Contents

Historical Geodetic Infrastructure of

Malaysia Real Time Kinematic GPS Malaysia
Network System The Move to Real-time Application using
RTK GPS
Limitations of Classical RTK
MyRTKnet Concept
MyRTKnet Configuration
Geodesy Section, Mapping Division
Department of Survey and Mapping Malaysia

1
Historical Geodetic Infrastructure Peninsular Malaysia
of Malaysia Primary GPS Network

BT68

MRT

2
 East Malaysia Malaysia Active GPS System
Primary GPS Network (MASS Network)

3
 IGS Connection MASS DATA ON THE WEB
BAKO – Bakosurtonal, Indonesia
COCO – Cocos Island, Australia
LHAS
SHAO GUAM – Guam Island, USA
KUNM
WUHN IISC – Indian Institute of Science
KARR – Karratha, Australia
IISC PIMO
GUAM KUNM – Kunming, China
LHAS – Lhasa, Tibet
NTUS – NTU, Singapore
NTUS
PIMO – Mine and Geoscience
BAKO
Bureau, Philippine
SHAO – Shanghai Observatory,
COCO China
KARR WUHN – Wuhan, China
KARR – Karratha

GPS Data available after 24 hours

Post-processing application

4
 The Move to Real-time Limitations of Classical RTK
Application using RTK-GPS
Classical GPS and kinematic survey ( post-processed) can
determine the precise position of a roving receiver relative to Limited range from single reference station
a stationary station. Errors grow with baseline length (ppm)
Classical GPS and kinematic technique requires office
procedure/work before coordinate of a station can be derived Reliability and performance decrease with
– time consuming distance to the next
Real time kinematic (RTK) surveying is the latest dynamic reference station
GPS survey technique.
RTK-GPS utilize short observation times and enable you to
Dependency on single
move between station. reference station
RTK-GPS can instantly determine the position of a roving unit No integrity monitoring
to centimeter-level accuracy using carrier phase positioning.
This technique is ideal for various application such as No alarming
engineering, cadastral, topographic and detail surveys.

5
Single Base Station Surveying MyRTKnet - RTK VRS
Networking
Two receivers
Productivity loss
Potential gross error in establishing RS
Power supply
Communications/radio
Dial-in systems: Each reference
station uses different number
to call

6
 Objectives of MyRTKnet
Geodetic Infrastructure for GNSS Real-
time Positioning
Reference Frame and Coordinates
System – GDM2000
Monitoring of Tectonic Movement
Geodynamic Studies
MyRTKnet Concept

The use of a network of reference stations
instead of a single reference station allows to
model the systematic errors in the region and
thus provides the possibility of an error
reduction.

This allows a user not only to increase the
distance at which the rover receiver is located
from the reference, it also increases the
reliability of the system and reduces the RTK
initialization time.
7

The network error correction terms can be
transmitted to the rover in the following mode:
A Virtual Reference station mode as described
below. This mode requires bi-directional
communication. The basic advantage of this
mode is that it makes use of existing RTCM and
CMR standards implemented in all major
geodetic rover receivers and thus is compatible
with existing hardware.
The “Virtual Reference Station” concept is based on having
a network of GPS reference stations continuously
connected via data links to a control center. A computer at
the control center continuously gathers the information from
all receivers, and creates a living database of Regional
Area Corrections.
These are used to create a Virtual Reference Station,
situated only a few meters from where any rover is situated,
together with the raw data, which would have
come from it. The rover interprets and uses the data just as
if it has come from real reference station.
8
Implementation Principles of the
VRS functional system solution
1. We need a number of reference stations (at least
three), which are connected to the network server via
some communication links.
2. The GPS rover sends its approximate position to the
control center that is running GPSNet. It does this by
using a mobile phone data link, such as GSM, to send a
standard NMEA position string called GGA.
3. The control center will accept the position, and
responds by sending RTCM correction data to the
rover. As soon as it is received, the rover will compute a
high quality DGPS solution, and update its position. The
rover then sends its new position to the control center.
The network server will now calculate new RTCM
corrections so that they appear to be coming from a
station right beside the rover. It sends them back out on
the mobile phone data link (e.g.GSM). The DGPS solution
is accurate to +/-1 meter, which is good enough to ensure
that the atmospheric and ephemeris distortions, modeled
for the entire reference station network, are
applied correctly.
This technique of creating raw reference station data for a
new, invisible, unoccupied station is what gives the
concept its name, “The Virtual Reference Station
Concept”
9
 VRS Data Flow VRS Data Flow
Reference station data Roving receiver sends its
streams back to the position back to the server
server via leased lines
or LAN/WAN VRS position is
established VRS

NMEA

10
 VRS Data Flow
MyRTKnet Configuration
Server uses VRS position
to create „corrected“
corrected“
RTCM real-
real time data
-
Network of 50 dual frequency GNSS
referense stations in Peninsular
VRS Malaysia
Rover surveys as in
„normal“
normal“ RTK – but RTCM Network of 28 dual frequency GNSS
getting VRS data as if reference stations in East Malaysia
from a nearby
reference NMEA Control Centre at JUPEM Headquarter
station

11
Peninsular Malaysia MyRTKnet East Malaysia MyRTKnet
7.00

UUMK
ARAU
6.50 7 KUDA
LGKW
GETI

TOKA
6.00
KBE L JAMB
SIK1 PASP
AYER UMSS
SGP T RANA
KRAI SETI
6 SAND
5.50 GRIK
USMP KUAL
BEAU
BABH TERI LAB1 KENI
LASA TENO
5.00 GMUS LAHA TUNK
5 LIMB LAWA
MUKH
PUSI SEMP

Latitude (N)
4.50 CAME MIRI LSEM TAWA
Latitude

PUPK LIPI
CENE MARU
TLKI 4
4.00 JRNT
SBKB BEHR
SRIJ
BENT PEKN
TLOH
3.50
BINT
3
MUKA BELA
MERU
MUAD
UP MS K LAW
3.00
BANT BAHA KRO M

P DIC SIBU
SEG1 MERS KAPI
2.50 2 SEMA
JUML
GAJA TGRH UMAS
PRTS
2.00 AMAN
SPGR

1 TEBE
JHJY
1.50 TGPG
KUKP

110 111 112 113 114 115 116 117 118 119
99.00 99.50 100.00 100.50 1 01.00 101.50 102.00 102.50 103.00 103.5 0 104.00 104.50 105.00
Longitude Longitude (E)

12
MyRTKnet System Setup Reference Station Setup

13
Reference Stations Components Reference Stations Set-up
Cisco 1721 router
Dlink 5port Switch 10/100Mbps
Trimble 5700 with Zephyr antenna (27 stations)
Trimble NetR5 with Zephyr antenna (51 stations)
Advantech Adam 6017 A/D module
Micromate Hybrid UPS System for 48 hours back up
power
Micromate RS2888 Auto Restart System
Lightning protection
Moxa 5410 terminal server (27 stations)

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Types of Monument Reference Station (Jerantut)

15
Reference Station Reference Station
(Bukit Pak Apil) (Port Dickson)

16
Reference Station (Tokai) Reference Station (Arau)

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Reference Station (Behrang) Control Centre Set-up

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Control Centre Configuration Control Centre Components
Six GPSNet server with hot swap redundancy
Two Maintenance servers for system
monitoring and data archiving
Two WEBROUTER servers for web server and
data distribution.
3745 router for access to the Internet and
GITN cloud
10/100/1000 switch to interconnect all
components
UPS to hold the system for power backup

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 RTK Control Central Network
Servers are installed on 19" System Rack
19" System
Rack
Communication Protocol
Ethernet Link`` Ethernet Link`` Ethernet Link``

3Com 24 port Gigabit Sw itch

GPStream
VRS Secondary VRS Prim ary Maintenance &
Server
Server Server Archiving Server
Functions: Functions:
Functions:
Functions: - Win 2003 Srv OS - Win 2003 Srv OS
- Win 2003 Srv OS
- Win 2003 Srv OS - VRS application & - Base Station physical
- Splitter and Line
- VRS application VRS Registry status monitor Cisco 3745 Router
Relay
- UPS Service Mirror - connectivity check to all
- UPS Service base stations
- RINEX file recovery in 1Mbps
event of communications lease line
failure with ISDN
- Running UPS Service backup
Distributed to both VRS Servers
- Internal HP DLT Tape
Backup
- Access server accouning
RTK*NET (IP VPN)

64K
leased line
with ISDN
backup

RT K Base
Station

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Basic Requirement for Rover External PDA Connection
Here we have a TSC1
GPS Receiver with FW and controller connected to serial port
1 of the 5700, a PDA
supporting VRS RTK corrections connected to serial 3 of
the 5700 and the cell
phone connected to the
Data Logger which run WindowsCE and second serial port of
the PDA.
supports PPP connections to ISPs or to GPRS
z

– Trimble TSCe / ACU F1

N e xt

Menu
F2 F3 F4 F5

Es c

En t er

7 8 9
4 5 6

However; if using older Trimble controllers or

1 2 3
+ /- 0 .

But how does this work?

other third party equipment that do not have
Ø

NTRIP Support built into the controller, an
external PDA or computer is required
Mobile Phone with GSM Data / GPRS services
The TSC1 instructs the 5700 that it is going to use a
RTK VRS type of solution with the radio/corrections
source connected to serial port 3. We dial the cell
phone to connect to GPRS from the PDA and the
PDA runs an application to select the NTRIP source
and then to decode the NTRIP formated corrections
and output the pure RTCM or CMR to the 5700.

21
Reference station data streams into the GITN
IP cloud via 64K leased lines.
VRS Data Flow T

T
From the GITN cloud, all
reference station data is

T
immediately sent to
Seksyen Geodesi KL over
a 1M leased line.
Coverage in
T Peninsular
Remote users connect by
getting onto the internet using
GPRS or GSM to ISP and
T

Malaysia
selecting the IP address of the
GITN Internet Gateway
202.75.44.154 port 8080.
Other users can also
access the wenserver at
The GITN Internet Gatway 202.75.44.154 for access to
forwards requests on port customizable Rinex files for
8080 to the GPStream post processing and other
computer on which the services.
NTRIP server is running.

Upon receipt of the NMEA

GGA string from the
particular user, the system
will begin to stream network
RTK corrections to the user.

Courtesy of John Serink of Trimble

22
 Coverage in Sabah & Sarawak MyRTKnet Area Coverage
Malaysia RTK GPS Network System (MyRTKnet)
Kudat
30 km Radius Existing MyRTKnet Station Kota Belud Jambongan
30 km Radius New MyRTKnet Station (2006)
30 km Radius New MyRTKnet Station (2007)
Kota Kinabalu Ranau Sandakan
Within the Peninsular Malaysia RTK Net and
30 km Radius MASS Upgrade (2006)

Labuan
Beaufort
Keningau Tungku
Densed Network in Sabah and Sarawak and
Lawas
Tenom Lahat Datu
<30 km beyond, Network RTK will be
Limbang Long Pa Sia Tawau
Miri

Marudi
Long Semado
Semporna functional
Long Seridan
Bintulu Where a reference station exists, within a
Mukah

Sibu Belaga
30Km range Single Base RTK will be available
Semantan
Kuching Kapit Throughout the Peninsular Malaysia and parts
Tebedu
Sri Aman of Sabah and Sarawak, DGPS Net will be
operational

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 Services Accuracy
Provide 5 difference services for users in
Peninsular Malaysia VRS and Single Base RTK
95% Network RTK coverage - VRS ± 3 cm
95% Single Base RTK coverage
95% Post-process Virtual Rinex Data DGPS coverage
coverage ± 20 - 50 cm
Provide Single Base RTK service for all
reference stations in Sabah and Sarawak Post-process Virtual Rinex Data
Provide Rinex Data for all reference stations < ± 3 cm
100% DGPS coverage

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 Application
Engineering Survey
Topographic Survey
Boundary Survey
Construction Staking
Utility Extension Survey
Flood Survey Study and Analysis
Photogrammetric Control Surveys
Application
GIS Applications
Control surveys for monumentation
Wetland Location Surveys
Soil Location Survey
Flagging Clearing Limits
Tree Surveys
Mapping and Navigation
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