kinpos

1
kinpos

• GPS Kinematic Positioning Program
• Dr. G. L. Mader

2
kinpos
K A R S
kinematic
rapid-static
kinpos
3
Kinematic GPS
double difference phase
?2 ?? j N j ( xj - x ) ?x ( yj - y ) ?y
( zj - z ) ?z / Dj
Ambiguity search
at least 4 dds trial suites of N j track rms
for each suite
double difference bias
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C\KARS DIRECTORY
c
Kinpos.exe ant_info.001 splot.exe dos4gw.exe
c\kars
Create the directory c\kars Copy the above files
to this directory
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SYSTEM FILES

• Add c\kars to the PATH in the AUTOEXEC.BAT file.
• Go to the c drive.
• Edit AUTOEXEC.BAT
• Add PATHPATHc\kars
• Add ANSI character set to the CONFIG.SYS file.
• Go to the c drive
• Edit CONFIG.SYS
• Add DEVICEC\WINDOWS\COMMAND\ANSI.SYS
• Reboot the computer

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kars.ini

• The kars.ini file resides in c\kars
• It tells kinpos the path to the current project
• Create/modify kars.ini by
• edit kars.ini
• type project path (ex. c\project\98aug09

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PROJECT DIRECTORY
RINEX Observation and Navigation files and SP3
files
Data
Project Name
97_252
kinpos.inp param kars.edt phifix
97_253
Create project directory(s) as suggested
above Load rover and reference rinex files, orbit
files
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Input Files
kinpos.inp
File specifying start/stop times, location of
data files, run options, and plot options.
param
File containing the numerical values of various
parameters.
phifix
File containing the values of the integer bias,
if known, at a particular time to start the phase
solution without an otf ambiguity search. This
file is optional a blank or missing file will
initiate an otf search.
kars.edt
File containing edit instructions for the kinpos
program. This file is optional and is usually
used to delete bad data.
ant_info.001
File containing antenna offsets and phase center
variations with elevation for a catalog of
standard antennas.
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Input Files
.o
Rinex observation files for the rover and
reference data.
.n
Rinex navigation file.
.sp3
Standard sp3 format file for satellite
ephemerides. This file is optional. If precise
ephemeris option is not elected, this file is not
read and satellite positions are determined from
the broadcast message in the navigation file.
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kinpos.inp
start time (ymdhms) stop time (ymdhms) run
options plot options rover rinex file
path/name rover xyz rover n,e,u xyz to
ARP T(C), P(mBar), H() rover standard antenna
name ref rinex file path/name ref xyz ref n,e,u
xyz to ARP T(C), P(mBar), H() ref standard
antenna name rinex nav file path/name orbit file
path/name antenna file path/name
96 12 03 16 40 18.0 96 12 03 17 48 00.0 0 1 0
0 1 1 0 1 3 1 1 1 0 1 1 1 1 0 0 0
0 1 1 0 1 1 /mz3/sfbay/96_338a/data/BS06338A.
96O
-2700502.685 -4261785.127
3888805.845 0.000 0.000 0.000
15. 1010.
75. TRM 22020.00 /mz3/sfbay/96_338a/data/BOUY338x.
96O
-2700502.685 -4261785.127
3888805.845 0.000 0.000 2.0625
15. 1010.
75. TRM 22020.00 /mz3/sfbay/96_338a/data/BS06338A
.96N
/mz3/sfbay/96_338a/data/igs088
22.sp3 /mz1/antcal/ant_info.001
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kinpos.inp
The xyz position (m) of the reference station
should be as accurate as possible. The vector
positions for the rover contained in the psolxyz
output file are weakly dependent on this
position, but the rover positions are relative to
this position. The program needs to know the
antenna phase center position. It will obtain
this by adding to this xyz position the up
component of the eccentricty given here by the
user, and the up offset contained in the antenna
info file for the antenna named by the user.
96 12 03 16 40 18.0 96 12 03 17 48 00.0 0 1 0
0 1 1 0 1 3 1 1 1 0 1 1 1 1 0 0 0
0 1 1 0 1 1 /mz3/sfbay/96_338a/data/BS06338A.
96O
-2700502.685 -4261785.127
3888805.845 0.000 0.000 0.000
15. 1010.
75. TRM 22020.00 /mz3/sfbay/96_338a/data/BOUY338x.
96O
-2700502.685 -4261785.127
3888805.845 0.000 0.000 2.0625
15. 1010.
75. TRM 22020.00 /mz3/sfbay/96_338a/data/BS06338A
.96N
/mz3/sfbay/96_338a/data/igs088
22.sp3 /mz1/antcal/ant_info.001
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kinpos.inp
When kinpos is running it will display on the
screen the displacement of the rover from this
position. It will also produce an output file
(psolneu) with the approximate n,e,u
displacements of the rover from this position.
This position otherwise has no significance for
the ambiguity search unless the constrained
search position option is selected. In that case
this position (plus the antenna reference point
eccentricity and antenna offset) becomes the
center search position.
96 12 03 16 40 18.0 96 12 03 17 48 00.0 0 1 0
0 1 1 0 1 3 1 1 1 0 1 1 1 1 0 0 0
0 1 1 0 1 1 /mz3/sfbay/96_338a/data/BS06338A.
96O
-2700502.685 -4261785.127
3888805.845 0.000 0.000 0.000
15. 1010.
75. TRM 22020.00 /mz3/sfbay/96_338a/data/BOUY338x.
96O
-2700502.685 -4261785.127
3888805.845 0.000 0.000 2.0625
15. 1010.
75. TRM 22020.00 /mz3/sfbay/96_338a/data/BS06338A
.96N
/mz3/sfbay/96_338a/data/igs088
22.sp3 /mz1/antcal/ant_info.001
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kinpos.inp
The antenna names that are entered here must be
the standard form as found in the ant_info.001
file that may be found at www.grdl.noaa.gov/GRD/ P
ROJECTS/ANTCAL/. This entry may not be left
blank. If no match is found, the antenna offsets
and phase variation are set to zero. The user
must be cautious how the components of the
antenna position are used.
96 12 03 16 40 18.0 96 12 03 17 48 00.0 0 1 0
0 1 1 0 1 3 1 1 1 0 1 1 1 1 0 0 0
0 1 1 0 1 1 /mz3/sfbay/96_338a/data/BS06338A.
96O
-2700502.685 -4261785.127
3888805.845 0.000 0.000 0.000
15. 1010.
75. TRM 22020.00 /mz3/sfbay/96_338a/data/BOUY338x.
96O
-2700502.685 -4261785.127
3888805.845 0.000 0.000 2.0625
15. 1010.
75. TRM 22020.00 /mz3/sfbay/96_338a/data/BS06338A
.96N
/mz3/sfbay/96_338a/data/igs088
22.sp3 /mz1/antcal/ant_info.001
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kinpos.inp
L1 phase center
offset from ant_info.001
antenna reference point (ARP)
up component from user
xyz from user
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kinpos.inp - run options
0 1 0 0 1 1 0 1 3 1 1 1 0
0 1 0 0 1 1 0 1 3 1 1 1 0
Controls the source of the position used for the
ambiguity search volume. 0use the pseudorange
solution position (normal case for kinematic),
1use the rover position in kinpos.inp (used for
static data).
Selects the source of the file for determining
satellite positions. 0use the broadcast
ephemeris contained in the rinex nav file (no sp3
file will be read), 1use a precise sp3 format
format specified by the user.
Controls if a relative tropospheric scale factor
is to be solved as part of the kinematic
solution. 0dont solve, 1solve for tropo scale
factor.
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kinpos.inp - run options
0 1 0 0 1 1 0 1 3 1 1 1 0
Controls if the phaserange widelane will be used
to filter integer choices. 0dont use this
widelane filter, 1use this filter (recommended
response is 0).
Controls if the sigma from the widelane phase
solution will be used to rescale the integer
suite selection process. 0dont use, 1use this
rescaling. (recommended response is 1).
Controls if the position difference between the
widelane phase solution and the L3 solution will
be used to rescale the integer suite selection
process. 0dont use, 1use this rescaling.
(recommended response is 1).
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kinpos.inp - run options
0 1 0 0 1 1 0 1 3 1 1 1 0
Controls if the ellipsoid search height during an
otf search is to be constrained to the last good
phase solution height. Used for ocean surface
work. 0dont constrain, 1constrain.
Controls the range solution frequency. There are
two choices 1L1 solution (single frequency),
2ion free (dual frequency).
Controls the phase solution frequency. There are
3 choices 1L1 only, 2L1 and L2 combined as 2
single frequency data types, 3ion free.
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kinpos.inp - run options
0 1 0 0 1 1 0 1 3 1 1 1 0
Controls if a differential pseudorange solution
is to be done. 0dont do the range solution,
1do the range solution.
Controls if a double difference phase solution is
to be done. 0dont do the phase solution, 1do
the phase solution.
Controls if a widelane phase solution is to be
included during the processing. This solution is
intended as a diagnostic to evaluate its utility
during ambiguity searches. 0dont do, 1do
widelane phase solution and include in dif plot
file.
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kinpos.inp - run options
0 1 0 0 1 1 0 1 3 1 1 1 0
Controls if a global solution for ambiguities is
to be attempted. Used when normal otf techniques
may not work. If used, data segment must be cycle
slip free. 0dont do (recommended), 1do global
integer solution.
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kinpos.inp - plot options
pmr
elv
svn
rsl
psl
tsf
qck
ion
wln
rrs
prs
cor
dif
1 1 1 1 0 0 0 0 1 1 0 1 1
elevation
ion residual
phase-range
widelane
of svs
range solution residuals
phase solution residuals
range solution
phase solution
ion corrections
tropo scale factor
rng-phs,wln-phs soln diffs
rng phs rdop rms
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PARAM

• 15.0
• 1 1
• 2.0 2.0 2.0
• 0.5 0.5 0.5
• 8000.000
• 2000.000
• 6378135.000
• 0.00335278
• 0.04
• 0.02
• 0.03
• 0.00
• 0.3
• 2.0
• 0.30
• 2.00
• 0.06
• 30

Elevation cutoff angle (deg). No observations
below this cutoff will be used.
L1, L2 wavelength scale factors. A 1 means full
wavelength, a 2 means half wavelength
(frequency squaring). If either receiver used
frequency squaring, a 2 must appear for the
appropriate frequency
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PARAM

• 15.0
• 1 1
• 2.0 2.0 2.0
• 0.5 0.5 0.5
• 8000.000
• 2000.000
• 6378135.000
• 0.00335278
• 0.04
• 0.02
• 0.02
• 0.00
• 0.3
• 2.0
• 0.30
• 2.00
• 0.06
• 30

North, East, Up dimensions (m) of the search
volume used for the ambiguity search. This volume
is centered on the a priori rover position, which
comes from the pseudorange solution or the
kinpos.inp file. The true position must lie
within this volume. This volume determines the
search range for each satellite bias.
North, East, Up constraints (m) when using the
fixed position option. During the ambiguity
search, trial integer suites not yielding
positions with these constraints of the position
in kinpos.inp will be discarded. Used only when
static position is already known.
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PARAM

• 15.0
• 1 1
• 2.0 2.0 2.0
• 0.5 0.5 0.5
• 8000.000
• 2000.000
• 6378135.000
• 0.00335278
• 0.04
• 0.02
• 0.02
• 0.00
• 0.3
• 2.0
• 0.30
• 2.00
• 0.06
• 30

Dry troposphere scale height (m) used to
attenuate the surface value of the pressure with
respect to the ellipsoid height.
Wet troposphere scale height (m) used to
attenuate the surface value of the humidity with
respect to the ellipsoid height.
Equatorial radius (m)
Ellipsoidal flattening
The radius and flattening are used only to
produce approximate north, east, up displacements
from the kinpos.inp rover coordinates for
estimation and plotting purposes only.
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PARAM

• 15.0
• 1 1
• 2.0 2.0 2.0
• 0.5 0.5 0.5
• 8000.000
• 2000.000
• 6378135.000
• 0.00335278
• 0.04
• 0.02
• 0.02
• 0.00
• 0.3
• 2.0
• 0.30
• 2.00
• 0.06
• 30

Maximum rms (m) for inclusion in integer search.
Integer suites yielding rmss greater than this
value are eliminated.
Maximun rms (m) for selecting the successful
integer suite. The chosen suite must yield an rms
below this value.
Contrast (m) required between the lowest integer
suite and the next best integer suite.
When these 2 conditions are met, the integer
search is over.
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PARAM

• 15.0
• 1 1
• 2.0 2.0 2.0
• 0.5 0.5 0.5
• 8000.000
• 2000.000
• 6378135.000
• 0.00335278
• 0.04
• 0.02
• 0.02
• 0.00
• 0.30
• 2.0
• 0.30
• 2.00
• 0.06
• 30

Center value (cy) for double difference
ionosphere delay filter. Used only for initial
OTF ambiguity resolution.
Window width (cy) for ionosphere delay filter.
Used only for initial OTF ambiguity resolution.
Factor used the set size of dynamic ionosphere
delay window from range of current ion delays.
Used for OTF ambiguity resolution after a
successful resolution has already been achieved.
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PARAM

• 15.0
• 1 1
• 2.0 2.0 2.0
• 0.5 0.5 0.5
• 8000.000
• 2000.000
• 6378135.000
• 0.00335278
• 0.04
• 0.02
• 0.02
• 0.00
• 0.30
• 2.0
• 0.30
• 2.00
• 0.06
• 300

Trigger value (cy) for detecting cycle slips from
the change in ionosphere delay values for
individual satellites.
Trigger value (m) for detecting cycle slips from
the change in phase-range values for individual
satellites.
Maximum average (last 10 values) rms (m) allowed
before sending the program into cold start mode.
Number of seconds to compute each tropospheric
scale factor when that option is selected.
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phifix
Provides a set of fixed biass for selected start
time

• 4 16 -7225411.91 -5630189.05
• 5 16 -5638456.97 -4393602.09
• 6 16 367243.07 286164.92
• 20 16 -2064513.88 -1608712.06
• 24 16 -4191493.95 -3266099.01

L1 and L2 phase bias for selected start time
sv
ref sv
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kars.edt
sv prn number (0apply to all svs
instruction start date/time
L1, L2 delete instructions
24 1 97 03 13 03 27 32 97 03 13 03 28 45 -9999.
-9999. 00 1 97 05 13 05 40 00 97 03 13 05 42 00
-9999. -9999. 17 2 97 05 13 06 17 30 97 03 13 24
00 00 -12345. 0.
Station number, 1rover, 2ref.
Instruction stop date/time
L1, L2 add cycles instructions
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Downloading sp3 Files
To get a precise IGS ephemeris file
ftp cddis.gsfc.nasa.gov name anonymous password
your email address cd gps3products.0918
?(GPS week) get igs09183.sp3 ? (append day of
week, 0Sunday)
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Output Files
psolxyz
The primary output file from the bias fixed phase
solution. The xyz vector from the reference
monument to the rover monument is given for
each solution epoch. The reference monument is
the reference position given in the kinpos.inp
file. The rover monument is the rover antenna
phase center position minus the antenna offset
(from ant_info.001) minus the ARP eccentricity
(from kinpos.inp). The reference monument
position is given at the front of the file. The
file contains the date/time the rdop, rms, x,y,z
and x,y,z formal errors. All units are meters.
psolneu
The file giving the neu displacement of the rover
monument from the rover monument position
given in the kinpos.inp file determined by the
phase solution. These displacements are
approximate and are intended plotting or
interpretation only. The file contains similar
information to the psolxyz file.
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Output Files
rsolxyz
The output file from the differential pseudorange
solution. The xyz vector from the reference
monument to the rover monument is given for
each solution epoch. The reference monument
position is given at the front of the file. The
file contains the date/time the rdop, rms, x,y,z
and x,y,z formal errors. All units are meters.
rsolneu
The file giving the neu displacement of the rover
monument from the rover monument position
given in the kinpos.inp file determined by the
differential paeudorange solution. These
displacements are approximate and are intended
for plotting or interpretation only. The file
contains similar information to the rsolxyz file.
32
Output Files
integer
File containing a history of the integer biass
determined and used by the program. The complete
suite of biass is date/time stamped and listed
for any change rising svs, cycle slips, new ref
sv, cold start etc.
kinpos.out
File containing summaries of information related
to ambiguity searches. Can be used as a
diagnostic for unsuccessful searches.
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Diagnostics
Why it might not work and what to try when it
doesnt
Correct integer suite was not among suites being
tested
1) Search volume did not contain true position.
Improve the a priori position enlarge search
volume in param.
2) Ion filter eliminated correct suite. Increase
ion filter width in param
34
Diagnostics
Correct integer suite was rejected by rms test
1) Bad data at location of otf. Change start time.
2) rms limits may be set too low for this data.
Increase max allowed rms in param.
3) Widelane solution too different from L3
solution. Turn off widelane options.
35
Diagnostics
Rising sv does not initialize or initializes
incorrectly
1) Bad data at location of otf. Delete several
minutes data in kars.edt for this sv.
2) Dynamically determined ion window is too
small. Increase ion window scale factor in param
3) Contrast parameter may be too small. Increase
contrast in param.