The Impact of GPS Antenna Phase Center Offset and Variation On The Positioning Accuracy
The Impact of GPS Antenna Phase Center Offset and Variation On The Positioning Accuracy
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The impact of GPS antenna phase center offset and variation on the
positioning accuracy
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National Taipei University
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ABSTRACT
1
Prof., Department of Civil Engineering, National Chiao Tung University, Taiwan, R.O.C.
2
Graduated student, Department of Civil Engineering, National Chiao Tung University, Taiwan,
R.O.C.
3
Ph.D. student, Department of Civil Engineering, National Chiao Tung University, Taiwan, R.O.C.
1
In this paper, the coordinates with and without phase center
corrections are also compared. From the results, it is obvious that to
calibrate the GPS receiver’s antenna and to correct the phase center error
is necessary when executing a GPS surveying.
1. Introduction
The GPS positioning accuracy can be influenced by the offset and
variation of the GPS antenna phase center, especially, when the GPS
observations are executed with different type GPS receivers or antennas.
Currently, there are two methods to correct the errors derived from GPS
phase center variation. One of the corrected method is “anechoic chamber
measurement”, the other method is to correct the phase center variation
by processing GPS measuring data. The “anechoic chamber
measurement” method can only determine one antenna’s phase center in a
time. In addition, this method has to execute in a lab with special
equipment. Therefore, this method is not popular. Consequently, using
GPS data of different type antennas to determine the variation of the GPS
antenna phase center is an economical and practical method.
In this paper, different type GPS receiver antennas are applied to
take the GPS observational data. The offsets and variations derived from
the GPS antenna phase center are determined using GPS data processing.
2
called phase center. In fact, the physical center and the phase center of the
different type antennas applied in GPS measurement are not indentical. In
addition, the phase center will variate according to the direction of the
signal source.
The phase character of the GPS antenna is dependent with the
vertical angle (elevation) and the azimuth of the signal source. For the
same antenna, the phase center of the L1 and L2 signal are independent.
The phase centers of the different type antennas are not identical.
However, the phase center of the same type antennas will be almost the
same.
The antenna phase center variation can be classified in two
directions:
(1) The difference between the mean phase center and the physical
center is called phase center offset.
(2) The difference between the instant phase center and the mean phase
center is called phase center variation.
Fig. 1 shows the relations of the physical center, the mean phase
center and the instant phase center.
Physical Center
Phase Center Offset
(5) Using the orbit data of the precise ephemeris such as (SIO、IGS) to
6
(1) Base measurements: The measurements whose vertical angle is larger
than 20 degree to avoid the influence produced in the low vertical
angle.
(2) Orbit: Using IGS precise ephemeris whose accuracy is about 20cm.
Therefore, all the orbital parameters can be regarded as given.
(3) Tropospheric delay correction: Using saastamoinen correction model
and meteorological data on the mean sea level to determine the initial
correction value of the tropospheric delay of the surveying points.
(4) Fixed station: Using the coordinates of the point A as reference and to
measure the other points.
(5) Polar motion correction: Using the value published by IERS
(International Earth Rotation Service) Bulletin B to correct the
difference between UTC and UT1, correcting the coordinates from
instantaneous polar coordinates system to J2000 coordinates system
for orbit calculation and coordinates transformation.
(6) The gravitational potential model: Using GEM-T3 (Goddard Earth
5. Results
In this paper, five different type antennas are applied. A Trimble “TR
GEOD L1/L2 GP” S/N, 0220049315 antenna is applied as the reference
antenna. The phase center offset and variation of this antenna is obtained
from IGS. When executing data processing, a Bernese 4.0 software is
applied. All the antennas phase center offsets and variations are
calculated.
Figure 2 to Figure 4 show the phase center calibration values of the
7
different types antennas applied in this study. The calibration values are
compared with the values announced by IGS and NGS.
Figure 5 to Figure 8 show the phase center variations of the Trimble,
Ashtech and Lecia receivers’ antennas determined using linear function
and spherical harmonic function. Besides, the variations of the different
types antennas are also compared with the values announced by IGS and
NGS.
2
L1 OFFSET --N (mm)
-1
-2
-3
-4
4
2
L2 OFFSET --N (mm)
-1
-2
-3
-4
IG
NG
TR
TR
TR
NG
AS
IG
NG
AS
AS
IG
LE
LE
S-
S-
S-
I.
I.
M
H.
H.
H.
S-
S-
S
AS
#5
#4
.
.
TR
LE
AS
AS
70
70
70
TR
#8
#4
#2
72
46
H.
I.
M
07
07
08
H.
H.
M
47
68
23
3
70
.
70
70
00
18
45
.
07
07
07
18
18
00
8
4
-1
-2
-3
-4
4
2
L2 OFFSET --E (mm)
-1
-2
-3
-4
IG
NG
TR
TR
TR
NG
AS
IG
NG
AS
AS
IG
LE
LE
S-
S-
S-
I.
I.
M
H.
H.
H.
S-
S-
S
AS
#5
#4
.
.
TR
70
LE
AS
AS
70
70
TR
#8
#4
#2
72
46
H.
07
I.
M
07
08
H.
H.
47
68
23
M
3
70
.
00
70
70
18
45
.
07
07
07
18
18
00
1 4 0
1 2 0
L1 OFFSET --U (mm)
1 0 0
8 0
6 0
4 0
2 0
0
1 4 0
1 2 0
L2 OFFSET --U (mm)
1 0 0
8 0
6 0
4 0
2 0
0
IG
NG
TR
TR
TR
NG
AS
IG
NG
AS
AS
IG
LE
LE
S-
S-
S-
I.
I.
M
H.
H.
H.
S-
S-
S
AS
#5
#4
.
.
TR
LE
AS
AS
70
70
70
TR
#8
#4
#2
72
46
H.
I.
M
07
07
08
H.
H.
47
68
23
M
3
70
.
70
70
00
18
45
.
07
07
07
18
18
00
9
30
25
15
10
-5
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70
30
25
L2 phase center variations(mm)
20
15
10
IG S TR M .
5 NGS TRM .
0 T R M . #8476P
T R M . #8476H
-5
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70
A zim uth(degree)
30
25
L1 phase center variations(mm)
20
15
10
-5
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70
20
15
L2 phase center variations(mm)
10
-5 IG S A S H .7 00 7 18
N G S A S H .7 0 07 18
-1 0 A S H .7 00 7 18 P
A S H .70 0 71 8H
-1 5
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70
A zim u th (d e g re e )
10
30
25
15
10
-5
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70
20
15
L2 phase center variations(mm)
10
-5
NG S ASH.700700
-10 ASH. 700700P
ASH. 700700H
-15
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70
Azimuth(degree)
30
25
L1 phase center variations(mm)
20
15
10
-5
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70
20
15
L2 phase center variations(mm)
10
-5 IG S L E I.
LE I. #57 27P
-10
L E I. #572 7H
-15
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70
Azimuth(degree)
11
Table 1 to Table 3 show the error of the coordinates between the
same type antennas and between the different type antennas.
From Table 1, the maximum error of the same type antennas in
horizontal component is 1.4mm, while in elevation is 2.6mm without
executing phase center variation corrections. When the phase center
variation corrections are executed, the error will be reduced to 0.3mm for
the horizontal component and 2.4mm for the elevation.
From Table 2, the maximum error of the different type antennas
(Trimble-Ashtech) in horizontal component is 4.3mm, while in elevation
is 33.5mm (Ashtech 700700) without executing phase center variation
corrections. When the phase center variation corrections are executed, the
error will be reduced to 11.3mm for the elevation.
Similarly, from Table 3, the maximum error of the different type
antennas (Trimble-Leica) in elevation will be reduced from 55mm
(without executing phase center variation corrections) to 2.8mm (with
phase center variation corrections executed).
Figure 9 to Figure 17 show the standard errors of the coordinates
before and after antennas’ phase center corrections. In these figures, the
phase center offsets and variations announced by IGS and NGS are also
presented for comparison.
12
Table 1 The coordinates' root mean square of the same type antenna
before and after phase center correction
Signal Frequency L1 L2 L1 L2
Component N E U N E U N E U N E U
With or Without Without Phase Center Correction With Phase Center Offset Correction
Phase Center Correction RMS(mm) RMS(mm)
TRM. #9315 0.1 0.1 2.2 0.1 0.1 2.2 0.1 0.1 2.2 0.1 0.1 2.2
TRM. #4689 0.6 0.2 2.4 0.3 0.3 2.5 0.3 0.2 1.8 0.3 0.3 2.3
TRM. #2231 0.5 0.4 2.3 1.4 0.8 2.6 0.3 0 2 0.3 0.2 2.3
TRM. #8476 0.2 0.3 2.3 0.3 0.3 2.6 0.2 0.3 1.9 0.3 0.2 2.4
With or Without With Phase Center Variation Correction With Phase Center Variation
Phase Center Correction (Linear Function) Correction(Spherical harmonic Function)
RMS(mm) RMS(mm)
TRM. #9315 0 0 2.3 0.1 0.1 2.2 0.1 0.1 2.2 0.1 0.1 2.2
TRM. #4689 0.2 0.3 2.2 0.3 0.2 2.2 0.6 0.2 2.4 0.3 0.3 2.5
TRM. #2231 0.1 0 2.3 0.3 0 2.2 0.5 0.4 2.3 1.4 0.8 2.6
TRM. #8476 0.3 0.3 2.3 0.3 0.2 2.4 0.2 0.3 2.3 0.3 0.3 2.6
Table 2 The coordinates' root mean square of the different type antennas
before and after phase center correction(Trimble-Ashtech)
Signal Frequency L1 L2 L1 L2
Component N E U N E U N E U N E U
With or Without Without Phase Center Correction With Phase Center Offset Correction
Phase Center Correction RMS(mm) RMS(mm)
TRM. #9315 0 0 1.8 0 0 1.8 0 0 1.8 0 0 1.8
TRM. #4689 0.7 0.8 1.6 0.7 0.5 1.2 2.8 3 1 2.9 3.1 1
Ash. 700718 3.5 3.2 9.9 3.4 4.2 16.4 2.8 4.5 6.3 3.5 4.7 11.3
Ash. 700845 3.3 2.6 16 3.5 4.3 9.7 2.5 4.1 1.1 4.1 4.6 8.3
Ash. 700700 3.8 3.3 33.5 3 3.2 20.2 2.3 5.8 6.2 3.7 4.2 8.1
With or Without With Phase Center Variation Correction With Phase Center Variation
Phase Center Correction (Linear Function) Correction(Spherical harmonic Function)
RMS(mm) RMS(mm)
TRM. #9315 0 0 1.8 0 0 1.8 0 0 1.8 0 0 1.8
TRM. #4689 2.8 2.9 1.1 2.9 3.1 1 2.8 3 1.3 3 3.2 1.1
Ash. 700718 2.5 4.4 5.8 4 4.9 4.8 2.6 4.4 5.6 4 4.9 4.8
Ash. 700845 2.3 4 1.8 4.6 4.8 2 2.2 4 3.3 4.5 4.7 1.9
Ash. 700700 1.6 5.7 5.6 3.6 4.2 7.4 1.6 5.7 5.5 3.6 4.3 7.5
13
Table 3 The coordinates' root mean square of the different type antennas
before and after phase center correction(Trimble-Leica)
Signal Frequency L1 L2 L1 L2
Component N E U N E U N E U N E U
With or Without Without Phase Center Correction With Phase Center Offset Correction
Phase Center Correction RMS(mm) RMS(mm)
TRM. #9315 -0 -0 2.4 -0 -0 2.4 -0.2 -0.2 2.4 -0.2 -0.2 2.4
TRM. #4689 0.7 0.4 2.5 0.9 1.3 2.4 0.7 0.3 2.4 0.6 1.2 2.2
LEI. #5727 1.1 2.6 52 0.6 2.1 42 0.8 0.3 1.5 0.7 0.7 2.8
LEI. #4463 0.9 2.5 50 2.6 5.2 55 0.6 0.5 1.2 1.0 0.7 2.8
With or Without With Phase Center Variation Correction With Phase Center Variation
Phase Center Correction (Linear Function) Correction(Spherical harmonic Function)
RMS(mm) RMS(mm)
TRM. #9315 0.1 0.1 2.2 0.1 0.1 2.2 0.1 0.1 2.2 0.1 0.1 2.2
TRM. #4689 0.8 0.4 2.2 0.7 1 2.1 0.8 0.4 2.3 0.7 1 2.3
LEI. #5727 0.8 0.4 2.2 0.7 0.4 1.8 0.8 0.4 2.4 0.7 0.4 2
LEI. #4463 0.6 0.5 2.2 1 0.7 3.3 0.6 0.5 2.4 1 0.7 3.2
14
1.6
Without phase center correction
With phase center offset correction
1.4 With phase center offset correction(IGS)
With phase center offset correction(NGS)
With phase center variation correction(P)
1.2
L1 coordinates RMS(mm)
0.8
0.6
0.4
0.2
0.0
#9315 #4689 #2231 #8476
1.6
Without phase center correction
With phase center offset correction
1.4
With phase center offset correction(IGS)
With phase center offset correction(NGS)
With phase center variation correction(P)
1.2 With phase center variation correction(H)
L2 coordinates RMS(mm)
0.8
0.6
0.4
0.2
0.0
#9315 #4689 #2231 #8476
0.8
0.6
0.4
0.2
0.0
#9315 #4689 #2231 #8476
1.6
Without phase center correction
With phase center offset correction
1.4
With phase center offset correction(IGS)
With phase center offset correction(NGS)
With phase center variation correction(P)
1.2 With phase center variation correction(H)
L2 coordinates RMS(mm)
0.8
0.6
0.4
0.2
0.0
#9315 #4689 #2231 #8476
16
5
Without phase center correction
With phase center offset correction
With phase center offset correction(IGS)
4 With phase center offset correction(NGS)
With phase center variation correction(P)
With phase center variation correction(H)
L1 coordinates RMS(mm)
0
#9315 #4689 #2231 #8476
5
Without phase center correction
With phase center offset correction
With phase center offset correction(IGS)
With phase center offset correction(NGS)
4
With phase center variation correction(P)
With phase center variation correction(H)
L2 coordinates RMS(mm)
0
#9315 #4689 #2231 #8476
0
TRM. #9315 TRM. #4689 ASH. 700718 ASH. 700845 ASH. 700700
8
Without phase center correction
With phase center offset correction
7
With phase center offset correction(IGS)
With phase center offset correction(NGS)
With phase center variation correction(P)
6 With phase center variation correction(H)
With phase center variation correction(IGS)
L2 coordinates RMS(mm)
0
TRM. #9315 TRM. #4689 ASH. 700718 ASH. 700845 ASH. 700700
0
TRM. #9315 TRM. #4689 ASH. 700718 ASH. 700845 ASH. 700700
10
Without phase center correction
9 With phase center offset correction
With phase center offset correction(IGS)
8 With phase center offset correction(NGS)
With phase center variation correction(P)
With phase center variation correction(H)
7
L2 coordinates RMS(mm)
0
TRM. #9315 TRM. #4689 ASH. 700718 ASH. 700845 ASH. 700700
20
15
10
0
TRM. #9315 TRM. #4689 ASH. 700718 ASH. 700845 ASH. 700700
35
Without phase center correction
With phase center offset correction
30 With phase center offset correction(IGS)
With phase center offset correction(NGS)
With phase center variation correction(P)
With phase center variation correction(H)
25
L2 coordinates RMS(mm)
20
15
10
0
TRM. #9315 TRM. #4689 ASH. 700718 ASH. 700845 ASH. 700700
2.0
1.5
1.0
0.5
0.0
TRM. #9315 TRM. #4689 LEI. #5727 LEI. #4463
3.0
Without phase center offset correction
With phase center offset correction
With phase center offset correction(IGS)
2.5 With phase center variation correction(P)
With phase center variation correction(H)
With phase center variation correction(IGS)
L2 coordinates RMS(mm)
2.0
1.5
1.0
0.5
0.0
TRM. #9315 TRM. #4689 LEI. #5727 LEI. #4463
0
TRM. #9315 TRM. #4689 LEI. #5727 LEI. #4463
6
Without phase center offset correction
With phase center offset correction
With phase center offset correction(IGS)
5 With phase center variation correction(P)
With phase center variation correction(H)
With phase center variation correction(IGS)
L2 coordinates RMS(mm)
0
TRM. #9315 TRM. #4689 LEI. #5727 LEI. #4463
40
30
20
10
0
TRM. #9315 TRM. #4689 LEI. #5727 LEI. #4463
60
Without phase center offset correction
With phase center offset correction
With phase center offset correction(IGS)
50 With phase center variation correction(P)
With phase center variation correction(H)
With phase center variation correction(IGS)
L2 coordinates RMS(mm)
40
30
20
10
0
TRM. #9315 TRM. #4689 LEI. #5727 LEI. #4463
24
7. References
Chen C. S., and Y. J. Chen, 1999.A study on the Calibration and
Correction of the GPS Antenna Phase Center, Journal of Surveying
Engineering, Chinese Society of Surveying Engineering, Vol. 41, No.
3, pp. 1-26.
Gurtner, W., G. Beutler, and M. Roathacher, 1989. Combination of GPS
Observation Made with Different Receiver Types, Proceedings of
the 5th International Geodetic Symposium on Satellite Positioning,
Las Cruces, New Mexico, March 13-17, Vol.1, pp.362~374.
Gurtner, W., and R. Liu, 1995. The Central Bureau Information System,
in IGS 1994 Annual Report, edited by R. Liu J. F. Zumberge and R.E.
Neilan, pp.43~57, IGS Central Bureau, Jet Propulsion Laboratory,
Pasadena, California U.S.A.
Imakiire, T., et al., 1997. Results of Phase Characteristics Measurements
of GPS Receivers Antennas(2), Journal of the Geodetic Socity of
Japan, Vol. 43, No. 2, pp.79-90.
Rothacher, M., et al., 1995. Determination of Antenna Phase Center
Variations Using GPS Data, in IGS Workshop Proceedings on
Speical Topics and New Directions, edited by G. Gendt and G. Dick,
pp.77~92, GeoForschungs Zentrum, Potsdam, Germany.
Rothacher, M., et al., 1996. Azimuth-and Elevation-Dependent Phase
Center Corrections for Geodetic GPS Antennas Estimated from GPS
Calibration Campaigns, in IAG Symposium No.115, edited by W.
Torge, pp.335~339, Springer-Verlag.
Schaer, S., et al., 1995. Global and Regional Ionosphere Models Using
the GPS Double Difference Phase Observable, in IGS Workshop
25
Proceedings on Special Topics and New Directions, edited by G.
Gendt and G. Dick, pp.77~92, Geo-Forschungs Zentrum, Potsdam,
Germany.
Schupler, B.R., and T.A. Clark, 1991. How Different Antennas Affect the
GPS-Observable, GPS World, Nov./Dec. 1991, pp.32~36.
Schupler, B.R., R.L. Allshouse, and T.A. Clark, 1994. Signal
Characteriatics of GPS User Antennas, Journal of The Institute of
Navigation, Vol. 41, No.3, pp.277~295.
26