VLBI observations of GNSS-satellites: from scheduling to analysis

The possibility of observing satellites with the very long baseline interferometry (VLBI) technique has been discussed for several years in the geodetic community, with observations of either existing satellites of the global navigation satellite systems or of satellites dedicated to realise a space tie. Such observations were carried out using the Australian telescopes in Hobart and Ceduna which, for the first time, integrated all the necessary steps: planning the observations (automated scheduling), correlation of the data and the generation of a series of time delay observables suitable for a subsequent geodetic analysis. We report on the development of new and the adaptation of existing routines for observing and data processing, focusing on technology development. The aim was to use methods that are routinely used in geodetic VLBI. A series of test experiments of up to six hours duration was performed, allowing to improve the observations from session to session and revealing new problems still to be solved. The newly developed procedures and programs now enable more observations. Further development assumed, this bears the prospect of being directly applied to the observation of dedicated space-tie satellites.     

Geodetic VLBI with an artificial radio source on the Moon: a simulation study

We perform extensive simulations in order to assess the accuracy with which the position of a radio transmitter on the surface of the Moon can be determined by geodetic VLBI. We study how the quality and quantity of geodetic VLBI observations influence these position estimates and investigate how observations of such near-field objects affect classical geodetic parameters like VLBI station coordinates and Earth rotation parameters. Our studies are based on today’s global geodetic VLBI schedules as well as on those designed for the next-generation geodetic VLBI system. We use Monte Carlo simulations including realistic stochastic models of troposphere, station clocks, and observational noise. Our results indicate that it is possible to position a radio transmitter on the Moon using today’s geodetic VLBI with a two-dimensional horizontal accuracy of better than one meter. Moreover, we show that the next-generation geodetic VLBI has the potential to improve the two-dimensional accuracy to better than 5 cm. Thus, our results lay the base for novel observing concepts to improve both lunar research and geodetic VLBI.     

The International VLBI Service for Geodesy and Astrometry (IVS): current capabilities and future prospects

Very Long Baseline Interferometry (VLBI) plays a unique and fundamental role in the maintenance of the global (terrestrial and celestial) reference frames, which are required for precise positioning in many research areas such as the understanding and monitoring of global changes, and for space missions. The International VLBI Service for Geodesy and Astrometry (IVS) coordinates the global VLBI components and resources on an international basis. The service is tasked by the International Association of Geodesy (IAG) and International Astronomical Union (IAU) to provide products for the realization of the Celestial Reference Frame (CRF) through the positions of quasars, to deliver products for the maintenance of the terrestrial reference frame (TRF), such as station positions and their changes with time, and to generate products describing the rotation and orientation of the Earth. In particular, VLBI uniquely provides direct observations of nutation parameters and of the time difference UT1-UTC. This paper summarizes the evolution and current status of the IVS. It points out the activities to improve further on the product quality to meet future service requirements.     

IGS contribution to the ITRF

We examine the contribution of the International GNSS Service (IGS) to the International Terrestrial Reference Frame (ITRF) by evaluating the quality of the incorporated solutions as well as their major role in the ITRF formation. Starting with the ITRF2005, the ITRF is constructed with input data in the form of time series of station positions (weekly for satellite techniques and daily for VLBI) and daily Earth Orientation Parameters. Analysis of time series of station positions is a fundamental first step in the ITRF elaboration, allowing to assess not only the stations behavior, but also the frame parameters and in particular the physical ones, namely the origin and the scale. As it will be seen, given the poor number and distribution of SLR and VLBI co-location sites, the IGS GPS network plays a major role by connecting these two techniques together, given their relevance for the definition of the origin and the scale of the ITRF. Time series analysis of the IGS weekly combined and other individual Analysis Center solutions indicates an internal precision (or repeatability) <2 mm in the horizontal component and <5 mm in the vertical component. Analysis of three AC weekly solutions shows generally poor agreement in origin and scale, with some indication of better agreement when the IGS started to use the absolute model of antenna phase center variations after the GPS week 1400 (November 2006).     

顾及测量方式的地球自转参数差异性分析

随着甚长基线干涉测量(VLBI)、卫星激光测距(SLR)、激光测月(LLR)、全球卫星导航系统(GNSS)、多里斯系统(DORIS)等多种空间大地测量手段的使用,地球自转参数(ERP)的测量精度不断提高,为航天器导航、深空探测等诸多领域提供了高精度的国际天球参考系(ICRS)和国际地表参考系统(ITRS)之间的转换参数. 以国际地球自转与参考系服务发布的C04序列为基础序列,选取500天ERP序列,分析不同测量手段得到的ERP数据的误差分布情况,为研究利用不同数据之间的一致性进行精度检核的可行性及精度水平提供数据基础,同时也为ERP预报提供更多的数据选择.      

Satellite emission radio interferometric earth surveying series—GPS geodetic system

The satellites of the Global Positioning System (GPS) offer an important new geodetic resource making possible a highly accurate portable radio geodetic system. A concept called SERIES (Satellite Emission Radio Interferometric Earth Surveying) makes use of GPS radio transmissions without any satellite modifications. By employing the technique of very long baseline interferometry (VLBI) and its calibration methods, 0.5 to 3 cm three dimensional baseline accuracy can be achieved over distances of 2 to 200 km respectively, with only 2 hours of on-site data acquisition. The use of quasar referenced ARIES Mobile VLBI to establish a sparse fundamental control grid will provide a basis for making SERIES GPS measurements traceable to the time-invariant quasar directions. Using four SERIES stations deployed at previously established ARIES sites, allows the GPS satellite apparent positions to be determined. These apparent positions then serve as calibrations for other SERIES stations at unknown locations to determine their positions in a manner traceable to the quasars. Because this proposed radio interferometric configuration accomplishes its signal detection by cross-correlation, there is no dependence upon knowledge of the GPS transmitted waveforms which might be encrypted. Since GPS radio signal strengths are 10⁵ stronger than quasar signals, a great reduction in telecommunications sophistication is possible which will result in an order of magnitude less cost for a SERIES GPS station compared to a quasar based mobile VLBI system. The virtually all-weather capability of SERIES offers cost-effective geodetic monitoring with applications to crustal dynamics and earthquake research.     

GGOS-D: homogeneous reprocessing and rigorous combination of space geodetic observations

In preparation of activities planned for the realization of the Global Geodetic Observing System (GGOS), a group of German scientists has carried out a study under the acronym GGOS-D which closely resembles the ideas behind the GGOS initiative. The objective of the GGOS-D project was the investigation of the methodological and information-technological realization of a global geodetic-geophysical observing system and especially the integration and combination of the space geodetic observations. In the course of this project, highly consistent time series of GPS, VLBI, and SLR results were generated based on common state-of-the-art standards for modeling and parameterization. These series were then combined to consistently and accurately compute a Terrestrial Reference Frame (TRF). This TRF was subsequently used as the basis to produce time series of station coordinates, Earth orientation, and troposphere parameters. In this publication, we present results of processing algorithms and strategies for the integration of the space-geodetic observations which had been developed in the project GGOS-D serving as a prototype or a small and limited version of the data handling and processing part of a global geodetic observing system. From a comparison of the GGOS-D terrestrial reference frame results and the ITRF2005, the accuracy of the datum parameters is about 5?C7?mm for the positions and 1.0?C1.5?mm/year for the rates. The residuals of the station positions are about 3?mm and between 0.5 and 1.0?mm/year for the station velocities. Applying the GGOS-D TRF, the offset of the polar motion time series from GPS and VLBI is reduced to 50 ??as (equivalent to 1.5?mm at the Earth??s surface). With respect to troposphere parameter time series, the offset of the estimates of total zenith delays from co-located VLBI and GPS observations for most stations in this study is smaller than 1.5?mm. The combined polar motion components show a significantly better WRMS agreement with the IERS 05C04 series (96.0/96.0???as) than VLBI (109.0/100.7???as) or GPS (98.0/99.5???as) alone. The time series of the estimated parameters have not yet been combined and exploited to the extent that would be possible. However, the results presented here demonstrate that the experiences made by the GGOS-D project are very valuable for similar developments on an international level as part of the GGOS development.     

DORIS Contribution to ITRF2005

We examine the contribution of the Doppler Orbit determination and Radiopositioning Integrated by Satellite (DORIS) technique to the International Terrestrial Reference Frame (ITRF2005) by evaluating the quality of the submitted solutions as well as that of the frame parameters, especially the origin and the scale. Unlike the previous versions of the ITRF, ITRF2005 is constructed with input data in the form of time-series of station positions (weekly for satellite techniques and daily for VLBI) and daily Earth orientation parameters (EOPs), including full variance–covariance information. Analysis of the DORIS station positions’ time-series indicates an internal precision reaching 15 mm or better, at a weekly sampling. A cumulative solution using 12 years of weekly time-series was obtained and compared to a similar International GNSS Service (IGS) GPS solution (at 37 co-located sites) yielding a weighted root mean scatter (WRMS) of the order of 8 mm in position (at the epoch of minimum variance) and about 2.5 mm/year in velocity. The quality of this cumulative solution resulting from the combination of two individual DORIS solutions is better than any individual solution. A quality assessment of polar motion embedded in the contributed DORIS solutions is performed by comparison with the results of other space-geodetic techniques and in particular GPS. The inferred WRMS of polar motion varies significantly from one DORIS solution to another and is between 0.5 and 2 mas, depending on the strategy used and in particular estimating or not polar motion rate by the analysis centers. This particular aspect certainly needs more investigation by the DORIS Analysis Centers.     

Simulations of VLBI observations of a geodetic satellite providing co-location in space

We performed Monte Carlo simulations of very-long-baseline interferometry (VLBI) observations of Earth-orbiting satellites incorporating co-located space-geodetic instruments in order to study how well the VLBI frame and the spacecraft frame can be tied using such measurements. We simulated observations of spacecraft by VLBI observations, time-of-flight (TOF) measurements using a time-encoded signal in the spacecraft transmission, similar in concept to precise point positioning, and differential VLBI (D-VLBI) observations using angularly nearby quasar calibrators to compare their relative performance. We used the proposed European Geodetic Reference Antenna in Space (E-GRASP) mission as an initial test case for our software. We found that the standard VLBI technique is limited, in part, by the present lack of knowledge of the absolute offset of VLBI time to Coordinated Universal Time at the level of microseconds. TOF measurements are better able to overcome this problem and provide frame ties with uncertainties in translation and scale nearly a factor of three smaller than those yielded from VLBI measurements. If the absolute time offset issue can be resolved by external means, the VLBI results can be significantly improved and can come close to providing 1 mm accuracy in the frame tie parameters. D-VLBI observations with optimum performance assumptions provide roughly a factor of two higher uncertainties for the E-GRASP orbit. We additionally simulated how station and spacecraft position offsets affect the frame tie performance.     

EOP and scale from continuous VLBI observing: CONT campaigns to future VGOS networks

Continuous (CONT) VLBI campaigns have been carried out about every 3 years since 2002. The basic idea of these campaigns is to acquire state-of-the-art VLBI data over a continuous time period of about 2 weeks to demonstrate the highest accuracy of which the current VLBI system is capable. In addition, these campaigns support scientific studies such as investigations of high-resolution Earth rotation, reference frame stability, and daily to sub-daily site motions. The size of the CONT networks and the observing data rate have increased steadily since 1994. Performance of these networks based on reference frame scale precision and polar motion/LOD comparison with global navigation satellite system (GNSS) earth orientation parameters (EOP) has been substantially better than the weekly operational R1 and R4 series. The precisions of CONT EOP and scale have improved by more than a factor of two since 2002. Polar motion precision based on the WRMS difference between VLBI and GNSS for the most recent CONT campaigns is at the 30 \(\upmu \)as level, which is comparable to that of GNSS. The CONT campaigns are a natural precursor to the planned future VLBI observing networks, which are expected to observe continuously. We compare the performance of the most recent CONT campaigns in 2011 and 2014 with the expected performance of the future VLBI global observing system network using simulations. These simulations indicate that the expected future precision of scale and EOP will be at least 3 times better than the current CONT precision.     

A Global Terrestrial Reference Frame from simulated VLBI and SLR data in view of GGOS

In this study, we assess the impact of two combination strategies, namely local ties (LT) and global ties (GT), on the datum realization of Global Terrestrial Reference Frames in view of the Global Geodetic Observing System requiring 1 mm-accuracy. Simulated Very Long Baseline Interferometry (VLBI) and Satellite Laser Ranging (SLR) data over a 7 year time span was used. The LT results show that the geodetic datum can be best transferred if the precision of the LT is at least 1 mm. Investigating different numbers of LT, the lack of co-located sites on the southern hemisphere is evidenced by differences of 9 mm in translation and rotation compared to the solution using all available LT. For the GT, the combination applying all Earth rotation parameters (ERP), such as pole coordinates and UT1-UTC, indicates that the rotation around the Z axis cannot be adequately transferred from VLBI to SLR within the combination. Applying exclusively the pole coordinates as GT, we show that the datum can be transferred with mm-accuracy within the combination. Furthermore, adding artificial stations in Tahiti and Nigeria to the current VLBI network results in an improvement in station positions by 13 and 12%, respectively, and in ERP by 17 and 11%, respectively. Extending to every day VLBI observations leads to 65% better ERP estimates compared to usual twice-weekly VLBI observations.     

The international global navigation satellite systems service (IGS): development and achievements

Since 21 June 1992 the International GPS Service (IGS), renamed International GNSS Service in 2005, produces and makes available uninterrupted time series of its products, in particular GPS observations from the IGS Global Network, GPS orbits, Earth orientation parameters (components x and y of polar motion, length of day) with daily time resolution, satellite and receiver clock information for each day with different latencies and accuracies, and station coordinates and velocities in weekly batches for further analysis by the IERS (International Earth Rotation and Reference Systems Service). At a later stage the IGS started exploiting its network for atmosphere monitoring, in particular for ionosphere mapping, for troposphere monitoring, and time and frequency transfer. This is why new IGS products encompass ionosphere maps and tropospheric zenith delays. This development became even more important when more and more space-missions carrying space-borne GPS for various purposes were launched. This article offers an overview for the broader scientific community of the development of the IGS and of the spectrum of topics addressed today with IGS data and products.     

The AUSTRAL VLBI observing program

The AUSTRAL observing program was started in 2011, performing geodetic and astrometric very long baseline interferometry (VLBI) sessions using the new Australian AuScope VLBI antennas at Hobart, Katherine, and Yarragadee, with contribution from the Warkworth (New Zealand) 12 m and Hartebeesthoek (South Africa) 15 m antennas to make a southern hemisphere array of telescopes with similar design and capability. Designed in the style of the next-generation VLBI system, these small and fast antennas allow for a new way of observing, comprising higher data rates and more observations than the standard observing sessions coordinated by the International VLBI Service for Geodesy and Astrometry (IVS). In this contribution, the continuous development of the AUSTRAL sessions is described, leading to an improvement of the results in terms of baseline length repeatabilities by a factor of two since the start of this program. The focus is on the scheduling strategy and increased number of observations, aspects of automated operation, and data logistics, as well as results of the 151 AUSTRAL sessions performed so far. The high number of the AUSTRAL sessions makes them an important contributor to VLBI end-products, such as the terrestrial and celestial reference frames and Earth orientation parameters. We compare AUSTRAL results with other IVS sessions and discuss their suitability for the determination of baselines, station coordinates, source coordinates, and Earth orientation parameters.     

Radio source instability in VLBI analysis

The source position time-series for many of the frequently observed radio sources in the NASA geodetic very long baseline interferometry (VLBI) program show systematic linear and non-linear variations of as much as 0.5 mas (milli-arc-seconds) to 1.0 mas, due mainly to source structure changes. In standard terrestrial reference frame (TRF) geodetic solutions, it is a common practice to only estimate a global source position for each source over the entire history of VLBI observing sessions. If apparent source position variations are not modeled, they produce corresponding systematic variations in estimated Earth orientation parameters (EOPs) at the level of 0.02–0.04 mas in nutation and 0.01–0.02 mas in polar motion. We examine the stability of position time-series of the 107 radio sources in the current NASA geodetic source catalog since these sources have relatively dense observing histories from which it is possible to detect systematic variations. We consider different strategies for handling source instabilities where we (1) estimate the positions of unstable sources for each session they are observed, or (2) estimate spline parameters or rate parameters for sources chosen to fit the specific variation seen in the position-time series. We found that some strategies improve VLBI EOP accuracy by reducing the biases and weighted root mean square differences between measurements from independent VLBI networks operating simultaneously. We discuss the problem of identifying frequently observed unstable sources and how to identify new sources to replace these unstable sources in the NASA VLBI geodetic source catalog.     

小型化LEO星座与BDS-3全星座联合定轨仿真

受限于区域监测站及地球静止轨道(geosynchronous earth orbit,GEO)卫星的静地特性,北斗卫星导航系统(BeiDou satellite navigation system,BDS)定轨精度较差,加入低轨卫星(low earth orbit,LEO)星载数据可显著提升定轨精度.使用一种由24颗L...     

First results of DORIS data analysis at Geodetic Observatory Pecný

In a cooperation between the Astronomical Institute, University of Bern (AIUB), the Geodetic Observatory Pecný (GOPE), and the Institut Géographique National (IGN), DORIS data analysis capabilities were implemented into a development version of the Bernese GPS software. The DORIS Doppler observables are reformulated such that they are similar to global navigation satellite system (GNSS) carrier-phase observations, allowing the use of the same observation models and algorithms as for GNSS carrier-phase data analysis with only minor software modifications. As such, the same algorithms may be used to process DORIS carrier-phase observations. First results from the analysis of 3 weeks of DORIS data (September 2004, five DORIS-equipped satellites) at GOPE are promising and are presented here. They include the comparison of station coordinates with coordinate estimates derived by the Laboratoire d’Etudes en Géophysique et Océanographie Spatiale/Collecte Localisation Satellites analysis centre (LCA) and the Institut Géographique National/Jet Propulsion Laboratory (IGN/JPL), and the comparison of Earth orientation parameters (EOPs) with the International Earth Rotation and Reference Frames Service (IERS) C04 model. The modified Bernese results are of a slightly lower, but comparable, quality than corresponding solutions routinely computed within the IDS (International DORIS Service). The weekly coordinate repeatability RMS is of the order of 2–3 cm for each 3D station coordinate. Comparison with corresponding estimates of station coordinates from current IDS analysis centers demonstrates similar precision. Daily pole component estimates show a mean difference from IERS-C04 of 0.6  mas in X _p and  ? 0.5  mas in Y _p and a RMS of 0.8  mas in X _p and 0.9  mas in Y _p (mean removed). An automatic analysis procedure is under development at GOPE, and routine DORIS data processing will be implemented in the near future.     

New global positioning system reference station in Brazil

Co-located very long baseline interferometry (VLBI) and global positioning system (GPS) reference stations were installed near Fortaleza, Brazil, in 1993. Both have been important in the realization and maintenance of the International Terrestrial Reference Frame. A new-generation GPS system was installed in 2005 to replace the original station. Experience gained in the prior 12 years was used to improve the design of the GPS antenna mount. Preliminary indications are greatly improved data quality from the new station. Simultaneous observations from the nearly half-year of overlapping operation have been used to determine the local tie between the new and old GPS reference points to about 1 mm accuracy. This can be used to update the 1993 survey tie between the original GPS and the VLBI points, although there are questions about the accuracy of that measurement based on a comparison with space geodetic data. A test of removing the conical radome over the old GPS antenna indicates that it has biased the station height by about 16 mm downward, which probably accounts for most of the previous survey discrepancy.     

New VLBI2010 scheduling strategies and implications on the terrestrial reference frames

In connection with the work for the next generation VLBI2010 Global Observing System (VGOS) of the International VLBI Service for Geodesy and Astrometry, a new scheduling package (Vie_Sched) has been developed at the Vienna University of Technology as a part of the Vienna VLBI Software. In addition to the classical station-based approach it is equipped with a new scheduling strategy based on the radio sources to be observed. We introduce different configurations of source-based scheduling options and investigate the implications on present and future VLBI2010 geodetic schedules. By comparison to existing VLBI schedules of the continuous campaign CONT11, we find that the source-based approach with two sources has a performance similar to the station-based approach in terms of number of observations, sky coverage, and geodetic parameters. For an artificial 16 station VLBI2010 network, the source-based approach with four sources provides an improved distribution of source observations on the celestial sphere. Monte Carlo simulations yield slightly better repeatabilities of station coordinates with the source-based approach with two sources or four sources than the classical strategy. The new VLBI scheduling software with its alternative scheduling strategy offers a promising option with respect to applications of the VGOS.     

Effect of the selection of reference radio sources on geodetic estimates from VLBI observations

This paper evaluates the effect of the accuracy of reference radio sources on the daily estimates of station positions, nutation angle offsets, and the estimated site coordinates determined by very long baseline interferometry (VLBI), which are used for the realization of the international terrestrial reference frame (ITRF). Five global VLBI solutions, based on VLBI data collected between 1979 and 2006, are compared. The reference solution comprises all observed radio sources, which are treated as global parameters. Four other solutions, comprising different sub-sets of radio sources, were computed. The daily station positions for all VLBI sites and the corrections to the nutation offset angles were estimated for these five solutions. The solution statistics are mainly affected by the positional instabilities of reference radio sources, whereas the instabilities of geodetic and astrometric time-series are caused by an insufficient number of observed reference radio sources. A mean offset of the three positional components (Up, North, East) between any two solutions was calculated for each VLBI site. From a comparison of the geodetic results, no significant discrepancies between the respective geodetic solutions for all VLBI sites in the Northern Hemisphere were found. In contrast, the Southern Hemisphere sites were more sensitive to the selected set of reference radio sources. The largest estimated mean offset of the vertical component between two solutions for the Australian VLBI site at Hobart was 4 mm. In the worst case (if a weak VLBI network observed a limited number of reference radio sources) the daily offsets of the estimated height component at Hobart exceeded 100 mm. The exclusion of the extended radio sources from the list of reference sources improved the solution statistics and made the geodetic and astrometric time-series more consistent. The problem with the large Hobart height component offset is magnified by a comparatively small number of observations due to the low slewing rate of the VLBI dish (1°/ s). Unless a minimum of 200 scans are performed per 24-h VLBI experiment, the daily vertical positions at Hobart do not achieve 10 mm accuracy. Improving the slew rate at Hobart and/or having an increased number of new sites in the Southern Hemisphere is essential for further improvement of geodetic VLBI results for Southern Hemisphere sites.     

On the long-term stability of terrestrial reference frame solutions based on Kalman filtering

The Global Geodetic Observing System requirement for the long-term stability of the International Terrestrial Reference Frame is 0.1 mm/year, motivated by rigorous sea level studies. Furthermore, high-quality station velocities are of great importance for the prediction of future station coordinates, which are fundamental for several geodetic applications. In this study, we investigate the performance of predictions from very long baseline interferometry (VLBI) terrestrial reference frames (TRFs) based on Kalman filtering. The predictions are computed by extrapolating the deterministic part of the coordinate model. As observational data, we used over 4000 VLBI sessions between 1980 and the middle of 2016. In order to study the predictions, we computed VLBI TRF solutions only from the data until the end of 2013. The period of 2014 until 2016.5 was used to validate the predictions of the TRF solutions against the measured VLBI station coordinates. To assess the quality, we computed average WRMS values from the coordinate differences as well as from estimated Helmert transformation parameters, in particular, the scale. We found that the results significantly depend on the level of process noise used in the filter. While larger values of process noise allow the TRF station coordinates to more closely follow the input data (decrease in WRMS of about 45%), the TRF predictions exhibit larger deviations from the VLBI station coordinates after 2014 (WRMS increase of about 15%). On the other hand, lower levels of process noise improve the predictions, making them more similar to those of solutions without process noise. Furthermore, our investigations show that additionally estimating annual signals in the coordinates does not significantly impact the results. Finally, we computed TRF solutions mimicking a potential real-time TRF and found significant improvements over the other investigated solutions, all of which rely on extrapolating the coordinate model for their predictions, with WRMS reductions of almost 50%.