All contents in this manual are copyrighted by JAVAD GNSS.All rights reserved. The information contained herein may not be used, accessed, copied,

stored, displayed, sold, modified, published, or distributed, or otherwise reproduced without express written consent from JAVAD GNSS.

JUSTINSoftware Manual

Version 1.1

Last Revised October 19, 2020

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TABLE OF CONTENTSPREFACE 7TERMS AND CONDITIONS 7

REGULATOY INFORMATION 8

SCREEN CAPTURES 8

TECHNICAL ASSISTANCE 8

CHAPTER 1. MAIN WINDOW 9MAIN MENU. PROJECT 9

EXCHANGE 10

IMPORT 10

MAP 11

VIEW 12

TOOLS 13

PROGRAM 13

PARAMETERS 14 COORDINATE SYSTEMS 15REFERENCE POINTS 15ANTENNAS 15CAMERAS 16CLEAR MAP CACHE 16

HELP 16

TOOLBAR 17

STATUS BAR 18PROJECT PANE 19

MAP PANE 20

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CHAPTER 2. MAP 20CHAPTER 3. SOURCE 23FILE 26

RECEIVER 26

DATASET 26

RECORDSET 27

PROPERTIES 28TABLE VIEW 30EPOCH 30 RAW DATA CHART 31MOTION MODE 31SPLIT 31EXPORT OPTIONS 32REPORT 33ZOOM 33 VISIBLE TAG 33DELETE 33PPP 33

SITES 34

CHAPTER 4. POST PROCESSING 36SETTINGS 39

STATIC 39

KINEMATIC 42

BATCH PROCESSING 42

SINGLE VECTOR PROCESSING 43

SOLUTION 45

PROPERTIES 46

KINEMATIC SOLUTION 49

RESIDUALS 49

REPORT 50

CHAPTER 5. ADJUSTMENT 51NET 52

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ADJUSTMENT SETTINGS 54

BLUNDER REJECTION 54BLUNDER DETECTION 55CONFIDENCE LEVEL 55CONSTRAINTS 55LOOPS 55

INTERACTIVE 56

ADJUSTMENT OF KINEMATIC SOLUTIONS 57

SETTINGS 57REPORT 58TRAJECTORY 58

CHAPTER 6. PROJECT SETTINGS 60CHAPTER 7. COORDINATE SYSTEMS MANAGER 61GEODATA DATABASE 62

NEW COORDINATE SYSTEM 65

NEW DATUM 66

SELECT EXISTING DATUM 69

COORDINATE SYSTEM OPTIONS 69

PROPERTIES 70

EDIT 70

RENAME 73

CUT 73

COPY 73

PASTE 73

CLONE 73

DELETE 74

IMPORT 74

EXPORT 74

COORDINATE SYSTEMS BACKUP 74

CREATE 74

RESTORE 74

EXCHANGE OF COORDINATE SYSTEMS 75

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CHAPTER 8. REFERENCE POINTS 77TOOLBAR ITEMS 77

LEFT PANEL 78

RIGHT PANEL 78

EDIT 78

PROJECT 79

CHAPTER 9. LOCALIZATION 80ICON BAR 82

MAIN WINDOW 83

DATA TABLE 83

WORKING WITH INPUT FIELDS IN A TABLE 84

INPUT WINDOW TABS 86

SETTINGS PANEL (DROP-DOWN LISTS) 86

NETWORK COORDINATES 87

TRANSFORMATION 88

AUTO SELECT CM 88

CONFIDENCE INTERVAL 89

IMPORTING COORDINATES OF POINTS INTO A TABLE 89

IMPORTING FREEFORM TEXT FILES 89

IMPORTING TEXT FILES OF A SAVED TEMPLATE 90

SAVE LOCALIZATION 91

CHAPTER 10. ANTENNA EDITOR 91CHAPTER 11. AERIAL CAMERA EDITOR 97LEFT PANEL 97

RIGHT PANEL 99

CHAPTER 12. COORDINATE CALCULATOR 101

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PREFACEThank you for purchasing this product. The materials available in this Manual (the “Manual”) have been pre-pared by JAVAD GNSS, Inc. (“JAVAD GNSS”) for owners of JAVAD GNSS products. It is designed to assist owners with the use of Justin Software and its use is subject to these terms and conditions (the “Terms and Condi-tions”).

Please read these Terms and Conditions carefully.

TERMS AND CONDITIONSCOPYRIGHT – All information contained in this Manual is the intellectual property of, and copyrighted material of JAVAD GNSS. All rights are reserved. You may not use, access, copy, store, display, create derivative works of, sell, modify, publish, distribute, or allow any third party access to, any graphics, content, information or data in this Manual without JAVAD GNSS’ express written consent and may only use such information for the operation of your software. The information and data in this Manual are a valuable asset of JAVAD GNSS and are developed by the expenditure of considerable work, time and money, and are the result of original selec-tion, coordination and arrangement by JAVAD GNSS.

TRADEMARKS – Justin™, JAVAD GNSS® are trademarks or registered trademarks of JAVAD GNSS. Windows® is a registered trademark of Microsoft Corporation; Bluetooth® word mark is owned by the Bluetooth SIG, Inc. Product and company names mentioned herein may be trademarks of their respective owners.

DISCLAIMER OF WARRANTY – EXCEPT FOR ANY WARRANTIES IN THIS MANUAL OR A WARRANTY CARD ACCOM-PANYING THE PRODUCT, THIS MANUAL IS PROVIDED “AS-IS.” THERE ARE NO OTHER WARRANTIES. JAVAD GNSS DISCLAIMS ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR USE OR PURPOSE. JAVAD GNSS AND ITS DISTRIBUTORS SHALL NOT BE LIABLE FOR TECHNICAL OR EDITORIAL ER-RORS OR OMISSIONS CONTAINED HEREIN; NOR FOR INCIDENTAL OR CONSEQUENTIAL DAMAGES RESULTING FROM THE FURNISHING, PERFORMANCE OR USE OF THIS MATERIAL. SUCH DISCLAIMED DAMAGES INCLUDE BUT ARE NOT LIMITED TO LOSS OF TIME, LOSS OR DESTRUCTION OF DATA, LOSS OF PROFIT, SAVINGS OR REVENUE, OR LOSS OF THE PRODUCT’S USE. IN ADDITION, JAVAD GNSS IS NOT RESPONSIBLE OR LIABLE FOR DAMAGES OR COSTS INCURRED IN CONNECTION WITH OBTAINING SUBSTITUTE PRODUCTS OR SOFTWARE, CLAIMS BY OTHERS, INCONVENIENCE, OR ANY OTHER COSTS. IN ANY EVENT, JAVAD GNSS SHALL HAVE NO LIABILITY FOR DAMAGES OR OTHERWISE TO YOU OR ANY OTHER PERSON OR ENTITY IN EXCESS OF THE PUR-CHASE PRICE FOR JUSTIN.

LICENSE AGREEMENT – Use of any computer programs or software supplied by JAVAD GNSS or downloaded from a JAVAD GNSS website (the “Software”) in connection with the JAVAD GNSS receivers constitutes accep-tance of these Terms and Conditions in this Manual and an agreement to abide by these Terms and Condi-tions. The user is granted a personal, non-exclusive, non-transferable license to use such Software under the terms stated herein and in any case only with a single computer. You may not assign or transfer the Software or this license without the express written consent of JAVAD GNSS. This license is effective until terminated. You may terminate the license at any time by destroying the Software and Manual. JAVAD GNSS may termi-nate the license if you fail to comply with any of the Terms or Conditions. You agree to destroy the Software and manual upon termination of your use of software. All ownership, copyright and other intellectual prop-erty rights in and to the Software belong to JAVAD GNSS. If these license terms are not acceptable, return any

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unused software and manual.

CONFIDENTIALITY – This Manual, its contents and the Software (collectively, the “Confidential Information”) are the confidential and proprietary information of JAVAD GNSS. You agree to treat JAVAD GNSS’ Confidential Information with a degree of care no less stringent that the degree of care you would use in safeguarding your own most valuable trade secrets. Nothing in this paragraph shall restrict you from disclosing Confidential In-formation to your employees as may be necessary or appropriate to operate Justin Software. Such employees must also keep the Confidentiality Information confidential. In the event you become legally compelled to disclose any of the Confidential Information, you shall give JAVAD GNSS immediate notice so that it may seek a protective order or other appropriate remedy.

WEBSITE; OTHER STATEMENTS – No statement contained at the JAVAD GNSS website (or any other website) or in any other advertisements or JAVAD GNSS literature or made by an employee or independent contractor of JAVAD GNSS modifies these Terms and Conditions (including the Software license, warranty and limitation of liability).

MISCELLANEOUS – The above Terms and Conditions may be amended, modified, superseded, or canceled, at any time by JAVAD GNSS. The above Terms and Conditions will be governed by, and construed in accordance with, the laws of the State of California, without reference to conflict of laws.

REGULATOY INFORMATIONThe following sections provide information on this product’s compliance with government regulations.

SCREEN CAPTURESThis manual includes sample screen captures. Your actual screen can look slightly different from the sample screen due to the receiver you have connected, operating system used and settings you have specified. This is normal and not a cause for concern.

TECHNICAL ASSISTANCEIf you have a problem and cannot find the information you need in the product documentation, contact your local dealer. Alternatively, request technical support using the JAVAD GNSS World Wide Web site at: www.javad.com

To contact JAVAD GNSS Customer Support use the QUESTIONS button available on the www.javad.com

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CHAPTER 1. MAIN WINDOWWhen Justin is starting the Main program window appears. This window contains Main menu, Tool and Status bars, a project and map panes as well.

Figure 1. Main window

Below are the terms used in this manuals:• Project – SQLite database;• Dataset – project table that contains data for unique receiver and antenna pair;• Recordset – a query from Dataset;• Vector – an object corresponds two overlapped in time Recordsets;• Solution – a result of Vector post-processing;• Edge – a result of Solution adjustment;• Site – an object created by import raw data file according to standalone, DGPS, RTK solutions, header of RINEX, tag in RTCM message.

MAIN MENU. PROJECTThe Project menu contains the following items:

• New project creation;• Open a project that already exists;• Close a project and save it;• Settings parameters for opened project;• Compact a project to remove empty records from database;• Exit program;• History list of five recently opened projects.Note: Some of Project menu items are duplicated in the

toolbar. Figure 2. Project menu item

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EXCHANGE

IMPORT• Import menu item

Figure 3. Exchange menu item

• Import observations – import raw data files

Figure 4. Import observation files

Figure 5. Import folder

• Import folder. Import all raw data from a folder and subfolders; • Add layer. Open background map layer;• Export to... Export program layers to most popular GIS formats.

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Figure 6. Export to different formats

MAP

Figure 7. Map menu item

• ZoomIn – increases map scale;• ZoomOut – decreases map scale;• Move – panning a map;• Show entire Map. All objects on program layer will be shown;• Ruler invokes a tool for distance and azimuth measurement;• Scale setup map scales;

Figure 8. Map scale

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VIEW

Figure 9. View menu item

• Project – open/hide project pane;• Map – open/hide map pane;• Solutions – open Solution table;• Progress – show data processing progress information;• Edges – show a table the results of adjustment;• Antennas – antennas table;• Receivers – information and control. Justin does not creates Vectors between data provided by receivers announced as a rovers (rover to rover);

Figure 10. Receivers

• Events – events information table;

Figure 11. Events

• Precise Point Positioning – table of results.

Figure 12. Precise Point Positioning

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TOOLS

Figure 13. Тools menu item

• Coordinate calculator is described in “Chapter 12. Coordinate calculator” on page 101.• Time converter

Figure 14. Time converter window

• GPS, Global Positioning System time, is the atomic time scale implemented by the atomic clocks in the GPS ground control stations and the GPS satellites themselves. GPS time was zero at 0h 6-Jan-1980 and since it is not perturbed by leap seconds. GPS is now ahead of UTC by 22 seconds. • UTC, Coordinated Universal Time, popularly known as GMT (Greenwich Mean Time), or Zulu time. Local time differs from UTC by the number of hours of your time zone. • Modified Julian Date, MJD, is a modification of the Julian Date that is routinely used by astronomers, geodesists, scientists, financiers, and even some historians. This dating convention, designed to facilitate simplified chronological calculations, numbers all days in consecutive fashion, beginning at a date suffi-ciently far into the past so as precede the historical period. Day Number is an integer counter of the days starting at noon on January 1, 4713 B.C., which is Julian Day Number 0.

PROGRAM

Figure 15. Program menu item

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PARAMETERS

Figure 16. Program options. Common tab

Common tab• Open last project – open last used project when a program is starting;• Use epoch in coordinate transformation – apply time depending coordinate transformations;• Request for downloading if geoid is exists – asks confirmation about downloading from JAVAD company repository of Geo Data.

Format tab

In this tab the program measurement units can be set up.

Figure 17. Format tab

Report tab

This tab shows the list of the supported report types formats.

Figure 18. Report tab

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Events tab

Type of epoch coordinates interpolation.

Figure 19. Events tab

Map tab

This tab contents the cartographic data source. Alternative means that program starts searching for maps at most popular Internet map repositories.

The check box Show grid shows grid on a map pane.

Figure 20. Map tab

CORS tab

The check box hides/shows the vectors created using CORS data.

Figure 21. CORS tab

COORDINATE SYSTEMS

The item is described in “Chapter 7. Coordinate systems manager” on page 61.

REFERENCE POINTS

The item is described in “Chapter 8. Reference points” on page 77.

ANTENNAS

The item is described in “Chapter 10. Antenna editor” on page 92.

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Figure 22. Select antenna

Click Antennas for information table and antenna management.

CAMERAS

The item described in”Chapter 11. Aerial Camera Editor” on page 97.

CLEAR MAP CACHE

Clears map tile files from program database.

HELPThe Help menu contains only one item About, which opens a window with software version information.

Figure 23. About window

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TOOLBARThe menu bar extends across the top of the Main window and contains buttons through which the user can access the program functions. By clicking the left mouse button will cause the menu to drop down, displaying a list of menu items. Position a pointing device on the desired menu item, then click and release the left but-ton and that function is invoked.

— New project dialog window;

— opens predefined file dialog;

— Project settings dialog window;

— compacts project database;

— opens predefined file dialog

— opens predefined file dialog. Add temporary GIS layers to a map;

— runs Reference points manager;

— runs Coordinate systems manager;

— runs Antennas manager;

— runs Coordinate calculator;

— runs Time converter tool;

— sets cursor in Selection in point mode;

— sest cursor in Selection in rectangle mode;

— unselect;

— increases map scale;

— decreases map scale;

— shows entire program layers;

— panning the map;

— sets the cursor in ruler mode for distance and azimuth measurement;

— shows the Legend;

— sets the snapping mode for the ruler;

— returns the map in previous position and scale;

— returns the map to initial position and scale after

;

— show/hide grid;

— show/hide raster map;

— shows/hides space images;

— allows selecting the language

— translate;

— sets selectable layer;

— selects map coordinate sys-

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tem

STATUS BARStatus designed for information about processes progress. It is active during data import.

export data;

post-processing;

sky plot, runtime, table view charts creations.

Click to stop the process;

Click to expand the Status bar:

Figure 24. Progress

Click to minimize the panel.

Switch to Log tab for process summary:

Figure 25. Log

Click to clear the window.

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PROJECT PANEThe Project pane is designed to provide full access to program functions.

There are four operational tabs: Source, Process,Adjustment, and Map.

Figure 26. The tabs of Project pane

Source tab tree structure depends on Project and Sort options described below.

Figure 27. Source tab

The Process tab described in”Chapter 4. Post processing” on page 36.

The Adjustment tab described in “Chapter 5. Adjustment” on page 51.

MAP PANEMap pane is detailed described in the “Chapter 2. Map” on page 20.

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CHAPTER 2. MAPThe Map tab provides several predefined layers using for control of the principal objects view. Click the Map tab to have access to the layer settings:

Figure 28. Layers

Below the notification of signs:• Recordset track – collection of grey points. Co-ordinates obtained by receiver or Justin;

Static vector – grey line;

Kinematic vector – collection of grey points;

Static solution – custom colored line;

Kinematic solution – track, collection of green points;

Precise Point Positioning solution;

Common edge – blue line;

Blunder edge – gray brown line;

Adjusted Precise Point Positioning solution;

Site on standalone coordinates;

Site on post-processed coordinates;

Site on adjusted coordinates;

Site snapped to Reference point;

Site on RTCM base coordinates;

Event — oriented blue arrow;

Reference point;

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• Contours – boundary polylines

Figure 29. Contours

• CORS – continuously operated reference station

Figure 30. CORS

• Check-box next to the item makes the layer visi-ble or invisible.

Some layers have style settings. Click the right mouse button on the item to invoke.

Figure 31. Recordset track style settings

Figure 32. Standard

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Figure 33. Open the map file

Figure 34. Symbol

Figure 35. Style settings for line object

Figure 36. Label settings

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CHAPTER 3. SOURCEThe Source tab is active when a program is starting. This tab is a main for data management – import/export, view, modification data imported into the project.

Figure 37. Project

The root item may vary depending on Project option. By clicking on it user may organize main project tree according with File, Receiver, Dataset, Recordset and Site options.

The File option shows items with regard to imported files.

Figure 38. Sort

The files sorted by date has Common time option.

Figure 39. Common Time

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The Receiver item shows a list of receivers that provide raw data files.

Below is an example of sorting the Receiver item.

As well as a raw data file may contain GNSS data captured from multiple receivers and antennas (rover file with wrapped bases RTCM corrections, multi-antenna receiver file). We introduce Dataset that is a corresponding receiver/antenna pair. The File may be represented in a project by multiple datasets. From the database point of view, Dataset is a set of consecutive in time records in the project database table that contains raw GNSS data. Datasets are created from files during import GNSS files according to program settings. The file may be represented in the project by multiple datasets.

Figure 40. Sorting of the Receiver Item

The Recordset is a query from Dataset. By default, every Dataset produces at least one Recordset linked to the parent object.

The User may modify Recordsets with no risk to corrupt original data because of the opportunity to recover it at any time from the parent Dataset. In the meantime, the Dataset automatically produces multiple Record-sets in a case of STATIC/DYNAMIC events marker, epoch gaps, record interval changing inside raw data file and so on.

The Site is an object created by import procedure and being used as point GIS feature. Coordinates of Site are the standalone solution or provided by the receiver. Justin separates Sites using tolerance.

All above-mentioned items may be sorted by some parameters depending on the selected item.

Sorting options also depends on the selected item.• Import – import different types of GNSS data as follow

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Figure 41. Import observation files

• Import folder option may be used for batch process of import all Justin valid GNSS data.• Clear project option used to remove all GNSS data from a project. Program asks about a confirmation.

Figure 42. Delete confirmation

• Delete Ephemeris option may be used in case of suspicious ephemeris in original raw data files. Justin is able to download ephemeris from Internet automatically.• Delete Recordsets option drops all items.• Delete Residuals option free project from significant number of data generated by processes with residu-als option.• Delete Idle option free project from GNSS data useless for Vector post-processing. The data that has no overlapped in time.• Repair Vectors option may be helpful in case of program crash by some reasons.

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FILEThe menu designed for the file objects management looks as follow:

Figure 43. File object management

B, J, R – letters above the icons indicates files origin (Broadcasted ephemeris, Jps, RINEX).

The File item contains related Datasets and Recordsets items.

Figure 44. Datasets and recordsets

Import external events file Ashtech(.dat), Leica(.ev) formats and .csv. In fact, event tags are File properties.

RECEIVER

Figure 45. Receiver

Switch project pane tree to Receiver mode. The upper item contains Datasets and Recordsets.

The red exclamation mark is shown if antenna type has not been specified.

DATASETSelect Datasets option to reconfigure project tree for Datasets. Below is Datasets tree:

Figure 46. Dataset

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The table View shows raw data in details:

Figure 47. View table

The thining option customizes data record interval. It causes removing some data from the project.

Figure 48. Thining

Restore Recordsets option recreates objects by default program settings (like during import). Delete Dataset from the project. The appropriate file will also be deleted if that file corresponds only one Dataset.

Multiple Datasets selection (Shift, Ctrl) allows to merge Datasets. Used mostly to merge hourly raw data.

RECORDSET

Figure 49. Recordset

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PROPERTIES

Figure 50. General tab

Here it is possible to update Begin/End time.

Figure 51. Receiver and Antenna tab

This tab intended for view and edit antenna parameters. Click button for antenna list.

Type of antenna height called Slant(SHMP) means Slant Height Measurement Point.

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Figure 52. Coordinates and Statistics — BLH

Inspect receiver coordinates. Epoch means epoch of project. Zero value corresponds date of observation, no time depending coordinates transformations. Only coordinate systems announced in the project are accessi-ble.

Figure 53. Satellites tab

Information about GNSS satellites and signals. Yellow colored circles mark unhealthy satellites. Field

indicates ratio of exist/absent signals.

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Figure 54. Sky Plot tab

Green, red, blue, yellow colored circles means GPS, GLONASS, Galileo, Beidou satellites respectively.

Use scroll control to see picture in dynamic.

TABLE VIEW

Table view option shows the table as on “Figure 47.” on page 27

EPOCH

The Epoch option shows a table as follow

Figure 55. Epoch option

• Solution type – navigational, float, fixed.• Engine – receiver or Justin calculated coordinates.• Status – depends on receiver or Justin solution

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RAW DATA CHART

Figure 56. Raw data chart

Raw data shows base to rover single differenced GNSS signals values.

Interferometry shows satellite to satellite single differenced GNSS signals values.

There are statistics on status bar.

MOTION MODE

Justin automatically detects Recordset type during import Criterion for static in Project properties settings and Static/Dynamic tags/events inside file. Default criterion equals 5 meters means that all epoch positions expected within 3* 5 = 15 meters for static. Here it is possible to change Recordset type.

SPLIT

The Split item provides two options.

Figure 57. Split

Split by time generates new Recordsets with fixed time interval.

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Figure 58. Split by time

Split by parts generates several Recordsets with the same time span.

Figure 59. Split by parts

EXPORT OPTIONS

Figure 60. Export menu item

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Figure 61. Export RINEX settings

REPORT

Report option creates a report using Table View structure.

ZOOM

Zoom focuses on Site associated with Recordset.

VISIBLE TAG

Visible tag – shows/hide track of epoch positions on a map.

Figure 62. Visible tag

DELETE

Delete drops Recordset. Recall that raw data won’t be deleted.

PPP

PPP run computation of Precise Point Positioning. We recommend use daily data, 30 seconds interval.

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Figure 63. PPP

SITESThe item contains objects valuable for post-processing – Sites and Recordsets. Justin creates Site using Re-cordset. The Recordsets overlapped in time produce Vector that is a subject of post-processing.

Figure 64. Sites

— standalone site;

- site on post-processing solution;

- site on RTCM base position;

— site on reference point.

Figure 65.

• Properties – coordinates and statistics;

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Figure 66. Coordinates and statistics

• Snap – instant snapping to nearest Reference point (for selection on map only);• Snap it – select Site for snapping. Next step might be reference point selection and click Snap here (en-abled only if Site was selected previously);

Figure 67. Snap here

• Unsnap – free Site;• Direct Vectors to – direct all connected Vectors towards the site;• Direct Vectors from – direct Vectors opposite;• Create RefPoint – create a new object — Reference point;• Rename – edit Site name:

Figure 68. Rename

• Zoom – focus on a Site on a map.

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CHAPTER 4. POST PROCESSING Post-processing is a Vector option. Recall that Recordsets which have time overlapped GNSS observation sessions yield a Vector. A goal of post-processing is a Solution. Depending on a type of rover Recordset we distinguish static or kinematic modes of post-processing. Type of Recordset is figured out just after import-ing GNSS data relative to Criterion for static in a project settings. Justin offers type editing through Recordset properties dialog.

Activate Process tab in a project pane to get access to post-processing.

Post-processing could be run in a batch mode via Vectors item in a Process tab of project pane.

Figure 69. Sorting vectors

Otherwise, use Selection by point/rectangle tool in the main toolbar for post-processing through the map.

The post-processing of static data yields the increments of coordinates from base to rover in the geocentric coordinate system. The static Solution is shown on the Solution layer as a line object. The post-processing of kinematic data yields a set of solution vectors so-called fan. The kinematic Solution is shown on the map as a collection of point objects. The point positions are the end of solution vectors. We use base and rover indica-tions for terminal points of Vector.

The static engine, as well as kinematic one, use so-called single differences of GNSS data.

Vectors options:• Sort...

Initially Vectors tree is structured by date of the beginning of time span. Click Base or Solutions number option to look how they are working.

• Process – run post-processing of all unprocessed Vectors;• Settings – open process settings window described below;• Unhide – shows all hidden Vectors;• Delete Solutions – delete all Solutions from a project;• Delete Residuals – delete all solution residuals. Be aware that residuals take much more room in a project then solution does.

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Figure 70. Vector options

Data item options:• Process – run post-processing for all associated Vectors;• Hide – make Vectors invisible;• UnHide — make Vectors visible;• Delete Solutions – delete all Solutions.

The next level of Vectors tree corresponds to base object. Sublevels are rovers.

Figure 71. Vectors tree

Both base site 4 and rover site 254 are signed by static Recordset icon.

Figure 72. Vectors tree options

Base node options:• Process — run post-processing for all unprocessed Vectors;• Delete Solutions – delete all Solutions related to the base node;

The last level of Vectors tree is intended for Solutions that appear under rover node after post-processing. Initially the rover node is empty. Processing adds a Solution to an item.

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Figure 73. Vectors tree options

Options:• Process — run post-processing if no Solution exists;• Runtime – used to get more than one Solution;• Delete solutions — delete all Solutions; • Properties – open Vector properties window. View base and View rover buttons open relative Recordset properties windows;

Figure 74. Vector properties

• Differences – chart of GNSS signal differences;

Figure 75. Differences chart

• Common satellites – open a chart.

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Figure 76. Common Sats tab

• Inverse – redirect Vector;• Zoom – focus on Vector on a map;• Visible – hide or unhide Vector on a map.

SETTINGS

Figure 77. Process properties

STATIC

Engine tab. Regular Justin software is delivered with one Default engine. By request additional engines may be activated.

Engine mode option:• Auto – auto detect best combination of base and rover overlapped data;• L1 only, L2 only, L5 only – process L1, L2, L5 data respectively;• L1&L2&L5 – process L1, L2, L5 all together;• Wide lane – process L1 and L2 data in Wide lane combination;• Float – not integer processing in Auto mode;

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• Code – code processing;Troposphere tab:

• Model – a list of most popular modern models;

Figure 78. Troposphere

• Pressure, Humidity, Temperature – input of meteo parameters, Humidity value extremely affects to alti-tude;• Cut off angle – rejection satellites data by elevation angle;• Max distance – — maximum baselines length (in km). Focus on this parameter in batch processing. Some Vectors may be skipped.

Program – click the button to restore default post-processing settings.

Figure 79. Program

Save residuals — store residuals in a project database. Residual is result of subtraction measured code or carri-er phases values (depending on processing mode) and a distance between final receiver position and satellite. Storage of residuals make post-processing slower. In the meantime residuals chart is a main tool to control post-processing result for data captured in a bad environment.

Interpolate base — interpolate base GNSS data if rover data sampling is different.

Use precise ephemeris – process Vectors using precise ephemeris if those are available on the date of process-ing. Justin can automatically download ephemeris from Internet.

Lift and Tilt — forces processing of [RM] (Rotation Matrix) message.

Click button to customize Solution object style on a map.

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Figure 80. Style

Satellites tab

Use this option to unable/disable satellites.

Figure 81. Process properties. Satellites tab

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KINEMATIC

Figure 82. Process properties. Kinematic tab

Engine mode:• Code Diff – process code only data;• Code Diff smoothed — process code data smoothed by phase;• Code Carrier Float – float processing;• Carrier Fixed – processing phase data with integer resolving of ambiguities.

RMS:• Code – a priori root mean square error of code measurements;• Carrier phase — a priori root mean square error of phase measurements;

These values are very import for weighting of code and phase data and outlyer rejection. Play with RMS to improve fixing in bad environment.

• Elevation mask – cut off data by satellite elevation angle.• Memory factor – weight for passing epochs. It affects how fast engine forget old data. It is very import for high dynamic applications.• SNR threshold – cut off data by Signal to Noise Ratio.• Iono factor – combined factor of data random noise error.• Fix level – setup contrast ratio of integer procedure.

BATCH PROCESSINGContinuous Vectors post-processing could be run by Vectors tree item or using selection Vectors on a map by

or tools.

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Figure 83. Process

Processing progress is shown in a bottom status bar

Click to abort processing or to expand tab.

Figure 84. Progress

Log tab looks like this:

Figure 85. Log tab

Below an information about elapsed processing time and statistics of solutions.

SINGLE VECTOR PROCESSINGThis approach makes sense if user wants to refine solution yielded by batch processing.

Click Vector item on Vectors tree or on a map.

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Figure 86. Runtime

Select Runtime option. Bottom pane appears.

Figure 87. Bottom pane

run post-processing;

run post-processing by parts. Click on it, produce multiple solutions.

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Figure 88. Process by parts

The buttons allow perform the following:

— multiple or single satellite strips selection mode;

— erase all selection

— left click green strip, hold and stretch red strip.

— erase red strip.

— print a chart.

— save chart as a raster file.

- show entire timeline (after zooming).

The left pane is intended for satellites disabling and Start/End time may be edit.

The Settings button opens window shown on “Figure 94. Settings tab” on page 48.

The Common satellites, Differences, SkyPlot windows were described above.

SOLUTIONThe item is accessible as through map and from project pane as well.

Figure 89. Solution menu item

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PROPERTIESCoordinates tab

Figure 90. Coordinates tab

• Rover and Base coordinates on epoch date of the project;• solution components in XYZ;• Sigmas are diagonal elements of correlation matrix. Only coordinates systems announced in a project are available.

Statistics tab

Figure 91. Statistics tab

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• total and left code and phase data in Solution;• number of total and left phase ambiguities;• Time span equals epoch number multiplied by record interval; • RMS residuals = sqrt(sum(sqr(v)) / n), v – residual, n – epoch number.• Fix ratio – Fisher statistics• Left Satellites used.• Min/km = Time span divided by length• Begin, End time shows time tag of observation session.• Process time is post-processing time and date.

Antenna tab

Figure 92. Antenna tab

• Type — antenna model (NGS US convention)• Height Type — antenna measurement point.• Height Value — direct distance between measurement point and ground point.• Offsets — distances between ground point and point of interest.• Serial — antenna serial number.

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Satellites tab

Figure 93. Satellites tab

Snapshot of Timeline chart.Settings tab

Figure 94. Settings tab

Snapshot of post-processing settings window.

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KINEMATIC SOLUTION

Get access to solution option by selection Vector item on a left pane or Vector object on a map.

Figure 95. Table view

In fact, almost all options are similar to above mentioned with exception of Table View. The option opens new bottom pane with a table of coordinates with statistics and a chart of vertical profile. By selection on a table or on a chart relative objects on map being selected also and vice versa.

RESIDUALS

Figure 96. Residuals

Statistics are shown in status bar.

Otherwise, to reach statistics for single satellite right click on it on a right pane and get Info window or export to .csv file.

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Figure 97. Residuals

REPORT

Figure 98. Report

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CHAPTER 5. ADJUSTMENT

Geodetic network adjustment uses Weighted Least Squares method for solving over-determined linear sys-tem

, [5.1]

Depend on 3D/2D adjustment mode the design matrix A has 3*n or 2*n rows (n — number of solutions) and a structure comprising +1 and -1. X is a matrix of unknown node coordinates. The number of unknowns m equals the number of network nodes multiplied by 3 or 2 also. L is an array of Solution components dX, dY, dZ.

In the case of adjustment in geocentric linear equations system is:

, [5.2]

where X,Y,Z are unknown coordinates of M and N network points.

The redundancy of the network adjustment problem is a number of rows minus the number of columns.

Subject to a weight matrix W solution of [5.1] is given by solving

, [5.3]

Weight matrix W is a block diagonal matrix formed using Solution covariance matrixes.

Network adjustment solves two main problem:

1. Post-processing solution accuracy estimation, outlier and blunder detection.

2. Calculation of final point coordinates tied to reference points and statistics.

As much as coordinates are not a goal of the first problem it runs as inner constrained mode. To overpass the singularity of normal matrix we use singular value decomposition (SVD) method. The research of network adjusted in inner constraints mode is intended for detection and making odd from final adjustment results blunders and estimation of systematic errors impact.

The detection of blunder is treated using Pope’s τ -test. This method computes standardized residuals

[5.4],

detect blunders in iterations and remove suspicious data from design matrix. The iterations continue until blunders have been disable and test passed depend upon the significance level and the degree of freedom.

are diagonal elements of the cofactor matrix

, [5.5] where

is a block diagonal matrix of 3x3 dimension solution covariance matrixes, is inverse of matrix.

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τ -test treats solution as a blunder if a residual exceed τ — value.

is determined in τ- distribution. .

is user defined significance level (68%, 95%,99%).

Level 99% corresponds to the most soft restriction and 68% level is the most strong.

Note that τ -test uses standardized residuals for blunder detection instead of its absolute value so small resid-uals could be treated as blunders also.

Least Squares method deals optimal results in geodetic adjustment if GNSS data post-processing solution errors are normally distributed. - test checks if solutions errors are normally distributed. It compares so-called unit weight error and statistics.

[5.6]

In fact test estimates consistency of solution covariance matrix relative to a posteriori statistic.

In the case of geodetic adjustment failed test it indicates that some observation sessions were too short. Due to time correlation of GNSS data solution accuracy is overrated. In the meantime loop closure are often big and is out of limits.

Inner constraints adjustment runs in relative coordinate systems. To show inner adjustment result in a carto-graphic window we snap relative coordinated network to first listed reference point (if it exists) or to first listed site.

Second goal of adjustment are coordinates of measured ground points. To reach it the network must be snapped to ground reference points and final adjustment should be running under external constraints.

NETTo start adjustment switch to Adjustment tab in Project pane. As well as a subject of adjustment are Solutions than complete Process procedure in advance. The objective are Sites. First step of adjustment (Inner con-straints) evaluates Loops closure. We use Edge category to show Loops. In fact Edge appears as a result of Solutions adjustment. Remember that Solution is a result of Vector post-processing. There is a special layer to represent Edges in a map pane.

Loops closure deals simple additional estimation of post-processing data accuracy. It is the sum of Solution components along with a Loop. Loops detection is running during network adjustment procedure.

Figure 99. Net

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Upper items in Adjustment tab:• Net – main adjustment item;• Sites – list of adjustment objects;• Reference points – list of control ground points with postulated coordinates, external constraints;• Solutions – subjects of adjustment;

Blunders – not passing tau-test SolutionsDisabled – Solutions excluded in interactive modeCommon – Solutions passed all test and affected to final result

• Kinematic – kinematic Solutions;• Precise Point Positioning – Site precise positions.

Introduce a terminology of other items:

Figure 100. Network

Sites – point objects shown on the map with cartographic sign relative to Legend. Initially, Sites are generated for raw data Recordsets upon standalone solution. Cartographic sign of Site reflects its origin – receiver cal-culated, standalone, post-processed, adjusted. The snapped Sites are colored by green.

For example, Site TXAN is on a standalone position, TXTI is on post-processing Solution, TXCU snapped to reference point (“Figure 100. Network” on page 53).

Edge – linear object created through adjustment. Edge connects two adjusted Sites and forms a network structure. The Edges are shown on a special map layer. There is Edge table in adjustment report. It is used for residuals and relative error publishing.

Edge types:• Single-ended — edge that shares with a network one site only (TXCU-TXHA);• Bridge — edge that connects loops. It does not form itself any loop (TXPL-TXKC);• Blunder — edge that has not passed τ-test. By default blunders are colored brown (TXPL –TXGZ);• Common — others edges.• Loops — a list of independent loops generated under restriction of minimum edges quantity in a loop. Loop closure residuals are indicated depending on adjustment mode (XYZ/NEU).

To get access to Net items point on it and right-click mouse button.

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Figure 101. Right-click menu items

• Adjust – run network adjustment. Last adjustment will be dropped automatically; • Settings – involves a dialog window showed on Figure 102. Adjustment settings;• Clear – drops the last adjustment;• Report – generates standard report;• Exports – output files in most popular formats.

ADJUSTMENT SETTINGS

Figure 102. Adjustment settings

BLUNDER REJECTION

Blunder rejection — scenario of blunders processing. • Automatic rejection — adjustment is running in iteration. Blunders are excluded step by step until they are canceled.• Interactive — adjustment with a dialog. This allows to cancel a solution at each iteration step instead of batch blunder processing in above mentioned automatic mode.

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BLUNDER DETECTION

Blunder detection — blunders qualification in inner constraints adjustment:• NEU — residuals are calculated in the topocentric coordinate system (Northing, Easting, Up). There is additional specification 2D/3D to separate plane and vertical sources of errors. If an edge was marked as a blunder in NEU 3D mode then it makes sense to readjust network as 2D to exclude error in vertical compo-nents which happens due to wrong antenna height or type input.• XYZ — residuals are calculated in a geocentric coordinate system.

CONFIDENCE LEVEL

Post-processed solutions that based on GNSS data obtained in a short session of observation may have low absolute accuracy and a good statistics — small standard deviation errors (sigmas — square route of diagonal elements of cofactor matrix). Thus its impact in adjustment is overvalued due to big values of weight matrixes. In the meantime, edge residuals mustn’t exceed sigma more than in 2-5 times in the case of the normal dis-tribution of errors. Otherwise, the Solution should be detected as a blunder. The settings of confidence level limit allow to control blunder detection procedure.

From the other hand value of unit weight error must correspond to Solution accuracies. Regular μ value var-ies from 0.4 to 1.6. Formula [5-6] computes more accurate these limits using number degrees of freedom and confidence level value. 99% level is the widest limit.

Blunder detection procedure affects to test. Control of confidence levels for both tests allows to pass test well.

CONSTRAINTS• Inner — adjustment of free network with no constraints. Residuals depend on network geometry and solution quality. It is a significant preliminary network adjustment which is running automatically for con-strained network also. We recommend run it in advance separately as it is a best way for post-processing outliers cancellation.• Inner constraints adjustment computes site positions in a relative coordinate system. Meantime results might be similar to those of a case of fixed constraints adjustment with one reference point.• Fixed – adjustment which could be completed if a network Sites were snapped minimum to one reference point. Otherwise, a warning appears. Snapped Sites position left steady. Reference points accuracy statis-tic does not affect to residuals and computation but used for accuracy estimation;

LOOPS

Constant Е (in meters) and linear parameter А (in ppm) define an acceptable limit for loop closure.

An equation is:

, [5-7]

where : N – edges quantity in a loop, L — length of loop.

Loops with overpassed closure of are colored in red in the left project pane.

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INTERACTIVEThis dialog window appears if interactive adjustment mode was selected.

Figure 103. Ajust interactive

There are a list network edges residuals and tau-statistics in a table. X,Y,Z are components of edge residuals. Tau column includes maximum components of standardized residuals along X,Y,Z/NEU axes. Right from the table shown common net statistics: common tau value, unit weight error (UWE), low and high limits of test for UWE.

To exclude an edge from adjustment, select a row in a table and click Reject. Press and hold Ctrl or Shift but-ton to exclude more edges at once. By clicking Reject, the Restore button reruns the adjustment. The dialog window shown on the Figure 103. “Ajust interactive” appears once more. The Complete button is intended to cancel iterations.

The main goal of interactive mode is a test achievement. To reach it we recommend to consequentially Reject edges with maximum value in a Tau column.

It is not possible to reject Bridge edge as it will split net in two subnets! In this case a warning appears. A net-work could be adjusted in subnets by disabling edge Solution in advance before start an adjustment.

Rejected edge is kept in a table but corresponding row shown in gray. For restoring it select row and click Re-store.

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ADJUSTMENT OF KINEMATIC SOLUTIONSMultiple bases kinematic data processing generates new trajectory object in the Kinematic node with options:

Figure 104. Kinematic node

• Adjust – running kinematic solutions adjustment:• Delete – drop last adjustment from a project and redraw map;• Zoom — show entire trajectory;

Figure 105. The kinematic adjustment

The kinematic adjustment could be running if multiple base solutions exist. In this case, only the Kinematic node isn’t empty. New trajectory object is intended for control adjustment workflow. Report option publishes a standard report.

SETTINGS

To get access to the settings click Kinematic item than select Settings.

Figure 106. Settings

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Figure 107. Kinematic tab

• Use fixed solution — only fixed solutions are taken in account;• Fixed priority — ignore float solution if fixed one exists.• Use float solution — both float and fixed solutions will be adjusted using epoch solution covariance ma-trixes;• Range parameter sets maximum acceptable in adjustment distance between base and rover epoch posi-tions.

REPORT

Figure 108. Report

TRAJECTORY

Multiple bases kinematic data processing generates new trajectory object in the Kinematic node with options: • Adjust — running kinematic solutions adjustment:• Delete — drop last adjustment from a project and redraw map;• Zoom to — show entire trajectory;

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Figure 109. Trajectory

Selection row in the table pane generates orange colored circle on graph.

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CHAPTER 6. PROJECT SETTINGSUse the main program menu to get access to the Settings option:

Figure 110. Project menu item

To open the Project Properties window, select Project , then Settings in the main menu.

The left side of the Project Properties window contains information about the location of the project file and the date it was created:

Figure 111. Project settings

On the right of the window, you can set the following parameters:• Max epoch gap — the maximum number of skipped epochs between any two adjacent epochs in the sample• Min sample size — minimum number of epochs to process the sample• The criterion for static is the coefficient multiplied by the standard error of the epoch for the sample. If the coordinates calculated for all epochs are inside a circle with a radius equal to the criterion, the sample is determined by the program as static. Otherwise, the sample is defined as kinematic.• Tolerance for static — The maximum distance at which the record sets refer to the same point.• Max vector length — maximum length of processed vectors.• Epoch — the date of the project.

The Default button restores the default window settings.

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CHAPTER 7. COORDINATE SYSTEMS MANAGER

The tool is available through Main menu Program item or by clicking button on a Toolbar.

Figure 112. Coordinate system manager

Default coordinate systems are

Figure 113. Default coordinate systems

Click button to add a subfolder to your Favorites root item

Figure 114. Adding the new subfolder

Edit subfolder’s name.

Click button to customize a list of preferable coordinate systems

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Figure 115.

GEODATA DATABASESelect GeoData for searching in JAVAD Geo Database.

Figure 116. Geodata

Click Continents to expand the item:

Figure 117. Continents

Click North America to expand the item:

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Figure 118.

Click United States(USA):

Figure 119.

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Click SPCS(NAD83 2011):

Figure 120. Selection of a coordinate system

If Custom transformation box is checked then additional dialog windows with a list of valid transformations appears after clicking Next.

Figure 121. Transformation

Click button for input stored in file transformation then Add or Back to return.

Click NAD83(2011)/Texas North and then the Geoid button.

Figure 122. Coordinate system selection

Select GEOID 12B(ConUS) and click Add.

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Figure 123. Coordinate system added

Coordinate system has been added to Txt folder in Favorites. It is possible to add new coordinate system direct-ly to the root (Favorites) folder.

Figure 124. Coordinate system in the Favorites

NEW COORDINATE SYSTEM

Click button.

Figure 125. Adding new coordinate system

Otherwise right click Favorites item:

Figure 126. New

Select New option. A new window with a list of coordinate system types appears.

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Figure 127. Select the coordinate system

ECEF geocentric

Latitude, Longitude geodetic

Grid

Focus on creation plane coordinate system because this case covers all others.

Select option and specify a datum. It possible to select one of existed datums or create new one.

Datum parameters correspond transformation from ITRF2008(WGS84) which is main coordinate system in Justin.

NEW DATUM

Specify ellipsoid by selection from pop-down menu or input new parameters.

Figure 128. Ellipsoids parameters

Next input 7 parameters of Helmert transformation:

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Figure 129. Position vector 7-parameneters transfor-mation

Next specify geoid or click Skip. As geoid models are referring to ellipsoid then select ellipsoid as well

Figure 130. Geoid

Below pop-down menu of most popular geoid mod-els

Figure 131. Select geoid

Click Next to select a projection

Figure 132. Projection

Below pop-down menu of projection

Figure 133. Select projection

Click Next for parameters editing. The form that will appear depends on projection type.

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Figure 134. Projection details

Click Next to enter new coordinate system name:

Figure 135. Enter name

Click Add.

Figure 136. New coordinate system added

New coordinate system has been added.

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SELECT EXISTING DATUM

Figure 137. Select from the list

Select coordinate system from a list of Favorites.

COORDINATE SYSTEM OPTIONSSelect coordinate system from Favorites:

Figure 138. Selection of coordinate system

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PROPERTIES

Click properties for information:

Figure 139. Coordinate system properties

EDIT

Click this option for editing. In fact, every complete coordinate transformation from WGS84(ITRF2008) to tar-get coordinate system is chain of consecutive transformations. It causes following form of edit transformation.

Status bar

— save transformation;

— save transformation under new name;

— add transformation;

- insert transformation;

- delete transformation.

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Figure 140. Edit window

Far left panel designed for input/output coordinates in WGS84(ITRF2008). Far right panel designed for input/output coordinates in target coordinates system. Each panel in middle represents consecutive transforma-tion. These middle panels are highlighted by green or red colors depending on correct/wrong link between output data previous transformation and input data current transformation.

Figure 141. Edit window

Validation between transformations is detected by coincidence types of in/out data. Check type using icons on the bottom bar:

— ECEF; — geodetic; — grid;

Combined icon( ) means variant types of coori-nates.

Transformation types could be forward and back-ward. It is indicated by color of icon

forward

backward

Transformations can be:

— add; — insert ; — remove;

Selected transformation is highlighted by blue frame.

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Figure 142. Edit window

Next transformations can be added or inserted.

Figure 143. Add parameters

Allowed projection list:

Figure 144. Projection list

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The localization can be added:

Figure 145. Menu for geoidsFigure 146. Menu for geoids

After choosing this option base on selected system, you need to select the panel whose data will be used to determine the geoid height. Click button for information about reference system. To change geoid file click

button. New geoid file will be copy to Justin program geoids folder.

Valid transformation has all panels colored by green.

Only valid transformation could be saved.

Click button to “Save” ; Click button to “Save as”

Name and type should be unique. To rewrite existing coordinate system select it in window below.

RENAME

Click an option for input and edit the name.

Figure 147. Rename

CUT

Use an option for cut and paste.

COPY

Use an option for copy and paste

PASTE

Use an option for pasting from buffer.

CLONE

Instant copy.

Figure 148. Clone

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DELETE

Deletes the item after confirmation.

IMPORT

Opens standard Save window. Exchange format is html type .jcs file.

EXPORT

Opens standard window for export selected coordinate system as .jcs file.

COORDINATE SYSTEMS BACKUP

CREATE

A good idea is a creation of backup file for the Favorites item. It helps in case of new Justin version installation

or running software on several PC. Click create back file with name Param_Year-Month-DayTHours-Min-utes-Seconds.jcs in C:\Users\UserName\Documents\Justin\CoordinateSystems folder.

RESTORE

Click button to restore Favorites from a list of backup files from C:\Users\UserName\Documents\Justin\CoordinateSystems folder.

Figure 149. Restore list

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EXCHANGE OF COORDINATE SYSTEMSUse right pane of Coordinate systems manager for coordinate systems exchange.

Figure 150. Project tab-Project

Activate Project tab. Use and buttons to copy coordinate systems from program database to a proj-ect vice versa. Activate Import tab. It’s activated import tree panel. For open importing file right-click on import folder in tree and select Open.

Use button to copy coordinate systems from import tree to program database.

Activate Export tab. Select the item in Favorites and click to copy coordinate system from left to right Export panel.

Figure 151. Export tab

Save – opens standard save file Windows dialog.

Activate Reference points. Show all coordinate systems used in reference point on program. Use button to copy coordinate systems from Reference points item to Favorites program database.

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Figure 152. Reference points

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CHAPTER 8. REFERENCE POINTSReference points are point objects which represents a catalog of postulated coordinates. Raw data post-pro-cessing deals vector components in XYZ. To get shooting point position in some coordinate system we need first of all at least one reference point in this coordinate system. Set base receiver above reference point, set rover receiver above survey point in the field. Getting raw data from both, snap the beginning of processed vector to reference point and adjust.

Click toolbar button to open Reference points manager window.

Figure 153. Reference point management window

TOOLBAR ITEMS

— creates new folder;

- creates new reference points in a selected fold-er and enable right panel for editing and saving;

— shows standard window for import exchange format files (.jst) ;

— export reference points into .jst and .txt for-mats file;

- creates backup file. An example: Param_2020_08_06T_12_04.jst;

- show pop-down menu to open backup files and delete user defined backup files.

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LEFT PANELThe root item is Reference points folder that may contains some subfolders. Clicking by folders item invokes a menu:

Figure 154. Menu for folders

- creates a subfolder;

- creates new Reference point in a folder;

- deletes Reference points in a folder;

- copies folder to buffer;

- pastes from buffer into the folder;

- clones a folder;

- deletes a folder;

- opens dialog window for importing .jst file points into the folder;

— export a folder into .jst or .txt file.

Clicking by Reference point item invokes a menu shown above.

RIGHT PANELThe panel offers two tabs.

• Edit – input, update Reference point properties;• Project – program and project repository Reference points exchange;

EDIT

Figure 155. Edit tab

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Depending of item in focus in a right panel this form may be empty ( folder selected) or contains information ( Reference point selected).

Click to start with new point. Using button open a list of accessible coordinate systems

Figure 156. Select point

and select appropriated one. Then type coordinates

Figure 157. Select coordinates

and click Save. New point will be added to a list in se-lected folder.

Having an information about velocities click Vel/Ep-och tab.

Figure 158. Speed/Epoch

Type Velocities and Epoch numbers. Time depending coordinate systems are using predefined velocities (HTDP transformation, for example). In this case user defined velocities have a priority.

PROJECT

Click Project tab for Reference points exchange between program and project repository. Use and buttons to copy folders and reference point items.

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CHAPTER 9. LOCALIZATIONTo convert the coordinates obtained by the satellite data (GNSS) processing from WGS-84 to a local coordinate system, it is important to have:

• Reference coordinates in local coordinate system.• Coordinate transformations which connect this coordinate system with WGS-84.

The order, in which coordinates are calculated, is shown on the following chart:

Transformation of geocentric coordinate systems is performed by the formula of 7 parametric Helmert trans-forms (Amendment 2 to RTCM STANDARD 10403.1):

= + (9.1)

(Xs, YS, ZS) and (XT, YT, ZT) are WGS-84 geocentric coordinates and reference coordinate system accordingly (S -Source, T — Target);

(dX, dY, dZ) are translations along the axes (X,Y,Z);

(M) is the scale factor. M = (1 + dS *10-6). The size of dS is indicated in the list of datum Justin parameters in ppm, which means parts per millionths (1ppm = 1*10-6).

In rotation matrix R = , where

Rx = ; RY = ; RZ = (9.2)

R1, R2, R3 are angles between axes of source and target coordinate systems. Axes are counted in the clockwise direction.

The formula of inverse transformation:

, (9.3)

The Helmert transformation is a similarity transform in which the scale factor is the same for each coordinate. Combination of 7 parameters for transformation (dX, dY, dZ, dS, R1, R2, R3) and ellipsoid is called datum. In the list of Justin datums the signs of parameters correspond to the transition from WGS 84 to the reference system.

Example. dX = +10 meters. XR = XWGS 84 + 10.

Calculation of geodetic coordinates (B — latitude, L — longitude, H — height) with the use of geocentric coor-

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dinates (item 2 of the transformation scheme) is performed by iterations using the formulas:

+ (9.4)

N is the radius of curvature of the first vertical, e2 is the square of the first eccentricity of the ellipsoid. The reverse transition to rectangular coordinates X, Y, Z from geodetic coordinates (stage 2 of the transformation scheme) B, L, H is described by the formulas:

X

(9.5)

, where

e is eccentricity and N is the radius of curvature of the first vertical.

To calculate geodetic coordinates, there is need to specify an ellipsoid — semi-major axis and eccentricity.

The transformation of geodetic coordinates B, L into rectangular coordinates on a plane is performed based on the type and parameters of the map projection. The transition from Hgeod geodetic (ellipsoidal) height, which is measured along the normal to the ellipsoid, to Hortho orthometric height is performed by the for-mula:

Hgeod = Hortho + ζ, (9.6)

where ζ is the height of the geoid above the ellipsoid.

Geoid heights are determined from geodetic coordinates based on a geoid model that is defined relative to the same ellipsoid for which the geodetic height is calculated.

Stage 4 of the transformation scheme is performed between two rectangular coordinate systems specified on the plane. Finding the parameters of such a transformation in geodesy is usually called localization or calibra-tion.

Planned transformation formulas are similar to (1).

= + , (9.7)

where R =

The formulas are:

, (9.8)

Where dN,dE are offsets along the coordinate axes.

NS , ES, NT , ET are Northing and Easting are rectangular coordinates on a plane. α is the turning angle, count-ed clockwise. M is the scale factor.

The formula for inverse transformation for coordinates on a plane:

(9.9)

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The formula of altitude transformation:

, (9.10)

HS is height in the original coordinate system, dH is height increment, αN, αE are slope angles along the Northing, Easting axes.

The determination of the transformation parameters of coordinate systems on the plane is performed by the ordinary least mean squares method (LMS) by comparing the resulting transformation chain 1 — 4 and the original (from the catalog) coordinates of the points.

The parameters of the horizontal and vertical transformation are calculated independently. The minimum number of points required for calculation is two points for plane localization and three points for vertical lo-calization.

Local datum includes 4 parameters of plane transformation plus 3 parameters of vertical transformation. Sometimes, this set of parameters is called 4+3 datum. This highlights the difference between it and datum with 7 parameters, which is used for calculation of geocentric coordinates transformations.

The calculation of the transformation parameters of rectangular coordinate systems on a plane and vertical coordinate systems is performed in the Localization window.

To activate this window, select the main menu item Program, then Coordinate systems (or click the icon ).

In the opened window click the icon and choose Localization.

Figure 159. Program-Coordinate systems -Localization

The main elements of the Localization window are the bar of icons, the settings panel and the coordinate entry table:

Figure 160. Localization window

ICON BARThe bar of icons functionally corresponds to all localization commands.

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Figure 161. The icon bar

Icons provide the following functions:

— save new localization

— save localization as…

— import free format txt files with a template and exchange format *.jl files

— perform localization calculation

— restore the default table settings (column width, number of displayed decimal places, etc.)

— activate / deactivate a bookmark, which contains a list of calculated parameters of horizontal and vertical transformations

— add columns to enter estimates of the accuracy of the coordinates of points

— add a new row to the end of the table

— add a new row to the table before the selected one

— remove selected row from table

— delete all rows in table

— set the width of the column in which the cursor is located, according to the maximum cell length in this column (including the heading)

By clicking or buttons save localization in a program database.

Figure 162. Favorites

Select folder in Favorites coordinate system. Not only transformation parameters are saved but all table data also. It is possible to save unprocessed table data.

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MAIN WINDOW

DATA TABLE

The data table is used to display the coordinates of points and to estimate the accuracy of the transforma-tion calculation. Accuracy estimation is based on residuals. It depends both on the coordinate quality of the satellite network points and the mutual consistency of the reference points, and on the reliability of the us-er-specified projection parameters of the local coordinate system of the Reference. The columns of the table are combined into blocks — Network, Reference, Residuals. The Network block contains coordinates of points in the selected coordinate system. As a rule, these are the coordinates of points obtained from adjusting of the free GNSS network. Reference block — coordinates of points in the local rectangular coordinate system on the plane. The residuals obtained from adjustment are shown in the right part of the table.

Figure 163. Titles of the data table

In the input window, each line contains information about one item and contains the following columns:• Include — the selected check-box means that the coordinates of the point will be used when calculating the parameters. Otherwise, the point is excluded from the calculation process. In this case, the correspond-ing row in the table is shaded, residuals are not calculated.• Type — sets the type of transformations in which a specific item can be used:

Figure 164. Item type selection

It is possible to set one of three types of tying to control points:

— Plane and Height. The coordinates of the points will be used to calculate the parameters for the hor-izontal transformation (Latitude / Longitude or North / East) and the vertical transformation (Height)

— Plane. The coordinates of the points will be used to calculate the parameters for the horizontal trans-formation (Latitude / Longitude or North / East)

— Height. The coordinates of the points will be used to calculate the parameters of the vertical transfor-mation (Height)

• Name — item name• Latitude, Longitude, (Height — if parameters for vertical transformation are also calculated) from the Net-work block — coordinates of points in the reference coordinate system. Depending on the type of coordi-nates which were entered into these columns (ellipsoidal or rectangular on a plane), there may be options BLH or North / East).• North, East, (Height — if parameters for height transformation are also calculated) from the Reference block — coordinates of points in the local coordinate system.• V (residuals block) — residuals of points of the coordinates by the corresponding component and residuals by radius vector.

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WORKING WITH INPUT FIELDS IN A TABLE

For greater clarity and convenience of work, the table uses color highlighting of fields. The coordinate col-umns of points in the original coordinate system are highlighted in green. The fields of the residual columns (except for the V column) are highlighted in red before the parameters are calculated. After calculating the parameters, the fields of these columns can be marked in green if the corresponding corrections to the mea-surements meet the criteria for the τ-test (tau test), or in red if the test is not passed. During the τ-test, the correspondence of corrections to the coordinates of points to the estimate of their accuracy obtained from the adjustment is analyzed. Therefore, sometimes, even relatively small corrections can be marked as not passed the τ-test. In addition to the τ-test, it is important to pay attention to the magnitude of the residuals, while evaluating the results of localization.

If the item is excluded from the calculations (the check-box in the Enable column is unchecked), the color of the corresponding line changes to pale green. Fields for the value of the corresponding residuals will be empty and will be highlighted in white.

To edit the type, names, coordinates of points directly in the table, double-click the corresponding field with the left mouse button. To save the editor in the text information input columns, press Enter, or by pressing the left mouse button, move the cursor from the edited field.

Empty fields in the Height column are not highlighted in another color. The height value for this item will not be considered when calculating the altitude transformation parameters. The corresponding field in the resid-ual columns is highlighted in the line by white color:

Figure 165. Data in the Height column

When the coordinates are entered in the table in the columns of the Network block and there is no value of any planned coordinate (deleted from the table by the operator, omitted in the imported file), then the input line is not taken into account in the calculation (site 1516). The result will be similar to deleting item information from the table or unchecking the check-box in the Enable column). The discrepancies of the row will be zero, and their fields in the table are highlighted in white:

Figure 166. Missing data in the field

When changing the type of a point, those coordinates that do not belong to this type are excluded from the calculations. The fields in the Residuals columns are highlighted in white. For example, site 4316 does not use elevation, and site 1536 does not use plane coordinates.

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Figure 167. Item type

Similar rules apply to coordinate columns of the Reference block.

Fields in which coordinates are not entered (for all three columns) remain empty, and when importing a file with a coordinate value missing in the corresponding input template, a message is displayed indicating the line number in which it is absent or incorrect data is given:

Figure 168. Input error message

Window with the message can be closed. Then it is possible to manually enter the known coordinate value or leave the field blank.

INPUT WINDOW TABS

In addition to the coordinate table, a tab can be activated in the window, in which four parameters of the plane transformation (if calculated) are displayed,

Figure 169. Conversion Options tab

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three parameters of the vertical transformation (if calculated), the sum of the squares of the residuals (by the radius vector, the Input table section, the description of the Residuals column) and the mean square error.

SETTINGS PANEL (DROP-DOWN LISTS)The settings panel is designed to select various settings and parameters when calculating conversion param-eters.

Figure 170. Settings panel

NETWORK COORDINATES

The Network coordinates drop-down list is used to define the type of coordinate system for the coordinates that will be imported into the Network block:

Figure 171. Selecting the coordinate type

These can be ellipsoidal (BLH) coordinates (set by default), or rectangular coordinates on a plane (GRID). De-pending on the selected type of coordinate system, the table view is configured, settings for the coordinate input template are selected (section Importing coordinates into a table).

Since the main purpose of the Localization module is to tie the coordinates of global satellite navigation sys-tems – WGS-84, obtained as a result of processing / post-processing by the Justin program — to ground points, then, mainly, the coordinates of the Network essentially denote the coordinates of WGS-84. In this case, the BLH / Grid switch only affects the external representation of coordinates since the internal representation of the data in the Justin database is WGS-84.

The situation is different when importing grid coordinates from a file, in which coordinates can be specified in any form. Setting the switch allows you to correctly identify the original data, that is, convert it to the internal representation of the WGS-84 program. The list of coordinate systems offered for selection corresponds to the list available when choosing Program-Coordinate systems from the main Justin menu.

The reference coordinate system is characterized by a map projection and a global (spatial) 7-parameter da-tum. The purpose of localization is to calculate the parameters of the local datum required for transforma-tions of coordinates specified on the plane.

The local datum is used in the Justin program in addition to the global one, but its calculation may be of inter-est for use in independent coordinate transformation programs. The parameters of the map projection are not subject to calculation (except for the value of the axial meridian, for those projections where it is available).

The accuracy of the conversion to local coordinates depends on the accuracy of the initial definition of the coordinate system of the Reference. The dependence of the accuracy of transformations on the parameters of the global datum is relatively small. In most cases, the main source of calculation errors is the inaccuracy of the choice of the central meridian. Distortions in the coordinates of the item increase with distance from it. Therefore, the parameters of the cartographic projection of a predefined coordinate system of the Refer-ence should be as accurate as possible correspond to the real, which are not always known. It is possible to

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recommend the selection of parameters and type of cartographic projection of the Reference to achieve the best result.

If nothing is known about the type and parameters of the cartographic projection of the Reference coordinate system, then in the drop-down list of coordinate systems you should select Oblique Stereographic, which is equivalent to choosing a stereographic projection with a central point calculated as the average between their maximum and minimum values of latitudes and longitudes for points of the Network block , zero shifts alon