DORIS system: The new age

The boarding of the first DGXX DORIS instrument on Jason-2 mission gives us the opportunity to present the improvements that have been implemented on the DORIS system. The goal of this paper is to present information about the new capacities of the DORIS system and to give the current status of its components. An overview of the DORIS system, the International DORIS Service and the Jason-2 satellite mission are first presented. Then the new characteristics of the on-board instrument are detailed. The capacity to track up to seven ground beacons simultaneously dramatically increases the number of measurements performed: a factor of three increase over Jason-1 is observed at the altitude of 1330 km. It also increases the diversity of directions of observation and allows low elevation measurements from 0°. The new phase measurements capability allows now phase processing. The instability of the Jason-1 USOs (Ultra-Stable Oven-controlled quartz oscillator) while crossing the South Atlantic Anomaly has been solved by decreasing the sensitivity to radiation by a factor of 10. New features of the on-board software enhance the coastal and inland water altimetry and increase the robustness of the data. The new software also improves the real time orbit accuracy for operational altimetry. The improvements introduced concurrently on the ground segment have also significantly enhanced capability. The new RINEX exchange formats provide simultaneous phase and pseudo-range measurements. The maintenance of the DORIS Beacons Network and the work done by the DORIS Signal Integrity monitoring team lead to an increased availability of the Network from 75% to 90% and so to a more homogenous orbit coverage.     

Impact of Jason-2/T2L2 Ultra-Stable-Oscillator Frequency Model on DORIS stations coordinates and Earth Orientation Parameters

Doppler Orbitography and Radiopositioning Integrated by Satellite (DORIS) is a tracking technique based on a one-way ground to space Doppler link. For Low Earth Orbit (LEO) satellites, DORIS shows a robust capability in terms of data coverage and availability, due to a wide and well-distributed ground network, where data are made available by the International Doris Service (IDS). However, systematic errors remain in the DORIS data, such as instabilities of the on-board clock due to radiation encountered in space, which limit the accurate determination of station positions.The DORIS on-board clock frequency stability is degraded by the increased radiation found in the region of the South Atlantic Anomaly (SAA) and has been shown to degrade station position estimation. This paper introduces a new model correction to the DORIS data for the frequency of the Jason-2 Ultra Stable Oscillator (USO), derived from the Time Transfer by Laser Link (T2L2) experiment (Belli and Exertier, 2018). We show that a multi-satellite DORIS solution including this T2L2-corrected data applied to the frequency modelling for The DORIS data, improves the estimation of station coordinates. We show the tie residuals with respect to collocated GPS stations are improved by several millimeters. We also demonstrate that the 117-day (Jason-2) draconitic signal in the geophysical parameters is reduced, implying that the origin of this signal is not just solar radiation pressure mis-modeling, but also radiation-induced clock perturbations on the Jason-2 DORIS Ultra-Stable-Oscillator (USO). Finally we demonstrate through comparisons with the International Earth Rotations and Reference Systems Service (IERS) C04 series for Earth Orientation Parameters (EOP), that the estimation of EOP is improved in both a Jason-2 DORIS-only and a multi-satellite DORIS solution for EOP.     

DORIS processing at the European Space Operations Centre

This paper gives an overview of the DORIS related activities at the Navigation Support Office of the European Space Operations Centre. The DORIS activities were started in 2002 because of the launch of the Envisat satellite where ESOC is responsible for the validation of the Envisat Precise Orbits and a brief overview of the key Envisat activities at ESOC is given. Typical orbit comparison RMS values between the CNES POE (GDR-C) and the ESOC POD solution is 6.5, 18.8 and 23.1 mm in radial-, along- and cross-track direction. In the framework of the generation of the ITRF2008 ESOC participated in the reprocessing of all three space geodetic techniques; DORIS, SLR, and GPS. Here the main results of our DORIS reprocessing, in the framework of the International DORIS Service (IDS), are given. The WRMS of the weekly ESOC solution (esawd03) for the 2004–2009 period compared to the IDS-1 combined solution is of the order of 12 mm. Based on the long time series of homogeneously processed data a closer look is taken at the estimated solar radiation pressure parameters of the different satellites used in this DORIS analysis. The main aim being the stabilization of the Z-component of the geocentre estimates. We conclude that the ESOC participation to the IDS ITRF2008 contribution has been beneficial for both ESOC and the IDS. ESOC has profited significantly from the very open and direct communications and comparisons that took place within the IDS during the reprocessing campaign.     

Status of the T2L2/Jason2 Experiment

The T2L2 (Time Transfer by Laser Link) project, developed by CNES and OCA will permit the synchronization of remote ultra stable clocks and the determination of their performances over intercontinental distances. The principle of the experiment derives from Satellite Laser Ranging (SLR) technology with dedicated space equipment. T2L2 was accepted in 2005 to be on board the Jason2 altimetry satellite. The payload consists of both event timer and photo detection modules. The system uses the ultra-stable quartz oscillator of DORIS as on-board reference clock on one hand, and the Laser Reflector Array, making T2L2 a real two-way time transfer system on the other hand. The expected time stability of the T2L2 instrument (detection and timing), referenced by the DORIS oscillator and including all internal error sources should be at the level of 10–12 ps at 1 s and <1 ps at 1000 s. The metrological specifications of T2L2 should permit to maintain a precision of 1 to a few ps when measuring the phase of a clock during around 1000 seconds.     

Generating precise and homogeneous orbits for Jason-1 and Jason-2

Driven by the GMES (Global Monitoring for Environment and Security) and GGOS (Global Geodetic Observing System) initiatives the user community has a strong demand for high-quality altimetry products. In order to derive such high-quality altimetry products, precise orbits for the altimetry satellites are a necessity. With the launch of the TOPEX/Poseidon mission in 1992 a still on-going time series of high-accuracy altimetry measurements of ocean topography started, continued by the altimetry missions Jason-1 in 2001 and Jason-2/OSTM in 2008. This paper contributes to the on-going orbit reprocessing carried out by several groups and presents the efforts of the Navigation Support Office at ESA/ESOC using its NAPEOS software for the generation of precise and homogeneous orbits referring to the same reference frame for the altimetry satellites Jason-1 and Jason-2. Data of all three tracking instruments on-board the satellites (beside the altimeter), i.e. GPS, DORIS, and SLR measurements, were used in a combined data analysis. About 7 years of Jason-1 data and more than 1 year of Jason-2 data were processed. Our processing strategy is close to the GDR-C standards. However, we estimated slightly different scaling factors for the solar radiation pressure model of 0.96 and 0.98 for Jason-1 and Jason-2, respectively. We used 30 s sampled GPS data and introduced 30 s satellite clocks stemming from ESOC’s reprocessing of the combined GPS/GLONASS IGS solution. We present the orbit determination results, focusing on the benefits of adding GPS data to the solution. The fully combined solution was found to give the best orbit results. We reach a post-fit RMS of the GPS phase observation residuals of 6 mm for Jason-1 and 7 mm for Jason-2. The DORIS post-fit residuals clearly benefit from using GPS data in addition, as the DORIS data editing improves. The DORIS observation RMS for the fully combined solution is with 3.5 mm and 3.4 mm, respectively, 0.3 mm better than for the DORIS-SLR solution. Our orbit solution agrees well with external solutions from other analysis centers, as CNES, LCA, and JPL. The orbit differences between our fully combined orbits and the CNES GDR-C orbits are of about 0.8 cm for Jason-1 and at 0.9 cm for Jason-2 in the radial direction. In the cross-track component we observe a clear improvement when adding GPS data to the POD process. The 3D-RMS of the orbit differences reveals a good orbit consistency at 2.7 cm and 2.9 cm for Jason-1 and Jason-2. Our resulting orbit series for both Jason satellites refer to the ITRF2005 reference frame and are provided in sp3 file format on our ftp server.     

Jason-2 DORIS phase measurement processing

The DORIS instrument on Jason-2 is the first of a new generation. The satellite receivers have now seven simultaneous measurement channels, with synchronous dual frequency phase and pseudo-range measurements. These measurements are now described in a similar manner as GPS measurements and an extension of the RINEX 3.0 format has been defined for DORIS. Data are available to users with a shorter latency.     

DORIS and GPS monitoring of the Gavdos calibration site in Crete

Due to its specific geographical location as well as its geodetic equipment (DORIS, GNSS, microwave transponder and tide gauges), the Gavdos station in Crete, Greece is one of the very few sites around the world used for satellite altimetry calibration. To investigate the quality of the Gavdos geodetic coordinates and velocities, we analyzed and compared here DORIS and GPS-derived results obtained during several years of observations. The DORIS solution is the latest ignwd11 solution at IGN, expressed in ITRF2008, while the GPS solution was obtained using the GAMIT software package. Current results show that 1–2 mm/yr agreement can be obtained for 3-D velocity, showing a good agreement with current geophysical models. In particular, the agreement obtained for the vertical velocity is around 0.3–0.4 mm/yr, depending on the terrestrial reference frame. As a by-product of these geodetic GPS and DORIS results, Zenith Tropospheric Delays (ZTDs) estimations were also compared in 2010 between these two techniques, and compared to ECMWF values, showing a 6.6 mm agreement in dispersion without any significant difference between GPS and DORIS (with a 97.6% correlation), but with a 13–14 mm agreement in dispersion when comparing to ECMWF model (with only about 90% correlation for both techniques). These tropospheric delay estimations could also provide an external calibration of the tropospheric correction used for the geophysical data of satellite altimetry missions.     

Demonstration of the use of the Doppler Orbitography and Radio positioning Integrated by Satellite (DORIS) measurements to validate GPS ionospheric imaging

There is a lack of independent ionospheric data that can be used to validate GPS imaging results at mid latitudes over severe storm times. Doppler Orbitography and Radio positioning Integrated by Satellite (DORIS), a global network of dual-frequency ground to satellite observations, provides this missing data and here is employed as verification to show the accuracy of the ionospheric GPS images in terms of the total electron content (TEC). In this paper, the large-scale ionospheric structures that appeared during the strong geomagnetic storm of 20 November 2003 are reconstructed with a GPS tomographic algorithm, known as MIDAS, and validated with DORIS TEC measurements. The main trough shown in an extreme equatorward position in the ionospheric imaging over mainland Europe is confirmed by DORIS satellite measurements. Throughout the disturbed day, the variations of relative slant TECs between DORIS data and MIDAS results agree quite well, with the average of the mean differences about 2 TECu. We conclude that as a valuable supplement to GPS data, DORIS ionospheric measurements can be used to analyse TEC variations with a relatively high resolution, ∼10 s in time and tens of kilometres in space. This will be very helpful for identification of some highly dynamic structures in the ionosphere found at mid-latitudes, such as the main trough, TID (Travelling Ionospheric Disturbances) and SED (Storm Enhanced Density), and could be used as a valuable auxiliary data source in ionospheric imaging.     

Contributions of the French Institut Géographique National (IGN) to the International DORIS Service

DORIS is one of the four geodetic space techniques participating to the Global Geodetic Observing System (GGOS). Since the early development of this system, the Institut Géographique National played a specific and active role. Within, the International DORIS Service (IDS), IGN is in a particular position. While it is responsible for the installation and the maintenance of the DORIS ground tracking stations, it also handles one of the two IDS data center delivering DORIS data and products and has been an IDS Analysis Center for years, providing all possible IDS products, in particular the latest ignwd08 time series in preparation of ITRF2008. This paper explains the different aspects of the IGN contribution to IDS from an historical point of view, presents current activities and scientific results and provides a perspective for future activities. Recent DORIS results show a 10 mm precision or better when more than four DORIS satellites are available. Comparisons between recent DORIS solutions (ign07d02 and ign09d02) and past ITRF realizations show that errors are shared between the DORIS and the ITRF realizations. Some problems related to DORIS data processing are also discussed and possible ways to solve them in the future are discussed. In particular, we can now reject the tropospheric origin of the problem detected in the Envisat data after the software upload of October 12, 2004. A few applications in geodesy (terrestrial reference frame, Earth’s polar motion) and geophysics are also discussed as a natural extension of these service-type activities.     

Improving DORIS geocenter time series using an empirical rescaling of solar radiation pressure models

Even if Satellite Laser Ranging (SLR) remains the fundamental technique for geocenter monitoring, DORIS can also determine this geophysical parameter. Gobinddass et al. (2009) found that part of the systematic errors at 118 days and 1 year can be significantly reduced by rescaling the current solar radiation pressure models using satellite-dependent empirical models. Here we extend this study to all DORIS satellites and propose a complete set of empirical solar radiation parameter coefficients. A specific problem related to SPOT-5 solar panel realignment is also detected and explained. New DORIS geocenter solutions now show a much better agreement in amplitude with independent SLR solutions and with recent geophysical models. Finally, the impact of this refined DORIS data strategy is discussed in terms of Z-geocenter monitoring as well as for other geodetic products (altitude of high latitude station such as Thule in Greenland) and Precise Orbit Determination. After reprocessing the full 1993.0-2008.0 DORIS data set, we confirm that the proposed strategy allows a significant reduction of systematic errors at periods of 118 days and 1 year (up to 20 mm), especially for the most recent data after 2002.5, when more DORIS satellites are available for geodetic purposes.     

Refining DORIS atmospheric drag estimation in preparation of ITRF2008

In preparation of ITRF2008, all geodetic technique services (VLBI, SLR, GPS and DORIS) are generating new solutions based on combination of individual analysis centers solutions. These data reprocessing are based on a selection of models, parameterization and estimation strategy unique to each analysis center and to each technique. While a good agreement can be found for models between groups, thanks to the existence of the IERS conventions, a great diversity still exist for parameter estimation, allowing possible future improvements in this direction. The goal of this study is to focus on the atmospheric drag estimation used to generate the new DORIS/IGN ignwd08 time series prepared for ITRF2008. We develop here a method to inter-compare different processing strategies. In a first step, by analyzing single-satellite solutions for a few weeks of data but for a large number of possible analysis strategies, we demonstrate that estimating drag coefficient more frequently (typically every 1–2 h instead of previously every 4–8 h) for the lowest DORIS satellites (SPOTs and Envisat) provides better geodetic results for station coordinates and polar motion. This new processing strategy also solved earlier problem found when processing DORIS data during intense geomagnetic events, such as geomagnetic storms. Differences between drag estimation strategies can mostly be found during these few specific periods of extreme geomagnetic activity (few days per year). In such a case, when drag coefficient is only estimated every 6 h or less often for single-satellite solution, a significant degradation in station coordinate accuracy can be observed (120 mm vs. 20 mm) and significant biases arose in polar motion estimation (5 mas vs. 0.3 mas). In a second step, we reprocessed a full year of DORIS data (2003) in a standard multi-satellite mode. We were able to provide statistics on a more reliable data set and to strengthen these conclusions. Our proposed DORIS analysis is easy to implement in all software packages and is now already used by several analysis centers of the International DORIS Service (IDS) when submitting reprocessed solutions for ITRF2008.     

Quality Assessment of the IDS Contribution to ITRF2008

Doppler Orbitography Radiopositionning Integrated by Satellite (DORIS) is one of the four fundamental techniques contributing to the ITRF. The optimal coverage over the globe of the DORIS observing sites and sites co-located with GPS, allow a strong embedding of DORIS within the ITRF network. DORIS contributes to the access to ITRF through precise orbit determination of altimetric satellites with onboard DORIS receivers. The DORIS contribution to the ITRF2008 is enhanced by the fact that the solutions of seven analysis centers were included in the submitted combined time series of weekly station positions and daily polar motion. We evaluate the quality of the DORIS combined solution in terms of its agreement with the other techniques (VLBI, SLR, GPS) contributing to the ITRF2008 combination. We show in particular that the precisions of the current IDS products range between 1.5 to 2.6 mm for station positions (at the epochs of minimum variances); better than 1 mm/yr in velocities and between 170 and 260 micro-arc-seconds for polar motion, a significant improvement by a factor of three to five, compared to past data used in the ITRF2005 combination. This improvement is certainly due to improved analysis strategies employed by the seven IDS analysis centers that contributed to the combined weekly submitted solutions of station positions and polar motion. A spectral analysis of DORIS station height time series indicates that annual and semi-annual signals are dominant. However, TOPEX draconitic period of about 118 days is still detected in about 20% of the station position power spectra. DORIS height annual signals correlate well with GPS annual signal estimated at some co-located stations, which show that DORIS technique is able to detect loading signals.     

Analysis of the DORIS contributions to ITRF2008

In its function as an ITRS Combination Centre, DGFI is in charge with the computation of an ITRF2008 solution. The computation methodology of DGFI is based on the combination of datum-free normal equations (weekly or session data sets, respectively) of station positions and Earth orientation parameters (EOP) from the geodetic space techniques DORIS, GPS, SLR and VLBI. In this paper we focus on the DORIS part within the ITRF2008 computations. We present results obtained from the analysis of the DORIS time series for station positions, network translation and scale parameters, as well as for the terrestrial pole coordinates. The submissions to ITRF2008 benefit from improved analysis strategies of the seven contributing IDS analysis centres and from a combination of the weekly solutions of station positions and polar motion. The results show an improvement by a factor of two compared to past DORIS data submitted to ITRF2005, which has been evaluated by investigating the repeatabilities of position time series. The DORIS position time series were analysed w.r.t. discontinuities and other non-linear effects such as seasonal variations. About 40 discontinuities have been identified which have been compared with the results of an earlier study. Within the inter-technique combination we focus on the DORIS contribution to the integration of the different space geodetic observations and on a comparison of the geodetic local ties with the space geodetic solutions. Results are given for the 41 co-location sites between DORIS and GPS.     

Impact of DORIS ground antennas environment on their radio signal quality

Among the factors which may disrupt the DORIS measurements quality, the ground antennas environment is of high importance. For a set of 15 selected DORIS beacon, the differences between the effective and theoretical power received on-board the satellites (SPOT-5 and Envisat) have been analyzed in terms of spatial direction around the antenna. Such antenna maps have also been established regarding the Doppler residuals of the least-square precise orbit adjustment. Thanks to 360° views from the antennas and aerial views of the sites, the impact of the signal obstructions (trees, roofs, antennas …) on power attenuation and Doppler residuals is discussed. Depending on the nature of the obstructed object, the attenuation level can reach more than 5 dB, and the residual RMS of the orbit adjustment may be doubled from the nominal value, reaching 1 mm/s locally. The nature of the ground at the foot of the antennas has been correlated to DORIS signal quality at high elevation: reflections on flat surfaces (e.g. roofs) affect the signal more significantly than reflections on natural ground (e.g. soil). In particular, a modeling of the multipath phenomenon affecting Fairbanks site has been established and fits remarkably with the observations. Finally, an evaluation of the direct impact of obstructing objects on the orbit has also been performed. The example of a scaffolding at Kauai site displays a few millimeters error in the along-track position of the satellite.     

Low-latitude ionospheric scintillations and total electron content obtained with the CITRIS instrument on STPSat1 using radio transmissions from DORIS ground beacons

The primary objective of the Scintillation and Tomography Receiver in Space (CITRIS) is to detect ionospheric irregularities from space at low latitude. For this purpose, the satellite receiver uses the UHF and S-Band transmissions of the ground network of Doppler Orbitography and Radiopositioning Integrated by Satellite (DORIS) beacons. CITRIS, developed at the Naval Research Laboratory, differs from the normal DORIS receiver by being able to capture and store the complex amplitude of the 401.25 and 2036.25 MHz transmissions at 200 Hz sample rate. Ground processing of the CITRIS data yields total electron content (TEC) and both phase and amplitude scintillations. With CITRIS flying on the US Space Test Program (STP) satellite STPSat1, 2 years of data were collected and processed to determine the fluctuations in ionospheric TEC and radio scintillations associated with equatorial irregularities. CITRIS flights over DORIS transmitters yield direct measurements of the horizontal plasma density fluctuations associated with equatorial plasma bubbles. Future flights of CITRIS can provide valuable complements to other satellite instruments such as GPS occultation receivers used to estimate vertical electron density profiles in the ionosphere.     

Impact of orbit modeling on DORIS station position and Earth rotation estimates

The high precision of estimated station coordinates and Earth rotation parameters (ERP) obtained from satellite geodetic techniques is based on the precise determination of the satellite orbit. This paper focuses on the analysis of the impact of different orbit parameterizations on the accuracy of station coordinates and the ERPs derived from DORIS observations. In a series of experiments the DORIS data from the complete year 2011 were processed with different orbit model settings. First, the impact of precise modeling of the non-conservative forces on geodetic parameters was compared with results obtained with an empirical-stochastic modeling approach. Second, the temporal spacing of drag scaling parameters was tested. Third, the impact of estimating once-per-revolution harmonic accelerations in cross-track direction was analyzed. And fourth, two different approaches for solar radiation pressure (SRP) handling were compared, namely adjusting SRP scaling parameter or fixing it on pre-defined values.     

Studies of the geocenter motion using 16-years DORIS data

An accuracy of geocenter motion estimation is strongly dependent on the geodetic network size and stations distribution over the Earth’s surface. From this point of view DORIS system has an advantage, as its ground network of beacons consists of more than 50 sites, equally distributed over the Earth’s surface. Aiming to study variations of the geocenter movements, the results of DORIS data analysis for the time span 1993.0–2009.0 (inawd06.snx series), performed at the Analysis Centre of the Institute of astronomy of the Russian Academy of Sciences, have been used. DORIS data processing was made with GIPSY/OASIS II software, developed by Jet Propulsion Laboratory and modified for DORIS data processing by Institute Géographique National. Standard deviations of stations coordinates are estimated at the level 0.5–4.0 cm (internal consistency), depending on the number of satellites used in the solution. RMS of estimated components of the DORIS satellites orbits, compared with the solutions of other IDS analysis centres, do not exceed 1–2 cm. Weekly solutions for coordinates have been transformed from free network solutions (inawd06.snx series) to a well defined terrestrial reference frame ITRF2005 with the use of seven parameters of Helmert transformation, which were examined with a view to study variations of the geocenter movements (ina05wd01.geoc time series). In order to estimate linear trend, amplitudes, periods and phases of geocenter variation a method of linear regression was applied. The evaluated amplitudes of annual variations are of the order of 5–7 mm for X and Y components and 27–29 mm for Z component. Semi-annual amplitudes are also noticeable in all components (1–34 mm for X, Y and Z components). Secular trends in the DORIS geocenter coordinates are: −1.2, −0.1 and −0.3 mm/year for X, Y and Z directions respectively.     

An inter-comparison of zenith tropospheric delays derived from DORIS and GPS data

Doppler Orbitography Radiopositioning Integrated by Satellite (DORIS) and Global Positioning System (GPS) techniques are similarly affected by propagation delays in the neutral atmosphere (troposphere) and hence make use of similar data processing strategies for reducing this effect. We compare Zenith Tropospheric Delays (ZTDs) estimated from 52 DORIS and GPS station pairs co-located at 35 sites over the 2005–2008 period. We find an overall systematic negative mean bias of −4 mm and a median bias of −2 mm, with a large site-to-site scatter and especially stronger biases over South America, potentially linked to remaining problems related to the South Atlantic Anomaly (SAA) in the current DORIS data processing. The standard deviation of ZTD differences is in the range 4–12 mm over the globe (8 mm on average), with larger values located in the southern hemisphere. The spatial variability of differences is consistent with previous work but remains largely unexplained. DORIS is shown to be much less sensitive to instrumental changes than GPS (only the switch from Alcatel to Starec antenna at Toulouse is detected as an offset of −4 mm in the ZTD time series). On the opposite, discontinuities and spurious annual signals are found in the GPS ZTD solutions. A discontinuity of +5 mm is found on 5 November 2006, linked to the switch from relative to absolute GPS antenna models used in the data processing. The use of modified GPS antennas (e.g. at GODE) or improved antenna models is shown to reduce the spurious annual signal (e.g. from 5 mm to 2 mm at METS). Overall, the agreement between both techniques is good, though DORIS shows a significantly larger random scatter. The high stability and good spatial and temporal coverage make DORIS a potential candidate technique for meteorology and climate studies as long as reasonable time averaging can be applied (e.g. differences are reduced from 8.6 to 2.4 mm with 5-day averages) and no real-time application is considered. This technique could be considered as a potential contributor to Global Geodetic Observing System (GGOS) for climatology.