Regional 4-D modeling of the ionospheric electron density from satellite data and IRI

Accurate knowledge of the electron density is the key point in correcting ionospheric delays of electromagnetic measurements and in studying ionosphere physics. During the last decade Global Navigation Satellite Systems (GNSS) have become a promising tool for monitoring ionospheric parameters such as the total electron content (TEC). In this contribution we present a four-dimensional (4-D) model of the electron density consisting of a given reference part, i.e., the International Reference Ionosphere (IRI), and an unknown correction term expanded in terms of multi-dimensional base functions. The corresponding series coefficients are calculable from the satellite measurements by applying parameter estimation procedures. Since satellite data are usually sampled between GPS satellites and ground stations, finer structures of the electron density are modelable just in regions with a sufficient number of ground stations. The proposed method is applied to simulated geometry-free GPS phase measurements. The procedure can be used, for example, to study the equatorial anomaly.     

The spatio-spectral localization approach to modeling VTEC over the western part of the USA using GPS observations

The precise ionosphere modeling is crucial and remains a challenge for GPS positioning and navigation, as well as many other Earth observation systems. In this research, two approaches have been proposed to model the vertical total electron content (VTEC) of the ionosphere using spherical slepian function. For the two-dimensional case, VTEC has been modeled in a sun-fixed reference frame and the three-dimensional approach based on the system of the three-dimensional base functions has been defined as the tensor product of the spherical slepian function for the longitude and latitude in an Earth-fixed reference frame, and the polynomial B-spline function for time. Rather than the spherical harmonics, the spherical slepian functions can be employed to produce the locally and globally orthogonal bases to optimally represent the data in any arbitrary region up to a given degree. The spherical slepian functions have been applied to the real data obtained from the ground-based GPS observation across the western part of the USA.     

Analysis and improvement of ionospheric thin shell model used in SBAS for China region

The most frequently used mapping function for converting slant total electron content (STEC) to vertical total electron content (VTEC) uses a simplified ionospheric single layer model in satellite based augmentation system (SBAS). Aiming at ionospheric single layer model altitude variation, we analyzed the statistical characteristic of mapping function in systemic approach particular for the region of China, and then experimental mapping function was proposed. The experimental mapping function is used in SBAS ionospheric correction and the precision of vertical correction is compared with standard mapping function. The results show that conversion factor errors depend on latitude, time and elevation, experimental mapping function is helpful to the vertical TEC estimation and may improve the precision of SBAS ionospheric refraction correction especially for the low latitude region of China.     

Model based Computerized Ionospheric Tomography in space and time

Reconstruction of the ionospheric electron density distribution in space and time not only provide basis for better understanding the physical nature of the ionosphere, but also provide improvements in various applications including HF communication. Recently developed IONOLAB-CIT technique provides physically admissible 3D model of the ionosphere by using both Slant Total Electron Content (STEC) measurements obtained from a GPS satellite - receiver network and IRI-Plas model. IONOLAB-CIT technique optimizes IRI-Plas model parameters in the region of interest such that the synthetic STEC computations obtained from the IRI-Plas model are in accordance with the actual STEC measurements. In this work, the IONOLAB-CIT technique is extended to provide reconstructions both in space and time. This extension exploits the temporal continuity of the ionosphere to provide more reliable reconstructions with a reduced computational load. The proposed 4D-IONOLAB-CIT technique is validated on real measurement data obtained from TNPGN-Active GPS receiver network in Turkey.     

Use of varying shell heights derived from ionosonde data in calculating vertical total electron content (TEC) using GPS – New method

The dispersive nature of the ionosphere makes it possible to measure its total electron content (TEC). Thus Global Positioning System, which uses dual-frequency radio signals, is an ideal system to measure TEC. When data from an ionosonde situated in polar region was observed, the height of an approximated thin shell of electrons (shell height) used in GPS studies was seen not to be fixed but rather changing with time. Here we introduce a new method in which we included the varying shell heights derived from the ionosonde to map the slant total electron content from GPS to obtain a more precise vertical total electron content of the ionosphere contrary to some previous methods which used fixed shell heights. In this paper we also compared the ionosonde derived TEC with the GPS derived vertical TEC (vTEC) values. These GPS vTEC values were obtained from GPS slant TEC (sTEC) measurements using both fixed shell height and varying shell heights (from ionosonde measurements). For the polar regions, the varying shell height approach produced better results than the fixed shell height and compared to exponential function, Chapman function seems to be a better function to model the topside ionosphere.     

Computerized ionospheric tomography with the IRI model

Computerized ionospheric tomography (CIT) is a method to estimate ionospheric electron density distribution by using the global positioning system (GPS) signals recorded by the GPS receivers. Ionospheric electron density is a function of latitude, longitude, height and time. A general approach in CIT is to represent the ionosphere as a linear combination of basis functions. In this study, the model of the ionosphere is obtained from the IRI in latitude and height only. The goal is to determine the best representing basis function from the set of Squeezed Legendre polynomials, truncated Legendre polynomials, Haar Wavelets and singular value decomposition (SVD). The reconstruction algorithms used in this study can be listed as total least squares (TLS), regularized least squares, algebraic reconstruction technique (ART) and a hybrid algorithm where the reconstruction from the TLS algorithm is used as the initial estimate for the ART. The error performance of the reconstruction algorithms are compared with respect to the electron density generated by the IRI-2001 model. In the investigated scenario, the measurements are obtained from the IRI-2001 as the line integral of the electron density profiles, imitating the total electron content estimated from GPS measurements. It has been observed that the minimum error between the reconstructed and model ionospheres depends on both the reconstruction algorithm and the basis functions where the best results have been obtained for the basis functions from the model itself through SVD.     

Regional 4-D modeling of the ionospheric electron density

The knowledge of the electron density is the key point in correcting ionospheric delays of electromagnetic measurements and in studying the ionosphere. During the last decade GNSS, in particular GPS, has become a promising tool for monitoring the total electron content (TEC), i.e., the integral of the electron density along the ray-path between the transmitting satellite and the receiver. Hence, geometry-free GNSS measurements provide informations on the electron density, which is basically a four-dimensional function depending on spatial position and time. In addition, these GNSS measurements can be combined with other available data including nadir, over-ocean TEC observations from dual-frequency radar altimetry (T/P, JASON, ENVISAT), and TECs from GPS-LEO occultation systems (e.g., FORMOSAT-3/COSMIC, CHAMP) with heterogeneous sampling and accuracy.     

Negative VTEC with spherical harmonic expansion model under different solar activity conditions

The Earth’s ionosphere can be described by a spherical harmonic (SH) expansion up to a specific degree. However, there exist negative vertical total electron content (VTEC) values in the global ionosphere map (GIM) with the SH expansion model. In this contribution, we specifically investigated the negative VTEC values that are induced by the SH expansion model and validated the performance of the inequality-constrained least squares (ICLS) method in eliminating the negative VTEC values. The GPS data from 2004 to 2017 was selected to cover one solar cycle and the experiments under different solar activity conditions were analyzed. The results in our work show that the occurrence of the negative VTEC values is attributed to the deficiency of the SH expansion model when the VTEC itself is small instead of the unevenly distribution of the GNSS stations. The negative VTEC values appear periodically in the temporal domain, showing apparently one year and half year periods. During one year, two peaks in June and December can be observed in the time series of the negative VTEC values. The number of negative VTEC values in June is obvious larger than that in December. During one solar cycle, the number of negative VTEC values under quiet solar activity condition is obvious larger than that under strong solar activity condition. In the spatial domain, the appearance of the negative VTEC values is strongly related with the movement of the subsolar point. In the latitude of the subsolar point has the largest magnitude, the negative values will appear on the opposite hemisphere and the further from the subsolar point the more negative values. The maximum number of the negative VTEC values in the southern hemisphere appears in June, while the peak value in the northern hemisphere appears in December. The maximum number of negative VTEC values in the southern hemisphere is generally larger than that in the northern hemisphere. In addition, the negative VTEC values are distributed both at middle latitude and high latitude in the southern hemisphere, while they are mainly distributed at high latitude in the northern hemisphere. When the ICLS method is used, the negative VTEC values can be eliminated efficiently and it has nearly no influence on the positive VTEC values. The ICLS method can also improve the receiver’s differential code bias (DCB) and significantly decrease the unreasonable negative slant TEC (STEC) values along the lines of sight. Using the final GIM product of the Jet Propulsion Laboratory (JPLG) as a reference, the root mean square (RMS) of the ICLS solution shows maximum 25%, 20% and 45% improvement relative to the least squares (LS) solution at northern high latitude, southern middle latitude and southern high latitude, respectively.     

A realistic simulation framework to evaluate ionospheric tomography

Observation of the 3-dimensional (3-D) electron density of the ionosphere is useful to study large-scale physical processes in space weather events. Ionospheric data assimilation and ionospheric tomography are methods that can create an image of the 3-D electron density distribution. While multiple techniques have been developed over the past 30 years, there are relatively few studies that show the accuracy of the algorithms. This paper outlines a novel simulation approach to test the quality of an ionospheric tomographic inversion. The approach uses observations from incoherent scatter radar (ISR) scans and extrapolates them spatially to create a realistic ionospheric representation. A set of total electron content (TEC) measurements can then be simulated using real geometries from satellites and ground receivers. This data set, for which the ‘truth’ ionosphere is known, is used as input for a tomographic inversion algorithm to estimate the spatial distribution of electron density. The reconstructed ionospheric maps are compared with the truth ionosphere to calculate the difference between the images and the truth.To demonstrate the effectiveness of this simulation framework, an inversion algorithm called MIDAS (Multi-Instrument Data Analysis Software) is evaluated for three geographic regions with differing receiver networks. The results show the importance of the distribution and density of GPS receivers and the use of a realistic prior conditioning of the vertical electron density profile. This paper demonstrates that when these requirements are met, MIDAS can reliably estimate the ionospheric electron density. When the region under study is well covered by GPS receivers, as in mainland Europe or North America, the errors in vertical total electron content (vTEC) are smaller than 1 TECu (2–4%) . In regions with fewer and more sparsely distributed receivers, the errors can be as high as 20–40%. This is caused by poor data coverage and poor spatial resolution of the reconstruction, which has an important effect on the calibration process of the algorithm.     

Evaluating the IRI topside model for the South African region: An overview of the modelling techniques

The representation of the topside ionosphere (the region above the F2 peak) is critical because of the limited experimental data available. Over the years, a wide range of models have been developed in an effort to represent the behaviour and the shape of the electron density (Ne) profile of the topside ionosphere. Various studies have been centred around calculating the vertical scale height (VSH) and have included (a) obtaining VSH from Global Positioning System (GPS) derived total electron content (TEC), (b) calculating the VSH from ground-based ionosonde measurements, (c) using topside sounder vertical Ne profiles to obtain the VSH. One or a combination of the topside profilers (Chapman function, exponential function, sech-squared (Epstein) function, and/or parabolic function) is then used to reconstruct the topside Ne profile. The different approaches and the modelling techniques are discussed with a view to identifying the most adequate approach to apply to the South African region’s topside modelling efforts. The IRI-2001 topside model is evaluated based on how well it reproduces measured topside profiles over the South African region. This study is a first step in the process of developing a South African topside ionosphere model.     

GPS电离层反演方法研究及其在地震方面的应用

利用地基GPS数据计算了电离层单球壳模型穿刺点上的垂向总电子含量(VTEC), 根据VTEC和卫星及测站接收机的差分码间偏差DCB的不同时变特性采用了复弧法, 将VTEC作为局部变量(每30 min 一组, 可调), DCB作为一天的全局量进行解算. 在解算的过程中, 充分考虑VTEC的空间分布特性, 利用变异函数通过Kriging插值法建立电离层VTEC的二维格网模型, 并给出了卫星和接收机的差分码间偏差DCB. 通过与IGS结果的比较, 发现其结果可靠, 且时空分辨率和稳定性都有较大提高. 同时, 基于简化的三元样条插值基函数对电离层电子密度进行三维展开, 利用乘型代数重建技术MART算法构建了同批数据的四维层析成像结果, 获得了电离层电子密 度的四维分布. 其结果与CHAMP无线电掩星结果非常一致. 利用上面两种算法又分别对2008年5月长江三角洲地区地基GPS数据进行处理, 简要分析了该时段该地区上空电离层总电子含量和电子密度的变化情况及其对汶川地震的响应.      

SHAKING: Adjusted spherical harmonics adding KrigING method for near real-time ionospheric modeling with multi-GNSS observations

Precise positioning based on Global Navigation Satellite System (GNSS) technique requires high accuracy ionospheric total electron content (TEC) correction models to account for the ionospheric path delay errors. We present an adjusted Spherical Harmonics Adding KrigING method (SHAKING) approach for regional ionospheric vertical TEC (VTEC) modeling in real time. In the proposed SHAKING method, the VTEC information over the sparse observation data area is extrapolated by the Adjusted Spherical Harmonic (ASH) function, and the boundary distortion in regional VTEC modeling is corrected by the stochastic VTEC estimated using Kriging interpolation. Using real-time GPS, GLONASS and BDS-2/3 data streams of the Crust Movement Observation Network of China (CMONOC), the SHAKING-based regional ionospheric VTEC maps are re-constructed over China and its boundary regions. Compared to GNSS VTECs derived from the independent stations, the quality of SHAKING solution improves by 13–31% and 6–33% with respect to the ASH-only solution during high and low geomagnetic periods, respectively. Compared to the inverse distance weighting (IDW) generated result, significant quality improved of SHAKING-based VTEC maps is also observed, especially over the edge areas with an improvement of 60–80%. Overall, the proposed SHAKING method exhibits notable advantage over the existing regional VTEC modeling techniques, which can be used for regional TEC modeling and associated high-precision positioning applications.     

Using GPS-TEC data to calibrate VTEC computed with the IRI model over Nigeria

This paper presents the development of a Total Electron Content (TEC) map for the Nigerian ionosphere. In this work, TEC measurements obtained from the AFRL-SCINDA GPS (Air Force Research Laboratory-Scintillation Network Decision Aid, Global Positioning System) equipment installed at Nsukka (6.87°N, 7.38°E) are used to adapt the International Reference Ionosphere (IRI) model for the Nigerian Ionosphere. The map is being developed as a computer program (implemented in the MATLAB programming language) that shows spatial and temporal representations of TEC for the Nigerian ionosphere. The method is aimed at showing how the IRI model can be used to estimate VTEC over wide areas by incorporating GPS measurements. This method is validated by using GPS VTEC data collected from a station in Ilorin (8.50°N, 4.55°E).     

Electron density retrieval from occulting GNSS signals using a gradient-aided inversion technique

In the coming years, opportunities for remote sensing of electron density in the Earth’s ionosphere will expand with the advent of Galileo, which will become part of the global navigation satellite system (GNSS). Methods for accurate electron density retrieval from radio occultation data continue to improve. We describe a new method of electron density retrieval using total electron content measurements obtained in low Earth orbit. This method can be applied to data from dual-frequency receivers tracking the GPS or Galileo transmitters. This simulation study demonstrates that the method significantly improves retrieval accuracy compared to the standard Abel inversion approach that assumes a spherically symmetric ionosphere. Our method incorporates horizontal gradient information available from global maps of Total Electron Content (TEC), which are available from the International GNSS Service (IGS) on a routine basis. The combination of ground and space measurements allows us to improve the accuracy of electron density profiles near the occultation tangent point in the E and F regions of the ionosphere.     

基于BP神经网络技术的电离层VTEC融合

随着电离层探测技术的不断发展，电离层观测资料也越来越多，只使用单一的观测资料会出现电离层反演精度不高的问题。为了提高电离层的反演精度，使用BP神经网络技术将地基反演和国际参考电离层(international reference ionosphere，IRI)模型的垂直总电子含量（vertical total electron content，VTEC）数据进行有效融合。在温带地区\[35°(N)~45°(N)，60°(E)~80°(E)\]进行电离层反演试验，结果表明基于BP神经网络技术的电离层数据融合和地基反演获得的电离层VTEC精度都比较高，但是基于BP神经网络的电离层数据融合反演精度比地基反演更高，所以基于BP神经网络技术的数据融合能够提高电离层的反演精度。     

利用COSMIC数据构建的全球垂直TEC图的验证研究

在日固坐标系(地磁纬度和地方时)下, 累积地方时过去24h的COSMIC(Constellation Observing System for Meteorology Ionosphere andClimate)观测资料, 通过对110$sim$750km高度范围内的电子密度进行数值积分得到各掩星点的垂直TEC值, 进而利用Kriging方法插值产生近实时的全球地方时MAGLat2.5°×2h的COSMIC TEC图. 利用2008年1月1日至2010年6月30日共30个月的COSMIC数据, 逐日构建COSMICTEC图, 将其与全球导航卫星系统服务组织(International GNSS Service,IGS)发布的全球电离层TEC图(Global Ionospheric Maps, GIMs)以及OSTM/JASON-2卫星高度计观测值分别进行比对,证明利用COSMIC掩星资料构建全球电离层垂直TEC图是可行的.      

NeQuick 2 and IRI Plas VTEC predictions for low latitude and South American sector

Using vertical total electron content (VTEC) measurements obtained from GPS satellite signals the capability of the NeQuick 2 and IRI Plas models to predict VTEC over the low latitude and South American sector is analyzed. In the present work both models were used to calculate VTEC up to the height of GPS satellites. Also, comparisons between the performance of IRI Plas and IRI 2007 have been done. The data correspond to June solstice and September equinox 1999 (high solar activity) and they were obtained at nine stations. The considered latitude range extends from 18.4°N to ?64.7°N and the longitude ranges from 281.3°E to 295.9°E in the South American sector. The greatest discrepancies among model predictions and the measured VTEC are obtained at low latitudes stations placed in the equatorial anomaly region. Underestimations as strong as 40?TECU [1?TECU?=?10¹⁶?m^?2] can be observed at BOGT station for September equinox, when NeQuick2 model is used. The obtained results also show that: (a) for June solstice, in general the performance of IRI Plas for low latitude stations is better than that of NeQuick2 and, vice versa, for highest latitudes the performance of NeQuick2 is better than that of IRI Plas. For the stations TUCU and SANT both models have good performance; (b) for September equinox the performances of the models do not follow a clearly defined pattern as in the other season. However, it can be seen that for the region placed between the Northern peak and the valley of the equatorial anomaly, in general, the performance of IRI Plas is better than that of NeQuick2 for hours of maximum ionization. From TUCU to the South, the best TEC predictions are given by NeQuick2.The source of the observed deviations of the models has been explored in terms of CCIR foF2 determination in the available ionosonde stations in the region. Discrepancies can be also related to an unrealistic shape of the vertical electron density profile and or an erroneous prediction of the plasmaspheric contribution to the vertical total electron content. Moreover, the results of this study could be suggesting that in the case of NeQuick, the underestimation trend could be due to the lack of a proper plasmaspheric model in its topside representation. In contrast, the plasmaspheric model included in IRI, leads to clear overestimations of GPS derived TEC.     

Analysis of the data processing strategies of spherical harmonic expansion model on global ionosphere mapping for moderate solar activity

Spherical harmonic (SH) expansion is widely used to model the global ionosphere map (GIM) of vertical total electron content (VTEC). According to the impact of different data processing methods of the SH expansion model on the VTEC maps, we specifically performed comprehensive analysis in terms of the data sampling rate, the time resolution, the spherical harmonic degree, and the relative constraint. One month of GPS data (January in 2016) from the International GNSS (Global Navigation Satellite System) Service (IGS) network in a moderate ionospheric activity period at the descending phase of Solar Cycle 24 was processed. To improve the computational efficiency of the daily GIM generation, the data sampling rate of 5?min was recommended allowing the GIM precision loss within 0.10 TECU (total electron content unit). The global VTEC map could be better represented in temporal and spatial domains with higher time resolution and higher spherical harmonic degree, especially at low latitude bands and in the southern hemisphere. The GIM precision improvement was about 10.91% for 1-h and about 15.15% for 0.5-h compared with the commonly used 2-h time resolution. The use of spherical harmonic degree 17 or 20 instead of 15 could improve the precision by 3.19% or 6.06%. We also found that an optimal relative constraint had to be found experimentally considering both the GIM precision and the GIM root mean square (RMS) map.     

Application of neural networks to South African GPS TEC modelling

The propagation of radio signals in the Earth’s atmosphere is dominantly affected by the ionosphere due to its dispersive nature. Global Positioning System (GPS) data provides relevant information that leads to the derivation of total electron content (TEC) which can be considered as the ionosphere’s measure of ionisation. This paper presents part of a feasibility study for the development of a Neural Network (NN) based model for the prediction of South African GPS derived TEC. The South African GPS receiver network is operated and maintained by the Chief Directorate Surveys and Mapping (CDSM) in Cape Town, South Africa. Vertical total electron content (VTEC) was calculated for four GPS receiver stations using the Adjusted Spherical Harmonic (ASHA) model. Factors that influence TEC were then identified and used to derive input parameters for the NN. The well established factors used are seasonal variation, diurnal variation, solar activity and magnetic activity. Comparison of diurnal predicted TEC values from both the NN model and the International Reference Ionosphere (IRI-2001) with GPS TEC revealed that the IRI provides more accurate predictions than the NN model during the spring equinoxes. However, on average the NN model predicts GPS TEC more accurately than the IRI model over the GPS locations considered within South Africa.     

Rapid local ionosphere modeling based on Precise Point Positioning over Iran: A case study under 2014 solar maximum

Presently, the ionosphere effect is the main source of the error in the Global Positioning System (GPS) observations. This effect can largely be removed by using the two-frequency measurements, while to obtain the reasonable results in the single-frequency applications, an accurate ionosphere model is required. Since the global ionosphere models do not meet our needs everywhere, the local ionosphere models are developed. In this paper, a rapid local ionosphere model over Iran is presented. For this purpose, the GPS observations obtained from 40 GPS stations of the Iranian Permanent GPS Network (IPGN) and 16 other GPS stations around Iran have been used. The observations have been selected under 2014 solar maximum, from the days 058, 107, 188 and 271 of the year 2014 with different geomagnetic activities. Moreover, ionospheric observables based on the precise point positioning (PPP) have been applied to model the ionosphere. To represent our ionosphere model, the B-spline basis functions have been employed and the variance component estimation (VCE) method has been used to regularize the problem.To show the efficiency our PPP-derived local ionosphere model with respect to the International GNSS Service (IGS) global models, these models are applied on the single point positioning using single-frequency observations and their results are compared with the precise coordinates obtained from the double-differenced solution using dual-frequency observations. The results show that the 95th percentile of horizontal and vertical positioning errors of the single-frequency point positioning are about 3.1 and 13.6?m, respectively, when any ionosphere model are not applied. These values significantly improve when the ionosphere models are applied in the solutions. Applying CODE’s Rapid Global ionosphere map (CORG), improvements of 59% and 81% in horizontal and vertical components are observed. These values for the IGS Global ionosphere map (IGSG) are 70% and 82%, respectively. The best results are obtained from our local ionosphere model, where 84% and 87% improvements in horizontal and vertical components are observed. These results confirm the efficiency of our local ionosphere model over Iran with respect to the global models. As a by-product, the Differential Code Biases (DCBs) of the receivers are also estimated. In this line, we found that the intra-day variations of the receiver DCBs could be significant. Therefore, these variations must be taken into account for the precise ionosphere modeling.