Correction of apparent position shifts caused by GNSS antenna changes

Antenna changes at GNSS reference stations frequently produce discontinuities in the coordinate time series. These apparent position shifts are mainly caused by changes of carrier-phase multipath effects and different errors in the antenna phase center corrections. A monitoring method was developed and successfully tested, which requires additional GNSS observations from a local, temporary reference station. Changes of carrier-phase measurement errors due to the antenna change are determined and stored in L1 and L2 phase maps. These phase maps provide corrections to be applied either to the observation data obtained before the antenna change or to the observation data obtained after the antenna change. The observation corrections are able to remove coordinate discontinuities independent of the selected coordinate estimation algorithm.

Simplified equivalent multiple baseline solutions with elevation-dependent weights

Since the assumption of all stations tracking the same satellites with identical weights was previously employed by Shen and Xu (GPS Solut 12:99–108, 2008) to derive the simplified GNSS single- and double-differenced equivalent equations, this supplementary paper expands these simplified equations in the case of each station tracking different satellites with elevation-dependent weights. Numerical experiments are performed to demonstrate the computational efficiency of the simplified equivalent algorithm relative to the traditional method in various scenarios of multi-baseline solutions with tracking different satellites. The fast computational speed of the simplified equivalent algorithm will potentially benefit the local, regional and even global GNSS multi-baseline solutions as well as the combined GNSS application.

Critical network infrastructure analysis: interdiction and system flow

Effective management of critical network infrastructure requires the assessment of potential interdiction scenarios. Optimization approaches have been essential for identifying and evaluating such scenarios in networked systems. Although a primary function of any network is the distribution of flow between origins and destinations, the complexity and difficulty of mathematically abstracting interdiction impacts on connectivity or flow has been a challenge for researchers. This paper presents an optimization approach for identifying interdiction bounds with respect to connectivity and/or flow associated with a system of origins and destinations. Application results for telecommunications flow are presented, illustrating the capabilities of this approach.

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Kalman-filter-based GPS clock estimation for near real-time positioning

In this article, an algorithm for clock offset estimation of the GPS satellites is presented. The algorithm is based on a Kalman-filter and processes undifferenced code and carrier-phase measurements of a global tracking network. The clock offset and drift of the satellite clocks are estimated along with tracking station clock offsets, tropospheric zenith path delay and carrier-phase ambiguities. The article provides a brief overview of already existing near-real-time and real-time clock products. The filter algorithm and data processing scheme is presented. Finally, the accuracy of the orbit and clock product is assessed with a precise orbit determination of the MetOp satellite and compared to results gained with other real-time products.

Reliability checking for GNSS baseline and network processing

Reliability analysis is inseparably connected with the formulation of failure scenarios, and common test statistics are based on specific assumptions. This is easily overlooked when processing observation differences. Poor failure identification performance and misleading pre-analysis results, mainly meaningless minimum detectable biases and external reliability measures, are the consequence. A reasonable failure scenario for use with differenced GNSS observations is formulated which takes into account that individual outliers in the original data affect more than one processed observation. The proper test statistics and reliability indicators are given for use with correlated observations and both batch processing and Kalman filtering. It is also shown that standardized residuals and redundancy numbers fail completely when used with double differenced observations.

A MATLAB toolbox for attitude determination with GPS multi-antenna systems

In this paper a MATLAB toolbox for determining the attitude of a rigid platform by means of multiple non-dedicated antennas using global positioning system is presented. The programs embedded in this toolbox cover the RINEX data analysis, single point positioning, differential positioning, coordinate conversion, attitude determination, and other auxiliary functions. After forming the baselines through double-differenced (carrier phase smoothed) code observables, the attitude parameters are obtained by applying the direct attitude computation and the least squares attitude estimation. The theoretical background is summarized, and some hints regarding the software implementation are given in the paper. Moreover, improvements yielding an expanded functionality are proposed.

On exact solutions of the multi-constellation GNSS navigation problem

In Global Navigation Satellite System (GNSS) positioning, the receiver measures the pseudorange with respect to each observable navigation satellite and determines the position and clock bias. In addition to the GPS, several other navigation satellite constellations including Glonass, Galileo and Compass can/will also be used to provide positioning, navigation, and timing information. The paper is concerned with the solvability of the navigation problem when the receiver attempts to process measurements from different constellations. As two different constellations may not be time-synchronized, the navigation problem involves the determination of position of the receiver and clock bias with respect to each constellation. The paper describes an analytic approach to account for the two-constellation navigation problem with three measurements from one constellation and two measurements from another constellation. It is shown that the two-constellation GNSS navigation problem becomes the solving of a set of two simultaneous quadratic equations or, equivalently, a quartic equation. Furthermore, the zero-crossover of the leading coefficient and the sign of the discriminant of the quartic equation are shown to play a significant role in governing the solvability, i.e., the existence and uniqueness of the navigation solutions.

The ecological fallacy in a time series context: evidence from Spanish regional unemployment rates

The ecological fallacy (EF) is a common problem regional scientists have to deal with when using aggregated data in their analyses. Although there is a wide number of studies considering different aspects of this problem, little attention has been paid to the potential negative effects of the EF in a time series context. Using Spanish regional unemployment data, this paper shows that EF effects are not only observed at the cross-section level, but also in a time series framework. The empirical evidence obtained shows that analytical regional configurations are the least susceptible to time effects relative to both normative and random regional configurations, while normative configurations are an improvement over random ones.

Hierarchical spatial interaction among the Italian regions: a nonlinear relative dynamics approach

Regional interactions and spillover effects should be considered as important factors in growth analysis of regional economies. Using modified versions of the Dendrinos–Sonis model, this paper analyses the spatial hierarchical system of Italy. The interaction among Italian regions is considered at three different levels of spatial aggregation, the NUTS-1, NUTS-2 and NUTS-3 levels. Compared to more popular spatial econometric approaches, the Dendrinos–Sonis model and its extensions provide greater flexibility in the way interaction between regions is handled but the results strongly depend on the choice of a reference region.

Show me the code: spatial analysis and open source

This paper considers the intersection of academic spatial analysis with the open source revolution. Its basic premise is that the potential for cross-fertilization between the two is rich, yet some misperceptions about these two communities pose challenges to realizing these opportunities. The paper provides a primer on the open source movement for academicians with an eye towards correcting these misperceptions. It identifies a number of ways in which increased adoption of open source practices in spatial analysis can enhance the development of the next generation of tools and the wider practice of scientific research and education.

A data archive of GPS navigation messages

Since 18 June 2007 navigation data messages transmitted by the GPS constellation are recorded by five receivers within GeoForschungsZentrum’s global groundstation network. We describe the recording, processing, validation, analysis and archiving of the navigation data. During the 197 days between 18 June 2007 and 31 December 2007 a total of 125,723,666 subframes were collected. By taking into consideration that the same data set frequently is observed by two or more receivers concurrently, 65,153,955 unique subframes could be extracted from the observations. With an estimated 88,099,200 subframes transmitted by the constellation during this time period a data yield of about 74% was achieved. Simulation studies suggest that with two additional GPS receivers, which are scheduled for addition to the network in 2008, about 95% of the transmitted subframes will be retrieved. The message data archive is open to the scientific community for non-commercial purposes and may be accessed through GFZ’s Information System and Data Center ().

Modeling network autocorrelation within migration flows by eigenvector spatial filtering

Although the assumption of independence among interaction flows frequently is engaged in spatial interaction modeling, in many circumstances it leads to misspecified models and incorrect inferences. An informed approach is to explicitly incorporate an assumed relationship structure among the interaction flows, and to explicitly model the network autocorrelation. This paper illustrates such an approach in the context of U.S. interstate migration flows. Behavioral assumptions, similar to those of the intervening opportunities or the competing destinations concepts, exemplify how to specify network flows that are related to particular origin–destination combinations. The stepwise incorporation of eigenvectors, which are extracted from a network link matrix, captures the network autocorrelation in a Poisson regression model specification context. Spatial autocorrelation in Poisson regression is measured by the test statistic of Jacqmin-Gadda et al. (Stat Med 16(11):1283–1297, 1997). Results show that estimated regression parameters in the spatial filtering interaction model become more intuitively interpretable.

Artificial neural networks for predicting DGPS carrier phase and pseudorange correction

Artificial neural networks (ANNs) were used to predict the differential global positioning system (DGPS) pseudorange and carrier phase correction information. Autoregressive moving average (ARMA) and autoregressive (AR) models were bounded with neural networks to provide predictions of the correction. The neural network was employed to realize time-varying implementation. Online training for real-time prediction of the carrier phase enhances the continuity of service of the differential correction signals and, therefore, improves the positioning accuracy. When the correction signal from the DGPS was lost, the artificial neural networks predicted the correction data with good accuracy for the navigation system during a limited period. Comparisons of the prediction results using the two models are given.

Nonlinear regional economic dynamics: continuous-time specification,estimation and stability analysis

This paper presents an innovative approach to the study of regional economic dynamics within a nonlinear continuous-time econometric framework—a generalized specification of the Lotka–Volterra system of equations. This specification, which accounts for interdependent behavior of three industrial sectors and spillover effects of activities in neighboring regions, is employed in an analysis of five Italian regions between 1980 and 2003. For these regions, we report estimation results, characterize the varying systems dynamics, analyze the models’ local and global stability properties, and determine via sensitivity analyses which structural features appear to exert the greatest influence on these properties.

Assessment of time-series of troposphere zenith delays derived from the Global Data Assimilation System numerical weather model

Troposphere zenith path delays derived from the Global Data Assimilation System (GDAS) numerical weather model (NWM) are compared with those of the International GNSS Service (IGS) solutions over a 1.5-year period at 18 globally distributed IGS stations. Meteorological parameters can be interpolated from the NWM model at any location and at any time after December 2004. The meteorological parameters extracted from the NWM model agree with in situ direct measurements at some IGS stations within 1 mbar for pressure, 3° for temperature and 13% for relative humidity. The hydrostatic and wet components of the zenith path delay (ZPD) are computed using the meteorological parameters extracted from the NWM model. The total ZPDs derived from the GDAS NWM agree with the IGS ZPD solutions at 3.0 cm RMS level with biases of up to 4.5 cm, which can be attributed to the wet ZPDs estimates from the NWM model, considering the less accurate interpolated relative humidity parameter. Based on this study, it is suggested that the availability and the precision of the GDAS NWM ZPD should be sufficient for nearly all GPS navigation solutions.

Analysis of high-frequency multipath in 1-Hz GPS kinematic solutions

High-frequency multipath would be problematic for studies at seismic or antenna dynamical frequencies as one could mistakenly interpret them as signals. A simple procedure to identify high-frequency multipath from global positioning system (GPS) time series records is presented. For this purpose, data from four GPS base stations are analyzed using spectral analyses techniques. Additional data, such as TEQC report files of L1 pseudorange multipath, are also used to analyze the high-frequency multipath and confirmation of the high-frequency multipath inferred from the phase records. Results show that this simple procedure is effective in identification of high-frequency multipath. The inferred information can aid interpretation of multipath at the GPS site, and is important for a number of reasons. For example, the information can be used to study GPS site selections and/or installations.

Specifying a joint space- and time-lag using a bivariate Poisson distribution

Separate space- or time-lags have been considered regularly in data analyses; as space–time models are more recently being studied extensively in data analytic fashion, joint estimation of both lags has to be considered explicitly. This paper addresses this issue, taking into special consideration parametric parsimony together with specification richness; use of the bivariate Poisson frequency distribution is advocated and applied to an empirical case. The relation of this approach to random effects specifications is investigated. Data for Belgian regional products constitute the empirical case study.

Incorporating spatial variation in housing attribute prices: a comparison of geographically weighted regression and the spatial expansion method

Hedonic house price models typically impose a constant price structure on housing characteristics throughout an entire market area. However, there is increasing evidence that the marginal prices of many important attributes vary over space, especially within large markets. In this paper, we compare two approaches to examine spatial heterogeneity in housing attribute prices within the Tucson, Arizona housing market: the spatial expansion method and geographically weighted regression (GWR). Our results provide strong evidence that the marginal price of key housing characteristics varies over space. GWR outperforms the spatial expansion method in terms of explanatory power and predictive accuracy.

A constrained LAMBDA method for GPS attitude determination

An improved method to obtain fixed integer ambiguity in GPS attitude determination is presented. Known conditions are utilized as constraints to acquire attitude information when the float solution and its variance–covariance matrix are not accurate enough. The searching ellipsoidal region is first expanded to compensate for errors caused by the inaccurate float solution. Then the constraints are used to shrink the region to a proper size, which maintains the true integer ambiguity. Experimental results demonstrate that this scheme gives a fast search time and a higher success rate in determining the fixed integer ambiguity than the unconstrained method. The accuracy of attitude angles is also improved.