Validation of the accuracy of geodetic automated measurement system based on GNSS platform for continuous monitoring of surface movements in post-mining areas

GNSS	Status in the constellation		Orbit type
GNSS	Total number of satellites	Number of active satellites	MEO	GEO	IGSO/QZO
GPS	31	31	31	-	-
GLONASS	28	25	28	-	-
Galileo	26	24	26	-	-
BeiDou	50	45	29	9	12
QZSS	4	4	-	1	3
IRNSS	8	7	-	3	5
Total GNSS	147	136	114	13	20

[i] GEO – Geostationary Orbit; IGSO – Inclined Geosynchronous Orbit; MEO – Medium Earth Orbit; QZO – Quasi-Zenith Orbit

Number of GNSS satellites visible above the observation site.

Table 2

Observation signals used by the receiver Trimble R10 model 2.

GNSS	Frequency	Channel or code
GPS	L1/1575.42	L1-C/A
GPS	L2/1227.60	L2E	L2C
L5/1176.45	I+Q
GLONASS	G1/1602+k*9/16	L1-C/A	L1P
GLONASS	G2/1246+k*7/16	L2P	L2-C/A
G3/1202.025	L3
Galileo	E1/1575.42	E1
	E5a/1176.45	E5-A
	E5b/1207.140	E5-B
E5(E5a+E5b)/1191.795	E5-AltBOC
E6/1278.75	E6
BeiDou	B1/1561.098	B1	B1C
BeiDou	B3/1268.520	B3
B2/1207.600	B2	B2A
SBAS	L1/1575.42	L1-C/A
L5/1176.45	L5

[i] GLONASS – Globalnaja Navigacionnaja Sputnikova Sistema; GNSS – Global Navigation Satellite System; GPS – Global Positioning System; SBAS – Satellite-based Augmentation System

Table 3

Basic information on the conducted test measurements.

Variant	GNSS				Assumed number of measurements in the session	Actual number of performed measurements	Total number of performed measurements
Variant	GPS	GLN*	GAL**	BDS***	Assumed number of measurements in the session	Actual number of performed measurements	Total number of performed measurements
I	Yes	-	-	-	~8640	~8594	~34,448
II	Yes	Yes	-	-	~8640	~8605	~34,448
III	Yes	Yes	Yes	-	~8640	~8625
IV	Yes	Yes	Yes	Yes	~8640	~8624

* GLONASS;

** Galileo;

*** BeiDou

Table 4

Summary of characteristic satellite conditions during test measurements

Test name / applied GNSS	Number of observed satellites			Value of PDOP parameter
Test name / applied GNSS	Min.	Max.	Avg.	Min.	Max.	Avg.
I GPS	6	11	8	1.3	2.7	1.9
II GPS + GLN	10	18	14	1.0	2.2	1.4
III GPS + GLN + GAL	16	25	21	0.9	1.6	1.2
IV GPS + GLN + GAL + BDS	19	32	25	0.9	1.5	1.1

[i] BDS – BeiDou; GLN – GLONASS; PDOP – Position Dilution of Precision

Table 5

Summary of mean absolute errors for the solutions: GPS and GPS + GLONASS.

DOY: 357	GPS (G)			GPS + GLN (GR)
Hours	Δx [m]	Δy [m]	ΔH [m]	Δx [m]	Δy [m]	ΔH [m]
00:00:00–00:59:59	−0.0042	−0.0018	−0.0035	−0.0045	−0.0049	−0.0011
01:00:00–01:59:59	−0.0098	−0.0053	−0.0178	−0.0025	−0.0031	−0.0075
02:00:00–02:59:59	−0.0073	−0.0076	−0.0099	−0.0077	−0.0071	−0.0059
03:00:00–03:59:59	−0.0065	−0.0040	−0.0096	−0.0035	−0.0047	−0.0051
04:00:00–04:59:59	−0.0089	−0.0025	−0.0164	−0.0064	−0.0034	−0.0067
05:00:00–05:59:59	−0.0094	−0.0048	−0.0144	−0.0023	−0.0011	−0.0101
06:00:00–06:59:59	−0.0091	−0.0056	−0.0081	−0.0060	−0.0051	−0.0010
07:00:00–07:59:59	−0.0107	−0.0061	−0.0026	−0.0089	−0.0072	−0.0028
08:00:00–08:59:59	−0.0105	−0.0114	−0.0090	−0.0064	−0.0086	−0.0086
09:00:00–09:59:59	−0.0034	−0.0049	−0.0148	−0.0044	−0.0057	−0.0093
10:00:00–10:59:59	−0.0093	−0.0075	−0.0122	−0.0058	−0.0061	−0.0126
11:00:00–11:59:59	−0.0094	−0.0069	−0.0139	−0.0071	−0.0065	−0.0144
12:00:00–12:59:59	−0.0102	−0.0126	−0.0155	−0.0038	−0.0077	−0.0080
13:00:00–13:59:59	−0.0066	−0.0077	−0.0124	−0.0049	−0.0070	−0.0126
14:00:00–14:59:59	−0.0054	−0.0054	−0.0148	−0.0080	−0.0052	−0.0117
15:00:00–15:59:59	−0.0008	−0.0042	−0.0154	−0.0069	−0.0040	−0.0148
16:00:00–16:59:59	−0.0106	−0.0069	−0.0167	−0.0081	−0.0050	−0.0124
17:00:00–17:59:59	−0.0138	−0.0054	−0.0063	−0.0110	−0.0028	−0.0062
18:00:00–18:59:59	−0.0118	−0.0038	−0.0062	−0.0076	−0.0023	−0.0092
19:00:00–19:59:59	−0.0059	−0.0068	−0.0053	−0.0033	−0.0042	−0.0050
20:00:00–20:59:59	−0.0068	−0.0052	−0.0142	−0.0063	−0.0048	−0.0134
21:00:00–21:59:59	−0.0052	−0.0053	−0.0056	−0.0065	−0.0058	−0.0057
22:00:00–22:59:59	−0.0050	−0.0102	0.0130	−0.0053	−0.0072	0.0125
23:00:00–23:59:59	−0.0127	−0.0053	0.0055	−0.0098	−0.0040	0.0029

[i] DOY – day of the year; GLN – GLONASS (R); GPS – Global Positioning System (G)

Table 6

Summary of mean absolute errors for the solutions: GPS + GLONASS + Galileo and GPS + GLONASS + Galileo + BDS.

DOY: 357	GPS + GLN + GAL (GRE)			GPS + GLN + GAL + BDS (GREC)
Hours	Δx [m]	Δy [m]	ΔH [m]	Δx [m]	Δy [m]	ΔH [m]
00:00:00–00:59:59	0.0066	−0.0034	0.0095	−0.0020	−0.0036	0.0081
01:00:00–01:59:59	0.0024	−0.0037	0.0042	−0.0032	−0.0014	0.0027
02:00:00–02:59:59	0.0050	−0.0037	0.0022	−0.0049	−0.0052	0.0005
03:00:00–03:59:59	0.0070	−0.0040	0.0047	−0.0045	−0.0046	0.0039
04:00:00–04:59:59	0.0045	0.0005	0.0001	−0.0077	−0.0004	−0.0058
05:00:00–05:59:59	0.0057	−0.0002	−0.0002	−0.0065	0.0000	−0.0033
06:00:00–06:59:59	0.0033	−0.0026	0.0066	−0.0073	−0.0038	0.0066
07:00:00–07:59:59	0.0042	−0.0048	0.0066	−0.0039	−0.0072	0.0059
08:00:00–08:59:59	0.0050	−0.0051	0.0033	−0.0022	−0.0083	0.0027
09:00:00–09:59:59	0.0021	−0.0042	−0.0034	−0.0054	−0.0044	−0.0041
10:00:00–10:59:59	0.0004	−0.0024	0.0029	−0.0103	−0.0040	−0.0015
11:00:00–11:59:59	0.0067	−0.0037	−0.0042	−0.0042	−0.0045	−0.0046
12:00:00–12:59:59	0.0068	−0.0042	−0.0024	−0.0038	−0.0034	−0.0075
13:00:00–13:59:59	0.0020	−0.0065	−0.0011	−0.0055	−0.0048	0.0098
14:00:00–14:59:59	0.0042	−0.0026	−0.0020	−0.0031	−0.0023	0.0096
15:00:00–15:59:59	0.0044	−0.0037	−0.0015	−0.0041	−0.0016	0.0066
16:00:00–16:59:59	0.0036	−0.0008	0.0073	−0.0063	−0.0017	0.0098
17:00:00–17:59:59	0.0009	−0.0021	0.0035	−0.0079	−0.0004	0.0130
18:00:00–18:59:59	0.0020	−0.0017	−0.0008	−0.0097	−0.0017	0.0004
19:00:00–19:59:59	0.0070	−0.0002	0.0044	−0.0048	−0.0002	0.0017
20:00:00–20:59:59	0.0063	−0.0012	0.0022	−0.0037	−0.0012	−0.0007
21:00:00–21:59:59	0.0032	−0.0029	0.0060	−0.0045	−0.0019	0.0057
22:00:00–22:59:59	0.0037	−0.0074	0.0147	−0.0054	−0.0055	0.0206
23:00:00–23:59:59	0.0005	−0.0019	0.0130	−0.0050	0.0001	0.0198

[i] BDS – BeiDou (C); DOY – day of the year; GAL – Galileo (E); GLN – GLONASS (R); GPS – Global Positioning System (G);

Comparison of the average values of mean absolute errors

Table 7

List of determined systematic errors

Variant	Average systematic errors
Variant	δx [m]	δy [m]	δH [m]
I GPS (G)	−0.0061	−0.0061	−0.0092
II GPS + GLN (GR)	−0.0061	−0.0052	−0.0069
III GPS + GLN + GAL (GRE)	0.0040	−0.0030	0.0032
IV GPS + GLN + GAL + BDS (GREC)	−0.0052	−0.0030	0.0041

[i] BDS – BeiDou (C); GAL – Galileo (E); GLN – GLONASS (R); GPS – Global Positioning System (G);

Distribution of relative errors of the northern coordinate (x) for different multi-GNSS solutions

Distribution of relative errors of the eastern coordinate (y) for different multi-GNSS solutions

Distribution of relative errors of height H for different multi-GNSS solutions

Table 8

List of random errors for variants I and II.

DOY: 357	Random errors of a single measurement [m]
DOY: 357	GPS (G)			GPS + GLN
Hours	m_vx	m_vy	m_vH	m_vx	m_vy	m_vH
00:00:00–00:59:59	0.0066	0.0074	0.0114	0.0073	0.0040	0.0095
01:00:00–01:59:59	0.0051	0.0051	0.0150	0.0070	0.0043	0.0135
02:00:00–02:59:59	0.0049	0.0049	0.0134	0.0052	0.0032	0.0109
03:00:00–03:59:59	0.0051	0.0050	0.0096	0.0050	0.0039	0.0078
04:00:00–04:59:59	0.0054	0.0054	0.0187	0.0042	0.0043	0.0091
05:00:00–05:59:59	0.0040	0.0039	0.0158	0.0055	0.0049	0.0101
06:00:00–06:59:59	0.0036	0.0036	0.0122	0.0049	0.0041	0.0095
07:00:00–07:59:59	0.0040	0.0040	0.0122	0.0050	0.0038	0.0082
08:00:00–08:59:59	0.0068	0.0068	0.0137	0.0051	0.0045	0.0100
09:00:00–09:59:59	0.0059	0.0059	0.0090	0.0065	0.0041	0.0070
10:00:00–10:59:59	0.0047	0.0047	0.0118	0.0060	0.0046	0.0101
11:00:00–11:59:59	0.0039	0.0039	0.0128	0.0056	0.0038	0.0121
12:00:00–12:59:59	0.0072	0.0073	0.0147	0.0055	0.0050	0.0089
13:00:00–13:59:59	0.0052	0.0052	0.0113	0.0068	0.0050	0.0116
14:00:00–14:59:59	0.0045	0.0045	0.0166	0.0061	0.0042	0.0143
15:00:00–15:59:59	0.0043	0.0043	0.0123	0.0065	0.0036	0.0131
16:00:00–16:59:59	0.0042	0.0042	0.0132	0.0065	0.0031	0.0141
17:00:00–17:59:59	0.0038	0.0038	0.0155	0.0062	0.0036	0.0094
18:00:00–18:59:59	0.0049	0.0048	0.0112	0.0058	0.0042	0.0091
19:00:00–19:59:59	0.0039	0.0039	0.0114	0.0057	0.0036	0.0091
20:00:00–20:59:59	0.0046	0.0046	0.0117	0.0052	0.0026	0.0104
21:00:00–21:59:59	0.0047	0.0047	0.0150	0.0061	0.0039	0.0092
22:00:00–22:59:59	0.0058	0.0058	0.0225	0.0069	0.0045	0.0198
23:00:00–23:59:59	0.0045	0.0045	0.0182	0.0066	0.0038	0.0129

[i] DOY – day of the year; GLN – GLONASS (R); GPS – Global Positioning System (G);

Table 9

List of random errors for variants III and IV.

DOY: 357	Random errors of a single measurement [m]
DOY: 357	GPS + GLN + GAL (GRE)			GPS + GLN + GAL + BDS (GREC)
Hours	m_vx	m_vy	m_vH	m_vx	m_vy	m_vH
00:00:00–00:59:59	0.0050	0.0034	0.0086	0.0048	0.0040	0.0092
01:00:00–01:59:59	0.0037	0.0030	0.0081	0.0035	0.0036	0.0079
02:00:00–02:59:59	0.0041	0.0022	0.0063	0.0036	0.0028	0.0075
03:00:00–03:59:59	0.0038	0.0026	0.0053	0.0031	0.0026	0.0062
04:00:00–04:59:59	0.0036	0.0041	0.0080	0.0034	0.0039	0.0104
05:00:00–05:59:59	0.0032	0.0038	0.0094	0.0031	0.0035	0.0101
06:00:00–06:59:59	0.0053	0.0029	0.0100	0.0043	0.0028	0.0067
07:00:00–07:59:59	0.0029	0.0031	0.0068	0.0035	0.0044	0.0065
08:00:00–08:59:59	0.0032	0.0040	0.0068	0.0038	0.0055	0.0067
09:00:00–09:59:59	0.0039	0.0032	0.0082	0.0048	0.0032	0.0097
10:00:00–10:59:59	0.0054	0.0036	0.0069	0.0066	0.0029	0.0070
11:00:00–11:59:59	0.0042	0.0027	0.0094	0.0040	0.0030	0.0113
12:00:00–12:59:59	0.0049	0.0028	0.0076	0.0040	0.0032	0.0116
13:00:00–13:59:59	0.0050	0.0042	0.0083	0.0035	0.0042	0.0080
14:00:00–14:59:59	0.0036	0.0035	0.0080	0.0039	0.0031	0.0085
15:00:00–15:59:59	0.0037	0.0029	0.0080	0.0043	0.0031	0.0068
16:00:00–16:59:59	0.0047	0.0031	0.0069	0.0056	0.0029	0.0073
17:00:00–17:59:59	0.0050	0.0024	0.0072	0.0050	0.0030	0.0102
18:00:00–18:59:59	0.0054	0.0025	0.0069	0.0055	0.0023	0.0090
19:00:00–19:59:59	0.0043	0.0037	0.0056	0.0033	0.0041	0.0055
20:00:00–20:59:59	0.0042	0.0028	0.0062	0.0044	0.0027	0.0078
21:00:00–21:59:59	0.0054	0.0035	0.0067	0.0049	0.0041	0.0056
22:00:00–22:59:59	0.0051	0.0049	0.0121	0.0045	0.0040	0.0167
23:00:00–23:59:59	0.0053	0.0033	0.0115	0.0041	0.0040	0.0165

[i] BDS – BeiDou (C); DOY – day of the year; GAL – Galileo (E); GLN – GLONASS (R); GPS – Global Positioning System (G);

References

Authors

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Articles in this issue

DOI: https://doi.org/10.2478/rgg-2021-0007 | Journal eISSN: 2391-8152 (formerly 0867-3179) | Journal ISSN: 0867-3179

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Language: English

Page range: 47 - 57

Submitted on: Dec 3, 2021

Accepted on: Dec 15, 2021

Published on: Dec 30, 2021

Published by: Warsaw University of Technology

In partnership with: Paradigm Publishing Services

Publication frequency: 2 issues per year

Keywords:

RTK,

Galileo,

Related subjects:

Computer sciences, other,

Geosciences,

Geodesy,

Cartography and photogrammetry,

Geosciences, other

© 2021 Violetta Sokoła-Szewioła, Zbigniew Siejka, published by Warsaw University of Technology
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Volume 112 (2021): Issue 1 (December 2021)

Validation of the accuracy of geodetic automated measurement system based on GNSS platform for continuous monitoring of surface movements in post-mining areas

Figures & Tables

Table 1

Figure 1

Table 2

Table 3

Table 4

Table 5

Table 6

Figure 2

Table 7

Figure 3

Figure 4

Figure 5

Table 8

Table 9

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