GPS Diferenciales
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Topografia GPS Diferenciales...
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GPS Diferenciales 1.1) Introducción. El DGPS (Differential GPS), o GPS diferencial, es un sistema que proporciona a los receptores de GPS correcciones de los datos recibidos de los satélites GPS, con el fin de proporcionar una mayor precisión en la posición calculada. El fundamento radica en el hecho de que los errores producidos por el sistema GPS afectan por igual (o de forma muy similar) a los receptores situados próximos entre sí. Los errores están fuertemente correlacionados en los receptores próximos. Un receptor GPS fijo en tierra (referencia) que conoce exactamente su posición basándose en otras técnicas, recibe la posición dada por el sistema GPS, y puede calcular los errores producidos por el sistema GPS, comparándola con la suya, conocida de antemano. Este receptor transmite la corrección de errores a los receptores próximos a él, y así estos pueden, a su vez, corregir también los errores producidos por el sistema dentro del área de cobertura de transmisión de señales del equipo GPS de referencia. En suma, la estructura DGPS quedaría de la siguiente manera: Estación Monitorizada (referencia): Conoce su posición con una precisión muy alta. Esta estación está compuesta por:
Un receptor GPS.
Un microprocesador, para calcular los errores del sistema GPS y para generar la estructura del mensaje que se envía a los receptores.
Transmisor, para establecer un enlace de datos unidireccional hacia los receptores de los usuarios finales.
Equipo de usuario, compuesto por un receptor DGPS (GPS + receptor del enlace de datos desde la estación monitorizada).
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Los errores que se eliminan utilizando el método diferencial son los siguientes:
Disponibilidad selectiva (SA).
Retardo ionosférico.
Retardo troposférico.
Error en la posición del satélite (efemérides).
Errores producidos por problemas en el reloj satélite.
El GPS diferencial consiste en la utilización de un receptor móvil y una estación (o estaciones) de referencia situadas en coordenadas conocidas con gran exactitud. La estación de referencia comprueba todas las medidas a los satélites en una referencia local sólida, y obtiene en tiempo real las coordenadas de ese punto, cuyos valores ya se conocían con exactitud a priori. Compara resultados y a partir de ello calcula los errores del sistema en tiempo real y transmite por algún sistema (satélite, radio, TCP/IP, GSM ó UMTS) dichas correcciones al receptor móvil, que deberá de disponer de un módulo con la capacidad de captar estas correcciones y recalcular su posición. Ese tipo de receptor, además de recibir y procesar la información de los satélites, recibe y procesa, simultáneamente, otra información adicional procedente de una estación terrestre situada en un lugar cercano y reconocido por el receptor. Esta información complementaria permite corregir las inexactitudes que se puedan introducir en las señales que el receptor recibe de los satélites. En este caso, la estación terrestre transmite al receptor GPS los ajustes que son necesarios realizar en todo momento
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Diferencial GPS (DGPS) RTCM •
Una estación estación DGPS o red de estaciones, estaciones, generan una corrección en los observables GPS y provee esta información al receptor móvil.
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Un receptor móvil GPS usa las señales de los satélites más la información de la corrección para calcular con precisión su posición actual.
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Las correcciones DGPS en tiempo real re al pueden transmitirse desde un satélite o desde una estación terrestre.
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La conectividad puede puede ser por radio modem (integrado o no), celular, celular, etc En general, el uso de señales correctoras DGPS requieren una subscripción paga.
Existen dos formas básicas básicas de aplicar aplicar las correcciones diferenciales: diferenciales: en postprocesado y en tiempo real:
Diferencial GPS (DGPS) Post-Proceso: El GPS debe ir conectado a un ordenador que contenga un software capaz de capturar la información del receptor. Esta información es almacenada y posteriormente debe ser procesada y comparada con los datos de la estación de referencia.
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Un receptor móvil GPS guarda las señales de los satélites y posiciones sin corregir Los datos son cargados en un PC y se realiza el post-proceso de las posiciones con la información de la estación base y el equipo móvil. Los archivos para la corrección pueden obtenerse por internet, redes lan, etc. El post-proceso no permite obtener la posición posición con precisión en tiempo tiempo real.
Diferencial GPS Tiempo Real (RTK): Consiste en el uso de un enlace entre la estación base y el GPS. La corrección es aplicada a los datos que recibe el GPS en tiempo real. Los formatos actuales que se utilizan para enviar correcciones en tiempo real son: RTCM (Radio Technical Commission for Maritime Service) en sus formatos 2.3 ó 3.0, CMR (Compact Measurement Record), ó CMR+, de la empresa Trimble y Leica de la empresa del mismo nombre. También existe el protocolo NTRIP (Networked Transport of RTCM via Internet Protocol), que se encarga de enviar las correcciones RTCM vía internet y ha sido desarrollado por el BKG junto con la universidad de Dortmund.
Un equipo GPS recibe la señal GPS y provee esta información al receptor móvil a través de un radioenlace. Un receptor móvil GPS usa las señales de los satélites más la información enviada por el equipo base para calcular con precisión precisión su posición posición actual. La conectividad conectividad puede ser por radio modem (integrado o no), celular, etc. La distancia entre la estación base y el móvil es acotada.
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El empleo de este sistema en tiempo real es lo más empleado en la actualidad, no solo para posicionamientos, sino sobre todo en navegación. Las correcciones son más precisas conforme más cerca este el receptor móvil a la estación de referencia, es lógico, porque ambas medidas estarán afectadas por los mismos errores atmosféricos y tendrán en vista los mismos satélites.
Receptores DGPS
Receptores DGPS sub-métricos
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Tiempo real cinemático RTK (para topografía)
GPS para Geodesia
1.2) Sistemas Diferenciales GPS de Área Extensa (WAAS y EGNOS) El WAD (Wide Area Diferencial) consiste en una red de estaciones de referencia GPS, que generan correcciones diferenciales en tiempo real sobre un área de influencia extensa, permiten de esta manera aumentar la precisión en la determinación de las posiciones de los satélites, los retrasos atmosféricos y las diferencias de tiempo. Estas mandan las correcciones a una estación maestra
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transmite las correcciones a toda el área de aplicación por medio de un sistema de comunicaciones, que en el caso de WADGPS (Wide Área DGPS) suele ser vía satélite geoestacionario. Unas de las ventajas del WADGPS, es que al utilizarse varias estaciones de referencia se puede obtener correcciones con mayor precisión. El mayor inconveniente de este sistema, se encuentra en todo el procesamiento complicado que debe ejecutar el receptor, para recuperar y utilizar datos recibidos del satélite GEO, aunque en la actualidad se está implantando en la mayoría de los dispositivos GPS navegadores. La idea básica del WADGPS consiste en la eliminación de correlaciones espaciales inherentes al sistema DGPS, que ocurran con aumento de la distancia entre el usuario y estación de referencia. Los errores más importantes son los retrasos troposféricos e ionosféricas, los errores de efemérides de satélite, los errores de relojes de los satélites y en los receptores, y el multicamino. La precisión alta del DGPS puede ser conseguida principalmente por hecho de que estos errores correlacionados espacialmente se eliminan entre sí. Esto depende de la distancia entre el receptor y la estación de referencia. Si esta distancia es bastante pequeña hablamos del DGPS convencional.
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el caso de EGNOS EGN OS los satélites adicionales geoestacionarios son INMARSAT, AOR-E, INMARSAT IOR y ARTEMIS.
1.3) Red de Posicionamiento en Perú La Dirección de Geodesia emplea en los trabajos de campo equipos GPS geodésicos de alta precisión con los cuales aplicando métodos diferenciales y el apoyo en gabinete de programas especializados en el procesamiento de datos permiten obtener resultados precisos. La Dirección de Geodesia ofrece los siguientes servicios:
El establecimiento de Puntos Geodésicos a nivel nacional según sean requeridos empleando el sistema GPS y enlazados a estaciones de la Red Geodésica Nacional permite obtener puntos referenciados en el sistema WGS – 84. Para diversas aplicaciones.
Levantamientos topográficos horizontales (posición en coordenadas) y verticales (cotas) se cuenta para ello con modernas estaciones totales Topcon GPT2002 y equipos GPS en tiempo real. método convencional o satelital.
Levantamientos topográficos horizontales (posición en coordenadas) y verticales (cotas) se cuenta para ello con modernas estaciones totales Topcon GPT2002 y equipos GPS en tiempo real. método convencional o satelital.
Data observada de Estación permanente GPS. El IGN cuenta en sus
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La Dirección de Geodesia cuenta con personal técnico especializado, de amplia experiencia y familiarizado con las nuevas técnicas en la realización de trabajos de campo a nivel nacional.
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Posicionamiento Diferencial Ahora bien, si retomamos la experiencia y en vez de un receptor, colocamos dos receptores no muy alejados entre sí (digamos 10 km por ejemplo), que observan los mismos satélites, obtendremos que las gráficas de las distribuciones de las posiciones horizontales calculadas calculadas por cada uno resultan muy similares.
Este es el principio de la técnica de CORRECCIÓN DIFERENCIAL.
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atmósfera que atraviesan las señales del mismo satélite es prácticamente la misma.
Los errores en cada satélite (reloj, órbita) son comunes para ambas a mbas estaciones.
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Corrección De Posición Una es la conocida como corrección de posición, (o diferencia de coordenadas, Figura 3), en este caso cada posición calculada por el receptor base en función de la medición de distancia a 4 satélites y señalada en el tiempo GPS, es comparada con las coordenadas, conocidas de antemano, de la estación base. Para cada una de estas posiciones se calcula el vector error y se aplica, con signo opuesto, a la posición correspondiente al mismo tiempo GPS, calculada por el receptor remoto. De esta forma tendremos posiciones de la estación remota corregidas. Como restricción de este método establecemos la necesidad de observar los mismos satélites en ambas estaciones, ya que el cálculo de la posición estará influido por los errores correspondientes a cada satélite y para que se eliminen
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La ventaja de este método es que se puede usar con receptores que no almacenen las observaciones, solo hacen falta las posiciones. Satélites (o corrección de las observaciones, Figura 4), en este caso se identifica en el tiempo GPS, cada distancia calculada calculada por el receptor base a cada satélite en forma independiente.
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Para cada juego de distancias corregidas, se calcula en el receptor remoto, una posición correspondiente a ese instante. Este método resulta más flexible respecto de los satélites que utiliza cada receptor, ya que al separar el cálculo de las correcciones para cada satélite, no es necesario que sean estrictamente los mismos los que observan el base y el remoto, pero sí debe haber por lo menos 4 satélites comunes entre ambos. Este es el método que se usa cuando se transmite transmite la corrección en tiempo real
Simples y dobles diferencias La tercer alternativa es la utilización utilización del cálculo de simples y dobles d obles diferencias de las distancias observadas a pares de satélites (por lo menos 4), donde se elimina la influencia de los errores de los relojes del satélite y del receptor y se reducen notoriamente las influencias influencias de los errores de los parámetros orbitales del satélite y de la transmisión de la señal (retraso ionosférico), quedando como incógnitas
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conocidas, será el receptor base y el otro (o (o los otros) será el receptor recept or remoto y se ubicará en los puntos que nos interesa relevar, para conocer sus coordenadas. Las coordenadas de los puntos relevados se obtendrán finalmente con una precisión que depende, no solo de los errores en el cálculo del vector, como vimos hasta ahora, sino también de la precisión con que se conozcan las coordenadas de la estación de referencia, ya que al georreferenciar puntos de esta e sta forma, trasladamos cualquier incertidumbre en las coordenadas del sitio del receptor base, a los puntos que se relevan con el receptor remoto, por lo tanto, para ser coherentes con la precisión del método, las coordenadas del receptor base deben conocerse con mejor precisión que la propia del método de medición utilizado; por ejemplo, vinculándose a redes existentes e xistentes de precisión adecuada.
Métodos de operación Para que las correcciones DGPS sean válidas, el receptor tiene que estar relativamente cerca de alguna estación DGPS; generalmente, a menos de 1000
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METODO ESTATICO 1. Estático Los receptores se quedan fijos sobre las respectivas estaciones. Es el método de posicionamiento clásico de observación de medidas de líneas superiores a 15 km con el máximo de precisión. La medición estática, ha sido durante años el soporte principal de GPS. Es la más sencilla pero la más lenta, por lo general se requiere de 1 a 2 horas de medición o más según la longitud de las líneas bases.
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2. Estático Rápido. Este método es una mejora del anterior. La ventaja más importante es la reducción de las duraciones de las observaciones: 5 a 10 min para una distancia de 10 Km. Sin embargo, esta técnica solo alcanza niveles óptimos para distancias relativamente cortas (5 a 10), y mediante la utilización de receptores bifrecuencias. Las distancias máximas que pueden existir entre el referencia y el móvil es de 20 Km. La máscara de elevación que se introduce es, como se ha comentado
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Reducido consumo de energía.
Ideal para un control local.
No existe transmisión de errores ya que cada punto se mide independientemente.
Inconvenientes No se puede utilizar en zonas de población, cerca de edificios, debido al efecto multipath y en general en zonas que nos impidan recibir cuatro o más satélites. Este método de posicionamiento se puede utilizar simultáneamente con el
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Aplicación de la corrección diferencial Post-Procesamiento Este es el caso más simple de aplicación, es el ejemplo visto anteriormente, hablamos de bajar los datos a una computadora y enfrentar las mediciones de ambos receptores, realizando el post-procesamiento; vemos que los resultados se obtienen a posteriori de un procesamiento en gabinete.
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separa al receptor remoto de la estación base, cuando esta pasa a ser mayor de 100 km aproximadamente.
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El receptor remoto debe tener capacidad interna de recibir e interpretar esta corrección (vía formato RTCM 104) y para esto estará conectado a otro receptor de radio-frecuencias, para recibir esta señal de corrección en tiempo real y
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La idea básica de un sistema WADGPS es la de eliminar la limitante principal de un sistema convencional DGPS, que es la pérdida de precisión a medida que el usuario se aleja de la estación de referencia; ya que los "errores" asumidos como iguales para la estación base y para el usuario remoto, dejan de serlo, invalidando
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En cuanto al diseño del sistema y a la transmisión de la corrección, podemos definir básicamente dos tipos de sistemas WADGPS: Vía Transmisión Radial: Estos sistemas operan transmitiendo las
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Vía Inmarsat: Para resolver el problema de la cobertura en la transmisión de los parámetros de corrección en un sistema WADGPS se utilizan los satélites de comunicaciones Inmarsat, distribuidos de forma de permanecer geoestacionarios sobre el Ecuador, logrando una cobertura mundial con
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