INTEGRITY MONITORING SYSTEM FOR SPACE-BASED NAVIGATION AND POSITIONING IN MALAYSIA

1
INTEGRITY MONITORING SYSTEM FOR SPACE-BASED
NAVIGATION AND POSITIONING IN MALAYSIA
Ooi Wei Han1, Moslin S.I1., Ahmad N.1, Subari
M.D.1, Musa T.A.2, Othman R.2, Omar A.H.2,
Musliman I.A.2   1National Space Agency
(ANGKASA)  Space Application and Technology
Development Unit 2Universiti Teknologi Malaysia
GNSS and Geodynamics Research Group  
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
2
Contents

• Introduction
• Project Aims, Objectives Scope of Work
• The GNSS CORS Collaboration
• Design Architecture of GNSS Integrity
• Monitoring System
• Infrastructure Setup
• Preliminary Output
• Concluding Remarks

Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
3
Introduction

• In Malaysia, navigation technology has become an
  essential tool in various applications for
  positioning in military and civilian sectors.
• With the full operational constellation and
  modernization of the GNSS such as GPS and
  GLONASS, the accuracy of positioning has
  definitely improved.

Malaysia
GPS, GLONASS, GALILEO, COMPASS, QZSS
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
4
The Signal Integrity

• GNSS signals are weak and easily be interrupted.
• Affected by variety types of errors at various
  stages
• Such as
• - satellite clock and orbit errors
• - ionospheric and tropospheric delays
• - receiver clock error
• - possible cycle slips
• - multipath
• - and etc.
• Several incidents indicated signals in failure
  mode and resulted significant position errors.

Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
5
L.Heng et. al., 2010
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
6
Aims Objectives

• The National Space Agency (ANGKASA) in
  collaboration with universities, government and
  industries sectors is currently in the midst of
  developing an integrity monitoring system for
  space-based positioning in Malaysia.
• The aim of this project is to provide an
  integrity monitoring system for space-based
  navigation and positioning in Malaysia. This aim
  embarks three objectives
• To establish GPS/GNSS CORS network over
  Peninsular Malaysia
• To determine on integrity and reliability of GNSS
  and DGPS signals over country
• To provide a warning of any signal anomalies at
  all time.

Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
7
Scope of Work

• Set-up GNSS ground stations with real-time data
  streaming.
• Set-up control centre at ANGKASA processing
  centre at UTM.
• Set-up database for GNSS DGPS integrity
  monitoring system.
• Set-up web-based service for GNSS DGPS
  integrity monitoring system.

Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
8
The GNSS CORS
Peninsular Malaysia
Langkawi National Observatory (ANGKASA)
Kota Bharu Malaysian Metrological
Department (ANGKASA/MMD)
COMING SOON Penang (MARDI, Malaysia)
Bagan Datoh Sistem Pelayaran Satelit (SISPELSAT,
JLM)
Kuantan Sistem Perlayaran Satelit (SISPELSAT, JLM)
Kepong, Kuala Lumpur (Enviro Land Service)
Main Processing Centre ISKANDAR Malaysia UTM,
MPKU, PTP, KKPG
Shah Alam, Selangor (UiTM)
National Space Centre (ANGKASA), Selangor
Melaka Sistem Pelayaran Satelit (SISPELSAT, JLM)
COMING SOON Pontian, Johor MARDI, Malaysia)
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
9
CORS Collaboration Government Agencies,
Universities, Industry
Collaboration! Data Sharing Combine
Expertise! Opportunities!
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
10
System Design Architecture of Integrity
Monitoring System
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
11
Model-based Design
ANGKASA GNSS/DGPS INTEGRITY MONITORING CENTRE
GPS GLONASS Satellite
GNSS CORS
Data Storage / Web Server
CORS2
CORS1
GPS GLONASS Satellite
MULTI USER
ANGKASA Web-Based

• SYSTEM LEVEL MONITORING
• (NANUs for GPS
• GLONASS)

• GROUND LEVEL MONITORING
• (signal availability, range monitoring
• ionosphere, cycle slip, missing
• observation, etc.)

• USER LEVEL MONITORING
• (DGPS correction satellite by
• satellite, SISPELSAT)

12
System Architecture
NTRIP CASTER
GPS/GNSS Data Quality Processor
DGPS Processor
DGPS Processor
Network-RTK (VRS) Processor
Main Database
IOMOS Processor
GPS Seismic Processor
Collaborators
Web Server
Real Time User
13
Infrastructure Setup
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
14
Site Reconnaissance CORS Installation Malaysia
Meteorological Dept. Kota Bharu
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
15
SISPELSAT CORS at Malaysia Marine Department,
Melaka
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
16
Infrastructure Setup The Control Centre
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
17
Infrastructure Setup Communication
TCP/IP
The Integrity Monitoring System utilizes Internet
and NTRIP technology
18
Infrastructure Setup Database System

• Uses MySQL as the database management system.
• Data for every second will be stored - need a
  huge data storage to keep the large data size.
• Database system should be robust and flexible to
  handle various emergencies and does not crash
  when error occurs.

Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
19
Preliminary Output
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
20
gt AGENSI ANGKASA NEGARA
gt ABOUT US
news
service
main page
sign up sign in
Today Monitoring
SYSTEM LEVEL MONITORING
GROUND LEVEL MONITORING
USER LEVEL MONITORING
Today Discussion
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
21
AGENSI ANGKASA NEGARA
ABOUT US
news
service
main page
sign up sign in
Today Monitoring
SYSTEM LEVEL MONITORING
GROUND LEVEL MONITORING
Please click the station for the information
USER LEVEL MONITORING
Today Discussion
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
22
AGENSI ANGKASA NEGARA
ABOUT US
news
service
main page
sign up sign in
Station Information
ISKANDARnet 1 Operated maintained by UTM-GNSS
Geodynamics Research Group
Today Monitoring
SYSTEM LEVEL MONITORING
Station ID Station ID ISK1
Location Location Block C02, FKSG, Universiti Teknologi Malaysia (UTM)
ITRF 2008 Latitude 1 33 36.39495 N
ITRF 2008 Longitude 103 38 08.89223 E
ITRF 2008 Ellipsoidal Height 61.551 m
RSO Geocentric Easting 626585.075 m
RSO Geocentric Northing 172530.806 m
IGS Convention GPS Receiver Trimble 4700
IGS Convention GPS Antenna Trimble L1/L2 Micro-centred with Ground Plane TRM33429.20GP
Com Radio-link RTCM 2.0 channel 01
Com NTRIP IP XXXXX.XXX.XXX
GROUND LEVEL MONITORING
USER LEVEL MONITORING
Today Discussion
More .
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
23
AGENSI ANGKASA NEGARA
ABOUT US

news
service
main page
sign up sign in
ISKANDARnet1

Today Monitoring
Satellite Availability signal strength
DGPS Corrections
GNSS signal quality
SYSTEM LEVEL MONITORING
Reliability of satellite for DGPS correction
GPS L1
GROUND LEVEL MONITORING
USER LEVEL MONITORING
DGPS correction latency
Today Discussion
Variation of fine PRC
GPS L2
Alert !
DGPS corrections from Satellite PRN 31 32 are
out of range
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
24
AGENSI ANGKASA NEGARA
ABOUT US
news
service
main page
sign up sign in
Base station
Please click the station
Rover station
Today Monitoring
or
SYSTEM LEVEL MONITORING
Insert coordinate
GROUND LEVEL MONITORING
Lat
ddd.mm.ss
USER LEVEL MONITORING
ddd.mm.ss
Long
Today Discussion
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
25
AGENSI ANGKASA NEGARA
ABOUT US
news
service
main page
sign up sign in
Base station
Banting
Rover station
Today Monitoring
or
SYSTEM LEVEL MONITORING
Insert coordinate
GROUND LEVEL MONITORING
Lat
ddd.mm.ss
USER LEVEL MONITORING
ddd.mm.ss
Long
Distance 338.33 km Accuracy 0.325 m (rms)
Today Discussion
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
26
User Level Monitoring DGPS Module
Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
27
Concluding Remarks

• Three different services will be make available
  to monitor satellite anomalies, signals at CORS,
  DGPS correction and alert to user.
• The project show excellent collaborations amongst
  government agencies, universities and industry in
  developing the integrity monitoring system for
  space-based navigation and positioning in
  Malaysia.

Geospatial World Forum 13-16 May 2013,
Beurs-World Trade Centre Rotterdam
28
end
MALAYSIA
Maleisië