Low-Cost MADOCA PPP Receiver Systems
MAD MAD MADROID
Dinesh Manandhar
CSIS, The University of Tokyo
dinesh@csis.u-tokyo.ac.jp
4th June 2020

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Low-Cost MADOCA PPP Receiver Systems
MAD MAD MADROID
Type A: MAD-PI

Type B: MAD-WIN

Type C: MADROID• Platform / OS :RaspberryPi• Receiver :Dual Frequency Receiver• Data Format :UBX, SBF or RTCM 3• Correction Data :UBX, RTCM3 or JAXA online• Under debugging and test

• Platform / OS :MS Windows• Receiver :Dual Frequency Receiver• Data Format :UBX, SBF or RTCM 3• Correction Data :UBX, RTCM3 or JAXA online• Under debugging and test

• Platform / OS :Android Device• Receiver :Dual Frequency Receiver• Data Format :UBX or RTCM 3• Correction Data :JAXA online• Under debugging and test

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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MADOCA Low-Cost Receiver Systems
GNSS

Antenna

Raspberry Pi 3B or 4B

Type – A : MAD-PI

GNSS Receiver

WiFi

MADOCACorrection
Data ServerUse 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

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 3GNSS MADOCA Receiver and Antenna
6550

GNSS and MADOCA
ReceiverL1, L2, E5b, L6GPS, GLONASS,55 GALILEO, BEIDOU,QZSS
55Size: W: 55 x B: 55 x D: 15

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Receiver System Architecture
GNSS Antenna
L1, L2, L5, L6

F9P Receiver
GNSS Receiver
L1/L2/E5B
COM Port : 1
Baud Rate : 115,200(GNSS Data)

Micro-USB

Splitter

MADOCADECODER(QZSS, L6)

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

COM Port : 2
Baud Rate: 57,600(MADOCA Data)

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GNSS Raw Data, F9P Receiver Output

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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GNSS Navigation Data Bits, F9P Receiver Output

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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GNSS Navigation Data Bits, F9P Receiver Output

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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GNSS Navigation Data Bits, F9P Receiver Output

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Satellite System & Signal Settings
F9P Receiver

MADOCA Decoder

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Satellite System and Signal Settings
F9P Receiver

MADOCA Decoder

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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MADOCA Correction Data Output
Received Directly from QZSS L6E Channel

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Type A: MAD-PI
MADOCA PPP based on RaspberryPi / Dual Frequency Receiver + MADOCA Decoder
Antenna
L1/L2/L5/L6RaspberryPi 4 withTouch Screen DisplayRaspberryPi 4Device

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

GNSS +MADOCAReceiver

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Type B: MAD-WIN

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

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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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

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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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

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Output from MADOCA PPP
Device: RaspberryPi

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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MADOCA PPP Observation

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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MADOCA PPP at Kashiwa Campus

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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MADOCA PPP at Kashiwa Campus

Measured
ValuesTrue Values

Difference
meter

LAT

35.90304079

35.90304065

-0.02

LON

139.93930587

139.93930614

0.03

93.44693.4630.02

Ht

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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MADOCA PPP at Kashiwa Campus

10cm

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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MADOCA PPP Observation inCairo, Egypt

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Precise Measurement using Low-Cost Receiver System
for High-Accuracy based on QZSS MADOCA Correction Data
Measured
ValuesTrue Values

Difference
meter

LAT

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

Setting MADOCA low-cost receiver system
in RaspberryPi device.

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Measuring antenna height from the groundcontrol point for precise measurement.
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Precise Measurement using Low-Cost Receiver System
for High-Accuracy based on QZSS MADOCA Correction Data

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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