GNSS Applications for Policy andDecision Makers
in the Context of Nepal

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

Slide : 1

GNSS Applications for Policy and Decision Makers
in the Context of Nepal

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

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

Slide : 2

Fundamental Problem

Where am I
on the Earth?
350 40’ 41”
1390 39’ 40”• How to know my location precisely ?
• In any condition• At any time
• Everywhere on earth (at least outdoors!)• How to navigate to the destination?
• Guidance or Navigation• How to synchronize time globally?
• Mobile phones• Financial Institutes

How far ?
Which Route ?

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

Slide : 3

Navigation Types• Landmark-based Navigation• Stones, Trees, Monuments• Limited Local use• Radio-based Navigation• LORAN, OMEGA• Subject to Radio Interference, Jamming,
Limited Coverage• Celestial-based Navigation• Stars, Moon
• Complicated, Works only at Clear Night• Sensors-based Navigation• Dead Reckoning• Satellite-based Navigation or GNSS
• TRANSIT, GPS, GLONASS, GALILEO, QZSS,BEIDOU (COMPASS), IRNSS• Global, Difficult to Interfere or Jam, HighAccuracy & Reliability• Gyroscope, Accelerometer, Compass,
Odometer• Complicated, Errors accumulate quickly
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 4

What is GNSS?
Global Navigation Satellite System (GNSS) is a generic term for all navigation
satellite systems like GPS, GLONASS, GALILEO, BeiDou, QZSS and NAVIC.

• Global Constellation• Regional Constellation• GPS, USA• GLONASS, Russia• Galileo, Europe• BeiDou (COMPASS) / BDS, China• QZSS, Japan• NAVIC (IRNSS), India

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

Slide : 5

GNSS: How does it work?
Determine the Distance using Radio Wave
0ms

Satellite Transmits Signal at 0ms.

25ms
50ms

Receiver Receives the Same
Signal after 67ms.

0ms

Satellite transmits a special signal
continuously at specified time interval

75ms

25ms
50ms

Distance = (Transmission time – Reception time) × Speed of light
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 6

GNSS: How does it work?
Measure Distance to at least Four Satellites(xk, yk, zk)

Receiver generates its own GPS signal similar to the signal
coming from the satellite for each satellite
Its called Replica Signal
The Replica Signal includes PRN Code and Carrier Signal
This Replica Signal is moved forward and backward to
match with the incoming signal(x0,y0,z0)k 

x  x   y  y   z  z   b
2

k

0

2

k

0

2

k

0

If k ≥ 4, solve for x, y, z and clock bias, b∆tCorrelation between Incoming Signal andReceiver Generated Signal

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

Slide : 7

GPS Space Segment: Current & Future Constellation
Legacy Satellites

Block IIA
0 operational
•
•
•
•
•

Coarse Acquisition (C/A)
code on L1 frequency forcivil users•
Precise P(Y) code on L1 •& L2 frequencies for•military users
7.5-year design lifespan •Launched in 1990-1997 •Last onedecommissioned in 2019

Modernized Satellites

Block IIR
9 operational

Block IIR(M)
7 operational••

C/A code on L1
P(Y) code on L1 & L2•
On-board clockmonitoring
7.5-year design lifespan •Launched in 1997-2004••

Source: http://www.gps.gov/systems/gps/space/#IIF
https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings

All legacy signals•
2nd civil signal on L2•(L2C)
New military M code•signals for enhanced jam•
resistanceFlexible power levels formilitary signals•
7.5-year design lifespan•Launched in 2005-2009

Block IIF
12 operational
All Block IIR-M signals
3rd civil signal on L5
frequency (L5)
Advanced atomic clocks
Improved accuracy,
signal strength, andquality
12-year design lifespanLaunched in 2010-2016

Information in this slide may not be the latest information.
Please check the Source HP link and UNOOSA documents

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

GPS III
2 operational
•
•
•
•
•
•
•

All Block IIF signals
4th civil signal on L1(L1C)
Enhanced signal
reliability, accuracy, andintegrity
No Selective Availability
15-year design lifespan
IIIF: laser reflectors;
search & rescue payload
First launch in 2018

Last update of the slide 2020/09/11

Slide : 8

GLONASS (Russia)
1982 First Launch

2003

2011

Planned Launch

GLONASSGLONASS-M

GLONASS-K1

GLONASS-K2

DECOMMISSIONED
87 Launched
0 Operational
81 Retired
6 LostUnder Normal Operation
45 Launched
27 Operational
12 Retired
6 Lost•L1OF, L1SF
• L2SF•L1OF, L1SF
•L2OF, L2SF
•L3OC

Under Production /Operation
2 Launched
2 Operational
First launch Dec 2014

•L1OF, L1SF
•L2OF, L2SF
•L3OC

Information (Number of Satellites) in this slide are not updated
Please check the following site for the latest updates:
https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings.html

Under Development
3 On OrderFirst Launch Expected 2018

•L1OF, L1SF
•L2OF, L2SF
•L1OC, L1SC
•L2OC, L2SC
•L3OC

GLONASS space segment STATUS & MODERNIZATION, Joint - Stock Company «Academician M.F. Reshetnev» Information Satellite Systems»
ICG‐7, November 04‐09, 2012 , Beijing, China, https://en.wikipedia.org/wiki/GLONASS-K2
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 9

Galileo (Europe)

Information (number of satellites) in this slide are not updated
Please check the following site for the latest updates:
https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings.html
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 10

BeiDou Space Segment

Information (number of satellites) in this slide are not updated
Please check the following site for the latest updates:
https://www.unoosa.org/documents/pdf/icg/2019/icg14/05.pdf
Source: Update on BeiDou Navigation Satellite System, Chengqi Ran, China Satellite Navigation OfficeTenth Meeting of ICG, NOV 2015
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 11

QZSS (Quasi-Zenith Satellite System)
Nickname: MICHIBIKI

Please check the document for the latest updates:
1. https://qzss.go.jp/en/ (Main Page)
2. https://qzss.go.jp/en/overview/downloads/movie_qzss.html (QZSS Movie)
3. https://www.unoosa.org/documents/pdf/icg/2019/icg14/06.pdf
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 12

Merits of QZSS

•
•
•
•
•

QZSS signal is designed in such a way that it is interoperable with GPS
QZSS is visible near zenith; improves visibility & DOP in dense urban area
Provides Orbit Data of other GNSS signals
Provides Augmentation Data for Sub-meter and Centimeter level position accuracy
Provides Messaging System during Disasters

http://qzss.go.jp/en/overview/services/sv04_pnt.html
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 13

NavIC (Navigation with Indian Constellation)• Consists of 7 Satellites• 4 Geo Synchronous Orbit (GSO) satellites• at 55oE and 111.75oE at an inclination of 27o• 3 Geo Stationary Satellites (GEO)• at 32.5oE, 83oE and 129.5o E at an inclination of 5o• Transmits signals in L5 band (1176.45MHz) and S
band (2492.028MHz)
Please check the following site for the latest updates:
https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings.html

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

Slide : 14

Multi-GNSS Signals
L5 / E5

L2

L6 / E6

L1 / E1

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

S

Slide : 15

GNSS Visibility, Nagarkot Station

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

Slide : 16

JAKARTABANGKOK

MANILAKUALALUMPUR

Ho Chi MinhTOKYO

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

Slide : 17

GPS Position Accuracy
How to achieve accuracy from few meters to few centimeters?
metercentimeter

50 cm grid

50 cm grid

5 cm grid

SPP (Single Point Position)

DGPS (Differential GPS)
Code-phase observation

RTK (Real Time Kinematic)
Carrier-phase observation

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

Slide : 18

How to Remove or Minimize Common Errors?
Use Differential Correction
30[X]error = [X]known – [X]measured

Send Observation Data to RoverFor Real-Time Position

Rover
For RTK, both rover and base receivers
User in the Field
need to use the same satellites
Antenna is installed at aBase-station Antenna position(Either fixed or moving)known-position
shall be known in advanceBase-Station

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

Slide : 19

How to Remove or Minimize Common Errors?
Principle of QZSS MADOCA and CLAS Services
QZSS

GPS

Correction Data:
Satellite Orbit Error of GPS and Other Satellites
Satellite Clock Error of GPS and Other Satellites

Correction data for other satellites
will also be provided
RoverBase-Station not required

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

Slide : 20

Low-Cost Receiver Systems

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

Slide : 21

Quiz• What is the Price of a GNSS Receiver?

• $10? / $100? / $500 / $1,000 / $3,000 / $10,000 or more?

• What is the Accuracy that you can get from a GNSS receiver?
• mm, cm, dm, few meters or 10 – 30m• But, what are your requirements?
• Types of Applications• Accuracy Requirements• Data Logging Methods• Static Mode (on a Tripod)• Dynamic Mode on Vehicle, Tractor or Machine?

• Real-Time or Post-Processing

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

Slide : 22

High-End Survey Grade Receivers
L5/E5/B2/L3

L2

L6/E6/B3

L1/E1/B1• Multi-frequency• GPS• GLONASS• GALILEO• BDS• QZSS• NAVIC: L1/L2/L5: L1/L2/L3: E1/E5/E6: B1/B2/B3: L1/L2/L5/L6: L5/S• Multi-system• GPS, GLONASS, GALILEO, BeiDou, QZSS,NAVIC, SBAS etc• Price varies from $3, 000 to $30,000 or
more
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 23

Low-Cost Receivers

L1/E1/B1*• Multi-System• GPS, GLONASS, GALILEO, BeiDou, QZSS, SBAS etc• Basically Single Frequency• L1/E1/B1-Band• Very soon: Multi-System, Multi Frequency, L1/L2 or L1/L5• Future trend for Mass Market System will be L1/L5• Some chip makers have already announced Multi-System, MultiFrequency GNSS Chips for Mass Market• Low Cost:• Less than $300 (Multi-GNSS, L1 Only) including Antenna and allnecessary Hardware, Software• Our target is within $100 or less including everything*Note: Only one signal type from each system is processed
e.g. GPS has L1C/A and L1C in L1, ,but only L1C/A is used in Low-Cost Receiver
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 24

Low-Cost RTK Receiver System
TYPE R1 Type A: Low-Cost, High-Accuracy Receiver System

TYPE R2 Type B: Low-Cost, High-Accuracy Receiver System

Real-Time and Post-Processing, Base and Rover Mode
GNSS Antenna RoverBT

GNSS
ReceiverFor Post-Processing & Rover Mode Only

TabletRasPi
APP
Ver. : 1.0

GNSS Antenna Rover
Raspberry Pi Zero w/WiFi&BT

Raspberry Pi 3B

GNSS
Receiverinternet

RTCM for
RTK

TYPE A1NTRIP
CasterType C: Low-Cost, High-Accuracy Receiver System
Real-Time and Post-Processing, Rover Mode Only

TYPE MA

GNSS Antenna Rover

Type D: Low-Cost, High-Accuracy Receiver System
Real-Time and Post-Processing, Rover Mode Only

GNSS Antenna Rover

GNSS
ReceiverAndroid
DeviceRTKDROID
Ver. : 1.0

RTCM for
RTK

GNSS
ReceiverInternet

Android
Device
MADROID
Ver. : 1.0

RTCM and/or SSR
PPP-RTK
e.g. MADOCA Service

Internet

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

MADOCA
Correction
ServerSlide : 25

Screen Shots of RTKDROID and MADROID
Connect GNSS receiver toAndroid device(1) RTKDROID :For RTK or PPK(2) MADROID:
for MADOCA-PPP,
MADOCA-PPP/AR (future)

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

Slide : 26

Type A: MAD-PI
MADOCA PPP based on RaspberryPi / Dual Frequency Receiver + MADOCA Decoder
Antenna
L1/L2/L5/L6

RaspberryPi 4 with
Touch Screen Display

RaspberryPi 4
DeviceDinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

GNSS +
MADOCA
ReceiverSlide : 27

GNSS Applications

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

Slide : 28

GNSS Applications in the Context of Nepal - 1• Public Transport Monitoring• Necessary from safety and security
reasons• Monitoring of taxis, buses, trucks,
tankers and containers• Avoid or minimize accidents• Traffic congestion monitoring• Dynamic Road Pricing

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

Slide : 29

GNSS Applications in the Context of Nepal - 2• Early Warning System and Disaster
Management• Provide early warning to public immediately• Provide guidance based on user’s location• Nepal is prone to several natural disasters• Shall have EWS that works even when mobile
phone networks do not work
• QZSS EWS is one of the suitable systems• Land-slide and Flood Monitoring• GPS based sensors can be used for monitoring• Glacier monitoring
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

https://qzss.go.jp/en/overview/services/sv08_dc-report.html

Slide : 30

GNSS Applications in the Context of Nepal - 3• GNSS CORS Network• CORS: Continuously Observing Reference Station• Necessary to provide high-accuracy positioning services such as• Surveying and Mapping• Border mapping, Everest height measurement, infrastructure mapping, GIS• DGPS, RTK Services to users• Monitor land movement for Earthquake prediction and monitoring• Ionosphere and Troposphere monitoring• Time related services• How is time related services provided in Nepal?

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

Slide : 31

GNSS Applications in the Context of Nepal - 4• Infrastructure Planning and Monitoring• Minimize field survey work dramatically• Site survey for road, tunnel, bridge, dam, transmission line construction• Direct geo-referencing of drone image data

• Huge Infrastructure Monitoring• Monitoring of bridges and dams

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

Slide : 32

GNSS Applications in the Context of Nepal - 5• Tourism and Trekking• Provide location based services to tourists and trekkers• Fast Search-And-Rescue (SAR) during emergencies• Important at high-altitudes• Monitoring and guidance to trekkers as well as liaison officers• Enforce Geo-Fence or entry to protected areas

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

Slide : 33

GNSS Applications in the Context of Nepal - 6• High-Altitude and Scientific Experiments• Nepal is among the best places to conduct high-altitude andscientific experiments• Experiments can be conducted up to 5,000m altitude• Agriculture Land Management• Management of agriculture land parcels• Land-pulling and land management• Assist in Farming

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

Slide : 34

Our Activities to Promote GNSS Technology

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

Slide : 35

UN-Nepal Workshop on GNSS
12 – 16 DEC 2016
• Organized by Survey Dept. of Nepal and UNOOSA/ICG• Total 154 participants from 32 different countries• 66 International participants from 31 countries• 25 International participants were fully funded by ICG• Full Five days workshop including ICG’s IDM WG Meetings

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

Slide : 36

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

Slide : 37

GNSS Training Lectures : 2020

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

Slide : 38

GNSS Field Survey and Data Processing, 2019

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

Slide : 39

Contact and Additional Information• Homepage• Main Page
: https://home.csis.u-tokyo.ac.jp/~dinesh/• Webinar Page
: https://home.csis.u-tokyo.ac.jp/~dinesh/WEBINAR.htm• Training Data
: https://home.csis.u-tokyo.ac.jp/~dinesh/GNSS_Train.htm• Low-Cost Receiver : https://home.csis.u-tokyo.ac.jp/~dinesh/LCHAR.htm• Facebook: https://www.facebook.com/gnss.lab/• Contact• E-mail• Skype: dinesh@csis.u-tokyo.ac.jp: mobilemap

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

Slide : 40

• GPS for Earthquake Measurement• Displacement :: 2011 Tohoku-oki Earthquake (caltech.edu)• https://youtu.be/1HONU8jlBuU

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

Slide : 41