Global monitoring of tropospheric water vapor with GPS radio occultation aboard CHAMP

The global positioning system radio occultation (GPS RO) technique provides a powerful tool for atmospheric sounding which requires no calibration, is not affected by clouds, aerosols or precipitation, and provides an almost uniform global coverage. The paper deals with application of GPS RO measurements from CHAllenging Minisatellite Payload (CHAMP) for the retrieval of tropospheric water vapor profiles. CHAMP RO data are available since 2001 with up to 200 high resolution atmospheric profiles per day. We introduce a new direct method for water vapor retrieval from GPS RO data. Additionally, a 1Dvar algorithm is used for this purpose. The so derived CHAMP water vapor profiles are validated with radiosonde data on a global scale. Here, both methods come to statistically comparable results revealing a negative bias of less than 0.1 g/kg and a standard deviation of less than 1 g/kg specific humidity in the mid troposphere. Potentials of CHAMP RO retrievals for monitoring the mean tropospheric water vapor distribution on a global scale are presented.     

GPS sensing of precipitable water vapour during the March 2010 Melbourne storm

The March 2010 Melbourne storm is used as a case study to examine the potential of using Global Positioning System (GPS) observations for studying the precipitable water vapour (PWV) field. The Victorian statewide GPS infrastructure network, i.e. GPSnet, was used in this study. GPSnet is currently the only statewide and densest GPS infrastructure network in Australia, which provides an excellent opportunity to examine the distribution of water vapour as the severe weather system passed over the state. Data from 15 GPSnet stations were processed over a one-week period, i.e. a few days prior to and after the storm passage, during which the course of the storm extended from the west to the southeast corner of the state. In addition, data from two radiosonde sites of the Australian Bureau of Meteorology Upper Air Network were used to compare and validate the GPS derived PWV measurements. The findings demonstrate that there is strong spatial and temporal correlation between variations of the ground-based GPS-PWV estimates and the passage of the storm over the state. This is encouraging as the ground-based GPS water vapour sensing technique can be considered as a supplemental meteorological sensor in studying severe weather events. The advantage of using ground-based GPS-PWV technique is that it is capable of providing continuous observation of the storm passage with high temporal resolution. The spatial resolution of the distribution of water vapour is dependent on the geographical location and density of the GPS stations.     

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.     

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.     

GPS data processing of networks with mixed single- and dual-frequency receivers for deformation monitoring

In order to obtain crustal deformations of higher spatial resolution, existing GPS networks must be densified. This densification can be carried out using single-frequency receivers at moderate costs. However, ionospheric delay handling is required in the data processing. We adapt the Satellite-specific Epoch-differenced Ionospheric Delay model (SEID) for GPS networks with mixed single- and dual-frequency receivers. The SEID model is modified to utilize the observations from the three nearest dual-frequency reference stations in order to avoid contaminations from more remote stations. As data of only three stations are used, an efficient missing data constructing approach with polynomial fitting is implemented to minimize data losses. Data from large scale reference networks extended with single-frequency receivers can now be processed, based on the adapted SEID model. A new data processing scheme is developed in order to make use of existing GPS data processing software packages without any modifications. This processing scheme is evaluated using a sub-network of the German SAPOS network. The results verify that the new scheme provides an efficient way to densify existing GPS networks with single-frequency receivers.     

GNSS water vapour tomography – Expected improvements by combining GPS,GLONASS and Galileo observations

The German Research Centre for Geosciences (GFZ) operates a GNSS water vapour tomography system using about 350 German GNSS stations. The GNSS data processing at the GFZ works in near real-time and provides zenith total delays, integrated water vapour and slant delay data operationally. This large data set of more than 50,000 slant delays per hour is used to reconstruct spatially resolved humidity fields by means of tomographic techniques. It can be expected that additional observations from the future Galileo system provide more information with improved quality. A simulation study covering 12 h at 14 July 2009 was therefore started to estimate the impact of GPS, Galileo and GLONASS data on the GNSS tomography. It is shown that the spatial coverage of the atmosphere with slant paths is highly improved by combining observations from two or three satellite systems. Equally important for a reliable tomographic reconstruction is the distribution of slant path intersections as they are required to locate the integrated delay information. The number of intersection points can be increased by a factor of 4 or 8 if two or three systems are combined and their distribution will cover larger regions of the atmosphere. The combined data sets can be used to increase the spatiotemporal resolution of the reconstructed humidity fields up to 30 km horizontally, 300 m vertically and 15 min. The reconstruction quality could not be improved considerably using the currently available techniques.     

Annual,seasonal and diurnal variations of integrated water vapor using GPS observations over Hyderabad,a tropical station

This paper presents annual, seasonal and diurnal variations of integrated water vapor (IWV) derived from Global Positioning System (GPS) measurements for a tropical site, Hyderabad (17.4° N, 78.46° E). The zenith wet delay (ZWD) due to the troposphere has been computed using GPS observations and collocated meteorological data. ZWD is converted to IWV with very little added uncertainty. Mean monthly IWV values show maximum in July (~50 kg m⁻²) and minimum in December (~15 kg m⁻²). Fast Fourier Transform (FFT) and Harmonic analyses methods have been adopted to extract amplitudes and phases of diurnal (24 h), semi-diurnal (12 h) and ter-diurnal (8 h) oscillations which yielded comparable results. Amplitude of the 24 h component is observed to be maximum in spring whereas 12 h and 8 h components maximize in summer. A cross-correlation study between available daily IWV values and corresponding surface temperatures over one year produced a good correlation coefficient (0.44). The correlation obtained for different seasons got reduced to 0.25, 0.02, −0.39 and 0.21 for winter, spring, summer and autumn seasons respectively. The correlation between IWV and rainfall is poor. The coefficients obtained for the whole year is 0.05 and −0.13 for the rainy season.     

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.     

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。     

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．     

GPS软件接收机原理样机设计与实现

为了满足GPS/INS(Global Positioning System/Inertial Navigation System)超紧组合导航系统研究的需要,克服硬件接收机参数固定,适应性差的弱点,设计了一种参数可调、灵活控制的GPS软件接收机.采用GPS L1频率的中频采样信号,运用FFT(Fast Fourier Transform)频域捕获算法和锁相环与锁频环相互辅助的载波环路,实现了信号捕获、码环和载波环路跟踪、导航电文提取与解码、伪距及导航定位解算,并与NovAtel公司的FlexPax型硬件接收机进行了比较.跑车测试结果表明,该GPS软件接收机捕获迅速、跟踪准确,导航定位精度小于10m,动态抗干扰能力明显优于一般GPS硬件接收机,适合于GPS/INS超紧组合导航系统的应用.     

Precision analysis of troposphere sensing using GPS single-frequency signals

Various studies have been performed to investigate the accuracy of troposphere zenith wet delays (ZWDs) determined from GPS. Most of these studies use dual-frequency GPS data of large-scale networks with long baselines to determine the absolute ZWDs. For small-scale networks the estimability of the absolute ZWDs deteriorates due to high correlation between the solutions of the ZWDs and satellite-specific parameters as satellite clocks. However, as relative ZWDs (rZWDs) can always be estimated, irrespective of the size of the network, it is of interest to understand how the large-scale network rZWD-performance of dual-frequency GPS using an ionosphere-float model compares to the small-scale network rZWD-performance of single-frequency GPS using an ionosphere-weighted model. In this contribution such an analysis is performed using undifferenced and uncombined network parametrization modelling. In this context we demonstrate the ionosphere weighted constraints, which allows the determination of the rZWDs independent from signals on the second frequency. Based on an analysis of both simulated and real data, it is found that under quiet ionosphere conditions, the accuracy of the single-frequency determined rZWDs in the ionosphere-weighted network is comparable to that of the large-scale dual-frequency network without ionospheric constraints. Making use of the real data from two baselines of 15?days, it was found that the absolute differences of the rZWDs applying the two strategies are within 1?cm in over 90% and 95% of the time for ambiguity-float and -fixed cases, respectively.     

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.     

Tomographic reconstruction of wet and total refractivity fields from GNSS receiver networks

One of the most attractive scientific issues in the use of GNSS (Global Navigation Satellite System) signals, from a meteorological point of view, is the retrieval of high resolution tropospheric water vapour maps. The real-time (or quasi real-time) knowledge of such distributions could be very useful for several applications, from operative meteorology to atmospheric modelling. Moreover, the exploitation of wet refractivity field reconstruction techniques can be used for atmospheric delay compensation purposes and, as a very promising activity, it could be applied for example to calibrate SAR or Interferometric-SAR (In-SAR) observations for land remote sensing. This is in fact one of the objectives of the European Space Agency project METAWAVE (Mitigation of Electromagnetic Transmission errors induced by Atmospheric Water vapour Effects), in which several techniques are investigated and results were compared to identify a strategy to remove the contribution of water vapour induced propagation delays in In-SAR products. Within this project, the tomographic reconstruction of three dimensional wet refractivity fields from tropospheric delays observed by a local GNSS network (9 dual frequency GPS receivers) deployed over Como area (Italy), during 12–18 October, 2008, was performed. Despite limitations due to the network design, internal consistency tests prove the efficiency of the adopted tomographic approach: the rms of the difference between reconstructed and GNSS observed Zenith Wet Delays (ZWD) are in the order of 4 mm. A good agreement is also observed between our ZWDs and corresponding delays obtained by vertically integrating independent wet refractivity fields, taken by co-located meteorological analysis. Finally, during the observing period, reconstructed vertical wet refractivity profiles evolution reveals water vapour variations induced by simple cloud covering. Even if our main goal was to demonstrate the effectiveness in adopting tomographic reconstruction procedures for the evaluation of propagation delays inside water vapour fields, the actual water vapour vertical variability and its evolution with time is well reproduced, demonstrating also the effectiveness of the inferred 3D wet refractivity fields.     

Estimation of vertically integrated water vapor in Hungary using MODIS imagery

Information about the amount and spatial structure of atmospheric water vapor is essential in understanding meteorology and the Earth environment. Space-borne remote sensing offers a relatively inexpensive method to estimate atmospheric water vapor in the form of integrated water vapor (IWV). The research activity reported in the present paper is based on the data acquired by the HRPT/MODIS (High Resolution Picture Transmission, MODerate resolution Imaging Spectroradiometer) receiving station established in Budapest (Hungary) by the Space Research Group of the Eötvös Loránd University. Integrated water vapor is estimated by the remotely sensed data of the MODIS instrument with different methods and also by the operational numerical weather prediction model of the European Centre for Medium-Range Weather Forecasts (ECMWF). Radiosonde data are used to evaluate the accuracy of the different IWV fields though it has been pointed out that the in situ data also suffers from uncertainties. It was found that both the MODIS and the ECMWF based fields are of good accuracy. The satellite data represent finer scale spatial structures while the ECMWF data have a relatively poor spatial resolution. The high quality IWV fields have proved to be useful for radiative transfer studies such as the atmospheric correction of other satellite data from times different than the overpass times of satellites Terra/Aqua and the forecast times of the model data. For this purpose the temporal variability of IWV is scrutinized both using ECMWF and MODIS data. Taking advantage of Terra and Aqua overpasses, the mean rate of change of IWV estimated by the near infrared method was found to be 0.47 ± 0.45 kg m⁻² h⁻¹, while it was 0.13 ± 0.65 kg m⁻² h⁻¹ based on the infrared method. The numerical weather prediction model’s analysis data estimated −0.01 ± 0.13 kg m⁻² h⁻¹ for the mean growth rate, while using forecast data it was 0.24 ± 0.18 kg m⁻² h⁻¹. MODIS data should be used when available for the estimation of the IWV in other studies. If no satellite data are available, or available data are only from one overpass, ECMWF based IWV can be used. In this case the analysis fields (or the satellite field) should be used for temporal extrapolation but the rate of change should be calculated from the forecast data due to its higher temporal resolution.     

A comparative and numerical study of effects of gravity waves in small miss-distance and miss-time GPS radio occultation temperature profiles

The Global Positioning System (GPS) Radio Occultation (RO) technique has global coverage and is capable of generating high vertical resolution temperature profiles of the upper troposphere and lower stratosphere with sub-Kelvin accuracy and long-term stability, regardless of weather conditions. In this work, we take advantage of the anomalously high density of occultation events at the eastern side of the highest Andes Mountains during the initial mission months of COSMIC (Constellation Observing System for Meteorology, Ionosphere and Climate). This region is well-known for its high wave activity. We choose to study two pairs of GPS RO, both containing two occultations that occurred close in time and space. One pair shows significant differences between both temperature profiles. Numerical simulations with a mesoscale model were performed, in order to understand this discrepancy. It is attributed to the presence of a horizontal inhomogeneous structure caused by gravity waves.     

Seismic deformation of the Mw 8.0 Wenchuan earthquake from high-rate GPS observations

High-rate GPS positioning has been recognized as a powerful tool in estimating epoch-wise station displacement which is particularly useful for seismology. In this study, station displacements during the 12 May 2008 M_w 8.0 Wenchuan earthquake are derived from the 1-Hz GPS data collected at a set of stations in China. The impacts of integer ambiguity resolution and station environment-dependent effects are investigated in order to yield more accurate results. The position accuracy of horizontal components of better than 1 cm suggests that GPS can sense the rapid position oscillation of about 2 cm in amplitude. Temporal and spatial analysis is applied to the surface displacement at station XANY and the characteristics of the movements due to Rayleigh and Love waves are detected and discussed. The comparison of GPS-derived displacement with relevant synthetic data computed based on a recently published rapture model shows a reasonable agreement in waveform. The various differences in amplitude need further investigation and also imply that rapture inversion might be improved if GPS-derived displacement is assimilated.     

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.     

星载GPS观测数据的模拟研究

重点分析了星载GPS观测值模拟的原理、数学模型等，并用模拟软件模拟了CHAMP卫星的星载GPS观测值情况．结果表明，根据本文提供模拟方法所模拟的CHAMP星载GPS观测值，与实测值相比，无论是在大小还是观测噪声水平上都很接近，因此能满足不同层次人员对星载GPS模拟观测值的需要．     

Estimation of GPS instrumental biases from small scale network

With 4 GPS receivers located in the equatorial anomaly region in southeast China, this paper proposes a grid-based algorithm to determine the GPS satellites and receivers biases, and at the same time to derive the total electron content (TEC) with time resolution of 15 min and spatial resolution of 1° by 3.5° in latitude and longitude. By assuming that the TEC is identical at any point within a given grid block and the biases do not vary within a day, the algorithm arranges unknown biases and TECs with slant path TEC from the 4 receivers’ observations into a set of equations. Then the instrumental biases and the TECs are determined by using the least squares fitting technique. The performance of the method is examined by applying it to the GPS receiver chain observations selected from 16 geomagnetically quiet days in four seasons of 2006. It is found that the fitting agrees with the data very well, with goodness of fit ranging from 0.452 TECU to 1.914 TECU. Having a mean of 0.9 ns, the standard deviations for most of the GPS satellite biases are less than 1.0 ns for the 16 days. The GPS receiver biases are more stable than that of the GPS satellites. The standard deviation in the 4 receiver bias is from 0.370 ns to 0.855 ns, with a mean of 0.5 ns. Moreover, the instrumental biases are highly correlated with those derived from CODE and JPL with independent methods. The typical precision of the derived TEC is 5 TECU by a conservative estimation. These results indicate that the proposed algorithm is valid and qualified for small scale GPS network.