; EssentialGNSS ; Post Processing Options File ;______________________________________________________________________________ ; FORMAT ; ; OPTIONFIELD, COMMENT = VALUE ; POST_VALUE_COMMENT ; OPTIONFIELD - a valid identifier, no spaces ; COMMENT - a good place to put the units ; VALUE - the option value, a number, a string, an ; array, a boolean (yes/no, 1/0) ; POST_VALUE_COMMENT - a comment following the value ; ; Anything after a ';' is a comment. ;______________________________________________________________________________ ; GENERAL PROCESSING OPTIONS ; OutputFilePath, (full or relative path) = results.txt StartGPSWeek, (GPS week (0-1024+) = 1454 StartGPSTimeOfWeek, (0.0-604800.0 s) = 0.0 EndGPSWeek, (GPS week (0-1024+) = 1454 EndGPSTimeOfWeek, (0.0-604800.0 s) = 604800.0 ElevationMask, (decimal degrees) = 3.0 CNoMask, (decimal dB-Hz) = 0.0 LockTimeMask, (decimal seconds) = 0.0 ; Process only single difference measurements between ; reference and rover receivers. If no reference data is ; available at all, this defaults to disabled ProcessOnlyDGPS, (enable(1),disable(0)) = 1 ;______________________________________________________________________________ ; PROCESSING METHOD ; ; LSQ: Lat,Lon,Hgt,Clk,Vn,Ve,Vup,ClkDrift are estimated. ; EKF: Lat,Lon,Hgt,Clk,Vn,Ve,Vup,ClkDrift are estimated using ; a non-sequential Kalman Filter. ; RTK: Lat,Lon,Hgt,Clk,Vn,Ve,Vup,ClkDrift and float ; ambiguities are currently estimated using a ; sequential Kalman Filter. ; ProcessingMethod, (LSQ,EKF,RTK) = RTK ;______________________________________________________________________________ ; KALMAN FILTERING OPTIONS ; ; The model used is a Discrete Extended Kalman Filter. ; The velocity/ClkDrift states are all treated as first order Guass-Markov ; processes. Thus, the position/Clk states are integrated Gauss-markov ; processes. This model (1D) is described in Example 5.3, p.200-201 from ; "Brown, R.G. and P.Y.C. Hwang (1997). Introduction to Random Signals ; and Applied Kalman Filtering, Third Edition, John Wiley & Sons, Inc." ; This model (1D) is also described on p. 78-82 of ; "Grewal, M.S. and A.P. Andrews (2001). Kalman Filtering Theory and Practice ; using Matlab. 2nd Edition. John Wiley & Sons Inc." ; ; These processes have autocorrelation: ; R(t) = \sigma^2 * exp( -\Beta abs(t) ). (continous time) ; R(k2-k1) = \sigma^2 * exp( -\Beta abs(k2-k1) ). (discrete time) ; Let \alpha = \(1 / \Beta) ; \alpha is referred to as the correlation time of the process. ; \sigma is the standard deviation of the system noise. ; alpha_Vn, (correlation time Vn [s]) = 100.0 alpha_Ve, (correlation time Ve [s]) = 100.0 alpha_Vup, (correlation time Vup [s]) = 100.0 alpha_ClkDrift, (correlation time ClkDrift [s]) = 10.0 sigma_Vn, (stdev of the system noise, Vn [m/s]) = 0.01 sigma_Ve, (stdev of the system noise, Ve [m/s]) = 0.01 sigma_Vup, (stdev of the system noise, Vup [m/s]) = 0.01 sigma_ClkDrift, (stdev of the system noise, ClkDrift [m/s]) = 5 ;______________________________________________________________________________ ; IONOSPHERIC CORRECTION ; ; Ionospheric parameters consist of the broadcast Klobuchar ; alpha and beta coefficients. (GPS ICD 200C, pp. 126-128) ; These can be obtained from a RINEX navigation file, or ; specified directly. ; ; When specifying directly, you can obtain better than ; broadcast correction terms from CODE - The Center ; for Orbit Determination in Europe. ; http://www.aiub-download.unibe.ch/CODE/ ; e.g. Download CGIM3280.07N from ; ftp://ftp.unibe.ch/aiub/CODE/2007/ for 2007-11-29 ; ; If yes to the following option, this is try to extract the ; parameters from Reference_NavDataPath. If no, the next five ; options can be used to specify the values. Iono_ObtainFromRINEXNavFile, (yes/no) = yes ; The next option will override Iono_ObtainFromRINEXNavFile. ; It indicates if the following four parameters valid for use. Iono_KlobucharIsValid, (yes/no) = no Iono_KlobucharReferenceWeek, (GPS week (0-1024+) = 0 Iono_KlobucharReferenceTime, (0.0-604800.0 s) = 0 Iono_KlobucharAlphaParameters, (alpha0 alpha1 alpha2 alpha3) = Iono_KlobucharBetaParameters, (beta0 beta1 beta2 beta3) = ;______________________________________________________________________________ ; GLOBAL NAVIGATION EPHEMERIS INFORMATION ; ; if applicable, e.g. a RINEX GPS NAV file RINEXNavigationDataPath, full or relative path) = nw1_3240.07n ;______________________________________________________________________________ ; ROVER STATION PROCESSING OPTIONS ; ; For stand-alone processing, indicate only the rover station ; information. ; ; DataType's Supported ; NovAtelOEM4 ; RINEX2.1 ; RINEX2.11 ; Rover_DataType, = RINEX2.11 Rover_DataPath, (full or relative path) = nw2_3240.07o Rover_UseECEF, (yes/no) = no Rover_ECEF_X, (WGS84 m) = Rover_ECEF_Y, (WGS84 m) = Rover_ECEF_Z, (WGS84 m) = Rover_UseLLH, (yes/no) = yes Rover_Latitude, (decimal degrees or dd mm ss.ss) = 51.079428117 Rover_Longitude, (decimal degrees or dd mm ss.ss) = -114.132818611 Rover_Height, (m) = 1116.585 Rover_UncertaintyLatitude, (1 sigma [m]) = 1.0 Rover_UncertaintyLongitude, (1 sigma [m]) = 1.0 Rover_UncertaintyHeight, (1 sigma [m]) = 1.0 Rover_EnableTropoCorrection, (enable(1)/disable(0)) = 1 Rover_EnableIonoCorrection, (enable(1)/disable(0)) = 1 Rover_ExcludeSatellites, (array of PRN's to exclude) = ;______________________________________________________________________________ ; REFERENCE STATION PROCESSING OPTIONS ; ; For differential processing, reference station information is ; required. An empty "Reference_DataPath" value means there is ; no reference station information. ; ; DataType's Supported ; NovAtelOEM4 ; RINEX2.1 ; RINEX2.11 ; Reference_DataType, = RINEX2.11 Reference_DataPath, (full or relative path) = nw1_3240.07o Reference_UseECEF, (yes/no) = no Reference_ECEF_X, (WGS84 m) = Reference_ECEF_Y, (WGS84 m) = Reference_ECEF_Z, (WGS84 m) = Reference_UseLLH, (yes/no) = yes Reference_Latitude, (decimal degrees or dd mm ss.ss) = 51.079428128 Reference_Longitude, (decimal degrees or dd mm ss.ss) = -114.132860964 Reference_Height, (m) = 1116.617 Reference_EnableTropoCorrection, (enable(1)/disable(0)) = 1 Reference_EnableIonoCorrection, (enable(1)/disable(0)) = 1 Reference_ExcludeSatellites, (array of PRN's to exclude) =