPS GLONASS cic E it in at tala 4r Apam m 4 zij y 62 ELE 66 S 75 eh il 60 E SBAS Figure 2 Screenshot of the WinGPSALL screen The program allows the use of two command line parameters which are ini lt inifilename gt This parameter assigns a specific INI file to be used to configure the WinGPSALL program The content of the INI file is described in appendix C b The WinGPSALL program runs minimised in the background The following command line together with its arguments provides an example of how to call the WinGPSALL in background mode using a specific INI file WinGPSALL b ini e wingpsall wingpsall ini Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 13 of 37 If no parameter ini is provided the program searches for a file named WinGPSALL INI in the directory which contains the executable If present this file will be taken for configuration If not a message
39. ne which is horizontal to the earth s surface at the user location The information about the selected minimum elevation angle must be provided by the user in the field Min Elevation f an inappropriate choice has been selected the user is asked if the evaluation should continue 3 4 2 File Selection The file selection section is displayed in the next figure 6 The user must select an input file for the navigation process which contains the GNSS range measurements collected by the user receiver This can be done by pressing the button next to the User field A standard windows file selection box then appears Alternatively the user can enter the input file directly into the User field The selected file is displayed in the User field If the local area differential GNSS mode is selected see chapter 3 3 1 then the file for the reference station must as well be selected This can be done by pressing the button Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 19 of 37 next to the Reference field A standard windows file selection box then appears Alternatively the user can enter the reference file directly in the Reference field The selected file is displayed in the Reference field File Selection User F Daten Sapphire ESTB 2000031 8_N Egn120 1Hz no Reference Output F Daten S apphire ESTB 2000091 8_N Egn120 csv T Ephem
40. ocessed according to RTCA DO 229A since this signal and processing standard is identified by the ESTB as applicable for the current SIS see 9 Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 15 of 37 gt the service region indications i e MT 27 are processed according to RTCA DO 229A since this signal and processing standard is identified by the ESTB as applicable for the current SIS see 9 During the position computation process the actual progress is displayed and the results are shown After the position computation process has finished the user will be notified The main dialog of the WinGPSALL will disappear The user has to re call the executable in order to start a second position computation process 3 3 Data Input In order to facilitate the processing with the PEGASUS Project the name base of all input files is identical and can be selected by the user with the button next to the User field The files then selected by WinGPSALL are the output files of the CONVERTOR The format of the output files of the CONVERTOR and their naming convention is described in chapter 3 5 and in detail in the Interface Control Document 1 The files generated by the CONVERTOR i e for the receivers implemented in the context of the PEGASUS project must contain a header since WinGPSALL performs a naming checking on all used and necessary acronyms T
41. ovAtel OEM2 receiver GPS only NovAtel GPS WAAS Millenium OEM3 NovAtel TestBed Receiver OEM3 5 NovAtel OEM3 DSNP Aquarius 5000 DSNP Aquarius 5001 DSNP Aquarius 5000 Septentrio PolaRx 1 Septentrio PolaRx 2 Septentrio PolaRx NovAtel OEM 4 NovAtel MEDLL Receiver NovAtel OEM 4 NovAtel MEDLL CONVERTOR module only limited functionality in other modules if interpreted as OEM2 Table 1 Receivers Implemented in PEGASUS Although the CONVERTOR module of the PEGASUS Project had been designed to implement a generic interface so that software developers are able now to develop their own dynamic link libraries that implement conversion routines for particular receivers the current WinGPSALL module does not provide that capability Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 10 of 37 2 Installation and System Requirements 2 1 Installation The WinGPSALL program does not need to be installed In order to use the WinGPSALL the user has just to copy the delivered files i e the executable and the help file into the selected directory In order to preserve the user selected options the WinGPSALL program writes an INI file into the directory in which the executable is located The provided INI file in the delivery can be copied into the appropriate directory However if no such INI file is found when the WinGPSALL is
42. r type 0 1 2 or 3 0 no otherwise Satellite Selection section Select flag whether GPS SV 1 is to be used for the positioning process int 0 no 1 yes Select flag whether GPS SV 32 is to be used for the positioning process Select flag whether GLONASS SV 38 is to be used for the positioning process Select flag whether GLONASS SV 62 is to be used for the positioning process Select flag whether ESTB SV 120 is to be used for the positioning process Select flag whether ESTB SV 120 is to be used for the positioning process Appendix C 2 Sample File System Output Filename j pplus data esa_20021125 0810 N4 csv GNSS GPS 1 GNSS GLONASS 0 GNSS ESTB 0 Differential GPS Smoothing Time 5 Max DataGap 3 Weighted Pos 0 Write Header 1 1 SV number must have a field width of 3 characters with right aligned numbers 3i format specifier in C EUROCONTROL Doc No PEG SUM WGP Project PEGASUS Issu K Date 14 01 2004 Software User Manual WinGPSALL sheet 36 of 37 Output Pegasus 1 Output Sapphire 0 Decoding of Ephemeris 0 Directory Name j pplus data esa_20021125 0810 N4 Min Elevation 15 0 Iono Correction 1 Tropo Correction 1 ScaleGraph 8 User Station Filename j pplus data esa_20021125 0810 N4 1Hz Initial Pos 1 Latitude 52 3458326 Longitude 10 57656
43. rier phase range smoothing filter will not be restarted if there are interruptions in the data stream for one satellite IT IS IMPORTANT to notice that gt There will be no interpolations and extrapolations for missing data sets i e missing input data epochs will result in missing output data epochs gt After the data interruption the carrier phase measurements of that satellite will have to pass a consistency check as is always the case Only if this consistency check is passed using the current and last i e previously received phase measurements then the carrier smoothing filter for that satellite will not be reset In all other cases the filter will be reset and thus the range measurements for that satellite will not be available for positioning If the specified period in Max DataGap has been exceeded the carrier phase smoothing filter for the satellite in question will be reset regardless of the quality of the then to be received carrier phase measurements The default value is consistent with the GNSS SARPS requirements During the ESTB test period the SIS contains the message type MT 0 Do Not Use since the SIS can not be used officially for ranging purposes However the SIS using EGNOS will contain a message type MT 0 with which certain alarm conditions for the SBAS satellite tracked can be transmitted Thus the current version of WinGPSALL has all the necessary algorithms for the evaluation of the MT 0 impl
44. run this file is created In order to completely de install the WinGPSALL program the user just has to delete the delivered files and the INI file in the installation directory 2 2 System Requirements The WinGPSALL program has been successfully tested on both WinNT 4 0 SP 5 6 Win95 Win2000 and WinXP It is expected to run as well using Win98 and WinXP The minimum system requirements are 16 MB RAM and a processor with a performance similar to Pentium with 133 MHz A graphical display of 1024X768 pixel is sufficient to run the program The evaluation of the recorded data can result in two output files For a 2hr binary recording the PEGASUS related output file is expected to be approximately 1 5 MB large whereas the SAPPHIRE related output file is expected to be approximately 19 MB large The evaluation of the 2h data recording should take approximately 3 minutes using a minimum requirement PC Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 11 of 37 3 WinGPSALL 3 1 Introduction The WinGPSALL program will use GNSS range measurements and satellite position data in order to determine a position solution If SBAS correction data is available for the selected data then the correction and ranging data can be applied as well At the moment the following receivers have been implemented gt the NovAtel OEMS receiver gt the DSNP Aquarius 500
45. satellites visible to the receiver GPS_SATT integer number of satellites tracked by the receiver for each tracked satellite for 24 channels GPS_SVN integer PRN number of satellite GPS_STAT integer status of satellite tracking no raw data raw data no last raw data satellite not used no last doppler satellite not used raw data check ok raw data check not ok satellite not used low elevation satellite not used masked by extern satellite not used no ephemeris satellite not used ephemeris too old satellite not used used for pos no differential corrections satellite not used flagged by SBAS satellite not used range step detected satellite not used OMONODARWNH O GPS_PRres float pseudorange residuum GPS_SVX float satellite position x WGS84 GPS_SVY float satellite position y WGS84 GPS_SVZ float satellite position z WGS84 GPS_R float Pseudorange GPS_AZIM float azimuth of satellite GPS_ELEV float elevation of satellite dHDOP float Delta HDOP availability indicator for receiver autonomous integrity monitoring dVDOP float Delta VDOP availability indicator for receiver autonomous integrity monitoring RCxgeo N A float element x of design matrix RCygeo N A float element y of design matrix RCzgeo N A float element z of design matrix Table A 2 Output Format of WinGPSALL SAPPHIRE Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issu
46. sformation is to be value will always be set to 0 for Receiver type enabled Receiver types 4 5 or 6 0 1 2 or 3 0 no otherwise Reference Station section Filename name of reference station input file string max 255 characters Latitude reference station initial latitude float 90 0 lt Latitude 90 0 Longitude reference station initial longitude float 180 0 lt Longitude lt 180 0 Project PEGASUS EUROCONTROL Software User Manual WinGPSALL Doc No Issue K Sheet Date 35 of 37 PEG SUM WGP 14 01 2004 Key name Description Limits amp Specifications Default Ellip H m reference station initial elliptic height m above geoid not above MSL 457 2 lt Ellip H m lt 39950 7456 0 0 Receiver type definition of reference station receiver type 0 unknown 1 Litton 8 channel 2 Honeywell 16 channel 3 D920 12 channel 4 DNSP Aquarius 5000 5 NovAtel Millennium 6 Septentrio PolaRx 7 NovAtel OEM4 0 unknown Data Rate Hz data rate for reference receiver ranging data Hz 0 0 lt Data Rate Hz 1 0 UTC GPS Time Correction flag whether reference station UTC to GPS time transformation is to be enabled 0 no 1 yes NOTE this value will always be set to 0 for Receiver types 4 5 60r7 1 yes for Receive
47. t of the output file is based on the existing output file format for SAPPHIRE in particular the format specified in 20 but is extended to contain additional information Appendix A 1 PEGASUS Output The description of the complete format for the PEGASUS related output file can be found in the following table Parameter Format Note Sample integer sample number in the file ACUTC_year integer year of data set in UTC time ACUTC_month integer month of data set in UTC time ACUTC_day integer day of data set in UTC time ACUTC_hrs integer hour of data set in UTC time ACUTC_mins i integer minute of data set in UTC time ACUTC_secs integer second of data set in UTC time VALID_POS integer GPS standalone mode 0 range measurements but invalid position 1 range measurements valid position GPS local area differential mode 0 range measurements but invalid position 1 range measurements valid position 2 gap in reference data invalid position 3 gap in user data invalid position SBAS Non Precision Approach mode 0 range measurements but invalid position 1 range measurements valid position SBAS Precision Approach mode 0 range measurements but invalid position 1 range measurements valid position GPS_WN integer week number GPS time GPS T float seconds GPS time of measurement uncorrected for receiver clock errors GPS LAT float latitude computed position
48. the colour coding is as well included in the program see figure 16 m SY Selection PS GLONASS SBAS gt grey satellite is de selected mE Br gt black satellite is selected Vet gt blue raw data from satellite is available i ie however there are no ephemeris data for that 125 b satellite 4 Lo y th G gt yellow raw data and ephemeris data are available however the satellite is flagged as unusable due to range data inconsistency AG TETTE TTTTE noone EA gt red satellite is flagged as unusable by either GPS or SBAS gt green satellite is used for position computation EENE E E EEN Eo gim aig Figure 15 Screenshot of the Satellite Status Display m Legend Status SY O masked E selected E onoeph O bad raw data Hi dontuse M used Figure 16 Screenshot of the Satellite Status Legend 3 5Data Output The output of the WinGPSALL program consists of several files in which the relevant data is provided A configuration file wif is written to the data directory specified which contains the user specified options In particular the used initial position reference position is contained in that log file There are two output files These data file can be written with or without a header see chapter 3 4 1 The delimiter that has been used by the CONVERTOR program will be recognised automatically by WinGPSALL This delimiter will as well be used for the wr
49. tices Satellite Based Augmentation Systems Signal In Space Software User Manual to be determined defined Technical Notes User Requirements Document Universal Time Co ordinated Wide Area Augmentation System World Geodetic System 1984 1 3 References 1 PEGASUS Interface Control Document Doc No PEG ICD 01 2 PEGASUS User Requirement Document Doc No PEG URD 01 PEGASUS PLUS User Requirement Document Doc No PEG URD 01 4 PEGASUS Technical Notes Doc No PEG TN SBAS PEGASUS Software User Manual Frame PEG SUM 01 RTCA Minimal Operational Performance Standards for GPS WAAS Airborne Equipment Doc No Do 229 June 1996 Including Change 1 July 1997 RTCA Minimal Operational Performance Standards for GPS WAAS Airborne Equipment Doc No Do 229 A June 1998 RTCA Minimal Operational Performance Standards for GPS WAAS Airborne Equipment Doc No Do 229 B October 1999 ESTB CPF Improvements and Corrective Maintenance ESTB UPG Analysis of compliance with MOPS DO 229B Doc No GMV ESTB_UPG TN 001 01 1 The PEGASUS Plus project established an extension to the original PEGASUS project that decodes processes and evaluates the GNSS SBAS data Recent developments have integrated all these modules into a PEGASUS frame and the necessary documentation has been modified accordingly except for the URD where it has been decided not to generate a new issue Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issu
50. used in combination and if no error is detected in the INI file the program automatically starts automatically and when finished terminates If the program is started in interactive mode this means the parameter b is not provided the WinGPSALL program will show its main window like presented in figure 2 The screen can be divided into several different sections These sections will be described in detail in the chapter 3 4 Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software User Manual WinGPSALL sheet 14 of 37 3 2 2 Starting a Sequence The WinGPSALL program uses input files which have been generated by the CONVERTOR program see the appropriate Software User Manual for the PEGASUS Module CONVERTOR However externally supplied data e g ionospheric correction data or satellite ephemeris information can be used as well if the format of the input files and their naming correspond to the convention which has been provided in the Interface Control Document 1 A number of steps must be performed in order to start the position computation process The user should perform the following sequence of steps selection of the input file name see chapter 3 4 2 selection of the output file name see chapter 3 4 2 selection of the evaluation mode standalone local area basic wide area precise wide area see chapter 3 4 1 selection of the reference file name if local area differential
51. vely the user can enter the C3101997 name of the output files directly into the Output field The C3301998 selected file is displayed in the Output field The specified path 1999 and file name are valid for the PEGASUS related output file see 2 2000 chapter 3 4 1 If the user has selected additionally the 2001 SAPPHIRE related output file this file is generated using the file CIIEstb name specified concatenated with an _s CJ Table C Flug ersuch C PegasusPlus RA iC Recycler The user must select a source for the satellite position information The ephemeris data is contained in standard RINEX navigation files for the GPS For the ESTB GEO a format only Figure 9 Directory slightly different from the GLONASS RINEX navigation files has Structure for the been defined in the Interface Control Document see 1 The Externally provided user has the option of either selecting externally supplied RINEX Ephemeris Files data files or selecting user data RINEX ephemeris files This can be done by checking the appropriate box External or User Data If the User Data ephemeris option is checked then the Ephemeris Source field will display the name base including directory structure for the ephemeris files The ephemeris files are assumed to follow the naming convention provided in the Interface Control Document see 1 Project EUROCONTROL Doc No PEG SUM WGP PEGASUS Issue K Date 14 01 2004 Software Us
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