- •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
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8.1Utilities Overview
This chapter describes the following utilities that are included with Waypoint’s software:
•GPB Viewer
•Concatenate, Splice and Resample
•GPS Data Converter
•GPS Data Logger
This chapter goes through each menu of their interfaces. Step-by-step instructions for first time users are also included.
8.2 GPB Viewer Overview
GPB files are in a binary format and cannot be viewed with a normal text editor. GPBViewer allows
you to both view and edit your data in the GPB View L2C tracking is indicated as a C2 after the satellite. window.
8.2.1File
8.2.1.1 Open
Any GPB file can be opened with this feature.
If the GPB file is corrupt, GPBViewer prompts for permission to fix the file.
8.2.1.2 Close
This feature will close the GPB file without exiting from GPBViewer.
8.2.1.3 Saving a GPB File
To make permanent modifications to a GPB file, save a copy the original file. File | Save As… gives saves a copy of the current GPB file, and its associated EPP file, under a new name. This lets you edit the new file without losing the original file.
Use this feature to save a file from a newer format into an older format, making it compatible with older versions of the software.
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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
Exports data from every epoch in the well-documented NMEA format.
Waypoint Trajectory
Exports the data in Waypoint’s single point trajectory (FSP) format. This trajectory file can then be loaded into GrafNav as a solution. See Chapter 3 on Page 207 for a definition of the format.
Google Earth
Exports position information into a KML file, which can then be plotted into Google Earth. If you are hoping to download nearby base station data, this feature is very helpful when used in conjunction with the KML files produced for each available download service.
8.2.1.4Export 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 five choices of ASCII formats to save your file in are listed in the shaded box.
NMEA Output Records
This is available for exporting into the NMEA format and allows you to choose which NMEA strings to write to the output file.
NMEA Settings
This is available for exporting into the NMEA format. Enabling the Save Records to separate files option writes individual files for each NMEA output record selected under NMEA Output Records. You can also enter the appropriate UTC Time Offset with respect to GPS time.
8.2.1.5Load Alternate Ephemeris File
If you lack ephemerides to cover the entire observation period, GPBViewer displays a warning message when opening the GPB file. Without a valid EPP file, many features are disabled, including the display of elevation angles and the re-computing of positions. This feature allows you to specify an alternate EPP file for use in the GPB Viewer. You can see how many ephemerides have been loaded with the Ephemerides field of the Header Information box in the top half of the GPBView window.
8.2.1.6Exit
Exits the program.
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8.2.2Move
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.
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.
8.2.3Edit
Several options under this menu make permanent changes to the GPB file. You are warned when one of these options has been selected so that you can save a copy of the original GPB file before using it. See Section 7.3.1, on Page 207 for additional information.
8.2.3.1 Switch Static/Kinematic...
If you are unable to switch your data between kinematic and static mode during logging, do it postconversion with the GPB Viewer. This is important for processing kinematic data.
The status is indicated in the top half of the GPBView window, under the Mode field of the Position Information box.
Process Mode
Specifies whether the mode is to be set to Static or
Kinematic.
Epochs to Convert
Determines which observations will be switched. Convert using the options listed in the shaded box.
Start Location
Use in conjunction with All epochs and Specified Epochs, under Epochs to Convert. Determines the starting point of the conversion.
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 of epochs, subject to the chosen starting point. You can also convert a specific time range that is based on GPS seconds of the week.
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When to recalculate position and time
•To compute position records when they are not being logged because both GrafNet and GrafMov require the GPB file to contain positions.
•To correct erroneous clock shifts.
•To specify a time range to recalculate specific data. You are given the choice as to whether to recalculate only the positions or clock shifts, or both.
8.2.3.2 Recalculate Position and Time
Useful applications for this feature are listed in the shaded box. It removes or induces a cycle slip on any or all satellites at a given epoch. If you add a cycle slip, the locktime for the specified satellite(s) is set to zero. Do this at any epoch where a locktime is greater than zero.
8.2.3.3 Add/ Remove Cycle Slips...
Only remove cycle slips at epochs with a zero locktime and a valid locktime for the satellite of interest at the previous epoch. This feature increments the locktime for the current epoch until the next loss of lock.
Use this feature carefully because the changes can cause problems during processing.
8.2.3.4Disable Satellite (s)
If a data record is corrupt, eliminated it with this feature. When this option is engaged, the program sets the pseudorange to zero and removes the satellite from any processing that takes place using this file.
8.2.3.5 Recalculate Doppler Measurements
Use this feature if the velocity output from processing appears to be erroneous, indicating possible corruption in the Doppler measurements. The methods available for this recalculation are dependent on the mode in which the data was collected.
8.2.3.6 Align Epoch Time
This feature specifies the data interval and is for data sets where the epoch times are not falling on the proper interval. When this option is activated, GPBViewer shifts the epoch time to the nearest epoch, based on the specified interval. Use this feature if the software cannot find any overlapping data between rover and base station files that were logged concurrently.
8.2.3.7 Edit Meteorological Values
This feature edits the GPB file pertaining to the environmental conditions for better troposphere modeling. A TRP file is created, and the processor looks for it when processing. Information about the new troposphere parameters appear in the message logs (FML/ RML) after processing. Enter meteorological values for both the master and remote stations. If you do not, the post-processor utilizes the values from one of the stations for both and only the effect of height difference will be accounted for.
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8.2.3.8 Edit Satellite Tracking L2C
In order to properly handle carrier phase measurements tracked using L2C (instead of L2P/Y), a correction value must be applied to make the satellite compatible with L2P/Y. In order to apply this correction, it must be known which satellites are tracking L2C. For some formats such as OEMV, Leica 1200 and RINEX 2.11 can insert these flags automatically. However, L2C decoding for Trimble and possibly some other formats is not supported, and this feature permits the user to set the L2C satellites to be marked. It assumes that there are no changes between L2C and L2P tracking during the data. The software will automatically fill the list of PRNs to change by selecting those that are block IIR-M and later.
8.2.3.9 Edit L2C Phase Correction
In addition to proper satellite registration, L2C processing also needs a correction value. The magnitude of the correction tends to be -0.25, 0.50, 0.25 or 0.00 cycles, and it can be stored in the GPB header. The feature permits the changing of the correction or inserting a correction for those files which do not have one already defined.
Some manufacturers may choose to align L2C with L2P resulting in a correction of 0.00. For the NovAtel OEMV, firmware versions 3.0 and 3.1 use 0.5 cycles while future versions (3.2 and greater) will either use -0.25 or 0.00.
For Trimble, early versions used 0.5, while later versions will require -0.25.
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