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

Violetta Sokoła-Szewioła
Violetta Sokoła-Szewioła
 und 
Zbigniew Siejka
Zbigniew Siejka
   | 30. Dez. 2021
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Article Category: Original Article
Online veröffentlicht: 30. Dez. 2021
Seitenbereich: 47 - 57
Eingereicht: 03. Dez. 2021
Akzeptiert: 15. Dez. 2021
DOI: https://doi.org/10.2478/rgg-2021-0007
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© 2021 Violetta Sokoła-Szewioła et al., published by Sciendo
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Figure 1

Number of GNSS satellites visible above the observation site.
Number of GNSS satellites visible above the observation site.

Figure 2

Comparison of the average values of mean absolute errors
Comparison of the average values of mean absolute errors

Figure 3

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

Figure 4

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

Figure 5

Distribution of relative errors of height H 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
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 mvx mvy mvH mvx mvy mvH
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
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 mvx mvy mvH mvx mvy mvH
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
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
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