The Real-Time Global Navigation Satellite System(GNSS)Precise Positioning Service(RTPPS)is recognized as the most promising system by providing precise satellite orbit and clock correc-tions for users to achieve centi...The Real-Time Global Navigation Satellite System(GNSS)Precise Positioning Service(RTPPS)is recognized as the most promising system by providing precise satellite orbit and clock correc-tions for users to achieve centimeter-level positioning with a stand-alone receiver in real-time.Although the products are available with high accuracy almost all the time,they may occasionally suffer from unexpected significant biases,which consequently degrades the positioning perfor-mance.Therefore,quality monitoring at the system-level has become more and more crucial for providing a reliable GNSS service.In this paper,we propose a method for the monitoring of realtime satellite orbit and clock products using a monitoring station network based on the Quality Control(QC)theory.The satellites with possible biases are first detected based on the outliers identified by Precise Point Positioning(PPP)in the monitoring station network.Then,the corresponding orbit and clock parameters with temporal constraints are introduced and esti-mated through the sequential Least Square(LS)estimator and the corresponding Instantaneous User Range Errors(IUREs)can be determined.A quality indicator is calculated based on the IUREs in the monitoring network and compared with a pre-defined threshold.The quality monitoring method is experimentally evaluated by monitoring the real-time orbit and clock products generated by GeoForschungsZentrum(GFZ),Potsdam.The results confirm that the problematic satellites can be detected accurately and effectively with missed detection rate 4×10^(-6) and false alarm rate 1:2×10^(-5).Considering the quality alarms,the PPP results in terms of RMS of positioning differences with respect to the International GNSS Service(IGS)weekly solution in the north,east and up directions can be improved by 12%,10%and 27%,respectively.展开更多
The development of this technology has favored the advances noted in recent years in the field of precise positioning. It has also paved the way for a wide range of research into the evaluation of their performance an...The development of this technology has favored the advances noted in recent years in the field of precise positioning. It has also paved the way for a wide range of research into the evaluation of their performance and reliability, their potential use in different fields, the improvement of performance and combined systems, etc. Single-frequency GNSS receivers, which for a long time remained the only category of low-cost GNSS receivers, often limited by their level of accuracy (metric) mainly due to their single-frequency nature, have been joined in the last decade by dual-frequency GNSS receivers developed by certain manufacturers of positioning equipment. These receivers now offer possible alternatives to the relatively expensive conventional (topographic quality) or geodetic receivers and. In this study, the performance of these low-cost dual-frequency receivers was evaluated in static and real-time kinematic GNSS positioning modes. Static positioning was carried out on three points with sessions of 2 h and 4 h over three days with antenna swapping (CHC i50, Leica GS14 and Emlid Reach RS2+). Real-time observations were carried out on eleven (11) points in open, poorly open and not at all open environments, in order to assess not only performance but also receiver sensitivity in environments with a high risk of multipath. The results obtained showed an average agreement of 2 cm in planimetry between the low-cost Emlid RS2+ receiver and the Leica GS14 and CHC i50 receivers. The differences in altimetry are nevertheless greater (sometimes up to decimetres for certain points). Real-time positioning results provided an average convergence of around 1 cm on the E, N and H components with the results from the low-cost Emlid Reach RS2+ and Ublox ZED-F9P receivers and the CHC i50 receiver. Analysis of the results obtained has enabled us to highlight the various issues and challenges associated with this new generation of GNSS receivers, with a view to enhancing their appropriation and optimal integration in the professional and research worlds.展开更多
This study explores the use of the Global Navigation Satellite System(GNSS)precise point positioning(PPP)technology to determine the natural vibration periods of towering structures through simulations and field testi...This study explores the use of the Global Navigation Satellite System(GNSS)precise point positioning(PPP)technology to determine the natural vibration periods of towering structures through simulations and field testing.During the simulation phase,a GNSS receiver captured vi-bration waveforms generated by a single-axis motion simulator based on preset signal parameters,analyzing how different satellite system configurations affect the efficiency of extracting vibration parameters.Subsequently,field tests were conducted on a high-rise steel singletube tower.The results indicate that in the simulation environment,no matter the PPP positioning data under single GPS or multisystem combination,the vibration frequency of singleaxis motion simulator can be accurately extracted after frequency do-main analysis,with multisystem setups providing more precise amplitude parameters.In the field test,the natural vibration periods of the main vibration modes of high-rise steel single-tube tower measured by PPP technology closely match the results of the first two modes derived from finite element analysis.The first mode period calculated by the em-pirical formula is approximately 6%higher than those determined through finite element analysis and PPP.This study demonstrates the potential of PPP for structural vibration analysis,offering significant benefits for assessing dynamic responses and monitoring the health of towering structures.展开更多
Crustal deformation can provide constraints for studying earthquake rupture and shock wave transmission for the Mw9.0 eastern Japan great earthquake. Using the single- epoch precise point positioning （PPP） method an...Crustal deformation can provide constraints for studying earthquake rupture and shock wave transmission for the Mw9.0 eastern Japan great earthquake. Using the single- epoch precise point positioning （PPP） method and the appropriate positioning flow, we process GPS data from six IGS （International GNSS Service） sites （e.g., MIZU, TSK2, USUD, MTKA, AIRA and KSMV） located in Japan and obtain the positioning results with centimeter scale precision. The displacement time series of the six sites are analyzed using the least squares spectral analysis method to estimate deformations caused by the Mw9.0 mainshock and the Mw7.9 aftershock, and the cumulative displacements after 1 day. Mainshock displacements at station MIZU, the nearest site to the mainshock in the North （N）, East （E）, and Up （U） directions, are -1.202 m, 2.180 m and -0.104 m, respectively, and the cumulative deformations after 1 day are -1.117 m, 2.071 m and -0.072 m, respectively. The displacements at station KSMV, the nearest site to the Mw7.9 aftershock in the N, E and U directions, are -0.032 m, 0.742 m and -0.345 m, respectively. The other sites obviously experienced eastern movements and subsidence. The deformation vectors indicate that the horizontal displacements caused by the earthquake point to the epicenter and rupture. Elastic bounds evidently took place at all sites. The results indicate that the crustal movements and earthquake were part of a megathrust caused by the Pacific Plate sinking under the North American Plate to the northeast of Japan island arc.展开更多
A modified algorithm of combined GPS/GLONASS precise point positioning （GG-PPP） was developed by decreasing the number of unknowns to be estimated so that accurate position solutions can be achieved in the case of l...A modified algorithm of combined GPS/GLONASS precise point positioning （GG-PPP） was developed by decreasing the number of unknowns to be estimated so that accurate position solutions can be achieved in the case of less number of visible satellites. The system time difference between GPS and GLONASS （STDGG） and zenith tropospheric delay （ZTD） values were firstly estimated in an open sky condition using the traditional GG-PPP algorithm. Then, they were used as a priori known values in the modified algorithm instead of estimating them as unknowns. The proposed algorithm was tested using observations collected at BJFS station in a simulated open-pit mine environment. The results show that the position filter converges much faster to a stable value in all three coordinate components using the modified algorithm than using the traditional algorithm. The modified algorithm achieves higher positioning accuracy as well. The accuracy improvement in the horizontal direction and vertical direction reaches 69% and 95% at a satellite elevation mask angle of 50°, respectively.展开更多
Ionospheric delay is one of the major error sources in GNSS navigation and positioning.Nowadays,the dual-frequency technique is the most widely used in ionospheric refraction correction.However,dual-frequency measurem...Ionospheric delay is one of the major error sources in GNSS navigation and positioning.Nowadays,the dual-frequency technique is the most widely used in ionospheric refraction correction.However,dual-frequency measurements can only eliminate the first-order term of ionospheric delay,while the effect of the second-order term on GNSS observations may be several centimeters.In this paper,two models,the International Reference Ionosphere (IRI) 2007 and International Geomagnetic Reference Field (IGRF) 11 are used to estimate the second-order term through the integral calculation method.Besides,the simplified single layer ionosphere model in a dipole moment approximation for the earth magnetic field is used.Since the traditional integral calculation method requires large calculation load and takes much time,it is not convenient for practical use.Additionally,although the simplified single layer ionosphere model is simple to implement,it results in larger errors.In this study,second-order term ionospheric correction formula proposed by Hoque (2007) is improved for estimating the second-order term at a global scale.Thus,it is more practicable to estimate the second-order term.More importantly,its results have a higher precision of the sub-millimeter level for a global scale in normal conditions.Compared with Hoque's original regional correction model,which calculates coefficients through polynomial fitting of elevation and latitudes,this study proposes a piece-wise look-up table and interpolation technique to modify Hoque model.Through utilizing a table file,the modified Hoque model can be conveniently implemented in an engineering software package,like as PANDA in this study.Through applying the proposed scheme for the second-order ionospheric correction into GNSS precise positioning in both PPP daily and epoch solutions,the results have shown south-shift characteristics in daily solution at a global scale and periodic change with VTEC daily variation in epoch positioning solution.展开更多
The wide area precise positioning system(WAPPS)is a high-precision positioning system based on a global navigation satellite system.Using a GEO satellite or a communication network,it provides users,in its service are...The wide area precise positioning system(WAPPS)is a high-precision positioning system based on a global navigation satellite system.Using a GEO satellite or a communication network,it provides users,in its service area,with real-time satellite orbit,clock,and other corrections.Users can achieve centimeter-level static positioning or decimeter-level kinematic positioning by precise point positioning.With the demands for applications of both high-precision and safety of life in real time,WAPPS is facing urgent needs to improve its service integrity.This study presents a real-time integrity monitoring approach for WAPPS.Using dual-frequency ionosphere-free corrections of GPS and BDS,along with monitor station data,related error models are established and the integrity monitoring is achieved,based on the analysis of satellite corrected residuals.In addition,satellite faults are simulated for performance verification.The results show that the algorithm can monitor both step and drift faults effectively and alert users in time.展开更多
The FAIR principles of Wilkinson et al.[1]are finding their way from research into application domains,one of which is the precise positioning with global satellite navigation systems(GNSS).Current GNSS users demand t...The FAIR principles of Wilkinson et al.[1]are finding their way from research into application domains,one of which is the precise positioning with global satellite navigation systems(GNSS).Current GNSS users demand that data and services are findable online,accessible via open protocols(by both,machines and humans),interoperable with their legacy systems and reusable in various settings.Comprehensive metadata are essential in seamless communication between GNSS data and service providers and their users,and,for decades,geodetic and geospatial standards are efficiently implemented to support this.However,GNSS user community is transforming from precise positioning by highly specialised use by geodetic professionals to every-day precise positioning by autonomous vehicles or wellness obsessed citizens.Moreover,rapid technological developments allow alternative ways of offering data and services to their users.These transforming circumstances warrant a review whether metadata defined in generic geospatial and geodetic standards in use still support FAIR use of modern GNSS data and services across its novel user spectrum.This paper reports the results of current GNSS users'requirements in various application sectors on the way data,metadata and services are provided.We engaged with GNSS stakeholders to validate our findings and to gain understanding on their perception of the FAIR principles.Our results confirm that offering FAIR GNSS data and services is fundamental,but for a confident use of these,there is a need to review the way metadata are offered to the community.Defining standard compliant GNSS community metadata profile and providing relevant metadata with data on-demand,the approach outlined in this paper,is a way to manage current GNSS users'expectations and the way to improve FAIR GNSS data and service delivery for both humans and the machines.展开更多
Traditional positioning methods,such as conventional Real Time Kinematic(cRTK)rely upon local reference networks to enable users to achieve high-accuracy positioning.The need for such relatively dense networks has sig...Traditional positioning methods,such as conventional Real Time Kinematic(cRTK)rely upon local reference networks to enable users to achieve high-accuracy positioning.The need for such relatively dense networks has significant cost implications.Precise Point Positioning(PPP)on the other hand is a positioning method capable of centimeter-level positioning without the need for such local networks,hence providing significant cost benefits especially in remote areas.This paper presents the state-of-the-art PPP method using both GPS and GLONASS measurements to estimate the float position solution before attempting to resolve GPS integer ambiguities.Integrity monitoring is carried out using the Imperial College Carrier-phase Receiver Autonomous Integrity Monitoring method.A new method to detect and exclude GPS base-satellite failures is developed.A base-satellite is a satellite whose measurements are differenced from other satellite’s measurements when using between-satellite-differenced measurements to estimate position.The failure detection and exclusion methods are tested using static GNSS data recorded by International GNSS Service stations both in static and dynamic processing modes.The results show that failure detection can be achieved in all cases tested and failure exclusion can be achieved for static cases.In the kinematic processing cases,failure exclusion is more difficult because the higher noise in the measurement residuals increases the difficulty to distinguish between failures associated with the base-satellite and other satellites.展开更多
In kinematic navigation and positioning,abnormal observations and kinematic model disturbances are one of the key factors affecting the stability and reliability of positioning performance.Generally,robust adaptive fi...In kinematic navigation and positioning,abnormal observations and kinematic model disturbances are one of the key factors affecting the stability and reliability of positioning performance.Generally,robust adaptive filtering algorithm is used to reduce the influence of them on positioning results.However,it is difficult to accurately identify and separate the influence of abnormal observations and kinematic model disturbances on positioning results,especially in the application of kinematic Precise Point Positioning(PPP).This has always been a key factor limiting the performance of conventional robust adaptive filtering algorithms.To address this problem,this paper proposes a two-step robust adaptive filtering algorithm,which includes two filtering steps:without considering the kinematic model information,the first step of filtering only detects the abnormal observations.Based on the filtering results of the first step,the second step makes further detection on the kinematic model disturbances and conducts adaptive processing.Theoretical analysis and experiment results indicate that the two-step robust adaptive filtering algorithm can further enhance the robustness of the filtering against the influence of abnormal observations and kinematic model disturbances on the positioning results.Ultimately,improvement of the stability and reliability of kinematic PPP is significant.展开更多
This study analyzes the signal quality and the accuracy of BeiDou 3 rd generation Satellite Navigation System(BDS3) Precise Point Positioning(PPP) in the Arctic Ocean. Assessment of signal quality of BDS3 includes sig...This study analyzes the signal quality and the accuracy of BeiDou 3 rd generation Satellite Navigation System(BDS3) Precise Point Positioning(PPP) in the Arctic Ocean. Assessment of signal quality of BDS3 includes signal to noise ratio(SNR), multipath(MP), dilution of precision(DOP), and code-minus-carrier combination(CC). The results show that, 5 to 13 satellites are visible at any time in the Arctic Ocean area as of September 2018, which are sufficient for positioning. In the mid-latitude oceanic region and in the Arctic Ocean, the SNR is 25–52 dB Hz and the MP ranges from-2 m to 2 m. As the latitude increases, the DOP values show large variation, which may be related to the distribution of BDS satellites. The CC values of signals B1 I and BIC range from-5 m to 5 m in the mid-latitude sea area and the Arctic Ocean, which means the effect of pseudorange noise is small. Moreover, as to obtain the external precise reference value for GNSS positioning in the Arctic Ocean region is difficult, it is hard to evaluate the accuracy of positioning results. An improved isotropy-based protection level method based on Receiver Autonomous Integrity Monitoring is proposed in the paper, which adopts median filter to smooth the gross errors to assess the precision and reliability of PPP in the Arctic Ocean. At first, the improved algorithm is verified with the data from the International GNSS Service Station Tixi. Then the accuracy of BDS3 PPP in the Arctic Ocean is calculated based on the improved algorithm. Which shows that the kinematic accuracy of PPP can reach the decimeter level in both the horizontal and vertical directions, and it meets the precision requirements of maritime navigation.展开更多
In this study,the effect of different sampling rates(i.e.observation recording interval)on the Precise Point Positioning(PPP)solutions in terms of accuracy was investigated.For this purpose,a field test was carried ou...In this study,the effect of different sampling rates(i.e.observation recording interval)on the Precise Point Positioning(PPP)solutions in terms of accuracy was investigated.For this purpose,a field test was carried out inÇorum province,Turkey,on 11 September 2019.Within this context,a Geodetic Point(GP)was established and precisely coordinated.A static GNSS measurement was occupied on the GP for about 4-hour time at 0.10 second(s)/10 Hz measurement intervals with the Trimble R10 geodetic grade GNSS receiver.The original observation file was converted to RINEX format and then decimated into the different data sampling rates as 0.2 s,0.5 s,1 s,5 s,10 s,30 s,60 s,and 120 s.All these RINEX observation files were submitted to the Canadian Spatial Reference System-Precise Point Positioning(CSRS-PPP)online processing service the day after the data collection date by choosing both static and kinematic processing options.In this way,PPP-derived static coordinates,and the kinematic coordinates of each measurement epoch were calculated.The PPP-derived coordinates obtained from each decimated sampling intervals were compared to known coordinates of the GP for northing,easting,2D position,and height components.According to the static and kinematic processing results,high data sampling rates did not change the PPP solutions in terms of accuracy when compared to the results obtained using lower sampling rates.The results of this study imply that it was not necessary to collect GNSS data with high-rate intervals for many surveying projects requiring cm-level accuracy.展开更多
Precise Point Positioning(PPP) requires precise products, including high-accuracy satellite orbit and clock parameters. It is impossible to obtain an orbit solution that is sufficiently accurate for PPP services with ...Precise Point Positioning(PPP) requires precise products, including high-accuracy satellite orbit and clock parameters. It is impossible to obtain an orbit solution that is sufficiently accurate for PPP services with a regional tracking network;therefore, satellite orbits are usually estimated by a global tracking network with a large number of ground stations. However, it is expensive to build globally distributed stations. Fortunately, BeiDou-3 satellites carry an InterSatellite Link(ISL) payload, which can track the whole arc of the BeiDou-3 satellites and enhance the orbit determination accuracy with regional ground stations. In this contribution, a novel orbit determination strategy for BeiDou-3 PPP is proposed, in which the BeiDou-3 satellite orbits are enhanced by the ISL. First, the generation of precise satellite products is demonstrated in detail.In addition, the products are assessed by Satellite Laser Ranging(SLR) residuals and overlap comparisons. Moreover, the products are used for receivers in China's Mainland to carry out the static and kinematic modes to research the PPP performance of Bei Dou-3’s 3IGSO/24MEO constellation.The SLR validations of the satellite orbits demonstrate an accuracy better than 0.1 m in the radial component, and the orbit overlap comparisons show accuracies of 0.016 m in the radial component,0.088 m in the along-track component and 0.087 m in the cross-track component. The Standard Deviation(STD) in the differences in overlapping arcs for the estimated satellite clocks is approximately 0.10 ns. The static PPP results demonstrate that the error in both the horizontal and vertical components is smaller than 10 cm after 30 minutes of convergence. After 24 hours of convergence,the errors are 0.70 cm, 0.63 cm and 1.99 cm for the north, east and up components, respectively.The kinematic PPP experiment illustrates that the Root Mean Square(RMS) position errors in the north, east and up components are approximately 3.23 cm, 5.27 cm and 8.64 cm, respectively,after convergence. The obtainable positioning and convergence performances are comparable to those using products generated by global tracking networks.展开更多
In the precise point positioning(PPP),some impossible accurately simulated systematic errors still remained in the GPS observations and will inevitably degrade the precision of zenith tropospheric delay(ZTD) estimatio...In the precise point positioning(PPP),some impossible accurately simulated systematic errors still remained in the GPS observations and will inevitably degrade the precision of zenith tropospheric delay(ZTD) estimation.The stochastic models used in the GPS PPP mode are compared.In this paper,the research results show that the precision of PPP-derived ZTD can be obviously improved through selecting a suitable stochastic model for GPS measurements.Low-elevation observations can cover more troposphere information that can improve the estimation of ZTD.A new stochastic model based on satellite low elevation cosine square is presented.The results show that the stochastic model using satellite elevation-based cosine square function is better than previous stochastic models.展开更多
The measurement of atmospheric water vapor （WV） content and variability is important for meteorological and climatological research. A technique for the remote sensing of atmospheric WV content using ground-based Gl...The measurement of atmospheric water vapor （WV） content and variability is important for meteorological and climatological research. A technique for the remote sensing of atmospheric WV content using ground-based Global Positioning System （GPS） has become available, which can routinely achieve accuracies for integrated WV content of 1-2 kg/m2. Some experimental work has shown that the accuracy of WV measurements from a moving platform is comparable to that of （static） land-based receivers. Extending this technique into the marine environment on a moving platform would be greatly beneficial for many aspects of meteorological research, such as the calibration of satellite data, investigation of the air-sea interface, as well as forecasting and climatological studies. In this study, kinematic precise point positioning has been developed to investigate WV in the Arctic Ocean （80°-87°N） and annual variations are obtained for 2008 and 2012 that are identical to those related to the enhanced greenhouse effect.展开更多
The establishment of the BeiDou global navigation satellite system(BDS-3)has been completed,and the current constellation can independently provide positioning service globally.BDS-3 satellites provide quad-frequency ...The establishment of the BeiDou global navigation satellite system(BDS-3)has been completed,and the current constellation can independently provide positioning service globally.BDS-3 satellites provide quad-frequency signals,which can benefit the ambiguity resolution(AR)and high-precision positioning.This paper discusses the benefits of quad-frequency observations,including the precision gain of multi-frequency high-precision positioning and the sophisticated choice of extra-wide-lane(EWL)or wide-lane(WL)combinations for instantaneous EWL/WL AR.Additionally,the performance of EWL real-time kinematic(ERTK)positioning that only uses EWL/WL combinations is investigated.The results indicate that the horizontal positioning errors of ERTK positioning using ionosphere-free(IF)EWL observations are approximately 0.5 m for the baseline of 27 km and 1 m for the baseline of 300 km.Furthermore,the positioning errors are reduced to the centimetre level if the IF EWL observations are smoothed by narrow-lane observations for a short period.展开更多
Both static and kinematic testings are investigated by using IGS 5rain, 30s and 5s-interval precise satellite clock prod- ucts in precise point positioning （PPP） solution. Test results show that the sampling rate of...Both static and kinematic testings are investigated by using IGS 5rain, 30s and 5s-interval precise satellite clock prod- ucts in precise point positioning （PPP） solution. Test results show that the sampling rate oflGS satellite clock has very little effect on the static PPP solution. All the three types of sampling intervals of precise satellite clock can satisfy mm-cm level of positioning accuracy; higher sampling rate has no significant improvement for PPP solution. However, sampling rate of satellite clock has a significant impact on the PPP solution in kinematic PPP. The higher the interval of satellite clock, the better the accuracy achieved. The accuracy of kinematic PPP achieved by using 30s-interval precise satellite clock is improved by nearly 30-50 percent with re- spect to the solution by using 5min-interval precise satellite clock, but using 5s and 30s-interval satellite clock can almost produce the same accuracy of kinematic solution. Moreover, the use of precise satellite clock products from different analysis centers may also produce more or less effect on the PPP solution.展开更多
This article focuses on the performance analysis of both real-time and post-mission kinematic precise point positioning(PPP)in challenging marine environments.For this purpose,a real dynamic experiment lasting 6 h was...This article focuses on the performance analysis of both real-time and post-mission kinematic precise point positioning(PPP)in challenging marine environments.For this purpose,a real dynamic experiment lasting 6 h was carried out on a lake dam in?orum City of Turkey.While the kinematic test was continuing,the real-time PPP coordinates were obtained for each measurement epoch with a commercial real-time PPP(RT-PPP)service,namely the Trimble Center Point RTX.Then the post-mission PPP(PM-PPP)coordinates were calculated by using Multi-GNSS data and the Multi-GNSS Experiment(MGEX)precise products.The kinematic RT-PPP and PM-PPP results showed that the PPP coordinates were consistent with the relative solution at centimetre and decimetre level in horizontal and height components,respectively.This study implies that PPP technique is a powerful tool for highly accurate positioning in both real-time and post-mission modes,even for dynamic applications in harsh environments.展开更多
With emergence of the BeiDou Navigation Satellite System(BDS), the Galileo Satellite Navigation System(Galileo), the Quasi-Zenith Satellite System(QZSS)and the restoration of the Global Navigation Satellite System(GLO...With emergence of the BeiDou Navigation Satellite System(BDS), the Galileo Satellite Navigation System(Galileo), the Quasi-Zenith Satellite System(QZSS)and the restoration of the Global Navigation Satellite System(GLONASS), the single Global Positioning System(GPS) has been gradually expanded into multiple global and regional navigation satellite systems(multi-GNSS/RNSS). In view of differences in these 5 systems, a consolidated multi-GNSS/RNSS precise point positioning(PPP) observation model is deduced in this contribution. In addition, the performance evaluation of PPP for multi-GNSS/RNSS is conducted using a large number of the multi-GNSS experiment(MGEX) station datasets. Experimental results show that multi-GNSS/RNSS can guarantee plenty of visible satellites effectively. Compared with single-system GPS, PDOP, HDOP, and VDOP values of the multi-GNSS/RNSS are improved by 46.8%, 46.5% and 46.3%, respectively. As for convergence time, the static and kinematic PPP of multi-GNSS/RNSS are superior to that of the single-system GPS, whose reliability, availability, and stability drop sharply with the increasing elevation cutoff. At satellite elevation cutoff of 40 °, the single-system GPS fails to carry out continuous positioning because of the insufficient visible satellites, while the multi-GNSS/RNSS PPP can still get positioning solutions with relatively high accuracy, especially in the horizontal direction.展开更多
GPS signals are electromagnetic waves that are affected by the Earth’s atmosphere. The Earth’s atmosphere can be categorized, according to its effect on GPS signals, into the ionosphere (ionospheric delay) and neutr...GPS signals are electromagnetic waves that are affected by the Earth’s atmosphere. The Earth’s atmosphere can be categorized, according to its effect on GPS signals, into the ionosphere (ionospheric delay) and neutral atmosphere (tropospheric delay). The first-order ionospheric delay can be eliminated by linear combination of GPS observables on different frequencies. However, tropospheric delay cannot be eliminated because it is frequency-independent. The total tropospheric delay can be divided into three components. The first is the dry component, the second part is the wet component, and the third part is the horizontal gradients which account for the azimuthal dependence of tropospheric delay. In this paper, the effect of modeling tropospheric gradients on the estimation of the total tropospheric delay and station position is investigated. Long session, one month during January 2015, of GPS data is collected from ten randomly selected globally distributed IGS stations. Two cases are studied: the first case, the coordinates of stations are kept fixed to their actual values and the tropospheric delay is estimated twice, with and without tropospheric gradients. In the second case, the station position is estimated along with the total tropospheric delay with and without tropospheric gradients. It is shown that the average bias of the estimated total tropospheric delay when neglecting tropospheric gradients ranges from ?1.72 mm to 2.14 mm while the average bias when estimating gradients are ?0.898 mm to 1.92 mm which means that the bias is reduced by about 30%. In addition, the average standard deviation of the bias is 4.26 mm compared with 4.52 mm which means that the standard deviation is improved by about 6%.展开更多
基金funded by the National Natural Science Foundation of China(42030109).
文摘The Real-Time Global Navigation Satellite System(GNSS)Precise Positioning Service(RTPPS)is recognized as the most promising system by providing precise satellite orbit and clock correc-tions for users to achieve centimeter-level positioning with a stand-alone receiver in real-time.Although the products are available with high accuracy almost all the time,they may occasionally suffer from unexpected significant biases,which consequently degrades the positioning perfor-mance.Therefore,quality monitoring at the system-level has become more and more crucial for providing a reliable GNSS service.In this paper,we propose a method for the monitoring of realtime satellite orbit and clock products using a monitoring station network based on the Quality Control(QC)theory.The satellites with possible biases are first detected based on the outliers identified by Precise Point Positioning(PPP)in the monitoring station network.Then,the corresponding orbit and clock parameters with temporal constraints are introduced and esti-mated through the sequential Least Square(LS)estimator and the corresponding Instantaneous User Range Errors(IUREs)can be determined.A quality indicator is calculated based on the IUREs in the monitoring network and compared with a pre-defined threshold.The quality monitoring method is experimentally evaluated by monitoring the real-time orbit and clock products generated by GeoForschungsZentrum(GFZ),Potsdam.The results confirm that the problematic satellites can be detected accurately and effectively with missed detection rate 4×10^(-6) and false alarm rate 1:2×10^(-5).Considering the quality alarms,the PPP results in terms of RMS of positioning differences with respect to the International GNSS Service(IGS)weekly solution in the north,east and up directions can be improved by 12%,10%and 27%,respectively.
文摘The development of this technology has favored the advances noted in recent years in the field of precise positioning. It has also paved the way for a wide range of research into the evaluation of their performance and reliability, their potential use in different fields, the improvement of performance and combined systems, etc. Single-frequency GNSS receivers, which for a long time remained the only category of low-cost GNSS receivers, often limited by their level of accuracy (metric) mainly due to their single-frequency nature, have been joined in the last decade by dual-frequency GNSS receivers developed by certain manufacturers of positioning equipment. These receivers now offer possible alternatives to the relatively expensive conventional (topographic quality) or geodetic receivers and. In this study, the performance of these low-cost dual-frequency receivers was evaluated in static and real-time kinematic GNSS positioning modes. Static positioning was carried out on three points with sessions of 2 h and 4 h over three days with antenna swapping (CHC i50, Leica GS14 and Emlid Reach RS2+). Real-time observations were carried out on eleven (11) points in open, poorly open and not at all open environments, in order to assess not only performance but also receiver sensitivity in environments with a high risk of multipath. The results obtained showed an average agreement of 2 cm in planimetry between the low-cost Emlid RS2+ receiver and the Leica GS14 and CHC i50 receivers. The differences in altimetry are nevertheless greater (sometimes up to decimetres for certain points). Real-time positioning results provided an average convergence of around 1 cm on the E, N and H components with the results from the low-cost Emlid Reach RS2+ and Ublox ZED-F9P receivers and the CHC i50 receiver. Analysis of the results obtained has enabled us to highlight the various issues and challenges associated with this new generation of GNSS receivers, with a view to enhancing their appropriation and optimal integration in the professional and research worlds.
基金The National Natural Science Foundation of China(No.41974214).
文摘This study explores the use of the Global Navigation Satellite System(GNSS)precise point positioning(PPP)technology to determine the natural vibration periods of towering structures through simulations and field testing.During the simulation phase,a GNSS receiver captured vi-bration waveforms generated by a single-axis motion simulator based on preset signal parameters,analyzing how different satellite system configurations affect the efficiency of extracting vibration parameters.Subsequently,field tests were conducted on a high-rise steel singletube tower.The results indicate that in the simulation environment,no matter the PPP positioning data under single GPS or multisystem combination,the vibration frequency of singleaxis motion simulator can be accurately extracted after frequency do-main analysis,with multisystem setups providing more precise amplitude parameters.In the field test,the natural vibration periods of the main vibration modes of high-rise steel single-tube tower measured by PPP technology closely match the results of the first two modes derived from finite element analysis.The first mode period calculated by the em-pirical formula is approximately 6%higher than those determined through finite element analysis and PPP.This study demonstrates the potential of PPP for structural vibration analysis,offering significant benefits for assessing dynamic responses and monitoring the health of towering structures.
基金supported partially by the National Natural Science Foundation of China(No.40974004 and 40974016)the Key Laboratory of Surveying and Mapping Technology on Island and Reef of NASMG,China(No.2011A01)the Key Laboratory of Advanced Surveying Engineering of NASMG,China(No.TJES1101)
文摘Crustal deformation can provide constraints for studying earthquake rupture and shock wave transmission for the Mw9.0 eastern Japan great earthquake. Using the single- epoch precise point positioning （PPP） method and the appropriate positioning flow, we process GPS data from six IGS （International GNSS Service） sites （e.g., MIZU, TSK2, USUD, MTKA, AIRA and KSMV） located in Japan and obtain the positioning results with centimeter scale precision. The displacement time series of the six sites are analyzed using the least squares spectral analysis method to estimate deformations caused by the Mw9.0 mainshock and the Mw7.9 aftershock, and the cumulative displacements after 1 day. Mainshock displacements at station MIZU, the nearest site to the mainshock in the North （N）, East （E）, and Up （U） directions, are -1.202 m, 2.180 m and -0.104 m, respectively, and the cumulative deformations after 1 day are -1.117 m, 2.071 m and -0.072 m, respectively. The displacements at station KSMV, the nearest site to the Mw7.9 aftershock in the N, E and U directions, are -0.032 m, 0.742 m and -0.345 m, respectively. The other sites obviously experienced eastern movements and subsidence. The deformation vectors indicate that the horizontal displacements caused by the earthquake point to the epicenter and rupture. Elastic bounds evidently took place at all sites. The results indicate that the crustal movements and earthquake were part of a megathrust caused by the Pacific Plate sinking under the North American Plate to the northeast of Japan island arc.
基金Project(41004011)supported by the National Natural Science Foundation of ChinaProject(2014M550425)supported by the China Postdoctoral Science Foundation
文摘A modified algorithm of combined GPS/GLONASS precise point positioning （GG-PPP） was developed by decreasing the number of unknowns to be estimated so that accurate position solutions can be achieved in the case of less number of visible satellites. The system time difference between GPS and GLONASS （STDGG） and zenith tropospheric delay （ZTD） values were firstly estimated in an open sky condition using the traditional GG-PPP algorithm. Then, they were used as a priori known values in the modified algorithm instead of estimating them as unknowns. The proposed algorithm was tested using observations collected at BJFS station in a simulated open-pit mine environment. The results show that the position filter converges much faster to a stable value in all three coordinate components using the modified algorithm than using the traditional algorithm. The modified algorithm achieves higher positioning accuracy as well. The accuracy improvement in the horizontal direction and vertical direction reaches 69% and 95% at a satellite elevation mask angle of 50°, respectively.
基金supported by the National Basic Research Project of China (Grant No.2009CB72400205)the National Natural Science Foundation of China (Grant No.40804005)the National High Technology Research and Development Program of China (Grant No.2009AA121401)
文摘Ionospheric delay is one of the major error sources in GNSS navigation and positioning.Nowadays,the dual-frequency technique is the most widely used in ionospheric refraction correction.However,dual-frequency measurements can only eliminate the first-order term of ionospheric delay,while the effect of the second-order term on GNSS observations may be several centimeters.In this paper,two models,the International Reference Ionosphere (IRI) 2007 and International Geomagnetic Reference Field (IGRF) 11 are used to estimate the second-order term through the integral calculation method.Besides,the simplified single layer ionosphere model in a dipole moment approximation for the earth magnetic field is used.Since the traditional integral calculation method requires large calculation load and takes much time,it is not convenient for practical use.Additionally,although the simplified single layer ionosphere model is simple to implement,it results in larger errors.In this study,second-order term ionospheric correction formula proposed by Hoque (2007) is improved for estimating the second-order term at a global scale.Thus,it is more practicable to estimate the second-order term.More importantly,its results have a higher precision of the sub-millimeter level for a global scale in normal conditions.Compared with Hoque's original regional correction model,which calculates coefficients through polynomial fitting of elevation and latitudes,this study proposes a piece-wise look-up table and interpolation technique to modify Hoque model.Through utilizing a table file,the modified Hoque model can be conveniently implemented in an engineering software package,like as PANDA in this study.Through applying the proposed scheme for the second-order ionospheric correction into GNSS precise positioning in both PPP daily and epoch solutions,the results have shown south-shift characteristics in daily solution at a global scale and periodic change with VTEC daily variation in epoch positioning solution.
文摘The wide area precise positioning system(WAPPS)is a high-precision positioning system based on a global navigation satellite system.Using a GEO satellite or a communication network,it provides users,in its service area,with real-time satellite orbit,clock,and other corrections.Users can achieve centimeter-level static positioning or decimeter-level kinematic positioning by precise point positioning.With the demands for applications of both high-precision and safety of life in real time,WAPPS is facing urgent needs to improve its service integrity.This study presents a real-time integrity monitoring approach for WAPPS.Using dual-frequency ionosphere-free corrections of GPS and BDS,along with monitor station data,related error models are established and the integrity monitoring is achieved,based on the analysis of satellite corrected residuals.In addition,satellite faults are simulated for performance verification.The results show that the algorithm can monitor both step and drift faults effectively and alert users in time.
基金the P1008-Positioning Australia:Accelerating Industry Adoption project supported by Geoscience Australia,Frontiersl,Curtin University and Positioning Insights。
文摘The FAIR principles of Wilkinson et al.[1]are finding their way from research into application domains,one of which is the precise positioning with global satellite navigation systems(GNSS).Current GNSS users demand that data and services are findable online,accessible via open protocols(by both,machines and humans),interoperable with their legacy systems and reusable in various settings.Comprehensive metadata are essential in seamless communication between GNSS data and service providers and their users,and,for decades,geodetic and geospatial standards are efficiently implemented to support this.However,GNSS user community is transforming from precise positioning by highly specialised use by geodetic professionals to every-day precise positioning by autonomous vehicles or wellness obsessed citizens.Moreover,rapid technological developments allow alternative ways of offering data and services to their users.These transforming circumstances warrant a review whether metadata defined in generic geospatial and geodetic standards in use still support FAIR use of modern GNSS data and services across its novel user spectrum.This paper reports the results of current GNSS users'requirements in various application sectors on the way data,metadata and services are provided.We engaged with GNSS stakeholders to validate our findings and to gain understanding on their perception of the FAIR principles.Our results confirm that offering FAIR GNSS data and services is fundamental,but for a confident use of these,there is a need to review the way metadata are offered to the community.Defining standard compliant GNSS community metadata profile and providing relevant metadata with data on-demand,the approach outlined in this paper,is a way to manage current GNSS users'expectations and the way to improve FAIR GNSS data and service delivery for both humans and the machines.
文摘Traditional positioning methods,such as conventional Real Time Kinematic(cRTK)rely upon local reference networks to enable users to achieve high-accuracy positioning.The need for such relatively dense networks has significant cost implications.Precise Point Positioning(PPP)on the other hand is a positioning method capable of centimeter-level positioning without the need for such local networks,hence providing significant cost benefits especially in remote areas.This paper presents the state-of-the-art PPP method using both GPS and GLONASS measurements to estimate the float position solution before attempting to resolve GPS integer ambiguities.Integrity monitoring is carried out using the Imperial College Carrier-phase Receiver Autonomous Integrity Monitoring method.A new method to detect and exclude GPS base-satellite failures is developed.A base-satellite is a satellite whose measurements are differenced from other satellite’s measurements when using between-satellite-differenced measurements to estimate position.The failure detection and exclusion methods are tested using static GNSS data recorded by International GNSS Service stations both in static and dynamic processing modes.The results show that failure detection can be achieved in all cases tested and failure exclusion can be achieved for static cases.In the kinematic processing cases,failure exclusion is more difficult because the higher noise in the measurement residuals increases the difficulty to distinguish between failures associated with the base-satellite and other satellites.
基金co-supported by the National Natural Science Foundation of China(No.41874034)the National key research and development program of China(No.2016YFB0502102)+1 种基金the Beijing Natural Science Foundation(No.4202041)the Aeronautical Science Foundation of China(No.2016ZC51024)。
文摘In kinematic navigation and positioning,abnormal observations and kinematic model disturbances are one of the key factors affecting the stability and reliability of positioning performance.Generally,robust adaptive filtering algorithm is used to reduce the influence of them on positioning results.However,it is difficult to accurately identify and separate the influence of abnormal observations and kinematic model disturbances on positioning results,especially in the application of kinematic Precise Point Positioning(PPP).This has always been a key factor limiting the performance of conventional robust adaptive filtering algorithms.To address this problem,this paper proposes a two-step robust adaptive filtering algorithm,which includes two filtering steps:without considering the kinematic model information,the first step of filtering only detects the abnormal observations.Based on the filtering results of the first step,the second step makes further detection on the kinematic model disturbances and conducts adaptive processing.Theoretical analysis and experiment results indicate that the two-step robust adaptive filtering algorithm can further enhance the robustness of the filtering against the influence of abnormal observations and kinematic model disturbances on the positioning results.Ultimately,improvement of the stability and reliability of kinematic PPP is significant.
基金The Science and Technology of Henan Province under contract No.212102310029the National Natural Science Founation Cultivation Project of Xuchang University under contract No.2022GJPY007the Educational Teaching Research and Practice Project of Xuchang University under contract No.XCU2021-YB-024.
文摘This study analyzes the signal quality and the accuracy of BeiDou 3 rd generation Satellite Navigation System(BDS3) Precise Point Positioning(PPP) in the Arctic Ocean. Assessment of signal quality of BDS3 includes signal to noise ratio(SNR), multipath(MP), dilution of precision(DOP), and code-minus-carrier combination(CC). The results show that, 5 to 13 satellites are visible at any time in the Arctic Ocean area as of September 2018, which are sufficient for positioning. In the mid-latitude oceanic region and in the Arctic Ocean, the SNR is 25–52 dB Hz and the MP ranges from-2 m to 2 m. As the latitude increases, the DOP values show large variation, which may be related to the distribution of BDS satellites. The CC values of signals B1 I and BIC range from-5 m to 5 m in the mid-latitude sea area and the Arctic Ocean, which means the effect of pseudorange noise is small. Moreover, as to obtain the external precise reference value for GNSS positioning in the Arctic Ocean region is difficult, it is hard to evaluate the accuracy of positioning results. An improved isotropy-based protection level method based on Receiver Autonomous Integrity Monitoring is proposed in the paper, which adopts median filter to smooth the gross errors to assess the precision and reliability of PPP in the Arctic Ocean. At first, the improved algorithm is verified with the data from the International GNSS Service Station Tixi. Then the accuracy of BDS3 PPP in the Arctic Ocean is calculated based on the improved algorithm. Which shows that the kinematic accuracy of PPP can reach the decimeter level in both the horizontal and vertical directions, and it meets the precision requirements of maritime navigation.
文摘In this study,the effect of different sampling rates(i.e.observation recording interval)on the Precise Point Positioning(PPP)solutions in terms of accuracy was investigated.For this purpose,a field test was carried out inÇorum province,Turkey,on 11 September 2019.Within this context,a Geodetic Point(GP)was established and precisely coordinated.A static GNSS measurement was occupied on the GP for about 4-hour time at 0.10 second(s)/10 Hz measurement intervals with the Trimble R10 geodetic grade GNSS receiver.The original observation file was converted to RINEX format and then decimated into the different data sampling rates as 0.2 s,0.5 s,1 s,5 s,10 s,30 s,60 s,and 120 s.All these RINEX observation files were submitted to the Canadian Spatial Reference System-Precise Point Positioning(CSRS-PPP)online processing service the day after the data collection date by choosing both static and kinematic processing options.In this way,PPP-derived static coordinates,and the kinematic coordinates of each measurement epoch were calculated.The PPP-derived coordinates obtained from each decimated sampling intervals were compared to known coordinates of the GP for northing,easting,2D position,and height components.According to the static and kinematic processing results,high data sampling rates did not change the PPP solutions in terms of accuracy when compared to the results obtained using lower sampling rates.The results of this study imply that it was not necessary to collect GNSS data with high-rate intervals for many surveying projects requiring cm-level accuracy.
基金supported by the National Natural Science Foundation of China(No.41804030)。
文摘Precise Point Positioning(PPP) requires precise products, including high-accuracy satellite orbit and clock parameters. It is impossible to obtain an orbit solution that is sufficiently accurate for PPP services with a regional tracking network;therefore, satellite orbits are usually estimated by a global tracking network with a large number of ground stations. However, it is expensive to build globally distributed stations. Fortunately, BeiDou-3 satellites carry an InterSatellite Link(ISL) payload, which can track the whole arc of the BeiDou-3 satellites and enhance the orbit determination accuracy with regional ground stations. In this contribution, a novel orbit determination strategy for BeiDou-3 PPP is proposed, in which the BeiDou-3 satellite orbits are enhanced by the ISL. First, the generation of precise satellite products is demonstrated in detail.In addition, the products are assessed by Satellite Laser Ranging(SLR) residuals and overlap comparisons. Moreover, the products are used for receivers in China's Mainland to carry out the static and kinematic modes to research the PPP performance of Bei Dou-3’s 3IGSO/24MEO constellation.The SLR validations of the satellite orbits demonstrate an accuracy better than 0.1 m in the radial component, and the orbit overlap comparisons show accuracies of 0.016 m in the radial component,0.088 m in the along-track component and 0.087 m in the cross-track component. The Standard Deviation(STD) in the differences in overlapping arcs for the estimated satellite clocks is approximately 0.10 ns. The static PPP results demonstrate that the error in both the horizontal and vertical components is smaller than 10 cm after 30 minutes of convergence. After 24 hours of convergence,the errors are 0.70 cm, 0.63 cm and 1.99 cm for the north, east and up components, respectively.The kinematic PPP experiment illustrates that the Root Mean Square(RMS) position errors in the north, east and up components are approximately 3.23 cm, 5.27 cm and 8.64 cm, respectively,after convergence. The obtainable positioning and convergence performances are comparable to those using products generated by global tracking networks.
文摘In the precise point positioning(PPP),some impossible accurately simulated systematic errors still remained in the GPS observations and will inevitably degrade the precision of zenith tropospheric delay(ZTD) estimation.The stochastic models used in the GPS PPP mode are compared.In this paper,the research results show that the precision of PPP-derived ZTD can be obviously improved through selecting a suitable stochastic model for GPS measurements.Low-elevation observations can cover more troposphere information that can improve the estimation of ZTD.A new stochastic model based on satellite low elevation cosine square is presented.The results show that the stochastic model using satellite elevation-based cosine square function is better than previous stochastic models.
基金Chinese Polar Environment Comprehensive Investigation and Assessment Programmes under contract Nos CHINARE2013-03-03 and CHINARE 2013-04-03the National Oceanic Commonweal Research Project under contract No.201105001the National Natural Science Foundation of China under contract No.41374043
文摘The measurement of atmospheric water vapor （WV） content and variability is important for meteorological and climatological research. A technique for the remote sensing of atmospheric WV content using ground-based Global Positioning System （GPS） has become available, which can routinely achieve accuracies for integrated WV content of 1-2 kg/m2. Some experimental work has shown that the accuracy of WV measurements from a moving platform is comparable to that of （static） land-based receivers. Extending this technique into the marine environment on a moving platform would be greatly beneficial for many aspects of meteorological research, such as the calibration of satellite data, investigation of the air-sea interface, as well as forecasting and climatological studies. In this study, kinematic precise point positioning has been developed to investigate WV in the Arctic Ocean （80°-87°N） and annual variations are obtained for 2008 and 2012 that are identical to those related to the enhanced greenhouse effect.
基金the National Natural Science Funds of China(41874030)The Scientific and Technological Innovation Plan from Shanghai Science and Technology Committee(18511101801)+1 种基金The National Key Research and Development Program of China(2017YFA0603102)the Fundamental Research Funds for the Central Universities.
文摘The establishment of the BeiDou global navigation satellite system(BDS-3)has been completed,and the current constellation can independently provide positioning service globally.BDS-3 satellites provide quad-frequency signals,which can benefit the ambiguity resolution(AR)and high-precision positioning.This paper discusses the benefits of quad-frequency observations,including the precision gain of multi-frequency high-precision positioning and the sophisticated choice of extra-wide-lane(EWL)or wide-lane(WL)combinations for instantaneous EWL/WL AR.Additionally,the performance of EWL real-time kinematic(ERTK)positioning that only uses EWL/WL combinations is investigated.The results indicate that the horizontal positioning errors of ERTK positioning using ionosphere-free(IF)EWL observations are approximately 0.5 m for the baseline of 27 km and 1 m for the baseline of 300 km.Furthermore,the positioning errors are reduced to the centimetre level if the IF EWL observations are smoothed by narrow-lane observations for a short period.
基金Supported by the National Natural Science Foundation of China(No.40874017)the Program of Wuhan ChenGuang Plan(No.200850731375)
文摘Both static and kinematic testings are investigated by using IGS 5rain, 30s and 5s-interval precise satellite clock prod- ucts in precise point positioning （PPP） solution. Test results show that the sampling rate oflGS satellite clock has very little effect on the static PPP solution. All the three types of sampling intervals of precise satellite clock can satisfy mm-cm level of positioning accuracy; higher sampling rate has no significant improvement for PPP solution. However, sampling rate of satellite clock has a significant impact on the PPP solution in kinematic PPP. The higher the interval of satellite clock, the better the accuracy achieved. The accuracy of kinematic PPP achieved by using 30s-interval precise satellite clock is improved by nearly 30-50 percent with re- spect to the solution by using 5min-interval precise satellite clock, but using 5s and 30s-interval satellite clock can almost produce the same accuracy of kinematic solution. Moreover, the use of precise satellite clock products from different analysis centers may also produce more or less effect on the PPP solution.
文摘This article focuses on the performance analysis of both real-time and post-mission kinematic precise point positioning(PPP)in challenging marine environments.For this purpose,a real dynamic experiment lasting 6 h was carried out on a lake dam in?orum City of Turkey.While the kinematic test was continuing,the real-time PPP coordinates were obtained for each measurement epoch with a commercial real-time PPP(RT-PPP)service,namely the Trimble Center Point RTX.Then the post-mission PPP(PM-PPP)coordinates were calculated by using Multi-GNSS data and the Multi-GNSS Experiment(MGEX)precise products.The kinematic RT-PPP and PM-PPP results showed that the PPP coordinates were consistent with the relative solution at centimetre and decimetre level in horizontal and height components,respectively.This study implies that PPP technique is a powerful tool for highly accurate positioning in both real-time and post-mission modes,even for dynamic applications in harsh environments.
基金Supported by the National Natural Science Foundation of China (No. 41604018)the Fundamental Research Funds for the Central Universities(No. 2019B17514)+1 种基金Postgraduate Research&Practice Innovation Program of Jiangsu Province (No. nos. sjky19_05132019B60114)
文摘With emergence of the BeiDou Navigation Satellite System(BDS), the Galileo Satellite Navigation System(Galileo), the Quasi-Zenith Satellite System(QZSS)and the restoration of the Global Navigation Satellite System(GLONASS), the single Global Positioning System(GPS) has been gradually expanded into multiple global and regional navigation satellite systems(multi-GNSS/RNSS). In view of differences in these 5 systems, a consolidated multi-GNSS/RNSS precise point positioning(PPP) observation model is deduced in this contribution. In addition, the performance evaluation of PPP for multi-GNSS/RNSS is conducted using a large number of the multi-GNSS experiment(MGEX) station datasets. Experimental results show that multi-GNSS/RNSS can guarantee plenty of visible satellites effectively. Compared with single-system GPS, PDOP, HDOP, and VDOP values of the multi-GNSS/RNSS are improved by 46.8%, 46.5% and 46.3%, respectively. As for convergence time, the static and kinematic PPP of multi-GNSS/RNSS are superior to that of the single-system GPS, whose reliability, availability, and stability drop sharply with the increasing elevation cutoff. At satellite elevation cutoff of 40 °, the single-system GPS fails to carry out continuous positioning because of the insufficient visible satellites, while the multi-GNSS/RNSS PPP can still get positioning solutions with relatively high accuracy, especially in the horizontal direction.
文摘GPS signals are electromagnetic waves that are affected by the Earth’s atmosphere. The Earth’s atmosphere can be categorized, according to its effect on GPS signals, into the ionosphere (ionospheric delay) and neutral atmosphere (tropospheric delay). The first-order ionospheric delay can be eliminated by linear combination of GPS observables on different frequencies. However, tropospheric delay cannot be eliminated because it is frequency-independent. The total tropospheric delay can be divided into three components. The first is the dry component, the second part is the wet component, and the third part is the horizontal gradients which account for the azimuthal dependence of tropospheric delay. In this paper, the effect of modeling tropospheric gradients on the estimation of the total tropospheric delay and station position is investigated. Long session, one month during January 2015, of GPS data is collected from ten randomly selected globally distributed IGS stations. Two cases are studied: the first case, the coordinates of stations are kept fixed to their actual values and the tropospheric delay is estimated twice, with and without tropospheric gradients. In the second case, the station position is estimated along with the total tropospheric delay with and without tropospheric gradients. It is shown that the average bias of the estimated total tropospheric delay when neglecting tropospheric gradients ranges from ?1.72 mm to 2.14 mm while the average bias when estimating gradients are ?0.898 mm to 1.92 mm which means that the bias is reduced by about 30%. In addition, the average standard deviation of the bias is 4.26 mm compared with 4.52 mm which means that the standard deviation is improved by about 6%.
