Low-Cost MADOCA Receiver System
低コストのMADOCAレシーバーシステム
MAD-WIN, MAD-π and MADROID
Dinesh Manandhar
CSIS, The University of Tokyo

dinesh@csis.u-tokyo.ac.jp
1th January 2022

UTokyo/ICG GNSS Training
11 – 14 January 2022
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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Objectives• Develop Low-Cost High-Accuracy Positioning Systems (L-CHAPS)• System Integration of commercially available receiver or module•

For RTK and MADOCA• Avoid use of computer to minimize the cost
•Use Single Board Computer (SBC)•Use Tablet or Smart-Phone••

RaspberryPi, Arduino, Spresense
Android devices are quite flexible and easier to use$100 System PPKPC• Develop Easy to Use System in Field••••

A user without GNSS knowledge shall be able to use
Self-understanding interface
Suitable for remote operation and data logging
Operate with mobile power-banks• Promote GNSS and MADOCA Technologies Abroad through• Lectures, Trainings, Seminars, Workshops and Events• Joint Research and Joint Projects

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

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MADOCA System: Direct from QZSS or Online Correction Data
GNSS Receiver OnlyQZSSQZSSGNSS Signals

GNSS Signals

GNSS Receiver + MADOCA Decoder

Antenna

Antenna

GNSS /MADOCA
Receiver

MADOCA PPP
Processor

Position
OutputIf QZSS is visible in your location andif you have MADOCA receiver

GNSSReceiver

MADOCA PPP
Processor

Position
OutputOnline MADOCA
Correction Data

If you do not have MADOCA receiver

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

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Low-Cost MADOCA Receiver Systems: Product Types
MAD-WIN

MAD-π

MADROID

Platform / OS

WindowsRaspberryPi 3B or 4B

Android Device

GNSS ReceiverDefault : u-blox F9P
Other: Any dual-frequency ReceiverDefault : u-blox F9P only

Default : u-blox F9P
Other: Any dual-frequency Receiver

MADOCA Receiver

U-blox D9 only

U-blox D9 only

NA (MADOCA Online Correction Data only)

GNSS Receiver Data
FormatUBX, SBF, RTCM3UBX
SBF, RTCM3 (For online GNSS data)

UBX

MADOCA Correction Data
Format (Satellite)

UBX only

UBX only

NA

MADOCA Correction Data
Format (Online)

Online Services
from GPAS, UTokyo (Test Level)
UBX or RTCM3Online Services
from GPAS, UTokyo (Test Level)
Online Services
UBX or RTCM3

GPAS Services,
RTCM3
UTokyo Online Service in the next release

System Architecture

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

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System Architecture
Use this baud-rate to receiver
GNSS Raw Data

Use this baud-rate to receiver
MADOCA Data

65

Antenna
F9P GNSS Receiver
L1/L2/E5B

50

MADOCA Decoder
QZSS L6

COM Port: 1
GNSS DataCOM Port: 2
MADOCA Data

GNSS Antenna

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

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MAD-WIN / MAD-PI User Interface
ACB

MADOCA Correction
DataCases

GNSS Receiver

Case AConnect Receiver
Directly

Connect MADOCA
Receiver DirectlyCase B

Connect Receiver
Directly

Get MADOCA
correction data
through NTRIPConnect Receiverthough NTRIP

Get MADOCA
correction data
through NTRIPConnect Receiverthough NTRIPConnect MADOCA
Receiver Directly

Selection Settingin the Program

RX and DX

RX andOnline (MADOCA)

D
Case C

Case D

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

Online andOnline (MADOCA)

Online and DX

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MAD-WIN / MAD-PI User Interface

Log Files:
1. Solution: MADOCA PPP Solution in NEMA format
2. Rover: Rover RAW Data in receiver’s proprietary format
Can be used for PPK (Post-Processing Kinematic) Solution or
Post-Processing PPP
3. Correction: MADOCA PPP Correction Data in receiver’s
proprietary format
Can be used for Post-Processing MADOCA
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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MAD-WIN Data Observation
Receiver: Online receiver access in Kashiwa / Correction Data: MADOCA Receiver in Bali
After three hours observation

After two hours observation

After few minutes observation

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

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MAD-PI:MADOCA with RaspberryPi Device• MAD-Pi has been tested with RaspberryPi-3B device• It also works with RaspberryPi-4B• If the device does not work, please try with a different USB port

• Do not remove and insert SD Card several times. It may getdamaged.

• Observation data can be logged to an external USB memory
disk. Memory drive of upto 64GB is supported.
• Files are created at 6-hour interval with Date/Time based filename.

• Ras-Pi 4 device consumes more power than Ras-Pi 3 device.
Continuous operation of the device will generate heat. Keepthe device in well ventilated area
• Do not keep the device in a closed box• We have set both Ras-Pi 3 and Ras-Pi 4 devices with touchscreens for easy operation.
• Mouse and External keyboard can be connected either via BT or USB ports• Ras-Pi device can be connected by an Android device using BT

Raspberry-Pi device with Touch Screen
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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MADROID: MADOCA with Android Device

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

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MADROID: MADOCA with Android Device

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

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MADROID: PPP-RTK Test

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

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MADOCA Data Observation

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

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MADOCA PPP Test Results

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

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MADOCA PPP Test Results

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jpSlide : 15

MADOCA PPP Test Results

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

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MADOCA PPP Test Results (24 hours)

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

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MADOCA PPP Test Results (24 hours)

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

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Request for HW/SW• MADOCA Receiver Systems are distributed to overseas universities for joint
research and pilot projects• Includes HW and SW• Signing of MTA (Material Transfer Agreement) Document is necessary for HW• If only SW is required, please send request through• https://home.csis.u-tokyo.ac.jp/~dinesh/LCHAR.htm• SW is provided under the understanding that the recipients provide feedbacks
and some sample data
• Feedbacks are necessary to improve and debug the products

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

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Summary and Future Plans• Three types of Low-Cost MADOCA receiver systems are developed.
• MAD-WIN, MAD-PI and MADROID• MAD-PI will be improved for remote data logging.
• MADROID will be improved for using MADOCA data directly.
• Integration of current system with other systems• Traffic monitoring, EWS Application, GIS data collection tool, ……..

• Detail field tests will be conducted in this fiscal year.
• Trainings, Seminars, Workshops and Joint Projects with foreign
universities will be conducted• With support from MELCO, GPAS, TUMSAT and CAO
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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References• Main Page•

https://home.csis.u-tokyo.ac.jp/~dinesh/• Request for Low-Cost Receiver System•

https://home.csis.u-tokyo.ac.jp/~dinesh/LCHAR.htm• Other Training Materials•

https://home.csis.u-tokyo.ac.jp/~dinesh/GNSS_Train.htm• Webinar Links•

https://home.csis.u-tokyo.ac.jp/~dinesh/WEBINAR.htm• Link to MADOCA Information at GPAS•

https://www.gpas.co.jp/service_madoca.php• QZSS Main Page•

https://qzss.go.jp/en/

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

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