Smart Device-Supported BDS/GNSS Real-Time Kinematic Positioning for Sub-Meter-Level Accuracy in Urban Location-Based Services

PubMed Central

Wang, Liang; Li, Zishen; Zhao, Jiaojiao; Zhou, Kai; Wang, Zhiyu; Yuan, Hong

2016-01-01

Using mobile smart devices to provide urban location-based services (LBS) with sub-meter-level accuracy (around 0.5 m) is a major application field for future global navigation satellite system (GNSS) development. Real-time kinematic (RTK) positioning, which is a widely used GNSS-based positioning approach, can improve the accuracy from about 10–20 m (achieved by the standard positioning services) to about 3–5 cm based on the geodetic receivers. In using the smart devices to achieve positioning with sub-meter-level accuracy, a feasible solution of combining the low-cost GNSS module and the smart device is proposed in this work and a user-side GNSS RTK positioning software was developed from scratch based on the Android platform. Its real-time positioning performance was validated by BeiDou Navigation Satellite System/Global Positioning System (BDS/GPS) combined RTK positioning under the conditions of a static and kinematic (the velocity of the rover was 50–80 km/h) mode in a real urban environment with a SAMSUNG Galaxy A7 smartphone. The results show that the fixed-rates of ambiguity resolution (the proportion of epochs of ambiguities fixed) for BDS/GPS combined RTK in the static and kinematic tests were about 97% and 90%, respectively, and the average positioning accuracies (RMS) were better than 0.15 m (horizontal) and 0.25 m (vertical) for the static test, and 0.30 m (horizontal) and 0.45 m (vertical) for the kinematic test. PMID:28009835

Generation of Unbiased Ionospheric Corrections in Brazilian Region for GNSS positioning based on SSR concept

NASA Astrophysics Data System (ADS)

Monico, J. F. G.; De Oliveira, P. S., Jr.; Morel, L.; Fund, F.; Durand, S.; Durand, F.

2017-12-01

Mitigation of ionospheric effects on GNSS (Global Navigation Satellite System) signals is very challenging, especially for GNSS positioning applications based on SSR (State Space Representation) concept, which requires the knowledge of spatial correlated errors with considerable accuracy level (centimeter). The presence of satellite and receiver hardware biases on GNSS measurements difficult the proper estimation of ionospheric corrections, reducing their physical meaning. This problematic can lead to ionospheric corrections biased of several meters and often presenting negative values, which is physically not possible. In this contribution, we discuss a strategy to obtain SSR ionospheric corrections based on GNSS measurements from CORS (Continuous Operation Reference Stations) Networks with minimal presence of hardware biases and consequently physical meaning. Preliminary results are presented on generation and application of such corrections for simulated users located in Brazilian region under high level of ionospheric activity.

GNSS Precise Kinematic Positioning for Multiple Kinematic Stations Based on A Priori Distance Constraints

PubMed Central

He, Kaifei; Xu, Tianhe; Förste, Christoph; Petrovic, Svetozar; Barthelmes, Franz; Jiang, Nan; Flechtner, Frank

2016-01-01

When applying the Global Navigation Satellite System (GNSS) for precise kinematic positioning in airborne and shipborne gravimetry, multiple GNSS receiving equipment is often fixed mounted on the kinematic platform carrying the gravimetry instrumentation. Thus, the distances among these GNSS antennas are known and invariant. This information can be used to improve the accuracy and reliability of the state estimates. For this purpose, the known distances between the antennas are applied as a priori constraints within the state parameters adjustment. These constraints are introduced in such a way that their accuracy is taken into account. To test this approach, GNSS data of a Baltic Sea shipborne gravimetric campaign have been used. The results of our study show that an application of distance constraints improves the accuracy of the GNSS kinematic positioning, for example, by about 4 mm for the radial component. PMID:27043580

GNSS Precise Kinematic Positioning for Multiple Kinematic Stations Based on A Priori Distance Constraints.

PubMed

He, Kaifei; Xu, Tianhe; Förste, Christoph; Petrovic, Svetozar; Barthelmes, Franz; Jiang, Nan; Flechtner, Frank

2016-04-01

When applying the Global Navigation Satellite System (GNSS) for precise kinematic positioning in airborne and shipborne gravimetry, multiple GNSS receiving equipment is often fixed mounted on the kinematic platform carrying the gravimetry instrumentation. Thus, the distances among these GNSS antennas are known and invariant. This information can be used to improve the accuracy and reliability of the state estimates. For this purpose, the known distances between the antennas are applied as a priori constraints within the state parameters adjustment. These constraints are introduced in such a way that their accuracy is taken into account. To test this approach, GNSS data of a Baltic Sea shipborne gravimetric campaign have been used. The results of our study show that an application of distance constraints improves the accuracy of the GNSS kinematic positioning, for example, by about 4 mm for the radial component.

Global Ionospheric Modelling using Multi-GNSS: BeiDou, Galileo, GLONASS and GPS.

PubMed

Ren, Xiaodong; Zhang, Xiaohong; Xie, Weiliang; Zhang, Keke; Yuan, Yongqiang; Li, Xingxing

2016-09-15

The emergence of China's Beidou, Europe's Galileo and Russia's GLONASS satellites has multiplied the number of ionospheric piercing points (IPP) offered by GPS alone. This provides great opportunities for deriving precise global ionospheric maps (GIMs) with high resolution to improve positioning accuracy and ionospheric monitoring capabilities. In this paper, the GIM is developed based on multi-GNSS (GPS, GLONASS, BeiDou and Galileo) observations in the current multi-constellation condition. The performance and contribution of multi-GNSS for ionospheric modelling are carefully analysed and evaluated. Multi-GNSS observations of over 300 stations from the Multi-GNSS Experiment (MGEX) and International GNSS Service (IGS) networks for two months are processed. The results show that the multi-GNSS GIM products are better than those of GIM products based on GPS-only. Differential code biases (DCB) are by-products of the multi-GNSS ionosphere modelling, the corresponding standard deviations (STDs) are 0.06 ns, 0.10 ns, 0.18 ns and 0.15 ns for GPS, GLONASS, BeiDou and Galileo, respectively in satellite, and the STDs for the receiver are approximately 0.2~0.4 ns. The single-frequency precise point positioning (SF-PPP) results indicate that the ionospheric modelling accuracy of the proposed method based on multi-GNSS observations is better than that of the current dual-system GIM in specific areas.

Global Ionospheric Modelling using Multi-GNSS: BeiDou, Galileo, GLONASS and GPS

PubMed Central

Ren, Xiaodong; Zhang, Xiaohong; Xie, Weiliang; Zhang, Keke; Yuan, Yongqiang; Li, Xingxing

2016-01-01

The emergence of China’s Beidou, Europe’s Galileo and Russia’s GLONASS satellites has multiplied the number of ionospheric piercing points (IPP) offered by GPS alone. This provides great opportunities for deriving precise global ionospheric maps (GIMs) with high resolution to improve positioning accuracy and ionospheric monitoring capabilities. In this paper, the GIM is developed based on multi-GNSS (GPS, GLONASS, BeiDou and Galileo) observations in the current multi-constellation condition. The performance and contribution of multi-GNSS for ionospheric modelling are carefully analysed and evaluated. Multi-GNSS observations of over 300 stations from the Multi-GNSS Experiment (MGEX) and International GNSS Service (IGS) networks for two months are processed. The results show that the multi-GNSS GIM products are better than those of GIM products based on GPS-only. Differential code biases (DCB) are by-products of the multi-GNSS ionosphere modelling, the corresponding standard deviations (STDs) are 0.06 ns, 0.10 ns, 0.18 ns and 0.15 ns for GPS, GLONASS, BeiDou and Galileo, respectively in satellite, and the STDs for the receiver are approximately 0.2~0.4 ns. The single-frequency precise point positioning (SF-PPP) results indicate that the ionospheric modelling accuracy of the proposed method based on multi-GNSS observations is better than that of the current dual-system GIM in specific areas. PMID:27629988

UNAVCO Real-Time GNSS Positioning: High-Precision Static and Kinematic Testing of the Next Generation GNSS network.

NASA Astrophysics Data System (ADS)

Berglund, H. T.; Hodgkinson, K. M.; Blume, F.; Mencin, D.; Phillips, D. A.; Meertens, C. M.; Mattioli, G. S.

2014-12-01

The GAGE Facility, managed by UNAVCO, operates a real-time GNSS (RT-GNSS) network of ~450 stations. The majority of the streaming stations are part of the EarthScope Plate Boundary Observatory (PBO). Following community input from a real-time GNSS data products and formats meeting hosted by UNAVCO in Spring of 2011, UNAVCO now provides real-time PPP positions, and network solutions where practical, for all available stations using Trimble's PIVOT RTX server software and TrackRT. The UNAVCO real-time system has the potential to enhance our understanding of earthquakes, seismic wave propagation, volcanic eruptions, magmatic intrusions, movement of ice, landslides, and the dynamics of the atmosphere. Beyond the ever increasing applications in science and engineering, RT-GNSS has the potential to provide early warning of hazards to emergency managers, utilities, other infrastructure managers, first responders and others. Upgrades to the network include eight Trimble NetR9 GNSS receivers with GLONASS and receiver-based RTX capabilities and sixteen new co-located MEMS based accelerometers. These new capabilities will allow integration of GNSS and strong motion data to produce broad-spectrum waveforms improving Earthquake Early Warning systems. Controlled outdoor kinematic and static experiments provide a useful method for evaluating and comparing real-time systems. UNAVCO has developed a portable low-cost antenna actuator to characterize the kinematic performance of receiver- and server-based real-time positioning algorithms and identify system limitations. We have performed tests using controlled 1-d antenna motions and will present comparisons between these and other post-processed kinematic algorithms including GIPSY-OASIS and TRACK. In addition to kinematic testing, long-term static testing of Trimble's RTX service is ongoing at UNAVCO and will be used to characterize the stability of the position time-series produced by RTX. In addition, with the goal of characterizing stability and improving software and higher level products based on real-time and high frequency GNSS time series, we present an overview of the UNAVCO RT-GPS system, a comparison of the UNAVCO generated real-time, static and community data products, and an overview of available common data sets.

Investigation of some selected strategies for multi-GNSS instantaneous RTK positioning

NASA Astrophysics Data System (ADS)

Paziewski, Jacek; Wielgosz, Pawel

2017-01-01

It is clear that we can benefit from multi-constellation GNSS in precise relative positioning. On the other hand, it is still an open problem how to combine multi-GNSS signals in a single functional model. This study presents methodology and quality assessment of selected methods allowing for multi-GNSS observations combining in relative kinematic positioning using baselines up to tens of kilometers. In specific, this paper characterizes loose and tight integration strategies applied to the ionosphere and troposphere weighted model. Performance assessment of the established strategies was based on the analyses of the integer ambiguity resolution and rover coordinates' repeatability obtained in the medium range instantaneous RTK positioning with the use of full constellation dual frequency GPS and Galileo signals. Since full constellation of Galileo satellites is not yet available, the observational data were obtained from a hardware GNSS signal simulator using regular geodetic GNSS receivers. The results indicate on similar and high performance of the loose, and tight integration with calibrated receiver ISBs strategies. These approaches have undeniable advantage over single system positioning in terms of reliability of the integer ambiguity resolution as well as rover coordinate repeatability.

GNSS Signal Authentication Via Power and Distortion Monitoring

NASA Astrophysics Data System (ADS)

Wesson, Kyle D.; Gross, Jason N.; Humphreys, Todd E.; Evans, Brian L.

2018-04-01

We propose a simple low-cost technique that enables civil Global Positioning System (GPS) receivers and other civil global navigation satellite system (GNSS) receivers to reliably detect carry-off spoofing and jamming. The technique, which we call the Power-Distortion detector, classifies received signals as interference-free, multipath-afflicted, spoofed, or jammed according to observations of received power and correlation function distortion. It does not depend on external hardware or a network connection and can be readily implemented on many receivers via a firmware update. Crucially, the detector can with high probability distinguish low-power spoofing from ordinary multipath. In testing against over 25 high-quality empirical data sets yielding over 900,000 separate detection tests, the detector correctly alarms on all malicious spoofing or jamming attacks while maintaining a <0.6% single-channel false alarm rate.

Seismic displacements monitoring for 2015 Mw 7.8 Nepal earthquake with GNSS data

NASA Astrophysics Data System (ADS)

Geng, T.; Su, X.; Xie, X.

2017-12-01

The high-rate Global Positioning Satellite System (GNSS) has been recognized as one of the powerful tools for monitoring ground motions generated by seismic events. The high-rate GPS and BDS data collected during the 2015 Mw 7.8 Nepal earthquake have been analyzed using two methods, that are the variometric approach and Precise point positioning (PPP). The variometric approach is based on time differenced technique using only GNSS broadcast products to estimate velocity time series from tracking observations in real time, followed by an integration procedure on the velocities to derive the seismic event induced displacements. PPP is a positioning method to calculate precise positions at centimeter- or even millimeter-level accuracy with a single GNSS receiver using precise satellite orbit and clock products. The displacement motions with accuracy of 2 cm at far-field stations and 5 cm at near-field stations with great ground motions and static offsets up to 1-2 m could be achieved. The multi-GNSS, GPS + BDS, could provide higher accuracy displacements with the increasing of satellite numbers and the improvement of the Position Dilution of Precision (PDOP) values. Considering the time consumption of clock estimates and the precision of PPP solutions, 5 s GNSS satellite clock interval is suggested. In addition, the GNSS-derived displacements are in good agreement with those from strong motion data. These studies demonstrate the feasibility of real-time capturing seismic waves with multi-GNSS observations, which is of great promise for the purpose of earthquake early warning and rapid hazard assessment.

Global GNSS processing based on the raw observation approach

NASA Astrophysics Data System (ADS)

Strasser, Sebastian; Zehentner, Norbert; Mayer-Gürr, Torsten

2017-04-01

Many global navigation satellite system (GNSS) applications, e.g. Precise Point Positioning (PPP), require high-quality GNSS products, such as precise GNSS satellite orbits and clocks. These products are routinely determined by analysis centers of the International GNSS Service (IGS). The current processing methods of the analysis centers make use of the ionosphere-free linear combination to reduce the ionospheric influence. Some of the analysis centers also form observation differences, in general double-differences, to eliminate several additional error sources. The raw observation approach is a new GNSS processing approach that was developed at Graz University of Technology for kinematic orbit determination of low Earth orbit (LEO) satellites and subsequently adapted to global GNSS processing in general. This new approach offers some benefits compared to well-established approaches, such as a straightforward incorporation of new observables due to the avoidance of observation differences and linear combinations. This becomes especially important in view of the changing GNSS landscape with two new systems, the European system Galileo and the Chinese system BeiDou, currently in deployment. GNSS products generated at Graz University of Technology using the raw observation approach currently comprise precise GNSS satellite orbits and clocks, station positions and clocks, code and phase biases, and Earth rotation parameters. To evaluate the new approach, products generated using the Global Positioning System (GPS) constellation and observations from the global IGS station network are compared to those of the IGS analysis centers. The comparisons show that the products generated at Graz University of Technology are on a similar level of quality to the products determined by the IGS analysis centers. This confirms that the raw observation approach is applicable to global GNSS processing. Some areas requiring further work have been identified, enabling future improvements of the method.

GNSS Spoofing Network Monitoring Based on Differential Pseudorange.

PubMed

Zhang, Zhenjun; Zhan, Xingqun

2016-10-23

Spoofing is becoming a serious threat to various Global Navigation Satellite System (GNSS) applications, especially for those that require high reliability and security such as power grid synchronization and applications related to first responders and aviation safety. Most current works on anti-spoofing focus on spoofing detection from the individual receiver side, which identifies spoofing when it is under an attack. This paper proposes a novel spoofing network monitoring (SNM) mechanism aiming to reveal the presence of spoofing within an area. Consisting of several receivers and one central processing component, it keeps detecting spoofing even when the network is not attacked. The mechanism is based on the different time difference of arrival (TDOA) properties between spoofing and authentic signals. Normally, TDOAs of spoofing signals from a common spoofer are identical while those of authentic signals from diverse directions are dispersed. The TDOA is measured as the differential pseudorange to carrier frequency ratio (DPF). In a spoofing case, the DPFs include those of both authentic and spoofing signals, among which the DPFs of authentic are dispersed while those of spoofing are almost overlapped. An algorithm is proposed to search for the DPFs that are within a pre-defined small range, and an alarm will be raised if several DPFs are found within such range. The proposed SNM methodology is validated by simulations and a partial field trial. Results show 99.99% detection and 0.01% false alarm probabilities are achieved. The SNM has the potential to be adopted in various applications such as (1) alerting dedicated users when spoofing is occurring, which could significantly shorten the receiver side spoofing cost; (2) in combination with GNSS performance monitoring systems, such as the Continuous Operating Reference System (CORS) and GNSS Availability, Accuracy, Reliability anD Integrity Assessment for Timing and Navigation (GAARDIAN) System, to provide more reliable monitoring services.

Positioning performance improvements with European multiple-frequency satellite navigation - Galileo

NASA Astrophysics Data System (ADS)

Ji, Shengyue

2008-10-01

The rapid development of Global Positioning System has demonstrated the advantages of satellite based navigation systems. In near future, there will be a number of Global Navigation Satellite System (GNSS) available, i.e. modernized GPS, Galileo, restored GLONASS, BeiDou and many other regional GNSS augmentation systems. Undoubtedly, the new GNSS systems will significantly improve navigation performance over current GPS, with a better satellite coverage and multiple satellite signal bands. In this dissertation, the positioning performance improvement of new GNSS has been investigated based on both theoretical analysis and numerical study. First of all, the navigation performance of new GNSS systems has been analyzed, particularly for urban applications. The study has demonstrated that Receiver Autonomous Integrity Monitoring (RAIM) performance can be significantly improved with multiple satellite constellations, although the position accuracy improvement is limited. Based on a three-dimensional urban building model in Hong Kong streets, it is found that positioning availability is still very low in high-rising urban areas, even with three GNSS systems. On the other hand, the discontinuity of navigation solutions is significantly reduced with the combined constellations. Therefore, it is possible to use cheap DR systems to bridge the gaps of GNSS positioning, with high accuracy. Secondly, the ambiguity resolution performance has been investigated with Galileo multiple frequency band signals. The ambiguity resolution performance of three different algorithms is compared, including CAR, ILS and improved CAR methods (a new method proposed in this study). For short baselines, with four frequency Galileo data, it is highly possible to achieve reliable single epoch ambiguity resolution, when the carrier phase noise level is reasonably low (i.e. less than 6mm). For long baselines (up to 800 km), the integer ambiguity can be determined within 1 min on average. Ambiguity validation is crucial for any ambiguity resolution algorithm using searching method. This study has proposed to use both Ellipsoidal Integer Aperture (EIA) estimator and R-ratio test for ambiguity validation. Using real GPS data and simulated Galileo data, it has been demonstrated that the new method performs better than the use of EIA or the R-ratio test alone, with much less ambiguity mis-fixed rate.

The Performance of a Tight Ins/gnss/photogrammetric Integration Scheme for Land Based MMS Applications in Gnss Denied Environments

NASA Astrophysics Data System (ADS)

Chu, Chien-Hsun; Chiang, Kai-Wei

2016-06-01

The early development of mobile mapping system (MMS) was restricted to applications that permitted the determination of the elements of exterior orientation from existing ground control. Mobile mapping refers to a means of collecting geospatial data using mapping sensors that are mounted on a mobile platform. Research works concerning mobile mapping dates back to the late 1980s. This process is mainly driven by the need for highway infrastructure mapping and transportation corridor inventories. In the early nineties, advances in satellite and inertial technology made it possible to think about mobile mapping in a different way. Instead of using ground control points as references for orienting the images in space, the trajectory and attitude of the imager platform could now be determined directly. Cameras, along with navigation and positioning sensors are integrated and mounted on a land vehicle for mapping purposes. Objects of interest can be directly measured and mapped from images that have been georeferenced using navigation and positioning sensors. Direct georeferencing (DG) is the determination of time-variable position and orientation parameters for a mobile digital imager. The most common technologies used for this purpose today are satellite positioning using the Global Navigation Satellite System (GNSS) and inertial navigation using an Inertial Measuring Unit (IMU). Although either technology used along could in principle determine both position and orientation, they are usually integrated in such a way that the IMU is the main orientation sensor, while the GNSS receiver is the main position sensor. However, GNSS signals are obstructed due to limited number of visible satellites in GNSS denied environments such as urban canyon, foliage, tunnel and indoor that cause the GNSS gap or interfered by reflected signals that cause abnormal measurement residuals thus deteriorates the positioning accuracy in GNSS denied environments. This study aims at developing a novel method that uses ground control points to maintain the positioning accuracy of the MMS in GNSS denied environments. At last, this study analyses the performance of proposed method using about 20 check-points through DG process.

High Precision Positioning at Field Camp: Using GNSS as the primary data source to answer geologic questions

NASA Astrophysics Data System (ADS)

Crosby, B. T.; Lauer, I. H.; Pratt-Sitaula, B.

2017-12-01

Thanks to the availability and accessibility of GPS/GNSS enabled consumer grade positioning devices, GNSS are nearly ubiquitous in both geologic field research and education. Though the devices offer sufficient precision to geotag images, digital field book entries or measurements, positions themselves are not precise enough to accomplish independent geodetic analysis. As a consequence, most students learn about GNSS at a tool that aids other forms of geologic data acquisition rather serving as the primary source itself. To resolve this, we developed and tested a three-unit teaching module within the GETSI - SERC curriculum framework that reinforces high precision positioning as a primary source of geologic data. Units focus on three core topics: GNSS Fundamentals, Kinematic GNSS and Static GNSS Methods. Module goals enable students to (a) design and conduct a GNSS survey to answer a geologic question, (b) justify why their GNSS technique is appropriate to their question and (c) to articulate how answering their question benefits society. Skill building is via quantitative and qualitative analysis, concept sketches, and both field and office based data acquisition and interrogation. Exercises are site-independent and include example datasets for those unable to travel. In the summer of 2017, we tested the module with 20 undergraduate students over two days at the ISU field geology course. Located in the Lost River Range of Idaho, positioned among active normal faults, we not only explored the use of static GNSS data for active tectonics but visited a station in person. For a summative assessment, we focused on kinematic GNSS, using RTK rovers to reoccupy leveling monuments spanning the active Lost River fault that ruptured in 1983 (M 7.0). The data collected by our class quantified aseismic deformation occurring in the 30+ years since that event. Displacements were significantly larger than the instrumental uncertainty, confirming that RTK was an appropriate tool for the job and that interseismic deformation continues (50 cm at the fault), demanding consideration in the design of any infrastructure (e.g. utility lines, etc.) that spans the fault. The exercise integrated well with existing camp curriculum, giving a modern context to geologic structures students had already mapped.

A grid-based tropospheric product for China using a GNSS network

NASA Astrophysics Data System (ADS)

Zhang, Hongxing; Yuan, Yunbin; Li, Wei; Zhang, Baocheng; Ou, Jikun

2017-11-01

Tropospheric delay accounts for one source of error in global navigation satellite systems (GNSS). To better characterize the tropospheric delays in the temporal and spatial domain and facilitate the safety-critical use of GNSS across China, a method is proposed to generate a grid-based tropospheric product (GTP) using the GNSS network with an empirical tropospheric model, known as IGGtrop. The prototype system generates the GTPs in post-processing and real-time modes and is based on the undifferenced and uncombined precise point positioning (UU-PPP) technique. GTPs are constructed for a grid form (2.0{°}× 2.5{°} latitude-longitude) over China with a time resolution of 5 min. The real-time GTP messages are encoded in a self-defined RTCM3 format and broadcast to users using NTRIP (networked transport of RTCM via internet protocol), which enables efficient and safe transmission to real-time users. Our approach for GTP generation consists of three sequential steps. In the first step, GNSS-derived zenith tropospheric delays (ZTDs) for a network of GNSS stations are estimated using UU-PPP. In the second step, vertical adjustments for the GNSS-derived ZTDs are applied to address the height differences between the GNSS stations and grid points. The ZTD height corrections are provided by the IGGtrop model. Finally, an inverse distance weighting method is used to interpolate the GNSS-derived ZTDs from the surrounding GNSS stations to the location of the grid point. A total of 210 global positioning system (GPS) stations from the crustal movement observation network of China are used to generate the GTPs in both post-processing and real-time modes. The accuracies of the GTPs are assessed against with ERA-Interim-derived ZTDs and the GPS-derived ZTDs at 12 test GPS stations, respectively. The results show that the post-processing and real-time GTPs can provide the ZTDs with accuracies of 1.4 and 1.8 cm, respectively. We also apply the GTPs in real-time kinematic GPS PPP, and the results show that the convergence time of the PPP solutions is shortened. These results confirm that the GTPs can act as an efficient information source to augment GNSS positioning over China.

Rethinking Indoor Localization Solutions Towards the Future of Mobile Location-Based Services

NASA Astrophysics Data System (ADS)

Guney, C.

2017-11-01

Satellite navigation systems with GNSS-enabled devices, such as smartphones, car navigation systems, have changed the way users travel in outdoor environment. GNSS is generally not well suited for indoor location and navigation because of two reasons: First, GNSS does not provide a high level of accuracy although indoor applications need higher accuracies. Secondly, poor coverage of satellite signals for indoor environments decreases its accuracy. So rather than using GNSS satellites within closed environments, existing indoor navigation solutions rely heavily on installed sensor networks. There is a high demand for accurate positioning in wireless networks in GNSS-denied environments. However, current wireless indoor positioning systems cannot satisfy the challenging needs of indoor location-aware applications. Nevertheless, access to a user's location indoors is increasingly important in the development of context-aware applications that increases business efficiency. In this study, how can the current wireless location sensing systems be tailored and integrated for specific applications, like smart cities/grids/buildings/cars and IoT applications, in GNSS-deprived areas.

Decadal variations in atmospheric water vapor time series estimated using GNSS, ERA-Interim, and synoptic data

NASA Astrophysics Data System (ADS)

Alshawaf, Fadwa; Dick, Galina; Heise, Stefan; Balidakis, Kyriakos; Schmidt, Torsten; Wickert, Jens

2017-04-01

Ground-based GNSS (Global Navigation Satellite Systems) have efficiently been used since the 1990s as a meteorological observing system. Recently scientists used GNSS time series of precipitable water vapor (PWV) for climate research although they may not be sufficiently long. In this work, we compare the trend estimated from GNSS time series with that estimated from European Center for Medium-RangeWeather Forecasts Reanalysis (ERA-Interim) data and meteorological measurements.We aim at evaluating climate evolution in Central Europe by monitoring different atmospheric variables such as temperature and PWV. PWV time series were obtained by three methods: 1) estimated from ground-based GNSS observations using the method of precise point positioning, 2) inferred from ERA-Interim data, and 3) determined based on daily surface measurements of temperature and relative humidity. The other variables are available from surface meteorological stations or received from ERA-Interim. The PWV trend component estimated from GNSS data strongly correlates (>70%) with that estimated from the other data sets. The linear trend is estimated by straight line fitting over 30 years of seasonally-adjusted PWV time series obtained using the meteorological measurements. The results show a positive trend in the PWV time series with an increase of 0.2-0.7 mm/decade with a mean standard deviations of 0.016 mm/decade. In this paper, we present the results at three GNSS stations. The temporal increment of the PWV correlates with the temporal increase in the temperature levels.

Measuring and forecasting great tsunamis by GNSS-based vertical positioning of multiple ships

NASA Astrophysics Data System (ADS)

Inazu, D.; Waseda, T.; Hibiya, T.; Ohta, Y.

2016-12-01

Vertical ship positioning by the Global Navigation Satellite System (GNSS) was investigated for measuring and forecasting great tsunamis. We first examined existing GNSS vertical position data of a navigating vessel. The result indicated that by using the kinematic Precise Point Positioning (PPP) method, tsunamis greater than 10^-1 m can be detected from the vertical position of the ship. Based on Automatic Identification System (AIS) data, tens of cargo ships and tankers are regularly identified navigating over the Nankai Trough, southwest of Japan. We then assumed that a future Nankai Trough great earthquake tsunami will be observed by ships at locations based on AIS data. The tsunami forecast capability by these virtual offshore tsunami measurements was examined. A conventional Green's function based inversion was used to determine the initial tsunami height distribution. Tsunami forecast tests over the Nankai Trough were carried out using simulated tsunami data of the vertical positions of multiple cargo ships/tankers on a certain day, and of the currently operating observations by deep-sea pressure gauges and Global Positioning System (GPS) buoys. The forecast capability of ship-based tsunami height measurements alone was shown to be comparable to or better than that using the existing offshore observations.

Stand-Alone and Hybrid Positioning Using Asynchronous Pseudolites

PubMed Central

Gioia, Ciro; Borio, Daniele

2015-01-01

global navigation satellite system (GNSS) receivers are usually unable to achieve satisfactory performance in difficult environments, such as open-pit mines, urban canyons and indoors. Pseudolites have the potential to extend GNSS usage and significantly improve receiver performance in such environments by providing additional navigation signals. This also applies to asynchronous pseudolite systems, where different pseudolites operate in an independent way. Asynchronous pseudolite systems require, however, dedicated strategies in order to properly integrate GNSS and pseudolite measurements. In this paper, several asynchronous pseudolite/GNSS integration strategies are considered: loosely- and tightly-coupled approaches are developed and combined with pseudolite proximity and receiver signal strength (RSS)-based positioning. The performance of the approaches proposed has been tested in different scenarios, including static and kinematic conditions. The tests performed demonstrate that the methods developed are effective techniques for integrating heterogeneous measurements from different sources, such as asynchronous pseudolites and GNSS. PMID:25609041

Multi-GNSS real-time precise orbit/clock/UPD products and precise positioning service at GFZ

NASA Astrophysics Data System (ADS)

Li, Xingxing; Ge, Maorong; Liu, Yang; Fritsche, Mathias; Wickert, Jens; Schuh, Harald

2016-04-01

The rapid development of multi-constellation GNSSs (Global Navigation Satellite Systems, e.g., BeiDou, Galileo, GLONASS, GPS) and the IGS (International GNSS Service) Multi-GNSS Experiment (MGEX) bring great opportunities and challenges for real-time precise positioning service. In this contribution, we present a GPS+GLONASS+BeiDou+Galileo four-system model to fully exploit the observations of all these four navigation satellite systems for real-time precise orbit determination, clock estimation and positioning. A rigorous multi-GNSS analysis is performed to achieve the best possible consistency by processing the observations from different GNSS together in one common parameter estimation procedure. Meanwhile, an efficient multi-GNSS real-time precise positioning service system is designed and demonstrated by using the Multi-GNSS Experiment (MGEX) and International GNSS Service (IGS) data streams including stations all over the world. The addition of the BeiDou, Galileo and GLONASS systems to the standard GPS-only processing, reduces the convergence time almost by 70%, while the positioning accuracy is improved by about 25%. Some outliers in the GPS-only solutions vanish when multi-GNSS observations are processed simultaneous. The availability and reliability of GPS precise positioning decrease dramatically as the elevation cutoff increases. However, the accuracy of multi-GNSS precise point positioning (PPP) is hardly decreased and few centimeters are still achievable in the horizontal components even with 40° elevation cutoff.

Prototyping a GNSS-Based Passive Radar for UAVs: An Instrument to Classify the Water Content Feature of Lands

PubMed Central

Troglia Gamba, Micaela; Marucco, Gianluca; Pini, Marco; Ugazio, Sabrina; Falletti, Emanuela; Lo Presti, Letizia

2015-01-01

Global Navigation Satellite Systems (GNSS) broadcast signals for positioning and navigation, which can be also employed for remote sensing applications. Indeed, the satellites of any GNSS can be seen as synchronized sources of electromagnetic radiation, and specific processing of the signals reflected back from the ground can be used to estimate the geophysical properties of the Earth’s surface. Several experiments have successfully demonstrated GNSS-reflectometry (GNSS-R), whereas new applications are continuously emerging and are presently under development, either from static or dynamic platforms. GNSS-R can be implemented at a low cost, primarily if small devices are mounted on-board unmanned aerial vehicles (UAVs), which today can be equipped with several types of sensors for environmental monitoring. So far, many instruments for GNSS-R have followed the GNSS bistatic radar architecture and consisted of custom GNSS receivers, often requiring a personal computer and bulky systems to store large amounts of data. This paper presents the development of a GNSS-based sensor for UAVs and small manned aircraft, used to classify lands according to their soil water content. The paper provides details on the design of the major hardware and software components, as well as the description of the results obtained through field tests. PMID:26569242

Prototyping a GNSS-Based Passive Radar for UAVs: An Instrument to Classify the Water Content Feature of Lands.

PubMed

Gamba, Micaela Troglia; Marucco, Gianluca; Pini, Marco; Ugazio, Sabrina; Falletti, Emanuela; Lo Presti, Letizia

2015-11-10

Global Navigation Satellite Systems (GNSS) broadcast signals for positioning and navigation, which can be also employed for remote sensing applications. Indeed, the satellites of any GNSS can be seen as synchronized sources of electromagnetic radiation, and specific processing of the signals reflected back from the ground can be used to estimate the geophysical properties of the Earth's surface. Several experiments have successfully demonstrated GNSS-reflectometry (GNSS-R), whereas new applications are continuously emerging and are presently under development, either from static or dynamic platforms. GNSS-R can be implemented at a low cost, primarily if small devices are mounted on-board unmanned aerial vehicles (UAVs), which today can be equipped with several types of sensors for environmental monitoring. So far, many instruments for GNSS-R have followed the GNSS bistatic radar architecture and consisted of custom GNSS receivers, often requiring a personal computer and bulky systems to store large amounts of data. This paper presents the development of a GNSS-based sensor for UAVs and small manned aircraft, used to classify lands according to their soil water content. The paper provides details on the design of the major hardware and software components, as well as the description of the results obtained through field tests.

The Impact of Satellite Time Group Delay and Inter-Frequency Differential Code Bias Corrections on Multi-GNSS Combined Positioning

PubMed Central

Ge, Yulong; Zhou, Feng; Sun, Baoqi; Wang, Shengli; Shi, Bo

2017-01-01

We present quad-constellation (namely, GPS, GLONASS, BeiDou and Galileo) time group delay (TGD) and differential code bias (DCB) correction models to fully exploit the code observations of all the four global navigation satellite systems (GNSSs) for navigation and positioning. The relationship between TGDs and DCBs for multi-GNSS is clearly figured out, and the equivalence of TGD and DCB correction models combining theory with practice is demonstrated. Meanwhile, the TGD/DCB correction models have been extended to various standard point positioning (SPP) and precise point positioning (PPP) scenarios in a multi-GNSS and multi-frequency context. To evaluate the effectiveness and practicability of broadcast TGDs in the navigation message and DCBs provided by the Multi-GNSS Experiment (MGEX), both single-frequency GNSS ionosphere-corrected SPP and dual-frequency GNSS ionosphere-free SPP/PPP tests are carried out with quad-constellation signals. Furthermore, the author investigates the influence of differential code biases on GNSS positioning estimates. The experiments show that multi-constellation combination SPP performs better after DCB/TGD correction, for example, for GPS-only b1-based SPP, the positioning accuracies can be improved by 25.0%, 30.6% and 26.7%, respectively, in the N, E, and U components, after the differential code biases correction, while GPS/GLONASS/BDS b1-based SPP can be improved by 16.1%, 26.1% and 9.9%. For GPS/BDS/Galileo the 3rd frequency based SPP, the positioning accuracies are improved by 2.0%, 2.0% and 0.4%, respectively, in the N, E, and U components, after Galileo satellites DCB correction. The accuracy of Galileo-only b1-based SPP are improved about 48.6%, 34.7% and 40.6% with DCB correction, respectively, in the N, E, and U components. The estimates of multi-constellation PPP are subject to different degrees of influence. For multi-constellation combination SPP, the accuracy of single-frequency is slightly better than that of dual-frequency combinations. Dual-frequency combinations are more sensitive to the differential code biases, especially for the 2nd and 3rd frequency combination, such as for GPS/BDS SPP, accuracy improvements of 60.9%, 26.5% and 58.8% in the three coordinate components is achieved after DCB parameters correction. For multi-constellation PPP, the convergence time can be reduced significantly with differential code biases correction. And the accuracy of positioning is slightly better with TGD/DCB correction. PMID:28300787

The Impact of Satellite Time Group Delay and Inter-Frequency Differential Code Bias Corrections on Multi-GNSS Combined Positioning.

PubMed

Ge, Yulong; Zhou, Feng; Sun, Baoqi; Wang, Shengli; Shi, Bo

2017-03-16

We present quad-constellation (namely, GPS, GLONASS, BeiDou and Galileo) time group delay (TGD) and differential code bias (DCB) correction models to fully exploit the code observations of all the four global navigation satellite systems (GNSSs) for navigation and positioning. The relationship between TGDs and DCBs for multi-GNSS is clearly figured out, and the equivalence of TGD and DCB correction models combining theory with practice is demonstrated. Meanwhile, the TGD/DCB correction models have been extended to various standard point positioning (SPP) and precise point positioning (PPP) scenarios in a multi-GNSS and multi-frequency context. To evaluate the effectiveness and practicability of broadcast TGDs in the navigation message and DCBs provided by the Multi-GNSS Experiment (MGEX), both single-frequency GNSS ionosphere-corrected SPP and dual-frequency GNSS ionosphere-free SPP/PPP tests are carried out with quad-constellation signals. Furthermore, the author investigates the influence of differential code biases on GNSS positioning estimates. The experiments show that multi-constellation combination SPP performs better after DCB/TGD correction, for example, for GPS-only b1-based SPP, the positioning accuracies can be improved by 25.0%, 30.6% and 26.7%, respectively, in the N, E, and U components, after the differential code biases correction, while GPS/GLONASS/BDS b1-based SPP can be improved by 16.1%, 26.1% and 9.9%. For GPS/BDS/Galileo the 3rd frequency based SPP, the positioning accuracies are improved by 2.0%, 2.0% and 0.4%, respectively, in the N, E, and U components, after Galileo satellites DCB correction. The accuracy of Galileo-only b1-based SPP are improved about 48.6%, 34.7% and 40.6% with DCB correction, respectively, in the N, E, and U components. The estimates of multi-constellation PPP are subject to different degrees of influence. For multi-constellation combination SPP, the accuracy of single-frequency is slightly better than that of dual-frequency combinations. Dual-frequency combinations are more sensitive to the differential code biases, especially for the 2nd and 3rd frequency combination, such as for GPS/BDS SPP, accuracy improvements of 60.9%, 26.5% and 58.8% in the three coordinate components is achieved after DCB parameters correction. For multi-constellation PPP, the convergence time can be reduced significantly with differential code biases correction. And the accuracy of positioning is slightly better with TGD/DCB correction.

Real-Time and Post-Processed Orbit Determination and Positioning

NASA Technical Reports Server (NTRS)

Harvey, Nathaniel E. (Inventor); Lu, Wenwen (Inventor); Miller, Mark A. (Inventor); Bar-Sever, Yoaz E. (Inventor); Miller, Kevin J. (Inventor); Romans, Larry J. (Inventor); Dorsey, Angela R. (Inventor); Sibthorpe, Anthony J. (Inventor); Weiss, Jan P. (Inventor); Bertiger, William I. (Inventor);

Real-Time and Post-Processed Orbit Determination and Positioning

NASA Technical Reports Server (NTRS)

Bar-Sever, Yoaz E. (Inventor); Romans, Larry J. (Inventor); Weiss, Jan P. (Inventor); Gross, Jason (Inventor); Harvey, Nathaniel E. (Inventor); Lu, Wenwen (Inventor); Dorsey, Angela R. (Inventor); Miller, Mark A. (Inventor); Sibthorpe, Anthony J. (Inventor); Bertiger, William I. (Inventor);

A Feasibility Analysis of Land-Based SINS/GNSS Gravimetry for Groundwater Resource Detection in Taiwan

PubMed Central

Chiang, Kai-Wei; Lin, Cheng-An; Kuo, Chung-Yen

2015-01-01

The integration of the Strapdown Inertial Navigation System and Global Navigation Satellite System (SINS/GNSS) has been implemented for land-based gravimetry and has been proven to perform well in estimating gravity. Based on the mGal-level gravimetry results, this research aims to construct and develop a land-based SINS/GNSS gravimetry device containing a navigation-grade Inertial Measurement Unit. This research also presents a feasibility analysis for groundwater resource detection. A preliminary comparison of the kinematic velocities and accelerations using multi-combination of GNSS data including Global Positioning System, Global Navigation Satellite System, and BeiDou Navigation Satellite System, indicates that three-system observations performed better than two-system data in the computation. A comparison of gravity derived from SINS/GNSS and measured using a relative gravimeter also shows that both agree reasonably well with a mean difference of 2.30 mGal. The mean difference between repeat measurements of gravity disturbance using SINS/GNSS is 2.46 mGal with a standard deviation of 1.32 mGal. The gravity variation because of the groundwater at Pingtung Plain, Taiwan could reach 2.72 mGal. Hence, the developed land-based SINS/GNSS gravimetry can sufficiently and effectively detect groundwater resources. PMID:26426019

A Feasibility Analysis of Land-Based SINS/GNSS Gravimetry for Groundwater Resource Detection in Taiwan.

PubMed

Chiang, Kai-Wei; Lin, Cheng-An; Kuo, Chung-Yen

2015-09-29

The integration of the Strapdown Inertial Navigation System and Global Navigation Satellite System (SINS/GNSS) has been implemented for land-based gravimetry and has been proven to perform well in estimating gravity. Based on the mGal-level gravimetry results, this research aims to construct and develop a land-based SINS/GNSS gravimetry device containing a navigation-grade Inertial Measurement Unit. This research also presents a feasibility analysis for groundwater resource detection. A preliminary comparison of the kinematic velocities and accelerations using multi-combination of GNSS data including Global Positioning System, Global Navigation Satellite System, and BeiDou Navigation Satellite System, indicates that three-system observations performed better than two-system data in the computation. A comparison of gravity derived from SINS/GNSS and measured using a relative gravimeter also shows that both agree reasonably well with a mean difference of 2.30 mGal. The mean difference between repeat measurements of gravity disturbance using SINS/GNSS is 2.46 mGal with a standard deviation of 1.32 mGal. The gravity variation because of the groundwater at Pingtung Plain, Taiwan could reach 2.72 mGal. Hence, the developed land-based SINS/GNSS gravimetry can sufficiently and effectively detect groundwater resources.

Preface: High-rate GNSS: Theory, methods and engineering/geophysical applications

NASA Astrophysics Data System (ADS)

Xu, Peiliang

2017-06-01

Global Navigation Satellite Systems (GNSS) have revolutionized the science and engineering of positioning, timing and navigation and have become an indispensable means to rapidly obtain precise positioning-related information, profoundly affecting our daily life and infrastructure. With GNSS, the position of an object, either stationary or moving, can be determined anywhere, anytime and under any weather condition. In addition to providing a positioning and timing information service, GNSS are now also used to reconstruct physical properties of media through which GNSS signals travel. The utilization of additional GNSS systems such as the European Galileo and the Chinese Beidou (both expected to complete their final global constellations in 2020) will contribute to positioning/navigation science and engineering, provide more industrial opportunities and surely open more challenges.

Impact of Multi-GNSS Observations on Precise Orbit Determination and Precise Point Positioning Solutions

NASA Astrophysics Data System (ADS)

Amiri, N.; Bertiger, W. I.; Lu, W.; Miller, M. A.; David, M. W.; Ries, P.; Romans, L.; Sibois, A. E.; Sibthorpe, A.; Sakumura, C.

2017-12-01

Impact of Multi-GNSS Observations on Precise Orbit Determination and Precise Point Positioning Solutions Authors: Nikta Amiri, Willy Bertiger, Wenwen Lu, Mark Miller, David Murphy, Paul Ries, Larry Romans, Carly Sakumura, Aurore Sibois, Anthony Sibthorpe All at the Jet Propulsion Laboratory, California Institute of Technology Multiple Global Navigation Satellite Systems (GNSS) are now in various stages of completion. The four current constellations (GPS, GLONASS, BeiDou, Galileo) comprise more than 80 satellites as of July 2017, with 120 satellites expected to be available when all four constellations become fully operational. We investigate the impact of simultaneous observations to these four constellations on global network precise orbit determination (POD) solutions, and compare them to available sets of orbit and clock products submitted to the Multi-GNSS Experiment (MGEX). Using JPL's GipsyX software, we generate orbit and clock products for the four constellations. The resulting solutions are evaluated based on a number of metrics including day-to-day internal and external orbit and/or clock overlaps and estimated constellation biases. Additionally, we examine estimated station positions obtained from precise point positioning (PPP) solutions by comparing results generated from multi-GNSS and GPS-only orbit and clock products.

Addressing the Influence of Space Weather on Airline Navigation

NASA Technical Reports Server (NTRS)

Sparks, Lawrence

2012-01-01

The advent of satellite-based augmentation systems has made it possible to navigate aircraft safely using radio signals emitted by global navigation satellite systems (GNSS) such as the Global Positioning System. As a signal propagates through the earth's ionosphere, it suffers delay that is proportional to the total electron content encountered along the raypath. Since the magnitude of this total electron content is strongly influenced by space weather, the safety and reliability of GNSS for airline navigation requires continual monitoring of the state of the ionosphere and calibration of ionospheric delay. This paper examines the impact of space weather on GNSS-based navigation and provides an overview of how the Wide Area Augmentation System protects its users from positioning error due to ionospheric disturbances

Analysis of the dynamic behavior of structures using the high-rate GNSS-PPP method combined with a wavelet-neural model: Numerical simulation and experimental tests

NASA Astrophysics Data System (ADS)

Kaloop, Mosbeh R.; Yigit, Cemal O.; Hu, Jong W.

2018-03-01

Recently, the high rate global navigation satellite system-precise point positioning (GNSS-PPP) technique has been used to detect the dynamic behavior of structures. This study aimed to increase the accuracy of the extraction oscillation properties of structural movements based on the high-rate (10 Hz) GNSS-PPP monitoring technique. A developmental model based on the combination of wavelet package transformation (WPT) de-noising and neural network prediction (NN) was proposed to improve the dynamic behavior of structures for GNSS-PPP method. A complicated numerical simulation involving highly noisy data and 13 experimental cases with different loads were utilized to confirm the efficiency of the proposed model design and the monitoring technique in detecting the dynamic behavior of structures. The results revealed that, when combined with the proposed model, GNSS-PPP method can be used to accurately detect the dynamic behavior of engineering structures as an alternative to relative GNSS method.

Preparing an autonomous, low-cost GNSS positioning and timing function on board a GEO telecom mission: a study case

NASA Astrophysics Data System (ADS)

Zin, A.; Scotti, M.; Mangolini, E.; Cappelluti, I.; Fiordiponti, R.; Amalric, J.; Flament, P.; Brouillard, E.; Kowaltschek, S.

2015-06-01

The purpose of this paper is to present a viable solution for a low-cost, autonomous GNSS positioning and timing function integrated in the avionics of a GEO telecomm satellite. This paper is based on a study currently carried out by Thales Alenia Space under an ARTES contract with ESA, funded by the Italian Space Agency. The availability of an autonomous means of positioning in GEO platform is essential in reducing the constraints on the ground control. This is even more true in the case of the transfer to the GEO orbit, where the current trend is to implement the low-thrust electrical propulsion and this phase could have a duration of months: the GNSS function can autonomously feed the on-board trajectory propagator with the spacecraft position fixes, in order to constrain the state estimate of the on-board filter. In order to achieve large availability of position and timing of the hosting platform, the tracking of the GNSS antenna side lobes is a critical feature. Based on the recent experiences of SGR GEO, additional insights on the side-lobe levels were made available to the GNSS community and this allows to better target a receiver architecture whose performance can be more precisely determined for the study case. This paper will show the findings in terms of GNSS function architecture for the GEO application, as well as the integration of this function inside the avionic computer. The focus is on a single frequency receiver, targeting at least GPS L1 and Galileo E1 signals. Optimizations in terms of sharing of HW resources with the on-board computer (oscillator, DC/DC converter) and the overall redundancy strategy are presented. Extension and implications for covering to the GTO case is presented as well. The expected receiver performances (position and timing accuracy, autonomy) are provided through in-orbit simulations, including a realistic receiver model.

Near real-time PPP-based monitoring of the ionosphere using dual-frequency GPS/BDS/Galileo data

NASA Astrophysics Data System (ADS)

Liu, Zhinmin; Li, Yangyang; Li, Fei; Guo, Jinyun

2018-03-01

Ionosphere delay is very important to GNSS observations, since it is one of the main error sources which have to be mitigated even eliminated in order to determine reliable and precise positions. The ionosphere is a dispersive medium to radio signal, so the value of the group delay or phase advance of GNSS radio signal depends on the signal frequency. Ground-based GNSS stations have been used for ionosphere monitoring and modeling for a long time. In this paper we will introduce a novel approach suitable for single-receiver operation based on the precise point positioning (PPP) technique. One of the main characteristic is that only carrier-phase observations are used to avoid particular effects of pseudorange observations. The technique consists of introducing ionosphere ambiguity parameters obtained from PPP filter into the geometry-free combination of observations to estimate ionospheric delays. Observational data from stations that are capable of tracking the GPS/BDS/GALILEO from the International GNSS Service (IGS) Multi-GNSS Experiments (MGEX) network are processed. For the purpose of performance validation, ionospheric delays series derived from the novel approach are compared with the global ionospheric map (GIM) from Ionospheric Associate Analysis Centers (IAACs). The results are encouraging and offer potential solutions to the near real-time ionosphere monitoring.

Autonomous Navigation of Small Uavs Based on Vehicle Dynamic Model

NASA Astrophysics Data System (ADS)

Khaghani, M.; Skaloud, J.

2016-03-01

This paper presents a novel approach to autonomous navigation for small UAVs, in which the vehicle dynamic model (VDM) serves as the main process model within the navigation filter. The proposed method significantly increases the accuracy and reliability of autonomous navigation, especially for small UAVs with low-cost IMUs on-board. This is achieved with no extra sensor added to the conventional INS/GNSS setup. This improvement is of special interest in case of GNSS outages, where inertial coasting drifts very quickly. In the proposed architecture, the solution to VDM equations provides the estimate of position, velocity, and attitude, which is updated within the navigation filter based on available observations, such as IMU data or GNSS measurements. The VDM is also fed with the control input to the UAV, which is available within the control/autopilot system. The filter is capable of estimating wind velocity and dynamic model parameters, in addition to navigation states and IMU sensor errors. Monte Carlo simulations reveal major improvements in navigation accuracy compared to conventional INS/GNSS navigation system during the autonomous phase, when satellite signals are not available due to physical obstruction or electromagnetic interference for example. In case of GNSS outages of a few minutes, position and attitude accuracy experiences improvements of orders of magnitude compared to inertial coasting. It means that during such scenario, the position-velocity-attitude (PVA) determination is sufficiently accurate to navigate the UAV to a home position without any signal that depends on vehicle environment.

Deformation integrity monitoring for GNSS positioning services including local, regional and large scale hazard monitoring - the Karlsruhe approach and software(MONIKA)

NASA Astrophysics Data System (ADS)

Jaeger, R.

2007-05-01

GNSS-positioning services like SAPOS/ascos in Germany and many others in Europe, America and worldwide, usually yield in a short time their interdisciplinary and country-wide use for precise geo-referencing, replacing traditional low order geodetic networks. So it becomes necessary that possible changes of the reference stations' coordinates are detected ad hoc. The GNSS-reference-station MONitoring by the KArlsruhe approach and software (MONIKA) are designed for that task. The developments at Karlsruhe University of Applied Sciences in cooperation with the State Survey of Baden-Württemberg are further motivated by a the official resolution of the German state survey departments' association (Arbeitsgemeinschaft der Vermessungsverwaltungen Deutschland (AdV)) 2006 on coordinate monitoring as a quality-control duty of the GNSS-positioning service provider. The presented approach can - besides the coordinate control of GNSS-positioning services - also be used to set up any GNSS-service for the tasks of an area-wide geodynamical and natural disaster-prevention service. The mathematical model of approach, which enables a multivariate and multi-epochal design approach, is based on the GNSS-observations input of the RINEX-data of the GNSS service, followed by fully automatic processing of baselines and/or session, and a near-online setting up of epoch-state vectors and their covariance-matrices in a rigorous 3D network adjustment. In case of large scale and long-term monitoring situations, geodynamical standard trends (datum-drift, plate-movements etc.) are accordingly considered and included in the mathematical model of MONIKA. The coordinate-based deformation monitoring approach, as third step of the stepwise adjustments, is based on the above epoch-state vectors, and - splitting off geodynamics trends - hereby on a multivariate and multi-epochal congruency testing. So far, that no other information exists, all points are assumed as being stable and congruent reference points. Stations, which a priori assumed as moving - in that way local monitoring areas can be included- are to be monitored and analyzed in reference to the stable reference points. In that way, a high sensitivity for the detection of GNSS station displacements, both for assumed stable points, as well as for a priori moving points, can be achieved. The results for the concept are shown at the example of a monitoring using the MONINKA-software in the 300 x 300 km area of the state of Baden-Württemberg, Germany.

Ionospheric TEC Weather Map Over South America

NASA Astrophysics Data System (ADS)

Takahashi, H.; Wrasse, C. M.; Denardini, C. M.; Pádua, M. B.; de Paula, E. R.; Costa, S. M. A.; Otsuka, Y.; Shiokawa, K.; Monico, J. F. Galera; Ivo, A.; Sant'Anna, N.

2016-11-01

Ionospheric weather maps using the total electron content (TEC) monitored by ground-based Global Navigation Satellite Systems (GNSS) receivers over South American continent, TECMAP, have been operationally produced by Instituto Nacional de Pesquisas Espaciais's Space Weather Study and Monitoring Program (Estudo e Monitoramento Brasileiro de Clima Especial) since 2013. In order to cover the whole continent, four GNSS receiver networks, (Rede Brasileiro de Monitoramento Contínuo) RBMC/Brazilian Institute for Geography and Statistics, Low-latitude Ionospheric Sensor Network, International GNSS Service, and Red Argentina de Monitoreo Satelital Continuo, in total 140 sites, have been used. TECMAPs with a time resolution of 10 min are produced in 12 h time delay. Spatial resolution of the map is rather low, varying between 50 and 500 km depending on the density of the observation points. Large day-to-day variabilities of the equatorial ionization anomaly have been observed. Spatial gradient of TEC from the anomaly trough (total electron content unit, 1 TECU = 1016 el m-2 (TECU) <10) to the crest region (TECU > 80) causes a large ionospheric range delay in the GNSS positioning system. Ionospheric plasma bubbles, their seeding and development, could be monitored. This plasma density (spatial and temporal) variability causes not only the GNSS-based positioning error but also radio wave scintillations. Monitoring of these phenomena by TEC mapping becomes an important issue for space weather concern for high-technology positioning system and telecommunication.

Determination of Precise Satellite Orbital Position Using Multi-Band GNSS Signals

DTIC Science & Technology

2017-10-16

AFRL-AFOSR-JP-TR-2018-0002 Determination of Precise Satellite Orbital Position Using Multi -Band GNSS Signals Erry Gunawan NANYANG TECHNOLOGICAL...Position Using Multi -Band GNSS Signals 5a.  CONTRACT NUMBER 5b.  GRANT NUMBER FA2386-15-1-4041 5c.  PROGRAM ELEMENT NUMBER 61102F 6. AUTHOR(S) Erry...Grant FA2386-15-1-4041 “Determination of Precise orbital position using multi -band GNSS signals” October 13, 2017 Name of Principal Investigators

High-rate multi-GNSS: what does it mean to seismology?

NASA Astrophysics Data System (ADS)

Geng, J.

2017-12-01

GNSS precise point positioning (PPP) is capable of measuring centimeter-level positions epoch by epoch at a single station, and is thus treasured in tsunami/earthquake early warning where static displacements in the near field are critical to rapidly and reliably determining the magnitude of destructive events. However, most operational real-time PPP systems at present rely on only GPS data. The deficiency of such systems is that the high reliability and availability of precise displacements cannot be maintained continuously in real time, which is however a crucial requirement for disaster resistance and response. Multi-GNSS, including GLONASS, BeiDou, Galileo and QZSS other than only GPS, can be a solution to this problem because much more satellites per epoch (e.g. 30-40) will be available. In this case, positioning failure due to data loss or blunders can be minimized, and on the other hand, positioning initializations can be accelerated to a great extent since the satellite geometry for each epoch will be enhanced enormously. We established a prototype real-time multi-GNSS PPP service based on Asia-Pacific real-time network which can collect and stream high-rate data from all five navigation systems above. We estimated high-rate satellite clock corrections and enabled undifferenced ambiguity fixing for multi-GNSS, which therefore ensures high availability and reliability of precise displacement estimates in contrast to GPS-only systems. We will report how we can benefit from multi-GNSS for seismology, especially the noise characteristics of high-rate and sub-daily displacements. We will also use storm surge loading events to demonstrate the contribution of multi-GNSS to sub-daily transient signals.

Navigation studies based on the ubiquitous positioning technologies

NASA Astrophysics Data System (ADS)

Ye, Lei; Mi, Weijie; Wang, Defeng

2007-11-01

This paper summarized the nowadays positioning technologies, such as absolute positioning methods and relative positioning methods, indoor positioning and outdoor positioning, active positioning and passive positioning. Global Navigation Satellite System (GNSS) technologies were introduced as the omnipresent out-door positioning technologies, including GPS, GLONASS, Galileo and BD-1/2. After analysis of the shortcomings of GNSS, indoor positioning technologies were discussed and compared, including A-GPS, Cellular network, Infrared, Electromagnetism, Computer Vision Cognition, Embedded Pressure Sensor, Ultrasonic, RFID (Radio Frequency IDentification), Bluetooth, WLAN etc.. Then the concept and characteristics of Ubiquitous Positioning was proposed. After the ubiquitous positioning technologies contrast and selection followed by system engineering methodology, a navigation system model based on Incorporate Indoor-Outdoor Positioning Solution was proposed. And this model was simulated in the Galileo Demonstration for World Expo Shanghai project. In the conclusion, the prospects of ubiquitous positioning based navigation were shown, especially to satisfy the public location information acquiring requirement.

Passive Sensor Integration for Vehicle Self-Localization in Urban Traffic Environment †

PubMed Central

Gu, Yanlei; Hsu, Li-Ta; Kamijo, Shunsuke

2015-01-01

This research proposes an accurate vehicular positioning system which can achieve lane-level performance in urban canyons. Multiple passive sensors, which include Global Navigation Satellite System (GNSS) receivers, onboard cameras and inertial sensors, are integrated in the proposed system. As the main source for the localization, the GNSS technique suffers from Non-Line-Of-Sight (NLOS) propagation and multipath effects in urban canyons. This paper proposes to employ a novel GNSS positioning technique in the integration. The employed GNSS technique reduces the multipath and NLOS effects by using the 3D building map. In addition, the inertial sensor can describe the vehicle motion, but has a drift problem as time increases. This paper develops vision-based lane detection, which is firstly used for controlling the drift of the inertial sensor. Moreover, the lane keeping and changing behaviors are extracted from the lane detection function, and further reduce the lateral positioning error in the proposed localization system. We evaluate the integrated localization system in the challenging city urban scenario. The experiments demonstrate the proposed method has sub-meter accuracy with respect to mean positioning error. PMID:26633420

Position Accuracy Analysis of a Robust Vision-Based Navigation

NASA Astrophysics Data System (ADS)

Gaglione, S.; Del Pizzo, S.; Troisi, S.; Angrisano, A.

2018-05-01

Using images to determine camera position and attitude is a consolidated method, very widespread for application like UAV navigation. In harsh environment, where GNSS could be degraded or denied, image-based positioning could represent a possible candidate for an integrated or alternative system. In this paper, such method is investigated using a system based on single camera and 3D maps. A robust estimation method is proposed in order to limit the effect of blunders or noisy measurements on position solution. The proposed approach is tested using images collected in an urban canyon, where GNSS positioning is very unaccurate. A previous photogrammetry survey has been performed to build the 3D model of tested area. The position accuracy analysis is performed and the effect of the robust method proposed is validated.

Real-time Retrieving Atmospheric Parameters from Multi-GNSS Constellations

NASA Astrophysics Data System (ADS)

Li, X.; Zus, F.; Lu, C.; Dick, G.; Ge, M.; Wickert, J.; Schuh, H.

2016-12-01

The multi-constellation GNSS (e.g. GPS, GLONASS, Galileo, and BeiDou) bring great opportunities and challenges for real-time retrieval of atmospheric parameters for supporting numerical weather prediction (NWP) nowcasting or severe weather event monitoring. In this study, the observations from different GNSS are combined together for atmospheric parameter retrieving based on the real-time precise point positioning technique. The atmospheric parameters retrieved from multi-GNSS observations, including zenith total delay (ZTD), integrated water vapor (IWV), horizontal gradient (especially high-resolution gradient estimates) and slant total delay (STD), are carefully analyzed and evaluated by using the VLBI, radiosonde, water vapor radiometer and numerical weather model to independently validate the performance of individual GNSS and also demonstrate the benefits of multi-constellation GNSS for real-time atmospheric monitoring. Numerous results show that the multi-GNSS processing can provide real-time atmospheric products with higher accuracy, stronger reliability and better distribution, which would be beneficial for atmospheric sounding systems, especially for nowcasting of extreme weather.

Estimating and Comparing Dam Deformation Using Classical and GNSS Techniques.

PubMed

Barzaghi, Riccardo; Cazzaniga, Noemi Emanuela; De Gaetani, Carlo Iapige; Pinto, Livio; Tornatore, Vincenza

2018-03-02

Global Navigation Satellite Systems (GNSS) receivers are nowadays commonly used in monitoring applications, e.g., in estimating crustal and infrastructure displacements. This is basically due to the recent improvements in GNSS instruments and methodologies that allow high-precision positioning, 24 h availability and semiautomatic data processing. In this paper, GNSS-estimated displacements on a dam structure have been analyzed and compared with pendulum data. This study has been carried out for the Eleonora D'Arborea (Cantoniera) dam, which is in Sardinia. Time series of pendulum and GNSS over a time span of 2.5 years have been aligned so as to be comparable. Analytical models fitting these time series have been estimated and compared. Those models were able to properly fit pendulum data and GNSS data, with standard deviation of residuals smaller than one millimeter. These encouraging results led to the conclusion that GNSS technique can be profitably applied to dam monitoring allowing a denser description, both in space and time, of the dam displacements than the one based on pendulum observations.

Development of a GNSS Buoy for Monitoring Water Surface Elevations in Estuaries and Coastal Areas.

PubMed

Lin, Yen-Pin; Huang, Ching-Jer; Chen, Sheng-Hsueh; Doong, Dong-Jiing; Kao, Chia Chuen

2017-01-18

In this work, a Global Navigation Satellite System (GNSS) buoy that utilizes a Virtual Base Station (VBS) combined with the Real-Time Kinematic (RTK) positioning technology was developed to monitor water surface elevations in estuaries and coastal areas. The GNSS buoy includes a buoy hull, a RTK GNSS receiver, data-transmission devices, a data logger, and General Purpose Radio Service (GPRS) modems for transmitting data to the desired land locations. Laboratory and field tests were conducted to test the capability of the buoy and verify the accuracy of the monitored water surface elevations. For the field tests, the GNSS buoy was deployed in the waters of Suao (northeastern part of Taiwan). Tide data obtained from the GNSS buoy were consistent with those obtained from the neighboring tide station. Significant wave heights, zero-crossing periods, and peak wave directions obtained from the GNSS buoy were generally consistent with those obtained from an accelerometer-tilt-compass (ATC) sensor. The field tests demonstrate that the developed GNSS buoy can be used to obtain accurate real-time tide and wave data in estuaries and coastal areas.

Development of a GNSS Buoy for Monitoring Water Surface Elevations in Estuaries and Coastal Areas

PubMed Central

Lin, Yen-Pin; Huang, Ching-Jer; Chen, Sheng-Hsueh; Doong, Dong-Jiing; Kao, Chia Chuen

2017-01-01

In this work, a Global Navigation Satellite System (GNSS) buoy that utilizes a Virtual Base Station (VBS) combined with the Real-Time Kinematic (RTK) positioning technology was developed to monitor water surface elevations in estuaries and coastal areas. The GNSS buoy includes a buoy hull, a RTK GNSS receiver, data-transmission devices, a data logger, and General Purpose Radio Service (GPRS) modems for transmitting data to the desired land locations. Laboratory and field tests were conducted to test the capability of the buoy and verify the accuracy of the monitored water surface elevations. For the field tests, the GNSS buoy was deployed in the waters of Suao (northeastern part of Taiwan). Tide data obtained from the GNSS buoy were consistent with those obtained from the neighboring tide station. Significant wave heights, zero-crossing periods, and peak wave directions obtained from the GNSS buoy were generally consistent with those obtained from an accelerometer-tilt-compass (ATC) sensor. The field tests demonstrate that the developed GNSS buoy can be used to obtain accurate real-time tide and wave data in estuaries and coastal areas. PMID:28106763

Application of troposphere model from NWP and GNSS data into real-time precise positioning

NASA Astrophysics Data System (ADS)

Wilgan, Karina; Hadas, Tomasz; Kazmierski, Kamil; Rohm, Witold; Bosy, Jaroslaw

2016-04-01

The tropospheric delay empirical models are usually functions of meteorological parameters (temperature, pressure and humidity). The application of standard atmosphere parameters or global models, such as GPT (global pressure/temperature) model or UNB3 (University of New Brunswick, version 3) model, may not be sufficient, especially for positioning in non-standard weather conditions. The possible solution is to use regional troposphere models based on real-time or near-real time measurements. We implement a regional troposphere model into the PPP (Precise Point Positioning) software GNSS-WARP (Wroclaw Algorithms for Real-time Positioning) developed at Wroclaw University of Environmental and Life Sciences. The software is capable of processing static and kinematic multi-GNSS data in real-time and post-processing mode and takes advantage of final IGS (International GNSS Service) products as well as IGS RTS (Real-Time Service) products. A shortcoming of PPP technique is the time required for the solution to converge. One of the reasons is the high correlation among the estimated parameters: troposphere delay, receiver clock offset and receiver height. To efficiently decorrelate these parameters, a significant change in satellite geometry is required. Alternative solution is to introduce the external high-quality regional troposphere delay model to constrain troposphere estimates. The proposed model consists of zenith total delays (ZTD) and mapping functions calculated from meteorological parameters from Numerical Weather Prediction model WRF (Weather Research and Forecasting) and ZTDs from ground-based GNSS stations using the least-squares collocation software COMEDIE (Collocation of Meteorological Data for Interpretation and Estimation of Tropospheric Pathdelays) developed at ETH Zurich.

Verification of the Polish Geodetic Reference Frame by Means of a New Solution Based on Permanent GNSS Data from the Years 2011-2014

NASA Astrophysics Data System (ADS)

Liwosz, T.; Ryczywolski, M.

2016-12-01

The new solution for the Polish geodetic primary GNSS network was created to verify the currently used reference frame (PL-ETRF2000). The new solution is based on more GNSS data (more daily observation sessions included, a longer data timespan, GLONASS observations added) which were processed in a newer reference frame (IGb08) according to up-to-date methodology and using the latest version of Bernese GNSS Software. The new long-term solution (spanning 3.7 years) was aligned to the IGb08 reference frame using a minimum constraints approach. We categorized Polish reference stations into two categories according to their data length. We obtained good agreement of the new solution with the PL-ETRF2000: for most stations position differences did not exceed 5 mm in horizontal, and 10 mm in vertical components. However, for 30 stations we observed discontinuities in position time series, mostly due to GNSS equipment changes, which occured after the introduction of PL-ETRF2000. Position changes due to the discontinuities reached 9.1 mm in horizontal components, and 26.9 mm in vertical components. The new solution takes into account position discontinuities, and in addition also includes six new stations which were installed after the introduction of the PL-ETRF2000. Therefore, we propose to update the currently-used reference frame for the Polish geodetic primary network (PL-ETRF2000) with the new solution. The new solution was also accepted by the EUREF Technical Working Group as a class A solution (highest accuracy) according to EUREF standards.

Mapping Gnss Restricted Environments with a Drone Tandem and Indirect Position Control

NASA Astrophysics Data System (ADS)

Cledat, E.; Cucci, D. A.

2017-08-01

The problem of autonomously mapping highly cluttered environments, such as urban and natural canyons, is intractable with the current UAV technology. The reason lies in the absence or unreliability of GNSS signals due to partial sky occlusion or multi-path effects. High quality carrier-phase observations are also required in efficient mapping paradigms, such as Assisted Aerial Triangulation, to achieve high ground accuracy without the need of dense networks of ground control points. In this work we consider a drone tandem in which the first drone flies outside the canyon, where GNSS constellation is ideal, visually tracks the second drone and provides an indirect position control for it. This enables both autonomous guidance and accurate mapping of GNSS restricted environments without the need of ground control points. We address the technical feasibility of this concept considering preliminary real-world experiments in comparable conditions and we perform a mapping accuracy prediction based on a simulation scenario.

On the Impact of Multi-GNSS Observations on Real-Time Precise Point Positioning Zenith Total Delay Estimates

NASA Astrophysics Data System (ADS)

Ding, Wenwu; Teferle, Norman; Kaźmierski, Kamil; Laurichesse, Denis; Yuan, Yunbin

2017-04-01

Observations from multiple Global Navigation Satellite System (GNSS) can improve the performance of real-time (RT) GNSS meteorology, in particular of the Zenith Total Delay (ZTD) estimates. RT ZTD estimates in combination with derived precipitable water vapour estimates can be used for weather now-casting and the tracking of severe weather events. While a number of published literature has already highlighted this positive development, in this study we describe an operational RT system for extracting ZTD using a modified version of the PPP-wizard (with PPP denoting Precise Point Positioning). Multi-GNSS, including GPS, GLONASS and Galileo, observation streams are processed using a RT PPP strategy based on RT satellite orbit and clock products from the Centre National d'Etudes Spatiales (CNES). A continuous experiment for 30 days was conducted, in which the RT observation streams of 20 globally distributed stations were processed. The initialization time and accuracy of the RT troposphere products using single and/or multi-system observations were evaluated. The effect of RT PPP ambiguity resolution was also evaluated. The results revealed that the RT troposphere products based on single system observations can fulfill the requirements of the meteorological application in now-casting systems. We noted that the GPS-only solution is better than the GLONASS-only solution in both initialization and accuracy. While the ZTD performance can be improved by applying RT PPP ambiguity resolution, the inclusion of observations from multiple GNSS has a more profound effect. Specifically, we saw that the ambiguity resolution is more effective in improving the accuracy, whereas the initialization process can be better accelerated by multi-GNSS observations. Combining all systems, RT troposphere products with an average accuracy of about 8 mm in ZTD were achieved after an initialization process of approximately 9 minutes, which supports the application of multi-GNSS observations and ambiguity resolution for RT meteorological applications.

Toward a Global Horizontal and Vertical Elastic Load Deformation Model Derived from GRACE and GNSS Station Position Time Series

NASA Astrophysics Data System (ADS)

Chanard, Kristel; Fleitout, Luce; Calais, Eric; Rebischung, Paul; Avouac, Jean-Philippe

2018-04-01

We model surface displacements induced by variations in continental water, atmospheric pressure, and nontidal oceanic loading, derived from the Gravity Recovery and Climate Experiment (GRACE) for spherical harmonic degrees two and higher. As they are not observable by GRACE, we use at first the degree-1 spherical harmonic coefficients from Swenson et al. (2008, https://doi.org/10.1029/2007JB005338). We compare the predicted displacements with the position time series of 689 globally distributed continuous Global Navigation Satellite System (GNSS) stations. While GNSS vertical displacements are well explained by the model at a global scale, horizontal displacements are systematically underpredicted and out of phase with GNSS station position time series. We then reestimate the degree 1 deformation field from a comparison between our GRACE-derived model, with no a priori degree 1 loads, and the GNSS observations. We show that this approach reconciles GRACE-derived loading displacements and GNSS station position time series at a global scale, particularly in the horizontal components. Assuming that they reflect surface loading deformation only, our degree-1 estimates can be translated into geocenter motion time series. We also address and assess the impact of systematic errors in GNSS station position time series at the Global Positioning System (GPS) draconitic period and its harmonics on the comparison between GNSS and GRACE-derived annual displacements. Our results confirm that surface mass redistributions observed by GRACE, combined with an elastic spherical and layered Earth model, can be used to provide first-order corrections for loading deformation observed in both horizontal and vertical components of GNSS station position time series.

Assessment of local GNSS baselines at co-location sites

NASA Astrophysics Data System (ADS)

Herrera Pinzón, Iván; Rothacher, Markus

2018-01-01

As one of the major contributors to the realisation of the International Terrestrial Reference System (ITRS), the Global Navigation Satellite Systems (GNSS) are prone to suffer from irregularities and discontinuities in time series. While often associated with hardware/software changes and the influence of the local environment, these discrepancies constitute a major threat for ITRS realisations. Co-located GNSS at fundamental sites, with two or more available instruments, provide the opportunity to mitigate their influence while improving the accuracy of estimated positions by examining data breaks, local biases, deformations, time-dependent variations and the comparison of GNSS baselines with existing local tie measurements. With the use of co-located GNSS data from a subset sites of the International GNSS Service network, this paper discusses a global multi-year analysis with the aim of delivering homogeneous time series of coordinates to analyse system-specific error sources in the local baselines. Results based on the comparison of different GNSS-based solutions with the local survey ties show discrepancies of up to 10 mm despite GNSS coordinate repeatabilities at the sub-mm level. The discrepancies are especially large for the solutions using the ionosphere-free linear combination and estimating tropospheric zenith delays, thus corresponding to the processing strategy used for global solutions. Snow on the antennas causes further problems and seasonal variations of the station coordinates. These demonstrate the need for a permanent high-quality monitoring of the effects present in the short GNSS baselines at fundamental sites.

A cooperative positioning algorithm for DSRC enabled vehicular networks

NASA Astrophysics Data System (ADS)

Efatmaneshnik, M.; Kealy, A.; Alam, N.; Dempster, A. G.

2011-12-01

Many of the safety related applications that can be facilitated by Dedicated Short Range Communications (DSRC), such as vehicle proximity warnings, automated braking (e.g. at level crossings), speed advisories, pedestrian alerts etc., rely on a robust vehicle positioning capability such as that provided by a Global Navigation Satellite System (GNSS). Vehicles in remote areas, entering tunnels, high rise areas or any high multipath/ weak signal environment will challenge the integrity of GNSS position solutions, and ultimately the safety application it underpins. To address this challenge, this paper presents an innovative application of Cooperative Positioning techniques within vehicular networks. CP refers to any method of integrating measurements from different positioning systems and sensors in order to improve the overall quality (accuracy and reliability) of the final position solution. This paper investigates the potential of the DSRC infrastructure itself to provide an inter-vehicular ranging signal that can be used as a measurement within the CP algorithm. In this paper, time-based techniques of ranging are introduced and bandwidth requirements are investigated and presented. The robustness of the CP algorithm to inter-vehicle connection failure as well as GNSS dropouts is also demonstrated using simulation studies. Finally, the performance of the Constrained Kalman Filter used to integrate GNSS measurements with DSRC derived range estimates within a typical VANET is described and evaluated.

Train integrity detection risk analysis based on PRISM

NASA Astrophysics Data System (ADS)

Wen, Yuan

2018-04-01

GNSS based Train Integrity Monitoring System (TIMS) is an effective and low-cost detection scheme for train integrity detection. However, as an external auxiliary system of CTCS, GNSS may be influenced by external environments, such as uncertainty of wireless communication channels, which may lead to the failure of communication and positioning. In order to guarantee the reliability and safety of train operation, a risk analysis method of train integrity detection based on PRISM is proposed in this article. First, we analyze the risk factors (in GNSS communication process and the on-board communication process) and model them. Then, we evaluate the performance of the model in PRISM based on the field data. Finally, we discuss how these risk factors influence the train integrity detection process.

Relativistic GLONASS and geodesy

NASA Astrophysics Data System (ADS)

Mazurova, E. M.; Kopeikin, S. M.; Karpik, A. P.

2016-12-01

GNSS technology is playing a major role in applications to civil, industrial and scientific areas. Nowadays, there are two fully functional GNSS: American GPS and Russian GLONASS. Their data processing algorithms have been historically based on the Newtonian theory of space and time with only a few relativistic effects taken into account as small corrections preventing the system from degradation on a fairly long time. Continuously growing accuracy of geodetic measurements and atomic clocks suggests reconsidering the overall approach to the GNSS theoretical model based on the Einstein theory of general relativity. This is essentially more challenging but fundamentally consistent theoretical approach to relativistic space geodesy. In this paper, we overview the basic principles of the relativistic GNSS model and explain the advantages of such a system for GLONASS and other positioning systems. Keywords: relativistic GLONASS, Einstein theory of general relativity.

A multi-instrument case study of high-latitude ionospheric GNSS scintillation due to drifting plasma irregularities

NASA Astrophysics Data System (ADS)

van der Meeren, C.; Oksavik, K.; Moen, J. I.; Romano, V.

2013-12-01

For this study, GPS receiver scintillation and Total Electron Content (TEC) data from high-latitude locations on Svalbard have been combined with several other data sets, including the EISCAT Svalbard Radar (ESR) and allsky cameras, to perform a multi-instrument case study of high-latitude GPS ionospheric scintillations in relation to drifting plasma irregularities at night over Svalbard on 31 October 2011. Scintillations are rapid amplitude and phase fluctuations of electromagnetic signals. GNSS-based systems may be disturbed by ionospheric plasma irregularities and structures such as plasma patches (areas of enhanced electron density in the polar cap) and plasma gradients. When the GNSS radio signals propagate through such areas, in particular gradients, the signals experience scintillations that at best increases positioning errors and at worst may break the receiver's signal lock, potentially resulting in the GNSS receiver losing track of its position. Due to the importance of many GNSS applications, it is desirable to study the scintillation environment to understand the limitations of the GNSS systems. We find scintillation mainly localised to plasma gradients, with predominantly phase scintillation at the leading edge of patches and both phase and amplitude scintillation at the trailing edge. A single edge may also contain different scintillation types at different locations.

Multi-Gnss Receiver for Aerospace Navigation and Positioning Applications

NASA Astrophysics Data System (ADS)

Peres, T. R.; Silva, J. S.; Silva, P. F.; Carona, D.; Serrador, A.; Palhinha, F.; Pereira, R.; Véstias, M.

2014-03-01

The upcoming Galileo system opens a wide range of new opportunities in the Global Navigation Satellite System (GNSS) market. However, the characteristics of the future GNSS signals require the development of new GNSS receivers. In the frame of the REAGE project, DEIMOS and ISEL have developed a GNSS receiver targeted for aerospace applications, supporting current and future GPS L1 and Galileo E1 signals, based on commercial (or, in the furthest extent, industrial) grade components. Although the REAGE project aimed at space applications, the REAGE receiver is also applicable to many terrestrial applications (ground or airborne), such as Georeferencing and Unmanned Aerial Vehicle (UAV) navigation. This paper presents the architecture and features of the REAGE receiver, as well as some results of the validation campaign with GPS L1 and Galileo E1 signals.

Ionospheric modelling to boost the PPP-RTK positioning and navigation in Australia

NASA Astrophysics Data System (ADS)

Arsov, Kirco; Terkildsen, Michael; Olivares, German

2017-04-01

This paper deals with implementation of 3-D ionospheric model to support the GNSS positioning and navigation activities in Australia. We will introduce two strategies for Slant Total Electron Content (STEC) estimation from GNSS CORS sites in Australia. In the first scenario, the STEC is estimated in the PPP-RTK network processing. The ionosphere is estimated together with other GNSS network parameters, such as Satellite Clocks, Satellite Phase Biases, etc. Another approach is where STEC is estimated on a station by station basis by taking advantage of already known station position and different satellite ambiguities relations. Accuracy studies and considerations will be presented and discussed. Furthermore, based on this STEC, 3-D ionosphere modeling will be performed. We will present the simple interpolation, 3-D Tomography and bi-cubic splines as modeling techniques. In order to assess these models, a (user) PPP-RTK test bed is established and a sensitivity matrix will be introduced and analyzed based on time to first fix (TTFF) of ambiguities, positioning accuracy, PPP-RTK solution convergence time etc. Different spatial configurations and constellations will be presented and assessed.

Flicker Noise in GNSS Station Position Time Series: How much is due to Crustal Loading Deformations?

NASA Astrophysics Data System (ADS)

Rebischung, P.; Chanard, K.; Metivier, L.; Altamimi, Z.

2017-12-01

The presence of colored noise in GNSS station position time series was detected 20 years ago. It has been shown since then that the background spectrum of non-linear GNSS station position residuals closely follows a power-law process (known as flicker noise, 1/f noise or pink noise), with some white noise taking over at the highest frequencies. However, the origin of the flicker noise present in GNSS station position time series is still unclear. Flicker noise is often described as intrinsic to the GNSS system, i.e. due to errors in the GNSS observations or in their modeling, but no such error source has been identified so far that could explain the level of observed flicker noise, nor its spatial correlation.We investigate another possible contributor to the observed flicker noise, namely real crustal displacements driven by surface mass transports, i.e. non-tidal loading deformations. This study is motivated by the presence of power-law noise in the time series of low-degree (≤ 40) and low-order (≤ 12) Stokes coefficients observed by GRACE - power-law noise might also exist at higher degrees and orders, but obscured by GRACE observational noise. By comparing GNSS station position time series with loading deformation time series derived from GRACE gravity fields, both with their periodic components removed, we therefore assess whether GNSS and GRACE both plausibly observe the same flicker behavior of surface mass transports / loading deformations. Taking into account GRACE observability limitations, we also quantify the amount of flicker noise in GNSS station position time series that could be explained by such flicker loading deformations.

Estimating and Comparing Dam Deformation Using Classical and GNSS Techniques

PubMed Central

Barzaghi, Riccardo; De Gaetani, Carlo Iapige

2018-01-01

Global Navigation Satellite Systems (GNSS) receivers are nowadays commonly used in monitoring applications, e.g., in estimating crustal and infrastructure displacements. This is basically due to the recent improvements in GNSS instruments and methodologies that allow high-precision positioning, 24 h availability and semiautomatic data processing. In this paper, GNSS-estimated displacements on a dam structure have been analyzed and compared with pendulum data. This study has been carried out for the Eleonora D’Arborea (Cantoniera) dam, which is in Sardinia. Time series of pendulum and GNSS over a time span of 2.5 years have been aligned so as to be comparable. Analytical models fitting these time series have been estimated and compared. Those models were able to properly fit pendulum data and GNSS data, with standard deviation of residuals smaller than one millimeter. These encouraging results led to the conclusion that GNSS technique can be profitably applied to dam monitoring allowing a denser description, both in space and time, of the dam displacements than the one based on pendulum observations. PMID:29498650

Methods of practice and guidelines for using survey-grade global navigation satellite systems (GNSS) to establish vertical datum in the United States Geological Survey

USGS Publications Warehouse

Rydlund, Jr., Paul H.; Densmore, Brenda K.

2012-01-01

Geodetic surveys have evolved through the years to the use of survey-grade (centimeter level) global positioning to perpetuate and post-process vertical datum. The U.S. Geological Survey (USGS) uses Global Navigation Satellite Systems (GNSS) technology to monitor natural hazards, ensure geospatial control for climate and land use change, and gather data necessary for investigative studies related to water, the environment, energy, and ecosystems. Vertical datum is fundamental to a variety of these integrated earth sciences. Essentially GNSS surveys provide a three-dimensional position x, y, and z as a function of the North American Datum of 1983 ellipsoid and the most current hybrid geoid model. A GNSS survey may be approached with post-processed positioning for static observations related to a single point or network, or involve real-time corrections to provide positioning "on-the-fly." Field equipment required to facilitate GNSS surveys range from a single receiver, with a power source for static positioning, to an additional receiver or network communicated by radio or cellular for real-time positioning. A real-time approach in its most common form may be described as a roving receiver augmented by a single-base station receiver, known as a single-base real-time (RT) survey. More efficient real-time methods involving a Real-Time Network (RTN) permit the use of only one roving receiver that is augmented to a network of fixed receivers commonly known as Continually Operating Reference Stations (CORS). A post-processed approach in its most common form involves static data collection at a single point. Data are most commonly post-processed through a universally accepted utility maintained by the National Geodetic Survey (NGS), known as the Online Position User Service (OPUS). More complex post-processed methods involve static observations among a network of additional receivers collecting static data at known benchmarks. Both classifications provide users flexibility regarding efficiency and quality of data collection. Quality assurance of survey-grade global positioning is often overlooked or not understood and perceived uncertainties can be misleading. GNSS users can benefit from a blueprint of data collection standards used to ensure consistency among USGS mission areas. A classification of GNSS survey qualities provide the user with the ability to choose from the highest quality survey used to establish objective points with low uncertainties, identified as a Level I, to a GNSS survey for general topographic control without quality assurance, identified as a Level IV. A Level I survey is strictly limited to post-processed methods, whereas Level II, Level III, and Level IV surveys integrate variations of a RT approach. Among these classifications, techniques involving blunder checks and redundancy are important, and planning that involves the assessment of the overall satellite configuration, as well as terrestrial and space weather, are necessary to ensure an efficient and quality campaign. Although quality indicators and uncertainties are identified in post-processed methods using CORS, the accuracy of a GNSS survey is most effectively expressed as a comparison to a local benchmark that has a high degree of confidence. Real-time and post-processed methods should incorporate these "trusted" benchmarks as a check during any campaign. Global positioning surveys are expected to change rapidly in the future. The expansion of continuously operating reference stations, combined with newly available satellite signals, and enhancements to the conterminous geoid, are all sufficient indicators for substantial growth in real-time positioning and quality thereof.

Positioning stability improvement with inter-system biases on multi-GNSS PPP

NASA Astrophysics Data System (ADS)

Choi, Byung-Kyu; Yoon, Hasu

2018-07-01

The availability of multiple signals from different Global Navigation Satellite System (GNSS) constellations provides opportunities for improving positioning accuracy and initial convergence time. With dual-frequency observations from the four constellations (GPS, GLONASS, Galileo, and BeiDou), it is possible to investigate combined GNSS precise point positioning (PPP) accuracy and stability. The differences between GNSS systems result in inter-system biases (ISBs). We consider several ISB values such as GPS-GLONASS, GPS-Galileo, and GPS-BeiDou. These biases are compliant with key parameters defined in the multi-GNSS PPP processing. In this study, we present a unified PPP method that sets ISB values as fixed or constant. A comprehensive analysis that includes satellite visibility, position dilution of precision, position accuracy is performed to evaluate a unified PPP method with constrained cut-off elevation angles. Compared to the conventional PPP solutions, our approach shows more stable positioning at a constrained cut-off elevation angle of 50 degrees.

A hybrid data fusion method for GNSS/INS integration navigation system

NASA Astrophysics Data System (ADS)

Yang, Ling; Li, Bofeng; Shen, Yunzhong; Li, Haojun

2017-04-01

Although DGNSS is widely used and PPP-GNSS is nowadays a viable precise positioning technology option, the major disadvantage of GNSS still remains: signal blockage due to obstructions in urban and built up environments, and extreme power attenuation of the signals when operated indoors. The combination of GNSS with other sensors, such as a self-contained inertial navigation system (INS), provides an ideal position and attitude determination solution which can not only mitigate the weakness of GNSS, but also bound the INS error that otherwise would grow with time when the INS operates alone. However, the navigation accuracy provided by GNSS/INS strongly depends on the quality and geometry of the GNSS observations, the quality of the INS technology used, and the integration model applied. There are two main types of coupled schemes for integration systems: loosely coupled integration and tightly coupled integration. In loosely coupled integration, position measurements are taken from both systems and combined optimally, usually in a Kalman filter. Tightly coupled integration directly combines the raw pseudorange or carrier phase measurements of GNSS with inertial measurements in an extended Kalman filter. The latter technique improves the ability to resolve ambiguities, i.e. allows a quicker recovery from outage events such as a loss of signal under vegetation. In recent years, tightly coupled differential carrier phase GNSS/INS integration has become popular, because it has the advantage of providing accurate position information even when GPS measurements are rank-deficient in stand-alone processing and is theoretically optimal in a filtering sense, especially in urban navigation applications. However, the heavier computational burden and sensor communication usually complicate the tightly coupled integration and reduce the system efficiency, compared with the loosely coupled integration. In this paper, it has been proved that the loosely coupled and tightly coupled algorithms are equivalent when following conditions are satisfied: 1) there is enough redundancy on the GNSS raw measurements; 2) only pseudorange measurements are used; 3) If differential carrier phase measurements are used, only the float solutions of the ambiguities are considered; 4) the covariance of the loosely coupled measurement model should come from the GNSS standalone solution instead of conventional pre-determined values. Based on the equivalence proof, a dual-step loosely coupled procedure is proposed to regenerate the equal ambiguity fixing solutions in tightly coupled procedure. Accordingly, the tightly coupled differential carrier phase or pseudorange GNSS/INS integration can be simplified, which will degrade to an equivalent loosely coupled integration when there are enough measurement redundancy and recover to a tightly coupled integration when GNSS measurements are rank-deficient. By this hybrid data fusion method, both the optimality of the tightly coupled algorithm and the efficiency of the loosely coupled algorithm can be conserved. Field test results confirm the effectiveness of the proposed method.

E-GVAP, the EIG EUMETNET GNSS Water Vapour Programme

NASA Astrophysics Data System (ADS)

Jones, J.; de Haan, S.; Vedel, H.

2011-12-01

The main purpose of E-GVAP is to deliver near real-time (NRT) ground based GNSS delay data for usage in operational meteorology. This involves the collection and processing of raw GNSS data to estimate zenith total delay (ZTD) and subsequent collection and distribution of ZTD data to European national meteorological services. Validation and quality control, production of 2D animated water vapour maps, development of best practices for GNSS data processing and data usage in Numerical Weather Prediction (NWP) models, are other important aspects. Furthermore there is a current push for more real-time observations which would have positive impacts in high both resolution NWP and for nowcasting applications. We present an overview of the current status of E-GVAP.

Mitigation of multipath effect in GNSS short baseline positioning by the multipath hemispherical map

NASA Astrophysics Data System (ADS)

Dong, D.; Wang, M.; Chen, W.; Zeng, Z.; Song, L.; Zhang, Q.; Cai, M.; Cheng, Y.; Lv, J.

2016-03-01

Multipath is one major error source in high-accuracy GNSS positioning. Various hardware and software approaches are developed to mitigate the multipath effect. Among them the MHM (multipath hemispherical map) and sidereal filtering (SF)/advanced SF (ASF) approaches utilize the spatiotemporal repeatability of multipath effect under static environment, hence they can be implemented to generate multipath correction model for real-time GNSS data processing. We focus on the spatial-temporal repeatability-based MHM and SF/ASF approaches and compare their performances for multipath reduction. Comparisons indicate that both MHM and ASF approaches perform well with residual variance reduction (50 %) for short span (next 5 days) and maintains roughly 45 % reduction level for longer span (next 6-25 days). The ASF model is more suitable for high frequency multipath reduction, such as high-rate GNSS applications. The MHM model is easier to implement for real-time multipath mitigation when the overall multipath regime is medium to low frequency.

Kinematic Localization for Global Navigation Satellite Systems: A Kalman Filtering Approach

NASA Astrophysics Data System (ADS)

Tabatabaee, Mohammad Hadi

Use of the Global Positioning System (GNSS) has expanded significantly in the past decade, especially with advances in embedded systems and the emergence of smartphones and the Internet of Things (IoT). The growing demand has stimulated research on development of GNSS techniques and programming tools. The focus of much of the research efforts have been on high-level algorithms and augmentations. This dissertation focuses on the low-level methods at the heart of GNSS systems and proposes a new methods for GNSS positioning problems based on concepts of distance geometry and the use of Kalman filters. The methods presented in this dissertation provide algebraic solutions to problems that have predominantly been solved using iterative methods. The proposed methods are highly efficient, provide accurate estimates, and exhibit a degree of robustness in the presence of unfavorable satellite geometry. The algorithm operates in two stages; an estimation of the receiver clock bias and removal of the bias from the pseudorange observables, followed by the localization of the GNSS receiver. The use of a Kalman filter in between the two stages allows for an improvement of the clock bias estimate with a noticeable impact on the position estimates. The receiver localization step has also been formulated in a linear manner allowing for the direct application of a Kalman filter without any need for linearization. The methodology has also been extended to double differential observables for high accuracy pseudorange and carrier phase position estimates.

Accuracy and reliability of multi-GNSS real-time precise positioning: GPS, GLONASS, BeiDou, and Galileo

NASA Astrophysics Data System (ADS)

Li, Xingxing; Ge, Maorong; Dai, Xiaolei; Ren, Xiaodong; Fritsche, Mathias; Wickert, Jens; Schuh, Harald

2015-06-01

In this contribution, we present a GPS+GLONASS+BeiDou+Galileo four-system model to fully exploit the observations of all these four navigation satellite systems for real-time precise orbit determination, clock estimation and positioning. A rigorous multi-GNSS analysis is performed to achieve the best possible consistency by processing the observations from different GNSS together in one common parameter estimation procedure. Meanwhile, an efficient multi-GNSS real-time precise positioning service system is designed and demonstrated by using the multi-GNSS Experiment, BeiDou Experimental Tracking Network, and International GNSS Service networks including stations all over the world. The statistical analysis of the 6-h predicted orbits show that the radial and cross root mean square (RMS) values are smaller than 10 cm for BeiDou and Galileo, and smaller than 5 cm for both GLONASS and GPS satellites, respectively. The RMS values of the clock differences between real-time and batch-processed solutions for GPS satellites are about 0.10 ns, while the RMS values for BeiDou, Galileo and GLONASS are 0.13, 0.13 and 0.14 ns, respectively. The addition of the BeiDou, Galileo and GLONASS systems to the standard GPS-only processing, reduces the convergence time almost by 70 %, while the positioning accuracy is improved by about 25 %. Some outliers in the GPS-only solutions vanish when multi-GNSS observations are processed simultaneous. The availability and reliability of GPS precise positioning decrease dramatically as the elevation cutoff increases. However, the accuracy of multi-GNSS precise point positioning (PPP) is hardly decreased and few centimeter are still achievable in the horizontal components even with 40 elevation cutoff. At 30 and 40 elevation cutoffs, the availability rates of GPS-only solution drop significantly to only around 70 and 40 %, respectively. However, multi-GNSS PPP can provide precise position estimates continuously (availability rate is more than 99.5 %) even up to 40 elevation cutoff (e.g., in urban canyons).

An investigation into the performance of real-time GPS+GLONASS Precise Point Positioning (PPP) in New Zealand

NASA Astrophysics Data System (ADS)

Harima, Ken; Choy, Suelynn; Rizos, Chris; Kogure, Satoshi

2017-09-01

This paper presents an investigation into the performance of real-time Global Navigation Satellite Systems (GNSS) Precise Point Positioning (PPP) in New Zealand. The motivation of the research is to evaluate the feasibility of using PPP technique and a satellite based augmentation system such as the Japanese Quasi-Zenith Satellite System (QZSS) to deliver a real-time precise positioning solution in support of a nation-wide high accuracy GNSS positioning coverage in New Zealand. Two IGS real-time correction streams are evaluated alongside with the PPP correction messages transmitted by the QZSS satellite known as MDC1. MDC1 corrections stream is generated by Japan Aerospace Exploration Agency (JAXA) using the Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis (MADOCA) software and are currently transmitted in test mode by the QZSS satellite. The IGS real-time streams are the CLK9B real-time corrections stream generated by the French Centre National D'études Spatiales (CNES) using the PPP-Wizard software, and the CLK81 real-time corrections stream produced by GMV using their MagicGNSS software. GNSS data is collected from six New Zealand CORS stations operated by Land Information New Zealand (LINZ) over a one-week period in 2015. GPS and GLONASS measurements are processed in a real-time PPP mode using the satellite orbit and clock corrections from the real-time streams. The results show that positioning accuracies of 6 cm in horizontal component and 15 cm in vertical component can be achieved in real-time PPP. The real-time GPS+GLONASS PPP solution required 30 minutes to converge to within 10 cm horizontal positioning accuracy.

Evaluating a campaign GNSS velocity field derived from an online precise point positioning service

NASA Astrophysics Data System (ADS)

Holden, L.; Silcock, D.; Choy, S.; Cas, R.; Ailleres, L.; Fournier, N.

2017-01-01

Traditional processing of Global Navigation Satellite System (GNSS) data using dedicated scientific software has provided the highest levels of positional accuracy, and has been used extensively in geophysical deformation studies. To achieve these accuracies a significant level of understanding and training is required, limiting their availability to the general scientific community. Various online GNSS processing services, now freely available, address some of these difficulties and allow users to easily process their own GNSS data and potentially obtain high quality results. Previous research into these services has focused on Continually Operating Reference Station (CORS) GNSS data. Less research exists on the results achievable with these services using large campaign GNSS data sets, which are inherently noisier than CORS data. Even less research exists on the quality of velocity fields derived from campaign GNSS data processed through online precise point positioning services. Particularly, whether they are suitable for geodynamic and deformation studies where precise and reliable velocities are needed. In this research, we process a very large campaign GPS data set (spanning 10 yr) with the online Jet Propulsion Laboratory Automated Precise Positioning Service. This data set is taken from a GNSS network specifically designed and surveyed to measure deformation through the central North Island of New Zealand. This includes regional CORS stations. We then use these coordinates to derive a horizontal and vertical velocity field. This is the first time that a large campaign GPS data set has been processed solely using an online service and the solutions used to determine a horizontal and vertical velocity field. We compared this velocity field to that of another well utilized GNSS scientific software package. The results show a good agreement between the CORS positions and campaign station velocities obtained from the two approaches. We discuss the implications of these results for how future GNSS campaign field surveys might be conducted and how their data might be processed.

Precise GNSS Positioning Using Smart Devices

PubMed Central

Caldera, Stefano; Pertusini, Lisa

2017-01-01

The recent access to GNSS (Global Navigation Satellite System) phase observations on smart devices, enabled by Google through its Android operating system, opens the possibility to apply precise positioning techniques using off-the-shelf, mass-market devices. The target of this work is to evaluate whether this is feasible, and which positioning accuracy can be achieved by relative positioning of the smart device with respect to a base station. Positioning of a Google/HTC Nexus 9 tablet was performed by means of batch least-squares adjustment of L1 phase double-differenced observations, using the open source goGPS software, over baselines ranging from approximately 10 m to 8 km, with respect to both physical (geodetic or low-cost) and virtual base stations. The same positioning procedure was applied also to a co-located u-blox low-cost receiver, to compare the performance between the receiver and antenna embedded in the Nexus 9 and a standard low-cost single-frequency receiver with external patch antenna. The results demonstrate that with a smart device providing raw GNSS phase observations, like the Nexus 9, it is possible to reach decimeter-level accuracy through rapid-static surveys, without phase ambiguity resolution. It is expected that sub-centimeter accuracy could be achieved, as demonstrated for the u-blox case, if integer phase ambiguities were correctly resolved. PMID:29064417

Precise GNSS Positioning Using Smart Devices.

PubMed

Realini, Eugenio; Caldera, Stefano; Pertusini, Lisa; Sampietro, Daniele

2017-10-24

The recent access to GNSS (Global Navigation Satellite System) phase observations on smart devices, enabled by Google through its Android operating system, opens the possibility to apply precise positioning techniques using off-the-shelf, mass-market devices. The target of this work is to evaluate whether this is feasible, and which positioning accuracy can be achieved by relative positioning of the smart device with respect to a base station. Positioning of a Google/HTC Nexus 9 tablet was performed by means of batch least-squares adjustment of L1 phase double-differenced observations, using the open source goGPS software, over baselines ranging from approximately 10 m to 8 km, with respect to both physical (geodetic or low-cost) and virtual base stations. The same positioning procedure was applied also to a co-located u-blox low-cost receiver, to compare the performance between the receiver and antenna embedded in the Nexus 9 and a standard low-cost single-frequency receiver with external patch antenna. The results demonstrate that with a smart device providing raw GNSS phase observations, like the Nexus 9, it is possible to reach decimeter-level accuracy through rapid-static surveys, without phase ambiguity resolution. It is expected that sub-centimeter accuracy could be achieved, as demonstrated for the u-blox case, if integer phase ambiguities were correctly resolved.

On-the-fly Locata/inertial navigation system integration for precise maritime application

NASA Astrophysics Data System (ADS)

Jiang, Wei; Li, Yong; Rizos, Chris

2013-10-01

The application of Global Navigation Satellite System (GNSS) technology has meant that marine navigators have greater access to a more consistent and accurate positioning capability than ever before. However, GNSS may not be able to meet all emerging navigation performance requirements for maritime applications with respect to service robustness, accuracy, integrity and availability. In particular, applications in port areas (for example automated docking) and in constricted waterways, have very stringent performance requirements. Even when an integrated inertial navigation system (INS)/GNSS device is used there may still be performance gaps. GNSS signals are easily blocked or interfered with, and sometimes the satellite geometry may not be good enough for high accuracy and high reliability applications. Furthermore, the INS accuracy degrades rapidly during GNSS outages. This paper investigates the use of a portable ground-based positioning system, known as ‘Locata’, which was integrated with an INS, to provide accurate navigation in a marine environment without reliance on GNSS signals. An ‘on-the-fly’ Locata resolution algorithm that takes advantage of geometry change via an extended Kalman filter is proposed in this paper. Single-differenced Locata carrier phase measurements are utilized to achieve accurate and reliable solutions. A ‘loosely coupled’ decentralized Locata/INS integration architecture based on the Kalman filter is used for data processing. In order to evaluate the system performance, a field trial was conducted on Sydney Harbour. A Locata network consisting of eight Locata transmitters was set up near the Sydney Harbour Bridge. The experiment demonstrated that the Locata on-the-fly (OTF) algorithm is effective and can improve the system accuracy in comparison with the conventional ‘known point initialization’ (KPI) method. After the OTF and KPI comparison, the OTF Locata/INS integration is then assessed further and its performance improvement on both stand-alone OTF Locata and INS is shown. The Locata/INS integration can achieve centimetre-level accuracy for position solutions, and centimetre-per-second accuracy for velocity determination.

Accuracy improvement techniques in Precise Point Positioning method using multiple GNSS constellations

NASA Astrophysics Data System (ADS)

Vasileios Psychas, Dimitrios; Delikaraoglou, Demitris

2016-04-01

The future Global Navigation Satellite Systems (GNSS), including modernized GPS, GLONASS, Galileo and BeiDou, offer three or more signal carriers for civilian use and much more redundant observables. The additional frequencies can significantly improve the capabilities of the traditional geodetic techniques based on GPS signals at two frequencies, especially with regard to the availability, accuracy, interoperability and integrity of high-precision GNSS applications. Furthermore, highly redundant measurements can allow for robust simultaneous estimation of static or mobile user states including more parameters such as real-time tropospheric biases and more reliable ambiguity resolution estimates. This paper presents an investigation and analysis of accuracy improvement techniques in the Precise Point Positioning (PPP) method using signals from the fully operational (GPS and GLONASS), as well as the emerging (Galileo and BeiDou) GNSS systems. The main aim was to determine the improvement in both the positioning accuracy achieved and the time convergence it takes to achieve geodetic-level (10 cm or less) accuracy. To this end, freely available observation data from the recent Multi-GNSS Experiment (MGEX) of the International GNSS Service, as well as the open source program RTKLIB were used. Following a brief background of the PPP technique and the scope of MGEX, the paper outlines the various observational scenarios that were used in order to test various data processing aspects of PPP solutions with multi-frequency, multi-constellation GNSS systems. Results from the processing of multi-GNSS observation data from selected permanent MGEX stations are presented and useful conclusions and recommendations for further research are drawn. As shown, data fusion from GPS, GLONASS, Galileo and BeiDou systems is becoming increasingly significant nowadays resulting in a position accuracy increase (mostly in the less favorable East direction) and a large reduction of convergence time in PPP static and kinematic solutions compared to GPS-only PPP solutions for various observational session durations. However, this is mostly observed when the visibility of Galileo and BeiDou satellites is substantially long within an observational session. In GPS-only cases dealing with data from high elevation cut-off angles, the number of GPS satellites decreases dramatically, leading to a position accuracy and convergence time deviating from satisfactory geodetic thresholds. By contrast, respective multi-GNSS PPP solutions not only show improvement, but also lead to geodetic level accuracies even in 30° elevation cut-off. Finally, the GPS ambiguity resolution in PPP processing is investigated using the GPS satellite wide-lane fractional cycle biases, which are included in the clock products by CNES. It is shown that their addition shortens the convergence time and increases the position accuracy of PPP solutions, especially in kinematic mode. Analogous improvement is obtained in respective multi-GNSS solutions, even though the GLONASS, Galileo and BeiDou ambiguities remain float, since information about them is not provided in the clock products available to date.

Robust all-source positioning of UAVs based on belief propagation

NASA Astrophysics Data System (ADS)

Chen, Xi; Gao, Wenyun; Wang, Jiabo

2013-12-01

For unmanned air vehicles (UAVs) to survive hostile operational environments, it is always preferable to utilize all wireless positioning sources available to fuse a robust position. While belief propagation is a well-established method for all source data fusion, it is not an easy job to handle all the mathematics therein. In this work, a comprehensive mathematical framework for belief propagation-based all-source positioning of UAVs is developed, taking wireless sources including Global Navigation Satellite Systems (GNSS) space vehicles, peer UAVs, ground control stations, and signal of opportunities. Based on the mathematical framework, a positioning algorithm named Belief propagation-based Opportunistic Positioning of UAVs (BOPU) is proposed, with an unscented particle filter for Bayesian approximation. The robustness of the proposed BOPU is evaluated by a fictitious scenario that a group of formation flying UAVs encounter GNSS countermeasures en route. Four different configurations of measurements availability are simulated. The results show that the performance of BOPU varies only slightly with different measurements availability.

Tightly-Coupled Integration of Multi-GNSS Single-Frequency RTK and MEMS-IMU for Enhanced Positioning Performance

PubMed Central

Li, Tuan; Zhang, Hongping; Niu, Xiaoji; Gao, Zhouzheng

2017-01-01

Dual-frequency Global Positioning System (GPS) Real-time Kinematics (RTK) has been proven in the past few years to be a reliable and efficient technique to obtain high accuracy positioning. However, there are still challenges for GPS single-frequency RTK, such as low reliability and ambiguity resolution (AR) success rate, especially in kinematic environments. Recently, multi-Global Navigation Satellite System (multi-GNSS) has been applied to enhance the RTK performance in terms of availability and reliability of AR. In order to further enhance the multi-GNSS single-frequency RTK performance in terms of reliability, continuity and accuracy, a low-cost micro-electro-mechanical system (MEMS) inertial measurement unit (IMU) is adopted in this contribution. We tightly integrate the single-frequency GPS/BeiDou/GLONASS and MEMS-IMU through the extended Kalman filter (EKF), which directly fuses the ambiguity-fixed double-differenced (DD) carrier phase observables and IMU data. A field vehicular test was carried out to evaluate the impacts of the multi-GNSS and IMU on the AR and positioning performance in different system configurations. Test results indicate that the empirical success rate of single-epoch AR for the tightly-coupled single-frequency multi-GNSS RTK/INS integration is over 99% even at an elevation cut-off angle of 40°, and the corresponding position time series is much more stable in comparison with the GPS solution. Besides, GNSS outage simulations show that continuous positioning with certain accuracy is possible due to the INS bridging capability when GNSS positioning is not available. PMID:29077070

Tightly-Coupled Integration of Multi-GNSS Single-Frequency RTK and MEMS-IMU for Enhanced Positioning Performance.

PubMed

Li, Tuan; Zhang, Hongping; Niu, Xiaoji; Gao, Zhouzheng

2017-10-27

Dual-frequency Global Positioning System (GPS) Real-time Kinematics (RTK) has been proven in the past few years to be a reliable and efficient technique to obtain high accuracy positioning. However, there are still challenges for GPS single-frequency RTK, such as low reliability and ambiguity resolution (AR) success rate, especially in kinematic environments. Recently, multi-Global Navigation Satellite System (multi-GNSS) has been applied to enhance the RTK performance in terms of availability and reliability of AR. In order to further enhance the multi-GNSS single-frequency RTK performance in terms of reliability, continuity and accuracy, a low-cost micro-electro-mechanical system (MEMS) inertial measurement unit (IMU) is adopted in this contribution. We tightly integrate the single-frequency GPS/BeiDou/GLONASS and MEMS-IMU through the extended Kalman filter (EKF), which directly fuses the ambiguity-fixed double-differenced (DD) carrier phase observables and IMU data. A field vehicular test was carried out to evaluate the impacts of the multi-GNSS and IMU on the AR and positioning performance in different system configurations. Test results indicate that the empirical success rate of single-epoch AR for the tightly-coupled single-frequency multi-GNSS RTK/INS integration is over 99% even at an elevation cut-off angle of 40°, and the corresponding position time series is much more stable in comparison with the GPS solution. Besides, GNSS outage simulations show that continuous positioning with certain accuracy is possible due to the INS bridging capability when GNSS positioning is not available.

Practical Considerations before Installing Ground-Based Geodetic Infrastructure for Integrated InSAR and cGNSS Monitoring of Vertical Land Motion.

PubMed

Parker, Amy L; Featherstone, Will E; Penna, Nigel T; Filmer, Mick S; Garthwaite, Matt C

2017-07-31

Continuously operating Global Navigation Satellite Systems (cGNSS) can be used to convert relative values of vertical land motion (VLM) derived from Interferometric Synthetic Aperture Radar (InSAR) to absolute values in a global or regional reference frame. Artificial trihedral corner reflectors (CRs) provide high-intensity and temporally stable reflections in SAR time series imagery, more so than naturally occurring permanent scatterers. Therefore, it is logical to co-locate CRs with cGNSS as ground-based geodetic infrastructure for the integrated monitoring of VLM. We describe the practical considerations for such co-locations using four case-study examples from Perth, Australia. After basic initial considerations such as land access, sky visibility and security, temporary test deployments of co-located CRs with cGNSS should be analysed together to determine site suitability. Signal to clutter ratios from SAR imagery are used to determine potential sites for placement of the CR. A significant concern is whether the co-location of a deliberately designed reflecting object generates unwanted multipath (reflected signals) in the cGNSS data. To mitigate against this, we located CRs >30 m from the cGNSS with no inter-visibility. Daily RMS values of the zero-difference ionosphere-free carrier-phase residuals, and ellipsoidal heights from static precise point positioning GNSS processing at each co-located site were then used to ascertain that the CR did not generate unwanted cGNSS multipath. These steps form a set of recommendations for the installation of such geodetic ground-infrastructure, which may be of use to others wishing to establish integrated InSAR-cGNSS monitoring of VLM elsewhere.

Practical Considerations before Installing Ground-Based Geodetic Infrastructure for Integrated InSAR and cGNSS Monitoring of Vertical Land Motion

PubMed Central

Featherstone, Will E.; Filmer, Mick S.

2017-01-01

Continuously operating Global Navigation Satellite Systems (cGNSS) can be used to convert relative values of vertical land motion (VLM) derived from Interferometric Synthetic Aperture Radar (InSAR) to absolute values in a global or regional reference frame. Artificial trihedral corner reflectors (CRs) provide high-intensity and temporally stable reflections in SAR time series imagery, more so than naturally occurring permanent scatterers. Therefore, it is logical to co-locate CRs with cGNSS as ground-based geodetic infrastructure for the integrated monitoring of VLM. We describe the practical considerations for such co-locations using four case-study examples from Perth, Australia. After basic initial considerations such as land access, sky visibility and security, temporary test deployments of co-located CRs with cGNSS should be analysed together to determine site suitability. Signal to clutter ratios from SAR imagery are used to determine potential sites for placement of the CR. A significant concern is whether the co-location of a deliberately designed reflecting object generates unwanted multipath (reflected signals) in the cGNSS data. To mitigate against this, we located CRs >30 m from the cGNSS with no inter-visibility. Daily RMS values of the zero-difference ionosphere-free carrier-phase residuals, and ellipsoidal heights from static precise point positioning GNSS processing at each co-located site were then used to ascertain that the CR did not generate unwanted cGNSS multipath. These steps form a set of recommendations for the installation of such geodetic ground-infrastructure, which may be of use to others wishing to establish integrated InSAR-cGNSS monitoring of VLM elsewhere. PMID:28758970

The GNSS-based component for the new Indonesian tsunami early warning centre provided by GITEWS

NASA Astrophysics Data System (ADS)

Falck, C.; Ramatschi, M.; Bartsch, M.; Merx, A.; Hoeberechts, J.; Rothacher, M.

2009-04-01

Introduction Nowadays GNSS technologies are used for a large variety of precise positioning applications. The accuracy can reach the mm level depending on the data analysis methods. GNSS technologies thus offer a high potential to support tsunami early warning systems, e.g., by detection of ground motions due to earthquakes and of tsunami waves on the ocean by GNSS instruments on a buoy. Although GNSS-based precise positioning is a standard method, it is not yet common to apply this technique under tight time constraints and, hence, in the absence of precise satellite orbits and clocks. The new developed GNSS-based component utilises on- and offshore measured GNSS data and is the first system of its kind that was integrated into an operational early warning system. (Indonesian Tsunami Early Warning Centre INATEWS, inaugurated at BMKG, Jakarta on November, 11th 2008) Motivation After the Tsunami event of 26th December 2004 the German government initiated the GITEWS project (German Indonesian Tsunami Early Warning System) to develop a tsunami early warning system for Indonesia. The GFZ Potsdam (German Research Centre for Geosciences) as the consortial leader of GITEWS also covers several work packages, most of them related to sensor systems. The geodetic branch (Department 1) of the GFZ was assigned to develop a GNSS-based component. Brief system description The system covers all aspects from sensor stations with new developed hard- and software designs, manufacturing and installation of stations, real-time data transfer issues, a new developed automatic near real-time data processing and a graphical user interface for early warning centre operators including training on the system. GNSS sensors are installed on buoys, at tide gauges and as real-time reference stations (RTR stations), either stand-alone or co-located with seismic sensors. The GNSS data are transmitted to the warning centre where they are processed in a near real-time data processing chain. For sensors on land the processing system delivers deviations from their normal, mean coordinates. The deviations or so called displacements are indicators for land mass movements which can occur, e.g., due to strong earthquakes. The ground motion information is a valuable source for a fast understanding of an earthquake's mechanism with possible relevance for a potentially following tsunami. By this means the GNSS system supports the decision finding process whether most probably a tsunami has been generated or not. For buoy based GNSS data the processing (differential, with GNSS reference station on land) delivers coordinates as well. Only the vertical component is of interest as it corresponds to the instant sea level height. Deviations to the mean sea level height are an indicator for a possibly passing tsunami wave. The graphical user interface (GUI) of the GNSS system supports both, a quick view for all staff members at the warning centre (24h/7d shifts) and deeper analysis by GNSS experts. The GNSS GUI system is implemented as a web-based application and allows all views to be displayed on different screens at the same time, even at remote locations. This is part of the concept, as it can support the dialogue between warning centre staff on duty or on standby and sensor station maintenance staff. Acknowledgements The GITEWS project (German Indonesian Tsunami Early Warning System) is carried out by a large group of scientists and engineers from (GFZ) German Research Centre for Geosciences and its partners from the German Aerospace Centre (DLR), the Alfred Wegener Institute for Polar and Marine Research (AWI), the GKSS Research Centre, the Konsortium Deutsche Meeresforschung (KDM), the Leibniz Institute for Marine Sciences (IFM-GEOMAR), the United Nations University (UNU), the Federal Institute for Geosciences and Natural Resources (BGR), the German Agency for Technical Cooperation (GTZ) and other international partners. Most relevant partners in Indonesia with respect to the GNSS component of GITEWS are the National Coordinating Agency for Surveys and Mapping (BAKOSURTANAL), the National Metereology and Geophysics Agency (BMKG) and the National Agency for the Assessment and Application of Technology (BPPT). Funding is provided by the German Federal Ministry for Education and Research (BMBF), Grant 03TSU01.

The Impact of Estimating High-Resolution Tropospheric Gradients on Multi-GNSS Precise Positioning

PubMed Central

Zhou, Feng; Li, Xingxing; Li, Weiwei; Chen, Wen; Dong, Danan; Wickert, Jens; Schuh, Harald

2017-01-01

Benefits from the modernized US Global Positioning System (GPS), the revitalized Russian GLObal NAvigation Satellite System (GLONASS), and the newly-developed Chinese BeiDou Navigation Satellite System (BDS) and European Galileo, multi-constellation Global Navigation Satellite System (GNSS) has emerged as a powerful tool not only in positioning, navigation, and timing (PNT), but also in remote sensing of the atmosphere and ionosphere. Both precise positioning and the derivation of atmospheric parameters can benefit from multi-GNSS observations. In this contribution, extensive evaluations are conducted with multi-GNSS datasets collected from 134 globally-distributed ground stations of the International GNSS Service (IGS) Multi-GNSS Experiment (MGEX) network in July 2016. The datasets are processed in six different constellation combinations, i.e., GPS-, GLONASS-, BDS-only, GPS + GLONASS, GPS + BDS, and GPS + GLONASS + BDS + Galileo precise point positioning (PPP). Tropospheric gradients are estimated with eight different temporal resolutions, from 1 h to 24 h, to investigate the impact of estimating high-resolution gradients on position estimates. The standard deviation (STD) is used as an indicator of positioning repeatability. The results show that estimating tropospheric gradients with high temporal resolution can achieve better positioning performance than the traditional strategy in which tropospheric gradients are estimated on a daily basis. Moreover, the impact of estimating tropospheric gradients with different temporal resolutions at various elevation cutoff angles (from 3° to 20°) is investigated. It can be observed that with increasing elevation cutoff angles, the improvement in positioning repeatability is decreased. PMID:28368346

The Impact of Estimating High-Resolution Tropospheric Gradients on Multi-GNSS Precise Positioning.

PubMed

Zhou, Feng; Li, Xingxing; Li, Weiwei; Chen, Wen; Dong, Danan; Wickert, Jens; Schuh, Harald

2017-04-03

Benefits from the modernized US Global Positioning System (GPS), the revitalized Russian GLObal NAvigation Satellite System (GLONASS), and the newly-developed Chinese BeiDou Navigation Satellite System (BDS) and European Galileo, multi-constellation Global Navigation Satellite System (GNSS) has emerged as a powerful tool not only in positioning, navigation, and timing (PNT), but also in remote sensing of the atmosphere and ionosphere. Both precise positioning and the derivation of atmospheric parameters can benefit from multi-GNSS observations. In this contribution, extensive evaluations are conducted with multi-GNSS datasets collected from 134 globally-distributed ground stations of the International GNSS Service (IGS) Multi-GNSS Experiment (MGEX) network in July 2016. The datasets are processed in six different constellation combinations, i.e., GPS-, GLONASS-, BDS-only, GPS + GLONASS, GPS + BDS, and GPS + GLONASS + BDS + Galileo precise point positioning (PPP). Tropospheric gradients are estimated with eight different temporal resolutions, from 1 h to 24 h, to investigate the impact of estimating high-resolution gradients on position estimates. The standard deviation (STD) is used as an indicator of positioning repeatability. The results show that estimating tropospheric gradients with high temporal resolution can achieve better positioning performance than the traditional strategy in which tropospheric gradients are estimated on a daily basis. Moreover, the impact of estimating tropospheric gradients with different temporal resolutions at various elevation cutoff angles (from 3° to 20°) is investigated. It can be observed that with increasing elevation cutoff angles, the improvement in positioning repeatability is decreased.

Graph SLAM correction for single scanner MLS forest data under boreal forest canopy

NASA Astrophysics Data System (ADS)

Kukko, Antero; Kaijaluoto, Risto; Kaartinen, Harri; Lehtola, Ville V.; Jaakkola, Anttoni; Hyyppä, Juha

2017-10-01

Mobile laser scanning (MLS) provides kinematic means to collect three dimensional data from surroundings for various mapping and environmental analysis purposes. Vehicle based MLS has been used for road and urban asset surveys for about a decade. The equipment to derive the trajectory information for the point cloud generation from the laser data is almost without exception based on GNSS-IMU (Global Navigation Satellite System - Inertial Measurement Unit) technique. That is because of the GNSS ability to maintain global accuracy, and IMU to produce the attitude information needed to orientate the laser scanning and imaging sensor data. However, there are known challenges in maintaining accurate positioning when GNSS signal is weak or even absent over long periods of time. The duration of the signal loss affects the severity of degradation of the positioning solution depending on the quality/performance level of the IMU in use. The situation could be improved to a certain extent with higher performance IMUs, but increasing system expenses make such approach unsustainable in general. Another way to tackle the problem is to attach additional sensors to the system to overcome the degrading position accuracy: such that observe features from the environment to solve for short term system movements accurately enough to prevent the IMU solution to drift. This results in more complex system integration with need for more calibration and synchronization of multiple sensors into an operational approach. In this paper we study operation of an ATV (All -terrain vehicle) mounted, GNSS-IMU based single scanner MLS system in boreal forest conditions. The data generated by RoamerR2 system is targeted for generating 3D terrain and tree maps for optimizing harvester operations and forest inventory purposes at individual tree level. We investigate a process-flow and propose a graph optimization based method which uses data from a single scanner MLS for correcting the post-processed GNSS-IMU trajectory for positional drift under mature boreal forest canopy conditions. The result shows that we can improve the internal conformity of the data significantly from 0.7 m to 1 cm based on tree stem feature location data. When the optimization result is compared to reference at plot level we reach down to 6 cm mean error in absolute tree stem locations. The approach can be generalized to any MLS point cloud data, and provides as such a remarkable contribution to harness MLS for practical forestry and high precision terrain and structural modeling in GNSS obstructed environments.

Trusted Data Communication and Security Issues in Gnss Network of Turkey

NASA Astrophysics Data System (ADS)

Bakici, S.; Erkek, B.; Manti, V.; Altekin, A.

2017-11-01

There are three main activities of General Directorate of Land Registry and Cadastre. These are Mapping, Land Registry and Cadastre. Geomatic Department is responsible for mapping activities. The most important projects like TUSAGA-Aktif (CORS-Tr), Metadata Geoportal, Orthophoto Production and orthophoto web services and preparation of Turkish NSDI Feasibility Report have been conducted and completed by this department's specialists since 2005. TUSAGA-Aktif (CORS-Tr) System, serves location information at cm level accuracy in Turkey and TR Nortern Cyprus in few seconds, where adequate numbers of GNSS satellites are observed and communication possibilities are present. No ground control points and benchmarks are necessary. There are 146 permanent GNSS stations within the CORS-Tr System. Station data are transferred online to the main control center located in the Mapping Department of the General Directorate of Land Registry and Cadastre and to the control center located in the General Command of Mapping. Currently CORS-Tr has more than 9000 users. Most of them are private companies working for governmental organization. Providing data communication between control center and both GNSS station and users via trusted and good substructure is important. Additionally, protection of the system and data against cyber attacks from domestic and foreign sources is important. This paper focuses on data communication and security issues of GNSS network named TUSAGA-Aktif.

Real-time volcano monitoring using GNSS single-frequency receivers

NASA Astrophysics Data System (ADS)

Lee, Seung-Woo; Yun, Sung-Hyo; Kim, Do Hyeong; Lee, Dukkee; Lee, Young J.; Schutz, Bob E.

2015-12-01

We present a real-time volcano monitoring strategy that uses the Global Navigation Satellite System (GNSS), and we examine the performance of the strategy by processing simulated and real data and comparing the results with published solutions. The cost of implementing the strategy is reduced greatly by using single-frequency GNSS receivers except for one dual-frequency receiver that serves as a base receiver. Positions of the single-frequency receivers are computed relative to the base receiver on an epoch-by-epoch basis using the high-rate double-difference (DD) GNSS technique, while the position of the base station is fixed to the values obtained with a deferred-time precise point positioning technique and updated on a regular basis. Since the performance of the single-frequency high-rate DD technique depends on the conditions of the ionosphere over the monitoring area, the ionospheric total electron content is monitored using the dual-frequency data from the base receiver. The surface deformation obtained with the high-rate DD technique is eventually processed by a real-time inversion filter based on the Mogi point source model. The performance of the real-time volcano monitoring strategy is assessed through a set of tests and case studies, in which the data recorded during the 2007 eruption of Kilauea and the 2005 eruption of Augustine are processed in a simulated real-time mode. The case studies show that the displacement time series obtained with the strategy seem to agree with those obtained with deferred-time, dual-frequency approaches at the level of 10-15 mm. Differences in the estimated volume change of the Mogi source between the real-time inversion filter and previously reported works were in the range of 11 to 13% of the maximum volume changes of the cases examined.

What is the cost per millimetre? Challenging traditional GNSS equipment for precise geosciences and engineering applications

NASA Astrophysics Data System (ADS)

Hogg, William; Boreham, Nicholas; Benedetti, Elisa; Roberts, William

2017-04-01

Surveyors, civil and geotechnical engineers are the typical users of professional grade GNSS receiver that is capable of achieving positioning accuracies of sub-centimetre and navigation accuracies of 1-2cm. When choosing the equipment for their needs, they are often faced with a dilemma with each additional frequency, constellation and feature coming at a cost, resulting in professional GNSS equipment being regarded as high-priced specialist equipment. Indeed there are many users that have discounted GNSS on the grounds that it is too expensive and too operationally complex to warrant purchase. Having identified this situation, Nottingham Scientific Ltd (NSL) set about the development of equipment that would break down this barrier making high accuracy GNSS affordable to new users and applications and more cost effective to existing users. NSL created "STICK" which is a single frequency, multi-constellation, IMU-integrated GNSS sensor for precise movement detection of the natural and built environments and infrastructures, at approximately 1/20th of the price of a professional grade GNSS system. STICK has been developed within the context of three European Space Agency (ESA) Integrated Applications Programme Demonstration projects that use space assets to monitor the land stability and the status of different types of infrastructure, each with its own operational challenges. However through the careful selection of components, the implementation of certain operational constraints and the use of advanced statistical data processing, sub-centimetre positioning can be achieved for monitoring purposes. This paper describes STICK, the applications for which it has been developed, and the environments within which it is operating. We then explore the performance by directly comparing STICK to geodetic GNSS receivers setup in an operational, test bed environment. This test bed allows the receivers/antennas to be subjected to a three-dimensional displacement in the order of 1cm a day. The processing techniques that are used by the STICK monitoring service are described, including the GNSS data processing, the integration of IMU and the statistical analyses used to detect, quantify and report movement. By considering operational cost in terms of power, installation difficulty, remote communication and processing complexity and along with device price, we summarize the final cost to the user. Comparisons with other GNSS solutions shows whether cost truly scales with accuracy and precision. Benedetti E., L. Brack, W. Roberts, Performance Validation of Low-Cost GNSS Sensors for Land Monitoring and Hazard Mitigation, Paper presented at ION GNSS+ 2016 Session F4: Land-Based Applications 2, ION GNSS+ 2016 Proceedings (In Press) Roberts W., E. Benedetti, M. Hutchinson, G. Phipps and A. Keal, An Expendable GNSS Sensor for the Continuous Monitoring and Risk Profiling of Land and Infrastructure, Presentation at ION GNSS+ 2015 Session A5: Applications Using Consumer GNSS

Distribution of the GNSS-LEO occultation events over Egypt

NASA Astrophysics Data System (ADS)

Ghoniem, Ibrahim; Mousa, Ashraf El-Kutb; El-Fiky, Gamal

2017-06-01

The space-based GNSS RO technique is a promising tool for monitoring the Earth's atmosphere and ionosphere (Mousa et al., 2006). The current paper presents the distribution of the occultation events over Egypt using the operating LEO satellites and GNSS by its two operating systems. By the present research, Egypt could raise NWP Models efficiency by improving meteorological data quality. Twenty operating LEO missions (e.g. Argentinean SAC-C, European MetOp-A, German TerraSAR-X, Indian OceanSat-2, etc.) sent by different countries all over the world were used to derive the occultation events position through Egypt borders by receiving signal from the American global positioning system (GPS) and the Russian global navigation satellite system (GLONASS). Approximately 20,000 km Altitude satellites are transmitting enormous number of rays by the day to approximately 800 km satellites passing by the Earth atmosphere. Our mission is to derive all of these rays position (start and end) by calculating satellites position by the time, determine the rays in the occultation case and derive the atmosphere tangent point position for all occultating rays on the Earth surface (Occultation Events).

LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments

PubMed Central

Tang, Jian; Chen, Yuwei; Niu, Xiaoji; Wang, Li; Chen, Liang; Liu, Jingbin; Shi, Chuang; Hyyppä, Juha

2015-01-01

A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies—INS and LiDAR SLAM—into one navigation frame with a loosely coupled Extended Kalman Filter (EKF) to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV) platform—NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment. PMID:26184206

LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments.

PubMed

Tang, Jian; Chen, Yuwei; Niu, Xiaoji; Wang, Li; Chen, Liang; Liu, Jingbin; Shi, Chuang; Hyyppä, Juha

2015-07-10

A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies-INS and LiDAR SLAM-into one navigation frame with a loosely coupled Extended Kalman Filter (EKF) to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV) platform-NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment.

High-rate RTK and PPP multi-GNSS positioning for small-scale dynamic displacements monitoring

NASA Astrophysics Data System (ADS)

Paziewski, Jacek; Sieradzki, Rafał; Baryła, Radosław; Wielgosz, Pawel

2017-04-01

The monitoring of dynamic displacements and deformations of engineering structures such as buildings, towers and bridges is of great interest due to several practical and theoretical reasons. The most important is to provide information required for safe maintenance of the constructions. High temporal resolution and precision of GNSS observations predestine this technology to be applied to most demanding application in terms of accuracy, availability and reliability. GNSS technique supported by appropriate processing methodology may meet the specific demands and requirements of ground and structures monitoring. Thus, high-rate multi-GNSS signals may be used as reliable source of information on dynamic displacements of ground and engineering structures, also in real time applications. In this study we present initial results of application of precise relative GNSS positioning for detection of small scale (cm level) high temporal resolution dynamic displacements. Methodology and algorithms applied in self-developed software allowing for relative positioning using high-rate dual-frequency phase and pseudorange GPS+Galileo observations are also given. Additionally, an approach was also made to use the Precise Point Positioning technique to such application. In the experiment were used the observations obtained from high-rate (20 Hz) geodetic receivers. The dynamic displacements were simulated using specially constructed device moving GNSS antenna with dedicated amplitude and frequency. The obtained results indicate on possibility of detection of dynamic displacements of the GNSS antenna even at the level of few millimetres using both relative and Precise Point Positioning techniques after suitable signals processing.

Impact of GNSS orbit modeling on LEO orbit and gravity field determination

NASA Astrophysics Data System (ADS)

Arnold, Daniel; Meyer, Ulrich; Sušnik, Andreja; Dach, Rolf; Jäggi, Adrian

2017-04-01

On January 4, 2015 the Center for Orbit Determination in Europe (CODE) changed the solar radiation pressure modeling for GNSS satellites to an updated version of the empirical CODE orbit model (ECOM). Furthermore, since September 2012 CODE operationally computes satellite clock corrections not only for the 3-day long-arc solutions, but also for the non-overlapping 1-day GNSS orbits. This provides different sets of GNSS products for Precise Point Positioning, as employed, e.g., in the GNSS-based precise orbit determination of low Earth orbiters (LEOs) and the subsequent Earth gravity field recovery from kinematic LEO orbits. While the impact of the mentioned changes in orbit modeling and solution strategy on the GNSS orbits and geophysical parameters was studied in detail, their implications on the LEO orbits were not yet analyzed. We discuss the impact of the update of the ECOM and the influence of 1-day and 3-day GNSS orbit solutions on zero-difference LEO orbit and gravity field determination, where the GNSS orbits and clock corrections, as well as the Earth rotation parameters are introduced as fixed external products. Several years of kinematic and reduced-dynamic orbits for the two GRACE LEOs are computed with GNSS products based on both the old and the updated ECOM, as well as with 1- and 3-day GNSS products. The GRACE orbits are compared by means of standard validation measures. Furthermore, monthly and long-term GPS-only and combined GPS/K-band gravity field solutions are derived from the different sets of kinematic LEO orbits. GPS-only fields are validated by comparison to combined GPS/K-band solutions, while the combined solutions are validated by analysis of the formal errors, as well as by comparing them to the combined GRACE solutions of the European Gravity Service for Improved Emergency Management (EGSIEM) project.

Single-baseline RTK GNSS Positioning for Hydrographic Surveying

NASA Astrophysics Data System (ADS)

Metin Alkan, Reha; Murat Ozulu, I.; Ilçi, Veli; Kahveci, Muzaffer

2015-04-01

Positioning with GNSS technique can be carried out in two ways, absolute and relative. It has been possible to reach a few meters absolute point positioning accuracies in real time after disabling SA permanently in May 2000. Today, accuracies obtainable from absolute point positioning using code observations are not sufficient for most surveying applications. Thus to meet higher accuracy requirements, differential methods using single or dual frequency geodetic-grade GNSS receivers that measure carrier phase have to be used. However, this method requires time-cost field and office works and if the measurement is not carried out with conventional RTK method, user needs a GNSS data processing software to estimate the coordinates. If RTK is used, at least two or more GNSS receivers are required, one as a reference and the other as a rover. Moreover, the distance between the receivers must not exceed 15-20 km in order to be able to rapidly and reliably resolve the carrier phase ambiguities. On the other hand, based on the innovations and improvements in satellite geodesy and GNSS modernization studies occurred within the last decade, many new positioning methods and new approaches have been developed. One of them is Network-RTK (or commonly known as CORS) and the other is Single-baseline RTK. These methods are widely used for many surveying applications in many countries. The user of the system can obtain his/her position within a few cm level of accuracy in real-time with only a single GNSS receiver that has Network RTK (CORS) capability. When compared with the conventional differential and RTK methods, this technique has several significant advantages as it is easy to use and it produces accurate, cost-effective and rapid solutions. In Turkey, establishment of a multi-base RTK network was completed and opened for civilian use in 2009. This network is called CORS-TR and consists of 146 reference stations having about 80-100 km interstation distances. It is possible for a user to determine his/her position with a few cm accuracy in real time in Turkey. Besides, there are some province municipalities in Turkey which have established their own local CORS networks such as Istanbul (with 9 reference stations) and Ankara (with 10 reference stations). There is also a local RTK base station which disseminates real time position corrections for surveyors in Çorum province and is operated by Çorum Municipality. This is the first step of establishing a complete local CORS network in Çorum (the municipality has plans to increase this number and establish a CORS network within a few years). At the time of this study, unfortunately, national CORS-TR stations in Çorum Province were under maintenance and thus we could not receive corrections from our national CORS network. Instead, Çorum Province's local RTK reference station's corrections were used during the study. The main purpose of this study is to investigate the accuracy performance of the Single-baseline RTK GNSS system operated by Çorum Municipality in marine environment. For this purpose, a kinematic test measurement was carried out at Obruk Dam, Çorum, Turkey. During the test measurement, a small vessel equipped with a dual-frequency geodetic-grade GNSS receiver, Spectra Precision ProMark 500, was used. The coordinates of the vessel were obtained from the Single-baseline RTK system in ITRF datum in real-time with fix solutions. At the same time, the raw kinematic GNSS data were also recorded to the receiver in order to estimate the known coordinates of the vessel with post-processed differential kinematic technique. In this way, GPS data were collected under the same conditions, which allowed precise assessment of the used system. The measurements were carried out along the survey profiles for about 1 hour. During the kinematic test, another receiver was set up on a geodetic point at the shore and data were collected in static mode to calculate the coordinates of the vessel for each epoch. As mentioned above, the vessel coordinates were estimated very accurately by using data collected on shore and vessel by using differential GNSS technique. The Single-baseline RTK-derived coordinates were compared with those obtained from the post-processing of the GNSS data for each epoch. Computed differences show that the coordinates agree with the relative solutions at 7 cm and below in position. Some marine applications like precise hydrographic surveying, monitoring silt accretion and erosion in rivers, lakes, estuaries, coastal waters and harbor areas; marine geodynamics; automatic docking; dredging; construction work; attitude control of ships, buoys and floating platforms, require high accuracy better than 0.1 m in position and height. Results obtained from this application show that Single-baseline RTK and/or CORS systems can reliably be utilized for the above mentioned marine applications and some others especially for positioning as a strong alternative to the conventional differential methods.

Contribution of BeiDou satellite system for long baseline GNSS measurement in Indonesia

NASA Astrophysics Data System (ADS)

Gumilar, I.; Bramanto, B.; Kuntjoro, W.; Abidin, H. Z.; Trihantoro, N. F.

2018-05-01

The demand for more precise positioning method using GNSS (Global Navigation Satellite System) in Indonesia continue to rise. The accuracy of GNSS positioning depends on the length of baseline and the distribution of observed satellites. BeiDou Navigation Satellite System (BDS) is a positioning system owned by China that operating in Asia-Pacific region, including Indonesia. This research aims to find out the contribution of BDS in increasing the accuracy of long baseline static positioning in Indonesia. The contributions are assessed by comparing the accuracy of measurement using only GPS (Global Positioning System) and measurement using the combination of GPS and BDS. The data used is 5 days of GPS and BDS measurement data for baseline with 120 km in length. The software used is open-source RTKLIB and commercial software Compass Solution. This research will explain in detail the contribution of BDS to the accuracy of position in long baseline static GNSS measurement.

Relative Panoramic Camera Position Estimation for Image-Based Virtual Reality Networks in Indoor Environments

NASA Astrophysics Data System (ADS)

Nakagawa, M.; Akano, K.; Kobayashi, T.; Sekiguchi, Y.

2017-09-01

Image-based virtual reality (VR) is a virtual space generated with panoramic images projected onto a primitive model. In imagebased VR, realistic VR scenes can be generated with lower rendering cost, and network data can be described as relationships among VR scenes. The camera network data are generated manually or by an automated procedure using camera position and rotation data. When panoramic images are acquired in indoor environments, network data should be generated without Global Navigation Satellite Systems (GNSS) positioning data. Thus, we focused on image-based VR generation using a panoramic camera in indoor environments. We propose a methodology to automate network data generation using panoramic images for an image-based VR space. We verified and evaluated our methodology through five experiments in indoor environments, including a corridor, elevator hall, room, and stairs. We confirmed that our methodology can automatically reconstruct network data using panoramic images for image-based VR in indoor environments without GNSS position data.

GNSS/Electronic Compass/Road Segment Information Fusion for Vehicle-to-Vehicle Collision Avoidance Application

PubMed Central

Cheng, Qi; Xue, Dabin; Wang, Guanyu; Ochieng, Washington Yotto

2017-01-01

The increasing number of vehicles in modern cities brings the problem of increasing crashes. One of the applications or services of Intelligent Transportation Systems (ITS) conceived to improve safety and reduce congestion is collision avoidance. This safety critical application requires sub-meter level vehicle state estimation accuracy with very high integrity, continuity and availability, to detect an impending collision and issue a warning or intervene in the case that the warning is not heeded. Because of the challenging city environment, to date there is no approved method capable of delivering this high level of performance in vehicle state estimation. In particular, the current Global Navigation Satellite System (GNSS) based collision avoidance systems have the major limitation that the real-time accuracy of dynamic state estimation deteriorates during abrupt acceleration and deceleration situations, compromising the integrity of collision avoidance. Therefore, to provide the Required Navigation Performance (RNP) for collision avoidance, this paper proposes a novel Particle Filter (PF) based model for the integration or fusion of real-time kinematic (RTK) GNSS position solutions with electronic compass and road segment data used in conjunction with an Autoregressive (AR) motion model. The real-time vehicle state estimates are used together with distance based collision avoidance algorithms to predict potential collisions. The algorithms are tested by simulation and in the field representing a low density urban environment. The results show that the proposed algorithm meets the horizontal positioning accuracy requirement for collision avoidance and is superior to positioning accuracy of GNSS only, traditional Constant Velocity (CV) and Constant Acceleration (CA) based motion models, with a significant improvement in the prediction accuracy of potential collision. PMID:29186851

GNSS/Electronic Compass/Road Segment Information Fusion for Vehicle-to-Vehicle Collision Avoidance Application.

PubMed

Sun, Rui; Cheng, Qi; Xue, Dabin; Wang, Guanyu; Ochieng, Washington Yotto

2017-11-25

The increasing number of vehicles in modern cities brings the problem of increasing crashes. One of the applications or services of Intelligent Transportation Systems (ITS) conceived to improve safety and reduce congestion is collision avoidance. This safety critical application requires sub-meter level vehicle state estimation accuracy with very high integrity, continuity and availability, to detect an impending collision and issue a warning or intervene in the case that the warning is not heeded. Because of the challenging city environment, to date there is no approved method capable of delivering this high level of performance in vehicle state estimation. In particular, the current Global Navigation Satellite System (GNSS) based collision avoidance systems have the major limitation that the real-time accuracy of dynamic state estimation deteriorates during abrupt acceleration and deceleration situations, compromising the integrity of collision avoidance. Therefore, to provide the Required Navigation Performance (RNP) for collision avoidance, this paper proposes a novel Particle Filter (PF) based model for the integration or fusion of real-time kinematic (RTK) GNSS position solutions with electronic compass and road segment data used in conjunction with an Autoregressive (AR) motion model. The real-time vehicle state estimates are used together with distance based collision avoidance algorithms to predict potential collisions. The algorithms are tested by simulation and in the field representing a low density urban environment. The results show that the proposed algorithm meets the horizontal positioning accuracy requirement for collision avoidance and is superior to positioning accuracy of GNSS only, traditional Constant Velocity (CV) and Constant Acceleration (CA) based motion models, with a significant improvement in the prediction accuracy of potential collision.

The contribution of Multi-GNSS Experiment (MGEX) to precise point positioning

NASA Astrophysics Data System (ADS)

Guo, Fei; Li, Xingxing; Zhang, Xiaohong; Wang, Jinling

2017-06-01

In response to the changing world of GNSS, the International GNSS Service (IGS) has initiated the Multi-GNSS Experiment (MGEX). As part of the MGEX project, initial precise orbit and clock products have been released for public use, which are the key prerequisites for multi-GNSS precise point positioning (PPP). In particular, precise orbits and clocks at intervals of 5 min and 30 s are presently available for the new emerging systems. This paper investigates the benefits of multi-GNSS for PPP. Firstly, orbit and clock consistency tests (between different providers) were performed for GPS, GLONASS, Galileo and BeiDou. In general, the differences of GPS are, respectively, 1.0-1.5 cm for orbit and 0.1 ns for clock. The consistency of GLONASS is worse than GPS by a factor of 2-3, i.e. 2-4 cm for orbit and 0.2 ns for clock. However, the corresponding differences of Galileo and BeiDou are significantly larger than those of GPS and GLONASS, particularly for the BeiDou GEO satellites. Galileo as well as BeiDou IGSO/MEO products have a consistency of 0.1-0.2 m for orbit, and 0.2-0.3 ns for clock. As to BeiDou GEO satellites, the difference of their orbits reaches 3-4 m in along-track, 0.5-0.6 m in cross-track, and 0.2-0.3 m in the radial directions, together with an average RMS of 0.6 ns for clock. Furthermore, the short-term stability of multi-GNSS clocks was analyzed by Allan deviation. Results show that clock stability of the onboard GNSS is highly dependent on the satellites generations, operational lifetime, orbit types, and frequency standards. Finally, kinematic PPP tests were conducted to investigate the contribution of multi-GNSS and higher rate clock corrections. As expected, the positioning accuracy as well as convergence speed benefit from the fusion of multi-GNSS and higher rate of precise clock corrections. The multi-GNSS PPP improves the positioning accuracy by 10-20%, 40-60%, and 60-80% relative to the GPS-, GLONASS-, and BeiDou-only PPP. The usage of 30 s interval clock products decreases interpolation errors, and the positioning accuracy is improved by an average of 30-50% for the all the cases except for the BeiDou-only PPP.

Real-time Inversion of Tsunami Source from GNSS Ground Deformation Observations and Tide Gauges.

NASA Astrophysics Data System (ADS)

Arcas, D.; Wei, Y.

2017-12-01

Over the last decade, the NOAA Center for Tsunami Research (NCTR) has developed an inversion technique to constrain tsunami sources based on the use of Green's functions in combination with data reported by NOAA's Deep-ocean Assessment and Reporting of Tsunamis (DART®) systems. The system has consistently proven effective in providing highly accurate tsunami forecasts of wave amplitude throughout an entire basin. However, improvement is necessary in two critical areas: reduction of data latency for near-field tsunami predictions and reduction of maintenance cost of the network. Two types of sensors have been proposed as supplementary to the existing network of DART®systems: Global Navigation Satellite System (GNSS) stations and coastal tide gauges. The use GNSS stations to provide autonomous geo-spatial positioning at specific sites during an earthquake has been proposed in recent years to supplement the DART® array in tsunami source inversion. GNSS technology has the potential to provide substantial contributions in the two critical areas of DART® technology where improvement is most necessary. The present study uses GNSS ground displacement observations of the 2011 Tohoku-Oki earthquake in combination with NCTR operational database of Green's functions, to produce a rapid estimate of tsunami source based on GNSS observations alone. The solution is then compared with that obtained via DART® data inversion and the difficulties in obtaining an accurate GNSS-based solution are underlined. The study also identifies the set of conditions required for source inversion from coastal tide-gauges using the degree of nonlinearity of the signal as a primary criteria. We then proceed to identify the conditions and scenarios under which a particular gage could be used to invert a tsunami source.

Multi-GNSS high-rate RTK, PPP and novel direct phase observation processing method: application to precise dynamic displacement detection

NASA Astrophysics Data System (ADS)

Paziewski, Jacek; Sieradzki, Rafal; Baryla, Radoslaw

2018-03-01

This paper provides the methodology and performance assessment of multi-GNSS signal processing for the detection of small-scale high-rate dynamic displacements. For this purpose, we used methods of relative (RTK) and absolute positioning (PPP), and a novel direct signal processing approach. The first two methods are recognized as providing accurate information on position in many navigation and surveying applications. The latter is an innovative method for dynamic displacement determination with the use of GNSS phase signal processing. This method is based on the developed functional model with parametrized epoch-wise topocentric relative coordinates derived from filtered GNSS observations. Current regular kinematic PPP positioning, as well as medium/long range RTK, may not offer coordinate estimates with subcentimeter precision. Thus, extended processing strategies of absolute and relative GNSS positioning have been developed and applied for displacement detection. The study also aimed to comparatively analyze the developed methods as well as to analyze the impact of combined GPS and BDS processing and the dependence of the results of the relative methods on the baseline length. All the methods were implemented with in-house developed software allowing for high-rate precise GNSS positioning and signal processing. The phase and pseudorange observations collected with a rate of 50 Hz during the field test served as the experiment’s data set. The displacements at the rover station were triggered in the horizontal plane using a device which was designed and constructed to ensure a periodic motion of GNSS antenna with an amplitude of ~3 cm and a frequency of ~4.5 Hz. Finally, a medium range RTK, PPP, and direct phase observation processing method demonstrated the capability of providing reliable and consistent results with the precision of the determined dynamic displacements at the millimeter level. Specifically, the research shows that the standard deviation of the displacement residuals obtained as the difference between a benchmark-ultra-short baseline RTK solution and selected scenarios ranged between 1.1 and 3.4 mm. At the same time, the differences in the mean amplitude of the oscillations derived from the established scenarios did not exceed 1.3 mm, whereas the frequency of the motion detected with the use of Fourier transformation was the same.

Establishment of Karadeniz Technical University Permanent GNSS Station as Reactivated of TRAB IGS Station

NASA Astrophysics Data System (ADS)

Kazancı, Selma Zengin; Kayıkçı, Emine Tanır

2017-12-01

In recent years, Global Navigation Satellite Systems (GNSS) have gained great importance in terms of the benefi ts it provides such as precise geodetic point positioning, determining crustal deformations, navigation, vehicle monitoring systems and meteorological applications etc. As in Turkey, for this purpose, each country has set up its own GNSS station networks like Turkish National Permanent RTK Network analyzed precise station coordinates and velocities together with the International GNSS Service, Turkish National Fundamental GPS Network and Turkish National Permanent GNSS Network (TNPGN) stations not only are utilized as precise positioning but also GNSS meteorology studies so total number of stations are increased. This work is related to the reactivated of the TRAB IGS station which was established in Karadeniz Technical University, Department of Geomatics Engineering. Within the COST ES1206 Action (GNSS4SWEC) KTU analysis center was established and Trop-NET system developed by Geodetic Observatory Pecny (GOP, RIGTC) in order to troposphere monitoring. The project titled "Using Regional GNSS Networks to Strengthen Severe Weather Prediction" was accepted to the scientifi c and technological research council of Turkey (TUBITAK). With this project, we will design 2 new constructed GNSS reference station network. Using observation data of network, we will compare water vapor distribution derived by GNSS Meteorology and GNSS Tomography. At this time, KTU AC was accepted as E-GVAP Analysis Centre in December 2016. KTU reference station is aimed to be a member of the EUREF network with these studies.

Assessment of modern smartphone sensors performance on vehicle localization in urban environments

NASA Astrophysics Data System (ADS)

Lazarou, Theodoros; Danezis, Chris

2017-09-01

The advent of Global Navigation Satellite Systems (GNSS) initiated a revolution in Positioning, Navigation and Timing (PNT) applications. Besides the enormous impact on geospatial data acquisition and reality capture, satellite navigation has penetrated everyday life, a fact which is proved by the increasing degree of human reliance on GNSS-enabled smart devices to perform casual activities. Nevertheless, GNSS does not perform well in all cases. Specifically, in GNSS-challenging environments, such as urban canyons or forested areas, navigation performance may be significantly degraded or even nullified. Consequently, positioning is achieved by combining GNSS with additional heterogeneous information or sensors, such as inertial sensors. To date, most smartphones are equipped with at least accelerometers and gyroscopes, besides GNSS chipsets. In the frame of this research, difficult localization scenarios were investigated to assess the performance of these low-cost inertial sensors with respect to higher grade GNSS and IMU systems. Four state-of-the-art smartphones were mounted on a specifically designed on-purpose build platform along with reference equipment. The platform was installed on top of a vehicle, which was driven by a predefined trajectory that included several GNSS-challenging parts. Consequently, positioning and inertial readings were acquired by smartphones and compared to the information collected by the reference equipment. The results indicated that although the smartphone GNSS receivers have increased sensitivity, they were unable to produce an acceptable solution for more than 30% of the driven course. However, all smartphones managed to identify, up to a satisfactory degree, distinct driving features, such as curves or bumps.

Real-time positioning in logging: Effects of forest stand characteristics, topography, and line-of-sight obstructions on GNSS-RF transponder accuracy and radio signal propagation.

PubMed

Zimbelman, Eloise G; Keefe, Robert F

2018-01-01

Real-time positioning on mobile devices using global navigation satellite system (GNSS) technology paired with radio frequency (RF) transmission (GNSS-RF) may help to improve safety on logging operations by increasing situational awareness. However, GNSS positional accuracy for ground workers in motion may be reduced by multipath error, satellite signal obstruction, or other factors. Radio propagation of GNSS locations may also be impacted due to line-of-sight (LOS) obstruction in remote, forested areas. The objective of this study was to characterize the effects of forest stand characteristics, topography, and other LOS obstructions on the GNSS accuracy and radio signal propagation quality of multiple Raveon Atlas PT GNSS-RF transponders functioning as a network in a range of forest conditions. Because most previous research with GNSS in forestry has focused on stationary units, we chose to analyze units in motion by evaluating the time-to-signal accuracy of geofence crossings in 21 randomly-selected stands on the University of Idaho Experimental Forest. Specifically, we studied the effects of forest stand characteristics, topography, and LOS obstructions on (1) the odds of missed GNSS-RF signals, (2) the root mean squared error (RMSE) of Atlas PTs, and (3) the time-to-signal accuracy of safety geofence crossings in forested environments. Mixed-effects models used to analyze the data showed that stand characteristics, topography, and obstructions in the LOS affected the odds of missed radio signals while stand variables alone affected RMSE. Both stand characteristics and topography affected the accuracy of geofence alerts.

Real-time positioning in logging: Effects of forest stand characteristics, topography, and line-of-sight obstructions on GNSS-RF transponder accuracy and radio signal propagation

PubMed Central

2018-01-01

Real-time positioning on mobile devices using global navigation satellite system (GNSS) technology paired with radio frequency (RF) transmission (GNSS-RF) may help to improve safety on logging operations by increasing situational awareness. However, GNSS positional accuracy for ground workers in motion may be reduced by multipath error, satellite signal obstruction, or other factors. Radio propagation of GNSS locations may also be impacted due to line-of-sight (LOS) obstruction in remote, forested areas. The objective of this study was to characterize the effects of forest stand characteristics, topography, and other LOS obstructions on the GNSS accuracy and radio signal propagation quality of multiple Raveon Atlas PT GNSS-RF transponders functioning as a network in a range of forest conditions. Because most previous research with GNSS in forestry has focused on stationary units, we chose to analyze units in motion by evaluating the time-to-signal accuracy of geofence crossings in 21 randomly-selected stands on the University of Idaho Experimental Forest. Specifically, we studied the effects of forest stand characteristics, topography, and LOS obstructions on (1) the odds of missed GNSS-RF signals, (2) the root mean squared error (RMSE) of Atlas PTs, and (3) the time-to-signal accuracy of safety geofence crossings in forested environments. Mixed-effects models used to analyze the data showed that stand characteristics, topography, and obstructions in the LOS affected the odds of missed radio signals while stand variables alone affected RMSE. Both stand characteristics and topography affected the accuracy of geofence alerts. PMID:29324794

Integrated GNSS Attitude Determination and Positioning for Direct Geo-Referencing

PubMed Central

Nadarajah, Nandakumaran; Paffenholz, Jens-André; Teunissen, Peter J. G.

2014-01-01

Direct geo-referencing is an efficient methodology for the fast acquisition of 3D spatial data. It requires the fusion of spatial data acquisition sensors with navigation sensors, such as Global Navigation Satellite System (GNSS) receivers. In this contribution, we consider an integrated GNSS navigation system to provide estimates of the position and attitude (orientation) of a 3D laser scanner. The proposed multi-sensor system (MSS) consists of multiple GNSS antennas rigidly mounted on the frame of a rotating laser scanner and a reference GNSS station with known coordinates. Precise GNSS navigation requires the resolution of the carrier phase ambiguities. The proposed method uses the multivariate constrained integer least-squares (MC-LAMBDA) method for the estimation of rotating frame ambiguities and attitude angles. MC-LAMBDA makes use of the known antenna geometry to strengthen the underlying attitude model and, hence, to enhance the reliability of rotating frame ambiguity resolution and attitude determination. The reliable estimation of rotating frame ambiguities is consequently utilized to enhance the relative positioning of the rotating frame with respect to the reference station. This integrated (array-aided) method improves ambiguity resolution, as well as positioning accuracy between the rotating frame and the reference station. Numerical analyses of GNSS data from a real-data campaign confirm the improved performance of the proposed method over the existing method. In particular, the integrated method yields reliable ambiguity resolution and reduces position standard deviation by a factor of about 0.8, matching the theoretical gain of 3/4 for two antennas on the rotating frame and a single antenna at the reference station. PMID:25036330

Integrated GNSS attitude determination and positioning for direct geo-referencing.

PubMed

Nadarajah, Nandakumaran; Paffenholz, Jens-André; Teunissen, Peter J G

2014-07-17

Direct geo-referencing is an efficient methodology for the fast acquisition of 3D spatial data. It requires the fusion of spatial data acquisition sensors with navigation sensors, such as Global Navigation Satellite System (GNSS) receivers. In this contribution, we consider an integrated GNSS navigation system to provide estimates of the position and attitude (orientation) of a 3D laser scanner. The proposed multi-sensor system (MSS) consists of multiple GNSS antennas rigidly mounted on the frame of a rotating laser scanner and a reference GNSS station with known coordinates. Precise GNSS navigation requires the resolution of the carrier phase ambiguities. The proposed method uses the multivariate constrained integer least-squares (MC-LAMBDA) method for the estimation of rotating frame ambiguities and attitude angles. MC-LAMBDA makes use of the known antenna geometry to strengthen the underlying attitude model and, hence, to enhance the reliability of rotating frame ambiguity resolution and attitude determination. The reliable estimation of rotating frame ambiguities is consequently utilized to enhance the relative positioning of the rotating frame with respect to the reference station. This integrated (array-aided) method improves ambiguity resolution, as well as positioning accuracy between the rotating frame and the reference station. Numerical analyses of GNSS data from a real-data campaign confirm the improved performance of the proposed method over the existing method. In particular, the integrated method yields reliable ambiguity resolution and reduces position standard deviation by a factor of about 0:8, matching the theoretical gain of √ 3/4 for two antennas on the rotating frame and a single antenna at the reference station.

Employing Tropospheric Numerical Weather Prediction Model for High-Precision GNSS Positioning

NASA Astrophysics Data System (ADS)

Alves, Daniele; Gouveia, Tayna; Abreu, Pedro; Magário, Jackes

2014-05-01

In the past few years is increasing the necessity of realizing high accuracy positioning. In this sense, the spatial technologies have being widely used. The GNSS (Global Navigation Satellite System) has revolutionized the geodetic positioning activities. Among the existent methods one can emphasize the Precise Point Positioning (PPP) and network-based positioning. But, to get high accuracy employing these methods, mainly in real time, is indispensable to realize the atmospheric modeling (ionosphere and troposphere) accordingly. Related to troposphere, there are the empirical models (for example Saastamoinen and Hopfield). But when highly accuracy results (error of few centimeters) are desired, maybe these models are not appropriated to the Brazilian reality. In order to minimize this limitation arises the NWP (Numerical Weather Prediction) models. In Brazil the CPTEC/INPE (Center for Weather Prediction and Climate Studies / Brazilian Institute for Spatial Researches) provides a regional NWP model, currently used to produce Zenithal Tropospheric Delay (ZTD) predictions (http://satelite.cptec.inpe.br/zenital/). The actual version, called eta15km model, has a spatial resolution of 15 km and temporal resolution of 3 hours. In this paper the main goal is to accomplish experiments and analysis concerning the use of troposphere NWP model (eta15km model) in PPP and network-based positioning. Concerning PPP it was used data from dozens of stations over the Brazilian territory, including Amazon forest. The results obtained with NWP model were compared with Hopfield one. NWP model presented the best results in all experiments. Related to network-based positioning it was used data from GNSS/SP Network in São Paulo State, Brazil. This network presents the best configuration in the country to realize this kind of positioning. Actually the network is composed by twenty stations (http://www.fct.unesp.br/#!/pesquisa/grupos-de-estudo-e-pesquisa/gege//gnss-sp-network2789/). The results obtained employing NWP model also were compared to Hopfield one, and the results were very interesting. The theoretical concepts, experiments, results and analysis will be presented in this paper.

Robust GNSS and InSAR tomography of neutrospheric refractivity using a Compressive Sensing approach

NASA Astrophysics Data System (ADS)

Heublein, Marion; Alshawaf, Fadwa; Zhu, Xiao Xiang; Hinz, Stefan

2017-04-01

Motivation: An accurate knowledge of the 3D distribution of water vapor in the atmosphere is a key element for weather forecasting and climate research. In addition, a precise determination of water vapor is also required for accurate positioning and deformation monitoring using Global Navigation Satellite Systems (GNSS) and Interferometric Synthetic Aperture Radar (InSAR). Several approaches for 3D tomographic water vapor reconstruction from GNSS-based Slant Wet Delay (SWD) estimates using the least squares (LSQ) adjustment exist. However, the tomographic system is in general ill-conditioned and its solution is unstable. Therefore, additional information or constraints need to be added in order to regularize the system. Goal of this work: In this work, we analyze the potential of Compressive Sensing (CS) for robustly reconstructing neutrospheric refractivity from GNSS SWD estimates. Moreover, the benefit of adding InSAR SWD estimates into the tomographic system is studied. Approach: A sparse representation of the refractivity field is obtained using a dictionary composed of Discrete Cosine Transforms (DCT) in longitude and latitude direction and of an Euler transform in height direction. This sparsity of the signal can be used as a prior for regularization and the CS inversion is solved by minimizing the number of non-zero entries of the sparse solution in the DCT-Euler domain. No other regularization constraints or prior knowledge is applied. The tomographic reconstruction relies on total SWD estimates from GNSS Precise Point Positioning (PPP) and Persistent Scatterer (PS) InSAR. On the one hand, GNSS PPP SWD estimates are included into the system of equations. On the other hand, 2D ZWD maps are obtained by a combination of point-wise estimates of the wet delay using GNSS observations and partial InSAR wet delay maps. These ZWD estimates are aggregated to derive realistic wet delay input data at given points as if corresponding to GNSS sites within the study area. The made-up ZWD values can be mapped into different elevation and azimuth angles. Moreover, using the same observation geometry as in the case of the GNSS and InSAR data, a synthetic set of SWD values was generated based on WRF simulations. Results: The CS approach shows particular strength in the case of a small number of SWD estimates. When compared to LSQ, the sparse reconstruction is much more robust. In the case of a low density of GNSS sites, adding InSAR SWD estimates improves the reconstruction accuracy for both LSQ and CS. Based on a synthetic SWD dataset generated using WRF simulations of wet refractivity, the CS based solution of the tomographic system is validated. In the vertical direction, the refractivity distribution deduced from GNSS and InSAR SWD estimates is compared to a tropospheric humidity data set provided by EUMETSAT consisting of daily mean values of specific humidity given on six pressure levels between 1000 hPa and 200 hPa. Study area: The Upper Rhine Graben (URG) characterized by negligible surface deformations is chosen as study area. A network of seven permanent GNSS receivers is used for this study, and a total number of 17 SAR images, acquired by ENVISAT ASAR is available.

Coupled Integration of CSAC, MIMU, and GNSS for Improved PNT Performance

PubMed Central

Ma, Lin; You, Zheng; Liu, Tianyi; Shi, Shuai

2016-01-01

Positioning, navigation, and timing (PNT) is a strategic key technology widely used in military and civilian applications. Global navigation satellite systems (GNSS) are the most important PNT techniques. However, the vulnerability of GNSS threatens PNT service quality, and integrations with other information are necessary. A chip scale atomic clock (CSAC) provides high-precision frequency and high-accuracy time information in a short time. A micro inertial measurement unit (MIMU) provides a strap-down inertial navigation system (SINS) with rich navigation information, better real-time feed, anti-jamming, and error accumulation. This study explores the coupled integration of CSAC, MIMU, and GNSS to enhance PNT performance. The architecture of coupled integration is designed and degraded when any subsystem fails. A mathematical model for a precise time aiding navigation filter is derived rigorously. The CSAC aids positioning by weighted linear optimization when the visible satellite number is four or larger. By contrast, CSAC converts the GNSS observations to range measurements by “clock coasting” when the visible satellite number is less than four, thereby constraining the error divergence of micro inertial navigation and improving the availability of GNSS signals and the positioning accuracy of the integration. Field vehicle experiments, both in open-sky area and in a harsh environment, show that the integration can improve the positioning probability and accuracy. PMID:27187399

Coupled Integration of CSAC, MIMU, and GNSS for Improved PNT Performance.

PubMed

Ma, Lin; You, Zheng; Liu, Tianyi; Shi, Shuai

2016-05-12

Positioning, navigation, and timing (PNT) is a strategic key technology widely used in military and civilian applications. Global navigation satellite systems (GNSS) are the most important PNT techniques. However, the vulnerability of GNSS threatens PNT service quality, and integrations with other information are necessary. A chip scale atomic clock (CSAC) provides high-precision frequency and high-accuracy time information in a short time. A micro inertial measurement unit (MIMU) provides a strap-down inertial navigation system (SINS) with rich navigation information, better real-time feed, anti-jamming, and error accumulation. This study explores the coupled integration of CSAC, MIMU, and GNSS to enhance PNT performance. The architecture of coupled integration is designed and degraded when any subsystem fails. A mathematical model for a precise time aiding navigation filter is derived rigorously. The CSAC aids positioning by weighted linear optimization when the visible satellite number is four or larger. By contrast, CSAC converts the GNSS observations to range measurements by "clock coasting" when the visible satellite number is less than four, thereby constraining the error divergence of micro inertial navigation and improving the availability of GNSS signals and the positioning accuracy of the integration. Field vehicle experiments, both in open-sky area and in a harsh environment, show that the integration can improve the positioning probability and accuracy.

Constructive and problem-based learning using blended learning anchored instruction approaches

NASA Astrophysics Data System (ADS)

Mayer, M.

2012-04-01

Based on an anchored instruction approach, an enriched blended learning lecture course ("Introduction into GNSS positioning") was established in order to enable constructive and problem-based learning. The lecture course "Introduction into GNSS positioning" is a compulsory part of the Bachelor study course "Geodesy and Geoinformatics" and also a supplementary module of the Bachelor study course "Geophysics". Within the lecture course, basic knowledge and basic principles of Global Navigation Satellite Systems, like GPS, are imparted. The presented higher education technique "anchored instruction" uses a real and up-to-date and therefore authentic scientific paper dealing with a recent large-scale geodetic project (Fehmarn Belt Fixed Link) in order to introduce the topic of GNSS-based positioning to the students. In the beginning of the semester, the students have to read the paper individually and carefully. This enables them to realize a lot of not-known GNSS-related facts. Therefore, questions can be formulated focusing on new, unclear or not-understood aspects of the paper. The lecture course deals with these questions, in order to answer them throughout the semester. During the lecture course this paper is referred, e.g., in the middle of the semester, the paper has to be read again in order to check which questions have been answered; in addition, new question arise. At the end of the lecture course, the author of the scientific paper gave a concluding lecture. The framing anchor technique enables the students to anchor their GNSS knowledge. The presented case study uses a teaching resp. learning setting consisting of classroom lectures (given by teachers and learners), practical trainings (e.g., field exercises, students select topics individually), and online lectures (learning management system ILIAS is used as data, result, and asynchronous communication platform). The implementation and the elements of the anchoring technique, which enables student-centered, cooperative, and individual learning, are going to be discussed in detail. A special focus of the presentation is on work assignments, time schedule, and work load. The anchor technique is applied within a blended learning teaching concept, therefore the role of the learning management system ILIAS will be treated as well.

Determination of the centre of mass kinematics in alpine skiing using differential global navigation satellite systems.

PubMed

Gilgien, Matthias; Spörri, Jörg; Chardonnens, Julien; Kröll, Josef; Limpach, Philippe; Müller, Erich

2015-01-01

In the sport of alpine skiing, knowledge about the centre of mass (CoM) kinematics (i.e. position, velocity and acceleration) is essential to better understand both performance and injury. This study proposes a global navigation satellite system (GNSS)-based method to measure CoM kinematics without restriction of capture volume and with reasonable set-up and processing requirements. It combines the GNSS antenna position, terrain data and the accelerations acting on the skier in order to approximate the CoM location, velocity and acceleration. The validity of the method was assessed against a reference system (video-based 3D kinematics) over 12 turn cycles on a giant slalom skiing course. The mean (± s) position, velocity and acceleration differences between the CoM obtained from the GNSS and the reference system were 9 ± 12 cm, 0.08 ± 0.19 m · s(-1) and 0.22 ± 1.28 m · s(-2), respectively. The velocity and acceleration differences obtained were smaller than typical differences between the measures of several skiers on the same course observed in the literature, while the position differences were slightly larger than its discriminative meaningful change. The proposed method can therefore be interpreted to be technically valid and adequate for a variety of biomechanical research questions in the field of alpine skiing with certain limitations regarding position.

The determination of interseismic, coseismic and postseismic deformations caused by the Gökçeada-Samothraki earthquake (2014, Mw: 6.9) based on GNSS data

NASA Astrophysics Data System (ADS)

Tiryakioglu, Ibrahim; Yigit, Cemal Ozer; Yavasoglu, Hakan; Saka, Mehmet Halis; Alkan, Reha Metin

2017-09-01

Since the 1990s, seismic deformations have been commonly determined using the Global Navigation Satellite System (GNSS). Recently, the GNSS systems have become even more powerful with the use of new technologies in innovative studies. In this study, the GNSS data was used to investigate interseismic, coseismic and postseismic deformation and velocity of the Gökçeada-Samothraki earthquake (Mw = 6.9) that occurred on May 24, 2014. The data was obtained at 30 s (0.033 Hz) and 1 s (1 Hz) intervals from the GNSS receivers in the network of Continuously Operating Reference Stations, Turkey (CORS-TR). For the interseismic period, the daily coordinate time series of 12 stations located within 90-250 km of the earthquake epicenter was evaluated for the displacement of stations over a period of approximately 2000 days prior to the day of the earthquakes, from October 1, 2008 to May 23, 2014. In order to analyze the ground motion displacement during the Gökçeada-Samothraki earthquake, 1 Hz data from 8 continuous GNSS stations was processed using precise point positioning (PPP) and relative positioning methods to estimate the epoch-by-epoch positions of the stations. During the earthquake, coseismic displacements of approximately 7 and 30 mm were detected in the NW direction at the YENC and CANA stations, respectively. However, at the IPSA station, a coseismic deformation of 20 mm was observed in the NE direction. There were no significant changes at the other stations during the earthquake. For the postseismic period, the daily coordinate time series of the 12 stations were evaluated for station displacements for 570 days after the day of the earthquakes, from May 24, 2014 to January 1, 2016. The results demonstrated that no significant postseismic deformation with the exception of the EDIR station. An abnormal deformation caused by local factors was determined at the EDIR station. In this study, the PPP and the relative solution were also compared in terms of capturing the earthquake wave motion. The results demonstrated that the PPP-based solutions showed good agreement with those of relative positioning in terms of the ability to capture coseismic displacement.

Real-time Kinematic Positioning of INS Tightly Aided Multi-GNSS Ionospheric Constrained PPP

PubMed Central

Gao, Zhouzheng; Shen, Wenbin; Zhang, Hongping; Niu, Xiaoji; Ge, Maorong

2016-01-01

Real-time Precise Point Positioning (PPP) technique is being widely applied for providing precise positioning services with the significant improvement on satellite precise products accuracy. With the rapid development of the multi-constellation Global Navigation Satellite Systems (multi-GNSS), currently, about 80 navigation satellites are operational in orbit. Obviously, PPP performance is dramatically improved with all satellites compared to that of GPS-only PPP. However, the performance of PPP could be evidently affected by unexpected and unavoidable severe observing environments, especially in the dynamic applications. Consequently, we apply Inertial Navigation System (INS) to the Ionospheric-Constrained (IC) PPP to overcome such drawbacks. The INS tightly aided multi-GNSS IC-PPP model can make full use of GNSS and INS observations to improve the PPP performance in terms of accuracy, availability, continuity, and convergence speed. Then, a set of airborne data is analyzed to evaluate and validate the improvement of multi-GNSS and INS on the performance of IC-PPP. PMID:27470270

Real-time Kinematic Positioning of INS Tightly Aided Multi-GNSS Ionospheric Constrained PPP.

PubMed

Gao, Zhouzheng; Shen, Wenbin; Zhang, Hongping; Niu, Xiaoji; Ge, Maorong

2016-07-29

Real-time Precise Point Positioning (PPP) technique is being widely applied for providing precise positioning services with the significant improvement on satellite precise products accuracy. With the rapid development of the multi-constellation Global Navigation Satellite Systems (multi-GNSS), currently, about 80 navigation satellites are operational in orbit. Obviously, PPP performance is dramatically improved with all satellites compared to that of GPS-only PPP. However, the performance of PPP could be evidently affected by unexpected and unavoidable severe observing environments, especially in the dynamic applications. Consequently, we apply Inertial Navigation System (INS) to the Ionospheric-Constrained (IC) PPP to overcome such drawbacks. The INS tightly aided multi-GNSS IC-PPP model can make full use of GNSS and INS observations to improve the PPP performance in terms of accuracy, availability, continuity, and convergence speed. Then, a set of airborne data is analyzed to evaluate and validate the improvement of multi-GNSS and INS on the performance of IC-PPP.

Determining inter-system bias of GNSS signals with narrowly spaced frequencies for GNSS positioning

NASA Astrophysics Data System (ADS)

Tian, Yumiao; Liu, Zhizhao; Ge, Maorong; Neitzel, Frank

2017-12-01

Relative positioning using multi-GNSS (global navigation satellite systems) can improve accuracy, reliability, and availability compared to the use of a single constellation system. Intra-system double-difference (DD) ambiguities (ISDDAs) refer to the DD ambiguities between satellites of a single constellation system and can be fixed to an integer to derive the precise fixed solution. Inter-system ambiguities, which denote the DD ambiguities between different constellation systems, can also be fixed to integers on overlapping frequencies, once the inter-system bias (ISB) is removed. Compared with fixing ISDDAs, fixing both integer intra- and inter-system DD ambiguities (IIDDAs) means an increase of positioning precision through an integration of multiple GNSS constellations. Previously, researchers have studied IIDDA fixing with systems of the same frequencies, but not with systems of different frequencies. Integer IIDDAs can be determined from single-difference (SD) ambiguities, even if the frequencies of multi-GNSS signals used in the positioning are different. In this study, we investigated IIDDA fixing for multi-GNSS signals of narrowly spaced frequencies. First, the inter-system DD models of multi-GNSS signals of different frequencies are introduced, and the strategy for compensating for ISB is presented. The ISB is decomposed into three parts: 1) a float approximate ISB number that can be considered equal to the ISB of code pseudorange observations and thus can be estimated through single point positioning (SPP); 2) a number that is a multiple of the GNSS signal wavelength; and 3) a fractional ISB part, with a magnitude smaller than a single wavelength. Then, the relationship between intra- and inter-system DD ambiguity RATIO values and ISB was investigated by integrating GPS L1 and GLONASS L1 signals. In our numerical analyses with short baselines, the ISB parameter and IIDDA were successfully fixed, even if the number of observed satellites in each system was small.

Ionospheric Slant Total Electron Content Analysis Using Global Positioning System Based Estimation

NASA Technical Reports Server (NTRS)

Komjathy, Attila (Inventor); Mannucci, Anthony J. (Inventor); Sparks, Lawrence C. (Inventor)

2017-01-01

A method, system, apparatus, and computer program product provide the ability to analyze ionospheric slant total electron content (TEC) using global navigation satellite systems (GNSS)-based estimation. Slant TEC is estimated for a given set of raypath geometries by fitting historical GNSS data to a specified delay model. The accuracy of the specified delay model is estimated by computing delay estimate residuals and plotting a behavior of the delay estimate residuals. An ionospheric threat model is computed based on the specified delay model. Ionospheric grid delays (IGDs) and grid ionospheric vertical errors (GIVEs) are computed based on the ionospheric threat model.

GNSS Buoy Array in the Ocean for Natural Hazard Mitigation

NASA Astrophysics Data System (ADS)

Kato, T.; Terada, Y.; Yamamoto, S. I.; Iwakiri, N.; Toyoshima, M.; Koshikawa, N.; Motohashi, O.; Hashimoto, G.; Wada, A.

2015-12-01

The GNSS buoy system for tsunami early warning has been developed in Japan. The system has been implemented as a national wave monitoring system and its record was used to update the tsunami warning at the 3.11 Tohoku-oki earthquake. The lessons learned in this experience was that the buoys are placed only less than 20km from the coast, which was not far enough for effective evacuation of people. We thus tried to improve the system for putting the buoy much farther from the coast. First, we tried to implement, different from current baseline mode RTK-GPS, a real-time PPP analysis strategy for positioning. In addition, we tried to use a two-way satellite data transmission in contrast with current surface radio system. We have made a series of experiments for this purpose in 2013 and 2014. A buoy of about 40km south of Shikoku, southwest Japan, was used for this purpose. GEONET data were used to obtain precise orbits and clocks of satellites. Then, the information was transferred to the GNSS buoy using LEX signal of QZSS satellite system. The received information on the buoy were used for real-time PPP analysis for every second. The obtained buoy position was then transmitted to the ground base, through an engineering test satellite, ETS-VIII. The received data was then disseminated to public through the internet. Both filtered short-term and long-term waves, were separately shown on the webpage. The success of these experiments indicates that the GNSS buoy can be placed at least more than 1,500 km from the ground based tracking network. Given this success, we would now be able to deploy a new GNSS buoy array system in the wide ocean. An array in the ocean can be used for ionospheric and atmospheric research in the same region as well as tsunami or ocean bottom crustal deformation monitoring through an application to the GNSS-acoustic system. We are now designing a regional GNSS buoy array in the western Pacific as a synthetic natural hazard mitigation system.

On the impact of GNSS ambiguity resolution: geometry, ionosphere, time and biases

NASA Astrophysics Data System (ADS)

Khodabandeh, A.; Teunissen, P. J. G.

2018-06-01

Integer ambiguity resolution (IAR) is the key to fast and precise GNSS positioning and navigation. Next to the positioning parameters, however, there are several other types of GNSS parameters that are of importance for a range of different applications like atmospheric sounding, instrumental calibrations or time transfer. As some of these parameters may still require pseudo-range data for their estimation, their response to IAR may differ significantly. To infer the impact of ambiguity resolution on the parameters, we show how the ambiguity-resolved double-differenced phase data propagate into the GNSS parameter solutions. For that purpose, we introduce a canonical decomposition of the GNSS network model that, through its decoupled and decorrelated nature, provides direct insight into which parameters, or functions thereof, gain from IAR and which do not. Next to this qualitative analysis, we present for the GNSS estimable parameters of geometry, ionosphere, timing and instrumental biases closed-form expressions of their IAR precision gains together with supporting numerical examples.

On the impact of GNSS ambiguity resolution: geometry, ionosphere, time and biases

NASA Astrophysics Data System (ADS)

Khodabandeh, A.; Teunissen, P. J. G.

2017-11-01

Integer ambiguity resolution (IAR) is the key to fast and precise GNSS positioning and navigation. Next to the positioning parameters, however, there are several other types of GNSS parameters that are of importance for a range of different applications like atmospheric sounding, instrumental calibrations or time transfer. As some of these parameters may still require pseudo-range data for their estimation, their response to IAR may differ significantly. To infer the impact of ambiguity resolution on the parameters, we show how the ambiguity-resolved double-differenced phase data propagate into the GNSS parameter solutions. For that purpose, we introduce a canonical decomposition of the GNSS network model that, through its decoupled and decorrelated nature, provides direct insight into which parameters, or functions thereof, gain from IAR and which do not. Next to this qualitative analysis, we present for the GNSS estimable parameters of geometry, ionosphere, timing and instrumental biases closed-form expressions of their IAR precision gains together with supporting numerical examples.

An ultra-wide bandwidth-based range/GPS tight integration approach for relative positioning in vehicular ad hoc networks

NASA Astrophysics Data System (ADS)

Shen, Feng; Wayn Cheong, Joon; Dempster, Andrew G.

2015-04-01

Relative position awareness is a vital premise for the implementation of emerging intelligent transportation systems, such as collision warning. However, commercial global navigation satellite systems (GNSS) receivers do not satisfy the requirements of these applications. Fortunately, cooperative positioning (CP) techniques, through sharing the GNSS measurements between vehicles, can improve the performance of relative positioning in a vehicular ad hoc network (VANET). In this paper, while assuming there are no obstacles between vehicles, a new enhanced tightly coupled CP technique is presented by adding ultra-wide bandwidth (UWB)-based inter-vehicular range measurements. In the proposed CP method, each vehicle fuses the GPS measurements and the inter-vehicular range measurements. Based on analytical and experimental results, in the full GPS coverage environment, the new tight integration CP method outperforms the INS-aided tight CP method, tight CP method, and DGPS by 11%, 15%, and 24%, respectively; in the GPS outage scenario, the performance improvement achieves 60%, 65%, and 73%, respectively.

Continuous Fine-Fault Estimation with Real-Time GNSS

NASA Astrophysics Data System (ADS)

Norford, B. B.; Melbourne, T. I.; Szeliga, W. M.; Santillan, V. M.; Scrivner, C.; Senko, J.; Larsen, D.

2017-12-01

Thousands of real-time telemetered GNSS stations operate throughout the circum-Pacific that may be used for rapid earthquake characterization and estimation of local tsunami excitation. We report on the development of a GNSS-based finite-fault inversion system that continuously estimates slip using real-time GNSS position streams from the Cascadia subduction zone and which is being expanded throughout the circum-Pacific. The system uses 1 Hz precise point position streams computed in the ITRF14 reference frame using clock and satellite orbit corrections from the IGS. The software is implemented as seven independent modules that filter time series using Kalman filters, trigger and estimate coseismic offsets, invert for slip using a non-negative least squares method developed by Lawson and Hanson (1974) and elastic half-space Green's Functions developed by Okada (1985), smooth the results temporally and spatially, and write the resulting streams of time-dependent slip to a RabbitMQ messaging server for use by downstream modules such as tsunami excitation modules. Additional fault models can be easily added to the system for other circum-Pacific subduction zones as additional real-time GNSS data become available. The system is currently being tested using data from well-recorded earthquakes including the 2011 Tohoku earthquake, the 2010 Maule earthquake, the 2015 Illapel earthquake, the 2003 Tokachi-oki earthquake, the 2014 Iquique earthquake, the 2010 Mentawai earthquake, the 2016 Kaikoura earthquake, the 2016 Ecuador earthquake, the 2015 Gorkha earthquake, and others. Test data will be fed to the system and the resultant earthquake characterizations will be compared with published earthquake parameters. Seismic events will be assumed to occur on major faults, so, for example, only the San Andreas fault will be considered in Southern California, while the hundreds of other faults in the region will be ignored. Rake will be constrained along each subfault to be consistent with NUVEL-1 plate convergence directions. This software provides a basis for a GNSS-based rapid earthquake finite fault estimation system with global scope.

Carrier phase altimetry using Zeppelin based GNSS-R observations and water gauge reference data

NASA Astrophysics Data System (ADS)

Semmling, Maximilian; Schön, Steffen; Beckheinrich, Jamila; Beyerle, Georg; Ge, Maorong; Wickert, Jens

2014-05-01

The increasing number of transmitters in global navigation satellite systems (GNSS), like GPS, Galileo, Glonass or Compass, provide observations with an increasing coverage for positioning but also for remote sensing. A space based GNSS remote sensing application is radio occultation, a limb sounding method. Globally distributed vertical profiles of temperature, water vapour and electron density are provided operationally for weather forecast and ionospheric monitoring. Another application is GNSS reflectometry (GNSS-R) that is currently developed especially for ocean remote sensing. The high reflection coefficient of water is crucial for GNSS-R. This study presents a method that uses GNSS phase observations for lake altimetry with the potential for ocean application. Phase observations are deduced from a GORS (GNSS Occultaction Reflectometry Scatterometry) receiver in Master-Slave-Configuration. The Master sampling dedicated for direct signal acquisition is connected to an up-looking antenna with right hand circular polarization (RHCP). Two Slave samplings dedicated for acquisition of the reflected signals are connected to down-looking antennas with right- and left-hand circular polarization (RHCP and LHCP). Based on in-phase and quad-phase (I, Q) sample components, an altimetric phase residual is retrieved. This residual can be related to the height of the reflecting surface. An altimetric challenge arises from the unknown ambiguity of phase residuals that introduces a height bias. The presented study uses ancillary data deduced from water gauges to mitigate the ambiguity bias. Reference tracks are formed by linear surface height interpolation between the water gauge stations. At crossover points of reflection tracks with reference tracks a phase ambiguity estimate is determined for bias mitigation. For this study airborne GNSS measurements were conducted aboard a Zeppelin NT (New Technology) airship with a geodetic receiver for navigation and a GORS receiver for reflectometry. The corresponding Zeppelin campaign was conducted in Sep 2012. It comprised three days with in total 13 flight hours over lake Constance (9.0°-9.8°E; 47.5°-47.8°N). Compared to a similar Zeppelin campaign in Oct 2010, Slave tracking problems could be solved providing reflection events with continuous tracks of up to 30min. The airship's trajectory is determined from navigation data with a precision better than 10cm in Precise Point Positioning mode supported by additional GNSS ground station data. Water gauge reference data around the lake is provided by stations at Friedrichshafen, Konstanz, Lindau and Romanshorn. Situated in vicinity of the Upper Rhine Plain the lake surface is affected by gravity anomalies in this region. As a consequence geoid undulations with up to 1m amplitude occur along the lake. Predictions of surface height undulation (including GCG-05 model) agree with phase altimetric retrievals. An example event shows a standard deviation of only 2cm (4cm) for RHCP (LHCP) data. The corresponding mean difference with 53cm (51cm) for RHCP (LHCP), respectively, is related to the residual ambiguity bias persisting after mitigation with reference data.

GNSS global real-time augmentation positioning: Real-time precise satellite clock estimation, prototype system construction and performance analysis

NASA Astrophysics Data System (ADS)

Chen, Liang; Zhao, Qile; Hu, Zhigang; Jiang, Xinyuan; Geng, Changjiang; Ge, Maorong; Shi, Chuang

2018-01-01

Lots of ambiguities in un-differenced (UD) model lead to lower calculation efficiency, which isn't appropriate for the high-frequency real-time GNSS clock estimation, like 1 Hz. Mixed differenced model fusing UD pseudo-range and epoch-differenced (ED) phase observations has been introduced into real-time clock estimation. In this contribution, we extend the mixed differenced model for realizing multi-GNSS real-time clock high-frequency updating and a rigorous comparison and analysis on same conditions are performed to achieve the best real-time clock estimation performance taking the efficiency, accuracy, consistency and reliability into consideration. Based on the multi-GNSS real-time data streams provided by multi-GNSS Experiment (MGEX) and Wuhan University, GPS + BeiDou + Galileo global real-time augmentation positioning prototype system is designed and constructed, including real-time precise orbit determination, real-time precise clock estimation, real-time Precise Point Positioning (RT-PPP) and real-time Standard Point Positioning (RT-SPP). The statistical analysis of the 6 h-predicted real-time orbits shows that the root mean square (RMS) in radial direction is about 1-5 cm for GPS, Beidou MEO and Galileo satellites and about 10 cm for Beidou GEO and IGSO satellites. Using the mixed differenced estimation model, the prototype system can realize high-efficient real-time satellite absolute clock estimation with no constant clock-bias and can be used for high-frequency augmentation message updating (such as 1 Hz). The real-time augmentation message signal-in-space ranging error (SISRE), a comprehensive accuracy of orbit and clock and effecting the users' actual positioning performance, is introduced to evaluate and analyze the performance of GPS + BeiDou + Galileo global real-time augmentation positioning system. The statistical analysis of real-time augmentation message SISRE is about 4-7 cm for GPS, whlile 10 cm for Beidou IGSO/MEO, Galileo and about 30 cm for BeiDou GEO satellites. The real-time positioning results prove that the GPS + BeiDou + Galileo RT-PPP comparing to GPS-only can effectively accelerate convergence time by about 60%, improve the positioning accuracy by about 30% and obtain averaged RMS 4 cm in horizontal and 6 cm in vertical; additionally RT-SPP accuracy in the prototype system can realize positioning accuracy with about averaged RMS 1 m in horizontal and 1.5-2 m in vertical, which are improved by 60% and 70% to SPP based on broadcast ephemeris, respectively.

High accuracy GNSS based navigation in GEO

NASA Astrophysics Data System (ADS)

Capuano, Vincenzo; Shehaj, Endrit; Blunt, Paul; Botteron, Cyril; Farine, Pierre-André

2017-07-01

Although significant improvements in efficiency and performance of communication satellites have been achieved in the past decades, it is expected that the demand for new platforms in Geostationary Orbit (GEO) and for the On-Orbit Servicing (OOS) on the existing ones will continue to rise. Indeed, the GEO orbit is used for many applications including direct broadcast as well as communications. At the same time, Global Navigation Satellites System (GNSS), originally designed for land, maritime and air applications, has been successfully used as navigation system in Low Earth Orbit (LEO) and its further utilization for navigation of geosynchronous satellites becomes a viable alternative offering many advantages over present ground based methods. Following our previous studies of GNSS signal characteristics in Medium Earth Orbit (MEO), GEO and beyond, in this research we specifically investigate the processing of different GNSS signals, with the goal to determine the best navigation performance they can provide in a GEO mission. Firstly, a detailed selection among different GNSS signals and different combinations of them is discussed, taking into consideration the L1 and L5 frequency bands, and the GPS and Galileo constellations. Then, the implementation of an Orbital Filter is summarized, which adaptively fuses the GN1SS observations with an accurate orbital forces model. Finally, simulation tests of the navigation performance achievable by processing the selected combination of GNSS signals are carried out. The results obtained show an achievable positioning accuracy of less than one meter. In addition, hardware-in-the-loop tests are presented using a COTS receiver connected to our GNSS Spirent simulator, in order to collect real-time hardware-in-the-loop observations and process them by the proposed navigation module.

The Current Status and Future of GNSS-Meteorology in Europe

NASA Astrophysics Data System (ADS)

Jones, J.; Guerova, G.; Dousa, J.; Dick, G.; Haan, de, S.; Pottiaux, E.; Bock, O.; Pacione, R.

2017-12-01

GNSS is a well established atmospheric observing system which can accurately sense water vapour, the most abundant greenhouse gas, accounting for 60-70% of atmospheric warming. Water vapour observations are currently under-sampled in operational meteorology and obtaining and exploiting additional high-quality humidity observations is essential to improve severe weather forecasting and climate monitoring. Inconsistencies introduced into long-term time series from improved GNSS processing algorithms make climate trend analysis challenging. Ongoing re-processing efforts using state-of-the-art models are underway which will provide consistent time series' of tropospheric data, using 15+ years of GNSS observations and from over 600 stations worldwide. These datasets will enable validation of systematic biases from a range of instrumentation, improve the knowledge of climatic trends of atmospheric water vapour, and will potentially be of great benefit to global and regional NWP reanalyses and climate model simulations (e.g. IPCC AR5) COST Action ES1206 is a 4-year project, running from 2013 to 2017, which has coordinated new and improved capabilities from concurrent developments in GNSS, meteorological and climate communities. For the first time, the synergy of multi-GNSS constellations has been used to develop new, more advanced tropospheric products, exploiting the full potential of multi-GNSS on a wide range of temporal and spatial scales - from real-time products monitoring and forecasting severe weather, to the highest quality post-processed products suitable for climate research. The Action has also promoted the use of meteorological data as an input to real-time GNSS positioning, navigation, and timing services and has stimulated knowledge and data transfer throughout Europe and beyond. This presentation will give an overview of COST Action ES1206 plus an overview of ground-based GNSS-meteorology in Europe in general, including current status and future opportunities.

Advanced algorithms for ionosphere modelling in GNSS applications within AUDITOR project

NASA Astrophysics Data System (ADS)

Goss, Andreas; Erdogan, Eren; Schmidt, Michael; Garcia-Rigo, Alberto; Hernandez-Pajares, Manuel; Lyu, Haixia; Nohutcu, Metin

2017-04-01

The H2020 project AUDITOR of the European Union started on January 1st 2016, with the participation of several European institutions and universities. The goal of the project is the implementation of a novel precise positioning technique, based on augmentation data in a customized GNSS receiver. Therefore more sophisticated ionospheric models have to be developed and implemented to increase the accuracy in real-time at the user side. Since the service should be available for the public, we use public data from GNSS networks (e.g. IGS, EUREF). The contributions of DGFI-TUM and UPC are focusing on the development of high accuracy GNSS algorithms to provide enhanced ionospheric corrections. This includes two major issues: 1. The existing mapping function to convert the slant total electron content (STEC) measurable by GNSS into the vertical total electron content (VTEC) is based on a so called single layer model (SLM), where all electrons are concentrated on an infinitesimal thin layer with fixed height (between 350 and 450 kilometers). This quantity is called the effective ionospheric height (EIH). An improvement of the mapping function shall be achieved by estimating more realistic numerical values for the EIH by means of a voxel-based tomographic model (TOMION). 2. The ionospheric observations are distributed rather unevenly over the globe and within specific regions. This inhomogeneous distribution is handled by data adaptive B-Spline approaches, with polynomial and trigonometric functions used for the latitude and longitude representations to provide high resolution VTEC maps for global and regional purposes. A Kalman filter is used as sequential estimator. The unknown parameters of the filter state vector are composed of the B-spline coefficients as well as the satellite and receiver DCBs. The resulting high accuracy ionosphere products will be disseminated to the users via downlink from a dedicated server to a receiver site. In this context, an appropriate message (e.g. VTEC grid) has been defined by DGFI and UPC which can directly be used to provide ionospheric corrections for positioning and navigation. In this contribution we present the total production chain from GNSS STEC observations to the dissemination of the ionospheric message to the user of the AUDITOR customized receiver.

Real-Time GNSS Positioning with JPL's new GIPSYx Software

NASA Astrophysics Data System (ADS)

Bar-Sever, Y. E.

2016-12-01

The JPL Global Differential GPS (GDGPS) System is now producing real-time orbit and clock solutions for GPS, GLONASS, BeiDou, and Galileo. The operations are based on JPL's next generation geodetic analysis and data processing software, GIPSYx (also known at RTGx). We will examine the impact of the nascent GNSS constellations on real-time kinematic positioning for earthquake monitoring, and assess the marginal benefits from each constellation. We will discus the options for signal selection, inter-signal bias modeling, and estimation strategies in the context of real-time point positioning. We will provide a brief overview of the key features and attributes of GIPSYx. Finally we will describe the current natural hazard monitoring services from the GDGPS System.

Using Locata to augment GNSS in a kinematic urban environment

NASA Astrophysics Data System (ADS)

Bonenberg, L. K.; Roberts, G. W.; Hancock, C. M.

2011-12-01

GNSS has become one of the most widespread measurement technologies, widely used in GIS, mobile mapping applications and civil engineering. Utilisation of differential techniques offers cm-level positioning accuracy. Identified drawbacks are the requirement for line of sight to the satellites and accuracy dependent on the geometric distribution of the satellites. Especially the latter is paramount for any surveying or mobile mapping application in the urban environment. The utilisation of additional constellations (GLONASS, GALILEO or COMPASS) only partly mitigates the problem. Locata is an Australian terrestrial positioning technology, based on the pseudolite concept. It's unique in its utilisation of the 2.4GHz ISM band and proprietary TimeLoc procedure, allowing for network synchronisation at the nanosecond level. This paper focuses on the tight integration of GNSS with Locata, in order to address the described drawbacks and to provide cm level positioning in areas currently "difficult" for GNSS - such as urban canyons. This paper describes the intended deployment and utilisation of the integrated system in the typical urban environment where availability of GPScan be limited or even non-existent, depending on the time and location. The verification of the integration methods has been carried out using simulated GPS and Locata data. Also presented is an application simulation in a typical urban canyon environment (Canary Wharf, London, UK) using proprietary software developed at the University of Nottingham. Simulation of the proposed integration algorithms, using a real life scenario, has shown promising results with centimetre-level positioning accuracy on the moving platform. The algorithm provides code ambiguity estimation for both Locata and GPS on-the-fly, without prior knowledge of the position, providing predominantly 3D position on the cm level.

Seismo-ionospheric Precursors of the Total Electron Content Associated with Global Large Earthquakes Examined by Using Ground-based and Space-based Radio Occultation GNSS Observations

NASA Astrophysics Data System (ADS)

Liu, J. Y. G.

2017-12-01

To verify seismo-ionospheric precursors (SIPs), statistical analyses are implemented on the relationship between the total electron content (TEC) in the global ionosphere map (GIM) derived from measurements of ground-based GNSS (global navigation satellite system) receivers and worldwide M≥7.0 earthquakes during 2000-2016. A median-based method is employed to determine the characteristic of TEC anomalies related to the earthquakes. It is found that the polarity of both negative (decrease) and positive (increase) in the GIM TEC, which varies location-by location, can be observed few days before the earthquakes. In general, PEIAs with the negative polarity associated with the earthquakes are more frequently detected. Meanwhile, FORMOSAT-3/COSMIC (Constellation Observing System for Meteorology, Ionosphere, and Climate) or F3/C in was launched into a circular low-Earth orbit on 15 April 2006. Six F3/C microsatellites with 72-degree inclination angle and 30-degree separation in longitude orbit at 800 km altitude, and conduct the ionospheric radio occultation (RO) observations by receiving signals from GNSS satellites and globally observing about 2500 vertical electron density profiles per day. Both ground-based and space-based RO GNSS observations are used to three dimensionally study SIPs related to the 11 March 2011 M9.0 Tohoku earthquake.

Multi-GNSS real-time precise positioning service and Initial assessment of BDS-3 (G Division Outstanding ECS Award Lecture)

NASA Astrophysics Data System (ADS)

Li, Xingxing; Ge, Maaorong; Li, Xin; Zhang, Xiuaohong; Wu, Mingkui; Wickert, Jens; Schuh, Harald

2017-04-01

The rapid development of multi-constellation GNSSs (Global Navigation Satellite Systems, e.g., BeiDou, Galileo, GLONASS, GPS) and the IGS (International GNSS Service) Multi-GNSS Experiment (MGEX) bring great opportunities and challenges for real-time precise positioning service. In this contribution, we present a GPS+GLONASS+BeiDou+Galileo four-system model to fully exploit the observations of all these four navigation satellite systems for real-time precise orbit determination, clock estimation and positioning. Meanwhile, an efficient multi-GNSS real-time precise positioning service system is designed and demonstrated by using the Multi-GNSS Experiment (MGEX) and International GNSS Service (IGS) data streams including stations all over the world. The addition of the BeiDou, Galileo and GLONASS systems to the standard GPS-only processing, reduces the convergence time almost by 70%, while the positioning accuracy is improved by about 25%. The successful launch of five new-generation satellites of the Chinese BeiDou Navigation Satellite System (BDS-3) marks a significant step in expanding BeiDou into a navigation system with global coverage. We present an initial characterization and performance assessment for these new-generation BeiDou-3 satellites and their signals. The characteristics of the B1C, B1I, B2a, B2b and B3I signals are evaluated in terms of observed carrier-to-noise density ratio, pseudorange multipath and noise, triple-frequency carrier phase ionosphere-free and geometry-free combination, and double-differenced carrier phase and code residuals. With respect to BeiDou-2 satellites, the analysis of code multipath shows that the elevation-dependent code biases, which have been previously identified to exist in the code observations of BeiDou-2 satellites, seem to be not obvious for all the available signals of new-generation BeiDou-3 satellites. This will significantly benefit precise applications that resolve wide-lane ambiguity based on Melbourne-Wübbena (MW) linear combinations and other applications such as single-frequency Precise Point Positioning (PPP) based on the ionosphere free code-carrier combinations. With regard to the triple-frequency carrier phase ionosphere-free and geometry-free combinations, it is found that different from BeiDou-2 and GPS Block IIF satellites, no apparent bias variations could be observed in all the new-generation BeiDou-3 satellites, which show a good consistency of the new-generation BeiDou-3 signals. The absence of such triple-frequency biases will make it convenient for the future processing of multi-frequency PPP using observations from new-generation BeiDou-3 satellites.

Verification of the Usefulness of the Trimble Rtx Extended Satellite Technology with the Xfill Function in the Local Network Implementing Rtk Measurements

NASA Astrophysics Data System (ADS)

Siejka, Zbigniew

2014-12-01

The paper presents the method of satellite measurements, which gives users the ability of GNSS continuous precise positioning in real time, even in the case of short interruptions in receiving the correction of the local ground system of measurements support. The proposed method is a combination of two satellite positioning technologies RTN GNSS and RTX Extended. In technology RTX Extended the xFill function was used for precise positioning in real time and in the local reference system. This function provides the ability to perform measurement without the need for constant communication with the ground support satellite system. Test measurements were performed on a test basis located in Krakow, and RTN GNSS positioning was done based on the national network of reference stations of the ASGEUPOS. The solution allows for short (up to 5 minutes) interruptions in radio or internet communication. When the primary stream of RTN correction is not available, then the global corrections Trimble xFill broadcasted by satellite are used. The new technology uses in the real-time data from the global network of tracking stations and contributes significantly to improving the quality and efficiency of surveying works. At present according to the authors, technology Trimble CenterPoint RTX can guarantee repeatability of measurements not worse than 3.8 cm (Trimble Survey Division, 2012). In the paper the comparative analysis of measurement results between the two technologies was performed: RTN carried out in the classic way, which was based on the corrections of the terrestrial local network of the Polish system of active geodetic network (ASG-EUPOS) and RTK xFill technology. The results were related to the data of test network, established as error free. The research gave satisfactory results and confirmed the great potential of the use of the new technology in the geodetic work realization. By combining these two technologies of GNSS surveying the user can greatly improve the overall performance of real-time positioning.

Position Accuracy Improvement by Implementing the DGNSS-CP Algorithm in Smartphones

PubMed Central

Yoon, Donghwan; Kee, Changdon; Seo, Jiwon; Park, Byungwoon

2016-01-01

The position accuracy of Global Navigation Satellite System (GNSS) modules is one of the most significant factors in determining the feasibility of new location-based services for smartphones. Considering the structure of current smartphones, it is impossible to apply the ordinary range-domain Differential GNSS (DGNSS) method. Therefore, this paper describes and applies a DGNSS-correction projection method to a commercial smartphone. First, the local line-of-sight unit vector is calculated using the elevation and azimuth angle provided in the position-related output of Android’s LocationManager, and this is transformed to Earth-centered, Earth-fixed coordinates for use. To achieve position-domain correction for satellite systems other than GPS, such as GLONASS and BeiDou, the relevant line-of-sight unit vectors are used to construct an observation matrix suitable for multiple constellations. The results of static and dynamic tests show that the standalone GNSS accuracy is improved by about 30%–60%, thereby reducing the existing error of 3–4 m to just 1 m. The proposed algorithm enables the position error to be directly corrected via software, without the need to alter the hardware and infrastructure of the smartphone. This method of implementation and the subsequent improvement in performance are expected to be highly effective to portability and cost saving. PMID:27322284

Intercomparison Of Approaches For Modeling Second Order Ionospheric Corrections Using Gnss Measurements

NASA Astrophysics Data System (ADS)

Garcia Fernandez, M.; Butala, M.; Komjathy, A.; Desai, S. D.

2012-12-01

Correcting GNSS tracking data for the effects of second order ionospheric effects have been shown to cause a southward shift in GNSS-based precise point positioning solutions by as much as 10 mm, depending on the solar cycle conditions. The most commonly used approaches for modeling the higher order ionospheric effect include, (a) the use of global ionosphere maps to determine vertical total electron content (VTEC) and convert to slant TEC (STEC) assuming a thin shell ionosphere, and (b) using the dual-frequency measurements themselves to determine STEC. The latter approach benefits from not requiring ionospheric mapping functions between VTEC and STEC. However, this approach will require calibrations with receiver and transmitter Differential Code Biases (DCBs). We present results from comparisons of the two approaches. For the first approach, we also compare the use of VTEC observations from IONEX maps compared to climatological model-derived VTEC as provided by the International Reference Ionosphere (IRI2012). We consider various metrics to evaluate the relative performance of the different approaches, including station repeatability, GNSS-based reference frame recovery, and post-fit measurement residuals. Overall, the GIM-based approaches tend to provide lower noise in second order ionosphere correction and positioning solutions. The use of IONEX and IRI2012 models of VTEC provide similar results, especially in periods of low solar activity periods. The use of the IRI2012 model provides a convenient approach for operational scenarios by eliminating the dependence on routine updates of the GIMs, and also serves as a useful source of VTEC when IONEX maps may not be readily available.

Application of GNSS Methods for Monitoring Offshore Platform Deformation

NASA Astrophysics Data System (ADS)

Myint, Khin Cho; Nasir Matori, Abd; Gohari, Adel

2018-03-01

Global Navigation Satellite System (GNSS) has become a powerful tool for high-precision deformation monitoring application. Monitoring of deformation and subsidence of offshore platform due to factors such as shallow gas phenomena. GNSS is the technical interoperability and compatibility between various satellite navigation systems such as modernized GPS, Galileo, reconstructed GLONASS to be used by civilian users. It has been known that excessive deformation affects platform structurally, causing loss of production and affects the efficiency of the machinery on board the platform. GNSS have been proven to be one of the most precise positioning methods where by users can get accuracy to the nearest centimeter of a given position from carrier phase measurement processing of GPS signals. This research is aimed at using GNSS technique, which is one of the most standard methods to monitor the deformation of offshore platforms. Therefore, station modeling, which accounts for the spatial correlated errors, and hence speeds up the ambiguity resolution process is employed. It was found that GNSS combines the high accuracy of the results monitoring the offshore platforms deformation with the possibility of survey.

Estimating trends in atmospheric water vapor and temperature time series over Germany

NASA Astrophysics Data System (ADS)

Alshawaf, Fadwa; Balidakis, Kyriakos; Dick, Galina; Heise, Stefan; Wickert, Jens

2017-08-01

Ground-based GNSS (Global Navigation Satellite System) has efficiently been used since the 1990s as a meteorological observing system. Recently scientists have used GNSS time series of precipitable water vapor (PWV) for climate research. In this work, we compare the temporal trends estimated from GNSS time series with those estimated from European Center for Medium-Range Weather Forecasts (ECMWF) reanalysis (ERA-Interim) data and meteorological measurements. We aim to evaluate climate evolution in Germany by monitoring different atmospheric variables such as temperature and PWV. PWV time series were obtained by three methods: (1) estimated from ground-based GNSS observations using the method of precise point positioning, (2) inferred from ERA-Interim reanalysis data, and (3) determined based on daily in situ measurements of temperature and relative humidity. The other relevant atmospheric parameters are available from surface measurements of meteorological stations or derived from ERA-Interim. The trends are estimated using two methods: the first applies least squares to deseasonalized time series and the second uses the Theil-Sen estimator. The trends estimated at 113 GNSS sites, with 10 to 19 years temporal coverage, vary between -1.5 and 2.3 mm decade-1 with standard deviations below 0.25 mm decade-1. These results were validated by estimating the trends from ERA-Interim data over the same time windows, which show similar values. These values of the trend depend on the length and the variations of the time series. Therefore, to give a mean value of the PWV trend over Germany, we estimated the trends using ERA-Interim spanning from 1991 to 2016 (26 years) at 227 synoptic stations over Germany. The ERA-Interim data show positive PWV trends of 0.33 ± 0.06 mm decade-1 with standard errors below 0.03 mm decade-1. The increment in PWV varies between 4.5 and 6.5 % per degree Celsius rise in temperature, which is comparable to the theoretical rate of the Clausius-Clapeyron equation.

Assessment of GNSS-based height data of multiple ships for measuring and forecasting great tsunamis

NASA Astrophysics Data System (ADS)

Inazu, Daisuke; Waseda, Takuji; Hibiya, Toshiyuki; Ohta, Yusaku

2016-12-01

Ship height positioning by the Global Navigation Satellite System (GNSS) was investigated for measuring and forecasting great tsunamis. We first examined GNSS height-positioning data of a navigating vessel. If we use the kinematic precise point positioning (PPP) method, tsunamis greater than 10-1 m will be detected by ship height positioning. Based on Automatic Identification System (AIS) data, we found that tens of cargo ships and tankers are usually identified to navigate over the Nankai Trough, southwest Japan. We assumed that a future Nankai Trough great earthquake tsunami will be observed by the kinematic PPP height positioning of an AIS-derived ship distribution, and examined the tsunami forecast capability of the offshore tsunami measurements based on the PPP-based ship height. A method to estimate the initial tsunami height distribution using offshore tsunami observations was used for forecasting. Tsunami forecast tests were carried out using simulated tsunami data by the PPP-based ship height of 92 cargo ships/tankers, and by currently operating deep-sea pressure and Global Positioning System (GPS) buoy observations at 71 stations over the Nankai Trough. The forecast capability using the PPP-based height of the 92 ships was shown to be comparable to or better than that using the operating offshore observatories at the 71 stations. We suppose that, immediately after the occurrence of a great earthquake, stations receiving successive ship information (AIS data) along certain areas of the coast would fail to acquire ship data due to strong ground shaking, especially near the epicenter. Such a situation would significantly deteriorate the tsunami-forecast capability using ship data. On the other hand, operational real-time analysis of seismic/geodetic data would be carried out for estimating a tsunamigenic fault model. Incorporating the seismic/geodetic fault model estimation into the tsunami forecast above possibly compensates for the deteriorated forecast capability.

Performance of ionospheric maps in support of long baseline GNSS kinematic positioning at low latitudes

NASA Astrophysics Data System (ADS)

Park, J.; Sreeja, V.; Aquino, M.; Cesaroni, C.; Spogli, L.; Dodson, A.; De Franceschi, G.

2016-05-01

Ionospheric scintillation occurs mainly at high and low latitude regions of the Earth and may impose serious degradation on GNSS (Global Navigation Satellite System) functionality. The Brazilian territory sits on one of the most affected areas of the globe, where the ionosphere behaves very unpredictably, with strong scintillation frequently occurring in the local postsunset hours. The correlation between scintillation occurrence and sharp variations in the ionospheric total electron content (TEC) in Brazil is demonstrated in Spogli et al. (2013). The compounded effect of these associated ionospheric disturbances on long baseline GNSS kinematic positioning is studied in this paper, in particular when ionospheric maps are used to aid the positioning solution. The experiments have been conducted using data from GNSS reference stations in Brazil. The use of a regional TEC map generated under the CALIBRA (Countering GNSS high-Accuracy applications Limitations due to Ionospheric disturbances in BRAzil) project, referred to as CALIBRA TEC map (CTM), was compared to the use of the Global Ionosphere Map (GIM), provided by the International GNSS Service (IGS). Results show that the use of the CTM greatly improves the kinematic positioning solution as compared with that using the GIM, especially under disturbed ionospheric conditions. Additionally, different hypotheses were tested regarding the precision of the TEC values obtained from ionospheric maps, and its effect on the long baseline kinematic solution evaluated. Finally, this study compares two interpolation methods for ionospheric maps, namely, the Inverse Distance Weight and the Natural Neighbor.

Accuracy of WAAS-Enabled GPS-RF Warning Signals When Crossing a Terrestrial Geofence

PubMed Central

Grayson, Lindsay M.; Keefe, Robert F.; Tinkham, Wade T.; Eitel, Jan U. H.; Saralecos, Jarred D.; Smith, Alistair M. S.; Zimbelman, Eloise G.

2016-01-01

Geofences are virtual boundaries based on geographic coordinates. When combined with global position system (GPS), or more generally global navigation satellite system (GNSS) transmitters, geofences provide a powerful tool for monitoring the location and movements of objects of interest through proximity alarms. However, the accuracy of geofence alarms in GNSS-radio frequency (GNSS-RF) transmitter receiver systems has not been tested. To achieve these goals, a cart with a GNSS-RF locator was run on a straight path in a balanced factorial experiment with three levels of cart speed, three angles of geofence intersection, three receiver distances from the track, and three replicates. Locator speed, receiver distance and geofence intersection angle all affected geofence alarm accuracy in an analysis of variance (p = 0.013, p = 2.58 × 10−8, and p = 0.0006, respectively), as did all treatment interactions (p < 0.0001). Slower locator speed, acute geofence intersection angle, and closest receiver distance were associated with reduced accuracy of geofence alerts. PMID:27322287

Accuracy of WAAS-Enabled GPS-RF Warning Signals When Crossing a Terrestrial Geofence.

PubMed

Grayson, Lindsay M; Keefe, Robert F; Tinkham, Wade T; Eitel, Jan U H; Saralecos, Jarred D; Smith, Alistair M S; Zimbelman, Eloise G

2016-06-18

Geofences are virtual boundaries based on geographic coordinates. When combined with global position system (GPS), or more generally global navigation satellite system (GNSS) transmitters, geofences provide a powerful tool for monitoring the location and movements of objects of interest through proximity alarms. However, the accuracy of geofence alarms in GNSS-radio frequency (GNSS-RF) transmitter receiver systems has not been tested. To achieve these goals, a cart with a GNSS-RF locator was run on a straight path in a balanced factorial experiment with three levels of cart speed, three angles of geofence intersection, three receiver distances from the track, and three replicates. Locator speed, receiver distance and geofence intersection angle all affected geofence alarm accuracy in an analysis of variance (p = 0.013, p = 2.58 × 10(-8), and p = 0.0006, respectively), as did all treatment interactions (p < 0.0001). Slower locator speed, acute geofence intersection angle, and closest receiver distance were associated with reduced accuracy of geofence alerts.

Direct Georeferencing on Small Unmanned Aerial Platforms for Improved Reliability and Accuracy of Mapping Without the Need for Ground Control Points

NASA Astrophysics Data System (ADS)

Mian, O.; Lutes, J.; Lipa, G.; Hutton, J. J.; Gavelle, E.; Borghini, S.

2015-08-01

This paper presents results from a Direct Mapping Solution (DMS) comprised of an Applanix APX-15 UAV GNSS-Inertial system integrated with a Sony a7R camera to produce highly accurate ortho-rectified imagery without Ground Control Points on a Microdrones md4-1000 platform. A 55 millimeter Nikkor f/1.8 lens was mounted on the Sony a7R and the camera was then focused and calibrated terrestrially using the Applanix camera calibration facility, and then integrated with the APX-15 UAV GNSS-Inertial system using a custom mount specifically designed for UAV applications. In July 2015, Applanix and Avyon carried out a test flight of this system. The goal of the test flight was to assess the performance of DMS APX-15 UAV direct georeferencing system on the md4-1000. The area mapped during the test was a 250 x 300 meter block in a rural setting in Ontario, Canada. Several ground control points are distributed within the test area. The test included 8 North-South lines and 1 cross strip flown at 80 meters AGL, resulting in a ~1 centimeter Ground Sample Distance (GSD). Map products were generated from the test flight using Direct Georeferencing, and then compared for accuracy against the known positions of ground control points in the test area. The GNSS-Inertial data collected by the APX-15 UAV was post-processed in Single Base mode, using a base station located in the project area via POSPac UAV. The base-station's position was precisely determined by processing a 12-hour session using the CSRS-PPP Post Processing service. The ground control points were surveyed in using differential GNSS post-processing techniques with respect to the base-station.

GNSS RTK-networks: The significance and issues to realize a recent reference coordinate system

NASA Astrophysics Data System (ADS)

Umnig, Elke; Möller, Gregor; Weber, Robert

2014-05-01

The upcoming release of the new global reference frame ITRF2013 will provide high accurate reference station positions and station velocities at the mm- and mm/year level, respectively. ITRF users benefit from this development in various ways. For example, this new frame allows for embedding high accurate GNSS baseline observations to an underlying reference of at least the same accuracy. Another advantage is that the IGS products are fully consistent with this frame and therefore all GNSS based zero-difference positioning results (Precise Point Positioning (PPP)) will be aligned to the ITRF2013. Unfortunately the transistion to a new frame (or just to a new epoch) implies also issues in particular for providers and users of real time positioning services. Thus providers have to perform arrangements, such as the readjustment of the reference station coordinates and the update of the transformation parameters from the homogenous GNSS coordinate frame into the national datum. Finally providers have to inform their clients appropriately about these changes and significant adjustments. Furthermore the aspect of the continental reference frame has to be considered: In Europe the use of the continental reference system/reference frame ETRS89/ETRF2000 is, due to cross-national guidelines, recommend by most national mapping authorities. Subsequently GNSS post-processing applications are degraded by the concurrent use of the reference systems and reference frames, to which terrestrial site coordinates and satellite coordinates are aligned. In this presentation we highlight all significant steps and hurdles which have to be jumped over when introducing a new reference frame from point of view of a typical regional RTK-reference station network provider. This network is located in Austria and parts of the neighbouring countries and consists of about 40 reference stations. Moreover, we discuss the significance of permanently monitoring the stability of the reference network sites and the determination of station velocities/rates for geodynamical investigations.

Navigation Performance of Global Navigation Satellite Systems in the Space Service Volume

NASA Technical Reports Server (NTRS)

Force, Dale A.

2013-01-01

This paper extends the results I reported at this year's ION International Technical Meeting on multi-constellation GNSS coverage by showing how the use of multi-constellation GNSS improves Geometric Dilution of Precision (GDOP). Originally developed to provide position, navigation, and timing for terrestrial users, GPS has found increasing use for in space for precision orbit determination, precise time synchronization, real-time spacecraft navigation, and three-axis attitude control of Earth orbiting satellites. With additional Global Navigation Satellite Systems (GNSS) coming into service (GLONASS, Galileo, and Beidou) and the development of Satellite Based Augmentation Services, it is possible to obtain improved precision by using evolving multi-constellation receiver. The Space Service Volume formally defined as the volume of space between three thousand kilometers altitude and geosynchronous altitude ((is) approximately 36,500 km), with the volume below three thousand kilometers defined as the Terrestrial Service Volume (TSV). The USA has established signal requirements for the Space Service Volume (SSV) as part of the GPS Capability Development Documentation (CDD). Diplomatic efforts are underway to extend Space service Volume commitments to the other Position, Navigation, and Timing (PNT) service providers in an effort to assure that all space users will benefit from the enhanced capabilities of interoperating GNSS services in the space domain.

Cadastral Database Positional Accuracy Improvement

NASA Astrophysics Data System (ADS)

Hashim, N. M.; Omar, A. H.; Ramli, S. N. M.; Omar, K. M.; Din, N.

2017-10-01

Positional Accuracy Improvement (PAI) is the refining process of the geometry feature in a geospatial dataset to improve its actual position. This actual position relates to the absolute position in specific coordinate system and the relation to the neighborhood features. With the growth of spatial based technology especially Geographical Information System (GIS) and Global Navigation Satellite System (GNSS), the PAI campaign is inevitable especially to the legacy cadastral database. Integration of legacy dataset and higher accuracy dataset like GNSS observation is a potential solution for improving the legacy dataset. However, by merely integrating both datasets will lead to a distortion of the relative geometry. The improved dataset should be further treated to minimize inherent errors and fitting to the new accurate dataset. The main focus of this study is to describe a method of angular based Least Square Adjustment (LSA) for PAI process of legacy dataset. The existing high accuracy dataset known as National Digital Cadastral Database (NDCDB) is then used as bench mark to validate the results. It was found that the propose technique is highly possible for positional accuracy improvement of legacy spatial datasets.

Application of the Undifferenced GNSS Precise Positioning in Determining Coordinates in National Reference Frames

NASA Astrophysics Data System (ADS)

Krzan, Grzegorz; Stępniak, Katarzyna

2017-09-01

In high-accuracy positioning using GNSS, the most common solution is still relative positioning using double-difference observations of dual-frequency measurements. An increasingly popular alternative to relative positioning are undifferenced approaches, which are designed to make full use of modern satellite systems and signals. Positions referenced to global International Terrestrial Reference Frame (ITRF2008) obtained from Precise Point Positioning (PPP) or Undifferenced (UD) network solutions have to be transformed to national (regional) reference frame, which introduces additional bases related to the transformation process. In this paper, satellite observations from two test networks using different observation time series were processed. The first test concerns the positioning accuracy from processing one year of dual-frequency GPS observations from 14 EUREF Permanent Network (EPN) stations using NAPEOS 3.3.1 software. The results were transformed into a national reference frame (PL-ETRF2000) and compared to positions from an EPN cumulative solution, which was adopted as the true coordinates. Daily observations were processed using PPP and UD multi-station solutions to determine the final accuracy resulting from satellite positioning, the transformation to national coordinate systems and Eurasian intraplate plate velocities. The second numerical test involved similar processing strategies of post-processing carried out using different observation time series (30 min., 1 hour, 2 hours, daily) and different classes of GNSS receivers. The centimeter accuracy of results presented in the national coordinate system satisfies the requirements of many surveying and engineering applications.

Working Group 1 "Advanced GNSS Processing Techniques" of the COST Action GNSS4SWEC: Overview of main achievements

NASA Astrophysics Data System (ADS)

Douša, Jan; Dick, Galina; Kačmařík, Michal; Václavovic, Pavel; Pottiaux, Eric; Zus, Florian; Brenot, Hugues; Moeller, Gregor; Hinterberger, Fabian; Pacione, Rosa; Stuerze, Andrea; Eben, Kryštof; Teferle, Norman; Ding, Wenwu; Morel, Laurent; Kaplon, Jan; Hordyniec, Pavel; Rohm, Witold

2017-04-01

The COST Action ES1206 GNSS4SWEC addresses new exploitations of the synergy between developments in GNSS and meteorological communities. The Working Group 1 (Advanced GNSS processing techniques) deals with implementing and assessing new methods for GNSS tropospheric monitoring and precise positioning exploiting all modern GNSS constellations, signals, products etc. Besides other goals, WG1 coordinates development of advanced tropospheric products in support of weather numerical and non-numerical nowcasting. These are ultra-fast and high-resolution tropospheric products available in real time or in a sub-hourly fashion and parameters in support of monitoring an anisotropy of the troposphere, e.g. horizontal gradients and tropospheric slant path delays. This talk gives an overview of WG1 activities and, particularly, achievements in two activities, Benchmark and Real-time demonstration campaigns. For the Benchmark campaign a complex data set of GNSS observations and various meteorological data were collected for a two-month period in 2013 (May-June) which included severe weather events in central Europe. An initial processing of data sets from GNSS and numerical weather models (NWM) provided independently estimated reference parameters - ZTDs and tropospheric horizontal gradients. The comparison of horizontal tropospheric gradients from GNSS and NWM data demonstrated a very good agreement among independent solutions with negligible biases and an accuracy of about 0.5 mm. Visual comparisons of maps of zenith wet delays and tropospheric horizontal gradients showed very promising results for future exploitations of advanced GNSS tropospheric products in meteorological applications such as severe weather event monitoring and weather nowcasting. The Benchmark data set is also used for an extensive validation of line-of-sight tropospheric Slant Total Delays (STD) from GNSS, NWM-raytracing and Water Vapour Radiometer (WVR) solutions. Seven institutions delivered their STDs estimated based on GNSS observations processed using different software and strategies. STDs from NWM ray-tracing came from three institutions using four different NWM models. Results show generally a very good mutual agreement among all solutions from all techniques. The influence of adding not cleaned GNSS post-fit residuals, i.e. residuals that still contains non-tropospheric systematic effects such as multipath, to estimated STDs will be presented. The Real-time demonstration campaign aims at enhancing and assessing ultra-fast GNSS tropospheric products for severe weather and NWM nowcasting. Results are showed from real-time demonstrations as well as offline production simulating real-time using Benchmark campaign.

JPL's GNSS Real-Time Earthquake and Tsunami (GREAT) Alert System

NASA Astrophysics Data System (ADS)

Bar-Sever, Yoaz; Miller, Mark; Vallisneri, Michele; Khachikyan, Robert; Meyer, Robert

2017-04-01

We describe recent developments to the GREAT Alert natural hazard monitoring service from JPL's Global Differential GPS (GDGPS) System. GREAT Alert provides real-time, 1 Hz positioning solutions for hundreds of GNSS tracking sites, from both global and regional networks, aiming to monitor ground motion in the immediate aftermath of earthquakes. We take advantage of the centralized data processing, which is collocated with the GNSS orbit determination operations of the GDGPS System, to combine orbit determination with large-scale point-positioning in a grand estimation scheme, and as a result realize significant improvement to the positioning accuracy compared to conventional stand-alone point positioning techniques. For example, the measured median site (over all sites) real-time horizontal positioning accuracy is 2 cm 1DRMS, and the median real-time vertical accuracy is 4 cm RMS. The GREAT Alert positioning service is integrated with automated global earthquake notices from the United States Geodetic Survey (USGS) to support near-real-time calculations of co-seismic displacements with attendant formal errors based both short-term and long-term error analysis for each individual site. We will show the millimeter-level resolution of co-seismic displacement can be achieved by this system. The co-seismic displacements, in turn, are fed into a JPL geodynamics and ocean models, that estimate the Earthquake magnitude and predict the potential tsunami scale.

Comparison of shipborne GNSS-derived precipitable water vapor with radiosonde in the western North Pacific and in the seas adjacent to Japan

NASA Astrophysics Data System (ADS)

Shoji, Yoshinori; Sato, Kazutoshi; Yabuki, Masanori; Tsuda, Toshitaka

2017-11-01

We installed two global navigation satellite system (GNSS) antennas on a research vessel, the RYOFU MARU of the Japan Meteorological Agency, and conducted experimental observations to assess the GNSS-derived precipitable water vapor (PWV) from October 19, 2016, to August 6, 2017. One antenna was set on the mast (MAST), while another antenna was set on the upper deck (DECK). The GNSS analysis was conducted using the precise point positioning procedure with a real-time GNSS orbit. A quality control (QC) procedure based on the amount of zenith tropospheric delay (ZTD) time variation was proposed. After the QC was applied, the retrieved PWVs were compared to 77 radiosonde observations. The PWVs of MAST agreed with the radiosonde observations with a 1.7 mm root mean square (RMS) difference, a - 0.7-mm bias, and 3.6% rejection rate, while that of DECK showed a 3.2, - 0.8 mm, and 15.7%. The larger RMS and higher rejection rate of DECK imply a stronger multi-path effect on the deck. The differences in the GNSS PWV versus radiosonde observations were compared to the atmospheric delay, the estimated altitude of the GNSS antenna, the vessel's moving speed, the wind speed, and the wave height. The atmospheric delay and GNSS antenna altitude showed moderate correlation with the differences. The results suggest the kinematic PPP's potential for practical water vapor monitoring over oceans worldwide. At the same time, from the growing negative biases with the PWV value and with estimated antenna altitude, it could be inferred that the difficulty grows in separating the signal delay from the vertical coordinate under high-humidity conditions.[Figure not available: see fulltext.

Heterogeneity of residuals from comparison of GNSS and raytracing based troposphere slant total delays, as an indicator of hydrometeors

NASA Astrophysics Data System (ADS)

Hordyniec, Paweł; Rohm, Witold; Kapłon, Jan

2017-04-01

Post-fit residuals from Precise Point Positioning (PPP) carry the troposphere information except of multipath and residual antenna Phase Centre Variations (PCVs), when precise satellite orbits and clocks were introduced. Slant total delay (STD) of GNSS signal is a sum of a priori slant hydrostatic delay, estimated wet delay, asymetry introduced by the estimated zenith total delay (ZTD) horizontal gradients and a post-fit residual reduced by the systematic (site-dependant) effect. It was revealed, that application of reduced post-fit residuls to the slant total delays obtained from GNSS data processing increases the discrepancy with slant delays from raytracing (RT) through the Numerical Weather Model (NWM). One of the possible sources of that effect is neglected influence of hydrometeors in raytracing procedures. If the assumption of hydrometeor information existence in the PPP post-fit residuals is correct, we expect the diversity of slant delay discrepancies for satellite-receiver rays pointing or not the hydrometeors. Paper presents the spatial and temporal correlation analysis of the slant delay residuals (GNSS - RT) with hydrometeor phenomena recorded during the COST ES1206 GNSS4SWEC benchmark period (May 5th - June 29th, 2013). It presents the discussion of the results from different GNSS PPP slant delay estimation approaches including coordinates unconstraining or heavy constraining, and the calculation of slant delays with and without ZTD horizontal gradients estimation.

COST Action ES1206: Advanced GNSS Tropospheric Products forMonitoring Severe Weather Events and Climate (GNSS4SWEC)

NASA Astrophysics Data System (ADS)

Jones, J.; Guerova, G.; Dousa, J.; Dick, G.; Haan, de, S.; Pottiaux, E.; Bock, O.; Pacione, R.

2016-12-01

GNSS is now an established atmospheric observing system which can accurately sense water vapour, the mostabundant greenhouse gas, accounting for 60-70% of atmospheric warming. Water vapour observations arecurrently under-sampled and obtaining and exploiting additional high-quality humidity observations is essential tosevere weather forecasting and climate monitoring. COST Action ES1206 addresses new and improved capabilities from developments in both the GNSS andmeteorological communities to address these requirements. For the first time, the synergy of multi-GNSS(GPS, GLONASS and Galileo) will be used to develop new, advanced tropospheric products, exploiting the fullpotential of multi-GNSS water vapour estimates on a wide range of temporal and spatial scales, from real-timemonitoring and forecasting of severe weather, to climate research. In addition the Action will promote the useof meteorological data in GNSS positioning, navigation, and timing services and stimulate knowledge and datatransfer throughout Europe.

Deep Coupled Integration of CSAC and GNSS for Robust PNT.

PubMed

Ma, Lin; You, Zheng; Li, Bin; Zhou, Bin; Han, Runqi

2015-09-11

Global navigation satellite systems (GNSS) are the most widely used positioning, navigation, and timing (PNT) technology. However, a GNSS cannot provide effective PNT services in physical blocks, such as in a natural canyon, canyon city, underground, underwater, and indoors. With the development of micro-electromechanical system (MEMS) technology, the chip scale atomic clock (CSAC) gradually matures, and performance is constantly improved. A deep coupled integration of CSAC and GNSS is explored in this thesis to enhance PNT robustness. "Clock coasting" of CSAC provides time synchronized with GNSS and optimizes navigation equations. However, errors of clock coasting increase over time and can be corrected by GNSS time, which is stable but noisy. In this paper, weighted linear optimal estimation algorithm is used for CSAC-aided GNSS, while Kalman filter is used for GNSS-corrected CSAC. Simulations of the model are conducted, and field tests are carried out. Dilution of precision can be improved by integration. Integration is more accurate than traditional GNSS. When only three satellites are visible, the integration still works, whereas the traditional method fails. The deep coupled integration of CSAC and GNSS can improve the accuracy, reliability, and availability of PNT.

Deep Coupled Integration of CSAC and GNSS for Robust PNT

PubMed Central

Ma, Lin; You, Zheng; Li, Bin; Zhou, Bin; Han, Runqi

2015-01-01

Global navigation satellite systems (GNSS) are the most widely used positioning, navigation, and timing (PNT) technology. However, a GNSS cannot provide effective PNT services in physical blocks, such as in a natural canyon, canyon city, underground, underwater, and indoors. With the development of micro-electromechanical system (MEMS) technology, the chip scale atomic clock (CSAC) gradually matures, and performance is constantly improved. A deep coupled integration of CSAC and GNSS is explored in this thesis to enhance PNT robustness. “Clock coasting” of CSAC provides time synchronized with GNSS and optimizes navigation equations. However, errors of clock coasting increase over time and can be corrected by GNSS time, which is stable but noisy. In this paper, weighted linear optimal estimation algorithm is used for CSAC-aided GNSS, while Kalman filter is used for GNSS-corrected CSAC. Simulations of the model are conducted, and field tests are carried out. Dilution of precision can be improved by integration. Integration is more accurate than traditional GNSS. When only three satellites are visible, the integration still works, whereas the traditional method fails. The deep coupled integration of CSAC and GNSS can improve the accuracy, reliability, and availability of PNT. PMID:26378542

Millimetre Level Accuracy GNSS Positioning with the Blind Adaptive Beamforming Method in Interference Environments.

PubMed

Daneshmand, Saeed; Marathe, Thyagaraja; Lachapelle, Gérard

2016-10-31

The use of antenna arrays in Global Navigation Satellite System (GNSS) applications is gaining significant attention due to its superior capability to suppress both narrowband and wideband interference. However, the phase distortions resulting from array processing may limit the applicability of these methods for high precision applications using carrier phase based positioning techniques. This paper studies the phase distortions occurring with the adaptive blind beamforming method in which satellite angle of arrival (AoA) information is not employed in the optimization problem. To cater to non-stationary interference scenarios, the array weights of the adaptive beamformer are continuously updated. The effects of these continuous updates on the tracking parameters of a GNSS receiver are analyzed. The second part of this paper focuses on reducing the phase distortions during the blind beamforming process in order to allow the receiver to perform carrier phase based positioning by applying a constraint on the structure of the array configuration and by compensating the array uncertainties. Limitations of the previous methods are studied and a new method is proposed that keeps the simplicity of the blind beamformer structure and, at the same time, reduces tracking degradations while achieving millimetre level positioning accuracy in interference environments. To verify the applicability of the proposed method and analyze the degradations, array signals corresponding to the GPS L1 band are generated using a combination of hardware and software simulators. Furthermore, the amount of degradation and performance of the proposed method under different conditions are evaluated based on Monte Carlo simulations.

Multisensor Equipped Uav/ugv for Automated Exploration

NASA Astrophysics Data System (ADS)

Batzdorfer, S.; Bobbe, M.; Becker, M.; Harms, H.; Bestmann, U.

2017-08-01

The usage of unmanned systems for exploring disaster scenarios has become more and more important in recent times as a supporting system for action forces. These systems have to offer a well-balanced relationship between the quality of support and additional workload. Therefore within the joint research project ANKommEn - german acronym for Automated Navigation and Communication for Exploration - a system for exploration of disaster scenarios is build-up using multiple UAV und UGV controlled via a central ground station. The ground station serves as user interface for defining missions and tasks conducted by the unmanned systems, equipped with different environmental sensors like cameras - RGB as well as IR - or LiDAR. Depending on the exploration task results, in form of pictures, 2D stitched orthophoto or LiDAR point clouds will be transmitted via datalinks and displayed online at the ground station or will be processed in short-term after a mission, e.g. 3D photogrammetry. For mission planning and its execution, UAV/UGV monitoring and georeferencing of environmental sensor data, reliable positioning and attitude information is required. This is gathered using an integrated GNSS/IMU positioning system. In order to increase availability of positioning information in GNSS challenging scenarios, a GNSS-Multiconstellation based approach is used, amongst others. The present paper focuses on the overall system design including the ground station and sensor setups on the UAVs and UGVs, the underlying positioning techniques as well as 2D and 3D exploration based on a RGB camera mounted on board the UAV and its evaluation based on real world field tests.

A Recommendation on SLR Ranging to Future Global Navigation Satellite Systems

NASA Astrophysics Data System (ADS)

Labrecque, J. L.; Miller, J. J.; Pearlman, M.

2008-12-01

The multi-agency US Geodetic Requirements Working Group has recommended that Satellite Laser Retro- reflectors be installed on GPS III satellites as a principal component of the Positioning, Navigation, and Timing mandate of the Global Positioning System. The Working Group, which includes NASA, NGA, NOAA, NRL, USGS, and the USNO, echoes the Global Geodetic Observing System recommendation that SLR retro- reflectors be installed on all GNSS satellites. It is further recommended that the retro-reflectors conform to and hopefully exceed the minimum standard of the International Laser Ranging Service for retro-reflector cross sections of 100 million square meters for the HEO GNSS satellites to insure sufficiently accurate ranging by the global network of satellite laser ranging systems. The objective of this recommendation is to contribute to the improvement in the International Terrestrial Reference Frame, and its derivative the WGS84 reference frame, through continuing improvements in the characterization of the GPS orbits and clocks. Another objective is to provide an independent means of assessing the interoperability and accuracy of the GNSS systems and regional augmentation systems. The ranging to GNSS-mounted retro-reflectors will constitute a significant new means of space-based collocation to constrain the tie between the GPS and SLR networks that constitute over 50% of the data from which the ITRF is derived. The recommendation for the installation of SLR retro-reflectors aboard future GPS satellites is one of a number of efforts aimed at improving the accuracy and stability of ITRF. These steps are being coordinated with and supportive of the efforts of the GGOS and its services such at the VLBI2010 initiative, developing a next generation geodetic network, near real-time GPS positioning and EOP determination, and numerous efforts in the improvement of geodetic algorithms for GPS, SLR, VLBI, DORIS, and the determination of the ITRF. If past is prologue, the requirements of accuracy placed upon GNSS systems will continue to evolve at a factor of ten per decade for the lifetime of the GPS III, extending to 2025 and beyond. Global societal priorities such as sea level change measurement already require a factor of ten or more improvement in the accuracy and stability of the ITRF. Increasing accuracy requirements by civilian users for precision positioning and time keeping will certainly continue to grow at an exponential rate. The PNT accuracy of our GNSS systems will keep pace with these societal needs only if we equip the GNSS systems with the capability to identify and further reduce systematic errors.

Tightly-Coupled GNSS/Vision Using a Sky-Pointing Camera for Vehicle Navigation in Urban Areas

PubMed Central

2018-01-01

This paper presents a method of fusing the ego-motion of a robot or a land vehicle estimated from an upward-facing camera with Global Navigation Satellite System (GNSS) signals for navigation purposes in urban environments. A sky-pointing camera is mounted on the top of a car and synchronized with a GNSS receiver. The advantages of this configuration are two-fold: firstly, for the GNSS signals, the upward-facing camera will be used to classify the acquired images into sky and non-sky (also known as segmentation). A satellite falling into the non-sky areas (e.g., buildings, trees) will be rejected and not considered for the final position solution computation. Secondly, the sky-pointing camera (with a field of view of about 90 degrees) is helpful for urban area ego-motion estimation in the sense that it does not see most of the moving objects (e.g., pedestrians, cars) and thus is able to estimate the ego-motion with fewer outliers than is typical with a forward-facing camera. The GNSS and visual information systems are tightly-coupled in a Kalman filter for the final position solution. Experimental results demonstrate the ability of the system to provide satisfactory navigation solutions and better accuracy than the GNSS-only and the loosely-coupled GNSS/vision, 20 percent and 82 percent (in the worst case) respectively, in a deep urban canyon, even in conditions with fewer than four GNSS satellites. PMID:29673230

Tightly-Coupled GNSS/Vision Using a Sky-Pointing Camera for Vehicle Navigation in Urban Areas.

PubMed

Gakne, Paul Verlaine; O'Keefe, Kyle

2018-04-17

This paper presents a method of fusing the ego-motion of a robot or a land vehicle estimated from an upward-facing camera with Global Navigation Satellite System (GNSS) signals for navigation purposes in urban environments. A sky-pointing camera is mounted on the top of a car and synchronized with a GNSS receiver. The advantages of this configuration are two-fold: firstly, for the GNSS signals, the upward-facing camera will be used to classify the acquired images into sky and non-sky (also known as segmentation). A satellite falling into the non-sky areas (e.g., buildings, trees) will be rejected and not considered for the final position solution computation. Secondly, the sky-pointing camera (with a field of view of about 90 degrees) is helpful for urban area ego-motion estimation in the sense that it does not see most of the moving objects (e.g., pedestrians, cars) and thus is able to estimate the ego-motion with fewer outliers than is typical with a forward-facing camera. The GNSS and visual information systems are tightly-coupled in a Kalman filter for the final position solution. Experimental results demonstrate the ability of the system to provide satisfactory navigation solutions and better accuracy than the GNSS-only and the loosely-coupled GNSS/vision, 20 percent and 82 percent (in the worst case) respectively, in a deep urban canyon, even in conditions with fewer than four GNSS satellites.

RTX Correction Accuracy and Real-Time Data Processing of the New Integrated SeismoGeodetic System with Real-Time Acceleration and Displacement Measurements for Earthquake Characterization Based on High-Rate Seismic and GPS Data

NASA Astrophysics Data System (ADS)

Zimakov, L. G.; Raczka, J.; Barrientos, S. E.

2016-12-01

We will discuss and show the results obtained from an integrated SeismoGeodetic System, model SG160-09, installed in the Chile (Chilean National Network), Italy (University of Naples Network), and California. The SG160-09 provides the user high rate GNSS and accelerometer data, full epoch-by-epoch measurement integrity and the ability to create combined GNSS and accelerometer high-rate (200Hz) displacement time series in real-time. The SG160-09 combines seismic recording with GNSS geodetic measurement in a single compact, ruggedized case. The system includes a low-power, 220-channel GNSS receiver powered by the latest Trimble-precise Maxwell™6 technology and supports tracking GPS, GLONASS and Galileo signals. The receiver incorporates on-board GNSS point positioning using Real-Time Precise Point Positioning (PPP) technology with satellite clock and orbit corrections delivered over IP networks. The seismic recording includes an ANSS Class A, force balance accelerometer with the latest, low power, 24-bit A/D converter, producing high-resolution seismic data. The SG160-09 processor acquires and packetizes both seismic and geodetic data and transmits it to the central station using an advanced, error-correction protocol providing data integrity between the field and the processing center. The SG160-09 has been installed in three seismic stations in different geographic locations with different Trimble global reference stations coverage The hardware includes the SG160-09 system, external Zephyr Geodetic-2 GNSS antenna, both radio and high-speed Internet communication media. Both acceleration and displacement data was transmitted in real-time to the centralized Data Acquisition Centers for real-time data processing. Command/Control of the field station and real-time GNSS position correction are provided via the Pivot platform. Data from the SG160-09 system was used for seismic event characterization along with data from traditional seismic and geodetic stations installed in the network. Our presentation will focus on the key improvements of the network installation with the SG160-09 system, RTX correction accuracy obtained from Trimble Global RTX tracking network, rapid data transmission, and real-time data processing for strong seismic events and aftershock characterization.

Impact and Implementation of Higher-Order Ionospheric Effects on Precise GNSS Applications

NASA Astrophysics Data System (ADS)

Hadas, T.; Krypiak-Gregorczyk, A.; Hernández-Pajares, M.; Kaplon, J.; Paziewski, J.; Wielgosz, P.; Garcia-Rigo, A.; Kazmierski, K.; Sosnica, K.; Kwasniak, D.; Sierny, J.; Bosy, J.; Pucilowski, M.; Szyszko, R.; Portasiak, K.; Olivares-Pulido, G.; Gulyaeva, T.; Orus-Perez, R.

2017-11-01

High precision Global Navigation Satellite Systems (GNSS) positioning and time transfer require correcting signal delays, in particular higher-order ionospheric (I2+) terms. We present a consolidated model to correct second- and third-order terms, geometric bending and differential STEC bending effects in GNSS data. The model has been implemented in an online service correcting observations from submitted RINEX files for I2+ effects. We performed GNSS data processing with and without including I2+ corrections, in order to investigate the impact of I2+ corrections on GNSS products. We selected three time periods representing different ionospheric conditions. We used GPS and GLONASS observations from a global network and two regional networks in Poland and Brazil. We estimated satellite orbits, satellite clock corrections, Earth rotation parameters, troposphere delays, horizontal gradients, and receiver positions using global GNSS solution, Real-Time Kinematic (RTK), and Precise Point Positioning (PPP) techniques. The satellite-related products captured most of the impact of I2+ corrections, with the magnitude up to 2 cm for clock corrections, 1 cm for the along- and cross-track orbit components, and below 5 mm for the radial component. The impact of I2+ on troposphere products turned out to be insignificant in general. I2+ corrections had limited influence on the performance of ambiguity resolution and the reliability of RTK positioning. Finally, we found that I2+ corrections caused a systematic shift in the coordinate domain that was time- and region-dependent and reached up to -11 mm for the north component of the Brazilian stations during the most active ionospheric conditions.

Development of SPIES (Space Intelligent Eyeing System) for smart vehicle tracing and tracking

NASA Astrophysics Data System (ADS)

Abdullah, Suzanah; Ariffin Osoman, Muhammad; Guan Liyong, Chua; Zulfadhli Mohd Noor, Mohd; Mohamed, Ikhwan

2016-06-01

SPIES or Space-based Intelligent Eyeing System is an intelligent technology which can be utilized for various applications such as gathering spatial information of features on Earth, tracking system for the movement of an object, tracing system to trace the history information, monitoring driving behavior, security and alarm system as an observer in real time and many more. SPIES as will be developed and supplied modularly will encourage the usage based on needs and affordability of users. SPIES are a complete system with camera, GSM, GPS/GNSS and G-Sensor modules with intelligent function and capabilities. Mainly the camera is used to capture pictures and video and sometimes with audio of an event. Its usage is not limited to normal use for nostalgic purpose but can be used as a reference for security and material of evidence when an undesirable event such as crime occurs. When integrated with space based technology of the Global Navigational Satellite System (GNSS), photos and videos can be recorded together with positioning information. A product of the integration of these technologies when integrated with Information, Communication and Technology (ICT) and Geographic Information System (GIS) will produce innovation in the form of information gathering methods in still picture or video with positioning information that can be conveyed in real time via the web to display location on the map hence creating an intelligent eyeing system based on space technology. The importance of providing global positioning information is a challenge but overcome by SPIES even in areas without GNSS signal reception for the purpose of continuous tracking and tracing capability

Multi-GNSS PPP-RTK: From Large- to Small-Scale Networks

PubMed Central

Nadarajah, Nandakumaran; Wang, Kan; Choudhury, Mazher

2018-01-01

Precise point positioning (PPP) and its integer ambiguity resolution-enabled variant, PPP-RTK (real-time kinematic), can benefit enormously from the integration of multiple global navigation satellite systems (GNSS). In such a multi-GNSS landscape, the positioning convergence time is expected to be reduced considerably as compared to the one obtained by a single-GNSS setup. It is therefore the goal of the present contribution to provide numerical insights into the role taken by the multi-GNSS integration in delivering fast and high-precision positioning solutions (sub-decimeter and centimeter levels) using PPP-RTK. To that end, we employ the Curtin PPP-RTK platform and process data-sets of GPS, BeiDou Navigation Satellite System (BDS) and Galileo in stand-alone and combined forms. The data-sets are collected by various receiver types, ranging from high-end multi-frequency geodetic receivers to low-cost single-frequency mass-market receivers. The corresponding stations form a large-scale (Australia-wide) network as well as a small-scale network with inter-station distances less than 30 km. In case of the Australia-wide GPS-only ambiguity-float setup, 90% of the horizontal positioning errors (kinematic mode) are shown to become less than five centimeters after 103 min. The stated required time is reduced to 66 min for the corresponding GPS + BDS + Galieo setup. The time is further reduced to 15 min by applying single-receiver ambiguity resolution. The outcomes are supported by the positioning results of the small-scale network. PMID:29614040

Multi-GNSS PPP-RTK: From Large- to Small-Scale Networks.

PubMed

Nadarajah, Nandakumaran; Khodabandeh, Amir; Wang, Kan; Choudhury, Mazher; Teunissen, Peter J G

2018-04-03

Precise point positioning (PPP) and its integer ambiguity resolution-enabled variant, PPP-RTK (real-time kinematic), can benefit enormously from the integration of multiple global navigation satellite systems (GNSS). In such a multi-GNSS landscape, the positioning convergence time is expected to be reduced considerably as compared to the one obtained by a single-GNSS setup. It is therefore the goal of the present contribution to provide numerical insights into the role taken by the multi-GNSS integration in delivering fast and high-precision positioning solutions (sub-decimeter and centimeter levels) using PPP-RTK. To that end, we employ the Curtin PPP-RTK platform and process data-sets of GPS, BeiDou Navigation Satellite System (BDS) and Galileo in stand-alone and combined forms. The data-sets are collected by various receiver types, ranging from high-end multi-frequency geodetic receivers to low-cost single-frequency mass-market receivers. The corresponding stations form a large-scale (Australia-wide) network as well as a small-scale network with inter-station distances less than 30 km. In case of the Australia-wide GPS-only ambiguity-float setup, 90% of the horizontal positioning errors (kinematic mode) are shown to become less than five centimeters after 103 min. The stated required time is reduced to 66 min for the corresponding GPS + BDS + Galieo setup. The time is further reduced to 15 min by applying single-receiver ambiguity resolution. The outcomes are supported by the positioning results of the small-scale network.

High-resolution station-based diurnal ionospheric total electron content (TEC) from dual-frequency GPS observations

NASA Astrophysics Data System (ADS)

ćepni, Murat S.; Potts, Laramie V.; Miima, John B.

2013-09-01

electron content (TEC) estimates derived from Global Navigation Satellite System (GNSS) signal delays provide a rich source of information about the Earth's ionosphere. Networks of Global Positioning System (GPS) receivers data can be used to represent the ionosphere by a Global Ionospheric Map (GIM). Data input for GIMs is dual-frequency GNSS-only or a mixture of GNSS and altimetry observations. Parameterization of GNSS-only GIMs approaches the ionosphere as a single-layer model (SLM) to determine GPS TEC models over a region. Limitations in GNSS-only GIM TEC are due largely to the nonhomogenous global distribution of GPS tracking stations with large data gaps over the oceans. The utility of slant GPS ionospheric-induced path delays for high temporal resolution from a single-station data rate offers better representation of TEC over a small region. A station-based vertical TEC (TECV) approach modifies the traditional single-layer model (SLM) GPS TEC method by introducing a zenith angle weighting (ZAW) filter to capture signal delays from mostly near-zenith satellite passes. Comparison with GIMs shows the station-dependent TEC (SD-TEC) model exhibits robust performance under variable space weather conditions. The SD-TEC model was applied to investigate ionospheric TEC variability during the geomagnetic storm event of 9 March 2012 at midlatitude station NJJJ located in New Jersey, USA. The high temporal resolution TEC results suggest TEC production and loss rate differences before, during, and after the storm.

Loose and Tight GNSS/INS Integrations: Comparison of Performance Assessed in Real Urban Scenarios.

PubMed

Falco, Gianluca; Pini, Marco; Marucco, Gianluca

2017-01-29

Global Navigation Satellite Systems (GNSSs) remain the principal mean of positioning in many applications and systems, but in several types of environment, the performance of standalone receivers is degraded. Although many works show the benefits of the integration between GNSS and Inertial Navigation Systems (INSs), tightly-coupled architectures are mainly implemented in professional devices and are based on high-grade Inertial Measurement Units (IMUs). This paper investigates the performance improvements enabled by the tight integration, using low-cost sensors and a mass-market GNSS receiver. Performance is assessed through a series of tests carried out in real urban scenarios and is compared against commercial modules, operating in standalone mode or featuring loosely-coupled integrations. The paper describes the developed tight-integration algorithms with a terse mathematical model and assesses their efficacy from a practical perspective.

Short period sound speed oscillation measured by intensive XBT survey and its role on GNSS/acoustic positioning

NASA Astrophysics Data System (ADS)

Kido, M.; Matsui, R.; Imano, M.; Honsho, C.

2017-12-01

In the GNSS/acoustic measurement, sound speed in ocean plays a key role of accuracy of final positioning. We have shown than longer period sound speed undulation can be properly estimated from GNSS-A analysis itself in our previous work. In this work, we have carried out intensive XBT measurement to get temporal variation of sound speed in short period to be compared with GNSS-A derived one. In the individual temperature profile obtained by intensive XBT measurements (10 minutes interval up to 12 times of cast), clear vertical oscillation up to 20 m of amplitude in the shallow part were observed. These can be interpreted as gravitational internal wave with short-period and hence short wavelength anomaly. Kido et al. (2007) proposed that horizontal variation of the ocean structure can be considered employing five or more transponders at once if the structure is expressed by two quantities, i.e., horizontal gradient in x/y directions. However, this hypothesis requires that the variation must has a large spatial scale (> 2-5km) so that the horizontal variation can be regarded as linear within the extent of acoustic path to seafloor transponders. Therefore the wavelength of the above observed internal wave is getting important. The observed period of internal wave was 30-60 minute. However its wavelength cannot be directly measured. It must be estimate based on density profile of water column. In the comparison between sound speed change and positioning, the delay of their phases were 90 degree, which indicates that most steep horizontal slope of internal wave correspond to largest apparent positioning shift.

Computation of Estonian CORS data using Bernese 5.2 and Gipsy 6.4 softwares

NASA Astrophysics Data System (ADS)

Kollo, Karin; Kall, Tarmo; Liibusk, Aive

2017-04-01

GNSS permanent station network in Estonia (ESTREF) was established already in 2007. In 2014-15 extensive reconstruction of ESTREF was carried out, including the establishment of 18 new stations, change of the hardware in CORS stations as well as establishing GNSS-RTK service for the whole Estonia. For GNSS-RTK service one needs precise coordinates in well-defined reference frame, i.e., ETRS89. For long time stability of stations and time-series analysis the re-processing of Estonian CORS data is ongoing. We re-process data from 2007 until 2015 with program Bernese GNSS 5.2 (Dach, 2015). For the set of ESTREF stations established in 2007, we perform as well computations with GIPSY 6.4 software (Ries et al., 2015). In the computations daily GPS-only solution was used. For precise orbits, final products from CODE (CODE analysis centre at the Astronomical Institute of the University of Bern) and JPL (Jet Propulsion Laboratory) for Bernese and GIPSY solutions were used, respectively. The cut-off angle was set to 10 degrees in order to avoid near-field multipath influence. In GIPSY, precise point positioning method with fixing ambiguities was used. Bernese calculations were performed based on double difference processing. Antenna phase centers were modelled based on igs08.atx and epnc_08.atx files. Vienna mapping function was used for mapping tropospheric delays. For the GIPSY solution, the higher order ionospheric term was modelled based on IRI-2012b model. For the Bernese solution higher order ionospheric term was neglected. FES2004 ocean tide loading model was used for the both computation strategies. As a result, two solutions using different scientific GNSS computation programs were obtained. The results from Bernese and GIPSY solutions were compared, using station repeatability values, RMS and coordinate differences. KEYWORDS: GNSS reference station network, Bernese GNSS 5.2, Gipsy 6.4, Estonia. References: Dach, R., S. Lutz, P. Walser, P. Fridez (Eds); 2015: Bernese GNSS Software Version 5.2. User manual, Astronomical Institute, Universtiy of Bern, Bern Open Publishing. DOI: 10.7892/boris.72297; ISBN: 978-3-906813-05-9. Paul Ries, Willy Bertiger, Shailen, Shailen Desai, & Kevin Miller. (2015). GIPSY 6.4 Release Notes. Jet Propulsion Laboratory, California Institute of Technology. Retrieved from https://gipsy-oasis.jpl.nasa.gov/docs/index.php

Data Assimilation Techniques for Ionospheric Reference Scenarios - project overview and achieved outcomes

NASA Astrophysics Data System (ADS)

Gerzen, Tatjana; Wilken, Volker; Hoque, Mainul; Minkwitz, David; Schlueter, Stefan

2016-04-01

The ionosphere is the upper part of the Earth's atmosphere, where sufficient free electrons exist to affect the propagation of radio waves. Therefore, the treatment of the ionosphere is a critical issue for many applications dealing with trans-ionospheric signals such as GNSS positioning, GNSS related augmentation systems (e.g. EGNOS and WAAS) and remote sensing. The European Geostationary Navigation Overlay Service (EGNOS) is the European Satellite Based Augmentation Service (SBAS) that provides value added services, in particular to safety critical GNSS applications, e.g. aviation and maritime traffic. In the frame of the European GNSS Evolution Programme (EGEP), ESA has launched several activities, supporting the design, development and qualification of the operational EGNOS infrastructure and associated services. Ionospheric Reference Scenarios (IRSs) are used by ESA in order to conduct the EGNOS performance simulations and to assure the capability for maintaining accuracy, integrity and availability of the EGNOS system, especially during ionospheric storm conditions. The project Data Assimilation Techniques for Ionospheric Reference Scenarios (DAIS) - aims the provision of improved EGNOS IRSs. The main tasks are the calculation and validation of time series of IRSs by a 3D assimilation approach that combines space borne and ground based GNSS observations as well as ionosonde measurements with an ionospheric background model. The special focus thereby is to demonstrate that space-based measurements can significantly contribute to fill data gaps in GNSS ground networks (particularly in Africa and over the oceans) when generating the IRSs. In this project we selected test periods of perturbed and nominal ionospheric conditions and filtered the collected data for outliers. We defined and developed an applicable technique for the 3D assimilation and applied this technique for the generation of IRSs covering the EGNOS V3 extended service area. Afterwards the generated 3D ionosphere reconstructions as well as the final IRSs are validated with independent GNSS slant TEC (Total Electron Content) data, vertical sounding observations and JASON 1 and 2 derived vertical TEC. This presentation gives an overview about the DAIS project and the achieved results. We outline the assimilation approach, show the reconstruction and the validation results and finally address open questions.

GNSS Remote Sensing at GFZ: Overview and Recent Results

NASA Astrophysics Data System (ADS)

Wickert, Jens; Alshawaf, Fadwa; Arras, Christina; Asgarimehr, Milad; Dick, Galina; Heise, Stefan; Larson, Kristine; Li, Xingxing; Lu, Cuixian; Peraza, Luis; Ramatschi, Markus; Schmidt, Torsten; Schuh, Harald; Semmling, Maximilian; Simeonov, Tzvetan; Vey, Sibylle; Zus, Florian

2017-04-01

GNSS atmospheric remote sensing was successfully established during the last two decades and evolved into a major application for high precision GNSS. The most prominent example for this development is the use of GNSS atmospheric data to improve day-by-day regional and global weather forecasts since 2006. Globally distributed vertical profiles of refractivity, temperature and water vapour are derived from satellite based GNSS data (Radio Occultation, RO). Ground based measurements, provided by global and regional GNSS networks, allow for the derivation of vertically (IWV) or along the line-of-sight integrated water vapour (SWV). Another important GNSS remote sensing technique, the exploitation of Earth reflected signals (GNSS Reflectometry, GNSS-R), is not yet operationally applied. But the huge potential for the determination of various physical parameters, as, e.g., sea surface height, wind speed over water and soil moisture on regional and global scales is recognized by the Earth Observation community. Therefore GNSS-R is recently a major challenge of international geophysical research. We review related activities at the German Research Centre for Geosciences GFZ and introduce recent results. The status of the GNSS-RO experiments aboard the satellites GRACE-A, TerraSAR-X and TanDEM-X, which are coordinated by GFZ, is reviewed. Examples of GNSS RO applications are given, as, e.g., climatological investigations of the global vertical temperature structure or the detection of ionospheric irregularities in the E-region. We also focus on ground based activities for GNSS water vapour monitoring. Observations of a global and regionally densified German network, with about 600 stations in total, are processed in near-real time to operationally provide IWV data. These data are assimilated into atmospheric models by several European weather centers. Current research activities are focused on the generation and meteorological application of GNSS based slant data, on real-time and multi-GNSS meteorology. In addition, climatological investigations are described to analyse long-term trends of the atmospheric water vapour over Germany but also as part of the Global Climate Observing System (GCOS) of the WMO (World Meteorological Organization). Multipath data from standard GNSS receivers are used to derive information on soil moisture, vegetation and snow properties. This technique exhibits a large potential to get geophysical parameters for Earth surface monitoring from the existing global and regional GNSS networks. GFZ also applies dedicated GNSS receivers aboard flight and ship platforms to derive sea surface heights using the GNSS-R phase altimetry technique. Other research activities contribute to the preparation of satellite missions for geophysical GNSS-R applications on a global scale. The most prominent current example is the ESA mission GEROS-ISS for global sea surface monitoring.

Evaluation of Design Assurance Regulations for Safety of Space Navigation Services

NASA Astrophysics Data System (ADS)

Ratti, B.; Sarno, M.; De Andreis, C.

2005-12-01

The European Space Agency (ESA), the European Community (EC), and the European Organisation for the Safety of Air Navigation (Eurocontrol) are contributing to the development of a Global positioning and Navigation Satellite System, known as GNSS. The development programme is carried out in two main steps:• GNSS-1: the first-generation system, based on signals received from the GPS (USA) and GLONASS (Russia) constellations, and augmentation systems like EGNOS (European Geostationary Navigation Overlay Service)• GNSS-2: the second-generation system, that will achieve the ultimate objective of European sovereignty for position determination, navigation and time dissemination. This system, named Galileo, comprises a global space and ground control infrastructure.The Galileo navigation signal will be used in the frame of safety-critical transport applications, thus it is necessary to assess the space safety assurance activity against the civil safety regulations and safety management system.. RTCA DO-254 and IEC 61508 standards, considered as part of best practice engineering references, for the development of safety- related systems in most applications, were selected during phases B2 and C0 of the Galileo project for this purpose.

Developing a Robust, Interoperable GNSS Space Service Volume (SSV) for the Global Space User Community

NASA Technical Reports Server (NTRS)

Bauer, Frank H.; Parker, Joel J. K.; Welch, Bryan; Enderle, Werner

2017-01-01

For over two decades, researchers, space users, Global Navigation Satellite System (GNSS) service providers, and international policy makers have been working diligently to expand the space-borne use of the Global Positioning System (GPS) and, most recently, to employ the full complement of GNSS constellations to increase spacecraft navigation performance. Space-borne Positioning, Navigation, and Timing (PNT) applications employing GNSS are now ubiquitous in Low Earth Orbit (LEO). GNSS use in space is quickly expanding into the Space Service Volume (SSV), the signal environment in the volume surrounding the Earth that enables real-time PNT measurements from GNSS systems at altitudes of 3000 km and above. To support the current missions and planned future missions within the SSV, initiatives are being conducted in the United States and internationally to ensure that GNSS signals are available, robust, and yield precise navigation performance. These initiatives include the Interagency Forum for Operational Requirements (IFOR) effort in the United States, to support GPS SSV signal robustness through future design changes, and the United Nations-sponsored International Committee on GNSS (ICG), to coordinate SSV development across all international GNSS constellations and regional augmentations. The results of these efforts have already proven fruitful, enabling new missions through radically improved navigation and timing performance, ensuring quick recovery from trajectory maneuvers, improving space vehicle autonomy and making GNSS signals more resilient from potential disruptions. Missions in the SSV are operational now and have demonstrated outstanding PNT performance characteristics; much better than what was envisioned less than a decade ago. The recent launch of the first in a series of US weather satellites will employ the use of GNSS in the SSV to substantially improve weather prediction and public-safety situational awareness of fast moving events, including hurricanes, flash floods, severe storms, tornados and wildfires. Thus, the benefits of the GNSS expansion and use into the SSV are tremendous, resulting in orders of magnitude return in investment to national governments and extraordinary societal benefits, including lives saved and critical infrastructure and property protected. However, this outstanding success is tempered by dual challenges: that for GPS, the current SSV specifications do not adequately protect SSV future use; and that for GNSS, the capabilities that are currently available are not protected in the future by specifications.

Detection of changes in soil moisture content using GNSS SNR signals

NASA Astrophysics Data System (ADS)

Roussel, Nicolas; Frappart, Frédéric; Ramillien, Guillaume; Darrozes, José; Baup, Frédéric; Bustillo, Vincent

2014-05-01

As multipaths still represent a major problem for reaching precise GNSS positioning, the mitigation of their influence has been widely investigated. However, previous studies have lately proposed to use these interferences of GNSS electromagnetic waves to estimate parameters related to the reflecting surface (e.g., antenna heights, rugosity,…). Variations of the nature of the surface is likely to modify the properties of the reflected waves, and consequently lead to variations of amplitude / phase of the signal-to-noise ratio (SNR), e.g. recorded at 1 Hz by a GNSS L1 and L2 receiver. By analyzing the time variations of SNR measurements linked to the dielectric constant of the surrounding soil, we use a method to recover the local fluctuations of the soil moisture content. It is simply based on the obvious linear correlation between SNR amplitude / phase time series and measurements of humidity probe at 5 and 10 cm depths. This method of combination is applied to determine soil moisture in a corn and soya field at Lamasquère, France, for ten successive days. Possible improvements are currently investigated, in particular the possibility of cumulating SNR data from several GNSS satellites of different constellations (GPS, GLONASS, Galileo) to obtain denser and more accurate estimates of soil moisture.

Performance assessment of multi-GNSS real-time PPP over Iran

NASA Astrophysics Data System (ADS)

Abdi, Naser; Ardalan, Alireza A.; Karimi, Roohollah; Rezvani, Mohammad-Hadi

2017-06-01

With the advent of multi-GNSS constellations and thanks to providing the real-time precise products by IGS, multi-GNSS Real-Time PPP has been of special interest to the geodetic community. These products stream in the form of RTCM-SSR through NTRIP broadcaster. In this contribution, we aim at assessing the convergence time and positioning accuracy of Real-Time PPP over Iran by means of GPS, GPS + GLONASS, GPS + BeiDou, and GPS + GLONASS + BeiDou configurations. To this end, RINEX observations of six GNSS stations, within Iranian Permanent GNSS Network (IPGN), over consecutive sixteen days were processed via BKG NTRIP Client (BNC, v 2.12). In the processing steps, the IGS-MGEX broadcast ephemerides (BRDM, provided by TUM/DLR) and the pre-saved CLK93 broadcast corrections stream (provided by CNES) have been used as the satellites known information. The numerical results were compared against the station coordinates obtained from the double-difference solutions by Bernese GPS Software v 5.0. Accordingly, we have found that GPS + BeiDou combination can reduce the convergence time by 27%, 16% and 10% and improve the positioning accuracy by 22%, 18% and 2%, in the north, east and up components, respectively, as compared with the GPS PPP. Additionally, in comparison to the GPS + GLONASS results, GPS + GLONASS + BeiDou combination speeds up the convergence time by 9%, 8% and 9% and enhance the positioning accuracy by 8%, 5% and 6%, in the north, east and up components, respectively. Overall, thanks to the availability of the current BeiDou constellation observations, the considerable decrease in the convergence time on one hand, and the improvement in the positioning accuracy on the other, can verify the efficiency of utilizing multi-GNSS PPP for real-time applications over Iran.

An Adaptive Low-Cost GNSS/MEMS-IMU Tightly-Coupled Integration System with Aiding Measurement in a GNSS Signal-Challenged Environment

PubMed Central

Zhou, Qifan; Zhang, Hai; Li, You; Li, Zheng

2015-01-01

The main aim of this paper is to develop a low-cost GNSS/MEMS-IMU tightly-coupled integration system with aiding information that can provide reliable position solutions when the GNSS signal is challenged such that less than four satellites are visible in a harsh environment. To achieve this goal, we introduce an adaptive tightly-coupled integration system with height and heading aiding (ATCA). This approach adopts a novel redundant measurement noise estimation method for an adaptive Kalman filter application and also augments external measurements in the filter to aid the position solutions, as well as uses different filters to deal with various situations. On the one hand, the adaptive Kalman filter makes use of the redundant measurement system’s difference sequence to estimate and tune noise variance instead of employing a traditional innovation sequence to avoid coupling with the state vector error. On the other hand, this method uses the external height and heading angle as auxiliary references and establishes a model for the measurement equation in the filter. In the meantime, it also changes the effective filter online based on the number of tracked satellites. These measures have increasingly enhanced the position constraints and the system observability, improved the computational efficiency and have led to a good result. Both simulated and practical experiments have been carried out, and the results demonstrate that the proposed method is effective at limiting the system errors when there are less than four visible satellites, providing a satisfactory navigation solution. PMID:26393605

An Adaptive Low-Cost GNSS/MEMS-IMU Tightly-Coupled Integration System with Aiding Measurement in a GNSS Signal-Challenged Environment.

PubMed

Zhou, Qifan; Zhang, Hai; Li, You; Li, Zheng

2015-09-18

The main aim of this paper is to develop a low-cost GNSS/MEMS-IMU tightly-coupled integration system with aiding information that can provide reliable position solutions when the GNSS signal is challenged such that less than four satellites are visible in a harsh environment. To achieve this goal, we introduce an adaptive tightly-coupled integration system with height and heading aiding (ATCA). This approach adopts a novel redundant measurement noise estimation method for an adaptive Kalman filter application and also augments external measurements in the filter to aid the position solutions, as well as uses different filters to deal with various situations. On the one hand, the adaptive Kalman filter makes use of the redundant measurement system's difference sequence to estimate and tune noise variance instead of employing a traditional innovation sequence to avoid coupling with the state vector error. On the other hand, this method uses the external height and heading angle as auxiliary references and establishes a model for the measurement equation in the filter. In the meantime, it also changes the effective filter online based on the number of tracked satellites. These measures have increasingly enhanced the position constraints and the system observability, improved the computational efficiency and have led to a good result. Both simulated and practical experiments have been carried out, and the results demonstrate that the proposed method is effective at limiting the system errors when there are less than four visible satellites, providing a satisfactory navigation solution.

Methodological and experimental study of the relationship between displacement rate of landslide and GNSS strategy for deformation monitoring

NASA Astrophysics Data System (ADS)

Giordan, Daniele; Piras, Marco; Allasia, Paolo; Dabove, Paolo

2016-04-01

The use of GNSS for landslide monitoring is not a novelty. In the field of large slope instabilities, where the phenomena are usually wide and the use of complex monitoring networks is needed, often a continuous monitoring is required. In this case, the installed GNSS solution is composed by a dual frequency receiver, with a solar power and with a radio connection to a ground station, where the measurement sessions of the rovers are collected and processed. The management of the collected data is the most critical aspect because the approach, which is commonly used, assumes a fixed position of the GNSS antenna during the acquisition time window. When the landslide is active, the position shift of the point can be considered insignificant for the low displacement rate, but together with the increase of the velocity, the GNSS time series processing becomes a crucial aspect to obtain reliable and enough accurate measurements. Starting from real case studies as the Italian large slope instabilities of Montaguto (Avellino, Italy) and Mont de La Saxe (Courmayeur, Italy), we focused on the presence of different kinematic domains with dissimilar displacement behaviors and velocities. In particular, the range of velocities registered during the main active periods ranges from several millimeters/day up to several meters/day, so the strategy for the GNSS processing data must be very different. Methodology for data acquisition (continuous or windowed) and its duration, type of receivers and antenna used (single or dual frequency, GPS or GNSS, mass market or geodetic), data processing strategies (i.e. single epoch, kinematic), and eventually GNSS network services are fundamental factors, which may favor one or another solution, according to time, economy and infrastructure readiness in the field. In the greater part of these studies, the choices were made based on the experience of responsible in the similar conditions. Starting from the behavior of real cases previously cited, this work investigates a relationship between methodology and capability for displacement detection. Using a dedicated slide which allows to define a micrometric displacement, several tests have been carried out at Politecnico of Torino, where different receivers-antenna combinations (from geodetic to mass market) and displacement strategies have been considered. Furthermore, data processing has been realized by means of different software (commercial and FOS) and different kinds of solution. The results of this experimental activity evidenced that it is possible to define a correlation between the GNSS acquisition strategy and the velocity range of the monitored landslide, which could be now coupled with the landslide velocity scale proposed by Cruden & Varnes. In this way, it is possible to optimize costs for monitoring activities and to allow a "smart" use of GNSS technologies for monitoring.

Development of a network RTK positioning and gravity-surveying application with gravity correction using a smartphone.

PubMed

Kim, Jinsoo; Lee, Youngcheol; Cha, Sungyeoul; Choi, Chuluong; Lee, Seongkyu

2013-07-12

This paper proposes a smartphone-based network real-time kinematic (RTK) positioning and gravity-surveying application (app) that allows semi-real-time measurements using the built-in Bluetooth features of the smartphone and a third-generation or long-term evolution wireless device. The app was implemented on a single smartphone by integrating a global navigation satellite system (GNSS) controller, a laptop, and a field-note writing tool. The observation devices (i.e., a GNSS receiver and relative gravimeter) functioned independently of this system. The app included a gravity module, which converted the measured relative gravity reading into an absolute gravity value according to tides; meter height; instrument drift correction; and network adjustments. The semi-real-time features of this app allowed data to be shared easily with other researchers. Moreover, the proposed smartphone-based gravity-survey app was easily adaptable to various locations and rough terrain due to its compact size.

Multi-GNSS Opportunities and Challenges

NASA Astrophysics Data System (ADS)

Al-Shaery, A.; Zhang, S.; Lim, S.; Rizos, C.

2012-04-01

The multi-GNSS era has began attracting more attention with the declaration of full operational capability of GLONASS , with a 24 satellites being set to 'healthy' on December 8th 2011 (IAC, 2011). This means that GPS is no longer the only GNSS that provides global positioning coverage. This status brings benefits for GNSS users in areas (e.g. 'urban canyon' environments or in deep open cut mines) where the number of visible satellites is limited because of shadowing effects. In such areas adding more functioning satellites, which is one of the aiding solutions, becomes easier, at no extra cost. The inclusion of GLONASS observations in positioning solutions will increase the available number of satellites and thus positioning accuracy may improve as a result of enhanced overall satellite geometry. Such an aiding solution is increasingly attractive due to the successful revitalisation of GLONASS. Another motivation is the availability of improved GLONASS orbits from the IGS and individual analysis centres of the IGS. The increasing availability of receivers with GPS/GLONASS tracking capability on the market is an additional motive. Consequently, most networks of continuously operating reference stations (CORS) are now equipped with receivers that can track both GPS and GLONASS satellite signals, and therefore network-based positioning with combined GPS and GLONASS observations is possible. However, adding GLONASS observations to GPS is not a straight forward process. This is attributable to a few system differences in reference frames for time and coordinates, and in signal structures. The first two differences are easy to deal with using well-defined conversion and transformation parameters (El-Mowafy, 2001). However, signal structure differences have some implications. The mathematical modelling of combined GPS/GLONASS observations is not performed as in the case of GPS-alone. Special care should be paid to such integration. Not only is the software part affected but also the hardware. Recent research has identified one of the challenges users may face if precise positioning is sought (Takac, 2009, Yamada et al., 2010, Wanninger, 2011). A user of heterogeneous receiver pairs will experience ambiguity fixing challenges due to inter-channel bias which cannot be cancelled by differencing GLONASS observations, pseudorange or carrier-phase. This paper outlines the opportunities and challenges of combining two currently fully operational GNSS systems (GPS and GLONASS) for precise positioning solutions. Discussion and analysis considering mathematical modelling challenges and users' selection of hardware constraints will be performed.

Development and testing of a new ray-tracing approach to GNSS carrier-phase multipath modelling

NASA Astrophysics Data System (ADS)

Lau, Lawrence; Cross, Paul

2007-11-01

Multipath is one of the most important error sources in Global Navigation Satellite System (GNSS) carrier-phase-based precise relative positioning. Its theoretical maximum is a quarter of the carrier wavelength (about 4.8 cm for the Global Positioning System (GPS) L1 carrier) and, although it rarely reaches this size, it must clearly be mitigated if millimetre-accuracy positioning is to be achieved. In most static applications, this may be accomplished by averaging over a sufficiently long period of observation, but in kinematic applications, a modelling approach must be used. This paper is concerned with one such approach: the use of ray-tracing to reconstruct the error and therefore remove it. In order to apply such an approach, it is necessary to have a detailed understanding of the signal transmitted from the satellite, the reflection process, the antenna characteristics and the way that the reflected and direct signal are processed within the receiver. This paper reviews all of these and introduces a formal ray-tracing method for multipath estimation based on precise knowledge of the satellite reflector antenna geometry and of the reflector material and antenna characteristics. It is validated experimentally using GPS signals reflected from metal, water and a brick building, and is shown to be able to model most of the main multipath characteristics. The method will have important practical applications for correcting for multipath in well-constrained environments (such as at base stations for local area GPS networks, at International GNSS Service (IGS) reference stations, and on spacecraft), and it can be used to simulate realistic multipath errors for various performance analyses in high-precision positioning.

Kinematic-PPP using Single/Dual Frequency Observations from (GPS, GLONASS and GPS/GLONASS) Constellations for Hydrography

NASA Astrophysics Data System (ADS)

Farah, Ashraf

2018-03-01

Global Positioning System (GPS) technology is ideally suited for inshore and offshore positioning because of its high accuracy and the short observation time required for a position fix. Precise point positioning (PPP) is a technique used for position computation with a high accuracy using a single GNSS receiver. It relies on highly accurate satellite position and clock data that can be acquired from different sources such as the International GNSS Service (IGS). PPP precision varies based on positioning technique (static or kinematic), observations type (single or dual frequency) and the duration of observations among other factors. PPP offers comparable accuracy to differential GPS with safe in cost and time. For many years, PPP users depended on GPS (American system) which considered the solely reliable system. GLONASS's contribution in PPP techniques was limited due to fail in maintaining full constellation. Yet, GLONASS limited observations could be integrated into GPS-based PPP to improve availability and precision. As GLONASS reached its full constellation early 2013, there is a wide interest in PPP systems based on GLONASS only and independent of GPS. This paper investigates the performance of kinematic PPP solution for the hydrographic applications in the Nile river (Aswan, Egypt) based on GPS, GLONASS and GPS/GLONASS constellations. The study investigates also the effect of using two different observation types; single-frequency and dual frequency observations from the tested constellations.

Quality assessment of multi-GNSS real-time orbits and clocks

NASA Astrophysics Data System (ADS)

Kaźmierski, Kamil; Sośnica, Krzysztof; Hadaś, Tomasz

2017-04-01

A continuously increasing number of satellites of Global Navigation Satellites Systems (GNSS) and their constant modernization allow improving the positioning accuracy and enables performing the GNSS measurements in challenging environments. The constant development of GNSS, among which GPS, GLONASS, Galileo and BeiDou can be distinguished, contributes to improvements in GNSS usage in areas desired by common users or GNSS community. The Multi-GNSS experiment (MGEX) of the International GNSS Service (IGS) has been established for tracking, collating and analyzing all available GNSS signals. Provided precise orbits and clocks do not allow users to process data in real-time due to the significant latency of provided products which may reach up to even 18 days. In order to satisfy needs of real-time users IGS Real-Time Service (RTS) was launched in 2013. The service is currently insufficient for Multi-GNSS applications as it provides products for GPS and GLONASS only. One of the publicly available real-time corrections for the all GNSS, including the new systems, are those provided by the Centre National d'etudes Spatiales (CNES). Presented works evaluate clocks and orbit corrections, i.e., the availability and quality of real-time products provided by CNES (mountpoint CLK93). As a decoder of the RTCM streams the BNC software v2.12 is used. All computations are performed using the GNSS-WARP software which is developed by Institute of Geodesy and Geoinformatics (IGG) at Wroclaw University of Environmental and Life Sciences (WUELS). The final products provided by the Center of Orbit Determination in Europe (CODE) are used for the evaluation of the real-time CNES orbits and clocks. Moreover, the Satellite Laser Ranging (SLR) data are employed as an independent way of the orbit quality assessment. The availability of the real-time corrections is at the level of about 90%, when excluding BeiDou, for which the availability is at the level of about 80%. The obtained results with reference to CODE products indicate that satellites' position quality is different for different systems. The best performance is obtained for GPS (about 3 cm) and the worst for BeiDou (about 30 cm). A similar situation occurred for GPS clocks with the clock residues RMSE at the level of 15 cm. The greatest clock residues RMSE was obtained for GLONASS and reached up to 1 m. Conducted works allow us to perform a further study related to the real-time GNSS data processing, e.g., using the system-specific observation weighting. Keywords: Multi-GNSS, real-time processing, clocks, orbits

Short-period variability in terrestrial water storage from GNSS observations of Earth surface deformation

NASA Astrophysics Data System (ADS)

Borsa, A. A.; Adusumilli, S.; Agnew, D. C.; Silverii, F.; Small, E. E.

2017-12-01

Modern geodetic observations of Earth surface deformation, initially targeted at processes such as tectonics and volcanism, also record the subtle signature of mass movements within Earth's atmosphere and hydrosphere. These observations, which track the elastic response of the solid earth to changing surface mass loads, are clearly evident in position time series from permanent Global Navigation Satellite System (GNSS) stations, which recent work has used to recover changes in terrestrial water storage (TWS) over seasonal and multi-annual time scales. Earth's elastic reponse is nearly instantaneous, which suggests the possibility of observing TWS changes at much shorter periods, limited only by the 24 hour resolution of standard GNSS data products and noise in the GNSS position estimates. We present results showing that TWS increases from individual storms can be recovered using the GNSS network in the United States, and that the water mass changes are similar to gridded precipitation estimates from the National Centers for Environmental Prediction (NCEP). The gradual decline we observe in TWS following each storm is diagnostic of runoff and local evapotranspiration, and varies by location. By greatly increasing the temporal resolution of GNSS-derived estimates of TWS, we hope to provide constraints on integrated water fluxes from hydrological models on all relevant timescales.

Latency Determination and Compensation in Real-Time Gnss/ins Integrated Navigation Systems

NASA Astrophysics Data System (ADS)

Solomon, P. D.; Wang, J.; Rizos, C.

2011-09-01

Unmanned Aerial Vehicle (UAV) technology is now commonplace in many defence and civilian environments. However, the high cost of owning and operating a sophisticated UAV has slowed their adoption in many commercial markets. Universities and research groups are actively experimenting with UAVs to further develop the technology, particularly for automated flying operations. The two main UAV platforms used are fixed-wing and helicopter. Helicopter-based UAVs offer many attractive features over fixed-wing UAVs, including vertical take-off, the ability to loiter, and highly dynamic flight. However the control and navigation of helicopters are significantly more demanding than those of fixed-wing UAVs and as such require a high bandwidth real-time Position, Velocity, Attitude (PVA) navigation system. In practical Real-Time Navigation Systems (RTNS) there are delays in the processing of the GNSS data prior to the fusion of the GNSS data with the INS measurements. This latency must be compensated for otherwise it degrades the solution of the navigation filter. This paper investigates the effect of latency in the arrival time of the GNSS data in a RTNS. Several test drives and flights were conducted with a low-cost RTNS, and compared with a high quality GNSS/INS solution. A technique for the real-time, automated and accurate estimation of the GNSS latency in low-cost systems was developed and tested. The latency estimates were then verified through cross-correlation with the time-stamped measurements from the reference system. A delayed measurement Extended Kalman Filter was then used to allow for the real-time fusing of the delayed measurements, and then a final system developed for on-the-fly measurement and compensation of GNSS latency in a RTNS.

Precise Orbit Determination for LEO Spacecraft Using GNSS Tracking Data from Multiple Antennas

NASA Technical Reports Server (NTRS)

Kuang, Da; Bertiger, William; Desai, Shailen; Haines, Bruce

2010-01-01

To support various applications, certain Earth-orbiting spacecrafts (e.g., SRTM, COSMIC) use multiple GNSS antennas to provide tracking data for precise orbit determination (POD). POD using GNSS tracking data from multiple antennas poses some special technical issues compared to the typical single-antenna approach. In this paper, we investigate some of these issues using both real and simulated data. Recommendations are provided for POD with multiple GNSS antennas and for antenna configuration design. The observability of satellite position with multiple antennas data is compared against single antenna case. The impact of differential clock (line biases) and line-of-sight (up, along-track, and cross-track) on kinematic and reduced-dynamic POD is evaluated. The accuracy of monitoring the stability of the spacecraft structure by simultaneously performing POD of the spacecraft and relative positioning of the multiple antennas is also investigated.

An accurate Kriging-based regional ionospheric model using combined GPS/BeiDou observations

NASA Astrophysics Data System (ADS)

Abdelazeem, Mohamed; Çelik, Rahmi N.; El-Rabbany, Ahmed

2018-01-01

In this study, we propose a regional ionospheric model (RIM) based on both of the GPS-only and the combined GPS/BeiDou observations for single-frequency precise point positioning (SF-PPP) users in Europe. GPS/BeiDou observations from 16 reference stations are processed in the zero-difference mode. A least-squares algorithm is developed to determine the vertical total electron content (VTEC) bi-linear function parameters for a 15-minute time interval. The Kriging interpolation method is used to estimate the VTEC values at a 1 ° × 1 ° grid. The resulting RIMs are validated for PPP applications using GNSS observations from another set of stations. The SF-PPP accuracy and convergence time obtained through the proposed RIMs are computed and compared with those obtained through the international GNSS service global ionospheric maps (IGS-GIM). The results show that the RIMs speed up the convergence time and enhance the overall positioning accuracy in comparison with the IGS-GIM model, particularly the combined GPS/BeiDou-based model.

Field Installation and Real-Time Data Processing of the New Integrated SeismoGeodetic System with Real-Time Acceleration and Displacement Measurements for Earthquake Characterization Based on High-Rate Seismic and GPS Data

NASA Astrophysics Data System (ADS)

Zimakov, Leonid; Jackson, Michael; Passmore, Paul; Raczka, Jared; Alvarez, Marcos; Barrientos, Sergio

2015-04-01

We will discuss and show the results obtained from an integrated SeismoGeodetic System, model SG160-09, installed in the Chilean National Network. The SG160-09 provides the user high rate GNSS and accelerometer data, full epoch-by-epoch measurement integrity and, using the Trimble Pivot™ SeismoGeodetic App, the ability to create combined GNSS and accelerometer high-rate (200Hz) displacement time series in real-time. The SG160-09 combines seismic recording with GNSS geodetic measurement in a single compact, ruggedized package. The system includes a low-power, 220-channel GNSS receiver powered by the latest Trimble-precise Maxwell™6 technology and supports tracking GPS, GLONASS and Galileo signals. The receiver incorporates on-board GNSS point positioning using Real-Time Precise Point Positioning (PPP) technology with satellite clock and orbit corrections delivered over IP networks. The seismic recording element includes an ANSS Class A, force balance triaxial accelerometer with the latest, low power, 24-bit A/D converter, which produces high-resolution seismic data. The SG160-09 processor acquires and packetizes both seismic and geodetic data and transmits it to the central station using an advanced, error-correction protocol with back fill capability providing data integrity between the field and the processing center. The SG160-09 has been installed in the seismic station close to the area of the Iquique earthquake of April 1, 2014, in northern Chile, a seismically prone area at the current time. The hardware includes the SG160-09 system, external Zephyr Geodetic-2 GNSS antenna, and high-speed Internet communication media. Both acceleration and displacement data was transmitted in real-time to the National Seismological Center in Santiago for real-time data processing using Earthworm / Early Bird software. Command/Control of the field station and real-time GNSS position correction are provided via the Pivot software suite. Data from the SG160-09 system was used for seismic event characterization along with data from traditional stand-alone broadband seismic and geodetic stations installed in the network. Our presentation will focus on the key improvements of the network installation with the SG160-09 system, rapid data transmission, and real-time data processing for strong seismic events and aftershock characterization as well as advanced features of the SG160-09 for Earthquake and Tsunami Early Warning system.

Precise Point Positioning Using Triple GNSS Constellations in Various Modes

PubMed Central

Afifi, Akram; El-Rabbany, Ahmed

2016-01-01

This paper introduces a new dual-frequency precise point positioning (PPP) model, which combines the observations from three different global navigation satellite system (GNSS) constellations, namely GPS, Galileo, and BeiDou. Combining measurements from different GNSS systems introduces additional biases, including inter-system bias and hardware delays, which require rigorous modelling. Our model is based on the un-differenced and between-satellite single-difference (BSSD) linear combinations. BSSD linear combination cancels out some receiver-related biases, including receiver clock error and non-zero initial phase bias of the receiver oscillator. Forming the BSSD linear combination requires a reference satellite, which can be selected from any of the GPS, Galileo, and BeiDou systems. In this paper three BSSD scenarios are tested; each considers a reference satellite from a different GNSS constellation. Natural Resources Canada’s GPSPace PPP software is modified to enable a combined GPS, Galileo, and BeiDou PPP solution and to handle the newly introduced biases. A total of four data sets collected at four different IGS stations are processed to verify the developed PPP model. Precise satellite orbit and clock products from the International GNSS Service Multi-GNSS Experiment (IGS-MGEX) network are used to correct the GPS, Galileo, and BeiDou measurements in the post-processing PPP mode. A real-time PPP solution is also obtained, which is referred to as RT-PPP in the sequel, through the use of the IGS real-time service (RTS) for satellite orbit and clock corrections. However, only GPS and Galileo observations are used for the RT-PPP solution, as the RTS-IGS satellite products are not presently available for BeiDou system. All post-processed and real-time PPP solutions are compared with the traditional un-differenced GPS-only counterparts. It is shown that combining the GPS, Galileo, and BeiDou observations in the post-processing mode improves the PPP convergence time by 25% compared with the GPS-only counterpart, regardless of the linear combination used. The use of BSSD linear combination improves the precision of the estimated positioning parameters by about 25% in comparison with the GPS-only PPP solution. Additionally, the solution convergence time is reduced to 10 minutes for the BSSD model, which represents about 50% reduction, in comparison with the GPS-only PPP solution. The GNSS RT-PPP solution, on the other hand, shows a similar convergence time and precision to the GPS-only counterpart. PMID:27240376

Precise Point Positioning Using Triple GNSS Constellations in Various Modes.

PubMed

Afifi, Akram; El-Rabbany, Ahmed

2016-05-28

This paper introduces a new dual-frequency precise point positioning (PPP) model, which combines the observations from three different global navigation satellite system (GNSS) constellations, namely GPS, Galileo, and BeiDou. Combining measurements from different GNSS systems introduces additional biases, including inter-system bias and hardware delays, which require rigorous modelling. Our model is based on the un-differenced and between-satellite single-difference (BSSD) linear combinations. BSSD linear combination cancels out some receiver-related biases, including receiver clock error and non-zero initial phase bias of the receiver oscillator. Forming the BSSD linear combination requires a reference satellite, which can be selected from any of the GPS, Galileo, and BeiDou systems. In this paper three BSSD scenarios are tested; each considers a reference satellite from a different GNSS constellation. Natural Resources Canada's GPSPace PPP software is modified to enable a combined GPS, Galileo, and BeiDou PPP solution and to handle the newly introduced biases. A total of four data sets collected at four different IGS stations are processed to verify the developed PPP model. Precise satellite orbit and clock products from the International GNSS Service Multi-GNSS Experiment (IGS-MGEX) network are used to correct the GPS, Galileo, and BeiDou measurements in the post-processing PPP mode. A real-time PPP solution is also obtained, which is referred to as RT-PPP in the sequel, through the use of the IGS real-time service (RTS) for satellite orbit and clock corrections. However, only GPS and Galileo observations are used for the RT-PPP solution, as the RTS-IGS satellite products are not presently available for BeiDou system. All post-processed and real-time PPP solutions are compared with the traditional un-differenced GPS-only counterparts. It is shown that combining the GPS, Galileo, and BeiDou observations in the post-processing mode improves the PPP convergence time by 25% compared with the GPS-only counterpart, regardless of the linear combination used. The use of BSSD linear combination improves the precision of the estimated positioning parameters by about 25% in comparison with the GPS-only PPP solution. Additionally, the solution convergence time is reduced to 10 minutes for the BSSD model, which represents about 50% reduction, in comparison with the GPS-only PPP solution. The GNSS RT-PPP solution, on the other hand, shows a similar convergence time and precision to the GPS-only counterpart.

On the potential of Galileo E5 for time transfer.

PubMed

Martínez-Belda, Mari Carmen; Defraigne, Pascale; Bruyninx, Carine

2013-01-01

The main global navigation satellite systems (GNSS) technique currently used for accurate time and frequency transfer is based on an analysis of the ionosphere-free combinations of dual-frequency code and carrier phase measurements in a precise point positioning (PPP) mode. This technique analyses the observations of one GNSS station using external products for satellite clocks and orbits to determine the position and clock synchronization errors of this station. The frequency stability of this time transfer is limited by the noise and multipath of the Global Positioning System (GPS) and Globalnaya Navigatsionnaya Sputnikovaya Sistema (GLONASS) codes. In the near future, Galileo will offer a broadband signal E5, with low noise in the centimeter range and with the lowest multipath error ever observed. This paper investigates new analysis procedures based on the E5 codeplus- carrier (CPC) combination for time transfer. The CPC combination with E5 provides a noise level 10 times lower than the ionosphere-free combination of Galileo E1 and E5, which is very promising for improving GNSS time transfer performances. From some tests with simulated Galileo data, it is shown here that the use of the CPC combination with E5 does not improve, at present, the medium- and long-term stability of time transfer with respect to the ionosphere-free combination of Galileo E1 and E5 codes, because of the need for a second frequency signal to correct for the ionospheric delays and ambiguities.

Performance Assessment of Integrated Sensor Orientation with a Low-Cost Gnss Receiver

NASA Astrophysics Data System (ADS)

Rehak, M.; Skaloud, J.

2017-08-01

Mapping with Micro Aerial Vehicles (MAVs whose weight does not exceed 5 kg) is gaining importance in applications such as corridor mapping, road and pipeline inspections, or mapping of large areas with homogeneous surface structure, e.g. forest or agricultural fields. In these challenging scenarios, integrated sensor orientation (ISO) improves effectiveness and accuracy. Furthermore, in block geometry configurations, this mode of operation allows mapping without ground control points (GCPs). Accurate camera positions are traditionally determined by carrier-phase GNSS (Global Navigation Satellite System) positioning. However, such mode of positioning has strong requirements on receiver's and antenna's performance. In this article, we present a mapping project in which we employ a single-frequency, low-cost (< 100) GNSS receiver on a MAV. The performance of the low-cost receiver is assessed by comparing its trajectory with a reference trajectory obtained by a survey-grade, multi-frequency GNSS receiver. In addition, the camera positions derived from these two trajectories are used as observations in bundle adjustment (BA) projects and mapping accuracy is evaluated at check points (ChP). Several BA scenarios are considered with absolute and relative aerial position control. Additionally, the presented experiments show the possibility of BA to determine a camera-antenna spatial offset, so-called lever-arm.

Distribution and mitigation of higher-order ionospheric effects on precise GNSS processing

NASA Astrophysics Data System (ADS)

Hernández-Pajares, Manuel; Aragón-Ángel, Àngela; Defraigne, Pascale; Bergeot, Nicolas; Prieto-Cerdeira, Roberto; García-Rigo, Alberto

2014-04-01

Higher-order ionospheric effects (I2+) are one of the main limiting factors in very precise Global Navigation Satellite Systems (GNSS) processing, for applications where millimeter accuracy is demanded. This paper summarizes a comprehensive study of the I2+ effects in range and in GNSS precise products such as receiver position and clock, tropospheric delay, geocenter offset, and GNSS satellite position and clock. All the relevant higher-order contributions are considered: second and third orders, geometric bending, and slant total electron content (dSTEC) bending (i.e., the difference between the STEC for straight and bent paths). Using a realistic simulation with representative solar maximum conditions on GPS signals, both the effects and mitigation errors are analyzed. The usage of the combination of multifrequency L band observations has to be rejected due to its increased noise level. The results of the study show that the main two effects in range are the second-order ionospheric and dSTEC terms, with peak values up to 2 cm. Their combined impacts on the precise GNSS satellite products affects the satellite Z coordinates (up to +1 cm) and satellite clocks (more than ±20 ps). Other precise products are affected at the millimeter level. After correction the impact on all the precise GNSS products is reduced below 5 mm. We finally show that the I2+ impact on a Precise Point Positioning (PPP) user is lower than the current uncertainties of the PPP solutions, after applying consistently the precise products (satellite orbits and clocks) obtained under I2+ correction.

Differential GPS for air transport: Status

NASA Technical Reports Server (NTRS)

Hueschen, Richard M.

1993-01-01

The presentation presents background on what the Global Navigation Satellite System (GNSS) is, desired target dates for initial GNSS capabilities for aircraft operations, and a description of differential GPS (Global Positioning System). The presentation also presents an overview of joint flight tests conducted by LaRC and Honeywell on an integrated differential GPS/inertial reference unit (IRU) navigation system. The overview describes the system tested and the results of the flight tests. The last item presented is an overview of a current grant with Ohio University from LaRC which has the goal of developing a precision DGPS navigation system based on interferometry techniques. The fundamentals of GPS interferometry are presented and its application to determine attitude and heading and precision positioning are shown. The presentation concludes with the current status of the grant.

Instantaneous and controllable integer ambiguity resolution: review and an alternative approach

NASA Astrophysics Data System (ADS)

Zhang, Jingyu; Wu, Meiping; Li, Tao; Zhang, Kaidong

2015-11-01

In the high-precision application of Global Navigation Satellite System (GNSS), integer ambiguity resolution is the key step to realize precise positioning and attitude determination. As the necessary part of quality control, integer aperture (IA) ambiguity resolution provides the theoretical and practical foundation for ambiguity validation. It is mainly realized by acceptance testing. Due to the constraint of correlation between ambiguities, it is impossible to realize the controlling of failure rate according to analytical formula. Hence, the fixed failure rate approach is implemented by Monte Carlo sampling. However, due to the characteristics of Monte Carlo sampling and look-up table, we have to face the problem of a large amount of time consumption if sufficient GNSS scenarios are included in the creation of look-up table. This restricts the fixed failure rate approach to be a post process approach if a look-up table is not available. Furthermore, if not enough GNSS scenarios are considered, the table may only be valid for a specific scenario or application. Besides this, the method of creating look-up table or look-up function still needs to be designed for each specific acceptance test. To overcome these problems in determination of critical values, this contribution will propose an instantaneous and CONtrollable (iCON) IA ambiguity resolution approach for the first time. The iCON approach has the following advantages: (a) critical value of acceptance test is independently determined based on the required failure rate and GNSS model without resorting to external information such as look-up table; (b) it can be realized instantaneously for most of IA estimators which have analytical probability formulas. The stronger GNSS model, the less time consumption; (c) it provides a new viewpoint to improve the research about IA estimation. To verify these conclusions, multi-frequency and multi-GNSS simulation experiments are implemented. Those results show that IA estimators based on iCON approach can realize controllable ambiguity resolution. Besides this, compared with ratio test IA based on look-up table, difference test IA and IA least square based on the iCON approach most of times have higher success rates and better controllability to failure rates.

The contribution of collective attack tactics in differentiating handball score efficiency.

PubMed

Rogulj, Nenad; Srhoj, Vatromir; Srhoj, Ljerka

2004-12-01

The prevalence of 19 elements of collective tactics in score efficient and score inefficient teams was analyzed in 90 First Croatian Handball League--Men games during the 1998-1999 season. Prediction variables were used to describe duration, continuity, system, organization and spatial direction of attacks. Analysis of the basic descriptive and distribution statistical parameters revealed normal distribution of all variables and possibility to use multivariate methods. Canonic discrimination analysis and analysis of variance showed the use of collective tactics elements on attacks to differ statistically significantly between the winning and losing teams. Counter-attacks and uninterrupted attacks predominate in winning teams. Other types of attacks such as long position attack, multiply interrupted attack, attack with one circle runner attack player/pivot, attack based on basic principles, attack based on group cooperation, attack based on independent action, attack based on group maneuvering, rightward directed attack and leftward directed attack predominate in losing teams. Winning teams were found to be clearly characterized by quick attacks against unorganized defense, whereas prolonged, interrupted position attacks against organized defense along with frequent and diverse tactical actions were characteristic of losing teams. The choice and frequency of using a particular tactical activity in position attack do not warrant score efficiency but usually are consequential to the limited anthropologic potential and low level of individual technical-tactical skills of the players in low-quality teams.

Performance of the High Sensitivity Open Source Multi-GNSS Assisted GNSS Reference Server.

NASA Astrophysics Data System (ADS)

Sarwar, Ali; Rizos, Chris; Glennon, Eamonn

2015-06-01

The Open Source GNSS Reference Server (OSGRS) exploits the GNSS Reference Interface Protocol (GRIP) to provide assistance data to GPS receivers. Assistance can be in terms of signal acquisition and in the processing of the measurement data. The data transfer protocol is based on Extensible Mark-up Language (XML) schema. The first version of the OSGRS required a direct hardware connection to a GPS device to acquire the data necessary to generate the appropriate assistance. Scenarios of interest for the OSGRS users are weak signal strength indoors, obstructed outdoors or heavy multipath environments. This paper describes an improved version of OSGRS that provides alternative assistance support from a number of Global Navigation Satellite Systems (GNSS). The underlying protocol to transfer GNSS assistance data from global casters is the Networked Transport of RTCM (Radio Technical Commission for Maritime Services) over Internet Protocol (NTRIP), and/or the RINEX (Receiver Independent Exchange) format. This expands the assistance and support model of the OSGRS to globally available GNSS data servers connected via internet casters. A variety of formats and versions of RINEX and RTCM streams become available, which strengthens the assistance provisioning capability of the OSGRS platform. The prime motivation for this work was to enhance the system architecture of the OSGRS to take advantage of globally available GNSS data sources. Open source software architectures and assistance models provide acquisition and data processing assistance for GNSS receivers operating in weak signal environments. This paper describes test scenarios to benchmark the OSGRSv2 performance against other Assisted-GNSS solutions. Benchmarking devices include the SPOT satellite messenger, MS-Based & MS-Assisted GNSS, HSGNSS (SiRFstar-III) and Wireless Sensor Networks Assisted-GNSS. Benchmarked parameters include the number of tracked satellites, the Time to Fix First (TTFF), navigation availability and accuracy. Three different configurations of Multi-GNSS assistance servers were used, namely Cloud-Client-Server, the Demilitarized Zone (DMZ) Client-Server and PC-Client-Server; with respect to the connectivity location of client and server. The impact on the performance based on server and/or client initiation, hardware capability, network latency, processing delay and computation times with their storage, scalability, processing and load sharing capabilities, were analysed. The performance of the OSGRS is compared against commercial GNSS, Assisted-GNSS and WSN-enabled GNSS devices. The OSGRS system demonstrated lower TTFF and higher availability.

Sparsity-driven tomographic reconstruction of atmospheric water vapor using GNSS and InSAR observations

NASA Astrophysics Data System (ADS)

Heublein, Marion; Alshawaf, Fadwa; Zhu, Xiao Xiang; Hinz, Stefan

2016-04-01

An accurate knowledge of the 3D distribution of water vapor in the atmosphere is a key element for weather forecasting and climate research. On the other hand, as water vapor causes a delay in the microwave signal propagation within the atmosphere, a precise determination of water vapor is required for accurate positioning and deformation monitoring using Global Navigation Satellite Systems (GNSS) and Interferometric Synthetic Aperture Radar (InSAR). However, due to its high variability in time and space, the atmospheric water vapor distribution is difficult to model. Since GNSS meteorology was introduced about twenty years ago, it has increasingly been used as a geodetic technique to generate maps of 2D Precipitable Water Vapor (PWV). Moreover, several approaches for 3D tomographic water vapor reconstruction from GNSS-based estimates using the simple least squares adjustment were presented. In this poster, we present an innovative and sophisticated Compressive Sensing (CS) concept for sparsity-driven tomographic reconstruction of 3D atmospheric wet refractivity fields using data from GNSS and InSAR. The 2D zenith wet delay (ZWD) estimates are obtained by a combination of point-wise estimates of the wet delay using GNSS observations and partial InSAR wet delay maps. These ZWD estimates are aggregated to derive realistic wet delay input data of 100 points as if corresponding to 100 GNSS sites within an area of 100 km × 100 km in the test region of the Upper Rhine Graben. The made-up ZWD values can be mapped into different elevation and azimuth angles. Using the Cosine transform, a sparse representation of the wet refractivity field is obtained. In contrast to existing tomographic approaches, we exploit sparsity as a prior for the regularization of the underdetermined inverse system. The new aspects of this work include both the combination of GNSS and InSAR data for water vapor tomography and the sophisticated CS estimation. The accuracy of the estimated 3D water vapor field is determined by comparing slant integrated wet delays computed from the estimated wet refractivities with real GNSS wet delay estimates. This comparison is performed along different elevation and azimuth angles.

The GNSS Reflectometry Response to the Ocean Surface

NASA Astrophysics Data System (ADS)

Chang, Paul; Jelenak, Zorana; Soisuvarn, Seubson; Said, Faozi

2016-04-01

Global Navigation Satellite System - Reflectometry (GNSS-R) exploits signals of opportunity from the Global Navigation Satellite System (GNSS). GNSS transmitters continuously transmit navigation signals at L-band toward the earth's surface. The scattered power reflected off the earth's surface can be sensed by specially designed GNSS-R receivers. The reflected signal can then be used to glean information about the surface of the earth, such as ocean surface roughness, snow depth, sea ice extent, and soil moisture. The use of GNSS-R for ocean wind retrievals was first demonstrated from aircraft. On July 8 2014, the TechDemoSat-1 satellite (TDS-1) was launched by Surrey Satellite Technology, Ltd as a technology risk reduction mission into sun-synchronous orbit. This paper investigates the GNSS-R measurements collected by the Space GNSS Receiver-Remote Sensing Instrument (SGR-ReSI) on board the TDS-1 satellite. The sensitivity of the SGR-ReSI measurements to the ocean surface winds and waves are characterized. The effects of sea surface temperature, wind direction, and rain are also investigated. The SGR-ReSI measurements exhibited sensitivity through the entire range of wind speeds sampled in this dataset, up to 35 m/s. A significant dependence on the larger waves was observed for winds < 6 m/s. Additionally, an interesting dependence on SST was observed where the slope of the SGR-ReSI measurements is positive for winds < 5 m/s and reverses for winds > 5 m/s. There appeared to be very little wind direction signal, and investigation of the rain impacts found no apparent sensitivity in the data. These results are shown through the analysis of global statistics and examination of a few case studies. This released SGR-ReSI dataset provided the first opportunity to comprehensively investigate the sensitivity of satellite-based GNSS-R measurements to various ocean surface parameters. The upcoming NASA's Cyclone Global Navigation Satellite System (CYGNSS) satellite constellation will utilize a similar receiver to SGI-ReSI and thus this data provides valuable pre-launch knowledge for the CYGNSS mission.

Prototype Earthquake Early Warning System for Areas of Highest Seismic Risk in the Western U.S.

NASA Astrophysics Data System (ADS)

Bock, Y.; Geng, J.; Goldberg, D.; Saunders, J. K.; Haase, J. S.; Squibb, M. B.; Melgar, D.; Crowell, B. W.; Clayton, R. W.; Yu, E.; Walls, C. P.; Mann, D.; Mencin, D.; Mattioli, G. S.

2015-12-01

We report on a prototype earthquake early warning system for the Western U.S. based on GNSS (GPS+GLONASS) observations, and where available collocated GNSS and accelerometer data (seismogeodesy). We estimate with latency of 2-3 seconds GNSS displacement waveforms from more than 120 stations, focusing on the southern segment of the San Andreas fault, the Hayward and Rodgers Creek faults and Cascadia. The displacements are estimated using precise point positioning with ambiguity resolution (PPP-AR), which provides for efficient processing of hundreds of "clients" within the region of interest with respect to a reference frame well outside the expected zone of deformation. The GNSS displacements are useful for alleviating magnitude saturation concerns, rapid earthquake magnitude estimation using peak ground displacements, CMT solutions and finite fault slip models. However, GNSS alone is insufficient for strict earthquake early warning (i.e., P wave detection). Therefore, we employ a self-contained seismogeodetic technique, where collocations of GNSS and accelerometer instruments are available, to estimate real-time displacement and velocity waveforms using PPP-AR with accelerometers (PPP-ARA). Using the velocity waveforms we can detect the P wave arrival for earthquakes of interest (>M 5.5), estimate a hypocenter, S wave propagation, and earthquake magnitude using Pd scaling relationships within seconds. Currently we are gearing up to receive observatory-grade accelerometer data from the CISN. We have deployed 25 inexpensive MEMS accelerometers at existing GNSS stations. The SIO Geodetic Modules that control the flow of the GNSS and accelerometer data are being upgraded with in situ PPP-ARA and P wave picking. In situ processing allows us to use the data at the highest sampling rate of the GNSS receiver (10 Hz or higher), in combination with the 100 Hz accelerometer data. Adding the GLONASS data allows for increased precision in the vertical, an important factor in P wave detection, and by reducing outliers, increasing the number of visible satellites and significantly reducing the time required for reinitialization of phase ambiguities. We plan to make our displacement and velocity waveforms available to the USGS ShakeAlert system and others in Earthworm format.

GNSS as a sea ice sensor - detecting coastal freeze states with ground-based GNSS-R

NASA Astrophysics Data System (ADS)

Strandberg, Joakim; Hobiger, Thomas; Haas, Rüdiger

2017-04-01

Based on the idea of using freely available signals for remote sensing, ground-based GNSS-reflectometry (GNSS-R) has found more and more applications in hydrology, oceanography, agriculture and other Earth sciences. GNSS-R is based on analysing the elevation dependent SNR patterns of GNSS signals, and traditionally only the oscillation frequency and phase have been studied to retrieve parameters from the reflecting surfaces. However, recently Strandberg et al. (2016) developed an inversion algorithm that has changed the paradigms of ground-based GNSS-R as it enables direct access to the radiometric properties of the reflector. Using the signal envelope and the rate at which the magnitude of the SNR oscillations are damped w.r.t. satellite elevation, the algorithm retrieves the roughness of the reflector surface amongst other parameters. Based on this idea, we demonstrate for the first time that a GNSS installation situated close to the coastline can detect the presence of sea-ice unambiguously. Using data from the GTGU antenna at the Onsala Space Observatory, Sweden, the time series of the derived damping parameter clearly matches the occurrence of ice in the bay where the antenna is situated. Our results were validated against visual inspection logs as well as with the help of ice charts from the Swedish Meteorological and Hydrological Institute. Our method is even sensitive to partial and intermediate ice formation stages, with clear difference in response between frazil ice and both open and solidly frozen water surfaces. As the GTGU installation is entirely built with standard geodetic equipment, the method can be applied directly to any coastal GNSS site, allowing analysis of both new and historical data. One can use the method as an automatic way of retrieving independent ground truth data for ice extent measurements for use in hydrology, cryosphere studies, and even societal interest fields such as sea transportation. Finally, the new method opens up for further studies in the response of GNSS-R to ice-related parameters, as periods of ice can easily be detected in both historical and new GNSS data. Strandberg J., T. Hobiger, and Rüdiger Haas (2016), Improving GNSS-R sea level determination through inverse modeling of SNR data, Radio Science, 51(8), 1286-1296, doi:10.1002/2016RS006057.

Overview of GNSS-R Research Program for Ocean Observations at Japan

NASA Astrophysics Data System (ADS)

Ichikawa, Kaoru; Ebinuma, Takuji; Akiyama, Hiroaki; Kitazawa, Yukihito

2015-04-01

GNSS-R is a new remote-sensing method which uses reflected GNSS signals. Since no transmitters are required, it is suitable for small satellites. Constellations of GNSS-R small satellites have abilities on revolutionary progress on 'all-time observable' remote-sensing methods . We have started a research program for GNSS-R applications on oceanographic observations under a contract with MEXT (Ministry of Education Culture, Sports, Science and Technology, JAPAN) as a'Space science research base formation program'. The duration of research program is 3 years (2015-2017). The one of important focuses of this program is creation of a new community to merge space engineering and marine science through establishment on application plans of GNSS-R. Actual GNSS-R data acquisition experiments using multi-copters, ships, and/or towers are planned, together with in-situ sea truth data such as wave spectrum, wind speed profiles and sea surface height. These data are compared to determine the accuracy and resolution of the estimates based on GNSS-R observations. Meanwhile, preparation of a ground station for receiving GNSS-R satellite data will be also established. Whole those data obtained in this project will be distributed for public. This paper introduces the overview of research plan..

76 FR 5068 - Establishment of Low Altitude Area Navigation Routes (T-281, T-283, T-285, T-286, and T-288...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-01-28

... (IFR) approved Global Positioning System (GPS)/Global Navigation Satellite System (GNSS) equipment... only be available for use by GPS/GNSS equipped aircraft. This action enhances safety and facilitates...

An Approach to Speed up Single-Frequency PPP Convergence with Quad-Constellation GNSS and GIM.

PubMed

Cai, Changsheng; Gong, Yangzhao; Gao, Yang; Kuang, Cuilin

2017-06-06

The single-frequency precise point positioning (PPP) technique has attracted increasing attention due to its high accuracy and low cost. However, a very long convergence time, normally a few hours, is required in order to achieve a positioning accuracy level of a few centimeters. In this study, an approach is proposed to accelerate the single-frequency PPP convergence by combining quad-constellation global navigation satellite system (GNSS) and global ionospheric map (GIM) data. In this proposed approach, the GPS, GLONASS, BeiDou, and Galileo observations are directly used in an uncombined observation model and as a result the ionospheric and hardware delay (IHD) can be estimated together as a single unknown parameter. The IHD values acquired from the GIM product and the multi-GNSS differential code bias (DCB) product are then utilized as pseudo-observables of the IHD parameter in the observation model. A time varying weight scheme has also been proposed for the pseudo-observables to gradually decrease its contribution to the position solutions during the convergence period. To evaluate the proposed approach, datasets from twelve Multi-GNSS Experiment (MGEX) stations on seven consecutive days are processed and analyzed. The numerical results indicate that the single-frequency PPP with quad-constellation GNSS and GIM data are able to reduce the convergence time by 56%, 47%, 41% in the east, north, and up directions compared to the GPS-only single-frequency PPP.

Seafloor Geodesy usi­ng Wave Gliders to study Earthquake and Tsunami Hazards at Subduction Zones

NASA Astrophysics Data System (ADS)

Sathiakumar, S.; Barbot, S.; Hill, E.; Peng, D.; Zerucha, J.; Suhaimee, S.; Chia, G.; Salamena, G. G.; Syahailatua, A.

2016-12-01

Land-based GNSS networks are now in place to monitor most subduction zones of the world. These provide valuable information about the amount of­ geodetic strain accumulated in the region, which in turn gives insight into the seismic potential. However, it is usually impossible to resolve activity on the megathrust near the trench using land-based GNSS data alone, given typical signal-to-noise ratios. Ship-based seafloor geodesy is being used today to fill this observation gap. However, surveys using ships are very expensive, tedious and impractical due to the large areas to be covered. Instead of discrete missions using ships, continuous monitoring of the seafloor using autonomous marine robots would aid in understanding the tectonic setting of the seafloor better at a potentially lower cost, as well as help in designing better warning systems. Thus, we are developing seafloor geodesy capabilities using Wave Gliders, a new class of wave-propelled, persistent marine autonomous vehicle using a combination of acoustic and GNSS technologies. We use GNSS/INS to position the platform, and acoustic ranging to locate the seafloor. The GNSS/INS system to be integrated with the Wave Gliders has stringent requirements of low power, light weight, and high accuracy. All these factors are equally important due to limited power and space in the Wave Gliders and the need for highly accurate and precise measurements. With this hardware setup, a limiting factor is the accuracy of measurement of the sound velocity in the water column. We plan to obtain precise positioning of seafloor by exploring a measurement setup that minimizes uncertainties in sound velocity. This will be achieved by making fine-resolution measurements of the two-way travel time of the acoustic waves underwater using the Wave Gliders, and performing statistical signal processing on this data to obtain more reliable sound velocity measurement. This enhanced seafloor geodetic technique using Wave Gliders should enable us to measure deformation of the seafloor over annual and decadal time scales. Combination of seafloor data with land based GPS networks would allow us to study processes from the deep-ocean trench to the coast in a better way, and thereby give a more complete picture of the subduction process.

Observations of Global and Regional Ionospheric Irregularities and Scintillation Using GNSS Tracking Networks

NASA Technical Reports Server (NTRS)

Pi, Xiaoqing; Mannucci, Anthony J.; Valant-Spaight, Bonnie; Bar-Sever, Yoaz; Romans, Larry J.; Skone, Susan; Sparks, Lawrence; Hall, G. Martin

2013-01-01

The rate of TEC index (ROTI) is a measurement that characterizes ionospheric irregularities. It can be obtained from standard GNSS dual-frequency phase data collected using a geodetic type of GNSS receiver. By processing GPS data from ground-based networks of International GNSS Service and Continuously Operating Reference Station (CORS), ROTI maps have been produced to observe global and regional scintillation activities. A major mid-latitude scintillation event in the contiguous United States is reported here that was captured in ROTI maps produced using CORS GPS data collected during a space weather storm. The analyses conducted in this work and previously by another group indicate that ROTI is a good occurrence indicator of both amplitude and phase scintillations of GPS L-band signals, even though the magnitudes of ROTI, S4, and sigma(sub phi) can be different. For example, our analysis indicates that prominent ROTI and the L1 phase scintillation (sigma(sub phi)) are well correlated temporally in the polar region while L1 amplitude scintillation rarely occurs. The differences are partially attributed to physics processes in different latitude regions, such as high-speed plasma convection in the polar region that can suppress the amplitude scintillation. An analysis of the impact of ionospheric scintillation on precise positioning, which requires use of dual-frequency phase data, is also conducted. The results indicate that significant (more than an order of magnitude) positioning errors can occur under phase scintillation conditions.

GNSS in real-time: Demonstration experiment at Berlin Airport International

NASA Astrophysics Data System (ADS)

Wickert, Jens; Dick, Galina; Ge, Maorong; Heise, Stefan; Li, XingXing; Ming, Shangguan; Nischan, Thomas; Ramatschi, Markus; Schuh, Harald; Alberding, Jürgen; Weigmann, Uwe

2013-04-01

Real-time (RT) applications are in focus of recent GNSS research. International activities related to the RT data collection and distribution, as well as provision of specific RT data products (e.g., satellite orbits and clocks, station coordinates) are coordinated within the Real-Time Project of the International GNSS Service (IGS). Currently IGS provides real-time data from more than 100 globally distributed GNSS ground stations. This number, in parallel with the extension of various additional international real-time networks, is continuously increasing. In parallel to the rapid development of GNSS RT activities also innovative geophysical applications were pioneered by GNSS research groups and institutions, including GFZ. One prominent example is the use of GNSS components in early warning systems. GNSS measurements can be used there for the rapid detection and characterization of deformation fields, related to earthquakes, which induce Tsunamis. Such deformation data cannot be provided by seismometer measurements, but are important for the prediction of the tsunami wave propagation caused by earthquakes. The GNSS real-time group at GFZ is involved in several research projects related to geophysical RT GNSS applications, and also operates one of the RT analysis centers of the IGS. We introduce results of a real-time GNSS demonstration project, which was performed in 2012 at the new Berlin International Airport BER at Schönefeld, south-east of Berlin city center. The main goal of the project was the demonstration of the functionality of a complex RT-PPP server-client solution for dynamic applications which was developed within a joint research project of GFZ and the company Alberding GmbH. Compared to the standard PPP (clock & orbit) this solution uses additional information (ionosphere, uncalibrated phase delays UPD) to increase the positioning accuracy and to reduce the convergence time. The major challenges of the experiment were the stable operation of the entire server-client system, the implementation of a mainly for scientific purposes developed software to a potentially commercial positioning solution, the real-time GNSS data management, and the generation and usage of the correction data. We evaluate the server-client system functionality and PPP results of the experiment in view of the project goals and indicate problems to be focused in future work. In addition, the GNSS data from a temporary ground station at the air-field was used to derive vertically integrated water vapor (IWV) data to demonstrate the potential of real-time water vapor data to improve the weather forecast at the airport. The IWV data are compared with measurements from nearby stations of the permanent German GNSS network for atmosphere sounding and with a water vapor radiometer, operated at GFZ.

Comparing Global Positioning System (GPS) and Global Navigation Satellite System (GNSS) Measures of Team Sport Movements.

PubMed

Jackson, Benjamin M; Polglaze, Ted; Dawson, Brian; King, Trish; Peeling, Peter

2018-02-21

To compare data from conventional GPS and new GNSS-enabled tracking devices, and to examine the inter-unit reliability of GNSS devices. Inter-device differences between 10 Hz GPS and GNSS devices were examined during laps (n=40) of a simulated game circuit (SGC) and during elite hockey matches (n=21); GNSS inter-unit reliability was also examined during the SGC laps. Differences in distance values and measures in three velocity categories (low <3 m.s -1 ; moderate 3-5 m.s -1 ; high >5 m.s -1 ) and acceleration/deceleration counts (>1.46 m.s -2 and < -1.46 m.s -2 ) were examined using one-way ANOVA. Inter-unit GNSS reliability was examined using the coefficient of variation (CV) and intra-class correlation coefficient (ICC). Inter-device differences (P <0.05) were found for measures of peak deceleration, low-speed distance, % total distance at low speed, and deceleration count during the SGC, and for all measures except total distance and low-speed distance during hockey matches. Inter-unit (GNSS) differences (P <0.05) were not found. The CV was below 5% for total distance, average and peak speeds and distance and % total distance of low-speed running. The GNSS devices had a lower HDoP score than GPS devices in all conditions. These findings suggest that GNSS devices may be more sensitive than GPS in quantifying the physical demands of team sport movements, but further study into the accuracy of GNSS devices is required.

GNSS Radio Occultation Excess Phase Processing with Integrated Uncertainty Estimation for Thermodynamic Cal/Val of Passive Atmospheric Sounders and Climate Science

NASA Astrophysics Data System (ADS)

Innerkofler, J.; Pock, C.; Kirchengast, G.; Schwaerz, M.; Jaeggi, A.; Andres, Y.; Marquardt, C.; Hunt, D.; Schreiner, W. S.; Schwarz, J.

2017-12-01

Global Navigation Satellite System (GNSS) radio occultation (RO) is a highly valuable satellite remote sensing technique for atmospheric and climate sciences, including calibration and validation (cal/val) of passive sounding instruments such as radiometers. It is providing accurate and precise measurements in the troposphere and stratosphere regions with global coverage, long-term stability, and virtually all-weather capability since 2001. For fully exploiting the potential of RO data as a cal/val reference and climate data record, uncertainties attributed to the data need to be assessed. Here we focus on the atmospheric excess phase data, based on the raw occultation tracking and orbit data, and its integrated uncertainty estimation within the new Reference Occultation Processing System (rOPS) developed at the WEGC. These excess phases correspond to integrated refractivity, proportional to pressure/temperature and water vapor, and are therefore highly valuable reference data for thermodynamic cal/val of passive (radiometric) sounder data. In order to enable high accuracy of the excess phase profiles, accurate orbit positions and velocities as well as clock estimates of the GNSS transmitter satellites and RO receiver satellites are determined using the Bernese and Napeos orbit determination software packages. We find orbit uncertainty estimates of about 5 cm (position) / 0.05 mm/s (velocity) for daily orbits for the MetOp, GRACE, and CHAMP RO missions, and decreased uncertainty estimates near 20 cm (position) / 0.2 mm/s (velocity) for the COSMIC RO mission. The strict evaluation and quality control of the position, velocity, and clock accuracies of the daily LEO and GNSS orbits assure smallest achievable uncertainties in the excess phase data. We compared the excess phase profiles from WEGC against profiles from EUMETSAT and UCAR. Results show good agreement in line with the estimated uncertainties, with millimetric differences in the upper stratosphere and mesosphere and centimetric differences in the troposphere, where the excess phases amount to beyond 100 m. This underlines the potential for a new fundamental cal/val reference and climate data record based on atmospheric excess phases from RO, given their narrow uncertainty and independence from background data.

GNSS Wristwatch Device for Networked Operations Supporting Location Based Services

DTIC Science & Technology

2008-09-01

Coordinates, Volume 4, Issue 9, Sep 2008 GNSS WRISTWATCH DEVICE FOR NETWORKED OPERATIONS SUPPORTING LOCATION BASED SERVICES Alison Brown...TITLE AND SUBTITLE GNSS Wristwatch Device for Networked Operations Supporting Location Based Services 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c...LocatorNet Portal also supports Location Based Services (LBS) based on the TIDGET solution data using an Oracle Mapping Server with an open architecture

Ionospheric variation observed in Oregon Real-time GNSS network during the total eclipse of 21 August 2017

NASA Astrophysics Data System (ADS)

Shahbazi, A.; Park, J.; Kim, S.; Oberg, R.

2017-12-01

As the ionospheric behavior is highly related to the solar activity, the total eclipse passing across the North America on 21 August 2017 is expected to significantly affect the electron density in the ionosphere along the path. Taking advantage of GNSS capability for observing total electron content (TEC), this study demonstrates the impact of the total eclipse not only on the TEC variation during the period of the event but also on GNSS positioning. Oregon Department of Transportation (ODOT) runs a dense real time GNSS network, referred to as Oregon Real-time GNSS network (ORGN). From the dual frequency GPS and GLONASS observations in ORGN, the TEC over the network area can be extracted. We observe the vertical TEC (VTEC) from the ORGN for analyzing the ionospheric condition in the local area affected by the eclipse. To observe the temporal variation, we also observe the slant TEC (STEC) in each ray path and analyze the short term variation in different geometry of each ray path. Although the STEC is dependent quantity upon the changing geometry of a satellite, this approach provides insight to the ionospheric behavior of the total eclipse because the STEC does not involve the projection error, which is generated by VTEC computation. During the period of eclipse, the abnormal variations on VTEC and STEC are expected. The experimental results will be presented in time series plots for selected stations as well as the regional TEC map in Oregon. In addition to the TEC monitoring, we also test the positioning result of ORGN stations through Precise Point Positioning (PPP) and relative positioning. The expected result is that the both positioning results are degraded during the solar eclipse due to the instable ionospheric condition over short time.

Analysis and validation of different global ionospheric maps (GIMs) over China

NASA Astrophysics Data System (ADS)

Xiang, Yan; Yuan, Yunbin; Li, Zishen; Wang, Ningbo

2015-01-01

We assess four different global ionospheric maps (GIMs) over the area of China based on internal consistency (W.r.t.GNSS-derived total electron content (TEC)) and external accuracy (W.r.t.Topex/Poseidon-derived TEC). The results of relevance would serve as references for single-frequency GNSS Positioning, Navigation and Timing (PNT) users to flexibly determine which GIM is to be based on to get the more efficient ionospheric delay corrections service. Performance of these four GIMs sources are validated during high level (2003) as well as low level (2009) solar activity and even 10 years data is tested against GNSS-derived TEC over China and its neighborhood. Results show that UPC GIMs outperform all the rest of GIMs when ionospheric gradients are large, and there is marginally difference in low solar activity or middle latitude among these GIMs since 2006. Hence, we suggest that the UPC GIMs should be used in solar maximum and low latitude. It is also reasonable to apply any GIMs in low solar activity and middle latitude.

Selected properties of GPS and Galileo-IOV receiver intersystem biases in multi-GNSS data processing

NASA Astrophysics Data System (ADS)

Paziewski, Jacek; Sieradzki, Rafał; Wielgosz, Paweł

2015-09-01

Two overlapping frequencies—L1/E1 and L5/E5a—in GPS and Galileo systems support the creation of mixed double-differences in a tightly combined relative positioning model. On the other hand, a tightly combined model makes it necessary to take into account receiver intersystem bias, which is the difference in receiver hardware delays. This bias is present in both carrier-phase and pseudorange observations. Earlier research showed that using a priori knowledge of earlier-calibrated ISB to correct GNSS observations has significant impact on ambiguity resolution and, therefore, precise positioning results. In previous research concerning ISB estimation conducted by the authors, small oscillations in phase ISB time series were detected. This paper investigates this effect present in the GPS-Galileo-IOV ISB time series. In particular, ISB short-term temporal stability and its dependence on the number of Galileo satellites used in the ISB estimation was examined. In this contribution we investigate the amplitude and frequency of the detected ISB time series oscillations as well as their potential source. The presented results are based on real observational data collected on a zero baseline with the use of different sets of GNSS receivers.

Determination of multi-GNSS pseudo-absolute code biases and verification of receiver tracking technology

NASA Astrophysics Data System (ADS)

Villiger, Arturo; Schaer, Stefan; Dach, Rolf; Prange, Lars; Jäggi, Adrian

2017-04-01

It is common to handle code biases in the Global Navigation Satellite System (GNSS) data analysis as conventional differential code biases (DCBs): P1-C1, P1-P2, and P2-C2. Due to the increasing number of signals and systems in conjunction with various tracking modes for the different signals (as defined in RINEX3 format), the number of DCBs would increase drastically and the bookkeeping becomes almost unbearable. The Center for Orbit Determination in Europe (CODE) has thus changed its processing scheme to observable-specific signal biases (OSB). This means that for each observation involved all related satellite and receiver biases are considered. The OSB contributions from various ionosphere analyses (geometry-free linear combination) using different observables and frequencies and from clock analyses (ionosphere-free linear combination) are then combined on normal equation level. By this, one consistent set of OSB values per satellite and receiver can be obtained that contains all information needed for GNSS-related processing. This advanced procedure of code bias handling is now also applied to the IGS (International GNSS Service) MGEX (Multi-GNSS Experiment) procedure at CODE. Results for the biases from the legacy IGS solution as well as the CODE MGEX processing (considering GPS, GLONASS, Galileo, BeiDou, and QZSS) are presented. The consistency with the traditional method is confirmed and the new results are discussed regarding the long-term stability. When processing code data, it is essential to know the true observable types in order to correct for the associated biases. CODE has been verifying the receiver tracking technologies for GPS based on estimated DCB multipliers (for the RINEX 2 case). With the change to OSB, the original verification approach was extended to search for the best fitting observable types based on known OSB values. In essence, a multiplier parameter is estimated for each involved GNSS observable type. This implies that we could recover, for receivers tracking a combination of signals, even the factors of these combinations. The verification of the observable types is crucial to identify the correct observable types of RINEX 2 data (which does not contain the signal modulation in comparison to RINEX 3). The correct information of the used observable types is essential for precise point positioning (PPP) applications and GNSS ambiguity resolution. Multi-GNSS OSBs and verified receiver tracking modes are essential to get best possible multi-GNSS solutions for geodynamic purposes and other applications.

Global Positioning Systems Directorate: GPS Update

DTIC Science & Technology

2015-04-29

Webpage • Load Operational Software on over 970,000 SAASM Receivers • Distribute PRNs for the World - 120 for US and 90 for GNSS International...Cooperation • 56 Authorized Allied Users - 25+ Years of Cooperation • GNSS -Europe - Galilee - China - COMPASS -Russia - GLONASS - Japan - QZSS

GNSS Receiver Identification Using Clock-Derived Metrics.

PubMed

Borio, Daniele; Gioia, Ciro; Cano Pons, Eduardo; Baldini, Gianmarco

2017-09-15

Falsifying Global Navigation Satellite System (GNSS) data with a simulator or with a fake receiver can have a significant economic or safety impact in many transportation applications where Position, Velocity and Time (PVT) are used to enforce a regulation. In this context, the authentication of the source of the PVT data (i.e., the GNSS receiver) is a requirement since data faking can become a serious threat. Receiver fingerprinting techniques represent possible countermeasures to verify the authenticity of a GNSS receiver and of its data. Herein, the potential of clock-derived metrics for GNSS receiver fingerprinting is investigated, and a filter approach is implemented for feature selection. Novel experimental results show that three intrinsic features are sufficient to identify a receiver. Moreover, the adopted technique is time effective as data blocks of about 40 min are sufficient to produce stable features for fingerprinting.

An Exploration of Software-Based GNSS Signal Processing at Multiple Frequencies

NASA Astrophysics Data System (ADS)

Pasqual Paul, Manuel; Elosegui, Pedro; Lind, Frank; Vazquez, Antonio; Pankratius, Victor

2017-01-01

The Global Navigation Satellite System (GNSS; i.e., GPS, GLONASS, Galileo, and other constellations) has recently grown into numerous areas that go far beyond the traditional scope in navigation. In the geosciences, for example, high-precision GPS has become a powerful tool for a myriad of geophysical applications such as in geodynamics, seismology, paleoclimate, cryosphere, and remote sensing of the atmosphere. Positioning with millimeter-level accuracy can be achieved through carrier-phase-based, multi-frequency signal processing, which mitigates various biases and error sources such as those arising from ionospheric effects. Today, however, most receivers with multi-frequency capabilities are highly specialized hardware receiving systems with proprietary and closed designs, limited interfaces, and significant acquisition costs. This work explores alternatives that are entirely software-based, using Software-Defined Radio (SDR) receivers as a way to digitize the entire spectrum of interest. It presents an overview of existing open-source frameworks and outlines the next steps towards converting GPS software receivers from single-frequency to dual-frequency, geodetic-quality systems. In the future, this development will lead to a more flexible multi-constellation GNSS processing architecture that can be easily reused in different contexts, as well as to further miniaturization of receivers.

Lbs Augmented Reality Assistive System for Utilities Infrastructure Management Through Galileo and Egnos

NASA Astrophysics Data System (ADS)

Stylianidis, E.; Valaria, E.; Smagas, K.; Pagani, A.; Henriques, J.; Garca, A.; Jimeno, E.; Carrillo, I.; Patias, P.; Georgiadis, C.; Kounoudes, A.; Michail, K.

2016-06-01

There is a continuous and increasing demand for solutions, both software and hardware-based, that are able to productively handle underground utilities geospatial data. Innovative approaches that are based on the use of the European GNSS, Galileo and EGNOS, sensor technologies and LBS, are able to monitor, document and manage utility infrastructures' data with an intuitive 3D augmented visualisation and navigation/positioning technology. A software and hardware-based system called LARA, currently under develop- ment through a H2020 co-funded project, aims at meeting that demand. The concept of LARA is to integrate the different innovative components of existing technologies in order to design and develop an integrated navigation/positioning and information system which coordinates GNSS, AR, 3D GIS and geodatabases on a mobile platform for monitoring, documenting and managing utility infrastruc- tures on-site. The LARA system will guide utility field workers to locate the working area by helping them see beneath the ground, rendering the complexity of the 3D models of the underground grid such as water, gas and electricity. The capacity and benefits of LARA are scheduled to be tested in two case studies located in Greece and the United Kingdom with various underground utilities. The paper aspires to present the first results from this initiative. The project leading to this application has received funding from the European GNSS Agency under the European Union's Horizon 2020 research and innovation programme under grant agreement No 641460.

Rapid characterization of seismic sources in Chile: Contribution of the GNSS component

NASA Astrophysics Data System (ADS)

Barrientos, S. E.; Riquelme, S.; Baez, J. C., Sr.

2017-12-01

The recently created National Seismological Center (CSN) of the University of Chile was tasked to upgrade the countrýs seismic network in 2013. The upgrade included new 65 collocated accelerometer and broadband instruments together with 130 GNSS devices designed to transmit their data in real time. Forty units of the GNSS devices include the RTX option, a real time 1-Hz positioning capability at 4-cm error level. The observation system is complemented with 297 additional stand-alone strong motion instruments mainly located in basins for seismic engineering purposes. Broadband data can be accessed in real time from IRIS Data Management Service under networks C and C1. Strong motion event data can be retrieved through the CSN database (evtdb.csn.uchile.cl). A server is being established to handle GNSS data requests through an NTRIP Caster. Completion of the connectivity of the GNSS remote units to the main acquisition servers is expected to take place within several months. In addition to the 40 units providing real time positioning through the RTX option, Precise Point Positioning (PPP) algorithms are being tested on the CSN main servers to enable real time estimates every second for all GNSS remote devices. Because of the high earthquake productivity rate in Chile, the RTX system capabilities have been positively tested in two cases already, demonstrating their excellent performance: i) the main aftershock (M7.6) of the April 1, 2014, northern Chile event and ii) the April 24, 2017, (M6.9) event in central Chile. The former produced coastal horizontal static displacements of the order of 30 cm while the latter of the order of 5 cm. In addition to rapid earthquake characterization through static deformation, W-phase displacement waveform inversions are included in the fast analysis providing excellent results. These new applications and methodologies have profoundly impacted the rapid evaluation of the tsunamigenic potential of large earthquakes in the near field.

Ionospheric and receiver DCB-constrained multi-GNSS single-frequency PPP integrated with MEMS inertial measurements

NASA Astrophysics Data System (ADS)

Gao, Zhouzheng; Ge, Maorong; Shen, Wenbin; Zhang, Hongping; Niu, Xiaoji

2017-11-01

Single-frequency precise point positioning (SF-PPP) is a potential precise positioning technique due to the advantages of the high accuracy in positioning after convergence and the low cost in operation. However, there are still challenges limiting its applications at present, such as the long convergence time, the low reliability, and the poor satellite availability and continuity in kinematic applications. In recent years, the achievements in the dual-frequency PPP have confirmed that its performance can be significantly enhanced by employing the slant ionospheric delay and receiver differential code bias (DCB) constraint model, and the multi-constellation Global Navigation Satellite Systems (GNSS) data. Accordingly, we introduce the slant ionospheric delay and receiver DCB constraint model, and the multi-GNSS data in SF-PPP modular together. In order to further overcome the drawbacks of SF-PPP in terms of reliability, continuity, and accuracy in the signal easily blocking environments, the inertial measurements are also adopted in this paper. Finally, we form a new approach to tightly integrate the multi-GNSS single-frequency observations and inertial measurements together to ameliorate the performance of the ionospheric delay and receiver DCB-constrained SF-PPP. In such model, the inter-system bias between each two GNSS systems, the inter-frequency bias between each two GLONASS frequencies, the hardware errors of the inertial sensors, the slant ionospheric delays of each user-satellite pair, and the receiver DCB are estimated together with other parameters in a unique Kalman filter. To demonstrate its performance, the multi-GNSS and low-cost inertial data from a land-borne experiment are analyzed. The results indicate that visible positioning improvements in terms of accuracy, continuity, and reliability can be achieved in both open-sky and complex conditions while using the proposed model in this study compared to the conventional GPS SF-PPP.

Study on individual stochastic model of GNSS observations for precise kinematic applications

NASA Astrophysics Data System (ADS)

Próchniewicz, Dominik; Szpunar, Ryszard

2015-04-01

The proper definition of mathematical positioning model, which is defined by functional and stochastic models, is a prerequisite to obtain the optimal estimation of unknown parameters. Especially important in this definition is realistic modelling of stochastic properties of observations, which are more receiver-dependent and time-varying than deterministic relationships. This is particularly true with respect to precise kinematic applications which are characterized by weakening model strength. In this case, incorrect or simplified definition of stochastic model causes that the performance of ambiguity resolution and accuracy of position estimation can be limited. In this study we investigate the methods of describing the measurement noise of GNSS observations and its impact to derive precise kinematic positioning model. In particular stochastic modelling of individual components of the variance-covariance matrix of observation noise performed using observations from a very short baseline and laboratory GNSS signal generator, is analyzed. Experimental test results indicate that the utilizing the individual stochastic model of observations including elevation dependency and cross-correlation instead of assumption that raw measurements are independent with the same variance improves the performance of ambiguity resolution as well as rover positioning accuracy. This shows that the proposed stochastic assessment method could be a important part in complex calibration procedure of GNSS equipment.

Precise Point Positioning Based on BDS and GPS Observations

NASA Astrophysics Data System (ADS)

Gao, ZhouZheng; Zhang, Hongping; Shen, Wenbin

2014-05-01

BeiDou Navigation Satellite System (BDS) has obtained the ability applying initial navigation and precise point services for the Asian-Pacific regions at the end of 2012 with the constellation of 5 Geostationary Earth Orbit (GEO), 5 Inclined Geosynchronous Orbit (IGSO) and 4 Medium Earth Orbit (MEO). Till 2020, it will consist with 5 GEO, 3 IGSO and 27 MEO, and apply global navigation service similar to GPS and GLONASS. As we known, GPS precise point positioning (PPP) is a powerful tool for crustal deformation monitoring, GPS meteorology, orbit determination of low earth orbit satellites, high accuracy kinematic positioning et al. However, it accuracy and convergence time are influenced by the quality of pseudo-range observations and the observing geometry between user and Global navigation satellites system (GNSS) satellites. Usually, it takes more than 30 minutes even hours to obtain centimeter level position accuracy for PPP while using GPS dual-frequency observations only. In recent years, many researches have been done to solve this problem. One of the approaches is smooth pseudo-range by carrier-phase observations to improve pseudo-range accuracy. By which can improve PPP initial position accuracy and shorten PPP convergence time. Another sachems is to change position dilution of precision (PDOP) with multi-GNSS observations. Now, BDS has the ability to service whole Asian-Pacific regions, which make it possible to use GPS and BDS for precise positioning. In addition, according to researches on GNSS PDOP distribution, BDS can improve PDOP obviously. Therefore, it necessary to do some researches on PPP performance using both GPS observations and BDS observations, especially in Asian-Pacific regions currently. In this paper, we focus on the influences of BDS to GPS PPP mainly in three terms including BDS PPP accuracy, PDOP improvement and convergence time of PPP based on GPS and BDS observations. Here, the GPS and BDS two-constellation data are collected from BeiDou experimental tracking stations (BETS) built by Wuhan University. And BDS precise orbit and precise clock products are applied by GNSS center, Wuhan University. After an introduction about GPS+BDS PPP mathematical and the error correction modes, we analyze the influence of BDS to GPS PPP carefully with calculating results. The statistics results show that BDS PPP can reach centimeter level and BDS can improve PDOP obviously. Moreover, the convergence time and position stability of GPS+BDS PPP is better than that of GPS PPP.

Wi-Fi and satellite-based location techniques for intelligent agricultural machinery controlled by a human operator.

PubMed

Drenjanac, Domagoj; Tomic, Slobodanka; Agüera, Juan; Perez-Ruiz, Manuel

2014-10-22

In the new agricultural scenarios, the interaction between autonomous tractors and a human operator is important when they jointly perform a task. Obtaining and exchanging accurate localization information between autonomous tractors and the human operator, working as a team, is a critical to maintaining safety, synchronization, and efficiency during the execution of a mission. An advanced localization system for both entities involved in the joint work, i.e., the autonomous tractors and the human operator, provides a basis for meeting the task requirements. In this paper, different localization techniques for a human operator and an autonomous tractor in a field environment were tested. First, we compared the localization performances of two global navigation satellite systems' (GNSS) receivers carried by the human operator: (1) an internal GNSS receiver built into a handheld device; and (2) an external DGNSS receiver with centimeter-level accuracy. To investigate autonomous tractor localization, a real-time kinematic (RTK)-based localization system installed on autonomous tractor developed for agricultural applications was evaluated. Finally, a hybrid localization approach, which combines distance estimates obtained using a wireless scheme with the position of an autonomous tractor obtained using an RTK-GNSS system, is proposed. The hybrid solution is intended for user localization in unstructured environments in which the GNSS signal is obstructed. The hybrid localization approach has two components: (1) a localization algorithm based on the received signal strength indication (RSSI) from the wireless environment; and (2) the acquisition of the tractor RTK coordinates when the human operator is near the tractor. In five RSSI tests, the best result achieved was an average localization error of 4 m. In tests of real-time position correction between rows, RMS error of 2.4 cm demonstrated that the passes were straight, as was desired for the autonomous tractor. From these preliminary results, future work will address the use of autonomous tractor localization in the hybrid localization approach.

Wi-Fi and Satellite-Based Location Techniques for Intelligent Agricultural Machinery Controlled by a Human Operator

PubMed Central

Drenjanac, Domagoj; Tomic, Slobodanka; Agüera, Juan; Perez-Ruiz, Manuel

2014-01-01

In the new agricultural scenarios, the interaction between autonomous tractors and a human operator is important when they jointly perform a task. Obtaining and exchanging accurate localization information between autonomous tractors and the human operator, working as a team, is a critical to maintaining safety, synchronization, and efficiency during the execution of a mission. An advanced localization system for both entities involved in the joint work, i.e., the autonomous tractors and the human operator, provides a basis for meeting the task requirements. In this paper, different localization techniques for a human operator and an autonomous tractor in a field environment were tested. First, we compared the localization performances of two global navigation satellite systems’ (GNSS) receivers carried by the human operator: (1) an internal GNSS receiver built into a handheld device; and (2) an external DGNSS receiver with centimeter-level accuracy. To investigate autonomous tractor localization, a real-time kinematic (RTK)-based localization system installed on autonomous tractor developed for agricultural applications was evaluated. Finally, a hybrid localization approach, which combines distance estimates obtained using a wireless scheme with the position of an autonomous tractor obtained using an RTK-GNSS system, is proposed. The hybrid solution is intended for user localization in unstructured environments in which the GNSS signal is obstructed. The hybrid localization approach has two components: (1) a localization algorithm based on the received signal strength indication (RSSI) from the wireless environment; and (2) the acquisition of the tractor RTK coordinates when the human operator is near the tractor. In five RSSI tests, the best result achieved was an average localization error of 4 m. In tests of real-time position correction between rows, RMS error of 2.4 cm demonstrated that the passes were straight, as was desired for the autonomous tractor. From these preliminary results, future work will address the use of autonomous tractor localization in the hybrid localization approach. PMID:25340450

Accuracy assessment of Precise Point Positioning with multi-constellation GNSS data under ionospheric scintillation effects

NASA Astrophysics Data System (ADS)

Marques, Haroldo Antonio; Marques, Heloísa Alves Silva; Aquino, Marcio; Veettil, Sreeja Vadakke; Monico, João Francisco Galera

2018-02-01

GPS and GLONASS are currently the Global Navigation Satellite Systems (GNSS) with full operational capacity. The integration of GPS, GLONASS and future GNSS constellations can provide better accuracy and more reliability in geodetic positioning, in particular for kinematic Precise Point Positioning (PPP), where the satellite geometry is considered a limiting factor to achieve centimeter accuracy. The satellite geometry can change suddenly in kinematic positioning in urban areas or under conditions of strong atmospheric effects such as for instance ionospheric scintillation that may degrade satellite signal quality, causing cycle slips and even loss of lock. Scintillation is caused by small scale irregularities in the ionosphere and is characterized by rapid changes in amplitude and phase of the signal, which are more severe in equatorial and high latitudes geomagnetic regions. In this work, geodetic positioning through the PPP method was evaluated with integrated GPS and GLONASS data collected in the equatorial region under varied scintillation conditions. The GNSS data were processed in kinematic PPP mode and the analyses show accuracy improvements of up to 60% under conditions of strong scintillation when using multi-constellation data instead of GPS data alone. The concepts and analyses related to the ionospheric scintillation effects, the mathematical model involved in PPP with GPS and GLONASS data integration as well as accuracy assessment with data collected under ionospheric scintillation effects are presented.

Point Positioning Service for Natural Hazard Monitoring

NASA Astrophysics Data System (ADS)

Bar-Sever, Y. E.

2014-12-01

In an effort to improve natural hazard monitoring, JPL has invested in updating and enlarging its global real-time GNSS tracking network, and has launched a unique service - real-time precise positioning for natural hazard monitoring, entitled GREAT Alert (GNSS Real-Time Earthquake and Tsunami Alert). GREAT Alert leverages the full technological and operational capability of the JPL's Global Differential GPS System [www.gdgps.net] to offer owners of real-time dual-frequency GNSS receivers: Sub-5 cm (3D RMS) real-time, absolute positioning in ITRF08, regardless of location Under 5 seconds turnaround time Full covariance information Estimates of ancillary parameters (such as troposphere) optionally provided This service enables GNSS networks operators to instantly have access to the most accurate and reliable real-time positioning solutions for their sites, and also to the hundreds of participating sites globally, assuring inter-consistency and uniformity across all solutions. Local authorities with limited technical and financial resources can now access to the best technology, and share environmental data to the benefit of the entire pacific region. We will describe the specialized precise point positioning techniques employed by the GREAT Alert service optimized for natural hazard monitoring, and in particular Earthquake monitoring. We address three fundamental aspects of these applications: 1) small and infrequent motion, 2) the availability of data at a central location, and 3) the need for refined solutions at several time scales

(In)sensitivity of GNSS techniques to geocenter motion

NASA Astrophysics Data System (ADS)

Rebischung, Paul; Altamimi, Zuheir; Springer, Tim

2013-04-01

As a satellite-based technique, GNSS should be sensitive to motions of the Earth's center of mass (CM) with respect to the Earth's crust. In theory, the weekly solutions of the IGS Analysis Centers (ACs) should indeed have the "instantaneous" CM as their origin, and the net translations between the weekly AC frames and a secular frame such as ITRF2008 should thus approximate the non-linear motion of CM with respect to the Earth's center of figure. However, the comparison of the AC translation time series with each other, with SLR geocenter estimates or with geophysical models reveals that this way of observing geocenter motion with GNSS currently gives unreliable results. The fact that the origin of the weekly AC solutions shoud be CM stems from the satellite equations of motion, in which no degree-1 Stokes coefficients are included. It is therefore reasonable to think that any mis-modeling or uncertainty about the forces acting on GNSS satellites can potentially offset the network origin from CM. That is why defects in radiation pressure modeling have long been assumed to be the main origin of the GNSS geocenter errors. In particular, Meindl et al. (2012) incriminate the correlation between the Z component of the origin and the direct radiation pressure parameters D0. We review here the sensitivity of GNSS techniques to geocenter motion from a different perspective. Our approach consists in determining the signature of a geocenter error on GNSS observations, and seeing how and how well such an error can be compensated by all other usual GNSS parameters. (In other words, we look for the linear combinations of parameters which have the maximal partial correlations with each of the 3 components of the origin, and evaluate these maximal partial correlations.) Without setting up any empirical radiation pressure parameter, we obtain maximal partial correlations of 99.98 % for all 3 components of the origin: a geocenter error can almost perfectly be absorbed by the other GNSS parameters. Satellite clock offsets, if estimated epoch-wise, especially devastate the sensitivity of GNSS to geocenter motion. The numerous station-related parameters (station positions, station clock offsets, ZWDs and horizontal tropospheric gradients) do the rest of the job. The maximal partial correlations increase a bit more when the classic "ECOM" set of 5 radiation pressure parameters is set up for each satellite. But this increase is almost fully attributable to the once-per-revolution parameters BC & BS. In particular, we do not find the direct radiation pressure parameters D0 to play a predominant role in the GNSS geocenter determination problem.

Tracking Clouds with low cost GNSS chips aided by the Arduino platform

NASA Astrophysics Data System (ADS)

Hameed, Saji; Realini, Eugenio; Ishida, Shinya

2016-04-01

The Global Navigation Satellite System (GNSS) is a constellation of satellites that is used to provide geo-positioning services. Besides this application, the GNSS system is important for a wide range of scientific and civilian applications. For example, GNSS systems are routinely used in civilian applications such as surveying and scientific applications such as the study of crustal deformation. Another important scientific application of GNSS system is in meteorological research. Here it is mainly used to determine the total water vapour content of the troposphere, hereafter Precipitable Water Vapor (PWV). However, both GNSS receivers and software have prohibitively high price due to a variety of reasons. To overcome this somewhat artificial barrier we are exploring the use of low-cost GNSS receivers along with open source GNSS software for scientific research, in particular for GNSS meteorology research. To achieve this aim, we have developed a custom Arduino compatible data logging board that is able to operate together with a specific low-cost single frequency GNSS receiver chip from NVS Technologies AG. We have also developed an open-source software bundle that includes a new Arduino core for the Atmel324p chip, which is the main processor used in our custom logger. We have also developed software code that enables data collection, logging and parsing of the GNSS data stream. Additionally we have comprehensively evaluated the low power characteristics of the GNSS receiver and logger boards. Currently we are exploring the use of several openly source or free to use for research software to map GNSS delays to PWV. These include the open source goGPS (http://www.gogps-project.org/) and gLAB (http://gage.upc.edu/gLAB) and the openly available GAMIT software from Massachusetts Institute of Technology (MIT). We note that all the firmware and software developed as part of this project is available on an open source license.

Strong Sporadic E Occurrence Detected by Ground-Based GNSS

NASA Astrophysics Data System (ADS)

Sun, Wenjie; Ning, Baiqi; Yue, Xinan; Li, Guozhu; Hu, Lianhuan; Chang, Shoumin; Lan, Jiaping; Zhu, Zhengping; Zhao, Biqiang; Lin, Jian

2018-04-01

The ionospheric sporadic E (Es) layer has significant impact on radio wave propagation. The traditional techniques employed for Es layer observation, for example, ionosondes, are not dense enough to resolve the morphology and dynamics of Es layer in spatial distribution. The ground-based Global Navigation Satellite Systems (GNSS) technique is expected to shed light on the understanding of regional strong Es occurrence, owing to the facts that the critical frequency (foEs) of strong Es structure is usually high enough to cause pulse-like disturbances in GNSS total electron content (TEC), and a large number of GNSS receivers have been deployed all over the world. Based on the Chinese ground-based GNSS networks, including the Crustal Movement Observation Network of China and the Beidou Ionospheric Observation Network, a large-scale strong Es event was observed in the middle latitude of China. The strong Es shown as a band-like structure in the southwest-northeast direction extended more than 1,000 km. By making a comparative analysis of Es occurrences identified from the simultaneous observations by ionosondes and GNSS TEC receivers over China middle latitude statistically, we found that GNSS TEC can be well employed to observe strong Es occurrence with a threshold value of foEs, 14 MHz.

First Results of Field Absolute Calibration of the GPS Receiver Antenna at Wuhan University.

PubMed

Hu, Zhigang; Zhao, Qile; Chen, Guo; Wang, Guangxing; Dai, Zhiqiang; Li, Tao

2015-11-13

GNSS receiver antenna phase center variations (PCVs), which arise from the non-spherical phase response of GNSS signals have to be well corrected for high-precision GNSS applications. Without using a precise antenna phase center correction (PCC) model, the estimated position of a station monument will lead to a bias of up to several centimeters. The Chinese large-scale research project "Crustal Movement Observation Network of China" (CMONOC), which requires high-precision positions in a comprehensive GPS observational network motived establishment of a set of absolute field calibrations of the GPS receiver antenna located at Wuhan University. In this paper the calibration facilities are firstly introduced and then the multipath elimination and PCV estimation strategies currently used are elaborated. The validation of estimated PCV values of test antenna are finally conducted, compared with the International GNSS Service (IGS) type values. Examples of TRM57971.00 NONE antenna calibrations from our calibration facility demonstrate that the derived PCVs and IGS type mean values agree at the 1 mm level.

A Novel Range Compression Algorithm for Resolution Enhancement in GNSS-SARs.

PubMed

Zheng, Yu; Yang, Yang; Chen, Wu

2017-06-25

In this paper, a novel range compression algorithm for enhancing range resolutions of a passive Global Navigation Satellite System-based Synthetic Aperture Radar (GNSS-SAR) is proposed. In the proposed algorithm, within each azimuth bin, firstly range compression is carried out by correlating a reflected GNSS intermediate frequency (IF) signal with a synchronized direct GNSS base-band signal in the range domain. Thereafter, spectrum equalization is applied to the compressed results for suppressing side lobes to obtain a final range-compressed signal. Both theoretical analysis and simulation results have demonstrated that significant range resolution improvement in GNSS-SAR images can be achieved by the proposed range compression algorithm, compared to the conventional range compression algorithm.

Techniques and methods to guarantee Bologna-conform higher education in GNSS

NASA Astrophysics Data System (ADS)

Mayer, M.

2012-04-01

The Bologna Declaration is aiming for student-centered, outcome-related, and competence-based teaching. In order to fulfill these demands, deep level learning techniques should be used to meet the needs of adult-compatible and self-determined learning. The presentation will summarize selected case studies carried out in the framework of the lecture course "Introduction into GNSS positioning" of the Geodetic Institute of the Karlsruhe Institute of Technology (Karlsruhe, Germany). The lecture course "Introduction into GNSS positioning" is a compulsory part of the Bachelor study course "Geodesy and Geoinformatics" and also a supplementary module of the Bachelor study course "Geophysics". Within the lecture course, basic knowledge and basic principles of Global Navigation Satellite Systems, like GPS, are imparted. The lecture course was migrated starting from a classically designed geodetic lecture course, which consisted of a well-adapted combination of teacher-centered classroom lectures and practical training (e.g., field exercises). The recent Bologna-conform blended learning concepts supports and motivates students to learn more sustainable using online and classroom learning methods. Therefore, an appropriate combination of - classroom lectures: Students and teacher give lectures - practical training: Students select topics individually - online learning: ILIAS (learning management system) is used as data, result, and communication platform. The framing didactical method is based on the so-called anchored instruction approach. Within this approach, an up-to-date scientific GNSS-related paper dealing with the large-scale geodetic project "Fehmarn Belt Fixed Link" is used as anchor. The students have to read the paper individually in the beginning of the semester. This enables them to realize a lot of not-known GNSS-related facts. Therefore, questions can be formulated. The lecture course deals with these questions, in order to answer them. At the end of the lecture course, the author of the scientific paper gave a concluding lecture. Within the presentation, the didactical concept of the enriched blended learning approach is discussed in detail in order to gain insight into the didactical design of the lecture course and the higher education principles taken into account in order to guarantee Bologna-conform teaching and learning.

NRT Atmospheric Water Vapour Retrieval on the Area of Poland at IGG WUELS AC

NASA Astrophysics Data System (ADS)

Kaplon, Jan; Bosy, Jaroslaw; Sierny, Jan; Hadas, Tomasz; Rohm, Witold; Wilgan, Karina; Ryczywolski, Marcin; Oruba, Artur; Kroszczynski, Krzysztof

2013-04-01

Global Navigation Satellite Systems (GNSS) are designed for positioning, navigation and amongst other possible applications it can also be used to derive information about the state of the atmosphere. Continuous observations from GNSS receivers provide an excellent tool for studying the neutral atmosphere, currently in near real-time. The Near Real-Time (NRT) neutral atmosphere and water vapour distribution models are currently obtained with high resolution from Ground Base Augmentation Systems (GBAS), where reference stations are equipped with GNSS and meteorological sensors. The Poland territory is covered by dense network of GNSS stations in the frame of GBAS system called ASG-EUPOS (www.asgeupos.pl). This system was established in year 2008 by the Head Office of Geodesy and Cartography in the frame of the EUPOS project (www.eupos.org) for providing positioning services. The GNSS data are available from 130 reference stations located in Poland and neighbour countries. The ground meteorological observations in the area of Poland and neighbour countries are available from ASG-EUPOS stations included in EUREF Permanent Network (EPN) stations, airports meteorological stations (METAR messages stations), and stations managed by national Institute of Meteorology and Water Management (SYNOP messages stations). Institute of Geodesy and Geoinformatics (IGG) of Wroclaw University of Environmental and Life Sciences had created permanent NRT service of ZTD (Zenith Total Delay) estimation for the area of Poland from GPS observations called IGGHZG. The first part of the paper presents the methodology of NRT GNSS data processing for ASG-EUPOS stations for ZTD estimation and its comparison to the results coming from EPN ACs and Military University of Technology in Warsaw AC (MUT AC). Second part covers the procedure of IWV (atmospheric Integrated Water Vapour content) estimation at IGG from IGGHZG product and ZHD (Zenith Hydrostatic Delay) derived from Saastamoinen formula (1972) and meteorological observations from ASG-EUPOS stations, SYNOP (synoptic stations network) and METAR (airport meteorological stations). Paper presents comparison of IWV with the results from NWP (Numerical Weather Prediction) models HIRLAM (via EGVAPII - http://egvap.dmi.dk) and COAMPS (via MUT AC) as well.

GNSS strain rate patterns and their application to investigate geodynamical credibility of the GNSS velocities

NASA Astrophysics Data System (ADS)

Araszkiewicz, Andrzej; Figurski, Mariusz

2015-04-01

The potential that lies in the use of GNSS measurements for crustal deformation studies have already noticed in the beginning of the first of such a system (GPS). Today thanks to the development of satellite positioning techniques it is possible to detect displacement on the Earth surface with an accuracy less than 1 cm. With long-term observations we can determine the velocities even more accurately. Growing demand in the last years for GNSS applications, both for scientific and civil use, meant that new networks of the reference stations were created. Such a dense GNSS networks allow to conduct research in the field of crust deformation at a higher spatial resolution than before. In Europe most of the research focuses on Mediterranean regions, where we can monitor events resulting from the tectonic plates collision. But even in Central Europe we can see effect of Africa push. In our research we focused on Polish territory, where in the past 5 years a nearly 300 reference stations were established. With minimal movements that have been observed in Poland, a key issue in this type of research is to determine the geodynamic reliability of the estimated stations velocities. While the long-term observations enable us to determine the very accurate velocities, it hard to indicate how reliably they reflect actual tectonic movements is. In this paper we proposed a method for testing the reliability of stations velocities based on the strain rate field analysis. The method is based on the analysis of the distribution of the rate of deformation tensor components obtained for triangular elements built on the basis of assessed station. The paper presents the results of numerical simulations and initial use of the method for the Polish network of reference stations: ASG-EUPOS

The Multi-GNSS Experiment (MGEX) of the International GNSS Service (IGS) - Achievements, prospects and challenges

NASA Astrophysics Data System (ADS)

Montenbruck, Oliver; Steigenberger, Peter; Prange, Lars; Deng, Zhiguo; Zhao, Qile; Perosanz, Felix; Romero, Ignacio; Noll, Carey; Stürze, Andrea; Weber, Georg; Schmid, Ralf; MacLeod, Ken; Schaer, Stefan

2017-04-01

Over the past five years, the International GNSS Service (IGS) has made continuous efforts to extend its service from GPS and GLONASS to the variety of newly established global and regional navigation satellite systems. This report summarizes the achievements and progress made in this period by the IGS Multi-GNSS Experiment (MGEX). The status and tracking capabilities of the IGS monitoring station network are presented and the multi-GNSS products derived from this resource are discussed. The achieved performance is assessed and related to the current level of space segment and user equipment characterization. While the performance of orbit and clock products for BeiDou, Galileo, and QZSS still lags behind the legacy GPS and GLONASS products, continued progress has been made since launch of the MGEX project and already enables use of the new constellations for precise point positioning, atmospheric research and other applications. Directions for further research are identified to fully integrate the new constellations into routine GNSS processing. Furthermore, the active support of GNSS providers is encouraged to assist the scientific community in the generation of fully competitive products for the new constellations.

Centimeter-Level Robust Gnss-Aided Inertial Post-Processing for Mobile Mapping Without Local Reference Stations

NASA Astrophysics Data System (ADS)

Hutton, J. J.; Gopaul, N.; Zhang, X.; Wang, J.; Menon, V.; Rieck, D.; Kipka, A.; Pastor, F.

2016-06-01

For almost two decades mobile mapping systems have done their georeferencing using Global Navigation Satellite Systems (GNSS) to measure position and inertial sensors to measure orientation. In order to achieve cm level position accuracy, a technique referred to as post-processed carrier phase differential GNSS (DGNSS) is used. For this technique to be effective the maximum distance to a single Reference Station should be no more than 20 km, and when using a network of Reference Stations the distance to the nearest station should no more than about 70 km. This need to set up local Reference Stations limits productivity and increases costs, especially when mapping large areas or long linear features such as roads or pipelines. An alternative technique to DGNSS for high-accuracy positioning from GNSS is the so-called Precise Point Positioning or PPP method. In this case instead of differencing the rover observables with the Reference Station observables to cancel out common errors, an advanced model for every aspect of the GNSS error chain is developed and parameterized to within an accuracy of a few cm. The Trimble Centerpoint RTX positioning solution combines the methodology of PPP with advanced ambiguity resolution technology to produce cm level accuracies without the need for local reference stations. It achieves this through a global deployment of highly redundant monitoring stations that are connected through the internet and are used to determine the precise satellite data with maximum accuracy, robustness, continuity and reliability, along with advance algorithms and receiver and antenna calibrations. This paper presents a new post-processed realization of the Trimble Centerpoint RTX technology integrated into the Applanix POSPac MMS GNSS-Aided Inertial software for mobile mapping. Real-world results from over 100 airborne flights evaluated against a DGNSS network reference are presented which show that the post-processed Centerpoint RTX solution agrees with the DGNSS solution to better than 2.9 cm RMSE Horizontal and 5.5 cm RMSE Vertical. Such accuracies are sufficient to meet the requirements for a majority of airborne mapping applications.

Vision-Based Georeferencing of GPR in Urban Areas

PubMed Central

Barzaghi, Riccardo; Cazzaniga, Noemi Emanuela; Pagliari, Diana; Pinto, Livio

2016-01-01

Ground Penetrating Radar (GPR) surveying is widely used to gather accurate knowledge about the geometry and position of underground utilities. The sensor arrays need to be coupled to an accurate positioning system, like a geodetic-grade Global Navigation Satellite System (GNSS) device. However, in urban areas this approach is not always feasible because GNSS accuracy can be substantially degraded due to the presence of buildings, trees, tunnels, etc. In this work, a photogrammetric (vision-based) method for GPR georeferencing is presented. The method can be summarized in three main steps: tie point extraction from the images acquired during the survey, computation of approximate camera extrinsic parameters and finally a refinement of the parameter estimation using a rigorous implementation of the collinearity equations. A test under operational conditions is described, where accuracy of a few centimeters has been achieved. The results demonstrate that the solution was robust enough for recovering vehicle trajectories even in critical situations, such as poorly textured framed surfaces, short baselines, and low intersection angles. PMID:26805842

A real-time ionospheric model based on GNSS Precise Point Positioning

NASA Astrophysics Data System (ADS)

Tu, Rui; Zhang, Hongping; Ge, Maorong; Huang, Guanwen

2013-09-01

This paper proposes a method of real-time monitoring and modeling the ionospheric Total Electron Content (TEC) by Precise Point Positioning (PPP). Firstly, the ionospheric TEC and receiver’s Differential Code Biases (DCB) are estimated with the undifferenced raw observation in real-time, then the ionospheric TEC model is established based on the Single Layer Model (SLM) assumption and the recovered ionospheric TEC. In this study, phase observations with high precision are directly used instead of phase smoothed code observations. In addition, the DCB estimation is separated from the establishment of the ionospheric model which will limit the impacts of the SLM assumption impacts. The ionospheric model is established at every epoch for real time application. The method is validated with three different GNSS networks on a local, regional, and global basis. The results show that the method is feasible and effective, the real-time ionosphere and DCB results are very consistent with the IGS final products, with a bias of 1-2 TECU and 0.4 ns respectively.

Development of a Network RTK Positioning and Gravity-Surveying Application with Gravity Correction Using a Smartphone

PubMed Central

Kim, Jinsoo; Lee, Youngcheol; Cha, Sungyeoul; Choi, Chuluong; Lee, Seongkyu

2013-01-01

This paper proposes a smartphone-based network real-time kinematic (RTK) positioning and gravity-surveying application (app) that allows semi-real-time measurements using the built-in Bluetooth features of the smartphone and a third-generation or long-term evolution wireless device. The app was implemented on a single smartphone by integrating a global navigation satellite system (GNSS) controller, a laptop, and a field-note writing tool. The observation devices (i.e., a GNSS receiver and relative gravimeter) functioned independently of this system. The app included a gravity module, which converted the measured relative gravity reading into an absolute gravity value according to tides; meter height; instrument drift correction; and network adjustments. The semi-real-time features of this app allowed data to be shared easily with other researchers. Moreover, the proposed smartphone-based gravity-survey app was easily adaptable to various locations and rough terrain due to its compact size. PMID:23857258

Densification of the ITRF through the weekly combination of regional and global GNSS solutions

NASA Astrophysics Data System (ADS)

Legrand, J.; Bruyninx, C.; Saria, E.; Griffiths, J.; Craymer, M. R.; Dawson, J. H.; Kenyeres, A.; Santamaría-Gómez, A.; Sanchez, L.; Altamimi, Z.

2012-12-01

The IAG Working Group (WG) "Integration of Dense Velocity Fields in the ITRF" was created in 2011 as a follow-up of the WG "Regional Dense Velocity Fields" (2007-2011). The goal of the WG is to densify the International Terrestrial Reference Frame (ITRF) using regional GNSS solutions as well as global solutions. This was originally done by combining several cumulative position/velocity solutions submitted to the WG by the global analysis center (ULR) and the IAG regional reference frame sub-commissions (APREF, EUREF, SIRGAS, NAREF) analysis centers. However, several test combinations together with the comparison of the residual position time series demonstrated the limitations of this approach. In June 2012, the WG decided to adopt a new approach based on a weekly combination of the GNSS solutions. This new approach will enable us to mitigate network effects, have full control over the discontinuities and the velocity constraints, manage the different data spans and derive residual position time series in addition to a velocity field. All initial contributors have agreed to submit weekly solutions and in addition initial contacts have been made with other sub-commissions, particularly Africa, in order to extent the densified velocity field to all continents. Preliminary results of the analysis of weekly solutions will be presented. More details on the WG are available from http://epncb.oma.be/IAG/.

Global navigation satellite systems performance analysis and augmentation strategies in aviation

NASA Astrophysics Data System (ADS)

Sabatini, Roberto; Moore, Terry; Ramasamy, Subramanian

2017-11-01

In an era of significant air traffic expansion characterized by a rising congestion of the radiofrequency spectrum and a widespread introduction of Unmanned Aircraft Systems (UAS), Global Navigation Satellite Systems (GNSS) are being exposed to a variety of threats including signal interferences, adverse propagation effects and challenging platform-satellite relative dynamics. Thus, there is a need to characterize GNSS signal degradations and assess the effects of interfering sources on the performance of avionics GNSS receivers and augmentation systems used for an increasing number of mission-essential and safety-critical aviation tasks (e.g., experimental flight testing, flight inspection/certification of ground-based radio navigation aids, wide area navigation and precision approach). GNSS signal deteriorations typically occur due to antenna obscuration caused by natural and man-made obstructions present in the environment (e.g., elevated terrain and tall buildings when flying at low altitude) or by the aircraft itself during manoeuvring (e.g., aircraft wings and empennage masking the on-board GNSS antenna), ionospheric scintillation, Doppler shift, multipath, jamming and spurious satellite transmissions. Anyone of these phenomena can result in partial to total loss of tracking and possible tracking errors, depending on the severity of the effect and the receiver characteristics. After designing GNSS performance threats, the various augmentation strategies adopted in the Communication, Navigation, Surveillance/Air Traffic Management and Avionics (CNS + A) context are addressed in detail. GNSS augmentation can take many forms but all strategies share the same fundamental principle of providing supplementary information whose objective is improving the performance and/or trustworthiness of the system. Hence it is of paramount importance to consider the synergies offered by different augmentation strategies including Space Based Augmentation System (SBAS), Ground Based Augmentation System (GBAS), Aircraft Based Augmentation System (ABAS) and Receiver Autonomous Integrity Monitoring (RAIM). Furthermore, by employing multi-GNSS constellations and multi-sensor data fusion techniques, improvements in availability and continuity can be obtained. SBAS is designed to improve GNSS system integrity and accuracy for aircraft navigation and landing, while an alternative approach to GNSS augmentation is to transmit integrity and differential correction messages from ground-based augmentation systems (GBAS). In addition to existing space and ground based augmentation systems, GNSS augmentation may take the form of additional information being provided by other on-board avionics systems, such as in ABAS. As these on-board systems normally operate via separate principles than GNSS, they are not subject to the same sources of error or interference. Using suitable data link and data processing technologies on the ground, a certified ABAS capability could be a core element of a future GNSS Space-Ground-Aircraft Augmentation Network (SGAAN). Although current augmentation systems can provide significant improvement of GNSS navigation performance, a properly designed and flight-certified SGAAN could play a key role in trusted autonomous system and cyber-physical system applications such as UAS Sense-and-Avoid (SAA).

Geomatic methods applied to the study of the front position changes of Johnsons and Hurd Glaciers, Livingston Island, Antarctica, between 1957 and 2013

NASA Astrophysics Data System (ADS)

Rodríguez Cielos, Ricardo; Aguirre de Mata, Julián; Díez Galilea, Andrés; Álvarez Alonso, Marina; Rodríguez Cielos, Pedro; Navarro Valero, Francisco

2016-08-01

Various geomatic measurement techniques can be efficiently combined for surveying glacier fronts. Aerial photographs and satellite images can be used to determine the position of the glacier terminus. If the glacier front is easily accessible, the classic surveys using theodolite or total station, GNSS (Global Navigation Satellite System) techniques, laser-scanner or close-range photogrammetry are possible. When the accessibility to the glacier front is difficult or impossible, close-range photogrammetry proves to be useful, inexpensive and fast. In this paper, a methodology combining photogrammetric methods and other techniques is applied to determine the calving front position of Johnsons Glacier. Images taken in 2013 with an inexpensive nonmetric digital camera are georeferenced to a global coordinate system by measuring, using GNSS techniques, support points in accessible areas close to the glacier front, from which control points in inaccessible points on the glacier surface near its calving front are determined with theodolite using the direct intersection method. The front position changes of Johnsons Glacier during the period 1957-2013, as well as those of the land-terminating fronts of Argentina, Las Palmas and Sally Rocks lobes of Hurd glacier, are determined from different geomatic techniques such as surface-based GNSS measurements, aerial photogrammetry and satellite optical imagery. This provides a set of frontal positions useful, e.g., for glacier dynamics modeling and mass balance studies.Link to the data repository: https://doi.pangaea.de/10.1594/PANGAEA.845379.

An Approach to Speed up Single-Frequency PPP Convergence with Quad-Constellation GNSS and GIM

PubMed Central

Cai, Changsheng; Gong, Yangzhao; Gao, Yang; Kuang, Cuilin

2017-01-01

The single-frequency precise point positioning (PPP) technique has attracted increasing attention due to its high accuracy and low cost. However, a very long convergence time, normally a few hours, is required in order to achieve a positioning accuracy level of a few centimeters. In this study, an approach is proposed to accelerate the single-frequency PPP convergence by combining quad-constellation global navigation satellite system (GNSS) and global ionospheric map (GIM) data. In this proposed approach, the GPS, GLONASS, BeiDou, and Galileo observations are directly used in an uncombined observation model and as a result the ionospheric and hardware delay (IHD) can be estimated together as a single unknown parameter. The IHD values acquired from the GIM product and the multi-GNSS differential code bias (DCB) product are then utilized as pseudo-observables of the IHD parameter in the observation model. A time varying weight scheme has also been proposed for the pseudo-observables to gradually decrease its contribution to the position solutions during the convergence period. To evaluate the proposed approach, datasets from twelve Multi-GNSS Experiment (MGEX) stations on seven consecutive days are processed and analyzed. The numerical results indicate that the single-frequency PPP with quad-constellation GNSS and GIM data are able to reduce the convergence time by 56%, 47%, 41% in the east, north, and up directions compared to the GPS-only single-frequency PPP. PMID:28587305

Improving the detection of tectonic transients in Japan by accounting for Earth's deformation response to surface mass loading

NASA Astrophysics Data System (ADS)

Martens, H. R.; Simons, M.; Moore, A. W.; Owen, S. E.; Rivera, L. A.

2016-12-01

We explore the contributions of oceanic, atmospheric, and hydrologic mass loading to Global Navigation Satellite System (GNSS)-inferred observations of surface displacements in Japan. Surface mass loading (SML) generates mm- to cm-level deformation of the solid Earth on time scales of hours to years, which exceeds the measurement uncertainties of most GNSS position estimates. By improving the efficiency and accuracy of the prediction and empirical estimation of SML response, we aim to reduce the variance of GNSS time series and therefore enhance the ability to resolve subtle tectonic signals, such as aseismic transients associated with subduction zone processes. Using the GIPSY software in precise point positioning mode, we estimate time series of sub-daily receiver positions for the GNSS Earth Observation Network System (GEONET) in Japan. We also model the Earth's elastic deformation response to a variety of surface mass loads, including loads of atmospheric (e.g., ECMWF) and oceanic (e.g., TPXO8-Atlas, ECCO2) origin. We extract periodic signals, such as the ocean tides and seasonal variations in hydrological loading, using harmonic analysis. Deformation caused by non-periodic loads, such as non-tidal oceanic and atmospheric loads, can be predicted and removed to further reduce the variance. We seek to streamline the workflow for estimating SML-induced surface displacements from a variety of sources in order to account for loading signals in routine GNSS data processing, thereby improving the ability to assess the mechanics of plate boundaries.

Accuracy assessment of the Precise Point Positioning method applied for surveys and tracking moving objects in GIS environment

NASA Astrophysics Data System (ADS)

Ilieva, Tamara; Gekov, Svetoslav

2017-04-01

The Precise Point Positioning (PPP) method gives the users the opportunity to determine point locations using a single GNSS receiver. The accuracy of the determined by PPP point locations is better in comparison to the standard point positioning, due to the precise satellite orbit and clock corrections that are developed and maintained by the International GNSS Service (IGS). The aim of our current research is the accuracy assessment of the PPP method applied for surveys and tracking moving objects in GIS environment. The PPP data is collected by using preliminary developed by us software application that allows different sets of attribute data for the measurements and their accuracy to be used. The results from the PPP measurements are directly compared within the geospatial database to different other sets of terrestrial data - measurements obtained by total stations, real time kinematic and static GNSS.

The Science and technology Behind Galileo - Europes GPS

NASA Astrophysics Data System (ADS)

Saaj, C.; Underwood, C. I.; Noakes, C.; Park, D. W. G.; Moore, T.

Over recent years, the public has become increasingly aware of the existence of global satellite positioning systems, such as the American Global Positioning System (GPS), for which the generic term is Global Navigation Satellite System (GNSS). This is primarily due to high-profile use in various military conflicts, the acceptance of the technology by the leisure market (hill walking, yachting, etc) and the rapid development of mass-market applications (such as in-vehicle navigation). However, the public is still largely unaware of how GNSS is currently being utilized by researchers across a wide range of scientific applications. The aim of this paper is to provide answers to public's basic questions on GNSS and thereby raise public awareness on the science and technology behind the nascent Galileo project; a European initiative to design, build and deploy a global satellite positioning system similar to the GPS.

Development of a GNSS Volcano Ash Plume Detector

NASA Astrophysics Data System (ADS)

Rainville, N.; Palo, S. E.; Larson, K. M.; Naik, S. R.

2015-12-01

Global Navigation Satellite Systems (GNSS), broadcast signals continuously from mid Earth orbit at a frequency near 1.5GHz. Of the four GNSS constellations, GPS and GLONASS are complete with more than 55 satellites in total. While GNSS signals are intended for navigation and timing, they have also proved to be useful for remote sensing applications. Reflections of the GNSS signals have been used to sense soil moisture, snow depth, and wind speed while refraction of the signals through the atmosphere has provided data on the electron density in the ionosphere as well as water vapor and temperature in the troposphere. Now analysis at the University of Colorado has shown that the attenuation of GNSS signals by volcanic ash plumes can be used to measure the presence and structure of the ash plume. This discovery is driving development of a distributed GNSS sensor network to complement existing optical and radar based ash plume monitoring systems. A GNSS based sensing system operating in L-band is unaffected by weather conditions or time of day. Additionally, the use of an existing signal source greatly reduces the per sensor cost and complexity compared to a radar system. However since any one measurement using this method provides only the total attenuation between the GNSS satellite and the receiver, full tomographic imaging of a plume requires a large number of sensors observing over a diversity of geometries. This presentation will provide an overview of the ongoing development of the GNSS sensor system. Evaluation of low priced commercial GNSS receivers will be discussed, as well as details on the inter sensor network. Based on analysis of existing GPS receivers near volcanic vents, the baseline configuration for an ash plume monitoring network is a 1km spaced ring of receivers 5km from the vent updating every 5 seconds. Preliminary data from field tests will be presented to show the suitability of the sensor system for this configuration near an active volcano.

How a GNSS Receiver Is Held May Affect Static Horizontal Position Accuracy

PubMed Central

Weaver, Steven A.; Ucar, Zennure; Bettinger, Pete; Merry, Krista

2015-01-01

The static horizontal position accuracy of a mapping-grade GNSS receiver was tested in two forest types over two seasons, and subsequently was tested in one forest type against open sky conditions in the winter season. The main objective was to determine whether the holding position during data collection would result in significantly different static horizontal position accuracy. Additionally, we wanted to determine whether the time of year (season), forest type, or environmental variables had an influence on accuracy. In general, the F4Devices Flint GNSS receiver was found to have mean static horizontal position accuracy levels within the ranges typically expected for this general type of receiver (3 to 5 m) when differential correction was not employed. When used under forest cover, in some cases the GNSS receiver provided a higher level of static horizontal position accuracy when held vertically, as opposed to held at an angle or horizontally (the more natural positions), perhaps due to the orientation of the antenna within the receiver, or in part due to multipath or the inability to use certain satellite signals. Therefore, due to the fact that numerous variables may affect static horizontal position accuracy, we only conclude that there is weak to moderate evidence that the results of holding position are significant. Statistical test results also suggest that the season of data collection had no significant effect on static horizontal position accuracy, and results suggest that atmospheric variables had weak correlation with horizontal position accuracy. Forest type was found to have a significant effect on static horizontal position accuracy in one aspect of one test, yet otherwise there was little evidence that forest type affected horizontal position accuracy. Since the holding position was found in some cases to be significant with regard to the static horizontal position accuracy of positions collected in forests, it may be beneficial to have an understanding of antenna positioning within the receiver to achieve the greatest accuracy during data collection. PMID:25923667

How a GNSS Receiver Is Held May Affect Static Horizontal Position Accuracy.

PubMed

Weaver, Steven A; Ucar, Zennure; Bettinger, Pete; Merry, Krista

2015-01-01

The static horizontal position accuracy of a mapping-grade GNSS receiver was tested in two forest types over two seasons, and subsequently was tested in one forest type against open sky conditions in the winter season. The main objective was to determine whether the holding position during data collection would result in significantly different static horizontal position accuracy. Additionally, we wanted to determine whether the time of year (season), forest type, or environmental variables had an influence on accuracy. In general, the F4Devices Flint GNSS receiver was found to have mean static horizontal position accuracy levels within the ranges typically expected for this general type of receiver (3 to 5 m) when differential correction was not employed. When used under forest cover, in some cases the GNSS receiver provided a higher level of static horizontal position accuracy when held vertically, as opposed to held at an angle or horizontally (the more natural positions), perhaps due to the orientation of the antenna within the receiver, or in part due to multipath or the inability to use certain satellite signals. Therefore, due to the fact that numerous variables may affect static horizontal position accuracy, we only conclude that there is weak to moderate evidence that the results of holding position are significant. Statistical test results also suggest that the season of data collection had no significant effect on static horizontal position accuracy, and results suggest that atmospheric variables had weak correlation with horizontal position accuracy. Forest type was found to have a significant effect on static horizontal position accuracy in one aspect of one test, yet otherwise there was little evidence that forest type affected horizontal position accuracy. Since the holding position was found in some cases to be significant with regard to the static horizontal position accuracy of positions collected in forests, it may be beneficial to have an understanding of antenna positioning within the receiver to achieve the greatest accuracy during data collection.

Assessment of the possible contribution of space ties on-board GNSS satellites to the terrestrial reference frame

NASA Astrophysics Data System (ADS)

Bruni, Sara; Rebischung, Paul; Zerbini, Susanna; Altamimi, Zuheir; Errico, Maddalena; Santi, Efisio

2018-04-01

The realization of the international terrestrial reference frame (ITRF) is currently based on the data provided by four space geodetic techniques. The accuracy of the different technique-dependent materializations of the frame physical parameters (origin and scale) varies according to the nature of the relevant observables and to the impact of technique-specific errors. A reliable computation of the ITRF requires combining the different inputs, so that the strengths of each technique can compensate for the weaknesses of the others. This combination, however, can only be performed providing some additional information which allows tying together the independent technique networks. At present, the links used for that purpose are topometric surveys (local/terrestrial ties) available at ITRF sites hosting instruments of different techniques. In principle, a possible alternative could be offered by spacecrafts accommodating the positioning payloads of multiple geodetic techniques realizing their co-location in orbit (space ties). In this paper, the GNSS-SLR space ties on-board GPS and GLONASS satellites are thoroughly examined in the framework of global reference frame computations. The investigation focuses on the quality of the realized physical frame parameters. According to the achieved results, the space ties on-board GNSS satellites cannot, at present, substitute terrestrial ties in the computation of the ITRF. The study is completed by a series of synthetic simulations investigating the impact that substantial improvements in the volume and quality of SLR observations to GNSS satellites would have on the precision of the GNSS frame parameters.

A Novel Range Compression Algorithm for Resolution Enhancement in GNSS-SARs

PubMed Central

Zheng, Yu; Yang, Yang; Chen, Wu

2017-01-01

In this paper, a novel range compression algorithm for enhancing range resolutions of a passive Global Navigation Satellite System-based Synthetic Aperture Radar (GNSS-SAR) is proposed. In the proposed algorithm, within each azimuth bin, firstly range compression is carried out by correlating a reflected GNSS intermediate frequency (IF) signal with a synchronized direct GNSS base-band signal in the range domain. Thereafter, spectrum equalization is applied to the compressed results for suppressing side lobes to obtain a final range-compressed signal. Both theoretical analysis and simulation results have demonstrated that significant range resolution improvement in GNSS-SAR images can be achieved by the proposed range compression algorithm, compared to the conventional range compression algorithm. PMID:28672830

Detecting discontinuities in GNSS coordinate time series with STARS: case study, the Bologna and Medicina GPS sites

NASA Astrophysics Data System (ADS)

Bruni, S.; Zerbini, Susanna; Raicich, F.; Errico, M.; Santi, E.

2014-12-01

Global navigation satellite systems (GNSS) data are a fundamental source of information for achieving a better understanding of geophysical and climate-related phenomena. However, discontinuities in the coordinate time series might be a severe limiting factor for the reliable estimate of long-term trends. A methodological approach has been adapted from Rodionov (Geophys Res Lett 31:L09204, 2004; Geophys Res Lett 31:L12707, 2006) and from Rodionov and Overland (J Marine Sci 62:328-332, 2005) to identify both the epoch of occurrence and the magnitude of jumps corrupting GNSS data sets without any a priori information on these quantities. The procedure is based on the Sequential t test Analysis of Regime Shifts (STARS) (Rodionov in Geophys Res Lett 31:L09204, 2004). The method has been tested against a synthetic data set characterized by typical features exhibited by real GNSS time series, such as linear trend, seasonal cycle, jumps, missing epochs and a combination of white and flicker noise. The results show that the offsets identified by the algorithm are split into 48 % of true-positive, 28 % of false-positive and 24 % of false-negative events. The procedure has then been applied to GPS coordinate time series of stations located in the southeastern Po Plain, in Italy. The series span more than 15 years and are affected by offsets of different nature. The methodology proves to be effective, as confirmed by the comparison between the corrected GPS time series and those obtained by other observation techniques.

First Zenith Total Delay and Integrated Water Vapour Estimates from the Near Real-Time GNSS Data Processing Systems at the University of Luxembourg

NASA Astrophysics Data System (ADS)

Ahmed, F.; Teferle, F. N.; Bingley, R. M.

2012-04-01

Since September 2011 the University of Luxembourg in collaboration with the University of Nottingham has been setting up two near real-time processing systems for ground-based GNSS data for the provision of zenith total delay (ZTD) and integrated water vapour (IWV) estimates. Both systems are based on Bernese v5.0, use the double-differenced network processing strategy and operate with a 1-hour (NRT1h) and 15-minutes (NRT15m) update cycle. Furthermore, the systems follow the approach of the E-GVAP METO and IES2 systems in that the normal equations for the latest data are combined with those from the previous four updates during the estimation of the ZTDs. NRT1h currently takes the hourly data from over 130 GNSS stations in Europe whereas NRT15m is primarily using the real-time streams of EUREF-IP. Both networks include additional GNSS stations in Luxembourg, Belgium and France. The a priori station coordinates for all of these stem from a moving average computed over the last 20 to 50 days and are based on the precise point positioning processing strategy. In this study we present the first ZTD and IWV estimates obtained from the NRT1h and NRT15m systems in development at the University of Luxembourg. In a preliminary evaluation we compare their performance to the IES2 system at the University of Nottingham and find the IWV estimates to agree at the sub-millimetre level.

Derivation of the Cramér-Rao Bound in the GNSS-Reflectometry Context for Static, Ground-Based Receivers in Scenarios with Coherent Reflection

PubMed Central

Ribot, Miguel Angel; Botteron, Cyril; Farine, Pierre-André

2016-01-01

The use of the reflected Global Navigation Satellite Systems’ (GNSS) signals in Earth observation applications, referred to as GNSS reflectometry (GNSS-R), has been already studied for more than two decades. However, the estimation precision that can be achieved by GNSS-R sensors in some particular scenarios is still not fully understood yet. In an effort to partially fill this gap, in this paper, we compute the Cramér–Rao bound (CRB) for the specific case of static ground-based GNSS-R receivers and scenarios where the coherent component of the reflected signal is dominant. We compute the CRB for GNSS signals with different modulations, GPS L1 C/A and GPS L5 I/Q, which use binary phase-shift keying, and Galileo E1 B/C and E5, using the binary offset carrier. The CRB for these signals is evaluated as a function of the receiver bandwidth and different scenario parameters, such as the height of the receiver or the properties of the reflection surface. The CRB computation presented considers observation times of up to several tens of seconds, in which the satellite elevation angle observed changes significantly. Finally, the results obtained show the theoretical benefit of using modern GNSS signals with GNSS-R techniques using long observation times, such as the interference pattern technique. PMID:27929388

Derivation of the Cramér-Rao Bound in the GNSS-Reflectometry Context for Static, Ground-Based Receivers in Scenarios with Coherent Reflection.

PubMed

Ribot, Miguel Angel; Botteron, Cyril; Farine, Pierre-André

2016-12-05

The use of the reflected Global Navigation Satellite Systems' (GNSS) signals in Earth observation applications, referred to as GNSS reflectometry (GNSS-R), has been already studied for more than two decades. However, the estimation precision that can be achieved by GNSS-R sensors in some particular scenarios is still not fully understood yet. In an effort to partially fill this gap, in this paper, we compute the Cramér-Rao bound (CRB) for the specific case of static ground-based GNSS-R receivers and scenarios where the coherent component of the reflected signal is dominant. We compute the CRB for GNSS signals with different modulations, GPS L1 C/A and GPS L5 I/Q, which use binary phase-shift keying, and Galileo E1 B/C and E5, using the binary offset carrier. The CRB for these signals is evaluated as a function of the receiver bandwidth and different scenario parameters, such as the height of the receiver or the properties of the reflection surface. The CRB computation presented considers observation times of up to several tens of seconds, in which the satellite elevation angle observed changes significantly. Finally, the results obtained show the theoretical benefit of using modern GNSS signals with GNSS-R techniques using long observation times, such as the interference pattern technique.

A real-time GNSS-R system based on software-defined radio and graphics processing units

NASA Astrophysics Data System (ADS)

Hobiger, Thomas; Amagai, Jun; Aida, Masanori; Narita, Hideki

2012-04-01

Reflected signals of the Global Navigation Satellite System (GNSS) from the sea or land surface can be utilized to deduce and monitor physical and geophysical parameters of the reflecting area. Unlike most other remote sensing techniques, GNSS-Reflectometry (GNSS-R) operates as a passive radar that takes advantage from the increasing number of navigation satellites that broadcast their L-band signals. Thereby, most of the GNSS-R receiver architectures are based on dedicated hardware solutions. Software-defined radio (SDR) technology has advanced in the recent years and enabled signal processing in real-time, which makes it an ideal candidate for the realization of a flexible GNSS-R system. Additionally, modern commodity graphic cards, which offer massive parallel computing performances, allow to handle the whole signal processing chain without interfering with the PC's CPU. Thus, this paper describes a GNSS-R system which has been developed on the principles of software-defined radio supported by General Purpose Graphics Processing Units (GPGPUs), and presents results from initial field tests which confirm the anticipated capability of the system.

Reduction of ZTD outliers through improved GNSS data processing and screening strategies

NASA Astrophysics Data System (ADS)

Stepniak, Katarzyna; Bock, Olivier; Wielgosz, Pawel

2018-03-01

Though Global Navigation Satellite System (GNSS) data processing has been significantly improved over the years, it is still commonly observed that zenith tropospheric delay (ZTD) estimates contain many outliers which are detrimental to meteorological and climatological applications. In this paper, we show that ZTD outliers in double-difference processing are mostly caused by sub-daily data gaps at reference stations, which cause disconnections of clusters of stations from the reference network and common mode biases due to the strong correlation between stations in short baselines. They can reach a few centimetres in ZTD and usually coincide with a jump in formal errors. The magnitude and sign of these biases are impossible to predict because they depend on different errors in the observations and on the geometry of the baselines. We elaborate and test a new baseline strategy which solves this problem and significantly reduces the number of outliers compared to the standard strategy commonly used for positioning (e.g. determination of national reference frame) in which the pre-defined network is composed of a skeleton of reference stations to which secondary stations are connected in a star-like structure. The new strategy is also shown to perform better than the widely used strategy maximizing the number of observations available in many GNSS programs. The reason is that observations are maximized before processing, whereas the final number of used observations can be dramatically lower because of data rejection (screening) during the processing. The study relies on the analysis of 1 year of GPS (Global Positioning System) data from a regional network of 136 GNSS stations processed using Bernese GNSS Software v.5.2. A post-processing screening procedure is also proposed to detect and remove a few outliers which may still remain due to short data gaps. It is based on a combination of range checks and outlier checks of ZTD and formal errors. The accuracy of the final screened GPS ZTD estimates is assessed by comparison to ERA-Interim reanalysis.

Refining the GPS Space Service Volume (SSV) and Building a Multi-GNSS SSV

NASA Technical Reports Server (NTRS)

Parker, Joel J. K.

2017-01-01

The GPS (Global Positioning System) Space Service Volume (SSV) was first defined to protect the GPS main lobe signals from changes from block to block. First developed as a concept by NASA in 2000, it has been adopted for the GPS III block of satellites, and is being used well beyond the current specification to enable increased navigation performance for key missions like GOES-R. NASA has engaged the US IFOR (Interagency Forum Operational Requirements) process to adopt a revised requirement to protect this increased and emerging use. Also, NASA is working through the UN International Committee on GNSS (Global Navigation Satellite System) to develop an interoperable multi-GNSS SSV in partnership with all of the foreign GNSS providers.

Positioning in Time and Space - Cost-Effective Exterior Orientation for Airborne Archaeological Photographs

NASA Astrophysics Data System (ADS)

Verhoeven, G.; Wieser, M.; Briese, C.; Doneus, M.

2013-07-01

Since manned, airborne aerial reconnaissance for archaeological purposes is often characterised by more-or-less random photographing of archaeological features on the Earth, the exact position and orientation of the camera during image acquisition becomes very important in an effective inventorying and interpretation workflow of these aerial photographs. Although the positioning is generally achieved by simultaneously logging the flight path or directly recording the camera's position with a GNSS receiver, this approach does not allow to record the necessary roll, pitch and yaw angles of the camera. The latter are essential elements for the complete exterior orientation of the camera, which allows - together with the inner orientation of the camera - to accurately define the portion of the Earth recorded in the photograph. This paper proposes a cost-effective, accurate and precise GNSS/IMU solution (image position: 2.5 m and orientation: 2°, both at 1σ) to record all essential exterior orientation parameters for the direct georeferencing of the images. After the introduction of the utilised hardware, this paper presents the developed software that allows recording and estimating these parameters. Furthermore, this direct georeferencing information can be embedded into the image's metadata. Subsequently, the first results of the estimation of the mounting calibration (i.e. the misalignment between the camera and GNSS/IMU coordinate frame) are provided. Furthermore, a comparison with a dedicated commercial photographic GNSS/IMU solution will prove the superiority of the introduced solution. Finally, an outlook on future tests and improvements finalises this article.

Instantaneous BeiDou-GPS attitude determination: A performance analysis

NASA Astrophysics Data System (ADS)

Nadarajah, Nandakumaran; Teunissen, Peter J. G.; Raziq, Noor

2014-09-01

The advent of modernized and new global navigation satellite systems (GNSS) has enhanced the availability of satellite based positioning, navigation, and timing (PNT) solutions. Specifically, it increases redundancy and yields operational back-up or independence in case of failure or unavailability of one system. Among existing GNSS, the Chinese BeiDou system (BDS) is being developed and will consist of geostationary (GEO) satellites, inclined geosynchronous orbit (IGSO) satellites, and medium-Earth-orbit (MEO) satellites. In this contribution, a BeiDou-GPS robustness analysis is carried out for instantaneous, unaided attitude determination. Precise attitude determination using multiple GNSS antennas mounted on a platform relies on the successful resolution of the integer carrier phase ambiguities. The constrained Least-squares AMBiguity Decorrelation Adjustment (C-LAMBDA) method has been developed for the quadratically constrained GNSS compass model that incorporates the known baseline length. In this contribution the method is used to analyse the attitude determination performance when using the GPS and BeiDou systems. The attitude determination performance is evaluated using GPS/BeiDou data sets from a real data campaign in Australia spanning several days. The study includes the performance analyses of both stand-alone and mixed constellation (GPS/BeiDou) attitude estimation under various satellite deprived environments. We demonstrate and quantify the improved availability and accuracy of attitude determination using the combined constellation.

An Adaptive Low-Cost INS/GNSS Tightly-Coupled Integration Architecture Based on Redundant Measurement Noise Covariance Estimation.

PubMed

Li, Zheng; Zhang, Hai; Zhou, Qifan; Che, Huan

2017-09-05

The main objective of the introduced study is to design an adaptive Inertial Navigation System/Global Navigation Satellite System (INS/GNSS) tightly-coupled integration system that can provide more reliable navigation solutions by making full use of an adaptive Kalman filter (AKF) and satellite selection algorithm. To achieve this goal, we develop a novel redundant measurement noise covariance estimation (RMNCE) theorem, which adaptively estimates measurement noise properties by analyzing the difference sequences of system measurements. The proposed RMNCE approach is then applied to design both a modified weighted satellite selection algorithm and a type of adaptive unscented Kalman filter (UKF) to improve the performance of the tightly-coupled integration system. In addition, an adaptive measurement noise covariance expanding algorithm is developed to mitigate outliers when facing heavy multipath and other harsh situations. Both semi-physical simulation and field experiments were conducted to evaluate the performance of the proposed architecture and were compared with state-of-the-art algorithms. The results validate that the RMNCE provides a significant improvement in the measurement noise covariance estimation and the proposed architecture can improve the accuracy and reliability of the INS/GNSS tightly-coupled systems. The proposed architecture can effectively limit positioning errors under conditions of poor GNSS measurement quality and outperforms all the compared schemes.

An Adaptive Low-Cost INS/GNSS Tightly-Coupled Integration Architecture Based on Redundant Measurement Noise Covariance Estimation

PubMed Central

Li, Zheng; Zhang, Hai; Zhou, Qifan; Che, Huan

2017-01-01

The main objective of the introduced study is to design an adaptive Inertial Navigation System/Global Navigation Satellite System (INS/GNSS) tightly-coupled integration system that can provide more reliable navigation solutions by making full use of an adaptive Kalman filter (AKF) and satellite selection algorithm. To achieve this goal, we develop a novel redundant measurement noise covariance estimation (RMNCE) theorem, which adaptively estimates measurement noise properties by analyzing the difference sequences of system measurements. The proposed RMNCE approach is then applied to design both a modified weighted satellite selection algorithm and a type of adaptive unscented Kalman filter (UKF) to improve the performance of the tightly-coupled integration system. In addition, an adaptive measurement noise covariance expanding algorithm is developed to mitigate outliers when facing heavy multipath and other harsh situations. Both semi-physical simulation and field experiments were conducted to evaluate the performance of the proposed architecture and were compared with state-of-the-art algorithms. The results validate that the RMNCE provides a significant improvement in the measurement noise covariance estimation and the proposed architecture can improve the accuracy and reliability of the INS/GNSS tightly-coupled systems. The proposed architecture can effectively limit positioning errors under conditions of poor GNSS measurement quality and outperforms all the compared schemes. PMID:28872629

An Overview of GNSS Remote Sensing

DTIC Science & Technology

2014-08-27

dedicated space missions and develop- ments of new algorithms and innovative methodologies. Atmospheric sounding is a new area of GNSS applications based on...the analysis of radio signals from GNSS satel - lites, which are refracted as they pass through the atmos- phere and can give information on its...under a full COSMIC constellation. The L-band radio signals broadcast by the GNSS satel - lites are affected by both the ionospheric and tropospheric

Integrated Georeferencing of Stereo Image Sequences Captured with a Stereovision Mobile Mapping System - Approaches and Practical Results

NASA Astrophysics Data System (ADS)

Eugster, H.; Huber, F.; Nebiker, S.; Gisi, A.

2012-07-01

Stereovision based mobile mapping systems enable the efficient capturing of directly georeferenced stereo pairs. With today's camera and onboard storage technologies imagery can be captured at high data rates resulting in dense stereo sequences. These georeferenced stereo sequences provide a highly detailed and accurate digital representation of the roadside environment which builds the foundation for a wide range of 3d mapping applications and image-based geo web-services. Georeferenced stereo images are ideally suited for the 3d mapping of street furniture and visible infrastructure objects, pavement inspection, asset management tasks or image based change detection. As in most mobile mapping systems, the georeferencing of the mapping sensors and observations - in our case of the imaging sensors - normally relies on direct georeferencing based on INS/GNSS navigation sensors. However, in urban canyons the achievable direct georeferencing accuracy of the dynamically captured stereo image sequences is often insufficient or at least degraded. Furthermore, many of the mentioned application scenarios require homogeneous georeferencing accuracy within a local reference frame over the entire mapping perimeter. To achieve these demands georeferencing approaches are presented and cost efficient workflows are discussed which allows validating and updating the INS/GNSS based trajectory with independently estimated positions in cases of prolonged GNSS signal outages in order to increase the georeferencing accuracy up to the project requirements.

Mapping with MAV: Experimental Study on the Contribution of Absolute and Relative Aerial Position Control

NASA Astrophysics Data System (ADS)

Skaloud, J.; Rehak, M.; Lichti, D.

2014-03-01

This study highlights the benefit of precise aerial position control in the context of mapping using frame-based imagery taken by small UAVs. We execute several flights with a custom Micro Aerial Vehicle (MAV) octocopter over a small calibration field equipped with 90 signalized targets and 25 ground control points. The octocopter carries a consumer grade RGB camera, modified to insure precise GPS time stamping of each exposure, as well as a multi-frequency/constellation GNSS receiver. The GNSS antenna and camera are rigidly mounted together on a one-axis gimbal that allows control of the obliquity of the captured imagery. The presented experiments focus on including absolute and relative aerial control. We confirm practically that both approaches are very effective: the absolute control allows omission of ground control points while the relative requires only a minimum number of control points. Indeed, the latter method represents an attractive alternative in the context of MAVs for two reasons. First, the procedure is somewhat simplified (e.g. the lever-arm between the camera perspective and antenna phase centers does not need to be determined) and, second, its principle allows employing a single-frequency antenna and carrier-phase GNSS receiver. This reduces the cost of the system as well as the payload, which in turn increases the flying time.

Calibration of Galileo signals for time metrology.

PubMed

Defraigne, Pascale; Aerts, Wim; Cerretto, Giancarlo; Cantoni, Elena; Sleewaegen, Jean-Marie

2014-12-01

Using global navigation satellite system (GNSS) signals for accurate timing and time transfer requires the knowledge of all electric delays of the signals inside the receiving system. GNSS stations dedicated to timing or time transfer are classically calibrated only for Global Positioning System (GPS) signals. This paper proposes a procedure to determine the hardware delays of a GNSS receiving station for Galileo signals, once the delays of the GPS signals are known. This approach makes use of the broadcast satellite inter-signal biases, and is based on the ionospheric delay measured from dual-frequency combinations of GPS and Galileo signals. The uncertainty on the so-determined hardware delays is estimated to 3.7 ns for each isolated code in the L5 frequency band, and 4.2 ns for the ionosphere-free combination of E1 with a code of the L5 frequency band. For the calibration of a time transfer link between two stations, another approach can be used, based on the difference between the common-view time transfer results obtained with calibrated GPS data and with uncalibrated Galileo data. It is shown that the results obtained with this approach or with the ionospheric method are equivalent.

Combined Global Navigation Satellite Systems in the Space Service Volume

NASA Technical Reports Server (NTRS)

Force, Dale A.; Miller, James J.

2013-01-01

Besides providing position, velocity, and timing (PVT) for terrestrial users, the Global Positioning System (GPS) is also being used to provide PVT information for earth orbiting satellites. In 2006, F. H. Bauer, et. al., defined the Space Service Volume in the paper GPS in the Space Service Volume , presented at ION s 19th international Technical Meeting of the Satellite Division, and looked at GPS coverage for orbiting satellites. With GLONASS already operational, and the first satellites of the Galileo and Beidou/COMPASS constellations already in orbit, it is time to look at the use of the new Global Navigation Satellite Systems (GNSS) coming into service to provide PVT information for earth orbiting satellites. This presentation extends GPS in the Space Service Volume by examining the coverage capability of combinations of the new constellations with GPS GPS was first explored as a system for refining the position, velocity, and timing of other spacecraft equipped with GPS receivers in the early eighties. Because of this, a new GPS utility developed beyond the original purpose of providing position, velocity, and timing services for land, maritime, and aerial applications. GPS signals are now received and processed by spacecraft both above and below the GPS constellation, including signals that spill over the limb of the earth. Support of GPS space applications is now part of the system plan for GPS, and support of the Space Service Volume by other GNSS providers has been proposed to the UN International Committee on GNSS (ICG). GPS has been demonstrated to provide decimeter level position accuracy in real-time for satellites in low Earth orbit (centimeter level in non-real-time applications). GPS has been proven useful for satellites in geosynchronous orbit, and also for satellites in highly elliptical orbits. Depending on how many satellites are in view, one can keep time locked to the GNSS standard, and through that to Universal Time as long as at least one satellite is in view (the longest duration with no satellites in view is important in determining the maximum clock drift from GNSS time). Instantaneous position requires four satellites in view, but because orbital motion is predictable, it is possible to build up knowledge of the orbital position gradually through time without a need for constant four satellite coverage. However, it is desirable to have four satellite coverage when performing satellite maneuvers, since there can be significant changes in velocity, leading to large changes in orbit parameter, causing substantial divergence in position over time. The Space Service Volume has been defined as the volume between three thousand km altitude and geosynchronous altitude, and can be divided into medium orbit services between three thousand km altitude and eight thousand km altitude, and high orbit services above eight thousand km. The Terrestrial Service Volume includes the Earth s surface, the atmosphere, and space below the altitude of three thousand km. The Terrestrial Service Volume is the volume within which the GNSS systems will have very similar performance to the Earth surface, and satellites need only use the signals specified to provide terrestrial performance. Above three thousand km the use of signals passing by the Earth s limb becomes important, so it is desirable to have additional information on signal strength, phase delay, and group delay covering wider beam angles than are needed for terrestrial service (and which can be obtained by monitoring GNSS signals from the Earth s surface). This presentation will look at each of the new GNSS constellations in combination with GPS (GLONASS with GPS, Galileo with GPS, Beidou/COMPASS with GPS), and also at the combination of all four GNSS systems. The presentation will largely follow the format of GPS in the Space Service Volume , presenting data on the availability of one, two, three, or four of the various combinations of GNSS constellation satelles at approximately two thousand grid points evenly spaced and fixed in longitude and latitude, the duration of the longest single-fold outages (intervals when no satellites are available), and the duration of the longest four-fold outages (intervals when fewer than four satellites are available) at several altitudes. Following the original paper, we will use the altitudes of three hundred km (typical LEO satellite, and within the Terrestrial Service Volume), at three thousand km (border between Terrestrial Service Volume and Space Service Volume), at eight thousand km (the border between medium and high orbit service within the Space Service Volume), at fifteen thousand km (just below the GNSS constellations), at twenty five thousand km (just above the GNSS constellations), at thirty six thousand, five hundred km (limit of Space Service Volume definition, geosynchronous altitude), and at seventy thousand km (to show the potential usefulness of GNSS beyond geosynchronous altitude).

First Results of Field Absolute Calibration of the GPS Receiver Antenna at Wuhan University

PubMed Central

Hu, Zhigang; Zhao, Qile; Chen, Guo; Wang, Guangxing; Dai, Zhiqiang; Li, Tao

2015-01-01

GNSS receiver antenna phase center variations (PCVs), which arise from the non-spherical phase response of GNSS signals have to be well corrected for high-precision GNSS applications. Without using a precise antenna phase center correction (PCC) model, the estimated position of a station monument will lead to a bias of up to several centimeters. The Chinese large-scale research project “Crustal Movement Observation Network of China” (CMONOC), which requires high-precision positions in a comprehensive GPS observational network motived establishment of a set of absolute field calibrations of the GPS receiver antenna located at Wuhan University. In this paper the calibration facilities are firstly introduced and then the multipath elimination and PCV estimation strategies currently used are elaborated. The validation of estimated PCV values of test antenna are finally conducted, compared with the International GNSS Service (IGS) type values. Examples of TRM57971.00 NONE antenna calibrations from our calibration facility demonstrate that the derived PCVs and IGS type mean values agree at the 1 mm level. PMID:26580616

Variometric approach for real-time GNSS navigation: First demonstration of Kin-VADASE capabilities

NASA Astrophysics Data System (ADS)

Branzanti, Mara; Colosimo, Gabriele; Mazzoni, Augusto

2017-06-01

The use of Global Navigation Satellite Systems (GNSS) kinematic positioning for navigational applications dramatically increased over the last decade. Real-time high performance navigation (positioning accuracy from one to few centimeters) can be achieved with established techniques such as Real Time Kinematic (RTK), and Precise Point Positioning (PPP). Despite their potential, the application of these techniques is limited mainly by their high cost. This work proposes the Kinematic implementation of the Variometric Approach for Displacement Analysis Standalone Engine (Kin-VADASE) and gives a demonstration of its performances in the field of GNSS navigation. VADASE is a methodology for the real-time detection of a standalone GNSS receiver displacements. It was originally designed for seismology and monitoring applications, where the receiver is supposed to move for few minutes, in the range of few meters, around a predefined position. Kin-VADASE overcomes the aforementioned limitations and aims to be a complete methodology with fully kinematic capabilities. Here, for the first time, we present its application to two test cases in order to estimate high rate (i.e., 10 Hz) kinematic parameters of moving vehicles. In this demonstration, data are collected and processed in the office, but the same results can be obtained in real-time through the implementation of Kin-VADASE in the firmware of a GNSS receiver. All the Kin-VADASE processing were carried out using double and single frequency observations in order to investigate the potentialities of the software with geodetic class and low-cost single frequency receivers. Root Mean Square Errors in 3D with respect to differential positioning are at the level of 50 cm for dual frequency and better than 1 meter for single frequency data. This reveals how Kin-VADASE features the main advantage of the standalone approach and the single frequency capability and, although with slightly lower accuracy with respect to the established techniques, can be a valid alternative to estimate kinematic parameters of vehicle in motions.

Algorithm of reducing the false positives in IDS based on correlation Analysis

NASA Astrophysics Data System (ADS)

Liu, Jianyi; Li, Sida; Zhang, Ru

2018-03-01

This paper proposes an algorithm of reducing the false positives in IDS based on correlation Analysis. Firstly, the algorithm analyzes the distinguishing characteristics of false positives and real alarms, and preliminary screen the false positives; then use the method of attribute similarity clustering to the alarms and further reduces the amount of alarms; finally, according to the characteristics of multi-step attack, associated it by the causal relationship. The paper also proposed a reverse causation algorithm based on the attack association method proposed by the predecessors, turning alarm information into a complete attack path. Experiments show that the algorithm simplifies the number of alarms, improve the efficiency of alarm processing, and contribute to attack purposes identification and alarm accuracy improvement.

SeismoGeodesy: Combination of High Rate, Real-time GNSS and Accelerometer Observations and Rapid Seismic Event Notification for Earth Quake Early Warning and Volcano Monitoring

NASA Astrophysics Data System (ADS)

Jackson, Michael; Zimakov, Leonid; Moessmer, Matthias

2015-04-01

Scientific GNSS networks are moving towards a model of real-time data acquisition, epoch-by-epoch storage integrity, and on-board real-time position and displacement calculations. This new paradigm allows the integration of real-time, high-rate GNSS displacement information with acceleration and velocity data to create very high-rate displacement records. The mating of these two instruments allows the creation of a new, very high-rate (200 Hz) displacement observable that has the full-scale displacement characteristics of GNSS and high-precision dynamic motions of seismic technologies. It is envisioned that these new observables can be used for earthquake early warning studies, volcano monitoring, and critical infrastructure monitoring applications. Our presentation will focus on the characteristics of GNSS, seismic, and strong motion sensors in high dynamic environments, including historic earthquakes replicated on a shake table over a range of displacements and frequencies. We will explore the optimum integration of these sensors from a filtering perspective including simple harmonic impulses over varying frequencies and amplitudes and under the dynamic conditions of various earthquake scenarios. We will also explore the tradeoffs between various GNSS processing schemes including real-time precise point positioning (PPP) and real-time kinematic (RTK) as applied to seismogeodesy. In addition we will discuss implementation of a Rapid Seismic Event Notification System that provides quick delivery of digital data from seismic stations to the acquisition and processing center and a full data integrity model for real-time earthquake notification that provides warning prior to significant ground shaking.

Severe weather investigation using GNSS signals - a new dimension of GNSS meteorology

NASA Astrophysics Data System (ADS)

Rohm, W.; Zhang, K.; Choy, S.; Kuleshov, Y.; Bosy, J.; Kroszczyński, K.

2012-04-01

The Global Navigation Satellite Systems (GNSS) signals transmitted from satellites are subjected to atmospheric delays since the signals have to propagate through different layers of the atmosphere before GNSS receiver receives them. Two major distinctive effects according to the nature of the impact on the signal propagation are the ionosphere which is a dispersive media and the troposphere which is a non-dispersive layer. In this study, our focus of research is concentrated on the troposphere and the severe weather phenomena caused by midlatitude cyclonic storms. GNSS tomography technique is used to investigate both the spatial and temporal structures of a cyclonic storm. New algorithms will be developed based on optimal integrations of various observation techniques, such as ground-based meteorological measurements, radiosonde data, numerical weather prediction (NWP) models, GNSS radio occultation (RO) profiles. Our initial results suggest that the ground-based GNSS CORS stations will play a major role in the integration process. The structure and distribution of the GNSS CORS network and satellite constellations in context of size and resolution of tomography model are investigated along with the a priori information required, observation and estimation time interval and precision and accuracy needs. A number of numerical analyses are carried out using actual measurements in different parts of the world to evaluate the new algorithms developed through international collaboration. It is expected that GNSS tomography with a number of integrated measurements will provide an important insight into the vertical as well as the horizontal structure of different kinds of severe weather phenomena. It is also expected that GNSS tomography will become an important tool for the study of the severe weather processes, such as the development, maturation, and dissipation stages, which is complementary to other meteorological techniques such as weather radars and microwave radiometers. Potential usages of the new technique in real and/or near-real time would provide an exciting opportunity to launch monitoring and warning services that are able to offer vital information for community and decision makers.

Implementing real-time GNSS monitoring to investigate continental rift initiation processes

NASA Astrophysics Data System (ADS)

Jones, J. R.; Stamps, D. S.; Wauthier, C.; Daniels, M. D.; Saria, E.; Ji, K. H.; Mencin, D.; Ntambila, D.

2017-12-01

Continental rift initiation remains an elusive, yet fundamental, process in the context of plate tectonic theory. Our early work in the Natron Rift, Tanzania, the Earth's archetype continental rift initiation setting, indicates feedback between volcanic deformation and fault slip play a key role in the rift initiation process. We found evidence that fault slip on the Natron border fault during active volcanism at Ol Doniyo Lengai in 2008 required only 0.01 MPa of Coulomb stress change. This previous study was limited by GPS constraints 18 km from the volcano, rather than immediately adjacent on the rift shoulder. We hypothesize that fault slip adjacent to the volcano creeps, and without the need for active eruption. We also hypothesize silent slip events may occur over time-scales less than 1 day. To test our hypotheses we designed a GNSS network with 4 sites on the flanks of Ol Doinyo Lengai and 1 site on the adjacent Natron border fault with the capability to calculate 1 second, 3-5 cm precision positions. Data is transmitted to UNAVCO in real-time with remote satellite internet, which we automatically import to the EarthCube building block CHORDS (Cloud Hosted Real-time Data Services for the Geosciences) using our newly developed method. We use CHORDS to monitor and evaluate the health of our network while visualizing the GNSS data in real-time. In addition to our import method we have also developed user-friendly capabilities to export GNSS positions (longitude, latitude, height) with CHORDS assuming the data are available at UNAVCO in NMEA standardized format through the Networked Transport of RTCM via Internet Protocol (NTRIP). The ability to access the GNSS data that continuously monitors volcanic deformation, tectonics, and their interactions on and around Ol Doinyo Lengai is a crucial component in our investigation of continental rift initiation in the Natron Rift, Tanzania. Our new user-friendly methods developed to access and post-process real-time GNSS positioning data can also be used by others in the geodesy community that need 3-5 cm precision positions (longitude, latitude, height).

A collinearity diagnosis of the GNSS geocenter determination

NASA Astrophysics Data System (ADS)

Rebischung, Paul; Altamimi, Zuheir; Springer, Tim

2014-01-01

The problem of observing geocenter motion from global navigation satellite system (GNSS) solutions through the network shift approach is addressed from the perspective of collinearity (or multicollinearity) among the parameters of a least-squares regression. A collinearity diagnosis, based on the notion of variance inflation factor, is therefore developed and allows handling several peculiarities of the GNSS geocenter determination problem. Its application reveals that the determination of all three components of geocenter motion with GNSS suffers from serious collinearity issues, with a comparable level as in the problem of determining the terrestrial scale simultaneously with the GNSS satellite phase center offsets. The inability of current GNSS, as opposed to satellite laser ranging, to properly sense geocenter motion is mostly explained by the estimation, in the GNSS case, of epoch-wise station and satellite clock offsets simultaneously with tropospheric parameters. The empirical satellite accelerations, as estimated by most Analysis Centers of the International GNSS Service, slightly amplify the collinearity of the geocenter coordinate, but their role remains secondary.

Evaluation on the impact of IMU grades on BDS + GPS PPP/INS tightly coupled integration

NASA Astrophysics Data System (ADS)

Gao, Zhouzheng; Ge, Maorong; Shen, Wenbin; Li, You; Chen, Qijin; Zhang, Hongping; Niu, Xiaoji

2017-09-01

The unexpected observing environments in dynamic applications may lead to partial and/or complete satellite signal outages frequently, which can definitely impact on the positioning performance of the Precise Point Positioning (PPP) in terms of decreasing available satellite numbers, breaking the continuity of observations, and degrading PPP's positioning accuracy. Generally, both the Inertial Navigation System (INS) and the multi-constellation Global Navigation Satellite System (GNSS) can be used to enhance the performance of PPP. This paper introduces the mathematical models of the multi-GNSS PPP/INS Tightly Coupled Integration (TCI), and investigates its performance from several aspects. Specifically, it covers (1) the use of the BDS/GPS PPP, PPP/INS, and their combination; (2) three positioning modes including PPP, PPP/INS TCI, and PPP/INS Loosely Coupled Integration (LCI); (3) the use of four various INS systems named navigation grade, tactical grade, auto grade, and Micro-Electro-Mechanical-Sensors (MEMS) one; (4) three PPP observation scenarios including PPP available, partially available, and fully outage. According to the statistics results, (1) the positioning performance of the PPP/INS (either TCI or LCI) mode is insignificantly depended on the grade of inertial sensor, when there are enough available satellites; (2) after the complete GNSS outages, the TCI mode expresses both higher convergence speed and more accurate positioning solutions than the LCI mode. Furthermore, in the TCI mode, using a higher grade inertial sensor is beneficial for the PPP convergence; (3) under the partial GNSS outage situations, the PPP/INS TCI mode position divergence speed is also restrained significantly; and (4) the attitude determination accuracy of the PPP/INS integration is highly correlated with the grade of inertial sensor.

Deriving Animal Behaviour from High-Frequency GPS: Tracking Cows in Open and Forested Habitat

PubMed Central

de Weerd, Nelleke; van Langevelde, Frank; van Oeveren, Herman; Nolet, Bart A.; Kölzsch, Andrea; Prins, Herbert H. T.; de Boer, W. Fred

2015-01-01

The increasing spatiotemporal accuracy of Global Navigation Satellite Systems (GNSS) tracking systems opens the possibility to infer animal behaviour from tracking data. We studied the relationship between high-frequency GNSS data and behaviour, aimed at developing an easily interpretable classification method to infer behaviour from location data. Behavioural observations were carried out during tracking of cows (Bos Taurus) fitted with high-frequency GPS (Global Positioning System) receivers. Data were obtained in an open field and forested area, and movement metrics were calculated for 1 min, 12 s and 2 s intervals. We observed four behaviour types (Foraging, Lying, Standing and Walking). We subsequently used Classification and Regression Trees to classify the simultaneously obtained GPS data as these behaviour types, based on distances and turning angles between fixes. GPS data with a 1 min interval from the open field was classified correctly for more than 70% of the samples. Data from the 12 s and 2 s interval could not be classified successfully, emphasizing that the interval should be long enough for the behaviour to be defined by its characteristic movement metrics. Data obtained in the forested area were classified with a lower accuracy (57%) than the data from the open field, due to a larger positional error of GPS locations and differences in behavioural performance influenced by the habitat type. This demonstrates the importance of understanding the relationship between behaviour and movement metrics, derived from GNSS fixes at different frequencies and in different habitats, in order to successfully infer behaviour. When spatially accurate location data can be obtained, behaviour can be inferred from high-frequency GNSS fixes by calculating simple movement metrics and using easily interpretable decision trees. This allows for the combined study of animal behaviour and habitat use based on location data, and might make it possible to detect deviations in behaviour at the individual level. PMID:26107643

Deriving Animal Behaviour from High-Frequency GPS: Tracking Cows in Open and Forested Habitat.

PubMed

de Weerd, Nelleke; van Langevelde, Frank; van Oeveren, Herman; Nolet, Bart A; Kölzsch, Andrea; Prins, Herbert H T; de Boer, W Fred

2015-01-01

The increasing spatiotemporal accuracy of Global Navigation Satellite Systems (GNSS) tracking systems opens the possibility to infer animal behaviour from tracking data. We studied the relationship between high-frequency GNSS data and behaviour, aimed at developing an easily interpretable classification method to infer behaviour from location data. Behavioural observations were carried out during tracking of cows (Bos Taurus) fitted with high-frequency GPS (Global Positioning System) receivers. Data were obtained in an open field and forested area, and movement metrics were calculated for 1 min, 12 s and 2 s intervals. We observed four behaviour types (Foraging, Lying, Standing and Walking). We subsequently used Classification and Regression Trees to classify the simultaneously obtained GPS data as these behaviour types, based on distances and turning angles between fixes. GPS data with a 1 min interval from the open field was classified correctly for more than 70% of the samples. Data from the 12 s and 2 s interval could not be classified successfully, emphasizing that the interval should be long enough for the behaviour to be defined by its characteristic movement metrics. Data obtained in the forested area were classified with a lower accuracy (57%) than the data from the open field, due to a larger positional error of GPS locations and differences in behavioural performance influenced by the habitat type. This demonstrates the importance of understanding the relationship between behaviour and movement metrics, derived from GNSS fixes at different frequencies and in different habitats, in order to successfully infer behaviour. When spatially accurate location data can be obtained, behaviour can be inferred from high-frequency GNSS fixes by calculating simple movement metrics and using easily interpretable decision trees. This allows for the combined study of animal behaviour and habitat use based on location data, and might make it possible to detect deviations in behaviour at the individual level.

On the convergence of ionospheric constrained precise point positioning (IC-PPP) based on undifferential uncombined raw GNSS observations.

PubMed

Zhang, Hongping; Gao, Zhouzheng; Ge, Maorong; Niu, Xiaoji; Huang, Ling; Tu, Rui; Li, Xingxing

2013-11-18

Precise Point Positioning (PPP) has become a very hot topic in GNSS research and applications. However, it usually takes about several tens of minutes in order to obtain positions with better than 10 cm accuracy. This prevents PPP from being widely used in real-time kinematic positioning services, therefore, a large effort has been made to tackle the convergence problem. One of the recent approaches is the ionospheric delay constrained precise point positioning (IC-PPP) that uses the spatial and temporal characteristics of ionospheric delays and also delays from an a priori model. In this paper, the impact of the quality of ionospheric models on the convergence of IC-PPP is evaluated using the IGS global ionospheric map (GIM) updated every two hours and a regional satellite-specific correction model. Furthermore, the effect of the receiver differential code bias (DCB) is investigated by comparing the convergence time for IC-PPP with and without estimation of the DCB parameter. From the result of processing a large amount of data, on the one hand, the quality of the a priori ionosphere delays plays a very important role in IC-PPP convergence. Generally, regional dense GNSS networks can provide more precise ionosphere delays than GIM and can consequently reduce the convergence time. On the other hand, ignoring the receiver DCB may considerably extend its convergence, and the larger the DCB, the longer the convergence time. Estimating receiver DCB in IC-PPP is a proper way to overcome this problem. Therefore, current IC-PPP should be enhanced by estimating receiver DCB and employing regional satellite-specific ionospheric correction models in order to speed up its convergence for more practical applications.

On the Convergence of Ionospheric Constrained Precise Point Positioning (IC-PPP) Based on Undifferential Uncombined Raw GNSS Observations

PubMed Central

Zhang, Hongping; Gao, Zhouzheng; Ge, Maorong; Niu, Xiaoji; Huang, Ling; Tu, Rui; Li, Xingxing

2013-01-01

Precise Point Positioning (PPP) has become a very hot topic in GNSS research and applications. However, it usually takes about several tens of minutes in order to obtain positions with better than 10 cm accuracy. This prevents PPP from being widely used in real-time kinematic positioning services, therefore, a large effort has been made to tackle the convergence problem. One of the recent approaches is the ionospheric delay constrained precise point positioning (IC-PPP) that uses the spatial and temporal characteristics of ionospheric delays and also delays from an a priori model. In this paper, the impact of the quality of ionospheric models on the convergence of IC-PPP is evaluated using the IGS global ionospheric map (GIM) updated every two hours and a regional satellite-specific correction model. Furthermore, the effect of the receiver differential code bias (DCB) is investigated by comparing the convergence time for IC-PPP with and without estimation of the DCB parameter. From the result of processing a large amount of data, on the one hand, the quality of the a priori ionosphere delays plays a very important role in IC-PPP convergence. Generally, regional dense GNSS networks can provide more precise ionosphere delays than GIM and can consequently reduce the convergence time. On the other hand, ignoring the receiver DCB may considerably extend its convergence, and the larger the DCB, the longer the convergence time. Estimating receiver DCB in IC-PPP is a proper way to overcome this problem. Therefore, current IC-PPP should be enhanced by estimating receiver DCB and employing regional satellite-specific ionospheric correction models in order to speed up its convergence for more practical applications. PMID:24253190

Using forum-based competitions to improve sustainability and motivation in higher education GNSS learning - Chances and risks

NASA Astrophysics Data System (ADS)

Mayer, M.

2012-04-01

The learning strategies of students seem often to be economically adapted to framework requirements in order to achieve best possible examination performances, especially. For this reason, teachers often detect surface level learning characteristics (e.g., accepting facts uncritically, isolated fact storage, fact memorisation) within the learning concepts of students. Therefore, knowledge sustainability is often suffering. This is detectable when trying to build on knowledge of earlier lectures or lecture courses. In order to improve the sustainability of geodetic knowledge, case studies were carried out at the Geodetic Institute of the Karlsruhe Institute of Technology (Karlsruhe, Germany) within the lecture course "Introduction into GNSS positioning". The lecture course "Introduction into GNSS positioning" is a compulsory part of the Bachelor study course "Geodesy and Geoinformatics" and also a supplementary module of the Bachelor study course "Geophysics". The lecture course is aiming for transferring basic knowledge and basic principles of Global Navigation Satellite Systems (e.g., GPS). During the winter semesters 2010/11 and 2011/12 ten resp. 15 students visited this compulsory attendance lecture course. In addition to classroom lectures and practical training (e.g., field exercises), a forum-based competition was included and tested using the forum feature of the learning management system ILIAS. According to the Bologna Declaration, a special focus of the innovative competition concept is on competence-related learning. The developed eLearning-related competition concept supports and motivates the students to learn more sustainable. In addition, the students have to be creative and have to deal with GNSS factual knowledge in order to win the competition. Within the presentation, the didactical concept of the enriched blended learning lecture course and the competition-based case study are discussed. The rules of the competition are presented in detail. During the semesters, the motivation and the amount of effort (e.g., time requirement of learning and teaching) were examined regularly. These parameters are going to be discussed as well. Based on the gained experiences, the forum-based sustainability competition has proofed to be an effective tool, which can contribute significantly to an increased sustainability of students' learning. In addition, the developed forum-based competition concept can be easily transferred to other lecture courses, especially focusing on factual knowledge.

Crustal block motion model and interplate coupling along Ecuador-Colombia trench based on GNSS observation network

NASA Astrophysics Data System (ADS)

Ito, T.; Mora-Páez, H.; Peláez-Gaviria, J. R.; Kimura, H.; Sagiya, T.

2017-12-01

IntroductionEcuador-Colombia trench is located at the boundary between South-America plate, Nazca Plate and Caribrian plate. This region is very complexes such as subducting Caribrian plate and Nazca plate, and collision between Panama and northern part of the Andes mountains. The previous large earthquakes occurred along the subducting boundary of Nazca plate, such as 1906 (M8.8) and 1979 (M8.2). And also, earthquakes occurred inland, too. So, it is important to evaluate earthquake potentials for preparing huge damage due to large earthquake in near future. GNSS observation In the last decade, the GNSS observation was established in Columbia. The GNSS observation is called by GEORED, which is operated by servicing Geologico Colomiano. The purpose of GEORED is research of crustal deformation. The number of GNSS site of GEORED is consist of 60 continuous GNSS observation site at 2017 (Mora et al., 2017). The sampling interval of almost GNSS site is 30 seconds. These GNSS data were processed by PPP processing using GIPSY-OASYS II software. GEORED can obtain the detailed crustal deformation map in whole Colombia. In addition, we use 100 GNSS data at Ecuador-Peru region (Nocquet et al. 2014). Method We developed a crustal block movements model based on crustal deformation derived from GNSS observation. Our model considers to the block motion with pole location and angular velocity and the interplate coupling between each block boundaries, including subduction between the South-American plate and the Nazca plate. And also, our approach of estimation of crustal block motion and coefficient of interplate coupling are based on MCMC method. The estimated each parameter is obtained probably density function (PDF). Result We tested 11 crustal block models based on geological data, such as active fault trace at surface. The optimal number of crustal blocks is 11 for based on geological and geodetic data using AIC. We use optimal block motion model. And also, we estimate interplate coupling along the plate interface and rigid block motion. We can evaluate to contribution of elastic deformation and rigid motion. In result, weak plate coupling was found northern part of 3 degree in latitude. Almost crustal deformation are explained by rigid block motion.

Insensitivity of GNSS to geocenter motion through the network shift approach (Invited)

NASA Astrophysics Data System (ADS)

Rebischung, P.; Altamimi, Z.; Springer, T.

2013-12-01

As a satellite-based technique, GNSS should be sensitive to motions of the Earth's center of mass (CM) with respect to the Earth's crust. In theory, the weekly solutions of the Analysis Centers of the International GNSS Service (IGS ACs) should indeed have the "instantaneous" CM as their origin, and the net translations between the weekly AC frames and a secular frame such as ITRF2008 should thus approximate the non-linear motion of CM with respect to the Earth's center of figure. However, the comparison of the AC translation time series with each other, with SLR geocenter estimates or with geophysical models reveals that this way of observing geocenter motion with GNSS currently gives unreliable results. We addressed the problem of observing geocenter motion with GNSS through this network shift approach from the perspective of collinearity (or multicollinearity) among the parameters of a least-squares regression. A collinearity diagnosis, based on the notion of variance inflation factor, was therefore developed and allows handling several peculiarities of the GNSS geocenter determination problem. Its application reveals that the determination of all three components of geocenter motion with GNSS suffers from serious collinearity issues, with a comparable level as in the problem of determining the terrestrial scale simultaneously with the GNSS satellite phase center offsets. We show that the inability of current GNSS, as opposed to Satellite Laser Ranging (SLR), to properly sense geocenter motion is mostly explained by the estimation, in the GNSS case, of epoch-wise station and satellite clock offsets simultaneously with tropospheric parameters. The empirical satellite accelerations, as estimated by most IGS ACs, slightly amplify the collinearity of the Z geocenter coordinate, but their role remains secondary.

Individual Global Navigation Satellite Systems in the Space Service Volume

NASA Technical Reports Server (NTRS)

Force, Dale A.

2015-01-01

Besides providing position, navigation, and timing (PNT) to terrestrial users, GPS is currently used to provide for precision orbit determination, precise time synchronization, real-time spacecraft navigation, and three-axis control of Earth orbiting satellites. With additional Global Navigation Satellite Systems (GNSS) coming into service (GLONASS, Beidou, and Galileo), it will be possible to provide these services by using other GNSS constellations. The paper, "GPS in the Space Service Volume," presented at the ION GNSS 19th International Technical Meeting in 2006 (Ref. 1), defined the Space Service Volume, and analyzed the performance of GPS out to 70,000 km. This paper will report a similar analysis of the performance of each of the additional GNSS and compare them with GPS alone. The Space Service Volume, defined as the volume between 3,000 km altitude and geosynchronous altitude, as compared with the Terrestrial Service Volume between the surface and 3,000 km. In the Terrestrial Service Volume, GNSS performance will be similar to performance on the Earth's surface. The GPS system has established signal requirements for the Space Service Volume. A separate paper presented at the conference covers the use of multiple GNSS in the Space Service Volume.

A new approach for improving reliability of personal navigation devices under harsh GNSS signal conditions.

PubMed

Dhital, Anup; Bancroft, Jared B; Lachapelle, Gérard

2013-11-07

In natural and urban canyon environments, Global Navigation Satellite System (GNSS) signals suffer from various challenges such as signal multipath, limited or lack of signal availability and poor geometry. Inertial sensors are often employed to improve the solution continuity under poor GNSS signal quality and availability conditions. Various fault detection schemes have been proposed in the literature to detect and remove biased GNSS measurements to obtain a more reliable navigation solution. However, many of these methods are found to be sub-optimal and often lead to unavailability of reliability measures, mostly because of the improper characterization of the measurement errors. A robust filtering architecture is thus proposed which assumes a heavy-tailed distribution for the measurement errors. Moreover, the proposed filter is capable of adapting to the changing GNSS signal conditions such as when moving from open sky conditions to deep canyons. Results obtained by processing data collected in various GNSS challenged environments show that the proposed scheme provides a robust navigation solution without having to excessively reject usable measurements. The tests reported herein show improvements of nearly 15% and 80% for position accuracy and reliability, respectively, when applying the above approach.

A New Approach for Improving Reliability of Personal Navigation Devices under Harsh GNSS Signal Conditions

PubMed Central

Dhital, Anup; Bancroft, Jared B.; Lachapelle, Gérard

2013-01-01

In natural and urban canyon environments, Global Navigation Satellite System (GNSS) signals suffer from various challenges such as signal multipath, limited or lack of signal availability and poor geometry. Inertial sensors are often employed to improve the solution continuity under poor GNSS signal quality and availability conditions. Various fault detection schemes have been proposed in the literature to detect and remove biased GNSS measurements to obtain a more reliable navigation solution. However, many of these methods are found to be sub-optimal and often lead to unavailability of reliability measures, mostly because of the improper characterization of the measurement errors. A robust filtering architecture is thus proposed which assumes a heavy-tailed distribution for the measurement errors. Moreover, the proposed filter is capable of adapting to the changing GNSS signal conditions such as when moving from open sky conditions to deep canyons. Results obtained by processing data collected in various GNSS challenged environments show that the proposed scheme provides a robust navigation solution without having to excessively reject usable measurements. The tests reported herein show improvements of nearly 15% and 80% for position accuracy and reliability, respectively, when applying the above approach. PMID:24212120

Performance Analysis on Carrier Phase-Based Tightly-Coupled GPS/BDS/INS Integration in GNSS Degraded and Denied Environments

PubMed Central

Han, Houzeng; Wang, Jian; Wang, Jinling; Tan, Xinglong

2015-01-01

The integration of Global Navigation Satellite Systems (GNSS) carrier phases with Inertial Navigation System (INS) measurements is essential to provide accurate and continuous position, velocity and attitude information, however it is necessary to fix ambiguities rapidly and reliably to obtain high accuracy navigation solutions. In this paper, we present the notion of combining the Global Positioning System (GPS), the BeiDou Navigation Satellite System (BDS) and low-cost micro-electro-mechanical sensors (MEMS) inertial systems for reliable navigation. An adaptive multipath factor-based tightly-coupled (TC) GPS/BDS/INS integration algorithm is presented and the overall performance of the integrated system is illustrated. A twenty seven states TC GPS/BDS/INS model is adopted with an extended Kalman filter (EKF), which is carried out by directly fusing ambiguity fixed double-difference (DD) carrier phase measurements with the INS predicted pseudoranges to estimate the error states. The INS-aided integer ambiguity resolution (AR) strategy is developed by using a dynamic model, a two-step estimation procedure is applied with adaptively estimated covariance matrix to further improve the AR performance. A field vehicular test was carried out to demonstrate the positioning performance of the combined system. The results show the TC GPS/BDS/INS system significantly improves the single-epoch AR reliability as compared to that of GPS/BDS-only or single satellite navigation system integrated strategy, especially for high cut-off elevations. The AR performance is also significantly improved for the combined system with adaptive covariance matrix in the presence of low elevation multipath related to the GNSS-only case. A total of fifteen simulated outage tests also show that the time to relock of the GPS/BDS signals is shortened, which improves the system availability. The results also indicate that TC integration system achieves a few centimeters accuracy in positioning based on the comparison analysis and covariance analysis, even in harsh environments (e.g., in urban canyons), thus we can see the advantage of positioning at high cut-off elevations that the combined GPS/BDS brings. PMID:25875191

Performance analysis on carrier phase-based tightly-coupled GPS/BDS/INS integration in GNSS degraded and denied environments.

PubMed

Han, Houzeng; Wang, Jian; Wang, Jinling; Tan, Xinglong

2015-04-14

The integration of Global Navigation Satellite Systems (GNSS) carrier phases with Inertial Navigation System (INS) measurements is essential to provide accurate and continuous position, velocity and attitude information, however it is necessary to fix ambiguities rapidly and reliably to obtain high accuracy navigation solutions. In this paper, we present the notion of combining the Global Positioning System (GPS), the BeiDou Navigation Satellite System (BDS) and low-cost micro-electro-mechanical sensors (MEMS) inertial systems for reliable navigation. An adaptive multipath factor-based tightly-coupled (TC) GPS/BDS/INS integration algorithm is presented and the overall performance of the integrated system is illustrated. A twenty seven states TC GPS/BDS/INS model is adopted with an extended Kalman filter (EKF), which is carried out by directly fusing ambiguity fixed double-difference (DD) carrier phase measurements with the INS predicted pseudoranges to estimate the error states. The INS-aided integer ambiguity resolution (AR) strategy is developed by using a dynamic model, a two-step estimation procedure is applied with adaptively estimated covariance matrix to further improve the AR performance. A field vehicular test was carried out to demonstrate the positioning performance of the combined system. The results show the TC GPS/BDS/INS system significantly improves the single-epoch AR reliability as compared to that of GPS/BDS-only or single satellite navigation system integrated strategy, especially for high cut-off elevations. The AR performance is also significantly improved for the combined system with adaptive covariance matrix in the presence of low elevation multipath related to the GNSS-only case. A total of fifteen simulated outage tests also show that the time to relock of the GPS/BDS signals is shortened, which improves the system availability. The results also indicate that TC integration system achieves a few centimeters accuracy in positioning based on the comparison analysis and covariance analysis, even in harsh environments (e.g., in urban canyons), thus we can see the advantage of positioning at high cut-off elevations that the combined GPS/BDS brings.

USGS GNSS Applications to Earthquake Disaster Response and Hazard Mitigation

NASA Astrophysics Data System (ADS)

Hudnut, K. W.; Murray, J. R.; Minson, S. E.

2015-12-01

Rapid characterization of earthquake rupture is important during a disaster because it establishes which fault ruptured and the extent and amount of fault slip. These key parameters, in turn, can augment in situ seismic sensors for identifying disruption to lifelines as well as localized damage along the fault break. Differential GNSS station positioning, along with imagery differencing, are important methods for augmenting seismic sensors. During response to recent earthquakes (1989 Loma Prieta, 1992 Landers, 1994 Northridge, 1999 Hector Mine, 2010 El Mayor - Cucapah, 2012 Brawley Swarm and 2014 South Napa earthquakes), GNSS co-seismic and post-seismic observations proved to be essential for rapid earthquake source characterization. Often, we find that GNSS results indicate key aspects of the earthquake source that would not have been known in the absence of GNSS data. Seismic, geologic, and imagery data alone, without GNSS, would miss important details of the earthquake source. That is, GNSS results provide important additional insight into the earthquake source properties, which in turn help understand the relationship between shaking and damage patterns. GNSS also adds to understanding of the distribution of slip along strike and with depth on a fault, which can help determine possible lifeline damage due to fault offset, as well as the vertical deformation and tilt that are vitally important for gravitationally driven water systems. The GNSS processing work flow that took more than one week 25 years ago now takes less than one second. Formerly, portable receivers needed to be set up at a site, operated for many hours, then data retrieved, processed and modeled by a series of manual steps. The establishment of continuously telemetered, continuously operating high-rate GNSS stations and the robust automation of all aspects of data retrieval and processing, has led to sub-second overall system latency. Within the past few years, the final challenges of standardization and adaptation to the existing framework of the ShakeAlert earthquake early warning system have been met, such that real-time GNSS processing and input to ShakeAlert is now routine and in use. Ongoing adaptation and testing of algorithms remain the last step towards fully operational incorporation of GNSS into ShakeAlert by USGS and its partners.

The storm-time assessment of GNSS-SBAS performance within low latitude African region using a testbed-like platform

NASA Astrophysics Data System (ADS)

Abe, O. E.; Paparini, C.; Ngaya, R. H.; Otero Villamide, X.; Radicella, S. M.; Nava, B.

2017-09-01

A Satellite Based Augmentation System (SBAS) is designed to improve Global Navigation Satellite Systems (GNSS) in terms of integrity, accuracy, availability and continuity. The main limitation to SBAS performance optimization is the ionosphere, and this is more critical in low latitude. During geomagnetically disturbed periods the role of storm-time winds is important because they modify the atmospheric composition toward low latitudes. An index of ionospheric disturbance, the relative percentage of deviation of the vertical Total Electron Content (TEC) from the quiet level (DvTEC) at each station was evaluated to study positive and negative phases of the geomagnetic storms. The rate of change of TEC index (ROTI) over all the GNSS stations was estimated to evaluate equatorial ionospheric gradients and irregularities. From the study it is observed that the positive deviations are more frequent than negative ones. The availability map, which is the mean of the combine Vertical Protection Level (VPL) and Horizontal Protection Level (HPL) are used for the SBAS performance. The cases of moderate and minor storms studied during the months of July and October 2013 showed that the SBAS system performance during the disturbed periods depends on the local time in which the storm occurs, geographic longitude and other phenomena that need further study. During the storm-time conditions considered, three out of seven geomagnetic storms indicated good SBAS performance and exceed monthly average of the availability map, three geomagnetic storms reduced the system performance below monthly average while one does not have effect on SBAS system performance in respect to monthly average. The present study indicates ROTI as a better proxy than geomagnetic indices for the assessment of storm-time effects on GNSS-SBAS performance.

SNR and Standard Deviation of cGNSS-R and iGNSS-R Scatterometric Measurements.

PubMed

Alonso-Arroyo, Alberto; Querol, Jorge; Lopez-Martinez, Carlos; Zavorotny, Valery U; Park, Hyuk; Pascual, Daniel; Onrubia, Raul; Camps, Adriano

2017-01-19

This work addresses the accuracy of the Global Navigation Satellite Systems (GNSS)-Reflectometry (GNSS-R) scatterometric measurements considering the presence of both coherent and incoherent scattered components, for both conventional GNSS-R (cGNSS-R) and interferometric GNSS-R (iGNSS-R) techniques. The coherent component is present for some type of surfaces, and it has been neglected until now because it vanishes for the sea surface scattering case. Taking into account the presence of both scattering components, the estimated Signal-to-Noise Ratio (SNR) for both techniques is computed based on the detectability criterion, as it is done in conventional GNSS applications. The non-coherent averaging operation is considered from a general point of view, taking into account that thermal noise contributions can be reduced by an extra factor of 0.88 dB when using partially overlapped or partially correlated samples. After the SNRs are derived, the received waveform's peak variability is computed, which determines the system's capability to measure geophysical parameters. This theoretical derivations are applied to the United Kingdom (UK) TechDemoSat-1 (UK TDS-1) and to the future GNSS REflectometry, Radio Occultation and Scatterometry on board the International Space Station (ISS) (GEROS-ISS) scenarios, in order to estimate the expected scatterometric performance of both missions.

a Redundant Gnss-Ins Low-Cost Uav Navigation Solution for Professional Applications

NASA Astrophysics Data System (ADS)

Navarro, J.; Parés, M. E.; Colomina, I.; Bianchi, G.; Pluchino, S.; Baddour, R.; Consoli, A.; Ayadi, J.; Gameiro, A.; Sekkas, O.; Tsetsos, V.; Gatsos, T.; Navoni, R.

2015-08-01

This paper presents the current results for the FP7 GINSEC project. Its goal is to build a pre-commercial prototype of a low-cost, accurate and reliable system for the professional UAV market. Low-cost, in this context, stands for the use of sensors in the most affordable segment of the market, especially MEMS IMUs and GNSS receivers. Reliability applies to the ability of the autopilot to cope with situations where unfavourable GNSS reception conditions or strong electromagnetic fields make the computation of the position and / or attitude of the UAV difficult. Professional and accurate mean that, at least using post-processing techniques as PPP, it will be possible to reach cm-level precisions that open the door to a range of applications demanding high levels of quality in positioning, as precision agriculture or mapping. To achieve such goal, a rigorous sensor error modelling approach, the use of redundant IMUs and a dual-GNSS receiver setup, together with close-coupling techniques and an extended Kalman filter with self-analysis capabilities have been used. Although the project is not yet complete, the results obtained up to now prove the feasibility of the aforementioned goal, especially in those aspects related to position determination. Research work is still undergoing to estimate the heading using a dual-GNNS receiver setup; preliminary results prove the validity of this approach for relatively long baselines, although positive results are expected when these are shorter than 1 m - which is a necessary requisite for small-sized UAVs.

a Precise, Low-Cost Rtk Gnss System for Uav Applications

NASA Astrophysics Data System (ADS)

Stempfhuber, W.; Buchholz, M.

2011-09-01

High accuracy with real-time positioning of moving objects has been considered a standard task of engineering geodesy for 10 to 15 years. An absolute positioning accuracy of 1-3 cm is generally possible worldwide and is further used in many areas of machine guidance (machine control and guidance), and farming (precision farming) as well as for various special applications (e.g. railway trolley, mining, etc.). The cost of the measuring instruments required for the use of geodetic L1/L2 receivers with a local reference station amounts to approximately USD 30,000 to 50,000. Therefore, dual frequency RTK GNSS receivers are not used in the mass market. Affordable GPS/GNSS modules have already reached the mass market in various areas such as mobile phones, car navigation, the leisure industry, etc. Kinematic real-time positioning applications with centimetre or decimetre levels could also evolve into a mass product. In order for this to happen, the costs for such systems must lie between USD 1,000 to 2,000. What exactly low-cost means is determined by the precise specifications of the given individual application. Several university studies in geodesy focus on the approach of high-accuracy positioning by means of single frequency receivers for static applications [e.g. GLABSCH et. al. 2009, SCHWIEGER and GLÄSER 2005, ALKAN 2010, REALINI et. al. 2010, KORTH and HOFMANN 2011]. Although intelligent approaches have been developed that compute a trajectory in the post-processing mode [REALINI et. al., 2010], at present, there are only a very few GNSS Low-Cost Systems that enable real-time processing. This approach to precise position determination by means of the computation of static raw data with single frequency receivers is currently being explored in a research project at the Beuth Hochschule für Technik Berlin - and is being further developed for kinematic applications. The project is embedded in the European Social Fund. It is a follow-up project in the area of static positioning with single GNSS frequency receivers [KORTH and HOFMANN, 2011].

Space and ground-based GNSS activities at NOAA

NASA Astrophysics Data System (ADS)

Cucurull, L.

2016-12-01

With the launch of the FORMOSAT-3/COSMIC satellites in April 2006, the availability of Global Navigation Satellite Systems (GNSS) Radio Occultation (RO) observations for operational Numerical Weather Prediction (NWP) applications began. GNSS RO profiles started being assimilated operationally in the major worldwide weather centers soon after. NOAA started assimilating RO data operationally in early 2007. After COSMIC, other missions carrying GNSS RO receivers became available for operational uses. The incorporation of RO observations into the operational assimilation systems was shown to improve global model forecast skill. Since its launch in 2006, the COSMIC constellation has been the mainstay of the global RO system. However, COSMIC is already past the end of its formal lifetime, and only three satellites are still operating. This has motivated NOAA to invest on the COSMIC-2 mission, a 12-satellite constellation, that will replace COSMIC. The first launch, in equatorial orbit, is planned for March 2017. In addition to the space-based component of the GNSS technique, NOAA is assimilating ground-based products into its operational regional models. Although most stations over CONUS provide estimates of Precipitable Water (PW), this is not the case outside the U.S., where the required auxiliary meteorological information is generally not available. Thus, in order to evaluate the impact of ground-based GNSS products on a global weather model, the assimilation of less derived products, such as zenith total delays, rather than PW, is necessary. The talk will include an update on current activities and future plans for the utilization of space and ground-based GNSS products at NOAA. In addition, an update on the COSMIC-2 mission will be discussed.

The Location GNSS Modules for the Components of Proteus System

NASA Astrophysics Data System (ADS)

Brzostowski, K.; Darakchiev, R.; Foks-Ryznar, A.; Sitek, P.

2012-01-01

The Proteus system - the Integrated Mobile System for Counterterrorism and Rescue Operations is a complex innovative project. To assure the best possible localization of mobile components of the system, many different Global Navigation Satellite System (GNSS) modules were taken into account. In order to chose the best solution many types of tests were done. Full results and conclusions are presented in this paper. The idea of measurements was to test modules in GPS Standard Positioning Service (SPS) with EGNOS system specification according to certain algorithms. The tests had to answer the question: what type of GNSS modules should be used on different components with respect to specific usage of Proteus system. The second goal of tests was to check the solution quality of integrated GNSS/INS (Inertial Navigation System) and its possible usage in some Proteus system components.

Generation of real-time global ionospheric map based on the global GNSS stations with only a sparse distribution

NASA Astrophysics Data System (ADS)

Li, Zishen; Wang, Ningbo; Li, Min; Zhou, Kai; Yuan, Yunbin; Yuan, Hong

2017-04-01

The Earth's ionosphere is part of the atmosphere stretching from an altitude of about 50 km to more than 1000 km. When the Global Navigation Satellite System (GNSS) signal emitted from a satellite travels through the ionosphere before reaches a receiver on or near the Earth surface, the GNSS signal is significantly delayed by the ionosphere and this delay bas been considered as one of the major errors in the GNSS measurement. The real-time global ionospheric map calculated from the real-time data obtained by global stations is an essential method for mitigating the ionospheric delay for real-time positioning. The generation of an accurate global ionospheric map generally depends on the global stations with dense distribution; however, the number of global stations that can produce the real-time data is very limited at present, which results that the generation of global ionospheric map with a high accuracy is very different when only using the current stations with real-time data. In view of this, a new approach is proposed for calculating the real-time global ionospheric map only based on the current stations with real-time data. This new approach is developed on the basis of the post-processing and the one-day predicted global ionospheric map from our research group. The performance of the proposed approach is tested by the current global stations with the real-time data and the test results are also compared with the IGS-released final global ionospheric map products.

Multi-GNSS signal-in-space range error assessment - Methodology and results

NASA Astrophysics Data System (ADS)

Montenbruck, Oliver; Steigenberger, Peter; Hauschild, André

2018-06-01

The positioning accuracy of global and regional navigation satellite systems (GNSS/RNSS) depends on a variety of influence factors. For constellation-specific performance analyses it has become common practice to separate a geometry-related quality factor (the dilution of precision, DOP) from the measurement and modeling errors of the individual ranging measurements (known as user equivalent range error, UERE). The latter is further divided into user equipment errors and contributions related to the space and control segment. The present study reviews the fundamental concepts and underlying assumptions of signal-in-space range error (SISRE) analyses and presents a harmonized framework for multi-GNSS performance monitoring based on the comparison of broadcast and precise ephemerides. The implications of inconsistent geometric reference points, non-common time systems, and signal-specific range biases are analyzed, and strategies for coping with these issues in the definition and computation of SIS range errors are developed. The presented concepts are, furthermore, applied to current navigation satellite systems, and representative results are presented along with a discussion of constellation-specific problems in their determination. Based on data for the January to December 2017 time frame, representative global average root-mean-square (RMS) SISRE values of 0.2 m, 0.6 m, 1 m, and 2 m are obtained for Galileo, GPS, BeiDou-2, and GLONASS, respectively. Roughly two times larger values apply for the corresponding 95th-percentile values. Overall, the study contributes to a better understanding and harmonization of multi-GNSS SISRE analyses and their use as key performance indicators for the various constellations.

Geodetic Finite-Fault-based Earthquake Early Warning Performance for Great Earthquakes Worldwide

NASA Astrophysics Data System (ADS)

Ruhl, C. J.; Melgar, D.; Grapenthin, R.; Allen, R. M.

2017-12-01

GNSS-based earthquake early warning (EEW) algorithms estimate fault-finiteness and unsaturated moment magnitude for the largest, most damaging earthquakes. Because large events are infrequent, algorithms are not regularly exercised and insufficiently tested on few available datasets. The Geodetic Alarm System (G-larmS) is a GNSS-based finite-fault algorithm developed as part of the ShakeAlert EEW system in the western US. Performance evaluations using synthetic earthquakes offshore Cascadia showed that G-larmS satisfactorily recovers magnitude and fault length, providing useful alerts 30-40 s after origin time and timely warnings of ground motion for onshore urban areas. An end-to-end test of the ShakeAlert system demonstrated the need for GNSS data to accurately estimate ground motions in real-time. We replay real data from several subduction-zone earthquakes worldwide to demonstrate the value of GNSS-based EEW for the largest, most damaging events. We compare predicted ground acceleration (PGA) from first-alert-solutions with those recorded in major urban areas. In addition, where applicable, we compare observed tsunami heights to those predicted from the G-larmS solutions. We show that finite-fault inversion based on GNSS-data is essential to achieving the goals of EEW.

Impacts of GNSS position offsets on global frame stability

NASA Astrophysics Data System (ADS)

Griffiths, Jake; Ray, Jim

2015-04-01

Positional offsets appear in Global Navigation Satellite System (GNSS) time series for a variety of reasons. Antenna or radome changes are the most common cause for these discontinuities. Many others are from earthquakes, receiver changes, and different anthropogenic modifications at or near the stations. Some jumps appear for unknown or undocumented reasons. Accurate determination of station velocities, and therefore geophysical parameters and terrestrial reference frames, requires that positional offsets be correctly found and compensated. Williams (2003) found that undetected offsets introduce a random walk error component in individual station time series. The topic of detecting positional offsets has received considerable attention in recent years (e.g., Detection of Offsets in GPS Experiment; DOGEx), and most research groups using GNSS have adopted a mix of manual and automated methods for finding them. The removal of a positional offset from a time series is usually handled by estimating the average station position on both sides of the discontinuity. Except for large earthquake events, the velocity is usually assumed constant and continuous across the positional jump. This approach is sufficient in the absence of time-correlated errors. However, GNSS time series contain periodic and power-law (flicker) errors. In this paper, we evaluate the impact to individual station results and the overall stability of the global reference frame from adding increasing numbers of positional discontinuities. We use the International GNSS Service (IGS) weekly SINEX files, and iteratively insert positional offset parameters. Each iteration includes a restacking of the modified SINEX files using the CATREF software from Institut National de l'Information Géographique et Forestière (IGN). Comparisons of successive stacked solutions are used to assess the impacts on the time series of x-pole and y-pole offsets, along with changes in regularized position and secular velocity for stations with more than 2.5 years of data. Our preliminary results indicate that the change in polar motion scatter is logarithmic with increasing numbers of discontinuities. The best-fit natural logarithm to the changes in scatter for x-pole has R2 = 0.58; the fit for the y-pole series has R2 = 0.99. From these empirical functions, we find that polar motion scatter increases from zero when the total rate of discontinuities exceeds 0.2 (x-pole) and 1.3 (y-pole) per station, on average (the IGS has 0.65 per station). Thus, the presence of position offsets in GNSS station time series is likely already a contributor to IGS polar motion inaccuracy and global frame instability. Impacts to station position and velocity estimates depend on noise features found in that station's positional time series. For instance, larger changes in velocity occur for stations with shorter and noisier data spans. This is because an added discontinuity parameter for an individual station time series can induce changes in average position on both sides of the break. We will expand on these results, and consider remaining questions about the role of velocity discontinuities and the effects caused by non-core reference frame stations.

Performance Improvement of Receivers Based on Ultra-Tight Integration in GNSS-Challenged Environments

PubMed Central

Qin, Feng; Zhan, Xingqun; Du, Gang

2013-01-01

Ultra-tight integration was first proposed by Abbott in 2003 with the purpose of integrating a global navigation satellite system (GNSS) and an inertial navigation system (INS). This technology can improve the tracking performances of a receiver by reconfiguring the tracking loops in GNSS-challenged environments. In this paper, the models of all error sources known to date in the phase lock loops (PLLs) of a standard receiver and an ultra-tightly integrated GNSS/INS receiver are built, respectively. Based on these models, the tracking performances of the two receivers are compared to verify the improvement due to the ultra-tight integration. Meanwhile, the PLL error distributions of the two receivers are also depicted to analyze the error changes of the tracking loops. These results show that the tracking error is significantly reduced in the ultra-tightly integrated GNSS/INS receiver since the receiver's dynamics are estimated and compensated by an INS. Moreover, the mathematical relationship between the tracking performances of the ultra-tightly integrated GNSS/INS receiver and the quality of the selected inertial measurement unit (IMU) is derived from the error models and proved by the error comparisons of four ultra-tightly integrated GNSS/INS receivers aided by different grade IMUs.

Remote sensing of the coastal ocean with standard geodetic GNSS-equipment

NASA Astrophysics Data System (ADS)

Löfgren, J. S.; Haas, R.; Larson, K. M.; Scherneck, H.-G.

2012-04-01

We use standard geodetic Global Navigation Satellite System (GNSS) equipment to perform remote sensing measurements of the coastal ocean. This is done by a so-called GNSS-based tide gauge that uses both direct GNSS-signals and GNSS-signals that are reflected off the sea surface. Our installation is located at the Onsala Space Observatory (OSO) at the west coast of Sweden and consists of a zenith-looking Right Hand Circularly Polarized (RHCP) and a nadir-looking Left Hand Circularly Polarized (LHCP) antenna. Each antenna is connected to a standard geodetic-type GNSS-receiver. We applied two different analysis strategies to our GNSS data set. The first strategy is based on a traditional geodetic differential analysis [Löfgren et al., 2011] and makes use of the data from both receivers; connected to the zenith and the nadir looking antennae. This approach results in local sea level that is automatically corrected for land motion, meaning that the GNSS-based tide gauge can provide reliable sea-level estimates even in tectonic active regions. The second strategy focuses on the Signal-to-Noise Ratio (SNR) recorded with the receiver connected to the zenith-looking antenna [Larson et al., 2011]. The SNR is affected by multipath originating from the sea surface reflections. Analysis of the SNR data allows to determine the distance between the antenna and the reflecting surface, and thus to measure sea surface height. Results from both analysis strategies are compared to independently observed sea-level data from two stilling-well gauges operated by the Swedish Meteorological and Hydrological Institute (SMHI), which lie in a distance of several km from OSO. The root-mean-square agreement between the different time series of several month's length is on the order of 5 cm and better. These results indicate the large potential for using coastal GNSS-sites for the monitoring of the coastal ocean.

Space-based augmentation for global navigation satellite systems.

PubMed

Grewal, Mohinder S

2012-03-01

This paper describes space-based augmentation for global navigation satellite systems (GNSS). Space-based augmentations increase the accuracy and integrity of the GNSS, thereby enhancing users' safety. The corrections for ephemeris, ionospheric delay, and clocks are calculated from reference station measurements of GNSS data in wide-area master stations and broadcast via geostationary earth orbit (GEO) satellites. This paper discusses the clock models, satellite orbit determination, ionospheric delay estimation, multipath mitigation, and GEO uplink subsystem (GUS) as used in the Wide Area Augmentation System developed by the FAA.

Using ship-borne GNSS data for geoid model validation at the Baltic Sea

NASA Astrophysics Data System (ADS)

Nordman, Maaria; Kuokkanen, Jaakko; Bilker-Koivula, Mirjam; Koivula, Hannu; Häkli, Pasi; Lahtinen, Sonja

2017-04-01

We present a study of geoid model validation using ship-borne GNSS data on the Bothnian Bay of the Baltic Sea. In autumn 2015 a dedicated gravity survey took place in the Bothnian Bay on board of the surveying vessel Airisto as a part of the FAMOS (Finalising surveys for the Baltic motorways of the sea) Freja project, which is supported by the European Commission with the Connecting Europe Facility. The gravity data was collected to test older existing gravity data in the area and to contribute to a new improved geoid model for the Baltic Sea. The raw GNSS and IMU data of the vessel were recorded in order to study the possibilities for validating geoid models at sea. In order to derive geoid heights from GNSS-measurements at sea, the GNSS measurements must first be reduced to sea level. The instant sea level, also called sea surface height, must then be modelled and removed in order to get the GNSS positions at the zero height. In theory, the resulting GNSS heights are the geoid heights, giving the distance between the ellipsoid and the geoid surface. There were altogether 46 lines measured during the campaign on the area. The 1 Hz GNSS-IMU observations were post-processed using the Applanix POSPac MMS 7.1 software. Different processing options were tested and the Single Base -solution was found to be the best strategy. There were some issues with the quality of the data and cycle slips and thus, 37 of the lines were of adequate quality for the geoid validation. The final coordinates were transferred to the coordinate systems related to the geoid models used. Translation of the processed heights to sea level was performed taking the pitch and roll effects of the vessel into account. Also the effects of static and dynamic draft (squat) were applied. For the reduction from sea surface to geoid surface, the sea surface heights were derived from tide gauge data and also from a physical model for the Baltic Sea. The residual errors between the GNSS-derived geoid heights and geoid heights from geoid models were as low as 2 mm on some lines. When the overall mean is taken from the mean of all lines, the lowest value of 2.1 cm, was achieved using a physical model for the sea surface and comparing with the NKG2015 geoid model. The NKG2015 model together with the tide gauge sea surface yield 3.1 cm. Comparing with Finnish geoid model gave 3.7 and 4.7 cm for the physical model and tide gauge surfaces, respectively. The mean standard deviations were below 5 cm, when the data was filtered with a 10 min. moving average. Thus, it can be said that with high quality GNSS solution and enough information on the coordinate systems, vessel movements and the sea surface heights, geoid heights can be recovered from GNSS observations at sea.

Bundle adjustment with raw inertial observations in UAV applications

NASA Astrophysics Data System (ADS)

Cucci, Davide Antonio; Rehak, Martin; Skaloud, Jan

2017-08-01

It is well known that accurate aerial position and attitude control is beneficial for image orientation in airborne photogrammetry. The aerial control is traditionally obtained by Kalman filtering/smoothing inertial and GNSS observations prior to the bundle-adjustment. However, in Micro Aerial Vehicles this process may result in poor attitude determination due to the limited quality of the inertial sensors, large alignment uncertainty and residual correlations between sensor biases and initial attitude. We propose to include the raw inertial observations directly into the bundle-adjustment instead of as position and attitude weighted observations from a separate inertial/GNSS fusion step. The necessary observation models are derived in detail within the context of the so called "Dynamic Networks". We examine different real world cases and we show that the proposed approach is superior to the established processing pipeline in challenging scenarios such as mapping in corridors and in areas where the reception of GNSS signals is denied.

Monitoring of stability of ASG-EUPOS network coordinates

NASA Astrophysics Data System (ADS)

Figurski, M.; Szafranek, K.; Wrona, M.

2009-04-01

ASG-EUPOS (Active Geodetic Network - European Position Determination System) is the national system of precise satellite positioning in Poland, which increases a density of regional and global GNSS networks and is widely used by public administration, national institutions, entrepreneurs and citizens (especially surveyors). In near future ASG-EUPOS is to take role of main national network. Control of proper activity of stations and realization of ETRS'89 is a necessity. User of the system needs to be sure that observations quality and coordinates accuracy are high enough. Coordinates of IGS (International GNSS Service) and EPN (European Permanent Network) stations are precisely determined and any changes are monitored all the time. Observations are verified before they are archived in regional and global databases. The same applies to ASG-EUPOS. This paper concerns standardization of GNSS observations from different stations (uniform adjustment), examination of solutions correctness according to IGS and EPN standards and stability of solutions and sites activity

A New Blondin System for Surveying and Photogrammetry

PubMed Central

Cuesta, Federico; Lopez-Rodriguez, Francisco M.; Esteban, Antonio

2013-01-01

The main objective of the system presented in this paper is to provide surveyors and engineers with a new photogrammetry device that can be easily integrated with surveying total stations and a global navigation satellite system (GNSS) infrastructure at a construction site, taking advantage of their accuracy and overcoming limitations of aerial vehicles with respect to weight, autonomy and skilled operator requirements in aerial photogrammetry. The system moves between two mounting points, in a blondin ropeway configuration, at the construction site, taking pictures and recording the data of the position and the orientation along the cable path. A cascaded extended Kalman filter is used to integrate measurements from the on-board inertial measurement unit (IMU), a GPS and a GNSS. Experimental results taken in a construction site show the system performance, including the validation of the position estimation, with a robotic surveying total station, or the creation of a digital surface model (DSM), using the emergent structure from motion (SfM) techniques and open software. The georeferencing of the DSM is performed based on estimated camera position or using ground control points (GCPs).

Digital Topographic Mapping in Urban Obstructed Environment Based on Multi-GNSS Network RTK Technology

NASA Astrophysics Data System (ADS)

Guo, Qiuying; Zhao, Tonglong; Zhang, Chao; Wu, Xuxiang

2017-10-01

Digital topographic mapping experiments were carried out based on network RTK technology using GPS/BEIDOU/GLONASS multi-constellation compatible GNSS receivers in urban obstructed environment. Operation scheme and technique flow were discussed. Experimental results show that the horizontal position and elevation of the points measured by RTK can reach 2cm and 3cm precision level respectively in open environment. RTK initialization time needs about 3-5s. While in obstructed environment, such as high building and tree shanding, the RTK initialization time needs about dozens of seconds or tens of seconds, and sometimes floating solutions or even differential solutions were obtained. The impact of dense and tall building on RTK measurement is more seriously. It is more likely to get RTK fixed solution in the south side of high building than the north side of the building.

The inertial attitude augmentation for ambiguity resolution in SF/SE-GNSS attitude determination.

PubMed

Zhu, Jiancheng; Hu, Xiaoping; Zhang, Jingyu; Li, Tao; Wang, Jinling; Wu, Meiping

2014-06-26

The Unaided Single Frequency/Single Epoch Global Navigation Satellite System (SF/SE GNSS) model is the most challenging scenario for ambiguity resolution in the GNSS attitude determination application. To improve the performance of SF/SE-GNSS ambiguity resolution without excessive cost, the Micro-Electro-Mechanical System Inertial Measurement Unit (MEMS-IMU) is a proper choice for the auxiliary sensor that carries out the inertial attitude augmentation. Firstly, based on the SF/SE-GNSS compass model, the Inertial Derived Baseline Vector (IDBV) is defined to connect the MEMS-IMU attitude measurement with the SF/SE-GNSS ambiguity search space, and the mechanism of inertial attitude augmentation is revealed from the perspective of geometry. Then, through the quantitative description of model strength by Ambiguity Dilution of Precision (ADOP), two ADOPs are specified for the unaided SF/SE-GNSS compass model and its inertial attitude augmentation counterparts, respectively, and a sufficient condition is proposed for augmenting the SF/SE-GNSS model strength with inertial attitude measurement. Finally, in the framework of an integer aperture estimator with fixed failure rate, the performance of SF/SE-GNSS ambiguity resolution with inertial attitude augmentation is analyzed when the model strength is varying from strong to weak. The simulation results show that, in the SF/SE-GNSS attitude determination application, MEMS-IMU can satisfy the requirements of ambiguity resolution with inertial attitude augmentation.

The Inertial Attitude Augmentation for Ambiguity Resolution in SF/SE-GNSS Attitude Determination

PubMed Central

Zhu, Jiancheng; Hu, Xiaoping; Zhang, Jingyu; Li, Tao; Wang, Jinling; Wu, Meiping

2014-01-01

The Unaided Single Frequency/Single Epoch Global Navigation Satellite System (SF/SE GNSS) model is the most challenging scenario for ambiguity resolution in the GNSS attitude determination application. To improve the performance of SF/SE-GNSS ambiguity resolution without excessive cost, the Micro-Electro-Mechanical System Inertial Measurement Unit (MEMS-IMU) is a proper choice for the auxiliary sensor that carries out the inertial attitude augmentation. Firstly, based on the SF/SE-GNSS compass model, the Inertial Derived Baseline Vector (IDBV) is defined to connect the MEMS-IMU attitude measurement with the SF/SE-GNSS ambiguity search space, and the mechanism of inertial attitude augmentation is revealed from the perspective of geometry. Then, through the quantitative description of model strength by Ambiguity Dilution of Precision (ADOP), two ADOPs are specified for the unaided SF/SE-GNSS compass model and its inertial attitude augmentation counterparts, respectively, and a sufficient condition is proposed for augmenting the SF/SE-GNSS model strength with inertial attitude measurement. Finally, in the framework of an integer aperture estimator with fixed failure rate, the performance of SF/SE-GNSS ambiguity resolution with inertial attitude augmentation is analyzed when the model strength is varying from strong to weak. The simulation results show that, in the SF/SE-GNSS attitude determination application, MEMS-IMU can satisfy the requirements of ambiguity resolution with inertial attitude augmentation. PMID:24971472

The new DMT SAFEGUARD low-cost GNSS measuring system and its application in the field of geotechnical deformation and movement monitoring

NASA Astrophysics Data System (ADS)

Schröder, Daniel

2017-04-01

In the recent years an increasing awareness of geodetic measurement systems and their application for monitoring projects is clearly visible. With geodetic sensors it is possible to detect safety-related changes at monitoring objects with high temporal density, high accuracy and in a very reliable manner. Quality acquisitions, processing and storage of monitoring data as well as a professional on-site implementation are the most important requirements and challenges to contemporary systems in civil engineering, mining as well as oil and gas production. Monitoring measures provide important input for early warning, alarm, protection and verification of potential hazardous environments and therefore the risk management applied to projects have a significant influence. The implementation has to follow an optimization process incorporating necessary accuracy, reliability and economic efficiency. From the economical point of view the costs per observation point are crucial for most monitoring projects. Keeping in mind that the costs of classical high-end GNSS stations with a geodetic dual-frequency receiver is within the range of several 10,000 euro. Large monitoring networks with a high number of simultaneously observed points are very expensive and therefore eventually have to be cut back, substituted by compromising methods or totally withdrawn. A further development in the area of GNSS receivers could reduce this disadvantage. Within the last few years single-frequency receivers that record L1-signals of GPS/GLONASS and offer sub-centimeter positioning accuracies are increasingly offered on the market. The accuracy of GNSS measurements depends on many factors as the hardware itself as well as on external influences related to the measurement principals. The external influences can be strongly reduced or eliminated by appropriate measuring and processing methods. For a reliable monitoring system it is necessary that the results are comparable and consistent for each epoch. Based on these requirements DMT has developed the new DMT SAFEGUARD GNSS. In this article the latest developments in the field of low-cost GNSS are shown by different examples from industry and authorities. By means of a detailed accuracy study the DMT SAFEGUARD GNSS system applicability will be demonstrated. The study shows possibilities to detect coordinate shifts on sub centimeter level by using suitable data processing approaches and permanent network solutions. In addition to the DMT SAFEGUARD GNSS system this article illustrates the combination with further relevant sensors to integrated multisensorial networks. Such networks include geodetic data, geophysical data, geotechnical data, video, audio etc. For the central integration of all sensor types DMT has developed a web-based monitoring system - DMT SAFEGUARD which offers individual customizing, sophisticated analysis tools as well as comprehensive reporting options.

A novel new tsunami detection network using GNSS on commercial ships

NASA Astrophysics Data System (ADS)

Foster, J. H.; Ericksen, T.; Avery, J.

2015-12-01

Accurate and rapid detection and assessment of tsunamis in the open ocean is critical for predicting how they will impact distant coastlines, enabling appropriate mitigation efforts. The unexpectedly huge fault slip for the 2011 Tohoku, Japan earthquake, and the unanticipated type of slip for the 2012 event at Queen Charlotte Islands, Canada highlighted weaknesses in our understanding of earthquake and tsunami hazards, and emphasized the need for more densely-spaced observing capabilities. Crucially, when each sensor is extremely expensive to build, deploy, and maintain, only a limited network of them can be installed. Gaps in the coverage of the network as well as routine outages of instruments, limit the ability of the detection system to accurately characterize events. Ship-based geodetic GNSS has been demonstrated to be able to detect and measure the properties of tsunamis in the open ocean. Based on this approach, we have used commercial ships operating in the North Pacific to construct a pilot network of low-cost, tsunami sensors to augment the existing detection systems. Partnering with NOAA, Maersk and Matson Navigation, we have equipped 10 ships with high-accuracy GNSS systems running the Trimble RTX high-accuracy real-time positioning service. Satellite communications transmit the position data streams to our shore-side server for processing and analysis. We present preliminary analyses of this novel network, assessing the robustness of the system, the quality of the time-series and the effectiveness of various processing and filtering strategies for retrieving accurate estimates of sea surface height variations for triggering detection and characterization of tsunami in the open ocean.

Measuring sea surface height with a GNSS-Wave Glider

NASA Astrophysics Data System (ADS)

Morales Maqueda, Miguel Angel; Penna, Nigel T.; Foden, Peter R.; Martin, Ian; Cipollini, Paolo; Williams, Simon D.; Pugh, Jeff P.

2017-04-01

A GNSS-Wave Glider is a novel technique to measure sea surface height autonomously using the Global Navigation Satellite System (GNSS). It consists of an unmanned surface vehicle manufactured by Liquid Robotics, a Wave Glider, and a geodetic-grade GNSS antenna-receiver system, with the antenna installed on a mast on the vehicle's deck. The Wave Glider uses the differential wave motion through the water column for propulsion, thus guaranteeing an, in principle, indefinite autonomy. Solar energy is collected to power all on-board instrumentation, including the GNSS system. The GNSS-Wave Glider was first tested in Loch Ness in 2013, demonstrating that the technology is capable of mapping geoid heights within the loch with an accuracy of a few centimetres. The trial in Loch Ness did not conclusively confirm the reliability of the technique because, during the tests, the state of the water surface was much more benign than would normally be expect in the open ocean. We now report on a first deployment of a GNSS-Wave Glider in the North Sea. The deployment took place in August 2016 and lasted thirteen days, during which the vehicle covered a distance of about 350 nautical miles in the north western North Sea off Great Britain. During the experiment, the GNSS-Wave Glider experienced sea states between 1 (0-0.1 m wave heights) and 5 (2.5-4 m wave heights). The GNSS-Wave Glider data, recorded at 5 Hz frequency, were analysed using a post-processed kinematic GPS-GLONASS precise point positioning (PPP) approach, which were quality controlled using double difference GPS kinematic processing with respect to onshore reference stations. Filtered with a 900 s moving-average window, the PPP heights reveal geoid patterns in the survey area that are very similar to the EGM2008 geoid model, thus demonstrating the potential use of a GNSS-Wave Glider for marine geoid determination. The residual of subtracting the modelled or measured marine geoid from the PPP signal combines information about dynamic topography and sea state. GNSS-Wave Glider data will next be validated against concurrent and co-located satellite altimetry data from the Jason-1, Jason-2, CryoSat-2 and AltiKa missions.

Real-time capture of seismic waves using high-rate multi-GNSS observations: Application to the 2015 Mw 7.8 Nepal earthquake

NASA Astrophysics Data System (ADS)

Geng, Tao; Xie, Xin; Fang, Rongxin; Su, Xing; Zhao, Qile; Liu, Gang; Li, Heng; Shi, Chuang; Liu, Jingnan

2016-01-01

The variometric approach is investigated to measure real-time seismic waves induced by the 2015 Mw 7.8 Nepal earthquake with high-rate multi-GNSS observations, especially with the contribution of newly available BDS. The velocity estimation using GPS + BDS shows an additional improvement of around 20% with respect to GPS-only solutions. We also reconstruct displacements by integrating GNSS-derived velocities after a linear trend removal (IGV). The displacement waveforms with accuracy of better than 5 cm are derived when postprocessed GPS precise point positioning results are used as ground truth, even if those stations have strong ground motions and static offsets of up to 1-2 m. GNSS-derived velocity and displacement waveforms with the variometric approach are in good agreement with results from strong motion data. We therefore conclude that it is feasible to capture real-time seismic waves with multi-GNSS observations using the IGV-enhanced variometric approach, which has critical implications for earthquake early warning, tsunami forecasting, and rapid hazard assessment.

A Modular Localization System as a Positioning Service for Road Transport

PubMed Central

Brida, Peter; Machaj, Juraj; Benikovsky, Jozef

2014-01-01

In recent times smart devices have attracted a large number of users. Since many of these devices allow position estimation using Global Navigation Satellite Systems (GNSS) signals, a large number of location-based applications and services have emerged, especially in transport systems. However GNSS signals are affected by the environment and are not always present, especially in dense urban environment or indoors. In this work firstly a Modular Localization Algorithm is proposed to allow seamless switching between different positioning modules. This helps us develop a positioning system that is able to provide position estimates in both indoor and outdoor environments without any user interaction. Since the proposed system can run as a service on any smart device, it could allow users to navigate not only in outdoor environments, but also indoors, e.g., underground garages, tunnels etc. Secondly we present the proposal of a 2-phase map reduction algorithm which allows one to significantly reduce the complexity of position estimation processes in case that positioning is performed using a fingerprinting framework. The proposed 2-phase map reduction algorithm can also improve the accuracy of the position estimates by filtering out reference points that are far from the mobile device. Both algorithms were implemented into a positioning system and tested in real world conditions in both indoor and outdoor environments. PMID:25353979

ASI/CGS products and services in support of GNSS-meteorology

NASA Astrophysics Data System (ADS)

Pacione, Rosa; Pace, Brigida; Bianco, Giuseppe

2013-04-01

For more than a decade, ASI/CGS has supported ground-based GNSS meteorology in Europe participating in various projects such as MAGIC, COST-716, TOUGH, E-GVAP (phase I and II) and providing Zenith Tropospheric path Delays (ZTD) derived from a European network of GNSS stations covering mainly the central Mediterranean area. Working in close cooperation with the meteorological community, GNSS data are analyzed in order to provide ZTD with different latencies ranging from post-processing, useful for climate studies, to near-real time, for hourly assimilation into Numerical Weather Prediction (NWP) model. However advancements in NWP models (such as the Met Office UKV 1.5km model) with rapid update cycles require observations with improved timeliness and with greater spatial and temporal resolution than is currently available. To fulfil this requirement a sub-hourly PPP processing has been set-up, and is under evaluation, thanks to the availability of the IGS RT orbit and clock corrections. Moreover ZTD estimates are the input data for developing new and enhanced products: ZTD residuals fields and Integrated Water Vapour (IWV) maps. The former will be helpful in augmenting empirical tropospheric models for positioning applications. The latter are useful for nowcasting and severe weather monitoring since they let to follow IWV time evolution. We present an overview of the developed products and services; the new directions in support of NWP applications and the nowcasting and forecasting of severe weather events that emerge within E-GVAP phase III and the EU COST Action "Advanced Global Navigation Satellite Systems tropospheric products for monitoring Severe Weather Events and Climate" (GNSS4SWEC). Acknowledgements. This work has been carried out under ASI contract I-014-10-0.

Investigating the Small-Scale Spatial Variabilty of Precipitable Water Vapor by Adding Single-Frequency Receivers into an Existing Dual-Frequency Receiver Network

NASA Astrophysics Data System (ADS)

Krietemeyer, Andreas; ten Veldhuis, Marie-claire; van de Giesen, Nick

2017-04-01

Exploiting GNSS signal delays is one possibility to obtain Precipitable Water Vapor (PWV) estimates in the atmosphere. The technique is well known since the early 1990s and by now an established method in the meteorological community. The data is crucial for weather forecasting and its assimilation into numerical weather forecasting models is a topic of ongoing research. However, the spatial resolution of ground based GNSS receivers is usually low, in the order of tens of kilometres. Since severe weather events such as convective storms can be concentrated in spatial extent, existing GNSS networks are often not sufficient to retrieve small scale PWV fluctuations and need to be densified. For economic reasons, the use of low-cost single-frequency receivers is a promising solution. In this study, we will deploy a network of single-frequency receivers to densify an existing dual-frequency network in order to investigate the spatial and temporal PWV variations. We demonstrate a test network consisting of four single-frequency receivers in the Rotterdam area (Netherlands). In order to eliminate the delay caused by the ionosphere, the Satellite-specific Epoch-differenced Ionospheric Delay model (SEID) is applied, using a surrounding dual-frequency network distributed over a radius of approximately 25 km. With the synthesized L2 frequency, the tropospheric delays are estimated using the Precise Point Positioning (PPP) strategy and International GNSS Service (IGS) final orbits. The PWV time series are validated by a comparison of a collocated single-frequency and a dual-frequency receiver. The time series themselves form the basis for potential further studies like data assimilation into numerical weather models and GNSS tomography to study the impact of the increased spatial resolution on local heavy rain forecast.

Towards a Pan-European network for the mitigation of ionospheric threats (Invited)

NASA Astrophysics Data System (ADS)

Jakowski, N.; Hlubek, N.; Sato, H.; Berdermann, J.; Aquino, M. H.

2013-12-01

Measurements of signals from Global Navigation Satellite Systems (GNSS) offer the possibility to analyze the spatial and temporal characteristics of the electron density structure in the ionosphere and plasmasphere. Dual frequency ground based measurements are well suited to observe horizontal structures of the electron density and their dynamics whereas space based GNSS measurements can effectively contribute to explore the vertical structure of the ionosphere-plasmasphere ionization. The current data base, covering more than one solar cycle, enabled the development of empirical models of ionospheric key parameters such as the total electron content (TEC), the peak density NmF2 and the corresponding peak density height hmF2. TEC models can directly be used as correction in single frequency GNSS applications. Utilizing well established geodetic networks such as that of the International GNSS Service (IGS), it is discussed how ground based GNSS measurements are used to derive regional and global maps of the vertical TEC in near real time. Actual TEC maps are used for correcting ionospheric range errors in operational single frequency applications, e.g. in space based augmentation systems (SBAS) like WAAS in US and EGNOS in Europe. However, severe space weather conditions lead to perturbations of the ionospheric plasma which in turn can affect the performance of GNSS. These perturbations come at a wide range of spatial and temporal scales and are observed as large scale ionization fronts, medium scale travelling ionospheric disturbances, plasma bubbles and small scale irregularities causing radio scintillations at the receiver level. These disturbances can strongly degrade the accuracy, reliability, integrity and availability of the GNSS. This is especially detrimental for space and ground based augmentation systems which have specific accuracy and availability requirements. Therefore an important use of the measurements of GNSS signals is to assess the threat that space weather can have on GNSS. One possible application is the estimation of the strongest possible influence of the ionosphere. This can then be used as a safety margin to fulfill the high safety requirements of aircrafts landing with GNSS and GBAS. GNSS receivers are a crucial component in countless modern systems, e.g. in telecommunication, navigation, remote sensing and precision timing. Additionally the demands on these systems with respect to accuracy, reliability and safety are permanently growing. Considering the fact that the ionospheric impact cannot be ignored enhanced research activities are required to improve current solutions for correcting or mitigating the ionospheric impact or at least to provide awareness of current threats. It is reported how the current EC funded research project TRANSMIT focuses on bringing together young researchers in this field in order to establish a Pan-European network for Ionospheric Perturbation Detection and Monitoring (IPDM) in the upcoming years. To highlight essential results of these researchers, a prototype solution is being prepared to be accessible via internet (http://swaciweb.dlr.de ).

A remark on the GNSS single difference model with common clock scheme for attitude determination

NASA Astrophysics Data System (ADS)

Chen, Wantong

2016-09-01

GNSS-based attitude determination technique is an important field of study, in which two schemes can be used to construct the actual system: the common clock scheme and the non-common clock scheme. Compared with the non-common clock scheme, the common clock scheme can strongly improve both the reliability and the accuracy. However, in order to gain these advantages, specific care must be taken in the implementation. The cares are thus discussed, based on the generating technique of carrier phase measurement in GNSS receivers. A qualitative assessment of potential phase bias contributes is also carried out. Possible technical difficulties are pointed out for the development of single-board multi-antenna GNSS attitude systems with a common clock.

Effects of linear trends on estimation of noise in GNSS position time-series

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dmitrieva, K.; Segall, P.; Bradley, A. M.

A thorough understanding of time-dependent noise in Global Navigation Satellite System (GNSS) position time-series is necessary for computing uncertainties in any signals found in the data. However, estimation of time-correlated noise is a challenging task and is complicated by the difficulty in separating noise from signal, the features of greatest interest in the time-series. In this study, we investigate how linear trends affect the estimation of noise in daily GNSS position time-series. We use synthetic time-series to study the relationship between linear trends and estimates of time-correlated noise for the six most commonly cited noise models. We find that themore » effects of added linear trends, or conversely de-trending, vary depending on the noise model. The commonly adopted model of random walk (RW), flicker noise (FN) and white noise (WN) is the most severely affected by de-trending, with estimates of low-amplitude RW most severely biased. FN plus WN is least affected by adding or removing trends. Non-integer power-law noise estimates are also less affected by de-trending, but are very sensitive to the addition of trend when the spectral index is less than one. We derive an analytical relationship between linear trends and the estimated RW variance for the special case of pure RW noise. Finally, overall, we find that to ascertain the correct noise model for GNSS position time-series and to estimate the correct noise parameters, it is important to have independent constraints on the actual trends in the data.« less

a Method for the Positioning and Orientation of Rail-Bound Vehicles in Gnss-Free Environments

NASA Astrophysics Data System (ADS)

Hung, R.; King, B. A.; Chen, W.

2016-06-01

Mobile Mapping System (MMS) are increasingly applied for spatial data collection to support different fields because of their efficiencies and the levels of detail they can provide. The Position and Orientation System (POS), which is conventionally employed for locating and orienting MMS, allows direct georeferencing of spatial data in real-time. Since the performance of a POS depends on both the Inertial Navigation System (INS) and the Global Navigation Satellite System (GNSS), poor GNSS conditions, such as in long tunnels and underground, introduce the necessity for post-processing. In above-ground railways, mobile mapping technology is employed with high performance sensors for finite usage, which has considerable potential for enhancing railway safety and management in real-time. In contrast, underground railways present a challenge for a conventional POS thus alternative configurations are necessary to maintain data accuracy and alleviate the need for post-processing. This paper introduces a method of rail-bound navigation to replace the role of GNSS for railway applications. The proposed method integrates INS and track alignment data for environment-independent navigation and reduces the demand of post-processing. The principle of rail-bound navigation is presented and its performance is verified by an experiment using a consumer-grade Inertial Measurement Unit (IMU) and a small-scale railway model. The method produced a substantial improvement in position and orientation for a poorly initialised system in centimetre positional accuracy. The potential improvements indicated by, and limitations of rail-bound navigation are also considered for further development in existing railway systems.

Effects of linear trends on estimation of noise in GNSS position time-series

NASA Astrophysics Data System (ADS)

Dmitrieva, K.; Segall, P.; Bradley, A. M.

2017-01-01

A thorough understanding of time-dependent noise in Global Navigation Satellite System (GNSS) position time-series is necessary for computing uncertainties in any signals found in the data. However, estimation of time-correlated noise is a challenging task and is complicated by the difficulty in separating noise from signal, the features of greatest interest in the time-series. In this paper, we investigate how linear trends affect the estimation of noise in daily GNSS position time-series. We use synthetic time-series to study the relationship between linear trends and estimates of time-correlated noise for the six most commonly cited noise models. We find that the effects of added linear trends, or conversely de-trending, vary depending on the noise model. The commonly adopted model of random walk (RW), flicker noise (FN) and white noise (WN) is the most severely affected by de-trending, with estimates of low-amplitude RW most severely biased. FN plus WN is least affected by adding or removing trends. Non-integer power-law noise estimates are also less affected by de-trending, but are very sensitive to the addition of trend when the spectral index is less than one. We derive an analytical relationship between linear trends and the estimated RW variance for the special case of pure RW noise. Overall, we find that to ascertain the correct noise model for GNSS position time-series and to estimate the correct noise parameters, it is important to have independent constraints on the actual trends in the data.

Effects of linear trends on estimation of noise in GNSS position time-series

DOE PAGES

Dmitrieva, K.; Segall, P.; Bradley, A. M.

2016-10-20

A thorough understanding of time-dependent noise in Global Navigation Satellite System (GNSS) position time-series is necessary for computing uncertainties in any signals found in the data. However, estimation of time-correlated noise is a challenging task and is complicated by the difficulty in separating noise from signal, the features of greatest interest in the time-series. In this study, we investigate how linear trends affect the estimation of noise in daily GNSS position time-series. We use synthetic time-series to study the relationship between linear trends and estimates of time-correlated noise for the six most commonly cited noise models. We find that themore » effects of added linear trends, or conversely de-trending, vary depending on the noise model. The commonly adopted model of random walk (RW), flicker noise (FN) and white noise (WN) is the most severely affected by de-trending, with estimates of low-amplitude RW most severely biased. FN plus WN is least affected by adding or removing trends. Non-integer power-law noise estimates are also less affected by de-trending, but are very sensitive to the addition of trend when the spectral index is less than one. We derive an analytical relationship between linear trends and the estimated RW variance for the special case of pure RW noise. Finally, overall, we find that to ascertain the correct noise model for GNSS position time-series and to estimate the correct noise parameters, it is important to have independent constraints on the actual trends in the data.« less

Analysing the Zenith Tropospheric Delay Estimates in On-line Precise Point Positioning (PPP) Services and PPP Software Packages.

PubMed

Mendez Astudillo, Jorge; Lau, Lawrence; Tang, Yu-Ting; Moore, Terry

2018-02-14

As Global Navigation Satellite System (GNSS) signals travel through the troposphere, a tropospheric delay occurs due to a change in the refractive index of the medium. The Precise Point Positioning (PPP) technique can achieve centimeter/millimeter positioning accuracy with only one GNSS receiver. The Zenith Tropospheric Delay (ZTD) is estimated alongside with the position unknowns in PPP. Estimated ZTD can be very useful for meteorological applications, an example is the estimation of water vapor content in the atmosphere from the estimated ZTD. PPP is implemented with different algorithms and models in online services and software packages. In this study, a performance assessment with analysis of ZTD estimates from three PPP online services and three software packages is presented. The main contribution of this paper is to show the accuracy of ZTD estimation achievable in PPP. The analysis also provides the GNSS users and researchers the insight of the processing algorithm dependence and impact on PPP ZTD estimation. Observation data of eight whole days from a total of nine International GNSS Service (IGS) tracking stations spread in the northern hemisphere, the equatorial region and the southern hemisphere is used in this analysis. The PPP ZTD estimates are compared with the ZTD obtained from the IGS tropospheric product of the same days. The estimates of two of the three online PPP services show good agreement (<1 cm) with the IGS ZTD values at the northern and southern hemisphere stations. The results also show that the online PPP services perform better than the selected PPP software packages at all stations.

Atmospheric and ocean sensing with GNSS

NASA Technical Reports Server (NTRS)

Yunck, Thomas P.; Hajj, George A.

2003-01-01

The 1980s and 1990s saw the Global Positioning System (GPS) transform space geodesy from an elite national enterprise to one open to the individual researcher. By adapting the tools from that endeavor we are learning to probe the atmosphere and the ocean surface in novel ways, including ground-based sensing of atmospheric moisture; space-based profiling of atmospheric refractivity by active limb sounding; and global ocean altimetry with reflected signals.

GNSS-Based Space Weather Systems Including COSMIC Ionospheric Measurements

NASA Technical Reports Server (NTRS)

Komjathy, Attila; Mandrake, Lukas; Wilson, Brian; Iijima, Byron; Pi, Xiaoqing; Hajj, George; Mannucci, Anthony J.

2006-01-01

The presentation outline includes University Corporation for Atmospheric Research (UCAR) and Jet Propulsion Laboratory (JPL) product comparisons, assimilating ground-based global positioning satellites (GPS) and COSMIC into JPL/University of Southern California (USC) Global Assimilative Ionospheric Model (GAIM), and JPL/USC GAIM validation. The discussion of comparisons examines Abel profiles and calibrated TEC. The JPL/USC GAIM validation uses Arecibo ISR, Jason-2 VTEC, and Abel profiles.

International Collaboration in the field of GNSS-Meteorology and Climate Monitoring

NASA Astrophysics Data System (ADS)

Jones, J.; Guerova, G.; Dousa, J.; Bock, O.; Elgered, G.; Vedel, H.; Pottiaux, E.; de Haan, S.; Pacione, R.; Dick, G.; Wang, J.; Gutman, S. I.; Wickert, J.; Rannat, K.; Liu, G.; Braun, J. J.; Shoji, Y.

2012-12-01

International collaboration in the field of GNSS-meteorology and climate monitoring is essential, as severe weather and climate change have no respect for national boundaries. The use of Global Navigation Satellite Systems (GNSS) for meteorological purposes is an established atmospheric observing technique, which can accurately sense water vapour, the most abundant greenhouse gas, accounting for 60-70% of atmospheric warming. Severe weather forecasting is challenging, in part due to the high temporal and spatial variation of atmospheric water vapour. Water vapour is currently under-sampled and obtaining and exploiting more high-quality humidity observations is essential to severe weather forecasting and climate monitoring. A proposed EU COST Action (http://www.cost.eu) will address new and improved capabilities from concurrent developments in both GNSS and atmospheric communities to improve (short-range) weather forecasts and climate projections. For the first time, the synergy of the three GNSS systems, GPS, GLONASS and Galileo, will be used to develop new, advanced tropospheric products, stimulating the full potential exploitation of multi-GNSS water vapour estimates on a wide range of temporal and spatial scales, from real-time severe weather monitoring and forecasting to climate research. The Action will work in close collaboration with the Global Climate Observing System (GCOS) Reference Upper Air Network (GRUAN), GNSS Precipitable Water Task Team (TT). GRUAN is a global reference observing network, designed to meet climate requirements and to fill a major void in the current global observing system. GRUAN observations will provide long-term, high-quality data to determine climatic trends and to constrain and validate data from space-based remote sensors. Ground-based GNSS PW was identified as a Priority 1 measurement for GRUAN, and the GNSS-PW TT's goal is to develop explicit guidance on hardware, software and data management practices to obtain GNSS PW measurements of consistent quality at all GRUAN sites. The GRUAN GNSS-PW TT and the proposed COST Action will look to expand the international framework already in place with the European E-GVAP programme to facilitate global collaboration to facilitate knowledge and data exchange.

Estimating Real-Time Zenith Tropospheric Delay over Africa Using IGS-RTS Products

NASA Astrophysics Data System (ADS)

Abdelazeem, M.

2017-12-01

Zenith Tropospheric Delay (ZTD) is a crucial parameter for atmospheric modeling, severe weather monitoring and forecasting applications. Currently, the international global navigation satellite system (GNSS) real-time service (IGS-RTS) products are used extensively in real-time atmospheric modeling applications. The objective of this study is to develop a real time zenith tropospheric delay estimation model over Africa using the IGS-RTS products. The real-time ZTDs are estimated based on the real-time precise point positioning (PPP) solution. GNSS observations from a number of reference stations are processed over a period of 7 days. Then, the estimated real-time ZTDs are compared with the IGS tropospheric products counterparts. The findings indicate that the estimated real-time ZTDs have millimeter level accuracy in comparison with the IGS counterparts.

GNSS Derived Ionospheric TEC Observed Through Different TEC Calibration Techniques in the Brazilian Sector

NASA Astrophysics Data System (ADS)

Becker-Guedes, F.; Carmo, C. S.; Camargo, P. O.; Monico, J. F. G.; Nicoli Candido, C. M.

2017-12-01

Global Navigation Satellite System (GNSS) is becoming a reliable tool for use in air navigation systems. Its use as the main technology for determination of airplanes positioning has various economic and logistic benefits but it depends strongly on the ionospheric layer influences. The Brazilian sector ionosphere, mainly over the equatorial ionization anomaly (EIA), presents remarkable errors in the GNSS signal as compared to North America and Europe. In order to study the total electron content latitudinal variation of the Brazilian ionosphere we used a pair of GNSS receivers on the ground, one located in the equatorial region (Sao Luis) and other in the southern crest of the EIA (Cachoeira Paulista), to collect the GNSS observables and calculate the vertical TEC using different methods that has proven to work well to describe the ionospheric behavior in the North America and in Europe. We compared this results with a modified Nagoya TEC calculation method used by the EMBRACE (Estudo e Monitoramento BRAsileiro do Clima Espacial - Brazilian Study and Monitoring of Space Weather) program. This work intends to follow the performance of different TEC tuning methods to evaluate the spurious effects of the ionospheric EIA gradients in the TEC determination under typical conditions of the low-latitudes ionosphere in the Brazilian sector. The calculated TEC under different solar cycle conditions, geomagnetic activity, and seasonal variations show deviations in the performance of each method and stress the importance of well adjust the GNSS observations to local conditions in order to optimize the TEC evaluation. This study contributes to a better understanding of local GNSS signal errors in the global intent of offering conditions to improve the accuracy, integrity, availability, and continuity requirements for the use of GNSS for air navigation in South America.

GNSS reflectometry aboard the International Space Station: phase-altimetry simulation to detect ocean topography anomalies

NASA Astrophysics Data System (ADS)

Semmling, Maximilian; Leister, Vera; Saynisch, Jan; Zus, Florian; Wickert, Jens

2016-04-01

An ocean altimetry experiment using Earth reflected GNSS signals has been proposed to the European Space Agency (ESA). It is part of the GNSS Reflectometry Radio Occultation Scatterometry (GEROS) mission that is planned aboard the International Space Station (ISS). Altimetric simulations are presented that examine the detection of ocean topography anomalies assuming GNSS phase delay observations. Such delay measurements are well established for positioning and are possible due to a sufficient synchronization of GNSS receiver and transmitter. For altimetric purpose delays of Earth reflected GNSS signals can be observed similar to radar altimeter signals. The advantage of GNSS is the synchronized separation of transmitter and receiver that allow a significantly increased number of observation per receiver due to more than 70 GNSS transmitters currently in orbit. The altimetric concept has already been applied successfully to flight data recorded over the Mediterranean Sea. The presented altimetric simulation considers anomalies in the Agulhas current region which are obtained from the Region Ocean Model System (ROMS). Suitable reflection events in an elevation range between 3° and 30° last about 10min with ground track's length >3000km. Typical along-track footprints (1s signal integration time) have a length of about 5km. The reflection's Fresnel zone limits the footprint of coherent observations to a major axis extention between 1 to 6km dependent on the elevation. The altimetric performance depends on the signal-to-noise ratio (SNR) of the reflection. Simulation results show that precision is better than 10cm for SNR of 30dB. Whereas, it is worse than 0.5m if SNR goes down to 10dB. Precision, in general, improves towards higher elevation angles. Critical biases are introduced by atmospheric and ionospheric refraction. Corresponding correction strategies are still under investigation.

Study of GNSS Loss of Lock Characteristics under Ionosphere Scintillation with GNSS Data at Weipa (Australia) During Solar Maximum Phase.

PubMed

Liu, Yang; Fu, Lianjie; Wang, Jinling; Zhang, Chunxi

2017-09-25

One of the adverse impacts of scintillation on GNSS signals is the loss of lock status, which can lead to GNSS geometry and visibility reductions that compromise the accuracy and integrity of navigation performance. In this paper the loss of lock based on ionosphere scintillation in this solar maximum phase has been well investigated with respect to both temporal and spatial behaviors, based on GNSS observatory data collected at Weipa (Australia; geographic: 12.45° S, 130.95° E; geomagnetic: 21.79° S, 214.41° E) from 2011 to 2015. Experiments demonstrate that the percentage of occurrence of loss of lock events under ionosphere scintillation is closely related with solar activity and seasonal shifts. Loss of lock behaviors under ionosphere scintillation related to elevation and azimuth angles are statistically analyzed, with some distinct characteristics found. The influences of daytime scintillation and geomagnetic storms on loss of lock have also been discussed in details. The proposed work is valuable for a deeper understanding of theoretical mechanisms of-loss of lock under ionosphere scintillation in global regions, and provides a reference for GNSS applications in certain regions at Australian low latitudes.

Study of GNSS Loss of Lock Characteristics under Ionosphere Scintillation with GNSS Data at Weipa (Australia) During Solar Maximum Phase

PubMed Central

Liu, Yang; Fu, Lianjie; Wang, Jinling; Zhang, Chunxi

2017-01-01

One of the adverse impacts of scintillation on GNSS signals is the loss of lock status, which can lead to GNSS geometry and visibility reductions that compromise the accuracy and integrity of navigation performance. In this paper the loss of lock based on ionosphere scintillation in this solar maximum phase has been well investigated with respect to both temporal and spatial behaviors, based on GNSS observatory data collected at Weipa (Australia; geographic: 12.45° S, 130.95° E; geomagnetic: 21.79° S, 214.41° E) from 2011 to 2015. Experiments demonstrate that the percentage of occurrence of loss of lock events under ionosphere scintillation is closely related with solar activity and seasonal shifts. Loss of lock behaviors under ionosphere scintillation related to elevation and azimuth angles are statistically analyzed, with some distinct characteristics found. The influences of daytime scintillation and geomagnetic storms on loss of lock have also been discussed in details. The proposed work is valuable for a deeper understanding of theoretical mechanisms of—loss of lock under ionosphere scintillation in global regions, and provides a reference for GNSS applications in certain regions at Australian low latitudes. PMID:28946676

Contribution of Multi-GNSS Constellation to SLR-Derived Terrestrial Reference Frame

NASA Astrophysics Data System (ADS)

Sośnica, K.; Bury, G.; Zajdel, R.

2018-03-01

All satellites of new Global Navigation Satellite Systems (GNSS) are equipped with laser retroreflectors dedicated to Satellite Laser Ranging (SLR). This paper demonstrates the contribution of SLR tracking of multi-GNSS constellations to the improved SLR-derived reference frame and scientific products. We show a solution strategy with estimating satellite orbits, SLR station coordinates, geocenter coordinates, and Earth rotation parameters using SLR observations to 2 Laser Geodynamics Satellites (LAGEOS) and 55 GNSS satellites: 1 GPS, 31 Globalnaya Navigatsionnaya Sputnikovaya Sistema, 18 Galileo, 3 BeiDou Inclined Geosynchronous Orbit, 1 BeiDou Medium Earth Orbit, and 1 Quasi-Zenith Satellite System satellite for the period 2014.0-2017.4. Due to a substantial number of GNSS observations, the number of weekly solutions for some SLR stations, for example, Arkhyz, Komsomolsk, Altay, and Brasilia, is larger up to 41% in the combined LAGEOS + GNSS solution when compared to the LAGEOS-only solution. The SLR observations to GNSS can transfer the orientation of the reference frame from GNSS to SLR solutions. As a result, the SLR-derived pole coordinates and length-of-day estimates become more consistent with GNSS microwave-based results. The root-mean-square errors of length-of-day are reduced from 122.5 μs/d to 43.0 μs/d, whereas mean offsets are reduced from -81.6 μs/d to 0.5 μs/d in LAGEOS only and in the combined LAGEOS + GNSS solutions, respectively.

Progress Report on the GROWTH (GNSS Reflectometry for Ocean Waves, Tides, and Height) Research Project

NASA Astrophysics Data System (ADS)

Kitazawa, Y.; Ichikawa, K.; Akiyama, H.; Ebinuma, T.; Isoguchi, O.; Kimura, N.; Konda, M.; Kouguchi, N.; Tamura, H.; Tomita, H.; Yoshikawa, Y.; Waseda, T.

2016-12-01

Global Navigation Satellite Systems (GNSS), such as GPS is a system of satellites that provide autonomous geo-spatial positioning with global coverage. It allows small electronic receivers to determine their location to high precision using radio signals transmitted from satellites, GNSS reflectometry (GNSS-R) involves making measurements from the reflections from the Earth of navigation signals from GNSS satellites. Reflected signals from sea surface are considered that those are useful to observe sea state and sea surface height. We have started a research program for GNSS-R applications on oceanographic observations under the contract with MEXT (Ministry of Education Culture, Sports, Science and Technology, JAPAN) and launched a Japanese research consortium, GROWTH (GNSS Reflectometry for Ocean Waves, Tides, and Height). It is aiming to evaluate the capabilities of GNSS-R observations for oceanographic phenomena with different time scales, such as ocean waves (1/10 to tens of seconds), tides (one or half days), and sea surface dynamic height (a few days to years). In situ observations of ocean wave spectrum, wind speed vertical profile, and sea surface height will be quantitatively compared with equivalent estimates from simultaneous GNSS-R measurements. The GROWTH project will utilize different types of observation platforms; marine observation towers (about 20 m height), multi-copters (about 100 to 150 m height), and much higher-altitude CYGNSS data. Cross-platform data, together with in situ oceanographic observations, will be compared after adequate temporal averaging that accounts differences of the footprint sizes and temporal and spatial scales of oceanographic phenomena. This paper will provide overview of the GROWTH project, preliminary test results, obtained by the multi-sensor platform at observation towers, suggest actual footprint sizes and identification of swell. Preparation status of a ground station which will be supplied to receive CYGNSS data at Japan, is also reported. Compatibility tests to CYGNSS data and refurbishment of the ground station were completed.

Use case scenarios - space based receiver assessment : GPS Adjacent Band Compatibility Assessment Workshop VI.

DOT National Transportation Integrated Search

2017-03-30

This workshop presentation discusses space based receiver applications, NASA developed receivers, the TriG receiver, on-orbit assessment parameters, the TriG GNSS-RO antenna gain pattern, the GNSS-RO antenna beam Earth grazing coverage area, assessme...

Biases in GNSS-Data Processing

NASA Astrophysics Data System (ADS)

Schaer, S. C.; Dach, R.; Lutz, S.; Meindl, M.; Beutler, G.

2010-12-01

Within the Global Positioning System (GPS) traditionally different types of pseudo-range measurements (P-code, C/A-code) are available on the first frequency that are tracked by the receivers with different technologies. For that reason, P1-C1 and P1-P2 Differential Code Biases (DCB) need to be considered in a GPS data processing with a mix of different receiver types. Since the Block IIR-M series of GPS satellites also provide C/A-code on the second frequency, P2-C2 DCB need to be added to the list of biases for maintenance. Potential quarter-cycle biases between different phase observables (specifically L2P and L2C) are another issue. When combining GNSS (currently GPS and GLONASS), careful consideration of inter-system biases (ISB) is indispensable, in particular when an adequate combination of individual GLONASS clock correction results from different sources (using, e.g., different software packages) is intended. Facing the GPS and GLONASS modernization programs and the upcoming GNSS, like the European Galileo and the Chinese Compass, an increasing number of types of biases is expected. The Center for Orbit Determination in Europe (CODE) is monitoring these GPS and GLONASS related biases for a long time based on RINEX files of the tracking network of the International GNSS Service (IGS) and in the frame of the data processing as one of the global analysis centers of the IGS. Within the presentation we give an overview on the stability of the biases based on the monitoring. Biases derived from different sources are compared. Finally, we give an outlook on the potential handling of such biases with the big variety of signals and systems expected in the future.

Data assimilation of GNSS zenith total delays from a Nordic processing centre

NASA Astrophysics Data System (ADS)

Lindskog, Magnus; Ridal, Martin; Thorsteinsson, Sigurdur; Ning, Tong

2017-11-01

Atmospheric moisture-related information estimated from Global Navigation Satellite System (GNSS) ground-based receiver stations by the Nordic GNSS Analysis Centre (NGAA) have been used within a state-of-the-art kilometre-scale numerical weather prediction system. Different processing techniques have been implemented to derive the moisture-related GNSS information in the form of zenith total delays (ZTDs) and these are described and compared. In addition full-scale data assimilation and modelling experiments have been carried out to investigate the impact of utilizing moisture-related GNSS data from the NGAA processing centre on a numerical weather prediction (NWP) model initial state and on the ensuing forecast quality. The sensitivity of results to aspects of the data processing, station density, bias-correction and data assimilation have been investigated. Results show benefits to forecast quality when using GNSS ZTD as an additional observation type. The results also show a sensitivity to thinning distance applied for GNSS ZTD observations but not to modifications to the number of predictors used in the variational bias correction applied. In addition, it is demonstrated that the assimilation of GNSS ZTD can benefit from more general data assimilation enhancements and that there is an interaction of GNSS ZTD with other types of observations used in the data assimilation. Future plans include further investigation of optimal thinning distances and application of more advanced data assimilation techniques.

Atmosphere Mitigation in Precise Point Positioning Ambiguity Resolution for Earthquake Early Warning in the Western U.S.

NASA Astrophysics Data System (ADS)

Geng, J.; Bock, Y.; Reuveni, Y.

2014-12-01

Earthquake early warning (EEW) is a time-critical system and typically relies on seismic instruments in the area around the source to detect P waves (or S waves) and rapidly issue alerts. Thanks to the rapid development of real-time Global Navigation Satellite Systems (GNSS), a good number of sensors have been deployed in seismic zones, such as the western U.S. where over 600 GPS stations are collecting 1-Hz high-rate data along the Cascadia subduction zone, San Francisco Bay area, San Andreas fault, etc. GNSS sensors complement the seismic sensors by recording the static offsets while seismic data provide highly-precise higher frequency motions. An optimal combination of GNSS and accelerometer data (seismogeodesy) has advantages compared to GNSS-only or seismic-only methods and provides seismic velocity and displacement waveforms that are precise enough to detect P wave arrivals, in particular in the near source region. Robust real-time GNSS and seismogeodetic analysis is challenging because it requires a period of initialization and continuous phase ambiguity resolution. One of the limiting factors is unmodeled atmospheric effects, both of tropospheric and ionospheric origin. One mitigation approach is to introduce atmospheric corrections into precise point positioning with ambiguity resolution (PPP-AR) of clients/stations within the monitored regions. NOAA generates hourly predictions of zenith troposphere delays at an accuracy of a few centimeters, and 15-minute slant ionospheric delays of a few TECU (Total Electron Content Unit) accuracy from both geodetic and meteorological data collected at hundreds of stations across the U.S. The Scripps Orbit and Permanent Array Center (SOPAC) is experimenting with a regional ionosphere grid using a few hundred stations in southern California, and the International GNSS Service (IGS) routinely estimates a Global Ionosphere Map using over 100 GNSS stations. With these troposphere and ionosphere data as additional observations, we can shorten the initialization period and improve the ambiguity resolution efficiency of PPP-AR. We demonstrate this with data collected by a cluster of Real-Time Earthquake Analysis for Disaster mItigation (READI) network stations in southern California operated by UNAVCO/PBO and SOPAC.

On the Impact of a Quadratic Acceleration Term in the Analysis of Position Time Series

NASA Astrophysics Data System (ADS)

Bogusz, Janusz; Klos, Anna; Bos, Machiel Simon; Hunegnaw, Addisu; Teferle, Felix Norman

2016-04-01

The analysis of Global Navigation Satellite System (GNSS) position time series generally assumes that each of the coordinate component series is described by the sum of a linear rate (velocity) and various periodic terms. The residuals, the deviations between the fitted model and the observations, are then a measure of the epoch-to-epoch scatter and have been used for the analysis of the stochastic character (noise) of the time series. Often the parameters of interest in GNSS position time series are the velocities and their associated uncertainties, which have to be determined with the highest reliability. It is clear that not all GNSS position time series follow this simple linear behaviour. Therefore, we have added an acceleration term in the form of a quadratic polynomial function to the model in order to better describe the non-linear motion in the position time series. This non-linear motion could be a response to purely geophysical processes, for example, elastic rebound of the Earth's crust due to ice mass loss in Greenland, artefacts due to deficiencies in bias mitigation models, for example, of the GNSS satellite and receiver antenna phase centres, or any combination thereof. In this study we have simulated 20 time series with different stochastic characteristics such as white, flicker or random walk noise of length of 23 years. The noise amplitude was assumed at 1 mm/y-/4. Then, we added the deterministic part consisting of a linear trend of 20 mm/y (that represents the averaged horizontal velocity) and accelerations ranging from minus 0.6 to plus 0.6 mm/y2. For all these data we estimated the noise parameters with Maximum Likelihood Estimation (MLE) using the Hector software package without taken into account the non-linear term. In this way we set the benchmark to then investigate how the noise properties and velocity uncertainty may be affected by any un-modelled, non-linear term. The velocities and their uncertainties versus the accelerations for different types of noise are determined. Furthermore, we have selected 40 globally distributed stations that have a clear non-linear behaviour from two different International GNSS Service (IGS) analysis centers: JPL (Jet Propulsion Laboratory) and BLT (British Isles continuous GNSS Facility and University of Luxembourg Tide Gauge Benchmark Monitoring (TIGA) Analysis Center). We obtained maximum accelerations of -1.8±1.2 mm2/y and -4.5±3.3 mm2/y for the horizontal and vertical components, respectively. The noise analysis tests have shown that the addition of the non-linear term has significantly whitened the power spectra of the position time series, i.e. shifted the spectral index from flicker towards white noise.

Multi-GNSS precise point positioning (MGPPP) using raw observations

NASA Astrophysics Data System (ADS)

Liu, Teng; Yuan, Yunbin; Zhang, Baocheng; Wang, Ningbo; Tan, Bingfeng; Chen, Yongchang

2017-03-01

A joint-processing model for multi-GNSS (GPS, GLONASS, BDS and GALILEO) precise point positioning (PPP) is proposed, in which raw code and phase observations are used. In the proposed model, inter-system biases (ISBs) and GLONASS code inter-frequency biases (IFBs) are carefully considered, among which GLONASS code IFBs are modeled as a linear function of frequency numbers. To get the full rank function model, the unknowns are re-parameterized and the estimable slant ionospheric delays and ISBs/IFBs are derived and estimated simultaneously. One month of data in April, 2015 from 32 stations of the International GNSS Service (IGS) Multi-GNSS Experiment (MGEX) tracking network have been used to validate the proposed model. Preliminary results show that RMS values of the positioning errors (with respect to external double-difference solutions) for static/kinematic solutions (four systems) are 6.2 mm/2.1 cm (north), 6.0 mm/2.2 cm (east) and 9.3 mm/4.9 cm (up). One-day stabilities of the estimated ISBs described by STD values are 0.36 and 0.38 ns, for GLONASS and BDS, respectively. Significant ISB jumps are identified between adjacent days for all stations, which are caused by the different satellite clock datums in different days and for different systems. Unlike ISBs, the estimated GLONASS code IFBs are quite stable for all stations, with an average STD of 0.04 ns over a month. Single-difference experiment of short baseline shows that PPP ionospheric delays are more precise than traditional leveling ionospheric delays.

Development of web tools to disseminate space geodesy data-related products

NASA Astrophysics Data System (ADS)

Soudarin, Laurent; Ferrage, Pascale; Mezerette, Adrien

2015-04-01

In order to promote the products of the DORIS system, the French Space Agency CNES has developed and implemented on the web site of the International DORIS Service (IDS) a set of plot tools to interactively build and display time series of site positions, orbit residuals and terrestrial parameters (scale, geocenter). An interactive global map is also available to select sites, and to get access to their information. Besides the products provided by the CNES Orbitography Team and the IDS components, these tools allow comparing time evolutions of coordinates for collocated DORIS and GNSS stations, thanks to the collaboration with the Terrestrial Frame Combination Center of the International GNSS Service (IGS). A database was created to improve robustness and efficiency of the tools, with the objective to propose a complete web service to foster data exchange with the other geodetic services of the International Association of Geodesy (IAG). The possibility to visualize and compare position time series of the four main space geodetic techniques DORIS, GNSS, SLR and VLBI is already under way at the French level. A dedicated version of these web tools has been developed for the French Space Geodesy Research Group (GRGS). It will give access to position time series provided by the GRGS Analysis Centers involved in DORIS, GNSS, SLR and VLBI data processing for the realization of the International Terrestrial Reference Frame. In this presentation, we will describe the functionalities of these tools, and we will address some aspects of the time series (content, format).

Forecasting Space Weather-Induced GPS Performance Degradation Using Random Forest

NASA Astrophysics Data System (ADS)

Filjar, R.; Filic, M.; Milinkovic, F.

2017-12-01

Space weather and ionospheric dynamics have a profound effect on positioning performance of the Global Satellite Navigation System (GNSS). However, the quantification of that effect is still the subject of scientific activities around the world. In the latest contribution to the understanding of the space weather and ionospheric effects on satellite-based positioning performance, we conducted a study of several candidates for forecasting method for space weather-induced GPS positioning performance deterioration. First, a 5-days set of experimentally collected data was established, encompassing the space weather and ionospheric activity indices (including: the readings of the Sudden Ionospheric Disturbance (SID) monitors, components of geomagnetic field strength, global Kp index, Dst index, GPS-derived Total Electron Content (TEC) samples, standard deviation of TEC samples, and sunspot number) and observations of GPS positioning error components (northing, easting, and height positioning error) derived from the Adriatic Sea IGS reference stations' RINEX raw pseudorange files in quiet space weather periods. This data set was split into the training and test sub-sets. Then, a selected set of supervised machine learning methods based on Random Forest was applied to the experimentally collected data set in order to establish the appropriate regional (the Adriatic Sea) forecasting models for space weather-induced GPS positioning performance deterioration. The forecasting models were developed in the R/rattle statistical programming environment. The forecasting quality of the regional forecasting models developed was assessed, and the conclusions drawn on the advantages and shortcomings of the regional forecasting models for space weather-caused GNSS positioning performance deterioration.

Application of Satellite Based Augmentation Systems to Altitude Separation

NASA Astrophysics Data System (ADS)

Magny, Jean Pierre

This paper presents the application of GNSS1, or more precisely of Satellite Based Augmentation Systems (SBAS), to vertical separation for en-route, approach and landing operations. Potential improvements in terms of operational benefit and of safety are described for two main applications. First, vertical separation between en-route aircraft, which requires a system available across wide areas. SBAS (EGNOS, WAAS, and MSAS) are very well suited for this purpose before GNSS2 becomes available. And secondly, vertical separation from the ground during approach and landing, for which preliminary design principles of instrument approach procedures and safety issues are presented. Approach and landing phases are the subject of discussions within ICAO GNSS-P. En-route phases have been listed as GNSS-P future work and by RTCA for development of new equipments.

Gnss Geodetic Monitoring as Support of Geodynamics Research in Colombia, South America

NASA Astrophysics Data System (ADS)

Mora-Paez, H.; Acero-Patino, N.; Rodriguez-Zuluaga, J. S.; Diederix, H.; Bohorquez-Orozco, O. P.; Martinez-Diaz, G. P.; Diaz-Mila, F.; Giraldo-Londono, L. S.; Cardozo-Giraldo, S.; Vasquez-Ospina, A. F.; Lizarazo, S. C.

2013-05-01

To support the geodynamics research at the northwestern corner of South America, GEORED, the acronym for "Geodesia: Red de Estudios de Deformación" has been adopted for the Project "Implementation of the National GNSS Network for Geodynamics" carried out by the Colombian Geological Survey, (SGC), formerly INGEOMINAS. Beginning in 2007, discussions within the GEORED group led to a master plan for the distribution of the base permanent GPS/GNSS station array and specific areas of interest for campaign site construction. The use of previously identified active faults as preferred structures along which stresses are transferred through the deformational area led to the idea of segmentation of the North Andes within Colombia into 20 tectonic sub-blocks. Each of the 20 sub-blocks is expected to have, at least, three-four permanent GPS/GNSS stations within the block along with construction of campaign sites along the boundaries. Currently, the GEORED Network is managing 46 continuously including: 40 GEORED GPS/GNSS continuously operating stations; 4 GNSS continuously operating stations provided by the COCONet (Continuously Operating Caribbean GPS Observational Network) Project; the Bogotá IGS GPS station (BOGT), installed in 1994 under the agreement between JPL-NASA and the SGC; and the San Andres Island station, installed in 2007 under the MOU between UCAR and the SGC. In addition to the permanent installations, more than 230 GPS campaign sites have been constructed and are being occupied one time per year. The Authority of the Panama Canal and the Escuela Politecnica de Quito have also provided data of 4 and 5 GPS/GNSS stations respectively. The GPS data are processed using the GIPSY-OASIS II software, and the GPS time series of daily station positions give fundamental information for both regional and local geodynamics studies. Until now, we have obtained 100 quality vector velocities for Colombia, 23 of them as part of the permanent network. The GPS/GNSS stations are located on the three major plates that interact within the Wide Plate Margin Deformation Zone including existing permanent installations on IGS Galapagos and Malpelo Islands on the Nazca Plate, and San Andres Island on the Caribbean plate. The velocity vectors confirm the oblique subduction of the Nazca Plate and Carnegie aseismic ridge collision processes at the Colombia-Ecuador trench which are assumed to be the mechanism for the transpressional deformation and the "escape" of the North Andes Block (NAB). The northernmost vectors in Colombia are indicative of the ongoing collision of the Panama Arc with northwestern Colombia. Planned for the year 2013 is the installation of 10 additional GNSS continuously operating stations, and construction of 20 GPS campaign sites.

Evolutionary Progression Towards an Integrated GNSS

NASA Astrophysics Data System (ADS)

Remeikis, K.; Sloan, J.; Laffaiteur, M.; Nadeau, P.; Loescher, A.

2002-01-01

This paper addresses strategic and technical decisions that have been taken recently on Global Navigation Satellite System (GNSS). Progress and policy challenges for a GNSS encountered by the International Civil Aviation Organization (ICAO) will be examined. An overview will be given of ICAO's long-term strategy for the implementation of GNSS at all levels, global and regional. Besides the technical, political and legal harmonization, it is essential that the necessary frequencies are made available and are adequately protected once GNSS is operational. The paper highlights the importance of frequency issues for the development of GNSS, both in terms of the requirement for additional frequency allocations as well as the need to ensure that the operation of GNSS is not interfered with by other radio communications services. At the last WRC 2000 in Istanbul, the band 5010 to 5030 MHz was allocated for GNSS services. The tentative Galileo frequency structure and signal plan using common center frequencies with GPS will enhance interoperability for future user of an integrated GNSS consisting of GPS and Galileo. Galileo will be fully compatible with GPS, but independent from it. In addition, a global satellite navigation system, even a civilian one as Galileo, has to consider global security aspects. The dual-nature of satellite navigation is used in critical infrastructure where an uninterrupted service of applications based on it, is absolutely vital. Disruption of GNSS services is a potential threat for economy, safety and security related applications. Without the possibility of transparency and interoperability, GNSS system will not meet the safety objectives defined by FANS Committee. Clear policy and legal principles on standardization need to be elaborated in the legal framework to govern GNSS implementation. Recommendations about what changes to the current operational structure would be most appropriate for the future in order to develop a true GNSS will be discussed. The Galileo program should give the United States, Russia, Europe and other countries the opportunity to define the GNSS system together for the next two decades, leading to better services for users and reduced pressure on public budgets. Cooperation will add to a growing number of industrial partnership in space-related fields in particular, as well as in user services and equipment.

Satellite-based GNSS-R observations from TDS-1 for soil moisture studies in agricultural vegetation landscapes

NASA Astrophysics Data System (ADS)

Liu, P. W.; Clarizia, M. P.; Judge, J.; Camps, A.; Ruf, C. S.; Bongiovanni, T. E.

2015-12-01

Soil moisture (SM) is a critical factor governing the water and energy fluxes at the land surface that are important for near-term climate forecasting, drought monitoring, crop yield estimation, and better water resources management. Remotely sensed observations at microwave frequencies are the most sensitive to changes of water in the soil. Particularly, frequencies at L-band (1-2 GHz) have been widely used for SM studies under the vegetated land covers because of their minimal atmospheric interference and attenuation by vegetation, allowing observations from the soil surface. In addition to current satellite based microwave sensors, such as the Soil Moisture Active Passive (SMAP) missions, the Global Navigation Satellite System-Reflectometry technique is capable of observing the GNSS signal reflected from the terrain that contains combined information of soil and vegetation characteristics. The technique has recently attracted attention for global SM monitoring because its receiver is small in size and light weight and can be on board the low orbit, small satellites with low power consumption and low cost. Therefore the GNSS-R remote sensing may lead to affordable multi-satellite constellations that enable improved temporal resolution for highly dynamic hydrologic conditions. The current UK Technology Demonstration Satellite (TDS-1) has been providing global GNSS-R observations since September 2014 for experimental purposes and the receiver is accessed and operated for 2 days during every 8-day cycle. In the near future, the NASA Cyclone GNSS (CYGNSS) mission, scheduled to be launched in 2016, will consist of 8 satellites observing GPS L1 signal at a frequency of 1.5754 GHz with a spatial resolution of 10-25 km and a temporal resolution of < 12 hours. The goal of this study is to understand the impacts of SM and characteristics of agricultural vegetation on the forward scattering mechanisms of satellite-based GNSS-R observations. The GNSS-R observations from TDS-1 will be used to investigate the correlation of the GNSS-R signals to SMAP, ALOS-2 PALSAR-2, vegetation indices from MODIS, and the in-situ SM observations in an agricultural region in the Midwestern US. This study will provide insights into SM estimation in the agricultural region using satellite-based GNSS-R observations.

Challenges and Solutions for GNSS Receivers onboard LEO Satellites Traveling through the Ionosphere during Space Weather Events

NASA Astrophysics Data System (ADS)

Morton, Y.; Xu, D.; Yang, R.; Jiao, Y.; Rino, C.; Carrano, C. S.

2017-12-01

This presentation discusses challenges imposed on GNSS receiver carrier-tracking loop for receivers onboard LEO satellites traveling through ionosphere during space weather events and techniques that mitigate the effects. Recent studies show that the ESA's swarm satellites experienced a total loss of GPS signals in areas known for frequent occurrence of ionosphere plasma irregularities. The same phenomena have been observed in other satellite missions. More robust GNSS receiver technologies are needed to improve the navigation capabilities for future LEO satellite missions. A major challenge to characterize GNSS signals traversing ionospheric plasma structures to reach a LEO satellite is the lack of data. To overcome this challenge, we utilized a physics-based GNSS scintillation signal simulator to generate simulated data for analysis and algorithm development. The simulator relies on real scintillation data collected by ground-based receivers as the initializer to generate a realization of ionosphere irregularity structure statistical distribution. A user specifies desired satellite orbit, signal modulation scheme, receiver platform dynamics, and receiver front-end hardware design. These inputs are used to establish the signal propagation geometry to allow interception of the disturbed signal by a realistic GNSS receiver. The simulator results showed that plasma structures lead to strong disturbances on GNSS signals reaching a LEO platform. The disturbances are characterized by simultaneous deep amplitude fades and extremely rapid carrier phase fluctuations. The carrier phase rate is orders of magnitude higher than the ones experienced by receivers on the ground. Such high carrier dynamics far exceeds the range that can be tolerated by the bandwidth of a typical GNSS receiver. The deep amplitude fades further exacerbate the problem. Based on the simulator outputs, we established models of the disturbed signal parameters. These models are used in an adaptive carrier-tracking algorithm that demonstrated improved performances when applied to various simulated scenarios of plasma structures and receiver trajectories. The presentation will discuss the simulator, disturbed signal characterization, and the adaptive algorithm architecture and performances.

Overview of new GNSS tropospheric products for GNSS-meteorology and their assessment at Geodetic Observatory Pecny (CZ)

NASA Astrophysics Data System (ADS)

Dousa, J.; Vaclavovic, P.; Gyori, G.

2012-12-01

Geodetic Observatory Pecný (GOP) has a long-term experience in the estimation of precise tropospheric parameters from GNSS permanent stations, in particular under the limited timelines of near real time. More than a decade, the GOP zenith total delays (ZTD) contributed to various projects in Europe (COST-716, TOUGH, E-GVAP, E-GVAP II) and the operational ZTD hourly updated product flows via the meteorological observation exchange network - GTS - to the end users worldwide. Currently, the GOP regional ZTD product is operationally assimilated in Météo France and UK MetOffice at least and further exploited in various ways at many other meteorological institutions. New developments at GOP over last three years consist of a) implementation and assessment of the global hourly ZTD product of about 170 stations, b) implementation of routine multi-GNSS (GPS+GLONASS) ZTD European product, and c) implementation of ultra-fast/real-time ZTD product. The GOP global ZTD product has been implemented on request of the meteorological institutions running global numerical weather forecasting models. The global ZTD product was seriously evaluated over ten months (Oct 2009 - Aug 2011) when compared to reprocessed EUREF and IGS ZTDs, radiosondes and ZTDs derived from UK MetOffice's global numerical weather model. After the evaluation (and on special request of UK MetOffice) the product has been switched from testing to operational status within the framework of the EUMETNET EIG GPS Water Vapour Programme (E-GVAP) and officially disseminated via the GTS network. The GOP multi-GNSS ZTD solution has been tested since 2009 shortly after developing GOP ultra-rapid GPS+GLONASS orbits for the International GNSS Service (IGS). A specific bias of mean value 1.5 mm was identified between GPS- and GLONASS-only ZTD at that time, and relation to the IGS05 antenna phase centre offset and variation models (PCO+PCV) identified. Consequently, the implementation of a routine operation has been done after the GPS week 1632 together with adopting IGS08 PCO+PCVs, which eliminated the bias and demonstrated an overall general better consistence between GPS- and GLONASS-only ZTD estimates. The multi-GNSS ZTD product runs in parallel to the GPS-only and is going to replace the current official GPS-only product after more than a year assessment. This multi-GNSS product has assesses a satisfactory quality and robustness of unofficial IGS ultra-rapid GPS+GLONASS orbits necessary for multi-GNSS solution. The GOP ultra-fast and real-time ZTD estimation is being developed with in-house software application using own G-Nut library and Precise Point Positioning technique (in contrast to all other GOP ZTD products based on Bernese GPS software and based on double-difference observations). The IGS Real-time Pilot Project orbit and clock corrections are seriously exploited in these ultra-fast and real-time tropospheric products aimed for nowcasting and severe weather monitoring. Our implementation assesses an optimal balance between timelines and product quality required by these applications.

A data-driven approach for denoising GNSS position time series

NASA Astrophysics Data System (ADS)

Li, Yanyan; Xu, Caijun; Yi, Lei; Fang, Rongxin

2017-12-01

Global navigation satellite system (GNSS) datasets suffer from common mode error (CME) and other unmodeled errors. To decrease the noise level in GNSS positioning, we propose a new data-driven adaptive multiscale denoising method in this paper. Both synthetic and real-world long-term GNSS datasets were employed to assess the performance of the proposed method, and its results were compared with those of stacking filtering, principal component analysis (PCA) and the recently developed multiscale multiway PCA. It is found that the proposed method can significantly eliminate the high-frequency white noise and remove the low-frequency CME. Furthermore, the proposed method is more precise for denoising GNSS signals than the other denoising methods. For example, in the real-world example, our method reduces the mean standard deviation of the north, east and vertical components from 1.54 to 0.26, 1.64 to 0.21 and 4.80 to 0.72 mm, respectively. Noise analysis indicates that for the original signals, a combination of power-law plus white noise model can be identified as the best noise model. For the filtered time series using our method, the generalized Gauss-Markov model is the best noise model with the spectral indices close to - 3, indicating that flicker walk noise can be identified. Moreover, the common mode error in the unfiltered time series is significantly reduced by the proposed method. After filtering with our method, a combination of power-law plus white noise model is the best noise model for the CMEs in the study region.

GNSS VTEC calibration using satellite altimetry and LEO data

NASA Astrophysics Data System (ADS)

Alizadeh, M. Mahdi; Schuh, Harald

2015-04-01

Among different systems remote sensing the ionosphere, space geodetic techniques have turned into a promising tool for monitoring and modeling the ionospheric parameters. Due to the fact that ionosphere is a dispersive medium, the signals travelling through this medium provide information about the parameters of the ionosphere in terms of Total Electron Content (TEC) or electron density along the ray path. The classical input data for development of Global Ionosphere Maps (GIM) of the Vertical Total Electron Content (VTEC) is obtained from the dual-frequency Global Navigation Satellite Systems (GNSS) ground-based observations. Nevertheless due to the fact that GNSS ground stations are in-homogeneously distributed with poor coverage over the oceans (namely southern Pacific and southern Atlantic) and also parts of Africa, the precision of VTEC maps are rather low in these areas. From long term analyses it is believed that the International GNSS Service (IGS) VTEC maps have an accuracy of 1-2 TECU in areas well covered with GNSS receivers; conversely, in areas with poor coverage the accuracy can be degraded by a factor of up to five. On the other hand dual-frequency satellite altimetry missions (such as Jason-1&2) provide direct VTEC values exactly over the oceans, and furthermore the Low Earth Orbiting (LEO) satellites such as the Formosat-3/COSMIC (F/C) provide about a great number of globally distributed occultation measurements per day, which can be used to obtain VTEC values. Combining these data with the ground-based data improves the accuracy and reliability of the VTEC maps by closing of observation gaps that arise when using ground-based data only. In this approach an essential step is the evaluation and calibration of the different data sources used for the combination procedure. This study investigates the compatibility of calibrated TEC observables derived from GNSS dual-frequency data, recorded at global ground-based station networks, with space-based TEC values from satellite altimetry and F/C observations. In the current procedure the ground-based GNSS observations have been used to develop a GNSS-only GIM, using the parameter estimation technique. The VTEC values extracted from these models have been quantified and calibrated with the raw altimetry and LEO measurements. The calibrated values have been consequently used for developing the combined GIMs of the VTEC.

GNSS Wave Glider: First results from Loch Ness and demonstration of its suitability for determining the marine geoid

NASA Astrophysics Data System (ADS)

Penna, N. T.; Morales Maqueda, M.; Williams, S. D.; Foden, P.; Martin, I.; Pugh, J.

2013-12-01

We report on a first deployment of a GNSS Wave Glider designed for precise, unmanned, autonomous, mobile self-propelled sea level and sea state measurement in the open ocean. The Wave Glider, equipped with a dual frequency GPS+GLONASS receiver, was deployed in Loch Ness, Scotland, autonomously travelling 32 km in a north-easterly direction along the length of the loch in 26 hours, propelled by energy generated from waves of typical amplitude only 100-150 mm and frequency on the order 0.5-1 Hz. The Wave Glider GNSS data were analysed using a post-processed kinematic GPS+GLONASS precise point positioning (PPP) approach, which were quality controlled using double difference GPS kinematic processing with respect to onshore reference stations at either end of the loch. The PPP heights of the loch's surface revealed a clear geoid gradient of about 30 mm/km (i.e. just under 1 m over the whole length of the loch), very similar to both the EGM2008 and OSGM02 geoid models, demonstrating the potential use of a GNSS Wave Glider for marine geoid determination. After applying a low pass filter, the GNSS heights showed local deviations from both EGM2008 and OSGM02, potentially caused by omission errors or a lack of gravity data over Loch Ness. In addition to dual frequency GNSS data, the Wave Glider also recorded inclinometer data, bathymetry, and surface currents, which, in combination with tide gauge and wind data, were used to further control and interpret the GNSS time series.

Hazards in Motion: Development of Mobile Geofences for Use in Logging Safety

PubMed Central

Zimbelman, Eloise G.; Keefe, Robert F.; Strand, Eva K.; Kolden, Crystal A.; Wempe, Ann M.

2017-01-01

Logging is one of the most hazardous occupations in the United States. Real-time positioning that uses global navigation satellite system (GNSS) technology paired with radio frequency transmission (GNSS-RF) has the potential to reduce fatal and non-fatal accidents on logging operations through the use of geofences that define safe work areas. Until recently, most geofences have been static boundaries. The aim of this study was to evaluate factors affecting mobile geofence accuracy in order to determine whether virtual safety zones around moving ground workers or equipment are a viable option for improving situational awareness on active timber sales. We evaluated the effects of walking pace, transmission interval, geofence radius, and intersection angle on geofence alert delay using a replicated field experiment. Simulation was then used to validate field results and calculate the proportion of GNSS error bearings resulting in early alerts. The interaction of geofence radius and intersection angle affected safety geofence alert delay in the field experiment. The most inaccurate alerts were negative, representing early warning. The magnitude of this effect was largest at the greatest intersection angles. Simulation analysis supported these field results and also showed that larger GNSS error corresponded to greater variability in alert delay. Increasing intersection angle resulted in a larger proportion of directional GNSS error that triggered incorrect, early warnings. Because the accuracy of geofence alerts varied greatly depending on GNSS error and angle of approach, geofencing for occupational safety is most appropriate for general situational awareness unless real-time correction methods to improve accuracy or higher quality GNSS-RF transponders are used. PMID:28394303

A Real-Time Interference Monitoring Technique for GNSS Based on a Twin Support Vector Machine Method.

PubMed

Li, Wutao; Huang, Zhigang; Lang, Rongling; Qin, Honglei; Zhou, Kai; Cao, Yongbin

2016-03-04

Interferences can severely degrade the performance of Global Navigation Satellite System (GNSS) receivers. As the first step of GNSS any anti-interference measures, interference monitoring for GNSS is extremely essential and necessary. Since interference monitoring can be considered as a classification problem, a real-time interference monitoring technique based on Twin Support Vector Machine (TWSVM) is proposed in this paper. A TWSVM model is established, and TWSVM is solved by the Least Squares Twin Support Vector Machine (LSTWSVM) algorithm. The interference monitoring indicators are analyzed to extract features from the interfered GNSS signals. The experimental results show that the chosen observations can be used as the interference monitoring indicators. The interference monitoring performance of the proposed method is verified by using GPS L1 C/A code signal and being compared with that of standard SVM. The experimental results indicate that the TWSVM-based interference monitoring is much faster than the conventional SVM. Furthermore, the training time of TWSVM is on millisecond (ms) level and the monitoring time is on microsecond (μs) level, which make the proposed approach usable in practical interference monitoring applications.

A Real-Time Interference Monitoring Technique for GNSS Based on a Twin Support Vector Machine Method

PubMed Central

Li, Wutao; Huang, Zhigang; Lang, Rongling; Qin, Honglei; Zhou, Kai; Cao, Yongbin

2016-01-01

Interferences can severely degrade the performance of Global Navigation Satellite System (GNSS) receivers. As the first step of GNSS any anti-interference measures, interference monitoring for GNSS is extremely essential and necessary. Since interference monitoring can be considered as a classification problem, a real-time interference monitoring technique based on Twin Support Vector Machine (TWSVM) is proposed in this paper. A TWSVM model is established, and TWSVM is solved by the Least Squares Twin Support Vector Machine (LSTWSVM) algorithm. The interference monitoring indicators are analyzed to extract features from the interfered GNSS signals. The experimental results show that the chosen observations can be used as the interference monitoring indicators. The interference monitoring performance of the proposed method is verified by using GPS L1 C/A code signal and being compared with that of standard SVM. The experimental results indicate that the TWSVM-based interference monitoring is much faster than the conventional SVM. Furthermore, the training time of TWSVM is on millisecond (ms) level and the monitoring time is on microsecond (μs) level, which make the proposed approach usable in practical interference monitoring applications. PMID:26959020

GNSS Active Network of West of Sao Paulo State Applied to Ionosphere Monitoring

NASA Astrophysics Data System (ADS)

Aguiar, C. R.; Camargo, P. D.

2008-12-01

In Brazil, a research project of atmospheric studies from reference stations equipped with dual frequency GNSS receivers is in initial phase. These stations have composed the GNSS Active Network of West Sao Paulo State (Network-GNSS-SP) and have been broadcasting GNSS data in real time. Network-GNSS-SP is in tests phase and it's the first Brazilian network to provide GNSS measurements in real time. In Spatial Geodesy Study Brazilian Group (GEGE) has been researched the ionosphere effects on L band signal, as well as the GPS potential on ionosphere dynamic monitoring and, consequently, the application of this one to spatial geophysics study, besides dynamic ionosphere modeling. An algorithm based on Kalman filter has been developed for ionosphere modeling at low latitude regions and estimation of ionospheric parameters as absolute vertical TEC (VTEC) for the monitoring of ionosphere behavior. The approach used in this study is to apply a model for the ionospheric vertical delay. In the algorithm, the ionospheric vertical delay is modeled and expanded by Fourier series. In this paper has been realized on-line processing of the Network-GNSS-SP data and the initial results reached with the algorithm can already be analyzed. The results show the ionospheric maps created from real time TEC estimates.

Real-Time Tropospheric Product Establishment and Accuracy Assessment in China

NASA Astrophysics Data System (ADS)

Chen, M.; Guo, J.; Wu, J.; Song, W.; Zhang, D.

2018-04-01

Tropospheric delay has always been an important issue in Global Navigation Satellite System (GNSS) processing. Empirical tropospheric delay models are difficult to simulate complex and volatile atmospheric environments, resulting in poor accuracy of the empirical model and difficulty in meeting precise positioning demand. In recent years, some scholars proposed to establish real-time tropospheric product by using real-time or near-real-time GNSS observations in a small region, and achieved some good results. This paper uses real-time observing data of 210 Chinese national GNSS reference stations to estimate the tropospheric delay, and establishes ZWD grid model in the country wide. In order to analyze the influence of tropospheric grid product on wide-area real-time PPP, this paper compares the method of taking ZWD grid product as a constraint with the model correction method. The results show that the ZWD grid product estimated based on the national reference stations can improve PPP accuracy and convergence speed. The accuracy in the north (N), east (E) and up (U) direction increase by 31.8 %,15.6 % and 38.3 %, respectively. As with the convergence speed, the accuracy of U direction experiences the most improvement.

The Global GNSS, SLR, VLBI, and DORIS Networks and their Support of GGOS: IGS+ILRS+IVS+IDS

NASA Technical Reports Server (NTRS)

Noll, Carey

2008-01-01

The global network of the International GNSS Service (IGS), the International Laser Ranging Service (ILRS), the International VLBI Service for Geodesy and Astrometry (IVS), and the International DORIS Service (IDS) are part of the ground-based infrastructure for GGOS. The observations obtained from these global networks provide for the determination and maintenance of the International Terrestrial Reference Frame (ITRF), an accurate set of positions and velocities that provides a stable coordinate system allowing scientists ts to link measurements over space and time. Many of these sites offer co-location of two or more techniques. Co-location provides integration of technique-specific networks into the ITRF as well as an assessment/validation of the quality and accuracy of the resulting measurements. As of fall 2008, these networks consisted of 410 GNSS sites, 42 laser ranging sites, 45 VLBI sites, and 58 DORIS sites. This poster will illustrate the global coverage of these networks, highlighting inter-technique co-locations, and show the importance of these networks 60 the underlying goals of GGOS including providing the observational basis to maintain a stable, accurate, global reference frame.

Application of GNSS-RTK derived topographical maps for rapid environmental monitoring: a case study of Jack Finnery Lake (Perth, Australia).

PubMed

Schloderer, Glen; Bingham, Matthew; Awange, Joseph L; Fleming, Kevin M

2011-09-01

In environmental monitoring, environmental impact assessments and environmental audits, topographical maps play an essential role in providing a means by which the locations of sampling sites may be selected, in assisting with the interpretation of physical features, and in indicating the impact or potential impact on an area due to changes in the system being monitored (e.g., spatially changing features such as wetlands). Global Navigation Satellite Systems (GNSS) are hereby presented as a rapid method for monitoring spatial changes to support environmental monitoring decisions and policies. To validate the GNSS-based method, a comparison is made of results from a small-scale topographic survey using radio-based real-time kinematic GNSS (GNSS-RTK) and total station survey methods at Jack Finnery Lake, Perth, Australia. The accuracies achieved by the total station in this study were 2 cm horizontally and 6 cm vertically, while the GNSS-RTK also achieved an accuracy of 2 cm horizontally, but only 28 cm vertically. While the GNSS-RTK measurements were less accurate in the height component compared to those from the total station method, it is still capable of achieving accuracies sufficient for a topographic map at a scale of 1:1,750 that could support environmental monitoring tasks such as identifying spatial changes in small water bodies or wetlands. The time taken to perform the survey using GNSS-RTK, however, was much shorter compared to the total station method, thereby making it quite suitable for monitoring spatial changes within an environmental context, e.g., dynamic mining activities that require rapid surveys and the updating of the monitored data at regular intervals.

Effect of solar radio bursts on GNSS signal reception over Europe for the period 1999-2013

NASA Astrophysics Data System (ADS)

Chevalier, Jean-Marie; Bergeot, Nicolas; Marqué, Christophe; Aerts, Wim; Bruyninx, Carine

2015-04-01

Intense solar radio bursts (SRB) emitted at L-band frequencies can affect the carrier-to-noise C/N0 ratio of Global Navigation Satellite Systems (GNSS) signals by increasing the background noise. Such space weather events can consequently decrease the quality of GNSS-based results especially for kinematic high-precision positioning. It is thus important to develop a method capable to detect such events in near real time on a wide area. For this purpose, the ROB-IONO software was adapted for analysing the effect of SRB on the dense EUREF Permanent GNSS Network (EPN). First, S1 and S2 raw data extracted from RINEX files were converted into the C/N0 unit (dB.Hz) taking into account manufacturer corrections. Then, the differences (ΔC/N0) between all these C/N0observables and their medians of the 7 previous satellite ground track repeat cycles, i.e. their normal quiet state, were computed. The mean of all these well-calibrated ΔC/N0values from different GNSS receivers and satellites offer at each epoch a reliable metric to detect and quantify the impact of a SRB. We investigated the degradation of GPS and GLONASS C/N0 on the entire EPN during 10 intense SRBs occurring at daylight over Europe between 1999 and 2013. The analysis shows that: (1) GPS and GLONASS ΔC/N0 agree at the 0.1±0.2dB.Hz level; (2) The standard deviation of the mean ΔC/N0of the EPN GNSS receivers is below 1dB.Hz 96% of the time, and below 0.6dB.Hz 76% of the time; (3) maximum ΔC/N0 degradation occurs at the epoch of maximum solar peak flux delivered by the solar ground observatories; (4) C/N0 degradation becomes larger with increasing solar zenithal angle. Consequently, the ROB-IONO software is capable to detect the degradation of GNSS signal reception over Europe due to SRBs. In addition, by taking advantage of the increasing number of EPN stations delivering C/N0 data since 2005, even less intense SRB events can now be detected. Finally, the developed method can be completely applied in near real time.

Improvement of Klobuchar model for GNSS single-frequency ionospheric delay corrections

NASA Astrophysics Data System (ADS)

Wang, Ningbo; Yuan, Yunbin; Li, Zishen; Huo, Xingliang

2016-04-01

Broadcast ionospheric model is currently an effective approach to mitigate the ionospheric time delay for real-time Global Navigation Satellite System (GNSS) single-frequency users. Klobuchar coefficients transmitted in Global Positioning System (GPS) navigation message have been widely used in various GNSS positioning and navigation applications; however, this model can only reduce the ionospheric error by approximately 50% in mid-latitudes. With the emerging BeiDou and Galileo, as well as the modernization of GPS and GLONASS, more precise ionospheric correction models or algorithms are required by GNSS single-frequency users. Numerical analysis of the initial phase and nighttime term in Klobuchar algorithm demonstrates that more parameters should be introduced to better describe the variation of nighttime ionospheric total electron content (TEC). In view of this, several schemes are proposed for the improvement of Klobuchar algorithm. Performance of these improved Klobuchar-like models are validated over the continental and oceanic regions during high (2002) and low (2006) levels of solar activities, respectively. Over the continental region, GPS TEC generated from 35 International GNSS Service (IGS) and the Crust Movement Observation Network of China (CMONOC) stations are used as references. Over the oceanic region, TEC data from TOPEX/Poseidon and JASON-1 altimeters are used for comparison. A ten-parameter Klobuchar-like model, which describes the nighttime term as a linear function of geomagnetic latitude, is finally proposed for GNSS single-frequency ionospheric corrections. Compared to GPS TEC, while GPS broadcast model can correct for 55.0% and 49.5% of the ionospheric delay for the year 2002 and 2006, respectively, the proposed ten-parameter Klobuchar-like model can reduce the ionospheric error by 68.4% and 64.7% for the same period. Compared to TOPEX/Poseidon and JASON-1 TEC, the improved ten-parameter Klobuchar-like model can mitigate the ionospheric delay by 61.1% and 64.3% in 2002 and 2006, respectively.

A Filtering of Incomplete GNSS Position Time Series with Probabilistic Principal Component Analysis

NASA Astrophysics Data System (ADS)

Gruszczynski, Maciej; Klos, Anna; Bogusz, Janusz

2018-04-01

For the first time, we introduced the probabilistic principal component analysis (pPCA) regarding the spatio-temporal filtering of Global Navigation Satellite System (GNSS) position time series to estimate and remove Common Mode Error (CME) without the interpolation of missing values. We used data from the International GNSS Service (IGS) stations which contributed to the latest International Terrestrial Reference Frame (ITRF2014). The efficiency of the proposed algorithm was tested on the simulated incomplete time series, then CME was estimated for a set of 25 stations located in Central Europe. The newly applied pPCA was compared with previously used algorithms, which showed that this method is capable of resolving the problem of proper spatio-temporal filtering of GNSS time series characterized by different observation time span. We showed, that filtering can be carried out with pPCA method when there exist two time series in the dataset having less than 100 common epoch of observations. The 1st Principal Component (PC) explained more than 36% of the total variance represented by time series residuals' (series with deterministic model removed), what compared to the other PCs variances (less than 8%) means that common signals are significant in GNSS residuals. A clear improvement in the spectral indices of the power-law noise was noticed for the Up component, which is reflected by an average shift towards white noise from - 0.98 to - 0.67 (30%). We observed a significant average reduction in the accuracy of stations' velocity estimated for filtered residuals by 35, 28 and 69% for the North, East, and Up components, respectively. CME series were also subjected to analysis in the context of environmental mass loading influences of the filtering results. Subtraction of the environmental loading models from GNSS residuals provides to reduction of the estimated CME variance by 20 and 65% for horizontal and vertical components, respectively.

Potential of space-borne GNSS reflectometry to constrain simulations of the ocean circulation. A case study for the South African current system

NASA Astrophysics Data System (ADS)

Saynisch, Jan; Semmling, Maximilian; Wickert, Jens; Thomas, Maik

2015-11-01

The Agulhas current system transports warm and salty water masses from the Indian Ocean into the Southern Ocean and into the Atlantic. The transports impact past, present, and future climate on local and global scales. The size and variability, however, of the respective transports are still much debated. In this study, an idealized model based twin experiment is used to study whether sea surface height (SSH) anomalies estimated from reflected signals of the Global Navigation Satellite System reflectometry (GNSS-R) can be used to determine the internal water mass properties and transports of the Agulhas region. A space-borne GNSS-R detector on the International Space Station (ISS) is assumed and simulated. The detector is able to observe daily SSH fields with a spatial resolution of 1-5∘. Depending on reflection geometry, the precision of a single SSH observation is estimated to reach 3 cm (20 cm) when the carrier phase (code delay) information of the reflected GNSS signal is used. The average precision over the Agulhas region is 7 cm (42 cm). The proposed GNSS-R measurements surpass the radar-based satellite altimetry missions in temporal and spatial resolution but are less precise. Using the estimated GNSS-R characteristics, measurements of SSH are generated by sampling a regional nested general circulation model of the South African oceans. The artificial observations are subsequently assimilated with a 4DVAR adjoint data assimilation method into the same ocean model but with a different initial state and forcing. The assimilated and the original, i.e., the sampled model state, are compared to systematically identify improvements and degradations in the model variables that arise due to the assimilation of GNSS-R based SSH observations. We show that SSH and the independent, i.e., not assimilated model variables velocity, temperature, and salinity improve by the assimilation of GNSS-R based SSH observations. After the assimilation of 90 days of SSH observations, improvements in the independent variables cover the whole water column. Locally, up to 39 % of the original model state are recovered. Shorter assimilation windows result in enhanced reproduction of the observed and assimilated SSH but are accompanied by an insufficient or wrong recovery of sub-surface water properties. The assimilation of real GNSS-R observations, when available, and consequently the estimation of Agulhas water mass properties and the leakage of heat and salt into the Atlantic will benefit from this model-based study.

Evaluating horizontal positional accuracy of low-cost UAV orthomosaics over forest terrain using ground control points extracted from different sources

NASA Astrophysics Data System (ADS)

Patias, Petros; Giagkas, Fotis; Georgiadis, Charalampos; Mallinis, Giorgos; Kaimaris, Dimitris; Tsioukas, Vassileios

2017-09-01

Within the field of forestry, forest road mapping and inventory plays an important role in management activities related to wood harvesting industry, sentiment and water run-off modelling, biodiversity distribution and ecological connectivity, recreation activities, future planning of forest road networks and wildfire protection and fire-fighting. Especially in countries of the Mediterranean Rim, knowledge at regional and national scales regarding the distribution and the characteristics of rural and forest road network is essential in order to ensure an effective emergency management and rapid response of the fire-fighting mechanism. Yet, the absence of accurate and updated geodatabases and the drawbacks related to the use of traditional cartographic methods arising from the forest environment settings, and the cost and efforts needed, as thousands of meters need to be surveyed per site, trigger the need for new data sources and innovative mapping approaches. Monitoring the condition of unpaved forest roads with unmanned aerial vehicle technology is an attractive option for substituting objective, laboursome surveys. Although photogrammetric processing of UAV imagery can achieve accuracy of 1-2 centimeters and dense point clouds, the process is commonly based on the establishment of control points. In the case of forest road networks, which are linear features, there is a need for a great number of control points. Our aim is to evaluate low-cost UAV orthoimages generated over forest areas with GCP's captured from existing national scale aerial orthoimagery, satellite imagery available through a web mapping service (WMS), field surveys using Mobile Mapping System and GNSS receiver. We also explored the direct georeferencing potential through the GNSS onboard the low cost UAV. The results suggest that the GNSS approach proved to most accurate, while the positional accuracy derived using the WMS and the aerial orthoimagery datasets deemed satisfactory for the specific task at hand. The direct georeferencing procedure seems to be insufficient unless an onboard GNSS with improved specifications or Real-Time Kinematic (RTK) capabilities is used.

Off Shore Geodetic Measurements Simulations in the Context of Seismic and Tsunami Hazard Evaluation in the Lesser Antilles

NASA Astrophysics Data System (ADS)

Sakic, P.; Ballu, V.; Piete, H.; Royer, J. Y.; de Chabalier, J. B.

2015-12-01

Based on the current state of knowledge, the megathrust/tsunami hazard estimation in the Lesser Antilles forearc remains uncertain. Some major events have been reported (e.g. the 1843 earthquake estimated with a IX intensity), however no associated mega-tsunami has been recorded, maybe because of the nature of the event (slab locked up to the trench or not) or the too short observation period. GNSS monitoring networks are deployed on all Caribbean Islands (Guadeloupe and Martinique in particular). However, land areas are far from the trench, and their configuration is not optimal for the strain measurement related to a possible locking between the two plates up to the seafloor.The GPS/Acoustics (GPS/A) technique aims to overcome this limitation. It consists of a surface platform used as a relay between aerial and underwater media. The position is obtained in a global reference frame by GNSS kinematic processing and is transferred to the seafloor by acoustic ranging to a set of transponders permanently installed on the seabed. Repeated measurements over the years will allow to compute the velocity of the study area in a global reference frame. We present a case study for a future deployment of this kind of submarine network off the French Caribbean Islands. Numerical simulations of GPS/A are performed in order to evaluate the accuracy achievable in the Antilles context, using water variability information from past oceanographic campaigns and MOVE buoys. The kinematic GNSS treatments are carried out on test cruises data by different methods (real-time differential, differential post treatment and Precise Point Positioning) to assess the performances in different conditions. In order to characterize the geophysical context, we also present a reprocessing of the GNSS stations of the Guadeloupe and Martinique Islands using a PPP approach with the CNES GINS software, along with a finite element model of the subduction zone.

A fully automatic approach to register mobile mapping and airborne imagery to support the correction of platform trajectories in GNSS-denied urban areas

NASA Astrophysics Data System (ADS)

Jende, Phillipp; Nex, Francesco; Gerke, Markus; Vosselman, George

2018-07-01

Mobile Mapping (MM) solutions have become a significant extension to traditional data acquisition methods over the last years. Independently from the sensor carried by a platform, may it be laser scanners or cameras, high-resolution data postings are opposing a poor absolute localisation accuracy in urban areas due to GNSS occlusions and multipath effects. Potentially inaccurate position estimations are propagated by IMUs which are furthermore prone to drift effects. Thus, reliable and accurate absolute positioning on a par with MM's high-quality data remains an open issue. Multiple and diverse approaches have shown promising potential to mitigate GNSS errors in urban areas, but cannot achieve decimetre accuracy, require manual effort, or have limitations with respect to costs and availability. This paper presents a fully automatic approach to support the correction of MM imaging data based on correspondences with airborne nadir images. These correspondences can be employed to correct the MM platform's orientation by an adjustment solution. Unlike MM as such, aerial images do not suffer from GNSS occlusions, and their accuracy is usually verified by employing well-established methods using ground control points. However, a registration between MM and aerial images is a non-standard matching scenario, and requires several strategies to yield reliable and accurate correspondences. Scale, perspective and content strongly vary between both image sources, thus traditional feature matching methods may fail. To this end, the registration process is designed to focus on common and clearly distinguishable elements, such as road markings, manholes, or kerbstones. With a registration accuracy of about 98%, reliable tie information between MM and aerial data can be derived. Even though, the adjustment strategy is not covered in its entirety in this paper, accuracy results after adjustment will be presented. It will be shown that a decimetre accuracy is well achievable in a real data test scenario.

Squeezeposenet: Image Based Pose Regression with Small Convolutional Neural Networks for Real Time Uas Navigation

NASA Astrophysics Data System (ADS)

Müller, M. S.; Urban, S.; Jutzi, B.

2017-08-01

The number of unmanned aerial vehicles (UAVs) is increasing since low-cost airborne systems are available for a wide range of users. The outdoor navigation of such vehicles is mostly based on global navigation satellite system (GNSS) methods to gain the vehicles trajectory. The drawback of satellite-based navigation are failures caused by occlusions and multi-path interferences. Beside this, local image-based solutions like Simultaneous Localization and Mapping (SLAM) and Visual Odometry (VO) can e.g. be used to support the GNSS solution by closing trajectory gaps but are computationally expensive. However, if the trajectory estimation is interrupted or not available a re-localization is mandatory. In this paper we will provide a novel method for a GNSS-free and fast image-based pose regression in a known area by utilizing a small convolutional neural network (CNN). With on-board processing in mind, we employ a lightweight CNN called SqueezeNet and use transfer learning to adapt the network to pose regression. Our experiments show promising results for GNSS-free and fast localization.

Processes of Compression-Expansion and Subsidence-Uplift detected by the Spatial Inclinometer (IESHI) in the El Hierro Island eruption (October, 2011)

NASA Astrophysics Data System (ADS)

Prates, G.; Berrocoso, M.; Fernández-Ros, A.; García, A.; Ortiz, R.

2012-04-01

El Hierro Island (Canary Islands, Spain) has undergone a submarine eruption a few kilometers to its southeast, detected October 10, on the rift alignment that cuts across the island. However, the seismicity level suddenly increased around July 17 and ground deformation was detected by the only continuously observed GNSS-GPS (Global Navigation Satellite Systems - Global Positioning System) benchmark FRON in the El Golfo area. Based on that information several other GNSS-GPS benchmarks were installed, some of which continuously observed as well. A normal vector analysis was applied to these collected data. The normal vector magnitude variation identified local extension-compression regimes, while the normal vector inclination showed the relative height variation between the three benchmarks that define the plan to which normal vector is analyzed. To accomplish this analysis the data was previously processed to achieve positioning solutions every 30 minutes using the Bernese GPS Software 5.0, further enhanced by a Discrete Kalman Filter, giving an overall millimeter level precision. These solutions were reached using the IGS (International GNSS Service) ultra-rapid orbits and the double-differenced ionosphere-free combination. With this strategy the positioning solutions were attained in near real-time. Later with the IGS rapid orbits the data was reprocessed to provide added confidence to the solutions. Two triangles were then considered, a smaller one located in the El Golfo area within the historically collapsed caldera, and a larger one defined by benchmarks placed in Valverde, El Golfo and La Restinga, the town closest to the eruption's location, covering almost the entire Island's surface above sea level. With these two triangles the pre-eruption and post-eruption deformation suffered by El Hierro's surface will be further analyzed.

Combining the Observations from Different GNSS (Invited)

NASA Astrophysics Data System (ADS)

Dach, R.; Lutz, S.; Schaer, S.; Bock, H.; Jäggi, A.; Meindl, M.; Ostini, L.; Thaller, D.; Steinbach, A.; Beutler, G.; Steigenberger, P.

2009-12-01

For a very long time GPS has clearly dominated the use of GNSS measurements for scientific purposes. This picture is changing: we are moving from a GPS-only to a multi-GNSS world. This is, e.g., reflected by changing the meaning of the abbreviation IGS in March 2005 from International GPS to GNSS Service. The current situation can be described as follows: GPS has the leading role in the GNSS because it has provided a very stable satellite constellation over many years. Some of the currently active GPS satellites are nearly 15 years old. These old satellites are expected to be decommissioned within the next years. On the other hand, due to the increasing number of active GLONASS satellites and the improved density of multi-GNSS tracking stations in the IGS network, the quality of the GLONASS orbits has drastically improved during the last years. The European Galileo system is under development: currently two test satellites (GIOVE-A and GIOVE-B) are in orbit. The IOV (in-orbit-validation phase) will start soon. Also the first test satellites for the Chinese Compass system are in space. For the maximum benefit the observations of these GNSS will be processed in a combined multi-GNSS analysis in future. CODE (Center for Orbit Determination in Europe) is a joint venture between the Astronomical Institute of the University Bern (AIUB, Bern, Switzerland), the Federal Office of Topography (swisstopo, Wabern, Switzerland), the Federal Agency for Cartography and Geodesy (BKG, Frankfurt am Main, Germany), and the Institut für Astronomische und Physikalische Geodäsie of the Technische Universität München (IAPG/TUM, Munich, Germany). It acts as one of the global analysis centers of the IGS and has started in May 2003 with a rigorous combined processing of GPS and GLONASS measurements for the final, rapid, and even ultra-rapid product lines. All contributions from CODE to the IGS are in fact multi-GNSS products -- the only exception is the satellite and receiver clock corrections. The procedure to derive the satellite and receiver clock corrections is under the transition from the currently operational GPS-only to the multi-GNSS mode including GPS and GLONASS. When CODE started with its multi-GNSS processing more than 6 years ago the network density and the number of active GLONASS satellites was very limited. Nowadays this situation has changed, which brings us into the position to review the strategy to combine the measurements from different GNSS in the data analysis. The presentation will discuss the advantages and disadvantages of the highest (only one constant inter-system bias) and lowest (a minimum number of common parameters) possible correlation between the observations of the individual GNSS.

Soil Moisture Sensing Using Spaceborne GNSS Reflections: Comparison of CYGNSS Reflectivity to SMAP Soil Moisture

NASA Astrophysics Data System (ADS)

Chew, C. C.; Small, E. E.

2018-05-01

This paper quantifies the relationship between forward scattered L-band Global Navigation Satellite System (GNSS) signals, recorded by the Cyclone Global Navigation Satellite System (CYGNSS) constellation and Soil Moisture Active Passive (SMAP) soil moisture (SM). Although designed for tropical ocean surface wind sensing, the CYGNSS receivers also record GNSS reflections over land. The CYGNSS observations of reflection power are compared to SMAP SM between March 2017 and February 2018. A strong, positive linear relationship exists between changes in CYGNSS reflectivity and changes in SMAP SM, but not between the absolute magnitudes of the two observations. The sensitivity of CYGNSS reflectivity to SM varies spatially and can be used to convert reflectivity to estimates of SM. The unbiased root-mean-square difference between daily averaged CYGNSS-derived SM and SMAP SM is 0.045 cm3/cm3 and is similarly low between CYGNSS and in situ SM. These results show that CYGNSS, and future GNSS reflection missions, could provide global SM observations.

A study of the diffusion dynamics and concentration distribution of gold nanospheres (GNSs) without fluorescent labeling inside live cells using fluorescence single particle spectroscopy.

PubMed

Liu, Fangchao; Dong, Chaoqing; Ren, Jicun

2018-03-15

Colloidal gold nanospheres (GNSs) have become important nanomaterials in biomedical applications due to their special optical properties, good chemical stability, and biocompatibility. However, measuring the diffusion coefficients or concentration distribution of GNSs within live cells accurately without any extra fluorescent labeling in situ has still not been resolved. In this work, a single particle method is developed to study the concentration distribution of folic acid-modified GNSs (FA-GNSs) internalized via folate receptors, and investigates their diffusion dynamics within live cells using single particle fluorescence correlation spectroscopy (FCS). We optimized the experimental conditions and verified the feasibility of 30 nm GNSs without extra fluorescence labeling being used for single particle detection inside live cells. Then, the FCS characterization strategy was used to measure the concentration and diffusion coefficient distributions of GNSs inside live cells and the obtained results were basically in agreement with those obtained by TEM. The results demonstrate that our strategy is characterized as an in situ, nondestructive, rapid and dynamic method for the assay of live cells, and it may be widely used in the further design of GNP-based drug delivery and therapeutics.

Real Time Precise Point Positioning: Preliminary Results for the Brazilian Region

NASA Astrophysics Data System (ADS)

Marques, Haroldo; Monico, João.; Hirokazu Shimabukuro, Milton; Aquino, Marcio

2010-05-01

GNSS positioning can be carried out in relative or absolute approach. In the last years, more attention has been driven to the real time precise point positioning (PPP). To achieve centimeter accuracy with this method in real time it is necessary to have available the satellites precise coordinates as well as satellites clocks corrections. The coordinates can be used from the predicted IGU ephemeris, but the satellites clocks must be estimated in a real time. It can be made from a GNSS network as can be seen from EUREF Permanent Network. The infra-structure to realize the PPP in real time is being available in Brazil through the Brazilian Continuous Monitoring Network (RBMC) together with the Sao Paulo State GNSS network which are transmitting GNSS data using NTRIP (Networked Transport of RTCM via Internet Protocol) caster. Based on this information it was proposed a PhD thesis in the Univ. Estadual Paulista (UNESP) aiming to investigate and develop the methodology to estimate the satellites clocks and realize PPP in real time. Then, software is being developed to process GNSS data in the real time PPP mode. A preliminary version of the software was called PPP_RT and is able to process GNSS code and phase data using precise ephemeris and satellites clocks. The PPP processing can be accomplished considering the absolute satellite antenna Phase Center Variation (PCV), Ocean Tide Loading (OTL), Earth Body Tide, among others. The first order ionospheric effects can be eliminated or minimized by ion-free combination or parameterized in the receiver-satellite direction using a stochastic process, e.g. random walk or white noise. In the case of ionosphere estimation, a pseudo-observable is introduced in the mathematical model for each satellite and the initial value can be computed from Klobuchar model or from Global Ionospheric Map (GIM). The adjustment is realized in the recursive mode and the DIA (Detection Identification and Adaptation) is used for quality control. In this paper our proposition is to present the mathematical models implemented in the PPP_RT software and some proposal to accomplish the PPP in real time as for example using tropospheric model from Brazilian Numerical Weather Forecast Model (BNWFM) and estimating the ionosphere using stochastic process. GPS data sample from the Brazilian region was processed using the PPP_RT software considering periods under low and high ionospheric activities and the results estimating the ionosphere were compared with the ion-free combination. The PPP results also were analyzed considering the strategy of the troposphere estimation, Hopfield model or using the BNWFM. For the troposphere case, the values from BNWFM can reach similar results when estimating the troposphere. For the ionosphere case, the results have shown that ionosphere estimation can improve the time convergence of the PPP processing what is very important for PPP in real time.

Modeling of the spatial state of the ionosphere using regular definitions of the VTEC identifier at the network of continuously operating GNSS stations of Ukraine

NASA Astrophysics Data System (ADS)

Yankiv-Vitkovska, Liubov; Dzhuman, Bogdan

2017-04-01

Due to the wide application of global navigation satellite systems (GNSS), the development of the modern GNSS infrastructure moved the monitoring of the Earth's ionosphere to a new methodological and technological level. The peculiarity of such monitoring is that it allows conducting different experimental studies including the study of the ionosphere directly while using the existing networks of reference GNSS stations intended for solving other problems. The application of the modern GNSS infrastructure is another innovative step in the ionospheric studies as such networks allow to conduct measurements continuously over time in any place. This is used during the monitoring of the ionosphere and allows studying the global and regional phenomena in the ionosphere in real time. Application of a network of continuously operating reference stations to determine numerical characteristics of the Earth's ionosphere allows creating an effective technology to monitor the ionosphere regionally. This technology is intended to solve both scientific problems concerning the space weather, and practical tasks such as providing coordinates of the geodetic level accuracy. For continuously operating reference GNSS stations, the results of the determined ionization identifier TEC (Total Electron Content). On the one hand, this data reflects the state of the ionosphere during the observation; on the other hand, it is a substantial tool for accuracy improvement and reliable determination of coordinates of the observation place. Thus, it was decided to solve a problem of restoring the spatial position of the ionospheric state or its ionization field according to the regular definitions of the TEC identifier, i.e. VTEC (Vertical TEC). The description below shows one of the possible solutions that is based on the spherical cap harmonic analysis method for modeling VTEC parameter. This method involves transformation of the initial data to a spherical cap and construction of model using associated Legendre functions of integer order but not necessarily of integer degree. Such functions form two orthogonal systems of functions on the spherical cap. The method was tested for network of permanent stations ZAKPOS.

Recent Advances in Remote Sensing of Natural Hazards-Induced Atmospheric and Ionospheric Perturbations

NASA Astrophysics Data System (ADS)

Yang, Y. M.; Komjathy, A.; Meng, X.; Verkhoglyadova, O. P.; Langley, R. B.; Mannucci, A. J.

2015-12-01

Traveling ionospheric disturbances (TIDs) induced by acoustic-gravity waves in the neutral atmosphere have significant impact on trans-ionospheric radio waves such as Global Navigation Satellite System (GNSS, including Global Position System (GPS)) measurements. Natural hazards and solid Earth events, such as earthquakes, tsunamis and volcanic eruptions are actual sources that may trigger acoustic and gravity waves resulting in traveling ionospheric disturbances (TIDs) in the upper atmosphere. Trans-ionospheric radio wave measurements sense the total electron content (TEC) along the signal propagation path. In this research, we introduce a novel GPS-based detection and estimation technique for remote sensing of atmospheric wave-induced TIDs including space weather phenomena induced by major natural hazard events, using TEC time series collected from worldwide ground-based dual-frequency GNSS (including GPS) receiver networks. We demonstrate the ability of using ground- and space-based dual-frequency GPS measurements to detect and monitor tsunami wave propagation from the 2011 Tohoku-Oki earthquake and tsunami. Major wave trains with different propagation speeds and wavelengths were identified through analysis of the GPS remote sensing observations. Dominant physical characteristics of atmospheric wave-induced TIDs are found to be associated with specific tsunami propagations and oceanic Rayleigh waves. In this research, we compared GPS-based observations, corresponding model simulations and tsunami wave propagation. Results are shown to lead to a better understanding of the tsunami-induced ionosphere responses. Based on current distribution of Plate Boundary Observatory GPS stations, the results indicate that tsunami-induced TIDs may be detected about 60 minutes prior to tsunamis arriving at the U.S. west coast. It is expected that this GNSS-based technology will become an integral part of future early-warning systems.

Online service for monitoring the ionosphere based on data from the global navigation satellite system

NASA Astrophysics Data System (ADS)

Aleshin, I. M.; Alpatov, V. V.; Vasil'ev, A. E.; Burguchev, S. S.; Kholodkov, K. I.; Budnikov, P. A.; Molodtsov, D. A.; Koryagin, V. N.; Perederin, F. V.

2014-07-01

A service is described that makes possible the effective construction of a three-dimensional ionospheric model based on the data of ground receivers of signals from global navigation satellite positioning systems (GNSS). The obtained image has a high resolution, mainly because data from the IPG GNSS network of the Federal Service for Hydrometeorology and Environmental Monitoring (Rosgidromet) are used. A specially developed format and its implementation in the form of SQL structures are used to collect, transmit, and store data. The method of high-altitude radio tomography is used to construct the three-dimensional model. The operation of all system components (from registration point organization to the procedure for constructing the electron density three-dimensional distribution and publication of the total electron content map on the Internet) has been described in detail. The three-dimensional image of the ionosphere, obtained automatically, is compared with the ionosonde measurements, calculated using the two-dimensional low-altitude tomography method and averaged by the ionospheric model.

Development of web tools to disseminate space geodesy data-related products

NASA Astrophysics Data System (ADS)

Soudarin, L.; Ferrage, P.; Mezerette, A.

2014-12-01

In order to promote the products of the DORIS system, the French Space Agency CNES has developed and implemented on the web site of the International DORIS Service (IDS) a set of plot tools to interactively build and display time series of site positions, orbit residuals and terrestrial parameters (scale, geocenter). An interactive global map is also available to select sites, and to get access to their information. Besides the products provided by the CNES Orbitography Team and the IDS components, these tools allow comparing time evolutions of coordinates for collocated DORIS and GNSS stations, thanks to the collaboration with the Terrestrial Frame Combination Center of the International GNSS Service (IGS). The next step currently in progress is the creation of a database to improve robustness and efficiency of the tools, with the objective to propose a complete web service to foster data exchange with the other geodetic services of the International Association of Geodesy (IAG). The possibility to visualize and compare position time series of the four main space geodetic techniques DORIS, GNSS, SLR and VLBI is already under way at the French level. A dedicated version of these web tools has been developed for the French Space Geodesy Research Group (GRGS). It will give access to position time series provided by the GRGS Analysis Centers involved in DORIS, GNSS, SLR and VLBI data processing for the realization of the International Terrestrial Reference Frame. In this presentation, we will describe the functionalities of these tools, and we will address some aspects of the time series (content, format).

Computational time reduction for sequential batch solutions in GNSS precise point positioning technique

NASA Astrophysics Data System (ADS)

Martín Furones, Angel; Anquela Julián, Ana Belén; Dimas-Pages, Alejandro; Cos-Gayón, Fernando

2017-08-01

Precise point positioning (PPP) is a well established Global Navigation Satellite System (GNSS) technique that only requires information from the receiver (or rover) to obtain high-precision position coordinates. This is a very interesting and promising technique because eliminates the need for a reference station near the rover receiver or a network of reference stations, thus reducing the cost of a GNSS survey. From a computational perspective, there are two ways to solve the system of observation equations produced by static PPP either in a single step (so-called batch adjustment) or with a sequential adjustment/filter. The results of each should be the same if they are both well implemented. However, if a sequential solution (that is, not only the final coordinates, but also those observed in previous GNSS epochs), is needed, as for convergence studies, finding a batch solution becomes a very time consuming task owing to the need for matrix inversion that accumulates with each consecutive epoch. This is not a problem for the filter solution, which uses information computed in the previous epoch for the solution of the current epoch. Thus filter implementations need extra considerations of user dynamics and parameter state variations between observation epochs with appropriate stochastic update parameter variances from epoch to epoch. These filtering considerations are not needed in batch adjustment, which makes it attractive. The main objective of this research is to significantly reduce the computation time required to obtain sequential results using batch adjustment. The new method we implemented in the adjustment process led to a mean reduction in computational time by 45%.

Geocenter Motion Derived from the JTRF2014 Combination

NASA Astrophysics Data System (ADS)

Abbondanza, C.; Chin, T. M.; Gross, R. S.; Heflin, M. B.; Parker, J. W.; van Dam, T. M.; Wu, X.

2016-12-01

JTRF2014 represents the JPL Terrestrial Reference Frame (TRF) recently obtained as a result of the combination of the space-geodetic reprocessed inputs to the ITRF2014. Based upon a Kalman filter and smoother approach, JTRF2014 assimilates station positions and Earth-Orientation Parameters (EOPs) from GNSS, VLBI, SLR and DORIS and combine them through local tie measurements. JTRF is in its essence a time-series based TRF. In the JTRF2014 the dynamical evolution of the station positions is formulated by introducing linear and seasonal terms (annual and semi-annual periodic modes). Non-secular and non-seasonal motions of the geodetic sites are included in the smoothed time series by properly defining the station position process noise whose variance is characterized by analyzing station displacements induced by temporal changes of planetary fluid masses (atmosphere, oceans and continental surface water). With its station position time series output at a weekly resolution, JTRF2014 materializes a sub-secular frame whose origin is at the quasi-instantaneous Center of Mass (CM) as sensed by SLR. Both SLR and VLBI contribute to the scale of the combined frame. The sub-secular nature of the frame allows the users to directly access the quasi-instantaneous geocenter and scale information. Unlike standard combined TRF products which only give access to the secular component of the CM-CN motions, JTRF2014 is able to preserve -in addition to the long-term- the seasonal, non-seasonal and non-secular components of the geocenter motion. In the JTRF2014 assimilation scheme, local tie measurements are used to transfer the geocenter information from SLR to the space-geodetic techniques which are either insensitive to CM (VLBI) or whose geocenter motion is poorly determined (GNSS and DORIS). Properly tied to the CM frame through local ties and co-motion constraints, GNSS, VLBI and DORIS contribute to improve the SLR network geometry. In this paper, the determination of the weekly (CM-CN) time series as inferred from the JTRF2014 combination will be presented. Comparisons with geocenter time series derived from global inversions of GPS, GRACE and ocean bottom pressure models show the JTRF2014-derived geocenter favourably compares to the results of the inversion.

False Positive and False Negative Effects on Network Attacks

NASA Astrophysics Data System (ADS)

Shang, Yilun

2018-01-01

Robustness against attacks serves as evidence for complex network structures and failure mechanisms that lie behind them. Most often, due to detection capability limitation or good disguises, attacks on networks are subject to false positives and false negatives, meaning that functional nodes may be falsely regarded as compromised by the attacker and vice versa. In this work, we initiate a study of false positive/negative effects on network robustness against three fundamental types of attack strategies, namely, random attacks (RA), localized attacks (LA), and targeted attack (TA). By developing a general mathematical framework based upon the percolation model, we investigate analytically and by numerical simulations of attack robustness with false positive/negative rate (FPR/FNR) on three benchmark models including Erdős-Rényi (ER) networks, random regular (RR) networks, and scale-free (SF) networks. We show that ER networks are equivalently robust against RA and LA only when FPR equals zero or the initial network is intact. We find several interesting crossovers in RR and SF networks when FPR is taken into consideration. By defining the cost of attack, we observe diminishing marginal attack efficiency for RA, LA, and TA. Our finding highlights the potential risk of underestimating or ignoring FPR in understanding attack robustness. The results may provide insights into ways of enhancing robustness of network architecture and improve the level of protection of critical infrastructures.

GNSS Antenna Caused Near-Field Interference Effect in Precise Point Positioning Results

NASA Astrophysics Data System (ADS)

Dawidowicz, Karol; Baryła, Radosław

2017-06-01

Results of long-term static GNSS observation processing adjustment prove that the often assumed "averaging multipath effect due to extended observation periods" does not actually apply. It is instead visible a bias that falsifies the coordinate estimation. The comparisons between the height difference measured with a geometrical precise leveling and the height difference provided by GNSS clearly verify the impact of the near-field multipath effect. The aim of this paper is analysis the near-field interference effect with respect to the coordinate domain. We demonstrate that the way of antennas mounting during observation campaign (distance from nearest antennas) can cause visible changes in pseudo-kinematic precise point positioning results. GNSS measured height differences comparison revealed that bias of up to 3 mm can be noticed in Up component when some object (additional GNSS antenna) was placed in radiating near-field region of measuring antenna. Additionally, for both processing scenario (GPS and GPS/GLONASS) the scattering of results clearly increased when additional antenna crosses radiating near-field region of measuring antenna. It is especially true for big choke ring antennas. In short session (15, 30 min.) the standard deviation was about twice bigger in comparison to scenario without additional antenna. When we used typical surveying antennas (short near-field region radius) the effect is almost invisible. In this case it can be observed the standard deviation increase of about 20%. On the other hand we found that surveying antennas are generally characterized by lower accuracy than choke ring antennas. The standard deviation obtained on point with this type of antenna was bigger in all processing scenarios (in comparison to standard deviation obtained on point with choke ring antenna).

Energy Efficient GNSS Signal Acquisition Using Singular Value Decomposition (SVD).

PubMed

Bermúdez Ordoñez, Juan Carlos; Arnaldo Valdés, Rosa María; Gómez Comendador, Fernando

2018-05-16

A significant challenge in global navigation satellite system (GNSS) signal processing is a requirement for a very high sampling rate. The recently-emerging compressed sensing (CS) theory makes processing GNSS signals at a low sampling rate possible if the signal has a sparse representation in a certain space. Based on CS and SVD theories, an algorithm for sampling GNSS signals at a rate much lower than the Nyquist rate and reconstructing the compressed signal is proposed in this research, which is validated after the output from that process still performs signal detection using the standard fast Fourier transform (FFT) parallel frequency space search acquisition. The sparse representation of the GNSS signal is the most important precondition for CS, by constructing a rectangular Toeplitz matrix (TZ) of the transmitted signal, calculating the left singular vectors using SVD from the TZ, to achieve sparse signal representation. Next, obtaining the M-dimensional observation vectors based on the left singular vectors of the SVD, which are equivalent to the sampler operator in standard compressive sensing theory, the signal can be sampled below the Nyquist rate, and can still be reconstructed via ℓ 1 minimization with accuracy using convex optimization. As an added value, there is a GNSS signal acquisition enhancement effect by retaining the useful signal and filtering out noise by projecting the signal into the most significant proper orthogonal modes (PODs) which are the optimal distributions of signal power. The algorithm is validated with real recorded signals, and the results show that the proposed method is effective for sampling, reconstructing intermediate frequency (IF) GNSS signals in the time discrete domain.

Energy Efficient GNSS Signal Acquisition Using Singular Value Decomposition (SVD)

PubMed Central

Arnaldo Valdés, Rosa María; Gómez Comendador, Fernando

2018-01-01

A significant challenge in global navigation satellite system (GNSS) signal processing is a requirement for a very high sampling rate. The recently-emerging compressed sensing (CS) theory makes processing GNSS signals at a low sampling rate possible if the signal has a sparse representation in a certain space. Based on CS and SVD theories, an algorithm for sampling GNSS signals at a rate much lower than the Nyquist rate and reconstructing the compressed signal is proposed in this research, which is validated after the output from that process still performs signal detection using the standard fast Fourier transform (FFT) parallel frequency space search acquisition. The sparse representation of the GNSS signal is the most important precondition for CS, by constructing a rectangular Toeplitz matrix (TZ) of the transmitted signal, calculating the left singular vectors using SVD from the TZ, to achieve sparse signal representation. Next, obtaining the M-dimensional observation vectors based on the left singular vectors of the SVD, which are equivalent to the sampler operator in standard compressive sensing theory, the signal can be sampled below the Nyquist rate, and can still be reconstructed via ℓ1 minimization with accuracy using convex optimization. As an added value, there is a GNSS signal acquisition enhancement effect by retaining the useful signal and filtering out noise by projecting the signal into the most significant proper orthogonal modes (PODs) which are the optimal distributions of signal power. The algorithm is validated with real recorded signals, and the results show that the proposed method is effective for sampling, reconstructing intermediate frequency (IF) GNSS signals in the time discrete domain. PMID:29772731

Impact of orbit, clock and EOP errors in GNSS Precise Point Positioning

NASA Astrophysics Data System (ADS)

Hackman, C.

2012-12-01

Precise point positioning (PPP; [1]) has gained ever-increasing usage in GNSS carrier-phase positioning, navigation and timing (PNT) since its inception in the late 1990s. In this technique, high-precision satellite clocks, satellite ephemerides and earth-orientation parameters (EOPs) are applied as fixed input by the user in order to estimate receiver/location-specific quantities such as antenna coordinates, troposphere delay and receiver-clock corrections. This is in contrast to "network" solutions, in which (typically) less-precise satellite clocks, satellite ephemerides and EOPs are used as input, and in which these parameters are estimated simultaneously with the receiver/location-specific parameters. The primary reason for increased PPP application is that it offers most of the benefits of a network solution with a smaller computing cost. In addition, the software required to do PPP positioning can be simpler than that required for network solutions. Finally, PPP permits high-precision positioning of single or sparsely spaced receivers that may have few or no GNSS satellites in common view. A drawback of PPP is that the accuracy of the results depend directly on the accuracy of the supplied orbits, clocks and EOPs, since these parameters are not adjusted during the processing. In this study, we will examine the impact of orbit, EOP and satellite clock estimates on PPP solutions. Our primary focus will be the impact of these errors on station coordinates; however the study may be extended to error propagation into receiver-clock corrections and/or troposphere estimates if time permits. Study motivation: the United States Naval Observatory (USNO) began testing PPP processing using its own predicted orbits, clocks and EOPs in Summer 2012 [2]. The results of such processing could be useful for real- or near-real-time applications should they meet accuracy/precision requirements. Understanding how errors in satellite clocks, satellite orbits and EOPs propagate into PPP positioning and timing results allows researchers to focus their improvement efforts in areas most in need of attention. The initial study will be conducted using the simulation capabilities of Bernese GPS Software and extended to using real data if time permits. [1] J.F. Zumberge, M.B. Heflin, D.C. Jefferson, M.M. Watkins and F.H. Webb, Precise point positioning for the efficient and robust analysis of GPS data from large networks, J. Geophys. Res., 102(B3), 5005-5017, doi:10.1029/96JB03860, 1997. [2] C. Hackman, S.M. Byram, V.J. Slabinski and J.C. Tracey, Near-real-time and other high-precision GNSS-based orbit/clock/earth-orientation/troposphere parameters available from USNO, Proc. 2012 ION Joint Navigation Conference, 15 pp., in press, 2012.

TOGA - A GNSS Reflections Instrument for Remote Sensing Using Beamforming

NASA Technical Reports Server (NTRS)

Esterhuizen, S.; Meehan, T. K.; Robison, D.

2009-01-01

Remotely sensing the Earth's surface using GNSS signals as bi-static radar sources is one of the most challenging applications for radiometric instrument design. As part of NASA's Instrument Incubator Program, our group at JPL has built a prototype instrument, TOGA (Time-shifted, Orthometric, GNSS Array), to address a variety of GNSS science needs. Observing GNSS reflections is major focus of the design/development effort. The TOGA design features a steerable beam antenna array which can form a high-gain antenna pattern in multiple directions simultaneously. Multiple FPGAs provide flexible digital signal processing logic to process both GPS and Galileo reflections. A Linux OS based science processor serves as experiment scheduler and data post-processor. This paper outlines the TOGA design approach as well as preliminary results of reflection data collected from test flights over the Pacific ocean. This reflections data demonstrates observation of the GPS L1/L2C/L5 signals.

Variation of Static-PPP Positioning Accuracy Using GPS-Single Frequency Observations (Aswan, Egypt)

NASA Astrophysics Data System (ADS)

Farah, Ashraf

2017-06-01

Precise Point Positioning (PPP) is a technique used for position computation with a high accuracy using only one GNSS receiver. It depends on highly accurate satellite position and clock data rather than broadcast ephemeries. PPP precision varies based on positioning technique (static or kinematic), observations type (single or dual frequency) and the duration of collected observations. PPP-(dual frequency receivers) offers comparable accuracy to differential GPS. PPP-single frequency receivers has many applications such as infrastructure, hydrography and precision agriculture. PPP using low cost GPS single-frequency receivers is an area of great interest for millions of users in developing countries such as Egypt. This research presents a study for the variability of single frequency static GPS-PPP precision based on different observation durations.

Analysis of the 20th November 2003 Extreme Geomagnetic Storm using CTIPe Model and GNSS Data

NASA Astrophysics Data System (ADS)

Fernandez-Gomez, I.; Borries, C.; Codrescu, M.

2016-12-01

The ionospheric instabilities produced by solar activity generate disturbances in ionospheric density (ionospheric storms) with important terrestrial consequences such as disrupting communications and positioning. During the 20th November 2003 extreme geomagnetic storm, significant perturbations were produced in the ionosphere - thermosphere system. In this work, we replicate how this system responded to the onset of this particular storm, using the Coupled Thermosphere Ionosphere Plasmasphere electrodynamics physics based model. CTIPe simulates the changes in the neutral winds, temperature, composition and electron densities. Although modelling the ionosphere under this conditions is a challenging task due to energy flow uncertainties, the model reproduces some of the storm features necessary to interpret the physical mechanisms behind the Total Electron Content (TEC) increase and the dramatic changes in composition during this event.Corresponding effects are observed in the TEC simulations from other physics based models and from observations derived from Global Navigation Satellite System (GNSS) and ground-based measurements.The study illustrates the necessity of using both, measurements and models, to have a complete understanding of the processes that are most likely responsible for the observed effects.

Gradient field of undersea sound speed structure extracted from the GNSS-A oceanography

NASA Astrophysics Data System (ADS)

Yokota, Yusuke; Ishikawa, Tadashi; Watanabe, Shun-ichi

2018-06-01

After the twenty-first century, the Global Navigation Satellite System-Acoustic ranging (GNSS-A) technique detected geodetic events such as co- and postseismic effects following the 2011 Tohoku-oki earthquake and slip-deficit rate distributions along the Nankai Trough subduction zone. Although these are extremely important discoveries in geodesy and seismology, more accurate observation that can capture temporal and spatial changes are required for future earthquake disaster prevention. In order to upgrade the accuracy of the GNSS-A technique, it is necessary to understand disturbances in undersea sound speed structures, which are major error sources. In particular, detailed temporal and spatial variations are difficult to observe accurately, and their effect was not sufficiently extracted in previous studies. In the present paper, we reconstruct an inversion scheme for extracting the effect from GNSS-A data and experimentally apply this scheme to the seafloor sites around the Kuroshio. The extracted gradient effects are believed to represent not only a broad sound speed structure but also a more detailed structure generated in the unsteady disturbance. The accuracy of the seafloor positioning was also improved by this new method. The obtained results demonstrate the feasibility of using the GNSS-A technique to detect a seafloor crustal deformation for oceanography research.

Architectural elements of hybrid navigation systems for future space transportation

NASA Astrophysics Data System (ADS)

Trigo, Guilherme F.; Theil, Stephan

2018-06-01

The fundamental limitations of inertial navigation, currently employed by most launchers, have raised interest for GNSS-aided solutions. Combination of inertial measurements and GNSS outputs allows inertial calibration online, solving the issue of inertial drift. However, many challenges and design options unfold. In this work we analyse several architectural elements and design aspects of a hybrid GNSS/INS navigation system conceived for space transportation. The most fundamental architectural features such as coupling depth, modularity between filter and inertial propagation, and open-/closed-loop nature of the configuration, are discussed in the light of the envisaged application. Importance of the inertial propagation algorithm and sensor class in the overall system are investigated, being the handling of sensor errors and uncertainties that arise with lower grade sensory also considered. In terms of GNSS outputs we consider receiver solutions (position and velocity) and raw measurements (pseudorange, pseudorange-rate and time-difference carrier phase). Receiver clock error handling options and atmospheric error correction schemes for these measurements are analysed under flight conditions. System performance with different GNSS measurements is estimated through covariance analysis, being the differences between loose and tight coupling emphasized through partial outage simulation. Finally, we discuss options for filter algorithm robustness against non-linearities and system/measurement errors. A possible scheme for fault detection, isolation and recovery is also proposed.

Combination of High Rate, Real-time GNSS and Accelerometer Observations - Preliminary Results Using a Shake Table and Historic Earthquake Events.

NASA Astrophysics Data System (ADS)

Jackson, Michael; Passmore, Paul; Zimakov, Leonid; Raczka, Jared

2014-05-01

One of the fundamental requirements of an Earthquake Early Warning (EEW) system (and other mission critical applications) is to quickly detect and process the information from the strong motion event, i.e. event detection and location, magnitude estimation, and the peak ground motion estimation at the defined targeted site, thus allowing the civil protection authorities to provide pre-programmed emergency response actions: Slow down or stop rapid transit trains and high-speed trains; shutoff of gas pipelines and chemical facilities; stop elevators at the nearest floor; send alarms to hospitals, schools and other civil institutions. An important question associated with the EEW system is: can we measure displacements in real time with sufficient accuracy? Scientific GNSS networks are moving towards a model of real-time data acquisition, storage integrity, and real-time position and displacement calculations. This new paradigm allows the integration of real-time, high-rate GNSS displacement information with acceleration and velocity data to create very high-rate displacement records. The mating of these two instruments allows the creation of a new, very high-rate (200 Hz) displacement observable that has the full-scale displacement characteristics of GNSS and high-precision dynamic motions of seismic technologies. It is envisioned that these new observables can be used for earthquake early warning studies and other mission critical applications, such as volcano monitoring, building, bridge and dam monitoring systems. REF TEK a Division of Trimble has developed the integrated GNSS/Accelerograph system, model 160-09SG, which consists of REF TEK's fourth generation electronics, a 147-01 high-resolution ANSS Class A accelerometer, and Trimble GNSS receiver and antenna capable of real time, on board Precise Point Positioning (PPP) techniques with satellite clock and orbit corrections delivered to the receiver directly via L-band satellite communications. The test we conducted with the 160-09SG Recorder is focused on the characteristics of GNSS and seismic sensors in high dynamic environments, including historic earthquakes replicated on a shake table, over a range of displacements and frequencies. The main goals of the field tests are to explore the optimum integration of these sensors from a filtering perspective including simple harmonic impulses over varying frequencies and amplitudes and under the dynamic conditions of various earthquake scenarios.

Combination of precise GNSS orbit and clock solutions in a multi-constellation, multi-frequency environment

NASA Astrophysics Data System (ADS)

Ortiz Geist, Estefania

2015-04-01

Precise GNSS orbit and clock solutions are essential for the generation of the Terrestrial Reference Frame (TRF) and required for a broad variety of applications. Over the last decades the combination products of the International GNSS Service (IGS) have become the standard for all kinds of GNSS applications requiring highest accuracy. The emerging new GNSS constellations Galileo, BeiDou and the QZSS as well as the modernization of the already established GPS and GLONASS constellations will stimulate a new development in the GNSS data processing in order to gain be best benefit from the new signals and systems for geodetic and geodynamic applications. This introduces the question regarding the influence of this development on the orbit and clock products. What are the consequences for the consistency of the contributions from the Analysis Centres (ACs) of the IGS and how does the combination procedure need to react on his development? Another set of questions is related to the expected scenario in which not all IGS ACs will likely include all GNSS. The algorithm for the orbit and clock combination needs to be adapted for a multi-system combination to keep on one hand the internal consistency between the GNSS during the combination procedure but also consider the differences in the expected orbit qualities between the satellite systems (e.g., due to the number of satellites or network coverage). To investigate these questions ESOC and AIUB have agreed on a joint research fellowship for three years. The objective of this research is to analyse the capabilities and challenges when combining hybrid multi-GNSS solutions and to develop a concept, which compares and combines orbit and clock contributions to come up with a consistent, reliable, truly combined multi-GNSS combination product. Well-defined test scenarios shall be constructed and analysed based on the GNSS data processing software packages in the two institutions, namely "NAPEOS" and "Bernese GNSS Software". The presentation will show selected results from the on-going research, to address the impact of several key elements, on the potential combination, which will ultimately give the criteria for the weighting scheme undertaken in the combination.

Tsunami Amplitude Estimation from Real-Time GNSS.

NASA Astrophysics Data System (ADS)

Jeffries, C.; MacInnes, B. T.; Melbourne, T. I.

2017-12-01

Tsunami early warning systems currently comprise modeling of observations from the global seismic network, deep-ocean DART buoys, and a global distribution of tide gauges. While these tools work well for tsunamis traveling teleseismic distances, saturation of seismic magnitude estimation in the near field can result in significant underestimation of tsunami excitation for local warning. Moreover, DART buoy and tide gauge observations cannot be used to rectify the underestimation in the available time, typically 10-20 minutes, before local runup occurs. Real-time GNSS measurements of coseismic offsets may be used to estimate finite faulting within 1-2 minutes and, in turn, tsunami excitation for local warning purposes. We describe here a tsunami amplitude estimation algorithm; implemented for the Cascadia subduction zone, that uses continuous GNSS position streams to estimate finite faulting. The system is based on a time-domain convolution of fault slip that uses a pre-computed catalog of hydrodynamic Green's functions generated with the GeoClaw shallow-water wave simulation software and maps seismic slip along each section of the fault to points located off the Cascadia coast in 20m of water depth and relies on the principle of the linearity in tsunami wave propagation. The system draws continuous slip estimates from a message broker, convolves the slip with appropriate Green's functions which are then superimposed to produce wave amplitude at each coastal location. The maximum amplitude and its arrival time are then passed into a database for subsequent monitoring and display. We plan on testing this system using a suite of synthetic earthquakes calculated for Cascadia whose ground motions are simulated at 500 existing Cascadia GPS sites, as well as real earthquakes for which we have continuous GNSS time series and surveyed runup heights, including Maule, Chile 2010 and Tohoku, Japan 2011. This system has been implemented in the CWU Geodesy Lab for the Cascadia subduction zone but will be expanded to the circum-Pacific as real-time processing of international GNSS data streams become available.

Global investigations of the satellite-based Fugro OmniSTAR HP service

NASA Astrophysics Data System (ADS)

Pflugmacher, Andreas; Heister, Hansbert; Heunecke, Otto

2009-12-01

OmniSTAR is one of the world's leading suppliers of satellite-based augmentation services for onshore and offshore GNSS applications. OmniSTAR currently offers three services: VBS, HP and XP. OmniSTAR VBS is the code-based service, suitable for sub-metre positioning accuracy. The HP and XP services provide sub-decimetre accuracy, with the HP service based on a precise differential methodology and the XP service uses precise absolute positioning. The sub-decimetre HP and XP services both have distinctive convergence behaviour, and the positioning task is essentially a time-dependent process during which the accuracy of the estimated coordinates continuously improves over time. To validate the capabilities of the OmniSTAR services, and in particular the HP (High Performance) service, globally distributed measurement campaigns were performed. The results of these investigations confirm that the HP service satisfies its high accuracy specification, but only after a sufficient initialisation phase. Two kinds of disturbances can handicap HP operation: lack of GNSS observations and outages of the augmentation signal. The most serious kind of disturbance is the former. Within a few seconds the achieved convergence level is completely lost. Outages in the reception of augmentation data merely affect the relevant period of the outage - the accuracy during the outage is degraded. Only longer interruptions lead to a loss of the HP solution. When HP convergence is lost, the HP process has to be re-initialized. If there are known points (so-called “seed points”) available, a shortened “kick-start”-initialization is possible. With the aid of seed points it only takes a few minutes to restore convergence.

GNSS-based emergency management system

NASA Astrophysics Data System (ADS)

Wu, Yuhang; Chen, Xiuwan; Ma, Lei

2009-06-01

Public safety and public service is a particularly challenging task. The questions of how to use the limited resources efficiently, how to improve the Government's emergency rapid response and ability of risk resistance, and how to provide a more efficient emergency service for the public, have increasingly become the focus to strengthen urban management. Emergency Response Management System is a highly efficient and powerful command system dealing with natural and social disasters, by using all aspects of the force being gathered in a short period of time, sudden events can be handled efficiently, and further development of the incident can be controlled. In this paper, based on the analysis of development status of the emergency management system at home and abroad, and the key technologies of the emergency management system based on GNSS, research and development on emergency command system based on GNSS has been done. Meanwhile, test in Sichuan earthquake has also been carried out. Practice in Sichuan province earthquake relief work has proved that the emergency management command system based on GNSS can play the advantage function and exert the maximum potential, and can play the role of "lifeline" in the critical moment.

SFOL Pulse: A High Accuracy DME Pulse for Alternative Aircraft Position and Navigation.

PubMed

Kim, Euiho; Seo, Jiwon

2017-09-22

In the Federal Aviation Administration's (FAA) performance based navigation strategy announced in 2016, the FAA stated that it would retain and expand the Distance Measuring Equipment (DME) infrastructure to ensure resilient aircraft navigation capability during the event of a Global Navigation Satellite System (GNSS) outage. However, the main drawback of the DME as a GNSS back up system is that it requires a significant expansion of the current DME ground infrastructure due to its poor distance measuring accuracy over 100 m. The paper introduces a method to improve DME distance measuring accuracy by using a new DME pulse shape. The proposed pulse shape was developed by using Genetic Algorithms and is less susceptible to multipath effects so that the ranging error reduces by 36.0-77.3% when compared to the Gaussian and Smoothed Concave Polygon DME pulses, depending on noise environment.

SFOL Pulse: A High Accuracy DME Pulse for Alternative Aircraft Position and Navigation

PubMed Central

Kim, Euiho

2017-01-01

In the Federal Aviation Administration’s (FAA) performance based navigation strategy announced in 2016, the FAA stated that it would retain and expand the Distance Measuring Equipment (DME) infrastructure to ensure resilient aircraft navigation capability during the event of a Global Navigation Satellite System (GNSS) outage. However, the main drawback of the DME as a GNSS back up system is that it requires a significant expansion of the current DME ground infrastructure due to its poor distance measuring accuracy over 100 m. The paper introduces a method to improve DME distance measuring accuracy by using a new DME pulse shape. The proposed pulse shape was developed by using Genetic Algorithms and is less susceptible to multipath effects so that the ranging error reduces by 36.0–77.3% when compared to the Gaussian and Smoothed Concave Polygon DME pulses, depending on noise environment. PMID:28937615

Characterizing Space Weather Effects in the Post-DMSP Era

NASA Astrophysics Data System (ADS)

Groves, K. M.

2015-12-01

Space weather generally refers to heliophysical phenomena or events that produce a negative impact on manmade systems. While many space weather events originate with impulsive disturbances on the sun, others result from complex internal interactions in the ionosphere-thermosphere system. The reliance of mankind on satellite-based services continues to increase rapidly, yet the global capacity for sensing space weather in the ionosphere seems headed towards decline. A number of recent ionospheric-focused space-based missions are either presently, or soon-to-be, no longer available, and the end of the multi-decade Defense Meteorological Satellite Program is now in sight. The challenge facing the space weather community is how to maintain or increase sensing capabilities in an operational environment constrained by a decreasing numbers of sensors. The upcoming launch of COSMIC-2 in 2016/2018 represents the most significant new capability planned for the future. GNSS RO data has some benefit for background ionospheric models, particularly over regions where ground-based GNSS TEC measurements are unavailable, but the space weather community has a dire need to leverage such missions for far more knowledge of the ionosphere, and specifically for information related to space weather impacts. Meanwhile, the number of ground-based GNSS sensors worldwide has increased substantially, yet progress instrumenting some vastly undersampled regions, such as Africa, remains slow. In fact, the recent loss of support for many existing ground stations in such areas under the former Scintillation Network Decision Aid (SCINDA) program may actually result in a decrease in such sensing sites over the next 1-2 years, abruptly reversing a positive trend established over the last decade. Here we present potential solutions to the challenges these developments pose to the space weather enterprise. Specific topics include modeling advances required to detect and accurately characterize irregularities and associated scintillations from GNSS RO measurements, the exploitation of existing/planned radio beacons for improved bottomside definition and scintillations, and an affordable approach to leverage existing ground stations to expand sensing capacity at critical locations in otherwise data-sparse regions.

Differential GNSS and Vision-Based Tracking to Improve Navigation Performance in Cooperative Multi-UAV Systems.

PubMed

Vetrella, Amedeo Rodi; Fasano, Giancarmine; Accardo, Domenico; Moccia, Antonio

2016-12-17

Autonomous navigation of micro-UAVs is typically based on the integration of low cost Global Navigation Satellite System (GNSS) receivers and Micro-Electro-Mechanical Systems (MEMS)-based inertial and magnetic sensors to stabilize and control the flight. The resulting navigation performance in terms of position and attitude accuracy may not suffice for other mission needs, such as the ones relevant to fine sensor pointing. In this framework, this paper presents a cooperative UAV navigation algorithm that allows a chief vehicle, equipped with inertial and magnetic sensors, a Global Positioning System (GPS) receiver, and a vision system, to improve its navigation performance (in real time or in the post processing phase) exploiting formation flying deputy vehicles equipped with GPS receivers. The focus is set on outdoor environments and the key concept is to exploit differential GPS among vehicles and vision-based tracking (DGPS/Vision) to build a virtual additional navigation sensor whose information is then integrated in a sensor fusion algorithm based on an Extended Kalman Filter. The developed concept and processing architecture are described, with a focus on DGPS/Vision attitude determination algorithm. Performance assessment is carried out on the basis of both numerical simulations and flight tests. In the latter ones, navigation estimates derived from the DGPS/Vision approach are compared with those provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit magnetic- and inertial-independent accurate attitude information.

An efficient solution of real-time data processing for multi-GNSS network

NASA Astrophysics Data System (ADS)

Gong, Xiaopeng; Gu, Shengfeng; Lou, Yidong; Zheng, Fu; Ge, Maorong; Liu, Jingnan

2017-12-01

Global navigation satellite systems (GNSS) are acting as an indispensable tool for geodetic research and global monitoring of the Earth, and they have been rapidly developed over the past few years with abundant GNSS networks, modern constellations, and significant improvement in mathematic models of data processing. However, due to the increasing number of satellites and stations, the computational efficiency becomes a key issue and it could hamper the further development of GNSS applications. In this contribution, this problem is overcome from the aspects of both dense linear algebra algorithms and GNSS processing strategy. First, in order to fully explore the power of modern microprocessors, the square root information filter solution based on the blocked QR factorization employing as many matrix-matrix operations as possible is introduced. In addition, the algorithm complexity of GNSS data processing is further decreased by centralizing the carrier-phase observations and ambiguity parameters, as well as performing the real-time ambiguity resolution and elimination. Based on the QR factorization of the simulated matrix, we can conclude that compared to unblocked QR factorization, the blocked QR factorization can greatly improve processing efficiency with a magnitude of nearly two orders on a personal computer with four 3.30 GHz cores. Then, with 82 globally distributed stations, the processing efficiency is further validated in multi-GNSS (GPS/BDS/Galileo) satellite clock estimation. The results suggest that it will take about 31.38 s per epoch for the unblocked method. While, without any loss of accuracy, it only takes 0.50 and 0.31 s for our new algorithm per epoch for float and fixed clock solutions, respectively.

Role of electrochemically in-house synthesized and functionalized graphene nanofillers in the structural performance of epoxy matrix composites.

PubMed

Sahoo, Sumanta Kumar; Ray, Bankim Chandra; Mallik, Archana

2017-06-21

The present study focuses on the intriguing enhancement in the mechanical properties of an epoxy-based composite structure resulting from the incorporation of in-house synthesized functionalized graphene nanosheets (f-GNSs) as nanofillers. The f-GNSs were obtained by anionic electrochemical intercalation and exfoliation with 2 M H 2 SO 4 , HClO 4 , and HNO 3 protic electrolytes. The structural properties of the as-synthesized GNSs were analyzed by XRD and Raman spectroscopy. The (002) and (001) lattice planes of graphene and graphene oxide are observed at around 24.5° and 11° (2θ), respectively, in the XRD spectra. The characteristic peaks at around 1345, 1590, and 2700 cm -1 correspond to the D, G, and 2D bands of the GNSs in the Raman spectra. Quantification of the functional groups and sp 2 contents in the GNSs were further analyzed by XPS. Morphological characterization of the f-GNSs reveals that the exfoliated carbon sheets consist of 2-8 layers. The composites are then fabricated by addition of these f-GNSs nanofillers, and the effect of the wt% of the nanofillers on the mechanical properties of the composites is analyzed with the three-point bend test and fractography analysis through interfacial morphological analysis. The addition of 0.1 wt% of nitric-acid-exfoliated f-GNSs nanofiller results in maximum increases of 42.6% and 28.2% in the flexural strengths of neat epoxy resin and glass fiber/epoxy polymer composite structures, respectively. Similarly, the moduli increase by 33.5% and 57.7% in the neat epoxy resin and glass fiber/epoxy polymer composite structures, respectively. The effect of epoxy/f-GNSs interfacial bonding in the composite structure was studied by DSC analysis.

Crowdsourced Contributions to the Nation's Geodetic Elevation Infrastructure

NASA Astrophysics Data System (ADS)

Stone, W. A.

2014-12-01

NOAA's National Geodetic Survey (NGS), a United States Department of Commerce agency, is engaged in providing the nation's fundamental positioning infrastructure - the National Spatial Reference System (NSRS) - which includes the framework for latitude, longitude, and elevation determination as well as various geodetic models, tools, and data. Capitalizing on Global Navigation Satellite System (GNSS) technology for improved access to the nation's precise geodetic elevation infrastructure requires use of a geoid model, which relates GNSS-derived heights (ellipsoid heights) with traditional elevations (orthometric heights). NGS is facilitating the use of crowdsourced GNSS observations collected at published elevation control stations by the professional surveying, geospatial, and scientific communities to help improve NGS' geoid modeling capability. This collocation of published elevation data and newly collected GNSS data integrates together the two height systems. This effort in turn supports enhanced access to accurate elevation information across the nation, thereby benefiting all users of geospatial data. By partnering with the public in this collaborative effort, NGS is not only helping facilitate improvements to the elevation infrastructure for all users but also empowering users of NSRS with the capability to do their own high-accuracy positioning. The educational outreach facet of this effort helps inform the public, including the scientific community, about the utility of various NGS tools, including the widely used Online Positioning User Service (OPUS). OPUS plays a key role in providing user-friendly and high accuracy access to NSRS, with optional sharing of results with NGS and the public. All who are interested in helping evolve and improve the nationwide elevation determination capability are invited to participate in this nationwide partnership and to learn more about the geodetic infrastructure which is a vital component of viable spatial data for many disciplines, including the geosciences.

Steps towards Improving GNSS Systematic Errors and Biases

NASA Astrophysics Data System (ADS)

Herring, T.; Moore, M.

2017-12-01

Four general areas of analysis method improvements, three related to data analysis models and the fourth to calibration methods, have been recommended at the recent unified analysis workshop (UAW) and we discuss aspects of these areas for improvement. The gravity fields used in the GNSS orbit integrations should be updated to match modern fields to make them consistent with the fields being used by the other IAG services. The update would include the static part of the field and a time variable component. The force models associated with radiation forces are the most uncertain and modeling of these forces can be made more consistent with the exchange of attitude information. The international GNSS service (IGS) will develop an attitude format and make attitude information available so that analysis centers can validate their models. The IGS has noted the appearance of the GPS draconitic period and harmonics of this period in time series of various geodetic products (e.g., positions and Earth orientation parameters). An updated short-period (diurnal and semidiurnal) model is needed and a method to determine the best model developed. The final area, not directly related to analysis models, is the recommendation that site dependent calibration of GNSS antennas are needed since these have a direct effect on the ITRF realization and position offsets when antennas are changed. Evaluation of the effects of the use of antenna specific phase center models will be investigated for those sites where these values are available without disturbing an existing antenna installation. Potential development of an in-situ antenna calibration system is strongly encouraged. In-situ calibration would be deployed at core sites where GNSS sites are tied to other geodetic systems. With recent expansion of the number of GPS satellites transmitting unencrypted codes on the GPS L2 frequency and the availability of software GNSS receivers in-situ calibration between an existing installation and a movable directional antenna is now more likely to generate accurate results than earlier analog switching systems. With all of these improvements, there is the expectation that there will be better agreement between the space geodetic methods thus allowing more definitive assessment and modeling of the Earth's time variable shape and gravity field.

Benchmark Campaign of the COST Action GNSS4SWEC: Main Goals and Achievements

NASA Astrophysics Data System (ADS)

Dick, G.; Dousa, J.; Kacmarik, M.; Pottiaux, E.; Zus, F.; Brenot, H. H.; Moeller, G.; Kaplon, J.; Morel, L.; Hordyniec, P.

2016-12-01

This talk will give an overview of achievements of the Benchmark campaign, one of the central activities in the framework of the COST Action ES 1206 GNSS4SWEC. The main goal of the campaign is supporting the development and validation of advanced Global Navigation Satellite System (GNSS) tropospheric products, in particular high-resolution and ultra-fast/real-time zenith total delays (ZTD) and asymmetry products in terms of tropospheric horizontal gradients and slant delays.For the Benchmark campaign a complex data set of GNSS observations and various meteorological data were collected for a two-month period in 2013 (May-June) which included severe weather events in central Europe. An initial processing of data sets from GNSS and numerical weather models (NWM) provided independently estimated tropospheric reference products - ZTDs, tropospheric horizontal gradients and others. The comparison of horizontal tropospheric gradients from GNSS and NWM data demonstrated a very good agreement among independent solutions with negligible biases and an accuracy of about 0.5 mm. Visual comparisons of maps of zenith wet delays and tropospheric horizontal gradients showed very promising results for future exploitations of advanced GNSS tropospheric products in meteorological applications such as severe weather event monitoring and weather nowcasting.The benchmark data set is also used for an extensive validation of line-of-sight tropospheric Slant Total Delays (STD) from GNSS, NWM-raytracing and Water Vapour Radiometer (WVR) solutions. Six institutions delivered their STDs based on GNSS observations processed using different software and strategies. STDs from NWM ray-tracing came from three institutions using three different NWM models. Results show generally a very good mutual agreement among all solutions from all techniques. Among all an influence of adding not cleaned as well as cleaned GNSS post-fit residuals, i.e. residuals with eliminated and not eliminated non-tropospheric systematic effects such as multipath, to estimated STDs will be presented.

Detecting Volcanic Ash Plumes with GNSS Signals

NASA Astrophysics Data System (ADS)

Rainville, N.; Larson, K. M.; Palo, S. E.; Mattia, M.; Rossi, M.; Coltelli, M.; Roesler, C.; Fee, D.

2016-12-01

Global Navigation Satellite Systems (GNSS) receivers are commonly placed near volcanic sites to measure ground deformation. In addition to the carrier phase data used to measure ground position, these receivers also record Signal to Noise ratio (SNR) data. Larson (2013) showed that attenuations in SNR data strongly correlate with ash emissions at a series of eruptions of Redoubt Volcano. This finding has been confirmed at eruptions for Tongariro, Mt Etna, Mt Shindake, and Sakurajima. In each of these detections, very expensive geodetic quality GNSS receivers were used. If low-cost GNSS instruments could be used instead, a networked array could be deployed and optimized for plume detection and tomography. The outputs of this sensor array could then be used by both local volcanic observatories and Volcano Ash Advisory Centers. Here we will describe progress in developing such an array. The sensors we are working with are intended for navigation use, and thus lack the supporting power and communications equipment necessary for a networked system. Reliably providing those features is major challenge for the overall sensor design. We have built prototypes of our Volcano Ash Plume Receiver (VAPR), with solar panels, lithium-ion batteries and onboard data storage for preliminary testing. We will present results of our field tests of both receivers and antennas. A second critical need for our array is a reliable detection algorithm. We have tested our algorithm on data from recent eruptions and have incorporated the noise characteristics of the low-cost GNSS receiver. We have also developed a simulation capability so that the receivers can be deployed to optimize vent crossing GNSS signals.

Development of a GNSS-Enhanced Tsunami Early Warning System

NASA Astrophysics Data System (ADS)

Bawden, G. W.; Melbourne, T. I.; Bock, Y.; Song, Y. T.; Komjathy, A.

2015-12-01

The past decade has witnessed a terrible loss of life and economic disruption caused by large earthquakes and resultant tsunamis impacting coastal communities and infrastructure across the Indo-Pacific region. NASA has funded the early development of a prototype real-time Global Navigation Satellite System (RT-GNSS) based rapid earthquake and tsunami early warning (GNSS-TEW) system that may be used to enhance seismic tsunami early warning systems for large earthquakes. This prototype GNSS-TEW system geodetically estimates fault parameters (earthquake magnitude, location, strike, dip, and slip magnitude/direction on a gridded fault plane both along strike and at depth) and tsunami source parameters (seafloor displacement, tsunami energy scale, and 3D tsunami initials) within minutes after the mainshock based on dynamic numerical inversions/regressions of the real-time measured displacements within a spatially distributed real-time GNSS network(s) spanning the epicentral region. It is also possible to measure fluctuations in the ionosphere's total electron content (TEC) in the RT-GNSS data caused by the pressure wave from the tsunami. This TEC approach can detect if a tsunami has been triggered by an earthquake, track its waves as they propagate through the oceanic basins, and provide upwards of 45 minutes early warning. These combined real-time geodetic approaches will very quickly address a number of important questions in the immediate minutes following a major earthquake: How big was the earthquake and what are its fault parameters? Could the earthquake have produced a tsunami and was a tsunami generated?

The Australian Geodetic Observing Program. Current Status and Future Plans

NASA Astrophysics Data System (ADS)

Johnston, G.; Dawson, J. H.

2015-12-01

Over the last decade, the Australian government has through programs like AuScope, the Asia Pacific Reference Frame (APREF), and the Pacific Sea Level Monitoring (PSLM) Project made a significant contribution to the Global Geodetic Observing Program. In addition to supporting the national research priorities, this contribution is justified by Australia's growing economic dependence on precise positioning to underpin efficient transportation, geospatial data management, and industrial automation (e.g., robotic mining and precision agriculture) and the consequent need for the government to guarantee provision of precise positioning products to the Australian community. It is also well recognised within Australia that there is an opportunity to exploit our near unique position as being one of the few regions in the world to see all new and emerging satellite navigation systems including Galileo (Europe), GPS III (USA), GLONASS (Russia), Beidou (China), QZSS (Japan) and IRNSS (India). It is in this context that the Australian geodetic program will build on earlier efforts and further develop its key geodetic capabilities. This will include the creation of an independent GNSS analysis capability that will enable Australia to contribute to the International GNSS Service (IGS) and an upgrade of key geodetic infrastructure including the national VLBI and GNSS arrays. This presentation will overview the significant geodetic activities undertaken by the Australian government and highlight its future plans.

Real-Time GNSS-Based Attitude Determination in the Measurement Domain.

PubMed

Zhao, Lin; Li, Na; Li, Liang; Zhang, Yi; Cheng, Chun

2017-02-05

A multi-antenna-based GNSS receiver is capable of providing high-precision and drift-free attitude solution. Carrier phase measurements need be utilized to achieve high-precision attitude. The traditional attitude determination methods in the measurement domain and the position domain resolve the attitude and the ambiguity sequentially. The redundant measurements from multiple baselines have not been fully utilized to enhance the reliability of attitude determination. A multi-baseline-based attitude determination method in the measurement domain is proposed to estimate the attitude parameters and the ambiguity simultaneously. Meanwhile, the redundancy of attitude resolution has also been increased so that the reliability of ambiguity resolution and attitude determination can be enhanced. Moreover, in order to further improve the reliability of attitude determination, we propose a partial ambiguity resolution method based on the proposed attitude determination model. The static and kinematic experiments were conducted to verify the performance of the proposed method. When compared with the traditional attitude determination methods, the static experimental results show that the proposed method can improve the accuracy by at least 0.03° and enhance the continuity by 18%, at most. The kinematic result has shown that the proposed method can obtain an optimal balance between accuracy and reliability performance.

Single-frequency receivers as master permanent stations in GNSS networks: precision and accuracy of the positioning in mixed networks

NASA Astrophysics Data System (ADS)

Dabove, Paolo; Manzino, Ambrogio Maria

2015-04-01

The use of GPS/GNSS instruments is a common practice in the world at both a commercial and academic research level. Since last ten years, Continuous Operating Reference Stations (CORSs) networks were born in order to achieve the possibility to extend a precise positioning more than 15 km far from the master station. In this context, the Geomatics Research Group of DIATI at the Politecnico di Torino has carried out several experiments in order to evaluate the achievable precision obtainable with different GNSS receivers (geodetic and mass-market) and antennas if a CORSs network is considered. This work starts from the research above described, in particular focusing the attention on the usefulness of single frequency permanent stations in order to thicken the existing CORSs, especially for monitoring purposes. Two different types of CORSs network are available today in Italy: the first one is the so called "regional network" and the second one is the "national network", where the mean inter-station distances are about 25/30 and 50/70 km respectively. These distances are useful for many applications (e.g. mobile mapping) if geodetic instruments are considered but become less useful if mass-market instruments are used or if the inter-station distance between master and rover increases. In this context, some innovative GNSS networks were developed and tested, analyzing the performance of rover's positioning in terms of quality, accuracy and reliability both in real-time and post-processing approach. The use of single frequency GNSS receivers leads to have some limits, especially due to a limited baseline length, the possibility to obtain a correct fixing of the phase ambiguity for the network and to fix the phase ambiguity correctly also for the rover. These factors play a crucial role in order to reach a positioning with a good level of accuracy (as centimetric o better) in a short time and with an high reliability. The goal of this work is to investigate about the real effect and how is the contribute of L1 mass-market permanent stations to the CORSs Network both for geodetic and low-cost receivers; in particular is described how the use of the network products which are generated by the network (in real-time and post-processing) can improve the accuracy and precision of a rover 5, 10 and 15 km far from the nearest station. Some tests have been carried out considering different types of receivers (geodetic and mass market) and antennas (patch and geodetic). The tests have been conducted considering several positioning approaches (static, stop and go and real time) in order to make the analysis more complete. Good and interesting results were obtained: the followed approach will be useful for many types of applications (landslides monitoring, traffic control), especially where the inter-station distances of GNSS permanent station are greater than 30 km.

Monitoring water cycle elements using GNSS geodetic receivers at the field research station Marquardt, Germany

NASA Astrophysics Data System (ADS)

Simeonov, Tzvetan; Vey, Sibylle; Alshawaf, Fadwa; Dick, Galina; Guerova, Guergana; Güntner, Andreas; Hohmann, Christian; Kunwar, Ajeet; Trost, Benjamin; Wickert, Jens

2017-04-01

Water storage variations in the atmosphere and in soils are among the most dynamic within the Earth's water cycle. The continuous measurement of water storage in these media with a high spatial and temporal resolution is a challenging task, not yet completely solved by various observation techniques. With the development of the Global Navigation Satellite Systems (GNSS) a new approach for atmospheric water vapor estimation in the atmosphere and in parallel of soil moisture in the vicinity of GNSS ground stations was established in the recent years with several key advantages compared to traditional techniques. Regional and global GNSS networks are nowadays operationally used to provide the Integrated Water Vapor (IWV) information with high temporal resolution above the individual stations. Corresponding data products are used to improve the day-by-day weather prediction of leading forecast centers. Selected stations from these networks can be used to additionally derive the soil moisture in the vicinity of the receivers. Such parallel measurement of IWV and soil moisture using a single measuring device provides a unique possibility to analyze water fluxes between the atmosphere and the land surface. We installed an advanced experimental GNSS setup for hydrology at the field research station of the Leibniz Institute for Agricultural Engineering and Bioeconomy in Marquardt, around 30km West of Berlin, Germany. The setup includes several GNSS receivers, various Time Domain Reflectometry (TDR) sensors at different depths for soil moisture measurement and an meteorological station. The setup was mainly installed to develop and improve GNSS based techniques for soil moisture determination and to analyze GNSS IWV and SM in parallel on a long-term perspective. We introduce initial results from more than two years of measurements. The comparison in station Marquardt shows good agreement (correlation 0.79) between the GNSS derived soil moisture and the TDR measurements. A detailed study for several periods with different GNSS settings, vegetation and soil conditions in the vicinity of the station is presented with emphasis on the behavior of GNSS derived soil moisture, compared to TDR. Case studies of intense rainfall events and lasting dry periods show the interaction between the IWV and soil moisture.

Bayesian methods for outliers detection in GNSS time series

NASA Astrophysics Data System (ADS)

Qianqian, Zhang; Qingming, Gui

2013-07-01

This article is concerned with the problem of detecting outliers in GNSS time series based on Bayesian statistical theory. Firstly, a new model is proposed to simultaneously detect different types of outliers based on the conception of introducing different types of classification variables corresponding to the different types of outliers; the problem of outlier detection is converted into the computation of the corresponding posterior probabilities, and the algorithm for computing the posterior probabilities based on standard Gibbs sampler is designed. Secondly, we analyze the reasons of masking and swamping about detecting patches of additive outliers intensively; an unmasking Bayesian method for detecting additive outlier patches is proposed based on an adaptive Gibbs sampler. Thirdly, the correctness of the theories and methods proposed above is illustrated by simulated data and then by analyzing real GNSS observations, such as cycle slips detection in carrier phase data. Examples illustrate that the Bayesian methods for outliers detection in GNSS time series proposed by this paper are not only capable of detecting isolated outliers but also capable of detecting additive outlier patches. Furthermore, it can be successfully used to process cycle slips in phase data, which solves the problem of small cycle slips.

A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles

PubMed Central

Meng, Xiaoli

2017-01-01

Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DMI (Distance-Measuring Instruments), a multi-constraint fault detection approach is proposed to smooth the vehicle locations in spite of GNSS jumps. Furthermore, the lateral localization error is compensated by the point cloud-based lateral localization method proposed in this paper. Experiment results have verified the algorithms proposed in this paper, which shows that the algorithms proposed in this paper are capable of providing precise and robust vehicle localization. PMID:28926996

A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles.

PubMed

Meng, Xiaoli; Wang, Heng; Liu, Bingbing

2017-09-18

Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DMI (Distance-Measuring Instruments), a multi-constraint fault detection approach is proposed to smooth the vehicle locations in spite of GNSS jumps. Furthermore, the lateral localization error is compensated by the point cloud-based lateral localization method proposed in this paper. Experiment results have verified the algorithms proposed in this paper, which shows that the algorithms proposed in this paper are capable of providing precise and robust vehicle localization.

Analysis strategies for combining continuous and episodic GNSS for studies of neo-tectonics in Northern-Norway

NASA Astrophysics Data System (ADS)

Kierulf, Halfdan Pascal

2017-09-01

Crustal deformation in the seismically active Nordland area in Northern Norway is estimated based on a combination of data from local episodic epGNSS campaigns (three 5-day campaigns in 1999, 2008 and 2015) and continuously operating cGNSS stations in the area that were mainly established in 2008 and in 2009. To establish a local long-term stable reference frame, which is consistent both with the epGNSS network and the network of newer cGNSS, a three-step procedure for reference frame realization is used to get consistent results from all the stations in the area. Analysis of the main error sources shows that uncertainties for the episodic epGNSS stations are around 0.2 mm/yr in the horizontal components and 0.5 mm/yr in the vertical component. The results support earlier findings that Ranafjord area of the Nordland is undergoing crustal spreading with horizontal displacement velocities of ca. 1.0 ± 0.2 mm/yr, predominantly in the east-west direction. The results also show a gradient in the uplift along the coast of Nordland that is larger than predicted by existing glacial isostatic adjustment models.

Efficient high-rate satellite clock estimation for PPP ambiguity resolution using carrier-ranges.

PubMed

Chen, Hua; Jiang, Weiping; Ge, Maorong; Wickert, Jens; Schuh, Harald

2014-11-25

In order to catch up the short-term clock variation of GNSS satellites, clock corrections must be estimated and updated at a high-rate for Precise Point Positioning (PPP). This estimation is already very time-consuming for the GPS constellation only as a great number of ambiguities need to be simultaneously estimated. However, on the one hand better estimates are expected by including more stations, and on the other hand satellites from different GNSS systems must be processed integratively for a reliable multi-GNSS positioning service. To alleviate the heavy computational burden, epoch-differenced observations are always employed where ambiguities are eliminated. As the epoch-differenced method can only derive temporal clock changes which have to be aligned to the absolute clocks but always in a rather complicated way, in this paper, an efficient method for high-rate clock estimation is proposed using the concept of "carrier-range" realized by means of PPP with integer ambiguity resolution. Processing procedures for both post- and real-time processing are developed, respectively. The experimental validation shows that the computation time could be reduced to about one sixth of that of the existing methods for post-processing and less than 1 s for processing a single epoch of a network with about 200 stations in real-time mode after all ambiguities are fixed. This confirms that the proposed processing strategy will enable the high-rate clock estimation for future multi-GNSS networks in post-processing and possibly also in real-time mode.

A clock-aided positioning algorithm based on Kalman model of GNSS receiver clock bias

NASA Astrophysics Data System (ADS)

Zhu, Lingyao; Li, Zishen; Yuan, Hong

2017-10-01

The modeling and forecasting of the receiver clock bias is of practical significance, including the improvement of positioning accuracy, etc. When the clock frequency of the receiver is stable, the model can be established according to the historical clock bias data and the clock bias of the following time can be predicted. For this, we adopted the Kalman model to predict the receiver clock bias based on the calculated clock bias data obtained from the laboratory via sliding mode. Meanwhile, the relevant clock-aided positioning algorithm was presented. The results show that: the Kalman model can be used in practical work; and that under the condition that only 3 satellite signal can be received, this clock-aided positioning results can meet the needs of civilian users, which improves the continuity of positioning in harsh conditions.

Inter-technique validation of tropospheric slant total delays

NASA Astrophysics Data System (ADS)

Kačmařík, Michal; Douša, Jan; Dick, Galina; Zus, Florian; Brenot, Hugues; Möller, Gregor; Pottiaux, Eric; Kapłon, Jan; Hordyniec, Paweł; Václavovic, Pavel; Morel, Laurent

2017-06-01

An extensive validation of line-of-sight tropospheric slant total delays (STD) from Global Navigation Satellite Systems (GNSS), ray tracing in numerical weather prediction model (NWM) fields and microwave water vapour radiometer (WVR) is presented. Ten GNSS reference stations, including collocated sites, and almost 2 months of data from 2013, including severe weather events were used for comparison. Seven institutions delivered their STDs based on GNSS observations processed using 5 software programs and 11 strategies enabling to compare rather different solutions and to assess the impact of several aspects of the processing strategy. STDs from NWM ray tracing came from three institutions using three different NWMs and ray-tracing software. Inter-techniques evaluations demonstrated a good mutual agreement of various GNSS STD solutions compared to NWM and WVR STDs. The mean bias among GNSS solutions not considering post-fit residuals in STDs was -0.6 mm for STDs scaled in the zenith direction and the mean standard deviation was 3.7 mm. Standard deviations of comparisons between GNSS and NWM ray-tracing solutions were typically 10 mm ± 2 mm (scaled in the zenith direction), depending on the NWM model and the GNSS station. Comparing GNSS versus WVR STDs reached standard deviations of 12 mm ± 2 mm also scaled in the zenith direction. Impacts of raw GNSS post-fit residuals and cleaned residuals on optimal reconstructing of GNSS STDs were evaluated at inter-technique comparison and for GNSS at collocated sites. The use of raw post-fit residuals is not generally recommended as they might contain strong systematic effects, as demonstrated in the case of station LDB0. Simplified STDs reconstructed only from estimated GNSS tropospheric parameters, i.e. without applying post-fit residuals, performed the best in all the comparisons; however, it obviously missed part of tropospheric signals due to non-linear temporal and spatial variations in the troposphere. Although the post-fit residuals cleaned of visible systematic errors generally showed a slightly worse performance, they contained significant tropospheric signal on top of the simplified model. They are thus recommended for the reconstruction of STDs, particularly during high variability in the troposphere. Cleaned residuals also showed a stable performance during ordinary days while containing promising information about the troposphere at low-elevation angles.

Analysis of Ionospheric Scintillation Characteristics in Sub-Antarctica Region with GNSS Data at Macquarie Island.

PubMed

Guo, Kai; Liu, Yang; Zhao, Yan; Wang, Jinling

2017-01-12

Ionospheric scintillation has a great impact on radio propagation and electronic system performance, thus is extensively studied currently. The influence of scintillation on Global Navigation Satellite System (GNSS) is particularly evident, making GNSS an effective medium to study characteristics of scintillation. Ionospheric scintillation varies greatly in relation with temporal and spatial distribution. In this paper, both temporal and spatial characteristics of scintillation are investigated based on Macquarie Island's GNSS scintillation data collected from 2011 to 2015. Experiments demonstrate that occurrence rates of amplitude scintillation have a close relationship with solar activity, while phase scintillation is more likely to be generated by geomagnetic activity. In addition, scintillation distribution behaviors related to elevation and azimuth angles are statistically analyzed for both amplitude and phase scintillation. The proposed work is valuable for a deeper understanding of theoretical mechanisms of ionospheric scintillation in this region, and provides a reference for GNSS applications in certain regions around sub-Antarctica.

Earthquake Related Variation of Total Electron Content in Ionosphere over Chinese Mainland Derived from Observations of a Nationwide GNSS Network

NASA Astrophysics Data System (ADS)

Gan, Weijun

2016-07-01

Crustal Movement Observation Network of China (CMONOC) is a key national scientific infrastructure project carried out during 1997-2012 with 2 phases. The network is composed of 260 continuously observed GNSS stations (CORS) and 2081 campaign mode GNSS stations, with the main purpose to monitor the crustal movement, perceptible water vapor (PWV), total electron content (TEC), and many other tectonic and environmental elements around mainland China, by mainly using the Global Navigation Satellite System (GNSS) technology. Here, based on the GNSS data of 260 CORS of COMNOC for about 5 years, we investigated the characteristics of TEC in ionosphere over Chinese Mainland and discussed if there was any abnormal change of TEC before and after a big earthquake. our preliminary results show that it is hard to see any convincing precursor of TEC before a big earthquake. However, the huge energy released by a big earthquake can obviously disturb the TEC over meizoseismal area.

Signal Strength-Based Global Navigation Satellite System Performance Assessment in the Space Service Volume

NASA Technical Reports Server (NTRS)

Welch, Bryan W.

2016-01-01

NASA is participating in the International Committee on Global Navigation Satellite Systems (GNSS) (ICG)'s efforts towards demonstrating the benefits to the space user in the Space Service Volume (SSV) when a multi-GNSS solution space approach is utilized. The ICG Working Group: Enhancement of GNSS Performance, New Services and Capabilities has started a three phase analysis initiative as an outcome of recommendations at the ICG-10 meeting, in preparation for the ICG-11 meeting. The second phase of that increasing complexity and fidelity analysis initiative is based on augmenting the Phase 1 pure geometrical approach with signal strength-based limitations to determine if access is valid. The second phase of analysis has been completed, and the results are documented in this paper.

Revealing the deformational anomalies based on GNSS data in relation to the preparation and stress release of large earthquakes

NASA Astrophysics Data System (ADS)

Kaftan, V. I.; Melnikov, A. Yu.

2018-01-01

The results of Global Navigational Satellite System (GNSS) observations in the regions of large earthquakes are analyzed. The characteristics of the Earth's surface deformations before, during, and after the earthquakes are considered. The obtained results demonstrate the presence of anomalous deformations close to the epicenters of the events. Statistical estimates of the anomalous strains and their relationship with measurement errors are obtained. Conclusions are drawn about the probable use of local GNSS networks to assess the risk of the occurrence of strong seismic events.

A data driven partial ambiguity resolution: Two step success rate criterion, and its simulation demonstration

NASA Astrophysics Data System (ADS)

Hou, Yanqing; Verhagen, Sandra; Wu, Jie

2016-12-01

Ambiguity Resolution (AR) is a key technique in GNSS precise positioning. In case of weak models (i.e., low precision of data), however, the success rate of AR may be low, which may consequently introduce large errors to the baseline solution in cases of wrong fixing. Partial Ambiguity Resolution (PAR) is therefore proposed such that the baseline precision can be improved by fixing only a subset of ambiguities with high success rate. This contribution proposes a new PAR strategy, allowing to select the subset such that the expected precision gain is maximized among a set of pre-selected subsets, while at the same time the failure rate is controlled. These pre-selected subsets are supposed to obtain the highest success rate among those with the same subset size. The strategy is called Two-step Success Rate Criterion (TSRC) as it will first try to fix a relatively large subset with the fixed failure rate ratio test (FFRT) to decide on acceptance or rejection. In case of rejection, a smaller subset will be fixed and validated by the ratio test so as to fulfill the overall failure rate criterion. It is shown how the method can be practically used, without introducing a large additional computation effort. And more importantly, how it can improve (or at least not deteriorate) the availability in terms of baseline precision comparing to classical Success Rate Criterion (SRC) PAR strategy, based on a simulation validation. In the simulation validation, significant improvements are obtained for single-GNSS on short baselines with dual-frequency observations. For dual-constellation GNSS, the improvement for single-frequency observations on short baselines is very significant, on average 68%. For the medium- to long baselines, with dual-constellation GNSS the average improvement is around 20-30%.

The GLORIE Campaign: Assessment of the Capabilities of Airborne GNSS-R for Land Remote Sensing.

NASA Astrophysics Data System (ADS)

Mangiarotti, S.; Motte, E.; Zribi, M., Sr.; Fanise, P., Sr.

2015-12-01

In June and July 2015 an intensive flight campaign was conducted over the south west of France to test the sensitivity of Global Navigation Satellite System Reflectometry (GNSS-R) to the geophysical parameters of continental surfaces. Namely, the parameters of interest were soil moisture, soil roughness, plant water content, forest biomass and level of inland water bodies and rivers. We used the GLORI polarimetric GNSS-R instrument, collecting raw 10MSPS 2-bit IQ direct (RHCP, zenith) and reflected (RHCP and LHCP, nadir) signals at GPS L1 frequency aboard the ATR-42 aircraft of the SAFIRE fleet. Simultaneous measurement of aircraft attitude and position were recorded. The flight plan included flyovers of several areas of interests, with collocated ground truth measurements of soil moisture, soil roughness, cultivated biomass, and forest biomass. Also flyovers of ponds, lakes and river were included for power calibration and altimetry retrievals. In total, 6 flights were performed between June 19th and July 6th, representing more than 15 hours of raw data. A conventional GNSS-R processing of the data was performed in order to compute the direct and reflected complex waveforms. A preliminary data analysis based on the variations of the ratio of reflected maximum correlation amplitude in the LHCP antenna to direct maximum correlated amplitude shows measurements sensitivity to soil type, land use and incidence angle. Also, first altimetric retrievals using phase-delay techniques shows very promising results over calm waters. Current work is ongoing in order to fit the observed polarimetric measurements with innovative bistatic scattering models capable of taking into account complex geometries and land use configurations.

G-FAST Early Warning Potential for Great Earthquakes in Chile

NASA Astrophysics Data System (ADS)

Crowell, B.; Schmidt, D. A.; Baker, B. I.; Bodin, P.; Vidale, J. E.

2016-12-01

The importance of GNSS-based earthquake early warning for modeling large earthquakes has been studied extensively over the past decade and several such systems are currently under development. In the Pacific Northwest, we have developed the G-FAST GNSS-based earthquake early warning module for eventual inclusion in the US West-Coast wide ShakeAlert system. We have also created a test system that allows us to replay past and synthetic earthquakes to identify problems with both the network architecture and the algorithms. Between 2010 and 2016, there have been seven M > 8 earthquakes across the globe, of which three struck offshore Chile; the 27 February 2010 Mw 8.8 Maule, the 1 April 2014 Mw 8.2 Iquique, and the 16 September 2015 Mw 8.3 Illapel. Subsequent to these events, the Chilean national GNSS network operated by the Centro Sismologico Nacional (http://www.sismologia.cl/) greatly expanded to over 150 continuous GNSS stations, providing the best recordings of great earthquakes with GNSS outside of Japan. Here we report on retrospective G-FAST performance for those three great earthquakes in Chile. We discuss the interplay of location errors, latency, and data completeness with respect to the precision and timing of G-FAST earthquake source alerts as well as the computational demands of the system.

Establishing a method of short-term rainfall forecasting based on GNSS-derived PWV and its application.

PubMed

Yao, Yibin; Shan, Lulu; Zhao, Qingzhi

2017-09-29

Global Navigation Satellite System (GNSS) can effectively retrieve precipitable water vapor (PWV) with high precision and high-temporal resolution. GNSS-derived PWV can be used to reflect water vapor variation in the process of strong convection weather. By studying the relationship between time-varying PWV and rainfall, it can be found that PWV contents increase sharply before raining. Therefore, a short-term rainfall forecasting method is proposed based on GNSS-derived PWV. Then the method is validated using hourly GNSS-PWV data from Zhejiang Continuously Operating Reference Station (CORS) network of the period 1 September 2014 to 31 August 2015 and its corresponding hourly rainfall information. The results show that the forecasted correct rate can reach about 80%, while the false alarm rate is about 66%. Compared with results of the previous studies, the correct rate is improved by about 7%, and the false alarm rate is comparable. The method is also applied to other three actual rainfall events of different regions, different durations, and different types. The results show that the method has good applicability and high accuracy, which can be used for rainfall forecasting, and in the future study, it can be assimilated with traditional weather forecasting techniques to improve the forecasted accuracy.

Definition of an Enhanced Map-Matching Algorithm for Urban Environments with Poor GNSS Signal Quality.

PubMed

Jiménez, Felipe; Monzón, Sergio; Naranjo, Jose Eugenio

2016-02-04

Vehicle positioning is a key factor for numerous information and assistance applications that are included in vehicles and for which satellite positioning is mainly used. However, this positioning process can result in errors and lead to measurement uncertainties. These errors come mainly from two sources: errors and simplifications of digital maps and errors in locating the vehicle. From that inaccurate data, the task of assigning the vehicle's location to a link on the digital map at every instant is carried out by map-matching algorithms. These algorithms have been developed to fulfil that need and attempt to amend these errors to offer the user a suitable positioning. In this research; an algorithm is developed that attempts to solve the errors in positioning when the Global Navigation Satellite System (GNSS) signal reception is frequently lost. The algorithm has been tested with satisfactory results in a complex urban environment of narrow streets and tall buildings where errors and signal reception losses of the GPS receiver are frequent.

Modeling and Assessment of GPS/BDS Combined Precise Point Positioning.

PubMed

Chen, Junping; Wang, Jungang; Zhang, Yize; Yang, Sainan; Chen, Qian; Gong, Xiuqiang

2016-07-22

Precise Point Positioning (PPP) technique enables stand-alone receivers to obtain cm-level positioning accuracy. Observations from multi-GNSS systems can augment users with improved positioning accuracy, reliability and availability. In this paper, we present and evaluate the GPS/BDS combined PPP models, including the traditional model and a simplified model, where the inter-system bias (ISB) is treated in different way. To evaluate the performance of combined GPS/BDS PPP, kinematic and static PPP positions are compared to the IGS daily estimates, where 1 month GPS/BDS data of 11 IGS Multi-GNSS Experiment (MGEX) stations are used. The results indicate apparent improvement of GPS/BDS combined PPP solutions in both static and kinematic cases, where much smaller standard deviations are presented in the magnitude distribution of coordinates RMS statistics. Comparisons between the traditional and simplified combined PPP models show no difference in coordinate estimations, and the inter system biases between the GPS/BDS system are assimilated into receiver clock, ambiguities and pseudo-range residuals accordingly.

Definition of an Enhanced Map-Matching Algorithm for Urban Environments with Poor GNSS Signal Quality

PubMed Central

Jiménez, Felipe; Monzón, Sergio; Naranjo, Jose Eugenio

2016-01-01

Vehicle positioning is a key factor for numerous information and assistance applications that are included in vehicles and for which satellite positioning is mainly used. However, this positioning process can result in errors and lead to measurement uncertainties. These errors come mainly from two sources: errors and simplifications of digital maps and errors in locating the vehicle. From that inaccurate data, the task of assigning the vehicle’s location to a link on the digital map at every instant is carried out by map-matching algorithms. These algorithms have been developed to fulfil that need and attempt to amend these errors to offer the user a suitable positioning. In this research; an algorithm is developed that attempts to solve the errors in positioning when the Global Navigation Satellite System (GNSS) signal reception is frequently lost. The algorithm has been tested with satisfactory results in a complex urban environment of narrow streets and tall buildings where errors and signal reception losses of the GPS receiver are frequent. PMID:26861320

The combined geodetic network adjusted on the reference ellipsoid - a comparison of three functional models for GNSS observations

NASA Astrophysics Data System (ADS)

Kadaj, Roman

2016-12-01

The adjustment problem of the so-called combined (hybrid, integrated) network created with GNSS vectors and terrestrial observations has been the subject of many theoretical and applied works. The network adjustment in various mathematical spaces was considered: in the Cartesian geocentric system on a reference ellipsoid and on a mapping plane. For practical reasons, it often takes a geodetic coordinate system associated with the reference ellipsoid. In this case, the Cartesian GNSS vectors are converted, for example, into geodesic parameters (azimuth and length) on the ellipsoid, but the simple form of converted pseudo-observations are the direct differences of the geodetic coordinates. Unfortunately, such an approach may be essentially distorted by a systematic error resulting from the position error of the GNSS vector, before its projection on the ellipsoid surface. In this paper, an analysis of the impact of this error on the determined measures of geometric ellipsoid elements, including the differences of geodetic coordinates or geodesic parameters is presented. Assuming that the adjustment of a combined network on the ellipsoid shows that the optimal functional approach in relation to the satellite observation, is to create the observational equations directly for the original GNSS Cartesian vector components, writing them directly as a function of the geodetic coordinates (in numerical applications, we use the linearized forms of observational equations with explicitly specified coefficients). While retaining the original character of the Cartesian vector, one avoids any systematic errors that may occur in the conversion of the original GNSS vectors to ellipsoid elements, for example the vector of the geodesic parameters. The problem is theoretically developed and numerically tested. An example of the adjustment of a subnet loaded from the database of reference stations of the ASG-EUPOS system was considered for the preferred functional model of the GNSS observations.

SLR in the framework of the EGSIEM project

NASA Astrophysics Data System (ADS)

Maier, Andrea; Sušnik, Andreja; Meyer, Ulrich; Arnold, Daniel; Dach, Rolf; Jäggi, Adrian; Sośnica, Krzysztof; Thaller, Daniela

2016-04-01

This contribution describes the three roles Satellite Laser Ranging (SLR) is playing within the European Gravity Service for the Improved Emergency Management (EGSIEM). The purpose of this Horizon 2020 project is to combine monthly gravity field solutions from the Gravity Recovery and Climate Experiment (GRACE) mission that are derived by different institutions. The combined gravity field product will provide complementary information to traditional products for flood and drought monitoring and forecasting. First, SLR is used to validate Global Navigational Satellite System (GNSS) orbits, which are computed at the Astronomical Institute of the University of Bern. To ensure a consistent set of GNSS products (orbits, Earth rotation parameters, and clocks) a reprocessing campaign was initiated. The reprocessed products are based on the new Empirical CODE Orbit Model, which is used for all orbit products generated at the Center for Orbit Determination in Europe (CODE) from January 4, 2015 onwards. Since the kinematic orbits of GRACE will be based on these orbits, we present an in-depth validation of the GNSS orbits using SLR. Second, SLR to geodetic satellites is crucial for the estimation of the dynamical Earth's flattening term (C20) since this coefficient is degraded by aliasing when derived from GRACE data. We will compare the temporal variation of C20 with external solutions and demonstrate the benefit of involving a larger number of geodetic satellites. The third aspect is based on the fact that the gravity field product delivered by EGSIEM will include GRACE and SLR data. It is thus desirable to establish a reference frame based on both GNSS data and SLR observations. For this purpose it is planned to analyze SLR measurements to GNSS satellites equipped with a retroreflector array and to estimate common parameters such as station coordinates and geocenter coordinates from a combined set of SLR and GNSS data. We will present a workflow how to derive a common reference frame.

Tree Species Classification of Broadleaved Forests in Nagano, Central Japan, Using Airborne Laser Data and Multispectral Images

NASA Astrophysics Data System (ADS)

Deng, S.; Katoh, M.; Takenaka, Y.; Cheung, K.; Ishii, A.; Fujii, N.; Gao, T.

2017-10-01

This study attempted to classify three coniferous and ten broadleaved tree species by combining airborne laser scanning (ALS) data and multispectral images. The study area, located in Nagano, central Japan, is within the broadleaved forests of the Afan Woodland area. A total of 235 trees were surveyed in 2016, and we recorded the species, DBH, and tree height. The geographical position of each tree was collected using a Global Navigation Satellite System (GNSS) device. Tree crowns were manually detected using GNSS position data, field photographs, true-color orthoimages with three bands (red-green-blue, RGB), 3D point clouds, and a canopy height model derived from ALS data. Then a total of 69 features, including 27 image-based and 42 point-based features, were extracted from the RGB images and the ALS data to classify tree species. Finally, the detected tree crowns were classified into two classes for the first level (coniferous and broadleaved trees), four classes for the second level (Pinus densiflora, Larix kaempferi, Cryptomeria japonica, and broadleaved trees), and 13 classes for the third level (three coniferous and ten broadleaved species), using the 27 image-based features, 42 point-based features, all 69 features, and the best combination of features identified using a neighborhood component analysis algorithm, respectively. The overall classification accuracies reached 90 % at the first and second levels but less than 60 % at the third level. The classifications using the best combinations of features had higher accuracies than those using the image-based and point-based features and the combination of all of the 69 features.

On the estimability of parameters in undifferenced, uncombined GNSS network and PPP-RTK user models by means of $mathcal {S}$ S -system theory

NASA Astrophysics Data System (ADS)

Odijk, Dennis; Zhang, Baocheng; Khodabandeh, Amir; Odolinski, Robert; Teunissen, Peter J. G.

2016-01-01

The concept of integer ambiguity resolution-enabled Precise Point Positioning (PPP-RTK) relies on appropriate network information for the parameters that are common between the single-receiver user that applies and the network that provides this information. Most of the current methods for PPP-RTK are based on forming the ionosphere-free combination using dual-frequency Global Navigation Satellite System (GNSS) observations. These methods are therefore restrictive in the light of the development of new multi-frequency GNSS constellations, as well as from the point of view that the PPP-RTK user requires ionospheric corrections to obtain integer ambiguity resolution results based on short observation time spans. The method for PPP-RTK that is presented in this article does not have above limitations as it is based on the undifferenced, uncombined GNSS observation equations, thereby keeping all parameters in the model. Working with the undifferenced observation equations implies that the models are rank-deficient; not all parameters are unbiasedly estimable, but only combinations of them. By application of S-system theory the model is made of full rank by constraining a minimum set of parameters, or S-basis. The choice of this S-basis determines the estimability and the interpretation of the parameters that are transmitted to the PPP-RTK users. As this choice is not unique, one has to be very careful when comparing network solutions in different S-systems; in that case the S-transformation, which is provided by the S-system method, should be used to make the comparison. Knowing the estimability and interpretation of the parameters estimated by the network is shown to be crucial for a correct interpretation of the estimable PPP-RTK user parameters, among others the essential ambiguity parameters, which have the integer property which is clearly following from the interpretation of satellite phase biases from the network. The flexibility of the S-system method is furthermore demonstrated by the fact that all models in this article are derived in multi-epoch mode, allowing to incorporate dynamic model constraints on all or subsets of parameters.

Recent Research Activities at the Institute of Geodesy and Geoinformatics

NASA Astrophysics Data System (ADS)

Balodis, Janis; Silabriedis, Gunars; Haritonova, Diana; Morozova, Katerina; Zarins, Ansis; Rubans, Augusts

2016-08-01

This paper discusses the research work done recently at the Institute of Geodesy and Geoinformatics of the University of Latvia. For many years the main topics of the research has been related to the satellite geodesy and to the development of the devices for satellite geodesy applications. Currently the research has been devoted to the geodynamics in Latvia: GNSS applied measurements and computation of high precision national geoid model using different data sets, analysis of Latvian GNSS permanent station position time series, development of digital zenith camera for vertical deflection determination, and development of the new multifunctional astrometric device which can be used for both the satellite laser ranging and/or for the positioning of the near Earth space bodies on the background of stars.

The Determination of Earth Orientation by VLBI and GNSS: Principles and Results

NASA Astrophysics Data System (ADS)

Capitaine, Nicole

2017-10-01

The Earth Orientation Parameters (EOP) connect the International Terrestrial Reference System (ITRS) to the Geocentric Celestial Reference System (GCRS). These parameters, i.e., Universal Time, UT1, and pole coordinates in the ITRS and in the GCRS, describe the irregularities of the Earth's rotation. They are mainly determined by two modern astro-geodetic techniques, VLBI (Very Long Baseline Radio Interferometry) on extragalactic radio sources, which is used to realize and maintain the International Celestial Reference System (ICRS), and Global Navigation Satellite System (GNSS), especially GPS (Global Positioning System), which has an important contribution to the realization of the ITRS. The aim of this presentation is twofold: to present the modern bases for the consider- ation of Earth orientation and to discuss how the principles of VLBI and GPS give access to the measure of different components of the EOP variations, especially UT1. The accuracy that can be achieved is based on the improved concepts, definitions, and models that have been adopted by IAU/IUGG resolutions on reference systems and Earth's rotation, as well as on the refined strategy of the observations.

Precise orbit determination of Multi-GNSS constellation including GPS GLONASS BDS and GALIEO

NASA Astrophysics Data System (ADS)

Dai, Xiaolei

2014-05-01

In addition to the existing American global positioning system (GPS) and the Russian global navigation satellite system (GLONASS), the new generation of GNSS is emerging and developing, such as the Chinese BeiDou satellite navigation system (BDS) and the European GALILEO system. Multi-constellation is expected to contribute to more accurate and reliable positioning and navigation service. However, the application of multi-constellation challenges the traditional precise orbit determination (POD) strategy that was designed usually for single constellation. In this contribution, we exploit a more rigorous multi-constellation POD strategy for the ongoing IGS multi-GNSS experiment (MGEX) where the common parameters are identical for each system, and the frequency- and system-specified parameters are employed to account for the inter-frequency and inter-system biases. Since the authorized BDS attitude model is not yet released, different BDS attitude model are implemented and their impact on orbit accuracy are studied. The proposed POD strategy was implemented in the PANDA (Position and Navigation Data Analyst) software and can process observations from GPS, GLONASS, BDS and GALILEO together. The strategy is evaluated with the multi-constellation observations from about 90 MGEX stations and BDS observations from the BeiDou experimental tracking network (BETN) of Wuhan University (WHU). Of all the MGEX stations, 28 stations record BDS observation, and about 80 stations record GALILEO observations. All these data were processed together in our software, resulting in the multi-constellation POD solutions. We assessed the orbit accuracy for GPS and GLONASS by comparing our solutions with the IGS final orbit, and for BDS and GALILEO by overlapping our daily orbit solution. The stability of inter-frequency bias of GLONASS and inter-system biases w.r.t. GPS for GLONASS, BDS and GALILEO were investigated. At last, we carried out precise point positioning (PPP) using the multi-constellation POD orbit and clock products, and analyzed the contribution of these POD products to PPP. Keywords: Multi-GNSS, Precise Orbit Determination, Inter-frequency bias, Inter-system bias, Precise Point Positioning

Improving multi-GNSS ultra-rapid orbit determination for real-time precise point positioning

NASA Astrophysics Data System (ADS)

Li, Xingxing; Chen, Xinghan; Ge, Maorong; Schuh, Harald

2018-03-01

Currently, with the rapid development of multi-constellation Global Navigation Satellite Systems (GNSS), the real-time positioning and navigation are undergoing dramatic changes with potential for a better performance. To provide more precise and reliable ultra-rapid orbits is critical for multi-GNSS real-time positioning, especially for the three merging constellations Beidou, Galileo and QZSS which are still under construction. In this contribution, we present a five-system precise orbit determination (POD) strategy to fully exploit the GPS + GLONASS + BDS + Galileo + QZSS observations from CDDIS + IGN + BKG archives for the realization of hourly five-constellation ultra-rapid orbit update. After adopting the optimized 2-day POD solution (updated every hour), the predicted orbit accuracy can be obviously improved for all the five satellite systems in comparison to the conventional 1-day POD solution (updated every 3 h). The orbit accuracy for the BDS IGSO satellites can be improved by about 80, 45 and 50% in the radial, cross and along directions, respectively, while the corresponding accuracy improvement for the BDS MEO satellites reaches about 50, 20 and 50% in the three directions, respectively. Furthermore, the multi-GNSS real-time precise point positioning (PPP) ambiguity resolution has been performed by using the improved precise satellite orbits. Numerous results indicate that combined GPS + BDS + GLONASS + Galileo (GCRE) kinematic PPP ambiguity resolution (AR) solutions can achieve the shortest time to first fix (TTFF) and highest positioning accuracy in all coordinate components. With the addition of the BDS, GLONASS and Galileo observations to the GPS-only processing, the GCRE PPP AR solution achieves the shortest average TTFF of 11 min with 7{°} cutoff elevation, while the TTFF of GPS-only, GR, GE and GC PPP AR solution is 28, 15, 20 and 17 min, respectively. As the cutoff elevation increases, the reliability and accuracy of GPS-only PPP AR solutions decrease dramatically, but there is no evident decrease for the accuracy of GCRE fixed solutions which can still achieve an accuracy of a few centimeters in the east and north components.

A Novel General Imaging Formation Algorithm for GNSS-Based Bistatic SAR.

PubMed

Zeng, Hong-Cheng; Wang, Peng-Bo; Chen, Jie; Liu, Wei; Ge, LinLin; Yang, Wei

2016-02-26

Global Navigation Satellite System (GNSS)-based bistatic Synthetic Aperture Radar (SAR) recently plays a more and more significant role in remote sensing applications for its low-cost and real-time global coverage capability. In this paper, a general imaging formation algorithm was proposed for accurately and efficiently focusing GNSS-based bistatic SAR data, which avoids the interpolation processing in traditional back projection algorithms (BPAs). A two-dimensional point target spectrum model was firstly presented, and the bulk range cell migration correction (RCMC) was consequently derived for reducing range cell migration (RCM) and coarse focusing. As the bulk RCMC seriously changes the range history of the radar signal, a modified and much more efficient hybrid correlation operation was introduced for compensating residual phase errors. Simulation results were presented based on a general geometric topology with non-parallel trajectories and unequal velocities for both transmitter and receiver platforms, showing a satisfactory performance by the proposed method.

A Novel General Imaging Formation Algorithm for GNSS-Based Bistatic SAR

PubMed Central

Zeng, Hong-Cheng; Wang, Peng-Bo; Chen, Jie; Liu, Wei; Ge, LinLin; Yang, Wei

2016-01-01

Global Navigation Satellite System (GNSS)-based bistatic Synthetic Aperture Radar (SAR) recently plays a more and more significant role in remote sensing applications for its low-cost and real-time global coverage capability. In this paper, a general imaging formation algorithm was proposed for accurately and efficiently focusing GNSS-based bistatic SAR data, which avoids the interpolation processing in traditional back projection algorithms (BPAs). A two-dimensional point target spectrum model was firstly presented, and the bulk range cell migration correction (RCMC) was consequently derived for reducing range cell migration (RCM) and coarse focusing. As the bulk RCMC seriously changes the range history of the radar signal, a modified and much more efficient hybrid correlation operation was introduced for compensating residual phase errors. Simulation results were presented based on a general geometric topology with non-parallel trajectories and unequal velocities for both transmitter and receiver platforms, showing a satisfactory performance by the proposed method. PMID:26927117

GEO-6 project for Galileo data scientific utilization

NASA Astrophysics Data System (ADS)

Buresova, Dalia; Lastovicka, Jan; Boska, Josef; Sauli, Petra; Kouba, Daniel; Mosna, Zbysek

The future GNSS Galileo system offer a number of benefits (e.g. availability of better accuracy positioning, new frequencies bands allowing the implementation of specific techniques, provable time-stamp and location data using SIS authorisation, integrity, better support ad-hoc algorithms for data analysis and other service guarantee for liability and regulated applications) are widely spread among different disciplines. Also applications which are less interesting from the commercial and market point of view could successfully contribute to the numerous social benefits and support the innovation in the international research. The aim of the GEO-6 project "Scientific research Using GNSS" is to propose and broaden scientific utilization of future GNSS Galileo system data in research. It is a joint project of seven institutions from six countries led by the Atos Origin Company from Spain. The core of the project consists from six projects in five priority areas: PA-1 Remote sensing of the ocean using GNSS reflections, PA-2a Investigating GNSS ionospheric data assimilation, PA-2b 3-D gravity wave detection and determination (both PA-2a and PA-2b are ionospheric topics), PA-3 Demonstration of capability for operational forecasting of atmospheric delays, PA-4 GNSS seismometer, PA-5 Spacecraft formation flying using global navigation satellite systems. Institute of Atmospheric Physics, Prague, Czech Republic is responsible for the project PA-2b, where we developed and tested (to the extent allowed by available data) an algorithm and computer code for the 3-D detection of gravity waves and determination of their characteristics. The main drivers of the GEO-6 project are: high levels of accuracy even with the support of local elements, sharing of solutions and results for the worldwide scientific community. The paper will present basic description of the project with more details concerning Czech participation in it.

Evaluation of Water Vapor Radiometer on HY-2A Satellite with the Ship-borne GNSS Observations over the India Ocean

NASA Astrophysics Data System (ADS)

Liu, Y.; Wu, Z.; Chen, G.; Liu, W.

2016-12-01

HY-2A is the first marine dynamic environment satellite in China. It is used to observe the global sea surface wind field, sea surface height, significant wave heights and sea surface temperature. In order to correct tropospheric delay in the radar altimeter measurements, the calibration microwave radiometer (CMR) is on board satellite. In this paper, a ship-borne GNSS experiment was done to evaluate the accuracy of water vapor content observed from CMR over the India Ocean in 2014. Because the HY-2A satellite orbit is in S-N direction, the ship course was designed in E-W direction to produce the cross-point over the ocean for the calibration. During two months experiment, three cross-points were captured on the 29th April/5th May/13th May. The GNSS data include GPS,GLONASS and BDS, and its sampling rate is 1s. The GNSS observations are processed with the Point Precise Positioning (PPP) algorithm by our software. The Precipitable Water Vapor (PWV) is better than 3mm accuracy, which is consistent with the results from NAVCOM and FUFRO. The GNSS derived PWV are compared with those from HY-2A CMR on the three cross-points. Their differences are -1.68mm,-0.88mm and -2.21mm respectively, and the average is -1.58mm. This result means the CMR derived PWV is good agreement with that from GNSS. It demonstrates that the HY-2A satellite has the ability of high accuracy water vapor measurement. It is quite beneficial to the radar altimeter for sea surface height measurements.

Geometrical-Based Navigation System Performance Assessment in the Space Service Volume Using a Multiglobal Navigation Satellite System Methodology

NASA Technical Reports Server (NTRS)

Welch, Bryan W.

2016-01-01

NASA is participating in the International Committee on Global Navigation Satellite Systems (GNSS) (ICG)'s efforts towards demonstrating the benefits to the space user in the Space Service Volume (SSV) when a multi-GNSS solution space approach is utilized. The ICG Working Group: Enhancement of GNSS Performance, New Services and Capabilities has started a three phase analysis initiative as an outcome of recommendations at the ICG-10 meeting, in preparation for the ICG-11 meeting. The first phase of that increasing complexity and fidelity analysis initiative is based on a pure geometrically-derived access technique. The first phase of analysis has been completed, and the results are documented in this paper.

Rigorous Performance Evaluation of Smartphone GNSS/IMU Sensors for ITS Applications

PubMed Central

Gikas, Vassilis; Perakis, Harris

2016-01-01

With the rapid growth in smartphone technologies and improvement in their navigation sensors, an increasing amount of location information is now available, opening the road to the provision of new Intelligent Transportation System (ITS) services. Current smartphone devices embody miniaturized Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU) and other sensors capable of providing user position, velocity and attitude. However, it is hard to characterize their actual positioning and navigation performance capabilities due to the disparate sensor and software technologies adopted among manufacturers and the high influence of environmental conditions, and therefore, a unified certification process is missing. This paper presents the analysis results obtained from the assessment of two modern smartphones regarding their positioning accuracy (i.e., precision and trueness) capabilities (i.e., potential and limitations) based on a practical but rigorous methodological approach. Our investigation relies on the results of several vehicle tracking (i.e., cruising and maneuvering) tests realized through comparing smartphone obtained trajectories and kinematic parameters to those derived using a high-end GNSS/IMU system and advanced filtering techniques. Performance testing is undertaken for the HTC One S (Android) and iPhone 5s (iOS). Our findings indicate that the deviation of the smartphone locations from ground truth (trueness) deteriorates by a factor of two in obscured environments compared to those derived in open sky conditions. Moreover, it appears that iPhone 5s produces relatively smaller and less dispersed error values compared to those computed for HTC One S. Also, the navigation solution of the HTC One S appears to adapt faster to changes in environmental conditions, suggesting a somewhat different data filtering approach for the iPhone 5s. Testing the accuracy of the accelerometer and gyroscope sensors for a number of maneuvering (speeding, turning, etc.,) events reveals high consistency between smartphones, whereas the small deviations from ground truth verify their high potential even for critical ITS safety applications. PMID:27527187

Rigorous Performance Evaluation of Smartphone GNSS/IMU Sensors for ITS Applications.

PubMed

Gikas, Vassilis; Perakis, Harris

2016-08-05

With the rapid growth in smartphone technologies and improvement in their navigation sensors, an increasing amount of location information is now available, opening the road to the provision of new Intelligent Transportation System (ITS) services. Current smartphone devices embody miniaturized Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU) and other sensors capable of providing user position, velocity and attitude. However, it is hard to characterize their actual positioning and navigation performance capabilities due to the disparate sensor and software technologies adopted among manufacturers and the high influence of environmental conditions, and therefore, a unified certification process is missing. This paper presents the analysis results obtained from the assessment of two modern smartphones regarding their positioning accuracy (i.e., precision and trueness) capabilities (i.e., potential and limitations) based on a practical but rigorous methodological approach. Our investigation relies on the results of several vehicle tracking (i.e., cruising and maneuvering) tests realized through comparing smartphone obtained trajectories and kinematic parameters to those derived using a high-end GNSS/IMU system and advanced filtering techniques. Performance testing is undertaken for the HTC One S (Android) and iPhone 5s (iOS). Our findings indicate that the deviation of the smartphone locations from ground truth (trueness) deteriorates by a factor of two in obscured environments compared to those derived in open sky conditions. Moreover, it appears that iPhone 5s produces relatively smaller and less dispersed error values compared to those computed for HTC One S. Also, the navigation solution of the HTC One S appears to adapt faster to changes in environmental conditions, suggesting a somewhat different data filtering approach for the iPhone 5s. Testing the accuracy of the accelerometer and gyroscope sensors for a number of maneuvering (speeding, turning, etc.,) events reveals high consistency between smartphones, whereas the small deviations from ground truth verify their high potential even for critical ITS safety applications.

Geometrically constrained kinematic global navigation satellite systems positioning: Implementation and performance

NASA Astrophysics Data System (ADS)

Asgari, Jamal; Mohammadloo, Tannaz H.; Amiri-Simkooei, Ali Reza

2015-09-01

GNSS kinematic techniques are capable of providing precise coordinates in extremely short observation time-span. These methods usually determine the coordinates of an unknown station with respect to a reference one. To enhance the precision, accuracy, reliability and integrity of the estimated unknown parameters, GNSS kinematic equations are to be augmented by possible constraints. Such constraints could be derived from the geometric relation of the receiver positions in motion. This contribution presents the formulation of the constrained kinematic global navigation satellite systems positioning. Constraints effectively restrict the definition domain of the unknown parameters from the three-dimensional space to a subspace defined by the equation of motion. To test the concept of the constrained kinematic positioning method, the equation of a circle is employed as a constraint. A device capable of moving on a circle was made and the observations from 11 positions on the circle were analyzed. Relative positioning was conducted by considering the center of the circle as the reference station. The equation of the receiver's motion was rewritten in the ECEF coordinates system. A special attention is drawn onto how a constraint is applied to kinematic positioning. Implementing the constraint in the positioning process provides much more precise results compared to the unconstrained case. This has been verified based on the results obtained from the covariance matrix of the estimated parameters and the empirical results using kinematic positioning samples as well. The theoretical standard deviations of the horizontal components are reduced by a factor ranging from 1.24 to 2.64. The improvement on the empirical standard deviation of the horizontal components ranges from 1.08 to 2.2.

Differential GNSS and Vision-Based Tracking to Improve Navigation Performance in Cooperative Multi-UAV Systems

PubMed Central

Vetrella, Amedeo Rodi; Fasano, Giancarmine; Accardo, Domenico; Moccia, Antonio

2016-01-01

Autonomous navigation of micro-UAVs is typically based on the integration of low cost Global Navigation Satellite System (GNSS) receivers and Micro-Electro-Mechanical Systems (MEMS)-based inertial and magnetic sensors to stabilize and control the flight. The resulting navigation performance in terms of position and attitude accuracy may not suffice for other mission needs, such as the ones relevant to fine sensor pointing. In this framework, this paper presents a cooperative UAV navigation algorithm that allows a chief vehicle, equipped with inertial and magnetic sensors, a Global Positioning System (GPS) receiver, and a vision system, to improve its navigation performance (in real time or in the post processing phase) exploiting formation flying deputy vehicles equipped with GPS receivers. The focus is set on outdoor environments and the key concept is to exploit differential GPS among vehicles and vision-based tracking (DGPS/Vision) to build a virtual additional navigation sensor whose information is then integrated in a sensor fusion algorithm based on an Extended Kalman Filter. The developed concept and processing architecture are described, with a focus on DGPS/Vision attitude determination algorithm. Performance assessment is carried out on the basis of both numerical simulations and flight tests. In the latter ones, navigation estimates derived from the DGPS/Vision approach are compared with those provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit magnetic- and inertial-independent accurate attitude information. PMID:27999318

Tailored coating of gold nanostars: rational approach to prototype of theranostic device based on SERS and photothermal effects at ultralow irradiance.

PubMed

Bassi, B; Dacarro, G; Galinetto, P; Giulotto, E; Marchesi, N; Pallavicini, P; Pascale, A; Perversi, S; Taglietti, A

2018-06-08

The last decade has come across an increasing demand for theranostic biocompatible nanodevices possessing the double ability of diagnosis and therapy. In this work, we report the design, synthesis and step-by-step characterization of rationally coated gold nanostars (GNSs) for the SERS imaging and photothermal therapy of HeLa cancer cells. The nanodevices were realized by synthesizing GNSs with a seed growth approach, coating them with a controlled mixture of thiols composed of a Raman reporter and a polyethylene glycol with a terminal amino group, and then reacting these amino groups with folic acid (FA), in order to impart selectivity towards cancer cells which overexpress folate receptors on their membranes. After a complete characterization, we demonstrate that these FA-functionalized GNSs (FA-GNSs) are able to bind selectively to the membranes of HeLa cells, acting as SERS tags and allowing SERS imaging. Moreover, we demonstrate that once bound to HeLa cell membranes, FA-GNSs exhibit photothermal effect which can be exploited to kill the same cells in vitro using laser irradiation in the NIR at a very low and safe irradiance. We thus demonstrate that the FA-GNSs designed following the described approach are an efficient prototype of theranostic nanodevices.

Tailored coating of gold nanostars: rational approach to prototype of theranostic device based on SERS and photothermal effects at ultralow irradiance

NASA Astrophysics Data System (ADS)

Bassi, B.; Dacarro, G.; Galinetto, P.; Giulotto, E.; Marchesi, N.; Pallavicini, P.; Pascale, A.; Perversi, S.; Taglietti, A.

2018-06-01

The last decade has come across an increasing demand for theranostic biocompatible nanodevices possessing the double ability of diagnosis and therapy. In this work, we report the design, synthesis and step-by-step characterization of rationally coated gold nanostars (GNSs) for the SERS imaging and photothermal therapy of HeLa cancer cells. The nanodevices were realized by synthesizing GNSs with a seed growth approach, coating them with a controlled mixture of thiols composed of a Raman reporter and a polyethylene glycol with a terminal amino group, and then reacting these amino groups with folic acid (FA), in order to impart selectivity towards cancer cells which overexpress folate receptors on their membranes. After a complete characterization, we demonstrate that these FA-functionalized GNSs (FA-GNSs) are able to bind selectively to the membranes of HeLa cells, acting as SERS tags and allowing SERS imaging. Moreover, we demonstrate that once bound to HeLa cell membranes, FA-GNSs exhibit photothermal effect which can be exploited to kill the same cells in vitro using laser irradiation in the NIR at a very low and safe irradiance. We thus demonstrate that the FA-GNSs designed following the described approach are an efficient prototype of theranostic nanodevices.

Standalone GPS L1 C/A Receiver for Lunar Missions.

PubMed

Capuano, Vincenzo; Blunt, Paul; Botteron, Cyril; Tian, Jia; Leclère, Jérôme; Wang, Yanguang; Basile, Francesco; Farine, Pierre-André

2016-03-09

Global Navigation Satellite Systems (GNSSs) were originally introduced to provide positioning and timing services for terrestrial Earth users. However, space users increasingly rely on GNSS for spacecraft navigation and other science applications at several different altitudes from the Earth surface, in Low Earth Orbit (LEO), Medium Earth Orbit (MEO), Geostationary Earth Orbit (GEO), and feasibility studies have proved that GNSS signals can even be tracked at Moon altitude. Despite this, space remains a challenging operational environment, particularly on the way from the Earth to the Moon, characterized by weaker signals with wider gain variability, larger dynamic ranges resulting in higher Doppler and Doppler rates and critically low satellite signal availability. Following our previous studies, this paper describes the proof of concept "WeakHEO" receiver; a GPS L1 C/A receiver we developed in our laboratory specifically for lunar missions. The paper also assesses the performance of the receiver in two representative portions of an Earth Moon Transfer Orbit (MTO). The receiver was connected to our GNSS Spirent simulator in order to collect real-time hardware-in-the-loop observations, and then processed by the navigation module. This demonstrates the feasibility, using current technology, of effectively exploiting GNSS signals for navigation in a MTO.

Performance Assessment of a Gnss-Based Troposphere Path Delay Estimation Software

NASA Astrophysics Data System (ADS)

Mariotti, Gilles; Avanzi, Alessandro; Graziani, Alberto; Tortora, Paolo

2013-04-01

Error budgets of Deep Space Radio Science experiments are heavily affected by interplanetary and Earth transmission media, that corrupt, due to their non-unitary refraction index, the radiometric information of signals coming from the spacecraft. An effective removal of these noise sources is crucial to achieve the accuracy and signal stability levels required by radio science applications. Depending on the nature of these refractions, transmission media are divided into dispersive (that consists of ionized particles, i.e. Solar Wind and Ionosphere) and non-dispersive ones (the refraction is caused by neutral particles: Earth Troposphere). While dispersive noises are successfully removed by multifrequency combinations (as for GPS with the well-known ionofree combination), the most accurate estimation of tropospheric noise is obtained using microwave radiometers (MWR). As the use of MWRs suffers from strong operational limitations (rain and heavy clouds conditions), the GNSS-based processing is still widely adopted to provide a cost-effective, all-weather condition estimation of the troposphere path delay. This work describes the development process and reports the results of a GNSS analysis code specifically aimed to the estimation of the path delays introduced by the troposphere above deep space complexes, to be used for the calibration of Range and Doppler radiometric data. The code has been developed by the Radio Science Laboratory of the University of Bologna in Forlì, and is currently in the testing phase. To this aim, the preliminary output is compared to MWR measurements and IGS TropoSINEX products in order to assess the reliability of the estimate. The software works using ionofree carrier-phase observables and is based upon a double-difference approach, in which the GNSS receiver placed nearby the Deep Space receiver acts as the rover station. Several baselines are then created with various IGS and EUREF stations (master or reference stations) in order to perform the differentiation. The code relies on several IGS products, like SP3 precise orbits and SINEX positions available for the master stations in order to remove several error components, while the phase ambiguities (both wide and narrow lane) are resolved using the modified LAMBDA (MLAMBDA) method. The double-differenced data are then processed by a Kalman Filter that estimates the contingent positioning error of the rover station, its Zenith Wet Delay (ZWD) and the residual phase ambiguities. On the other hand, the Zenith Hydrostatic Delay (ZHD) is preliminarily computed using a mathematical model, based on surface meteorological measurements. The final product of the developed code is an output file containing the estimated ZWD and ZHD time-series in a format compatible with the major orbit determination software, e.g. the CSP card format (TRK-2-23) used by NASA JPL's Orbit Determination Program.

Direct MSTID mitigation in precise GPS processing

NASA Astrophysics Data System (ADS)

Hernández-Pajares, Manuel; Wielgosz, Pawel; Paziewski, Jacek; Krypiak-Gregorczyk, Anna; Krukowska, Marta; Stepniak, Katarzyna; Kaplon, Jan; Hadas, Tomasz; Sosnica, Krzysztof; Bosy, Jaroslaw; Orus-Perez, Raul; Monte-Moreno, Enric; Yang, Heng; Garcia-Rigo, Alberto; Olivares-Pulido, Germán.

2017-03-01

In this paper, the authors summarize a simple and efficient approach developed to mitigate the problem in precise Global Navigation Satellite Systems (GNSS) positioning originated by the most frequent ionospheric wave signatures: the medium-scale traveling ionospheric disturbances (MSTIDs). The direct GNSS Ionospheric Interferometry technique (hereinafter dGII), presented in this paper, is applied for correcting MSTID effects on precise Real Time Kinematic (RTK) and tropospheric determination. It consists of the evolution of the former climatic Differential Delay Mitigation Model for MSTIDs (DMTID), for real-time conditions, using ionospheric data from a single permanent receiver only. The performance is demonstrated with networks of GNSS receivers in Poland, treated as users under real-time conditions, during two representative days in winter and summer seasons (days 353 and 168 of year 2013). In range domain, dGII typically reduces the ionospheric delay error up to 10-90% of the value when the MSTID mitigation model is not applied. The main dGII impact on precise positioning is that we can obtain reliable RTK position faster. In particular, the ambiguity success rate parameter increases, from 74% to 83%, with respect to the original uncorrected observations. The average of time to first fix is shortened from 30 s to 13 s. The improvement in troposphere estimaton, due to any potential impact of the MSTID mitigation model, was most difficult to demonstrate.

Hazard Monitoring in a Spectrum-Challenged Future: US Department of Transportation Adjacent Band Compatibility Assessment of Interference on High-Precision GNSS Receivers

NASA Astrophysics Data System (ADS)

Blume, F.; Berglund, H. T.

2016-12-01

In 2012 the Federal Communications Commission (FCC) reversed its decision to allow communications company LightSquared to use GPS-adjacent spectrum for a ground based network after testing demonstrated harmful interference to GPS receivers. Now rebranded as Ligado, they have submitted modified application to use a smaller portion of the L-band spectrum at much lower power. Many GPS community stakeholders, including the hazard monitoring and EEW communities remain concerned that Ligado's proposed use could still cause harmful interference, causing signal degradation, real-time positioning errors, and total failure of GNSS hardware in widespread use in hazard monitoring networks. The Department of Transportation (DoT) has conducted hardware tests to determine adjacent-band transmitter power limit criteria that would prevent harmful interference from Ligado's operations. We present preliminary results produced from the data collected by the three UNAVCO receiver types tested: Trimble NetRS, Trimble NetR9, and Septentrio PolaRx5. In the first round of testing, simulated GNSS signals were broadcast in an anechoic chamber (pictured below) while interfering signals are broadcast simultaneously with varying amplitude and frequency. The older GPS-only NetRS receiver showed smaller reductions in SNR at frequencies adjacent to GPS L1 as compared to the other receivers, suggesting narrower L1 filter bandwidth in the RF frontend. The NetR9 showed greater decreases in observed SNR in the 1615 to 1625 MHz range when compared to the other two receivers. This suggests that the NetR9's L1 filter bandwidth has been increased to accommodate GNSS signals. Linearity tests were conducted to better relate SNR measurements between receiver types. The PolaRx5 receiver showed less SNR variation between tracking channels than both Trimble receivers. Our results show the power levels at which adjacent-band interference begins degrading receiver performance and eventually disables tracking. As the demand for spectrum for mobile applications increases, operators of hazard networks may need to consider the impact of RF interference on data quality and continuity. UNAVCO's participation ensures that our high precision GNSS community interests are represented in the future spectrum allocation decisions.

Monitoring displacements of an earthen dam using GNSS and remote sensing

NASA Astrophysics Data System (ADS)

Dardanelli, Gino; La Loggia, Goffredo; Perfetti, Nicola; Capodici, Fulvio; Puccio, Luigi; Maltese, Antonino

2014-10-01

This paper shows the results of a scientific research in which a GNSS continuous monitoring system for earth-dam deformations has been developed, then, deformations have been related with reservoir water surface and level. The experiment was conducted near Bivona (Sicily, Italy), on the Castello dam (Magazzolo Lake). On the top of the dam three control points were placed and three GNSS permanent stations were installed. The three stations continuously transmitted data to the control centre of the University of Palermo. The former has been determined using freely available satellite data (specifically Landsat 7 SLC-Off) collected during the whole study period (DOYs 101 to 348 2011). Issues related with the un-scanned rows filling and to better distinguish water from land pixels on the shoreline. The aim of this work is various: first of all, we want to evaluate whether the GPS post processing techniques can provide static results comparable to other monitoring techniques, such as spirit levelling. The study could take a significant importance given that the Italian legislation until today does not provide for the use of this technology to manage or monitor dams displacements or other civil engineering constructions. The use of GPS data in structural monitoring could in fact reduce some management costs. Usually the conventional GPS monitoring methods, where a base station GPS receiver must be located near the dam, did not ensure that the accuracy of results have been independent from the displacement of the crown (top end of dam). In this paper, a new approach in the area of study of the GNSS permanent network has been engaged to solve these problems. Field-testing results show that the new GNSS approach has excellent performances, and the monitoring of different section of the dam could reveal important information on its deformation, that its not operationally possible to retrieve elsewhere. The post-processing accuracy positioning is around 1-5 mm for the deformations monitoring of the Castello dam. Displacements of different sections of the dam reveal different behaviour (in time and periodicity) that looks to be related with water surface (and level) retrieved from remote sensing.

Unsupervised Anomaly Detection Based on Clustering and Multiple One-Class SVM

NASA Astrophysics Data System (ADS)

Song, Jungsuk; Takakura, Hiroki; Okabe, Yasuo; Kwon, Yongjin

Intrusion detection system (IDS) has played an important role as a device to defend our networks from cyber attacks. However, since it is unable to detect unknown attacks, i.e., 0-day attacks, the ultimate challenge in intrusion detection field is how we can exactly identify such an attack by an automated manner. Over the past few years, several studies on solving these problems have been made on anomaly detection using unsupervised learning techniques such as clustering, one-class support vector machine (SVM), etc. Although they enable one to construct intrusion detection models at low cost and effort, and have capability to detect unforeseen attacks, they still have mainly two problems in intrusion detection: a low detection rate and a high false positive rate. In this paper, we propose a new anomaly detection method based on clustering and multiple one-class SVM in order to improve the detection rate while maintaining a low false positive rate. We evaluated our method using KDD Cup 1999 data set. Evaluation results show that our approach outperforms the existing algorithms reported in the literature; especially in detection of unknown attacks.

Bulgarian Seismological and GPS/GNSS networks-current status and practical implementation

NASA Astrophysics Data System (ADS)

Solakov, Dimcho; Simeonova, Stela; Georgiev, Ivan; Dimitrova, Lilia; Slavcheva, Krasimira; Raykova, Plamena

2016-04-01

The scientific information is the latest and one of the best bedrock on which effective policy to combat and cope with natural disasters have to be built. Understanding, monitoring and information for future natural disasters are the way to assist the government and society. Different types of networks provide reliable information on various natural disasters. For example, one of the main priorities of the networks are directed to study seismicity of the Earth, its physical phenomena and fields - with an emphasis on tectonic movements and related risk processes, global changes, rotation and position of the Earth in space. Therefore seismological network using advanced electronic systems and digital seismographs transmission of signals from seismic stations to the centres and the registration, processing and archiving of information is carried out by a specialized computer system. Thus improve the monitoring and analysis of seismicity in the whole plan. Another type networks as permanent GPS/GNSS networks are associated with processing and data analysis, as well as monitoring of recent movements of the earth crust. In this study we focus on Seismological and GPS/GNSS networks on the territory in Bulgaria. At present NIGGG-BAS runs both Bulgarian seismological and GPS/GNSS networks. The Bulgarian seismological network - NOTSSI (National Operative Telemetric System for Seismological Information) was founded at the end of 1980. The network comprises today 15 permanent seismic stations spanning the entire territory of the country and two local net works that are deployed around the town of Provadia and Kozloduy Nuclear Power Plant in Bulgaria. Since 2005-2006, real-time data exchange between Bulgaria and Greece, Romania, Serbia, Macedonia, Slovakia, Slovenia, Austria and other regional and national seismological data centers was implemented. NIGGG, respectively NOTSSI, is responsible for rapid earthquake determination, public information trough media, and information of responsible governmental authorities if necessary urgent activities to be undertaken. The available infrastructure - permanent GNSS stations, spread all over the country allow performing permanent monitoring of the Earth's crust movements on the basis of the obtained velocities of the permanent stations and the time series with their coordinates. Additional information for the current movements is obtained by the processing and analysis of the regular GNSS measurements of geodynamic network. In the GNSS Analysis Center are acquired, processed and analyzed data from more than 70 permanent stations on Bulgarian territory. In the analysis are included also data from permanent stations on the Balkan Peninsula and from the European Permanent Network. Along with the seismological and geological information, the quantitative assessment of the movements of the Earth's crust is of the substantial importance for monitoring of the active tectonic structures and is the base for the seismic hazard assessment.

DORIS and GNSS processing at CNES/CLS for the contribution to the next ITRF2013

NASA Astrophysics Data System (ADS)

Loyer, Sylvain; Capdeville, Hugues; Soudarin, Laurent; Mezerette, Adrien; Lemoine, Jean-Michel; Mercier, Flavien; Perosanz, Felix

2014-05-01

CNES serves as Analysis Center in the International DORIS Service (IDS) and the International GNSS Service (IGS). DORIS and GNSS data are processed by its subsidiary CLS with the GRGS package software GINS/DYNAMO. For the contribution to the next release of the International Terrestrial Reference Frame planned this year (ITRF2013), two decades of data were analyzed (1993-2013 for DORIS, 1998-2013 for GPS, and 2009-2013 for GLONASS). In this context, the CNES/CLS Analysis Centers provided SINEX solutions to the IDS and IGS Combination Centers, respectively multi-satellite weekly solutions and daily solutions. Normal equations derived from this analysis are also made available to the GRGS Combination Center for the combination at the observation level of the geodetic parameters measured by DORIS, GPS, SLR and VLBI techniques. The purpose of this presentation is to point out how the overall quality of the DORIS and GNSS data processing benefits from the use of the same software and a common basis of models. Here, we present the modeling standards, the networks and the processing strategies. Assessments of some models are also discussed. The quality and the homogeneity of the products (orbits, station coordinates and Earth Orientation Parameters) over the complete period are shown, as well as the temporal variations of some parameters (dynamical parameters, orbit residuals, internal orbit overlaps ...). Some examples of time series of DORIS and GNSS station positions at collocated sites complete this presentation.

Combination of High Rate, Real-Time GNSS and Accelerometer Observations and Rapid Seismic Event Notification for Earthquake Early Warning and Volcano Monitoring with a Focus on the Pacific Rim.

NASA Astrophysics Data System (ADS)

Zimakov, L. G.; Passmore, P.; Raczka, J.; Alvarez, M.; Jackson, M.

2014-12-01

Scientific GNSS networks are moving towards a model of real-time data acquisition, epoch-by-epoch storage integrity, and on-board real-time position and displacement calculations. This new paradigm allows the integration of real-time, high-rate GNSS displacement information with acceleration and velocity data to create very high-rate displacement records. The mating of these two instruments allows the creation of a new, very high-rate (200 sps) displacement observable that has the full-scale displacement characteristics of GNSS and high-precision dynamic motions of seismic technologies. It is envisioned that these new observables can be used for earthquake early warning studies, volcano monitoring, and critical infrastructure monitoring applications. Our presentation will focus on the characteristics of GNSS, seismic, and strong motion sensors in high dynamic environments, including historic earthquakes in Southern California and the Pacific Rim, replicated on a shake table, over a range of displacements and frequencies. We will explore the optimum integration of these sensors from a filtering perspective including simple harmonic impulses over varying frequencies and amplitudes and under the dynamic conditions of various earthquake scenarios. In addition we will discuss implementation of a Rapid Seismic Event Notification System that provides quick delivery of digital data from seismic stations to the acquisition and processing center and a full data integrity model for real-time earthquake notification that provides warning prior to significant ground shaking.

Simulations of direct and reflected waves trajectories for in situ GNSS-R experiments

NASA Astrophysics Data System (ADS)

Roussel, N.; Frappart, F.; Ramillien, G.; Desjardins, C.; Gegout, P.; Pérosanz, F.; Biancale, R.

2014-01-01

The detection of Global Navigation Satellite System (GNSS) signals that are reflected off the surface, together with the reception of direct GNSS signals offers a unique opportunity to monitor water level variations over land and ocean. The time delay between the reception of the direct and the reflected signal gives access to the altitude of the receiver over the reflecting surface. The field of view of the receiver is highly dependent on both the orbits of the GNSS satellites and the configuration of the study site geometries. A simulator has been developed to determine the accurate location of the reflection points on the surface by modelling the trajectories of GNSS electromagnetic waves that are reflected on the surface of the Earth. Only the geometric problem have been considered using a specular reflection assumption. The orbit of the GNSS constellations satellite (mainly GPS, GLONASS and Galileo), and the position of a fixed receiver are used as input. Three different simulation modes are proposed depending on the choice of the Earth surface (local sphere or ellipsoid) and the consideration of topography likely to cause masking effects. Atmospheric delay effects derived from adaptive mapping functions are also taken into account. This simulator was developed to determine where the GNSS-R receivers should be located to monitor efficiently a given study area. In this study, two test sites were considered. The first one at the top of the Cordouan lighthouse (45°35'11'' N; 1°10'24'' W; 65 m) and the second one in the shore of the Geneva lake (46°24'30'' N; 6°43'6'' E, with a 50 m receiver height). This site is hidden by mountains in the South (altitude up to 2000 m), and overlooking the lake in the North (altitude of 370 m). For this second test site configuration, reflections occur until 560 m from the receiver. The geometric differences between the positions of the specular reflection points obtained considering the Earth as a sphere or as an ellipsoid were found to be on average 44 cm for satellites elevation angle greater than 10° and 1 m for satellite elevation angle between 5° and 10°. The simulations highlight the importance of the DEM integration: differences with and without integrating the DEM were found to be about 3.80 m with the minimum elevation angle equal to 5° and 1.4 m with the minimum elevation angle set to 10°. The correction of the tropospheric effects on the signal leads to geometric differences about 24 m maximum for a 50 m receiver height whereas the maximum is 43 cm for a 5 m receiver height. These errors deeply increase with the receiver height. By setting it to 300 m, the geometric errors reach 103 m for satellite elevation angle lower than 10°. The tests performed with the simulator presented in this paper highlight the importance of the choice of the Earth representation and also the non-negligible effect of the troposphere on the specular reflection points positions. Various outputs (time-varying reflection point coordinates, satellites positions and ground paths, wave trajectories, Fresnel first surfaces, etc.) are provided either as text or KML files for a convenient use.

Robustness analysis of interdependent networks under multiple-attacking strategies

NASA Astrophysics Data System (ADS)

Gao, Yan-Li; Chen, Shi-Ming; Nie, Sen; Ma, Fei; Guan, Jun-Jie

2018-04-01

The robustness of complex networks under attacks largely depends on the structure of a network and the nature of the attacks. Previous research on interdependent networks has focused on two types of initial attack: random attack and degree-based targeted attack. In this paper, a deliberate attack function is proposed, where six kinds of deliberate attacking strategies can be derived by adjusting the tunable parameters. Moreover, the robustness of four types of interdependent networks (BA-BA, ER-ER, BA-ER and ER-BA) with different coupling modes (random, positive and negative correlation) is evaluated under different attacking strategies. Interesting conclusions could be obtained. It can be found that the positive coupling mode can make the vulnerability of the interdependent network to be absolutely dependent on the most vulnerable sub-network under deliberate attacks, whereas random and negative coupling modes make the vulnerability of interdependent network to be mainly dependent on the being attacked sub-network. The robustness of interdependent network will be enhanced with the degree-degree correlation coefficient varying from positive to negative. Therefore, The negative coupling mode is relatively more optimal than others, which can substantially improve the robustness of the ER-ER network and ER-BA network. In terms of the attacking strategies on interdependent networks, the degree information of node is more valuable than the betweenness. In addition, we found a more efficient attacking strategy for each coupled interdependent network and proposed the corresponding protection strategy for suppressing cascading failure. Our results can be very useful for safety design and protection of interdependent networks.

An empirical model of L-band scintillation S4 index constructed by using FORMOSAT-3/COSMIC data

NASA Astrophysics Data System (ADS)

Chen, Shih-Ping; Bilitza, Dieter; Liu, Jann-Yenq; Caton, Ronald; Chang, Loren C.; Yeh, Wen-Hao

2017-09-01

Modern society relies heavily on the Global Navigation Satellite System (GNSS) technology for applications such as satellite communication, navigation, and positioning on the ground and/or aviation in the troposphere/stratosphere. However, ionospheric scintillations can severely impact GNSS systems and their related applications. In this study, a global empirical ionospheric scintillation model is constructed with S4-index data obtained by the FORMOSAT-3/COSMIC (F3/C) satellites during 2007-2014 (hereafter referred to as the F3CGS4 model). This model describes the S4-index as a function of local time, day of year, dip-latitude, and solar activity using the index PF10.7. The model reproduces the F3/C S4-index observations well, and yields good agreement with ground-based reception of satellite signals. This confirms that the constructed model can be used to forecast global L-band scintillations on the ground and in the near surface atmosphere.

Debris flow cartography using differential GNSS and Theodolite measurements

NASA Astrophysics Data System (ADS)

Khazaradze, Giorgi; Guinau, Marta; Calvet, Jaume; Furdada, Gloria; Victoriano, Ane; Génova, Mar; Suriñach, Emma

2016-04-01

The presented results form part of a CHARMA project, which pursues a broad objective of reducing damage caused by uncontrolled mass movements, such as rockfalls, snow avalanches and debris flows. Ultimate goal of the project is to contribute towards the establishment of new scientific knowledge and tools that can help in the design and creation of early warning systems. Here we present the specific results that deal with the application of differential GNSS and classical geodetic (e.g. theodolite) methods for mapping debris and torrential flows. Specifically, we investigate the Portainé stream located in the Pallars Sobirà region of Catalonia (Spain), in the eastern Pyrenees. In the last decade more than ten debris-flow type phenomena have affected the region, causing considerable economic losses. Since early 2014, we have conducted several field campaigns within the study area, where we have employed a multi-disciplinary approach, consisting of geomorphological, dendro-chronological and geodetic methods, in order to map the river bed and reconstruct the history of the extreme flooding and debris flow events. Geodetic studies included several approaches, using the classical and satellite based methods. The former consisted of angle and distance measurements between the Geodolite 502 total station and the reflecting prisms placed on top of the control points located within the riverbed. These type of measurements are precise, although present several disadvantages such as the lack of absolute coordinates that makes the geo-referencing difficult, as well as a relatively time-consuming process that involves two persons. For this reason, we have also measured the same control points using the differential GNSS system, in order to evaluate the feasibility of replacing the total station measurements with the GNSS. The latter measuring method is fast and can be conducted by one person. However, the fact that the study area is within the riverbed, often below the trees, limits the visibility of the satellites and thus, can result in meter-level errors while estimating the positions. We have conducted 2 measurements using various differential GNSS systems in March and in September of 2015. During these measurements we used Leica Viva GS14 receiver as a rover station, which was equipped with a GSM card to establish an internet connection in order to receive differential corrections from continuous GNSS networks. During the first campaign we have used the RTK positioning method using the SmartNet network (http://es.smartnet-eu.com) operated by Leica. This system had the advantage of transmitting differential corrections for GPS and GLONASS systems. During the second campaign, we have had an access to the ICGC (http://www.icc.cat) CatNet permanent GPS network, which only provides GPS satellite corrections. Here we present the analysis of the obtained precisions from these two RTK systems. Additionally, we have analyzed the geodetic data in a post-processing mode using the Leica Geo Office 8.4 software with IGS estimated final orbits. For this procedure, in addition to using the data from nearby CatNet CGPS stations, we have also used data from the base station(s) specifically setup near the study area during the campaign period. The work has been supported by the Spanish Ministry of Science and Innovation project CHARMA: CHAracterization and ContRol of MAss Movements. A Challenge for Geohazard Mitigation (CGL2013-40828-R) and RISKNAT group (2014GR/1243).

Systems and Methods for Determining Inertial Navigation System Faults

NASA Technical Reports Server (NTRS)

Bharadwaj, Raj Mohan (Inventor); Bageshwar, Vibhor L. (Inventor); Kim, Kyusung (Inventor)

2017-01-01

An inertial navigation system (INS) includes a primary inertial navigation system (INS) unit configured to receive accelerometer measurements from an accelerometer and angular velocity measurements from a gyroscope. The primary INS unit is further configured to receive global navigation satellite system (GNSS) signals from a GNSS sensor and to determine a first set of kinematic state vectors based on the accelerometer measurements, the angular velocity measurements, and the GNSS signals. The INS further includes a secondary INS unit configured to receive the accelerometer measurements and the angular velocity measurements and to determine a second set of kinematic state vectors of the vehicle based on the accelerometer measurements and the angular velocity measurements. A health management system is configured to compare the first set of kinematic state vectors and the second set of kinematic state vectors to determine faults associated with the accelerometer or the gyroscope based on the comparison.

Seasonal Mass Changes in the Red Sea Observed By GPS and Grace

NASA Astrophysics Data System (ADS)

Alothman, A. O.; Fing, W.; Fernandes, R. M. S.; Bos, M. S.; Elsaka, B.

2014-12-01

The Red Sea is a semi-enclosed basin and exchanges water with the Gulf of Aden through the strait of Bab-el-Mandeb at the southern part of the sea. Its circulation is affected by the Indian Monsoon through its connection via the Gulf of Aden. Two distinctive (in summer and in winter) seasonal signals represent the water exchange. To understand the seasonal mass changes in the Red Sea, estimates of the mass changes based on two geodetic techniques are presented: from the Gravity Recovery and Climate Experiment (GRACE) and from the Global Navigation Satellite System (GNSS). The GRACE solutions were truncated up to spherical harmonic degree and order degree 60 to estimate the average monthly mass change in the atmosphere and ocean from models (several hours). GNSS solution is based on observations from four stations along the Red Sea that have been acquired in continuous mode starting in 2007 (having at least 5 years' data-span). The time series analysis of the observed GNSS vertical deformation of these sites has been analyzed. The results revealed that the GNSS observed vertical loading agrees with the atmospheric loading (ATML) assuming that the hydrological signal along the costs of the Red sea is negligible. Computed values of daily vertical atmospheric loading using the NCEP surface pressure data (Inverted Barometer IB) for the 4 stations for 2003 until 2013 are provided. Comparison of the GRACE and GNSS solutions has shown significant annual mass variations in the Red Sea (about 15 cm annual amplitude). After removing the atmospheric effect (ATML), the ocean loading can be observed by GNSS and GRACE estimates in the Red Sea.

A global validation of ERA-Interim integrated water vapor estimates using ground-based GNSS observations

NASA Astrophysics Data System (ADS)

Ahmed, F.; Dousa, J.; Hunegnaw, A.; Teferle, F. N.; Bingley, R.

2017-12-01

Integrated water vapor (IWV) derived from climate reanalysis models, such as the European Centre for Medium-range Weather Forecasts (ECMWF) ReAnalysis-Interim (ERA-Interim), is widely used in many atmospheric applications. Therefore, it is of interest to assess the quality of this reanalysis product using available observations. Observations from Global Navigation Satellite Systems (GNSS) are, as of now, available for a period of over 2 decades and their global availability makes it possible to validate the IWV obtained from climate reanalysis models in different geographical and climatic regions. In this study, primarily, three 5-year long homogeneously reprocessed GNSS-derived IWV datasets containing over 400 globally distributed ground-based GNSS stations have been used to validate the IWV estimates obtained from the ERA-Interim climate reanalysis model in 25 different climate zones. The IWV from ERA-Interim has been obtained by vertically integrating the specific humidity at all model levels above the locations of GNSS stations. It has been studied how the difference between the ERA-Interim IWV and the GNSS-derived IWV varies with respect to the different climate zones as well as with respect to the difference in the model orography and latitude. The results show a dependence of the ability of ERA-Interim to model the IWV on difference in climate types and latitude. This dependence, however, is dictated by the concentration of water vapor in different climate zones and at different latitudes. Furthermore, as a secondary focus of this study, the weighted mean atmospheric temperature (Tm) obtained from ERA-Interim has been compared to its equivalent obtained using two widely used approximations globally.

Analyzing the Impact of Different Pcv Calibration Models on Height Determination Using Gps/Glonass Observations from Asg-Eupos Network

NASA Astrophysics Data System (ADS)

Dawidowicz, Karol

2014-12-01

The integration of GPS with GLONASS is very important in satellite-based positioning because it can clearly improve reliability and availability. However, unlike GPS, GLONASS satellites transmit signals at different frequencies. This results in significant difficulties in modeling and ambiguity resolution for integrated GNSS positioning. There are also some difficulties related to the antenna Phase Center Variations (PCV) problem because, as is well known, the PCV is dependent on the received signal frequency dependent. Thus, processing simultaneous observations from different positioning systems, e.g. GPS and GLONASS, we can expect complications resulting from the different structure of signals and differences in satellite constellations. The ASG-EUPOS multifunctional system for precise satellite positioning is a part of the EUPOS project involving countries of Central and Eastern Europe. The number of its users is increasing rapidly. Currently 31 of 101 reference stations are equipped with GPS/GLONASS receivers and the number is still increasing. The aim of this paper is to study the height solution differences caused by using different PCV calibration models in integrated GPS/GLONASS observation processing. Studies were conducted based on the datasets from the ASG-EUPOS network. Since the study was intended to evaluate the impact on height determination from the users' point of view, a so-called "commercial" software was chosen for post-processing. The analysis was done in a baseline mode: 3 days of GNSS data collected with three different receivers and antennas were used. For the purposes of research the daily observations were divided into different sessions with a session length of one hour. The results show that switching between relative and absolute PCV models may cause an obvious effect on height determination. This issue is particularly important when mixed GPS/GLONASS observations are post-processed.

Real-Time GNSS-Based Attitude Determination in the Measurement Domain

PubMed Central

Zhao, Lin; Li, Na; Li, Liang; Zhang, Yi; Cheng, Chun

2017-01-01

A multi-antenna-based GNSS receiver is capable of providing high-precision and drift-free attitude solution. Carrier phase measurements need be utilized to achieve high-precision attitude. The traditional attitude determination methods in the measurement domain and the position domain resolve the attitude and the ambiguity sequentially. The redundant measurements from multiple baselines have not been fully utilized to enhance the reliability of attitude determination. A multi-baseline-based attitude determination method in the measurement domain is proposed to estimate the attitude parameters and the ambiguity simultaneously. Meanwhile, the redundancy of attitude resolution has also been increased so that the reliability of ambiguity resolution and attitude determination can be enhanced. Moreover, in order to further improve the reliability of attitude determination, we propose a partial ambiguity resolution method based on the proposed attitude determination model. The static and kinematic experiments were conducted to verify the performance of the proposed method. When compared with the traditional attitude determination methods, the static experimental results show that the proposed method can improve the accuracy by at least 0.03° and enhance the continuity by 18%, at most. The kinematic result has shown that the proposed method can obtain an optimal balance between accuracy and reliability performance. PMID:28165434

An adaptive deep-coupled GNSS/INS navigation system with hybrid pre-filter processing

NASA Astrophysics Data System (ADS)

Wu, Mouyan; Ding, Jicheng; Zhao, Lin; Kang, Yingyao; Luo, Zhibin

2018-02-01

The deep-coupling of a global navigation satellite system (GNSS) with an inertial navigation system (INS) can provide accurate and reliable navigation information. There are several kinds of deeply-coupled structures. These can be divided mainly into coherent and non-coherent pre-filter based structures, which have their own strong advantages and disadvantages, especially in accuracy and robustness. In this paper, the existing pre-filters of the deeply-coupled structures are analyzed and modified to improve them firstly. Then, an adaptive GNSS/INS deeply-coupled algorithm with hybrid pre-filters processing is proposed to combine the advantages of coherent and non-coherent structures. An adaptive hysteresis controller is designed to implement the hybrid pre-filters processing strategy. The simulation and vehicle test results show that the adaptive deeply-coupled algorithm with hybrid pre-filters processing can effectively improve navigation accuracy and robustness, especially in a GNSS-challenged environment.

Effect of GNSS receiver carrier phase tracking loops on earthquake monitoring performance

NASA Astrophysics Data System (ADS)

Clare, Adam; Lin, Tao; Lachapelle, Gérard

2017-06-01

This research focuses on the performance of GNSS receiver carrier phase tracking loops for early earthquake monitoring systems. An earthquake was simulated using a hardware simulator and position, velocity and acceleration displacements were obtained to recreate the dynamics of the 2011 Tohoku earthquake. Using a software defined receiver, GSNRx, tracking bandwidths of 5, 10, 15, 20, 30, 40 and 50 Hz along with integration times of 1, 5 and 10 ms were tested. Using the phase lock indicator, an adaptive tracking loop was designed and tested to maximize performance for this application.

Sensors integration for smartphone navigation: performances and future challenges

NASA Astrophysics Data System (ADS)

Aicardi, I.; Dabove, P.; Lingua, A.; Piras, M.

2014-08-01

Nowadays the modern smartphones include several sensors which are usually adopted in geomatic application, as digital camera, GNSS (Global Navigation Satellite System) receivers, inertial platform, RFID and Wi-Fi systems. In this paper the authors would like to testing the performances of internal sensors (Inertial Measurement Unit, IMU) of three modern smartphones (Samsung GalaxyS4, Samsung GalaxyS5 and iPhone4) compared to external mass-market IMU platform in order to verify their accuracy levels, in terms of positioning. Moreover, the Image Based Navigation (IBN) approach is also investigated: this approach can be very useful in hard-urban environment or for indoor positioning, as alternative to GNSS positioning. IBN allows to obtain a sub-metrical accuracy, but a special database of georeferenced images (Image DataBase, IDB) is needed, moreover it is necessary to use dedicated algorithm to resizing the images which are collected by smartphone, in order to share it with the server where is stored the IDB. Moreover, it is necessary to characterize smartphone camera lens in terms of focal length and lens distortions. The authors have developed an innovative method with respect to those available today, which has been tested in a covered area, adopting a special support where all sensors under testing have been installed. Geomatic instrument have been used to define the reference trajectory, with purpose to compare this one, with the path obtained with IBN solution. First results leads to have an horizontal and vertical accuracies better than 60 cm, respect to the reference trajectories. IBN method, sensors, test and result will be described in the paper.

Soil Moisture Monitoring Using GNSS-R Signals; First Experimental Results with the SAM Sensor

NASA Astrophysics Data System (ADS)

Egido, A.; Martin-Puig, C.; Felip, D.; Garcia, M.; Caparrini, M.; Farres, E.; Ruffini, G.

2009-04-01

Observing the Earth surface with Global Navigation Satellite Systems (GNSS) reflected signals has become a noteworthy remote sensing technique for the scientific community. The growing interest in GNSS as a remote sensing tool is due to its global availability and the carrier frequencies used. In fact, L-band, in which all current and next-future Global Navigation Satellite Systems emit, is a portion of the electromagnetic spectrum that highly interacts with the natural medium and for this reason, the possible applications exploiting these signals are numerous. In addition, the large number of GNSS signals in space, and their steadily increasing quantity and quality predicts a promising future for this remote sensing technique. Among a wide variety of applications, soil moisture (SM) monitoring represents an important niche for GNSS-R. SM is a prime parameter for the surface hydrologic cycle since it drives the evapotranspiration and the heat storage capability of the soil, as well as determines the possibility of surface runoff after rainfalls. Despite the recognised environmental and commercial relevance of SM, providing such parameter over global and large scales remains a significant challenge. Sensors based on GNSS-R offer a suitable and efficient solution to this issue. The basis for the retrieval of SM with GNSS-R systems lays in the variability of the ground dielectric properties associated to water content. The higher the concentration of water in the soil, the higher the dielectric constant and reflectivity, which affects signals that reflect from the Earth surface by increasing their peak power. Previous investigations, [1,2] demonstrated the capability of GPS bistatic scatterometers to sense small changes in surface reflectivity, becoming a precedent for this promising research line. GNSS-R present various advantages with respect to others methods currently used to retrieve soil moisture. Firstly, as already mentioned, GNSS signals lie in L band, which is the most sensitive band to soil volumetric water content, i.e. soil moisture. Secondly, variations on thermal background do not contaminate GNSS-R signals as they do for other remote sensing techniques, such as radiometry. Finally, GNSS scatterometry from space has a potential higher spatial resolution than microwave radiometry, due to the highly stable carrier and code modulations of the incident signals which enables the use of Delay Doppler Mapping. However, in order to be able to obtain accurate SM estimates there are several effects that need to be taken into consideration. Some of those are mainly due to diffuse scattering effects over the soil surface, for instance effects due to surface roughness, vegetation canopy, and noise. This paper reviews the theoretical approach for SM retrieval using GNSS-R, and focuses on the description of the development of an innovative GNSS-R system for soil moisture retrieval (named SAM). The validation campaigns performed with the SAM sensor, together with the results obtained are presented in the paper, which is finalized with the conclusions achieved and the ideas for future work on GNSS-R based sensors. AKNOWLEDGEMENTS The authors would like to thank the European Space Agency for partially funding the SAM system development in the framework of the GSTP program, and Tragsatec for their collaboration in the acquisition of ground truth data and satellite imagery processing used for the SAM instrument validation. REFERENCES [1] A. Kavak, G. Xu, W.J. Vogel, GPS Multipath Fade Meassurements to Determine L-Band Ground Reflectivity Properties, University of Texas, Austin, 1998. [2] D. Masters, V. Zavorotny, S. Katzberg, W. Emery GPS Signal Scattering from Land for Moisture Content Determination IGARSS Proceedings, July 24-28, 2000.

The NASA CYGNSS mission: a pathfinder for GNSS scatterometry remote sensing applications

NASA Astrophysics Data System (ADS)

Rose, Randy; Gleason, Scott; Ruf, Chris

2014-10-01

Global Navigation Satellite System (GNSS) based scatterometry offers breakthrough opportunities for wave, wind, ice, and soil moisture remote sensing. Recent developments in electronics and nano-satellite technologies combined with modeling techniques developed over the past 20 years are enabling a new class of remote sensing capabilities that present more cost effective solutions to existing problems while opening new applications of Earth remote sensing. Key information about the ocean and global climate is hidden from existing space borne observatories because of the frequency band in which they operate. Using GNSS-based bi-static scatterometry performed by a constellation of microsatellites offers remote sensing of ocean wave, wind, and ice data with unprecedented temporal resolution and spatial coverage across the full dynamic range of ocean wind speeds in all precipitating conditions. The NASA Cyclone Global Navigation Satellite System (CYGNSS) is a space borne mission being developed to study tropical cyclone inner core processes. CYGNSS consists of 8 GPS bi-static radar receivers to be deployed on separate micro-satellites in October 2016. CYGNSS will provide data to address what are thought to be the principle deficiencies with current tropical cyclone intensity forecasts: inadequate observations and modeling of the inner core. The inadequacy in observations results from two causes: 1) Much of the inner core ocean surface is obscured from conventional remote sensing instruments by intense precipitation in the eye wall and inner rain bands. 2) The rapidly evolving (genesis and intensification) stages of the tropical cyclone life cycle are poorly sampled in time by conventional polar-orbiting, wide-swath surface wind imagers. It is anticipated that numerous additional Earth science applications can also benefit from the cost effective high spatial and temporal sampling capabilities of GNSS remote sensing. These applications include monitoring of rough and dangerous sea states, global observations of sea ice cover and extent, meso-scale ocean circulation studies, and near surface soil moisture observations. This presentation provides a primer for GNSS based scatterometry, an overview of NASA's CYGNSS mission and its expected performance, as well as a summary of possible other GNSS based remote sensing applications.

Real-time and rapid GNSS solutions from the M8.2 September 2017 Tehuantepec Earthquake and implications for Earthquake and Tsunami Early Warning Systems

NASA Astrophysics Data System (ADS)

Mencin, D.; Hodgkinson, K. M.; Mattioli, G. S.

2017-12-01

In support of hazard research and Earthquake Early Warning (EEW) Systems UNAVCO operates approximately 800 RT-GNSS stations throughout western North America and Alaska (EarthScope Plate Boundary Observatory), Mexico (TLALOCNet), and the pan-Caribbean region (COCONet). Our system produces and distributes raw data (BINEX and RTCM3) and real-time Precise Point Positions via the Trimble PIVOT Platform (RTX). The 2017-09-08 earthquake M8.2 located 98 km SSW of Tres Picos, Mexico is the first great earthquake to occur within the UNAVCO RT-GNSS footprint, which allows for a rigorous analysis of our dynamic and static processing methods. The need for rapid geodetic solutions ranges from seconds (EEW systems) to several minutes (Tsunami Warning and NEIC moment tensor and finite fault models). Here, we compare and quantify the relative processing strategies for producing static offsets, moment tensors and geodetically determined finite fault models using data recorded during this event. We also compare the geodetic solutions with the USGS NEIC seismically derived moment tensors and finite fault models, including displacement waveforms generated from these models. We define kinematic post-processed solutions from GIPSY-OASISII (v6.4) with final orbits and clocks as a "best" case reference to evaluate the performance of our different processing strategies. We find that static displacements of a few centimeters or less are difficult to resolve in the real-time GNSS position estimates. The standard daily 24-hour solutions provide the highest-quality data-set to determine coseismic offsets, but these solutions are delayed by at least 48 hours after the event. Dynamic displacements, estimated in real-time, however, show reasonable agreement with final, post-processed position estimates, and while individual position estimates have large errors, the real-time solutions offer an excellent operational option for EEW systems, including the use of estimated peak-ground displacements or directly inverting for finite-fault solutions. In the near-field, we find that the geodetically-derived moment tensors and finite fault models differ significantly with seismically-derived models, highlighting the utility of using geodetic data in hazard applications.

InSAR datum connection using GNSS-augmented radar transponders

NASA Astrophysics Data System (ADS)

Mahapatra, Pooja; der Marel, Hans van; van Leijen, Freek; Samiei-Esfahany, Sami; Klees, Roland; Hanssen, Ramon

2018-01-01

Deformation estimates from Interferometric Synthetic Aperture Radar (InSAR) are relative: they form a `free' network referred to an arbitrary datum, e.g. by assuming a reference point in the image to be stable. However, some applications require `absolute' InSAR estimates, i.e. expressed in a well-defined terrestrial reference frame, e.g. to compare InSAR results with those of other techniques. We propose a methodology based on collocated InSAR and Global Navigation Satellite System (GNSS) measurements, achieved by rigidly attaching phase-stable millimetre-precision compact active radar transponders to GNSS antennas. We demonstrate this concept through a simulated example and practical case studies in the Netherlands.

NUVEM - New methods to Use gnss water Vapor Estimates for Meteorology of Portugal

NASA Astrophysics Data System (ADS)

Fernandes, R. M. S.; Viterbo, P.; Bos, M. S.; Martins, J. P.; Sá, A. G.; Valentim, H.; Jones, J.

2014-12-01

NUVEM (New methods to Use gnss water Vapor Estimates for Meteorology of Portugal) is a collaborative project funded by the Portuguese National Science Foundation (FCT) aiming to implement a multi-disciplinary approach in order to operationalize the inclusion of GNSS-PWV estimates for nowcasting in Portugal, namely for the preparation of warnings of severe weather. To achieve such goal, the NUVEM project is divided in two major components: a) Development and implementation of methods to compute accurate estimates of PWV (Precipitable Water Vapor) in NRT (Near Real-Time); b) Integration of such estimates in nowcasting procedures in use at IPMA (Portuguese Meteorological Service). Methodologies will be optimized at SEGAL to passive and actively access to the data; the PWV estimations will be computed using PPP (Precise Point Positioning), which permits the estimation of each individual station separately; solutions will be validated using internal and external values; and computed solutions will be transferred timely to the IPMA Operational Center. Validation of derived estimations using robust statistics is an important component of the project. The need for sending computed values as soon as possible to IPMA requires fast but reliable internal (e.g., noise estimation) and external (e.g., feedback from IPMA using other sensors like radiosondes) assessment of the quality of the PWV estimates. At IPMA, the goal is to implement the operational use of GNSS-PWV to assist weather nowcasting in Portugal. This will be done with the assistance of the Meteo group of IDL. Maps of GNSS-PWV will be automatically created and compared with solutions provided by other operational systems in order to help IPMA to detect suspicious patterns at near real time. This will be the first step towards the assimilation of GNSS-PWV estimates at IPMA nowcasting models. The NUVEM (EXPL/GEO-MET/0413/2013) project will also contribute to the active participation of Portugal at the COST Action ES1206 - Advanced Global Navigation Satellite Systems tropospheric products for monitoring severe weather events and climate (GNSS4SWEC). This work is also carried out in the framework of the Portuguese Project SMOG (PTDC/CTE-ATM/119922/2010).

First Vertical Land Movement Estimates on South Georgia Island: An Impact Study on Sea Level Change from Tide Gauge and Satellite Altimetry Measurements

NASA Astrophysics Data System (ADS)

Abraha, K. E.; Teferle, F. N.; Hunegnaw, A.; Woodworth, P. L.; Williams, S. D. P.; Hibbert, A.; Smalley, R., Jr.; Dalziel, I.; Lawver, L.

2017-12-01

South Georgia Island in the Southern Atlantic Ocean has been a key location for the seismic, geomagnetic and oceanic global monitoring networks. However, no permanent geodetic monitoring station had been established there despite the lack of observations from this region within, for example, the International GNSS Service (IGS) network of Global Navigation Satellite System (GNSS) stations. Then, in 2013 the King Edward Point (KEP) Geodetic Observatory was established with a focus on sea level studies and in support of general geoscience applications. Currently, this observatory located roughly half-way along the main island along its northern coastline, consists of two GNSS stations (KEPA and KRSA) with local benchmark networks, allowing the height determinations from the GNSS antennas to be transferred to the KEP tide gauge (GLOSS ID 187) and forming a height reference within the International Terrestrial Reference Frame. In late 2014, three additional GNSS stations (SG01, SG02 and SG03) were established, all located on small islands at the perimeter of the main island. Together the stations provide the best possible geographic distribution to study various geophysical processes in the region. With the GNSS-derived position time series now partly reaching over 4.5 years in length, it has become possible to provide first estimates of vertical land movements for the island and, in particular, KEP with its surrounding area. Together with four precise levelling campaigns of the benchmark network in 2013, 2014 and two in 2017, it has also been possible to investigate the very local character of the vertical motions, ie. the stability of the jetty upon which the tide gauge is mounted. Our measurements show that while South Georgia Island and the area around KEP are rising, the jetty and tide gauge are subsiding. In this study, we will present the preliminary results from the GNSS and levelling measurements and will discuss their impact on the sea level record from the KEP tide gauge which is ideally situated in a mid-ocean location for satellite altimetry calibration over the Southern Atlantic and Southern Oceans.

Real-Time PPP Based on the Coupling Estimation of Clock Bias and Orbit Error with Broadcast Ephemeris.

PubMed

Pan, Shuguo; Chen, Weirong; Jin, Xiaodong; Shi, Xiaofei; He, Fan

2015-07-22

Satellite orbit error and clock bias are the keys to precise point positioning (PPP). The traditional PPP algorithm requires precise satellite products based on worldwide permanent reference stations. Such an algorithm requires considerable work and hardly achieves real-time performance. However, real-time positioning service will be the dominant mode in the future. IGS is providing such an operational service (RTS) and there are also commercial systems like Trimble RTX in operation. On the basis of the regional Continuous Operational Reference System (CORS), a real-time PPP algorithm is proposed to apply the coupling estimation of clock bias and orbit error. The projection of orbit error onto the satellite-receiver range has the same effects on positioning accuracy with clock bias. Therefore, in satellite clock estimation, part of the orbit error can be absorbed by the clock bias and the effects of residual orbit error on positioning accuracy can be weakened by the evenly distributed satellite geometry. In consideration of the simple structure of pseudorange equations and the high precision of carrier-phase equations, the clock bias estimation method coupled with orbit error is also improved. Rovers obtain PPP results by receiving broadcast ephemeris and real-time satellite clock bias coupled with orbit error. By applying the proposed algorithm, the precise orbit products provided by GNSS analysis centers are rendered no longer necessary. On the basis of previous theoretical analysis, a real-time PPP system was developed. Some experiments were then designed to verify this algorithm. Experimental results show that the newly proposed approach performs better than the traditional PPP based on International GNSS Service (IGS) real-time products. The positioning accuracies of the rovers inside and outside the network are improved by 38.8% and 36.1%, respectively. The PPP convergence speeds are improved by up to 61.4% and 65.9%. The new approach can change the traditional PPP mode because of its advantages of independence, high positioning precision, and real-time performance. It could be an alternative solution for regional positioning service before global PPP service comes into operation.

Real-Time PPP Based on the Coupling Estimation of Clock Bias and Orbit Error with Broadcast Ephemeris

PubMed Central

Pan, Shuguo; Chen, Weirong; Jin, Xiaodong; Shi, Xiaofei; He, Fan

2015-01-01

Satellite orbit error and clock bias are the keys to precise point positioning (PPP). The traditional PPP algorithm requires precise satellite products based on worldwide permanent reference stations. Such an algorithm requires considerable work and hardly achieves real-time performance. However, real-time positioning service will be the dominant mode in the future. IGS is providing such an operational service (RTS) and there are also commercial systems like Trimble RTX in operation. On the basis of the regional Continuous Operational Reference System (CORS), a real-time PPP algorithm is proposed to apply the coupling estimation of clock bias and orbit error. The projection of orbit error onto the satellite-receiver range has the same effects on positioning accuracy with clock bias. Therefore, in satellite clock estimation, part of the orbit error can be absorbed by the clock bias and the effects of residual orbit error on positioning accuracy can be weakened by the evenly distributed satellite geometry. In consideration of the simple structure of pseudorange equations and the high precision of carrier-phase equations, the clock bias estimation method coupled with orbit error is also improved. Rovers obtain PPP results by receiving broadcast ephemeris and real-time satellite clock bias coupled with orbit error. By applying the proposed algorithm, the precise orbit products provided by GNSS analysis centers are rendered no longer necessary. On the basis of previous theoretical analysis, a real-time PPP system was developed. Some experiments were then designed to verify this algorithm. Experimental results show that the newly proposed approach performs better than the traditional PPP based on International GNSS Service (IGS) real-time products. The positioning accuracies of the rovers inside and outside the network are improved by 38.8% and 36.1%, respectively. The PPP convergence speeds are improved by up to 61.4% and 65.9%. The new approach can change the traditional PPP mode because of its advantages of independence, high positioning precision, and real-time performance. It could be an alternative solution for regional positioning service before global PPP service comes into operation. PMID:26205276

Performance Analysis of Web-Based Ppp Services with DİFFERENT Visibility Conditions

NASA Astrophysics Data System (ADS)

Albayrak, M.; Erkaya, H.; Ozludemir, M. T.; Ocalan, T.

2016-12-01

GNSS is being used effectively to precise position for many measuring and geodetic purposes at the present time. There is an increasing variety of these systems including the post-processing calculations in terms of number, quality and features and many different techniques are developed to determine position. Precise positioning intend to derive requires user experience and scientific or commercial software with costly license fees. However, in recent years important alternatives to this software that are user friendly and offer free web-based online precise point positioning service have become widely used in geodetic applications. The aim of this study is to test the performance of PPP techniques on ground control points with different visibility conditions. Within this framework, static observations were carried out for three hours a day repeatedly for six days, in YTU Davutpasa Campus on three different ground control points. The locations of these stations were selected by taking into account the impact of natural (trees, etc.) and artificial (buildings, etc.) obstacles. In order to compare the obtained GPS observations with PPP performances, first of all the accurate coordinates of the control points were computed with relative positioning technique in connection with the IGS stations using Bernese v5.0 software. Afterwards, three different web-based positioning services (CSRS-PPP, magicGNSS, GAPS) were used to analyze the GPS observations via PPP technique. To compare all of the obtained results, ITRF2008 datum measurement epoch coordinates were preferred by taking the service result criteria into consideration. In coordinate comparison, for the first station located nearby a building and possibly subjected to multipath effect horizontal discrepancies vary between 2-14.5 cm while vertical differences are between 3.5-16 cm. For the second point located partly in a forestry area, the discrepancies have been obtained as 1.5-8 cm and 2-10 cm for horizontal and vertical components, respectively. For the third point located in an area with no obstacles, 1.5-7 cm horizontal and 1-7 cm vertical differences have been obtained. The results show that the PPP technique could be used effectively in several positioning applications.

Simulations of direct and reflected wave trajectories for ground-based GNSS-R experiments

NASA Astrophysics Data System (ADS)

Roussel, N.; Frappart, F.; Ramillien, G.; Darrozes, J.; Desjardins, C.; Gegout, P.; Pérosanz, F.; Biancale, R.

2014-10-01

The detection of Global Navigation Satellite System (GNSS) signals that are reflected off the surface, along with the reception of direct GNSS signals, offers a unique opportunity to monitor water level variations over land and ocean. The time delay between the reception of the direct and reflected signals gives access to the altitude of the receiver over the reflecting surface. The field of view of the receiver is highly dependent on both the orbits of the GNSS satellites and the configuration of the study site geometries. A simulator has been developed to determine the location of the reflection points on the surface accurately by modeling the trajectories of GNSS electromagnetic waves that are reflected by the surface of the Earth. Only the geometric problem was considered using a specular reflection assumption. The orbit of the GNSS constellation satellites (mainly GPS, GLONASS and Galileo), and the position of a fixed receiver, are used as inputs. Four different simulation modes are proposed, depending on the choice of the Earth surface model (local plane, osculating sphere or ellipsoid) and the consideration of topography likely to cause masking effects. Angular refraction effects derived from adaptive mapping functions are also taken into account. This simulator was developed to determine where the GNSS-R receivers should be located to monitor a given study area efficiently. In this study, two test sites were considered: the first one at the top of the 65 m Cordouan lighthouse in the Gironde estuary, France, and the second one on the shore of Lake Geneva (50 m above the reflecting surface), at the border between France and Switzerland. This site is hidden by mountains in the south (orthometric altitude up to 2000 m), and overlooking the lake in the north (orthometric altitude of 370 m). For this second test site configuration, reflections occur until 560 m from the receiver. The planimetric (arc length) differences (or altimetric difference as WGS84 ellipsoid height) between the positions of the specular reflection points obtained considering the Earth's surface as an osculating sphere or as an ellipsoid were found to be on average 9 cm (or less than 1 mm) for satellite elevation angles greater than 10°, and 13.9 cm (or less than 1 mm) for satellite elevation angles between 5 and 10°. The altimetric and planimetric differences between the plane and sphere approximations are on average below 1.4 cm (or less than 1 mm) for satellite elevation angles greater than 10° and below 6.2 cm (or 2.4 mm) for satellite elevation angles between 5 and 10°. These results are the means of the differences obtained during a 24 h simulation with a complete GPS and GLONASS constellation, and thus depend on how the satellite elevation angle is sampled over the day of simulation. The simulations highlight the importance of the digital elevation model (DEM) integration: average planimetric differences (or altimetric) with and without integrating the DEM (with respect to the ellipsoid approximation) were found to be about 6.3 m (or 1.74 m), with the minimum elevation angle equal to 5°. The correction of the angular refraction due to troposphere on the signal leads to planimetric (or altimetric) differences of an approximately 18 m (or 6 cm) maximum for a 50 m receiver height above the reflecting surface, whereas the maximum is 2.9 m (or 7 mm) for a 5 m receiver height above the reflecting surface. These errors increase deeply with the receiver height above the reflecting surface. By setting it to 300 m, the planimetric errors reach 116 m, and the altimetric errors reach 32 cm for satellite elevation angles lower than 10°. The tests performed with the simulator presented in this paper highlight the importance of the choice of the Earth's representation and also the non-negligible effect of angular refraction due to the troposphere on the specular reflection point positions. Various outputs (time-varying reflection point coordinates, satellite positions and ground paths, wave trajectories, first Fresnel zones, etc.) are provided either as text or KML files for visualization with Google Earth.

MISTRALE: Soil moisture mapping service based on a UAV-embedded GNSS-Reflectometry sensor

NASA Astrophysics Data System (ADS)

Van de Vyvere, Laura; Desenfans, Olivier

2016-04-01

Around 70 percent of worldwide freshwater is used by agriculture. To be able to feed an additional 2 billion people by 2030, water demand is expected to increase tremendously in the next decades. Farmers are challenged to produce "more crop per drop". In order to optimize water resource management, it is crucial to improve soil moisture situation awareness, which implies both a better temporal and spatial resolution. To this end, the objective of the MISTRALE project (Monitoring soIl moiSture and waTeR-flooded Areas for agricuLture and Environment) is to provide UAV-based soil moisture maps that could complement satellite-based and field measurements. In addition to helping farmers make more efficient decisions about where and when to irrigate, MISTRALE moisture maps are an invaluable tool for risk management and damage evaluation, as they provide highly relevant information for wetland and flood-prone area monitoring. In order to measure soil water content, a prototype of a new sensor, called GNSS-Reflectometry (GNSS-R), is being developed in MISTRALE. This approach consists in comparing the direct signal, i.e. the signal travelling directly from satellite to receiver (in this case, embedded in the UAV), with its ground-reflected equivalent. Since soil dielectric properties vary with moisture content, the reflected signal's peak power is affected by soil moisture, unlike the direct one. In order to mitigate the effect of soil surface roughness on measurements, both left-hand and right-hand circular polarization reflected signals have to be recorded and processed. When it comes to soil moisture, using GNSS signals instead of traditional visible/NIR imagery has many advantages: it is operational under cloud cover, during the night, and also under vegetation (bushes, grass, trees). In addition, compared to microwaves, GNSS signal (which lies in L-band, between 1.4 and 1.8 GHz) is less influenced by variation on thermal background. GNSS frequencies are then ideal candidates for soil moisture observation. In the context of the MISTRALE project, both GPS and GALILEO signals will be used. Thanks to a higher number of available satellites and to the GALILEO signals characteristics, the sensor's measurements accuracy will be improved. The GNSS-R sensor will be embedded on Boreal, a fixed-wing UAV weighing less than 20 kg and allowing about 5 kg payload. Boreal is able to fly continuously for 10 hours and has a range of 1000 km. Due to the low elevation (100-150m) of UAV flights, high spatial resolution can be achieved. Test flights have already been performed in Pech Rouge and Camargue areas, France. During these campaigns, soil moisture maps were computed using GNSS-R data. These were successfully correlated with in-situ measurements, considered as ground truth, demonstrating the feasibility of the MISTRALE concept. The MISTRALE project is co-funded by GSA (European GNSS Agency) under H2020 program framework for research and innovation.

Standalone GPS L1 C/A Receiver for Lunar Missions

PubMed Central

Capuano, Vincenzo; Blunt, Paul; Botteron, Cyril; Tian, Jia; Leclère, Jérôme; Wang, Yanguang; Basile, Francesco; Farine, Pierre-André

2016-01-01

Global Navigation Satellite Systems (GNSSs) were originally introduced to provide positioning and timing services for terrestrial Earth users. However, space users increasingly rely on GNSS for spacecraft navigation and other science applications at several different altitudes from the Earth surface, in Low Earth Orbit (LEO), Medium Earth Orbit (MEO), Geostationary Earth Orbit (GEO), and feasibility studies have proved that GNSS signals can even be tracked at Moon altitude. Despite this, space remains a challenging operational environment, particularly on the way from the Earth to the Moon, characterized by weaker signals with wider gain variability, larger dynamic ranges resulting in higher Doppler and Doppler rates and critically low satellite signal availability. Following our previous studies, this paper describes the proof of concept “WeakHEO” receiver; a GPS L1 C/A receiver we developed in our laboratory specifically for lunar missions. The paper also assesses the performance of the receiver in two representative portions of an Earth Moon Transfer Orbit (MTO). The receiver was connected to our GNSS Spirent simulator in order to collect real-time hardware-in-the-loop observations, and then processed by the navigation module. This demonstrates the feasibility, using current technology, of effectively exploiting GNSS signals for navigation in a MTO. PMID:27005628

Rapid kinematic finite source inversion for Tsunamic Early Warning using high rate GNSS data

NASA Astrophysics Data System (ADS)

Chen, K.; Liu, Z.; Song, Y. T.

2017-12-01

Recently, Global Navigation Satellite System (GNSS) has been used for rapid earthquake source inversion towards tsunami early warning. In practice, two approaches, i.e., static finite source inversion based on permanent co-seismic offsets and kinematic finite source inversion using high-rate (>= 1 Hz) co-seismic displacement waveforms, are often employed to fulfill the task. The static inversion is relatively easy to be implemented and does not require additional constraints on rupture velocity, duration, and temporal variation. However, since most GNSS receivers are deployed onshore locating on one side of the subduction fault, there is very limited resolution on near-trench fault slip using GNSS in static finite source inversion. On the other hand, the high-rate GNSS displacement waveforms, which contain the timing information of earthquake rupture explicitly and static offsets implicitly, have the potential to improve near-trench resolution by reconciling with the depth-dependent megathrust rupture behaviors. In this contribution, we assess the performance of rapid kinematic finite source inversion using high-rate GNSS by three selected historical tsunamigenic cases: the 2010 Mentawai, 2011 Tohoku and 2015 Illapel events. With respect to the 2010 Mentawai case, it is a typical tsunami earthquake with most slip concentrating near the trench. The static inversion has little resolution there and incorrectly puts slip at greater depth (>10km). In contrast, the recorded GNSS displacement waveforms are deficit in high-frequency energy, the kinematic source inversion recovers a shallow slip patch (depth less than 6 km) and tsunami runups are predicted quite reasonably. For the other two events, slip from kinematic and static inversion show similar characteristics and comparable tsunami scenarios, which may be related to dense GNSS network and behavior of the rupture. Acknowledging the complexity of kinematic source inversion in real-time, we adopt the back-projection approach to provide constraint on rupture velocity.

A Direct Georeferencing Method for Terrestrial Laser Scanning Using GNSS Data and the Vertical Deflection from Global Earth Gravity Models

PubMed Central

Borkowski, Andrzej; Owczarek-Wesołowska, Magdalena; Gromczak, Anna

2017-01-01

Terrestrial laser scanning is an efficient technique in providing highly accurate point clouds for various geoscience applications. The point clouds have to be transformed to a well-defined reference frame, such as the global Geodetic Reference System 1980. The transformation to the geocentric coordinate frame is based on estimating seven Helmert parameters using several GNSS (Global Navigation Satellite System) referencing points. This paper proposes a method for direct point cloud georeferencing that provides coordinates in the geocentric frame. The proposed method employs the vertical deflection from an external global Earth gravity model and thus demands a minimum number of GNSS measurements. The proposed method can be helpful when the number of georeferencing GNSS points is limited, for instance in city corridors. It needs only two georeferencing points. The validation of the method in a field test reveals that the differences between the classical georefencing and the proposed method amount at maximum to 7 mm with the standard deviation of 8 mm for all of three coordinate components. The proposed method may serve as an alternative for the laser scanning data georeferencing, especially when the number of GNSS points is insufficient for classical methods. PMID:28672795

A Direct Georeferencing Method for Terrestrial Laser Scanning Using GNSS Data and the Vertical Deflection from Global Earth Gravity Models.

PubMed

Osada, Edward; Sośnica, Krzysztof; Borkowski, Andrzej; Owczarek-Wesołowska, Magdalena; Gromczak, Anna

2017-06-24

Terrestrial laser scanning is an efficient technique in providing highly accurate point clouds for various geoscience applications. The point clouds have to be transformed to a well-defined reference frame, such as the global Geodetic Reference System 1980. The transformation to the geocentric coordinate frame is based on estimating seven Helmert parameters using several GNSS (Global Navigation Satellite System) referencing points. This paper proposes a method for direct point cloud georeferencing that provides coordinates in the geocentric frame. The proposed method employs the vertical deflection from an external global Earth gravity model and thus demands a minimum number of GNSS measurements. The proposed method can be helpful when the number of georeferencing GNSS points is limited, for instance in city corridors. It needs only two georeferencing points. The validation of the method in a field test reveals that the differences between the classical georefencing and the proposed method amount at maximum to 7 mm with the standard deviation of 8 mm for all of three coordinate components. The proposed method may serve as an alternative for the laser scanning data georeferencing, especially when the number of GNSS points is insufficient for classical methods.

Studies on spatio-temporal filtering of GNSS-derived coordinates

NASA Astrophysics Data System (ADS)

Gruszczynski, Maciej; Bogusz, Janusz; Kłos, Anna; Figurski, Mariusz

2015-04-01

The information about lithospheric deformations may be obtained nowadays by analysis of velocity field derived from permanent GNSS (Global Navigation Satellite System) observations. Despite developing more and more reliable models, the permanent stations residuals must still be considered as coloured noise. Meeting the GGOS (Global Geodetic Observing System) requirements, we are obliged to investigate the correlations between residuals, which are the result of common mode error (CME). This type of error may arise from mismodelling of: satellite orbits, the Earth Orientation Parameters, satellite antenna phase centre variations or unmodelling of large scale atmospheric effects. The above described together cause correlations between stochastic parts of coordinate time series obtained at stations located of even few thousands kilometres from each other. Permanent stations that meet the aforementioned terms form the regional (EPN - EUREF Permanent Network) or local sub-networks of global (IGS - International GNSS Service) network. Other authors (Wdowinski et al., 1997; Dong et al., 2006) dealt with spatio-temporal filtering and indicated three major regional filtering approaches: the stacking, the Principal Component Analysis (PCA) based on the empirical orthogonal function and the Karhunen-Loeve expansion. The need for spatio-temporal filtering is evident today, but the question whether the size of the network affects the accuracy of station's position and its velocity still remains unanswered. With the aim to determine the network's size, for which the assumption of spatial uniform distribution of CME is retained, we used stacking approach. We analyzed time series of IGS stations with daily network solutions processed by the Military University of Technology EPN Local Analysis Centre in Bernese 5.0 software and compared it with the JPL (Jet Propulsion Laboratory) PPP (Precice Point Positioning). The method we propose is based on the division of local GNSS networks into concentric ring-shaped areas. Such an approach allows us to specify the maximum size of the network, where the evident uniform spatial response can be still noticed. In terms of reliable CMEs extraction, the local networks have to be up to 500-600 kilometres extent depending on its character (location). In this study we examined three approaches of spatio-temporal filtering based on stacking procedure. First was based on non-weighted (Wdowinski et. al., 1997) and second on weighted average formula, where the weights are formed by the RMS of individual station position in the corresponding epoch (Nikolaidis, 2002). The third stacking approach, proposed here, was previously unused. It combines the weighted stacking together with the distance between the station and network barycentre into one approach. The analysis allowed to determine the optimal size of local GNSS network and to select the appropriate stacking method for obtaining the most stable solutions for e.g. geodynamical studies. The values of L1 and L2 norms, RMS values of time series (describing stability of the time series) and Pearson correlation coefficients were calculated for the North, East and Up components from more than 200 permanent stations twice: before performing the filtration and after weighted stacking approach. We showed the improvement in the quality of time series analysis using MLE (Maximum Likelihood Estimation) to estimate noise parameters. We demonstrated that the relative RMS improvement of 10, 20 and 30% reduces the noise amplitudes of about 20, 35 and 45%, respectively, what causes the velocity uncertainty to be reduced of 0.3 mm/yr (for the assumption of 7-years of data and flicker noise). The relative decrement of spectral index kappa is 25, 35 and 45%, what means lower velocity uncertainty of even 0.2 mm/yr (when assuming 7 years of data and noise amplitude of 15 mm/yr^-kappa/4) . These results refer to the growing demands on the stability of the series due to their use to realize the kinematic reference frames and for geodynamical studies.

Research Enabled through Eighteen Years of Geodesy Data Sharing by the UNAVCO Data Center

NASA Astrophysics Data System (ADS)

Boler, F. M.; Meertens, C. M.; Kreemer, C. W.; Blewitt, G.

2009-12-01

UNAVCO, the NSF and NASA-funded facility that supports and promotes Earth science by advancing high-precision techniques for the measurement of crustal deformation, has operated a Global Navigation Satellite System (GNSS) data archive since 1992. UNAVCO’s Data Policy includes immediate open access to data from continuous GNSS stations and open access after a 2-year embargo period for campaign data. Presently, the GNSS archive holds 3,500,000 files of data, taken principally at a large and growing globally-distributed set of permanent high precision GNSS stations. Each day on average 2,000 new files are archived and 33,000 files are distributed. The spatial and temporal resolution now available for GNSS data enables quantification of motions of the Earth’s crust at all scales with unprecedented detail and precision, leading to fundamental discoveries in plate boundary processes, continental deformation, earthquake processes, magmatic systems, and global and regional hydrological mass movements. The Plate Boundary Observatory (PBO) is the UNAVCO-operated 1100-station geodesy component of EarthScope that studies the three-dimensional strain field resulting from active plate boundary deformation across the western US. Processing of the entire set of data by the PBO Analysis Centers (MIT, New Mexico Tech and Central Washington U.) has added position time series to the open GNSS data products available from the UNAVCO Data Center. This data set forms the basis for an overarching analysis of various non-tectonic processes, such as the effect of soil moisture on multi-path. With the ultimate goal of understanding tectonic and magmatic motions, the ability to model these signals and remove them to further elucidate the tectonic signal alone is crucial. GNSS data are also leading to global strain-rate maps with unprecedented resolution, which allow an integrated description of the surface kinematics accounting for rigid plates and plate boundary zone deformation [Kreemer et al., 2003]. An important contribution to these analyses for the Great Basin is MAGNET, a 307-station array operated by the University of Nevada with 30-50 active stations per day since 2004 [Blewitt et al., 2004]. The simultaneous increase in GNSS data and analysis expertise now allows for routine global analysis of many thousands of GNSS stations. Such analysis ensures that all phase ambiguities are fixed and that common-mode errors are significantly reduced and thereby allow for increased spatial and temporal resolution for strain-rate models and other solid-earth investigations. These examples highlight two research areas where exciting advances are built upon the GNSS data available from the UNAVCO Data Center. The continued open availability of GNSS data will provide an invaluable resource for refinement of current understanding of geodesy and completely new discoveries into the future. Blewitt, G., C. Kreemer, and W.C. Hammond (2009). Geodetic observation of contemporary deformation in the northern Walker Lane: 1. Semipermanent GPS strategy, p. 1-15, doi: 10.1130/2009.2447(03). Kreemer, C., W.E. Holt, and A.J. Haines, An integrated global model of present-day plate motions and plate boundary deformation, Geophys. J. Int., 154, 8-34, 2003.

Analysis of Single-Frequency GNSS Data for Determination of Time-Dependent Flow and Deformation of Fast-Moving Glaciers

NASA Astrophysics Data System (ADS)

Davis, J. L.; Elosegui, P.; Nettles, M.

2012-12-01

Single-frequency GNSS data has not generally been used for high-accuracy geodetic applications since the 1990s, but there are significant advantages if single-frequency GNSS receivers can be usefully deployed for studies of fast-moving outlet glaciers. The cost for these receivers is significantly lower (~50%) than for dual-frequency receivers, a significant benefit given the high spatial density at which these system are deployed on the glacier and the high risk for damage or loss in the glacial environment. In addition, the size of the data files that need to be transferred from extremely remote locations, often at very slow transmission rates, is significantly reduced. Consideration of single-frequency systems for this application is viable because of the relatively small extent (< 50 km) of the entire network to be deployed. Unfortunately, the availability of research-quality software that can perform kinematic solutions on single-frequency data is limited. We have developed the BAKAR software employing a stochastic filter to analyze single-frequency GNSS data. The software can implement a range of stochastic models for time-dependent site position. In this presentation, we describe the BAKAR software, and discuss its strengths and weaknesses. On one hand, chief among the challenges we have encountered are determination of accurate prior positions, and bursts of polar ionospheric activity that impede cycle-slip detection, even over intersite distances as short as 10 km. On the other hand, use of a single-frequency observable is theoretically less sensitive to multipath and signal scattering. We will quantitatively assess these effects, and assess the accuracy of BAKAR in a range of situations and applications.

A procedure for the significance testing of unmodeled errors in GNSS observations

NASA Astrophysics Data System (ADS)

Li, Bofeng; Zhang, Zhetao; Shen, Yunzhong; Yang, Ling

2018-01-01

It is a crucial task to establish a precise mathematical model for global navigation satellite system (GNSS) observations in precise positioning. Due to the spatiotemporal complexity of, and limited knowledge on, systematic errors in GNSS observations, some residual systematic errors would inevitably remain even after corrected with empirical model and parameterization. These residual systematic errors are referred to as unmodeled errors. However, most of the existing studies mainly focus on handling the systematic errors that can be properly modeled and then simply ignore the unmodeled errors that may actually exist. To further improve the accuracy and reliability of GNSS applications, such unmodeled errors must be handled especially when they are significant. Therefore, a very first question is how to statistically validate the significance of unmodeled errors. In this research, we will propose a procedure to examine the significance of these unmodeled errors by the combined use of the hypothesis tests. With this testing procedure, three components of unmodeled errors, i.e., the nonstationary signal, stationary signal and white noise, are identified. The procedure is tested by using simulated data and real BeiDou datasets with varying error sources. The results show that the unmodeled errors can be discriminated by our procedure with approximately 90% confidence. The efficiency of the proposed procedure is further reassured by applying the time-domain Allan variance analysis and frequency-domain fast Fourier transform. In summary, the spatiotemporally correlated unmodeled errors are commonly existent in GNSS observations and mainly governed by the residual atmospheric biases and multipath. Their patterns may also be impacted by the receiver.

Noise Characteristics of High-Rate Multi-GNSS for Subdaily Crustal Deformation Monitoring

NASA Astrophysics Data System (ADS)

Geng, Jianghui; Pan, Yuanxin; Li, Xiaotao; Guo, Jiang; Liu, Jingnan; Chen, Xianchun; Zhang, Yong

2018-02-01

High-rate GPS (Global Positioning System) has the potential to record crustal motions on a wide subdaily timescale from seconds to hours but usually fails to capture subtle deformations which are often overwhelmed by the centimeter noise of epoch-wise GPS displacements. We hence investigated high-rate multi-GNSS (Global Navigation Satellite System) by processing 1 Hz GPS/GLONASS/BeiDou data at 15 static stations over 24 days and also those from the 8 August 2017 Jiuzhaigou Mw 6.5 earthquake. In contrast to high-rate GPS, its further integration with GLONASS/BeiDou reduces near uniformly the power spectral densities (PSDs) of 1 Hz displacement noise by 4-6 dB over the periods from a few seconds to half of a day, and orbital repeat time (ORT) filtering on all GNSS further again leads to a 2 more decibel decline of the PSDs over the periods of a few tens of seconds to minutes. BeiDou ORT filtering, however, takes effect mainly on the periods of over 2,000 s due to the high altitudes of Inclined Geosynchronous Satellite Orbiters/Geosynchronous Earth Orbiters. Multi-GNSS integration is on average as effective as GPS ORT filtering in reducing PSDs for the periods of a few tens of seconds to minutes while desirably can further decrease the PSDs on almost all other periods by 3-4 dB thanks to the enhanced satellite geometry. We conclude that the introduction of more GNSS into high-rate solutions and its augmentation by ORT filtering benefit the discrimination of slight deformations over a broad subdaily frequency band.

Sea level estimate from multi-frequency signal-to-noise ratio data collected by a single geodetic receiver

NASA Astrophysics Data System (ADS)

Roussel, Nicolas; Frappart, Frédéric; Ramillien, Guillaume; Darrozes, José; Cornu, Gwendolyne; Koummarasy, Khanithalath

2016-04-01

GNSS-Reflectometry (GNSS-R) altimetry has demonstrated a strong potential for sea level monitoring. Interference Pattern Technique (IPT) based on the analysis of the Signal-to-Noise Ratio (SNR) estimated by a GNSS receiver, presents the main advantage of being applicable everywhere by using a single geodetic antenna and receiver, transforming them to real tide gauges. Such a technique has already been tested in various configurations of acquisition of surface-reflected GNSS signals with an accuracy of a few centimeters. Nevertheless, the classical SNR analysis method for estimating the reflecting surface-antenna height is limited by an approximation: the vertical velocity of the reflecting surface must be negligible. Authors present a significant improvement of the SNR technique to solve this problem and broaden the scope of SNR-based tide monitoring. The performances achieved on the different GNSS frequency band (L1, L2 and L5) are analyzed. The method is based on a Least-Mean Square Resolution Method (LSM), combining simultaneous measurements from different GNSS constellations (GPS, GLONASS), which permits to take the dynamic of the surface into account. It was validated in situ [1], with an antenna placed at 60 meters above the Atlantic Ocean surface with variations reaching ±3 meters, and amplitude rate of the semi-diurnal tide up to 0.5 mm/s. Over the three months of SNR records on L1 frequency band for sea level determination, we found linear correlations of 0.94 by comparing with a classical tide gauge record. Our SNR-based time series was also compared to a tide theoretical model and amplitudes and phases of the main astronomical periods (6-, 12- and 24-h) were perfectly well detected. Waves and swell are also likely to be detected. If the validity of our method is already well-established with L1 band [1], the aim of our current study is to analyze the results obtained with the other GNSS frequency band: L2 and L5. L1 band seems to provide the best sea level estimation, but the combination of SNR data from each frequency increases the number of observables and thus the quality of the final estimation. [1] N. Roussel, G. Ramillien, F. Frappart, J. Darrozes, A. Gay, R. Biancale, N. Striebig, V. Hanquiez, X. Bertin, D. Allain : "Sea level monitoring and sea state estimate using a single geodetic receiver", Remote Sensing of Environment 171 (2015) 261-277.