Variability and climatology of precipitable water vapor from 12-year GPS observations in Taiwan

Because of global warming, global sea levels have risen, the frequency of drought in Taiwan is much more frequent in winter and spring, and rainfall tends to concentrate in summer. The probability of disaster-type weather has also increased significantly. Estimating precipitable water vapor (PWV) through GPS signals, related studies and analyses of weather conditions, and the effective use of meteorological forecasts have been valued by many meteorological research organizations and officials. In this study, PWV data from 2006 to 2017 and rainfall data were used for long-term harmonic analysis. PWV data calculated by ECMWF (ECMWF-PWV) and PWV data calculated by GPS (GPS-PWV) were subjected to regression analysis to verify the reliability of the GPS-PWV data. The research results show that GPS-PWV and ECMWF-PWV have extremely high correlations; however, the climatic characteristics of some regions and the high spatial resolution of GPS-PWV are able to accurately calculate the high topographic relief of small areas. It is judged that the GPS-PWV is more accurate than the ECMWF-PWV. It is worth noting that the PWV trend of the regions during the 6-year-before period has not changed very much, but the rainfall trend has changed obviously. Except for the eastern region, most of the regions show a decreasing trend year by year. More long-term observations are still needed to prove whether this phenomenon relates to global warming. Long-term rainfall analysis showed that the topography blocked water vapor to the western, southern, and mountainous regions, making them distinctly wet or dry. The harmonic curve showed great consistency with the peaks of PWV and rainfall. However, in the northern and eastern parts of the windward side, the time when maximum rainfall occurred each year may be one month later than the time when the maximum PWV value occurred each year. The reason for this difference is likely to be a decrease in the number of autumn typhoons, resulting in a nearly one-month difference in PWV peaks and rainfall peaks. Finally, we analyzed the linear trend of GPS-PWV and temperature for all regions in Taiwan, and found that annual increasing rate of GPS-PWV and temperature of all regions are within 0.4–0.5 mm/year and 0.04–0.11 C°/year, respectively.     

Determining the precipitable water vapor thresholds under different rainfall strengths in Taiwan

Precipitable Water Vapor (PWV) plays an important role for weather forecasting. It is helpful in evaluating the changes of the weather system via observing the distribution of water vapor. The ability of calculating PWV from Global Positioning System (GPS) signals is useful to understand the special weather phenomenon. In this study, 95 ground-based GPS and rainfall stations in Taiwan were utilized from 2006 to 2012 to analyze the relationship between PWV and rainfall. The PWV data were classified into four classes (no, light, moderate and heavy rainfall), and the vertical gradients of the PWV were obtained and the variations of the PWV were analyzed. The results indicated that as the GPS elevation increased every 100?m, the PWV values decreased by 9.5?mm, 11.0?mm, 12.2?mm and 12.3?mm during the no, light, moderate and heavy rainfall conditions, respectively. After applying correction using the vertical gradients mentioned above, the average PWV thresholds were 41.8?mm, 52.9?mm, 62.5?mm and 64.4?mm under the no, light, moderate and heavy rainfall conditions, respectively. This study offers another type of empirical threshold to assist the rainfall prediction and can be used to distinguish the rainfall features between different areas in Taiwan.     

Analysis of precipitable water vapor from GPS measurements in Chengdu region: Distribution and evolution characteristics in autumn

The rainfall process of Chengdu region in autumn has obvious regional features. Especially, the night-time rain rate of this region in this season is very high in China. Studying the spatial distribution and temporal variation of regional atmospheric precipitable water vapor (PWV) is important for our understanding of water vapor related processes, such as rainfall, evaporation, convective activity, among others in this area. Since GPS detection technology has the unique characteristics, such as all-weather, high accuracy, high spatial and temporal resolution as well as low cost, tracking and monitoring techniques on water vapor has achieved rapid developments in recent years. With GPS–PWV data at 30-min interval gathered from six GPS observational stations in Chengdu region in two autumns (September 2007–December 2007 and September 2008–December 2008), it is revealed that negative correlations exist between seasonally averaged value of GPS–PWV as well as its variation amplitude and local terrain altitude. The variation of PWV in the upper atmosphere of this region results from the water vapor variation from surface to 850 hPa. With the help of Fast Fourier Transform (FFT), it is found that the autumn PWV in Chengdu region has a multi-scale feature, which includes a seasonal cycle, 22.5 days period (quasi-tri-weekly oscillation). The variation of the GPS–PWV is related to periodical change in the transmitting of the water vapor caused by zonal and meridional wind strengths’ change and to the East Asian monsoon system. According to seasonal variation characteristics, we concluded that the middle October is the critical turning point in PWV content. On a shorter time scale, the relationship between autumn PWV and ground meteorological elements was obtained using the composite analysis approach.     

High temporal resolution global PWV dataset of 2005–2016 by using a neural network approach to determine the mean temperature of the atmosphere

Atmospheric water vapour plays an important role in phenomena related to the global hydrologic cycle and climate change. However, the rapid temporal–spatial variation in global tropospheric water vapour has not been well investigated due to a lack of long-term, high-temporal-resolution precipitable water vapour (PWV). Accordingly, this study generates an hourly PWV dataset for 272 ground-based International Global Navigation Satellite System (GNSS) Service (IGS) stations over the period of 2005–2016 using the zenith troposphere delay (ZTD) derived from global-scale GNSS observation. The root mean square (RMS) of the hourly ZTD obtained from the IGS tropospheric product is approximately 4 mm. A fifth-generation reanalysis dataset of the European Centre for Medium-range Weather Forecasting (ECMWF ERA5) is used to obtain hourly surface temperature (T) and pressure (P), which are first validated with GNSS synoptic station data and radiosonde data, respectively. Then, T and P are used to calculate the water vapour-weighted atmospheric mean temperature (Tm) and zenith hydrostatic delay (ZHD), respectively. T and P at the GNSS stations are obtained via an interpolation in the horizontal and vertical directions using the grid-based ERA5 reanalysis dataset. Here, Tm is calculated using a neural network model, whereas ZHD is obtained using an empirical Saastamoinen model. The RMS values of T and P at the collocated 693 radiosonde stations are 1.6 K and 3.1 hPa, respectively. Therefore, the theoretical error of PWV caused by the errors in ZTD, T and P is on the order of approximately 2.1 mm. A practical comparison experiment is performed using 97 collocated radiosonde stations and 23 GNSS stations equipped with meteorological sensors. The RMS and bias of the hourly PWV dataset are 2.87/?0.16 and 2.45/0.55 mm, respectively, when compared with radiosonde and GNSS stations equipped with meteorological sensors. Additionally, preliminary analysis of the hourly PWV dataset during the EI Niño event of 2014–2016 further indicates the capability of monitoring the daily changes in atmospheric water vapour. This finding is interesting and significant for further climate research.     

Near real-time estimation of tropospheric water vapour content from ground based GNSS data and its potential contribution to weather now-casting in Austria

The importance of high resolution meteorological analysis of the atmosphere increased over the past years. A detailed analysis of the humidity field is an important precondition for a better monitoring of local and regional extreme precipitation events and for forecasts with improved spatial resolution. For this reason, the Austrian Meteorological Agency (ZAMG) is operating the spatial and temporal high resolution INCA system (Integrated Now-casting through Comprehensive Analysis) since begin of 2005. Errors in this analysis occur mainly in the areas of rapidly changing and hard to predict weather conditions or rugged topography with extreme differences in height such as the alpine area of Austria. The aim of this work is to provide GNSS based measurements of the tropospheric water vapour content with a temporal resolution of 1 h and a temporal delay of less than 1 h to assimilate these estimates into the INCA system. Additional requirement is an accuracy of better than 1 mm of the precipitable water (PW) estimates.     

Retrieval of the change of precipitable water vapor with zenith tropospheric delay in the Chinese mainland

As a preliminary step for assessing the impact of global positioning system (GPS) refractive delay data in numerical weather prediction (NWP) models, the GPS zenith tropospheric delays (ZTD) are analyzed from 28 permanent GPS sites in the Chinese mainland. The objectives are to estimate the GPS ZTD and their variability in this area. The differences between radiosonde precipitable water vapor (PWV) and GPS PWV have a standard deviation of 4 mm in delay, a bias of 0.24 mm in delay, and a correlation coefficient of 0.94. The correlation between GPS ZTD and radiosonde PWV amounts to 0.89, indicating that the variety of tropospheric zenith delay can reflect the change of precipitable water vapor. The good agreement also guarantees that the information provided by GPS will benefit the NWP models. The time series of GPS ZTD, which were derived continuously from 2002 to 2004, are used to analyze the change of precipitable water vapor in Chinese mainland. It shows that the general trend of GPS ZTD is diminishing from the south-east coastland to the north-west inland, which is in accordance with the distribution of Chinese annual amount of rainfall. The temporal distribution of GPS ZTD in the Chinese mainland is that the GPS ZTD reaches maximum in summer, and it reaches minimum in winter. The long term differences between the observational data sources require further study before GPS derived data become useful for climate studies.     

Comparison of satellite orbit ephemerides for use in GPS meteorology

This paper discusses GPS (Global Position System) meteorology. The research presented is based on a comparison of values of precipitable water vapour PWV, based on GPS measurements using final and predicted ephemerides of satellite orbits. We analysed recent year’s improvement in predicting ephemerides. We compared the data outputs from a radiosonde using GPS receiver measurements directly from the meteorological station from which the radiosondes were launched. The results indicate a high quality of the predicted ephemerides. This finding makes predicted ephemerides highly usable for near real-time estimations of PWV. To use PWV in meteorological forecast applications, this high speed of PWV values supply is necessary.     

An investigation of ionospheric disturbances over South Africa during the magnetic storm on 15 May 2005

The effects of the 15 May 2005 severe geomagnetic storm on the South African ionosphere are studied using ground-based and satellite observations. Ionospheric disturbances have less frequently been investigated over mid-latitude regions. Recently, a number of studies investigated their evolution and generation over these regions. This paper reports on the first investigation of travelling ionospheric disturbances (TIDs) over mid-latitude South Africa. Using global positioning system (GPS)-derived total electron content (TEC) variations from the South African network of dual frequency GPS receivers, we were able to examine the effects of the disturbance on the TEC. During this storm, two TEC enhancements were observed at low- and mid-latitudes: the first enhancement was observed between 30–45°S geomagnetic latitudes associated with equatorward neutral winds and the passage of a TID, while the second TEC enhancement is associated with a second TID. In addition, the F-region critical frequency (foF2) values observed at two ionosonde stations show response features that differ from those of the TEC during the disturbance period. The dissimilarity between the TEC and the foF2 suggests that two competing drivers may have existed, i.e., the westward electric field and equatorward neutral wind effects.     

Development of a GNSS water vapour tomography system using algebraic reconstruction techniques

A GNSS water vapour tomography system developed to reconstruct spatially resolved humidity fields in the troposphere is described. The tomography system was designed to process the slant path delays of about 270 German GNSS stations in near real-time with a temporal resolution of 30 min, a horizontal resolution of 40 km and a vertical resolution of 500 m or better. After a short introduction to the GPS slant delay processing the framework of the GNSS tomography is described in detail. Different implementations of the iterative algebraic reconstruction techniques (ART) used to invert the linear inverse problem are discussed. It was found that the multiplicative techniques (MART) provide the best results with least processing time, i.e., a tomographic reconstruction of about 26,000 slant delays on a 8280 cell grid can be obtained in less than 10 min. Different iterative reconstruction techniques are compared with respect to their convergence behaviour and some numerical parameters. The inversion can be considerably stabilized by using additional non-GNSS observations and implementing various constraints. Different strategies for initialising the tomography and utilizing extra information are discussed. At last an example of a reconstructed field of the wet refractivity is presented and compared to the corresponding distribution of the integrated water vapour, an analysis of a numerical weather model (COSMO-DE) and some radiosonde profiles.     

磁暴期间电离层扰动的GPS台网观测分析

给出了一种利用GPS台网观测获取TEC快速变化的计算方法，并将该方法用于东亚一澳大利亚扇区的GPS台网观测数据，分析了2000年7月14—18H大磁暴期间的电离层响应，揭示出电离层暴期间赤道异常峰的压缩和移动等特性．计算结果表明，在站点分布不均匀、原始观测数据不足且随时间跳变等多种不利因素的影响下，这种新的算法仍能保持很好的计算稳定性，并能快速地提取给定时空范围内的三维TEC短时变化的特征，适用于研究电离层暴等情况下引起的TEC扰动．     

Tomographic determination of the spatial distribution of water vapor using GPS observations

With the advent of the GPS navigation system, a promising ground based technique has been introduced which makes it possible to estimate the amount of water vapor in the troposphere from operational GPS networks at relatively low additional costs. While the estimation of the integrated amount is currently well established, the determination of the spatial water vapor distribution and its temporal variation are still a major challenge. To account for the vertical resolution, several tomographic approaches were pursued. We developed the software package AWATOS (atmospheric water vapor tomography software) which is based on the assimilation of double differenced GPS observations. Applying a least-squares inversion, the inhomogeneous spatial distribution of water vapor is determined. An extensive investigation has been carried out in Switzerland. GPS measurements are performed by the dense permanent Swiss national GPS network AGNES of the Swiss Federal Office of Topography (swisstopo). A total of 40 equally distributed water vapor profiles have been estimated on an hourly basis. For the purpose of validation, 22 radiosonde profiles were used at the GPS and meteorological station Payerne. Furthermore, data of the numerical weather model aLMo (alpine model in Switzerland, MeteoSwiss) were compared with the tomographic results. An overall good agreement of the three methods with an rms of better than 1.6 g/m³ absolute humidity was achieved. The results show that AGNES can be used as a dedicated network for the purpose of GPS-tomography, using a horizontal resolution of approximately 50 km and height layers of 300–500 m thickness in the lower troposphere.     

Pre-earthquake ionospheric anomalies before three major earthquakes by GPS-TEC and GIM-TEC data during 2015–2017

The dual-frequency satellite-based measurements from Global Positioning System (GPS) may provide feasible ways of studying and potentially detecting of earthquake (EQ) related anomalies in the ionosphere. In this paper, GPS based Total Electron Content (TEC) data are studied for three major M?>?7.0 EQs in Nepal and Iran-Iraq border during 2015–2017 by implementing statistical procedures on temporal and spatial scale. Previous studies presented different time interval of pre-seismic ionospheric anomalies, however, this study showed that EQs ionospheric precursors may occur within 10?days. Furthermore, the ionospheric anomalies on the suspected day occurred during UT?=?08:00–12:00?h before the main shock. The Global Ionospheric Map TEC (GIM-TEC) data retrieved over the epicenter of M7.8 (Nepal EQ) showed a significant increase of 6 TECU on April 24, 2015 (one day before the main shock), which is recorded by the ground GPS station data of Islamabad (station lies within the EQ preparation zone). Furthermore, the spatial GIM-TEC result imply significant anomalies over the epicenter during the time interval between UT?=?08:00–12:00?h (LT?=?13:00–17:00). For M7.3 (Nepal EQ), the TEC anomalies were detected on May 10, 2015 (2?days before the event) in the temporal data. The spatial TEC data imply the huge clouds over the epicenter at about UT?=?08:00–12:00?h on May 10, 2015, that may be associated with this EQ in the quiet geomagnetic storm conditions. Similarly, temporal and spatial TEC showed anomaly on November 3, 2017, during UT?=?08:00–12:00 (9?days before the Iran-Iraq border EQ) after implementing the statistical method on it. Conversely, there exists a short-term but low magnitude TEC anomaly synchronized with a geomagnetic storm on November 7–8, 2017 (4 to 5?days prior to M7.3 Iran-Iraq border EQ). The diurnal and hourly GIM-TEC and VTEC data also imply the execution of ionospheric anomalies within 10?days prior to all events. All these positive anomalies in TEC may be due to the existence of a huge energy from the epicenter during the EQ preparation period.     

Diagnostics of equatorial and low latitude ionosphere by TEC mapping over Brazil

The total electron content (TEC) in the equatorial and low-latitude ionosphere over Brazil was monitored in two dimensions by using 2011 data from the ground-based global navigation satellite system (GNSS) receiver network operated by the Brazilian Institute for Geography and Statistics. It was possible to monitor the spatial and temporal variations in TEC over Brazil continuously during both day and night with a temporal interval of 10 min and a spatial resolution of about 400 km. The daytime equatorial ionization anomaly (EIA) and post-sunset plasma enhancement (PS-EIA) were monitored over an area corresponding to a longitudinal extension of 4000 km in South America. Considerable day-to-day variation was observed in EIA and PS-EIA. A large latitudinal and longitudinal gradient of TEC indicated a significant ionospheric range error in application of the GNSS positioning system. Large-scale plasma bubbles after sunset were also mapped over a wide range. Depletions with longitudinally separated by more than 800 km were observed. They were extended by more than 2000 km along the magnetic field lines and drifted eastward. It is expected that 2-dimensional TEC mapping can serve as a useful tool for diagnosing ionospheric weather, such as temporal and spatial variation in the equatorial plasma trough and crest, and particularly for monitoring the dynamics of plasma bubbles.     

Analysis of precipitable water vapour characteristics from GNSS measurements during the snow season in Liaoning Province,China

Global Navigation Satellite System (GNSS) remote sensing precipitable water vapour (PWV) data from November 2015 to March 2019 were combined with snowfall observation data and used to analyse PWV characteristics in Liaoning Province during the snow season (from November to March the following year) and their relationship with snowfall. The potential of using GNSS for PWV measurements was demonstrated using sounding data with a correlation coefficient higher than 0.9 and a mean bias error lower than 0.5 mm. According to the GNSS PWV data gathered at 30-min intervals from 68 GNSS stations in Liaoning during the snow season, the monthly PWV average was highest in November and lowest in January. Negative correlations were found between PWV and altitude. Most of the water vapour was concentrated in the low layer of the atmosphere, and the contribution of this vapour to the PWV was higher during the snow season than in summer. A total of 43 snow cases were identified using the snowfall records from 53 GNSS stations, and the characteristics of PWV during these snowfalls were analysed. An increase in PWV was observed before snowfall events. Moreover, the influence of synoptic systems and air mass origins on PWV was analysed based on National Centers for Environmental Prediction (NCEP) reanalysis data and the Hybrid Single Particle Lagrangian Integrated Trajectory (HYSPLIT) model. The results show that the water vapour condition was better when the synoptic systems or air masses came from areas south of Liaoning.     

Ionospheric F-region response to geomagnetic disturbances

The F2-region reaction to geomagnetic storms usually called as an ionospheric storm is a rather complicated event. It consists of so called positive and negative phases, which have very complicated spatial and temporal behavior. The main morphological features of ionospheric storms and the main processes governing their behavior were understood at the end of the 1900s and described in a series of review papers. During the recent decade there were many publications dedicated to the problem of ionospheric storms. In this paper a concept of ionospheric storm morphology and physics formulated at the end of the 1990s is briefly summarized and the most interesting results obtained in the 2000s are described. It is shown that the main features of the studies of the previous decade were: the use of GPS TEC data for analyzing the ionospheric storm morphology, attraction of sophisticated theoretical models for studying the processes governing ionospheric behavior in disturbed conditions, and accent to analysis of ionospheric behavior during prominent events (very strong and great geomagnetic storms). Also a special attention was paid to the pre-storm enhancements in foF2 and TEC.     

The occurrence of the mid-latitude ionospheric trough in GPS-TEC measurements

Simultaneous GPS observations from about 150 stations of European Permanent Network (EPN) have been used for studying dynamics of latitudinal profiles and structure of mid-latitude ionospheric trough (MIT). For the analyses, the TEC maps over Europe were created with high spatial and temporal resolution. The latitudinal profiles were produced from TEC maps with one-hour interval for geographic latitude range from 35N to 75N. The structure of latitudinal profiles relates to the occurrence of the ionospheric trough. The location of the trough depends on season, local time, and both geophysical and geomagnetic conditions. The trough structure in GPS-TEC demonstrates a smooth shape. The trough occurrence as a distinguished structure is more distinct during winter. The relation of TEC in the trough minimum to the equator and polar walls amounted to a factor of 2–4.     

Estimation of precipitable water vapour from GPS measurements in Argentina: Validation and qualitative analysis of results

This paper presents PWV estimates from GPS data computed at four continuously operated GPS stations in Argentina established at Buenos Aires, Córdoba, Rosario and Salta over a 1 year period (2006–2007). The objective is to analyze the behaviour of the GPS PWV estimation using mean tropospheric temperature (_Tm$T_m$) values from the Bevis model, Sapucci model and obtained by a numerical integration of variables provided by the operational analysis of the National Centre of Environmental Prediction (NCEP). The results are validated using PWV values from nearest radio soundings. Moreover, a comparison between PWV values determined from microwave sensors deployed on the NOAA-18 satellite and PWV from GPS observations is also presented.     

Influence of different data fusion methods on the accuracy of three-dimensional displacements field

Combining multi-source data can improve the accuracy and the spatial resolution of the three-dimensional (3-D) displacements field. How to effectively integrate multi-source data to obtain high-precision and high spatial resolution 3-D displacements field is worthy of further study. The stochastic model and fusion model of integrating multi-source data affect the accuracy of data fusion. In this paper, based on the least squares method, the effects of different stochastic models and data fusion models on the 3-D displacements field’s accuracy are studied. The optimal method for estimating large-scale 3-D displacements field from integrated InSAR, leveling and GPS measurements is obtained. Then we realize the integrating InSAR, leveling and GPS measurements to obtain the high-precision 3-D displacements velocity field in Tianjin (China) from 2016 to 2018. The results are validated with GPS measurements at 6 independent stations, with the root mean squares (RMS) residuals of the discrepancies being 2.39 mm/yr, 2.54 mm/yr and 2.83 mm/yr in eastern, northern and vertical directions, respectively. By comparing different stochastic models, the 3-D displacements field obtained from multi-source data is optimized by the variance component estimation-least squares method, which is better than weighted least squares (WLS) method. By comparing different data fusion models, the accuracy of the horizontal displacements velocity is better than that of interpolated GPS results. The horizontal displacements component has a great influence on the vertical displacements velocity accuracy in the process of acquiring the 3-D displacements velocity by integrating InSAR, GPS and leveling measurements. This study provides a reference method for integrating multi-source data to obtain 3-D displacements field. This method effectively utilizes the advantages of GPS, InSAR and leveling measurements, and extends the limitations of single technical in describing surface-time scale applications. The 3-D displacements information with a large spatial scale and high spatial resolution provide a reliable data basis for studying the crustal movement and its dynamic mechanism.     

Ionospheric anomalies observed over South Korea preceding the Great Tohoku earthquake of 2011

We investigated the ionospheric anomalies observed before the Tohoku earthquake, which occurred near the northeast coast of Honshu, Japan on 11 March, 2011. Based on data from a ground-based Global Positioning System (GPS) network on the Korean Peninsula, ionospheric anomalies were detected in the total electron content (TEC) during the daytime a few days before earthquake. Ionospheric TEC anomalies appeared on 5, 8 and 11 March. In particular, the ionospheric disturbances on 8 March evidenced a remarkable increase in TEC. The GPS TEC variation associated with the Tohoku earthquake was an increase of approximately 20 total electron content units (TECU), observed simultaneously in local and global TEC measurements. To investigate these pre-earthquake ionospheric anomalies, space weather conditions such as the solar activity index (F10.7) and geomagnetic activity indices (the Kp and Dst indices) were examined. We also created two-dimensional TEC maps to visual the spatial variations in the ionospheric anomalies preceding the earthquake.     

Influence of ionospheric perturbations in GPS time and frequency transfer

The stability of GPS time and frequency transfer is limited by the fact that GPS signals travel through the ionosphere. In high precision geodetic time transfer (i.e. based on precise modeling of code and carrier phase GPS data), the so-called ionosphere-free combination of the code and carrier phase measurements made on the two frequencies is used to remove the first-order ionospheric effect. In this paper, we investigate the impact of residual second- and third-order ionospheric effects on geodetic time transfer solutions i.e. remote atomic clock comparisons based on GPS measurements, using the ATOMIUM software developed at the Royal Observatory of Belgium (ROB). The impact of third-order ionospheric effects was shown to be negligible, while for second-order effects, the tests performed on different time links and at different epochs show a small impact of the order of some picoseconds, on a quiet day, and up to more than 10 picoseconds in case of high ionospheric activity. The geomagnetic storm of the 30th October 2003 is used to illustrate how space weather products are relevant to understand perturbations in geodetic time and frequency transfer.