muhammad syazwan bin ab razakeprints.utm.my/id/eprint/81776/1/muhammadsyazwanabmfabu201… ·...

THE DEVELOPMENT OF A NETWORK AUTONOMOUS INTEGRITY

MONITORING POSITIONING SYSTEM IN MALAYSIA

MUHAMMAD SYAZWAN BIN AB RAZAK

A thesis submitted in fulfilment of the

requirements for the award of the degree of

Master of Philosophy

Faculty of Built Environment and Surveying

Universiti Teknologi Malaysia

JANUARY 2019

iii

DEDICATION

In the Name of Allah, The Most Gracious, The Most Merciful

To my beloved parents, Abah and Mama,

Ab Razak Bin Mamat & Ramlah Binti Abdul Latif,

Thank you for the love, support, Doa’ and encouragements.

I will always pray for your health and happiness of our family.

To my beloved brothers and sisters,

Mohamad Syarikin, Nur Shuhada, Mohd Alif,

Nur An’nisa Hanim, Nur Ainun Zahirah,

Thank you. May I be a source of inspiration for all of you to succeed in life.

To my beloved wife and lovely daughter,

Syazwani Mawardi & Ingrid Imani,

Thank you for your support, inspiration, encouragement, help and patience.

Insya’Allah, Till Jannah.

To all my supportive friends, in-laws & lecturers,

Thank you.

Lastly, to my supervisor,

Assoc. Prof Dr Tajul Ariffin Bin Musa,

Thank you for your guidance, knowledge and experience.

iv

ACKNOWLEDGEMENT

First and foremost, Alhamdulillah, all praise to Allah, the Almighty and the

Benevolent, for His blessings in completing this thesis.

I would like to express my sincere appreciation to my supervisor, Assoc. Prof.

Dr. Tajul Ariffin Musa for his guidance, knowledge, encouragement, critics and

motivations in completing this study. Without his continuous supports, this thesis

would not have been the same as presented here. I would also like to express my

gratitude to all my lecturers in Department of Geoinformation, Faculty Environment

Built and Surveying (formerly Faculty of Geoinformation and Real Estate), UTM for

every knowledge and moral supports they have given me along my study life in UTM.

My sincere appreciation also extended to Postgraduate Staff Puan Norila and Puan

Dewi Narty, Geomatic Innovation Research Group (GnG) members Syukriah, Suhaila,

Nini, Jehan, Hanifah, Farid, Asyraf, Nazrin, in-laws and others who helped me directly

or indirectly in completing this thesis. Your support really means a lot to me.

I would also like to acknowledge, Marine Department of Malaysia, Space

Agency of Malaysia (ANGKASA) and Ministry of Energy, Science, Technology,

Environment and Climate Change (MESTECC) (formerly Ministry of Science,

Technology and Innovation (MOSTI)) for the technical support and data sharing.

Without them, it would not be possible to conduct and completing this research.

My very profound gratitude to my lovely wife and daughter, Syazwani

Mawardi and Ingrid Imani for providing me with unfailing support and continuous

encouragement throughout my years of study and through the process of researching

and writing this thesis. This accomplishment would not have been possible without

them. Thank you for always being my source of inspiration to not give up.

Last but not least, no word can express and no deeds can return the love,

affection, sacrifices, advices, unceasing Do’a, support, and inspiration that my parents

Ab Razak Bin Mamat and Ramlah Binti Abdul Latif infused in me during my whole

academic career. Thank you for the inspiring education they provided me and for

supporting me in so many ways.

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ABSTRACT

Global Positioning System (GPS) is a space‐based positioning, navigation and time distribution system designed for world‐wide positioning and navigation applications. Accuracy of the GPS solution can be improved through Differential GPS (DGPS) technique that reduces errors in the GPS satellite signal. These errors are determined by Continuously Operating Reference Station (CORS) at precisely known station coordinates which will be transmitted in real-time as corrections to the user thus improving their position accuracy. To maintain the CORS system, the service provider needs to have a comprehensive quality and integrity monitoring mechanism in real time to ensure reliability of the system that would provide better service to users. The study provided a network based autonomous integrity monitoring (NAIM) system within the GPS National Research and Development CORS Network (NRC-net) area. A prototype of NAIM system in a web-based platform was developed to provide integrity monitoring for all CORS including information on CORS status, system level monitoring, user level monitoring and ground level monitoring. The web can be accessed by user via internet to check real-time status and integrity information of each NRC-net station. Besides, the user can monitor the accuracy of the station in term of DGPS fix rover precision shown in standard deviation in northing, easting and up component, thus increasing the confidence of users utilizing CORS data in real-time application. Two radio beacon stations of Sistem Pelayaran Satelit (SISPELSAT), namely Bandar Hilir Melaka (JLML) and Kuantan Pahang (JLKU) owned by the Marine Department of Malaysia were integrated into the NAIM system. By utilizing this system, the GPS data from JLML station were recorded for data accuracy and validation analysis continuously for 7 days. It was found that the accuracy of the JLML station for the north component was less than 1-meter, whereas the east component was less than 2-meters, and the up component had less than 3-meters. The data analysis proved that the station was in a good condition as it provided 100 percent DGPS fix and 2-meter accuracy on average. Based on the analysis, several tests and assessments were conducted towards NAIM system to evaluate the performance of SISPELSAT DGPS radio beacon services at the offshore and coastal areas of Peninsular Malaysia. At the offshore area, SISPELSAT stations, Melaka and Kuala Besar Kelantan had good conditions of more than 96 percent less than 1-meter accuracy and 80 percent of DGPS fix. However, Station Bagan Datuk had only 84 percent less than1-meter accuracy with 27 percent of DGPS fix. At the coastal area, the accuracy of DGPS fix observation at 21 reference stations was less than 2-meters which are directly proportional to the distance of the SISPELSAT stations. The study concludes that the factor of distance-dependent is significant towards the accuracy of the DGPS and influences the radio signal strength and Signal to Noise Ratio of SISPELSAT stations. Overall, the NAIM system has been shown to be capable of providing integrity monitoring mechanism and can be an alternative system for SISPELSAT.

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ABSTRAK

Sistem Penentududukan Sejagat (GPS) adalah sistem penentududukan berasaskan angkasa, navigasi dan pengedaran masa yang direka untuk aplikasi penentududukan dan navigasi sejagat. Ketepatan penyelesaian GPS boleh ditingkatkan melalui teknik Pembezaan GPS (DGPS) dengan mengurangkan ralat pada isyarat satelit GPS. Ralat ini ditentukan oleh Stesen Rujukan Berterusan (CORS) pada koordinat stesen yang diketahui ketepatannya yang akan dihantar secara masa-hakiki sebagai pembetulan kepada pengguna seterusnya meningkatkan ketepatan kedudukan mereka. Bagi mengekalkan sistem CORS, pembekal perkhidmatan perlu menyediakan mekanisma pengawasan kualiti dan integriti secara menyeluruh dalam masa-hakiki bagi memastikan kebolehpercayaan sistem yang akan memberi perkhidmatan yang lebih baik terhadap pengguna. Kajian ini menyediakan rangkaian sistem pemantauan integriti berautonomi (NAIM) dalam Rangkaian Penyelidikan dan Pembangunan CORS Nasional (NRC-net) GPS. Satu prototaip sistem NAIM dalam platform berasaskan laman sesawang telah dibangunkan bagi penyediaan pemantauan integriti untuk semua CORS termasuk infomasi status CORS, pemantauan tahap sistem, pemantauan tahap pengguna, dan pemantauan tahap bawah. Laman tersebut boleh diakses oleh pengguna melalui internet untuk menyemak status masa-hakiki dan maklumat pemantauan integriti setiap stesen NRC-net. Selain itu, pengguna boleh memantau ketepatan stesen melalui kejituan DGPS perayau yang ditunjukkan dalam komponen sisihan piawai utaraan, timuran dan atas, seterusnya meningkatkan keyakinan pengguna menggunakan data CORS dalam aplikasi masa-hakiki. Dua stesen radio suar Sistem Pelayaran Satelit (SISPELSAT) iaitu Bandar Hilir Melaka (JLML) dan Kuantan Pahang (JLKU), yang dimiliki oleh Jabatan Laut Malaysia telah diintegrasi ke dalam sistem NAIM. Dengan menggunakan sistem ini, data GPS dari stesen JLML direkodkan untuk ketepatan data dan analisis pengesahan berterusan selama 7 hari. Didapati bahawa ketepatan stesen JLML untuk komponen utaraan adalah kurang daripada 1-meter manakala komponen timuran kurang daripada 2-meter dan komponen atas kurang daripada 3-meter. Analisis data membuktikan bahawa stesen itu berada dalam keadaan yang baik kerana ia menyediakan 100 peratus penetapan DGPS dan 2-meter ketepatan secara purata. Berdasarkan analisis, beberapa ujian dan penilaian dilaksanakan ke arah sistem NAIM bagi menilai prestasi perkhidmatan radio suar DGPS SISPELSAT di kawasan luar pesisir dan pantai Semenanjung Malaysia. Di kawasan luar pesisir, stesen SISPELSAT Melaka dan Kuala Besar Kelantan berada dalam keadaan yang lebih baik daripada 96 peratus ketepatan kurang daripada 1-meter dan 80 peratus daripada tetapan DGPS. Walau bagaimanapun, Stesen Bagan Datuk hanya mempunyai 84 peratus ketepatan kurang daripada 1-meter dengan 27 peratusan tetapan DGPS. Di kawasan pantai, cerapan ketepatan tetapan DGPS terhadap 21 stesen rujukan adalah kurang daripada 2-meter yang berkadar langsung dengan jarak stesen SISPELSAT. Kajian ini menyimpulkan bahawa faktor kebergantungan-jarak adalah signifikan terhadap ketepatan DGPS dan mempengaruhi kekuatan isyarat radio dan nisbah isyarat kepada selisih stesen SISPELSAT. Secara keseluruhan, sistem NAIM telah terbukti mampu menyediakan mekanisme pemantauan integriti dan boleh menjadi sistem alternatif untuk SISPELSAT.

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TABLE OF CONTENTS

CHAPTER TITLE PAGE

DECLARATION ii

DEDICATION iii

ACKNOWLEDGEMENTS iv

ABSTRACT v

ABSTRAK vi

TABLE OF CONTENT vii

LIST OF TABLES xi

LIST OF FIGURES xii

LIST OF ABBREVIATIONS xv

LIST OF APPENDICES xvii

1 INTRODUCTION

1.1 Background of Study 1

1.2 Statement of Problem 3

1.3 Objective of the Study 4

1.4 Scopes of Study 4

1.5 Significance of the Study 5

1.6 Research Methodology Approach 6

1.7 Structure of Thesis 8

2 CORS ESTABLISHMENT OVERVIEW

2.1 Introduction 9

2.2 GPS Background 9

2.3 CORS Overview 10

2.3.1 CORS Segment 11

2.3.1.1 Station Segment 12

2.3.1.2 Control Segment 13

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2.3.1.3 User Segment 13

2.3.2 Communication for CORS 13

2.3.3 CORS Integrity Monitoring 15

2.4 Global, Regional and Local CORS Network 16

2.4.1 Global CORS Network 16

2.4.2 Regional CORS Network 17

2.4.3 Local CORS Network 18

2.4.3.1 Malaysia CORS Network 19

2.4.3.1.1 MyRTKnet 20

2.4.3.1.2 SISPELSAT 20

2.4.3.1.3 NRC-net 22

2.5 Concluding Remarks 23

3 NAIM WEB-BASED DEVELOPMENT

3.1 Introduction 25

3.2 Early Development of Integrity Monitoring

System

25

3.2.1 Web-Based Design 27

3.2.1.1 System Level Monitoring 27

3.2.1.2 Ground Level Monitoring 28

3.2.1.3 User Level Monitoring 29

3.3 NAIM System Development and Infrastructure 29

3.3.1 Data and Processing Server 30

3.3.2 Database 33

3.3.3 Web Server 34

3.4 NAIM Website Components 35

3.4.1 GPS/GNSS CORS Status 35

3.4.2 System Level Monitoring 36

3.4.3 Ground Level Monitoring 37

3.4.4 User Level Monitoring 38


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4 DATA COLLECTION AND PROCESSING

4.1 Introduction 41

4.2 SISPELSAT Integration 41

4.2.1 Setting Up Hardware 41

4.2.2 Configuration of Software and

Communication

44

4.3 DGPS Observation 47

4.3.1 DGPS Observation – Offshore Area 48

4.3.2 DGPS Observation – Coastal Area 53


5 RESULTS AND ANALYSIS

5.1 Introduction 57

5.2 DGPS Analysis for The Offshore Sectors 57

5.2.1 Sector A – SISPELSAT Bandar Hilir

Melaka

58

5.2.2 Sector B – SISPELSAT Bagan Datuk

Perak

60

5.2.3 Sector C – SISPELSAT Kuala Besar

Kelantan

63

5.3 DGPS Analysis for The Coastal Area 65

5.3.1 Accuracy Assessment of SISPELSAT 66

5.3.2 Factor of Distance-Dependent in

SISPELSAT

70

5.3.2.1 Signal Strength vs. distance

of SISPELSAT station

70

5.3.2.2 Signal to Noise Ratio (SNR)

vs. distance of SISPELSAT

station

72

5.3.2.3 Accuracy vs. Distance from

SISPELSAT Station

74


x

6 CONCLUSIONS AND RECOMMENDATIONS

6.1 Conclusions 77

6.2 Recommendations 79

REFERENCE 81

LIST OF PUBLICATION 144

xi

LIST OF TABLES

TABLE NO. TITLE PAGE

Table 3.1 Output header data description.

(Source: RTKlib,2013). 32

Table 3.2 CORS with dedicated TCP server port set. 33

Table 4.1 Information of JLML and JLKU station. 43

Table 4.2 Description on STRSVR software configuration. 46

Table 4.3 Average Positioning result of JLML station for 7 days. 48

Table 5.1 Summary of signal strength, SNR, ACC, CEP and

2DRMS for each reference station at Area A, Area B

and Area C of coastal area. 68

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LIST OF FIGURES

FIGURE NO. TITLE PAGE

Figure 1.1 Methodology of this study. 7

Figure 2.1 Applications of CORS. 11

Figure 2.2 The three CORS Segments. 11

Figure 2.3 NTRIP components and flow of the data streaming. 14

Figure 2.4 IGS CORS network around the world. 16

Figure 2.5 EUREF CORS Network. 17

Figure 2.6 NGS CORS network throughout United State. 18

Figure 2.7 GEONET CORS Network throughout Japan. 18

Figure 2.8 SiReNT CORS Network of Singapore. 19

Figure 2.9 MyRTKnet CORS network in Malaysia. 20

Figure 2.10 SISPELSAT broadcasting and monitoring stations in

Peninsular Malaysia. 21

Figure 2.11 NRC-net CORS Network. 22

Figure 2.12 NRC-net system architecture (Shariff et al., 2010). 23

Figure 3.1 Conceptual model-based design of ANGKASA

Integrity Monitoring System. (Source: Ooi et al., 2014). 27

Figure 3.2 Early system on Level Monitoring component web

interface. (Source: Ooi et al., 2014). 28

Figure 3.3 Interface of Ground Level Monitoring components in

early system. (Source: Ooi et al., 2014). 28

Figure 3.4 Interface of early development of User Level

Monitoring component. (Source: Ooi et al.,2014). 29

Figure 3.5 NAIM web-based infrastructure design. 30

Figure 3.6 Configuration for real-time processing by using

RTKlib. 31

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Figure 3.7 Example of output data of DGPS positioning solution

from RTKlib. 31

Figure 3.8 Flowchart of data from RTKnavi.exe being stored into

database MySQL. 33

Figure 3.9 The four main segments in NAIM system. 34

Figure 3.10 Interface segment of GNSS CORS station status. 35

Figure 3.11 System Level Monitoring interface that provides GPS

NANU Messages provided by USCG. 36

Figure 3.12 Ground Level Monitoring segment interface for each

CORS. 37

Figure 3.13 User level monitoring at CORS AGKB. 38

Figure 4.1 Equipment setup at JLML and JLKU stations. 42

Figure 4.2 GPS receiver components and com port with successful

hardware configuration. 44

Figure 4.3 Configuration setup for STRSVR software. 45

Figure 4.4 Successful data streaming from JLML station to NRC-

net control center. 46

Figure 4.5 Successful data streaming from JLKU station to NRC-

net control center. 46

Figure 4.6 Example of processing result obtain from post process. 47

Figure 4.7 Onshore DGPS observation area sector. 49

Figure 4.8 During data observation on board of vessel MV

Pedoman and MV Pendamar. 50

Figure 4.9 Equipment on board setup for data collection. 51

Figure 4.10 Antenna setup on the upper deck of the MV Pedoman

with fixed distance. 52

Figure 4.11 Example of NMEA data observed on board of vessel. 53

Figure 4.12 Reference stations location in Peninsular Malaysia

within SISPELSAT coverage sector. 53

Figure 4.13 DGPS and static carrier phase observation at the

reference stations. 55

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Figure 5.1 Flow chart analysis of SISPELSAT performance

offshore. 58

Figure 5.2 Result map of Sector A – SISPELSAT Bandar Hilir

Melaka. 59

Figure 5.3 SNR simulation coverage of Sector A. 60

Figure 5.4 Result map of Sector B – SISPELSAT Bagan Datuk

Perak. 61

Figure 5.5 SNR simulation coverage of Sector B. 62

Figure 5.6 Result map of Sector C – SISPELSAT Kuala Besar

Kelantan. 63

Figure 5.7 SNR simulation coverage of Sector C. 64

Figure 5.8 Flow chart analysis of 21 reference station accuracy. 65

Figure 5.9 The result of signal strength, SNR, CEP and 2DRMS

for Tanjung Piai reference station of Area A. 69

Figure 5.10 Signal Strength vs distance of SISPELSAT Melaka

Station for Area A. 71

Figure 5.11 Signal Strength vs distance of SISPELSAT Bagan

Datuk Station for Area B. 71

Figure 5.12 Signal Strength vs distance of SISPELSAT Kuala Besar

Station for Area C. 72

Figure 5.13 SNR vs distance of SISPELSAT Melaka Station for

Area A. 73

Figure 5.14 SNR vs distance of SISPELSAT Bagan Datuk Station

for Area B. 73

Figure 5.15 SNR vs distance of SISPELSAT Kuala Besar Station

for Area C. 74

Figure 5.16 Accuracy vs. Distance from SISPELSAT Stations for

Area A (top), Area B (middle) and Area C (bottom). 75

xv

LIST OF ABBREVIATION

2D Two dimensions

2DRMS Twice-Distance Root Means Square

3D Three-dimensional

ANGKASA National Space Agency Malaysia

BKG German Federal Agency for Cartography and Geodesy

CEP Circular Error Probability

com Communication

CORS Continuously Operating Reference Stations

DGPS Differential Global Positioning System

DSMM Department of Survey and Mapping Malaysia

EPN EUREF Permanent GNSS Network

ETR89 European Terrestrial Reference System

EUREF European Reference Frame

FTP File Transfer Protocol

GDM2000 Geocentric Datum Malaysia 2000

GEONET GNSS Earth Observation Network

GNSS Global Navigation Satellite System

GPS Global Positioning System

GPS Global Positioning System

GWPS Ground Wave Prediction System

HTPP 1.1 Hypertext Transfer Protocol

IALA

International Association of Marine Aids to Navigation and

Lighthouse Authorities

IHO International Hydrographic Organization

IMO International Maritime Organization

IP Internet Protocol

ITRF International Terrestrial Frame

JLKU SISPELSAT Kuantan

JLML SISPELSAT Melaka

kHz kilohertz

km kilometer

xvi

kW Kilo Watt

m meter

MF Medium Frequency

MOSTI Ministry of Science, Technology and Innovation

MSK Minimum Shift-Keying

MV Malaysia Vessel

MyRTKnet Malaysia Real Time Kinematic GPS Network

MySQL My Structured Query Language

NAIM Network Autonomous Integrity Monitoring

NANU Notice Advisory to NAVSTAR Users

NGS National Geodetic Survey

NOAA National Oceanic and Atmospheric Administration’s

NRC-net National Research and Development CORS Network

NRTK Network Real Time Kinematic

NTRIP Networked Transport of RTCM via Internet Protocol

PHP Hypertext Preprocessor

PNT positioning, navigation, and timing

PRC pseudo-range corrections

RINEX Receiver Independent Exchange Format

RTCM Radio Technical Commission for Maritime

RTK Real Time Kinematic

RTKlib Real Time Kinematic Library

SiRENT Singapore Satellite Positioning Reference Network

SISPELSAT Sistem Pelayaran Satelit

SLA Singapore Land Authority

SNR Signal to Noise Ratio

SS Signal Strength

TCP Transmission Control Protocol

USAF United States Air Force

USCG U.S. COAST GUARD NAVIGATION CENTER (USCG)

VRS Virtual Reference Station

XAMPP

Cross-Platform (X), Apache (A), MySQL (M), PHP (P) and

Perl (P)

xvii

LIST OF APPENDICES

APPENDIX TITLE PAGE

Appendix A The main PHP script of NAIM website. 85

Appendix B Preliminary 7 days data analysis of JLML Station. 115

Appendix C The result of signal strength, SNR, CEP and 2DRMS

for others reference stations. 119

1

CHAPTER 1

INTRODUCTION

1.1 Background of Study

In modern positioning, use of Global Positioning System (GPS) or Global

Navigation Satellite System (GNSS) has gain popularity and the trend are increasing,

demanded by location-based industry worldwide since it provides fast and efficient

data collection. Several techniques of real-time positioning have been introduced, such

as Real-Time Kinematics (RTK), Network Real-Time Kinematics (NRTK),

Differential Global Positioning System (DGPS) and others to support critical

positioning and navigation applications. Therefore, in order to support the

implementation of these real-time positioning technique, establishment of Continuous

Operating Reference Station (CORS) is required.

CORS is a facility to continuously collect and record the GPS/GNSS data in

an automated manner, at specific location 24 hours per day. Each CORS equipped with

GPS/GNSS receiver and the antenna has been installed at a very stable monument with

proper electricity and communication. All the data are transmitted in real-time via

internet to a control center before being distributed back to users. The data are also

being stored locally at the station and transferred to a control center in hourly and daily

data sequence for archiving and post-process purposes.

The CORS has been established in many areas around the world by numerous

service providers, such as in the Australian states of Victoria (GPSnet), New South

Wales (CORSnet) and Queensland (SunPOZ), Denmark (REFDK), Germany

(SAPOS), Japan (GEONET), Hong Kong (SatRef), Singapore (SiReNT), and in

Malaysia (MyRTKnet) (Shariff et al., 2010). In order to maintain the CORS system, it

is indispensable for the service providers to have a comprehensive quality and integrity

2

monitoring mechanism in various aspects, such as communication link, data transfer,

and CORS health status in real time (Lim et al., 2008).

This study has been carried out to implement a comprehensive mechanism of

quality and integrity monitoring system known as Network Autonomous Integrity

Monitoring (NAIM) system. With these mechanisms, it will ensure the reliability of

the CORS system in providing better services to users and able to monitor the data

qualities in real time. A CORS network called National Research and Development

CORS Network or NRC-net has been used as a prototype for this study. The NRC-net

consist of multiple CORS around Malaysia, a control center that equipped with data

storage and communication links for data streaming and broadcasting via internet.

A DGPS service by Marine Department of Malaysia known as Sistem

Pelayaran Satelit (SISPELSAT) is currently applying the concept of CORS in their

DGPS beacon. It provides shore-to-ship DGPS correction services to user via radio.

Two of the broadcasting beacon stations transmitted the data into NRC-net system,

which then used as testing and assessment of NAIM. Other than that, the performance

of SISPELSAT towards the accuracy of broadcast, signal strength and signal to noise

ratio have also been evaluated offshore and at coastal areas of Peninsular Malaysia.

Overall, the implementation of NAIM prototype in NRC-net have yielded valuable

experience in providing a real-time integrity monitoring of CORS to facilitate the user

and can be an alternative method for integrity monitoring of SISPELSAT.

3

1.2 Statement of the Problem

Communication is one of the major concern for CORS service providers in

providing a quality service to users. Fault in internet communication between CORS

station and control center can cause inconsistency and degradation of real-time GPS

data to user. Thus, it is very important for communication of CORS being monitored

and the status being informed directly to user in real-time manner from service

provider. Therefore, NAIM can be an alternative system for monitoring CORS system

in real-time.

The position accuracy of user in real-time application are dependent on the

quality of CORS data used. The degradation in data quality can be due to several

contributing factors, such as multipath effect, satellite availability and communication

itself. Thus, it will affect the accuracy of real-time positioning. Therefore, a

comprehensive mechanism of data quality checking in real-time is crucial to be

undertaken.

The position accuracy of user using the DGPS beacon are depending on the

correction data determine by DGPS radio beacon station at a precisely known

coordinate. Distance from user towards DGPS radio beacon also affect the accuracy

of DGPS position. Thus, quality of data needs to be monitored and analyzed further.

Therefore, NAIM can be an alternative system for SISPELSAT for integrity

monitoring system.

4

1.3 Objective

This research aims to provide a network-based autonomous integrity

monitoring system within the NRC-net area coverage. This aim embarks three

objectives:

I. To develop a framework of NAIM for NRC-net.

An attractive web base is designed for integrity monitoring of NRC-net.

II. To implement NAIM in SISPELSAT stations.

NAIM systems is implemented for integrity monitoring of SISPELSAT

stations.

III. To assess the performance of SISPELSAT system.

The assessments are conducted in the offshore and coastal area to validate the

performance of SISPELSAT.

1.4 Scope of the Study

The scopes of this study are described as follows:

1. Research studies have been selected within NRC-net area which included 17

CORS around Peninsular Malaysia and Sabah Sarawak.

2. Only the GPS satellite constellation have been used in this study even though multi

GNSS receivers were installed in few CORS in NRC-net stations. L1, L2 carrier

phase and code measurement from all NRC-net CORS are collected and are stored

in Receiver Independent Exchange Format (RINEX). Meanwhile, real-time data

are broadcasted in Radio Technical Commission for Maritime Services (RTCM)

data format.

5

3. Internet communication has been used for entire data streaming in the NAIM

system. Transmission Control Protocol / Internet Protocol (TCP/IP) is used to

interconnect between the CORS and control center. Meanwhile, user will utilize

mobile cellular data such as GPRS, 2G, 3G, and 4G or through Wi-Fi connection

for communication with control center.

4. The assessment of SISPELSAT in support of NAIM system are performed by

comparing the results gathered using radio (with correction) and post process static

technique.

5. The user’s positions accuracy are analyzed by comparing user DGPS position with

the known coordinate points from static positioning technique.

1.5 Significant of the Study

Real time positioning is very useful since it provides result almost instantly.

The NAIM system as centralized system that is going to be implemented in NRC-net

will enable service providers and the users to monitor data quality and status of CORS.

The NAIM system will provide a comprehensive mechanism for the system integrity

that involves many aspects of ground and space segment.

Implementation of NAIM in SISPELSAT system also has a huge impact on

consumers, especially in the shipping sector where the availability of the system can

be known by accessing the NAIM web page. In addition, the accuracy of the beacon

station also can be monitored in real-time and thus to provided confidence for users.

Therefore, NAIM system can be an alternative system in providing comprehensive

integrity and monitoring system for SISPELSAT.

6

The NAIM system may deliver positive effects to the users, particularly for

implementation of high precise application in the NRC-net coverage. For instance, the

system can be upgrade to provide more services in the future. This study will ease the

integrity monitoring of positioning solution for future study.

1.6 Research Methodology Approach

In order to achieve the aim and objectives of this study, there are four (4) main

phases that have been carried out as below and shows in Figure 1.1:

Phase 1 – Literature Review

• Overview of CORS establishment and brief review on fundamental GPS will

also be emphasized in this chapter. NRC-net and SISPELSAT stations

infrastructures are highlighted as well in this phase.

Phase 2 – Development of NAIM system

• GPS data from all NRC-net CORS are streamed into server for analysis. The

output result are stored into a database.

• The website has been designed and all the data stored in database will be

retrieved for implementation of CORS integrity monitoring.

• First research objective is accomplished upon the completion of this phase.

Phase 3 – Implementation of NAIM in SISPELSAT

• GPS data from SISPELSAT station are streamed to NRC-net CORS and then

to the NAIM system for integrity monitoring.

• The second research objective is achieved upon the completion of this phase.

7

Phase 4 – System Analyses base on SISPELSAT

• Data from SISPELSATs station have been utilized to validate the performance

of the system.

• Assessment offshore and coastal areas have been conducted by observing

SISPELSAT radio signal and the accuracy of the system were analyzed.

• Result and analysis are presented.

• This phase fulfilled the third research objective.

Figure 1.1: Methodology of this study.

81

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