GNSS-MR技术用于潮位变化监测分析

潮位变化的高精度监测一直是全球海平面观测系统、海洋环流和全球气候变化研究领域关注的热点问题之一。随着GNSS研究与应用的不断深入,近年来基于多路径效应的GNSS-MR技术已逐步成为一种新兴的遥感手段,即利用测量型GNSS站进行地表环境(植被、土壤湿度、雪深、潮位、火山活动等)监测。通过分析由多路径引起岸基GNSS站SNR值的变化特性,本文给出了基于SNR观测值的GNSS-MR技术监测潮位变化的反演原理。利用布设在美国华盛顿州Friday Harbor海港岸边的CORS站SC02实测观测数据对潮位变化监测进行了反演分析,并与该站相距359 m的验潮站数据进行了对比分析,两者较差均值约为10 cm左右,两者的相关系数均优于0.98。试验结果分析表明基于岸基CORS站的GNSS-MR技术在一定程度上可用于实时、连续的潮位变化监测,同时也说明岸基CORS站在一定程度上可作为验潮站的补充,进一步拓展GNSS在海洋遥感领域的应用范围。     

On the short-term temporal variations of GNSS receiver differential phase biases

As a first step towards studying the ionosphere with the global navigation satellite system (GNSS), leveling the phase to the code geometry-free observations on an arc-by-arc basis yields the ionospheric observables, interpreted as a combination of slant total electron content along with satellite and receiver differential code biases (DCB). The leveling errors in the ionospheric observables may arise during this procedure, which, according to previous studies by other researchers, are due to the combined effects of the code multipath and the intra-day variability in the receiver DCB. In this paper we further identify the short-term temporal variations of receiver differential phase biases (DPB) as another possible cause of leveling errors. Our investigation starts by the development of a method to epoch-wise estimate between-receiver DPB (BR-DPB) employing (inter-receiver) single-differenced, phase-only GNSS observations collected from a pair of receivers creating a zero or short baseline. The key issue for this method is to get rid of the possible discontinuities in the epoch-wise BR-DPB estimates, occurring when satellite assigned as pivot changes. Our numerical tests, carried out using Global Positioning System (GPS, US GNSS) and BeiDou Navigation Satellite System (BDS, Chinese GNSS) observations sampled every 30 s by a dedicatedly selected set of zero and short baselines, suggest two major findings. First, epoch-wise BR-DPB estimates can exhibit remarkable variability over a rather short period of time (e.g. 6 cm over 3 h), thus significant from a statistical point of view. Second, a dominant factor driving this variability is the changes of ambient temperature, instead of the un-modelled phase multipath.     

GNSS／INS组合的铁路轨道三维坐标快速精密测量

研究了利用GNSS／INS组合导航技术实现铁路既有线轨道绝对位置的快速精密测量方法,以便携式轨检小车作为移动平台搭载惯性测量单元、全球卫星导航系统、里程计和轨距尺模块,在运动过程中测量载体的三维坐标、姿态,结合轨距测量值推算轨道中线的精确三维坐标. 该方法对高精度轨道控制网依赖程度低,采用移动测量模式,作业效率高。在徐郑无砟高速铁路的实测结果表明,GNSS／INS组合导航系统平面测量精度优于6 mm(RMS),高程测量精度优于15 mm(RMS),可用于既有线线型恢复。      

Long-term soil moisture dynamics derived from GNSS interferometric reflectometry: a case study for Sutherland,South Africa

Soil moisture is a geophysical key observable for predicting floods and droughts, modeling weather and climate and optimizing agricultural management. Currently available in situ observations are limited to small sampling volumes and restricted number of sites, whereas measurements from satellites lack spatial resolution. Global navigation satellite system (GNSS) receivers can be used to estimate soil moisture time series at an intermediate scale of about 1000 m². In this study, GNSS signal-to-noise ratio (SNR) data at the station Sutherland, South Africa, are used to estimate soil moisture variations during 2008–2014. The results capture the wetting and drying cycles in response to rainfall. The GNSS Volumetric Water Content (VWC) is highly correlated (r ² = 0.8) with in situ observations by time-domain reflectometry sensors and is accurate to 0.05 m³/m³. The soil moisture estimates derived from the SNR of the L1 and L2P signals compared to the L2C show small differences with a RMSE of 0.03 m³/m³. A reduction in the SNR sampling rate from 1 to 30 s has very little impact on the accuracy of the soil moisture estimates (RMSE of the VWC difference 1–30 s is 0.01 m³/m³). The results show that the existing data of the global tracking network with continuous observations of the L1 and L2P signals with a 30-s sampling rate over the last two decades can provide valuable complementary soil moisture observations worldwide.     

GNSS接收机天线相位中心变化相对检测方法

在精密定位中,GNSS接收机天线相位中心变化是必须进行改正的影响因素。目前成熟的微波暗室法和自动机器人法,对于一般用户而言,不具备相关实验条件,而野外相对法相对简单、易操作。为此,本文利用相对检测法,对GNSS接收机天线相位中心变化进行检测。实例表明,此方法可获得精度优于±3 mm的检测结果,因此可利用此方法对其他类型天线PCV值进行检测,也可借鉴此方法对北斗接收机天线相位中心变化进行检测。同时论文分析了影响检测精度,提出了有益改进建议。      

利用多模多频GNSS-IR信号反演沿海台风风暴潮

台风风暴潮每年给沿海城市造成了极大的损失,近年来利用GNSS反射信号的地基遥感方法可以用于潮位监测,称为GNSS-IR（global navigation satellite system-interferometric reflectometry）,对风暴潮期间验潮站资料进行补充。由于风暴潮发生时间短且破坏性强,单系统GPS的时间分辨率难以满足海洋灾害的监测需求。本文基于中国香港站（HKQT）和巴哈马群岛站（BHMA）的多模多频GNSS卫星观测数据反演了3次沿海风暴潮事件。先对多模多频数据的质量进行分析,随后分别对2019年飓风“多里安”、2018年台风“山竹”和2017年台风“天鸽”引起的3次风暴潮,利用基于滑动窗口的最小二乘法对多模多频GNSS-IR反演结果进行改正并与验潮站实测值对比分析。试验结果表明,利用多模多频GNSS-IR反演“多里安”风暴潮的精度优于14 cm,反演“天鸽”和“山竹”风暴潮的精度优于9 cm。相比GPS单系统,多模多频GNSS-IR能够提高监测的精度和时间分辨率,有效提取风暴潮中异常潮位的涨潮、峰值和落潮的全过程,对海洋灾害的研究监测发挥重要作用。     

Software tools for GNSS interferometric reflectometry (GNSS-IR)

GNSS-R interferometric reflectometry (also known as GNSS-IR, or GPS-IR for GPS signals) is a technique that uses data from geodetic-quality GNSS instruments for sensing the near-field environment. In contrast to positioning, atmospheric, and timing applications of GNSS, GNSS-IR uses the signal-to-noise ratio (SNR) data. Software is provided to translate GNSS files, map GNSS-IR reflection zones, calculate GNSS-IR Nyquist frequencies, and estimate changes in the height of a reflecting surface from GNSS SNR data.     

不同数据处理策略对PPP收敛精度的影响

针对精密单点定位(PPP)在定位过程中受多种因素的影响,该文提出了通过分析数据处理过程中所涉及参数的具体含义,设计了典型对比实验,研究不同产品类型和数据处理策略对PPP收敛精度的影响。对测站的单天解分别从默认参数、自定义参数实验确定精密单点定位的精度。结果表明,改变观测值加权策略改正定位结果精度3.61mm;改变估计器精度2.44mm;改变接收机天线改正精度2.92mm;改变潮汐改正精度7.98mm。由实验结果可得出,固体潮改正在进行定位时结果比其他处理策略影响更大,其定位精度基本在厘米级。实验以PANDA软件为平台,通过改变PANDA软件的默认参数设置,采用控制变量法进行实验,研究结果对高精度GNSS数据处理具有重要意义。     

Improved antenna phase center models for GLONASS

Thanks to the increasing number of active GLONASS satellites and the increasing number of multi-GNSS tracking stations in the network of the International GNSS Service (IGS), the quality of the GLONASS orbits has become significantly better over the last few years. By the end of 2008, the orbit RMS error had reached a level of 3–4 cm. Nevertheless, the strategy to process GLONASS observations still has deficiencies: one simplification, as applied within the IGS today, is the use of phase center models for receiver antennas for the GLONASS observations, which were derived from GPS measurements only, by ignoring the different frequency range. Geo++ GmbH calibrates GNSS receiver antennas using a robot in the field. This procedure yields now separate corrections for the receiver antenna phase centers for each navigation satellite system, provided its constellation is sufficiently populated. With a limited set of GLONASS calibrations, it is possible to assess the impact of GNSS-specific receiver antenna corrections that are ignored within the IGS so far. The antenna phase center model for the GLONASS satellites was derived in early 2006, when the multi-GNSS tracking network of the IGS was much sparser than it is today. Furthermore, many satellites of the constellation at that time have in the meantime been replaced by the latest generation of GLONASS-M satellites. For that reason, this paper also provides an update and extension of the presently used correction tables for the GLONASS satellite antenna phase centers for the current constellation of GLONASS satellites. The updated GLONASS antenna phase center model helps to improve the orbit quality.     

低成本GNSS模块RTK性能比较分析

针对低成本GNSS模块及天线类型直接影响RTK性能的问题,该文选取了具有代表性的3种GNSS定位模块华大HD9310、UBLOX NEO-M8T、UBLOX ZED-F9P,以及测地型天线U35和螺旋天线BT-3070两种不同类型的天线。采集GNSS天线和模块不同组合的原始观测数据,深入分析了不同组合的原始GNSS数据的信噪比、模糊度解算初始化时间、伪距与载波相位的双差残差以及定位精度。结果表明:U35天线性能优于BT-3070天线;ZED-F9P模块性能优于NEO-M8T模块和HD9310模块。实验结果可为无人设备、工程测量等领域选取合适的RTK组合提供参考。     

Multi-GNSS precise point positioning (MGPPP) using raw observations

A joint-processing model for multi-GNSS (GPS, GLONASS, BDS and GALILEO) precise point positioning (PPP) is proposed, in which raw code and phase observations are used. In the proposed model, inter-system biases (ISBs) and GLONASS code inter-frequency biases (IFBs) are carefully considered, among which GLONASS code IFBs are modeled as a linear function of frequency numbers. To get the full rank function model, the unknowns are re-parameterized and the estimable slant ionospheric delays and ISBs/IFBs are derived and estimated simultaneously. One month of data in April, 2015 from 32 stations of the International GNSS Service (IGS) Multi-GNSS Experiment (MGEX) tracking network have been used to validate the proposed model. Preliminary results show that RMS values of the positioning errors (with respect to external double-difference solutions) for static/kinematic solutions (four systems) are 6.2 mm/2.1 cm (north), 6.0 mm/2.2 cm (east) and 9.3 mm/4.9 cm (up). One-day stabilities of the estimated ISBs described by STD values are 0.36 and 0.38 ns, for GLONASS and BDS, respectively. Significant ISB jumps are identified between adjacent days for all stations, which are caused by the different satellite clock datums in different days and for different systems. Unlike ISBs, the estimated GLONASS code IFBs are quite stable for all stations, with an average STD of 0.04 ns over a month. Single-difference experiment of short baseline shows that PPP ionospheric delays are more precise than traditional leveling ionospheric delays.     

Generation of a consistent absolute phase-center correction model for GPS receiver and satellite antennas

The development and numerical values of the new absolute phase-center correction model for GPS receiver and satellite antennas, as adopted by the International GNSS (global navigation satellite systems) Service, are presented. Fixing absolute receiver antenna phase-center corrections to robot-based calibrations, the GeoForschungsZentrum Potsdam (GFZ) and the Technische Universität München reprocessed more than 10 years of GPS data in order to generate a consistent set of nadir-dependent phase-center variations (PCVs) and offsets in the z-direction pointing toward the Earth for all GPS satellites in orbit during that period. The agreement between the two solutions estimated by independent software packages is better than 1 mm for the PCVs and about 4 cm for the z-offsets. In addition, the long time-series facilitates the study of correlations of the satellite antenna corrections with several other parameters such as the global terrestrial scale or the orientation of the orbital planes with respect to the Sun. Finally, completely reprocessed GPS solutions using different phase-center correction models demonstrate the benefits from switching from relative to absolute antenna phase-center corrections. For example, tropospheric zenith delay biases between GPS and very long baseline interferometry (VLBI), as well as the drift of the terrestrial scale, are reduced and the GPS orbit consistency is improved.     

A review on the inter-frequency biases of GLONASS carrier-phase data

GLONASS ambiguity resolution (AR) between inhomogeneous stations requires correction of inter-frequency phase biases (IFPBs) (a “station” here is an integral ensemble of a receiver, an antenna, firmware, etc.). It has been elucidated that IFPBs as a linear function of channel numbers are not physical in nature, but actually originate in differential code-phase biases (DCPBs). Although IFPBs have been prevalently recognized, an unanswered question is whether IFPBs and DCPBs are equivalent in enabling GLONASS AR. Besides, general strategies for the DCPB estimation across a large network of heterogeneous stations are still under investigation within the GNSS community, such as whether one DCPB per receiver type (rather than individual stations) suffices, as tentatively suggested by the IGS (International GNSS Service), and what accuracy we are able to and ought to achieve for DCPB products. In this study, we review the concept of DCPBs and point out that IFPBs are only approximate derivations from DCPBs, and are potentially problematic if carrier-phase hardware biases differ by up to several millimeters across frequency channels. We further stress the station and observable specific properties of DCPBs which cannot be thoughtlessly ignored as conducted conventionally. With 212 days of data from 200 European stations, we estimated DCPBs per stations by resolving ionosphere-free ambiguities of \(\sim \)5.3 cm wavelengths, and compared them to the presumed truth benchmarks computed directly with L1 and L2 data on ultra-short baselines. On average, the accuracy of our DCPB products is around 0.7 ns in RMS. According to this uncertainty estimates, we could unambiguously confirm that DCPBs can typically differ substantially by up to 30 ns among receivers of identical types and over 10 ns across different observables. In contrast, a DCPB error of more than 6 ns will decrease the fixing rate of ionosphere-free ambiguities by over 20 %, due to their smallest frequency spacing and highest sensitivity to DCPB errors. Therefore, we suggest that (1) the rigorous DCPB model should be implemented instead of the classic, but inaccurate IFPB model; (2) DCPBs of sub-ns accuracy can be achieved over a large network by efficiently resolving ionosphere-free ambiguities; (3) DCPBs should be estimated and applied on account of their station and observable specific properties, especially for ambiguities of short wavelengths.     

Benefits of receiver clock modeling in code-based GNSS navigation

Due to the limited frequency stability and poor accuracy of typical quartz oscillators built-in GNSS receivers, an additional receiver clock error has to be estimated in addition to the coordinates. This leads to several drawbacks especially in kinematic applications: At least four satellites in view are needed for navigation, high correlations between the clock estimates and the up-coordinates. This situation can be improved distinctly when connecting atomic clocks to GNSS receivers and modeling their behavior in a physically meaningful way (receiver clock modeling). Recent developments in miniaturizing atomic clocks result in so-called chip-scale atomic clocks and open up the possibility of using stable atomic clocks in GNSS navigation. We present two different methods of receiver clock modeling, namely in an extended Kalman filter and a sequential least-squares adjustment for code-based GNSS navigation using three different miniaturized atomic clocks. Using the data of several kinematic test drives, the benefits of clock modeling for GPS navigation solutions are assessed: decrease in the noise of the up-coordinates by up to 69 % to 20 cm level, decrease in minimal detectable biases by 16 %, and elimination of spikes and subsequently decrease in large position errors (35 %). Hence, a more robust position is obtained. Additionally, artificial partial satellite outages are generated to demonstrate position solutions with only three satellites in view.     

Joint estimation of GPS/BDS real-time clocks and initial results

We present the joint estimation model for Global Positioning System/BeiDou Navigation Satellite System (GPS/BDS) real-time clocks and present the initial satellite clock solutions determined from 106 stations of the international GNSS service multi-GNSS experiment and the BeiDou experimental tracking stations networks for 1 month in December, 2012. The model is shown to be efficient enough to have no practical computational limit for producing 1-Hz clock updates for real-time applications. The estimated clocks were assessed through the comparison with final clock products and the analysis of post-fit residuals. Using the estimated clocks and corresponding orbit products (GPS ultra-rapid-predicted and BDS final orbits), the root-mean-square (RMS) values of coordinate differences from ground truth values are around 1 and 2–3 cm for GPS-only and BDS-only daily mean static precise point positioning (PPP) solutions, respectively. Accuracy of GPS/BDS combined static PPP solutions falls in between that of GPS-only and BDS-only PPP results, with RMS values approximately 1–2 cm in all three components. For static sites, processed in the kinematic PPP mode, the daily RMS values are normally within 4 and 6 cm after convergence for GPS-only and BDS-only results, respectively. In contrast, the combined GPS/BDS kinematic PPP solutions show higher accuracy and shorter convergence time. Additionally, the BDS-only kinematic PPP solutions using clock products derived from the proposed joint estimation model were superior compared to those computed using the single-system estimation model.     

Mutual validation of GNSS height measurements and high-precision geometric-astronomical leveling

The method of geometric-astronomical leveling is presented as a suited technique for the validation of GNSS (Global Navigation Satellite System) heights. In geometric-astronomical leveling, the ellipsoidal height differences are obtained by combining conventional spirit leveling and astronomical leveling. Astronomical leveling with recently developed digital zenith camera systems is capable of providing the geometry of equipotential surfaces of the gravity field accurate to a few 0.1 mm per km. This is comparable to the accuracy of spirit leveling. Consequently, geometric-astronomical leveling yields accurate ellipsoidal height differences that may serve as an independent check on GNSS height measurements at local scales. A test was performed in a local geodetic network near Hanover. GPS observations were simultaneously carried out at five stations over a time span of 48 h and processed considering state-of-the-art techniques and sophisticated new approaches to reduce station-dependent errors. The comparison of GPS height differences with those from geometric-astronomical leveling shows a promising agreement of some millimeters. The experiment indicates the currently achievable accuracy level of GPS height measurements and demonstrates the practical applicability of the proposed approach for the validation of GNSS height measurements as well as the evaluation of GNSS height processing strategies.     

Multifrequency algorithms for precise point positioning: MAP3

We present the new MAP3 algorithms to perform static precise point positioning (PPP) from multifrequency and multisystem GNSS observations. MAP3 represents a two-step strategy in which the least squares theory is applied twice to estimate smoothed pseudo-distances, initial phase ambiguities, and slant ionospheric delay first, and the absolute receiver position and its clock offset in a second adjustment. Unlike the classic PPP technique, in our new approach, the ionospheric-free linear combination is not used. The combination of signals from different satellite systems is accomplished by taking into account the receiver inter-system bias. MAP3 has been implemented in MATLAB and integrated within a complete PPP software developed on site and named PCube. We test the MAP3 performance numerically and contrast it with other external PPP programs. In general, MAP3 positioning accuracy with low-noise GPS dual-frequency observations is about 2.5 cm in 2-h observation periods, 1 cm in 10 h, and 7 mm after 1 day. This means an improvement in the accuracy in short observation periods of at least 7 mm with respect to the other PPP programs. The MAP3 convergence time is also analyzed and some results obtained from real triple-frequency GPS and GIOVE observations are presented.     

全球导航卫星系统反射测量(GNSS+R)最新进展与应用前景

全球导航卫星系统(GNSS)具有全天候、近实时、高精度的特点,可持续发射L波段信号,广泛应用于定位、导航和授时(PNT)。随着GNSS技术的发展,最近GNSS反射信号可探测地球表面特征,即GNSS反射测量(GNSS+R)。结合GNSS接收机天线位置和介质信息,利用延迟测量值可以确定表面粗糙度和表面特性。GNSS+R作为当前GNSS和遥感领域的研究热点,取得了一些研究进展和成果。本文详细介绍了GNSS+R原理和方法及其最新应用进展,包括各种GNSS+R技术手段和方法,以及海洋、陆地、水文、植被和冰雪等遥感应用,特别是最新BeiDou-R和TDS-1研究进展。最后给出了GNSS+R应用前景和展望,包括多GNSS系统、GNSS+R接收机、GNSS+R卫星计划和新兴应用等。     

小波变换与滑动窗口相结合的GNSS-IR雪深估测模型

GNSS干涉反射技术（GNSS interferometric reflectometry）是一种新型的地表雪深监测方式。针对当前信号分离不佳和随机估测偏差的问题,提出联合小波变换和滑动窗口构建一种多卫星融合的GNSS-IR雪深估测精化模型。该模型采用离散小波变换代替常用的多项式方法,获取高质量的信噪比序列。通过利用阈值约束下的滑动窗口筛选多卫星有效反射高度,并进行等权平均。以PBO H₂O和SNOTEL的雪深数据为参考值,利用2016—2017年雪季的GNSS观测数据建立模型并验证精度。结果表明：①GNSS-IR精化模型估测结果与实测数据在整体趋势上保持高一致性;②与单颗卫星结果相比,多卫星融合估测结果在精度和稳定性方面明显改善,其均方根误差（RMSE）为10 cm,相较于PBO H₂O减少了近50%。此外,考虑到地表粗糙度作为一种误差影响因素,采用新的反射高度基准修正的雪深估测相对RMSE误差约4 cm,同时估测值与实际值的相关系数达到0.98。     

GLONASS卫星SNR信号的雪深探测

利用GNSS-MR(Global Navigation Satellite System Multipath Reflectometry)技术反演积雪深度是近年来一种新兴的卫星遥感技术。目前大多数研究仅使用GPS(Global Position System)数据限制了该技术的发展,为了扩展GNSS-MR算法的应用,介绍了基于GNSS-MR算法的雪深反演模型。首先,通过多项式拟合分解GLONASS观测数据获取高精度的信噪比残差序列;然后,利用Lomb-Scargle谱分析法对其进行频谱分析可解算雪深值。选取IGS中心的YEL2站2015年11月到2016年6月共243天的GLONASS卫星L1波段反射信号的SNR数据进行实例分析,并以美国国家气象数据中心提供的加拿大Y-H (Yellowknife Henderson)气象站的实测雪深数据为真值,将反演雪深与实测雪深进行对比验证。所得实验结果如下:(1)与GPS卫星的反演值相比,基于GLONASS-MR(GLONASS Multipath Reflectometry)技术反演积雪深度的精度同样能达到厘米级,RMSE仅3.3 cm,反演值与实测值的空间分布趋势一致且相关性较强,其相关系数R2高达0.969;(2)不同的积雪深度对信噪比的振幅频率与垂直反射距离具有直接影响;(3)对同一卫星而言,信噪比的频谱振幅强度峰值与其对应的反演值存在线性相关;(4)在相同条件下,采用多颗GLONASS卫星数据比单颗GLONASS卫星数据反演雪深的效果明显更优。基于反演的高时间分辨率产品,分析该地区雪深日变化的情况,实验结果表明基于陆基CORS站的GLONASS-MR技术在用于实时、连续的雪深变化监测方面具有良好的潜力和可行性。