PPK setup using F9p-base (Sirius) - rover

Hi!
I’m trying to set up a PPK system using the Sirius base (mod with integrated data storage) and the DP0601 (f9p) module.
The base has no known position, but I let it sit still for hours (4.5 h) to logging data to be able to calculate its position in the post processing. The rover moves with in the time period while the base is logging.

I use RTKlib for postprocessing but I only get float (Q2) accuracy from the PPK solution. I have used a RTK GNSS for creating a ground truth dataset, but the PPK-system is far from “on target”, green markers = truth, red=PPKsystem.

The rover reports Fix and has many satellites during data capture. What might be the reason for the poor positioning? (sorry for the long post but lots o information to help understand)

Here is the Head of the base OBS-file:

 3.03           OBSERVATION DATA    M: Mixed            RINEX VERSION / TYPE

RTKCONV demo5 b34e 20220215 172739 UTC PGM / RUN BY / DATE
format: u-blox UBX COMMENT
log: D:\test\base\B016.UBX COMMENT
MARKER NAME
MARKER NUMBER
MARKER TYPE
OBSERVER / AGENCY
REC # / TYPE / VERS
ANT # / TYPE
2671466.6314 966915.8966 5691311.6621 APPROX POSITION XYZ
0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
G 8 C1C L1C D1C S1C C2X L2X D2X S2X SYS / # / OBS TYPES
R 8 C1C L1C D1C S1C C2C L2C D2C S2C SYS / # / OBS TYPES
S 4 C1C L1C D1C S1C SYS / # / OBS TYPES
C 8 C2I L2I D2I S2I C7I L7I D7I S7I SYS / # / OBS TYPES
2022 02 14 19 29 32.0030000 GPS TIME OF FIRST OBS
2022 02 15 00 08 05.0040000 GPS TIME OF LAST OBS
G L1C SYS / PHASE SHIFT
G L2X 0.00000 SYS / PHASE SHIFT
R L1C SYS / PHASE SHIFT
R L2C SYS / PHASE SHIFT
S L1C SYS / PHASE SHIFT
C L2I SYS / PHASE SHIFT
C L7I SYS / PHASE SHIFT
18 R03 5 R04 6 R05 1 R06 -4 R07 5 R08 6 R10 -7 R11 0 GLONASS SLOT / FRQ #
R12 -1 R13 -2 R14 -7 R15 0 R19 3 R20 2 R21 4 R22 -3 GLONASS SLOT / FRQ #
R23 3 R24 2 GLONASS SLOT / FRQ #
C1C 0.000 C1P 0.000 C2C 0.000 C2P 0.000 GLONASS COD/PHS/BIS
END OF HEADER

2022 02 14 19 29 32.0030000 0 14
G16 21490827.447 1 112935060.27911 -3248.944 47.000


Here is the head of the rover OSB-file:
3.03 OBSERVATION DATA M: Mixed RINEX VERSION / TYPE
RTKCONV demo5 b34e 20220215 172918 UTC PGM / RUN BY / DATE
format: u-blox UBX COMMENT
log: D:\test\rover\R038.UBX COMMENT
MARKER NAME
MARKER NUMBER
MARKER TYPE
OBSERVER / AGENCY
REC # / TYPE / VERS
ANT # / TYPE
0.0000 0.0000 0.0000 APPROX POSITION XYZ
0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
G 8 C1C L1C D1C S1C C2X L2X D2X S2X SYS / # / OBS TYPES
R 8 C1C L1C D1C S1C C2C L2C D2C S2C SYS / # / OBS TYPES
E 8 C1X L1X D1X S1X C7X L7X D7X S7X SYS / # / OBS TYPES
J 8 C1C L1C D1C S1C C2X L2X D2X S2X SYS / # / OBS TYPES
S 4 C1C L1C D1C S1C SYS / # / OBS TYPES
C 8 C2I L2I D2I S2I C7I L7I D7I S7I SYS / # / OBS TYPES
2022 02 14 20 29 57.0000000 GPS TIME OF FIRST OBS
2022 02 14 20 42 41.0010000 GPS TIME OF LAST OBS
G L1C SYS / PHASE SHIFT
G L2X 0.00000 SYS / PHASE SHIFT
R L1C SYS / PHASE SHIFT
R L2C SYS / PHASE SHIFT
E L1X 0.00000 SYS / PHASE SHIFT
E L7X 0.00000 SYS / PHASE SHIFT
J L1C SYS / PHASE SHIFT
J L2X 0.00000 SYS / PHASE SHIFT
S L1C SYS / PHASE SHIFT
C L2I SYS / PHASE SHIFT
C L7I SYS / PHASE SHIFT
11 R03 5 R04 6 R05 1 R06 -4 R11 0 R12 -1 R13 -2 R19 3 GLONASS SLOT / FRQ #
R20 2 R21 4 R22 -3 GLONASS SLOT / FRQ #
C1C 0.000 C1P 0.000 C2C 0.000 C2P 0.000 GLONASS COD/PHS/BIS
END OF HEADER

2022 02 14 20 29 57.0000000 0 16
G08 21497789.253 1 112971644.45215 1256.055 39.000


These are configuration in RTKlib:

rtkpost options (2021/11/03 11:22:51, v.demo5 b34c)

pos1-posmode =kinematic # (0:single,1:dgps,2:kinematic,3:static,4:static-start,5:movingbase,6:fixed,7:ppp-kine,8:ppp-static,9:ppp-fixed)
pos1-frequency =l1+l2 # (1:l1,2:l1+l2,3:l1+l2+l5,4:l1+l2+l5+l6)
pos1-soltype =combined # (0:forward,1:backward,2:combined,3:combined-nophasereset)
pos1-elmask =20 # (deg)
pos1-snrmask_r =off # (0:off,1:on)
pos1-snrmask_b =off # (0:off,1:on)
pos1-snrmask_L1 =0,0,0,0,0,0,0,0,0
pos1-snrmask_L2 =0,0,0,0,0,0,0,0,0
pos1-snrmask_L5 =0,0,0,0,0,0,0,0,0
pos1-dynamics =on # (0:off,1:on)
pos1-tidecorr =off # (0:off,1:on,2:otl)
pos1-ionoopt =brdc # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc)
pos1-tropopt =saas # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)
pos1-sateph =brdc # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
pos1-posopt1 =off # (0:off,1:on)
pos1-posopt2 =off # (0:off,1:on)
pos1-posopt3 =off # (0:off,1:on,2:precise)
pos1-posopt4 =off # (0:off,1:on)
pos1-posopt5 =off # (0:off,1:on)
pos1-posopt6 =off # (0:off,1:on)
pos1-exclsats = # (prn …)
pos1-navsys =127 # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:bds+64:navic)
pos2-armode =fix-and-hold # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)
pos2-gloarmode =fix-and-hold # (0:off,1:on,2:autocal,3:fix-and-hold)
pos2-bdsarmode =off # (0:off,1:on)
pos2-arfilter =on # (0:off,1:on)
pos2-arthres =3
pos2-arthresmin =3
pos2-arthresmax =3
pos2-arthres1 =0.01
pos2-arthres2 =0
pos2-arthres3 =1e-09
pos2-arthres4 =1e-05
pos2-varholdamb =0.001 # (cyc^2)
pos2-gainholdamb =0.01
pos2-arlockcnt =5
pos2-minfixsats =4
pos2-minholdsats =5
pos2-mindropsats =10
pos2-rcvstds =off # (0:off,1:on)
pos2-arelmask =20 # (deg)
pos2-arminfix =10
pos2-armaxiter =1
pos2-elmaskhold =20 # (deg)
pos2-aroutcnt =20
pos2-maxage =100 # (s)
pos2-syncsol =off # (0:off,1:on)
pos2-slipthres =0.05 # (m)
pos2-rejionno =1 # (m)
pos2-rejgdop =30
pos2-niter =1
pos2-baselen =0 # (m)
pos2-basesig =0 # (m)
out-solformat =llh # (0:llh,1:xyz,2:enu,3:nmea)
out-outhead =on # (0:off,1:on)
out-outopt =on # (0:off,1:on)
out-outvel =off # (0:off,1:on)
out-timesys =gpst # (0:gpst,1:utc,2:jst)
out-timeform =hms # (0:tow,1:hms)
out-timendec =3
out-degform =deg # (0:deg,1:dms)
out-fieldsep =
out-outsingle =off # (0:off,1:on)
out-maxsolstd =0 # (m)
out-height =ellipsoidal # (0:ellipsoidal,1:geodetic)
out-geoid =internal # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
out-solstatic =all # (0:all,1:single)
out-nmeaintv1 =0 # (s)
out-nmeaintv2 =0 # (s)
out-outstat =residual # (0:off,1:state,2:residual)
stats-weightmode =elevation # (0:elevation,1:snr)
stats-eratio1 =300
stats-eratio2 =300
stats-eratio5 =300
stats-errphase =0.003 # (m)
stats-errphaseel =0.003 # (m)
stats-errphasebl =0 # (m/10km)
stats-errdoppler =1 # (Hz)
stats-snrmax =52 # (dB.Hz)
stats-stdbias =30 # (m)
stats-stdiono =0.03 # (m)
stats-stdtrop =0.3 # (m)
stats-prnaccelh =3 # (m/s^2)
stats-prnaccelv =1 # (m/s^2)
stats-prnbias =0.0001 # (m)
stats-prniono =0.001 # (m)
stats-prntrop =0.0001 # (m)
stats-prnpos =0 # (m)
stats-clkstab =5e-12 # (s/s)
ant1-postype =llh # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw)
ant1-pos1 =90 # (deg|m)
ant1-pos2 =0 # (deg|m)
ant1-pos3 =-6335367.6285 # (m|m)
ant1-anttype =
ant1-antdele =0 # (m)
ant1-antdeln =0 # (m)
ant1-antdelu =0 # (m)
ant2-postype =rinexhead # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw)
ant2-pos1 =0 # (deg|m)
ant2-pos2 =0 # (deg|m)
ant2-pos3 =0 # (m|m)
ant2-anttype =
ant2-antdele =0 # (m)
ant2-antdeln =0 # (m)
ant2-antdelu =0 # (m)
ant2-maxaveep =1
ant2-initrst =on # (0:off,1:on)
misc-timeinterp =off # (0:off,1:on)
misc-sbasatsel =0 # (0:all)
misc-rnxopt1 =
misc-rnxopt2 =
misc-pppopt =
file-satantfile =
file-rcvantfile =
file-staposfile =
file-geoidfile =
file-ionofile =
file-dcbfile =
file-eopfile =
file-blqfile =
file-tempdir =
file-geexefile =
file-solstatfile =
file-tracefile =


Resulting position after Postprocess in RTKLib:

% program : RTKPOST ver.demo5 b34e
% inp file : D:\test\rover\R038.obs
% inp file : D:\test\base\B016.obs
% inp file : D:\test\base\B016.nav
% inp file : D:\test\base\B016.sbs
% obs start : 2022/02/14 20:29:57.0 GPST (week2197 160197.0s)
% obs end : 2022/02/14 20:42:41.0 GPST (week2197 160961.0s)
% pos mode : Kinematic
% freqs : L1+L2/E5b
% solution : Combined-Phase Reset
% elev mask : 20.0 deg
% dynamics : on
% tidecorr : off
% ionos opt : Broadcast
% tropo opt : Saastamoinen
% ephemeris : Broadcast
% navi sys : GPS GLONASS Galileo QZSS BDS NavIC SBAS
% amb res : Fix and Hold
% amb glo : Fix and Hold
% val thres : 3.0
% antenna1 : ( 0.0000 0.0000 0.0000)
% antenna2 : ( 0.0000 0.0000 0.0000)
% ref pos : 63.625399366 19.897316317 27.8631
%
% (lat/lon/height=WGS84/ellipsoidal,Q=1:fix,2:float,3:sbas,4:dgps,5:single,6:ppp,ns=# of satellites)
% GPST latitude(deg) longitude(deg) height(m) Q ns sdn(m) sde(m) sdu(m) sdne(m) sdeu(m) sdun(m) age(s) ratio
2022/02/14 20:30:33.000 63.625395809 19.899161438 26.3191 2 16 0.0821 0.0600 0.1587 0.0365 0.0475 -0.0523 0.00 0.0
2022/02/14 20:31:00.000 63.625398488 19.899339393 26.4580 2 14 0.0825 0.0609 0.1597 0.0370 0.0489 -0.0546 0.00 0.0
2022/02/14 20:31:30.000 63.625385029 19.899850200 26.8316 2 13 0.0793 0.0608 0.1648 0.0343 0.0531 -0.0519 0.00 0.0
2022/02/14 20:32:18.000 63.625435091 19.900260706 27.3025 2 15 0.0781 0.0597 0.1687 0.0329 0.0529 -0.0482 0.00 0.0
2022/02/14 20:33:07.000 63.625792019 19.900389822 27.6273 2 15 0.0794 0.0600 0.1743 0.0336 0.0560 -0.0398 0.00 0.0
2022/02/14 20:34:25.000 63.626213968 19.900631320 27.3824 2 15 0.0777 0.0606 0.1769 0.0341 0.0596 -0.0391 0.00 0.0
2022/02/14 20:34:38.000 63.626187103 19.900618378 27.6300 2 13 0.0785 0.0609 0.1817 0.0347 0.0612 -0.0344 0.00 0.0
2022/02/14 20:35:05.000 63.626233418 19.900274049 27.2655 2 10 0.4547 0.4077 1.3967 0.4242 0.7475 0.7858 0.00 0.0
2022/02/14 20:35:27.000 63.626319596 19.899954909 26.8694 2 11 0.1072 0.0740 0.2805 0.0688 0.1185 0.1283 0.00 0.0
2022/02/14 20:36:27.000 63.626634458 19.899288528 27.1633 2 10 0.1069 0.0741 0.2815 0.0672 0.1170 0.1272 0.00 0.0
2022/02/14 20:37:21.000 63.626956751 19.898583919 27.7364 2 16 0.1446 0.1019 0.3389 0.1069 0.1543 0.1741 0.00 0.0
2022/02/14 20:37:49.000 63.627016566 19.898497881 27.8029 2 10 0.1416 0.1008 0.3341 0.1045 0.1513 0.1689 0.00 0.0
2022/02/14 20:38:10.000 63.627137053 19.898225779 27.8122 2 9 0.1415 0.1014 0.3378 0.1048 0.1530 0.1686 0.00 0.0
2022/02/14 20:38:32.000 63.627168646 19.897917122 29.0150 2 13 0.1040 0.0672 0.2213 0.0574 0.0712 0.0604 0.00 0.0
2022/02/14 20:38:59.000 63.626964228 19.897620830 28.4475 2 13 0.1052 0.0684 0.2208 0.0594 0.0728 0.0616 0.00 0.0
2022/02/14 20:39:20.000 63.626878046 19.897507738 28.4129 2 13 0.1055 0.0685 0.2207 0.0596 0.0734 0.0622 0.00 0.0
2022/02/14 20:39:48.000 63.626686664 19.897247553 28.2279 2 15 0.1056 0.0679 0.2210 0.0586 0.0722 0.0627 0.00 0.0
2022/02/14 20:40:11.000 63.626587993 19.897191675 28.3317 2 9 0.1090 0.0695 0.2218 0.0615 0.0731 0.0642 0.00 0.0
2022/02/14 20:40:25.000 63.626424148 19.897011916 28.1989 2 10 0.1057 0.0678 0.2191 0.0579 0.0694 0.0559 0.00 0.0
2022/02/14 20:40:44.000 63.626324098 19.896922705 28.1488 2 16 0.1014 0.0665 0.2167 0.0541 0.0666 0.0452 0.00 0.0
2022/02/14 20:41:46.000 63.625909344 19.896547195 27.5316 2 12 0.1056 0.0694 0.2203 0.0588 0.0668 0.0357 0.00 0.0

Picture of modified Sirius base with integrated data storage.

Hi there,

I am not too sure. I believe that you did not wait for the Base station to achieve survey-In Time mode operation possessing a static location solving for time.
Maybe the antenna requires a better ground plane to ensure the signals are not dissipated.
I hope this helps.

Best Regards,