GNSS Data Processing for High-Accuracy
MADOCA-PPP using MAD-WIN and MADROID

Dinesh ManandharCenter for Spatial Information ScienceThe University of Tokyo
Contact Information: dinesh@csis.u-tokyo.ac.jp

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Objectives• Learn how to process GNSS data for MADOCA-PPP using• MAD-WIN• MADOCA PPP for Windows OS• MADROID Software• MADDOCA PPP for Android Device

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Position Accuracy and Errors

GNSS Position Accuracy:➢ Red: Single Point Position➢ Blue: DGPS, Code-Phase Observation➢ Green: RTK, Carrier Phase Observation

GNSS Errors:➢ Satellite Orbit Error➢ Satellite Clock Error➢ Ionospheric Delay➢ Tropospheric Delay➢ Receiver Clock Error➢ Thermal Noise➢ Multipath
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Data Observation Methods for High-Accuracy
Data Observation Method for DGPS / RTK / PPKData Observation Method for MADOCA PPP

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MAD-WIN Setup

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MAD-WIN Setup

Antenna Cable

MADOCACompatible
GNSS Receiver

MAD-WINrunning in PC
Micro-USB toUSB Cable➢ Connect Antenna to the GNSS/MADOCA
receiver using the provided antenna cable➢ Connect the receiver to a windows PC
using a “micro-USB to USB” cable

6550

GNSS Antenna

UT RECEIVER

Micro-USB toUSB Cable

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Install and Run MAD-WIN➢➢➢➢➢➢

Download MAD-WIN software from UT
Unzip the software to a folder
Run “Madoca_win.exe” by double click from the MAD-WIN folder
For easy access, create a Shortcut such as “Madoca_Win - Shortcut”
Copy this “Madoca_Win - Shortcut” to desktop for easy access.
Double click the Shortcut to run the application.

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MAD-WIN Setup: Case A
QZSS Both GNSS and MADOCA Receivers are connected to your PC Select COM Port forGNSS Receiver
Set Baud Rate = 115200

34Antenna

1

7GNSSReceiverSet Data Format Type• UBX for u-blox receiver• SBF for MOSAIC receiver• RTCM3 for other receiver

2856MADOCAReceiver
Select COM Port for
MADOCA receiver

910MAD-WIN

Set Baud Rate = 57600
Set Data Format Type• UBX for F9/D9 receiver• SBF for MOSAIC receiver• RTCM3 for other receiver

OUTPUT

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QZSSMAD-WIN Setup: Case B
Only GNSS Receiver is connected to your PC

Select COM Port for
GNSS Receiver
Set Baud Rate = 115200

34Antenna

1Set Data Format Type• UBX for u-blox receiver• SBF for MOSAIC receiver• RTCM3 for other receiver27856GNSSReceiver

9MAD-WIN
MADOCACorrection Data

OUTPUTSet Data Format Type• UBX for D9C Receiver• SBF for MOSAIC Receiver• RTCM3 for Other

10Input NTRIP Details• IP Address:• Port:• Mount Point:• User ID:• Password:

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MAD-WIN Setup: Case C
QZSSBoth GNSS and MADOCA Receivers are located at a remote place
Input NTRIP Details• IP Address:• Port:• Mount Point:• User ID:• Password:

31Antenna

26GNSSReceiver

754MADOCAReceiver

Remote Access of
GNSS and MADOCA
Receiver

8Input NTRIP Details• IP Address:• Port:• Mount Point:• User ID:• Password:

MADOCA
Correction Data

GNSS Data

MAD-WINOUTPUTSet Data Format Type• UBX for D9C Receiver• SBF for MOSAIC Receiver• RTCM3 for Other

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MAD-WIN Setup: All Cases
Select STATUS Tab

Select RECORD Tab

1122
Check that
Solution is PPP or
RTK PPPRECORD Data

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MADROID Setup

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MADROID Setup: Receiver and Android Device

Antenna Cable

MADOCACompatible
GNSS Receiver

Micro-USB toUSB Cable➢ Connect Antenna to the GNSS/MADOCA receiver using theprovided antenna cable.
➢ Connect the receiver to an Android device using a “microUSB to USB” cable and an OTG cable.
➢ OTG (On-The-Go) cable may be either Type-C or Micro-USB
Type depending upon android device’s connection port.

OTG Cable
Select OTG Cable based onAndroid Device Connector Type

6550

GNSS Antenna

UT RECEIVER

Micro-USB toUSB CableOTG Cable
Type: COTG Cable
Type: Micro USB

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Install MADROID APP
Install MADROID APK in Android Device➢ Get MADROID APK file from UT➢ Connect Android device to the PC using an USB cable➢ Set the device in Data Transfer mode
➢ Access Android device from PC➢ Go to DOWNLOAD folder of Android device➢ Copy MADROID file from PC to DOWNLOAD folder of Android device➢ In the Android device, Go to File Manage APP➢ Go to Download Folder. MADROID.apk file will be available here
➢ Tap the file, it will prompt for INSTALL access➢ Say Yes and Install the APP➢ After installation is done, go to device screens➢ You will find the MADROID APP as shown here
➢ Run the APP and follow the instructions as shown in the next slide.
➢ Make sure that you have already connected Antenna, receiver etc. to theAndroid device before running the APP➢ If ONLINE correction data will be used, make sure either WiFi or DATA is ON toaccess the NTRIP server via internet.

MADROID APP

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MADROID GUI: Use this setting for system test
CONNECTION
Select USB(Options are 1. USB 2. Bluetooth)
DEVICEIn the Device the following must be visible if UT Receiver is connected:• USB-Serial (Dual Channel) (Port 0)• USB-Serial (Dual Channel) (Port 1)
FORMAT
Select UBX to use GNSS Signals from UT Receiver connected to Android Device
CORRECTION FORMAT
Select UBX if MADOCA Correction data from UT receiver to be used
Select other format such as RTCM or BINEX if correction data are provided in RTCM or BINEX format
CORRECTION SOURCE
Select DX if correction data from the receiver connected to the Android device to be used
Select ONLINE if correction data from an ONLINE NTRIP server to be used
When ONLINE is selected, It is necessary provide NTRIP related information such as
IP Address, Port, Mount Point, User ID and Password.
ROVER MODESelect ROVER MODE either PPP STATIC or PPP KINEMATIC
ELEVATION MASKSe ELEVATION MASK angle. Normally a mask angle of 10 - 15 degree is set.
LOCAL CORRECTION
Do not select Local Correction unless you are provided Local Correction NTRIP information.
START ROVEROnce all the settings are completed, Select START ROVER. This will begin MADOCA PPP Observation.
STATUSIt shows current MADOCA PPP Status such as Position Data, Position Error etc.

SKYPLOTSKYPLOT shows all visible satellites, C/No values and Position Data.

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MADROID System Test Screen ShotsMADOCA PPP

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MADROID PPP with Local Correction Setup

NTRIP for MADOCACorrection Data

NTRIP for Local Correction Data

5/4/2023 11:26 PMSlide : 17