Interoperability Analysis of

Open PPP/PPP-RTK Ser vices

Rui Hirokawa, Mitsubishi Electric Corporation

ICG-17, Madrid
October 15-20, 2023

©Mitsubishi Electric Corporation

 A g e o f S a t e l l i t e B a s e d O p e n P P P/ P P P - R T K S e r v i c e s

Many open satellite-based PPP/PPP-RTK services are available.

GLONASS PPP

KPS POINT System Service Status

BDS PPP QZSS CLAS QZSS CLAS PPP-RTK Operational
QZSS MADOCA-PPP PPP Trial Service
Galileo HAS PPP Initial Service
BDS PPP PPP Operational
PPP Via SouthPAN PPP Early Service
GLONASS PPP PPP Modernization
KPS POINT PPP-RTK Development
Galileo HAS PPP via SouthPAN
Excluded area of
(global) QZSS MADOCA-PPP Galileo HAS initial service

©Mitsubishi Electric Corporation 2

 1 Introduction to CSSRlib

✓ Open source Toolkit for open PPP/PPP-RTK services by Python (available from pypi/github)
✓ Positioning techniques: RTK, PPP-RTK, PPP/PPP-AR
✓ Services: QZSS CLAS, QZSS MADOCA PPP, Galileo HAS, BDS PPP, IGS product
✓ Tutorials: Jupyter Notebook
✓ Utilities for visibility analysis, plotting
Services Positioning
Obs/Nav data
QZSS CLAS PPP/PPP-AR
Receivers RINEX 3/4
QZSS MADOCA PPP-RTK
Septentrio, Javad,
Correction data
Galileo HAS u-blox, … RTK
Compact SSR
BDS PPP

IGS PPP-AR Galileo HAS Utility

BDS PPP Antenna Kalman Filter
For details:
Hirokawa, R. , Hauschild, A., Everett, T., “Python Toolkit for Open RTCM3
Plot Orbit
PPP/PPP-RTK Services”, ION GNSS+ 2023
SP3+BIAS
©Mitsubishi Electric Corporation 3
 2 Specifications of Open PPP/PPP -RTK Ser vices

Open PPP/PPP-RTK services:

QZSS CLAS QZSS Galileo HAS BDS PPP
1. QZSS CLAS (PPP-RTK) MADOCA-PPP
Techniques PPP-RTK PPP PPP PPP
2. QZSS MADOCA PPP
Data rate 1,695 bps 1,695 bps 448 bps 462 bps
3. Galileo HAS Service Area Japan Asia/Oceania Global (SL1) / China
4. BDS PPP Regional (SL2)

5. IGS product
Convergence Time
QZSS CLAS 30 ◇
QZSS MADOCA-PPP
(95%, minute)
QZSS MADOCA PPP
BDS PPP Galileo-HAS
L2OF
◆ Operational
L5/E5a/B2a L3OC E5b/B2b L2C L2OC B3I L6/E6 20 ◇ Development or Trial
◆ BDS PPP (BDS+GPS)

QZSS MADOCA fast PPP

10 ◇

5 QZS CLAS
◆ Galileo HAS (SL1)
◆ ◇ Galileo HAS (SL2)
1207.14MHz 1278.75MHz 10cm 20cm 30cm
Kinematic Positioning accuracy (Horizontal, 95%)
©Mitsubishi Electric Corporation 4
 3 Correction data provided by Open PPP/PPP -RTK ser vices

QZSS CLAS QZSS MADOCA PPP Galileo HAS BDS PPP

Service PPP-RTK PPP PPP PPP
Format CSSR CSSR Similar to CSSR Customized CSSR
Supported GNSS G+E+J G+E+R+J G+E G+C
Orbit ✓ (30sec) ✓ (30sec) ✓ (50sec) ✓ (48sec)

Clock ✓ (5sec) ✓ (5sec) ✓ (10sec) ✓ (6sec)

Code Bias ✓ (30sec) ✓ (30sec) ✓ (50sec) ✓ (48sec)

Phase Bias ✓ (30sec) ✓ (30sec)

Ionosphere ✓ (30sec)
Troposphere ✓ (30sec)
URA ✓ (30sec)

RINEX signal code: G: 1C, 2X, 2W, 5X G: 1C, 1W, 1X, 2X, 2W, 5X G: 1C, 2L, 2P C: 2I, 1D, 1P, 5D, 5P, 7D, 7P, 6I
E: 1X, 5X R: 1C, 1P, 2C, 2P E: 1C, 5Q, 7Q, 6C
J: 1C, 2X, 5X E: 1X, 5X
J: 1C, 1X, 2X, 5X No code bias for GPS

‘2P’ (P (AS off)) should be

‘2W’ (Z-tracking (AS on))?

©Mitsubishi Electric Corporation 5

 4 Sign convention in SSR correction

SP3c/SP3d
RTCM SSR IGS SSR RTCM 4076 IGS product Clock-RINEX
Bias-SINEX
orbit 𝑿𝑜𝑟𝑏𝑖𝑡 = 𝑿𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 − 𝛿𝑿 orbit
SP3c/SP3d
𝛿𝑿 = 𝑨𝛿𝑶 = 𝒆𝒓 𝒆𝒂 𝒆𝒄 𝛿𝑶
𝑐𝑜𝑠 𝜔𝑖𝑒 Δt 𝑖 −𝑠𝑖𝑛 𝜔𝑖𝑒 Δt i 0
𝒓ሶ 𝒓 × 𝒓ሶ 𝑿𝒆𝑖 = 𝑠𝑖𝑛 𝜔𝑖𝑒 Δt i 𝑐𝑜𝑠 𝜔𝑖𝑒 Δt i 0 𝑿𝑖 , Δ𝑡𝑖 = 𝑡𝑖 − 𝑡
𝒆𝑎 = , 𝒆𝑐 = , 𝒆𝑟 = 𝒆𝑎 × 𝒆𝑐 0 0 1
𝒓ሶ 𝒓 × 𝒓ሶ
𝑿𝑜𝑟𝑏𝑖𝑡,𝑐𝑔 = 𝑖𝑛𝑡𝑒𝑟𝑝𝑜𝑙𝑎𝑡𝑒(Δ𝑡𝑖 , 𝑿𝑒𝑖 )
𝛿𝑂𝑟𝑎𝑑𝑖𝑎𝑙 𝛿 𝑂ሶ 𝑟𝑎𝑑𝑖𝑎𝑙 −𝒓 𝒓𝑠𝑢n − 𝒓 𝒆𝑧 × 𝒆𝑠
𝛿𝑶 = 𝛿𝑂𝑎𝑙𝑜𝑛𝑔 + 𝛿 𝑂ሶ 𝑎𝑙𝑜𝑛𝑔 𝒆𝑧 = , 𝒆𝑠 = ,𝒆 = , 𝒆 = 𝒆𝑦 × 𝒆𝑧
𝑡 − 𝑡0 −𝒓 ሶ 𝒓𝑠𝑢n − 𝒓 𝑦 𝒆𝑧 × 𝒆𝑠 𝒙
𝛿𝑂𝑐𝑟𝑜𝑠𝑠 𝛿 𝑂ሶ𝑐𝑟𝑜𝑠𝑠 𝑿𝑜𝑟𝑏𝑖𝑡 = 𝑿𝑜𝑟𝑏𝑖𝑡,𝑐𝑔 + 𝒆𝒙 𝒆𝒚 𝒆𝒛 𝒅𝑜𝑓𝑓𝑠𝑒𝑡

clock 𝑡𝑠𝑎𝑡 = 𝑡𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 − 𝛿𝐶/𝑐 clock 𝑡𝑠𝑎𝑡 = 𝑖𝑛𝑡𝑒𝑟𝑝𝑜𝑙𝑎𝑡𝑒(Δ𝑡𝑖 , 𝑡𝑖 )

2
𝛿𝐶 = 𝐶0 + 𝐶1 𝑡 − 𝑡0 + 𝐶2 𝑡 − 𝑡0 Clock-RINEX

code bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝑃𝑅𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 + 𝑐𝑏𝑖𝑎𝑠

𝑃𝑅 code bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝑃𝑅𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 − 𝑐𝑏𝑖𝑎𝑠
𝑃𝑅

phase bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝐶𝑃𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 + 𝑝𝑏𝑖𝑎𝑠

𝐶𝑃 phase bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝐶𝑃𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 − 𝑝𝑏𝑖𝑎𝑠
𝐶𝑃
Bias-SINEX
©Mitsubishi Electric Corporation 6
 4 Sign convention in SSR correction Compact SSR
Specification of Compact SSR Messages

QZSS MADOCA PPP IS-QZSS-MDC-001 QZSS CLAS IS-QZSS-L6-005

orbit 𝑿𝑜𝑟𝑏𝑖𝑡 = 𝑿𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 − 𝛿𝑿 orbit 𝑿𝑜𝑟𝑏𝑖𝑡 = 𝑿𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 − 𝛿𝑿

𝛿𝑿 = 𝑨𝛿𝑶 = 𝒆𝒓 𝒆𝒂 𝒆𝒄 𝛿𝑶 𝛿𝑿 = 𝑨𝛿𝑶 = 𝒆𝒓 𝒆𝒂 𝒆𝒄 𝛿𝑶

𝒓ሶ 𝒓 × 𝒓ሶ 𝒓ሶ 𝒓 × 𝒓ሶ
𝒆𝑎 = , 𝒆𝑐 = , 𝒆𝑟 = 𝒆𝑎 × 𝒆𝑐 𝒆𝑎 = , 𝒆𝑐 = , 𝒆𝑟 = 𝒆𝑎 × 𝒆𝑐
𝒓ሶ 𝒓 × 𝒓ሶ 𝒓ሶ 𝒓 × 𝒓ሶ

𝛿𝑂𝑟𝑎𝑑𝑖𝑎𝑙 𝛿𝑂𝑟𝑎𝑑𝑖𝑎𝑙
𝛿𝑶 = 𝛿𝑂𝑎𝑙𝑜𝑛𝑔 𝛿𝑶 = 𝛿𝑂𝑎𝑙𝑜𝑛𝑔
𝛿𝑂𝑐𝑟𝑜𝑠𝑠 𝛿𝑂𝑐𝑟𝑜𝑠𝑠

clock 𝑡𝑠𝑎𝑡 = 𝑡𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 − 𝛿𝐶/𝑐 clock 𝑡𝑠𝑎𝑡 = 𝑡𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 − 𝛿𝐶/𝑐

𝛿𝐶 = 𝐶0 𝛿𝐶 = 𝐶0

code bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝑃𝑅𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 + 𝑐𝑏𝑖𝑎𝑠

𝑃𝑅 code bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝑃𝑅𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 − 𝑐𝑏𝑖𝑎𝑠
𝑃𝑅
phase bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝐶𝑃𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 + 𝑝𝑏𝑖𝑎𝑠
𝐶𝑃 phase bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝐶𝑃𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 − 𝑝𝑏𝑖𝑎𝑠
𝐶𝑃

©Mitsubishi Electric Corporation 7

 5 Sign convention in SSR correction

Galileo HAS IDD RTCM 1059/1060, 1242/1243 Galileo HAS SIS HAS SIS ICD v1.0

orbit 𝑿𝑜𝑟𝑏𝑖𝑡 = 𝑿𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 − 𝛿𝑿

orbit 𝑿𝑜𝑟𝑏𝑖𝑡 = 𝑿𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 + 𝛿𝑿

𝛿𝑿 = 𝑨𝛿𝑶 = 𝒆𝒓 𝒆𝒂 𝒆𝒄 𝛿𝑶
𝛿𝑿 = 𝑨𝛿𝑶 = 𝒆𝒓 𝒆𝒂 𝒆𝒄 𝛿𝑶
𝒓ሶ 𝒓 × 𝒓ሶ
𝒆𝑎 = , 𝒆𝑐 = , 𝒆𝑟 = 𝒆𝑎 × 𝒆𝑐 𝒓ሶ 𝒓 × 𝒓ሶ
𝒓ሶ 𝒓 × 𝒓ሶ 𝒆𝑎 = , 𝒆𝑐 = , 𝒆𝑟 = 𝒆𝑎 × 𝒆𝑐
𝒓ሶ 𝒓 × 𝒓ሶ
𝛿𝑂𝑟𝑎𝑑𝑖𝑎𝑙 𝛿 𝑂ሶ 𝑟𝑎𝑑𝑖𝑎𝑙
𝛿𝑂𝑟𝑎𝑑𝑖𝑎𝑙
𝛿𝑶 = 𝛿𝑂𝑎𝑙𝑜𝑛𝑔 + 𝛿 𝑂ሶ 𝑎𝑙𝑜𝑛𝑔 𝑡 − 𝑡0
𝛿𝑂𝑐𝑟𝑜𝑠𝑠 𝛿𝑶 = 𝛿𝑂𝑎𝑙𝑜𝑛𝑔
𝛿 𝑂ሶ𝑐𝑟𝑜𝑠𝑠
𝛿𝑂𝑐𝑟𝑜𝑠𝑠

clock 𝑡𝑠𝑎𝑡 = 𝑡𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 − 𝛿𝐶/𝑐 clock 𝑡𝑠𝑎𝑡 = 𝑡𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 − 𝛿𝐶/𝑐

𝛿𝐶 = 𝐶0 + 𝐶1 𝑡 − 𝑡0 + 𝐶2 𝑡 − 𝑡0 2 𝛿𝐶 = 𝐶0

code bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝑃𝑅𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 + 𝑐𝑏𝑖𝑎𝑠

𝑃𝑅
code bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝑃𝑅𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 + 𝑐𝑏𝑖𝑎𝑠
𝑃𝑅
phase bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝐶𝑃𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 + 𝑝𝑏𝑖𝑎𝑠
𝐶𝑃

©Mitsubishi Electric Corporation 8

 6 Sign convention in SSR correction

BDS-SIS-ICD-PPP-B2b-1.0
BDS PPP

orbit 𝑿𝑜𝑟𝑏𝑖𝑡 = 𝑿𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 − 𝛿𝑿

𝛿𝑿 = 𝑨𝛿𝑶 = 𝒆𝒓 𝒆𝒂 𝒆𝒄 𝛿𝑶

𝒓 𝒓 × 𝒓ሶ
𝒆𝑟 = , 𝒆𝑐 = , 𝒆𝑎 = 𝒆𝑐 × 𝒆𝑟
𝒓 𝒓 × 𝒓ሶ

𝛿𝑂𝑟𝑎𝑑𝑖𝑎𝑙 Different definition

𝛿𝑶 = 𝛿𝑂𝑎𝑙𝑜𝑛𝑔
𝛿𝑂𝑐𝑟𝑜𝑠𝑠

Positive?
𝑡𝑠𝑎𝑡 = 𝑡𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 − 𝛿𝐶/𝑐
clock
𝛿𝐶 = 𝐶0

code bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝑃𝑅𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 − 𝑐𝑏𝑖𝑎𝑠

𝑃𝑅

©Mitsubishi Electric Corporation 9

 7 Analyzed the sign convention for Orbit/Clock/Bias correction

Commonly used ( ) and un-commonly used ( ) sign convention for SSR corrections

orbit 𝑿𝑜𝑟𝑏𝑖𝑡 = 𝑿𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 +/− 𝛿𝑿 code bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝑃𝑅𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 +/−𝑐𝑏𝑖𝑎𝑠

𝑃𝑅

clock 𝑡𝑠𝑎𝑡 = 𝑡𝑏𝑟𝑜𝑎𝑑𝑐𝑎𝑠𝑡 +/−𝛿𝐶/𝑐 phase bias ෪ 𝑐𝑜𝑟𝑟𝑒𝑐𝑡𝑒𝑑 = 𝐶𝑃𝑜𝑏𝑠𝑒𝑟𝑣𝑒𝑑 +/−𝑝𝑏𝑖𝑎𝑠

𝐶𝑃

IGS RTCM SSR Galileo HAS Galileo HAS BDS PPP QZSS QZSS CLAS
product IGS SSR IDD SIS MADOCA PPP
Compact SSR
Orbit *1 - - + - *2 - -
Clock *1 - - - + *3 - -
Code Bias - + + + - + -
Phase Bias - + /A + + -
*1 Provided as satellite position and clock instead of correction
*2 Definition of coordinate transformation is different from RTCM SSR.
*3 Estimated the sign based on the analysis

©Mitsubishi Electric Corporation 10

 8 Invalid and Do-Not-Use flag

✓ For the signed value (n-bit), some bit-patterns are defined as “not available” or DNU.
✓ For BDS PPP: “-2n-1+1” seems to be “not available” (undocumented)

RTCM SSR Galileo HAS BDS PPP

IGS SSR
Compact SSR
Data not available −2𝑛−1 −2𝑛−1 −2𝑛−1 + 1
Do-Not-Use (DNU) n.a. 2𝑛−1 − 1 n.a.

Estimated based on the analysis

©Mitsubishi Electric Corporation 11

 9 St a t i c C a s e o n A u g u s t 1 1 , 2 0 2 3 @ K a m a k u r a , JA PA N ( 2 1 : 0 0 - 2 2 : 0 0 U TC )

PPP: QZSS MADOCA-PPP, Galileo HAS (SIS), BDS PPP PPP-RTK: QZSS CLAS

Note for
Galileo HAS
BDS PPP
Kamakura, Japan is
currently outside
of service area !

©Mitsubishi Electric Corporation Septentrio PolaRX5 + JAVAD RINGANT 12

 10 Conclusion

◼ An open-source toolkit for PPP/PPP-RTK, CSSRlib was introduced

◼ The inter-operability between four PPP/PPP-RTK services are analyzed:
✓ The differences such as sign convention are found.
◼ The performance of open PPP/PPP-RTK services is evaluated.

[For future]

◼ Other Technical Items: Phasing, Coordinates, etc.

◼ How will the information be included in the provider's report?
◼ Do we need to define the recommendation for the convention?

©Mitsubishi Electric Corporation 13