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)
on Marine Navigation
and Safety of Sea Transportation
Number 3
295
1 MEASUREMENTS
In order to assess how measurement time affects the
accuracy of horizontal position determination in
GPS and GPS/EGNOS systems, more than thirty
measurement sessions were performed. Observations
during each session lasted at least 24 hours. The
tests were carried out with two identical MiniMAX
receivers made by CSI. The use of two receivers of
the same type (with the same software) was aimed at
eliminating possible errors that otherwise result from
measuring instruments of various types. The GPS
antennas were mounted on the antenna platform of
the Maritime University of Szczecin. The antennas’
positions were determined by geodetic methods.
The receivers were operated by using PocketMax_
PC_Ver.2.2. software, which makes it possible to
record data from MiniMAX receivers by PC com-
puters. The data were recorded at 1 Hz frequency in
NMEA-0183: $GPGGA, $GPGGL, $GPGSA,
$GPGST, $GPGSV and $GPZDA formats. Observa-
tions lasted from November 2007 to November
2008.
2 MEASUREMENT RESULTS ANALYSIS
The assessment of measurement duration effect on
the accuracy of horizontal position obtained by GPS
and GPS/EGNOS systems based on registered data
required current calculations, i.e. after each meas-
urement, of the following quantities:
− mean latitude,
− mean longitude,
− circular error of position M (for P = 0.95),
− latitude shift of mean position relative to geodetic
position (Δφ [m]),
− longitude shift of mean position relative to geo-
detic position (Δλ [m]),
− distance between mean position and geodetic po-
sition (R [m]).
Table 1 presents calculation results for selected
ten 24-hour measurement sessions.
Table 1. Ten 24-hour measurement sessions by GPS and
GPS/EGNOS receivers.
Figures 1, 2 and 3, show the data from three ses-
sions:
− changes of the circular error in time M (95%),
− changes of latitude shift of mean position in time
relative to geodetic position (Δφ [m]),
− changes of longitude shift of mean position in
time relative to geodetic position (Δλ [m]),
− changes in time of mean position distance to geo-
detic position (R [m]).
Effect of Measurement Duration on the
Accuracy of Position Determination in GPS and
GPS/EGNOS Systems
R. Bober, T. Szewczuk & A. Wolski
Maritime University of Szczecin, Szczecin, Poland
ABSTRACT: The authors have analyzed the effect of measurement duration on the accuracy of ship’s hori-
zontal (2D) position obtained by GPS and GPS/EGNOS receivers. Also, the influence of measurement dura-
tion on the mean position determination error in relation to a reference (geodetic) position has been examined.