观测资料和卫星钟差对PPP参数收敛影响分析

在GPS 单点定位中, 参数解算的收敛时间和收敛稳定性是重要的研究内容之一, 影响收敛时间和收敛稳定性的因素很多, 本文主要就观测资料的不同采样间隔、卫星钟差资料的不同采样间隔、不同的定位精度要求对精密单点定位中参数收敛时间的影响进行了深入的分析探讨, 以中国上海GPS综合应用网中的12个测站资料为例, 分析了采样间隔、定位精度要求与收敛时间的关系, 并对不同采样间隔的收敛时间进行了统计分析, 得出一些初步结论.      

The realization and convergence analysis of combined PPP based on raw observation

In order to speed up Precise Point Positioning (PPP)’s convergence, a combined PPP method with GPS and GLONASS which is based on using raw observations is proposed, and the positioning results and convergence time have been compared with that of single system. The ionospheric delays and receiver’s Differential Code Bias (DCB) corrections are estimated as unknown parameters in this method. The numerical results show that the combined PPP has not caused significant impacts on the final solutions, but it greatly improved Position Dilution of Precision (PDOP) and convergence speed and enhanced the reliability of the solution. Meanwhile, the convergence speed is greatly influenced by the receiver’s DCB, positioning results in horizontal which are better than 10 cm can be realized within 10 min. In addition, the ionosphere and DCB products can be provided with high precision.     

Coastal sea level measurements using a single geodetic GPS receiver

This paper presents a method to derive local sea level variations using data from a single geodetic-quality Global Navigation Satellite System (GNSS) receiver using GPS (Global Positioning System) signals. This method is based on multipath theory for specular reflections and the use of Signal-to-Noise Ratio (SNR) data. The technique could be valuable for altimeter calibration and validation. Data from two test sites, a dedicated GPS tide gauge at the Onsala Space Observatory (OSO) in Sweden and the Friday Harbor GPS site of the EarthScope Plate Boundary Observatory (PBO) in USA, are analyzed. The sea level results are compared to independently observed sea level data from nearby and in situ tide gauges. For OSO, the Root-Mean-Square (RMS) agreement is better than 5 cm, while it is in the order of 10 cm for Friday Harbor. The correlation coefficients are better than 0.97 for both sites. For OSO, the SNR-based results are also compared with results from a geodetic analysis of GPS data of a two receivers/antennae tide gauge installation. The SNR-based analysis results in a slightly worse RMS agreement with respect to the independent tide gauge data than the geodetic analysis (4.8 cm and 4.0 cm, respectively). However, it provides results even for rough sea surface conditions when the two receivers/antennae installation no longer records the necessary data for a geodetic analysis.     

The impact of orbital errors on the estimation of satellite clock errors and PPP

Precise satellite orbit and clocks are essential for providing high accuracy real-time PPP (Precise Point Positioning) service. However, by treating the predicted orbits as fixed, the orbital errors may be partially assimilated by the estimated satellite clock and hence impact the positioning solutions. This paper presents the impact analysis of errors in radial and tangential orbital components on the estimation of satellite clocks and PPP through theoretical study and experimental evaluation. The relationship between the compensation of the orbital errors by the satellite clocks and the satellite-station geometry is discussed in details. Based on the satellite clocks estimated with regional station networks of different sizes (∼100, ∼300, ∼500 and ∼700 km in radius), results indicated that the orbital errors compensated by the satellite clock estimates reduce as the size of the network increases. An interesting regional PPP mode based on the broadcast ephemeris and the corresponding estimated satellite clocks is proposed and evaluated through the numerical study. The impact of orbital errors in the broadcast ephemeris has shown to be negligible for PPP users in a regional network of a radius of ∼300 km, with positioning RMS of about 1.4, 1.4 and 3.7 cm for east, north and up component in the post-mission kinematic mode, comparable with 1.3, 1.3 and 3.6 cm using the precise orbits and the corresponding estimated clocks. Compared with the DGPS and RTK positioning, only the estimated satellite clocks are needed to be disseminated to PPP users for this approach. It can significantly alleviate the communication burdens and therefore can be beneficial to the real time applications.     

Improvement of PPP-inferred tropospheric estimates by integer ambiguity resolution

Integer ambiguity resolution in Precise Point Positioning (PPP) can improve positioning accuracy and reduce convergence time. The decoupled clock model proposed by Collins (2008) has been used to facilitate integer ambiguity resolution in PPP, and research has been conducted to assess the model’s potential to improve positioning accuracy and reduce positioning convergence time. In particular, the biggest benefits have been identified for the positioning solutions within short observation periods such as one hour. However, there is little work reported about the model’s potential to improve the estimation of the tropospheric parameter within short observation periods. This paper investigates the effect of PPP ambiguity resolution on the accuracy of the tropospheric estimates within one hour.     

Coastal sea level changes in Europe from GPS,tide gauge,satellite altimetry and GRACE, 1993–2011

Sea level changes are threatening the human living environments, particularly along the European Coasts with highly dense population. In this paper, coastal sea level changes in western and southern Europe are investigated for the period 1993–2011 using Global Positioning System (GPS), Tide Gauge (TG), Satellite Altimetry (SA), Gravity Recovery and Climate Experiment (GRACE) and geophysical models. The mean secular trend is 2.26 ± 0.52 mm/y from satellite altimetry, 2.43 ± 0.61 mm/y from TG+GPS and 1.99 ± 0.67 mm/y from GRACE mass plus steric components, which have a remarkably good agreement. For the seasonal variations, annual amplitudes of satellite altimetry and TG+GPS results are almost similar, while GRACE Mass+Steric results are a little smaller. The annual phases agree remarkably well for three independent techniques. The annual cycle is mainly driven by the steric contributions, while the annual phases of non-steric (mass component) sea level changes are almost a half year later than the steric sea level changes.     

Combining GPS and GLONASS for time and frequency transfer

Geodetic time and frequency transfer (TFT) consists in a comprehensive modeling of code and carrier phase observations from Global Navigation Satellite System (GNSS) in order to determine the synchronization errors between two remote clocks connected to GNSS receivers. Using either common view (CV), or Precise Point Positioning (PPP), current GNSS time transfer uses only GPS measurements. This study combines GPS and GLONASS observations in geodetic TFT in order to determine the added value of the GLONASS data in the results. Using the software Atomium, we demonstrate on one hand that using both constellations improves the solution for both CV and PPP results when analysing short data batches. In that case, there are not enough GPS code data to calibrate the solution, and additional GLONASS code data allows us to retrieve a correct absolute value for the solution. On the other hand, the CV results of frequency transfer are not significantly affected by adding GLONASS data, while in PPP the combination with GLONASS modifies the frequency transfer results, and in particular the daily frequency offset, with maximum differences of 150 ps between the TFT solutions obtained with GPS-only or GPS + GLONASS.     

Ambiguity resolution in precise point positioning with hourly data for global single receiver

Integer ambiguity resolution (IAR) can improve precise point positioning (PPP) performance significantly. IAR for PPP became a highlight topic in global positioning system (GPS) community in recent years. More and more researchers focus on this issue. Progress has been made in the latest years. In this paper, we aim at investigating and demonstrating the performance of a global zero-differenced (ZD) PPP IAR service for GPS users by providing routine ZD uncalibrated fractional offsets (UFOs) for wide-lane and narrow-lane. Data sets from all IGS stations collected on DOY 1, 100, 200 and 300 of 2010 are used to validate and demonstrate this global service. Static experiment results show that an accuracy better than 1 cm in horizontal and 1–2 cm in vertical could be achieved in ambiguity-fixed PPP solution with only hourly data. Compared with PPP float solution, an average improvement reaches 58.2% in east, 28.3% in north and 23.8% in vertical for all tested stations. Results of kinematic experiments show that the RMS of kinematic PPP solutions can be improved from 21.6, 16.6 and 37.7 mm to 12.2, 13.3 and 34.3 mm for the fixed solutions in the east, north and vertical components, respectively. Both static and kinematic experiments show that wide-lane and narrow-lane UFO products of all satellites can be generated and provided in a routine way accompanying satellite orbit and clock products for the PPP user anywhere around the world, to obtain accurate and reliable ambiguity-fixed PPP solutions.     

Real-time zenith tropospheric delays in support of numerical weather prediction applications

The Geodetic Observatory Pecný (GOP) routinely estimates near real-time zenith total delays (ZTD) from GPS permanent stations for assimilation in numerical weather prediction (NWP) models more than 12 years. Besides European regional, global and GPS and GLONASS solutions, we have recently developed real-time estimates aimed at supporting NWP nowcasting or severe weather event monitoring. While all previous solutions are based on data batch processing in a network mode, the real-time solution exploits real-time global orbits and clocks from the International GNSS Service (IGS) and Precise Point Positioning (PPP) processing strategy. New application G-Nut/Tefnut has been developed and real-time ZTDs have been continuously processed in the nine-month demonstration campaign (February–October, 2013) for selected 36 European and global stations. Resulting ZTDs can be characterized by mean standard deviations of 6–10 mm, but still remaining large biases up to 20 mm due to missing precise models in the software. These results fulfilled threshold requirements for the operational NWP nowcasting (i.e. 30 mm in ZTD). Since remaining ZTD biases can be effectively eliminated using the bias-reduction procedure prior to the assimilation, results are approaching the target requirements in terms of relative accuracy (i.e. 6 mm in ZTD). Real-time strategy and software are under the development and we foresee further improvements in reducing biases and in optimizing the accuracy within required timeliness. The real-time products from the International GNSS Service were found accurate and stable for supporting PPP-based tropospheric estimates for the NWP nowcasting.     

Towards PPP-RTK: Ambiguity resolution in real-time precise point positioning

Integer ambiguity resolution at a single station can be achieved by introducing predetermined uncalibrated phase delays (UPDs) into the float ambiguity estimates of precise point positioning (PPP). This integer resolution technique has the potential of leading to a PPP-RTK (real-time kinematic) model where PPP provides rapid convergence to a reliable centimeter-level positioning accuracy based on an RTK reference network. Nonetheless, implementing this model is technically subject to how rapidly we can fix wide-lane ambiguities, stabilize narrow-lane UPD estimates, and achieve the first ambiguity-fixed solution. To investigate these issues, we used 7 days of 1-Hz sampling GPS data at 91 stations across Europe. We find that at least 10 min of observations are required for most receiver types to reliably fix about 90% of wide-lane ambiguities corresponding to high elevations, and over 20 min to fix about 90% of those corresponding to low elevations. Moreover, several tens of minutes are usually required for a regional network before a narrow-lane UPD estimate stabilizes to an accuracy of far better than 0.1 cycles. Finally, for hourly data, ambiguity resolution can significantly improve the accuracy of epoch-wise position estimates from 13.7, 7.1 and 11.4 cm to 0.8, 0.9 and 2.5 cm for the East, North and Up components, respectively, but a few tens of minutes is required to achieve the first ambiguity-fixed solution. Therefore, from the timeliness aspect, our PPP-RTK model currently cannot satisfy the critical requirement of instantaneous precise positioning where ambiguity-fixed solutions have to be achieved within at most a few seconds. However, this model can still be potentially applied to some near-real-time remote sensing applications, such as the GPS meteorology.     

Landslide monitoring by combining of CR-InSAR and GPS techniques

Considering the limitations related to the landslide monitoring by Interferometric Synthetic Aperture Radar (InSAR) technique, the method of integration of Globe Positioning System (GPS) with Corner Reflector Interferometric SAR (CR-InSAR) techniques is proposed in this paper. Firstly, deformation in radar line-of-slight (LOS) direction is optimized by introducing the GPS-measured height and atmospheric delay products into the CR-InSAR model. Then, GPS-measured horizontal deformation and CR-InSAR measured LOS deformation are combined to produce the more accurate vertical deformation. Finally, high precision three-dimensional deformation (N, E, U) is projected to the along-slope direction to monitor the actual movement of landslide. In order to test this method, four X-band stripmap-mode TerraSAR images, eight Trihedral Corner Reflectors (TCR) data and eight GPS observed data are collected to monitor the deformation of three potential landslide fields located at the north of Shaanxi province, China. The detailed analysis demonstrates that the estimated precision of along-slope direction is about two times better for proposed method (±1.1 mm) versus GPS (±2.1 mm) in this case. Meanwhile, our result indicates that almost all of the monitoring points present the trends of sliding down along the slope at the different levels from April 9 2011 to August 30 2011, showing the certain instability. Further investigation of the relationship between the magnitudes of displacement at CR points and the implementation of early control reflects the rationality of our result. Our proposed method could provide of the strong support in the high precision landslide deformation monitoring.     

GPS载波相位时间传递软件的实现

研究了基于精密单点定位原理的GPS载波相位时间传递方法的数学模型和数据处理方法,设计了相应的程序流程,并基于Visual C++和Fortran混合编程的方式编写了相应的计算程序GPSCPTT V1.0。采用实际观测数据进行实验验证,结果表明,软件可以实现高精度的时间传递。     

GNSS geodetic techniques for time and frequency transfer applications

We performed an initial analysis of the pseudorange data of the GIOVE-B satellite, one of the two experimental Galileo satellites currently in operation, for time transfer.¹ For this specific aim, software was developed to process the GIOVE-B raw pseudoranges and broadcast navigation messages collected by the Galileo Experimental Sensor Stations (GESS) tracking network, yielding station clock phase errors with respect to the Experimental Galileo System Time (EGST). The software also allows processing the Global Positioning System (GPS) P1 and P2 pseudorange data with broadcast navigation message collected at the same stations to obtain the station clock phase errors with respect to the GPS system time (GPST). Differencing these solutions between stations provides two independent means of GNSS time transfer. We compared these time transfer results with Precise Point Positioning (PPP) method applied to GPS data in combined carrier-phase and pseudorange mode as well as in pseudorange-only mode to show their relative merits. The PPP solutions in combined carrier-phase and pseudorange mode showed the least instability of the methods tested herein at all scales, at few parts in 10¹⁵ at 1 day for the stations processed, following a tau^−½ interval dependency. Conversely, the PPP solutions in pseudorange-only mode are an order of magnitude worst (few parts in 10¹⁴ at 1 day for the stations processed) following a tau⁻¹ power-law, but slightly better than the single-satellite raw GPS time transfer solutions obtained using the developed software, since the PPP least-squares solution effectively averages the pseudorange noise. The pseudorange noise levels estimated from PPP pseudorange residuals and from clock solution comparisons are largely consistent, providing a validation of our software operation. The raw GIOVE-B time transfer, as implemented in this work, proves to be slightly better than single-satellite raw GPS satellite time transfer, at least in the medium term. However, one of the processed stations shows a combined GPS P1 and P2 pseudorange noise level at 2 m, a factor 2 worst than usually seen for geodetic receivers, so the GPS time transfer results may not be at their best for the cases processed. Over the short term, the GPS single-satellite time transfer instability outperforms the GIOVE-B by an order of magnitude at 1 s interval, which would be due to the different characteristics of the tracking loop filters for GPS P1 and P2 on one hand and the GIOVE-B signals on the other. Even at this preliminary stage and using an experimental satellite system, results show that the GIOVE-B (and hence Galileo) signals offer interesting perspectives for high precision time transfer between metrological laboratories.     

The impact of microwave absorber and radome geometries on GNSS measurements of station coordinates and atmospheric water vapour

We have used microwave absorbing material in different geometries around ground-based Global Navigation Satellite System (GNSS) antennas in order to mitigate multipath effects on the estimates of station coordinates and atmospheric water vapour. The influence of a hemispheric radome – of the same type as in the Swedish GPS network SWEPOS – was also investigated. Two GNSS stations at the Onsala Space Observatory were used forming a 12 m baseline. GPS data from October 2008 to November 2009 were analyzed by the GIPSY/OASIS II software using the Precise Point Positioning (PPP) processing strategy for five different elevation cutoff angles from 5° to 25°. We found that the use of the absorbing material decreases the offset in the estimated vertical component of the baseline from ∼27 mm to ∼4 mm when the elevation cutoff angle varies from 5° to 20°. The horizontal components are much less affected. The corresponding offset in the estimates of the atmospheric Integrated Water Vapour (IWV) decreases from ∼1.6 kg/m² to ∼0.3 kg/m². Changes less than 5 mm in the offsets in the vertical component of the baseline are seen for all five elevation cutoff angle solutions when the antenna was covered by a hemispheric radome. Using the radome affects the IWV estimates less than 0.4 kg/m² for all different solutions. IWV comparisons between a Water Vapour Radiometer (WVR) and the GPS data give consistent results.     

Atmosphere sounding by GPS radio occultation: First results from TanDEM-X and comparison with TerraSAR-X

On 21 June 2010 the TerraSAR-X satellite was joined by the TanDEM-X satellite. A Global Positioning System (GPS) radio occultation (RO) experiment using the twin satellites has been carried out to estimate the precision of GPS atmospheric soundings. For the Day Of Year (DOY) 330–336, 2011, we analyze phase and amplitude data recorded by GPS receivers separated by a few hundred meters in a low earth orbit and derive collocated atmospheric refractivity profiles. In the altitude range 10–20 km the standard deviation between TerraSAR-X and TanDEM-X refractivity does not exceed 0.15%. The standard deviation is rapidly increasing for lower and higher altitudes; close to the surface and at an altitude of 30 km the standard deviation reaches 0.8% and 0.5%, respectively. Systematic deviations between TerraSAR-X and TanDEM-X refractivity in the considered altitude range (0–30 km) are negligible. The results confirm the anticipated high precision of the GPS RO technique. However, the difference in the retrieved refractivity in the lower troposphere for different Open Loop (OL) signal tracking parameters, altered onboard TanDEM-X for DOY 49–55, 2012, calls for an in depth analysis. At the moment we can not exclude that a potential bias in the OL Doppler model introduces a bias in our retrieved refractivity at altitudes <8$<8$ km.     

地磁暴期间北半球高纬度地区电离层变化特征及对精密定位的影响

基于加拿大地区高纬度电离层观测网的电离层闪烁观测数据,分析了2018年8月26日地磁暴事件引发的北半球高纬度地区电离层总电子含量（TEC）异常变化、TEC变化率指数（ROTI）及电离层相位闪烁的变化特征.结果表明:加拿大地区最大异常值约6 TECU,磁暴引发全球电离层TEC异常峰值高达20 TECU;加拿大地区电离层相位闪烁发生率最大增至12.6%,而磁静日期间约为1%;强电离层闪烁期间,电离层相位闪烁指数与ROTI之间具有较强的一致性.对GPS双频精密单点定位（Precise Point Positioning,PPP）结果进行分析发现:无闪烁期间定位误差随测站纬度的增高呈现出增大趋势,但均方根误差小于0.4m;闪烁发生期间各测站的定位误差均显著增大,水平和垂直方向定位误差分别增至约0.9m及1.7m.      

Orbit determination performances using single- and double-differenced methods: SAC-C and KOMPSAT-2

In this paper, Global Positioning System-based (GPS) Orbit Determination (OD) for the KOrea-Multi-Purpose-SATellite (KOMPSAT)-2 using single- and double-differenced methods is studied. The requirement of KOMPSAT-2 orbit accuracy is to allow 1 m positioning error to generate 1-m panchromatic images. KOMPSAT-2 OD is computed using real on-board GPS data. However, the local time of the KOMPSAT-2 GPS receiver is not synchronized with the zero fractional seconds of the GPS time internally, and it continuously drifts according to the pseudorange epochs. In order to resolve this problem, an OD based on single-differenced GPS data from the KOMPSAT-2 uses the tagged time of the GPS receiver, and the accuracy of the OD result is assessed using the overlapping orbit solution between two adjacent days. The clock error of the GPS satellites in the KOMPSAT-2 single-differenced method is corrected using International GNSS Service (IGS) clock information at 5-min intervals. KOMPSAT-2 OD using both double- and single-differenced methods satisfies the requirement of 1-m accuracy in overlapping three dimensional orbit solutions. The results of the SAC-C OD compared with JPL’s POE (Precise Orbit Ephemeris) are also illustrated to demonstrate the implementation of the single- and double-differenced methods using a satellite that has independent orbit information available for validation.     

Displacement monitoring performance of relative positioning and Precise Point Positioning (PPP) methods using simulation apparatus

Besides the classical geodetic methods, GPS (Global Positioning System) based positioning methods are widely used for monitoring crustal, structural, ground etc., deformations in recent years. Currently, two main GPS positioning methods are used: Relative and Precise Point Positioning (PPP) methods. It is crucial to know which amount of displacement can be detected with these two methods in order to inform their usability according to the types of deformation. Therefore, this study conducted to investigate horizontal and vertical displacement monitoring performance and capability of determining the direction of displacements of both methods using a developed displacement simulator apparatus. For this purpose, 20 simulated displacement tests were handled. Besides the 24?h data sets, 12?h, 8?h, 4?h and 2?h subsets were considered to examine the influence of short time spans. Each data sets were processed using GAMIT/GLOBK and GIPSY/OASIS scientific software for relative and PPP applications respectively and derived displacements were compared to the simulated (true) displacements. Then statistical significance test was applied. Results of the experiment show that using 24?h data sets, relative method can determine up to 6.0?mm horizontal displacement and 12.3?mm vertical displacement, while PPP method can detect 8.1?mm and 19.2?mm displacements in horizontal and vertical directions respectively. Minimum detected displacements are found to grow larger as time spans are shortened.     

LEO enhanced Global Navigation Satellite System (LeGNSS) for real-time precise positioning services

Global Navigation Satellite System (GNSS) has been widely used in many geosciences areas with its Positioning, Navigation and Timing (PNT) service. However, GNSS still has its own bottleneck, such as the long initialization period of Precise Point Positioning (PPP) without dense reference network. Recently, the concept of PNTRC (Positioning, Navigation, Timing, Remote sensing and Communication) has been put forward, where Low Earth Orbit (LEO) satellite constellations are recruited to fulfill diverse missions. In navigation aspect, a number of selected LEO satellites can be equipped with a transmitter to transmit similar navigation signals to ground users, so that they can serve as GNSS satellites but with much faster geometric change to enhance GNSS capability, which is named as LEO constellation enhanced GNSS (LeGNSS). As a result, the initialization time of PPP is expected to be shortened to the level of a few minutes or even seconds depending on the number of the LEO satellites involved. In this article, we simulate all the relevant data from June 8th to 14th, 2014 and investigate the feasibility of LeGNSS with the concentration on the key issues in the whole data processing for providing real-time PPP service based on a system configuration with fourteen satellites of BeiDou Navigation Satellite System (BDS), twenty-four satellites of the Global Positioning System (GPS), and sixty-six satellites of the Iridium satellite constellations. At the server-end, Precise Orbit Determination (POD) and Precise Clock Estimation (PCE) with various operational modes are investigated using simulated observations. It is found out that GNSS POD with partial LEO satellites is the most practical mode of LeGNSS operation. At the user-end, the Geometry Dilution Of Precision (GDOP) and Signal-In-Space Ranging Error (SISRE) are calculated and assessed for different positioning schemes in order to demonstrate the performance of LeGNSS. Centimeter level SISRE can be achieved for LeGNSS.     

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.