Low-Cost MADOCA PPP Receiver Systems
Dinesh Manandhar
CSIS, The University of Tokyo
dinesh@csis.u-tokyo.ac.jp
Last Modified : 2nd March 2020

Contact : dinesh@csis.u-tokyo.ac.jp

Low-Cost MADOCA PPP Receiver Systems
MAD MAD MADROID• Type – A• Product: MAD-PI• Based on RaspberryPi• Receiver : Dual
Frequency Receiver• Type – B• Product: MAD-WIN• Based on Windows• Receiver : Dual
Frequency Receiver• UBX, SBF or RTCM3
data format• UBX, SBF or RTCM3
data format• MADOCA Decoding
Receiver or Online
Correction Data
• Correction Data Format• MADOCA Decoding
Receiver or Online
Correction Data
• Correction Data Format• UBX, RTCM3 or JAXAonline• Under debugging and test

• UBX, RTCM3 or JAXAonline• Under debugging and test

Contact : dinesh@csis.u-tokyo.ac.jp• Type – C• Product: MADROID• Based on Android Device• Receiver : Dual
Frequency Receiver• UBX, SBF or RTCM3
data format• Correction Data Format• JAXA online only
• Under debugging and test

MADOCA Low-Cost Receiver Systems
GNSSAntenna

Raspberry Pi 3B or 4B

Type – A : MAD-PI

GNSS Receiver

WiFi

MADOCACorrectionData Server

Use MADOCA correction
data from server if GNSS
receiver does not have
MADOCA decoder

WiFi

MADOCACorrection
Data Server

Use MADOCA correction
data from server if GNSS
receiver does not have
MADOCA decoder

WiFi

MADOCACorrection
Data Server

Use MADOCA correction
data from server

L1/L2 GNSS Receiver+
MADOCA Decoder
GNSSAntennaType – B : MAD-WIN

GNSS Receiver

GNSSPCL1/L2 GNSS Receiver+
MADOCA Decoder

Type – C : MADROIDGNSS ReceiverAndroidDevice

Antenna

L1/L2 GNSS Receiver Only

Contact : dinesh@csis.u-tokyo.ac.jp

Type A: MAD-PI
MADOCA PPP based on RaspberryPi
Dual Frequency Receiver + MADOCA Decoding Receiver

Contact : dinesh@csis.u-tokyo.ac.jp

Type B: MAD-WIN

The position accuracy improves to cm (10 – 30 cm) level after
initialization time of about 15min.

Contact : dinesh@csis.u-tokyo.ac.jp

Type B: MAD-WIN
Receiver: Online receiver access in Kashiwa / Correction Data: MADOCA Receiver in Bali
After few minutes observation
After two hours observation
After three hours observation

Contact : dinesh@csis.u-tokyo.ac.jp

Type C: MADROID
MADOCA PPP based on Android
Dual Frequency Receiver + Online MADOCA Correction Data

Contact : dinesh@csis.u-tokyo.ac.jp

Type C: MADROID
MADOCA PPP based on Android
Dual Frequency Receiver + Online MADOCA Correction Data

Contact : dinesh@csis.u-tokyo.ac.jp

Position Data from MADOCA PPP
We walked straight along the concrete tiles (30cmx30cm) andPPP results showed perfect straight line. Accuracy is about 15cm.
Receiver : F9 + Online MADOCA Correction Data

Contact : dinesh@csis.u-tokyo.ac.jp

Output from MADOCA PPP
Device: RaspberryPi
Contact : dinesh@csis.u-tokyo.ac.jp

Contact : dinesh@csis.u-tokyo.ac.jp

Contact : dinesh@csis.u-tokyo.ac.jp

Contact : dinesh@csis.u-tokyo.ac.jp

Contact : dinesh@csis.u-tokyo.ac.jp

Contact : dinesh@csis.u-tokyo.ac.jp

Contact : dinesh@csis.u-tokyo.ac.jp

Contact : dinesh@csis.u-tokyo.ac.jp

MADOCA Observation Results, Kashiwa
Measured
ValuesTrue Values

Difference
meter

LAT

35.90304079

35.90304065

-0.02

LON

139.93930587

139.93930614

0.03

93.44693.4630.02

HtContact : dinesh@csis.u-tokyo.ac.jp

MADOCA Observation in Cairo, Egypt
Device used: MAD-PI, Receiver F9P, MADOCA Correction Data : Online
Measured
ValuesTrue Values

Difference
meterLAT

30.08165408

30.08165819

0.4521LON

31.24501962

31.24502203

0.265152.53751.216

0.279*Ht

MADOCA PPP measurement display on RaspberryPi device.
Difference = (True – Measured) / 1 deg about 110Km*Antenna Height is 1.6m, GCP Height is 52.537-1.6 = 50.937m

Contact : dinesh@csis.u-tokyo.ac.jp

Setting MADOCA low-cost receiver system
in RaspberryPi device.