RTK GPS Validation Procedure Government of Western Australia by nikeborome

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									   Technology and Environment Directorate - Road and Traffic Engineering Branch



Document No. 67/08/53                                              Issue Date 04/2005




                       REAL-TIME KINEMATIC (RTK)
                     GLOBAL POSITIONING SYSTEM (GPS)
                         VALIDATION PROCEDURE



This document is owned and controlled by the Survey and Mapping Manager.

The Senior Geodetic Surveyor is the delegated custodian.

All comments for revision should be submitted to the Senior Geodetic Surveyor.




Authorisation

As Executive Director Technology and Environment Main Roads Western Australia, I
authorise the issue and use of this standard.



         ................................……….…
         EXECUTIVE DIRECTOR TECHNOLOGY AND ENVIRONMENT

         Date: _____/ _____/ _____



No controlled copies are issued for this standard.
The latest copy of this standard is located on the Main Roads Internet site.




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REVISION STATUS RECORD

  Page Latest                Latest                          Revision
   No Revision              Revision                   Description/Reference
         No                  Date
    1

    2

    3

    4

    5            1          07.06.04            VRS definition added to section 4.
                                               Section 5 revised to represent current
                                                          validation array

    6            1          07.06.04       Section 6. Cross reference to documents 67-08-
                                             15 and 67-08-50 added. Reference to VRS
                                           added. Reference to missing points in analysis
                                                         software changed.
    7

    8            1          07.06.04               Appendices 3 and 4 removed.

    9            1          07.06.04          VRS option added to base station box on
                                                       validation log sheet
   10

   11

   A1
   A2                                             Revised for software version 2.2
   A3                                                         removed

   A4                                                        removed




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CONTENTS

1.        PURPOSE.............................................................................................................. 4

2.        SCOPE .................................................................................................................... 4

3.        REFERENCES ...................................................................................................... 4

4.        DEFINITIONS AND ACRONYMS..................................................................... 4

5.        THE CURTIN RTK BENCHMARKING AND TESTING FACILITY .......... 5

6.        TEST SURVEY PROCEDURE ............................................................................ 6

7.        FIELD TEST DOCUMENTATION AND DATA REDUCTION .................... 6

8.        SUBMISSION REQUIREMENTS ...................................................................... 7

9.        LIAISON ................................................................................................................ 7

APPENDICES .................................................................................................................... 8




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1.       PURPOSE

         The purpose of this document is to detail the procedures required for certification of
         RTK GPS equipment and methodology at the RTK GPS Testing and Benchmarking
         Facility on the Bentley Campus of Curtin University of Technology.


2.       SCOPE

         This document is issued to all consultants and contractors wishing to obtain
         MRWA certification of RTK GPS equipment and methodology. This certification is
         a prerequisite for all consultants and contractors who propose to use RTK GPS
         survey methods for work to be submitted to MRWA, unless otherwise approved by
         the Survey and Mapping Manager.

         Advice and further information can be obtained by contacting the Senior Geodetic
         Surveyor of the Road and Traffic Engineering Branch.


3.       REFERENCES

         The following documents relate to this Work Instruction:

           RTK GPS Surveying Work Instruction A, Real Time Kinematic (RTK) Global
             Positioning System (GPS) Surveys.
           Survey and Mapping Standard B, Real Time Kinematic (RTK) Global
             Positioning System (GPS) Surveys.
           Survey and Mapping Specification 67/08/44, Digital Ground Survey
           Survey and Mapping Specification 57/08/46, Quality Statement
           Survey and Mapping Specification 67/08/36, Road Reference Marks
           Survey and Mapping Specification 67/08/37, Minor Control
           ICSM – Standards and Specifications for Control Surveys version 1.5 2002
             (SP1) http://www.icsm.gov.au/icsm/publications/sp1/sp1.htm
           Geocentric Datum of Australia Technical Manual
           Featherstone, W.E. and M.P. Stewart (1999) RTK GPS Evaluation, Contract
             Report to Main Roads Western Australia, Perth, Australia, 50pp.


4.       DEFINITIONS AND ACRONYMS

         The following acronyms used in this document have the specific meanings
         indicated.

         AGD                -   Australian Geodetic Datum
         AHD                -   Australian Height Datum
         AUSGeoid           -   National geoid model
         BM                 -   Benchmark
         GDA                -   Geocentric Datum of Australia



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          GPS                  -   Global Positioning System
          GRS80                -   Geodetic Reference System 1980
          ICSM                 -   Inter-governmental Committee on Surveying and Mapping
          MGA                  -   Map Grid of Australia
          RM                   -   Reference Mark
          RRM                  -   Road Reference Mark
          RTK                  -   Real-time kinematic
          SSM                  -   Standard Survey Mark
          VRS                  -   Virtual Reference Station
          WGS84                -   World Geodetic System 1984


5.        THE CURTIN RTK BENCHMARKING AND TESTING FACILITY

         As of June 2004, the facility comprises 33 control points established in two linear
         clusters (figure 1). The clusters are situated along Hayman Road (H01 – H14; note:
         H09 is not present), Kent Street (K01 - K20). The AHD height of each point is
         known to class A standard as defined in by the SP1 specification document (ICSM
         2002). Location and description information for the 33 control points are available
         from MRWA (http://www.mainroads.wa.gov.au/).

         Five SSMs have been defined as reference stations for the test facility (figure 1),
         these being: APP94 (base 0), APP90 (base 1), R211 (base 2), CANN55A (base 5)
         and THOR62 (base 10). Location and description information for the reference
         stations are available from the WA Department of Land Information. The base level
         indicates the approximate distance of the reference station from the survey area.
         Base 0 indicates that the reference station is less than 1km from all control points.


                                   H14-H01

                    Hayman Road
        Kent Stre
         e nt
           et




                     K01-K20
            t




                         base 0                                base 0
                                                                                 base 2

                                                                        base 1
                                                                                          base 5



                                                                                                   base 10




                                        Figure 1 Control Network Location Map


         Full details of the establishment and validation of the Curtin RTK Benchmarking
         and Testing Facility can be found in Featherstone and Stewart (1999).


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6.       TEST SURVEY PROCEDURES

         Contractors or consultants should establish the GPS reference station at one of the
         pre-defined reference stations. If a particular base station is used successfully,
         certification validates usage of equipment and methodology for any survey with a
         reference station less than the base level in kilometres from the survey area.
         Therefore, a certified survey at base 2 would allow contractors to survey up to 2km
         from the reference receiver but no more.

         Contractors using VRS are not required to use any of the GPS reference stations.

         Each point in the test network should be measured using the RTK methodology
         specified in MRWA RTK Standard 67-08-15 and RTK Work Instruction 67-08-50.
         The contractor must state the minimum number of satellites, maximum PDOP and
         the minimum number of epochs observed at each point. Certification is valid only
         for surveys operating under these criteria. All 33 points must be observed. The
         analysis software will not run if any point is missing.

         Quality indicators from proprietary software should be logged for each point.

         Contractors may wish to perform validation procedures (as per Survey and Mapping
         Standard 67-08-15) whilst observing on the control points. However, only one
         coordinate may be submitted for certification. If validation procedures are used,
         certification is only valid for future surveys where these criteria have been applied.


7.       FIELD TEST DOCUMENTATION AND DATA REDUCTION

         A field test report sheet (Appendix 1) should be completed for the entire survey.

         A job log file containing proprietary quality indicators should be downloaded and
         stored in an ASCII text file.

         All computed ellipsoidal heights must be reduced to AHD in metres. Data should
         be stored in the ASCII format outlined below: Files must be in ASCII format with
         space delimiters and no tab characters.

                        Format

                        3_letter_station_id                  AHD_height

                        All entries must be on a separate line. Entries with more than two
                        strings per line will be ignored. Station names need be not in any
                        particular order.

                        Example:

                        H01 12.666
                        H02 10.619


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                        H03 9.47
                        H04 4.345
                        H05 29.214

         The file of AHD heights should be run through the program BENCHMARK
         (Appendix 2) which will indicate the success rate for the survey. The software will
         output a summary file which can be printed out.

         A sample data file can be found in the file sample_data.ahd.

8.       SUBMISSION REQUIREMENTS

          Field Test Report Sheet, signed by both the field observer and the senior
           supervising officer (hard copy only).

          BENCHMARK summary sheet, signed by the senior supervising officer (hard
           copy only).

          ASCII file containing derived AHD point heights (digital or hard copy).

          Proprietary ASCII job log file (digital or hard copy).


9.       LIAISON

         All queries and requests should be directed to the Senior Geodetic Surveyor of the
         Road and Traffic Engineering Branch.

         Contact: Geoff Xanthis

         (08) 9323-4152 (direct)
         (08) 9323-4449 (fax)
         geoff.xanthis@mrwa.wa.gov.au




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APPENDIX 1

       FIELD TEST REPORT SHEET

       VALIDATION LOG SHEET




APPENDIX 2

       BENCHMARK SOFTWARE VERSION 2.2




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               MAIN ROADS
               Western Australia


         REAL-TIME KINEMATIC (RTK) GPS VALIDATION

                   GPS CERTIFICATION TEST LOG SHEET

   Receiver operators                        Name (print)              signature      Survey date




                                             Receiver Information

                                   Manufacturer                Model               Serial Number

Reference Receiver

Reference Antenna

 Roving Antenna

 Roving Receiver

Reference Receiver Firmware version number

 Roving Receiver Firmware version number

                                             Survey Information

        Minimum number of satellites

                Maximum PDOP

  Minimum number of observation epochs

            Precision tolerance (m)

Base station name OR VRS service provider

         Name of Authorising Officer                          Signature                Date




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                      MAIN ROADS
                      Western Australia



          REAL-TIME KINEMATIC (RTK) GPS VALIDATION

                                  VALIDATION LOG SHEET

    Receiver operators                        Name (print)            signature     Survey date




Full details of any validation procedure undertaken in the course of the validation survey must be
                           given. If necessary, attach supporting documentation.

          Number of additional pages




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APPENDIX 2 BENCHMARK SOFTWARE VERSION 2.2

INSTALLATION
The software may be downloaded as an executable file BM_INSTALL.EXE from the
MRWA website http://www.mainroads.wa.gov.au

The software is installed by running BM_INSTALL.EXE from the start/run menu
in windows.

OPERATION

The program may be accesses either by clicking on the relevant icon on the windows
desktop or through the start/programs/benchmark menu:




which will produce the input menu:




The user may enter the input file either manually, through the file/open datafile
menu, or through the open button.



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The user may then select the output file, either manually, through the file/output
menu or the save button:




To run the test, hit the ! button. The test results are highlighted in the window.




Test results are echoed to the output file. The output sheet should be signed and submitted
to MRWA together with all other documentation required for certification.

HELP
Online help is available through the help menu.




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Explanation of Output Sheet

The Benchmark software tests each individual point against the ‘truth’ (in actuality, in the
software AHD heights are assigned an a priori standard deviation of ±1-2mm) at each
MRWA tolerance level for sealed roads, formed surfaces and natural surfaces (as defined
in the MRWA Digital Ground Survey Specifications document). To pass (and hence gain
certification) at least 95% of points must be within the tolerance. The pass rate is indicated
within each tolerance test. Any missing points are automatically treated as ‘failed’.

Sample output sheet

**********************************************
 *                 BENCHMARK                   *
 *          GPS RTK TESTING SOFTWARE           *
 *                                             *
 *                Version 2.2                  *
 *                  08.06.04                   *
 *                                             *
 * Copyright: Main Roads Western Australia     *
 *                   (2004)                    *
 **********************************************

 PROGRAM RUN DATE: 01-Jun-04
 PROGRAM RUN TIME: 10:22

 INPUT FILE NAME: D:\mainroads\2004\Benchmark\test1.ahd

 TEST PASSED MRWA SEALED ROAD TOLERANCE
 PASS RATE   96.97%

 TEST PASSED MRWA FORMED SURFACE TOLERANCE
 PASS RATE   100.00%

 TEST PASSED MRWA NATURAL SURFACE TOLERANCE
 PASS RATE   100.00%



 SIGNATURE OF AUTHORISING OFFICER ......................




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