Universal time from VLBI single-baseline observations during CONT08

The IVS Intensive sessions are single-baseline, 1-h VLBI sessions carried out everyday in order to determine Universal Time (UT1). We investigate different possibilities to improve the results of such sessions. We do this investigation by extracting 2-h single-baseline sessions from the CONT08 data set. These are analysed like normal Intensives, and the results are compared to the results of the analysis of the full CONT08 data set. We find that tropospheric asymmetry is the major error source for the single-baseline sessions. It is possible to improve the accuracy of the estimated UT1 either by using accurate a priori tropospheric gradients or by estimating gradients in the data analysis.     

Asymmetric tropospheric delays from numerical weather models for UT1 determination from VLBI Intensive sessions on the baseline Wettzell–Tsukuba

One-baseline 1-h Very Long Baseline Interferometry (VLBI) Intensive sessions are carried out every day to determine Universal Time (UT1). Azimuthal asymmetry of tropospheric delays around the stations is usually ignored and not estimated because of the small number of observations. In this study we use external information about the asymmetry for the Intensive sessions between Tsukuba (Japan) and Wettzell (Germany), which are carried out on Saturdays and Sundays (1) from direct ray-tracing for each observation at Tsukuba and (2) in the form of linear horizontal north and east gradients every 6 h at both stations. The change of the UT1 estimates is at the 10 μs level with maximum differences of up to 50 μs, which is clearly above the formal uncertainties of the UT1 estimates (between 5 and 20 μs). Spectral analysis reveals that delays from direct ray-tracing for the station Tsukuba add significant power at short periods (1–2 weeks) w.r.t. the state-of-the-art approach, and comparisons with length-of-day (LOD) estimates from Global Positioning System (GPS) indicate that these ray-traced delays slightly improve the UT1 estimates from Intensive sessions.     

Impact of seasonal station motions on VLBI UT1 intensives results

UT1 estimates obtained from the very long baseline interferometry (VLBI) Intensives data depend on the station displacement model used during processing. In particular, because of seasonal variations, the instantaneous station position during the specific intensive session differs from the position predicted by the linear model generally used. This can cause systematic errors in UT1 Intensives results. In this paper, we first investigated the seasonal signal in the station displacements for the 5 VLBI antennas participating in UT1 Intensives observing programs, along with the 8 collocated GPS stations. It was found that a significant annual term is present in the time series for most stations, and its amplitude can reach 8 mm in the height component, and 2 mm in horizontal components. However, the annual signals found in the displacements of the collocated VLBI and GPS stations at some sites differ substantially in amplitude and phase. The semiannual harmonics are relatively small and unstable, and for most stations no prevailing signal was found in the corresponding frequency band. Then two UT1 Intensives series were computed with and without including the seasonal term found in the previous step in the station movement model. Comparison of these series has shown that neglecting the seasonal station position variations can cause a systematic error in UT1 estimates, which can exceed 1  $\upmu $ s, depending on the observing program.     

Ultra-rapid earth rotation determination with VLBI during CONT11 and CONT14

We present earth rotation results from the ultra-rapid operations during the continuous VLBI campaigns CONT11 and CONT14. The baseline Onsala–Tsukuba, i.e., using two out of the 13 and 17 stations contributing to CONT11 and CONT14, respectively, was used to derive UT1-UTC in ultra-rapid mode during the ongoing campaigns. The latency between a new observation and a new UT1-UTC result was less than 10 min for more than 95% of the observations. The accuracy of the derived ultra-rapid UT1-UTC results is approximately a factor of three worse than results from optimized one-baseline sessions and/or complete analysis of large VLBI networks. This is, however, due to that the one-baseline picked from the CONT campaigns is not optimized for earth rotation determination. Our results prove that the 24/7 operation mode planned for VGOS, the next-generation VLBI system, is possible already today. However, further improvements in data connectivity of stations and correlators as well in the automated analysis are necessary to realize the ambitious VGOS plans.     

Is there utility in rigorous combinations of VLBI and GPS Earth orientation parameters?

Combinations of station coordinates and velocities from independent space-geodetic techniques have long been the standard method to realize robust global terrestrial reference frames (TRFs). In principle, the particular strengths of one observing method can compensate for weaknesses in others if the combination is properly constructed, suitable weights are found, and accurate co-location ties are available. More recently, the methodology has been extended to combine time-series of results at the normal equation level. This allows Earth orientation parameters (EOPs) to be included and aligned in a fully consistent way with the TRF. While the utility of such multi-technique combinations is generally recognized for the reference frame, the benefits for the EOPs are yet to be quantitatively assessed. In this contribution, which is a sequel to a recent paper on co-location ties (Ray and Altamimi in J Geod 79(4–5): 189–195, 2005), we have studied test combinations of very long baseline interferometry (VLBI) and Global Positioning System (GPS) time-series solutions to evaluate the effects on combined EOP measurements compared with geophysical excitations. One expects any effect to be small, considering that GPS dominates the polar motion estimates due to its relatively dense and uniform global network coverage, high precision, continuous daily sampling, and homogeneity, while VLBI alone observes UT1-UTC. Presently, although clearly desirable, we see no practical method to rigorously include the GPS estimates of length-of-day variations due to significant time-varying biases. Nevertheless, our results, which are the first of this type, indicate that more accurate polar motion from GPS contributes to improved UT1-UTC results from VLBI. The situation with combined polar motion is more complex. The VLBI data contribute directly only very slightly, if at all, with an impact that is probably affected by the weakness of the current VLBI networks (small size and sparseness) and the quality of local ties relating the VLBI and GPS frames. Instead, the VLBI polar motion information is used primarily in rotationally aligning the VLBI and GPS frames, thereby reducing the dependence on co-location tie information. Further research is needed to determine an optimal VLBI-GPS combination strategy that yields the highest quality EOP estimates. Improved local ties (including internal systematic effects within the techniques) will be critically important in such an effort.     

Improved UT1 predictions through low-latency VLBI observations

The quality of predictions of Earth orientation parameters (EOPs) in general, and of Universal Time (UT1) in particular, depends strongly on the time delay between the last observation available and the first prediction. Since 30 September 2007 (MJD 54373), the latency of UT1 results from a subset of single baseline VLBI observations running once per week (Mondays) has been decreased from 2 to 3 days to about 8 h. This was achieved by transmitting the raw VLBI data of 1-h duration from the observing sites in Tsukuba (Japan), Wettzell (Germany) and Ny-Ålesund (Norway) to the correlator of the Max-Planck-Institute for Radio Astronomy and the German Federal Agency of Cartography and Geodesy at Bonn, Germany, by high-speed Internet connections (e-Transfer). The reduced latency of the observations has improved the accuracy of the combined International Earth Rotation and Reference Systems Service (IERS) Rapid Service/Prediction Center (RS/PC) UT1-UTC solution by roughly 50% on the days when the data are available. Because this combination is an input to the UT1-UTC prediction process, the improved latency is also responsible for a roughly 21% improvement in the accuracy of short-term IERS RS/PC UT1-UTC predictions on the days where the data are available.     

Troposphere gradients from the ECMWF in VLBI analysis

Modeling path delays in the neutral atmosphere for the analysis of Very Long Baseline Interferometry (VLBI) observations has been improved significantly in recent years by the use of elevation-dependent mapping functions based on data from numerical weather models. In this paper, we present a fast way of extracting both, hydrostatic and wet, linear horizontal gradients for the troposphere from data of the European Centre for Medium-range Weather Forecasts (ECMWF) model, as it is realized at the Vienna University of Technology on a routine basis for all stations of the International GNSS (Global Navigation Satellite Systems) Service (IGS) and International VLBI Service for Geodesy and Astrometry (IVS) stations. This approach only uses information about the refractivity gradients at the site vertical, but no information from the line-of-sight. VLBI analysis of the CONT02 and CONT05 campaigns, as well as all IVS-R1 and IVS-R4 sessions in the first half of 2006, shows that fixing these a priori gradients improves the repeatability for 74% (40 out of 54) of the VLBI baseline lengths compared to fixing zero or constant a priori gradients, and improves the repeatability for the majority of baselines compared to estimating 24-h offsets for the gradients. Only if 6-h offsets are estimated, the baseline length repeatabilities significantly improve, no matter which a priori gradients are used.     

Tropospheric parameters: combination studies based on homogeneous VLBI and GPS data

The combination of tropospheric parameters derived from different space-geodetic techniques has not been of large interest in geodesy so far. However, due to the high correlation between station coordinates and tropospheric parameters, the latter should not be neglected in combinations. This paper deals with the comparison and combination of tropospheric parameters derived from global positioning system (GPS) and very long baseline interferometry (VLBI) observations stemming from a 15-day campaign of continuous VLBI observations in 2002 (CONT02). The observation data of both techniques were processed homogeneously to avoid systematic differences between the solutions. We compared the tropospheric estimates of GPS and VLBI at eight co-location sites and found a very good agreement in the temporal behavior of the tropospheric zenith path delays (ZPD), reflected by correlation factors up to 0.98. Following this, a combination of the tropospheric parameters was performed. We demonstrate that the combination of tropospheric parameters leads to a stabilization of combined station networks. This becomes visible in the improvement of the repeatabilities of the station height components. Furthermore, the potential use of independent data from water vapor radiometers (WVRs) to validate space-technique-derived tropospheric parameters was investigated. Correlation coefficients of 0.95 or better were estimated between the tropospheric parameters of WVR and GPS or VLBI. Additionally, the utility of the tropospheric parameters for validation of local tie vectors was investigated. Both tropospheric zenith delays and tropospheric gradients were found to be very suitable to validate the height component and the horizontal components of the local tie, respectively.     

Combined Earth orientation parameters based on homogeneous and continuous VLBI and GPS data

The CONT02 campaign is of great interest for studies combining very long baseline interferometry (VLBI) with other space-geodetic techniques, because of the continuously available VLBI observations over 2 weeks in October 2002 from a homogeneous network. Especially, the combination with the Global Positioning System (GPS) offers a broad spectrum of common parameters. We combined station coordinates, Earth orientation parameters (EOPs) and troposphere parameters consistently in one solution using technique- specific datum-free normal equation systems. In this paper, we focus on the analyses concerning the EOPs, whereas the comparison and combination of the troposphere parameters and station coordinates are covered in a companion paper in Journal of Geodesy. In order to demonstrate the potential of the VLBI and GPS space-geodetic techniques, we chose a sub-daily resolution for polar motion (PM) and universal time (UT). A consequence of this solution set-up is the presence of a one-to-one correlation between the nutation angles and a retrograde diurnal signal in PM. The Bernese GPS Software used for the combination provides a constraining approach to handle this singularity. Simulation studies involving both nutation offsets and rates helped to get a deeper understanding of this singularity. With a rigorous combination of UT1–UTC and length of day (LOD) from VLBI and GPS, we showed that such a combination works very well and does not suffer from the systematic effects present in the GPS-derived LOD values. By means of wavelet analyses and the formal errors of the estimates, we explain this important result. The same holds for the combination of nutation offsets and rates. The local geodetic ties between GPS and VLBI antennas play an essential role within the inter-technique combination. Several studies already revealed non-negligible discrepancies between the terrestrial measurements and the space-geodetic solutions. We demonstrate to what extent these discrepancies propagate into the combined EOP solution.     

空间大地测量技术实测台站速度场精度分析

利用国际上3个著名的数据分析处理中心CSR、JPL和GSFC给出的3种空间大地测量技术实测的台站运动速度场数据,解算不同空间技术速度场之间的转换参数,即速度场之间的系统差。在扣除两两技术之间速度场的系统差后,用速度场残差计算了空间技术速度场之间的不符值加权中误差作为衡量不同空间技术实测台站速度场的外部检核指标,即外符精度。计算结果表明,VLBI和GPS实测台站地心速度已经达到1 mm/a的精度;SLR实测台站地心速度已经达到2 mm/a的精度。     

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%.     

The impact of celestial pole offset modelling on VLBI UT1 intensive results

Very Long Baseline Interferometry (VLBI) Intensive sessions are scheduled to provide operational Universal Time (UT1) determinations with low latency. UT1 estimates obtained from these observations heavily depend on the model of the celestial pole motion used during data processing. However, even the most accurate precession- nutation model, IAU 2000/2006, is not accurate enough to realize the full potential of VLBI observations. To achieve the highest possible accuracy in UT1 estimates, a celestial pole offset (CPO), which is the difference between the actual and modelled precession-nutation angles, should be applied. Three CPO models are currently available for users. In this paper, these models have been tested and the differences between UT1 estimates obtained with those models are investigated. It has been shown that neglecting CPO modelling during VLBI UT1 Intensive processing causes systematic errors in UT1 series of up to 20 μas. It has been also found that using different CPO models causes the differences in UT1 estimates reaching 10 μas. Obtained results are applicable to the satellite data processing as well.     

Application of ray-traced tropospheric slant delays to geodetic VLBI analysis

The correction of tropospheric influences via so-called path delays is critical for the analysis of observations from space geodetic techniques like the very long baseline interferometry (VLBI). In standard VLBI analysis, the a priori slant path delays are determined using the concept of zenith delays, mapping functions and gradients. The a priori use of ray-traced delays, i.e., tropospheric slant path delays determined with the technique of ray-tracing through the meteorological data of numerical weather models (NWM), serves as an alternative way of correcting the influences of the troposphere on the VLBI observations within the analysis. In the presented research, the application of ray-traced delays to the VLBI analysis of sessions in a time span of 16.5 years is investigated. Ray-traced delays have been determined with program RADIATE (see Hofmeister in Ph.D. thesis, Department of Geodesy and Geophysics, Faculty of Mathematics and Geoinformation, Technische Universität Wien. http://resolver.obvsg.at/urn:nbn:at:at-ubtuw:1-3444, 2016) utilizing meteorological data provided by NWM of the European Centre for Medium-Range Weather Forecasts (ECMWF). In comparison with a standard VLBI analysis, which includes the tropospheric gradient estimation, the application of the ray-traced delays to an analysis, which uses the same parameterization except for the a priori slant path delay handling and the used wet mapping factors for the zenith wet delay (ZWD) estimation, improves the baseline length repeatability (BLR) at 55.9% of the baselines at sub-mm level. If no tropospheric gradients are estimated within the compared analyses, 90.6% of all baselines benefit from the application of the ray-traced delays, which leads to an average improvement of the BLR of 1 mm. The effects of the ray-traced delays on the terrestrial reference frame are also investigated. A separate assessment of the RADIATE ray-traced delays is carried out by comparison to the ray-traced delays from the National Aeronautics and Space Administration Goddard Space Flight Center (NASA GSFC) (Eriksson and MacMillan in http://lacerta.gsfc.nasa.gov/tropodelays, 2016) with respect to the analysis performances in terms of BLR results. If tropospheric gradient estimation is included in the analysis, 51.3% of the baselines benefit from the RADIATE ray-traced delays at sub-mm difference level. If no tropospheric gradients are estimated within the analysis, the RADIATE ray-traced delays deliver a better BLR at 63% of the baselines compared to the NASA GSFC ray-traced delays.     

Multi-technique comparison of troposphere zenith delays and gradients during CONT08

CONT08 was a 15 days campaign of continuous Very Long Baseline Interferometry (VLBI) sessions during the second half of August 2008 carried out by the International VLBI Service for Geodesy and Astrometry (IVS). In this study, VLBI estimates of troposphere zenith total delays (ZTD) and gradients during CONT08 were compared with those derived from observations with the Global Positioning System (GPS), Doppler Orbitography and Radiopositioning Integrated by Satellite (DORIS), and water vapor radiometers (WVR) co-located with the VLBI radio telescopes. Similar geophysical models were used for the analysis of the space geodetic data, whereas the parameterization for the least-squares adjustment of the space geodetic techniques was optimized for each technique. In addition to space geodetic techniques and WVR, ZTD and gradients from numerical weather models (NWM) were used from the European Centre for Medium-Range Weather Forecasts (ECMWF) (all sites), the Japan Meteorological Agency (JMA) and Cloud Resolving Storm Simulator (CReSS) (Tsukuba), and the High Resolution Limited Area Model (HIRLAM) (European sites). Biases, standard deviations, and correlation coefficients were computed between the troposphere estimates of the various techniques for all eleven CONT08 co-located sites. ZTD from space geodetic techniques generally agree at the sub-centimetre level during CONT08, and??as expected??the best agreement is found for intra-technique comparisons: between the Vienna VLBI Software and the combined IVS solutions as well as between the Center for Orbit Determination (CODE) solution and an IGS PPP time series; both intra-technique comparisons are with standard deviations of about 3?C6?mm. The best inter space geodetic technique agreement of ZTD during CONT08 is found between the combined IVS and the IGS solutions with a mean standard deviation of about 6?mm over all sites, whereas the agreement with numerical weather models is between 6 and 20?mm. The standard deviations are generally larger at low latitude sites because of higher humidity, and the latter is also the reason why the standard deviations are larger at northern hemisphere stations during CONT08 in comparison to CONT02 which was observed in October 2002. The assessment of the troposphere gradients from the different techniques is not as clear because of different time intervals, different estimation properties, or different observables. However, the best inter-technique agreement is found between the IVS combined gradients and the GPS solutions with standard deviations between 0.2 and 0.7?mm.     

基于VLBI与BDS联合解算ERP的算法研究

利用PANDA软件解算2016年第61~91天的MGEX(Multi-GNSS Experiment)服务站的北斗数据,获得地球自转参数(ERP)。利用VieVS2.2软件处理了同时段的甚长基线干涉测量(VLBI)数据。采用基于IERS 08C04序列的定权方法对BDS和VLBI的解算结果进行加权平均,得到综合的ERP值。结果表明,与IERS比较,极移在X方向差值的RMS为0.249 mas,Y方向差值的RMS为0.296 mas,UT1-UTC差值的RMS为0.053 ms.利用BDS与VLBI数据对ERP参数进行联合解算,弥补了BDS解算结果不稳定和VLBI观测不连续的缺陷,使解算结果的稳定性和可靠性均有所提高。      

Multi-technique comparisons of 10?years of wet delay estimates on the west coast of Sweden

We present comparisons of 10-year-long time series of the atmospheric zenith wet delay (ZWD), estimated using the global positioning system (GPS), geodetic very long baseline interferometry (VLBI), a water vapour radiometer (WVR), radiosonde (RS) observations, and the reanalysis product of the European Centre for Medium-Range Weather Forecasts (ECMWF). To compare the data sets with each other, a Gaussian filter is applied. The results from 10 GPS–RS comparisons using sites in Sweden and Finland show that the full width at half maximum at which the standard deviation (SD) is a minimum increases with the distance between each pair. Comparisons between three co-located techniques (GPS, VLBI, and WVR) result in mean values of the ZWD differences at a level of a few millimetres and SD of less than 7?mm. The best agreement is seen in the GPS–VLBI comparison with a mean difference of ?3.4?mm and an SD of 5.1?mm over the 10-year period. With respect to the ZWD derived from other techniques, a positive bias of up to ~7?mm is obtained for the ECMWF reanalysis product. Performing the comparisons on a monthly basis, we find that the SD including RS or ECMWF varies with the season, between 3 and 15?mm. The monthly SD between GPS and WVR does not have a seasonal signature and varies from 3 to 7?mm.     

A case study of using Raman lidar measurements in high-accuracy GPS applications

This paper investigates the impact of rapid small-scale water vapor fluctuations on GPS height determination. Water vapor measurements from a Raman lidar are used for documenting the water vapor heterogeneities and correcting GPS signal propagation delays in clear sky conditions. We use data from four short observing sessions (6 h) during the VAPIC experiment (15 May–15 June 2004). The retrieval of wet delays from our Raman lidar is shown to agree well with radiosonde retrievals (bias and standard deviation (SD) were smaller than 1 and 2.8 mm, respectively) and microwave radiometers (from two different instruments, bias was 6.0/−6.6 mm and SD 1.3/3.8 mm). A standard GPS data analysis is shown to fail in accurately reproducing fast zenith wet delay (ZWD) variations. The ZWD estimates could be improved when mean post-fit phase residuals were removed. Several methodologies for integrating zenith lidar observations into the GPS data processing are also presented. The final method consists in using lidar wet delays for correcting a priori the GPS phase observations and estimating a scale factor for the lidar wet delays jointly with the GPS station position. The estimation of this scale factor allows correcting for a mis-calibration in the lidar data and provides in the same way an estimate of the Raman lidar instrument constant. The agreement of this constant with an independent determination using radiosonde data is at the level of 1–4%. The lidar wet delays were derived by ray-tracing from zenith pointing measurements: further improvement in GPS positioning is expected from slant path lidar measurements that would properly account for water vapor anisotropy.     

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.     

Multi-reference evaluation of uncertainty in earth orientation parameter measurements

Uncertainties in polar motion and length-of-day measurements are evaluated empirically using several data series from the space-geodetic techniques of the global positioning system (GPS), satellite laser ranging (SLR), and very long baseline interferometry (VLBI) during 1997–2002. In the evaluation procedure employed here, known as the three-corner hat (TCH) technique, the signal common to each series is eliminated by forming pair-wise differences between the series, thus requiring no assumed values for the “truth” signal. From the variances of the differenced series, the uncertainty of each series can be recovered when reasonable assumptions are made about the correlations between the series. In order to form the pair-wise differences, the series data must be given at the same epoch. All measurement data sets studied here were sampled at noon (UTC); except for the VLBI series, whose data are interpolated to noon and whose UT1 values are also numerically differentiated to obtain LOD. The numerical error introduced to the VLBI values by the interpolation and differentiation is shown to be comparable in magnitude to the values determined by the TCH method for the uncertainties of the VLBI series. The TCH estimates for the VLBI series are corrupted by such numerical errors mostly as a result of the relatively large data intervals. Of the remaining data sets studied here, it is found that the IGS Final combined series has the smallest polar motion and length-of-day uncertainties.     

Multi-technique comparison of tropospheric zenith delays derived during the CONT02 campaign

In October 2002, 15 continuous days of Very Long Baseline Interferometry (VLBI) data were observed in the Continuous VLBI 2002 (CONT02) campaign. All eight radio telescopes involved in CONT02 were co-located with at least one other space-geodetic technique, and three of them also with a Water Vapor Radiometer (WVR). The goal of this paper is to compare the tropospheric zenith delays observed during CONT02 by VLBI, Global Positioning System (GPS), Doppler Orbitography Radiopositioning Integrated by Satellite (DORIS) and WVR and to compare them also with operational pressure level data from the European Centre for Medium-Range Weather Forecasts (ECMWF). We show that the tropospheric zenith delays from VLBI and GPS are in good agreement at the 3–7 mm level. However, while only small biases can be found for most of the stations, at Kokee Park (Hawaii, USA) and Westford (Massachusetts, USA) the zenith delays derived by GPS are larger by more than 5 mm than those from VLBI. At three of the four DORIS stations, there is also a fairly good agreement with GPS and VLBI (about 10 mm), but at Kokee Park the agreement is only at about 30 mm standard deviation, probably due to the much older installation and type of DORIS equipment. This comparison also allows testing of different DORIS analysis strategies with respect to their real impact on the precision of the derived tropospheric parameters. Ground truth information about the zenith delays can also be obtained from the ECMWF numerical weather model and at three sites using WVR measurements, allowing for comparisons with results from the space-geodetic techniques. While there is a good agreement (with some problems mentioned above about DORIS) among the space-geodetic techniques, the comparison with WVR and ECMWF is at a lower accuracy level. The complete CONT02 data set is sufficient to derive a good estimate of the actual precision and accuracy of each geodetic technique for applications in meteorology.