Cube-P User Manual Preview

Cube-p
User manual
Stonex
November 2017
Index
Chapter 1 Installation & Uninstallation .................................................................................... 1
1.1 Introduction ................................................................................................................. 1
1.2 Installation ................................................................................................................... 2
1.3 Software uninstallation................................................................................................ 4
Chapter 2 Data processing ........................................................................................................ 6
2.1 Static GPS data processing.......................................................................................... 6
2.2 Dynamic GPS data processing .................................................................................. 12
Chapter 3 Cube_p.................................................................................................................... 17
3.1 The Main Function .................................................................................................... 17
3.2 Main Interface of Software ....................................................................................... 17
3.3 Menu Bar................................................................................................................... 19
3.3.1 Project ............................................................................................................ 19
3.3.2 Import ............................................................................................................. 19
3.3.3 Process ........................................................................................................... 20
3.3.4 Adjustment ..................................................................................................... 28
3.3.5 Export ............................................................................................................. 29
3.3.6 Map ................................................................................................................ 33
3.3.7 View ............................................................................................................... 33
3.3.8 Application ..................................................................................................... 33
3.3.9 Tool ................................................................................................................ 37
3.3.10 Help .............................................................................................................. 39
3.4 Toolbar ...................................................................................................................... 40
3.5 Workspace ................................................................................................................. 41
3.5.1 Observation Data............................................................................................ 41
3.5.2 Time Map ....................................................................................................... 43
3.5.3 Plane Map ...................................................................................................... 44
3.5.4 Baseline List ................................................................................................... 44

3.5.5 Repeated Baseline .......................................................................................... 46
3.5.6 Closed loop..................................................................................................... 47
3.5.7 Adjustment Report ......................................................................................... 48
3.5.8 Adjustment Coordinate................................................................................... 49
Chapter 4 Static baseline solution ........................................................................................... 50
4.1 New Project ............................................................................................................... 50
4.2 Import Observation Data ........................................................................................... 53
4.2.1 Data import..................................................................................................... 53
4.2.2 Observation data content ................................................................................ 55
4.2.3 Observation data file name ............................................................................. 56
4.2.4 Observation data in RINEX format ................................................................ 56
4.3 Static baseline processing setting .............................................................................. 56
4.4 Static baseline solution .............................................................................................. 57
4.5 Baseline solution result verification .......................................................................... 59
4.5.1 Baseline quality control.................................................................................. 59
4.5.2 Closed Loop verification ................................................................................ 59
4.5.3 Repeated Baseline .......................................................................................... 61
4.6 Factors influencing baseline solution result and coping method............................... 61
4.6.1 Influence factors ............................................................................................. 61
4.6.2 Coping method ............................................................................................... 62
Chapter 5 Network Adjustment............................................................................................... 64
5.1 Functions and basic steps of Network Adjustment ................................................... 64
5.1.1 Early preparation before network adjustment ................................................ 64
5.1.2 Network Adjustment Setting .......................................................................... 66
5.1.3 Import Known Coordinates ............................................................................ 67
5.2 Perform Network Adjustment ................................................................................... 67
5.2.1 Extract baseline vector network ..................................................................... 68
5.2.2 Connection inspection of baseline vector network......................................... 68
5.2.3 Adjustment Report ......................................................................................... 69
Chapter 6 Dynamic baseline solution ..................................................................................... 71

6.1 Early preparation for dynamic baseline solution ....................................................... 71
6.2 Perform Dynamic Baseline Solution ......................................................................... 72
6.3 Baseline solution result ............................................................................................. 72
Appendix 1 Glossary............................................................................................................... 75
Appendix RINEX data format ................................................................................................ 79

Chapter 1 Installation & Uninstallation
1.1 Introduction
Cube_p is mainly for processing baselines of GPS ephemeris data, then the result
will be used to adjust constrained network, so as to obtain final report for control
network.
This software is capable of processing data in two formats: RINEX standard data
of GPS receivers and *.dat data.
Integrated with friendly interface, all-English operating environment, processed
management and operation as well as better graphical operation interface and graphics
service, it perfectly performs export and save of a variety of graphics including baseline
network diagrams and error ellipses.
Using management of establishing project file, that engineering project exists in
the form of a file, reliability is greatly enhanced. Cube_p provides users the
convenience to customize the projector ellipsoid parameters and select diverse
coordinate system. The entire process, including baseline solution, network adjustment
and other operations, are operating in the project files under save path. This software
records all operations automatically, and it can export the progress of processed date
which is saved at any time, then to continue processing or check the results.
It is more powerful than previous versions, enjoying higher automation as well as
more convenient operation of baseline vector solution, closed loop searching, network
adjustment processing functions.
Using Cube_p to process baseline, it can easily set solution conditions and solver
type of any baseline. For independent synchronous loop, asynchronous loop and
repeating baseline, it can search automatically. In the network adjustment process, it
has increased 3D constrained adjustment, plane adjustment and vertical adjustment.
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1.2 Installation
Download Cube_p installation package as shown in Figure 1-1, run the installation
program as an administrator, and select the installation language as shown in Figure 1-
2. After that, click [OK] and then an interface appears in several seconds as shown in
Figure 1-3. Click [Next], choose the installation path as shown in Figure 1-4 and the
default installation path is C:\Program Files (x86) \ STONEX\Cube_p without
modification. Click [Finish] in the pop-up interface as shown in Figure 1-5, which
means successful installation and then the software automatically creates a Cube_p
shortcut on the desktop ( ) and the start menu. Double click the Cube_p shortcut
as shown in Figure 1-6, and the main interface appears as shown in Figure 1-7. Now a
series of operations could be done in the main interface, such as new project
establishment, baseline solution, and network adjustment.
Note: If your computer is Win10 system, please don’t install the Cube_p in disk
C, or you need to run Cube_p as administrator.
Figure 1-1 Figure 1-2
2
Figure 1-3
Figure 1-4
Figure 1-5
Figure 1-6
3
Figure 1-7
1.3 Software uninstallation

1)Shortcut uninstallation
Firstly, find and open the Cube_p installation folder in the “start” menu Bar as
shown in Figure 1-8. Next, click [Uninstall] and the pop-up interface as shown in Figure
1-9. Lastly, click [Yes] and the software starts to uninstall as shown in Figure 1-10.
When the desktop and the start menu Bar have no Cube_p shortcut, it indicates that the
software uninstallation is completed.
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Figure 1-10
2)System uninstallation
Click Start menu to enter Control panel, and choose delete programs. Find Cube_p
in the interface as shown in Figure 1-11, click [Uninstall] and the pop-up interface as
shown in Figure 1-12, which means the program is uninstalled successfully.
Figure 1-11
Figure 1-12
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Chapter 2 Data processing
This chapter mainly explains the simple procedure that Cube_p data processing
software processes static GPS data and dynamic post-differential data, so that the user
can quickly understand how to use the software in a short time. The data processing
process is briefly described below. Other more detailed introduction please refer to the
following sections.
2.1 Static GPS data processing

1) New project
Click [Project] – [New], then pops up the interface as shown in Figure 2-1.
Project name is necessary, while other items are optional. Click [Coordinate Sys.] as
shown in Figure 2-2. The users could set Ellipsoid Parameter, Projections Parameter
and other information in this interface.
Figure 2-1
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Figure 2-2
2) Import data
Click [Import] - [Observation Data] as shown in Figure 2-3, then choose the data
file and click [Open]. Import succeeds as shown in Figure 2-4.
Figure 2-3
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Figure 2-4
3) Static Options setting
Click [Process] - [Static Options] as shown in Figure 2-5, and click [OK] when
finishing setting.
Figure 2-5
4) Baseline process
a. Click [Process] - [Process all baselines] to process all the baselines as shown in
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Figure 2-6. When the Figure 2-7 appears, it means process complete. green refers to
baselines that succeed to process, while red refers to those failed.
b. Right-click the unqualified baselines in the baseline table, then choose
[Processing settings], and modify the static setting parameters to reprocess this baseline.
Figure 2-6
Figure 2-7
5) Network Adjustment
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a. Click [Adjustment] - [Adjustment Settings] as shown in Figure 2-8.
Figure 2-8
b. Click [Import] - [Known Coordinates] as shown in Figure 2-9.
Figure 2-9
c. Click [Adjustment] - [Adjustment Processing], the adjustment report is as shown in

Figure 2-10.
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Figure 2-10
6) Export processing results
Click [Export] - [Static Processing Results] as shown in Figure 2-11. After
choosing the file type and save path, click [Export], then the processing result could be
exported.
Figure 2-11
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2.2 Dynamic GPS data processing
1) New project
Click [Project] - [New], pops up the interface as shown in Figure 2-12. Project
name is necessary, while the other items are optional. Click [Coordinates Sys.] as shown
in Figure 2-13, the users can set ellipsoid parameter and projections parameter and other
information.
Figure 2-12
Figure 2-13
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2) Import data
Click [Import] - [Observation Data] as shown in Figure 2-14, choose the data file
and click [Open]. The interface as shown in the Figure 2-15 means import succeed.
The imported observation data should contain two kinds of data files, base station and
rover.
Figure 2-14
Figure 2-15
3) Modify dynamic options
Click [Process] - [Dynamic Options] as shown in Figure 2-16. Click [OK] after
setting up the parameters.
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Figure 2-16
4) Baseline Processing
Click [Process] - [Process all baselines] to process all the baselines as shown in
Figure 2-17. Process completes as shown in Figure 2-18. Green refers to baselines that
succeed to process, while red refers to those failed.
a. Right click the unqualified dynamic baseline in the baseline table, choose
[Processing settings], then modify the dynamic setting parameters to process
this baseline again.
Figure 2-17
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Figure 2-18
5) Check the results of the dynamic baseline solution.
Click [Result] - [View dynamic data] as shown in Figure 2-19. Green refers to
points in fixed solution, yellow to points in float solution and red to points in single
solution.
Figure 2-19
6) Export dynamic solution coordinates
Click [Export] - [Dynamic solution coordinates] as shown in Figure 2-20, choose
file type, point type and solution status, then click [Export]. Select the file storage
location, and the dynamic solution coordinates could be exported successfully.
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Figure 2-20
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Chapter 3 Cube_p
Cube_p is a professional processing software in GPS industry. Using management
of establishing project file, it needs to create or open a project before data processing.
The software can process data collected by third-party receivers with the aid of RINEX
format data input, including the post-processing of mixed operation data from different
kinds of GPS receivers.
3.1 The Main Function

1) It can deal with the observation data in the standard RINEX data format, which
is advantageous to process the observation data collected by the mixed
operation of different receivers.
2) It can download the observation data of IGS and CORS.
3) It can process static baseline, dynamic baseline and perform network
adjustment.
4) It can export dynamic/static baseline processing results and network
adjustment results.
5) All baselines can be fully automatically processed and can be individually
handled manually.
3.2 Main Interface of Software

Run Cube_p as shown in Figure 3-1. The main interface consists of a Title Bar,
Menu Bar, ToolBar, Navigation Bar, Workspace, Information Bar and Status Bar.
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Title Bar
Menu Bar
Toolbar
Workspace
Navigation
Bar
Info Bar
Status Bar
Figure 3-1
Title Bar: The initial purpose of the Title Bar is to help you quickly determine the
current application class. It can provide some basic program control for you, such as
restore, move, size, maximize, minimize, and close. If a project is open currently, the
project save path will be displayed.
Menu Bar: The drop-down menu is an important part of any Windows application
window, for providing commands of building projects, baseline solutions, network
adjustment, data management, view management, etc.
Toolbar: It provides some common shortcut commands, including creating new
projects, open projects, import observation data, baseline solutions, network adjustment,
and the operation commands in the map of peace surface.
Navigation Bar: It stores most of the common quick commands, including project
management, baseline solutions, network adjustment, and a series of commands of
exporting results.
Workspace: The workspace is a major area of work for the user, usually including
various diagrams related to the project.
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Information Bar: It exports various status information in the processing.
Status Bar: It displays some prompt information for the current operation.
3.3 Menu Bar
Figure 3-2
The Menu Bar contains the various functional menus of the software, namely,
Project, Import, Process, Adjustment, Export, Map, View, Application, Tool, Help. The
various functions are described in detail below.
3.3.1 Project
Figure 3-3
1) New
Creating new project.
2) Open
Open an existed project.
3) Attributes
Check the attribute information of the project, and the attributes information
can be modified after clicking open.
4) Exit
Close the current project file and exit the software.
3.3.2 Import
Figure 3-4
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1) Observation Data
Add an observation file for the newly established project or opened project file
to import *.dat and standard RINEX observation files.
2) Precise Ephemeris
Add a Precise Ephemeris file for the newly established project or opened
project file to improve the precision of long baseline solution.
3) IGS Data
Add IGS station data for the newly established project or opened project file
to improve the precision of solution.
4) CORS Data
Add CORS station data for the newly established project or opened project file
to improve the precision of solution.
5) Known coordinate
In the case of observation data import, left-click on the known coordinates,
and after adding the known coordinates to the newly established project or
opened project, it will be displayed as the green solid triangle in the plane map.
The known coordinates that added will be used in the horizontal surface
network adjustment or vertical control.
3.3.3 Process
Figure 3-5
Static Options
Before the static baseline solution, ready to set the baseline processing
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condition, click the [Static Options] and the static solution setting dialog box
is shown in Figure 3-6. The meaning of each setting item is as follows:
Basic Settings
 Solution Mode
The general software uses the automatic solution model in initial solution.
There are seven solution modes: automatic, L1, IonoFree, L2, L1L2, LN and
LW.
If user does not want to adopt the automatic mode, L1 solution model would
be adopted in short baseline solution, IonoFree mode in long baseline solution,
and the positioning precision can be improved by the natural LN mode.
 Ephemeris Type
It can choose broadcast ephemeris or precision ephemeris to process the
project. Generally, using precise ephemeris can improve solution precision of
long baseline, and short baseline using the broadcast ephemeris can meet the
requirements.
Figure 3-6
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 Elevation mask angle
Elevation mask angle is the mask angle of satellite elevation angle, which is
generally used to prevent the satellite data of low altitude from participating in
the baseline solution. The schematic diagram of mask angle is shown in Figure.
3-7.
Due to the atmosphere's influence on low altitude satellite signal is more
complex, and more difficult to use model to correct. What’s more, due to the
signal in low altitude is vulnerable to the influence of various factors such as
multipath, electromagnetic wave, the signal quality is usually low. Therefore,
usually it must eliminate them in data processing.
From the angle of atmospheric refraction, the mask angle can be reduced in
the case of short distance observations. For long distance observations, the
mask angle should be increased, because the shorter the distance, the more
easily the atmospheric refraction effect will cancel each other out. Of course,
the setting of mask angle also needs to refer to the surrounding environment.
The default mask angle of the software is 20 degrees.
Elevation
mask angle
Figure 3-7
 Epoch Interval
The epoch interval is the time interval at which the software extracts data from
the original observation data when the baseline is processed. For short baseline,
it is appropriate to reduce the epoch interval. For a long baseline, it is
appropriate to increase the epoch interval.
For example, two receivers are set to collect a set of data every 1 second in
static observation, but in the case of indoor processing, such high density
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observational data usually can’t significantly improve the precision of the
baseline, but greatly increases the time of baseline processing. Therefore, to
improve the speed of baseline processing, users can appropriately increase the
epoch interval of data processing.
The default epoch interval of the software is 10 seconds.
 Min Epoch
Because in observation, the receiver must observe the continuous carrier phase.
For example, if successive cycle slips occur in a piece of data, the quality of
this data is usually poor and often affects the quality of the baseline processing.
Therefore, the data should usually be excluded. Hence, in baseline processing,
the software will remove the data segments that its consecutive observation
epoch does not exceed the min epoch.
The default min epoch of the software is 30 seconds.
 Segment Interval
It will be divided into several time segments to process when the baseline data
observation time segment exceeds the setting value. When you set the segment
interval, you can set it to any value, or you can select it in the drop-down box
(option 2, 4, 6).
The default segment interval of the software is 2 hours.
 Single Fre. Length: When the single frequency baseline length is greater than
the set value, if it does not fix the ambiguity and the baseline solution is failed.
The default single frequency baseline length of the software is 10000 meters.
 Reference GPS
The double differential observed value forms when the single differential
observed value is processing between the satellites. Therefore, in order to
facilitate the processing, the software adopts to select the reference satellite in
forming double differential observed value.
The default setting is automatic mode. At that time, the software will select the
satellite that with maximum observed data and the bigger elevation angle as a
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reference satellite. However, due to the influence of observation conditions,
such a choice may not be the most reasonable. When choosing an inappropriate
reference satellite, it will affect the baseline processing results. At this point,
user is required to reset the reference satellite according to the condition of the
observed data.
 Satellite System Settings
Cube_p data processing software supports arbitrary combination of GPS,
GLONASS and BDS (BEIDOU) satellite system for solution.
Model Settings
In general, there is no need to modify the troposphere and ionosphere model
Settings. When using the medium or long baseline, it can be set according to
the actual situation to improve the precision of the solution. There are two
troposphere models to choose: the Saastamoinen model and the Hopfield
model. The ionosphere can choose the Klobuchar model or directly choose
none model.
Meteorological parameter
In general, no modification of meteorological parameter Settings is required.
According to the actual situation and specific requirements of the project to
modify if needed.
Qualified Solution Settings
 Ratio Limit
Ratio is the ratio between the second smallest mean square error and the
smallest root mean square error produced when the search algorithm is used to
determine the integer value of the parameter of unknown number in the whole
cycle.
It reflects the reliability of the determined parameter of unknown of the whole
cycle. The higher the value, the higher the reliability. When the processing
value is less than the set value, the baseline solution fails.
The default Ratio limit of the software is 3.00.
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 RMS Limit
RMS is the Root Mean Square, which is used to determine the quality of the
observed data. The smaller the RMS, the better the observed data quality;
Conversely, the worse the observed data quality is.
The default RMS limit of the software is 0.04.
1) Dynamic Solve Option
As shown in Figure 3-8, the dynamic option setting contains four aspects of
the settings, such as solution parameters, measurement errors, noise processing,
and satellite systems.
Generally, only need to modify several settings of parameters that are
following, according to the specific requirements and the actual situation of
project to set the rest of the settings of parameters, or to maintain the default
settings can be.
Figure 3-8
 Mask angle: The mask angle of satellite elevation angle, which is generally
used to limit the satellite data of low altitude, so that it will not participate in
the baseline solution. The default mask angle of the software is 15 degrees.
 Ambiguity fixed Ratio limit value: This value reflects the reliability of the
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parameter of unknown number of the whole cycle, when the Ratio value of the
solution is less than the set limit value, the baseline solution is failed.
The default Ratio limit of software is 3.0.
 Reset ambiguity count/cycle slips limit value: Because in the observation
process, the receiver must observe the continuous carrier phase, for example,
if successive cycle slips occur in a piece of data, the quality of this data is
usually poor. Therefore, when the time of cycle slips exceeds the limit value
of the cycle slips, it will reset ambiguity count as set value.
 Maximum differential delay: To judge the quality of observational data, when
the differential delay value is greater than the set value, the data quality is poor
and needs to be eliminated.
 GDOP/ Maximum allowable info threshold: Used to judge the quality of
geometric combination of space satellites.
2) Baseline Solution
According to the baseline situation, it can be divided into processing all
baselines, processing all static baselines, processing all dynamic baselines,
processing all failure baselines, processing all chosen baselines, processing all
newly increased baselines, processing all unsolved baselines, processing all
unqualified baselines.
3) Dynamic Data Viewing
The dynamic data view interface, shown in Figure 3-9, allows users to view
the solution results of all dynamic baselines in this interface. The display
solution results include: Point Name, Type, Date, time, Latitude, Longitude,
Altitude, Northing x, Easting y, Elevation h, Solution status, Satellite number,
Standard residual (N), Standard residual(E), Standard residual (U),
Differential delay, Ratio, Antenna height, Base station ID, Base station
distance, Device Serial Number, File Name. In addition, you can select the
display content, and the options available have [display type] and [solution
status].
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Figure 3-9
4) Baseline Restructuring
Cancel the results of all baselines solution.
After processing of baselines in the project, if need to modify the solution
setting and solve baselines again, after modifying solution settings parameters,
left-click [Baseline restructuring] and cancel all the results of the baselines,
then process the baselines again. At this point, it will process based on the new
solution parameters setting. Otherwise, the baseline solution is based on the
original solution settings.
5) Show Option
Set up the display information of the plane map, including the display of the
Station Point File, Point Type, Solution Mode and Display Map, as shown in
Figure 3-10.
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Figure 3-10
6) Delete the Solution

Cancel all baseline solutions.
3.3.4 Adjustment
1) Adjustment Setting (show in Figure 3-12)

Closed loop search depth: For adjust the number of sides of closed loop, for
example, set the closed loop search depth to 3, so the number of baseline
vectors that make up a closed loop cannot exceed 3.
Minimum sync time: The baseline will not participate in the solution when the
synchronous observation time is less than the set synchronization time value.
2) Adjustment Processing
Cube_p bases on adjustment settings and control network level settings to
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perform network adjustment solution. The network adjustment can be divided
into three-dimensional adjustment, horizontal adjustment and vertical control
according to the situation of the input known point.
3) Export Adjustment
After adjustment processing, click [Export] – [Export Static Results], choose
the adjustment report as file type, select the file save path, as shown in Figure
3-13. Click [Export], and it will export the adjustment report.
Figure 3-13
3.3.5 Export
Figure 3-14
1) Static Processing Results

Static Solution results pop-up box as shown in Figure 3-15, users can export
and save the static processing result file as various file type for facilitating
following work. Export file type supports single and multiple selections.
File types are divided into: dat (point name, latitude, longitude and elevation),
dat (point name, coordinates x, coordinate y, coordinate h), cass (point name,
code, coordinates y, coordinates x, coordinates h), AutoCAD (dfx), Google
Earth (kml), coordinate system files (sp), coordinate transformation file (cot),
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adjustment report (html), baseline solution report (html).
Users can set their own path to save the static result file.
Figure 3-15
2) Baseline Result File

The pop-up box of baseline results file as shown in Figure 3-16, users can
export and save the baseline results file as various file type for facilitating later.
The export file type is divided into all baselines and qualified baselines.
The export format is divided into: PowerAdj3.0 Trimble, SOUTH, TGO,
TGPPS Ski Pro and GeoElectron. Users can set their own path to save the
baseline results file.
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Figure 3-16
3) Dynamic Solution Coordinate

The pop-up box of dynamic solution coordinate as shown in Figure 3-17, user
can export and save all or part of the dynamic solution coordinates according
to the project management and analysis needs.
Figure 3-17
31
Operation step: select data file —> select baseline —>set output type —>set
the point type and solution status of export data —> export.
Click [Import] on the right to import the saved output type into the project and
display it in the list on the left.
Click [New] on the right to pop-up the [Custom] Output type setting box as
shown in Figure 3-18.
Select the content the user wants to display, click [Add], and repeat until the
user add all the displayed content they need. The display contains the following:
Point name, date, time, latitude, longitude, elevation, coordinate X, coordinate
Y, coordinate Z, North coordinate X, East coordinate Y, Elevation H, Solution
Status, number of satellite, HRMS, VRMS, differential delay, Ratio, base
station distance, covariance.
Below the pop-up settings box, you can set a custom format's separator symbol,
angle format, extension name, and whether to write a file header, or keep the
software defaults.
Click [OK] to complete the settings of custom format.
For new custom output types, the software provides an [Edit] and [Delete]
operation. For the seven types of export that the software comes with, the
software does not provide [Edit] and [Delete] operations.
Figure 3-18
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3.3.6 Map
Figure 3-19 Figure 3-20 Figure 3-21
The map Menu Bar is designed specifically for planimetric maps, which contains
a series of operation commands for planimetric map. Zoom In, Zoom Out, Move, Zoom
Extents, Screen Measurement, View Information, Data deletion, map settings, as shown
in Figure 3-19.
The meaning of the operation instructions can be referred to Toolbar introduction
in section 3.4.
3.3.7 View
Toolbar, Status Bar, Navigation Bar and Information Bar can be set in view Menu
Bar whether to be displayed in the main interface to facilitates user, as shown in Figure
3-20.
3.3.8 Application
The application Menu mainly includes [UVA Application] and [SurPad

Application], as shown in Figure 3-21.
1)UVA Application
The UAV application is mainly to import and export UAV observation data, as
33
Figure 3-22
2)SurPad Application
Surpad application is to import the data collected by the Surpad software to
calibrate the precision of the data in the baseline solution, and the data imported by the
Surpad application will replace the low precision part of the original observation data.
Click [Open Project], as shown in Figure 3-23, open the *.GSW file, as shown in Figure
3-24, select the data file, and the data import success as shown in Figure 3-25. Select a
point, click [Detailed Info], as shown in Figure 3-26, to view real-time positioning
information of this point. Click [Start processing], as shown in Figure 3-27, the
imported project data will be compared with the imported observation data, and will
automatically replace the low precision observation data.
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Figure 3-23
Figure 3-24
35
Figure 3-25
Figure 3-26
36
Figure 3-27
3.3.9 Tool
The tool menu mainly includes the [RINEX Converter] and the [Observation Files
Merge] two tools, as shown in Figure 3-28.
1) RINEX Converter Tool
Enter the RINEX Converter Tool, which can convert data files in any format, as
shown in Figure 3-29. Detailed explanation of RINEX data can be queried in appendix
2.
Figure 3-28
37
Figure 3-29
2) Observation files Merge

Enter the Observation Merge tool, which can merge multiple observational files,
as shown in Figure 3-30. Click [Add] to import the observation data files, click [Delete
to delete a single file, click [Clear] to delete all the files in the list, and click [Merge] to
merge all the files in the list and export to the user's own optional path.
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Figure 3-30
3.3.10 Help
The Help menu, shown in Figure 3-31, contains two items: Register and About
Cube_p.
Figure 3-31
1)Register
As shown in Figure 3-32, enter the registration code after clicking [Register], user
can use the full function of the software after successful registration. Click [Auto Get]
when have no registration code and then user can use the software for free in 7 days.
Figure 3-32
2)About Cube_p
Click [About Cube_p], as shown in Figure 3-33, to see the version and service
time of the Cube_p.
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Figure 3-33
3.4 Toolbar
There are shortcut keys of part of operation commands added to the Toolbar, and
the meanings of shortcut keys are as follows:
New Project Key
Open Project Key
Import Observation Data Key
Baseline Solution key (Default all baselines)
Net Adjustment Key
Selection Key, to choose the stations and baselines in the map
Zoom in key, to zoom in the plane map to display
Zoom out key, to zoom out the plane map to display
Zoom the plane map extents to fit the screen.
Move key, to move the plane map
Screen Measurement Key
Viewing Key, to view to station points and baselines in the map

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Delete Key, to delete the station points and baselines
Software Version Viewing Key
3.5 Workspace
Figure 3-34
The workspace is the main area of the user's work, which contains eight options,
namely Observation Data, Time Map, Plane Map, Baseline List, Repeated Baseline,
Closed Loop, Adjustment Report, Adjustment Coordinate. The eight-options display
different content. The options are free to switch between, easy to operate and view the
information.
3.5.1 Observation Data
In the list of observation data files in the workspace, displays detailed information
about each observation data file, including file name, station name, data type, start time,
end time, antenna height, method of measurement, height of measurement, antenna type,
data version, device serial number, and full path of saved file.
Figure 3-35
Select any one of the target files in the file list, right-click, and pop-up the Drop-
down box, as shown in Figure 3-35.
[View Graphics]: As shown in Figure 3-36, you can view the tracking status of
satellite data in the observation file, in which the interrupt part indicates conditions that
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the receiver has lost satellite’s track and other conditions.
Figure 3-36
[Edit Station]: Left click “Edit Station”, the pop-up dialog box is shown in Figure
3-37, which contains information such as station settings, antenna parameters, antenna
height, etc. In the pop-up dialog box, you can modify the parameters of station name,
antenna type, and antenna height.
[Delete Station]: you can remove the observation file from the selected station
from the list.
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Figure 3-37
[Turn to Dynamic]: The selected observation file data type can be changed from
static to dynamic.
3.5.2 Time Map
As shown in Figure 3-38, the observation time of each station is shown separately
according to the type of the station (dynamic, Static), because the precondition of the
baseline solution is that there must be synchronized observation data between stations,
that is, the common observation time. The user can visually observe whether there is a
common observation time between the station and the station through time map,
whether the data of the observation station can be baseline processed.
Figure 3-38
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3.5.3 Plane Map
The plane map mainly shows the project’s auxiliary information such as the station,
baseline information and scale, grid reference line and so on.
You can view and modify the station and baseline information by using shortcut
keys .
Figure 3-39
Station: The triangle represents the observation station, the gray triangle represents
the general observation station, the green triangle indicates that the observation station
is a known point.
Baseline: Line segments with arrows represent baselines. The gray baseline
indicates that the baselines have not been processed or processed fail, and the green
baseline indicates that the baselines have been successfully processed.
Error ellipses: After completion of network adjustment, the error ellipse of the
baseline will be shown in blue, which can be used to judge the solution quality of the
baseline.
3.5.4 Baseline List
It displays the details of all the processed baseline in list format, includes whether
baselines are enabled, baseline name, baseline type, sync time, solution status, variance
ratio, mean error, horizontal component, vertical component, x increment, y increment,
z increment, baseline length, relative error, azimuth angle, horizontal distance,
elevation difference, start point x, start point Y, Start point Z, end point x, end point y,
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end point Z.
In the baseline list, the green part is the baselines of successful solution, the red
part is the baselines of the failed solution, and the blue part is the new added baselines.
The user can modify the parameters of solution setting and process the failed baselines
again.
Select any one of the baselines, right-click and the pop-up menu as shown in
Figure 3-40. The related operation of baseline can be processed through the pop-up
menu, including baseline information, solution settings, processing again, delete
baseline, enable baseline, disable baseline, end point exchange.
Figure 3-40
[Baseline Information]: View the detail information of selected baseline.

[Solution Settings]: Modify the condition of baseline solution, and process the
baselines according to the new solution settings.
[Reprocess]: Reprocess the selected baselines according to the original solution
settings.
[Delete baseline]: Delete the selected baselines from the baseline list.
[Enable Baseline]: Re-enable the disable baselines, that is, these baselines can be
processed again in data processing, such as net adjustment.
[Disable Baseline]: Disable the selected baselines, and these baselines can’t be
processed again in data processing, such as net adjustment.
[Terminal Point Exchange]: To exchange the start point and end point of the
selected baseline vector, such as: baseline vector I002-I001 change to I001-I002.
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Double-click the selected baseline after processing the baseline can view the
baseline vector’s detail information of solution.
Figure 3-41
3.5.5 Repeated Baseline
Click [Repeated Baseline], as shown in Figure 3-42. Workspace will display the
related information of repeated baseline, including baseline name, quality, DX (m), DY
(m), DZ (m), average length, relative error, length difference, length difference limit.
When the length difference is less than the limit, the repeated baseline is qualified.
Figure 3-42
Double-click the repeated baseline, the pop-up dialog is shown in Figure 3-43, and
the basic information of the repeated baseline and the detailed solution result of the two
baselines will be display.
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Figure 3-43
3.5.6 Closed loop
Closed loop is divided into two kinds, one is synchronous closed loop, the other is
asynchronous closed loop.
Synchronous Closed Loop: It is a closed loop formed by baseline vectors that are
obtained by three or more GPS receivers’ synchronous observation.
Asynchronous Closed Loop: The closed loop is constituted by a set of baseline
vectors (three or more baseline vectors) and any one of the baseline vectors cannot be
represented by other baseline vectors of the same group.
Click [Closed Loop], as shown in Figure 3-44, workspace will display the relate
information of closed loop, include the station name, Quality, observation time, Total
length of loops, X Closure error (mm), Y Closure error (mm), Z Closure error (mm),
Closure Error of Side (mm), Relative Error (ppm), Component difference (mm),
Closure error (mm), the loop line.
The quality of the closed loop is qualified when the X Closure Error, Y Closure
Error, Z Closure Error all are smaller than Component difference and the Closure Error
of Side is smaller than closure Error.
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Figure 3-44
Double-click the closed loop, the pop-up dialog is shown in Figure 3-45., and the
basic information of the closed loop and the detailed solution results of the closed loop
baselines will be displayed.
Figure 3-45
3.5.7 Adjustment Report
After the completion of the network adjustment, the workspace will automatically
switch to the adjustment report interface, and the adjustment report lists the details of
the closed loop, the Known coordinate X, Y, Z increment and correction value of the
baseline after net adjustment, the coordinate and point precision of the observation
station after adjustment. See Figure 3-46.
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Figure 3-46
3.5.8 Adjustment Coordinate
Click the [Adjustment Coordinate], as shown in Figure 3-47. The workspace will
switch to the adjustment coordinate of the station. The user can intuitively obtain the
adjustment coordinates of the station from the list.
Figure 3-47
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Chapter 4 Static baseline solution
In GPS data processing, static baseline vector can be determined by static baseline
processing, so as to determine geometrical shape of GOS network.
4.1 New Project

Cube_p manage data in form of project, so it needs to perform data processing or
operation order in project. Hence, before data processing, it needs to create a new
project, or open an existed project.
To create a new project needs following steps:
a) Input engineer information. Project name is necessary, while other items are
optional.
b) Determine project save path: click Project Path to choose and it will show in
the right blank.
c) Set Control Level.
d) Set Coordinate System Parameters.
When a new project is created, its project file naming after Project Name will be
generated under the save path, which contains project data, processing results and
processing records. To open existed project, choose *.GS file. To transfer project files,
copy the project file straightly.
Set project property
Way one: click [Project] in Menu Bar – [Properties]
Way two: click [Project Manager] – [Properties]
Project properties includes four items: Project Info, Project Path, Control Level
and Coordinate System.
Project Info contains the project basic information. For Project Name and Project
Path, they are determined when the project is created, and only for check but not able
to modify after the project is saved. Other information can be modified at any time. As
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Figure 4-1
[Control Network Level]: Control level is important to provide accordance for

many inspections and judgement in data processing. It can choose national normative
criterion or user defined level. Click the inverted triangle in Control level blank to
choose control level, which includes Specifications for global positioning system (GPS)
survey/Version 2009, Technical code for urban surveying using satellite positioning
system/Version 2010, Specifications for highway survey/Version 2007 and
Specifications for survey engineering of railway/Version 2009. As shown in Figure 4-
2.
Figure 4-2
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[Coordinate System Setting]: Input Coordinate system name, mainly set Ellipsoid
Parameter and Projections Parameter, and set other parameters as actual project needed.
For Ellipsoid parameter, it can choose built-in ellipsoid parameters like WGS-84 and
krassovsky(Beijing54 Using), or choose Define to set Semimajor axis and 1/f, as shown
in Figure 4-3. As shown in Figure 4-4, Projections Parameter has six built-in projection
modes, namely Gauss Kruger, UTM, Transverse Mercator, Tilt Stereographic, Double
Stereographic and Isometic Mercator. The software will automatically calculate
measured data to obtain Central Meridian, so Central Meridian directly applying default
setting is ok.
Figure 4-3
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Figure 4-4
4.2 Import Observation Data

GPS receiver exports data in two kinds of formats: ASCII (NMEA 0183) and
binary system. Usually, GPS receiver manufacturers use binary system as defined
proprietary format, which features high storage efficiency and embrace of various
information. However, different GPS receiver manufacturers have different defined
proprietary formats. Since data processing software can only recognize limited formats,
when a project’s raw data is provided by different GPS receiver, data processing
analysis is unable to perform.
Cube_p supports raw data in RINEX format and *.dat format to solve this problem.
4.2.1 Data import
Organize the observation data in advance and then import into Cube_p.
Way one: click [Import] in Menu Bar – [Observation Data]
Way two: click [Data Import] in Navigation Bar – [Observation Data]
In Import Observation Data interface, find the save path of observation data, as
shown in Figure 4-5. In the lower right corner, it can choose document type, and only
corresponding documents will show. Choose observation data and click [OK] to import
it for following processing.
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Figure 4-5
While importing the observation file, Cube_p automatically finds and import
relevant ephemeris file. For *.dat file, as observation data and ephemeris data merge in
one file, observation file and ephemeris file are imported at the same time. For RINEX
file, observation data and ephemeris data save in different files. As a result, it needs to
put two files in a same directory, so that the software automatically recognizes
ephemeris file with format and import it. Otherwise, ephemeris file needs to be
imported additionally.
After importing observation file, the software extract observation stations, and
obtain static baselines and dynamic baselines according to their observation time, as
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Figure 4-6
Right click target file and it shows [View Graphics], [Edit Station] and [Delete
Station] three orders. Find more details in Chapter 3 - 3.5.1.
4.2.2 Observation data content
Observation file mainly saves raw observation data in every epoch that GPS
receiver recorded. Each epoch contains observation time, tracking satellite information
of every channel, pseudo-range of C/A code, pseudo-range of P1 code, pseudo-range
of P2 code, L1 carrier phase and L carrier phase. For Cube_p, static observation file
should at least contain observation time, pseudo-range of C/A code and L1 carrier phase;
dynamic observation file should contain at least observation time and pseudo-range of
C/A code.
In addition to the above information, observation file also contains point
information, initial coordinate and relevant ephemeris information and other
information.
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4.2.3 Observation data file name
Usually, Cube_p distinguishes different observation files on the basis of file name.
In general, observation file name consists of 8 digits and its extension, such as
BJFS1234.dat.
In one project, files sharing a same name are not allowed. For example, in one
project, it’s not allowed to exist observation files BJFS1234.dat and BJFS1234.16O at
the same time.
Naming rule for file name: observation file usually consists of station name, DOY
and period number. Station name can be composed of 4 digits or 2 Chinese characters.
DOY refers to the observation day of year in sequence. Period number refers to the
period in sequence in the observation day, which can be represented by 1, 2, 3, …, 9,
A, B, …, Z.
4.2.4 Observation data in RINEX format
RINEX format is a general data interchange format created to uniformly process

data that collected by different kinds of receivers. It’s put forward by Institute of
astronomy, University of Bern in Switzerland. Nowadays, manufacturers, schools and
research organizations use it as standard input format in software programming. And
current mainstream GPD receivers at home and abroad all support to transfer
observation data into RINEX format as well. At present, to meet demand of multisystem
and multi-channel observations, RINEX format has developed to 3.X version. Find
more detailed description about RINEX 2.X format in relevant content and Appendix
2, description about RINEX 3.X format in official document.
4.3 Static baseline processing setting

Before static baseline processing, it needs to set up static settings. Click [Process]
in Menu Bar – [Static Options], or click [Baseline Process] in Navigation Bar – [Static
Settings], then pops up a dialog box as shown in Figure 4-7.
Please find Chapter 3-3.3.3 to see specific meanings of every setting parameters
in static processing settings as reference to set up the parameters.
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Figure 4-7
4.4 Static baseline solution

Users can perform baseline solution in the following three ways:
Way one: click [Process] in Menu Bar – [Process all baselines]
Way two: click [Baseline Process] in Navigation Bar – [Baseline Process]
Way three: click shortcut key in toolBar
After preparation, to perform [Baseline Process], the program starts to process all
baselines one by one in sequence and shows solution information in dialog box, as
In dialog box would respectively appear baseline name, processing progress and
baseline information of the baseline in progress. It can also click [Cancel] to stop
baseline processing while operating.
57
Figure 4-8
After baseline processing, click [Baseline List] to check the result, such as
Solution status, Variance Ratio and Error. In the sheet, green area refers to baselines
that succeed to process, while red area refers to those failed.
Through user adjusting processing settings, it can reprocess the failed baselines,
to qualified all baselines in solution status as far as possible.
Figure 4-9
Information Bar shows processing progress, solution status and warning message
of every baseline in the project.
After baseline processing, double-click the baseline to view the detailed solution
information of the baseline vector, as shown in Figure 4-10.
Figure 4-10
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4.5 Baseline solution result verification
4.5.1 Baseline quality control
After baseline processing, result quality can be evaluated by RATIO (Variance

Ratio) and RMS (Root Mean Square) two quality indicators.
RATIO value (Variance Ratio)
RATIO is the ratio of the second minimum RMS to the minimum RMS after the
whole-week ambiguity decomposition. That is:
𝑅𝑀𝑆
RATIO =
𝑅𝑀𝑆
RATIO reflects the reliability of the uncertain parameters of the whole week. It
depends on a variety of factors, such as the quality of the observed values and the
conditions of observation.
RATIO is the key value that reflects the quality of the baseline. In general, RATIO
should be greater than 3.0.
RMS value (Root Mean Square)
𝑉 𝑃𝑉
RM =
𝑛−𝑓
Of which:
V refers to the residual of the observed value;
P refers to the weight of the observed value;
n-f refers to the total number of observed value minus the number of unknown
number.
RMS reflects quality of observed value. The smaller the RMS, the better the
quality of observed value. Otherwise, the worse the quality of the observed value. It is
unaffected by observational conditions, such as the satellite's distribution.
According to the theory of mathematical Statistics, the probability of observed
error being within 1.96 times of RMS is 95%.
4.5.2 Closed Loop verification
Closure error & Loop closure error

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Closed loop verification is a powerful method to detect baseline quality.
A closed loop is a closed graph consisting of a number of baseline vectors
connected end-to-end.
Closure error of closed loop is the vector sum in the same direction (clockwise or
counterclockwise) of the baseline vectors that make up the closed loop.
Closure error of closed loop should be 0 in theory. However, in actual
measurement, it allows certain deviations. About the limit error of closed loop please
refer to relevant literature.
The closure error of loop can be divided into two kinds as follows:
1) Component Closure Error: the vector sum in the same direction (clockwise or
counterclockwise) of the baseline vectors that make up the closed loop.
𝜀∆ = ∑ ∆X
i.e.： 𝜀∆ = ∑ ∆𝑌
𝜀∆ = ∑ ∆𝑍
2) Full length relative closure error: The ratio of the root of sum of the square of
component closed error to the loop length
∆ ∆ ∆
i.e.：ε = ∑
Of which, ∑ 𝑆 refers to loop length.

Synchronous closed loop
A synchronous closed loop error is a closure error of closed loop consisting of
synchronous observation baselines.
Because of the intrinsic connection between synchronous observation baselines,
the synchronous closed loop error should always be 0 in theory. If the synchronous
closed loop error is over limit, it indicates that there is at least one wrong baseline vector
in baselines make up the synchronous closed loop. Whereas, if the synchronous closed
loop error is not over limit, it merely indicates that in most situations, static baselines
are qualified, not to indicate that all baselines make up the synchronous closed loop are
qualified.
Asynchronous closed loop
An asynchronous closed loop is a closed loop that is not entirely composed of
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synchronous observation baselines. Its closure error names closure error of
asynchronous closed loop.
When closure error of asynchronous closed loop meets limit requirement, it
indicates that the vectors of baselines make up the asynchronous closed loop are
qualified. Whereas, closure error of asynchronous closed loop fails to meet limit
requirement, it indicates that at least one baseline vector is unqualified. It can determine
the unqualified baseline vector on the basis of multiple adjacent asynchronous loops.
4.5.3 Repeated Baseline
Two same observation stations observe in multiple observation periods (≥2), and
these observed baselines in different periods name repeated baselines. Difference
between these baselines is repeated baseline difference.
Repeated baseline difference is an effective indicator to evaluate baseline quality.
When it is over limit, it indicates that there must be an unqualified baseline among
repeated baselines.
4.6 Factors influencing baseline solution result and coping
method
4.6.1 Influence factors
The main factors influencing baseline solution result are as follows:

1) The starting point coordinates set in baseline solution are not accurate.
Inaccurate starting point coordinates would result in a deviation in the scale
and direction of the baseline.
2) Insufficient observation time of satellites would result in uncertain ambiguity
of whole cycles of these satellites. When observation time of satellites is
insufficient, the ambiguity of whole cycles of the satellite can’t be determined.
In baseline solution, for participating satellites, if their ambiguities of whole
cycles are uncertain, it would influence the final baseline solution result.
3) There are excessive cycle slips in certain periods in the whole observation time,
which results in imperfect repair of cycle slips.
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4) The multipath effect is strong in observation time and corrections of
observation values are generally large.
5) The influence of the troposphere or ionospheric refraction is too strong.
6) The influence of electromagnetic wave is too strong.
7) Receiver issue results in poor data quality. For instance, the phase
measurement accuracy of receiver reduces, or the clock of receiver is
inaccurate.
4.6.2 Coping method
1) Coping method for inaccurate starting point coordinate

To solve the problem of inaccurate starting point coordinate, it can choose the
point with higher coordinate accuracy as starting point in baseline solution. A starting
point with higher coordinate accuracy can be obtained by single point positioning in
relatively long time or joint measurement with point with more accurate WGS-84
coordinate. The problem also can be solved by another method. In the baseline solution
of the entire network, the starting coordinates of all baselines are derived from a
coordinate, so that the solution results share certain system deviation, which then can
be solved through importing system parameters in GPS network adjustment.
2) Coping method for insufficient observation time
If the observation time of one satellite is insufficient, its observation data should
be deleted to prohibit it from baseline solution, so as to ensure the quality of baseline
solution.
3) Coping method for excessive cycle slips
If multiple satellites occur cycle slips frequently during a same period of time, it
can delete the period occurring cycle slips frequently to improve the quality of baseline
solution. If only certain satellites occur cycle slips frequently, it can delete the
observation value of the satellites occurring cycle slips frequently to improve the
quality of baseline solution.
4) Coping method for multipath effect
Multipath error: signal once reflected by certain object surface together with signal
62
directly from satellite is received by receiver, then this signal superimposition and
interference would result in deviation in observation value.
A simple and effective method for this problem is choosing a proper observation
station to avoid signal reflector in observation data collection. Or it can solve through
deleting the periods or satellites with strong multipath effect.
5) Coping method for strong influence of the troposphere or ionospheric
refraction
For strong influence of the troposphere or ionospheric refraction, it can be solved
by following ways:
a. Raise elevation mask angle to remove observation data of low elevation angle,
which is susceptible to influence of the troposphere or ionospheric refraction.
However, this method has certain blindness because signal in low elevation
angle is not necessarily affected much by the troposphere or ionospheric
refraction.
b. Correspondingly use models to correct delay of the troposphere and
ionospheric refraction.
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Chapter 5 Network Adjustment
GPS data processing includes baseline solution and network adjustment. Baseline
vectors from baseline solution merely can determine graphical shape of GPS network.
Hence, after baseline solution, it needs to furtherly verify baseline solution result and
optimize baseline vectors, which then needs to convert to national coordinate or local
coordinate as needed. And that’s what exactly network adjustment performs.
5.1 Functions and basic steps of Network Adjustment

Cube_p can perform 3D adjustment, 2D adjustment and Elevation adjustment.
To perform network adjustment in Cube_p, basic steps are as follows:
1) Early preparation (done by user): It needs to complete baseline solution, set up
control level and coordinate system, and load known point.
2) Calculation of network adjustment (automatically done by software)
3) Quality analysis and control of calculation result (handled by user)
Cube_p merely perform calculation of network adjustment. The most important is
user’s participation and ultimate correct judgement. The process generally repeats till
it obtains a proper result.
5.1.1 Early preparation before network adjustment
Before network adjustment, it needs to complete baseline solution and solution

status should be “Succeed”. Baselines that fail to process do not participate in network
adjustment.
Control Level Setting
Before network adjustment, it should check if the control network level is correct.
Control level is important to provide accordance for many inspections and judgement
in network adjustment. Without setting control level, network adjustment would fail.
As shown in Figure 5-1, Cube_p provides several control level parameters, namely
Specifications for global positioning system (GPS) survey/Version 2009, Technical
code for urban surveying using satellite positioning system/Version 2010,
Specifications for highway survey/Version 2007 and Specifications for survey
64
engineering of railway/Version 2009. If the project has other requirements in control
level parameters, it can choose [user define] to set up Fixed error, Relative error,
Average length, Error in horizontal component, Error in vertical component and
Margin error of weakest baseline.
Figure 5-1
If control level is not set up before network adjustment, the baseline vectors
succeed to process cannot pass network inspection, resulting in networking failure and
then network adjustment fails. Warning window pops up as shown in Figure 5-2.
Figure 5-2
Coordinate System Setting
Before network adjustment, it should check if coordinate system setting is correct.
In general, it mainly sets up Ellipsoid Parameter and Projections Parameter. Other
parameters are set as needed or keep default setting, as shown in Figure 5-3. For
instance, Chinese users generally apply krassovsky (Beijing54 Using) as ellipsoid
parameter and Gauss Kruger as projections parameter.
Cube_p has built-in common ellipsoid parameter and projections parameter and it
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would automatically calculate measured data to obtain Central Meridian. Since it
has set up the control level and coordinate system in project creation, setting up
these two items again is merely for further confirmation.
Figure 5-3
5.1.2 Network Adjustment Setting
Way one: click [Adjustment] in Menu Bar– [Adjustment Setting]

Way two: click [Adjustment Process] – [Option Settings]
It needs to set up calculation parameters of adjustment before network adjustment
calculation, so as to determine the conditions that constitute a closed loop.
Figure 5-4
Closed loop search depth: to adjust edge number of closed loop. For instance, set
closed loop search depth as 4, then in network adjustment closed loop with three sides
and four sides would be included and maximum edge number of closed loop is four.
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Minimum sync time: baselines whose observation time is shorter than minimum
sync time has been set would not be included in network adjustment.
5.1.3 Import Known Coordinates
It needs to import known coordinates before network adjustment, or Cube_p

would automatically choose one station point as known point to perform 3D adjustment.
Import known coordinates:
1) Click [Import] in Menu Bar – [Known Coordinates], or click [Data Import] in
Navigation Bar – [Known Points]
2) Click [Add] as shown in Figure 5-5. Input known coordinates and tick options
as actually needed.
3) Or directly import the known coordinates have been saved into project through
[Import]
Figure 5-5
In known coordinate management, it would list the information of known
coordinates. And it can edit and delete the known coordinates as well.
5.2 Perform Network Adjustment

Click [Adjustment] in Menu Bar – [Adjustment Processing], or click [Adjustment
Process] in Navigation Bar – [Adjustment Process] to perform network adjustment.
Cube_p would perform all possible adjustments (3D adjustment, 2D adjustment and
Elevation adjustment) directly based on current setting, and show the processing
67
progresses and results in Information Bar. After network adjustment, it would create a
network adjustment report and automatically jump to the report interface. According to
the network adjustment report, users can judge if the network adjustment meets the
project demands. If the result fails, it needs to reperform network adjustment until the
result reaches the project standard.
5.2.1 Extract baseline vector network
First step for network adjustment is to extract the baseline vector network. The
principles of baseline vector network constitution are as follows:
1) The baseline exists in current project and is not deleted.
2) The baseline succeeds to process and its solution status shows “Qualified” in
Baseline List.
3) The baseline is not disabled.
4) The baseline meets requirements of control level.
Any baseline meets above conditions would be automatically included to form
baseline vector network in the first step of network adjustment.
5.2.2 Connection inspection of baseline vector network
Performing network adjustment without connection would cause network

adjustment cannot converge. Cube_p would automatically perform connection
inspection of baseline vector network before network adjustment. If network is not
connected, warning window would pop up as shown in Figure 5-6.
Figure 5-6
If appears above warning, please check the information of baselines that constitute
baseline vector network, such as baseline vector and observation station name.
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Inspection steps are as follows:
1. Check if network is divided into several parts, and if there is isolated station
point or baseline. If positive, it must delete the isolated point or perform network
adjustment in blocks.
2. Check if any important baseline fails to process or be disabled in network
adjustment. If positive, the baseline needs to reprocess or even re-observe.
3. Check if one station has two different names in network, reflecting in network
graph that these two stations locate very close to each other. These two points observe
in the same location in different periods, so between them cannot form any baseline,
which makes network unconnected. Solution is to correct the wrong station name in
observation data properties.
5.2.3 Adjustment Report
The results of net adjustment are reflected in the adjustment report. Take 3D
adjustment as example, its adjustment result is as shown in Figure 5-7. It can click
[Export] in Menu Bar – tick [Adjustment report] or click [Result] in Navigation Bar –
[Static result file] – tick [Adjustment report] to export and save adjustment report. In
this way, it provides convenience for network adjustment analysis, and avoids losing
the result.
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Figure 5-7
70
Chapter 6 Dynamic baseline solution
Dynamic data processing is post-differential data processing. Post-differential is
different from RTK in that RTK obtains the observation result immediately in the field
while post-differential cannot obtain the result until indoor processing.
Dynamic GPS data processing process dynamic baseline, which includes two
kinds of data files, base data file and rover data file.
6.1 Early preparation for dynamic baseline solution

In dynamic baseline solution, to create new project and import observation file, its
operation steps are the same as that of static data solution. Please refer to section 4.1
and 4.2. Please notice that observation data imported in dynamic baseline solution
should include base and rover two kinds of data files.
Click [Process] in Menu Bar – [Dynamic Options] or click [Baseline Process] in
Navigation Bar – [Dynamic Settings] to set up dynamic solution parameters, as shown
in Figure 6-1. Generally, it merely needs to set up Cut-off angle, Ratio Limit, Reset
Amb. Count/Cycle slip limit, Maximum Differential Delay and GDOP/Maximum
allowable info. Other items can remain default settings, or set up as actual project
needed.
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Figure 6-1
After importing observation data, Baseline List lists all possible baselines.
Choose any baseline in Baseline List and right-click to show option Bar. In option
Bar, it includes Baseline Info, Processing settings, Reprocess, Delete baselines,
Enable baselines, Disable baselines, and Endpoint exchange. Detailed description for
operation order please refer to section 3.5.4 Baseline List.
6.2 Perform Dynamic Baseline Solution

Cube_p can perform dynamic baseline solution in several ways as follows:
Way one: click [Process] in Menu Bar – [Process all baselines], or click [Baseline
Process] in Navigation Bar – [Baseline Process] to process all baselines. A dialog box
would pop up to respectively show baseline name, processing progress and baseline
information of the baseline in progress. The processing progress and baseline
information of all baselines would also show in Information Bar.
Way two: in Baseline List right-click a dynamic baseline, click [Reprocess] in
drop-down box to complete single dynamic baseline solution, and repeat the operation
till all dynamic baseline solution finish.
Way three: in Baseline List right-click a dynamic baseline, click [Reprocess] in
drop-down box, tick [Apply to all] and click [Calculate], and then it would
automatically complete all dynamic baseline solution; or not tick [Apply to all] and
click [Calculate] to complete single dynamic baseline solution, and then repeat the
operation till all dynamic baseline solution finish.
6.3 Baseline solution result

After baseline processing, in Plane Map baseline succeeded to process shows in
green and baselines failed to process show in gray. Also, the Plane Map shows trajectory
of station point. Trajectory dot shows green in fixed solution, yellow in float, and red
in single. Baseline List would also show all baseline solution result. Green area refers
to baselines that succeed to process, while red area refers to those failed.
For baseline fails to process, it can reprocess through modifying process settings.
72
If the baseline keeps fail, it can disable the baseline.
After dynamic baseline solution, it can view and download the solution result.
1) View dynamic baseline solution result
Operation: click [Process] in Menu Bar – [Dynamic data view], or click [Result]
in Navigation Bar – [View dynamic data].
In [Solve Result] window, choose Solving Baselines, choose Displayed Type
and Solution Status, then it shows the dynamic baseline solution result, as
shown in Figure 6-2. In the upper right of the window, it shows basic
information of the baseline, including File Name, Baseline length, Sync Time,
Track point, Mark point and Event point. Green area refers to points in fixed
solution, yellow to points in float solution and red to points in single solution.
Figure 6-2
73
Figure 6-3
2) Download dynamic baseline solution result
Operation: click [Export] in Menu Bar – [Dynamic solution coordinates], or
click [Result] in Navigation Bar – [Dynamic coordinate file].
To download dynamic coordinate file, it pops up a window, as shown in Figure
6-3. Firstly, select data file, and then select the baseline and output data type.
Click [Export] and choose save path to export dynamic baseline solution
coordinates.
If the output type needed does not show in the select list, it can set up the output
type as needed, through creating [New] to set the defined format, or modifying
the existed user-defined format by [Edit] or [Delete].
It comes the end of completed dynamic baseline solution after early preparation,
baseline solution, and view and export of result.
74
Appendix 1 Glossary
IGS
International GPS Service for Geodynamics. Based on GPS continuously
operating stations with global foundation, IGS is a model of network of GPS
continuously operating station and comprehensive service system. It’s made freely
accessible to global users with all kinds of GPS information, such as GPS precise
ephemeris, rapid ephemeris, forecasting ephemeris, coordinates and movement rates of
IGS stations, phase and pseudo range of GPS signal received by IGS stations, and earth
rotation rate. It supports tremendous scientific projects in geodesic and geodynamics,
including ionosphere, meteorology, reference frame, precise time transmission, high-
resolution projections of earth rotation rate and its variant, and crustal movement.
France’s DORIS and German’s PRARE are considering establishing similar
international organization, striving to make this kind of space-based geodetic surveying
system more efficient, more automated, more precise and more reliable.
Ambiguity
An unknown value, the integer cycle value of carrier phase measured between
satellite and receiver.
Baseline
Connection line between two observation points where simultaneously receive
GPS signal and collect observation data.
Broadcast ephemeris
Satellite orbit parameter demodulated from telegraph text sent by satellite.
SNR (Signal-to-noise ratio)
Ratio of signal power to noise power at one endpoint.
Cycle slip
A phenomenon that with interference, cycle loop jumps several cycles from a
balance point to a new balance point and stabilize on it, which cause incorrect integer
cycle in phase.
Carrier
75
A radio wave having at least one characteristic (such as frequency, amplitude, or
phase) that can be varied from a known reference value by modulation.
C/A Code
GPS rough observed/captured code, a 1023-bit pseudo-random binary code in
double phase modulation. It repeats every 1023 bits and modulates at a 1MHz rate.
Difference measurement
GPS measurement with cross satellites, cross receivers and cross epochs. It can be
divided into the following three kinds:
SD (Single Difference) Measurement (cross receivers): instantaneous effect rate
of signal phase obtained by two receivers simultaneously observing one satellite.
DD (Double Difference) Measurement (cross receivers and cross satellites): the
difference of one satellite’s SD to the reference satellite’s SD.
TD (Triple Difference) Measurement (cross receivers, cross satellites and cross
epochs): the difference of the DD in an epoch to the DD in last epoch.
Differential positioning
Method to determine relative coordinates of two or more receivers through
simultaneously tracking a same GPS signal.
Geometric Dilution Precision
A term to specify additional multiplicative effect of navigation satellite geometry
on positional measurement precision in dynamic positioning, defined as:
𝐷𝑂𝑃 = 𝑡𝑟(𝑄 𝑄)
Of which, Q is the matrix of instant dynamic position solution (depends on positions of

receiver and satellite). There are a number of standard terminologies in GPS as shown
in following table:
Name Description
GDOP (Geometric Dilution of Precision) Four-dimensional geometry factor
PDOP (Position (3D) Dilution of Precision) Three-dimensional geometry factor
HDOP (Horizontal Dilution of Precision) Two-dimensional geometry factor
76
VDOP (Vertical Dilution of Precision) Vertical geometry factor
TDOP (Time Dilution of Precision) Time geometry factor (1:40000)
HTDOP
Horizontal and Time geometry factor
(Horizontal and Time Dilution of Precision)
Dynamic positioning
Method to determine the time-varying coordinate of moving receiver. Each
observation result is obtained by real-time calculation of single data sampling.
Eccentricity
𝑎 −𝑏
e=
𝑏
of which, a and b respectively refer to semi-major axis and semi-minor axis.

Ellipsoid
In geodesy, it is a mathematically defined surface generates when it is rotated
about its minor axis. The semi-major axis of the ellipse, a, is identified as the equatorial
radius of the ellipsoid: the semi-minor axis of the ellipse, b, is identified with the polar
distances (from the center). These two lengths completely specify the shape of the
ellipsoid but in practice geodesy publications classify reference ellipsoids by giving the
semi-major axis and the inverse flattening, 1/f. The flattening, f, is simply a measure of
how much the symmetry axis is compressed relative to the equatorial radius:
1
f= (𝑎 − 𝑏)
𝑎
Ephemeris
A set of numerical parameters that can be used to determine a satellite’s time-
varying position.
Flattening
1
f= (𝑎 − 𝑏) = 1 − (1 − 𝑒 )
𝑎
of which, a and b respectively refer to semi-major axis and semi-minor axis, and
e refers to eccentricity ratio.
Geoid
The surface of the oceans that is extended through the continents, to whom the
77
force of gravity acts perpendicular everywhere.
Ionosphere delay
Delay occurred when electric waves pass through the ionosphere (inhomogeneous
dispersive medium). Phase delay depends on electron content and it affects carrier
signal, while group delay depends on ionospheric dispersion and it affects signal
modulation code. Phase delay and group delay share the same amplitude but with
opposite signs.
L-band
Radio frequency range of 390-1550MHz.
Multipath error
The positioning error occurs when GPS signals arrive at an antenna having
traversed different paths.
Observation session
The period when two or more receivers simultaneously collect GPS data.
Pseudo range
Distance calculated by time offset used to align the GPS copy code in receiver
with the received GPS code multiplying velocity of light. The time offset is the
difference between the time signal be received (receiver time series) and the time signal
transmit (satellites time series).
Receiver channel
RF channel, mixed frequency channel and intermediate frequency channel of GPS
receivers, which can receive and track two kinds of carrier signals.
Satellite configuration
Satellite configuration for a specific user or a group of users at a certain time.
Static positioning
Point measurement that not considering the receiver movement.
Universal time
Universal time: the mean solar time on the Prime Meridian at Greenwich, London,
UK.
78
UT: acronym for Universal Time.
UT0 is Universal Time determined by observing the diurnal motion of stars. The
relationship between Universal Time and Solar Time is: solar day-sidereal
day=3m56.555n.
UT1 is UT0 after polar motion correction.
UT2 is a smoothed version of UT1, filtering out periodic seasonal variations.
UTC (Universal Time Coordinated) is an atomic timescale that approximates UT2.
Interval
The process of taking a continuous change value at periodic intervals.
Observation condition
In GPS measurement, observation condition refers to the geometry and trajectory
of satellite constellation.
Appendix RINEX data format

RINEX file type
Six different types of data files are defined in the second edition of the RINEX
format for respectively storing different types of data, namely observation data file for
GPS observation value, navigation message file for GPS satellite navigation messages,
meteorological data file for meteorological data measured in station, GLONASS
navigation message file for GLONASS satellite navigation messages, Geostationary
satellite (GEO) navigation messages file for GEO satellite navigation messages from a
geostationary satellite equipped with a similar GPS signal generator in an enhanced
system, and satellite and receiver file for time information of satellite and receiver.
RINEX naming rule
RINEX format has special naming rules for data files, so that user can easily
distinguish the attribution, type and time of recorded data of the data files through the
file name. According to the rule, the data file in RINEX format is named with 8.3
naming method. A completed file name consists of two parts: 8-digit main target name
to represent file attribution, and 3-digit extension to represent file type, its specific form
79
as follows:
ssssdddf.yyt
of which:
ssss: measurement station code in 4 digits.
ddd: DOY in the first record in the document.
f: file sequence number (FSN) in one day, sometimes names period number. The
value is from 0-9, A-Z. When it is 0, it means that the file contains all data in that day.
Notice that the FSN is based on the synchronous observation period of the whole project
in one day instead of observation period of one receiver in one day. For instance, at one
day, a project uses four receivers to observe. In the first period, four receivers all
participate in observation, then in that period the FSNs of the data files in four receivers
are 1. In the second period, only three receivers participate in observation, then in that
period the FSNs of the data files in three receivers are 2. In the third period, four
receivers all participate in observation again, then in that period the FSNs of the data
files in four receivers including the one didn’t participate in the second observation are
3.
yy: year.
t: file type, one among the follows:
O——observation file;
N——GPS navigation message file;
M——meteorological data file;
G——GLONASS navigation message file;
H——GEO navigation messages file
C——clock file.
Take BJFS0010.17O for example, it is the observation data file of whole-day
data for point BJFS in Jan 1st, 2017 (DOY is 1). And BJFS0010.17N is its corresponding
navigation message file.
Observation data file
It includes file header and data record. In Table 1 list the file headers of this file
80
and in Table 2 list the data record. Here merely introduce a couple of terms.
Time: measuring time is the time when the signal arrives at the receiver. It is GPS
time instead of UTC time. The pseudo ranges and phases of all tracking satellites are
observed at that time.
Pseudo range: pseudo range is the distance calculated by time offset used to align
the GPS copy code in receiver with the received GPS code multiplying velocity of light.
There are three pseudo-range observations in RINEX: C1 is C/A code in L1; P1 is P
code in L1; and P2 is P code in L2. Due to AS policy, plenty of receivers cannot receive
P code in L2, so the delay of Y2-Y1 calculated by relevant technology is used for
instead to eliminate influence of ionosphere. In this case, in RINEX it adopts P2 code
composited by C/A code and the delay of Y2-Y1.
Phase: phase is the small value of integer cycle in beat frequency in actual L1 and
L2. When using square technology to extract phase, if it is small value of half cycle, it
must transfer to that of integer cycle.
Doppler: using specific processing software in receiver, it can record value of
Doppler, D1, D2, Hz as units.
Table 1 Header description for GPS observation data file
Header label
Description Format
(column 61~80)
RINEX Version number of RINEX format (2.10 in F9.2，11X，
VERSION/TYPE this version) A1，19X，
File type (“O” in this file) A1，19X
Satellite system where observation data
from: (space or “G” for GPS, “R” for
GLONASS, “S” for synchronous satellite
signal payload, “T” for NNSS Meridian
Satellite, “M” for combined system)
PGM / RUN BY / Program name that creates the data file A20，
DATE Agency name that creates the data file A20，
81
Date when data file is created A20
COMMENT Comment line A60
MARKER NAME Name of antenna mark (point name) A60
MARKER NUMBER Number of antenna mark (point number) A20
OBSERVER / Observer name/Observation agency name A20，A40
AGENCY
REC # / TYPE / VERS SN, type and version (internal software 3A20
version) of receiver
ANT # / TYPE SN and type of antenna 2A20
APPROX POSITION Approximate position of mark (WGS84) 3F14.4
XYZ
ANTENNA:DELTA Antenna height(H): higher than the lower 3F14.4
H/E/N surface height of marked antenna
Antenna center offset in east and north
WAVELENGTH FACT Wavelength factor of L1 and L2 2I6
L1/2 1: ambiguity of whole cycle
2: ambiguity of half cycle
0: L1 single frequency
Tracking satellite number (maximum as 7, I6
more than 7 repeats record) 7(3X，A1，
PRN: satellite number I2)
#/TYPES OF OBSERV The number of different observed value I6
types stored in the file. 9(3X，A1，
Observed value type list: I2)
Description: in RINEX 2.10 define the 6X，9(4X，
following observed value types: A2)
L1, L2: phases observed value in L1 and L2;
C1: pseudo range measured by C/A code in
L1;
82
P1, P2: pseudo ranges measured by P code in
L1 and L2;
D1, D2: Doppler frequencies in L1 and L2;
T1, T2: Doppler integrations in 150(T1) of
Meridian Satellite and 400MHz (T2) signal;
S1, S2: initial signal strength of phase
observed value in L1, L2 given by receiver
or SNR value.
Units of observed value:
Cycle for carrier phase;
Meter(m) for pseudo range;
Hz for Doppler;
Cycle for Meridian Satellite;
SNR depends on receiver.
INTERVAL Epoch interval of observed value, second as F10.3
unit.
TIME OF FIRST OBS The first recorded moment in the data file 5I6，F13.7
(year, month, day, hour, minute, second). 5X，A3
Time system: GPS for GPS time, GLO for
UTC time
Description: in GPS/GLONASS file it must
include the time system field. Default field
for pure GPS file is GPS, and for pure
GLONASS file is GLO.
TIME OF LAST OBS The last recorded moment in the data file 5I6，F13.7
(year, month, day, hour, minute, second). 5X，A3
Time system: same as TIME OF FIRST OBS
LEAP SECONDS Leap seconds from Jan 6th, 2017 in I6
GPD/GLONASS file.
83
#OF SATELLITES The number of satellites have observed value I6
storied in file
PRN/# OF OBS The PRN (satellite number) involved by 3X，A1，
every observation values indicated in I2，9I6
#/TYPES OF OBSERV record and the 6X，9I6
number of their observed value
If types of observed value are over 9, then
use a continuous line.
Description: there is a record for each
satellite in observation data file.
END OF HEADER The last record in header 60X
Notes:
The above introduction formats are RINEX2.10:
In introduction of RINEX format, data types used are as follows:
X——space
A——alphabet
I——integral
F——float
D——double
Table 2 Observed value format description for GPS observation data file
Observed value
Description Format
record
EPOCH/SAT OR Observed epoch:
EVENT FLAG Year (2 digits, add 0 in the front as needed), 1X，I2.2
month, day, hour, minute, 4(1X，I2)
second F11.7
Epoch symbol: 0 for normal; 1 for a power 2X，I1
failure occurred between the previous one and
the current one; >1 for event symbol I3
84
Satellite number observed in current epoch I2(A1，I2)
Satellite PRN list (satellite number with
satellite system identifier) observed in current F12.9
epoch 32X
Deviation of receiver clock (s as unit) 12(A1，I2)
If satellites are over 12, then use a continuous
line. [2X，I1]
If epoch symbol is 2-5, it indicates that:

2: antenna starts moving;
3: new station is set (dynamic data ends);
4: following is information similar to [I3]
header, describing certain special conditions in
observation;
5: external event.
“satellite number in current epoch”
describes the following record number, i.e.,
how many lines in the following used to
describe event. Maximum is 999.
For a time that does not specify a moment
in the epoch, the epoch field can be empty.
Description: if epoch field is 6, it indicates
in the following is record of cycle slips
detected and repaired. This item is optional.
OBSERVATIONS Observed value m(F14.3，I1，
LLI (Loss of Lock Indicator) I1)
Signal strength
Navigation message file

85
Satellite ephemeris is broadcast navigation message from satellites, which is the
essential data of ground location calculation. In navigation message, it includes
satellite's orbital elements and satellite clock parameter and other information. To speed
up ground location calculation, broadcast navigation message is sent by satellite once
per second and updated once per hour. Hence, every observation merely needs to record
a set of broadcast navigation message. In Table 3 and Table 4 respectively are header
description of navigation message file and record format description of navigation
message file.
Table 3 Header description of GPS navigation message file
Header label
Description Format
(column 61-80)
RINEX VERSION / Version number of RINEX format F9.2，11X
TYPE File type (N) A1，19X
PGM / RUN BY / Program name that creates the data file A20
DATE Agency name that creates the data file A20
Date when data file is created A20
COMMENT Comment line A60
ION ALPHA Ionospheric parameter A0~A3 in 2X，
ephemeris 4D12.4
ION BETA Ionospheric parameter B0~B3 in 2X，
ephemeris 4D12.4
DELTA-UTC：A0， Ephemeris parameters used to calculate 3X，
A1，T，W UTC time: 2D19.12
A0, A1: multinomial coefficient I9
T: reference moment of UTC data I9
W: Reference cycle of UTC, as
continuous counting
LEAP SECONDS Time difference caused by leap seconds I6
86
END OF HEADER The last record in header 60X
Table 4 Observed value format description for GPS navigation message file
Observed
Description Format
value record
PRN PRN number of satellite I2
number/ Epoch: TOC (reference moment of satellite clock)
Epoch/ Year (2 digits, add 0 in the front as needed) 1X，I2.2
Satellite month, day, hour, minute 4(1X, I2)
clock second F5.1
Deviation of satellite clock (s) 3D19.12
Drifting of satellite clock (s/s)
Drift speed of satellite clock (s/s2)
Broadcast IODE (Issue of Data，Ephemeris/Released time of 3X，
channel-1 data, epoch) 4D19.12
Crs(m)
△n(rad/s)
M0(rad)
Broadcast Cus(rad) 3X，
channe-2 e orbital eccentricity 4D19.12
Cus(radians)
sqrt(A)(m1/2)
Broadcast TOE reference of ephemeris time (the number of 3X，
channe-3 seconds in the GPS cycle) 4D19.12
Cic(rad)
Ω(rad)(OMEGA)
Cis(rad)
Broadcast i0(rad) 3X，
87
channe-4 Crc(m) 4D19.12
w(rad)
Ω(rad/s) (OMEGA DOT)
Broadcast i(rad/s) (IDOT) 3X，
channe-5 Code in L2 4D19.12
GPS cycle number (together with TOE indicates
time). It is continuous counting, not remainder of
1024.
L2 P-code data symbol
Broadcast Satellite accuracy(m) 3X，
channe-6 Satellite state 4D19.12
TGD(sec)
AODC of IODC
Broadcast Released time of message (second in GPS cycle as 3X，
channe-7 unit, calculated by Z in transition word (HOW)) 4D19.12
Fitting range(h), as 0 if unknown
88

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Chapter 1 Installation & Uninstallation .................................................................................... 1

1.1 Introduction ................................................................................................................. 1

1.2 Installation ................................................................................................................... 2

1.3 Software uninstallation................................................................................................ 4

Chapter 2 Data processing ........................................................................................................ 6

2.1 Static GPS data processing.......................................................................................... 6

2.2 Dynamic GPS data processing .................................................................................. 12

3.1 The Main Function .................................................................................................... 17

3.2 Main Interface of Software ....................................................................................... 17

3.3 Menu Bar................................................................................................................... 19

3.3.1 Project ............................................................................................................ 19

3.3.2 Import ............................................................................................................. 19

3.3.3 Process ........................................................................................................... 20

3.3.4 Adjustment ..................................................................................................... 28

3.3.5 Export ............................................................................................................. 29

3.3.6 Map ................................................................................................................ 33

3.3.7 View ............................................................................................................... 33

3.3.8 Application ..................................................................................................... 33

3.3.9 Tool ................................................................................................................ 37

3.3.10 Help .............................................................................................................. 39

3.4 Toolbar ...................................................................................................................... 40

3.5 Workspace ................................................................................................................. 41

3.5.1 Observation Data............................................................................................ 41

3.5.2 Time Map ....................................................................................................... 43

3.5.3 Plane Map ...................................................................................................... 44

3.5.4 Baseline List ................................................................................................... 44

3.5.6 Closed loop..................................................................................................... 47

3.5.7 Adjustment Report ......................................................................................... 48

3.5.8 Adjustment Coordinate................................................................................... 49

Chapter 4 Static baseline solution ........................................................................................... 50

4.1 New Project ............................................................................................................... 50

4.2 Import Observation Data ........................................................................................... 53

4.2.1 Data import..................................................................................................... 53

4.2.2 Observation data content ................................................................................ 55

4.2.3 Observation data file name ............................................................................. 56

4.2.4 Observation data in RINEX format ................................................................ 56

4.3 Static baseline processing setting .............................................................................. 56

4.4 Static baseline solution .............................................................................................. 57

4.5 Baseline solution result verification .......................................................................... 59

4.5.1 Baseline quality control.................................................................................. 59

4.5.2 Closed Loop verification ................................................................................ 59

4.5.3 Repeated Baseline .......................................................................................... 61

4.6 Factors influencing baseline solution result and coping method............................... 61

4.6.1 Influence factors ............................................................................................. 61

4.6.2 Coping method ............................................................................................... 62

Chapter 5 Network Adjustment............................................................................................... 64

5.1 Functions and basic steps of Network Adjustment ................................................... 64

5.1.1 Early preparation before network adjustment ................................................ 64

5.1.2 Network Adjustment Setting .......................................................................... 66

5.1.3 Import Known Coordinates ............................................................................ 67

5.2 Perform Network Adjustment ................................................................................... 67

5.2.1 Extract baseline vector network ..................................................................... 68

5.2.2 Connection inspection of baseline vector network......................................... 68

5.2.3 Adjustment Report ......................................................................................... 69

Chapter 6 Dynamic baseline solution ..................................................................................... 71

6.2 Perform Dynamic Baseline Solution ......................................................................... 72

6.3 Baseline solution result ............................................................................................. 72