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

Sokoła-Szewioła, Violetta; Siejka, Zbigniew

doi:10.2478/rgg-2021-0007

Figures & Tables

Number of GNSS satellites visible above the observation site.

Comparison of the average values of mean absolute errors

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

Observation signals used by the receiver Trimble R10 model 2_

GNSS	Frequency	Channel or code
GPS	L1/1575.42	L1-C/A
	L2/1227.60	L2E	L2C
	L5/1176.45	I+Q

GLONASS	G1/1602+k*9/16	L1-C/A	L1P
	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
	B3/1268.520	B3
	B2/1207.600	B2	B2A

SBAS	L1/1575.42	L1-C/A
SBAS	L5/1176.45	L5

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

	GPS	GLN*	GAL**	BDS***
I	Yes	-	-	-	~8640	~8594	~34,448
II	Yes	Yes	-	-	~8640	~8605
III	Yes	Yes	Yes	-	~8640	~8625
IV	Yes	Yes	Yes	Yes	~8640	~8624

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

List of GNSS satellites (QZSS, 2021)

GNSS	Status in the constellation		Orbit type

	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

List of random errors for variants I and II_

DOY: 357	Random errors of a single measurement [m]

	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

List of determined systematic errors

Variant	Average systematic errors
Variant	δx [m]	δy [m]	δH [m]
IGPS (G)	−0.0061	−0.0061	−0.0092
IIGPS + GLN (GR)	−0.0061	−0.0052	−0.0069
IIIGPS + GLN + GAL (GRE)	0.0040	−0.0030	0.0032
IVGPS + GLN + GAL + BDS (GREC)	−0.0052	−0.0030	0.0041

List of random errors for variants III and IV_

DOY: 357	Random errors of a single measurement [m]

	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

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.
IGPS	6	11	8	1.3	2.7	1.9
IIGPS + GLN	10	18	14	1.0	2.2	1.4
IIIGPS + GLN + GAL	16	25	21	0.9	1.6	1.2
IVGPS + GLN + GAL + BDS	19	32	25	0.9	1.5	1.1

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

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

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Observation signals used by the receiver Trimble R10 model 2_

Basic information on the conducted test measurements_

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

List of GNSS satellites (QZSS, 2021)

List of random errors for variants I and II_

List of determined systematic errors

List of random errors for variants III and IV_

Summary of characteristic satellite conditions during test measurements

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

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