Position Accuracy in Mountainous Terrain
STK Pro, STK Premium (Air), STK Premium (Space), or STK Enterprise
You can obtain the necessary licenses for this tutorial by contacting AGI Support at support@agi.com or 1-800-924-7244.
This lesson requires STK 12.0 or newer to run.
The results of the tutorial may vary depending on the user settings and data enabled (online operations, terrain server, dynamic Earth data, etc.). It is acceptable to have different results.
Capabilities covered
This lesson covers the following STK Capabilities:
- STK Pro
- Coverage
Problem statement
Engineers and operators require a quick way to determine if local terrain is affecting GPS reception for a variety of purposes such as location, navigation, tracking, mapping, and timing. In this scenario, engineers are performing a training exercise on mountainous terrain in the vicinity of Mount St. Helens. They need to determine the positional uncertainty of the GPS being used to pinpoint their location.
Solution
Using STK and STK's Coverage capability, build an STK scenario that you can use to examine the accuracy of your navigation solution within a specified area based on satellite outages and GPS position uncertainty.
This tutorial requires an internet connection.
Video guidance
Watch the following video. Then follow the steps below, which incorporate the systems and missions you work on (sample inputs provided).
Creating a new scenario
Create a new scenario.
- Click the Create a Scenario () button.
- Enter the following in the New Scenario Wizard:
- When you finish, click .
- When the scenario loads, click Save (). A folder with the same name as your scenario is created for you in the location specified above.
- Verify the scenario name and location and click .
Option | Value |
---|---|
Name | NavAccuracy |
Location | C:\Users\<username>\Documents\STK 12\ |
Start | 10 Jan 2020 18:00:00.000 UTCG |
End | + 1 day |
Save often.
Adding analytical and visual terrain
You will use an STK Terrain File (pdtt) located in the STK install area for analysis and visualization in the 3D Graphics window.
- Open NavAccuracy's () properties ().
- Select the Basic - Terrain page.
- Clear the Use terrain server for analysis check box.
- Click .
View the terrain in 3D
- Bring the 3D Graphics window to the front.
- Click the Globe Manager () icon.
- Extend the Add Terrain/Imagery () menu on the Globe Manager toolbar.
- Select Add Terrain/Imagery ().
- Click the ellipsis () button and go to <STK Install Folder>\Data\Resources\stktraining\imagery.
- Select StHelens_Training.pdtt and click .
- When the Use Terrain for Analysis prompt displays, click to enable terrain for analysis.
Zooming to Mt St Helens
- Right-click the StHelens_Training.pdtt file in the Globe Manager.
- Select Zoom To.
Define your analysis area
Using an Area Target () object, outline the area of operations so that you can concentrate your analysis in that area.
- Insert an Area Target () object using the Area Target Wizard () method.
- Change the Name field to ExerciseArea.
- In the Area Type field, select Pattern.
- Click four (4) times.
- Enter the following coordinates for the points:
- Click to accept the changes to the Area Target Wizard.
Latitude | Longitude |
---|---|
46.15 deg | -122.3 deg |
46.15 deg | -122.1 deg |
46.3 deg | -122.1 deg |
46.3 deg | -122.3 deg |
Enable the surface lines
While the area has been defined, it would be helpful to be able to visualize the exercise area on the terrain surface. To do this, you need to turn on surface lines.
- Open the NavAccuracy's () properties ().
- Select the 3D Graphics - Global Attributes page.
- Change the Surface Lines - On Terrain field to On.
- Click .
Decluttering the labels
You can use Label Declutter to separate the labels on objects that are in close proximity, for better identification in small areas.
- Bring the 3D Graphics window to the front.
- Open the 3D Graphics window properties ().
- On the Details page, locate the Label Declutter section.
- Select the Enable check box.
- Click .
- Zoom To ExerciseArea.
- Zoom out a bit until you see the exercise area outline.
Draw lines on 3D Graphics window
Area target
Inserting GPS satellites
Several seismic stations are set up throughout the area. The first station is inside the volcano’s crater. Steep terrain could cause issues with accuracy. Use the Load GPS Constellation method. This method loads all satellites in the almanac(s) as Satellite objects, naming them as gps-XX_svnYY, where XX is the GPS PRN number from the almanac and YY is the GPS Satellite Vehicle Number from the almanac. It creates a GPS Constellation object named GPSConstellation along with all the GPS Satellite objects assigned to the Constellation object.
- Using the Insert STK Objects tool, insert a Satellite () object using the Load GPS Constellation method.
- Delete gps-23_svn60, as it is decommissioned.
Creating a Coverage Definition object
Create a Coverage Definition () object to analyze coverage inside the defined exercise area.
- Insert a Coverage Definition () object using the Insert Default () method.
- Rename the Coverage Definition () object to "PosAccCov".
- Open PosAccCov's () properties.
- Go to the Basic - Grid page.
- Select Type as Custom Regions in the Grid Area of Interest panel.
- Select Area Targets in the drop-down menu under Custom Regions.
- Move () the target ExerciseArea to the Selected Regions list.
- Set the following Grid Definition options:
Option Value Point Granularity Distance - 0.5 km Point Altitude Altitude above Terrain - default (0 km) - Click to save and close the Properties Browser.
If it is difficult to see the grid points after following the steps above, change the color of the Coverage Definition object to something brighter (e.g., white).
Constraining the coverage
Your coverage grid is situated in some pretty rugged terrain. For your analysis to be accurate, each point in your coverage grid needs to take the local terrain into account when computing GPS network access. Create an object with constraints that you can apply to the points in the Coverage Definition. Use a facility object as a constraint template.
- Insert a Facility () object using the Insert Default method.
- Rename the facility to "ConstraintTemplate".
- You can move the facility object in one of two ways:
The location of the constraints template is unimportant so long as it is somewhere on the terrain within the area target boundary.
Constraint Template
Enabling the constraints for the Template object
- If you used the 3D Object Editing tool, open ConstraintTemplate's () properties.
- For either method, select the Basic - AzElMask page and set the following:
- Click to apply changes and dismiss the Properties Browser.
- In the Object Browser, clear the check box to the left of ConstraintTemplate to disable graphics for the Facility () object.
Option | Value |
---|---|
Use | Terrain Data |
Use Mask for Access Constraint | Enabled |
You don't need to see the facility object on the 2D or 3D Graphics windows.
Applying constraint to the Coverage Definition object
You have a constraint source and you have a defined coverage area. You need to associate the constraint with the points in the grid to which the constraint will be applied.
- Open PosAccCov's () properties ().
- On the Basic - Grid page, click .
- Select Facility from the Reference Constraint Class drop-down menu.
- Select the Use Object Instance check box.
- Select ConstraintTemplate.
- Click to close the Grid Constraint Options window.
- Click to accept your changes.
Identifying assets
You’ve defined and constrained the area within which you’d like to analyze coverage. The next step is to identify your assets. The GPSConstellation is the asset with which you want to assess the quality of your coverage. Prior to assigning the GPSConstellation as your asset, you need to check for any outages. The GPS Satellite Outage Tool can bring in GPS satellite outage information and update the satellite interval files to exclude the satellites from your analysis during the outage.
- Right-click GPSConstellation () in the Object Browser.
- Expand the Constellation Plugins context menu.
- Select the Add GPS Satellite Outages check box.
- When the Add GPS Satellite Outage tool appears, in the Select GPS Satellite Outage Data section, click and wait until you see the message "Satellite Outage Data Loaded".
- In the Apply to Which GPS Constellation? field, verify the GPSConstellation is highlighted and click .
- Look at the Outage Results Applied section. PRN 4 has the following outages: Out from: 23 Dec 2018 13:51:0.0 to 13 Jan 2020 17:34:0.0. If there are no outages to apply, it will say "No outages found." STK will apply PRN 4's outage date and time to the satellite as a temporal constraint.
- Click to close the Update Complete message window and then to close the Add GPS Satellite Outages dialog box.
Add GPS Satellite Outages Plugin
Now you can assign the GPSConstellation as your Coverage Definition asset.
Assigning the assets
- Return to PosAccCov's () properties ().
- Select the Basic - Assets page.
- Select GPSConstellation () in the Assets list and click .
- Click .
Disabling the Automatically Recompute Access option
- Select the Basic - Advanced page.
- Clear the Automatically Recompute Access check box.
- Click to accept changes and dismiss the Properties Browser.
Compute coverage
Now that the Coverage Definition is defined, you can compute access to points in the grid.
- Right-click PosAccCov () in the Object Browser.
- Expand the CoverageDefinition context menu.
- Select Compute Accesses.
Assessing navigation accuracy
STK's Coverage capability tells you where you have access to GPS satellites from inside the exercise area boundary, but you need to determine just how accurate the GPS position information is at any given time. Uncertainty exists in any navigation solution. You cannot eliminate uncertainty; you can, however, account for it.
- Insert a Figure Of Merit () object using the Insert Default () method.
- Select the PosAccCov () object in the Select Object dialog box.
- Click .
- Rename the Figure Of Merit () object to "NavAcc".
- Open NavAcc's () properties.
- On the Basic - Definition page, set the following options:
- Click .
- Click to view the Asset Range Uncertainty and Receiver Range Uncertainty for your GPS Satellites.
- Close the Figure of Merit NA Uncertainties Model dialog box.
- Click .
Option | Value |
---|---|
Type | Navigation Accuracy |
Compute | Maximum |
Method | PACC |
Type | Over Determined |
Time Step | 60 sec |
STK defaults the Asset and Receiver Range Uncertainties to one meter and zero meters.
Uncertainties
Checking asset range uncertainty
The GPS constellation experiences errors in its ephemeris (position in space) and clock data that translate into positioning errors in GPS receivers.
- Right-click NavAcc () in the Object Browser.
- Select FigureOfMerit Plugins.
- Select Add Navigation Uncertainties to determine range uncertainties.
Using the Add Navigation Uncertainties tool
Use the Navigation Files Plugin to model the actual uncertainties for the analysis time period of this scenario.
- If you are using STK 12.6 and later, skip this step and go to step 2. For STK 12.5 and earlier, download the uncertainties file (2020_008_234500_v01.psf) for the scenario time period here: https://analyticalgraphics.my.site.com/faqs/articles/Knowledge/Uncertainties-File.
- Click the ellipsis button () beside the Or browse for a local Prediction Support File (PSF) field.
- For STK 12.6 and later, go to <STK install folder>\Data\Resources\stktraining\samples\. For STK 12.5 and earlier, go to your download folder.
- Select the uncertainties file (uncertainties.psf).
- Click .
- Click in the Navigation Uncertainties Tool.
- The Asset Anomalies message refers to gps-04_svn74. This is the satellite with the reported outage. Click .
- Click to close Update Complete.
- Click to close the Add Navigation Uncertainties tool.
Checking your work
- Return to the NavAcc's () properties ().
- Click .
- Look in the Asset Range Uncertainty. You will notice the constant value for each satellite has been updated for the PSF file. Also, you can see the Receiver Range Uncertainty Value has been adjusted.
- Click to close the Figure of Merit NA Uncertainties Model window.
- Click to close the properties window.
Updated Uncertainties
Assessing position accuracy in a custom report
The Grid Stats Over Time report summarizes the minimum, maximum, and average of the figure of merit’s dynamic value over the entire grid as a function of time.
- Right-click NavAcc () in the Object Browser and select the Report & Graph Manager ().
- Right-click the Grid Stats Over Time report and select Properties ().
Setting the minimum
Set up the minimum value output.
- In the Report Contents list, select Overall Value by Time - Minimum.
- Click .
- In the Summary Options-Statistics section, select the Min check box.
- Click .
This will display the Minimum value of the Minimum column of FOM data.
Setting the maximum
Set up the maximum value output.
- Select Overall Value by Time - Maximum.
- Click .
- In the Summary Options-Statistics section, select the Max check box,
- Click .
- Click to accept the property changes.
- Click to close the warning message.
This will display the Maximum value of the Maximum column of FOM data.
Running the report
Now that you set up the minimum and maximum reporting, run the report.
- Expand the MyStyles directory in the Styles list.
- Rename the new report "My Grid Stats Over Time."
- Select the My Grid Stats Over Time report.
- Click .
- Close the report and the Report & Graph Manager.
As you scroll through the report, note the different sections. First is the Coverage properties, which simply shows values from the Coverage Definition object. Next is the FOM properties section. This is a good place to view the asset range uncertainties. Finally, you will see the minimum, maximum, and average uncertainties in meters. You can use the minimum and maximum uncertainty values to define the display of color contours.
Grid Stats Over Time
Global Statistics
For the purposes of this exercise, any range uncertainty greater than 10 meters is unacceptable. You can use minimum and maximum uncertainty values to define the display of color contours.
Specifying contour graphics
Specify how levels of coverage quality display in both the 2D and 3D Graphics windows using contours graphics. Contour levels represent the gradations in coverage quality and can be displayed for both static and animation values of the figure of merit. Since these values change over the 24 hour period, you'll focus on animation values.
- Open the NavAcc's () properties ().
- Open the 2D Graphics - Animation page.
- Change the Filled Area - % Translucency to 20.
- In the Display Metric section, enable the Show Contours option.
- In the Level Attributes section, click .
- Set the following options in the Levels section:
- Click .
- Set the following values in the Levels section:
- In Contour Interpolation (points must be filled), select Natural Neighbor.
- Click .
Option | Value |
---|---|
Level Adding - Start | 0 m |
Level Adding - Stop | 10 m |
Level Adding - Step | 1 m |
Option | Value |
---|---|
Color Method | Color Ramp |
Start Color | Blue |
End Color | Red |
Displaying the Legend window
Next, set up the legend window.
- Click .
- Click .
- Select the 2D Graphics Window Show at Pixel Location check box.
- Select the 3D Graphics Window Show at Pixel Location check box.
- Change Text Options Title to Uncertainty in Meters.
- Set Number Of Decimal Digits to zero (0).
- Set Color Square Width (pixels) to 50 in the Range Color Options section.
- Click to dismiss the Figure of Merit Legend Layout dialog box.
- Close the Animation Legend for NavAcc window.
- Bring the 3D Graphics window to the front.
- Animate () your scenario.
During the 24 hour period, you can visualize, based on color contours, how your range uncertainty is changing. Any time an area turns red, you are at or above your cutoff uncertainty of ten meters.
Range Uncertainties
Inspecting regions and points
If you know exactly where a seismic station is located, you can use the Grid Inspector tool, which enables you to focus more closely on a region or point within a coverage grid, furthering your analysis efforts.
- Bring the 2D Graphics window to the front.
- Zoom In () to the exercise area.
- In the Object Browser, disable the Figure of Merit graphics.
- Right-click NavAcc () and expand the FigureOfMerit context menu.
- Select Grid Inspector... .
- Click a grid point in the 2D Graphics window. In the Messages section, you will receive Point Location, Point Area, how long the Point is Covered by a maximum number of assets, and the value of Maximum Navigation Accuracy at that location.
- In the Graphs section, click .
- If desired, try different points.
This enables you to see the grid points inside the area target.
Grid Inspector
This graph is very useful. Assume that ten (10) meters is your accuracy cutoff. You simply place your cursor at the top of any spikes in your graph and you can read the date and time that accuracy is out of limits.
Save your work
- When you are finished, close the graph, Grid Inspector, and the Figure Of Merit object's properties.
- Save () your work.
Summary
You began by adding a local terrain file (.pdtt) to be used both analytically and visually. Next, you defined the area of interest (ExerciseArea) by inserting an Area Target object. After inserting the GPS satellites, you created a Coverage Definition object that focused on ExerciseArea. Prior to assigning assets, you used the Add GPS Satellite Outages plugin to download a satellite outage file and create a temporal constraint on one of the GPS satellites. After assigning the GPS Constellation as a coverage asset and computing coverage, you inserted a Figure of Merit object and set it up to report on Navigation Accuracy using Position Accuracy. To add realism to the analysis, you downloaded the actual range uncertainty file for the analysis time period and used the Add Navigation Uncertainties plugin to quickly update the asset range and receiver range uncertainties. Next you created a custom report that added minimum and maximum global statistics to an existing report style. After adding contour colors specific to positional accuracy to both the 2D and 3D Graphic windows, you explored the function of the Grid Inspector Tool.