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1. Same as L1 Fixed except that dual frequency data is used By using the wide lane much shorter fix times are possible For longer baselines the iono L2 noise model can be used to improve accuracy lt Tonospheric correction is applied if the Jono Noise model is used which depends on the baseline distance or if you manually select the L2 Noise model In such cases the solution type appears as L1L2 lonoFixed or L1L2 lonoNewFixed 102 GrafNet 3 1 2 Solution Types GrafNet automatically determines concurrent sessions by examining the start and end times of the observation files GrafNet tries to form sessions using an extended time scale to resolve any conflicts stemming from differing week numbers This requires that a valid ephemeris file EPP be present for each corresponding observation file GPB For more than two receivers simultaneously collecting data unwanted session connections can be ignored using the Session Menu under Process View All Sessions The vector for each session is resolved independently There are three modes of static processing including the following Fixed Solution This process uses single or dual frequency data but assumes integer ambiguities This mode delivers the best accuracies and is also the default static processing mode Single frequency will fix reliably on baselines less than 10 km while dual frequency will work well up to 25 km Longer baselines require longe
2. East North Up Velocity Standard Deviations Estimated east north up velocity standard deviations in the local level frame East North Up Offset Applied ECEF Covariance Matrix ECEF Vector XYZ GrafNav GrafNet 8 50 User Guide Rev 1 When a 3 D offset is applied to camera event marks this field can be used to verify that the proper offset is applied This offset is oriented to local level that is true north Estimated ECEF position covariance matrix needs extended output in GrafNav XYZ components of the vector between base and remote in the ECEF frame 171 Table 3 List of Output Variables continued ECEF Velocity Covariance Matrix Estimated ECEF velocity covariance matrix needs extended output in GrafNav ECEF XYZ Standard Deviations Estimated ECEF position standard deviations in the XYZ axes needs extended output in GrafNav ECEF XYZ Velocities XYZ velocity components in the ECEF frame ECEF XYZ Velocity Standard Deviations Estimated ECEF velocity standard deviations in the XYZ axes needs extended output in GrafNav Ellipsoidal Height Height above current ellipsoid based on datum selected during processing Ellipsoidal Height Scale Factor Used to scale distances on the ellipsoid to the earth s surface End Time End time of the static session Error Ellipse Orientation Orientation of the error ellipse theta Error Ellipse Semi Major Esti
3. gt momma ES Export File ENB50 bt Browse Source Epochs Features Stations Static Sessions Profile Moving Baseline ECEF a Moving Baseline Local Level MovingBase NGS Blue Book 80_86 PNAV C File PNAV C File DMS PNAV J File PNAV J File ECEF format Seismic SEGP1 State Plane UTM e ts en AA How to use the Export Wizard 74 iL By default the export file name is the same name and directory as the project file cfg except with a txt extension The file name and directory of the export file can be changed using the Browse button Ensure the Source has been set correctly according to what you would like to export Choosing Epochs produces an output record for each common measurement epoch for the entire trajectory Choosing Features Sessions exports results linearly interpolated between the nearest two epochs for any camera marks features or stations loaded Static Sessions is accessible provided static sessions have been collected Choosing this option exports the final post processed best converged solution for each static session Choose an export profile and select Next to start the Wizard Depending on the variables in the profile the Wizard will prompt you for any needed information For example if the chosen export wizard profile contains orthometric heights you will be prompted to locate a Waypoint geoid file wpg Click Finish on the la
4. Remote File Name Name of Remote GPB file Roll Angle IMU roll angle see IMU angle definition Roll Pitch Heading Separation The difference between the combined solutions in terms of Roll Pitch and Heading Roll Pitch Heading StdDev Estimated attitude accuracy Scale Factor Horizontal distance ratio between the globe and the map distance for the current point in the current map projection Selectable Grid Allows user to enter a north and east value for a user defined grid Grids can be modified and added using the Grid Manager see Tools Menu Sequence Number Allows the user to number epochs in the data with a user defined start and end sequence number as well as an incremental value Slope Distance Free air distance between stations Solution Type Standard Dev NO PPM Type of solution used In GrafNav possible solution types include SF Carrier DF Carrier lonoFree Rellono CaOnly SingPoint In GrafNet FixedSoln FloatSoln Trace of the covariance matrix expressed as a standard deviation no distance dependent errors included GrafNav GrafNet 8 50 User Guide Rev 1 173 Table 3 List of Output Variables continued Start Time Start time of the static session State Plane East North East and North coordinates in the US State Plane projection Static Kinematic Status Station Name Indicates if an epoch is static or kinematic
5. 1 4 2 GrafNet GrafNet is a batch static baseline processor and network adjustment package It is often used to check or establish base station coordinates for later use within GrafNav or to survey static networks See Chapter 3 GrafNet on page 101 for more information 1 4 3 GrafNav Static GrafNav Static includes GrafNav and GrafNet however only static data can be processed See Chapter 2 GrafNav on page 17 for more information 1 4 4 Moving Baseline Features GrafNav features a moving baseline module that processes GNSS data between two moving antennas Heading can also be computed if the two antennas are mounted on the same vehicle 1 4 5 Inertial Explorer Inertial Explorer shares a similar interface with GrafNav and provides both GNSS and INS processing capabilities Inertial Explorer is powerful and feature rich including support for both loosely and tightly coupled processing multi pass processing a backsmoother automatic processing environment detection and many other features See www novatel com products software waypoint products post processing software inertial explorer for more information GrafNav GrafNet 8 50 User Guide Rev 1 Introduction and Installation 1 5 Utilities The following utilities are installed automatically with GrafNav and can be accessed from Start Programs Waypoint GPS 8 50 Utilities 1 5 1 Copy User Files This utility is intended for those upgrading from a pr
6. 142 Utilities 5 2 1 4 Export ASCII This feature saves data from the binary GPB file into various ASCII formats Output File This option allows you to name the output file Provide a filename extension because the software will not automatically assign one Export Format The export formats available when saving a GPB file to ASCII are explained in the shaded box 5 2 1 5 Load Alternate Ephemeris File The GPB viewer uses ephemeris data to calculate and display satellite elevations at each epoch If no ephemeris data was decoded an alternate ephemeris file can be loaded here Ephemeris data is required when performing certain editing functions within the GPB viewer GrafNav s Download Service Data utility can be used to download and convert GNSS broadcast ephemeris data See Section 2 8 12 Download Service Data on page 94 for more information 5 2 1 6 Exit Exits the program GrafNav GrafNet 8 50 User Guide Rev 1 Utilities 5 2 2 Move Forward n and Backward n Scrolls through n epochs in the direction indicated Start of file and End of file Moves to the first and last epoch in the file lt It is easier to scroll through the GPB file using the shortcut keys specified under the Move menu beside each option Search Moves to a specific location in the file You can specify an epoch number or a time in either GPS seconds of the week or GMT format 5 2 3 Edit Several options under this menu ma
7. FIX L2 NOISE IONO NORMAL AUTO Selects L2 noise model for processing fixed solution IONO performs iono correction NORMAL does not AUTO selects between the two based on the FIXED_IONO_DIST command HGT_MODEL EstFlg KalFlg KarFlg ZOff USEHI HgtSd KarTol Controls DEM height constraint Sportvision version only EstFlag NAV ALL OFF Kar KalFlag ON OFF INITEX type time snap dir windowsize stdev anthgt phi lamda ht staname or ss_index anthgt ELL ORTHO Used to set the remote position at a given location INTERVAL Datalnterval This specifies the processing interval in seconds It should be equal to or greater than the recording interval for proper time length computations If this value is larger than the recording interval then this new value will be used for processing Use 0 0 to process all epochs The default value is 0 0 IONO_DIST dist_in_km Baseline distance in km at which relative iono free processing will begin Default is 5 km IONO_PPM_TOL tol Reject KAR or fixed static solutions if computed ionospheric error is greater than tol in PPM Default value is 10 PPM This setting is not in GrafNav s dialogue boxes ISSUE_KAR_DIST ON OFF DistKm1 DistKm2 This will engage KAR on first occurrence of dist lt distl and reset the dis tance check when dist gt dist2 ISSUE_KAR_DOP ON OFF doptol Engage KAR every time DD_DOP goes above doptol ISSUE_KAR_TIME ON OFF NumMin Engage KAR every N
8. GrafNav GrafNet 8 50 User Guide Rev 1 139 Chapter 4 File Formats 4 44 FBV amp RBV Files Binary Value files contain individual satellite residuals and multi base data which is not written to the standard output files These files contain For each baseline 1 Code carrier and Doppler RMS values ii Code carrier and Doppler SD values ili Code and carrier phase separation values 1v DOP values v Ambiguity drift vi Effective weighting For each satellite i PRN ii Baseline 111 Rejection base satellite flags iv Code carrier and Doppler residual values v Code carrier and Doppler SD values Export these files to ASCII in GrafNav via the Export Binary Values feature See Section 2 7 5 Export Wizard on page 72 for additional information 140 GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 5 5 1 Utilities Overview This chapter describes the following utilities that are included with Waypoint s software e GPB Viewer e Concatenate Slice and Resample e GNSS Data Converter This chapter goes through each menu of their interfaces Step by step instructions for first time users are also included 5 2 GPB Viewer Overview GPB files are in a binary format and cannot be viewed with a normal text editor GPB Viewer allows you to both view and edit your raw GNSS data 5 2 1 File 5 2 1 1 Open Any GPB file can be opened with this feature If the GPB file is corrupt GPB Viewer prompts for per
9. Refine L1 L2 integer solutions This method uses an alternative ambiguity search algorithm In general the standard method used in GrafNav s fixed static processor works best but this can be a powerful reprocessing option if needed Stricter RMS tolerance If the RMS of the fixed solution is relatively high cm level and you believe the solution quality may be suspect for example from a large difference in the forward and reverse fixed solutions this option can be a useful reprocessing option Stricter reliability tolerance If the reliability of the fixed solution is relatively low below 3 and you believe the solution quality may be suspect for example from a large difference in the forward and reverse fixed solutions this option can be a useful reprocessing option 55 Chapter 2 56 cn E Combine Settings Solutions to combine Differential GNSS solutions v Time Periods to Reject Add Remove GrafNav 2 5 2 Combine Solutions After processing forward and reverse solutions are automatically combined This helps maximize solution accuracy through inverse variance weighting The combined solution will much more heavily weight each solution when one has a low estimated error for example a fixed integer solution and the other has a relatively high estimated error such as is the case with a float solution Thus the combined separation should contain the b
10. 24 40 Current CEG EE 0 A a RE a tb 41 PAS AKOLE ELEI ALE PEENE a en 42 2 5 TProOceSSGNS Lanser IS a EN a A adel 42 2 02 COMPING SOIMTONS 5 a EEEE di dt 56 2 6 Settings MA ic 57 2 6 1 Goordinate Ante de dia 57 2 6 2 Moving Base Options ooooocccccioncccconnnonccccniin nc 58 ZO 5 ACU A AA ANA AA AA E id 58 LORCA vater res 59 2 6 5 DEM Plotting 222 ii A ne 60 2 6 6 Manage Profiles acneei reinn dende La da daa 60 2 6 7 Compare Configuration Files arnnrrrnnnrrnnrrrnnnrrnnrrrnnrennnrrrenrennnrrennnnennrrenssrennrrensrennnrresenennnne 60 ZOO Pr ferenc suu aure SETE SG 61 27 Output MEU a Aa 65 DAN PIO REUS ae 65 2 72 GOMMOMN Plot isa ad a lara iria 67 21 3 Plot MUti B Se viral ae seria deed b se Naade tdci 71 2 7 4 Plot Master Remote Satellite LoOCK ooonnccccnccononcnononocononnnnnncnnonerncnononnronononononononnn 71 ZO EXport IZ A GE 72 2 76 View COOrdINateS imita diia daran lidades 76 2761 Build ANIME Reportan ek 76 2 7 8 Export to Google EM o 76 2 1 9 Export Binary Valles ad 77 PT LON 4010 a i D D EE EEE Eee 78 MES A AE 79 2 112 Processing WINdoW x aa haket pene oe eevee dade et nase eva att eek 80 2 8 TOO S MEA knea Ea 83 2 8 1 Zoom In Zoom Out amp Zoom ReS6t ooccccccoonnncnnncccooocnnnnonononenenonononennnnnnnononnnnonennonrnnnnnnnnnanennnn 83 2 8 2 Distance amp AZimuth Toolua caia il dad idad dea iaa 83 2 8 3 MOVE Panettiere kant 83 2 94 Find Epoch TIME A Ra 83 2 8 5 Datum Man
11. Automatically load solution on project start Loads the combined trajectory when re opening a project that has been previously processed Processing Default Datum Allows you to select a default processing datum for all GrafNav projects This datum automatically appears when adding base station data in the Master Coordinate dialog as well as within the Process GNSS dialog Antenna Correction Profile GrafNav 8 50 supports absolute antenna models Absolute calibrations are provided by organizations such as the NGS National Geodetic Survey and IGS International GNSS Service in ANTEX format GrafNav installs ngs08 atx provided by the NGS to the manufacturer directory See the Update tab within Settings Preferences to locate this directory if needed Absolute calibration files are regularly updated by the organizations that provide them and thus Waypoint includes the latest version in regular updates to all of GrafNav s manufacturer files Provided an internet connection GrafNav will check the NovAtel server on a bi weekly basis to ensure these files stay up to date Although GrafNav will only include and will only maintain ngs08 atx a user can download any ANTEX files such as IGS08 atx or IGS05 atx required and add them manually to the manufacturer directory Any file with a atx extension is available for selection from this pull down menu and if selected will become the source of absolute antenna models Process forwar
12. Name describing the station feature or camera mark Surface Distance Horizontal distance between the two stations on the surface corrected geodesic Sun Angle Angle of the sun above the horizon Time Length Time length of the static session TM East North East and North coordinates in the Transverse Mercator projection Total Slope Distance Spatial distance between two points Total Horizontal Distance The shortest path between two points on the surface of a sphere for example Great circle Transformed Grid Allows for scaling rotating and translating of a selectable grid User Text String String of text defined by user UTC Corrected Time Same as UTC Time but a correction for the receiver clock bias is applied This is the most precise time Only applicable for epochs UTC Date Date in UTC time UTC Time Time which is available in various format This is the epochs or feature time offset from GPS seconds by the GPS UTC time offset This time is uncorrected for the receiver clock bias UTM East North East and North coordinates in the Universal Transverse Mercator projection VSF Ellipsoidal Height Ellipsoidal height corrected by the map scale factor VSF Orthometric Height Orthometric height corrected by the map scale factor Used in photogrammetry applications to create an elevation that is more compatible with measured ground coordinates X
13. SearchTime TimeSkipped TimeUsed RMS Reliability FloatFixSep SearchDist AvgDist AvgSats SearchSats RestoreSats RestoreDop RestorePos Message 343269 00 1272 23 21 09 0 05 26 2004 343270 00 1272 23 21 10 0 05 26 2004 343329 00 1272 23 22 09 0 05 26 2004 0 0 s 60 0 s PASS 0 010 cyc PASS 6 2 PASS 42 m PASS 0 02 km HIGH L2 noise model 0 02 km 7 0 7 13 3 19 1 28 27 31 7 13 3 19 1 28 27 31 2 6 21 10 09 12638 149 11 00 32129 58 989 KAR success GrafNav GrafNet 8 50 User Guide Rev 1 File Formats Chapter 4 4 4 3 FWD REV CMB FSP RSP and CSP files FWD REV and CMB files are created in differential processing whereas FSP RSP and CSP files are created in PPP A trajectory record is written for each processed measurement epoch The combined processing results CMB or CSP is usually what the Export Wizard accesses in order to customize formatted results OUTREC Ver8 50 1220 NGPS32 Forward Extended Processed by Unknown description Run 29 Time and date is 21 36 29 01 23 2013 Waypoint Products Group Copyright NovAtel Inc 1992 2012 er Tim even sec time corrected time WkNum GPS seconds of the week week number Geo latitude longitude height anthgt Degrees minutes seconds metres Loc d east d north d height v east v north v height local level pos vel metres m s a Sta quality amb drift dd dop pdop hdop vdop 1 6 cycles sec dops Rms L1Rms CARms P2Rms D1Rm
14. Verify that the installation was successful by ensuring that you have a Waypoint program group on your computer If this program group is not there see Chapter 1 Introduction and Installation on page 11 for installation instructions Convert Data Raw GNSS data files must be converted into Waypoint s GPB format See Section 5 4 GNSS Data Converter Overview on page 147 for a complete description of the Convert utility The GPBView utility can be used to switch between static and kinematic mode Download Service Data If no data was logged from a reference station you have the option of downloading free GNSS data from the Internet A reference station can also be added directly from a list See Section 2 8 12 Download Service Data on page 94 for these instructions as well as a complete description of the Download utility GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 3 File Menu 2 3 1 New Project To process a survey for the first time start a new project When you start a new project choose between Project Wizard Auto Start and Empty Project The Project Wizard is recommended for new users as it will guide you through all the steps of getting started including data conversion and downloading base station data if needed After you are more familiar with GrafNav s tools and workflow you may prefer to use either the Empty Project or Auto Start option This section discusses these options and gives step by
15. message See below The reliability must be greater than 4 0 to be signaled as a pass The user should investigate the clock offset information at this epoch via GPB View to see if the problematic epoch is due to an incorrectly computed clock shift Engaging filter reset Accuracy is severely reduced This is printed when the filter reset is being engaged It should be preceded by a message indicating why the filter reset was issued A filter reset is when a cycle slip is issued to all satellites and the position is reset to startup values ARTK engaged due to occurrence of filter reset Following any filter reset ARTK is re engaged Locktime and doppler cycle slip on PRN 30 of 307 64 cycles on baseline BL1 Indicates that a cycle slip has occurred and it has been detected by both the locktime and a large change in the carrier phase PRN 18 was omitted for time range 488400 0 488500 0 s on ALL baselines ALL satellites were omitted for time range 8000 0 8100 0 s on baseline mast followed by a message indicates when and how long a baseline and or PRN was omitted from processing GrafNav GrafNet 8 50 User Guide Rev 1 135 Chapter 4 File Formats 4 4 2 FSS RSS Files Reported in the solution summary files is a summary of each ARTK fix and static session Project settings Master 1 Name GRN04 0107a ENABLED Antenna SIMPLE VERT 0 000 m File waypoint01 c GPSData Manual_ DatalGRNO04 gpb Position 43 45 49 97515
16. to display channel information 82 GrafNav GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 8 Tools Menu 2 8 1 Zoom In Zoom Out Zoom Reset The Zoom In and Zoom Out tools adjust the viewing scope of the map while the Zoom Reset brings the map back into the default view If you have a scroll wheel on your mouse you can use it to zoom in and out by scrolling forwards and backwards over the area of interest 2 8 2 Distance Azimuth Tool The Distance amp Azimuth tool can be used between epochs base stations and feature station marks that are displayed on the Map window Left click on the feature or epoch that you wish to measure from and then right click on the feature or epoch that you want to measure fo The Distance and Azimuth window reports the horizontal surface grid and spatial distances between the selected points The azimuth and scale factor information are also displayed 2 8 3 Move Pane This tool is only accessible provided you have used the Zoom In tool to view a smaller portion of the Map window at greater magnification This tool allows you to access different areas of the Map window without changing the zoom level 2 8 4 Find Epoch Time This feature makes it easy to find an epoch on the Map window provided the GPS time in seconds of the week When used it circles the epoch in red and if necessary changes the zoom level so that it is in the middle of the Map window GrafNav
17. 1 Display Solution Export Update General Zoom increment scale factor Y Show text V Show epochs V Show feature marks Y Show ARTK marks 4 Show base stations V Show static sessions Use H M S m d y for default time system Y Show direction arrows on trajectory Y Show grid lines in map window Show legend at bottom of map window Draw white background instead of black Coordinates for Display Map distance units Metres v Zoom Level Settings Zoom Level Settings for Level 0 Text size Symbol size amp Tiny 6 5 Small Medium Large Coordinates for Display Geographic Displays the latitude and longitude on the screen The orientation is such that the positive y axis is true north Local level Plots the local level vector if moving baseline processing has been performed Moving baseline processing should only be engaged if both base and rover are kinematic and the relative vector between them is of interest Moving baseline processing does not produce accurate absolute positioning results only accurate relative positioning results Grid Displays the coordinates in the grid selected under Settings Grid Map distance units Changes the units of the values being displayed for local level or grid coordinates in the Map Window Changes the units displayed when using the Distance amp Azimuth tool as well See Section 2 8 2 Distance amp Azimuth Tool on page 83 for inf
18. 2 3 are adequate in the sense that they do not generally by themselves limit positioning accuracy Values between 3 4 are considered marginal and values approaching or exceeding 5 can be considered poor If PDOP is very poor in your survey try reprocessing with a lower elevation mask however care should be taken when lowering this value below 10 degrees Sheet 3 of 4 GrafNav GrafNet 8 50 User Guide Rev 1 69 GrafNav Table 1 Common Plots continued Plot Description Float Fixed Ambiguity Status This plot indicates on an epoch by epoch basis whether a fixed solution was achieved or if only a float solution is available If both forward and reverse solutions achieved a fix the plot shows a value of 2 If either the forward or reverse achieved a fix but not both a value of 1 is plotted If neither direction achieved a fix a value of 0 is plotted This plot can be helpful to view in conjunction with the Combined Separation plot as it will help determine if large values in the forward reverse separation are expected or not depending on solution status in each direction Number of Satellites BAR Plots the number of satellites used in the solution as a function of time The bar plot displays the total number of satellites GPS and GLONASS if present It does not distinguish between how many satellites are tracked from each constellation Number of Satellites LINE Plots the number
19. 26 O Object Menu 39 Orthometric Height obtaining WPG files 12 P Plots computing statistics 66 GNSS data 65 PPP load solution 25 message log 35 trajectory 35 PPP processing 43 Precise Ephemeris description 24 for differential processing 24 for single point processing 25 Precise Point Positioning processing 35 Preferences Display Solution Export Update 61 Problematic Data controlling filter resets 50 failed baselines in GrafNet 106 Processing modes 54 with dual processors 62 Processing Interval for static processing in GrafNet 113 Pseudorange GrafNav GrafNet 8 50 User Guide Rev 1 See C A Code 50 Q Quality Number description 79 Quick Start GrafNav 20 R Receivers supported GNSS receivers and formats 150 Remote File antenna information 57 Resampling base stations 34 resampling GPB files 146 revision manual 2 RINEX converting GPB to RINEX 31 converting RINEX to GPB 159 downloading RINEX data 94 RML File See Message Logs 35 RSS File See Static Summary 35 S Satellite Clock Files adding to project 24 description 24 Seismic Data using Move to Static 38 Single Frequency processing using L1 only 44 Software installation 11 Solution ARTK 13 fixed static 15 54 102 float 54 102 iono free 102 SP3 File See Precise Ephemeris 24 Splicing GPB Files 146 STA File editing 37 viewing 37 Static Mode switching data between mode
20. 4 5 Compute Loop Ties In some cases the Traverse or Network residuals show a poor fit The first step is to ensure that the network is minimally constrained which means that there should only be one 3 D control point or one horizontal and one vertical point Convert any additional control points to check points See Section 3 3 8 Add Remove Check Points on page 110 or Section 3 6 5 Show Data Window on page 124 for help For a constrained network the poor fit indicated by large residuals can be caused by the following two issues e Incorrect antenna heights used for multiple occupations of a point e Baseline solution is incorrect by far the most common cause In some cases it is obvious from the traverse output which baseline is the culprit but often further investigation is required The Compute Loop Tie feature makes such examinations much easier By adding the vectors of a loop within the network discrepancy values are formed in the east north and height directions For a loop without problems these values should be near zero If not then one of the baselines forming the loop has an error Loops can be formed in the following two ways e Selecting stations of vertices e Selecting baselines forming legs of loop Make the selections on the map or select the stations or sessions in the Data Manager window After selecting the first station or session hold down the Ctrl key while selecting the remaining ones Selection
21. 50 User Guide Rev 1 Chapter 1 Table 2 Supported Data Formats for Post Processing Make Model NovAtel All Models Javad All Models N System 500 Leica System 1200 GX1230 SF 20x0 NavCom SF 30x0 Sapphire RTCM 3 0 Septentrio SBF Real Time Ashtech B file DSNP 4000 series DAT Trimble 4000 series RT 5700 U Blox Antaris 2 0 2 1 RINEX 211 3 0 15 Chapter 1 Introduction and Installation 16 GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 GrafNav 2 1 GrafNav and GrafNav Static Overview Inertial Explorer GrafNav GrafNav is a full featured kinematic and static GNSS post processing package that uses a proprietary GPS and GLONASS processing engine It supports single and multi baseline MB processing moving baseline processing Precise Point Positioning and directly WAY PINT supports many different receiver formats For any receiver ener ae formats not currently supported RINEX files can be imported See Table 2 Supported Data Formats for Post Processing on page 15 for more information Precise ULULI This chapter describes how to get started with GrafNav and goes through each menu of its interface Step by step instructions for first time users are also included GrafNav Static This chapter also describes the features of GrafNav Static GrafNav Static provides the same processing features as GrafNav but only for static baselines See Table 1 Produ
22. 87 50 51 75271 198 262 Remote Name Remote ENABLED Antenna SIMPLE VERT 0 000 m File waypoint01 c GPSData Manual_Data air_rover gpb O static sessions Direction FORWARD Process Mode Dual frequency carrier phase Static Initial Float Use AR Yes Use Glonass Yes The file may look different depending on whether static or kinematic processing was performed When static processing the output includes the final coordinates and various statistics associated with those coordinates In kinematic processing the ARTK summary record is the only output if ARTK resolved carrier phase ambiguities The following is the output satellite tracking list This output is only displayed on fixed static solutions It shows which satellites are tracked when how long and the status of the satellite The status is important because it will show if any satellites are rejected This output can also be seen for all data types in the plot Satellite Lock PRN START END DT BASE BEST INDEX RMSQ0 NUM NEPOCH STATUS SEC RMS RMS 21 149910 151050 1140 0 2 0 044 0 0 044 39 39 Rejected 10 142530 151260 8730 0 2 0 022 0 0 022 292 292 OK 26 148740 151260 25200 2 0 028 0 0 028 85 85 OK 29 146820 151260 4440 0 2 0 033 0 0 033 149 149 OK 21 151740 151950 2100 6 0 038 0 0 038 8 8 Rejected 18 151710 152130 420 0 6 0 024 0 0 024 15 15 OK 10 151350 154770 3420 0 6 0 013 0 0 013 115 115 OK 10 155070 155280 210 0 6 0 018 0 0 018 8 8 OK 136 GrafNav GrafNet 8 50 User Gu
23. AGPS_Data DAY_109 00052109 gpb right click on selection or use DEL key to remove multiple files 5 Start date time 0 132 111 0 132 111 0 132 311 0 132 311 0 132 311 0 132 411 0 132 411 0 132 411 0 132 511 0 132 511 0 132 51 012 pl gt IV Prompt for station name and antenna height IV Break up multiple occupations into periods I Always ask for date of observation A 109 Chapter 3 Add Edit Remove Control Points x List of Points Name Type Latitude Longitude Height nji2 3 D 40 44 29 3 74 10 39 727 17 930 These coordinates are in processing datum and height above ellipsoid Close Add Edit Remove Add Edit Remove Check Points List of Points Name Type Latitude Longitude Height NJTR 3D 4015274 7447 48 072 41 295 These coordinates are in processing datum and height above ellipsoid Close Add Edit Remove lt The latitude and longitude coordinates should be in the same datum as the selected datum The height can be entered as meters above the ellipsoid or mean sea level If height above mean sea level is used you have to select a geoid file If a mean sea level or orthometric height is entered here then only an approximate geoid correction is applied As stations become more distant from the control point orthometric height errors will increase If more than one control point is present and o
24. ARP YES Fixed Static Settings Fixed solution usage D Never Aways Only if distance and time OK Y Use global fixed static options Edit Fixed O ok J carce Override values Point Name Allows you change the station s name Antenna Information To edit the antenna height and or antenna model for the static session click the Change button Fixed solution usage settings Never A float solution is used for the static sessions Always A fixed integer solution is are attempted for the static sessions Only if distance and time OK A fixed integer solution is attempted if the baseline distance and session length are within the tolerances applied in the Fixed Static tab of the GNSS processing options 40 GrafNav Edit Static Sessions Select a static baseline from the Object Menu and click the Edit button to display the Edit Static Session window The options in this window allow you to change the station name antenna height antenna model and fixed static processing options for the static session Time Range Displays information regarding the static session Star End Displays GPS seconds GPS week number GMT time and date mm dd yyyy for the beginning and end of the static session Length Displays the difference between the start and end time Point Name and Antenna Height Displays information regarding the observed point name and antenna height Automatic deter
25. Dual Frequency Y Y Multi Base Processing Y PPP V Static only Y Moving Baseline Y Azimuth Determination Y IMU Processing a Refer to the Inertial Explorer User Manual available on our website at www novatel com Moving Baseline Features within GrafNav Relative Processing All of the same advanced GrafNav processing features including ARTK a robust Kalman filter and forward reverse processing are also supported in moving base processing The only restriction is that only one base station can be used when processing the relative vector For applications where both antennas are mounted on the same vehicle the surveyed distance between the antennas can be entered to assist ambiguity resolution Heading can also be computed for these applications Relative Vector Output After processing the included Export Wizard profiles are available to output the relative vector in local level or ECEF format Relative Velocity In addition to relative position information GrafNav uses Doppler measurements to compute instantaneous relative velocity between two moving antennas 14 Introduction and Installation 1 4 Overview of the Products 1 4 1 GrafNav GrafNav is a kinematic and static GNSS post processing package Included with GrafNav is a Precise Point Positioning PPP module support for multi base applications and support for moving base applications See Chapter 2 GrafNav on page 17 for more information
26. GrafNet 8 50 User Guide Rev 1 Zoom In Zoorn Out Zoom Reset Distance amp Azimuth Tool Move Pane Find Epoch Time Datum Manager Geoid Grid Map Projection Conwert Coordinate File Time Conversion Favourites Manager Mission Planner Download Service Data Chapter 2 83 Chapter 2 Datum Manager Input Coordinates FROM Datum NAD83 Latitude Noth w 0 00 Longitude West 0 o0 Ellipsoidal Height 0 000 Week Number 1724 84 X 00 00000 00 00000 m Transform Coordinates Select from Favorites 2 Jian Transformed Coordinates TO Datum wWGS84 Conversion v Automatic NAD83 to WG584 NRCan Datums Datum Conversions Ellipsoids Transform Coordinates Solve Conversion z Select Transform Coordinates to convert from datums NAD83 to WGS84 using inverse conversion Add to Favorites a Gee cel GrafNav 2 8 5 Datum Manager See Section 2 6 3 Datum on page 58 for information regarding the first three tabs The two remaining tabs are discussed here Transform Coordinates Use this tab to transform individual points from one datum to another If you have a list of points to convert use the Convert Coordinate File option Points can also be loaded from favourites and after conversion saved back to favourites One reason to use this tab is to convert base station coordinates p
27. Guide Rev 1 GrafNet 3 1 3 Computing Coordinates Once the processing is complete there are two methods to produce coordinates for each station Traverse Solution This solution automatically computes during processing It starts from known stations and transfers positions to neighboring stations one baseline at a time A tie or closure will be computed for stations that already have coordinates transferred Network Adjustment This method takes all of the baselines into account into a single weighted least squares adjustment It spreads the errors out over the entire network and takes advantage of redundant baselines using covariance weighting to produce more accurate station coordinates The network adjustment flags erroneous measurements in the sense that the residuals calculated baseline vector minus observed value will be unacceptably high This is most obviously displayed by the PPM parts per million value GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 3 103 Chapter 3 How to create a project 1 Select GrafNet from the Waypoint GPS program group in your Start menu 2 Select File New Project 3 Find the directory where the project files will be located GrafNet creates many files during processing so using a new directory makes things easier 4 Give the project a name and click Save DI Entering the name of a project that already exists overwrites the file contents How to convert data 1 Sel
28. How to process with the Network Adjustment 1 After successfully processing all of the baselines within GrafNet access the network adjustment via Process Network Adjustment lt The network adjustment only accepts session data flagged as Good Other baselines will be ignored unless otherwise specified with the Utilize sessions labeled BAD in network adjustment option For the initial few runs of the network adjustment the scale factor should be set to 1 0 This will not scale the final standard deviations to match observed session vector residuals See Variance factor on page 120 for more information 2 Click the Process button to compute a network adjustment solution Any errors encountered are displayed 3 If there are any hanging stations which are stations that are not attached to the network or are attached by a Bad baseline the adjustment will fail It is possible to change the status of the baseline to Good from the Sessions window in Data Manager 4 A net file is created which can viewed via Process View Network Adjustment Results lt The network adjustment must be re run if you have reprocessed sessions or changed the station configuration 118 GrafNet 3 4 6 Network Adjustment This option invokes the network adjustment contained within GrafNet External network adjustment programs such as GeoLab also support GrafNet s output format The network adjustment is only available
29. Information Program Run By Data Collected By Agency Add Edt Delete Message Convert Quit xk Convert GPB to RINEX This utility converts a GPB file into a standard RINEX file version 2 0 or 2 11 Rinex Version Choose between Version 2 1 and Version 2 0 format GLONASS If present GLONASS measurement data writes to the observation file while the ephemerides write to their own navigation file This option can be enabled to create GPS only RINEX files Files to Convert Allows you to select the files that are to be converted GPS Week Sets the week number in which the observations were made If the Auto Detect Week button is selected then the program determines the week number from the EPP file Sometimes an incorrect week number is output to the EPP file during the conversion from a raw data format In such a case you must manually enter the week number via the Set Week button RINEX Header Information Several fields are available here for editing This information is used only for the purpose of being written to the header of the RINEX observation file lt Multiple files can be added for conversion For each file added you are prompted for a station name an antenna height and if needed an alternate ephemeris file 31 Chapter 2 GPB File Name EAData Bank Raw Data Cyoon SpanRef gpb Operation to Perform Make all epochs static C Make all epochs kinematic Use user generated
30. KAR solution is higher than this tolerance cycles then a warning will result If there are still 4 good satellites see KAR_MAXSV this solution will not be used Default value is 0 06 cycles This is the tolerance cycles with which intersections will be kept in the list This value should be 0 20 or higher The default is 0 20 cycles Tolerance for allowable separation between the float and fixed KAR solu tions This option can be used to kick out solutions with large float fixed separations Turn ON to engage KAR in static mode By default this option is OFF rmsflag ON OFF and enables stricter RMS tolerance for rejecting bad KAR solutions relflag ON OFF and it enables stricter reliability tolerance Use this maximum number of satellites in the KAR ambiguity search rou tines KAR_USE_DIST ON OFF MaxL1Dist MaxL2Dist KAR_USE_FAR ON OFF L2 LOCKTIME ON OFF L2_MAIN ON OFF L2_SLIP_TOL 0 20 LOCKTIME_CUTOFF 8 ON to prevent KAR from using long baseline data Tolerances for single and dual frequency processing are in km Normally computed automatically from KAR DISTANCE ON if KAR to use all data less than distance tolerances OFF will just use data until maximum distance exceeded Default is off ON to use L2 locktime for cycle slip detection For some receivers for example Ashtech this can lead to more cycle slips being detected than really do occur If turned ON GrafNav will only use P2 L2 fo
31. MES SG EET 134 4 41 FML amp RME FileS iaa it ia idad 134 4 42 FSS amp RSS les id cada 136 4 4 3 FWD REV CMB FSP RSP and CSP files ooooococcccccccnnccncnncncccnonononononononinc nana conananannns 139 444 FBV amp RBV File eee ak en 140 Chapter 5 Utilities 141 51 Utilities OVNI Wi daa daa rader ran ind 141 5 2 GPB Viewer Over vie Wicca E aent 141 521 Feen 141 5 22 MOVE ia dae As 143 E aa o s 143 5 3 Concatenate Slice and Resample Overview cccccccceccccecceeecceeecaeaeseeeaseeeeeaeeseeeeeeeseeeeeeeeees 146 5 3 1 Concatenate Slice and Resample GPB Files rrrrrnonnnnarovnnnrnnnonenvnrnrnrerernnnnnnnnnnnnnnnennnennr 146 5 4 GNSS Data Converter Overview ccccccccceseceecceeceeseeececeeecesenecececeueeeceeeeeseaseeeeeeeeaseeeeeeeaeneness 147 5 4 1 Convert Raw GNSS data to GPB rarrnnnrnnrnnnnnnnnrnnrnnnnnrrnernnnnnnarenernnsnnssnenennnnnsersnernnunnnsnenene 147 5 4 2 Pre processing Checks rrrnnnnnnnvvrnnnnnnvvvrrennnnnrrvnnnnnnvrrvrnnnerennnnnensrsnnnrnesssennnrnessnennrrsnsseennnn 148 5 4 3 Supported Receivers mrrmrrrrrrrrrrnnrrrrrvnnnnrentvnanrnnnn ce aeaaeaaeeeeeeeeeeeeesegecaaaeeaeeeseeeeeeeeeeseeennaees 150 Appendix A Output Variables 171 Appendix B Antenna Measurements 175 Appendix C Summary of Commands 177 Glossary 189 Index 191 6 GrafNav GrafNet 8 50 User Guide Rev 1 Software License BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU A
32. Measurements One of these records is required but 120 is 120 Measurements recommended 115 Ephemeris Required PA Recommended for GrafNet 110 Position users 109 Antenna Height Written to STA file 113 Event Mark Written to STA file 152 Utilities Leica System 1200 Table 17 Records Supported for Leica 1200 describes the supported records Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Re compute position and receiver clock offset Enable this option if the clock shift data is corrupt or if positions records are not present This option is not needed if pre processing checks are enabled Combine multiple observation files Leica receivers write data into separate files from one session with different extensions This option combines files from one session into one GPB file Verbose message mode Alerts you of additional warnings and errors that have occurred Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option Break
33. Point of Operation Calgary AB Calgary AB Almanac File s EPP YUMA AGL E wpg_022 epp E Legacy_130122 aql Settings Elevation mask 15 0 degrees Start time h m s 00 00 00 Date m d y 01 23 2013 UTC 08 00 Kuala Lumpur Singapore Length 24 00 hours Get My Time Zone Time in OK Cancel 92 GrafNav Almanac File s GPS and GLONASS almanac files permit the Mission Planner to compute predicted satellite orbits Almanac files can be downloaded provided an internet connection or a Waypoint ephemeris file epp can be used if almanac data was logged during data collection The latter option applies only to NovAtel receivers If you already have a valid almanac source use the 4dd button to locate 1t on your hard drive Otherwise use the Download button to bring up the Download Almanac Files window from which you can specify the date and constellation for which the almanac data is needed If you are Mission Planning for a future date as is most often the case the date shown in the Download Almanac Files dialog will be yesterdays date Yesterday is used because the almanac files from yesterday are likely to be available for download i e if you attempt to download almanac files for today s date it may fail if the files have not already been uploaded Settings The following settings are available Elevation mask Only satellites above this ele
34. See Section 2 8 2 Distance amp Azimuth Tool on page 83 for help Show To From Stations Displays both stations in the Stations window See Stations Window on page 126 for information Show To From Observations Displays both station Observations windows See Observations Window on page 125 for information Expand the Sessions branch in Data Objects of the Data Manager to display individual sessions in the Sessions window GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 3 Columns in the Sessions Window Name Name of the session which serves to indicate direction of coordinate transfer SD Standard deviation in mm of the baseline as calculated by the Kalman filter Reliability Reliability of the fixed static solution 1f available RMS RMS of the fixed static solution Applies only to fixed baselines SolType Indicates solution type See Table 11 Solution Types on page 102 for a full description Time Length of session in hh mm format Dist Baseline distance in km Status Solution status See Table 11 Solution Types on page 102 for descriptions From Indicates the FromStation To Indicates the ToStation H If multiple sessions exist for the same baseline indicates which session is being referred to 127 Chapter 3 Columns in the Control Check Points Window Name Name of the station Type Type of control or check point which can be 3D horizontal or vertical Latitude
35. The Path to send files to field specifies where to save the downloaded files The Date and Time Range parameters indicate the date and time range GMT of the data to be downloaded Ifusing the Position from GPB file option on the Add Closest tab all of the parameters under Settings are scanned automatically Selecting Leave as is will not perform any type of resampling on the downloaded data Select this option if you are processing static data only such as in GrafNet Common sampling rates provided by GNSS networks are 1 5 10 15 and 30 seconds Some networks such as CORS only make high rate available for a limited period of time such as 30 days prior to archiving the data at a 30 second sampling rate Therefore it is good practice to retrieve base station data within days of your survey when possible In differential processing only common epochs can be processed between master and remote Thus when processing kinematic data it is required to resample base station data to the same interval as your remote prior to processing GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav When resampling additional noise is introduced in the resampled epochs The magnitude of the added noise is dependent on the original sampling rate of the data Waypoint has found that the amount of noise introduced when resampling from an original rate of 5 seconds is negligible When resampling from 30 seconds however 1 2 cm of noise RMS can i
36. X Axis Time The options are described in the shaded box Y Axis Value The options are described in the shaded box Copy Copies the plot to the clipboard as a bitmap BMP allowing you to paste the image into other application such as Microsoft Word or Paint Copy without title Copies the plot to the clipboard as a bitmap BMP without the plot title Save to HTML Copies a BMP version of the plot into an HTML file which opens upon completion The HTML and BMP files are saved to the project folder under a directory called HTML Refresh Reloads the selected plot Go to Time Gives you the option of finding the nearest available time in the forward or reverse message logs or finding the nearest epoch on the Map Window Compute Statistics for Calculates many useful statistics for either the entire valid processed time range or if it has been adjusted only the time range being plotted Statistics include RMS average maximum and minimum Note that this feature is only available for appropriate plots GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Set Start Processing Time Makes the selected time the start time for processing Set End Processing Time Makes the selected time the end time for processing Engage ARTK at Time Engages ARTK at the selected time 2 7 2 Common Plots Table 1 Common Plots contains a list of common plots that are available through the Plot GPS window Table 1 C
37. a closed loop GrafNet removes these dependent or trivial baselines by creating a single loop that connects all of the points in the sub network Figure 5 Network with Trivial Baselines Removed illustrates that it is easy to remove these baselines A D E With four receivers there are two dependent baselines in B C F each sub network GrafNet removes these trivial baselines for each sub network Figure 4 Removal of Trivial Baselines shows two possibilities of what GrafNet might do with the first sub network Figure 5 Network with Trivial Baselines Removed GrafNet removes the trivial baseline by setting their session status to Ignore It is possible to un ignore any session by simply changing its status back to Unprocessed GrafNet tries to keep the sessions that are of best quality The following criteria is considered The amount of time the baseline was surveyed The frequencies used in the surveying of the session The length of the baseline The number of connecting baselines to the two end points As shown in Figure 5 Network with Trivial Baselines Removed GrafNet automatically excluded AC BD CE and DF It then forms a single loop for each of the time periods DC is a baseline with a duplicate session 116 GrafNav GrafNet 8 50 User Guide Rev 1 GrafNet 3 4 4 Unignore All Sessions This feature changes the status of all ignored sessions from Ignore to the status they had previously 3
38. a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel Waypoint GrafNav GrafNet Inertial Explorer SPAN OEM6 OEMV OEM4 and AdVance are registered trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders 2 GrafNav GrafNet 8 50 User Guide Rev 1 Table of Contents Software License Foreword Chapter 1 Introduction and Installation 1 1 Waypoint Products Group Software Overview 0 cccceeeeeeeeeeeeneccaeeceeeeeeeeeeeseseccaccceceeeeeeeeeeeteess 12 Installation lacada ee eee ea 1 2 1 What You Need To SMHalt oooococcococcccccccccoccnccononcnnnnnconnnnnnnnncnnnnnn non nnnnnnnnnnnnnnnnnnnnnmnnnnnnnnnncnncnnnns 1 2 2 CD Contents and Installation perisa a r a a a e e a aE 12 3 Upadi a ll A T T O ETE 1 3 Processing Modes and Solutions oooooccnnoccccconnnoccocncnnonono Eaa EA AAEE OREA AREO AEAEE 1 4 Overview of the Products 0 cccceceeeeeeeene cece ce eeeeeeetee eee eeaaaeaaeceeeeeeeeeeesageaaaaeaeeeeeeeeeeeseesseeensasaeees 1 41 GrATNA Vis urne ee enerne 1 42 GANGE NR 1 43 GrafNav Statics ut alocada aaea a echoes daaride asad backs fa tdi a bland aa badene ee 1 4 4 Moving Baseline Features ccccscccccceessccceceeeeseecneeesessacedeeeesaceneneesaadedesnesaaenenensssaeedentaes 1 4 5 Inertial Explorers ti A dart a ee en en la MUI Fo esa asia Ten
39. accuracy estimates due to high correlation of carrier phase data and does not improve accuracies Static Initialization The two options are described in the shaded box Static Session Settings These parameters govern how GrafNav processes static baselines The options for this setting include the following Split into two sessions if time gap greater than If selected GrafNav treats time gaps greater than the tolerance as an indication of a new station occupation Tolerances for fixed static solutions Allows you to specify distance and time tolerances to prevent unintentional static fixes on very long baselines or short time periods DX For these settings to be applied Fixed static solution has to be selected on this tab Search Area Options The search region size can be controlled with the options described in the shaded box GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Ionospheric Noise Modeling The ionospheric noise model controls how the L2 measurements are treated in the fixed solution Due to anti spoofing L2 can be noisier than L1 So on shorter baselines a noise model placing more weight on L1 can deliver better results These options are described in the shaded box General Options These options are described in the shaded box User Cmds This changes any command that is passed to GrafNav It can be used to change commands that are set by the other option tabs or set commands that are not ha
40. advanced users will more frequently access the green plots than any other Many plots support different units For example you can plot the Combined Separation which shows the difference between forward and reverse solutions in meters or feet The Distance Separation or baseline distance can be plotted in units of kilometers miles or meters In order to change units on a plot first select the plot from the list and then access the Y axis tab This tab has a units pull down list which shows supported units for the selected plot After changing units your preference is remembered for all projects Individual plots can be viewed by double clicking a plot in the list or by selecting the OK button after selecting a plot Multiple plots can be accessed simultaneously by using the Ctrl key prior to selecting the OK button Further if a plot group of plots has been created using the Add Group button all plots within the group are plotted simultaneously Add Group You may wish to add a group of plots for the purpose of plotting the entire group simultaneously For example if after processing you always want to see the Combined Separation Number of Satellites BAR PDOP and Estimated Position Accuracy these four plots can be added to a custom group When you click the Add Group button a second dialog appears that allows you to provide the group a name and add plots to your group There is also an option for launching an HTML report
41. and up standard deviation STD This indicates sessions that have one or a combination of the following e float solution poor satellite geometry that is high PDOP short occupations Check Point Residuals If check points have been added this section shows how well the known coordinates compare to those computed by the network adjustment 119 Chapter 3 How to interpret the output cont Control Point Residuals This section shows the adjustment made to control point residuals When just one control point is used then the adjustment will always be zero With two or more points the adjustment depends on the input control point standard deviation and the session vector standard deviations Output Station Coordinates This shows the computed coordinates for each of the stations both in geographic and ECEF coordinate systems The output datum is indicated by the Datum parameter at the top of this file lt The geographic height should be ellipsoidal However this is only true if you enter an ellipsoidal height for the control point elevation Output Variance Covariance This section shows the local level SE SN and SZ standard deviations along with ECEF covariance values The standard deviation values are scaled by both the input scale factor and the statistical confidence scale factor The covariance values are only scaled by the input scale factor If error ellipse parameters are desired then the Write C
42. and whether or not to include bad data PPP_TROPO ON OFF dDensity Turns on off tropospheric error state If ON specify the spectral density PPP_STD_MODE Mode Automatic AUTO elevation based ELEV C NO based CNO or STAN DARD PPP_STD_REJECT Type CedeRej PhaseRej DopRej CedeReset PhaseReset TYPE MANUAL NORMAL STRICTALL STRICTPHASE STRICT CODE LOOSEALL LOOSECODE LOOSEPHASE values are nSD that is number of standard deviations If type is MANUAL the user needs to enter the rejection and reset tolerances GrafNav GrafNet 8 50 User Guide Rev 1 183 PPP_STD_SKIP MaxRejSec nSkipCodeEpochs nSkipPhaseEpochs PPP_STD_RELTOL Value PPP_ETCOFF ON OFF PPP_PWOFF ON OFF PPP_NOECLIPSE ON OFF PPP_EPHRELCORR ON OFF PPP_SEPARATECLKS ON OFF PPP_CODEONLY ON OFF PPP_NODCB ON OFF PROCESSDESC Description PROCTIME Time Date PROCUSER Name PROCESS_DIR direction These are the advanced reset settings This is the reliability tolerance for rejecting outliers Enables or disables Earth tide corrections Turns on off phase wind up correction OFF to account for satellite eclipse ON to use the relativity correction derived from the SV ephemeris instead of from the SP3 Enables or disables the use of separate clock states for the phase and code Should be ON for Trimble users ON to for code only processing ON to apply DCB correction for C A P1 bias This is the processin
43. attempt to download precise orbits and clocks if the Process button is selected prior to adding this data to the project Processing Direction See the shaded box for a complete description of the processing directions available Processing Settings Profile Processing profiles are available for aerial ground vehicle and marine applications These profiles load processing settings that have been found to work well for each application including changes to the default elevation mask ARTK options measurement weighting and more Processing profiles are particularly helpful for new users as adjusting individual processing settings from the Advanced options are often unnecessary in order generate a high quality result For advanced user s processing settings can be created or customized During decoding GrafNav s pre processing checks use the unprocessed position decoded in the raw GNSS data to detect the processing environment aerial ground vehicle or marine The detected environment is written to the header of the GPB file allowing GrafNav to automatically load a processing profile the first time you access the GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Process GNSS dialog This is done to help new users generate a high quality result with as little user intervention as possible Advanced Depending on the processing method selected differential or PPP selecting Advanced provides access to all available pr
44. best RMS The minimum reliability for a pass is 1 35 The RMS is the RMS fit of the fixed solution This number is in metres and the maximum value to pass is 0 025 m 1PPM for dual frequency and 0 015 1PPM for single frequency Warning No precise ephemeris available for prn 21 Message warns that a precise ephemeris is missing for a satellite The user may want to try another SP3 file to better the results GPS data errors detected will try and reject measurements baselines or satellites Error messages starting with indicate bad carrier or code measurements encountered The above message should be following another message indicating what residuals are out of range and which satellite has the largest value The indicated satellite may not be the actual problem one because the Kalman filter distributes the errors around A number of tests will be performed to isolate the problem data and satellite Therefore this message is followed by the messages shown below On code worst PRN is 20 RMS is 1 46 m PASS reliability is 1 84 FAIL A further test on the combined code carrier solution to ensure that the code is OK On phase worst PRN is 28 RMS is 0 0949 m PASS reliability is 1 19 FAIL This test will generally indicate if a missed cycle slip to other carrier phase problem was fixed by removing a particular satellite The above message indicates that the problem could not be fixed and will generally be followed by a filter reset
45. between stations Height Error Estimate Estimated error along the vertical axis dh Horizontal Distance Horizontal distance on the ellipsoid between stations geodesic Horizontal Standard Deviation Estimated position standard deviation in the east and north axes of a local level frame Irish East North East and North coordinates in the Irish State Plane projection L1 Doppler RMS Root mean square of L1 Doppler signal useful for INS integration L1 RMS L1 or lono free root mean square Lambert East North Latitude East and North coordinates in the Lambert Conformal projection North South geographic coordinate Local Level Covariance Matrix 172 Estimated local level position covariance matrix needs extended output in GrafNav GrafNav GrafNet 8 50 User Guide Rev 1 Table 3 List of Output Variables continued Local Level Velocity Covariance Matrix Estimated local level velocity covariance matrix needs extended output in GrafNav Local Level XYZ Local level left hand side frame where the x axis is pointing east the y axis is pointing north and the z axis is pointing up the frame is centred at the master station Local Plane XYZ XYZ axes of a coordinate frame defined by two or more points see local plane options Local Time Date GPS time and date with time zone offset applied Longitude East West geographic coordinate Map Scale F
46. can produce coordinates for each of the stations Do this using the traverse technique from known station to unknown stations Using File Add remove Control Points additional known fixed control points can be specified At least one GCP is needed per project before GrafNet will process any data but others can be added later These known control stations are used to transfer coordinates to unknown stations in the network In some ways this is very similar to a conventional traverse survey but instead of instrument backsight and foresight stations this traverse technique only has an instrument and foresight station Starting from the known stations coordinates are transferred to the nearest stations Then the next nearest stations receive coordinates This procedure is repeated until all connected stations have coordinates transferred The arrow marker on the baseline shows in which direction this transfer takes place The coordinates for a given station are transferred from the minimum number of legs The lengths of the legs are not taken into account which in some cases results in an unfavorable transfer of position In this case the network adjustment produces more accurate coordinates For stations that have more than two baselines connecting a loop tie can be computed This means that there is more than one possible transfer of coordinates to this point The first transfer is used for coordinate generation Subsequent tr
47. control points and move outward For processing problem sessions 1t may be better to process through GrafNav Only those session shown in Data Manager Process only the sessions that are presently listed in the Data Manager window Reprocess entire project Reprocesses all solutions regardless of status It is a good idea to reprocess all sessions after changing the global options Processing settings Overwrite session processing settings with global values Applies the options set under Options Global Settings to all baselines being processed Any individual baselines whose settings were changed will have their settings overwritten Use individual settings stored for each session Uses the options as individually set for each baseline for processing 112 GrafNet 3 4 Process Menu 3 4 1 Processing Sessions This option brings up the Process Sessions window where a number of options pertaining to processing are available Process Sessions to Process Allows you to decide which session to process The options are listed in the shaded box Processing Settings Determines which processing settings to use for each baseline The options are listed in the shaded box On Completion Defines actions to be taken when processing is completed The following two settings are available Show sessions being processed in data window Displays all processed sessions in the Data Manager window Run network adjustment on comp
48. conversion utilities available with File Convert Raw GNSS to GPB Users have to convert their raw data files to GPB format in order to process them with the software More information on this utility is available in Chapter 5 Utilities on page 141 GPB to RINEX Users who wish to produce a RINEX file from their GPB files may do so using this utility This utility supports the creation of Version 2 0 and 2 1 of the RINEX format For additional information see Chapter 4 File Formats on page 131 111 Chapter 3 Measurement Solution and Session User Cmds Process General Advanced Fixed Static Sessions to Process Which sessions should be processed All unprocessed status Unprocessed or Approximate All unsuccessful status less than Good Only those sessions shawn Reprocess entire project Data Manager m Processing Settings Overwrite session processing settings with global values Use individual settings stored for each session m On Completion IV Show sessions being processed in data window IT Run network adjustment on completior Sessions to process All unprocessed Processes all sessions listed as either Unprocessed or Approximate These sessions are blue or purple in Map Window All unsuccessful Processes all sessions that do not have a Good status This includes all sessions that are not green in the Map Window Processing will start nearest to the
49. determine how many satellites are available from each constellation and not simply a total number as would be reported in the former Bar Color Applicable only to the bar chart format This feature also permits colors to be customized by adjusting minimum and maximum ranges Y axis Range Select Automatic to force the Mission Planner to automatically scale the Y axis for each plot Manually enter the boundaries by selecting Manual Satellites in View Chart Type Select None if you do not want to view this plot Otherwise you can select Satellite lock plot which allows you to view an elevation plot of the satellites in view Satellite Sky View Plot Displays a plot that shows the elevation and azimuth of all satellites over time Advanced Tab Log File You can choose to save an ASCII output of the mission planning information Enable View LOG file after processing to open this output file when plotting is finished Data Interval Select Automatic to force the Mission Planner to compute a data interval suitable for most recent plot window size Select Manual to define a data interval to improve the resolution Options The options that are available are listed in the shaded box GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 Num Sats PDOP HDOP VDOP and DD DOP Options Ignore satellites with bad health Mission Planner checks the almanac file for any sick satellites if this option is selected Any satellite
50. elevation relative to the horizon are ignored Common elevation masks for differential kinematic processing are 10 12 degrees Static processing generally benefits from a higher elevation mask 15 degrees is suggested Low elevation signals are more affected by multipath and tropospheric error and are more likely to be affected by cycle slips due to signal blockages and or signal attenuation by the antenna Thus pre filtering low elevation signals is generally beneficial to post processed accuracy L1 Locktime Cutoff This is the number of seconds that continuous carrier phase tracking is required before measurements will be used Lowering this value will help to maximize GNSS position availability following a total loss of carrier phase lock However using low values increases the likelihood of an incorrect ambiguity fix This is because the quality of carrier phase measurements may be suspect within the first few seconds the receiver achieves carrier phase lock C NO Rejection Tolerance Most often pre filtering GNSS signals by elevation mask and L1 locktime cutoff is effective For specialized applications introducing additional pre filtering based on the signal to noise ratio can also be effective This option is not engaged by default as not every receiver provides a C NO value and different receivers may output this value at different stages of signal processing Care should be used if applying this option 44 Graf
51. entered as orthometric then this height is more orthometric Use the Export Wizard to get the exact orthometric height For stations like STA and GIS with antenna heights this height is of the monument and not the antenna AntHgt The height of the antenna above the monument Camera marks do not have an antenna height and so N A is displayed Desc Info Describes the feature or line information for the camera mark 37 Chapter 2 Options in the Features Editor window Remarks Remarks field Add Station Lets you manually add a station Also add stations by right clicking on epochs in the map window You might want to add stations to static sessions that have none because static sessions cannot handle a varying antenna height and a station can Remove Removes the selected stations Multiple stations can be selected and removed You might consider disabling a feature instead of deleting it Edit Edits the station name time tag description and antenna height of the selected feature Select All Selects all features View Info Shows processing information for any selected feature enabled during processing Global Edit Make changes to multiple selected features Modifications can be made to the antenna heights descriptions camera line information remarks and drift crab angles Re Number Re number a selection of stations Numbering can be performed starting from the bottom or the top of the list You can
52. file to define static periods User File Settings File name format StalD Start Time EndTime Description E Data Bank Raw Data Cyoon SpanRef bd Begin time offset 10 0 s End time offset 10 0 s Minimum session time 60 0 s 0 000 m for station file Antenna height IV Create station file Space delimited fields StationID StartTime EndTime e Description 32 Browse View Edit Browse Make From GPB GrafNav Insert Static Kinematic Markers Each epoch in the remote GPB file has its own static kinematic flag which is set during data conversion The conversion options for each receiver can be adjusted within the Global Options of each receiver type The static kinematic flag can also be changed after data conversion either through the GPB Viewer or through this utility Using this utility is preferred over other methods adjusting the conversion options or through the GPB Viewer only if it is desired to input multiple static sessions into a single file This is because this utility supports reading start and end times from a file GPB File Name Specifies the GPB file to modify Operation to Perform Select Make all epochs static or Make all epochs kinematic to set the mode for every epoch in the GPB file Select Use user generated file to define static periods to define specific time ranges as being static This enables the User File Settings section on the window User Fil
53. firmware versions 3 0 and greater do not store the station names within the TTP file These names are stored within the database structure control db and cannot be accessed directly by the software The point information contained within the database has to be converted to ASCII which is done by creating an IDEX file using Leica s Ski software Once an IDEX file has been created it can be loaded into GrafNav You should see a message indicating how many IDEX points were matched to TTP points After processing at least one direction the TTP points should be visible and numbered sequentially These have been loaded from the STA file Points are matched via their times Often there are fewer matched points than the original number of TTP points due to several reasons including the deletion of points in the field and or the addition of static session marks Aschtech OUT File out This type of file is created by Ashtech s Seismark surveying system and can be loaded into a project GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 29 Chapter 2 How to import a Digital Elevation Model DEM 1 Select File Load Digital Elevation Model Import DEM Points 2 Browse to the DEM points pts file in File 3 Select a format under the Format Menu to organize the DEM file 4 Select the options that you would like to use to help read the input file 5 Click Import It takes the program some time to form a TIN mo
54. for projects Distance containing only one base station Channel Displays the ambiguities as well as their Ambiguity standard deviation for each satellite being guity tracked Channel Displays elevation and azimuth for each Az Elev satellite being tracked in degrees Channel Displays the status flag and locktime Flag Locktime count for each satellite being tracked GrafNav GrafNet 8 50 User Guide Rev 1 Displays DD_DOP PDOP HDOP and DORS VDOP Estimated The instantaneous north east and height Accuracy standard deviation of the remote position Geographic Displays the instantaneous position and Position antenna height of the remote Local Level Local Level vector in metres Vector The RMS of the code and phase measurements are displayed together em with their standard deviation measurement weight in the Kalman filter 81 Chapter 2 Parameter Description Speed COG Speed of the vehicle is displayed with the Course Over Ground COG computed between consecutive measurement epochs Status Flags Solution quality information such as number of satellites quality factor and ambiguity status Time Epochs Displays time in seconds of the week as well as a continuous count of epochs processed The GPS week number is also shown Velocity Vector Components of velocity in the Local Level frame Channel Data B L Allows for selection of baseline for which
55. is session standard deviations are pessimistic Most often a value greater than 1 0 denotes that observed errors are larger than estimated accuracies that is session standard deviations are optimistic exists unless the GPS data is very clean Thus low variance factors are normally desired Very large variance factors of 100 normally indicate abnormally large session errors that is a very poor network fit and you should try and investigate the source of the problem before using the coordinates produced The variance factor can also be used to scale the station standard deviations to more realistic values The network adjustment is initially run with a unity scale factor The resulting variance factor can then be inserted in the scale factor field from the first screen After running the network adjustment with this new scale factor you will notice larger or smaller standard deviations and that the new variance factor should now be 1 0 This procedure will only work for a minimally constrained adjustment that is one 3 D control point or one 2 D and one 1 D control point GrafNav GrafNet 8 50 User Guide Rev 1 GrafNet 3 4 7 View Traverse Solution GrafNet computes a traverse solution automatically after processing each session This feature can be used to view traverse solution files TRV Traverse Solution Once all of the baselines have been successfully processed meaning that they are green in the Map Window you
56. is pointing from it GrafNav GrafNet 8 50 User Guide Rev 1 189 Glossary 190 GrafNav GrafNet 8 50 User Guide Rev 1 A Add to Favourites add object solution 39 using computed coordinates 126 ARTK description 13 engage at time 67 engage options 48 Output files 139 See ambiguity resolution 13 summary file See Static Summary 35 Ashtech importing PHOTO DAT file 26 Azimuth between epochs in GrafNav 83 between features in GrafNav 37 between stations in GrafNet 127 outputting in Export Wizard 171 B Bad Data fixing bad baselines in GrafNet 106 Base Stations resampling 34 Baselines definition 189 Binary Value File description 140 Broadcast Ephemeris 23 C C A Code DGPS processing 44 measurements standard deviation 50 Camera Marks editing 37 loading into project 26 supported formats 26 Carrier Phase measurements standard deviation 50 processing L1 and or L2 44 CFG File commands 177 description 131 Check Point adding to GrafNet 110 126 definition 189 Combining Solutions settings 62 Concatenating GPB Files 146 GrafNav GrafNet 8 50 User Guide Rev 1 Control Point adding to GrafNet 110 126 definition 189 using multiple control points 119 Converting GPB to ASCII 142 GPB to RINEX 31 raw data to GPB 147 Coordinate Output Export Wizard 72 Coordinate Transformation Tool multiple points 88 Coordinates entering in GrafNav 57 entering in GrafNet 110 Corre
57. large measurement residuals are detected Failing all of this if a problematic measurement or satellite can be identified usually from examining the forward or reverse message log files the Omit Satellite Info dialog can be accessed to manually enter satellite omissions Satellites to Omit All Satellites Disables all satellites from being used Only specified satellite Disables individual satellites Baselines to Omit Omit satellite for all baselines Applies the satellite omission to all baselines in the project Only selected baseline Applies the satellite omission only to the specified baseline applies to multi baseline projects only Time Period Omit for entire data set Applies the omission to the entire processing time range Use specified time range Applies the omission to a specific time period entered in GPS seconds of the week Where to Omit From processing Applies the omission to all types of processing From ARTK Fixed Static only Applies the omission only during ambiguity resolution GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 a General ARTK Measurement lonosphere Troposphere Fixed Static User Cmds Process Data Type 9 Automatic Dual frequency canier phase C A code only Single frequency canier phase Processing Interval Output Filtering interval 30 00 sec Do not write epochs with Quality above 6 1 Signal Prefiltering Std p gt si
58. length grows due to factors such as residual ionospheric error Further if ionospheric processing is used the carrier phase noise will increase noticeably although it should still be cm RMS level Thus while values at or below 1 cm may be Carrier typical for short baselines 1 2 km values of 2 4 Ph cm are typical for longer baselines 10 40 km ase If large differences are found in the Combined Separation fixed plot the RMS of the carrier phase can be a very helpful plot in determining which direction forward or reverse the incorrect ambiguity occurred When doing this ensure to load each solution forward and reverse separately prior to plotting the carrier phase RMS in order to ensure you are viewing the carrier phase residuals for each direction separately Large ramping trends are strong indications of incorrect ambiguities Sheet 1 of 4 GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 67 Chapter 2 GrafNav Table 1 Common Plots continued Plot Description Plots the RMS of the double differenced Doppler residuals for all satellites in the solution GrafNav uses Doppler to compute instantaneous velocity Also plotted is the measurement weighting applied to the Doppler measurements within the GrafNav Kalman filter As the quality of the Doppler measurements varies very significantly between receiver manufacturers GrafNav applies a conservative default measurement weight Therefore it
59. of processed results Several manufacturer profiles are included with the installation however they can be edited and new profiles can be created When creating or editing an export profile you can choose from over 150 source variables Units precision column width field separators and header footer information can all be customized You can choose to export all processed epochs interpolated results for features stations such as camera marks or static sessions GrafNav will try to auto detect which Source to use given the data in your project For example if more than 80 of the remote file is static the Source will default to Static Sessions If more than a handful of features are loaded into the project the Source will default to Features Stations as this is presumably the data of interest GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 Tips for creating an export profile e To create a profile that does not have spaces between variable entries and the record based on column width follow these steps 1 Go to the Define Profile window 2 Click the Field Separator button 3 Select None under Separation Character to remove any field separators in the file XY The same procedure can be used to have the output be space or comma delimited To change the file by adding a header footer of a specific format the Header Footer button in the Define Profile
60. of processing designed to maximize float solution convergence This is not normally a consideration in differential processing due to ARTK where carrier phase ambiguities are fixed When choosing multi pass processing forward and reverse solutions are not independent Rather the data is processed three times sequentially forward reverse and forward again After each direction finishes processing the converged Kalman filter error states are applied to the next processing direction The benefit of this method of processing is that float ambiguity convergence is maximized producing in some cases near fixed integer solution quality This method of processing is most effective on shorter surveys less than four hours 43 Chapter 2 fr gt Differential GNSS stings 2 mise General ARTK Measurement lonosphere Troposphere Fixed Static User Cmds Process Data Type 9 Automatic Dual frequency carier phase C A code only Single frequency camer phase Processing Interval Output Filtering Interval 30 00 sec Do not write epochs with Signal Prefiltering elg above 14 Hk arde 120 deg Std dev above 20 0 m Li Locktime Cutoff 4 0 pa PENN V Process entire time range C NO Rejection Tolerance Start Time 100800 0 poe an dB Hz End Time 104400 0 sec Satellite Baseline Omissions Whee PRN Baseline Time Signal Pre filtering Options Elevation Mask Satellites below this
61. option is not needed if pre processing checks are enabled Verbose messaging mode Displays additional warning messages GrafNav GrafNet 8 50 User Guide Rev 1 Appendix A Output Variables Table 3 List of Output Variables KVET ET OJ Description Absolute ECEF XYZ XYZ coordinates in the Earth Centred Earth Fixed Frame which is a Cartesian frame centred at the ellipsoid origin Ambiguity Drift Drift on ambiguities over time low ambiguities indicate stable solution Antenna Height Height of the pole or tripod above the station marker Azimuth 19 2 Angle between true north and the baseline made from between FROM and TO stations Azimuth 2 9 1 Angle between true north and the baseline made from between TO and FROM stations Body Frame Acceleration XYZ Acceleration components in the vehicle body frame Body Frame Velocity XYZ Velocity components in the vehicle body frame Azimuth StdDev Estimated error of the computed azimuth British East North C A RMS East and North coordinates in the British State Plane projection Root mean square of C A code signal Checksum 8 bit The absolute value calculated by using XOR ADD or NMEA methodology on the 8 data bits of each character in the sentence decimal and hexadecimal formats may be selected user will be prompted for these options after the profile is created Combined Scale Factor Scale factor used by
62. pre processing checks are enabled Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option GrafNav GrafNet 8 50 User Guide Rev 1 Utilities NovAtel CMC This decoder handles data from the NovAtel CMC AllStar and SuperStar receivers Table 20 Records Supported for NovAtel CMC describes the supported records Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option Verbose messaging mode Displays additional warning messages Reject satellites with low CNO Satellites with C NO values below the specified threshold will not be decoded This option is not reco
63. questionable L2 phase Allows for processing of highest quality L2 data only Should be enabled if ARTK is having difficulties Verbose messaging mode Allows you to see additional warning messages Extract stations information from Ashtech D File Various Thales hand held controllers output a D file containing features and antenna height information Enable this checkbox to utilize this information Ignore SBAS Satellites Newer versions of Thales firmware have resulted in the logging of raw data from SBAS satellites which are not supported by the software As such this option should be left enabled to ensure the data is not written to the GPB file Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 5 r 5 Thales B File Options Thales Ashtech Receiver Type Auto detect C C A code G12 SCA M12 LOCUS C Dual frequency P12 212 2 Surveyor Z E xtreme L2 codeless L 12 LM 12 C GPS GLONASS GG24 General Options IV Perform pre processing checks IV Re calculate position and receiver clock I Detect static
64. settings Ignore satellite if tracked less than Specifies the number of seconds of continuous carrier phase lock before data for that channel is deemed usable This allows you to reject data for the first n seconds after acquiring lock The default value is 4 but higher numbers 8 to 12 seconds can be very beneficial to some GNSS receivers especially low cost ones L1 Iono free static cycle slip tolerance Controls cycle slip detection in static mode You may have to raise this if you are processing extremely noisy carrier phase data In static mode the fine static check is turned on by default allowing GrafNet to detect very small cycle slips For fixed solutions this is automatically used and cycle slips are also corrected Cycle slip corrections for fixed solutions can be disabled from the Fixed Static options tab L2 static cycle slip tolerance During ARTK and relative ionospheric processing GrafNet checks for small cycle slips on L2 by comparing it against the L1 phase Raising this value too high increases the chance of detecting a half cycle slip Lowering this value might cause false cycle slips to be induced from noise Only advanced users should change this value since it requires an analysis of the results Display cycle slip messages during processing Prints satellite cycle slips and rising falling messages to the FML and RML files Disabling this option creates a more concise message log but these messages might hel
65. specify the starting number and the increment value To decrease numbers use a negative number Move to Static This feature is used to assist in the quality control of surveys where multiple short static sessions are collected in challenging GNSS signal environments When used it allows you to see the difference between the forward and reverse solution for each static session in your survey when exporting from the Wizard An example of an application that may use the Move to Static feature is seismic surveying Move to Static requires that a station mark be present within each static session DI Global Edit Re Number and Move to Static work with multiple features selected To select a continuous block hold down the Shift key while clicking on features To select individual features use the Ctrl key 38 GrafNav The shaded box contains a list of the options that are available with the buttons on the right hand side of the Features Editor window GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 4 7 Objects Select View Objects All to access the Object Menu window This window provides access to ARTK fixes static sessions features camera marks epochs master stations and RTK data if present The Object Menu can also be activated by right clicking on an epoch in the map window This displays the features and epochs around the selected epoch The options that are available with the buttons on the right han
66. step instructions once you have decided on the method for starting your project Project Wizard The Project Wizard offers you a guided step by step way of creating a project The Project Wizard steps are listed in the shaded box Auto Start Auto Start prompts you for all the information required to process a data set This option allows you to add master and remote stations and to use a project setting that best suits your application The Auto Start steps are in the shaded box lt Files should be converted to GPB format before using Auto Start For more information about converting your file see Section 3 4 GNSS Data Converter Overview on page 147 GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 Project Wizard Steps 1 Create and name the project 2 Add rover data to the project lt The rover data can be in Waypoint s GPB format or in the receiver s raw format in which case the Wizard converts it to GPB for you 3 Add base station data to the project lt You can add your own local base station data in raw or GPB format or you can have the Wizard download free service data from the Internet If you plan to process with PPP you can skip adding base station data and download the precise satellite clock and orbit files from the Internet How to create a new project using Auto Start 1 Select File Auto Start Browse to name the new project Use the Add button to choos
67. surveyors lt applies the map scale factor combined with the ellipsoidal height correction which can be used to scale distances on the ellipsoid to the earth s surface Combined Standard Deviation Combines east north up position standard deviations into one value Same value is written by Write Coordinates Computed Azimuth Azimuth from base antenna to remote antenna in moving baseline projects Convergence Meridian convergence for the current location in the current map projection Corrected GPS Time GPS time corrected for receiver clock bias Course Over Ground Date Direction of travel indicated by velocity vector Date of the epoch or feature Description Description of the station or feature from the STA file Distance Error Azimuth Error in the computed baseline length in moving baseline projects Double Difference DOP Double Difference DOP which is approximately equivalent to PDOP East North Height Fwd Rev Separations Separations between the forward and reverse solution in the east north and height axes East North Height Fwd Rev RMS Root mean square of the separations between the forward and reverse solution in the east north and height axes East North Up Standard Deviations Estimated east north up position standard deviations in the local level frame East North Up Velocities East North Up velocity components in the local level frame
68. that includes the grouped plots and the Map Window GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 Plot Results Select Plot XAnis YAxis List of variables CTRL click to select multiples 3 4 Plots on Common E Pos Grouped Plots E Pos Accuracy H b Measurement E bey Separation a pe Quality Control E beg Coordinate Values el Pee Attitude beg Miscellaneous Pe All Combined Separation Combined Separation with Fixed Ambiquity Distance Separation Estimated Position Accuracy File Data Coverage Float Fixed Ambiguity Status Height Profile Number of satellites RAR 4 m r P m Delete Add Group Edit Cancel Build Custom Co Js Add Edit Group Group name Novatel List of Plots Height Profile Add Plot Combined Separation Combined Separation with Fixed Ambiguity Estimated Position Accuracy Number of satellites BAR PDOP Height Profile L Settings Create and display HMTL report on completion Edit Remove 65 Chapter 2 Properties X Axis Time Y Axis Value Copy Copy without title Save to HTML Refresh Go to Time Compute Statistics For Set Start Processing Time Engage KARJARTK at Time X Axis Time Select X Range Previously used settings of the X axis are stored here Apply to All Scales the X axis of the other opened plots to facilitate analysis
69. the result of any claim made or action brought by any third party for infringement of any letters patent registered design or like instrument of privilege by reason of the use or application of the Software by the Licensee or any other information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAtel shall not be bound to take legal proceedings against any third party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not a use the software on more than one computer simultaneously b distribute transfer rent lease lend sell or sublicense all or any portion of the Software without the written permission of NovAtel c alter break or modify the hardware protection key dongle thus disabling the software copy protection d modify or prepare derivative works of the Software e use the Software in connection with computer based services business or p
70. the base station position Every processing epoch uses a different base station position which is read from the GPB file The absolute positioning accuracy of each instantaneous base station position is thus limited to the autonomous positioning accuracy of the receiver used This is generally no better than 2 m horizontal and 5 m vertical Although the absolute positioning accuracy in moving base mode is poor this is not of interest to most moving base applications Only the relative position difference and or azimuth between the antennas is typically required When ARTK resolves carrier phase ambiguities in moving base mode the relative positioning accuracy between base and remote is the same as in stationary base mode If moving base is enabled choose from one of the four Azimuth determination options explained in the shaded box 2 6 3 Datum Project Options The processing datum is normally set from the master coordinate dialog when entering base station coordinates If your base station coordinates are provided in a local datum however such as NAD27 it is advisable to convert the base station coordinates to a global datum prior to processing as only global datums should be used as processing datums The Project Options tab is used to convert input coordinates from one datum to another prior to processing Note that the processing datum is relatively unimportant provided a global datum is used This is because a datum transf
71. the default processing interval However as only common data between the base station and remote can be processed you will need to ensure the base station s were also logged or resampled to the same interval in order to output a trajectory at this interval GrafNav s pre processing checks will warn you if the master data rate is detected to be less than the remote Signal Pre filtering These options are listed in the shaded box Time Range GMT Defines the time range to be processed If the Process entire time range option is enabled GrafNav processes starting at the first epoch the master and remote have in common and ending at the last To limit the scope of processing use the Begin and End fields The default time system is GPS seconds of the week 0 604800 GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Output Filtering Do not write epochs with If enabled these options prevent epochs that do not meet requirements from being displayed to the map window after processing and from being written to the trajectory files GrafNav s Export Wizard can also be used to filter results by quality number and standard deviation thus output filtering does not need to be performed at this stage Satellite Baseline Omissions GrafNav s pre filtering options will often remove noisy or problematic data prior to the processing stage During processing GrafNav s automatic outlier detection routines work to automatically fix errors when
72. the latest manufacturer files on a bi weekly basis to ensure they are kept up to date In addition to pre loaded favourites for specific networks users can create their own favorite groups in order to store their own surveyed base station locations GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 Favourites Manager e 2 89 CORS 2011 into CORS CORS96 4 CORS IGS08 Edit IGN IGS Remove E PPP a a Add Site Add Group Add From File OK Cancel 89 Chapter 2 Name MOSE fr Group PPP y Add Group Station Position Latitude nov 41 53 Longitude E y 12 2 Ell Height 120 551 m 35 21202 35 73749 Datum WG584 X 2012 00 Antenna Properties Enable antenna properties l ntenna properties not enabled Station Velocity Enable station velocities Enable Fav Manager 90 File Group Datum 0 Degrees minutes seconds Degrees decimal minutes Field Deliminator 9 Space separation C Comma separation csv format Antenna Properties E Enable global antenna properties f Input File Format StationID LatDeg LatMin LatSec LonDeg LonMin LonSec Height Load l Cancel F E Geoids USA Geoid1 24 CONUS g2012au0 CORS 2011 S WGS584 v Lat Long Format Height Type gt Ellipsoidal gt Orthometric 5 Decimal degrees Prompt for individual stati
73. the settings on this tab Measurement Options See Measurement on page 50 for information regarding all the settings on this tab GrafNav GrafNet 8 50 User Guide Rev 1 GrafNet Solution and Session Options Forward Reverse Process Direction Handling Allows you to change the way forward and reverse solutions are chosen for use in the network By default GrafNet will load the latest solution most recently processed However if you want to use a combined solution select the Automatically combine FWD REV solutions option Session Forming Options The two settings available are listed in the shaded box Distance Tolerance for Using Fixed Over Float This tolerance is used when you select Automatic for the Static Solution Type under the General tab If the baseline distance is longer than the tolerance then a float solution will be used for single frequency while an iono free solution will be used for dual frequency Otherwise the fixed static solution is used User Command Options See User Cmds on page 55 for more information on this tab The list of available commands can be found in Appendix C Summary of Commands on page 177 3 42 Rescanning Solution Files This option rescans the FSS forward static solution or RSS reverse static solution files When deciding between the forward or reverse it will use the one most recently created Under normal circumstances solution scanning is automatic but there are a f
74. there is no POSB record use this option to re calculate the position and time This option is not needed if pre processing checks are enabled DX The REPB record must be present Any epochs collected before the first REPB are not re calculated See Section 5 2 3 2 Recalculate Position and Time on page 144 for help correcting this To ensure enough ephemerides the REPB record should be requested ONCE on start up and ONCHANGED afterwards POSB marks the end of record If the POSB record is requested after the measurement record this option ensures that their time records match Otherwise request the measurement record last This is only used when RTK or DGPS positions are to be preserved Print L1 and L2 loss of lock warnings Alerts you of the losses of lock on carrier phase Check NovAtel C A code lock bit If the receiver flags a C A code measurement as being bad the entire measurement record is ignored Reject bad C A code meas Applies only to the RGED record where a code is used to indicate the range of values under which the standard deviation of the pseudorange measurement falls This option uses this code to reject bad C A code measurements GrafNav GrafNet 8 50 User Guide Rev 1 Utilities NovAtel OEM4 OEMV OEM6 Table 22 Records Supported for Novatel OEM4 describes the supported files DX Almanac data can be used in Mission Planner See Section 2 8 11 Mission Planner on page 91 for help Perform p
75. vV ve U U Elevation mask 120 deg L1 Locktime Cutoff 4 0 te Range GND ay Y Process entire time T C NO Rejection Tolerance Start Time an sec 200 dB Hz End Time 104 sec Satellite Baseline Omissions Where PRN Baseline Time ada _ Edit Remove Cancel 45 Chapter 2 General Measurement User Cds Process Data Type Automatic 5 C A code only Processing Interval Interval 1 00 Signal Prefiltering Elevation mask 75 L1 Locktime Cutoff 4 00 Time Range GMT V Process entire time range Start Time 100800 0 End Time 10440 Precise Files SP3 and Clock Status DF using PPP No precise files present 0 0 X v sec deg sec sec sec a gt 5 Dual frequency carier phase Trajectory Output Level Normal Extended Output Filtering Do not write epochs with 6 20 00 Satellite Baseline Omissions Where PRN Baseline Time ne Cox na 46 GrafNav Precise Files SP3 and Clock PPP processing only Precise ephemeris orbit and clock files are required for PPP processing in order to correct for meter level errors If processing PPP the Precise Files button can be used to add previously downloaded files or to automatically download the required data lt It is not required to add the precise orbit and clock files through this dialog They will be autonomically downloaded if the files are not pres
76. value high 10 m to 15 m for ground vehicle applications as often only several seconds are used to establish an ambiguity fix In these applications large differences are expected between float and fixed solutions However in aerial surveys this option can essentially limit the speed at which ARTK engages Aerial surveys do not benefit in the same way as ground vehicle surveys in regards to fast ambiguity resolution That is aerial surveys often have the luxury of using more data or taking more time to ensure the ambiguity fix is correct In most aerial surveys correct ambiguity resolution is much more important than fast ambiguity resolution and this option can be used to ensure a certain level of convergence prior to accepting a fix Max fixed fixed separation This option is of significance when ARTK is used in Default mode In this mode ARTK is constantly re checking its carrier phase ambiguities as the satellite geometry changes If a new set of ambiguities are solved that produce a position difference greater than 1 2 cm 0 8 PPM relative to the current set of fixed integer carrier phase ambiguities it is accepted This option provides an advanced user the ability to limit the allowable size of the position jump when accepting new fixed ambiguities GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 f Differential GNSS Settings ea General ARTK Measurement lonosphere Troposphere Fixed Stati
77. versa use the Convert Coordinate File feature GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 8 7 Grid Map Projection GrafNav supports grid map projections in several ways including the following The Enter Grid Values feature on the Master Coordinate dialog allows you to enter horizontal base station coordinates in any defined grid e You can output final coordinates in a map projection of your choice See Section 2 6 8 Preferences on page 61 and Section 2 7 11 Show Map Window on page 79 for additional information Several grids like UTM TM Gauss Kruger US State Plane and Lamber have been pre defined in the software However you can also add your own by selecting New within the Define Grids dialog as shown on the right Use the Transform Coordinates tool under Tools Grid Map Projection to convert between geographic coordinates and grid coordinates Transform Coordinates This tool transforms coordinates for a single point from geographic to grid or vice versa When transforming TM projections make note of the Point is in Southern Hemisphere option it is disabled by default Chapter 2 Define Grids List of Grids Name Type a Y British Grid Transverse Mercator New B ECEF ECEF amp Gauss Kruger 3 deg Transverse Mercator Modify Y Gauss Kruger 3 deg Transverse Mercator T German Gauss Kruger Transverse Mercator a Irish Grid Transverse Mercator Israeli
78. window allows you to add headers footers from a predefined text file If specific characters are needed to designate the start and end of a text file strings of characters can also be added to the beginning and end of the file e For formats that require no decimal points to be shown in the file like SEGP1 and Blue Book the decimal points can be removed by going into the chosen variable clicking the Format button in the Define Profile window and enabling the Do not print decimal point option Ifyou need a text string label to designate the type of record being printed read that is GLL 81 open up the Miscellaneous variable category and add user Text String variable Change the format of the string by entering the text needed for the label and select the Fixed Width option if the format is dependent on column width Review the Header Footer button You can put in your own header file and display datum projections information column descriptions and titles A special character can also be inserted at the start of each header line making it easier for other software to skip past the header At the bottom of the file you can add errors warnings of any problems that were encountered and processing summary information DI Table 3 List of Output Variables on page 171 describes the many variables that you can include your output profiles Not all variables are available for use with each source 73 Chapter 2
79. with this utility are public and accept anonymous login To do this provide an email address to be used as a password for login Users with a DSL connection or behind a firewall might have to enable Use Passive FTP for this utility to connect properly Precise Files Precise ephemeris and clock data can be downloaded from sources that provide GPS only data or sources that provide both GPS and GLONASS data by accessing the pull down menu Downloading products that contain both GPS and GLONASS data is important when collecting GLONASS data as otherwise GLONASS will be excluded from the results Precise ephemeris and clock data are required for PPP processing in order to correct for metre level errors Precise ephemeris data is optional in differential projects as much of the orbital error is cancelled as the line of sight component of satellite orbital error is correlated with baseline length Differential projects involving baseline lengths in excess of 150 km may benefit from the inclusion of precise ephemeris Other Files to Download Any files selected here are downloaded for the day s specified on the Download tab You can specify any of the correction files listed in the shaded box for download GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Add Stations and Services The services currently found within the download utility are supported because they provide public access to data and they are known to us If you k
80. 0 IDDE Temp Training Data Converter_Data Rin RINEX IBXE Temp Training Data Converter_Data Tri Trimble DAT Add Auto Detect E AddAl Auto Add Al ex ite R no eee Reca Convert Help About Close Source file options Add When clicking Add after selecting an individual file under Source files the converter attempts to auto detect the receiver type if it has been left as Unknown AutoDetect If auto detection succeeds the file is added under the Convert Files section Add All If a receiver type has been chosen from the pull down menu all files are added for conversion under this receiver type If Unknown AutoDetect is selected as the receiver type an auto detection is performed on every file in the Source Files list Auto Detect Auto detects the selected file in the Source Files window for conversion Auto Add All Auto detects all the files in the Source Files list for conversion Auto Add Recursively Auto detects all files in the immediate folder and its subfolders The maximum number of files that can be added is 256 147 Chapter 5 148 Utilities Convert Files This lists all the files to be converted The icon displayed to the left of the filename indicates the detected receiver type Once the files have been converted the icon changes to either a green check mark if conversion succeeds or a red X if conversion fails Options available here including the following Remo
81. 1 5 1 Copy User FllOS vicio ici da di A 1 5 2 Download Service Data cion in da aaa aaa la ad eco ada 15 83 SPB ViGWOM cet ia OS A io ca 1 5 4 MISSION Plant dd datada 1 5 5 Data COVE A a A aci Chapter 2 GrafNav 2 1 GrafNav and GrafNav Static OvervieW oooooconcccccnocconnccnccnccnnnnnnnnnnnonnnnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns 2 2 Start a Project with Groay eeoa a EE EEE E EEE E EE E 2 3 EAE a TO PEE E E Geek 2 3 1 NOW AN 2 3 2 Open Pre diia agi vid eet SS ANA O ur erate art anti 2 34 SVG AS eee A de A 23 95 Print cites tek on cia he aid fas ANER 2 3 6 Add Master File S ii 2c0ec chee dociet edhe cidos 2 3 Add Remote Fernanda eee atte 2 3 12 Remove Processing Files rrrrrnnrrrnnnnonnnrrnnrnennrrrnnnnennrrnnnrnrnnrrnnnsennnrrrensennnrnsessennnrrenssennnnne 2 319 Recent projets nn EN 23 14 EX adr bd He en ected E heder Lee tri banda ai 2 4 VIOW MOT idos 24 1 SAS one crens netrunka A A A caadededl dabqeve TREA 242 GNSS Observations annene na e a a a aa aa 2 4 3 Forward and Reverse SolutiONS oooonocccccnnnnocccccconoonccccnnnoncnononnn ocn n cc tn Enta tnts ant rra rra 2 4 4 Processing HIStory fcc feats aeii aa aa tds 2 4 5 Processing Summary 2 ccccceccceceedeeeeeeeedeneneeecedeuenseeeedensneeeeeedeenseeessusnsadeedenseaseededeseaeeeteenens ZAG ESAS td a nina kan GrafNav GrafNet 8 50 User Guide Rev 1 O aa Sia 39 2 48 ASCII Pile S neces eee iia ev ene eee eee bd bee 41 24D RAWSGNS Sl ea Saa a A ana 41
82. 3 METHOD 4 Slant Measurement to Ground Plane Height Measurement Directly to Phase Centre Entered Antenna Height Slant Antenna Used if antenna height is Measurement Height Measurement provided directly to PPC e g CORS IGS etc Used by surveyors making physical measurements to antenna GrafNav GrafNet 8 50 User Guide Rev 1 175 176 GrafNav GrafNet 8 50 User Guide Rev 1 Appendix C Summary of Commands The following lists the available commands and a short description of their usage The required format status and a description of each command is given Any subset of the following may be used for the user s particular input file User commands can also be observed via Settings Individual User Defined in GrafNav Note that any spaces in file names datum names and so on are substituted in the configuration file with an asterisk ALT FILE fname EPP SP3 CLK IONEX ENABLE DISABLE APPLY ANT ON OFF AZ DETERM ON OFF Dist DistSD BASE SAT sv num CYCLE TEST mode CYCLE TOL tol DATUM ProcDatum Wgs84Conv DETAILED SUM ON OFF This specifies the alternate ephemeris file epp file or precise ephemeris sp3 or IONEX file yyl or Satellite Clock file clk They are set to ENABLE once added to the project DISABLE will disable the processor from using the file Set to ON if elevation based antenna corrections are to be employed Note that an antenna profile mu
83. 6377298 5560 6377276 3450 6377301 2430 6377309 6130 6377304 0630 6377295 ARAN 6356256 9092 6356774 7192 6356078 9630 6356165 3830 6356583 8000 6356514 8695 6356097 5503 6356075 4131 6356100 2284 6356108 5705 6356103 0390 K356094 6679 w Cor Jans 59 Chapter 2 DO General Draw contours in mapping window V Plot ground elevation in height profile plot V Draw DEM triangles in mapping window Contour Settings 100 000 500 000 9 Low Medium High P contiguo pote vann List of Profiles Project Profile Tools Factory Defaults a z GNSS Defaults Ll Newfrom Project Update with Project GNSS Airbome GNSS Airbome Challenging GN GNSS Airbome High Altitude GNSS Airbome 850 S GNSS Airbome 850 Challenging GNSS Airbome 850 High Altitud Edit GNSS GNSS Defaults 850 GNSS Fixed Static 15 Edit PPP GNSS Float Static GNSS Float Static 15 Edit IMU GNSS Float Static Auto GNSS Flat Static tropo Delete GNSS Ground Vehicle GNSS Ground Vehicle 850 GNSS Marine GNSS Marine 850 GNSS Short Float Static GNSS Short Float Static 15 IMC Ad MEN CAC re Current Project 10 005 Power County AGPS FG Profile Tools Rename 60 GrafNav 2 6 5 DEM Plotting DEM Display Options are available if a DEM has been loaded into the project See How to load a DEM on page 30 for information about l
84. 6419856 0 201 46 551 1 25235235 74 132612060 121 48 2 23 63 17 2324541385 122155470 303109 98 45 2324541227 951860757 98 42 242 30 2333207341 122610872 345833 2 34 2333206211 95540807 2 2 3 209 12 2117047455 111323178 177694 247 50 2117047256 871741615 247 47 572 Epoch 1482 4633 DI L2C tracking is indicated as a C2 after the satellite 141 Chapter 5 Export ASCH mme Dutput File JEAD ata GPB_Output txt Select Export Format Measurement and Position C Position only NMEA output Assumes receiver height is orthometric C Waypoint Trajectory fsp can be loaded in GrafNav C Google Earth File KML NMEA Output Records IV GPGGA M GPGSV M GPGSA NMEA Settings I Save Records to seperate files GGA GSV etc UTC Time Offset 16 s ASCII formats for saving files Measurement and Position Exports time date raw measurement data and position information for each epoch Position only Exports time date and position information for each epoch NMEA output GPGGA GPGSV and GPGSA strings can be exported using this option Waypoint Trajectory Exports the data in Waypoint s single point trajectory ESP format This trajectory file can then be loaded into GrafNav as a solution See Chapter 4 File Formats on page 131 for a definition of the format Google Earth Exports position information into a KML file which can then be opened within Google Earth
85. 8 ftpAd Address of the FTP server User Name Required to log into non public sites See Note 1 and Note 4 on page 98 Required to log into non public sites See Note 1 and Note 4 on page 98 oFile Generic path to the observation file See Note 6 page 98 dFile Generic path to the compressed observation file See Note 4 and Note 6 on page 98 nFile Generic path to the GPS navigation file See Note 6 on page 98 gFile Generic path to the GLONASS navigation file hoFile Generic path to the hourly obser vation files See Note 4 and Note 6 on page 98 hdFile Generic path to the compressed hourly observation files See Note 4 and Note 6 on page 98 Ftype Type of compression used for files See Note 2 and Note 4 on page 98 Datum in which the station posi tions for this service are defined color Color to use for symbols in utility s interface See Note 4 and Note 5 on page 98 Password Datum 97 Chapter 2 Station and Service record notes DI 1 DA This field is case sensitive Only the Z GZ and ZIP formats of compression are supported The service name must match the ServID field of a service record as defined in the manufact dnl file or if the service is user created in your user dn1 file This field is optional and thus does not need to be present The color defined here is used in the interface to identify the stations belonging to this service The following color
86. A file in the internal viewer Insert Static Kinematic Markers Opens a menu to insert static kinematic markers in the file Remove Removes the master file from the project Add as Station Lets you manually add a station The station s time is automatically set to the time of the selected object Initialize Remote Lets you to fix the remote s position at the time of the selected object This will only work on objects with valid solutions Engage ARTK Forces the software to engage ARTK at the selected object s time Add to Favourites Adds the object s solution to the list of Favourites Set Start Time Uses the selected object s time as the start time for GPS processing Set End Time Uses the selected object s time as the end time for GPS processing Find on Map Finds the selected epoch on the map window Go to FML Searches the forward GNSS differential message log for a record closest to the time of the selected object Go to RML Searches the reverse GNSS differential message log for a record closest to the time of the selected object 39 Chapter 2 fr gt casio La Time Range Start 100800 0 w1708 04 00 00 0 10 01 2012 End 104400 0 w1708 05 00 00 0 10 01 2012 Length 1 hours 0 minutes Point Name and Antenna Height Automatic determination from nearest station or global settings Override with these values Point Name STATIC_01 Antenna Height 1 000 fm to L1 PC Change 1 0000 NOV702GG NONE
87. Auto scale Shows the entire time range of the data Set Minimum Makes the current time the X axis minimum Set Maximum Makes the current time the X axis maximum Y A xis Value Select Y Range Previously used settings of the Y axix are stored here Apply to All Scales the Y axis of the other opened plots to facilitate analysis In order to apply the Y axis to all plots the maximum and minimum values must be manually specified that is not auto scaled 66 Auto scale Shows the entire value range of the data Set Minimum Makes the current time the X axis minimum Set Maximum Makes the current value the Y axis maximum GrafNav Build Custom This option allows plots to be added to the Custom group Adding the plots you most commonly access here makes them more accessible than choosing them out of other groups or from the All list The difference between creating a Grouped plot and adding plots to the Custom group is that grouped plots will all be plotted simultaneously whereas plots to the Custom list can still be accessed individually Plot Options When you right click on a plot a menu of options appears Properties Allows access to many settings like X and Y axes ranges and the display format for the latter The plot titles along with the X and Y axes labels can be edited here Other options regarding the displaying of camera marks and the usage of thick plotting lines are available too
88. DA 1 Ifusing receivers with standard correlators you should either request the CLKB record or else re calculate the position and clock information See the description of the decoder options on this page The clock correction offset is needed for processing This record is also suggested for users logging data right from power up Request the CLKB record before the measurement record 2 Ensure that the baud rate is set high enough to properly handle 12 channels worth of measurement records as well any additional records 3 The GPS GLONASS MiLLennium receiver has 24 channels 4 Log MKTB or MKPB but not both 156 Utilities NovAtel OEM3 This decoder handles data from the NovAtel OEM3 receivers Zable 21 Records and Files Supported for NovAtel OEM3 describes the supported records and files Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option Re calculate position and clock offset If
89. E Disabled File E Temp CORS 275 Inve ns Diff 1lsu2750 gpb Coordinates Latitude Noth y 30 24 26 72782 CompuefomPPP EEE Longitude West v 91 10 4834410 Enter Grid Values Blipsoidal height 572 im Enter MSL Height Datum wasg4 Datum Options Select From Favorites Add To Favorites Use Average Posttion Antenna Height Antenna profile TRM41249 00 z mo From station file TRM41249 00 NONE View STA File Measured to Measured height 0 000 m ARP ARP to L1 offset 0 056 m L1 Phase Centre Applied height m Compute From Slant Cancel Select Station From Favourites ML TT E Current Station Information Name 1LSU Position 30 24 26 72782 91 10 48 94410 6 572m Datum WGS84 Epoch 2012 757 Antenna Height 0 000 Antenna Modet TRM41249 00 Selected Station Information Station ID Group Distance Datum Site ID 1LSU i 1LSU CORS IGS08 Dim 16508 Group ID CORS IGS08 Mr 1LSU CORS 2011 ND de 3024 25 72906 atitude Mi 1LSU CORS CORS38 17m NADB3ICORS96 e 91 10 46 34055 Height 6 555m ellipsoidal height Datum 16508 Epoch 2005 000 Antenna settings Not available Station velocities that will be applied VIN 1 100mm yr VE 11 900mm yr VU 3 100mm yr Attributes to Apply Y Position Datum Velocities E Station Name Antenna Propertie i A Select From Favourites Precise coordinates for CORS IGN and
90. ELDATAB ID 622 Odometer Measurements SPAN users only Written to DMR file WHEELSIZEB ID 646 Sheet 2 of 2 158 Circumference of Wheel SPAN users only Written to DMR file Utilities Inertial Decoding Options Extract inertial SPAN data This option is only for users of NovAtel s SPAN Technology and is only available in Inertial Explorer Refer to Inertial Explorer Version 8 50 Manual for details GrafNav GrafNet 8 50 User Guide Rev 1 Utilities RINEX Receiver Independent Exchange RINEX data is a standard manufacturer independent ASCII format for raw GNSS data All GNSS manufacturers should provide tools to convert their native data to RINEX format If your receiver type is not directly supported by GrafNav first convert the data to RINEX using a utility supplied by the manufacturer and then import the RINEX data to GrafNav The following describes the options available for this converter General Options Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in th
91. GPS receivers are moved from point to point being surveyed GrafNav GrafNet 8 50 User Guide Rev 1 GrafNet Precise KULUL WAY PINT ok PRODUCTS GROUP Now4tel Figure 1 Closed Loop Network lt Antenna height measurement errors will often cancel with this method and should therefore be double checked Methods involving more than two receivers become quite complex and are past the scope of this chapter Figure 2 Radial Network 101 Chapter 3 Solution Type L1 Float Table 11 Solution Types Fixed Integer lonospheric Correction Description L1 float solution Used most often with single frequency receivers on short occupations or long baselines L3 Float lonospheric free float solution Requires dual frequency but can have very good accuracies on longer baselines if occupation is long enough L1 Fixed L1 fixed integer solution Can be very accurate on shorter baselines Solution is computed from one continuous period of GPS data with the most satellites covering the longest time The Message Log FML RML file can be viewed to determine how many satellites are used and for how long L1 NewFixed L1 fixed integer solution that uses all of the satellites tracked Satellite tracks that is satellite base pair between cycle slips that fit poorly are rejected Look at the FSS RSS file to view each track L1L2 Fixed Y See Note
92. GREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE ON A CD OR AVAILABLE ON THE COMPANY WEB SITE hereinafter referred to as Software 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to use the software subject to the limitations below You agree not to use the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other proprietary rights in the Software and the Software is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other copyrighted material and the Software may only be used on one computer at a time No right is conveyed by this Agreement for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel or any other words or combinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of NovAtel 3 Patent Infringement NovAtel shall not be liable to indemnify the Licensee against any loss sustained by it as
93. Gives each window a section across the screen 2 93 Next and Previous Lets you view one window at a time 2 9 4 Close Window Closes one window at a time 2 9 5 Close All Windows Closes all windows except the Map window GrafNav GrafNet 8 50 User Guide Rev 1 Cascade Tile Next F6 Previous Shift F6 Close Window F4 Close All Windows GPS Combined Map 99 Chapter 2 List of files downloaded when manufacturer files are updated manufact dcb List of the differential code biases in nanoseconds between the P1 and C A code for each satellite Used by PPP manufact dn1 List of base stations available for the Download utility This is usually updated monthly manufact dtm List of datums ellipsoids and transformations between datums manufact fvt List of Favourites and the groups they are contained in manufact grd List of available grids such as UTM US State Plane Gauss Kruger and so on See Section 2 8 7 Grid Map Projection on page 87 for more details manufact svi A file that associates a PRN number with a satellite type Block II Block IIA and so on for purposes of determining the center of mass of the satellite Used by PPP 100 GrafNav 2 10 Help Menu 2 10 1 Help Topics Opens an HTML version of this manual This feature can be very useful as a quick and easily accessible reference 2 10 2 Check for Update Provided an internet connection this feature checks the Waypoint se
94. GrafNet 8 50 User Guide Rev 1 GrafNav Chapter 2 2 6 8 Preferences Display This tab allows you to edit what is displayed on the Map Window General The following settings are available Zoom increment scale factor This setting affects the size of the displayed symbols and text when zooming Higher values will result in smaller symbols and text Show direction arrows on trajectory Shows arrows in the direction of travel on the map screen Show grid lines in map window Displays grid lines Grid lines help show the scale of the project Depending on user preferences these can be disabled Show legend at bottom of map window Toggles the display of the color coded quality numbers legend Draw White background instead of black Changes the background color of the Map Window from black to white Additionally the display of all text epochs features ARTK marks base stations and static sessions can be enabled or disabled from the General tab Coordinates for Display The settings are listed in the shaded box Zoom Level Specific This set of options is based on the Zoom Level specified Zoom Level Level 0 is the main screen without being zoomed Each level has its own set of default display options that can be changed to your preferences Text Size Controls the font size The Show Text option allows text to be seen on the screen Symbol Size Controls the symbol display GrafNav GrafNet 8 50 User Guide Rev
95. Grid Transverse Mercator MW Japanese Zone 1 Transverse Mercator ME 1 Fann HIN Tabana h mem abre od 4 tr b Cancel lt After a conversion from grid coordinates to geographic coordinates has been made you may add them to your Favourites GrafNav GrafNet 8 50 User Guide Rev 1 Convert Coordinates Grid Grid System UTM y Zone 35 Pen WGS84 y ALEast 0101 Easting 500000 0000 im Northing Y 12000000 000 m Geographic Point is in Southern Hemisphere Height 2 0 0000 m used for LocalCart ECEF Geographic Latitude Convert to 107 56 14 16060 Noth v z Longitude KODE 27 00 00 00000 Select from Favorites Height 0 000 m needed for Add to Favorites only Close 87 Chapter 2 Input Coordinate File Sa Coordinate File and Datum File i Geoids USA Geoid1 24 CONUS 49201 2au0 txt Browse Datum WGS84 x View Formatting Coordinate type Height type Geographic Ellipsoidal East North Grid Orthometric MSL North East ECEF Angle Units Degrees Minutes Seconds v Metres Vertical units Metres v Point Naming Use first continuous word Use first n characters where n is gr 88 GrafNav 2 8 8 Convert Coordinate File This tool takes an ASCII file containing a list of coordinates as an input and outputs an ASCII file to a different datum or format You can use this utility not only to convert b
96. Guide Rev 1 PPP_PROCDESC Description Description of processing run Used by Processing History feature PPP_PROCTIME Time Date Time in HH MM SS format and date in MM DD YY format PPP_PROCUSER Name Name or initials of user Used by Processing History feature PPP_PROCESS_MODE PPP SFCA DFCA AUTP Specifies the single point processing mode Dual frequency carrier phase PPP single frequency C A code SFCA dual frequency C A code DFCA automatic AUTO PPP_USEP1OVERCA ON OFF Turn ON to use P1 measurements in place of C A code measurements Requires new GPB format PPP_USESOLVEDCLOCK ON OFF ON to use solved clock bias or OFF to use corrected receive time from GPB file PPP_PRECISEONLY ON OFF ON if only satellites with precise ephemeris and clock values are to be used PPP_PROCESS_DIR FORWARD REVERSE SINGLE BOTH First value indicates processing direction while second is used by the inter face to implement both directions PPP_SLIP_TOL dCoarse dFine Coarse and fine cycle slip tolerances in cycles PPP_LOCKTIME ON OFF ON OFF Determines whether or not to use L1 and or L2 locktime counters PPP_USE_DOPPLER ON OFF ON if Doppler observable is to be used during processing PPP_DYN_MODE LOW MEDIUM HIGH If Doppler not used this command determines level of dynamics modeling PPP_OUTPUT NORMAL EXTENDED ON OFF Determines whether to use standard or extended with covariance informa tion output
97. IGS stations are regularly maintained within GrafNav s manufacturer files If downloading base station data from one of these networks you can load the published coordinates using the Select From Favourites button in the master coordinate dialog This returns a list of the closest stations to the coordinates loaded When selecting a station from favourites be sure to note the available Attributes to Apply at the bottom of this dialog This provides the ability to copy not only the position and datum information from the favourites but also the station name antenna properties if available and station velocities If velocity is selected the published velocities are applied to the published coordinates to update them to the epoch of data collection 57 Chapter 2 Azimuth Determination Options Off no azimuth determination Use this option if both antennas are on separate moving platforms and the azimuth between the antennas is not of interest 1 e only the relative position and or velocity On use distance constraint in ARTK and engage ARTK if out of out tolerance Use this option if both antennas are fixed to the same moving platform and a post processed azimuth is required This option requires that you input the surveyed distance between GNSS antennas as it is used as a distance constraint in ARTK On but compute only don t use distance constraint at all Use this option if the surveyed distance between the antennas i
98. Indicates a duplicate baseline meaning that it has more than one session Such baselines are plotted with two colors with one being yellow The second color represents the best solution among all the sessions for the duplicate baseline Yellow Approximate Indicates that an error has occurred during the processing and only an approximate 1 to 5 metres solution was Purple extracted Such a solution is only useful for transferring an approximate position from base to remote This session should either be reprocessed or ignored Bad Failed Represents a baseline where processing failed one or more tests and is thus deemed to be bad Right click the baseline in the Sessions window of the Data Manager and select Red View Information to determine the problem If you are confident that the solution is okay the status can be changed from the Sessions window as well You can control when float solutions pass via the Solution tab under Options Preferences Success Indicates a session that has passed all Green tests 129 Chapter 3 GrafNet 130 GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 4 4 1 Overview of the File Formats 4 2 CFG File A CFG file is a GrafNav project file This file is written by GrafNav when creating a new project and contains all processing options used in the project The name of the CFG file defines the name of all ASCII and binary files written by GrafNav when pro
99. Known latitude coordinate of the station Longitude Known longitude coordinate of the station EllHgt Known ellipsoidal height of the station HzSD Standard deviation of the known horizontal coordinates Applies only to control points VtSD Standard deviation of the known vertical coordinate Applies only to control points dE Easting residual between input coordinate and traverse solution at check point dN Northing residual between input coordinate and traverse solution at check point dH Height residual between input coordinate and traverse solution at check point 128 GrafNet Control Check Points The Control Check Points window displays information regarding all the stations assigned known coordinates in the network The columns listed in the shaded box are displayed in the Control Check Points window The following options are available by right clicking on a control or check point View Info Displays the Information box for the point Edit Allows for editing of known coordinates via the 4dd Edit Control Point window Toggle between Control Check Switches status between control point and check point Show Station Displays the station in the Stations window See Stations Window on page 126 for information Expanding the Control or Check Points branches in the Data Objects window on the left hand side of the Data Manager allows for the points to be displayed individually in the Control C
100. Load Station File GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 Displayed in the Features Editor window Name The name of the feature The symbol next to the name indicates the type of feature loaded Examples include camera marks and stations The symbol appears grey 1f the feature has been disabled Time This is the feature s GPS capture time To show the time in HH MM SS select Show HMS Q Reports the quality number Quality numbers range from 1to 6 e 1 represents a fixed integer solution with good satellite geometry 2 amp 3 represent either fixed integers with marginal geometry or converging float solutions e 4 amp 5 indicate qualities similar to DGPS e 6 represents a C A only solution The quality number is only meant to communicate at a high level the overall processed data quality For more information access GrafNav s quality control plots Std m Combined standard deviation of the north east and height components including additive PPM based error Fix Shows the ambiguity status of the feature s solution Y fixed integer N float solution Azimuth Azimuth in degrees minutes seconds from previous feature to current feature Dist m Distance in metres from previous point to current point Dt s Time difference in seconds between current and previous point Height Height in metres of the feature This is normally an ellipsoidal height but if the master station height was
101. Nav General Process Data Type Defines the type of data used for processing Automatic Detects dual frequency single frequency or code only receiver data As only common data can be processed between the remote and base station s dual frequency carrier phase will be applied only if all data is detected to contain dual frequency measurements C A code only Only C A code measurements are applied in this method of processing which is associated with accuracies on the order of several meters Dual frequency carrier phase Dual frequency processing uses L1 and L2 data for the highest possible post processed accuracies Ambiguity resolution is much faster more reliable and possible at longer baselines lengths than single frequency processing For long baselines gt 7 km by default ionospheric processing is automatically engaged helping to preserve post processed accuracy with increasing baseline length Single frequency carrier phase Differential GNSS processing only Single frequency processing uses L1 measurements only While ambiguity resolution can still be successful on very short baseline lengths this method of processing is generally associated with decimeter level applications As the ionospheric error cannot be directly measured and removed as in dual frequency processing post processed accuracy quickly degrades with increasing baseline length Processing Interval The data rate of the remote GPB file is used as
102. Notifications for Static Processing on page 81 GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Chapter 2 Table 5 Notifications for Static Processing Message Information RMS Similar to the RMS computed for an ARTK fix the RMS of a fixed static solution represents the fit of the carrier phase measurements Reliability See Reliability for ARTK fixes in Table 4 Notifications Window Messages on page 80 for a definition The reliability for long fixed static solutions may be reported as N A which indicates that only one fix was within the search area Thus there was no second best RMS in order to use in computing reliability Frequency Reported as single or dual to indicate whether an L1 only or L1 L2 solution was computed Time The length of time used by the fixed integer solution in hh mm ss format Type Fixed static solution type used Continuous looks for the best continuous block of cycle slip free data to use within the fixed integer solution NewFixed multi sat uses all of the data although it may reject some sections of data for individual satellites Table 6 Processing Window Parameters Parameter Description Vector Acceleration Displays the east north and height acceleration components in Local Level frame Baseline Data Displays the distance carrier phase RMS MB and number of satellites for each baseline Baseline Distance separation
103. S data is causing problems GPS GLONASS Forces the use of available GLONASS data Should be used if automatic detection fails Elevation Mask Satellites below this mask angle will be ignored The default value is 15 Lowering this value allows more satellites to be used possibly improving a solution with poor geometry Time Range This option is only available for individual baselines by right clicking on the session in the Data Manager and selecting Options Interval Allows you to choose the processing interval The default interval is the interval at which the data was logged If the logged data rate is high 1 Hz override this interval with 15 seconds Processing static data at intervals shorter than 15 seconds is not beneficial will not improve accuracies and could result in overly optimistic accuracy estimates due to the high time correlation of carrier phase data GrafNav GrafNet 8 50 User Guide Rev 1 Mode Fixed Chapter 3 Table 12 Processing Modes Maximum Distance km Minimum Observation Approximate Freq Accuracy Time min Single 15 15 Dual 5 50 5mm 1ppm 5mm 1ppm Float Single See Note 2 See Note 3 10mm 2ppm lono free Dual See Note 2 See Note 3 10mm 0 5ppm Auto Chooses between Fixed and Float depending on baseline distance Chooses between Fixed and lono free depending on baseline distance Single Dual Observa
104. SD oO Camer Separation ew 100 por 1r70or 00r Munno Remote 4 Cl Code SD 4 m Source for elev CN0 Locktime Export Selection options Type of data to export Select whether values for each satellite should be exported or for each baseline MB processing only Processing direction For processing values forward or reverse values can be exported For values found in the GPB files such as satellite elevation C NO and locktimes the direction is unimportant Time Date format A number of time outputs are possible See Section 2 7 5 Export Wizard on page 72 for more information on each format File name Displays the name of the file For GPB based values like L7 C NO and L1 Locktime select whether to export the data from the base or rover files See Section 2 7 5 Export Wizard on page 72 for a description of the available individual export values 77 Chapter 2 DXF Dutput Options Select Grid System r Output File Name CAG PSData Manual_Data test_for_manual def Browse Output Components and Options IV Stations Features IV Baselines Static Sessions IT Station Error Ellipses IT Baseline Error Ellipses IV Epochs I Join Epochs Symbol Sizes Automatic User defined triangle height is 1000 m around scale Error ellipse scale factor 10000 00 m Datum Use processing datum NAD83 Use input datu
105. Software needs at least 4 satellites and good measurement quality at startup Warning Epoch with less than 4 good satellites Cycle slips This message warns about an epoch with less than 4 satellites Locktime cycle slip on PRN 26 of 41 31 cycles on baseline BL1 Small L2 cycle slip on PRN 26 of 0 65 cycles on baseline BL1 Both messages warn of cycle slips on L2 The DPH is an indicator of the size of the cycle slip It shows the difference in phase If the data contains many L2 cycle slips it will make for a bad ionospheric free solution If there are many L2 cycle slips try using the relative ionospheric solution 134 GrafNav GrafNet 8 50 User Guide Rev 1 File Formats Chapter 4 Prn 15 is below mask angle of 10 0 degrees This message indicates that a satellite has gone below the elevation mask Satellite 7 is rising or re appearing This message is usually caused from a satellite on the horizon Prn 27 disappeared for 33 0 seconds on baseline BL1 Indicates that as the satellite dropped out and is reappearing a new ambiguity will be solved Calculating fixed solution Calculating RMS values Continuous fixed solution reliability 7 43 PASSED RMS 0 0372 m PASSED STD 0 0014 m Continuous fixed solution position is 39 01 23 54716 84 36 21 25817 259 7909 m Computing New Fixed solution This message shows the results from the multi satellite fixed solution The reliability is the ratio between the second best RMS and the
106. USB key style licensing is the standard method other licensing methods are available Contact support novatel com for information about alternate licensing methods Installation file You will receive an installation CD as part of your purchase Ifyou upgrade from a previous version you will be provided with a link to Waypoint s FTP site where you can download the new setup file If you are restricted from connecting to FTP sites for security reasons the 8 50 setup files are also available on a password protected website See Prerequisites on page 9 for the hardware requirements GrafNav GrafNet 8 50 User Guide Rev 1 11 Chapter 1 z Hardlock code l r Hardware Key Info Upgrade Read Key Close How to upgrade your software 1 Install the software from either an installation CD or from the 8 50 FTP site If required contact support novatel com with your hardlock key number for FTP login information 2 Launch the hardlock upgrade utility through Start Programs Waypoint GPS 8 50 Utilities Hardlock Upgrade Utility 3 Click the Read Key button to verify that the key is properly connected and that the Sentinel driver has been successfully installed 4 Copy and paste the provided 16 character alpha numeric key code and click the Upgrade button 12 Introduction and Installation 1 2 2 CD Contents and Installation GrafNav GrafNet is distributed on a CD The latest version is also
107. WAYP35NT PRODUCTS GROUP A NovAtel Precise Positioning Product GrafNav GrafNet GrafNav Static User Guide OM 20000147 Rev 1 April 2013 GrafNav GrafNet User Guide Publication Number OM 20000147 Revision Level 1 Revision Date April 2013 This manual reflects GrafNav GrafNet software version 8 50 Warranty NovAtel Inc warrants that its GNSS products are free from defects in materials and workmanship subject to the conditions set forth on our web site www novatel com products warranty and for the following time periods Software Warranty One 1 Year Computer Discs Ninety 90 Days Return instructions To return products refer to the instructions on the Returning to NovAtel tab of the warranty page www novatel com products warranty Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of
108. YZ Accelerometer Bias This is the apparent output in acceleration when there is no input acceleration present It is computed by the GPS INS Kalman filter and the effects may be sinusoidal or random XYZ This is the apparent change in angular rate over a period of time It is computed by the GPS INS Gyro Drift Kalman filter and the effects are usually random 174 GrafNav GrafNet 8 50 User Guide Rev 1 Appendix B Antenna Measurements Figure 1 Antenna Measurements L2 phase centre L2 phase centre Zo mm L1 phase centre L1 phase centre 4 L2 offset Si L2 offset L 1L1 offset L1 offset Measurement Mark Antenna Reference Point ARP METHOD 1 METHOD 2 Height Measurement Height Measurement to Antenna Base ARP to Measurement Mark Used if monument is top y on Antenna Body i of pillar where antenna Antenna Height Used by surveyors making Antenna Height height measurement Measurement physical measurements Measurement would be zero to antenna L2 phase centre L2 phase centre L2 offset L1 phase centre f Physical Phase Centre DER PPC Measurement Mark or ground plane METHOD
109. aces in between Latitude Is positive in the Northern Hemisphere and negative in the southern Longi tude is positive in the Eastern Hemisphere and negative in the western Americas MOVING_BASE ON OFF Moving Baseline Option Only If ON this indicates that the base station is in dynamic mode as well as the remote If MOVING _BASE OFF conven tional processing is performed MOVING_BASE FILE Filename No longer supported NAV_TOL dist_in_m Distance before using DGPS based navigation approximation Affect Kal man filter convergence for slowly moving objects NOWRITE_HIGH ON OFF Does not export epochs to the FWD REV if statistics are too poor if ON used OMIT KAR PROC name ALL sv ALL RANGE ALL start end This controls omitted objects such as baselines and satellites from GrafNav processing KAR remove from KAR fixed static PROC remove from all processing name is baseline name or use ALL use start end to define RANGE of times to omit OUTPUT_MODE NORMAL EXTENDED Determines output format for the ASCII FWD and REV files EXTENDED includes velocity and ambiguity values POS DENSITY 1 0 This is the spectral density of the position states The user may want to increase this value to 10 or more under high dynamics This value should be left at 1 0 default PPP SP3 DATUM Datum Conversion Datum used for SP3 precise ephemeris and associated conversion to local datum 182 GrafNav GrafNet 8 50 User
110. acking is expected it can help diagnose receiver or antenna problems that can significantly limit post processing performance If you are getting poorer than expected post processing performance checking the quality of L1 and L2 signal tracking at the remote and base stations is a good first step in determining the cause Individual Shows satellite code residuals phase residuals Satellite elevation angles and C NO values for individual Statistics PRNs Sheet 2 of 4 68 GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Chapter 2 Table 1 Common Plots continued Plot Description Separation Plots the north east and height position difference between any two solutions loaded into the project This is most often the forward and reverse processing results unless other solutions have been loaded from the Combine Solutions dialog Plotting the difference between forward and reverse solutions can be very helpful in quality checking When processing both directions no information is shared between forward and N reverse processing Thus both directions are Combined processed independently of each other Separation When forward and reverse solutions agree closely it helps provide confidence in the solution To a lesser extent this plot can also help gauge solution accuracy Large differences in the combined separation plot may be a result of different levels of solution convergence and thus not indicat
111. actor Map projection scale computed for a location Master File Name Name of Master GPB file Num Fwd Rev or Comb Baselines Number of baselines used in the combined solution Num GLONASS satellites Number of GLONASS satellites Num GPS satellites Number of GPS satellites Number of Satellites Total number of GPS and GLONASS satellites Orthometric Height Height above the geoid mean sea level height PDOP HDOP VDOP Position dilution of precision horizontal position dilution of precision and vertical DOP May be slightly different than values from other sources due to the differential computation Pitch Angle IMU pitch angle see IMU angle definition Project Name Name of current project P2 RMS Root mean square of P2 code signal Quality Number Quality factor from GrafNav 1 best to 6 worst Relative Azimuth Azimuth between current and previous feature or epoch Relative P i i Height Difference Relative height difference between current and previous epochs or features Relative Uncorrected horizontal distance on the ellipsoid between the current and previous epochs Multiply Horizontal Distance by Combined Scale Factor to bring to mapping plane and surface Relative Slope Distance Remarks Free air distance between neighboring epochs or features Distance between current and previous Remarks of the station or feature from the STA file
112. afNav GrafNet 8 50 User Guide Rev 1 GrafNet Sessions Window The Sessions window displays information regarding all the sessions in the network The columns listed in the shaded box are displayed in this window The following options are available by right clicking on a session View Results Displays the results of forward or reverse processing or the combined solution View Information Displays the Information box for the session View File Opens the message log static summary trajectory output or configuration files Plot Launches the plots discussed in Table 1 Common Plots on page 67 Options Allows access to the processing settings so that they can be set individually for this session See Section 3 4 Process Menu on page 112 for additional information Override Status Manually sets the status of the session See Table 11 Solution Types on page 102 for information Ignore redundant or troublesome sessions You can assign a Good status to a failed baseline if the solution is in fact correct Only do this on closed loop networks Process Processes the session independently of all others Graf Nav Launches the baseline into GrafNav See Section 2 5 Process Menu on page 42 for additional information Delete Deletes all of the processing files related to that session or deletes either the forward or reverse solution Compute Azimuth Distance Displays the Distance and Azimuth box for the session
113. afNet 8 50 User Guide Rev 1 Foreword Congratulations Congratulations on purchasing a Waypoint Products Group s Waypoint software package GrafNav GrafN et isa Windows based suite of programs that provide GNSS Global Navigation Satellite System data post processing Whether you have bought GrafNav GrafNet or GrafNav Static this manual will help you install and navigate your software Scope This manual contains information on the installation and operation of Waypoint s GrafNav GrafNet and GrafNav Static software packages to allow you to effectively navigate and post process GNSS data It is beyond the scope of this manual to provide details on service or repair see Customer Service on page 10 for customer support How to use this manual This manual is based on the menus in the interface of Waypoint s software It is intended to be used in conjunction with the corresponding version of Waypoint s Inertial Explorer software Prerequisites To run Waypoint software packages your personal computer must meet or exceed this minimum configuration Operating System Windows XP Vista 7 or 8 Processor A Pentium or Xeon processor is required Simultaneous forward reverse processing is possible on dual CPU Central Processing Unit and Xeon systems At least 256 MB of RAM is also required Although previous experience with Windows is not necessary to use Waypoint software packages familiarity with certain ac
114. age Tiida 84 2 80 Gedld une NS 86 2 8 7 Grid Map Projettibm ra dentfa akademia da 87 2 8 8 Convert Coordinate File ooocccccccononncononoconncnnonononorocononononorononononrnnnononononnrnnnnnnonaranenonos 88 2 8 9 TIMES CONVENSION acuosa rad 88 2 8 10 Favourites Manager eerren AN E rre ternera 89 28 11 Mission Plain di A AAA a 91 2 8 12 Download Service Data occcconnnncnccccconncnnonononononononcnonncononononnrnnnnonononnronnnnnonnrnnenennnnnnnrnnnnnnns 94 2 9 Window Menu eu atra aaa 99 29163540 sen an aa rat Pama oe 99 292 TE sree asi NO 99 2 9 3 Next ANd PrevidUS inca id ceases adm salve vedas a aa 99 2 9 4 GlOSC WINdOW siisnadaidcada aaa dida 99 2 9 5 Glose All Wid OWS aici ua sea feeds a cil 99 2 10 Help Menu ti Ai A nas tee A id 100 Z 10 1 HOlp POPICS aars di E See antas 100 2 10 2 Check for Update rn av maunsierree adit a a eae seder kjede aa 100 2 10 3 Download Manufacturer Files rrrrnrrnnnnnrorrnnrrnnnnrrvnrnnnnnnarevnrnnenensnernnunnrsnrnerunsnsrsnernnrunsseen 100 2 10 4 NovAtel Waypoint Products ooocooccccnnnnocccccnononccccnnnononccnnn nano cn na nan n cnn rra rr cnn rn cr 100 2 AOS ADOUE GANA iia A AA are het 100 GrafNav GrafNet 8 50 User Guide Rev 1 Index Chapter 3 GrafNet 101 3 1 GrafNet Overview an UG Garage derre per ant cate 101 3512 1 Types Of NGLWOrks uns pak dans Aanensen ban kuer tn age 101 3122 Solution TYPOS unndra ean A A nd eects 102 3 1 3 Computing Coordinates ssostni isinsin
115. age if an L2 cycle slip is encountered Verbose messaging mode Allows you to see additional warning messages GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 5 Table 18 Records Supported for NavCom Record Type Comment OxBO Measurements Required 0x81 Ephemeris Required og Recommended for GrafNet 0xB1 Position users 0xB4 Event Marker Written to STA file 153 Chapter 5 E pr NavCom Sapphire Options I Verbose messaging Static Kinematic Mode Auto C Kinematic Factory Defaults IV Perform pre processing checks I Recompute positions and clock offset C Static Cancel Table 19 Records Supported for NavCom Sapphire Record Type Comment MEAS1B Measurements Required EPHEM1B Ephemeris Required Required for GLONASS ALM1B Almanacs users PVT1B Position Recommended for GrafNet users 154 Utilities NavCom Sapphire Table 19 Records Supported for NavCom Sapphire describes the supported records Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Verbose messaging Alerts you of additional warnings and errors that have occurred Recompute positions and clock offset Enable this option if the clock shift data is corrupt or if positions records are not present This option is not needed if
116. ally or slanted Antenna info vertical offset to phase center horizontal distance to measurement mark antenna model name Computed position of antenna Mode of solution RTFL float RTF X fixed RTK float fixed not known SP single point GPS DGPS FIX known The following is the format for the stationary station marks Sta ID Station ID GTim SecOfWeek WeekNo UTim SecOfWeek WeekNo Pos phi lamda ht ELL ORTHO Mode SP DGPS RTFL RTFX RTK FIX Std SdE SdN SdH Hi Hi m VERT SLANT Ant V Offset H Offset Name OffR Range TrueAzimuth DH OffL DE DN DH OffB DX DY DZ Att roll pitch heading Desc description Rem remarks Nsv NumSats NumGPS NumGlonass Dop PDOP HDOP VDOP Rms L1Phase CACode Age Sec Enable 1 0 lt indicates a required field 132 GPS Time UTC Time could be used instead of GTim but this is not recommended and often not supported Computed position of antenna Mode of solution RTFL float RTFX fixed RTK float fixed not known SP single point DGPS DGPS FIX known Standard deviation in metres Antenna height measured vertically or slanted Antenna info vertical offset to phase center horizontal distance to measurement mark antenna model name Offset to actual point 2D range in metres azimuth in degrees height difference in metres Offset in local level frame in metres Body frame offset where X RightWingPos Y ForwardPos Z UpPos Attitude in degree
117. ansfers are used to compute loop ties The loop ties are good for locating erroneous baselines but they are an accumulated error of many baselines to that point This means that the last baseline in that traverse leg may not be the erroneous one These ties also give a good indication of the accuracy of the network but the magnitude of the errors will be larger than the network adjustment residuals The network adjustment method is not that much more accurate than the traverse method Rather the traverse method accumulates errors closures while the network adjustment spreads these errors across the whole network 3 4 8 View Processing Report This option displays the RPT file containing information about the stations sessions baselines and observations It also gives a summary for each session processed GrafNav GrafNet 8 50 User Guide Rev 1 DATE TIME DATUM GRID UNITS GEOID Chapter 3 JEANETTE IEEE A GrafNet GRAPHIC GPS NETWORK PROCESSING ig SOFTWARE PACKAGE TRAVERSE SOLUTION p Copyright NovAtel Inc 2006 Version 7 60 2209 x x x x x x x PROJECT BASE 1 x JER EEE EEE EEE EEE EEEEEESESEEEEEEEESEEEEEEE 12 05 2006 m d y 14 37 04 NAD83 none metres see preferences to change none JEJEJE EJE JEJE FE IEEE ENE GENENE NENNE STATIONS STATUS ANN JEJE JEJE EJE JEJEJE JE EJE E JEE JEJEJE FE IEE IE IE IE IE IEE Station Type HgtStatus Result Coordina
118. ard reverse separation and other statistics are displayed Right clicking on a processed epoch accesses the Object menu which can be used to perform a host of other tasks See Section 2 4 7 Objects on page 39 for more information about the Object menu If you have a scroll wheel on your mouse you can use it to zoom in and out by scrolling forwards and backwards over the area of interest Right clicking on the Map window provides you with several options including the ability to load a specific solution and to open the Feature Editor The Save to HTML option generates an HTML file containing a bitmap version of the Map window These HTML and BMP files are saved to the HTML folder contained within the project folder See Section 2 8 Tools Menu on page 83 for additional interactive mapping tools GrafNav GrafNet 8 50 User Guide Rev 1 Quality Color Description o aa 1 Green Fixed integer 0 00 0 15 Converged 2 Cyan float or noisy 0 05 0 40 fixed integer Converging 3 Blue float 0 20 1 00 Converging 4 Purple float 0 50 2 00 5 Magenta DGPS 1 00 5 00 6 Red DGPS 2 00 10 00 H tb Unprocessed Grey processed N A 79 Chapter 2 Processing Differential GPS 850 Forward EJ Status Progress Time 242464 0 1318 5 uv r Processing Forward KF Epochs 2938 Num4 2 rasa 2S Status Q1 FIXED Dyn K nSats 8 nB 1 ices a J 27457 a 24015205 Lon 117 28 11 7497 From base BL1 Hg
119. arks are present after processing then it is likely that the time tags are GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 27 Chapter 2 r Load Stations with Known Coordinates x a File name Browse Lat Long Format 9 Degrees minutes seconds Decimal degrees Degrees decimal minutes ld String Handling Use first continuous word no spaces Comma separation Use first n columns columns Cancel How to load Stations with known latitude and longitude 1 Select File Load Stations with Known Lat Long 2 Choose the file under File Name that contains the station information in one of the formats from the Lat Long Format option list 3 Choose the format under the Lat Long Format that the coordinates from the file are in 4 Choose an option under d String Handling to tell the program how to separate the ID from the coordinates The first column usually contains the station IDs 28 GrafNav wrong or no event marks have been loaded To determine what has been loaded use the Feature Editor by selecting View Features Station File sta nst GrafNav automatically loads the station file sta associated with the remote GPB file This file is produced during conversion and contains among other information any camera events If properly loaded these camera events are displayed to the map window The program automatically loads the STA station file as long as
120. ated height standard deviation 126 GrafNet Stations Window The Stations window displays information regarding all the points observed in the network The columns listed in the shaded box are displayed in the Stations window The following options are available by right clicking on a station View Solution Displays the solution from traverse computation and network adjustment if valid Add as Control Point Allows you to define the station as a control point Add as Check Point Allows you to define the station as a check point Edit Control Check Point Allows for editing of the input coordinates of stations already defined as check or control points Toggle between Control Check Point Switches status between control point and check point Add to Favourites Adds the station to the Favourites list using the computed coordinates Remove Processing Files Removes all observation files logged at that station from the project Show Observations Displays all observation periods for that station in the Observations window Show Connecting Sessions Displays all sessions involving that station in the Sessions window Expanding the Stations branch in the Data Objects window on the left hand side of the Data Manager allows for the stations to be displayed individually in the Stations window Further expanding each station in the Data Objects window displays all observation files in which the station was observed Gr
121. atellite Lock This option displays both the L1 and L2 Satellite Lock Cycle Slips plot for all the master and remote files in the project See Table I Common Plots on page 67 for more information regarding this plot GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 Direction to Plot 9 Forward 5 Reverse Measurement Residual RMS and Weighting Data values E C A Code Camer Phase E Doppler MB Individual Baseline Position Canier separation checks phase for each BL Code separation detects bad base position East North Height 3 plots Horizontal and Vertical 2 plots Magnitude E N H combined 1 plot Other E Number of satellites Number of baselines used 4 Always clear on entry D Both 8 RMS and SD on same plot nBL lt 5 RMS and SD on separate plots DOPs DD Dor F PDOP F HDOP Flvoor E Ambiguity drift F Distance to base stations E Effective baseline weighting 71 Chapter 2 ff D monn E Export File Source Epochs C Features Stations Static Sessions Profile Moving Baseline ECEF a Moving Baseline Local Level MovingBase NGS Blue Book 80_86 PNAV C File PNAV C File DMS PNAV J File i PNAV J File ECEF format Seismic SEGP1 State Plane n a New J Moaty Delete Rename Copy How to create a new Export Wizard profile 1 Click the New button and type in a unique nam
122. ates may not be accurate enough for your application Regardless of the source of your base station data it is important that accurate coordinates are loaded In differential processing a vector is solved between the base station antenna and the remote antenna Any error in the base station position is directly transmitted to the remote position To assist in loading precise coordinates it is recommended that coordinates be selected from the favourites list through the Select from Favourites option Coordinates for select base station networks such as CORS and IGN are regularly maintained and accessible through Favourites The Compute from PPP option can be used to easily check or survey base station data using GrafNav s Precise Point Processor When using this option the difference between the loaded and computed coordinates is displayed Note that PPP accuracy is largely dependent on the length of the survey Datum Selection In differential processing a vector is solved between the base station and the remote Your project datum is thus not controlled by what you select as your processing datum but rather the actual base station coordinates entered Regardless it is important to ensure you have correctly set the processing datum after entering the base station coordinates This is partly because the processing datum is documented in the header of all export files generated by GrafNav GrafNet 8 50 User Guide Rev 1 Chapte
123. ations This feature displays the Stations window in the Data Manager This window lists all stations in the project as well as their traverse solution coordinates 3 5 Options Menu 3 5 1 Global Settings This feature accesses the global processing options The options set here are applied to all baselines in the project overriding any settings that may have been customized for individual baselines The processing settings for individual sessions can be customized by right clicking on the session in the Data Manager and selecting Options 3 5 2 Sessions Settings Shown in Data Manager This feature allows you to set the processing options for only the sessions currently appearing in the Data Manager In order to use this feature the Sessions window of the Data Manager must be open 3 5 3 Datum Options See Section 2 6 3 Datum on page 58 for help with this feature 3 5 4 Grid Options See Section 2 8 7 Grid Map Projection on page 87 for information regarding this feature GrafNav GrafNet 8 50 User Guide Rev 1 GrafNet 3 5 5 Geoid Options This feature lets you select the geoid for the project The geoid selected is used as a reference when outputting orthometric heights in the Traverse Solution TRV file It is also used as a default for orthometric height output when running the network adjustment 3 5 6 Preferences GrafNet Display See Section 2 6 8 Preferences on page 61 for information regarding any optio
124. atum Note that datums are read from manufact dtm and user dtm located in the same directory as the DLL ON if detailed parameter info is to be printed at the start of the static kar summary fss rss file GrafNav GrafNet 8 50 User Guide Rev 1 177 DOP_TOL dd_dop_tol DOPPLER_TOL tol Epochs with DD DOP above this value are not printed to FWD REV files as the geometry is deemed too poor Default value is 100 0 No longer supported DUAL FREQUENCY on off on off off relative free on offismoothed OFF ON DYNAMICS EnableFlag DynFlag ELEV_MASK angle FF_DOP_TOL dop_tol Use P code for long baseline processing No longer used see USE PCODE command OFF ON Use L2 phase for ambiguity resolution should be ON OFF RELATIVE FREE Use relative ionospheric correction or long base line L3 iono free baseline processing ON OFF SMOOTHED Apply ionospheric correction to C A SMOOTHED applies a low pass filter to the raw ionospheric corrections before implementing them This parameter controls the vehicle dynamics model that can be employed in the Kalman filter EnableFlag ON OFF AUTO while DynFlag LOW MEDIUM HIGH Generally AUTO should be used which means that dynamics constraint is off if Doppler is employed or ON if no Doppler is used If ON HIGH dynamics is used If ON use DynFlag to set vehicle dynamics Cut of elevation for excluding satellites from the computations This value is expressed in degrees Thi
125. c User Cmds Integer Ambiguity Resolution On Off General Criteria for accepting new fixes Default On engage only Quality acceptance criteria default Q2 02 20 sit J Maximum distance for single frequency 7 50 km Maximum distance for dual frequency 70 00 km Engage Engage ff distance lt 50 km reset if distance gt 50 0 km Engage continuously every 15 0 min V Engage on event of poor DD DOP 250 Apply manual engagement 5 Advanced Min Reliability 3 0 m Max RMS 3 0 mm fm Only accept fix from closest baseline 49 Chapter 2 GrafNav Measurement fr My ar ja Differential GNSS Settes Measurement Standard Deviations General ARTK Measurement ionosphere Troposphere Fixed Static User Cmds Sets the measurement standard deviations applied to code at Anda De carrier and Doppler measurements Code 7 00 im Carrier phase 0 020 m Code i p g Donde TT m E Atomatic Controls the measurement weighting applied to the EEE A double differenced C A measurements Regardless of what value is entered here if ARTK is used to fix Measurement Usage j i JER 7 Enable GLONASS processing integer carrier phase ambiguities the C A 17 Use Doppler for velocity determination measurement standard deviation will not impact Mult Base Distance Tolerance results This is because when ambiguities are fixed 250 the strength of the solution comes from the carrier
126. calculating Doppler GrafNav GrafNet 8 50 User Guide Rev 1 Utilities Chapter 5 from the GPB Viewer is not a commonly needed function Prior to version 8 40 when pre processing functions were introduced this feature was more commonly needed 5 2 3 6 Edit Satellite Tracking L2C As of January 2013 nine GPS satellites broadcast the L2C signal This number has been gradually increasing since one satellite PRN 17 began transmitting this signal in September 2005 Should L2C tracking be enabled in your receiver any satellites broadcasting L2C are decoded as such in the GPB file The GPB Viewer displays a C2 identifier beside the PRN number of any L2C satellites Modifying which satellites track L2C is not generally required as this information is directly decoded in the raw GNSS data 5 2 3 7 Edit L2C Phase Correction L2C measurements are affected by an offset relative to L2 P Y signals This offset is dependent not only upon the manufacturer of your GNSS receiver but also the firmware version used GrafNav s raw GNSS converter applies a default L2C offset for each supported data type however this may need to be adjusted for your specific receiver The correct L2C offset is needed in order to correctly resolve integer carrier phase ambiguities If the incorrect L2C offset is applied integer ambiguity resolution will fail even in ideal conditions That is even with a short distance between base and remote antenna low multi
127. ccepts GNSS data only no terrestrial observations can be imported GrafNet is included with both GrafNav and Inertial Explorer however can also be purchased separately as GrafNav Static This chapter includes examples of networks that are commonly processed in GrafNet as well as step by step instructions for first time users 3 1 1 Types of Networks Closed Loop Network Surveyors often use this style of network because of increased reliability Due to the closing of the loops any baseline determination errors will show up as tie point errors Such closure values can be seen via Process View Traverse Solution If just two GPS receivers are employed then a method called leap frogging can be used to collect the data In this procedure starting from a known point the lead receiver is placed on the first point to be surveyed After the first session is complete the trailing receiver is moved ahead of the lead receiver so that it now becomes the lead The next baseline is observed and this procedure is repeated until small 4 6 loops are closed Radial Network Also referred to as Single Base Station Applications where productivity is more important like GIS do not need the same degree of reliability as the closed loop network For these situations use open loop networks An example of this a network is in the shaded box For this method one receiver is left stationary over a reference or control point One of more remote
128. cessing 4 3 GPS Data Files The following files are produced by GrafNav s raw GNSS data conversion utility 4 3 1 GPB File Raw code carrier and Doppler measurements are converted to a GPB file These are the raw measurements required for post processing Also written to the GPB file is a position for each measurement epoch date and time information and other information GPB files can be opened within GrafNav s GPB Viewer which allows you to view the raw measurements collected and perform basic editing functions if needed GPB files can also be converted to RINEX using the GPB to RINEX utility GrafNav GrafNet 8 50 User Guide Rev 1 131 Chapter 4 4 3 2 STA File File Formats A station file contains any decoded camera marks antenna heights and station names It is read automatically by GrafNav when adding a GPB file to a project The first line of a station file should contain STAINFO The station file may have a header record The header is optional and will not be present in most cases The following is a description of the header format Hdr Proj Name of Project User User Name Time hh mm ss LOCAL GMT Date mm dd yyyy RxName Receiver RxSub Model Hi Hi_m VERT SLANT Ant V_Offset H_Offset Name Pos phi lamda ht ELL ORTHO Mode SP DGPS RTFL RTFX RTK FIX Field project name Name of field operator Start time Start date Receiver type Receiver sub type Antenna height measured vertic
129. ching the same base station This option specifically the first tolerance is useful in multi base projects where there are multiple project areas Engage continuously every Engages ARTK at regular intervals This option does not check other criteria such as baseline length or data quality Thus 1t should not be used for aerial applications It is intended for use in slow moving or monitoring applications Engage on event of poor DD_DOP It is possible to maintain a fixed integer solution through an event which causes poor satellite geometry provided carrier phase lock is maintained on four or more satellites However it is good practice to re engage ARTK following the event When satellites are re acquired their carrier phase ambiguities are not automatically re established as fixed integer solutions Thus it is possible that following a period of poor geometry more satellites in the solution have float ambiguities than fixed This will not necessarily result in degraded accuracy but re establishing all satellites with fixed ambiguities is generally beneficial to maintaining high accuracies Apply Manual Engagement A manual ARTK engagement forces GrafNav to re establish carrier phase ambiguities Introducing a manual engagement is one technique to recover from an incorrect or drifting ambiguity fix These instances incorrect or drifting ambiguity fixes can be identified from the forward reverse separation plots Advanc
130. ct Capabilities on page 14 for a capability comparison between GrafNav and GrafNav Static GrafNav GrafNet 8 50 User Guide Rev 1 17 Chapter 2 18 GrafNav 2 2 Start a Project with GrafNav New users will find it easiest to create a new project with the New Project Wizard The Wizard takes you through all the steps of creating a GrafNav project including data conversion and downloading base station data if needed The only requirement for using the Wizard is that you have a raw GNSS data file downloaded to your computer Access the Wizard through File New Project Project Wizard After you have become familiar with the GrafNav interface you may prefer to create new projects using one of the other two supported methods That is creating an Empty Project or using Auto Start Both of these methods involve using some of the utilities included with GrafNav prior to starting the project Specifically 1f creating a new project outside of the New Project Wizard you need to first convert your data using the Raw GNSS conversion utility and download any base station data using the Download Service Utility See Section 5 4 GNSS Data Converter Overview on page 147 for a description of the Convert Utility and Section 2 8 12 Download Service Data on page 94 for instructions on the Download Utility Before you start a project in GrafNav you need to verify installation convert data and download any required data Install Software
131. ction files 96 Cycle Slips adding or removing from GPB file 144 D Data Interval for static processing in GrafNet 113 Data Type descriptions 44 Datum 43 DGPS processing 44 Digital Elevation Models plotting settings 60 Doppler measurements standard deviation 50 Download Service Data 94 Downloaded manufacturer files 100 Downloading almanacs 92 clock files 24 data services 95 precise ephemerides 24 downloading Service data 18 Drawing Exchange Format exporting in GrafNet 124 Dual Frequency differential processing 44 E Elevation Mask 44 Ephemeris broadcast 23 precise 24 191 EPP File description 23 format 133 Events hold to ground 64 loading camera event marks 26 Export preferences 64 Export Google Earth file 62 Export Wizard creating a profile 72 creating an output file 74 list of output variables 73 F Favourites list of 100 Favourites Manager add master files 21 transform coordinates 84 Feature Editor 37 Filter Resets controlling 50 Fixed Static description 15 processing in GrafNav 54 processing in GrafNet 102 static sessions 39 Float Solution processing in GrafNav 54 processing in GrafNet 102 FML File See Message Logs 35 FSL File See Message Logs 35 FSS File See Static Summary 35 G Geoids obtaining WPG files 12 GLONASS almanac 96 enabling 51 process 42 processing options 25 GNSS forward and reverse solutions 35 load solutio
132. d reverse directions simultaneously This feature improves processing speed considerably for computers with dual core or Xeon processors Perform smoothing automatically This feature is disabled in GrafNav as it is applicable only to Inertial Explorer Verbose messaging mode Enabling this option will result in all processing messages being written to the processing windows If disabled only high priority messages such as those concerning measurement errors and ARTK fixes will be displayed It should be noted that all messages will be written to the Message Log files regardless of this setting GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Enable processing profile detection During the conversion ofraw GNSS data to GPB you have the option of having pre processing checks performed One of these checks includes trying to determine what type of application environment the data was collected in When this option is enabled the software will use this information to automatically select the best processing profile The profile can be overridden regardless of this setting Leica airborne sensor work flow This option enables the Leica IPAS workflow within Inertial Explorer and is intended for customers who have purchased Inertial Explorer directly through Leica Engaging this option affects the folder structure created during decoding and processing and will auto generate a sol file after processing Float Static Tolerance Allo
133. d side of the window are listed in the shaded box Static Sessions A remote GPB file may contain multiple static sessions These can either be separated by data gaps if the receiver is turned off when moving to a new station or kinematic marks if a stop and go style of survey is being performed By default if GrafNav detects a data gap larger than 120s between static sessions they are treated as separate occupations This is a setting that can be controlled within GrafNav s Fixed Static tab The default antenna height and model applied to every static session in the file is the same as that entered within the Remote tab when creating a project Antenna models and heights can be adjusted for individual static sessions by accessing the ARTK Static component of the Object Menu This can be accessed through View Objects ARTK Static GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 Options available in the Objects Menu window View Brings up the Object Info message box for the selected object Edit Edits the station name description and remarks for the current selection If a master station is selected this allows you to edit the coordinates and antenna height View Edit GPS Displays the following list of options You must have selected an epoch to use these options View Raw GNSS Data Opens the master file in GPB Viewer View Ephemeris File Opens the EPP file in the internal viewer View Station File Opens the ST
134. del 6 Click Accept after the geoid is formed and a TRI file is saved gt If no contour lines are visible the DEM may be outside of the project area How to load a DEM 1 After a DEM has been imported select File Load Digital Elevation Model Load Triangulation tri 2 Select the formed TIN file and click Open DEM file format options First field contains ID string Shows if a point name leads each line Stop reading if incomplete line encountered Aborts if there is any line missing from the required fields Skip n lines at start Skips past any header lines in the file Reject DEM points outside GPS observation area This option is recommended because it limits the size of the DEM to just the GPS observation area To use this option valid GPS position data has to be available from the GPS receiver or through processing Reduce DEM density using error tolerance Rejects points if their height can be estimated from nearby ones within the error tolerances that are defined Tolerances of 5 10 m are acceptable for VSF purposes Larger error tolerances reduces densities significantly This option should be used if you have either a DEM grid or a large high density DEM that causes memory or speed problems 30 GrafNav Digital Elevation Mode DEM You may import a DEM after loading the remote GPB file Loading a DEM into a GrafNav project provides access to the Height Above Ground plot after pr
135. dere da an aa ee aAa adaa eere na iied aiaei 103 3 2 Starta Project with GrafNet ra a aT T AAA 104 3 2 1 Fix Bad Baselines ni ea a 106 3 2 2 Unk ble D ta 1 107 RS 108 AS ununinesinepn ee eemneknee tene 108 3 3 2 Open Project usunne ananasen E 108 3 3 3 Save PTO OCT us 108 A NO 108 OR 108 3 3 6 Add Remove Observations ccccceceecececeeecceeceeeeee a a a a E 109 3 3 7 Add Remove Control Points ccececeeceecceeceeeeeeeeeee cece eeaaeaaeceeeeeeeeeeeseesececncaecaeeeeeeenees 110 3 3 8 Add Remove Check Pointsin aaa a de Genet leteccdavadduaedee net EaR 110 3 3 9 Alternate Ephemeris Correction Files cccccceceeeeeeeeeeecececaaeceeeeeeeeeeesessncnaeaeeeeeeeeeens 110 3 3 10 Remove Processing Fles sirier ae an eE EEEE A ATAA IEE ARETE 110 33 11 Import Project Flesh 111 3312 VOW O a a tical eal a aa 111 30 19 GONVer aure ke ANE ete Ge EE 111 3 3 14GPB Utilities ugras een beder dead iaa 111 33 15 Recent projets va 111 A andre ENE rtier dg raden dead edda e added 111 3 4 KOI EN S EEEE EE EAE A ta isn 112 3451 Processing SeSSIONS ii ti 112 34 2 Rescanning Solution Files e aseron a r E EE EEA EEEE E EAEE fa g 115 3 4 3 Ignore Tial SCSSIONS air a E E AEE E EOE E 116 3 4 4 Unignore All Sessions rar A O fanaa uel Uveenatoc and 117 3 4 5 Compute Loop Tiesi ar anken ld eis eae 117 3 4 6 Network Adjustment cc eee 118 34 7 View E O 121 3 4 8 View Processing Report oooocccccnnnnncccccnncccncccnnnnc
136. disables fixed static processing in GrafNav ARTK if enabled within the ARTK tab will be used to fix carrier phase ambiguities regardless of whether the data is processed as static or kinematic Fixed static solution This setting ensures that the fixed static solution not ARTK is used to resolve carrier phase ambiguities for static sessions Although both solutions can produce mm or cm level results fixed static solutions are generally more accurate as more data is used ARTK should be used for shorter occupations as fixed integer solutions require an appreciable change in satellite geometry in order to be reliable generally 15 20 minute or more Search Area Option settings Reduce as float solution accuracy improves This option reduces the fixed static search area as the float solution converges For long occupations several hours this often results in computed reliability values being displayed as N A if only one possible fixed integer solution was found in the search area User defined search cube size Using a fixed search area as opposed to reducing the search area as the float solution improves helps ensure that a reliability value is computed for fixed solution Practically speaking however this will not help or hinder the accuracy of the solution 54 GrafNav Fixed Static Fixed Static Data Interval The recommended interval for fixed static is 15 or 30 seconds Smaller intervals result in overly optimistic
137. e for the profile Alternatively it may be quicker to modify a copy of an existing profile that contains most of the variables required 2 In the Define Profile window add the desired variables from the Source Variables list All source variables are organized under various headings from a pull down list After selecting a variable click 4dd to add the variable to the bottom of list or Insert to add the variable above the highlighted variable in the list See Table 3 List of Output Variables on page 171 for a list of variables available for output 3 After you are finished adding all the necessary components of the profile click the OK button to save the profile r gt Define Profile for Geographic Source is GNSS Epoch mn Source Variables Export Variables lt Station Names Info ze FEIER GPS Time Seconds of the Week Antenna Height Latitude Degrees Minutes Sec signed Master File Name Longitude Degrees Minutes Sec signed Project Name Ellipsoidal Height Metres Remote File Name Horizontal Standard Deviation Metres Sequence Number Height Standard Deviation Metres Quality Number Add Inset info Remove Format info Up Down Header Footer Line Terminator Field Separator Preview Fle extension bt A 72 GrafNav 2 7 5 Export Wizard GrafNav s Export Wizard facilitates customized ASCH exporting
138. e master station file s 2 Use the Browse button to choose the remote file The master and remote station files must contain data collected during the same time period To see the time that the data was collected click the Plot Coverage button to display the File Data Coverage plot 3 In Settings choose the processing profile that best suits your application 4 Enter the master station coordinates and antenna information 5 Enter the remote station antenna information DI See Section 2 5 Process Menu on page 42 for more information on processing 19 Chapter 2 How to create a new project using Empty Project 1 Select File New Project Empty Project 2 Enter the name and where you would like to save your project 3 Select File Add Master File s to load master files Select the GPB files collected at the base station s and click Open 4 Enter the base station coordinates datum and antenna information when prompted 5 Select File Add Remote File Select the GPB file corresponding to the data that was collected at the remote 6 Enter the antenna information for the remote when prompted 7 Select Process Process GNSS 8 Ensure an appropriate processing profile is selected prior to processing How to open a project 1 Choose File Open Project A dialog box appears that asks you to select the name of an existing project CFG file 2 Choose the name of the project and click
139. e GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option Advanced Options GLONASS PRN offset Shifts the PRN number for GLONASS satellites Offset must be greater than 32 to avoid conflict with the GPS constellation L2C phase correction If the RINEX file contains L2C measurements then the phase offset must be set Shift time to user interval The decoder will attempt to determine the data interval by reading the header or scanning the observation file If this fails enable this option to force an interval Doppler Source These options allow you to choose a method of obtaining Doppler measurements Automatic use D1 value Uses the D1 value if present from the RINEX file for Doppler Otherwise it uses Calculate from CA code for data intervals of 10 seconds or less and Use ephemeris static for anything else Calculate from L1 phase Select this option if the Doppler signal is missing or unstable GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 5 m E H RINEX Options General Options IV Perform pre processing checks Static Kinematic Mode C Auto C Kinematic Static Advanced Options GLONASS PRN offset 37 L2C phase correction 0 00 cycles I Shift time to interval 1 000 Doppler Source Automatic use D1 value Calculate from L1 phase Calculate from CA code Use ephemeris static Ephemeris IV Prompt user if RINE navigatio
140. e Settings Converts user defined time ranges to static mode The input file containing the definitions of the static periods must contain the space delimited fields listed in the shaded box File name Click the Browse button to locate the input file The View Edit button allows for the revision and modification of the file Begin time offset The number of seconds added to all user defined StartTime values in the input file End time offset The number of seconds to subtract from all user defined EndTime values in the input file Only the epochs lying between these adjusted times are converted to static mode This is to ensure that no kinematic data is incorrectly set to static Minimum session time The minimum number of seconds that a static session must contain to be converted to static mode Antenna height If the Create station file option has been enabled this value is written to the station file for all user defined static sessions Create station file Writes all static sessions to the station file STA regardless of whether an antenna height has been entered GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 3 12 Remove Processing Files When processing GNSS data GrafNav s processor generates many different file types both ASCII and binary Many of these files are required by the Export Wizard to export the combined post processed solution After the data processing and export is complete you can choos
141. e also contains information regarding the processing run s used to generate the plots 2 7 8 Export to Google Earth These options are listed in the shaded box GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 7 9 Export Binary Values When processing GrafNav automatically writes a forward fbv and reverse rbv binary file which contains individual satellite statistics and other information This data is not of interest to commercial users but may be of interest in research or applications that involve specialized testing This option allows the contents of this file to be extracted from the binary file to text It also provides the ability to extract data found in GPB files such as the satellite elevation signal to noise ratio and locktimes More information about the type of data that can be exported using this utility is in the shaded box GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 r Export Selection Type of data to export 9 Individual satellites gt Multiple baselines Processing direction 0 Forward 0 Reverse Time Date format Time of week TOW x Filename E Temp Training Data GrafNav Multi Base Might 01W V View file on completion Satellite Parameters Baseline Parameters oO Blevation angle L1C NO L1 Locktime Canier Residual Code Residual oO Doppler Residual O Camer SD Camer RMS Code RMS C Doppler RMS Canier SD code SD O Doppler
142. e messaging mode Displays additional warning messages GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 5 Table 30 Records Supported for Trimble Real Time Record Type Comment 0x0 Measurement Required a Recommended for 0x1 Position GrafNet users 0x2 Ephemeris Required 169 Chapter 5 Table 31 Records Supported for U Blox Record Type Comment ID 10 Measurements Required ID 31 Ephemeris Required a Recommended for ID 02 Position GrafNet users ID 22 Clock Information Recommended 170 Utilities U Blox Table 31 Records Supported for U Blox describes the supported records Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option Recompute position and time GrafNav requires valid clock shift data while GrafNet requires position records Enable this option if the clock shift data is corrupt or if positions records are not present This
143. e on baselines less than 30 km for dual frequency and 5 km for single frequency although they can still succeed on longer baseline lengths ARTK solution ARTK solutions like fixed static solutions are associated with high position accuracy However unlike a fixed static solution which requires appreciable changes in satellite geometry over the session ARTK is optimized for kinematic applications and attempts to resolve carrier phase ambiguities as quickly as possible With short baseline lengths several kilometers open sky conditions and dual frequency data ARTK often achieves cm or cm level accuracy using only several seconds of data ARTK requires a minimum of five satellites Although 1t may resolve at baseline lengths as long as 70 km it is most reliable at distances of 30 km and less provided dual frequency data Float solution Float solutions unlike fixed static and ARTK solutions do not resolve carrier phase ambiguities as integers As such they are associated with lower accuracy applications than fixed solutions Provided good data float solutions improve with time and can still achieve sub decimeter accuracy depending on other factors such as baseline length number of satellites and geometry raw measurement data quality etc 13 Chapter 1 Table 1 Product Capabilities Capabilities GrafNav Static GrafNav GrafNet Float Static v Y Float Kinematic Y de r v Fixed Integer Kinematic Y
144. e station is very distant from your project area 100 km Differential mode predicts the satellite constellation considering which satellites are simultaneously available at both locations Point of Operation Click Define to select either a station from one of the pre defined lists lists of North American or Worldwide cities or to define your own location Two default files MPF are provided with the software The first is north_am mpf which contains an extensive list of North American cities The second is world mpf which includes cities from around the world There is third file available MissPlan mpf for users who wish to create their own list of geographic locations Base Station Only available if Differential has been selected under Mode GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 um O TE VDOP DD DOP SatsinVew Advanced PDOP Settings Num Sats Mode 9 Single Point Differential Location Point of Operation Calgary AB Calgary AB Almanac File s EPP YUMA AGL E wpg_022 epp E Legacy_130122 aql Settings Elevation mask 15 0 degrees Start time h m s 00 00 00 Date m d y 01 23 2013 Time in UTC 08 00 Kuala Lumpur Singapore v lengh 2400 fou 91 Chapter 2 fa Mission Planner voor DD DOP Satsin View Settings Num Sats PDOP Mode 9 Single Point Location Differential
145. e to delete some or all of the intermediate processing files generated by GrafNav in order to save hard drive space All of GrafNav s processing files can be easily be regenerated if needed provided the project file CFG This utility can be used to see how much disk space is being used by different types of files generated by GrafNav and also to delete them More information is provided in the shaded box 2 3 13 Recent projects Provides a list of recent projects for quick access 2 3 14 Exit Exits Waypoint software GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 Files that are affected with each Remove Processing Files option Project s to Remove Allows you to select what project s you want to delete processing files from Current project Only removes the selected files that are associated with the project that is currently loaded All files in Allows you to select the folder from which you want the selected files deleted Selected projects Allows you to select a specific project whose associated files you want to delete Files to Remove Allows you to select the files to remove from the specified project or folder GPS trajectories Contains the solutions computed during processing Additional processing Includes message logs static summaries and binary files Processing history Contains information regarding any earlier processing run performed in the project Section 2 4 4 Processing History o
146. ect File Convert Raw GPS to GPB 2 Browse to the directory containing the raw data 3 Click Auto Add All or select the appropriate GPS receiver and convert the data file How to add observation files 1 Select File Add Remove Observations 2 Click Get Folder and select the directory containing the GPB and EPP files 3 Select the files that you want added lt You only need to select GPB files The EPP files are assumed to have identical prefix names 4 Verify the station ID and the antenna height when the dialog box appears 5 Click the OK button 6 Select File Save Project How to add a ground control point 1 Select File Add Remove Control Point 2 Click the Add button 3 Select the ID corresponding to the control point to be added 4 Enter the latitude longitude and height for that station lt These coordinates should be in the same datum as the selected under Options Datum 5 Click the OK button 104 GrafNet 3 2 Start a Project with GrafNet The information in this section describes how to start a project and quickly process a static network using GrafNet The individual menu items are discussed later in this chapter Install Software Verify that the installation was successful by ensuring that you have a Waypoint GPS program group on your computer If this program group is not there see Section 1 2 2 CD Contents and Installation on page 12 for installatio
147. ect Options List of Datums Name X cH1903 ETRS89 Edapase Edicsoo Edicsos E Indian E Indian Everest Ed TRFOO IX ITRFOA EX TRFO5 Ed TRFo2 RA itnroon GRS80 GRS80 GRS80 Evst India 1830 Evst India 1830 GRS80 GRS80 GRS80 GRS80 encon V Only show enabled datums Project Options Datums Datum Conversions Show conversions between these datums From Al Datums y To wass4 List of conversions FROM to TO INFO Lo 1GS08 to WGS84 IGN Ls ITRFO5 to WGS84 810 Lo ITRFO5 to WGS84 IGN Le ITRFOB to WGS84 IGN Le ITRF97 to WGSB4 NRCan Lo NAD83to WGS84 VER602 Le NAD83 MARPO0 to WGS84 810 7 P Vel Le NAD83 PACPO0 to WGS84 810 7 P Vel Type 7 P Vel 7 P Vel 7 P Vel 7 P Vel 7 P Vel 7 P Vel defaut defaut default default L NANAI MARPON ta WGSRA RIM 7 P Vel g Asfalt T Add Add From Edit Remove Set Default Reverse Project Options Datums Datum Conversions List of Ellipsoids Name E Airy 1830 6 AusNational O Bessel 1841 E Bessel Namibia E Clarke 1866 E Clarke 1880 Evst Brunei Evst India 1830 Evst India 1956 Evst Pakistan O Evst WMal 1948 EA Fvst WMal 1969 A B 6377563 3960 6378160 0000 6377397 1550 6377483 8650 6378206 4000 6378249 1450
148. ed These options provide advanced users more control over ARTK performance and more tools when reprocessing problematic surveys Each of the advanced options are off by default however can be individually enabled if needed GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Min Reliability The reliability of an ARTK fix is the ratio of the second best RMS and the best RMS It indicates how much better the best solution is from the second best solution High reliability values indicate the best RMS is significantly better lower than the second best RMS and thus a high degree of confidence can be placed in the solution This option provides direct control over the minimum reliability ARTK will accept as a pass Max RMS An RMS is computed for every possible ARTK fix within a given search area This RMS output by GrafNav in units of mm represents the mathematical fit of the solution or how well the carrier phase measurements agree with each other Low values mm level or sub mm represent well fitting solutions or measurements that agree very closely Large values several mm or cm level indicate poorer fitting solutions that are more suspect This option provides direct user control over the maximum allowable RMS for an ARTK fix to be considered a pass Max float fixed separation Using this option forces the float solution to converge within a specified distance prior to a fix being accepted It is recommended to keep this
149. ed the typical result is Kalman filter resets even if the data is of very high quality Use Doppler for velocity determination If engaged Doppler is used to derive instantaneous velocity If many Doppler measurement errors are output to the GrafNav processing dialog it may indicate the Doppler measurement quality of your receiver Is very poor In this case it is recommended you disable this option and calculate the velocity using a carrier phase model Multi Base Distance Tolerance Differential processing only This option is used to automatically disable base stations according to baseline length This is an effective means of managing base station data use in very large scale aerial projects Tropospheric Settings PPP processing only As no base station data is used to reduce correlated errors such as tropospheric delay this must be solved as an additional state within the PPP filter The tropospheric spectral density controls how fast GrafNav allows the tropospheric state to change Medium is suitable for most projects but High may work better if very fast and frequent changes in elevation are expected in your survey High allows the tropospheric conditions to change more rapidly within the filter GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 51 Chapter 2 GrafNav lonosphere Troposphere Differential GNSS Differential GNSS Settings Lo mes processing General ARTK Measurement
150. ed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option Recompute position and clock offset Enable this option if the clock shift data is corrupt or if positions records are not present This option is not needed if pre processing checks are enabled lt The antenna height extracted by the decoder may be the slant distance Trimble SSF files cannot be directly decoded using this utility As such they must be converted to DAT or RINEX format first GrafNav GrafNet 8 50 User Guide Rev 1 Utilities Trimble Real Time Data captured directly from a Trimble 4000 5800 receiver can also be converted to GPB using this decoder The Table 30 Records Supported for Trimble Real Time describes the records supported Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option Verbos
151. eiver manufacturer GrafNav uses a very conservative weighting as the quality of Doppler ona measurements vary significantly from one receiver manufacturer to another Outlier Detection Rejection GrafNav attempts to automatically reject satellites or measurements when large measurement residuals are detected If a large residual is detected GrafNav systematically rejects each satellite individually and recalculates the position and residual If the new residual is significantly lower than the original residual the satellite is automatically removed from the solution at that epoch GrafNav s sensitivity to high measurement residuals is controlled through this setting 50 GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Measurement Usage Enable GLONASS processing If GLONASS is present at both the base and rover for differential processing inclusion of GLONASS measurements is controlled with this setting If processing PPP GLONASS measurements can be used only if the precise clock and orbit products downloaded contain GLONASS values Dual code carrier clocks PPP only This option engages the use of separate clock states for the code and carrier measurements Whether this option should be engaged is completely dependent on receiver design It is most often needed for Trimble receivers so this option is automatically engaged if the remote receiver is detected to be a Trimble If this option is not used when need
152. ent and Process is selected from the main processing dialog Precise ephemerides are optional for differential processing as most of the orbital error is removed in differential processing However projects that involve large distances between the remote and base station s can benefit from the inclusion of the precise ephemeris For differential projects precise ephemerides can be added or downloaded from File Add Precise Files GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav ARTK Options Differential GNSS processing only ARTK AdVance RTK is NovAtel s method of resolving integer carrier phase ambiguities in kinematic mode ARTK should be engaged in high accuracy applications whenever cm level results are required Dual frequency ARTK provides fast reliable and robust performance However in high multipath environments or where the satellite geometry is relatively poor the possibility of an incorrect ambiguity fix exists This is why it is important to access GrafNav s quality control plots which will help detect errors lt Both single and dual frequency ARTK require at least 5 satellites but 6 or more are preferable General Criteria for accepting new fixes ARTK can be used in Default or On engage only modes These modes are described in the shaded box Quality acceptance criteria This is the confidence level required in residual testing for an ARTK fix to be accepted Using lower quality accepta
153. ere Troposphere Fixed Static User Cmds Differential GNSS Settings Integer Ambiguity Resolution On Off General Criteria for accepting new fixes Default On engage only Quality acceptance criteria default Q2 a2 2 mn Maximum distance for single frequency 7 50 km Maximum distance for dual frequency 70 00 km Engage Engage ff distance lt 50 km reset if distance gt 500 km Engage continuously every 15 0 min V Engage on event of poor DD DOP 250 Apply manual engagement S Advanced Min Reliability 3 0 Max RMS 3 0 mm Only accept fix from closest baseline ho Integer Ambiguity Resolution processing option settings On Engages ARTK for both single and dual frequency data processing Off Disables ARTK This will produce a float solution Criteria for accepting new fixes Default When ARTK is used in default mode it is constantly re checking its solved ambiguities when the satellite geometry changes 1 e when new satellites come into the solution or when individual satellites are lost New fixes are accepted if they are different by a minimum of 1 2 cm 0 8 PPM Thus it is possible even under open sky conditions where no loss of lock occurs that ARTK will reengage itself several times as new satellites come into the solution or as the satellite geometry changes Using ARTK in default mode is thus mostly preferred for ground vehicle applications as this me
154. eris should this be the reason no position data is present in your original file See Section 5 2 1 5 Load Alternate Ephemeris File on page 142 for more information 5 2 3 3 Add Remove Cycle Slips This option should only be used for specialized testing reasons GrafNav detects cycle slips through a combination of a flag decoded from the raw GNSS data the carrier phase locktime value and by a Doppler cycle slip check Adding or removing cycle slips from the GPB viewer is thus not a commonly needed function 5 2 3 4 Disable Satellite s Disabling satellites is normally done within the Satellite Baseline Omissions section of GrafNav s processing options See Satellite Baseline Omissions on page 45 for more information This is the recommended method of ignoring satellite data as more options are available including using time ranges and specifying if the satellite should be completely excluded or only excluded from ARTK or the fixed solution Disabling a satellite through the GPB viewer cannot be undone unless a copy of the original GPB file was saved using File Save As or by re decoding the raw GNSS data This is another reason we recommend implementing any satellite omissions within GrafNav s processing options as they can easily be removed later if required 5 2 3 5 Recalculate Doppler Missing or erroneous Doppler measurements are normally fixed automatically by the converter s pre processing functions Therefore re
155. erpolation method is used Waypoint software supports a proprietary WPG geoid format All publicly available geoids in WPG format that NovAtel is permitted to re distribute can be found in the Waypoint Geoids section of the NovAtel website We also provide utilities to create WPG files from ASCII files and other known formats in order to create custom or local geoids Every GrafNav project requires ellipsoidal base station heights This is because the geoid is a complicated mathematical surface and all data processing needs to be performed relative to the ellipsoid However the Enter MSL Height feature on the Master Coordinate dialog permits you to work directly with MSL heights This works by back calculating an ellipsoidal height provided an MSL height and a geoid file Regardless of how you have entered your base station coordinates 1 e if you have directly entered an ellipsoidal height or if you have used the Enter MSL height feature the Export Wizard will prompt you for a geoid if your export profile contains MSL heights The Information feature can be used to access basic properties of a geoid in WPG format including the datum and geographic boundaries When using a datum be careful to ensure your processing datum is the same as the geoid datum The Compute Geoid Height feature allows you to calculate the geoid height for individual coordinates If you have a list of coordinates to convert from ellipsoidal to MSL or vise
156. erters Ashtech Download Ashtech receivers with internal memory usually output a PHOTO DAT file after the receiver data has been downloaded using HOSE or another corresponding utility Newer variants might be under the format M Either file can be loaded using this option The GMT date of the first event mark must be entered if it is not detected Events are automatically numbered starting at 1 Leica GeoSystems EVO and TDU files are produced by the Leica software and can be imported using this option This file might contain time in the local time zone If not enter the time zone offset as zero The time zone correction and the GMT date of the first mark must be entered Events are automatically numbered starting at I LH Systems Ascot LH Systems ASCOT RC 30 has a format very similar to EVO except that it contains the relative angles of the camera mount which can be used to apply a 3 D offset for the antenna camera difference User These formats allow you to import the time and name of each event mark Optional variables include line number description and altitude information GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav File Name The file name depends on the receiver format Examples include the following e NovAtel is MRK Ashtech is PHOTO DAT Trimble is SUM Leica is EVO Time settings User time type Seconds of the week GPS time ranging from 0 to 604800 Local H M S Local hour
157. es Quality Number Y View ASCII output file on completion Export to Google Earth Options Export and View Writes a KML KMZ file to the HTML sub directory and automatically opens it in Google Earth Export Only Writes a KML KMZ file to disk but does not launch Google Earth Create Auto Update Entry Creates a network link within Google Earth which scans the project KML KMZ file every 15 seconds for changes This option can be used along with the Export Google Earth file option under Settings Preferences to completely automate the writing and loading of KML KMZ files See Export on page 64 for more information For additional customizing of the Google Earth output files produced by the software see Export on page 64 76 GrafNav Export Definition Complete The last page of the Wizard provides a summary of the file name and path where the file will be written and the Source to be exported The export variables within the profile are also summarized Optionally the output file can be viewed after export by selecting View ASCII output file on completion 2 7 6 View Coordinates This opens the last file generated by the Export Wizard in GrafNav s internal ASCII viewer 2 7 7 Build HTML Report Creates an HTML file containing a bitmap version of any plot that is currently open including the Map Window These HTML and BMP files are saved to the HTML folder contained within the project folder The HTML fil
158. es the number which Count achieved fixed integers at the restore time Restored indicates the number of satellites where GrafNav was able to restore backwards in time see Rewind time Fix Type Solution type used The RMS of an ARTK fix represents how well the carrier phase measurements fit together Low RMS values 3 mm or less represent very good fitting solutions While this does not guarantee a RMS correct solution it is a good indication High RMS values above 5 mm may still be correct but the chances of an incorrect fix are higher Regardless the Combined Separation with Fixed Ambiguity plot can be accessed to help identify incorrect ambiguity fixes Reliability is a unitless value that indicates how much better the best ARTK fix is from the second best This is determined by dividing the RMS of the second best fix by the RMS of the best fix High reliability values above 3 indicate a high probability the fix is correct as the best ARTK fix appears much stronger than the second best Reliability This is the distance between the fixed integer solution and the last float solution prior to achieving a fix Large values meter level can be expected where ARTK uses only several seconds of data as the float solution will not be well converged FloatFixSep 80 GrafNav 2 7 12 Processing Window This window appears during processing and shows position status progress and any high priority m
159. essages output by the processing engine Click the View button to customize the fields displayed during processing See Table 3 List of Output Variables on page 171 for descriptions of variables which can be monitored during data processing This screen is updated twice a second Status The status section of the processing window reports the quality number Quality numbers are meant to provide a high level indication of solution quality and are further described in Table 3 Quality Number Description on page 79 The float fixed ambiguity status is also indicated and as well as a K if the processing mode is kinematic or S if the processing mode is static Progress The Progress box graphically displays how much of the data has been processed and how much remains View In the left hand window various parameters are available for display via the View button The list of available parameters is given in Table 6 Processing Window Parameters on page 81 Notifications For kinematic processing the Notifications window displays all information pertaining to the last ARTK solution Descriptions of these messages are found in Table 4 Notifications Window Messages For static processing the Notifications window displays all information pertaining to the fixed solution Descriptions of these messages are shown in Table 4 Notifications Window Messages Messages included in the Notification Window for static processing are in Table 5
160. est of both forward and reverse solutions and an average of the results where the estimated errors are approximately equal The Combine dialog is accessed through Process Combine Since the forward and reverse solutions are automatically combined in GrafNav the Combine dialog does not need to be used following forward reverse processing It should only be used if you have identified specific time ranges from forward or reverse processing that you want to omit from the combined trajectory An example of this is where an incorrect ambiguity was obtained in one direction which could not be remedied by changes to the processing options This dialog is more frequently used when comparing different modes of processing For example a GrafNav project can contain both PPP and differential solutions as each type of solution writes trajectory files with different extensions This ensures differential and PPP solutions can exist in the same project without overwriting each other An easy way of comparing the combined differential and the combined PPP solution within the GrafNav environment is to load and combine both of them into the project at once This is done by choosing the Any two solutions option and then Combine You will be prompted to choose which two solutions to combine If you choose the cmb file and the csp file you will be combining the differential combined results cmb and the PPP combined result csp After combining you ca
161. etween datums but also to change the format of a file For example you can convert an input list of coordinates from geographic to ECEF or a list of coordinates with ellipsoidal heights or MSL The Use first continuous word option is the default If the station names contain spaces select Use first n characters The sign conventions used for geographic coordinates is positive for the northern and eastern hemispheres and negative for the southern and western hemispheres Additional options seen on the screen just before generating the output file include the following Include column header Conserves the header information from the input file View output files after conversion Automatically opens the output file after clicking Finish Input grid coordinates in southern hemisphere Only necessary if the input data has grid coordinates from a project area that is in the southern hemisphere Do not apply datum transformation to height This option is useful for outputting orthometric heights because no datum transformation are applied in this case 2 8 9 Time Conversion This tool converts GPS seconds of the week to hh mm ss format GMT provided a GPS week number Alternatively hh mm ss GMT can be converted to GPS seconds of the week provided a month day and year has been specified GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 8 10 Favourites Manager GrafNav s Favourites Manager is used to store known coo
162. evious version such as 8 40 It copies any user created content from a previous version to the new version Examples of user created content include custom datum and grid definitions Export Wizard profiles and user defined favourites lt Itis for this reason we do not recommend uninstalling previous versions prior to installing version 8 50 1 5 2 Download Service Data This utility allows you to search for freely accessible base station data provided by government organizations The utility fully supports both GPS and GLONASS and will download convert and if necessary resample and concatenate the downloaded data so that it is ready to be used within your project The download utility can also be used to obtain precise satellite clock and ephemeris data GPS and GLONASS almanacs and alternate broadcast ephemeris files 1 5 3 GPB Viewer This utility allows you to view converted GNSS data as well as perform certain functions such as changing the static kinematic processing flag See Chapter 5 Utilities on page 141 for more information 1 5 4 Mission Planner This utility is found under the Tools menu and supports both GPS and GLONASS constellations It is used to predict satellite count and DOP values ahead of time 1 5 5 Data Converter This utility converts raw GNSS data files into Waypoint s own format See Table 2 Supported Data Formats for Post Processing for supported receivers and formats GrafNav GrafNet 8
163. ew instances when you may want to rescan manually such as when using GrafNav in conjunction with GrafNet GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 3 Process General Advanced Fixed Static Measurement Solution and Session User Cmds r Forward Reverse Process Direction Handling C Use FWD REV solution last processed Automatically combine FwD REV solutions Will either use best solution or statistical combination r Session Forming Options Minimum observation time for forming a session 180 0 seconds Minimum time span for breaking up observations into periods 180 0 seconds r Distance Tolerance for Using Fixed over Float 10 00 km 40 00 km IT Revert to Float solution if Fived or Buick Static fails Single Frequency Dual Frequency Session Forming Options Minimum observation time for forming a session Controls the minimum number of seconds necessary to declare concurrent observation files as a session The default value is three minutes For dual frequency data this time can be reduced while for single frequency data this value may have to be lengthened to avoid short low accuracy baselines Minimum time span for breaking up observations into periods Controls the time required between sessions in order to have them recognized as two separate sessions The default is three minutes This gets used when observations are added to the project with the Break up multiple occupation
164. f epochs subject to the chosen starting point You can also convert a specific time range that is based on GPS seconds of the week 143 Chapter 5 e Recalculate Position Re Compute Epochs Position only Time Only Position and Time Measurement Usage C A Code suggested C P1 Code P2 Code not suggested Processing Messages 552965 0 Refining solution on first epoch All Epochs from Start C All Epochs from Current Position C Specified Epochs from Current Position Fs 144 Utilities 5 2 3 2 Recalculate Position and Time If position records are requested when logging data GrafNav s Raw GNSS Converter writes them to the GPB file If no position records are logged GrafNav s pre processing functions will compute a single point C A only solution during data conversion This is done in order to plot the unprocessed trajectory to the Map window and more importantly is also used to determine whether ionospheric processing should be engaged GNSS ephemeris data is required should the pre processing functions attempt to recalculate missing position records If neither position records nor ephemeris data were requested when logging data no position records will be written to the GPB file If this is the case recalculating position and clock data for a file can be done using this option You may be required to load alternate ephemeris data File Load Alternate Ephem
165. f these records is required depending on the GLONASS L1 L2 ap cies 1012 meas rements receiver s capabilities 1019 GPS Ephemeris Required 1020 GLONASS Required for GLONASS Ephemeris users 161 Chapter 5 5 lil Septentrio Options D IV Perform pre processing checks V Recompute position and clock I Verbose messaging mode Extract multi antenna data from antenna number hy Static Kinematic Mode amp Auto C Kinematic C Static L2C phase correction 0 25 cycles Only required if logging L2C Factory Defaults Cancel Table 25 Records Supported for Septentrio SBF Record Type Comment 5889 Measurements One of these records is 5890 a required 5891 Ephemeris Required 5904 Position Bell aa for GrafNet 5924 Event Written to STA file 162 Utilities Septentrio SBF Table 25 Records Supported for Septentrio SBF describes the records supported Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Re compute position and clock GrafNav requires valid clock shift data while GrafNet requires position records Enable this option if the clock shift data is corrupt or if positions records are not present This option is not needed if pre processing checks are enabled Verbose messaging mode Allows you to see additional warning me
166. files have gaps but are observed over the same point for the entire observation period so disable this option For cases where the time gap is very short because the station to station movement is very fast control the minimum time gap for breaking up periods with the Solution and Session tab under Options Global Settings Look for the Minimum time span for breaking up observations into periods lt Station IDs must match those of all observations for a given station and those of matching ground control points Reprocess sessions associated with an observation if the antenna height has been changed This is performed by right clicking on the station for that observation and selecting Remove Processing Files Then select Reprocess entire project under Process Process Sessions GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 3 Add Observations I Observations in Project Project Directory IC 1GPSDataManual DataVGrafNet760 Source Files Source Directory Get Folder C GPSData Manual_Data GrafNet760 xl File Name I AGPS DatatDAY 108400011108 9pb JR AGPS_Data DAY_109 00011109 gpb IR AGPS DataWDAY 10940001 2109 gpb FR AGPS DatalDAY 108400031108 gpb JR AGPS DataWDAY 109V00031109 gpb JR AGPS DataYDAY 109400032109 gpb JR AGPS DataWDAY 108400041108 gpb JR AGPS_Data DAY_109 00041109 gpb JA AGPS_Data DAY_109 00042109 gpb JR AGPS_Data DAY_108 00051108 gpb JR AGPS DataWDAY 109V00051109 gpb JR
167. fore processing 2 3 4 SaveAs Use the Save As command under the File menu to create a new project that has identical processing options as the current project This allows you to change the options in the new project and process the data without losing the solution computed by the original configuration 2 3 5 Print This option allows you to print various items including windows plots and text files GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 3 6 Add Master File s Steps for how to add a master station are in the shaded box Master Station Position When loading a master station the coordinates that appear in the master coordinate dialog may come from two different sources If loading data converted from RINEX as is the case when obtaining base station data through the Download Service Data Utility the coordinates that appear initially are scanned from the RINEX header The coordinates provided in the RINEX header may be precise or approximate this will depend on the individual RINEX data provider If loading base station data converted from any other source the coordinates that appear initially are likely averaged from the unprocessed position records decoded in the raw GNSS data file The accuracy of this position is typically no better than approximately 2 m horizontally and 5 m vertically If you select the OK button using averaged coordinates a warning dialog appears to ensure you are aware the coordin
168. g description By default it uses Run 1 and increments after each processing run The information is stored in the processing his tory Use for spaces Time hh mm ss and date mm dd yy of processing User s name or initials stored before processing It is stored in the processing history by GrafNav and is outputted in ASCII and binary files Processing direction is either FORWARD or REVERSE Reverse processing can be useful if there are a major series of fatal cycle slips during a kine matic run All features supported under forward processing are supported under reverse processing REMOTE ANT L1AntHat L2Offset Vertical offset from ground location to L1 phase centre Second value is off set from L1 to L2 phase centre Additional values used by GrafNav for inter nal use see MB MASTER ANT REMOTE FILE path file prefix gpb 184 This is the name and location of the remote station binary GPS data file This data must be in the GPB format If the data is not in this format use one of the conversion utilities supplied If this value is not entered the program will prompt for it Make sure to replace all spaces with characters GrafNav GrafNet 8 50 User Guide Rev 1 REMOTE_POS lat long ht RMS_MODE NEW OLD SAVE_AMB ON OFF These are the coordinates of the remote station The latitude and longitude must be entered in degrees minutes seconds with spaces between The pro cessing engine now co
169. g this data during processing is to reduce the size of the C A code standard deviation from within the Measurement tab of the processing options Receiver Problems Sometimes a GPS receiver just collects bad data Low power or a poor antenna connection can cause this If the problem is consistent with a particular GPS receiver unit have the manufacturer check the GPS receiver 107 Chapter 3 How to open a project 1 Select Open Project from the File menu 2 Choose the name of the project from the dialog box that appears prompting you to select the name of an existing project GNT file 3 Click the Open button 108 GrafNet 3 3 File 3 3 1 New Project To process a network for the first time you must start a new project This is done via File New Project GrafNet s project configuration files carry a GNT extension 3 3 2 Open Project To open an existing project follow the steps in the shaded box 3 3 3 Save Project The program automatically saves the project file GNT Session Report REP and Traverse Solution TRV files before processing Any changes made to the observations like name or antenna height are also saved 3 34 Save As Use the Save As command under the File menu to create a new project that has identical processing options as the current project This allows you to change the options in the new project and process the data without losing the solution computed by the original configuratio
170. ght 0 000 m ARP to L1 offset 0 092 im L1 Phase Centre Applied height 0 092 m Compute From Slant Cancel How to add a remote file 1 Select File Add Remote File From the list of available GPB files choose the file collected at the remote station 2 When prompted enter the remote station antenna information 23 Chapter 2 la D List of Precise Files File Name StartDate Stil 2 E Temp CORS cod17166 sp3 12 01 2012 00 E Temp CORS cod17166 clk 12 01 2012 00 m r Add l Edit l Remove Download Precise Files SP3 and Clock Start date 12 01 2012 End date 12 02 2012 GLONASS Download Path E Temp CORS Browse Canoa E gt How to download precise ephemeris files 1 Select File Add Precise Files The project start and end date are automatically scanned from the GNSS data loaded into the project This should not need to be set manually 2 Select Browse in order to choose any precise orbits sp3 that have previously been downloaded If no files have been downloaded select Download and the precise orbit sp3 and clock clk data will automatically be downloaded and added to your project This requires an internet connection lt If your project includes GLONASS data you may wish to select the GLONASS option prior to downloading This will direct the download utility to retrieve products that include GLONASS corrections i
171. ging ARTK in static mode Start and End Times The start end times can be modified from within the General tab Sometimes a data set can have parts that are unusable A good indicator is the LI Phase RMS plot Entering the start and end times eliminates these parts by selecting the appropriate times Another way to find good sections of data is to view the FSS or RSS files There is a section at the start showing numerous periods of cycle slip free data for various satellites and it also shows which period was used You can also try entering the start end times from another period exclusive to the one used Doppler Usage Bad Doppler data sometimes makes data process poorly Detect this by plotting the L1 Doppler RMS If there are any large spikes 5 or more times the size of the Doppler standard deviation then this data may have problems Try shutting the Doppler OFF for carrier phase processing from within the Advanced options Satellite Omission A bad satellite has many bad data warnings in the message log file FML RML Omit this satellite with the Advanced tab options Continued in the shaded box on the following page 106 GrafNet 3 2 1 Fix Bad Baselines Some baselines appear red when running GrafNet and duplicated baselines appear yellow When examining the baseline sessions from within the Sessions window of the Data Manager one or more sessions will have Bad indicators This means that one or more tests have fa
172. h the observations were made AntType Type of antenna used at the station File File path and name of the GPB observation file H If multiple observations periods are contained within one GPB file this column indicates which of those observation periods is being referred to Observation periods are numbered sequentially in the order they appear in the GPB file Length Length of the observation period Start Date Date when the observation period started Start Time Time of day at which the observation period started Receiver Type of receiver used to log observations Freq Indicates whether data is single or dual frequency Int s Interval in seconds at which the data was logged 125 Chapter 3 Columns in the Stations window Name Name of station Type See Table 13 Station Colour Legend on page 124 for information on station types Latitude Latitude coordinate of the station Longitude Longitude coordinate of the station EllHgt Ellipsoidal height of the station Source Indicates whether the station coordinates are from the traverse solution or the network adjustment HFiles Number of observations periods for that station TotalLen Total observation time made at that station A mm Semi major axis of error ellipse at that station as defined from the network adjustment B mm Semi minor axis of error ellipse at that station as defined from the network adjustment DH mm Estim
173. he network adjustment all baselines must have already been processed Only good green baselines will be used unless otherwise specified with the Utilize sessions labeled BAD in network adjustment option Settings Scale Factor Error ellipses should appear on the stations in the Map Window These ellipses are scaled by this option Confidence Level The level of confidence in percent of the error ellipse can also be adjusted This uses a statistical 2 D normal distribution Changing this value does not alter the final coordinates but it will scale the final standard deviations and covariance values For example 95 results in a standard deviation scale factor of 2 44 GrafNav GrafNet 8 50 User Guide Rev 1 GrafNet Output Options Controls what is output from the network solution Show input stations and vectors Outputs all the control and check points and their vectors The coordinates are output in geographic form Show orthometric height for output coordinates Requires that you provide a geoid file which can be selected with the Browse Geoid button Other output options include outputting the estimated standard deviations To process the network adjustment click the Process button This step must be performed each time a project is re loaded View output file on completion Lets you view the ASCII solution file once the adjustment has been made Using Multiple Control Points When multiple control poin
174. heck Points window GrafNav GrafNet 8 50 User Guide Rev 1 GrafNet 3 6 6 Baselines Window The Baselines Window displays information regarding all the sessions in the network See Columns in the Sessions Window on page 127 for a description of the columns displayed and the options available by right clicking on a session Expanding the Baselines branch in the Data Objects window on the left hand side of the Data Manager allows for the sessions to be displayed individually according to the baseline they are expanded from Expanding each baseline in the Data Objects window allows for the display of any individual session in the Sessions window 3 6 7 Processing Window See Processing Method on page 42 for information regarding this window 3 7 Tools Menu See Section 2 8 Tools Menu on page 83 for information regarding the features available through this menu 3 8 Help Menu See Section 2 10 Help Menu on page 100 for information about these features GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 3 Table 14 Baseline Color Legend Color Description Unprocessed Normally represents an unprocessed baseline In some cases when processing quits prematurely the color may Blue remain blue The return error message can be viewed by right clicking the baseline in the Sessions window of the Data Manager and selecting View Information Grey Ignored Indicates a session that is to be ignored Duplicate
175. here This is useful in single frequency processing to help reduce ionospheric error IONEX data is not helpful to and thus not applied if dual frequency processing is used GPS Almanac Can be used in conjunction with the Mission Planner in order to predict GPS satellite geometry GLONASS Almanac Can be used in conjunction with the Mission Planner in order to predict GLONASS satellite geometry GNSS Broadcast Ephemeris Downloads a global RINEX file for the date s specified in the Download tab and converts to Waypoint s EPP file format Can be used to supplement missing ephemeris data in a GrafNav project 96 GrafNav Options There are several settings under this tab which require proper configuration in order for the Download Service Data utility to function properly Temporary Directory The directory specified here temporarily stores RINEX files while they are being converted into GPB format Overwriting Files If a file already exists in the destination directory with the same name as the file being downloaded this setting determines which action to take Overwrite existing files with newer files replaces the file with the one being downloaded Append an A B to end of newer files renames the new file to avoid conflict RINEX Options Leave raw RINEX files in Current directory May be selected if you do not wish to have the RINEX files deleted after conversion to GPB FTP Settings The FTP sites accessed
176. hes to view data at epochs where the RMS_TOL values are exceeded Normally data which is greater than RMS_TOL is not written to file WRITE_RESIDUALS ON OFF Default is OFF If ON then write out each L1 phase and CA code residual for each satellite to a RL1 and RCA file WRITE_SLIP_MSG ON OFF ON if cycle slip and other satellite rising falling warning messages to be written to message log GrafNav GrafNet 8 50 User Guide Rev 1 187 188 GrafNav GrafNet 8 50 User Guide Rev 1 Glossary Baseline Connection between two stations with one or more sessions Normally a session and a baseline can be considered the same However in some cases there may be more than one session per baseline This is called a duplicate session baseline and it is plotted yellow on the screen Check Point A station with known coordinates but these coordinates are only used as a check against GrafNet s computed coordinates Control Point See Station or GCP Ground Control Point GCP A reference station with known latitude longitude and height coordinates The user may also assign horizontal and vertical standard deviations for these values There can be horizontal vertical or 3 D points and there must always be at least one 3 D point or else one horizontal and one vertical point per project Observation A raw measurement file collected from a receiver set up over a stationary point GrafNet only accepts GPB files and thus other forma
177. hether or not involving negligence on the part of any person 8 Disclaimer and Limitation of Liability a THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE NovAtel DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES IN NO EVENT WILL NovAtel s LIABILITY OF ANY KIND INCLUDE ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFITS EVEN IF NOVATEL HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE b NovAtel will not be liable for any loss or damage caused by delay in furnishing the Software or any other performance under this Agreement c NovAtel s entire liability and your exclusive remedies for our liability of any kind including liability for negligence for the Software covered by this Agreement and all other performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement 9 Governing Law This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support contact the NovAtel GPS Hotline at 1 800 NOVATEL 1 800 668 2835 for US and Canada only or 1 403 295 4900 for international access e mail to support novatel com or website www novatel com 8 GrafNav Gr
178. ic processing involves the determination of a single coordinate for each static session detected There are two types of static solutions supported by GrafNav float and fixed solutions They are discussed in the shaded box Kinematic When processing kinematic data it is generally of interest to optimize the entire trajectory This is in contrast to static processing which solves one coordinate for the entire session In order to quickly achieve cm level accuracy in kinematic processing environments ARTK is used to resolve carrier phase ambiguities This is discussed in the shaded box GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 1 Processing Solutions Fixed static solution In a fixed static solution data from an entire static session is used in a least squares type solution to resolve the carrier phase integer ambiguities Fixed static solutions are associated with high levels of accuracy mm to cm level Fixed static solutions are attempted by default within GrafNet if the baseline length is 40 km or less Fixed static solutions can also be processed in GrafNav although it is not the default method of processing see Fixed Static on page 54 for more information An appreciable change in satellite geometry is required for a fixed static solution to be successful Thus the minimum recommended session lengths are 15 to 20 minutes for short to medium baseline lengths under open skies Fixed solutions are most reliabl
179. ide Rev 1 File Formats Chapter 4 Following are the final coordinates that are output in a static solution The difference between the fixed and float output is the fixed will have an RMS and reliability The RMS represents the fit of the carrier phase measurements in the solution The reliability is the ratio between the second best RMS and the best RMS Static ToSta FromSta IsBest AntHgt StartTime EndTime TimeLen Latitude Longitude EllHeight SolType IsFixed RMS Reliability StdDev EcefVec EcefCov1 EcefCov2 EcefCov3 AvgDDDop AvgPDop AvgNumSats Quality Slope Dist HorizDist SurfaceDist Azimuth12 Azimuth21 STATIC BL1 Yes 0 486 m 6240 00 1318 01 44 00 0 04 10 2005 6375 00 1318 01 46 15 0 04 10 2005 2 minutes 15 seconds 39 00 33 18453 174 10 46 74393 63 8096 L1L2 Fixed Yes 0 0040 PASS m 10 3 PASS RMS ratio 0 0063 0 0068 0 0147 m e n h 45 4059 48 5693 63 9423 m 2 02423923e 004 5 94309046e 005 4 99990537e 005 6 87795183e 005 1 87233603e 005 5 03819486e 005 3 35 2 12 7 0 1 92 246 m 92 235 m 92 235 m 151 42 36 21749 331 42 35 07388 GrafNav GrafNet 8 50 User Guide Rev 1 137 Chapter 4 File Formats The only output from kinematic processing is the ARTK summary record as shown below Note that if kinematic processing is used without ARTK no output will be shown in the FSS RSS files 138 EngageTime RestoreTime
180. ied to assist long distance L1 only processing As such these corrections are not of interest to the majority of GrafNav users These files are ignored if dual frequency ionospheric processing is engaged Satellite Clock Files Presently using the data available in the broadcast ephemeris satellite clock errors can be predicted within an accuracy of approximately 2 m RMS Satellite clock error is completely removed in differential processing as this error is exactly the same at the base and the rover Thus adding precise clock files to a differential project will have no effect Precise clock files are required for PPP processing as otherwise meter level errors would result Satellite clock files can be downloaded through the Download Service Utility or from File Precise Files GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 39 Load GNSS Solution After processing forward and reverse solutions are automatically combined if available Thus the trajectory output to the map window and all generated plots are usually relative to a combined forward reverse solution The title bar of the map window and plots clearly indicate which solution is loaded If the processing results from a particular direction forward or reverse are of interest individual solutions can be loaded using this feature PPP Solution GrafNav s differential and PPP trajectory files have by design different file extensions This allows both diffe
181. ift data while GrafNet requires position records Enable this option if the clock shift data is corrupt or if position records are not present This option is not needed if pre processing checks are enabled Verbose messaging mode Displays additional warning messages Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option GLONASS PRN offset Shifts the PRN numbers for GLONASS satellites Offset must be greater than 32 to avoid conflict with the GPS constellation GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 5 A di RTCM Version 3 Options IV Perform pre processing checks I Re compute position and clock offset I Verbose messaging mode Static Kinematic Mode amp Auto C Kinematic Static GLONASS PRN offset 37 Use 45 for Topcon Factory Defaults Cancel Table 24 Records Supported for RTCM Version 3 Record Type Comment 1002 L1 only measurement One of these records is required depending on the 1004 L1 L2 receiver s capabilities measurements GLONASS L1 only 1010 measurements If working with GLONASS then one o
182. iled in the static solution If a baseline is flagged as Approximate then the baseline was only able to achieve an approximate 1 5 m solution and it has failed These baselines can also be considered Bad The purpose of this section is to help you re process these baselines to achieve better results There are many causes of a failed baseline and not every solution is given In some cases the correct solution has been found but the statistics just fail This indicates that GrafNet cannot label this baseline as correct If there are loops that are closed in this solution then you can change the status from Bad to Good using Override Status from within the Sessions window of the Data Manager The shaded boxes on this page and the following page contain optional approaches to fix bad data GrafNav GrafNet 8 50 User Guide Rev 1 GrafNet 3 2 2 Unfixable Data Sometimes data is simply bad and changing the options cannot help This section discusses some of the possible causes of such data in the shaded box For some cases there is advice for improving the solution GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 3 How to fix bad baselines continued Measurement Standard Deviations For a float or iono free solution changing the standard deviations for both the L1 carrier phase and the C A code improves a solution Obtain suitable standard deviations by viewing the plots for both the C A code RMS and the L1 phase RMS A g
183. ill be automatically sorted chronologically Output File s Determines how the creation and naming of new files is handled For concatenating files use the Combine all Input Files into one file option and provide a name for the output GPB file For resampling or splicing multiple files use the Process Input Files individually option The name of the created output files depend on the name of their respective input file and the suffix that is specified To break up a file into multiple files of n minutes enable the Break up input files into time sliced output files option Time Interval Options See the shaded box for descriptions of these options Time Range Options Determines the range of time that is to be used for the creation of the new file Copy all epochs is generally for resampling purposes Splicing a file requires the selection of either Copy Time Range or Copy Epoch Numbers GrafNav GrafNet 8 50 User Guide Rev 1 Utilities 5 4 GNSS Data Converter Overview This utility converts raw GNSS data into GPB format Supported receiver formats are documented in Section 5 4 3 Supported Receivers on page 150 5 4 1 Convert Raw GNSS data to GPB Receiver Type Choosing a receiver type prior to conversion applies a file filter commonly associated with the receiver type This causes only files with these extensions to be listed under Source Files within the current folder You may add or modify the default filter for any rece
184. ings Path to send files to En Browse Date and Time Range GMT time zone date is M D Y Date 01708 2013 lea Start 15 00 00 Length 7 00 h Dutput data interval C Leave asis Resample to new interval 15 00 s Download Close 94 GrafNav 2 8 12 Download Service Data The Download Service Utility facilitates downloading converting and if needed concatenating and resampling of GNSS base station data There are currently 19 supported networks providing access to thousands of publicly available base stations worldwide Waypoint provides a KML file for all supported networks within the Waypoint Downloads section of the NovAtel website The Add Closest tab can be used to search for base station data provided a converted GPB file that you wish to process This function not only reports a chronological list of the nearest stations but also automatically scans the date start end times path to download the files to and sampling rate of the GPB file The download utility can be used not only to quickly retrieve GNSS base station data but also to download precise ephemeris and clock files almanac files additional broadcast ephemeris data and other data see the Options tab Download List of Stations to Download This displays a list of the stations that have been selected for download The list is empty until you add to it using the Add from List or Add Closest tabs Settings
185. ion in metres Vel VE VN VH Velocity in m s Att roll pitch heading Attitude in degrees Nsv NumSats NumGPS NumGlonass Dop PDOP HDOP VDOP Rms L1Phase CACode Age Sec Age of last correction or RTK receipt Enable 1 0 Used in GrafNav DI indicates a required field 4 3 3 EPP File Waypoint s software uses a custom ASCII file format for the ephemeris records These records are created by the Convert Raw GNSS data to GPB utility Duplicate records will be automatically ignored by the software GrafNav GrafNet 8 50 User Guide Rev 1 133 Chapter 4 File Formats 4 4 Output Files This section discusses some of the output files created when processing with Waypoint software 4 4 1 FML 8 RML Files The Forward Message Log and Reverse Message Log files contain all of the messages generated by the processing engine Some common messages are described here Reading ephemeris files Processing ephemeris file C GPSData rover_ epp Detected 40 GpsEph 0 GlonassEph 0 GpsIono and 0 GpsAlmanac records This message is generated just prior to processing GrafNav combines all ephemeris measurements at the base and rover before processing Best base on BL1 is PRN 17 with 4 points and elevation of 62 1 degrees Second best on BL1 is PRN 16 with 2 points and elevation of 51 7 degrees This message indicates the base satellite and its elevation selected after a base change or at outset The second best base 1s also shown Base satelli
186. ions of problems Thus it is important to also consider solution status fixed float when evaluating forward reverse differences This is why the Combined Separation with Fixed Ambiguity plot can sometimes be more helpful Similar to the Combined Separation plot however only the position differences between forward and reverse processing are plotted where both solutions have fixed integer ambiguities Fixed integer solutions are associated with high accuracies cm or cm level accuracies depending on other factors Knowing this there Combined is an expectation of cm level differences between Separation forward and reverse fixed integer solutions If with Fixed large differences decimeter or meter level are Ambiguity obtained an incorrect ambiguity was very likely obtained in one or both directions In this event loading each solution into the project individually and plotting the RMS Carrier Phase can be useful in determining in which processing direction the problem occurred See the description for the RMS Carrier Phase plot for more information Quality Control PDOP is a unit less number which indicates how favorable the satellite geometry is to 3D positioning accuracy A strong satellite geometry where the PDOP is low occurs when satellites are well distributed in each direction north south east and west as well as directly overhead Values in the range of 1 2 indicate very good PDOP satellite geometry
187. is MANUAL the user needs to enter the rejection and reset tolerances STD_SKIP MaxRejSec nSkipCodeEpochs nSkipPhaseEpochs These are the advanced reset settings STD PHASE SD m ON OFF This is the standard deviation for the carrier phase ON OFF refers to if the standard deviation will be adjusted for additional ionospheric noise STD CODE SD m This is the standard deviation for the C A code and P code STD DOPPLER SD m s ON OFF This is the standard deviation for the Doppler ON OFF refers to the auto doppler flag used in GrafNav only STD BL Name UseMain ON OFF CodeSD phaseSD dopplerSD These are baseline specific values Name refers to master values in m or m s STD_RELTOL Value This is the reliability tolerance for rejecting outliers STD_PHASE SD_m ON OFF This is the standard deviation for the carrier phase ON OFF refers to if the standard deviation will be adjusted for additional ionospheric noise STD_CODE SD_m This is the standard deviation for the C A code and P code STD_DOPPLER SD_m s ON OFF This is the standard deviation for the Doppler ON OFF refers to the auto Doppler flag used in GrafNav only TIME_CORR 0 0 0 0 seconds Time correction to master and remote files This may be useful if a receiver has logged data in UTC time rather than GPS time It is not sug gested that this command be used unless there are errors in the GPS data tim ing 186 GrafNav GrafNet 8 50 User Guide Re
188. is common to see that the actual RMS L1 Doppler residuals are much lower better than D the weight applied in our filter This will only cause oppler the estimated velocity errors to be much higher than the actual velocity accuracy Some receivers output such noisy Doppler values on the order of 5 m s that it will actually cause Kalman Filter resets significantly degrading positioning accuracy Thus if you see very large residuals in this plot we recommend disabling Doppler from the Measurement tab of the GNSS processing options When doing this velocity is not derived from Doppler but rather through a carrier phase model This plot launches a dialog that provides access to the L1 and L2 cycle slip plots for all GPB files within the project or a user defined GPB file Each satellite in the GPB file is plotted as a function of time and is color coded by elevation See the bottom of the plot for a legend Cycle slips for individual satellites are represented as a vertical red tick mark on the plot It is normal for cycle slips to occur on low elevation satellites lt 10 degrees due to signal blockages or due to attenuation by the GNSS antenna Se Cycle slips on high elevation satellites may be expected if surveying in a challenging GNSS Cycle Slips signal environment and are thus not necessarily an indication of a problem However if the plot shows many cycle slips on L1 or L2 in aerial survey applications where good signal tr
189. iver signal tracking issues Also automatically rejected are any duplicate PRN numbers which will cause a processing failure duplicate epochs and other unusual raw data problems GrafNav GrafNet 8 50 User Guide Rev 1 Utilities Chapter 5 e Computing missing Doppler measurements A common issue with some RINEX data is that Doppler measurements are provided as 0 for the entire file As GrafNav uses Doppler for cycle slip detection this would result in large processing errors if it is uncorrected Pre processing checks ensure any missing Doppler measurements are recomputed from the C A code e Static Kinematic detection The pre processing checks attempt to set the static kinematic flag appropriately For surveys with significant position changes from epoch to epoch such as would be the case for a kinematic survey data is converted as kinematic Conversely if no significant movement is detected from epoch to epoch portions of the data may be converted as static The ability of the pre processing check to reliably detect static data largely depends on the noise level of the unprocessed or computed position data Processing environment detection The unprocessed position records are scanned in order to determine if the dynamics are characteristic of aerial ground vehicle or marine surveys The detected environment is written to the header of the GPB file which allows GrafNav to automatically load an appropriate processing pr
190. iver type After pointing to the folder containing GNSS data to be converted it is generally recommended to leave the receiver type as Unknown AutoDetect and use either the Auto Add All or Auto Add Recursively functions Global Options To view decoding options for individual receiver types choose the receiver type from the pull down menu and then select Global Options Any changes made to the global options are remembered and applied in the future You may wish to access the global options of a particular receiver in order to change the static kinematic decoding preference or the default L2C offset Info Provides information on the version and status of the DLL file used for the conversion Folder Use the Get Folder button to browse to a folder containing raw GNSS data Source Files Lists the files in the folder with extensions matching those specified in the Filter field The options available here are listed in the shaded box GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 5 fil Convert Raw GNSS data to GPB lelak Receiver Type LL S 4 Unknown ButeDetect Global Options Info Folder E Temp Training Data Converter_Data Get Folder Source Files Convert Files Filter File Name Receiver A EAT empA Training DataNCanverter DataWav Javad Topcon ss E Temp Training Data Convetter_Data Lei Leica System 1200 RKE Temp Training Data Converter_Data No NovAtel DEM4
191. ke permanent changes to the GPB file Prior to doing so you may wish to create a copy of the original file using the Save As option under the File menu 5 2 3 1 Switch Static Kinematic GrafNav s processing mode static or kinematic is determined by the static kinematic flag decoded to the GPB file This flag is normally set during decoding however it can be altered after decoding using this option DI The static kinematic flag is found in the Position Information section of the GPB Viewer Process Mode Specifies whether the mode is to be set to Static or Kinematic Epochs to Convert Determines which epochs will be switched See the shaded box for more information Start Location Use in conjunction with All epochs and Specified Epochs under Epochs to Convert Determines the starting point of the conversion GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 5 ps Switch Static Kinematic Process Mode Static C Kinematic Epochs to Convert All Epochs C Specified Epochs Number of Epochs 0 C Specified Time Range Start Time GPS seconds 0 End Time GPS seconds 0 Start Location From Start From Current Location Cancel Epochs to Convert options All Epochs Switches all epochs from the start of the file onwards or from the current location onwards depending which starting point is specified under Start Location options Specified Epochs Converts the specified number o
192. kept on our 8 50 FTP site and a password protected web page Contact support novatel com to obtain login information if required There are a number of folders on the CD and the FTP site that contain additional programs and data These include the following Data This directory contains sample GNSS data for GrafNav and GrafNet Browse through the subdirectories to see what data is available To process copy the contents of directories to the hard disk Geoid This directory contains geoid files for the U S Geoid03 Geoid09 Geoid12 and Geoid12A Mexico97 Australia AusGeoid93 and AusGeoid98 and the world EGM96 EGM2008 It also contains geoid files for other regions These files allow mean sea level orthometric heights to be computed using GrafNav and GrafNet Files are in the WPG Waypoint Geoid format Contact support Qnovatel com for more information about geoid availability for other regions Doc Contains this manual in Adobe Acrobat PDF format 1 2 3 Upgrading Waypoint s software is distributed with a Sentinel USB key Upgrading to a major new version for example 8 40 to 8 50 requires a hardlock upgrade code This code is used in conjunction with the hardlock upgrade utility GrafNav GrafNet 8 50 User Guide Rev 1 Introduction and Installation 1 3 Processing Modes and Solutions The types of solutions are described in the shaded box The following are the types of processing modes Static Stat
193. kers are saved to an STA file Verbose messaging mode Alerts you of warnings and errors that have occurred L2C phase correction If your receiver logs L2C measurements then the phase offset must be entered If you are unsure you can disable its usage GrafNav GrafNet 8 50 User Guide Rev 1 Utilities Leica System 500 This decoder handles data from the System 500 or SR530 receivers Table 16 Records Supported for Leica 500 describes the supported records Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Re compute position and receiver clock Enable this option if the clock shift data is corrupt or if positions records are not present This option is not needed if pre processing checks are enabled Combine multiple 000 001 files into single GPB file Leica SR530 receivers write all data into separate files from one session with different extensions Enabling this option will combine files from one session into one GPB file Use P1 carrier instead of CA carrier for L1 phase Measurements from P1 can be used instead but this is not recommended Only available if Record 20 was logged Verbose message information output Alerts you of additional warnings and errors that have occurred Scale L1 Doppler to L1 cycles Recalculates Doppler to correct early Leica firmware bug Insert
194. kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option Parthus MACM Settings These settings are for logging MACM records Decode Parthus style MACM record Parthus units NS100 GSU 1 and GSU 2 utilize the MACM record However due to timing differences its implementation is not compatible Therefore enable this option Data interval adjustment The GSU 1 benefits greatly by having the correct data interval entered while the GSU 2 is best processed using the raw time and having the base interpolated onto these times See Section 5 3 1 Concatenate Slice and Resample GPB Files on page 146 for help GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 5 Table 27 Records Supported for Thales Real Time Record Type Comment MBN Measurements MCA Measurements MPC Measurements MCL Measurements MACM Measurements Measurements ITA One of these records is C A Code Only required see Note 1 CT1 Measurements C A Code Only Measurements CT2 C A Code and L1 Phase Measurements C A Code L1 CT3 Phase and C A Code SNV Ephemeris Required SNG Ephemeris Required for GLONASS GLONASS users PBN Positi
195. kinematic from site name e g 2 I Ignore questionable L2 phase I Verbose messaging mode IV Extract station information from Astech D File IV Ignore SBAS satellites Dfile Options Static Kinematic Mode amp Auto Kinematic Static UTC Options I Use the following UTC offset otherwise automatic I Correct GPS time in D FILE for UTC offset Factory Defaults Cancel Table 26 Files Supported for Thales B File File Type Comment BssssAyy jij Measurements Required EssssAvy jij Ephemeris Required SssssAyy jij Static Station Written to STA file Information Kinematic Station Information Written to STA file DssssA yy jij Read in directly by PHOTO DAT Event Mark software DI Thales files follow a strict naming convention In the table above ssss is the site name yy is the last two digits of the year and jjj is the day of the year Antenna heights may need to be edited within the feature editor if not kept constant as the Thales format only allows for one value You might need to select the receiver type manually 163 Chapter 5 164 Utilities UTC Options Use the following UTC time Changes the GPS to UTC time offset from the current nominal value to user defined value Normally used for GLONASS processing if no UTC is contained in the data Correct GPS time in D FILE for UTC offset D files can have GPS or UTC time This option cha
196. kinematic markers after gaps and stations Ensures that static sessions are properly created Use new station format for output Utilizes a more detailed format Use new GPB format Converts data into the new GPB format GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 5 Table 16 Records Supported for Leica 500 Record Type Comment 19 Measurements One of these records is compressed on l required Measurements record 20 needed if Doppler 20 expanded data is of interest 15 Ephemeris Required AG Recommended for GrafNet 10 Position users 13 Station Event Written to STA file 9 Antenna Height Written to STA file 108 Antenna Type Written to STA file 151 Chapter 5 5 Leica System 1200 Options IV Perform pre processing checks IV Re compute position and receiver clock offset IV Combine multiple observation files 000 001 I Break multiple observations into separate GPB files I Verbose messaging mode L2C phase correction 0 25 cycles Only required if logging L2C data r Static Kinematic Mode Auto Kinematic C Static Doppler Units Auto detect Meters Cycles GLONASS Options GLONASS PAN 37 Use 45 to Retum error if missing lono UTC record Use input value for UTC offset lie Factory Defaults process with Javad Topcon Cancel Table 17 Records Supported for Leica 1200 Record Type Comment 119
197. le cfg within GrafNav s ASCII viewer The CFG file contains all of the processing settings in a project GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 41 Chapter 2 ff D ro M S Processing Method Differential GNSS Precise Point Positioning PPP Processing Direction Both Forward Reverse Multi Pass Processing Settings Profile GNSS Airborne Datum WGS84 Processing Information Description Run 2 User DM Save Settings Cancel x Process direction options Both When processing both directions independent forward and reverse solutions are processed and automatically combined This method of processing is the default for differential processing Combining forward and reverse solutions maximizes solution accuracy and assists in quality control Depending in part on baseline length satellite geometry and number of satellites available forward and reverse solutions may achieve different solution types fixed float for different parts of the survey When both directions are combined automatically after processing GrafNav applies inverse variance weighting to ensure the direction with the lower estimated errors receives the most weight in the final trajectory Position differences between forward and reverse directions can be accessed from the Combined Separation and Combined Separation fixed plots after processing The latter plot shows the differences in po
198. letion Will automatically bring up the Network Adjustment window See Section 3 4 6 Network Adjustment on page 118 for more information General Options Process Direction The direction can be set to Forward Reverse or Both directions GrafNet uses the most recently created solution file The forward and reverse solution should provide roughly the same solution but in some circumstances a reverse solution passes when a forward has failed or solutions may differ because of different base satellite selections If both directions are selected the combination of the two solutions will be used See Section 2 5 2 Combine Solutions on page 56 for more information Static Solution Type See Table 11 Solution Types on page 102 for information GrafNav GrafNet 8 50 User Guide Rev 1 GrafNet Frequency Defines the type of data used for processing The following settings are available Single frequency Forces single frequency L1 only processing Dual frequency Forces dual frequency processing L1 L2 data must be present in all observation files Automatic Auto detects single or dual frequency processing for each baseline This is the default mode and should be used under most circumstances GPS GLONASS Mode Applies to data logged using GLONASS enabled receivers The following settings are available Automatic Enables the use of GLONASS data GPS only Disables GLONASS processing This option may be useful if GLONAS
199. line processor network adjustment package Both of these products have a Windows based Graphical User Interface GUI and use the same precise GNSS les processing engine This processing engine has undergone WAT REIN i Nowitel years of development effort and has been optimized to give the highest precision with the least amount of Era operator intervention How to install Waypoint software This chapter contains a description of the hardware 1 Download the setup files from Waypoint s 8 50 requirements installation instructions and lists the CD FTP site or password protected website This is contents This chapter also provides an overview of the provided when a demo is requested or the product packages see Table 1 Product Capabilities on software is purchased page 14 Contact support novatel com with your four or five digit hardlock number for the FTP login information if required 1 2 Installation Alternatively you may also have been provided The installation steps are in the shaded box with an installation CD 2 Launch the setup and follow the on screen 1 2 1 What You Need To Start instructions Sentinel USB Key 3 Ifyou are upgrading from a previous version This hardlock key is required to convert and process data you may need to upgrade your hardlock key The hardlock key must be detected locally on the See Section 1 2 3 Upgrading on page 12 for computer running the software more information Although
200. lonosphere Troposphere Fixed Static User Cmds lonospheric Processing lonospheric processing D Automatic stancet lerance 70 km Ionospheric processing requires dual frequency data It On helps to maintain GNSS positioning accuracy with increasing baseline length The ionosphere can be a ERA significant error source for L1 only processing as it is 9 Automatic n ae highly unpredictable and can change rapidly oe A Ionospheric processing essentially removes the ionospheric delay as an error source however does so at the cost of higher measurement noise Thus best results are achieved on short baseline lengths when ionospheric processing is disabled However when the baseline distance becomes large the benefits of correcting for the I ionosphere out weigh the increased noise and best results i are achieved when enabling this option I Canon J In order to handle both scenarios GrafNav has an Automatic setting that will engage or disable ionospheric processing depending on the length of the baseline detected in the project Prior to processing the unprocessed positions in the remote GPB file are compared with the base station position If more than 10 of the trajectory exceeds the distance tolerance ionospheric processing is engaged In addition to Automatic ionospheric processing can also be explicitly turned On or Off Tropospheric Error State Unlike ionospheric error tropospheric error cannot be directly
201. low Only the options specific to GrafNet are discussed here Station Error Ellipses Display around each station and is only available if a network adjustment has been completed Baseline Error Ellipses Only the baselines that need to be processed Error ellipse scale factor The ellipse scale factor scales the ellipses so they will be visible if you do not see them in the DXF file 3 6 4 Show Map Window Map Window This window displays a graphical representation of the project area It shows the stations and connecting baselines Mouse Usage in Map Window Either double clicking or right clicking on a station gives you access to several options which are described in Section 3 6 5 Show Data Window on page 124 lt Clicking on a station displays the station in the Stations window of the Data Manager while clicking on a baseline will display that baseline and any duplicates in the Sessions window 3 6 5 Show Data Window Data Manager This interactive window allows for easy display and organization of the project components The Data Manager gives statistical information regarding all observations and baselines among other things GrafNav GrafNet 8 50 User Guide Rev 1 GrafNet Observations Window The Observations window displays information regarding all the observation files GPB that are included in the project The columns that are in the shaded box are displayed in the Observations window The following o
202. ly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Termination shall be without prejudice to the accrued rights of either party including payments due to NovAtel This provision shall survive termination of this Agreement howsoever arising 6 Warranty NovAtel does not warrant the contents of the Software or that it will be error free The Software is furnished AS IS and without warranty as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of the Software is assumed by you See product enclosure if any for any additional warranty 7 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or otherwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss damage actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccuracy error or other defect therein and w
203. m N A Cancel 78 GrafNav 2 7 10 Export DXF DXF is a file format read by various CAD packages This utility outputs the contents of the map window to DXF format Output File Name Specify the name and path of the DXF to be created Output Components and Options The following options are available Stations Features Outputs any stations or features loaded Baselines Static Sessions Outputs baselines between all the static sessions The color of the baselines will be the same as it appears in GrafNav and is determined by the quality factor Epochs Outputs the trajectory and is only useful for kinematic data Color is determined by the quality factor Join Epochs Joins a line between epochs Symbol Sizes These settings govern the size of the features and stations in the DXF file Automatic is suggested for a trial Datum Allows you to choose between the processing datum or the input datum The grid options are available under the Select Grid System tab For UTM State Plane or any other zone dependent grid check that the zone number is correct because the default is likely wrong GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 7 11 Show Map Window Prior to processing the Map window displays the unprocessed positions within the remote GPB file These positions usually reflect the real time position as logged by the remote receiver After processing the Map window displays the p
204. mary report items Final solutions for all static sessions as well as the type of solution obtained Time and place at which ARTK engaged successfully as well as the corresponding statistics Such information is useful for evaluating whether or not ARTK resolved ambiguities correctly Master station coordinates antenna summary for base and rover and the processing mode e Satellite usage information pertaining to static sessions e Slope horizontal and corrected ellipsoidal distances for all static sessions e Program completion information 35 Chapter 2 p TY iii File E Temp Training Data GrefNav Single Base Flight02 850 his Size 40 KB Processing History List Description Type Date Time Retum Status E Run 1 GNSS 01 19 2013 08 08 20 SUCCESS Combined forward ar PPP 1 PPP 01 19 2013 08 09 43 SUCCESS Successfully proces Run 2 GNSS 01 19 2013 08 10 05 SUCCESS Combined forward ar 2 Run 3 GNSS 01 19 2013 08 10 25 SUCCESS Combined forward ar Run 4 GNSS 01 19 2013 08 10 45 USER QUIT User Quit 4 m r e Clear Close Processing history view options Settings Brings up the processing settings used for the selected run Details Displays more information about the selected run including the following option for the configuration file Plot Accesses the Combined Separation Estimated Position Accuracy Quality Factor and Float Fixed Status plots for the
205. mated error along the semi major axis of the error ellipse a Error Ellipse Semi Minor Estimated error along the semi minor axis of the error ellipse b Extended Ambiguity Status Field Separator Indicates if KAR fixed the ambiguities User can select what character separates each variable in a record Fixed Reliability Reliability number for fixed static solutions Float Fixed Ambiguity Status Indicates if KAR fixed the ambiguities Also available in GrafNet Gauss Kruger East North East and North coordinates in the Gauss Kruger projection Geoidal Undulation Height of the ellipsoid above or below the geoid user will be prompted with options after profile creation GLONASS GPS Time Offset Time difference between GPS and GLONASS expressed in meters GLONASS GPS Time Offset Stdev Standard deviation of the time difference between GPS and GLONASS expressed in meters GPS Corrected Time Exact time of measurement in the GPS time frame GPS Course over ground track Direction of travel computed from trajectory velocity GPS Time Date GPS Week Number Time of the epoch or feature time format may be changed to user s preference Week number for GPS data starting from January 4 1980 Depending in the format this week number may or may not reset after 1023 Heading Angle Negative yaw see IMU angle definition Height Difference Vertical height difference
206. meter transformations should only be used for areas greater than 300 km because solving transformations over small areas makes the parameters very sensitive to coordinate errors 14 parameter transformations require each file to provide two coordinates for each point at different epochs GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Chapter 2 Advanced Settings Add computed conversion to Datum Conversion List Adds the computed conversion to the list under the Datum Conversions tab This allows the conversion to be used by the software Force scale factor to 1 0 Constrains the PPM scale to zero scale factor 1 This is only applicable for the 7 parameter Compare against existing conversion Computes residuals for another existing conversion in the Datum Conversions list This is useful for determining if the newly computed conversion fits better than the existing one Processing Report The following are contained in this report Parameters The input options used for the computation Raw Differences These are the raw differences between the ECEF coordinates of the matched points in the two files Only points that have a match found are processed The USED column indicates if points are to be used in the solution or not and refers to the Flag in the FromDatum file Transformation Parameters Shows the parameters computed by the solve process If a comparison is made then this shows the parameters from the datum co
207. mination Applies the antenna height and point name from the global remote settings Override with these values Allows you to manually enter the parameters that are listed in the shaded box Fixed static settings Customizes the conditions and settings for the use of a fixed static solution Fixed solution usage Allows you to override the global tolerances for distance and length within the Fixed Static tab More information about these options is in the shaded box Use global fixed static options Allows you to customize the fixed static processing options for the static session GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 4 8 ASCII File s The View ASCII File s option allows you to view any of the ASCII files generated by the software using GrafNav s ASCII file viewer Examples of these files include the following Epoch Solutions FWD REV and CMB e Message Logs FML and RML Static Summaries FSS and RSS Station Files STA Ephemeris Files EPP e Configuration Files CFG 2 4 9 Raw GNSS This option launches the GPB Viewer The GPB viewer allows the viewing and editing of raw GNSS data that has been converted to Waypoint s format This viewer is also launched from File View Raw GNSS Data or by double clicking a converted GPB file within Windows Explorer See Section 5 2 GPB Viewer Overview on page 141 for more information 2 4 10 Current CFG File This option opens a GrafNav project fi
208. mission to fix the file 5 2 1 2 Close This feature closes the GPB file without exiting from GPBViewer 5 2 1 3 Save As If you are making modifications to a GPB file such as the static kinematic flag this feature can be used to create a copy of your file prior to making any changes An associated ephemeris file epp will automatically be written when using the Save As feature GrafNav GrafNet 8 50 User Guide Rev 1 GPBView EAData Bank Raw DatalUnitedWayAGS8SPAN gpb l lok File Move Edit Help i GPB E Malte F214 Palos sell Data Information Position Information Receiver Nov tel DEM4 0EMV Epoch Time 185710 000 HMS 22 01 50 000 Model Corr Time 165710 000000 Date 11 05 2007 File Creation OEM42GPB v8 40 1522 Clock Shift 0 000 m Week 1452 L2C Offset 0 25 cycles Latitude 5144 14969 Mode Kinematic Antenna N A Longitude 114 5 31 80785 Num Sats 9 Environment GNSS Ground Vehicle Height 1074 75 m Warnings Sv C A Range m L1 Phase cyc _L1 Dop Lk C P2Range m L2Phase cyc Lk C El 9 22325150 70 117319453 3040 05 143 48 2292514985 914177521 143 42 344 5 2175768701 114337416 2701 34 88 50 2175768586 890940774 88 43 384 4 20546802 37 107974173 565 67 817 51 20546800 88 84135713 5 817 47 640 20 24408890 71 128269583 1628 68 84 35 24408890 53 99950332 1 1 3 118 2 21104615 23 110905501 229968 201 50 21104611 42 8
209. mmended GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 5 Table 20 Records Supported for NovAtel CMC Record Type Comment ID 23 Measurements Measurements ID 13 old style ID 14 Measurements One of these records is old style required but ID 23 is strongly recommended over the others Measurements DS old style Measurements ID 16 old style Recommended for GrafNet ID 20 Position users should be requested last ID 22 Ephemeris Required 155 Chapter 5 amp fH NovAtel OEM3 Options IV Perform pre processing checks I Re calculate position and clock offset I POSB marks end of record Otherwise RGEB C D or RNGB IV Print L1 and L2 loss of lock warnings V Check Novatel C A code lock bit I Reject bad C A code meas RGED only tolfm 152 000 v B Static Kinematic Mode Auto C Kinematic Factory Defaults C Static Cancel Table 21 Records and Files Supported for NovAtel OEM3 Record File Type Comment Measurements RGEB ID 32 expanded One of these records RGEC ID 33 Measurements is required but RGED compressed is recommended RGED ID 65 ps REPB ID 14 Ephemeris Required POSB ID 01 Position O Event Mark time only Written to STA file MKTB IDH 04 MKPB ID 05 Event Mark time and position Written to STA file CLKB ID 02 Clock Information See Notes
210. mputes a differential pseudo range solution at the start of the program if REMOTE SD is greater than 1 0 meters This means that this position can be many kilometers out and still work Entering the position is not necessary Latitude is positive in the Northern Hemisphere and nega tive in the Southern Longitude is positive in the Eastern Hemisphere and negative in the Western Hemisphere for example Americas See also INI TEX command No longer supported ON if ambiguities are to be saved if a satellite drops out in the file but it s locktime is not reset Disable if too many filter resets are occurring because of missed cycle slips SF_IONO_MODE OFF ON BROADCAST IONEX SHOTGUN ON OFF SKIP_NOREPAIR CaVal L1Val SPLIT_SS ON OFF dt SP_ STANAME name STATIC_SLIP_TOL val Turned ON for automatic selection between IONEX and ICD 200 broadcast ephemeris corrections to be applied when processing single frequency data or select type of correction manually Such corrections will only help on very long baselines No longer supported Maximum number of seconds of skip if bad data observed and could not be corrected on either L1 or C A Defaults are 10 s for C A and 0 0 s for L1 Values are in seconds Set ON to break up static sessions if a time gap of greater than dt is observed Dt is in seconds By default this setting is OFF Single point processing settings Ignored by NGPS32 dll Used by GrafNet to set
211. multiple observations into separate GPB files If you have logged data from multiple sessions and or days enable this option to create a separate GPB file for each Doppler Units Some Leica firmware versions use different Doppler units You can specify a unit but we recommend that you rely on the decoder to automatically choose an appropriate unit GLONASS PRN If you plan to process the data with a different brand of receiver ensure that the GLONASS satellites are correctly numbered GrafNav GrafNet 8 50 User Guide Rev 1 Utilities NavCom Table 18 Records Supported for NavCom describes the supported records Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option Re compute position and clock offset Enable this option if the clock shift data is corrupt or if positions records are not present This option is not needed if pre processing checks are enabled Report L2 cycle slips Prints a mess
212. must be continuous but it does not matter if the loop is formed in the clockwise or counter clockwise direction Once a complete loop is formed select Process Compute Loop Tie or right click on one of the selections in the Data Manager window and select Compute Loop Tie A window containing various statistics for the closed loop is displayed GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 3 Compute Loop Tie x Stations 111 D50211 D50311 Sessions 111 to D50211 1 D50211 to D50311 1 111 to D50311 1 dEast 0 001 m dNorth 0 001 m dHeight 0 012 m NumGood 3 NumBad 0 Num pprox D NumTotal 3 TotalLength 43 124 km MinLength 8 710 km MaxLength 17 458 km AvgLength 14 375 km 117 Chapter 3 Network Adjustment xj r Settings Scale factor 1 000 this value scales session obs covariance Confidence Level 39 400 y 39 4 is one sigma Utilize sessions labeled BAD in network adjustment Dutput Options IV Show input stations and vectors IV Show output coordinates Geographic I Show output coordinates Grid I Show output coordinates ECEF I Show orthometric height for output coordinates Geoid C Geoids woa Genid03 ContIS wo I Show output estimated standard deviations IT Convert output coordinates into input datum N A r Processing Messages Enter desired scale factor options then select Process Process Cancel IV View output file on completion
213. n 3 3 5 Print This option allows you to print different windows GrafNav GrafNet 8 50 User Guide Rev 1 GrafNet 3 3 6 Add Remove Observations This feature adds observation files to GrafNet projects These files must be converted to GPB files using File Convert Raw GNSS to GPB GrafNet extracts the station name and antenna height values from the STA file which is created during the conversion process Station Name and Antenna Height Verify that these values are correct and disable the option Prompt for station name and antenna height to add observations without user input Double check station names and antenna heights in the Observations in Project list Correct errors by right clicking the observation and selecting Edit Antenna Profiles GrafNet lets you select an antenna profile Because additional offsets to the L1 and L2 phase centers are added when using profiles other than Generic match up the antenna height measurement to the expected measuring mark on the antenna See Section 2 3 6 Add Master File s on page 21 for help If a slant measurement is selected then a correction is applied based upon the size of the antenna ground plane Be sure that the origin know as the measuring mark is defined Observation Files Adding observations breaks observation files into multiple periods if a gap of 3 minutes or more is detected This is controlled with Break up multiple occupations into periods Some RINEX
214. n r General Zoom increment scale factor E 1 4 Units Metres hd I Hide ignored baselines Plot coordinate system Geographic Grid IV Show grid lines Zoom Display Settings For Zoom Level Text point size 7 Small C Medium C Large Set Defauts Ellipse scale 1 00 X pix mm rm Information on Map Status Bar I Position IV Legend Symbol size Level 1 Level 2 Error Ellipse Display IV Session ellipses IV Station ellipses Confidence 39 400 y ce I Crosses on ellipses Cancel Apply 123 Chapter 3 Ign Unproc Dup Approx Good Bad Trav Gcp A Tie A Check GEO DMS Table 13 Station Colour Legend 070 o Description Control point A reference station with Cyan known coordinates Check point Station has known coordinates available but they will only be used as a check Comparisons are found in the TRV file The network adjustment output file NET also shows check point residuals Dark Purple Tie point Two or more sessions are connected as remotes to this station via the traverse solution The TRV file will show traverse ties Light Purple Traverse point No tie information can be Yellow computed for the traverse solution 124 GrafNet 3 6 3 Export DXF See Section 2 7 9 Export Binary Values on page 77 for information regarding any feature not described be
215. n 25 process 42 processing 35 summary files 35 trajectory 35 Google Earth Export 76 192 Index Google Earth Options 76 GPB File concatenating splicing and resampling 146 converting raw data to GPB 147 editing 143 exporting to ASCII 142 format 131 GPBViewer 141 GPBView 141 GPS almanac 96 Grids settings 59 H Hardlock Key upgrading 12 How to fix bad baselines In GrafNet 106 HTML build report 76 save 66 Installing the Software 11 Interpolating data See resampling 34 IONEX Files adding to project 24 description 24 downloading 96 for L1 single point processing 25 Ionospheric Corrections fixed static processing 55 using IONEX file for L1 24 K Kinematic Mode switching data between modes 32 143 Kinematic Processing in GrafNav 54 L Leica importing EVO TDU files 26 Loading camera marks 26 existing solutions 25 26 Locktime Cut Off 44 Loop Ties 117 Map Window GrafNav quality numbers 79 GrafNav GrafNet 8 50 User Guide Rev 1 Index interactive tools 83 settings in GrafNet 123 Master Stations adding to GrafNav 21 coordinates 57 resampling 34 Measurements outlier detection and rejection 50 Measurements Standard Deviations 50 Message Logs format and description 134 viewing 35 Move to Static moving the station features 38 N Network Adjustment definition 103 detailed description 118 variance factor 120 NovAtel importing MRK file
216. n addition to GPS The default search location for precise products contains only GPS data 24 GrafNav Precise Ephemerides Precise ephemerides contain corrections to broadcast orbits These files are produced by various agencies including CODE Center for Orbit Determination the IGS and many others The different precise ephemeris products vary in their latency with presently supported products ranging from approximately 6 hours to 2 weeks The difference in accuracy between rapid and final products is very small generally within the noise of either differential or PPP solutions Presently precise ephemerides reduce the line of sight component of satellite position error to approximately 2 cm RMS as compared with approximately 2 m RMS for broadcast orbits As orbital error is largely cancelled in differential processing adding precise ephemerides to a differential project will only produce observable differences where the baseline length is very large 150 200 km For this reason adding precise orbits to a differential project is generally considered optional However it is required for PPP projects Precise ephemerides can be downloaded through the Download Service Data utility or directly through the GrafNav interface The latter method is described in the shaded box IONEX Files IONEX Ionosphere Map Exchange files contain a model of the TEC Total Electron Content of the ionosphere These files can be appl
217. n controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 5 Table 28 Records Supported for Thales DNSP Record Type Comment Measurement Q Measurements hex 51 One ofthese Measurement R dE records is required Measurement E Ephemeris Required hex 45 167 Chapter 5 Table 29 Files Supported for Trimble DAT Comment Measurements dat Ephemeris and Required Event Marks 168 Utilities Trimble DAT This decoder converts data from Trimble 4000 5800 receivers The Trimble data files DAT are formed when data is logged internally in the receiver The Table 29 Files Supported for Trimble DAT describes the supported files Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the comput
218. n file is missing I Use alternate ephemeris file Browse Factory Defaults Cancel Table 23 Files Supported for RINEX File Type Comment yyo obs Measurements rxo One of these files is required m Measurements yyd compressed yyn l nav GPS Ephemeris xn Required GLONASS YY9 Ephemeris lt The yy in the file extensions found in the table above designate the last two digits of the year that the observations were collected in 159 Chapter 5 160 Utilities Calculate from CA code If the Doppler signal is missing or unstable using the CA code will create fewer problems than using L1 phase but velocity accuracies may be worse Use ephemeris static Assumes static data and computes Doppler from satellite velocities Ephemeris Prompt user if RINEX Nav file is missing If a navigation file is either missing or has a different name than the observation file you will be prompted to select a navigation file Use alternative ephemeris file You may define a path to the navigation file manually This will override the previous option GrafNav GrafNet 8 50 User Guide Rev 1 Utilities RTCM Version 3 0 Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Re compute position and clock offset GrafNav requires valid clock sh
219. n instructions Create a Project Follow the instructions in the shaded box Convert Data To be processed raw GNSS data files have to be converted into Waypoint s GPB format Instructions on how to convert these files are in the shaded box Add Observation Files to the Project Files can be added one at a time by clicking 4dd or all files in the directory can be added by clicking Select All followed by 4dd A dialog box appears requesting verification of the station ID and antenna height With some receivers this information will be filled in automatically Always ensure that the ID and antenna heights are correct Steps on how to add observation files to a project are in the shaded box DI Ifa station has been observed more than once the station ID should be the same for each observation Otherwise two separate stations will be formed and solved for Add a Ground Control Point Follow the steps in the shaded box to add a ground control point GrafNav GrafNet 8 50 User Guide Rev 1 GrafNet Set the Processing Options Follow the steps in the shaded box to set the processing options Process All Sessions Follow the steps in the shaded box to process all sessions After these steps are completed error ellipses on each of the single session baselines and the processing window should both appear Verify That All Baselines Have Passed Passed baselines are plotted in green failed baselines in red purple or blue D
220. n page 36 for more details Project files Contains project configurations and processing options Html GE files Deletes everything in the ATML sub folder for a project This includes any bitmaps HTML reports or Google Earth output files 33 Chapter 2 34 GrafNav 2 4 View Menu 2 4 1 Project Overview This window provides a summary of the data in the current project From here you can view information regarding the base and remote files including receiver antenna types time coverage and data gaps 2 4 2 GNSS Observations These options are available via Master or Remote View Raw GNSS Data Opens the master file in GPB Viewer View Ephemeris File Opens the EPP file in the internal viewer View Station File Opens the STA file in the internal viewer Insert Static Kinematic Markers Launches another dialog that can be used to change the static kinematic flags in the data This is a convenient way of inputting multiple static sessions if you have the start end times of each session marked in a text file Resample Fill Gaps using the following options File Interval Fills all gaps by resampling using the data interval Processing Interval Fills gaps and lowers or raises the data rate in accordance with the specified processing interval Remote File Times Produces a GPB file with epoch times that match the remote file Any data gap present in the remote file is also present in the new master GPB file Thi
221. n plot the difference in the solutions by viewing the Combined Separation Plot which is accessible under Output Plot Results However before exporting ensure that either the differential cmb or the PPP csp solution is loaded as the Export Wizard accesses whichever solution is presently loaded One way of re loading combined results is to choose Differential GNSS Solutions or PPP GNSS Solutions from this dialog and clicking the Combine button GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 6 Settings Menu 2 6 1 Coordinate Antenna Master Station Settings This option lets you modify the master station coordinates Coordinates datum and antenna information can be entered manually or loaded from the Select From Favourites button The Compute from PPP button processes the base station data through GrafNav s precise point processor and reports the difference in coordinates between the values on the screen and the computed values This can be an effective means of checking base station coordinates or in some cases establishing them See Section 2 3 6 Add Master File s on page 21 for more information of the settings available Remote Settings This option lets you customize the remote s antenna information See Section 2 3 7 Add Remote File on page 23 for additional information GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 eanes i Master Remote a 1 1LSU w Name 1LSU
222. nce criteria increases both the likelihood of achieving a fix and the possibility the fix may be suspect Conversely increasing the quality acceptance criteria helps reduce the likelihood of incorrect ambiguity fixes but also the chance that no fix is achieved when conditions are marginal for ambiguity determination The default criteria applied is Q2 99 This is considered a good starting value for all applications In general aerial applications benefit from more strict tolerances as the GNSS signal conditions are not challenging Using too strict a tolerance in ground vehicle applications can result in float solutions only for a large percentage of the trajectory The quality acceptance criteria provides a level of control over ARTK performance however advanced users can also apply additional thresholds such as the minimum reliability maximum RMS and other thresholds listed in the Advanced section Maximum Distance The distance tolerance for engaging ARTK in both single and dual frequency can be defined here The default values applied are high and therefore are more often lowered than increased If your project involves a long flight to or from the project area and your base station is operating in the project area it is generally beneficial to lower the distance threshold to 30 km or less This will prevent GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 ea General ARTK Measurement lonosph
223. ndled by the other option tabs See Appendix C Summary of Commands on page 177 for a list of commands When a configuration file is loaded all commands that are not handled by the other option tabs appear here This includes commands that are not supported in the version of GrafNav being used These commands can easily be deleted here GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 a General ARTK Measurement lonosphere Troposphere Fixed Static User Cmds Fixed Static Data Interval Static Initialization Interval 15 00 foc Float solution or ARTK Fixed static solution Static Session Settings E Split into two sessions if time gap greater than 120 sec Y Tolerances for fixed static solutions Single Dual Frequency Distance is less than 12 40 km Time span is greaterthan 600 180 sec Search Area Options 9 Reduce as float solution accuracy improves User defined search cube size Single frequency 0 500 fm Dual frequency 1 500 m lonospheric Noise Modeling On f baseline exceeds 5 0 km Off General Options E Refine L1 L2 integer solutions E Stricter RMS tolerance increases satellite rejections E Stricter reliability tolerance Cancel lonospheric Noise Modeling settings On if baseline exceeds Corrects for the ionosphere if the baseline exceeds the specified length Off Use this option to disable the use of L2 for ionosphere corrections General Options
224. nges time from UTC to GPS Dfile Options Chain Repeated Station Marks into I Static Session Combines sessions that are repeated in the Seismark software into one session Do NOT Chain Marks that are more than n seconds apart This value controls the time tolerance used in the previous setting If two static periods are marked less than the amount apart they will be combined GrafNav GrafNet 8 50 User Guide Rev 1 Utilities Thales Ashtech Magellan Real Time This decoder converts Thales Real Time DG16 G12 or Super C A data The real time data forms when data is logged externally from the receiver using a custom data logger Table 27 Records Supported for Thales Real Time describes the supported records General Options Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Recompute position and time Enable this option if the clock shift data is corrupt or if positions records are not present This option is not required if pre processing checks are enabled Decode MACM messages and ignore others If both MBN MCA and MACM records exist only the MACM will be decoded Decode old style MBN locktime Some older units for example Sensor II output locktimes with a different resolution Enable this option to output the locktime value Static Kinematic Mode This option controls how the static
225. nncrnnn nn 121 3 49 VIEWAIlSESSI NS iii A oie ida 122 3 4 10 View All Observations c ccccccccceeceeeeeeeeeeecenaeceeeeeeeeeeeesececaaaeaaeeeeeeeeeeeeeeeeesessenaeeeeess 122 3 4 11 View All Stations ci tt da 122 3 5 Optlons MOM kursene eee aa palates 122 3 5 1 Global Settings cnica dt rl ld eevee 122 3 5 2 Sessions Settings Shown in Data Manager oiococcconinccocnconcoconcnnnonononannnonano rca ro nana nana rnnnnnnn 122 3 9 3 Datum OPTIONS iii a i a a a a a a ee 122 30 4 Grid Options 24 8 O ataca 122 3 5 5 Goid Options ui ada ad addere 123 3 5 0 PASTOTENCES viii dai A sd tee ru Ted 123 3 6 Output Me A aker a den lil das 123 3 01 Export Wizard en cst a lene en 123 3 6 2 View Coordinates aisedeede ea aaa aande nn nn nn nana ener nn nn nn nn nn rre mn aaea 123 3 03 FXPort DXF arenaer 124 3 6 4 Show AETA TALA 0 V 124 3 0 0 5hoW Data WINdoW 2 25 cerco ii e and ikka 124 3 6 6 Baselines WINdow ciciioiiiaia a A aar a aaea aeai dn 129 3 6 7 Processing WINd w snutter fraa daa 129 O Uedactste as 129 3 8 Help MENU 2 20 o ectaks eters ashe ease 129 GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 4 File Formats 131 4 1 Overview of the File Formats ccccccccccsesececeeaeenseceeeeesueeeeeeeeaeeaseeeeeeeaaeeseeeeeauaeseeeteaeanseseeeees 131 42 GEG Ali dr re eee 131 AS GPS Data Files tas 131 4 3 1 GPB Pil uden cc diodo 131 43 2STA File Luisa fade cued dte mas eie bee eide de 132 NN deig 133 44 Output
226. now of another service which provides public FTP access to GNSS reference data contact Waypoint support support novatel com as it may be possible to add the service to the software This has the added benefit of making the service available to all other GrafNav users as well If you prefer to add your own custom service create a user dni file within your User directory The exact location of this directory can be found from the All user created or modified section of the Update tab within Settings Preferences Station records must conform to the format in the shaded boxes on this page and the next page the manufact dn1 file and paste it into user dn1 file for modifying gt lt You might find it easier to copy a station record from Adding a service requires knowledge of the FTP address at which the data is stored The directory structure and file type must be known GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 Station record format Four character station name as saved on FTP server See Note 1 Station sName on page 98 lat Latitude in DMS followed by N or S to designate hemisphere lon Longitude in DMS followed by E or W to designate hemisphere ht Ellipsoidal height in metres serv Name of service to which the station belongs See Note 1 and Note 3 on page 98 Service record format Service Servld Name of service up to a maxi mum of 8 characters See Note 1 on page 9
227. ns not described here Zoom Display Settings The Ellipse scale field changes the size of the error ellipses Projects covering large areas might have large ellipses and decreasing the values for all three zoom scales 0 1 and 2 will make the ellipses smaller Error Ellipse Display Controls whether relative or absolute error ellipses are displayed First error ellipses can be displayed for session solutions Second ellipses can be displayed for the stations after a network adjustment is run The crosses on the ellipse option shows the axes of the error ellipses Solution In addition to the options described in Section 2 6 8 Preferences on page 61 the Solution tab offers GrafNet users the ability to automatically run a network adjustment after processing has completed 3 6 Output Menu 3 6 1 Export Wizard See Section 2 7 5 Export Wizard on page 72 for information regarding this feature 3 6 2 View Coordinates Opens the last file generated by the Export Wizard in the internal ASCII viewer GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 3 Geoid Correction xi m Geoid Geoid file name C GEOIDWPG Geoid03 ContUS wpg Browse Format Waypoint Geoid m Master Station Height fa Automatically select using mput master height type Ellipscidal apply absolute correction Brthometric mean sea lev el apply relati e conector OK Cancel Preferences GrafNet Display Solutio
228. nted from GrafNet Input Stations This is a list of the control GCP and check CHK points in the project Their associated geographic coordinates and standard deviations are also shown Input Vectors This is the ECEF vector components for each session that has a Good status The lower triangular of the ECEF covariance matrix is shown next to the vector components The value in brackets is the standard deviation of the ECEF X Y or Z axis in meters The covariance values are not scaled by the Scale Factor entered at the start Output Vector Residuals This is the most important section of the network adjustment output It indicates how well the session vectors fit in the network The residual values are shown in local level where RE is the east axis residual RN is the north axis residual and RH is the Z axis residual These values are expressed in metres and should ideally be a few centimeters or less Larger values may be acceptable for larger networks In addition to the residual values a parts per million PPM value is shown This indicates the size of the residuals as a function of distance 1 PPM corresponds to a I cm error at a distance of 10 km The baseline length is also shown in kilometers Baselines less than 1 km can have large PPM values This is because other errors such as antenna centering become an influencing issue This might not indicate an erroneous session solution The last value is the combined east north
229. nterval date and path IV Station Service Dist km Direction a bmy IGS 21 E z bry UNAVCO 21 E Animas IGS 25 W nmud IGS 25 WwW nmdt IGS 25 W A cu IGS 25 W Aci CDDIS 25 W cit1 UNAVCO 25 W cvhs IGS 28 Nw A cvhs UNAYCO 28 NW A sons UNAYCO 28 W A sghs IGS 29 W azu CORS 2 8 Nw azu CORS 2 38 Nw azul UNAYCO 38 NY azul CDDIS 38 NY azu IGS 38 Nw A mip CORS 43 E Find Stations Plot in Google Earth Download Close 95 Chapter 2 fa Download GNSS Raw Service Data Download Add from List Add Closest Options Temporary Directory Path for holding temporary files C Users DMACDO 1 AppData Local Temp Browse Overwriting Files Overwrite existing files with newer files C Append an B to end of newer files RINEX Options I Use Doppler D1 if available I Leave RINES files in current directory FTP Settings Email address for anonymous FTP entry dave waypnt com IV Use Passive FTP for firewall and DSL modem compatibility Precise Files I Precise Ephemeris File 5P3 I Precise Clock File CLK Bis E Other Files to Download I GPS Almanac I JONES File Map of the TEC Source CODE About Download I GLONASS Almanac IV GNSS Broadcast Ephemeris Download Close Specified correction files IONEX File Contains information regarding the total electron count TEC of the ionosp
230. ntroduced This may only be significant for very high accuracy applications Add From List List of Stations This window provides an alphabetical listing of all services Expand the list to show the individual stations within each service The Info button provides an approximate coordinate which is used when searching for base station data using the 4dd Closest tab The Add button places the station on the List of Stations to Download under the Download tab Download Latest List This connects to the Waypoint FTP site and downloads the most recently updated manufacturer s files for the version you are using Waypoint updates the list of stations on a monthly basis Add Closest This tab reports the distance and azimuth using either a user entered location if directly entering a geographic position or relative to the position records scanned from a GPB file If using the Position from GPB File function the download utility searches your file at regular intervals and will report the minimum distance to each base station at any point in the trajectory This is more helpful than taking an average of the GPB position records for large project areas GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 f fa Download GNSS Raw Service Data Download Add from List Add Closest Options Position Se homi El EN 59 58 41807 position from Longitude west vi 117 39 47 46787 GPB File Update Download tab with time i
231. nversion If the transformation needs to be inverted due to opposite From and To datums then the reversed values are shown Residuals using Shows the difference between raw FromDatum coordinates and the ToDatum coordinates transformed into the FromDatum Root mean square values are shown at the bottom Note that the residual values are oriented to local level east north and up Raw Differences These are the raw differences between the ECEF coordinates of the matched points in the two files Only points that have a match found are processed The USED column shows if points are to be used in the solution or not and refers to the Flag in the FromDatum file GrafNav GrafNet 8 50 User Guide Rev 1 85 Chapter 2 Compute Geoid Height Undulation Geoid File WPG Format Only E Geoids USA Geoid1 244CONUSAYGEOID12 amp CONUS my Browse Geographic Position Latitude Noth 30 01 12 52141 Longitude West w 112 32 18 52141 Press Compute to calculate geoid height Compute Geoid Info Close 86 GrafNav 2 8 6 Geoid Geoid files are required when exporting Mean Sea Level MSL heights Geoid files contain a grid of undulation values that represent the difference between ellipsoidal and MSL height To calculate MSL height from ellipsoidal height at any geographic position GrafNav subtracts an interpolated geoid height undulation value from the ellipsoidal height A Lagrange int
232. o be re formed Load the TRI file by selecting File Load Digital Elevation Model Load Triangulation tri GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 3 10 Convert The two conversion utilities that are available are the following Raw GNSS to GPB You must convert your raw GNSS data files to GPB format prior to importing them in to a GrafNav project See Section 5 4 GNSS Data Converter Overview on page 147 for more information regarding this utility GPB to RINEX GNSS manufacturers typically provide a utility to convert their native data format to RINEX It is therefore unusual to convert from GPB to RINEX as an intermediate step would be involved converting to GPB when often the native receiver data can be converted directly to RINEX Nonetheless RINEX 2 11 and 2 0 files can be generated from GPB files using this utility See the shaded box for more information 2 3 11 GPB Utilities This is available for use with GPB files and includes the following Concatenate Slice and Resample See Section 5 3 Concatenate Slice and Resample Overview on page 146 View Raw GNSS Data See Section 5 2 GPB Viewer Overview on page 141 GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 F Ny GPB To RINEX Converter Smm Rinex Version GPS Week Version 2 11 C Version 2 0 A Auto Detect Week C SetWeek GLONASS Ignore GLONASS VEN Files to Convert RINEX Header
233. oading DEMs General Plotting the ground elevation in the height profile plot Allows the ground height and the height of processed ellipsoidal height of the remote to be displayed within the Height Profile plot Drawing the DEM triangles Displays the TIN model of the network formed Turning these options off reduces any sluggish response from the program when viewing the Map Window 2 6 6 Manage Profiles The profile manager allows new profiles to be created or existing profiles to be edited The profile manager can also be used to edit the GrafNav default settings or restore the factory default settings Project Profile Tools New from Project Creates a new CFG profile using the current project s settings Update with Project Updates the processing profile with the current project settings CFG Profile Tools Edit GNSS PPP IMU Brings up the processing settings menu to allow the selected profile to be modified Rename Allows the profile to be renamed Delete Deletes the selected profile Copy Creates a copy of the currently selected profile lt Modifications to pre loaded profiles are lost if software is re installed 2 6 7 Compare Configuration Files This feature allows you to compare the settings applied in two different configuration files This utility scans both of the CFG files and creates a report outlining the differences found This report is displayed in GrafNav s ASCII viewer GrafNav
234. observed and removed using dual frequency measurements This is because the troposphere is non dispersive at GPS frequencies and affects L1 and L2 equally GrafNav uses a Saastamoinen model to estimate the tropospheric delay at the base and remote However regardless of what model is applied tropospheric error is largely removed in differential processing as it is a correlated error on short baseline lengths As the baseline length increases to 150 km or more and or where there is a significant height difference between the base and remote 10 000 ft residual tropospheric error can easily become the largest error source reaching magnitudes as much as 30 cm in some cases In order to reduce the tropospheric error under these conditions GrafNav leverages the ability of the Precise Point Positioning engine to observe the actual tropospheric delay at the base station In PPP tropospheric error is observed as an additional Kalman filter state Hence GrafNav first solves the actual tropospheric delay at the base station and then as a second step applies this information in differential processing 52 GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav The advanced tropospheric state can reduce residual tropospheric significantly further preserving GNSS post processing accuracy as baseline length increases The Automatic setting will automatically engage this option if 10 or more of the unprocessed positions are over 150 km from
235. ocessing It is also applied when exporting VSF ellipsoidal or orthometric heights however this is no longer required by most photogrammetric packages DEM Points File File The DEM file has to be organized in one of the formats listed under the Format drop down list Format These options are available to help read the input file They are listed in the shaded box Grid This option defines the DEM source or working grid If the horizontal coordinates of the DEM are in a map projection such as UTM Universal Transverse Mercator or State Plane then GrafNav requires the details associated with this projection Ifthe DEM is stored in geographic coordinates then a working map projection grid system is required UTM is the easiest but any system will do Datum This option specifies the processing datum for the project which should match the datum that the DEM values are stored in Since only the ellipsoid component of the datum is used NAD83 and WGS84 can be used in place of each other for most applications that do not require the utmost DEM accuracy Geoid A geoid model should be selected since DEMs are generally referenced to MSL Mean Sea Level Waypoint geoids are in WPG file format and many of them are accessible directly from the NovAtel website Contact support novatel com if you need help finding geoid files that can be used within GrafNav lt After a DEM has been imported the TIN model does not need t
236. ocessing settings Datum PPP processing only The processing datum is directly accessible from the Process GNSS dialog for PPP processing only In differential processing base station coordinates and the project datum should be set when adding base station data to the project PPP is however an autonomous positioning method which does not use base station data Thus the processing datum is treated like a processing option GNSS data can be processed in any global datum such as WGS84 ITRF ETRS89 and NAD83 If you require results in a different datum a datum transformation can be applied within the Export Wizard Processing Information Description The processing description automatically appears as Run 1 for the first differential processing run or PPP 1 for the first PPP processing run In order to distinguish each processing run within the processing history accessible from View Processing History the counter within the parentheses automatically increases each time a processing run is performed The description of the processing runs can be edited optional User You can enter your name or initials here This is shown in the processing history View Processing History and can be helpful if multiple users will be processing the same data on the same computer GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 Multi Pass This method of processing is available only for PPP This is because it is a method
237. of satellites used in the solution as a function of time The number of GPS satellites GLONASS satellites and the total number of satellites are distinguished with separate lines File Data Coverage Plots the coverage of each GPB file in the project or a user specified GPB file as a function of time This plot indicates whether the data has been converted as static or kinematic by different color codes and shows the presence of any detected complete losses of carrier phase lock by vertical bars This plot is useful in determining whether any base station data does not overlap with the time range collected by the remote receiver Coordinate Values Distance This plot shows the distance between the master S ration and remote For multi base distance separation eparatio see Section 2 7 3 Plot Multi Base on page 71 Height Plots the ellipsoidal height of the remote as a Profile function of time Velocity Plots the north east and up velocity Also plots Profile the horizontal speed Sheet 4 of 4 GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 7 3 Plot Multi Base Multi base plots are available if more than one base station has been added to your GrafNav project In this case the multi base plots are often more helpful than the main plots as they distinguish results from each baseline The multi base plots contain many of the same plots as the main plotting options and therefore only the pl
238. ofile GNSS Airborne GNSS Ground Vehicle or GNSS Marine the first time the processing dialog is accessed for a project GrafNav GrafNet 8 50 User Guide Rev 1 149 Chapter 5 F E Javad Options V Perform pre processing checks Use carrier phase from P1 instead of C A IV Use locktime records for cycle slip detection I Decode epochs with bad checksums I Verbose messaging mode L2C phase correction 0 25 cycles Static Kinematic Mode amp Auto Factory Defaults C Kinematic IV Use SAVE marker to store sites to sta file otherwise each site saved gnore L2C data C Static Cancel Table 15 Records Supported for Javad amp Topcon Record Type Comment C A Code RC rc Measurement Block RC suggested 1R L1 P Code Measurement Block 3R L2 C A Code Measurement Block R2 r2 L2 P Code 2R 2r Measurement Block 2R suggested PC pc L1 Phase CP cp Measurement Block CP suggested P2 p2 L2 Phase 2P 2p Measurement Block 2P suggested L2C Phase SP 3p Measurement Block L1 Doppler DC Measurements Strongly recommended GE GPS Ephemeris Required NE GLONASS Ephemeris Required TO Clock Offset TC Locktime Recommended for PO Position GrafNet Users SI PRN List RD Receiver Date 150 Utilities 5 4 3 Supported Receivers This section discusses the receivers that are currently supported by the Raw GNSS Data to GPB conver
239. ommon Plots Plot Description Accuracy Plots the standard deviations of the east north i and up directions versus time for the solution The Em total standard deviation with a distance A dependent component is also plotted View this Ccuracy plot for individual forward or reverse solutions and losses of lock Measurement Plots the RMS of the double differenced C A residuals for all satellites used in the solution Under good conditions this indicates C A measurement accuracy High C A residuals often indicate high multipath Also plotted is the standard deviation applied to the C A measurements within the Kalman Filter This value comes in part by the a priori value set RMS C A in the Measurement tab In dual frequency carrier Cod phase processing where ARTK is used to resolve ode integer carrier phase ambiguities the C A code does not heavily influence solution accuracy Thus the standard deviation assigned to the measurements is not important provided it is not overly optimistic Adjusting the C A measurement standard to a value more representative of the size of the actual residuals while still being conservative will benefit float solution convergence Plots the RMS of the double differenced carrier phase residuals for all satellites used in the solution Under good conditions and with a short baseline it is a good indications of carrier phase measurement accuracy Carrier phase noise increases as the baseline
240. on See Note 2 M 1 The MBN or MACM records are recommended for G12 receivers The MACM record is designed for high speed data output that is 10Hz or 20Hz under limited bandwidth conditions The ITA record is for G8 receivers while the MPC is for dual frequency receivers such as those in the Z series The MCL record is an L2 codeless record 2 Marks the end of the record Recommended for GrafNet users 165 Chapter 5 166 Utilities UTC Offset for GLONASS decoding The following option is available for those users logging GLONASS measurements Use the following UTC offset for decoding Allows you to define your own UTC offset rather than using the nominal or detected value Important for GLONASS processing Alternate Ephemeris Use alternate ephemeris Enable this option if ephemeris data is missing for example Parthus GSU 2 to specify an outside EPP file GrafNav GrafNet 8 50 User Guide Rev 1 Utilities Thales Ashtech Magellan DNSP Table 28 Records Supported for Thales DNSP describes the supported records lt The Measurement Q record includes the receiver time record while the Measurement R record includes the satellite time record As such the former is recommended Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Static Kinematic Mode This optio
241. on information antenna or velocity info GrafNav The following options are available in the Favourites Manager via the buttons on the right hand side Info If clicked while a group is highlighted this returns the total number of sites contained within the group If clicked while an individual site is highlighted the position velocity and datum are displayed Edit Use this option to modify the information related to a station including coordinates antenna information and station velocities Remove Use this option to removed an individual site or an entire group Add Site Use this option to add a new site into any group We recommend creating a custom group prior to adding your own sites Add Group Use this option to add of a new group Add from File Using this feature a list of station coordinates can be directly loaded from an ASCII file eliminating the need for manual entry The file must contain the station names and coordinates in a comma or space delimited format The Input File Format box at the bottom of the window provides a useful reference for those users who are unsure as to what their input file should look like lt Southern latitudes and western longitudes should be denoted by a negative sign Information regarding the stations antennas can also be specified here If the antenna model and or heights are common to all the stations being added then the Enable global antenna prope
242. ood standard deviation value is one in which about 90 of the RMS values fall below Realistic values allow the Kalman filter to perform better About unfixable data Moving Antenna An antenna that is not still causes havoc with static processing This can be caused by an operator not holding the antenna still heavy winds or a vehicle that is rocking Theoretically this data should be processed as kinematic and the position solutions averaged However GrafNet does not currently support this mode of processing so this data should be avoided If it needs to be processed a float solution will perform best Ionospheric Effect Heavy ionospheric activity can cause large carrier phase noise single frequency receiver cannot do much to alleviate the problem However dual frequency data will most likely process better with an 10no free solution rather than some of the fixed integer techniques such as the fixed solution Constant Loss of Lock Antennas placed under trees or similar obstructions will often continuously lose lock which causes the fixed static to fail and the float solution to report poor accuracy Poor Antenna Location High multi path mostly affects the C A code but the carrier phase can also be affected and might cause a fixed solution to fail Antennas placed near large metal structures are most affected Locations on rooftops can also cause poor data Avoid these locations The only suggestion for possibly improvin
243. oordinates feature should be used Variance factor See Variance Factor and Input Scale Factor on page 120 for information 120 GrafNet Using Horizontal and Vertical Controls GrafNet supports horizontal and vertical control points in addition to full 3 D control To utilize this control you must have available 1 10 m accurate coordinates for the unknown axes that is Z for horizontal points and latitude and longitude for vertical points These coordinates can be obtained from the single point solution in the absence of SA or from an initial network adjustment run using just one 3 D control point The latter method is normally used When the vertical and horizontal control points are added 1t is important to de weight the unknown axes For vertical control points the horizontal standard deviation is set to 100 m For horizontal control points the vertical standard deviation is set to 100 m Obtain Orthometric Heights Orthometric heights are available in the network adjustment output Variance Factor and Input Scale Factor The variance factor is at the bottom of the network adjustment output It is the ratio between the observed residuals errors and the estimated session baseline accuracies Ideally the variance factor should be 1 0 This indicates that the estimated errors correspond well to observed errors variance factor less than 1 0 indicates that the estimated errors are larger than the observed errors that
244. ormation 61 Chapter 2 Preferences II a Display Solution Export Update Solution Settings Automatically load solution on project start Processing Default Datum WG584 y Antenna Correction Profile nas08 atx Z Process forward reverse directions simultaneously D Always 5 Never Only f multiple CPUs exist on this machine V Perform preprocessing Y Perform smoothing automatically 7 Leica airbome sensor work flow Verbose messaging mode V Enable processing profile detection When finished processing Y Close processing window s Display group of plots work adjustment GrafNet only E Export Google Earth file use with auto update Float Static Tolerance Tolerance for failing float static solutions 0 100 fm 20 ppm or Cancel _ When finished processing Close processing window s Closes all processing windows after completion Display group of plots If you have defined a group of plots under Output Plot Results then you may select it here for automatic display See Section 2 7 1 Plot Results on page 65 for help creating a group of plots Export Google Earth file The software writes a KML KMZ file to the HTML folder which is located in the project folder If the Output Export to Google Earth Create Auto Update Entry option has been used then Google Earth updates the new trajectory 62 GrafNav Solution Solution Settings
245. ormation can also be applied when exporting results GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Datums This feature allows custom datums to be added or existing datums to be enabled or disabled Datum Conversions This tab allows you to view edit or add conversions between datums Ellipsoids This page allows you to view the a b or 1 f values for a particular ellipsoid You can also add new ellipsoids 2 6 4 Grid GrafNav supports several international and regional grids such as UTM US State Plane British Grid Irish Grid etc Custom grids can also be defined by selecting Define Grids within the Grid Settings for Coordinate Input dialog Defining a grid allows the grid to be accessed by the Export Wizard Base station coordinates can also be added directly in grid format as well GrafNav projects store grid information Set up a grid for the following reasons e Master coordinates can be entered directly in a supported grid The Map Window can plot in grid coordinates See Section 2 7 11 Show Map Window on page 79 for more details Export Wizard can use a defined grid for coordinate output See Section 2 7 5 Export Wizard on page 72 for details New grid definitions can be added by clicking Define Grid or via Tools Grid Map Projections Define See Section 2 8 7 Grid Map Projection on page 87 for more information GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 Proj
246. ot by nature overly optimistic Select Epoch Sampling Mode When exporting epochs you can choose to export all processed epochs reduce to a lower sampling rate interpolate to a higher sampling rate or even apply distance dependent sampling if results are required at regular intervals GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 My Sicuani TT Select Datum 9 Use processing datum Datum ITRFO5 Convert to another datum WGS84 lf J Automatic use default ITRFO5 to WGS84 IGN Do not convert elevation leave in processing datum Use input datum convert back to input coordinate system gt a Filter Output Data E By Quality Number 6 E By Standard Deviation 20 000 Scale Standard Deviation Values applied after filtering Scale Factor unitless Position 1 0000 Velocity ry moon TT Sampling Mode 9 Export every epoch Reduce to lower sampling rate Int 0 000 Interpolate to higher sampling rate Inte 0 000 60 Use distance dependent sampling 0 000 75 Chapter 2 Information File E XTemp Training Data GrafNav Multi Base Flight01 840 bt Source GNSS Epochs Export Fields Station Name GPS Time Seconds of the Week Latitude Degrees Minutes Sec signed Longitude Degrees Minutes Sec signed Blipsoidal Height Metres Horizontal Standard Deviation Metres Height Standard Deviation Metr
247. ots unique to multi base are described in the following table Table 2 Common Multi base Plots Plot Description Separation One common reason for poor multi base results is biased base station coordinates from one or more base stations This plot is helpful in determining which base station is the outlier if only one exists Carrier Separation plots the difference between the multi base position as processed using data from all base stations and a least squares based solution using the carrier ambiguities for each base station If the measurements from one base station are affected by a bias such as due to incorrect base station coordinates it should be clearly shown in this plot Carrier Separation Similar to Carrier Separation however the position computed in the least squared solution which is compared against the processed multi base solution is derived on code measurements only not solved carrier phase ambiguities Thus this plot attempts to show the same thing as the carrier separation but is often less helpful due to the accuracy difference between code and carrier measurements Code Separation Effective Baseline Weighting Plots the relative weighting applied to each baseline This is largely dependent on the distance to each base station Quality Control Shows the number of base stations used as a function of time Number of Baselines 2 7 4 Plot Master Remote S
248. our input file 3 Under File Name use the Browse button to select the file of interest The file name depends on the receiver format and is explained in Section 2 3 6 Add Master File s on page 21 lt Ifthe files formats you use are Userl User6 use Time Settings to select the time formats UTC time cannot be loaded and the correction has to be applied externally 26 GrafNav Loading Camera Event Marks Use this feature to load external time tagged events from an ASCII file When you load these events they must be referenced to GPS time and not UTC coordinated universal time The source of the events can come from an aerial camera sounding equipment or other real time devices The GPS receiver must support a mark or pulse input for this feature to work Most events are automatically stored in the station file sta during the conversion to GPB format and appear when the remote is added to the project For user events and a few receivers such as Ashtech or B file this feature must be used File Format STA File Many new converters save the camera event marks directly to the station file The marks load when you add the GPB file to the project If they do not load then use the File Load Station File feature MRK File Leica SR receivers save event marks into a EVT file which is converted into a MRK file by the Leica decoder The MRK file can be loaded using this option Numbering is performed by the conv
249. p identify a bad satellite Write individual satellite residuals to binary value file Writes carrier phase and code residuals for each satellite and baseline to FBV and RBV files Required in order to view the individual satellite value plots 114 GrafNet Advanced Options Satellite Omissions See Satellite Baseline Omissions in the Advanced Tab on page 45 for more information Cycle Slip Settings The settings are listed in the shaded box GrafNav GrafNet Interface Settings If you export baselines to GrafNav the options below are available to specify how changes made to the processing settings in GrafNav affect those in GrafNet lt If you decide to have the processing settings in GrafNet updated to match those used in GrafNav they will only be stored for the individual baseline that was exported The global processing options for the GrafNet project are unaffected Always update session settings Any changes made to the processing settings in GrafNav will be saved to that baseline s processing settings in GrafNet Never update Any changes made in GrafNav will not be saved in GrafNet As such GrafNet will retain the settings that were used at the time of export Prompt user before update You will be prompted after every processing run in GrafNav as to whether or not the processing settings used should be saved to GrafNet Fixed Static Options See Fixed Static on page 54 for information regarding all
250. p epochs on interval Copy GPS time range 1 00 C Copy epoch numbers C Resample to higher interval Start End 1 0 About Add input files set output file and press Go Time Interval Options The three options are the following Copy each epoch Select this if the data rate of the output file is to match that of the input file Only keep epochs on interval Use this when a file is resampled to a lower data rate The interval specified determines which epochs are copied into the output file Resample to higher interval Use this when a file is resampled to a higher data rate lt Resampling can only be performed on static data 146 Utilities 5 3 Concatenate Slice and Resample Overview This utility is available from File GPB Utilities This utility can be used to e Combine multiple GPB files from the same receiver into one This could be used to combine multiple hourly observations into a larger file prior to processing e Resample static data to a higher interval 1 Hz to 10 Hz or reduce the sampling rate of any file static or kinematic to a lower rate 10 Hz to 1 Hz Produce multiple time sliced output files from one larger file e g produce 24 individual hourly files from a single 24 hour file 5 3 1 Concatenate Slice and Resample GPB Files Input Files Use the Add button to locate the input GPB file s To concatenate several files add them all at once as they w
251. path and unobstructed tracking of all available GNSS satellites correct ambiguity resolution becomes impossible GrafNav s RINEX converter applies a default L2C offset of 0 cycles as it is common for some receiver manufacturers to remove the L2C offset during conversion to RINEX If this is the case measurements will be decoded as L2C due to a flag set within the raw GNSS data however the correction needs to be zeroed as it has already been removed by third party software If converting RINEX data that is known to contain a non zero L2C offset or any receiver which requires a different L2C offset than is applied by default the correct value can be entered either during conversion see the receivers global conversion options or after conversion using this feature There are four possible L2C offset values regardless of receiver manufacturer or firmware version 0 25 0 25 0 5 or 0 GrafNav GrafNet 8 50 User Guide Rev 1 145 Chapter 5 Pre Input Files to combine must be in sequential order and cannot overlap in time Add Remove Info G E Concatenate Slice and Resample GPB Files Output File s Combine all input files into one file Output file name Process input files individually Append the following text to each file name resampled Break up input files into time sliced output files E ele Time Interval Options Time Range Options Copy each epoch Copy all epochs Only kee
252. phase The C A measurement weighting can affect float solution convergence and is one of the most effective setting available for optimizing float trajectories Cancel Carrier phase Controls the measurement weighting applied to the double differenced carrier phase measurements This Pop angie pong sem M ls value is automatically adjusted upwards if ionospheric processing is engaged Also an additive General Measurement User Gnd PPM value is applied to account for increased noise Disable baselines when distance becom Measurement Standard Deviati oe PE on long baseline lengths In general it is Code fm 8 8 a a mn iS recommended to leave this value at the default of 2 amer phase y im ds pe r Mi cm However it may need to be increased in certain ppler 000 Ss omatic A A A PER applications such as when ionospheric activity is Outlier Detection Level Normal y Outlier Settings particularly high Measurement Usage 7 Enable GLONASS processing Doppler 1 Dual code camer clocks Trimble Doppler is the instantaneous rate of change of the EE toe Espe ey btt carrier phase signal as measured in the receiver opel Sa Doppler is used to calculate instantaneous velocity Y Use troposph state with spectral density aiii Er dl GrafNav assigns a conservative measurement ium v 5 0e 010 5 F weighting of either 1 0 m or 0 25 m depending on the rec
253. ptions are available by right clicking on an observation View Displays the Information window for the observation file Edit Opens the 4dd Edit Observation window in which the station name and antenna information can be corrected Delete Observation Removes the observation period from the project View GPB File Opens the observation file in GPB Viewer View STA File Opens the station file for the associated GPB file View Ephemeris File Opens the ephemeris file EPP for the associate GPB file Plot Coverage Opens the File Data Coverage plot for all observations in the project See Table 1 Common Plots on page 67 for information regarding this plot Plot L1 Satellite Lock Launches the L Satellite Lock Elevation plot See Table 1 Common Plots on page 67 Plot L2 Satellite Lock Launches the L2 Satellite Lock Elevation plot Show Sessions using Observation Displays all sessions involving the observation period in the Sessions window Expanding the Observations branch in the Data Objects window on the left hand side of the Data Manager allows the observations to be displayed individually in the Observations window Expanding each observation in the Data Objects window displays the station that was observed GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 3 Columns in the Observation Window Name Name of the station at which the observations were made AntHgt Antenna height for the period at whic
254. r 2 Add Master GNSS Data File s Master Base Station 1 ALCA Name Disabled File E Temp Training Data GrafNav Single Base Flight01 Base gpb Coordinates Latitude North x 33 o 1638186 LEempute from PPP Longitude West 86 45 01 95761 Enter Grid Values Ellipsoidal height 129 272 Im Enter MSL Height Datum wGS84 v Datum Options Select From Favorites Add To Favorites Use Average Position Antenna Height Antenna profile LEIATS04 LEIS y ino From station file LEIATS04 LEIS View STA File Measured height 0 000 m gt i ARP to L1 offset 0 088 Im L1 Phase Centre Applied height 0 088 m Compute From Slant Cancel How to add a master file 1 Select File Add Master File s 2 Select the base station file s from the list of available GPB files Up to eight base stations can be added to a GrafNav project Click the Open button 3 Enter the coordinates of each base station when prompted 4 Verify that the coordinates match your selected processing datum 5 Enter the antenna model and height information and click the OK button 21 Chapter 2 22 GrafNav the Export Wizard If it is incorrectly set your results could be interpreted by another person as being in the incorrect datum Antenna Height The antenna height entered in this box applies primarily to kinematic trajectories and static sessions If expo
255. r observation times Float Solution This method does not solve for integer ambiguities and therefore has no baseline length restrictions Regardless long single frequency baselines will have much poorer accuracies than their dual frequency iono free counterparts Normally the float solution is only used when either fixed static solutions cannot be made to pass or for single frequency baselines of 10 km or more Iono free Solution This is a float solution with the ionospheric effect largely removed from the carrier phase by combining L1 and L2 carrier phases in the iono free combination This option requires dual frequency data at both stations lono free should normally be used if the fixed solution fails on longer baselines or on very long baselines greater than 50km where fixed static is unreliable GrafNet also offers an Automatic mode which chooses between the three processing modes by examining baseline lengths and the type of measurements available Table 11 Solution Types in the shaded box contains a list of solution types attainable in GrafNet After processing baselines will be green if they passed or red if they failed If an error occurred and only an approximate 1 5 metre solution was extracted the baseline will show up as purple If the baseline shows up as blue a serious error has occurred See Section 3 2 1 Fix Bad Baselines on page 106 for steps to follow if a baseline fails GrafNav GrafNet 8 50 User
256. r of epochs in the project This value is dependent on the length of the data collection as well as the data rate If the software cannot allocate enough memory to accommodate the entire trajectory it pages to disk when plotting or exporting and may degrade performance Do not lower this value unless your computer lacks memory GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 7 Output Menu 2 7 1 Plot Results GrafNav provides access to over 40 plots that are helpful in quality control When expanding the main Plots branch you will see that the plots are sorted within sub groups such as Accuracy Measurement Coordinate Values and others The Most Common group will appear empty immediately after you install the program for the first time but over time will be populated with up to 10 of your most commonly accessed plots To see all of GrafNav s plots expand the All group Within each group plots appear as one of three colors green blue or black The green plots always appear above the blue plots and the blue plots always appear above the black plots The color coding scheme is similar to a ski hill where green plots indicate beginner blue plots indicate intermediate and black plots indicate advanced These three main categories do not indicate the type of user that should access these plots They indicate that the green beginner plots are more frequently accessed than the blue intermediate and so on Therefore beginner and
257. r single frequency processing special applications only Tolerance in L2 cycles at which an L2 cycle slip will be assumed Default is 0 4 cycles Phase data will be ignored for the first 8 seconds after locking onto the satel lite Change this value to 0 to process all phase data or a large value to ignore the first n seconds of lock This gives the phase lock loop a chance to stabi lize MB MASTER ANT L1VertHgt L2Corr MeasDist SlantFlag 1 0 ProfileName MeasToPC This is the extended version of the antenna height for a multi base master station Only first two parameters and ProfileName used by processing engine GrafNav GrafNet 8 50 User Guide Rev 1 181 MB_MASTER_DISABLE ON OFF ON if the master station is to be disabled from processing MB MASTER FILE Filename The name of the multi base master file GPB file Use as spaces MB MASTER INDEX ilndex Index of the master file in the project Note that this starts at 0 It must pro ceed MB MASTER 7 commands which refer to this location MB MASTER NAME StaName This is the name of the master station used in multi baseline processing for identification and baseline settings matching This name is also displayed on the map and used to refer to station baseline specific settings MB MASTER POS LatDeg LatMin LatSec LonDeg LonMin LonSec Ht m These are the coordinates of a master station The latitude and longitude must be entered in degrees minutes seconds with sp
258. rbits is found in the next section Generally the GNSS receiver includes broadcast ephemeris data with its raw data files The decoder converts these files into EPP format Receivers typically output ephemerides at startup as satellites rise into view or approximately every two hours Prior to processing GrafNav combines all ephemeris information collected at the base station s and remote This minimizes the chance of missing ephemerides which will cause affected satellites to be rejected from processing If no broadcast ephemeris information was recorded or if it is known that some ephemeris data is missing the Download Service Data utility can be used to download global broadcast orbits in EPP format This option is available from the Other Files to Download section of the Options tab of the download utility It is a common misunderstanding that missing broadcast orbits can be overcome by downloading precise orbits This is untrue as precise orbits provide only corrections to the broadcast orbits Therefore a full set of broadcast orbits are still required regardless of whether or not precise orbits will be applied in post processing GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 E Coordinate Antenna Settings Lo ms Remote Remote file name E Temp CORS prds Antenna Height Antenna profile AOAD M_T v Info From station file AOAD M_T NONE View STA Fie Measured to Measured hei
259. rdinates for GPS reference stations This permits easy retrieval without the risk of data entry errors through the Select From Favourites feature of the master coordinate dialog GrafNav s Favourites Manager comes pre loaded with coordinates for three GNSS networks NAD83 2011 NAD83 CORS96 and IGS08 coordinates are provided for stations on the CORS network CORS Continually Operating Reference Stations is a network of receivers managed by the National Geodetic Survey NGS CORS stations are most commonly found in the USA although a relatively small number of stations operate in other countries as well Also found in the Favourites Manager are RGF93 coordinates for the IGN network IGN stations are found in France Lastly ITRFOS coordinates are stored for stations on the IGS network which is managed by the Scripps Orbit and Permanent Array Center SOPAC and provides access to many different networks worldwide The Favourites Manager and the Download Utility are complimentarily in the sense that the latter provides access to base station data through anonymous FTP and the former ensures precise coordinate and datum information is loaded into your GrafNav project Both utilities the Favourites Manager and the Download Utility are updated on a monthly basis by Waypoint support staff in order to ensure the list of stations which is constantly growing and coordinates is kept current GrafNav will attempt to automatically download
260. re information lt Be sure that the entire span is covered 3 3 10 Remove Processing Files This feature can be used to clean up a directory by removing the session dependent files Solutions for static sessions are stored in the FSS for forward and RSS for reverse processed files The FWD REV and FML RML files are unnecessary and can be removed Selecting All Files removes all files including the solution files You must reprocess for further analysis See Section 2 3 12 Remove Processing Files on page 33 for details GrafNav GrafNet 8 50 User Guide Rev 1 GrafNet 3 3 11 Import Project Files This feature does the following e Reads all configuration file settings from the selected CFG e Copies the processing files associated with the CFG Loads the new solution into memory 3 3 12 View ASCII File See Section 2 4 8 ASCII File s on page 41 for information regarding this feature Raw GPS Data See Section 2 4 9 Raw GNSS on page 41 for information regarding this feature 3 3 13 Convert The two conversion utilities that are available with this option are listed in the shaded box 3 3 14 GPB Utilities A number of utilities are available for use with GPB files See Chapter 5 Utilities on page 141 for information regarding any of these utilities 3 3 15 Recent projects Displays recent projects 3 3 16 Exit Exits the program GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 3 Two
261. re processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option Re compute position and clock offset GrafNav requires valid clock shift data while GrafNet requires position records Enable this option if the clock shift data is corrupt or if positions records are not present This option is not needed if pre processing checks are enabled Verbose messaging mode Displays additional warning messages Create trajectory file fsp from following record This option generates a separate FSP file for each supported position record that is logged The files can be used to compare against the post processed solution Create separate file for each MARKNTIME record Enabling this option decodes the event marks from multiple inputs into separate station files GLONASS PRN Offset Shifts the PRN number for GLONASS satellites Offset must be greater than 32 to avoid conflict with the GPS constellation L2C phase correction This cor
262. rection value is inserted into the GPB header and can be used by the post processing engine OEMV firmware versions 3 0 and 3 1 use a correction of 0 50 while firmware versions 3 2 and later will use either 0 25 or 0 00 Generally this value should occur on the cycle See Fixed Static on page 54 GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 5 flg NovAtel OEM4 OEMV OEM6 Options General IV Perform pre processing checks I Re compute position and clock offset I Verbose messaging mode I Show receiver status event wamings GLONASS PAN offset 37 L2C phase correction 0 25 cycles Static Kinematic Mode Auto N Factory Defaults C Kinematic I Create trajectory files fsp for supported records SPAN IMU Extract inertial SPAN data if available T Create separate file for each MARKNTIME record I Set wheel size I Set tick counts per wheel revolution Static Cancel Distance Measurement Unit DMI Automatic 1 96 Table 22 Records Supported for Novatel OEM4 Record Type Comment Measurements One of these RANGES ID 43 expanded records is required Do not request both as it will result Measurements RANGECMPB ID 140 in duplicate compressed epochs RAWEPHEMB ID 41 Ephemeris Required GLOEPHEMERISB GLONASS Required if logging ID 4723 Ephemeris GLONASS data Decoded i ALMANACEB ID 73 Optional If pre
263. rential and PPP trajectories to be processed within the same project without overwriting each other If both types of solutions have been processed you can control which type of solution is loaded through the GNSS Solution and PPP Solution options Any Solution This option allows any GrafNav readable trajectory to be loaded into a project The only requirement is that the trajectory cover the same time range as the data within your existing project An example of when this feature may be used is when loading a real time trajectory produced from the GNSS decoder Single Point Solution from gpb file This option ensures the trajectory displayed to the map window reflects the unprocessed positions in the remote GNSS data This trajectory typically represents the real time solution as computed on board the receiver during data collection GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 25 Chapter 2 vo NY Load Cameratvens mers E File Format Ashtech Download m Event marker file created by Ashtech Download Program File Name Browse Time Settings Local H M S GMT H M S Seconds of the week GMT date of first record 9 21 2012 mm dd yy Attitude Format No attitude values Roll Pitch Yaw Camera roll pitch Drift Roll Pitch Heading ox cancer How to load camera event marks 1 Under File select Load Camera Event Marks 2 Choose the file format that matches y
264. rior to processing This is not strictly necessary however as it may be easier to process in the same datum in which your base station coordinates are provided and if required specify a datum transformation within the Export Wizard lt Specifying the week number of the coordinate effects the final result if using the conversion 14 parameter Solve Conversion Most datum transformations between global datums such as all realizations of ITRF WGS84 NAD83 ETRS89 and others are supported within GrafNav Provided official datum transformation parameters conversion can be added through the Datum Conversions tab Therefore solving a datum transformation using lists of coordinates as can be done through the Solve Conversion tab is not a feature that most customers will use or require GrafNav can solve 3 7 and 14 parameter transformations between datums The 7 parameter transformation can have the scale constrained to unity resulting in a 6 parameter transformation with 3 translations and 3 rotations The 14 parameter transformation solves scale scale rate translation velocity rotation and rotational rate This requires that lists of coordinates be available in both datums The two lists must be in ASCII format and all points in each file must be common to both files with identical point names The order the points appear in each file is not important and ellipsoidal height values are required lt 7 and 14 para
265. rocessed results color coded by quality number Quality numbers which range from 1 6 are meant to convey only a general indication of solution quality A description and the approximate accuracies associated with each quality number is provided in Table 3 Quality Number Description GrafNav s Q C plots should be accessed for a more detailed analysis of solution quality See Section 2 7 2 Common Plots on page 67 for descriptions of commonly accessed plots The information displayed to the Map window is fully customizable from the Display tab within Settings Preferences Users can choose whether to display text epochs feature marks ARTK marks base stations and static sessions Also right clicking any processed epochs accesses the Object menu where a host of functions can be found Chapter 2 81 Combined Map Lat 33 49 05 36009 Lng 117 23 10 41634 Unk Q1 02 G3 as as 06 GEO DMS m Table 3 Quality Number Description lt The accuracies given are only guidelines Quality numbers are meant only to provide a high level indication of solution quality We highly recommend accessing GrafNav s quality control plots for a more in depth analysis Mouse Usage in Map Window Positioning the cursor on a processed epoch and clicking with the left mouse button accesses a summary of the processing results for that epoch The time quality number number of satellites standard deviation forw
266. rthometric heights are entered the height ties may be poorer as well 110 GrafNet 3 3 7 Add Remove Control Points Add at least one horizontal ground control point before processing Sessions will not be processed unless they are connected to a control point The three types of control points include the following 3D constrained horizontally and vertically e 2D constrained horizontally 1D constrained vertically After selecting Add Remove Control Points from the File menu click Add to enter a new control point or Edit to adjust the station position or Datum of a control point The station ID should match that of the corresponding station Standard deviations can be entered at this stage The default values are 5 mm for horizontal and 5 mm for vertical You can change them to more realistic values Standard deviations are only taken into account in the network adjustment They are useful for combining high and low accuracy control points 3 3 8 Add Remove Check Points Check points are useful for gauging how well the network fits the existing control fabric They are added in the same manner as control points except that standard deviations cannot be defined It is important that the processing datum matches the coordinates datum 3 3 9 Alternate Ephemeris Correction Files Adds additional precise or broadcast ephemeris files SP3 SP3c and EPP files See Section 2 3 8 Add Precise Files on page 23 for mo
267. rties setting can be enabled to specify this information If the information varies from station to station then the Prompt for individual station information option should be enabled This latter option is also needed if you wish to specify station velocities GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 8 11 Mission Planner The mission planner is used to predict GPS or GPS GLONASS constellation information ahead of time Number of satellites DOP HDOP VDOP and or PDOP and other information can be plotted provided a location date and other basic parameters including an elevation mask start and length Mission planning is typically performed in order to determine if there are any particular periods of the day that should be avoided if possible due either to low number of satellites or poor satellite geometry While four GPS satellites are required to compute position six GPS satellites is the recommended minimum for high accuracy applications This is because six satellites is the minimum needed for GrafNav s outlier detection routines to function in the event high measurement residuals are detected When examining predicted PDOP one factor to consider is that ambiguity resolution becomes more challenging when PDOP values approach 3 Settings Mode Single Point predicts satellite geometry for a single point of operation i e a single latitude and longitude Only consider using Differential mode if your bas
268. rting camera marks features you are provided the opportunity to apply an offset during export As such if you are interested primarily in exporting camera events we recommend entering an antenna height of zero as measured to the Antenna Reference Point ARP Antenna Models The purpose of an antenna model is to e Correct for the vertical offset between where GNSS observations are observed the electronic phase center and the bottom of the antenna Antenna Reference Point or ARP e Correct for any difference between the L1 and L2 electronic phase centers which can be a factor in the success or failure of ambiguity resolution Apply small elevation based corrections mm level GrafNav 8 50 supports absolute antenna models as provided by the NGS If the antenna model is not known at your remote it is recommended that the Generic profile be applied which does not apply any corrections In that case the processed position is referenced to the antenna L1 phase center However the correct antenna model should be selected for best results When selecting an antenna model the Applied height reflects the vertical offset between the L1 phase center and the ARP which is the bottom of the antenna This value comes directly from the antenna model and reduces the processed position from the phase center to the bottom of the antenna This value should match any diagram that appears directly on your antenna presuming it is an absolu
269. rver to see if any GrafNav updates are available If so they can be directly downloaded and installed 2 10 3 Download Manufacturer Files Provided an internet connection use this option to download the latest manufacturer files from Waypoint s FTP site The files downloaded when updating are listed in the shaded box 2 10 4 NovAtel Waypoint Products This option opens the Waypoint Products page in your default web browser From here more information on Waypoint Products can be found including information regarding the latest version notices of training seminars links to FAQ training materials and technical reports 2 10 5 About GrafNav This window displays information about the software version build dates copyright information hardware lock key information and DLL information Access the hardware key utility from this window by clicking Key Util Upgrade This tool is useful if an upgrade needs to be performed on the hardware lock The Dependent Files window displays a list of executables and DLLs associated with GrafNav The date and time of the files are shown as well as a quick description of the file Other programs have this feature as well GrafNav GrafNet 8 50 User Guide Rev 1 3 1 GrafNet Overview GrafNet is a batch static baseline processor and network adjustment package It is used to establish or check base station coordinates for later use within GrafNav or survey entire static networks GrafNet a
270. s Age of last correction or RTK receipt Used in GrafNav GrafNav GrafNet 8 50 User Guide Rev 1 File Formats Chapter 4 The station file format also handles event marks Saving a project with event marks loaded brings the event marks into the station file The following is the event mark format Mrk I Event Number Event number or name no spaces Desc Name Roll name GTim SecOfWeek WeekNo GPS Time UTim SecOfWeek WeekNo UTC Time could be used instead of GTim but this is not recommended and often not supported Pos phi lamda ht ELL ORTHO Computed position Mode SP DGPS RTFL RTFX RTK FIX Mode of solution RTFL float RTFX fixed RTK float fixed not known SP single point DGPS DGPS FIX known Std SdE SdN SdH Standard deviation in metres Vel VE VN VH Velocity in m s Att roll pitch heading Attitude in degrees Rem remarks Nsv NumSats NumGPS NumGlonass Dop PDOP HDOP VDOP Rms L1Phase CACode Age Sec Age of last correction or RTK receipt Enable 1 0 Used in GrafNav lt indicates a required field Another data type handled in the station format is an RTK epoch where every epoch can be recorded RTK I GTim SecOfWeek WeekNo GPS Time UTim SecOfWeek WeekNo UTC Time Pos phi lamda ht ELL ORTHO Computed position Mode SP DGPS RTFL RTFX RTK FIX Mode of solution RTFL float RTFX fixed RTK float fixed not known SP single point DGPS DGPS FIX known Std SdE SdN SdH Standard deviat
271. s 32 143 Static Processing in GrafNav 54 in GrafNet 112 Static Sessions 193 editing 39 ignoring trivial sessions in GrafNet 116 processing in GrafNav 54 processing in GrafNet 115 Static Summary format and description 136 viewing 35 Station File See STA File 37 T Time Range processing range in GrafNav 44 processing range in GrafNet 113 Trajectory File format and description 139 Traverse Solution definition 103 detailed description 121 viewing 121 Trivial Baselines 116 Tropospheric Settings 52 V Variance Factor 120 W Waypoint Geoid Files obtaining WPG files 12 194 Index GrafNav GrafNet 8 50 User Guide Rev 1
272. s confirmed as being so are removed from plotting and output Ignore these satellites If certain satellites are causing problems but are not identified as being sick in the almanac file they can be manually specified here for removal from plotting and output Plot all DOPs on one graph If multiple DOP plots were requested for viewing in line graph format enabling this option forces them to be displayed on the same plot Display seconds of the GPS week instead of H M S Toggles the format of the X axis labeling between GPS seconds of the week or Local H M S lt If any changes were mistakenly saved in Mission Planner the defaults can be restored by deleting the WPMissPlan ini file in the C Windows directory System Usage GPS only restrict to GPS satellites GPS GLONASS both systems if both almanacs are loaded Satellite systems to use Specifies the constellation s for which you need the predictions made GLONASS PRN offset GLONASS PRN numbers will vary depending on the receiver An offset can be entered here to match that used by your receivers UTC time offset Specifies the difference in seconds between the UTC and GPS time frames 93 Chapter 2 r fa Download GNSS Raw Service Data ENS Download Add from List Add Closest Options List of Stations to Download Station Service Dist km Direction p485 IGS 10 SW paso IGS 31 N pint IGS 41 N Info Clear Sett
273. s minutes and seconds HH MM SS SSSS GMT H M S GMT hours minutes and seconds HH MM SS SSSS Local time correction This is necessary for both Leica and User formats using Local H M S This is the offset in hours from GMT For the Eastern Standard Time zone this number is 5 For the Pacific Standard Time zone this number is 8 During daylight savings time these numbers are reduced by one An incorrect entry causes the camera marks to be displayed incorrectly or not be displayed at all GMT date of first record This is necessary for Leica Ashtech and User formats implementing H M S time tagging Enter the date of the first exposure record in month day year format It is not the date in local time which may differ towards the end of the day An invalid date results in the marks not being displayed Attitude Format For User5 and User6 formats that include attitude information a definition of how the angles are defined is required Currently the following attitude formats are supported Photogrammetric w p k These angles are defined as omega primary phi secondary and kappa tertiary ground to air Camera roll pitch drift These angles are the relative ones between the frame of the camera and that of the aircraft If the raw GPS receiver data logs position records there are small circular event marks on the trajectory map in bright blue These also appear if the data has been processed If no event m
274. s L1Std CAStd D1 Std m m s Rms RMS of residual Std measured std dev Var cee cnn czz cve cvn CVZ cpos Position velocity variance trace with ppm m m s Flg S K L F NumGps NumGlonass SolType Static K inematic f L oat amb F ixed amb SolType S SF carrier D DF carrier D IonoFree R Rellono C C A Only Cov cne cze czn cvne cvze cvzn Position and velocity covariance Ecf dx dy dz ECEF base gt remote vector Acc ae an au Local level accelerations m s Bli nBl Flg1 U N R nS1 Wgt1 Dst1 Flg2 nS2 Wgt1 Dst1 Wgt2 Dst2 nBl basline Flg U used N not valid R Rejected nSats satellites used Wgt weight 0 1 Dst distance in km Bls Bl nSats Prn1 B R Amb1 Prn2 B R Amb2 Prn3 B R Amb3 f Bls iBI 0 1 nSats sats B BASE R REJECTED Amb DD Ambiguity A numerical example is also given Out Tim 321665 000 321665 000000053 1690 Geo 39 59 13 03501 83 04 07 44637 196 8868 2 110 Loc 1962 100 3020 551 11 551 0 016 0 012 0 088 Sta 6 1 000000 6 67 3 26 1 65 2 82 Rms 0 0000 1 690 0 000 0 008 0 0195 2 931 0 977 Var 3 69047e 000 2 39072e 000 2 50583e 001 4 10052e 001 2 65636e 001 2 78426e 000 3 11395e 001 Flg KL60D Cov 5 22128e 001 6 04875e 000 3 19914e 000 5 80144e 002 6 72084e 001 3 55460e 001 Ecf 2181 475 1679 322 2322 658 Acc 0 000 0 000 0 000 Bli 1 U 6 1 00 3 6 Bls 0 6 30 B 32 5549212 283 20 7678228 525 16 26349873 378 23 35794199 949 31 3923372 058
275. s are available red green blue magenta cyan gray wine black gold darkgray darkgreen darkblue lightcyan and darkmagenta This field identifies the format of the directory structure used on the FTP site to organize the data Any folders in the structure that are common to all data must be hard coded into this field The rest however must be defined using the following case sensitive strings lt JJJ gt Julian Day lt YYYY gt Year lt XXXX gt Station ID lt week gt GPS week lt wkrl gt GPS week 1024 padded with leading zeroes lt wkrn gt GPS week 1024 without padding lt yy gt Last two digits of the year lt d gt Day of the week 0 6 lt MN gt Month number lt DM gt Day of the month lt H gt hour of the day in upper case A X lt I gt hour of the day numeric 00 23 lt mmm gt first three letters of month Jan Dec lt CITY gt any custom string such as the name of a city or region contained within an FTP sites folder structure that varies for individual stations 98 GrafNav Service records must conform to the format in the shaded box Refer to the manufact dn1 file for examples of service and station records GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Chapter 2 2 9 Window Menu This menu option displays the GrafNav windows in different ways 2 9 1 Cascade Cascades the windows from the top left to the bottom right of the screen 2 9 2 Tile
276. s elevation mask value may have to be increased to 15 degrees or more in high multi path environments or during ionospheric storms Some data tracked under 10 degrees may exhibit noise characteris tics Default value is 10 0 DD_DOP Tolerance over which a fixed integer solution is deemed float Allows user to control how easily a fixed changes to a float solution Does not affect processing Default is 25 FIX_AUTO Min DtL2 MaxLenL2 MinDtL1 MaxDtL1 ON OFF FIX_CORRECT_SLIP ON OFF FIX_CUBE mode L1User L2User FIX_INTERVAL Datalnterval 178 Controls automatic fixed static solution usage on static sessions Use ON to enable or OFF to always use Note that fixed static must also enabled in processing settings MinDt is minimum time length in seconds while MaxLen is maximum allowable distance in km ON if whole cycle slips are to be corrected forming a continuous phase in fixed solution By default this option is ON Mode is AUTOREDUCE NORMAL or USER Sets the search region size for fixed solution L1 User and L2User are the sizes of the search are to be used for USER mode Default is NORMAL AUTOREDUCE often works very well Data interval in seconds to use for fixed static processing Default is 15 sec onds GrafNav GrafNet 8 50 User Guide Rev 1 FIX_IONO_DIST dist Used in the AUTO fixed solution L2 model for deciding between IONO and NORMAL L2 noise models dist is in kilometers Default is 5 km
277. s into periods option enabled in the Add Observations window See Section 3 3 6 Add Remove Observations on page 109 for more information 115 Chapter 3 GrafNet 3 4 3 Ignore Trivial Sessions A D E GrafNet defines trivial baselines as those that are unnecessary and result from multiple receivers simultaneously running The problem with this is that the baseline solutions computed by GrafNet are correlated and so they are dependent Removing trivial baselines reduces these dependencies while still maintaining a closed loop It also creates a network where the standard deviations reflect the actual errors more accurately B C F Consider the network in Figure 3 Trivial Baselines The six stations are surveyed with four receivers during two Figure 3 Trivial Baselines one hour sessions During the first session stations A B C and D are observed During the second session the points C D E and F are observed This network can be divided in two sub networks formed by the first and second time periods Before the trivial baseline removal every baseline in these two sub networks is dependent on the other baselines These dependencies cause the loop ties to be low Figure 4 Removal of Trivial Baselines With four receivers or more collecting data at the same time a sub network is very over determined Using three GPS receivers the network is still over determined but all baselines need to be included to form
278. s method of resampling removes unneeded data logged before and after the observation time period at the remote DX Resampling base station data to a lower interval will add noise to the processed trajectory This noise is negligible if resampling from an original rate of 5 seconds or less but can add as much as 1 2 cm of noise if resampling from 30 second data Disable Disables the selected master station from being used for processing You may want to disable individual baselines from a multi base project when trouble shooting poor multi base processing results Remove Removes the master file completely from the project GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 4 3 Forward and Reverse Solutions GNSS PPP Message Log These files display all messages generated by the processing engine GrafNav outputs a forward message log fml and a reverse message log rml Possible messages reported here are listed in the shaded box GNSS Summary These summary files display some basic processing settings and the statistics for ARTK fixes and static sessions Other items reported in this summary are listed in the shaded box See Section 4 4 1 FML amp RML Files on page 134 for an example of this summary file GNSS PPP Trajectory GrafNav generates a host of information for each processed epoch Examples include position velocity local level vector measurement residuals etc All of this information is wri
279. s not known or is known to change significantly during the survey On but only use distance constraint to engage ARTK if out of tolerance When this option is used the distance constraint is not applied when resolving carrier phase ambiguities Rather it is used only to re engage when the computed distance disagrees with the surveyed distance significantly based on the standard deviation applied to the distance constraint a Project Options Datums Datum Conversions Elipsoids Processing Datum OSGB36 E Potsdam RGF93 Thailand Vietna TOKYO WGS84 m WGS84 gt Processing datum conversion v Automatic use default 3584 to WGS84 Same Coordinate Input Datum Use processing datum by setting processing datum to local datum suggested Convert input coordinates to processing datum for Nadcon and localized datums 58 GrafNav 2 6 2 Moving Base Options Enable moving baseline processing if your base station is on a moving platform and you are interested in either a post processed azimuth between the antennas and or the local level vector Moving base applications may involve both antennas on the same vehicle or separate moving vehicles Azimuth determination is typically of interest for the former whereas the local level vector relative position and velocity is generally of interest in the latter When moving baseline processing is enabled GrafNav cannot fix
280. selected run Be aware that if processing was not performed successfully in each direction certain plots can be unavailable or incomplete This feature is very useful for comparing different runs Load into Project Loads the processing settings for the selected run into the current project You are prompted to back up the current project to a BAK file Compare Compares two configuration files that are selected by holding down the Ctrl key This feature is useful for determining the difference between the settings used for two runs Clear Deletes the entire processing history 36 GrafNav 2 4 4 Processing History This feature displays the processing history in a chronological list It contains the date and time when each run was performed as well as the user s initials if this was provided when processing It also contains a description of the run including the directions being processed the processing settings and the return status The processing history can be used to restore settings from a previous run and compare processing settings between processing runs A limited list of plots is also available for each processing run View options in the Process History box are listed in the shaded box 2 4 5 Processing Summary This file provides a statistical summary of the processing results It can be used for reporting and quality checking purposes A list of the items reported in this file include e Solution type for
281. sent Almanac will be written to ephemeris epp RAWALMB ID 74 Raw Almanac filo Can be used GLOALMANACB ID GLONASS for Mission 718 Almanac planning BESTPOSB ID 42 F RTKPOSB ID 141 Position a for OMNIHPPOSB ID 495 GrafNet users PSRPOSB ID 47 Event Mark z MARKTIMEB ID 231 Time Written to STA file TIMEB ID 101 me Optional If present will be written to EPP file This will be applied in single IONUTCB ID 8 lonospheric frequency processing but ignored in dual frequency processing GLONASS GLOCLOCKB ID 719 Clock de Information SPAN users only One of these dsisrequired RAWIMUSB ID 325 IMU Do Potra quest RAWIMUSX ID 1462 Measurements both as it will result in duplicate epochs MARKnTIMEB ID 1130 Event Mark P 616 1075 1076 Time Written to STA file Sheet 1 of 2 157 Chapter 5 Table 22 Records Supported for Novatel OEM4 Record Type Comment SPAN users only BESTLEVERARMB IMU to GPS SE lo ID 674 Lever Arm loaded in Inertial Explorer BESTGPSPOSB ID 4423 INSPVAB ID 507 e INSPVASB ID 508 Position SPAN users only INSPOSB ID 4265 INSPOSSB ID 321 SETIMUTYPE ID 4569 IMU Type SPAN users only MARKnPVAB ID 1067 Event Mark i 1068 1118 1119 Time Written to STA file HEADINGB ID 971 Heading from dual antenna Written to HMR file SITEDEFB ID 153 Site definitions TIMEDWHE
282. sitions only where both have fixed integer solutions This plot will help detect incorrectly fixed ambiguities Forward and Reverse Changing the processing direction to forward or reverse is normally done only if a problem is detected after processing both directions The Advanced dialog can be accessed to customize processing options prior to reprocessing Forward and reverse solutions are automatically combined when processing either forward or reverse Continued on following page 42 GrafNav 2 5 Process Menu 2 5 1 Process GNSS The Process GNSS dialog is intended to provide a one page startup where the processing method differential and PPP processing direction and processing options can all be conveniently accessed Processing Method Differential GNSS Differential processing can be selected if base station s have been added to the project This method of processing provides access to ARTK where carrier phase ambiguities are fixed for high accuracy applications Precise Point Positioning PPP PPP is an autonomous positioning method where data from only one receiver is used If base station data has been added to the project it will not be used when processing PPP By design both differential and PPP trajectories can be processed within the same project without over writing each other GrafNav s PPP processor requires dual frequency data as well as precise orbit and clock files GrafNav will automatically
283. ssages Extract multi antenna data For multi antenna applications only Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags in the GPB file If you want to force the entire GPB file to a specific mode use the Static or Kinematic option GrafNav GrafNet 8 50 User Guide Rev 1 Utilities Thales Ashtech Magellan B File This decoder handles Thales data that has been downloaded using the Thales utility Log this data into internal receiver memory Table 26 Files Supported for Thales B File describes the supported files Thales Ashtech Receiver Type Selects the receiver used to collect the data If auto detect does not work then select the receiver manually General Options Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Re calculate position and clock offset Enable this option if the clock shift data is corrupt if position records are not present or if many cycle slips exist This option is not needed if pre processing is enabled Detect static kinematic from site name Looks in B file for data tagged as static or kinematic using site ID Ignore
284. st also be specified for master and or remote receivers This is ON by default use OFF to disable antenna correction Moving baseline projects only Used to enable azimuth computation using an antenna distance constraint Distance and standard deviation are in meters Typical standard deviations are 2 3 cm Satellite PRN number of base satellite used for differenced computations Normally this value should be left at 99 which will cause the program to automatically choose the best satellite using a number of criteria The default value is 99 This can be LOCKTIME DOPPLER or BOTH and determines the manner in which cycle slips are detected in kinematic mode In general either BOTH or DOPPLER should be used Basically using DOPPLER will dis able LOCKTIME check Tolerance used to detect cycle slips on the L1 phase in kinematic mode These tolerances generally vary from 1 500 cycles and depend on receiver type vehicle dynamics and type of Doppler Numerous cycle slips reported may indicate that CYCLE TOL is too low A value of 0 0 will cause cycle slip tolerance to be computed automatically from data interval This value is also subsequently multiplied by 30 default is 0 0 This is the datum that processing is to be performed in and the satellite coor dinates are transformed into this datum See GrafNav for a list of available datums WGS84Conv is the conversion to be used Use WGS84Conv AUTO to allow NGPS32 DLL to select the best d
285. st page of the Wizard If View ASCII output file on completion was selected on the last page of the Wizard the text file will open within GrafNav s internal ASCII viewer GrafNav Creating an Output File The following is an example of the Export Wizard dialogs that appear when exporting Epochs using the Geographic profile Note that when exporting Features or Static Sessions or when choosing a different export profile you may see different dialogs This is because the Wizard only prompts you for the required information according to your selections GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Select Output Coordinate Datum The first page of the Wizard provides an opportunity to apply a datum transformation during export This is required if the datum you wish to export to is not the same as the processing datum Filter Output Estimated Accuracy Scaling Results can be filtered using either GrafNav s quality numbers or combined 3D standard deviation An example of when it is useful to filter by quality number is when only fixed integer solutions are to be exported In that case apply a value of 1 for the quality number filter This dialog also provides an opportunity to scale the standard deviations output by GrafNav to a higher confidence interval By default GrafNav outputs 1 sigma values However due to the conservative measurement weighting applied in GrafNav to code carrier and Doppler measurements they are n
286. t 1112 438 AntHgt 0 000 seach dist 1r km Speed 65425 COG 06 lewind time 160s Camer 0 015 0 037 Satelite count ace total fixed restored Code 1 110 7 123 Rms 0 1mm Reliability 8 6 FloatFixSep 0 29m Detected 171 GpsEph 0 GlonassEph 0 Gpslor _ Added 171 GPS and 0 GLONASS ephemerides File lors1020 resampled epp Start TOW Week Detected 23 GpsEph 0 GlonassEph 0 Gpslonc Added 0 GPS and 0 GLONASS ephemerides File remote epp Start TOW Week 239531 0 1 Lt m 239539 0 Starting position is 34 11 43 99052 118 1933 571 240152 0 Fixed 9 out of 9 satellites at a distance of 12 7 km Cie Ca La Table 4 Notifications Window Messages Message Description Search time Time at which ARTK engaged Specifies which base station ARTK used to fix From base ambiguities This will often be the closest base station in multi base projects Search This is the baseline distance when ARTK was distance first engaged When ARTK achieves a fix GrafNav can data quality permitting apply the integer carrier phase ambiguities backwards in time to the Rewind time moment ARTK was engaged The rewind time reports the number of seconds ARTK was able to restore integer ambiguities backwards from the engage time The number of satellites used by ARTK The total fixed and restored numbers are reported Total represents the number used in the float Satellite solution Fixed indicat
287. te antenna calibration Antenna heights can be measured to the antenna reference point phase center or computed from a slant measurement When loading a base station converted from RINEX the antenna name and radome if provided are scanned from the RINEX header and used to automatically load the appropriate antenna profile Itis good practice to ensure the correct antenna model is loaded prior to processing GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 3 7 Add Remote File The remote file contains the raw GNSS measurements that are processed together with data from known base station s The remote file must be converted to GPB format prior to loading When adding a remote GPB file you are prompted to enter the antenna information See Antenna Models on page 22 for more information 2 3 8 Add Precise Files Broadcast Ephemeris The broadcast ephemeris data is necessary for GNSS data processing The ephemeris file contains Keplerian orbital parameters used to compute satellite positions Presently the line of sight component of satellite positions can be computed within an accuracy of approximately 2 m RMS using the broadcast ephemeris Orbital error is largely removed in differential processing as the line of sight component of orbital error is heavily correlated at short and medium baseline lengths Therefore the accuracy of the broadcast obits is completely sufficient for most projects A discussion on precise o
288. te selection is based on a point system that includes a number of factors such as elevation above the horizon and whether it is rising or falling Detected bad Phase measurement 9 1 sigma Rms is 0 336 m Worst Prn is 14 on B L BL1 with residual of 0 465 This can be caused by undetected cycle slips or noisy measurements due to a challenging GNSS signal environment GrafNav s outlier detection routines will attempt to fix the problem by rejecting individual measurements and recomputing the residual ARTK obtained a valid integer fix on BL BL1 Fixed 8 out of 8 satellites at a distance of 8 3 km Residual RMS is 2 47 mm Reliability is 3 8 Float fix sep is 0 243 m ARTK not engaged rewind ignored ARTK success Message displayed for a successful ARTK fix Epoch rejected due to poor satellite geometry DD DOP of 918 0 too large This message warns that an epoch has been rejected because of poor satellite geometry Doppler L1 cycle slip on PRN 24 of 1575419 57 cycles on baseline BL1 Indicates that a large change in carrier phase has been detected which is interpolated as a cycle slip Locktime cycle slip on PRN 4 of 5 92 cycles on baseline BL1 Cycle slip has been reported by base or remote receiver Inserted L1 cycle slip due to locktime reset for PRN 4 on baseline BL1 Receiver cycle slip counter reset at some time in the past but was not caught Therefore slip inserted now Less that four satellites at startup Will try next epoch s
289. ter This information includes the conversion options as well as the supported formats and records for each receiver Javad and Topcon lt This converter supports GLONASS enabled recelvers Table 15 Records Supported for Javad amp Topcon describes the supported records The following describes the options available for this converter Perform pre processing checks If enabled data is scanned after conversion to correct potential issues See Section 5 4 2 Pre processing Checks on page 148 for more information Use carrier phase from P1 instead of C A Measurements from P1 can be used instead but this is not recommended Use locktime records for cycle slip detection Locktimes from the Javad receiver are used instead of those computed by the decoder Enable this if Javad locktimes are problematic Static Kinematic Mode This option controls how the static kinematic flags are set in the final GPB file Auto is only used in conjunction with the pre processing checks It attempts to automatically set the flag based on the computed dynamics This could result in a mixture of static kinematic flags within the GPB file If you wish to force the entire GPB file to be a certain mode use the Static or Kinematic option Decode epochs with bad checksums If disabled epochs containing records with failed checksums will not be decoded Otherwise only the affected data is ignored Use SAVE marker to store sites to sta file Mar
290. tes derriv BASE Traverse OK Good nji2 nji2 Control OK Pub 3D NJTR Check OK Good nji2 BEE JE EJE EJE JEJEJE JE EJE EJE JEJEJEJE JEJE JEJE JEJEJE JEJEJEJE IEE STATIONS COORDINATES 369 JEE JE JE JE JE JE JEJE EJE E JE JEJE JEJE JEJE JEJEJEJE JEJEJEJE IEEE lt K3 K Row 1 Cok 1 TotalRows 58 F3 Find Text Right Click for more options 121 Chapter 3 Datum Options Project Options Datums Datum Conversions Ellipsoids r Processing Datum WGS84 gt Processing datum conversion IV Automatic use default r Coordinate Input Datum Use processing datum by setting processing datum to local datum suggested Convert input coordinates to processing datum for Nadcon and localized datums nput datum Conversion from input datum to processing datum 122 GrafNet 3 4 9 View All Sessions View the Session window of the Data Manager for all baselines with this feature It can also be invoked for individual sessions by clicking on a baseline in the Map Window This is a useful way of ensuring all sessions have a Good status 3 4 10 View All Observations This option displays information about each observation in the Data Manager Right click on the observations and select View to bring up a message box that shows the file name station name antenna height time range and data interval among other things Selecting View GPB File will access the GPB Viewer 3 4 11 View All St
291. the OK button How to save a project 1 Choose File Save Project How to save a project as 1 Choose File Save As 2 Enter the name file format and where you would like to save your project lt Entering the name of a project that already exists overwrites the file contents How to print 1 Select File Print A dialog box appears 2 Choose the printer 3 Choose the item you would like to print 4 Set the page orientation color and any other settings you need 5 Click the OK button 20 GrafNav Empty Project Creating an empty project is not recommended for new users as all steps involved with project creation must be done manually Specifically the remote GNSS data must be converted to GPB format using the GNSS Data Converter utility and any base station service must be downloaded through the Download Service Data Utility The Project Wizard is best for new users as it guides you through each step involved with starting a project Creating an empty project is usually preferred by advanced users This is because for someone familiar with GrafNav s workflow it may be possible to get started more quickly creating an empty project as opposed to going through each step of the Wizard The steps involved with creating an empty project are in the shaded box 2 3 2 Open Project This option allows you to open existing projects 2 3 3 Save Project GrafNav automatically saves the project be
292. the base station OR if 10 of the survey is detected as being flown in excess of 3000m or 10 000 feet above the base stations In both cases a minimum of two hours of data is required for this option to automatically engage as 1t can perform poorly on short data sets where there is insufficient data to provide a well converged solution In addition to Automatic the tropospheric error state can be explicitly turned On or Off GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 53 Chapter 2 fr gt Differential GNSS settings 2 mise General ARTK Measurement lonosphere Troposphere Fixed Static User Cmds Fixed Static Data Interval Static Initialization Interval 15 00 sec Float solution or ARTK Fixed static solution Static Session Settings Split into two sessions if time gap greater than 120 sec Y Tolerances for fixed static solutions Single Dual Frequency Distance is less than 12 40 km Time span is greaterthan 600 180 sec Search Area Options 9 Reduce as float solution accuracy improves User defined search cube size Single frequency 0 500 im Dualfrequency 1 500 m lonospheric Noise Modeling On if baseline exceeds 5 0 km Off General Options E Refine L1 L2 integer solutions E Stricter RMS tolerance increases satellite rejections E Stricter reliability tolerance Cok cance Static Initialization Options Float solution or ARTK This setting
293. the filename is the same as that of the remote GPB file If the station file has a different filename than the GPB file then load the file separately Most decoders produce station files RTK Dat File sta nst This option loads converted RTK solution files and then uses the Export Wizard to re format them for output Stations with Known Lat Long This option allows you to load and display a file that contains stations with known coordinates The coordinates are displayed with pink triangles Lat Long Format This is a list of formats that the coordinates from the file are in These formats include the following Degrees Minutes Seconds For example 51 03 28 3214 Degrees Decimal Minutes For Example 51 03 4720 Decimal Degrees For Example 51 0579 Id String Handling The settings under this option tell the program how to separate the ID from the coordinates Use first continuous word no spaces To be used if the station names are separated from their coordinates by a space Comma separation Use this option if commas separate the IDs from the coordinates Use first n columns If you know which column the coordinates start in you can enter the number for the program to begin at Each character is a column GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Leica IDEX File idx Time tagged points created with Leica 5 data collectors can be given a name position and antenna height However
294. the station name for display in output files Static cycle slips are declared if greater than val which is in cycles STATICSESS ID AntHgt StartTime EndTime IsSec80 UseFix 0 Define information about a static session For instance ID gives it s name use for spaces AntHgt allows the antenna height to be changed value in m Start EndTime define time range in TOW or seconds since 1980 see IsSec80 flag IsSec80 on off UseFix indicates whether fixed static solu tion is to be used 0 off 1 use 2 check distance and time see FIX AUTO command STD_MODE AUTO ELEV CNO STANDARD This is the type of weighting mode that the measurements will use in terms of statistical handling GrafNav GrafNet 8 50 User Guide Rev 1 185 STD_REF REFCNO REFELEV CNO V These are the reference values that the measurement standard deviation s refer to V in SD V 10 cno 10 note scaled by REF CNO STD_DIST LOW MEDIUM HIGH OFF MANUAL ManHzPPM ManVPPM This is the magnitude of distance dependent errors The distance effect can be low medium high or off The user can override these settings and enter their own horizontal and vertical PPM manually STD_PPM RejectPPM This is only used if the user command STD_DIST OFF above STD_REJECT Type CedeRej PhaseRej DopRej CedeReset PhaseReset TYPE MANUAL NORMAL STRICTALL STRICTPHASE STRICT CODE LOOSEALL LOOSECODE LOOSEPHASE values are nSD that is number of standard deviations If type
295. thod provides a high level of solution accuracy over the entire length of a trajectory As it is likely ARTK re engages many times during a survey even where no loss of lock occurs the likelihood of small position jumps when new fixes are accepted is high This is not however a problem for the majority of ground vehicle applications Loading the GNSS Ground Vehicle processing profile ensures that ARTK is used in Default mode Continued on the next page 47 Chapter 2 On engage only This method ensures ARTK engages only at startup when a complete loss of lock occurs or after a period of very poor satellite geometry This method is generally preferred for aerial applications as it ensures that new ambiguity fixes are not accepted in the middle of a flight line where position jumps can be problematic A new option in version 8 50 the fixed fixed separation threshold found in the Advanced section allows control of the maximum allowable position jump when ARTK accepts a new fix 48 GrafNav ARTK from engaging itself unnecessarily far from your project area which increases the likelihood ofan incorrect ambiguity fix Engage Options These options control when ARTK is engaged Engage if distance lt tolerancel reset if distance gt tolerance2 The first tolerance is used to automatically re engage ARTK on approach to any new base station The remote must exceed the second tolerance for ARTK to re engage when re approa
296. tion times should be increased for longer baselines For single frequency a good rule of thumb is 10 min 1 min km For dual frequency these times can be halved Observation times should also be increased during times of poor satellite geometries that is high PDOP No minimum time is given but accuracy improves with observed time A few minutes of observation will only achieve sub metre accuracies under very good operating conditions For dual frequency receivers use fixed or float solutions for baselines less than 50 km and iono free solutions for more than 50 km Accuracies are given for average occupation time Accuracies increase for longer times and degrade with poor geometry or bad measurement quality Use precise ephemeris for baselines longer than 150 km See Section 3 3 9 Alternate Ephemeris Correction Files on page 110 for information 113 Chapter 3 User Cmds Fixed Static Solution and Session Measurement Advanced Process General m Satellite Omissions Cycle Slips Settings 4 0 s L1 lono free static cycle slip tolerance 0 4 cycles 0 4 cycles I Display cycle slip messages during processing I White individual satellite residuals to binary value file FBY RBY Ignore satellite if tracked less than L2 static cycle slip tolerance GrafNav GrafNet Interface Settings After GrafNav processes Always update session settings y Cancel Cycle slip
297. tions that are customary in Windows will assist in using the program This manual has been written with the expectation that you already have a basic familiarity with Windows Conventions This manual covers the full performance capabilities of GrafNav GrafNet GNSS data post processing software The conventions include the following lt This is a note box that contains important information before you use a command or log or to give additional information afterwards The term master refers to the reference station and the base station The term remote refers to a rover station This manual contains shaded boxes on the outside of the pages These boxes contain procedures screen shots and quick references GrafNav GrafNet 8 50 User Guide Rev 1 9 Customer Service Foreword If the software was purchased through a vendor contact them for support Otherwise for software updates and customer service contact Waypoint using the following methods Call 1 800 NovAtel 1 800 668 2835 for North American access 1 403 295 4900 for International access Email support Qnovatel com Web www novatel com 10 GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 1 Introduction and Installation 1 1 Waypoint Products Group Software Overview NovAtel s Waypoint Products Group offers GNSS post Ine Epler processing software packages including GrafNav a static kinematic baseline processor and GrafNet a static base
298. ts are present it is important to initially use only one This prevents errors in the existing control from causing otherwise correct session vectors not to fit Therefore large tie errors in the traverse solution or large residuals in the network adjustment are attributed to GPS errors The variance factor is only truly valid as a scale factor for a minimally constrained adjustment See the shaded box for information about interpreting the output Once satisfied with the quality of the GPS data and the fit of the session vectors you can add additional control points with File Add remove Control Points or by right clicking on a station in the Map Window and selecting Add as Control Point Since the network adjustment is a least squares adjustment it attempts to move control point coordinates to make the network fit better This is an undesirable effect for many applications To avoid it give control points very low standard deviations The default value is 5 mm which might have to be lowered if the network fit is poor Lowering the standard deviation to 0 0001 m forces the control point to stay put A standard deviation of zero is not allowed Change the standard deviation for control points via File Add and Remove Control Points Select the desired control point and click Edit GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 3 How to interpret the output The network adjustment output is an ASCII file that can be pri
299. ts must be converted first See Table 2 Supported Data Formats for Post Processing on page 15 for supported formats GrafNet also requires single frequency carrier phase data as a minimum and accepts dual frequency if available Users wishing to perform code only processing should use GrafNav Session Concurrent period of time between two observation files at two different stations One of the two stations will be the remote and the other will be the master The arrow on the screen will be pointing from the master to the remote The direction is determined by GrafNet in order to form loop closures as well as to minimize the number of legs from a control point Each session will be processed individually and combined in either a network adjustment or traverse solution A session can have different statuses and colors depending on whether certain tests passed or failed Station A point where the GPS receiver was setup over and there might be multiple observation files for a single station However one set of position values will be produced for each station as a final product of GrafNet There are several types of stations Tie Point Such a point may also be called a loop tie closure and is formed when two or more sessions point to it Thus there is a redundant determination at this point Traverse Station This is a point with no tie or control information It might have two stations connected to it but one is pointing to it and the other
300. tten to the trajectory files GrafNav produces a trajectory file for each processing direction as well as a combined trajectory file that is automatically produced after processing both directions Most of the Q C plots accessible within GrafNav as well as the Export Wizard draw on the information provided in the trajectory files It is therefore not common to view the contents of these files directly For an example of a trajectory file see Section 4 4 3 FWD REV CMB FSP RSP and CSP files on page 139 GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 Types of messages written to the message log files Times at which ARTK was engaged and the reasons for its engagement These messages are preceded by e Any satellites with no ephemeris information Epochs of less than 4 common satellites between the master and remote e Periods of extremely poor satellite geometry The occurrence of cycle slips This log gives a time and record of these slips that mean problems in kinematic data e Data errors that cause filter resets or the rejection of satellites These messages are preceded by Entering static and kinematic modes Events resulting from significant changes in the satellites geometry These include changes in the base satellite and the rising or falling of satellites above or below the elevation mask The omission of satellites baselines or time periods from processing Static ARTK sum
301. ublicly display visual output of the Software f implement DLLs and libraries in a manner that permits automated internet based post processing contact NovAtel for special pricing g transmit the Software over a network by telephone or electronically using any means except when downloading a purchased upgrade from the NovAtel web site or h reverse engineer decompile or disassemble the Software NovAtel retains the right to track Software usage for detection of product usage outside of the license terms You agree to keep confidential and use your best efforts to prevent and protect the contents of the Software from unauthorized disclosure or use GrafNav GrafNet 8 50 User Guide Rev 1 7 Software License 5 Term and Termination This Agreement and the rights and licences hereby granted shall continue in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith In the event that the Licensee shall at any time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy then and in any event NovAtel may forthwith by notice in writing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing written notice to NovAtel Upon termination for any reasons the Licensee shall prompt
302. umMin minutes KAR_COV_L2 ON OFF sf offset Determines KAR search area using ambiguity variances Search area is com puted to be SearchArea sf AmbVar offset This option only works for dual frequency processing KAR_CUBE cube size l cube_size_ 12 Size of kinematic ambiguity resolution KAR search cube in meters A cube cube_size 2 will be searched from the initial approximate position which is obtained from the program following the loss of lock The default value is 2 0 m This value should be increased if it is suspected that the remote posi tion is outside of the search cube However larger values increase the possi bility of an incorrect intersection found GrafNav GrafNet 8 50 User Guide Rev 1 179 KAR_DISTANCE I1_ dist 12_dist KAR_ELEV_MODEL ON OFF KAR_EPOCH_FILTER epoch_size Do not engage KAR if distance is greater than value Distances are defined in km After KAR is engaged it will search farther Use KAR USE DIST to prevent KAR from utilizing data past a certain distance Default is ON KAR uses the KAR_TWOSTAGE SAT highest satellites for its ambiguity search Interval between storing epochs for KAR epoch_size specified in seconds This controls how much data KAR will use KAR EPOCH SIZE epochs_l1 epochs 12 KAR EXACT INTERVAL ON OFF KAR FAST ON OFF KAR IONO DIST dist in km Number of epochs between KAR ambiguity searches if L1 only or L1 L2 This controls how often KAR
303. uplicate yellow baselines do not show the pass fail via coloring and must be verified To verify follow the steps in the shaded box If it is a closed loop network and you feel that the solution is correct despite failing GrafNet s statistical tests right click the baseline and select Override Status to override the status The traverse will transfer coordinates using failed baselines while the network adjustment will not Run Network Adjustment Follow the steps in the shaded box to run a network adjustment After these steps are completed the Network Adjustment Results opens while error ellipses are plotted for each station on the Map Window Export Station Coordinates Follow the steps in the shaded box to export station coordinates Clean Up processing Files optional Follow the steps in the shaded box to remove some of the intermediate processing files GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 3 How to set the processing options 1 Select the desired static processing mode These modes are described in Section 3 1 2 Solution Types on page 102 2 Select the desired processing datum How to process all sessions 1 Select Process Process Sessions 2 Select All unprocessed as the Sessions to Process under the Process tab 3 Click the Process button How to verify that all baselines have passed 1 Right click the failed baseline 2 Select View Results or View Information to find out
304. v 1 TIMERANGE ALL RANGE StartSec EndSec Flag ShowHmsMdy Processing time range Replaces START_TIME and END_TIME com mands ALL processes entire data set StartSec 1s time at beginning regard less of forward or reverse processing EndSec is time at end of processing period Times can either be seconds of the GPS week or seconds since 1980 see Flag Flag is 0 for time not valid 1 for seconds of the week and 2 for seconds since 1980 ShowHmsM dy is only used by GrafNav for display pur poses 1 show H M S TROPO_MODEL OFF SAAS Default is SAAS which is the Saastamoinen model OFF can be used with GPS simulators that have tropospheric correction disabled USE_DOPPLER ForCarrier ForCode ForCarrier uses Doppler for carrier phase ON OFF ForCode uses Doppler for code only processing ON OFF USE_PCODE P1forCA ON OFF P2 ON OFF This will enable P code and requires dual frequency processing USERKAR gpstime FORWARD REVERSE BOTH Engage KAR at this time for the direction s specified may be multiple entries gpstime is in seconds of the GPS week VEL_DENSITY density Spectral density for velocity states m2 s2 VERBOSE ON OFF ON prints additional information to FWD REV FML RML files VERSION Ignored by dll It is used by GrafNav to indicate version number producing CFG file WRITE_BAD_EPOCHS OFF ON Default is OFF Use ON to write bad data to the FWD REV files This option is useful if the user wis
305. vation mask are considered when computing numbers of satellites and geometry In general it is good practice to use a slightly higher elevation mask than you typically apply in post processing Start time The start time of the mission Used as the starting point for all displayed plots Ensure to also select the correct time zone Date The date of the mission Time in Use the Get My Time Zone button to specify your local time offset from GMT If you are mission planning for a project outside your time zone use the drop down list to make a manual selection Note that all plots will display A M S time in the local time frame Length Determines the time span that is covered by the displayed plots GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav Num Sats PDOP HDOP VDOP and DD DOP The following descriptions are applicable to the Num Sats PDOP HDOP VDOP and DD_DOP tabs Chart Type Select None to tell the utility not to plot the values associated with the current tab By default None is selected for the HDOP tab VDOP tab and both plots under the Sats in View tab If any of these charts are of interest they need to be enabled by selecting either the bar chart or line graph options The Mission Planner will by default show only the number of satellites and PDOP plots The main difference between the bar chart and the line graph is that the latter distinguishes between GPS and GLONASS That is you will be able to
306. ve Removes the selected file from the Convert Files window Clear Removes all files from the Convert Files window Options Displays the options associated with the receiver type of the selected file Any changes are only applied to the selected file and will not be retained Info Displays the file path receiver type and conversion status of the selected file View Opens the converted GPB file within the GPB Viewer 5 4 2 Pre processing Checks After conversion to GPB pre processing checks are performed in order to help ensure the file is ready for post processing Functions performed by the pre processing checks include Ensuring positions are present in the GPB file If no position records have been requested during data logging pre processing computes a code only single point solution This computed position is then written to the GPB file GrafNav uses this position to display the unprocessed trajectory and determine whether ionospheric processing will be automatically engaged The latter option depends on the scanned baseline distance prior to processing Ensuring an accurate clock shift has been decoded to the GPB file This is needed in order for GrafNav to correctly process and export results relative to GPS time If this value is incorrect by a large amount it can result in gross processing errors Automatic rejection of impossibly large or small pseudorange observations which can occur due unusual rece
307. ward reverse combined e Summary of the number of epochs processed missing and epochs with poor measurement residuals Phase code and Doppler RMS The RMS of the forward reverse position separation including separate statistics where both solutions are fixed e Breakdown of quality number percentages e Percentages of standard deviations that fall within given intervals e Percentage of epochs with very poor satellite geometry DD_DOP gt 10 e Baseline distance summary The Processing Summary can be added to the end of an output text file created through the Export Wizard See Section 2 7 5 Export Wizard on page 72 for information about the Export Wizard GrafNav GrafNet 8 50 User Guide Rev 1 GrafNav 2 4 6 Features The Feature Editor window lists all of the features loaded into the project If the data has been processed a summary of processing quality is also displayed In addition to viewing features the feature editor can also be used to Edit station feature names time tags as well as antenna heights and models For camera marks the line number can be inserted into the Desc Info field Re number stations and camera event marks Disable features so that they are not displayed or exported The shaded box has a list of the columns that are displayed lt Changes made to stations are saved automatically to an NST file To revert back to the original station information use File
308. where the problem lies How to run a network adjustment 1 Select Process Network Adjustment 2 Click the Process button How to export a station coordinate 1 Select Output Export Wizard 2 Enter an output file name 3 Select the source for the coordinates usually Network 4 Select a profile containing the desired output variables How to clean up processing files 1 Select File Remove Processing Files 105 Chapter 3 How to fix bad baselines Fixed Static Solutions If fixed solution fails then try to switch to a float solution Remember that float solutions are not very good at achieving centimeter accuracies unless there are many hours of data Forward Reverse Processing Switch from Forward to Reverse processing The reverse solution might pick a different base satellite and have a different solution that passes GrafNet will pick the forward or reverse solution with the latest date so reprocess the forward solution if the reverse is unacceptable Changing the Elevation Mask GrafNet by default uses a 159 elevation mask This is because tropospheric and ionospheric errors increase significantly on low satellites Lowering the mask to 10 allows more satellites into the solution strengthening the geometry This improvement might offset the atmospheric errors Use ARTK Use ARTK in GrafNav for an individual baseline Edit with GrafNav and then reprocess with GrafNav by enabling ARTK and enga
309. will search Only use epochs exactly on KAR EPOCH FILTER in KAR ON to enable Fast KAR Used in auto L2 noise model for choosing between HIGH and IONO KAR_L2_NOISE AUTO HIGH IONO MEDIUM LOW KAR_MAX_DOP 7 0 KAR_MAX_TIME 30 KAR_MB_NEAREST ON OFF KAR_MIN_ADD NumMinutes KAR_MIN_TIME L1time L2time KAR_OUTPUT ON OFF KAR_RELTOL tol KAR_RMS_TOL 0 075 180 Model used for KAR L1 L2 ambiguity search Default is AUTO Tolerance for allowable DOP during a KAR solution Default is 9 0 After this number of minutes KAR will restart searching If this option is turned ON KAR will use the nearest base station to engage Multi baseline processing only Minutes added to the minimum KAR time for every 10 km in baseline length Default is 1 5 minutes Minimum number of minutes for single and dual frequency processing before KAR is searching begins TRUE if KAR is to output additional information for FWD REV files Reliability is calculated by dividing the lowest intersection RMS by that of the second lowest Reliable intersections should have values of 1 5 or higher and preferably greater than 2 0 Default is 1 5 Tolerance for KAR statistical test on the RMS phase Default is 0 065 cycles GrafNav GrafNet 8 50 User Guide Rev 1 KAR_RMSKEEPTOL tol KAR_RMSUSETOL tol KAR_SEP_TOL 2 0 KAR_STATIC ON OFF KAR_STRICT_TOL rmsflag relflag KAR_TWOSTAGE_SATS 6 If the RMS from a
310. within GrafNet It is a means to more accurately compute each station s coordinates given the solution vectors computed for each session baseline Such an adjustment uses the X Y and Z vector components and also utilizes the 3 x 3 covariance matrix which is the standard deviation values coordinate to coordinate correlation Using least squares the errors are distributed based on a session s estimated accuracy More weight is placed on sessions with lower standard deviations Advantages In the traverse solution each station s coordinates are determined using one session from one previous station For networks with redundant measurements which is usually the case this can lead to a sub optimal or even erroneous determination of a station s coordinates The network adjustment does a much better job of distributing errors than the traverse solution This makes it less sensitive to errors as long as a session s estimated accuracy is representative of actual errors Thus the network adjustment generally produces more accurate station coordinates Another advantage of the network adjustment over the traverse solution is that it assigns a standard deviation to each point Estimated standard deviations should be used with caution but they are a good tool for locating outliers See Section 3 4 2 Rescanning Solution Files on page 115 for more information on scaling standard deviations to match the data accuracy Before running t
311. writes the same project KML KMZ file while using the Quality Number to determine the color of the epochs used for display purposes However if you wish to compare multiple solutions for the same trajectory enable this option to ensure that a new output file is written To make it easier to distinguish between each solution in Google Earth each new output file is assigned its own specific color That is the Quality Number is ignored In addition a new folder is created if the Run descriptor has changed Use concise epoch description for lower memory usage The default output files written by the software contain a lot of additional information which can really slow down Google Earth If this information is not needed in the output file a more concise output file can be written Output MSL height for better compatibility with GE elevation data using Google Earth expects orthometric mean sea level MSL height values As such if Hold epochs and events to ground is disabled the plotted height may be below ground level if the geoid undulation is negative and the object is at ground level Use the Browse button to locate the Waypoint Geoid WPG file Other geoid formats are not supported The EGM96 geoid which covers the entire world has sufficient accuracy for this purpose Maximum Memory Allocation for Plotting Export Wizard Change Memory Allocation The software allocates memory up to the specified maximum based on the numbe
312. ws you to adjust the pass fail settings for float static solutions These options can be adjusted for specific applications where high accuracies are not required or expected such as when collecting static sessions in challenging GNSS signal environments GrafNav GrafNet 8 50 User Guide Rev 1 Chapter 2 63 Chapter 2 64 pa Preferences A E Display Solution Export Update Google Earth 4 Hold epochs and events to ground Limit epoch output to interval 5 0 F Compress KML to KMZ file C Optimize output for trajectory comparison in GE 1 Use concise epoch description for lower memory usage C Output MSL height for better compatibility with GE elevation data using Browse Maximum Memory Allocation for Plotting Export Wizard Computer Memory Available MB 2322 Change Memory Allocation Max Allocation MB GrafNav Export Hold epochs and events to ground This option plots the trajectory on the ground in Google Earth This option is recommended for ground surveys Limit epoch output to interval You can reduce the density of the output trajectory by specifying an interval here This helps reduce file size and loading times in Google Earth Compress KML to KMZ file Due to their ASCII nature KML files can be quite large The KMZ format allows for a much smaller file without losing any information Optimize output for trajectory comparison in GE By default the software over

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