- •Table of Contents
- •Congratulations!
- •Scope
- •How to use this manual
- •Prerequisites
- •Conventions and Customer Service
- •What’s New!
- •Precise Point Positioning (PPP) processor
- •Software License
- •Warranty
- •Introduction and Installation
- •1.1 Waypoint Products Group Software Overview
- •1.2 Installation
- •1.2.1 What You Need To Start
- •1.2.2 CD Contents and Installation
- •1.2.3 Upgrading
- •1.3 Processing Modes and Solutions
- •1.4 Overview of the Products
- •1.4.1 GrafNav
- •1.4.2 GrafNet
- •1.4.3 GrafNav Lite
- •1.4.4 GrafNav / GrafNet Static
- •1.4.5 GrafMov
- •1.4.6 GrafNav Batch
- •1.4.7 Inertial Explorer
- •1.5 Utilities
- •1.5.1 Copy User Files
- •1.5.2 Download Service Data
- •1.5.3 GPS Data Logger
- •1.5.4 GPB Viewer
- •1.5.5 Mission Planner
- •1.5.6 Data Converter
- •GrafNav
- •2.1 GrafNav, GrafNav Lite and GrafNav / GrafNet Static Overview
- •2.2 Start a Project with GrafNav
- •2.3 File Menu
- •2.3.1 New Project
- •2.3.2 Open
- •2.3.3 Save Project
- •2.3.4 Save As
- •2.3.5 Print
- •2.3.6 Add Master Files
- •2.3.7 Add Remote Files
- •2.3.8 Alternate Precise / Correction Files
- •2.3.9 Show Master Files
- •2.3.10 Load
- •2.3.12 GPB Utilities
- •2.3.13 Remove Processing Files
- •2.3.15 Recent projects
- •2.3.16 Exit
- •2.4 View Menu
- •2.4.1 GPS Observations
- •2.4.2 Forward and Reverse Solutions
- •2.4.3 Processing History
- •2.4.4 Processing Summary
- •2.4.5 Return Status
- •2.4.6 Features
- •2.4.7 Objects
- •2.4.8 ASCII File (s)
- •2.4.10 Current CFG File
- •2.5 Process Menu
- •2.5.1 Process GNSS (differential)
- •2.5.2 Process PPP (single point)
- •2.5.3 Combine Solutions
- •2.5.4 Launch Batch Processor
- •2.5.5 Stop Auto Run
- •2.5.6 Load GNSS Solution
- •2.5.7 Load PPP Solution
- •2.5.8 Load Any Solution
- •2.5.9 Import Solutions and Setting
- •2.6 Settings Menu
- •2.6.1 GNSS Processing
- •2.6.2 PPP Processing
- •2.6.3 Coordinate
- •2.6.4 Individual
- •2.6.5 Datum
- •2.6.6 DEM Plotting
- •2.6.7 Photogrammetry
- •2.6.8 Manage Profiles
- •2.6.9 Compare Configuration Files
- •2.6.10 Preferences
- •2.7 Output Menu
- •2.7.1 Plot GPS Data
- •2.7.3 Plot Master / Remote Satellite Lock
- •2.7.4 Export Wizard
- •2.7.5 Write Coordinates
- •2.7.6 View Coordinates
- •2.7.7 Export Binary Values
- •2.7.8 Write Combined File
- •2.7.9 Build HTML Report
- •2.7.10 Export to Google Earth
- •2.7.11 Show Map Window
- •2.7.12 Processing Window
- •2.8 Tools Menu
- •2.8.1 Zoom In & Zoom Out
- •2.8.2 Distance & Azimuth Tool
- •2.8.3 Move Pane
- •2.8.4 Find Epoch Time
- •2.8.5 Datum Manager
- •2.8.6 Geoid
- •2.8.7 Grid/Map Projection
- •2.8.8 Convert Coordinate File
- •2.8.9 Time Conversion
- •2.8.10 Favourites Manager
- •2.8.11 Mission Planner
- •2.8.12 Download Service Data
- •2.9 Window Menu
- •2.9.1 Cascade
- •2.9.2 Tile
- •2.9.3 Next and Previous
- •2.9.4 Close Window
- •2.9.5 Close All Windows
- •2.10 Help Menu
- •2.10.1 Help Topics
- •2.10.2 www.novatel.com
- •2.10.3 About GrafNav
- •GrafNet
- •3.1 GrafNet Overview
- •3.1.1 Types of Networks
- •3.1.2 Solution Types
- •3.1.3 Computing Coordinates
- •3.2 Start a Project with GrafNet
- •3.2.1 Fix Bad Baselines
- •3.2.2 Unfixable Data
- •3.3 File
- •3.3.1 New Project
- •3.3.2 Open Project
- •3.3.3 Save Project
- •3.3.4 Save As
- •3.3.5 Print
- •3.3.6 Add / Remove Observations
- •3.3.7 Add / Remove Control Points
- •3.3.8 Add / Remove Check Points
- •3.3.9 Alternate Ephemeris / Correction Files
- •3.3.10 Remove Processing Files
- •3.3.11 Import Project Files
- •3.3.12 View
- •3.3.13 Convert
- •3.3.14 GPB Utilities
- •3.3.15 Recent projects
- •3.3.16 Exit
- •3.4 Process Menu
- •3.4.1 Processing Sessions
- •3.4.2 Rescanning Solution Files
- •3.4.3 Ignore Trivial Sessions
- •3.4.4 Unignore All Sessions
- •3.4.5 Compute Loop Ties
- •3.4.6 Network Adjustment
- •3.4.7 View Traverse Solution
- •3.4.8 View Processing Report
- •3.4.9 View All Sessions
- •3.4.10 View All Observations
- •3.4.11 View All Stations
- •3.5 Options Menu
- •3.5.1 Global Settings
- •3.5.3 Datum Options
- •3.5.4 Grid Options
- •3.5.5 Geoid Options
- •3.5.6 Preferences
- •3.6 Output Menu
- •3.6.1 Export Wizard
- •3.6.2 Write Coordinates
- •3.6.3 View Coordinates
- •3.6.4 Export DXF
- •3.6.5 Show Map Window
- •3.6.6 Show Data Window
- •3.6.7 Baselines Window
- •3.6.8 Processing Window
- •3.7 Tools Menu
- •3.8 Help Menu
- •GrafNav Batch
- •4.1 Overview of GrafNav Batch
- •4.1.1 Getting Started with GrafNav Batch
- •4.2 File Menu
- •4.2.1 New Project
- •4.2.2 Open Project
- •4.2.3 Save Project
- •4.2.4 Save As
- •4.2.5 Print
- •4.2.6 Add Baselines
- •4.2.8 Add Combined Baselines
- •4.2.9 Import CFG Files
- •4.2.10 Edit Selected Baseline Settings
- •4.2.11 Removing Selected Baselines
- •4.2.12 View ASCII Files
- •4.2.13 View Raw GPS Data
- •4.2.14 Convert GPS Data
- •4.2.15 GPB Utilities
- •4.2.16 Remove Process Files
- •4.2.17 Recent Projects
- •4.2.18 Exit
- •4.3 Process Menu
- •4.3.1 Process All Baselines
- •4.3.2 Process Selected
- •4.3.3 GrafNav on Selected Baselines
- •4.3.4 View Selected Processing Summary
- •4.3.5 Load All Solutions
- •4.3.6 Load Selected Solutions
- •4.4 Settings Menu
- •4.4.1 Global
- •4.4.2 Selected
- •4.4.3 Copy Processing Options
- •4.4.4 Load into Selected From
- •4.4.5 Manage
- •4.4.6 Preferences
- •4.5 Output Menu
- •4.5.1 Plot Selected GPS Data
- •4.5.2 View Selected Map
- •4.5.3 Export All
- •4.5.4 Export Selected
- •4.6 Tools Menu
- •4.7 Windows
- •4.8 Help Menu
- •GrafMov
- •5.1 Overview of GrafMov
- •5.2 Getting Started with GrafMov
- •5.3 File Menu
- •5.3.1 Add Master File
- •5.4 View Menu
- •5.5 Process Menu
- •5.6 Setting Menu
- •5.6.1 Moving Baseline Options
- •5.7 Output Menu
- •5.7.1 Plot GPS Data
- •5.8 Tools Menu
- •5.9 Interactive Windows
- •5.10 Help Menu
- •AutoNav
- •6.1 Overview of AutoNav
- •6.2 Getting Started with AutoNav
- •6.3 Base Station Files
- •6.4 Remote Files
- •6.5 Interactive Windows
- •File Formats
- •7.1 Overview of the File Formats
- •7.2 CFG File
- •7.3 GPS Data Files
- •7.3.1 GPB File
- •7.3.2 STA File
- •7.3.3 Old Station File Format
- •7.3.4 EPP File
- •7.4 Output Files
- •7.4.1 FML & RML Files
- •7.4.2 FSS & RSS Files
- •7.4.3 FWD & REV Files
- •7.4.4 FBV & RBV Files
- •Utilities
- •8.1 Utilities Overview
- •8.2 GPB Viewer Overview
- •8.2.1 File
- •8.2.2 Move
- •8.2.3 Edit
- •8.3 Concatenate, Splice and Resample Overview
- •8.3.1 Concatenate, Splice and Resample GPB Files
- •8.4 GPS Data Converter Overview
- •8.4.1 Convert Raw GPS data to GPB
- •8.4.2 Supported Receivers
- •8.5 GPS Data Logger Overview
- •8.5.1 Getting Started with WLOG
- •8.5.2 File
- •8.5.3 Display
- •8.5.4 Plot
- •8.5.5 Zoom Menu
- •8.5.6 Events Menu
- •8.6 WinCE Data Logger Overview
- •8.6.1 Installing CELOG
- •8.6.2 Getting Started with CELOG
- •8.6.3 Variable Display File
- •FAQ and Tips
- •9.1 Overview of FAQ and Tips
- •9.2 General FAQ and Tips
- •9.2.1 How can I store Master Station Coordinates?
- •9.2.2 How can I obtain Master Station Coordinates?
- •9.2.3 How can I customize output formats?
- •9.2.4 How can I download base station data?
- •9.3 Kinematic Processing FAQ and Tips
- •9.3.2 Should I combine forward and reverse solutions?
- •9.3.3 How can I use static / kinematic flags?
- •9.3.4 How do I eliminate problem satellites?
- •9.3.5 How do I set the measurement standard deviations?
- •9.3.6 How do I control bad data?
- •9.3.7 How do I avoid missing epochs?
- •9.3.8 Should I avoid using RINEX for kinematic data?
- •9.3.9 How do I process kinematic data logged during an ionospheric storm?
- •9.3.10 How do I process long kinematic baselines?
- •9.4 Integer Ambiguity Determination Tips
- •9.4.1 How can I detect and fix incorrect integer fixes?
- •9.4.2 How can I help KAR/ARTK find a solution?
- •9.4.3 How can I use KAR and ARTK to improve poor combined separations?
- •9.5 Static Processing FAQ and Tips
- •9.5.1 Can I use GrafNet for static batch processing?
- •9.5.2 Can I use kinematic processing on static baselines?
- •9.5.3 Using KAR or ARTK in GrafNet
- •9.5.4 How can I optimize the fixed static solution?
- •9.5.5 How can I refine L1/L2 integer solutions?
- •9.5.6 Can I use a larger interval for static processing?
- •9.5.7 How do I process static data logged during ionospheric storms?
- •9.5.8 How do I process long static baselines?
- •9.6.1 How should I choose a processing mode?
- •9.6.2 How important are base station coordinates?
- •9.6.3 How can I use the MB Plots?
- •9.6.4 How do I select a data interval?
- •9.6.6 How should I decide which base stations to use?
- •9.6.7 How do I deal with problematic baselines?
- •9.6.9 How can I use the fixed static solution?
- •9.6.10 What is the best way to process data with large base to rover separations?
- •9.6.11 How can I speed up processing?
- •9.7 PPP (Precise Point Positioning)
- •9.7.1 What is Precise Point Positioning?
- •9.7.2 How does PPP differ from differential processing?
- •9.7.3 How accurate is PPP?
- •9.7.4 What is PPP used for?
- •9.7.5 Who should use PPP?
- •9.7.6 Are there any limitations to PPP?
- •9.8 Common Inquiries
- •9.8.1 How can I determine the quality of a final solution?
- •9.8.2 How do I copy user files?
- •9.8.3 How do I update manufacturer files?
- •9.8.4 How do I produce local coordinates?
- •9.8.5 How do I define a local cartesian coordinate system?
- •9.8.6 How do I define a local coordinate grid?
- •9.8.7 How do I process an aerial survey with camera event marks?
- •9.9 Digital Elevation Models (DEM) FAQ and Tips
- •9.9.1 Why would I use a DEM?
- •9.9.2 What are the DEM sources?
- •9.9.3 What DEM formats are supported by GrafNav?
- •9.9.4 How do I handle large DEMs?
- •9.10 Datum FAQ and Tips
- •9.10.1 What are the available datums - related features?
- •9.10.2 How are datums handled within the software?
- •9.10.3 How do I make additional datums available?
- •9.10.4 How do I enter a 7-parameter transformation?
- •9.10.6 How do I use NADCON conversion files?
- •9.10.7 How do I prevent corruption from conversion errors?
- •9.11 Projections FAQ and Tips
- •9.11.1 What features are available with map projections?
- •9.12 Geoid FAQ and Tips
- •9.12.1 What are the available geoid - related features?
- •9.12.2 How can I create a WPG file?
- •A: Output Variables
- •B: Antenna Measurements Diagram
- •C: Summary of Commands
- •Index
Chapter 1 |
Introduction and Installation |
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1.3Processing Modes and Solutions
Processing Solutions
Fixed static solution
This solution is available when sufficient cycle slip-free data is obtainable. This algorithm starts with the float solution, and using this as a starting position (seed), it searches for the nearby integer combinations. Then, it calculates RMS (root mean squared) fits for these integer intersections. The intersection list sorts around this value. In single frequency, fixed static solution requires at least 10 to 15 minutes of continuous static data, and more on longer baselines. Dual frequency receivers require less then half of that time.
Fixed solutions are not reliable on baselines longer than 15 km for single frequency and 30 km for dual frequency. For data sets with multiple static sessions, fixed solutions can be solved for all static periods.
Kinematic Ambiguity Resolution (KAR) solution
This solution searches ambiguities after a serious loss of lock and is useful for precise kinematic processing because it achieves centimeter level accuracies.
This is the on-the-fly (OTF) algorithm. This technique requires that 5 or more satellites be in view and is helped considerably by L2 (dual frequency) phase measurements. KAR can be useful for single frequency receivers if there are enough satellites present for 20 to 30 minutes. KAR is generally engaged at start - up, or after periods of, extremely poor geometry or loss of lock. For dual frequency, it can be used for reliable initialization if baseline lengths are less than 30 km. Single frequency can also be initialized in this manner, but static methods are more reliable.
Float solution
This solution is less accurate than fixed or KAR solutions, but it is the best alternative for longer baselines that are often not solvable.
The types of solutions are described in the shaded box. The following are the types of processing modes:
Static
Static processing involves the determination of a three-dimensional baseline between two stations. There are two types of static solutions are supported by GrafNav: a float solution and a fixed solution. They are discussed in the shaded box.
Kinematic
Kinematic processing is initialized either with a static survey, from a known point or using Kinematic Ambiguity Resolution (KAR). Following initialization, the antenna-mounted vehicle moves from station to station. In some cases, it may be possible to remove the antenna and place it over the desired point. However, in other cases such as an aircraft, positions can be interpolated.
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GrafNav / GrafNet 8.10 User Guide Rev 4 |