Dr. Mustafa Din Subari, Ooi Wei Han

Map Malaysia, 21-22 April 2009
Dr. Mustafa Din Subari, Ooi Wei Han
National Space Agency (ANGKASA)
Ministry Of Science, Technology and Innovation
Malaysia

• Introduction
• Objectives
• Current GNSS Tests and Test Centers
• The Need of Testing
• GPSTest software and Capabilities
• Test 1, 2 and 3
• Results and Analysis
• Conclusions

1. Global Navigation Satellite System (GNSS) becoming a
global utility used in various applications.
2. Current GNSS:
- GPS modernization (USA)
- Galileo (Europe)
- GLONASS (Russian)
- QZSS (Japan)
- Compass (China)
3. Applications:
Navigation, LBS, Positioning, Surveying and Mapping,
Military, and etc.

4. Multiple types of GNSS receivers:
- Accuracy from few centimeter to meter
- NMEA 0183 standard outputs
- RINEX standard outputs
5. Various tests and studies:
- ensure better accuracy in all conditions and
environments.
6. GPSTest Software:
- Testing and evaluating NMEA standard receivers.
- Help the users understand the quality, stability,
performance and accuracy.

To discuss on effectiveness of GPSTest for GNSS navigation
receivers (NMEA output).
To determine the performance and accuracy achievement
by several type of navigation receivers.
To implement this test procedures for navigation sectors
in Malaysia to ensure safe and accurate use of local
GNSS receivers.

1. Surveying sector:
- Zero Baseline Test
- EDM Baseline Test
- GPS Network Test
2. Industry sectors:
- Environmental Test
- Electromagnetic Interference Test
- Vulnerability Field Test
- Receiver timing measurement
- Space and Ground Receiver Evaluation
- Flight Test
- Mobile Test
- Notice Advisory to Navstar Users (NANU)
- and etc.

THE NEED OF TESTING
GNSS NAVIGATION RECEIVERS
Sectors Types Accuracy Required (m)
Land Vehicle Navigation 2 – 5
Personnel Navigation 2 – 10
Emergency 5 – 20
Marine Harbor 5 – 20
Inland Waterways 8 – 20
Coastal 20 – 100
Aviation Landing (position) 5 – 20
Landing (height) 0.5 – 5
En route > 100
Source: Book of “Navigation: Principles of Positioning and Guidance”, by Bernhard Hofmann et.al.
Book of “GPS Theory and Applications Volume 2”, by Parkinson et. al. al.

Sept 2008

The current GNSS tests are concentrated on interference
of radio frequency signal (RF).
- Standard and Industrial Research Institute of
Malaysia (SIRIM) only tests onto the signal
interference.
- Doesn’t test on the spatial accuracy especially
the reliability of location points.
- Prove the accuracy range value of every times
measurement is not much different.

• Tool for testing and evaluating GNSS navigation
receivers based on the NMEA 0183 standard.
• Help to understand and evaluate the quality,
stability and accuracy of navigation receivers.
• Capability to carried out several parameter
performances of receivers.
• Compare the quality and performances of different
navigation receivers.

1: 1: Log Log and and Monitor Monitor NMEA NMEA data data
• NMEA messages, navigation info, signal quality and satellites in view.
• Monitor and compare on performances among different receivers.

2: Time To First Fix (TTFF)
• Cold, warm, hot start time test results.

3: Positioning Accuracy Analysis
• Get different accuracy estimation of receivers.
- known coordinate
- mathematic mean
- model mean
• Giving an error rejection
probability.

• Positioning Accuracy in
Graphical View.
• Accuracy Estimation Results

4: Outlier Analysis
• List all the rejected errors for further analysis.

5: Report Evaluation Results
• Error Distribution in Latitude, Longitude and Altitude Direction

i. Haicom GPS, HI-204III – s/n: 305 and 306
ii. Navisys GPS, GR-101 – s/n: 555
iii. HTC PDA Phone - TyTn II
iv. Samsung Samsung PDA PDA Phone - SGH-i780

• To determine efficacy of navigation receivers.
• Comparing the TTFF / cold start time and accuracy
with manufacturer’s specifications.
• Every receiver has to collect 15 minutes or almost
900 points positioning of NMEA data in static mode.
• Three (3) epoch’s observations at the field.
• Result of the test is showed in following.

All in well conditions.

Test 2 – Evaluation between similar receiver’s type or brand
• To find out the better performances and outputs
among the same type or brand of receivers.
• Haicom 305 and 306 306; 306 306; HTC and SGH GPS PDA.
• Each pair of receivers logging 15 min NMEA data
simultaneously.
• Two (2) epoch observations at the same location.
• Results and comparison on Horizontal Positioning,
• Results and comparison on Horizontal Positioning,
HPE (X,Y) and Altitude (Z) errors are showed.

Haicom s/n 305 and 306 – Epoch 1

Haicom s/n 305 and 306 – Epoch 2

SGH and HTC PDA – Epoch 1

SGH and HTC PDA – Epoch 2

Test 3 – Evaluation between dissimilar receiver’s type or brand
• To compare the performance of dissimilar receiver’s
type.
• Two best receivers in the Test 2, Haicom 305 and
Samsung SGH-i780, and Navisys 555.
• 15 minutes field observations simultaneously.
• Results and comparison on Horizontal Positioning,
• Results and comparison on Horizontal Positioning,
HPE (X,Y) and Altitude (Z) errors are showed.

SGH, Haicom 305 and Navisys 555

• GNSS has been widely used in various applications in Malaysia
since the past few years.
• GNSS navigation receivers are turn into cheaper in selling
price and therefore generate a large volume of users yearly.
• However, the performance and accuracy achieved by
receivers has to be concerned seriously.
• Based on the several test results, GPSTest is proved that
capable for ensuring the higher quality of GNSS receivers likes
Samsung GPS PDA phone.
• Has to be practiced to entire navigation receiver and
beneficial the users in Malaysia.

• More tests on the current or new receivers to
continuously prove the capability of the GPSTest.
• Test on Road Track accuracy.