Adaptive filtering of continuous GPS results

 An adaptive finite-duration impulse response filter, based on a least-mean-square algorithm, has been used to mitigate multipath effects, and to derive tectonic and fault movement signals from continuous global positioning system (CGPS) data. By applying the filter on both pseudo-range and carrier-phase multipath sequences from CGPS observations on consecutive days, multipath models have been reliably derived. The standard deviations of residual time series are reduced to about one-quarter on pseudo-range and to about one-half on carrier phase. The adaptive filter is then used to process baseline solutions from a five-station array. Tectonic and fault movements have been resolved, which are in good agreement with previous studies involving many more CGPS stations. Received: 11 February 2000 / Accepted: 28 June 2000     

On the existence of solutions for the method of Bjerhammar in the continuous case

The method of Bjerhammar is studied in the continuous case for a sphere. By varying the kernel function, different types of unknowns (u^*) are obtained at the internal sphere (the Bjerhammar sphere). It is shown that a necessary condition for the existence of u^* is that the degree variances (σ _n ² ) of the observations are of an order less than n⁻². According to Kaula’s rule this condition is not satisfied for the earth’s gravity anomaly field (σ _n ² =n⁻¹) but well for the geopotential (σ _n ² =n⁻³).     

A spatial error model with continuous random effects and an application to growth convergence

We propose a spatial error model with continuous random effects based on Matérn covariance functions and apply this model for the analysis of income convergence processes (\(\beta \)-convergence). The use of a model with continuous random effects permits a clearer visualization and interpretation of the spatial dependency patterns, avoids the problems of defining neighborhoods in spatial econometrics models, and allows projecting the spatial effects for every possible location in the continuous space, circumventing the existing aggregations in discrete lattice representations. We apply this model approach to analyze the economic growth of Brazilian municipalities between 1991 and 2010 using unconditional and conditional formulations and a spatiotemporal model of convergence. The results indicate that the estimated spatial random effects are consistent with the existence of income convergence clubs for Brazilian municipalities in this period.     

New analytical and numerical approaches for geopotential modeling

 The standard analytical approach which is applied for constructing geopotential models OSU86 and earlier ones, is based on reducing the boundary value equation to a sphere enveloping the Earth and then solving it directly with respect to the potential coefficients _n,m . In an alternative procedure, developed by Jekeli and used for constructing the models OSU91 and EGM96, at first an ellipsoidal harmonic series is developed for the geopotential and then its coefficients _n,m ^e are transformed to the unknown _n,m . The second solution is more exact, but much more complicated. The standard procedure is modified and a new simple integral formula is derived for evaluating the potential coefficients. The efficiency of the standard and new procedures is studied numerically. In these solutions the same input data are used as for constructing high-degree parts of the EGM96 models. From two sets of _n,m (n≤360,|m|≤n), derived by the standard and new approaches, different spectral characteristics of the gravity anomaly and the geoid undulation are estimated and then compared with similar characteristics evaluated by Jekeli's approach (`etalon' solution). The new solution appears to be very close to Jekeli's, as opposed to the standard solution. The discrepancies between all the characteristics of the new and `etalon' solutions are smaller than the corresponding discrepancies between two versions of the final geopotential model EGM96, one of them (HDM190) constructed by the block-diagonal least squares (LS) adjustment and the other one (V068) by using Jekeli's approach. On the basis of the derived analytical solution a new simple mathematical model is developed to apply the LS technique for evaluating geopotential coefficients. Received: 12 December 2000 / Accepted: 21 June 2001     

Comparison of MODIS vegetation continuous field — based forest density maps with IRS-LISS III derived maps

The study compared forest cover maps derived using coarse resolution vegetation continuous fields (MODIS VCF; 500m resolution) with the maps derived from medium resolution (24m; IRS LISS-III) data. The comparison of VCF, per cent tree cover product, for the years 2000 to 2004 with LISS III forest density class maps of 2001 and 2003 was carried out for two sites representing hilly (Uttarakhand) and undulating terrains (Madhya Pradesh). Slicing VCF to corresponding forest crown cover, i.e., 0–10%, 10–40%, 40–70% and >70% produced considerable difference in forest area estimates when compared to original LISS III derived crown cover area. The corresponding value range in VCF for 0–10% of actual forest cover were 0–31% and 0–25% in 2 sites respectively, and the respective limit was consistent at 1–20% when VCF range were sliced with respect to upscaled LISS III at 500m resolution. Similarly, all other class limits were also found through iterative process. These limits were similar, within a site, across five years. Spatial Kappa match between these two data indicated higher match in 40–70% class, and also in undulating site. When compared at same resolution, similar forest area cover estimated with weighted area upscaling gave closest match. The study is useful in knowing the usability and limits of VCF product, and utility of spatial Kappa.     

Estimation of a continuous spatio-temporal population model

In this paper we propose a continuous spatio-temporal model that describes population change in a region in terms of population growth, migration drift towards regions with better economic or climate conditions, and population diffusion from more populated to less populated areas. Finite-differences are used to approximate the space and time derivatives. The model is estimated by using population data from the US census corresponding to the period 1790–1910. People tend to migrate from east to west, and to relocate towards regions with lower precipitation levels and more abundant coal and iron resources. Also population growth tends to be larger in zones with higher precipitation levels and higher temperatures.     

Estimates of ocean tide loading displacements and its impact on position time series in Hong Kong using a dense continuous GPS network

Three-dimensional ocean tide loading (OTL) displacements of eight diurnal and semidiurnal constituents at 12 sites in Hong Kong were estimated using 3–7 years of continuous global positioning system (GPS) observations. OTL displacements were estimated using the precise point positioning (PPP) technique on a daily basis and then combined. The OTL displacements obtained by GPS were compared with predictions using seven recent global ocean tide models. The effect of OTL displacements on GPS position time series was also investigated. The study shows that the GPS-derived OTL displacements (excluding K1 and K2 constituents) agree best with those predicted by the GOT4.7 and NAO99b models. The GPS/model agreement is generally at the sub-millimeter level, except for S2, K1, and K2 constituents with relatively large errors. After systematic biases between the GPS and model values are removed, the misfits of all sites for M2, S2, N2, O1, P1, and Q1 are less than 0.5 and 1.0 mm in the horizontal and vertical components, respectively, while larger misfits (within 2.5 mm) are observed for K1 and K2. Integer ambiguity fixing slightly improves the east component of OTL displacement estimates. The study also finds that GPS-derived OTL corrections, instead of model predicts, can be used in daily data processing with the exception of K1 and K2. Including K2 corrections, a secular vertical rate of up to 1 mm/year in position time series can be induced, which needs to be confirmed by further studies.     

Analysis of housing price by means of STAR models with neighbourhood effects: a Bayesian approach

In this paper, we extend the Bayesian methodology introduced by Beamonte et al. (Stat Modelling 8:285–311, 2008) for the estimation and comparison of spatio-temporal autoregressive models (STAR) with neighbourhood effects, providing a more general treatment that uses larger and denser nets for the number of spatial and temporal influential neighbours and continuous distributions for their smoothing weights. This new treatment also reduces the computational time and the RAM necessities of the estimation algorithm in Beamonte et al. (Stat Modelling 8:285–311, 2008). The procedure is illustrated by an application to the Zaragoza (Spain) real estate market, improving the goodness of fit and the outsampling behaviour of the model thanks to a more flexible estimation of the neighbourhood parameters.     

Towards a conjoint-based, context-dependent model of task allocation in activity settings: Some numerical experiments

 None of the currently developed activity-based models of transport demand explicitly models task allocation among household members. To fill this gap, the present paper suggests to complement activity-based models of activity scheduling with a context-dependent model of task allocation. That is, it is assumed that the allocation of tasks within households is partly based on such contextual variables as the amount of time a member has to spend on mandatory activities and car availability. In particular, the paper advocates a conjoint-based approach, based on an assignment task as opposed to the traditional ranking, rating or choice response formats. By definition, an assignment task involves a combinatorial explosion of choice alternatives, implying that additional operational decisions to estimate the context-dependent model are required. This study presents the results of various numerical experiments, conducted to better understand the impacts of those decisions on the degree of bias in the parameter estimates of the choice model. The results of these simulations indicate that under particular assumptions, the development and estimation of a conjoint-based, context-dependent model of task allocation within households is feasible. Received: March 1999 / Accepted: June 2001     

Unification of vertical datums by GPS and gravimetric geoid models with application to Fennoscandia

The second Baltic Sea Level (BSL) GPS campaign was run for one week in June 1993. Data from 35 tide gauge sites and five fiducial stations were analysed, for three fiducial stations (Onsala, Mets?hovi and Wettzell) fixed at the ITRF93 system. On a time-scale of 5 days, precision was several parts in 10⁹ for the horizontal and vertical components. Accuracies were about 1 cm in comparison with the International GPS Geodynamical Service (IGS) coordinates in three directions. To connect the Swedish and the Finnish height systems, our numerical application utilises three approaches: a rigorous approach, a bias fit and a three-parameter fit. The results between the Swedish RH70 and the Finnish N 60 systems are estimated to −19.3 ± 6.5, −17 ± 6 and −15 ± 6 cm, respectively, by the three approaches. The results of the three indirect methods are in an agreement with those of a direct approach from levelling and gravity measurements. Received: 3 April 1996 / Accepted: 4 August 1997     

Analytical solar radiation pressure modelling for GLONASS using a pixel array

 A new method for calculating analytical solar radiation pressure models for GNSS spacecraft has been developed. The method simulates the flux of light from the Sun using a pixel array. The method can cope with a high level of complexity in the spacecraft structure and models effects due to reflected light. Models have been calculated and tested for the Russhar global navigation satellite system GLONASS IIv spacecraft. Results are presented using numerical integration of the force model and long-arc satellite laser ranging (SLR) analysis. The integrated trajectory differs from a precise orbit calculated using a network of global tracking stations by circa 2 m root mean square over a 160 000-km arc. The observed − computed residuals for the 400-day SLR arc are circa 28 mm. Received: 23 December 1999 / Accepted: 28 August 2000     

Precise tidal gravity recorded with superconducting gravimeters at stations Wuhan (China) and Kyoto (Japan)

 Three long series of tidal gravity observations, totalizing approximately 24 years and recorded with three superconducting gravimeters, T004, T008, and T009, at stations Wuhan (China) and Kyoto (Japan), are studied. The tidal amplitude factors and phase differences are determined precisely using Eterna and Nsv techniques. The precision of the main tidal amplitudes is at the same level of 0.01 μGal. The atmospheric gravity signals are corrected using the coefficients determined with a regression method between tidal gravity residual and station air pressure. The oceanic gravity signals are modeled based on five global oceanic models. It is found that the oceanic models developed by the analysis of measurements from Topex/Poseidon altimeters have the best fit to the superconducting gravimeter measurements, since the observed residuals and the discrepancies between the amplitude factors and the theoretical tidal models are reduced more significantly. The long-period gravity variations are dominated by the non-linear drift phenomena of the instruments, and the short-term variations in gravity are due to the background noise at the stations. Received: 20 January 2000 / Accepted: 15 September 2000     

Atmospheric, oceanic and hydrological contributions to seasonal variations in length of day

 The annual and semiannual residuals derived in the axial angular momentum budget of the solid Earth–atmosphere system reflect significant signals. They must be caused by further excitation sources. Since, in particular, the contribution for the wind term from the atmospheric layer between the 10 and 0.3 hPa levels to the seasonal variations in length of day (LOD) is still missing, it is necessary to extend the top level into the upper stratosphere up to 0.3 hPa. Under the conservation of the total angular momentum of the entire Earth, variations in the oceanic angular momentum (OAM) and the hydrological angular momentum (HAM) are further significant excitation sources at seasonal time scales. Focusing on other contributions to the Earth's axial angular momentum budget, the following data are used in this study: axial atmospheric angular momentum (AAM) data derived for the 10–0.3 hPa layer from 1991 to 1997 for computing the missing wind effects; axial OAM functions as generated by oceanic general circulation models (GCMs), namely for the ECHAM3 and the MICOM models, available from 1975 to 1994 and from 1992 to 1994, respectively, for computing the oceanic contributions to LOD changes, and, concerning the HAM variations, the seasonal estimates of the hydrological contribution as derived by Chao and O'Connor [(1988) Geophys J 94: 263–270]. Using vector representation, it is shown that the vectors achieve a close balance in the global axial angular momentum budget within the estimated uncertainties of the momentum quantities on seasonal time scales. Received: 6 April 2000 / Accepted: 13 December 2000     

On the dynamical effects of an inhomogeneous liquid core in the theory of nutation

As shown in previous work, dynamical effects of a realistic model of a heterogeneous, compressible, stably stratified liquid core may be obtained by means of a simple analysis of the generalized two-dimensional Laplace tidal equation which describes tidal flows of an incompressible and non-gravitating fluid in a thin spherical layer with mobile boundaries. The solution was presented in the form of expansions in powers of a small parameter κ being the ratio of nutational motion frequency in space to the frequency of the Earth's diurnal rotation. Whereas in an earlier paper only first-order terms were taken into account, our present approach includes not only main second-order terms in the spherical harmonic expansions of the solutions, but also the terms of higher orders. These effects are calculated numerically for realistic models of the Earth's outer liquid core, solid inner core and anelastic mantle (PREM model). All tables are found in electronic version at http://www.tu-darmstadt.de/fb/vw/ipg/Welcome2.html Received: 12 June 1997 / Accepted: 11 December 1997     

From fields to objects: A review of geographic boundary analysis

Geographic boundary analysis is a relatively new approach unfamiliar to many spatial analysts. It is best viewed as a technique for defining objects – geographic boundaries – on spatial fields, and for evaluating the statistical significance of characteristics of those boundary objects. This is accomplished using null spatial models representative of the spatial processes expected in the absence of boundary-generating phenomena. Close ties to the object-field dialectic eminently suit boundary analysis to GIS data. The majority of existing spatial methods are field-based in that they describe, estimate, or predict how attributes (variables defining the field) vary through geographic space. Such methods are appropriate for field representations but not object representations. As the object-field paradigm gains currency in geographic information science, appropriate techniques for the statistical analysis of objects are required. The methods reviewed in this paper are a promising foundation. Geographic boundary analysis is clearly a valuable addition to the spatial statistical toolbox.? This paper presents the philosophy of, and motivations for geographic boundary analysis. It defines commonly used statistics for quantifying boundaries and their characteristics, as well as simulation procedures for evaluating their significance. We review applications of these techniques, with the objective of making this promising approach accessible to the GIS-spatial analysis community. We also describe the implementation of these methods within geographic boundary analysis software: GEM. Received: 22 March 1999 / Accepted: 7 September 1999     

Assessment of periodic sub-diurnal Earth rotation variations at tidal frequencies through transformation of VLBI normal equation systems

We present an empirical model for periodic variations of diurnal and sub-diurnal Earth rotation parameters (ERPs) that was derived based on the transformation of normal equation (NEQ) systems of Very Long Baseline Interferometry (VLBI) observing sessions. NEQ systems that contain highly resolved polar motion and UT1-TAI with a temporal resolution of 15 min were generated and then transformed to the coefficients of the tidal ERP model to be solved for. To investigate the quality of this model, comparisons with empirical models from the Global Positioning System (GPS), another VLBI model and the model adopted by the conventions of the International Earth Rotation and Reference Systems Service (IERS) were performed. The absolute coefficients of these models agree almost completely within 7.5 μ as in polar motion and 0.5 μs in UT1-TAI. Several bigger differences exist, which are discussed in this paper. To be able to compare the model estimates with results of the continuous VLBI campaigns, where signals with periods of 8 and 6 h were detected, terms in the ter- and quarter-diurnal band were included in the tidal ERP model. Unfortunately, almost no common features with the results of continuous VLBI campaigns or ERP predictions in these tidal bands can be seen.     

Vertical velocities of European coastal sites derived from continuous GPS observations

Vertical velocities of 30 European permanent Global Positioning System (GPS) stations at or close to tide gauge sites are estimated from more than 3 years of continuous observations. The results of two different solution strategies are presented and compared. The first approach accumulates the daily free network normal equations, the second introduces all sets of daily ellipsoidal height estimates and their covariance matrix into a subsequent common least squares adjustment. In both solutions, mean station heights at a reference epoch, linear vertical velocities, height discontinuities and short period height offsets are estimated. The second approach solves in addition for periodic annual signals and for site-specific pressure loading coefficients. The vertical velocities range from +8 mm/year in the center of the Fennoscandian uplift area to –4 mm/year at a few subsiding locations. Apart from these extrema, most of the sites experience only very small vertical motions. The standard deviations from the second approach providing more realistic error estimates are well below 0.15 mm/year. Some specific data problems are discussed.     

Rigorous mathematical models for the densification and integration of geodetic networks

Existing position information in a network can be integrated with the densification solution in two ways: One way is to obtain a solution of the densification network followed by a merger of this and all other solutions or vice versa. Alternatively, the existing solutions (not used as weighted constraints) can be taken to be pseudo-observations in a simultaneous adjustment with the “new” observations. In both cases, all existing solutions must first be transformed to the coordinate system of the densified network and be statistically compatible with it. Simultaneous densification and integration is discussed through mathematical adjustment models in which the geometrical strength of networks is underscored. The rationale behind densifying and integrating networks either in two different steps or simultaneously is analyzed. It is concluded that the simultaneous approach should be avoided unless the various solutions turn out to be statistically compatible.     

Simplifying the interpretation of continuous time models for spatio-temporal networks

Autoregressive and moving average models for temporally dynamic networks treat time as a series of discrete steps which assumes even intervals between data measurements and can introduce bias if this assumption is not met. Using real and simulated data from the London Underground network, this paper illustrates the use of continuous time multilevel models to capture temporal trajectories of edge properties without the need for simultaneous measurements, along with two methods for producing interpretable summaries of model results. These including extracting ‘features’ of temporal patterns (e.g. maxima, time of maxima) which have utility in understanding the network properties of each connection and summarising whole-network properties as a continuous function of time which allows estimation of network properties at any time without temporal aggregation of non-simultaneous measurements. Results for temporal pattern features in the response variable were captured with reasonable accuracy. Variation in the temporal pattern features for the exposure variable was underestimated by the models. The models showed some lack of precision. Both model summaries provided clear ‘real-world’ interpretations and could be applied to data from a range of spatio-temporal network structures (e.g. rivers, social networks). These models should be tested more extensively in a range of scenarios, with potential improvements such as random effects in the exposure variable dimension.