1. High Accuracy Nationwide Differential Global Positioning System (HA-NDGPS) Jim Arnold CGSIC New Orleans July 2008

2. Problem and Program Objectives HA-NDGPS Examine ways to enable 3-D dynamic positioning at the centimeter level throughout the US, Coexist with existing infrastructure, Minimize deployment costs. Problem: Submeter resolution of vehicle position needed for many advanced vehicle safety concepts. Program Objective: Assess the implementation feasibility for improving the accuracy of the NDGPS service, using existing infrastructure, to meet the requirements of additional applications without decreasing availability and integrity and still meeting the needs of existing users.

3. GPS (13 meters) Perspective on Accuracy Horizontal, Dynamic, 95% NDGPS (1-2 meters) HA-NDGPS(Dynamic) (.1 Meters) HA-NDGPS(Static) (.01 Meters)

4. NDGPS Nationwide network of GPS reference stations Provide real time code phase corrections for diverse applications –Transportation –Agriculture –GIS Provides data for other users –NGS –UNAVCO –Etc.

5. Coverage

6. The Site ATU BUPG Electronics GSOS

7. HA-NDGPS Program Phases Phase 1 Develop Modulator and Data Link Receivers Interface System Modules Broadcast Characterization and Optimization Single Site Concept Demonstration (Hagerstown, MD) Phase 2 Pre-Broadcast Integrity Algorithm Multiple Site/Baseline Concept Demonstration (Hawk Run, PA) Iono/Tropo Prediction Application Development

8. Broadcast Site Configuration TRANSMITTER DIPLEXER REFERENCE STATION DATA FORMATTER MODULATOR TRANSMITTER DGPS/NDGPS HIGH ACCURACY DGPS TO ANTENNA OBSERVABLES CORRECTIONS Rack Mount PC DSP/Analog Card

9. Data Formatter/Modulator Diplexor

10. Static Positioning at 50 km Actual Real-time Hydra plot of static geodetic survey application performed at Dickerson, MD 47.8 km from reference station. Reference Data Source – Hagerstown HA-NDGPS Broadcast

11. Long Range Single Baseline Test Tangier Island HA-NDGPS Experiment (250 km). Comparison of approximate “truth” geodetic coordinates of mail boat With the real-time solution based upon the HA-NDGPS broadcast. Results are roughly 10-20 centimeters as expected at this great range.

12. Phase II Hawk Run Installation Status –Installed and Operating Testing –Report available http://www.navcen.uscg.gov/ndgps/HA-NDGPS.PhaseII.Report.July2004.four.pdf Application Development –Partnering with other agencies to develop applications –US Army Corps of Engineers

13. HA-NDGPS Coverage Hagerstown, MD Hawk Run, PA Orbisonia, PA 50 mile baselines

14. Multi-Station

15. “Accurate” Solution Nationwide RTK? What You Need: –Satellite Lock –Ground based system broadcasting observables –Accurate Ephemeris –Accurate Clock data –Good ionosphere model –Good Troposphere model –Integrity Check –Multiple reference stations at less than 200 mile baselines What You Get: –Initial.5 to 2 meter code accuracy –Reduced search space for integers –Very fast integer resolution at long ranges

16. Code Differential Solution 500100150 50 0 100 150

17. Integer Resolution 500100150 50 0 100 150

18. Integer Resolution 500100150 50 0 100 150

19. Integer Resolution 500100150 50 0 100 150

20. Models - Total Electron Count

21. Wx Model-Derived Wet Signal Delay Over CONUS Courtesy, Dr. Sunil Bisnath formally with USM, now at Harvard Smithsonian Astrophysical Observatory

22. Applications Transportation –Highway Automated Road Construction Intersection Collision Avoidance Dynamic Mapping Digital Highway Measurement Vehicle –Railroad Track Defect Monitoring –Maritime Under keel clearance USDA –Agriculture Precision Farming Autonomous Farm Vehicles –USFS Logging boundaries Infestation monitoring Interior –National Park Service Monitoring subsidence of critical monuments Real-time boundary marking –Fish and Wildlife Service Monitoring critical habitat Biological Assessments EPA –Hazardous Material Spill containment Etc.

23. Summary HA-NDGPS signal successfully broadcast from multiple locations –State-of-the-Art modulation –Reliable diplexing technology Developed new atmospheric modeling approaches Accuracy better than 10 cm horizontally, 95% Availability above 99.9% Implementation cost <$100,000 per site

24. Contact Information Jim Arnold Federal Highway Administration Turner-Fairbank Highway research Center McLean, VA 22101 (202)493-3265 Phase I Test Report http://www.tfhrc.gov/its/ndgps/02110/index.htm Phase II Test Report http://www.tfhrc.gov/its/pubs/05034/index.htm

25. Applications

26. The End

27. HIGH ACCURACY - NDGPS

28. The Broadcast Broadcast Code and Carrier Phase Data Capability to broadcast all observables (L1,L2C,L5, and others) contained in less than 1000 bits Data rates - 1KBPS Initially L1 and L2-P(Y) observables are broadcast Utilize an Advanced Broadcast Link Data synchronized to GPS time Carrier calibrated with GPS to sub-hertz levels Spectrally efficient modulation (raised cosine MSK) “One second data” in compact mode

29. Add Ons National Geodetic Survey: –Replacing Brass Survey Markers –Continuosly Operating Reference Station GPS in Weather: –Troposphere and Ionisphere Delays –Troposphere delay correlated Atmospheric Water Vapor, Plate Boundary Observatory: –Used to measure plate movement. Etc.