Kinematic: Tick this box to indicate that kinematic GNSS data is being processed. This enables new features on the GUI and is important for several checks and computing steps during processing.
In kinematic data processing, you can apply a lever arm to define the offset between the desired reference point and the location of the GNSS antenna. For example, use this option if the GNSS antenna is mounted on the side of a vehicle and the results need to refer to the centre of the vehicle. You have to define the following three coordinates of the vector pointing from the actual location of the GNSS antenna to the desired reference point in the GUI.
Along-track (forward): Offset in the direction of movement.
Out-of-plane (left): Offset perpendicular to the along-track and vertical/radial directions.
Vertical/radial: Offset in the vertical or radial direction.
For example: [5, 0, 0] shifts the PPP results forwards by five metres in the direction of movement, or [0, 0, -2] shifts the PPP results downwards by two metres. Please note that the lever arm definition is related to the selected orientation mode, which is used to transform the vector from the body frame to the ECEF frame. Using this correction replaces the 'ANTENNA: DELTA H/E/N' offsets defined in the header of the RINEX observation file.
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During kinematic data processing, raPPPid applies a specific orientation mode, for example, for modeling specific error sources. Users can select an orientation mode from the available options. Please note that the defined offsets are closely related to this orientation mode.
vertical: The first axis is in the direction of movement, the third axis is vertical, and the second axis is orthogonal to the direction of movement (i.e. to the left of the direction of movement).
radial: The first axis is in the direction of movement, the third axis is in radial direction (i.e. pointing away from Earth center), and the second axis is orthogonal to the direction of movement (i.e. to the left of the direction of movement).
yaw-steering: not implemented. The first axis completes the system (i.e. along the solar panel), the third axis is vertical, and the second axis is orthogonal to the direction of movement (i.e. to the left of the direction of movement).
Earth-pointing: not implemented.
ORBEX: not implemented. Quaternions are used for calculating the orientation.
In static applications, the GNSS antenna reference North is always oriented towards the north to correctly apply antenna phase center calibrations. During kinematic data processing, however, the antenna orientation naturally changes along the path of movement. Typically, the GNSS antenna reference North points in the direction of, or against, the direction of movement.
forwards: The GNSS antenna reference North points in the direction of movement (forwards).
backwards: The GNSS antenna reference North points against the direction of movement (forwards).
Enable this option if your GNSS receiver is placed on a satellite (e.g., LEO satellite) to improve the PPP solution using dynamic models for position and velocity estimation. You will need to define the mass [kg], area [m²], drag coefficient [] and solar coefficient [] of the satellite.
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