两种精化的对流层延迟改正模型

对流层延迟是全球导航卫星系统(Global Navigation Satellite System,GNSS)导航定位中的重要误差源,其量值主要受气象条件影响.采用传统对流层建模思路,利用GPT2模型来提供相对准确的气温、气压和相对湿度,然后利用Saastamoinen模型来计算天顶对流层延迟,由此构建了GPT2+Saas模型;采用新的对流层建模思路,直接针对天顶对流层延迟的时空特性建模,构建了与GPT2+Saas模型相匹配的GZTDS格网模型.以GGOS Atmosphere格网数据为参考,GPT2+Saas模型(Bias:0.2cm;RMS:4.2cm)和GZTDS模型(Bias:0.2cm;RMS:3.7cm)较UNB3m模型精度分别提升34%和43%.以IGS(International GNSS Service)数据为参考,GPT2+Saas(Bias:0.5cm;RMS:4.7cm)和GZTDS(Bias:-0.3cm;RMS:3.8cm)相对UNB3m模型精度分别提升10%和27%.针对GPT2+Saas模型在少数测站出现精度异常的情况进行了研究,探讨了可能的原因.在两种不同思路构建的精化对流层模型中,GZTDS模型不仅表现出更高的精度,而且在时间稳定性和地理稳定性上也表现出优越性.     

一种新的全球对流层天顶延迟模型GZTD

对流层延迟是GNSS导航定位主要误差源之一,主要受气象参数(如总气压、温度和水汽压等)的影响,具有变化随机性强的特点.本文利用 GGOS Atmosphere提供的2002-2009年全球天顶对流层延迟格网时间序列研究了全球对流层天顶延迟的时空变化特征.并以此为基础对全球天顶对流层延迟(Zenith Troposphere Delay, ZTD)进行建模,提出了一种基于球谐函数的全球非气象参数对流层天顶延迟改正模型--GZTD模型.实验对比结果表明考虑ZTD经纬向变化的GZTD模型内符合精度全球统计结果(bias:0.2 cm,RMS:3.7 cm)优于只考虑ZTD纬向变化的UNB3m (bias:3.4 cm,RMS:6.0 cm)、UNB4 (bias:4.7 cm,RMS:7.4 cm)、UNB3 (bias:4.0 cm,RMS:7.0 cm)和EGNOS (bias:4.5 cm,RMS:6.9 cm)等模型.使用全球385个IGS站进行外符合检验,统计结果表明GZTD模型(bias:-0.02 cm,RMS:4.24 cm)同样优于其它模型.GZTD模型具有改正效果良好、使用简单、所需参数少等优点.     

一种新的高精度全球对流层天顶延迟模型

对流层延迟是影响高精度卫星导航定位的关键因素,也是大气科学研究的重要数据.针对已有全球对流层延迟模型的模型方程未同时顾及高程、纬度和季节变化以及模型构建时仅使用单一格网点数据等问题,本文提出了一种对流层天顶延迟(ZTD)全球模型构建的新方法,即引入滑动窗口算法将全球剖分为大小一致的规则窗口,利用2008—2015年全球大地观测系统(GGOS)大气格网产品构建每个窗口同时顾及高程、纬度和季节因子的全球ZTD新模型(GGZTD模型).联合未参与建模的2016年全球GGOS格网产品和2016年全球316个IGS站精密ZTD产品,检验了GGZTD模型的精度和适用性.结果表明:以GGOS大气格网ZTD产品和IGS站ZTD产品为参考值,GGZTD模型在全球的精度分别为3.58 cm和3.62 cm,相对于UNB3m模型和目前标称精度最优的GPT2w模型计算的ZTD信息,GGZTD模型在全球表现出了最优的精度和稳定性,其精度相对于UNB3m模型具有显著的提升(精度提高了30%以上),相对于GPT2w模型仍具有一定的改善;在ZTD计算时GGZTD模型相对于GPT2w模型显著地减少了模型参数,尤其相对于GPT2w-1(减少了99%).GGZTD模型只需输入位置与时间和依赖相对较少的模型参数则能在全球获得高精度和稳定的ZTD信息,极大地提升了模型的计算效率.     

基于垂直剖面函数式的全球对流层天顶延迟模型的建立

对流层延迟是无线电导航定位的主要误差源之一,其值对目标高程的变化敏感.在动态导航定位中,由于目标高程变化随机性强,延迟改正实时性需求高,已有的对流层延迟模型难以满足应用需求.本文利用2005到2006年ERA-Interim再分析气象资料积分方法计算的对流层天顶总延迟(ZTD)、天顶静力学延迟(ZHD)以及天顶非静力学延迟(ZWD)的垂直剖面研究了ZTD随高程变化的最佳拟合形式,并以此为基础建立了全球ZTD改正模型SHAO-H.该模型以大气中水汽的垂直分布规律为依据,将ZTD表示为高程的分段函数,进而再模制每段函数中各参数随时间的变化.精度评估显示:与积分ZTD相比,SHAO-H模型计算的ZTD在不同等压层上的平均bias大部分在±1 mm以内,随着高度的上升,平均RMS由39 mm减小至不足1 mm;与IGS (International GNSS Service)实测ZTD相比,SHAO-H模型的精度(bias为7.02 mm,RMS为38.50 mm)优于UNB3m模型(bias为14.67 mm, RMS为51.95 mm).SHAO-H模型具有精度稳定、计算简便等优点,适宜任意高度的用户使用.     

亚洲地区ECMWF/NCEP资料计算 ZTD的精度分析

对流层延迟是卫星导航定位的主要误差源,气象观测的数值预报资料可用来计算对流层延迟改正量.本文通过分布于亚洲地区的49个GPS台站一年的实测ZTD资料,对利用欧洲中尺度天气预报中心(ECMWF)分析资料、美国国家环境预报中心(NCEP)再分析资料和NCEP预报资料,计算对流层天顶延迟(ZTD)改正的有效性和可能达到的精度进行了评估,分析了ECMWF和NCEP在亚洲地区的适用程度和其分辨率对计算ZTD精度的影响.研究结果表明:(1)相对于 GPS实测ZTD,用ECMWF资料计算ZTD的bias和rms分别为-1.0 cm 和2.7 cm,优于NCEP再分析资料,可用于高精度ZTD研究和应用;NCEP预报数据计算ZTD的bias和rms分别为2.4 cm 和 6.8 cm,足以满足广大GNSS实时导航定位用户对流层延迟改正的需要.(2)bias和rms呈现明显的季节性变化,总体上夏季大,冬季小;在空间分布上随着纬度的变化不明显,但随高度的增加rms总体上有递减趋势.另外还发现,亚洲东部地区夏季日平均bias和rms和南部热带地区冬季的日平均bias和rms变化相对较大.(3)ECMWF2.5°和0.5°的资料进行了对比分析,发现0.5°分辨率资料的rms比2.5°减小1~5 mm.这些结果,为在亚洲地区的空间大地测量、导航定位和INSAR等工作中,应用ECMWF/NCEP的资料进行对流层大气延迟改正的有效性和可能达到的精度提供了重要参考.     

Assessment of GPS data for meteorological applications over Africa: Study of error sources and analysis of positioning accuracy

The aim of this study is to assess the availability and quality of data from the International GNSS Service (IGS) Global Positioning System (GPS) network in Africa, especially for retrieving zenith tropospheric delay (ZTD), from which precipitable water vapour (PWV) can be derived, in view of application to the African Monsoon Multidisciplinary Analysis (AMMA) project. Three major error sources for the GPS data analysis evaluating PWV in Africa are the accuracy of the satellite orbits, the correction for the radio delay induced by the ionosphere and the vertical site displacements due to ocean loading. The first part of this study examines these error sources and the validity of GPS data for meteorological applications in Africa in dedicated analyses spanning the year 2001. These analyses were performed using the IGS precise orbits. Weak degradation of baseline precision with increasing baseline lengths suggests that the average orbital error is not limiting the GPS analysis in Africa. The impact of the ionosphere has been evaluated during a maximum of solar activity in 2001. The loss of L₂ data has actually been observed. It amounts to 2% on average for 2001, with maxima of 8% during magnetic storm events. A slight decrease in formal accuracy of ZTD seems to be related to the loss of L₂ data at the end of the day. This indicates that scintillation effects are present in the GPS observations but however are not a major limitation. The impact of ocean loading is found to be significant on ZTD estimates (up to ±2 mm in equivalent PWV). The use of a proper ocean loading model eliminates this effect.The second aspect of this study concerns the IGS analysis quality for the African stations. The accuracy has been assessed through position dispersion between individual solutions and the most recent version of the IGS combined solution IGb00, and residuals from the transformation of the IGS combined solution into the International Terrestrial Reference Frame 2005. The positioning performance of the IGS analysis is consistent with an accuracy in ZTD of ±6 mm (±1 mm in PWV), as requested for meteorological applications such as planned in AMMA.     

Signature of atmospheric oscillations in GPS-measured tropospheric delay

Ground-based GPS finds potential applications in many atmospheric studies such as spatial distribution of columnar water vapor as well as the tidal oscillations in the atmosphere. The zenith tropospheric delay (ZTD) derived from GPS data at two Indian IGS stations are used to establish its potential for studying the atmospheric tidal, intra-seasonal and planetary oscillations. The major tidal oscillations observed in ZTD data are diurnal, semi-diurnal and their harmonics. Prominent intra-seasonal oscillations observed in ZTD are reported for the first time in this context. These intra-seasonal oscillations are Madden–Julian Oscillation (30–70 days, 60–90 days, 100–120 days) and planetary waves (like 27, 16 and 5–10 days periodicities). Quantification of these periodicities will provide a useful handle to improve the empirical models employed in the estimation of tropospheric delay.     

Sub-Daily Earth Rotation Parameters and the International GPS Service Orbit/Clock Solution Products

Tidally induced sub-daily Earth Rotation Parameters (ERP) variations, when not properly accounted for, can cause apparent orbit and ERP rate errors, which can significantly exceed the IGS solution errors. All International GPS Service (IGS) Analysis Centers currently apply the conventional sub-daily ERP model in their transformations from ITRF (International Terrestrial Reference Frame) to ICRF (International Celestial Reference Frame), both of which are used for IGS global analyses. However, some IGS Analysis Centers did not apply the sub-daily ERP model when transforming ICRF orbit solutions to ITRF, which is used for IGS orbit/clock products. This transformation inconsistency can cause significant orbit RMS differences that could exceed the 5-cm level. Independent ERP rate solutions are sensitive even to small errors in the sub-daily ERP model, and can be used to verify the sub-daily ERP model at, or below 0.1 mas/day precision level.The Precise Point Positioning (PPP) via precise station position solutions with the IGS orbit/clock combined products, provides an ideal interface to access the IGS realization of ITRF. PPP also yields precise station clock and tropospheric zenith delays (TZD) solutions, all at the sub-cm precision level. However, when using IGS orbit/clock products it is important that the same convention be used with respect to sub-daily ERP. Otherwise, the solutions of station navigation positions, station clocks and TZD's will be affected by significant errors that could exceed the 1-cm level.     

一种能实现单频PPP-RTK的GNSS局域参考网数据处理算法

全球范围内大量布设的GNSS(Global Navigation Satellite System)参考网为精密定位、导航和授时等应用提供了丰富的数据资源.基于局域参考网,先后发展了若干侧重实现双频精密定位的技术,如NRTK(Network Real Time Kinematic),PPP(Precise Point Positioning)和PPP-RTK等.其中,PPP-RTK融合了NRTK和PPP的技术优势,是目前相关研究的热点.本文改进了利用局域参考网提取各类改正信息的算法,以便于实现单频PPP-RTK,具体步骤包括:1)逐参考站实施非组合PPP,并固定已知站星距和卫星钟差,预估电离层延迟、浮点模糊度等参数;2)联合所有参考站的PPP模糊度预估值,通过重新参数化,形成一组双差整周模糊度和接收机、卫星相位偏差;3)固定双差整周模糊度,精化求解卫星相位偏差和各参考站PPP电离层延迟.基于网解中用到的卫星轨道和钟差,以及网解所提供的卫星相位偏差和(内插的)电离层延迟,参考网内的单频流动站即可实施PPP-RTK.基于澳大利亚某连续运行参考站网和流动站的实测数据,考察了:1)参考网数据处理中,双差模糊度的固定成功率(98.89%)和卫星相位偏差估值的时间稳定性(各连续弧段优于0.2周);2)流动站处电离层延迟的内插精度(优于10cm);3)单天内任一历元起算,固定静态(动态)单频PPP整周模糊度所需时长(均不超过10min);4)模糊度固定前后,单频动态PPP的定位精度(模糊度固定后,平面和天顶RMS分别优于5cm和10cm;模糊度固定前,相应RMS仅为28~53cm).     

基于服务系统的实时精密单点定位技术及应用研究

讨论了实时精密单点定位的若干关键技术,着重研究了实时精密钟差估计算法;利用全球40个IGS跟踪站连续、实时的观测数据流进行实时精密卫星钟差估计,解算出的实时精密钟差与CODE事后精密钟差具有较好的一致性,二者互差的RMS优于0.2 ns.采用实时估计的卫星钟差和IGS发布的超快速精密卫星轨道进行实时精密单点定位模拟实验,结果表明：经过大约15~30 min初始化后,实时精密单点定位滤波收敛之后水平方向的定位精度优于5 cm,高程方向的精度优于10 cm,能满足在该精度级别的实时用户的定位需求.处理汶川地震期间震区的GPS观测数据,结果表明实时精密单点定位能够探测地震发生期间的地面同震位移.     

GPS Monitoring of the Tropical Storm Delta along the Canary Islands Track, November 28-29, 2005

In this article we analyze the variations of the Zenith Tropospheric Delay (ZTD) and its components, Zenith Hydrostatic Delay (ZHD) and Zenith Wet Delay (ZWD) recorded by the GPS reference stations in the area of the Canary Islands during the passing of the tropical storm Delta on November 28 and 29, 2005. During this event, we observed that all GPS stations experienced significant increases of the ZWD value of over 100 mm and a decrease in the ZHD values of about 30 mm. The increase of the normal ZWD values was detected several hours prior to the manifestation of the weather phenomena on the ground. We also noticed a connection between the maximum ZWD values observed and the temporal distribution of the rain. The observed variations of the tropospheric slant directional gradients correlate significantly with the variations in direction and intensity of the observed winds. The relation noted between the ZWD values and the tropospheric slant delay gradients with meteorological observables highlights the convenience of using existing or new GPS networks when studying weather phenomena such as severe cyclones.     

Investigation of the 16-year and 18-year ZTD Time Series Derived from GPS Data Processing

The GPS system can play an important role in activities related to the monitoring of climate. Long time series, coherent strategy, and very high quality of tropospheric parameter Zenith Tropospheric Delay (ZTD) estimated on the basis of GPS data analysis allows to investigate its usefulness for climate research as a direct GPS product. This paper presents results of analysis of 16-year time series derived from EUREF Permanent Network (EPN) reprocessing performed by the Military University of Technology. For 58 stations Lomb-Scargle periodograms were performed in order to obtain information about the oscillations in ZTD time series. Seasonal components and linear trend were estimated using Least Square Estimation (LSE) and Mann—Kendall trend test was used to confirm the presence of a linear trend designated by LSE method. In order to verify the impact of the length of time series on trend value, comparison between 16 and 18 years were performed.     

Results of the application of tropospheric corrections from different troposphere models for precise GPS rapid static positioning

In many surveying applications, determination of accurate heights is of significant interest. The delay caused by the neutral atmosphere is one of the main factors limiting the accuracy of GPS positioning and affecting mainly the height coordinate component rather than horizontal ones. Estimation of the zenith total delay is a commonly used technique for accounting for the tropospheric delay in static positioning. However, in the rapid static positioning mode the estimation of the zenith total delay may fail, since for its reliable estimation longer observing sessions are required. In this paper, several troposphere modeling techniques were applied and tested with three processing scenarios: a single baseline solution with various height differences and a multi-baseline solution. In specific, we introduced external zenith total delays obtained from Modified Hopfield troposphere model with standard atmosphere parameters, UNB3m model, COAMPS numerical weather prediction model and zenith total delays interpolated from a reference network solution. The best results were obtained when tropospheric delays derived from the reference network were applied.     

Lower atmospheric anomalies following the 2008 Wenchuan Earthquake observed by GPS measurements

The Mw=8.0 Wenchuan Earthquake occurred on May 12, 2008 at the Longmen Shan fault, the western Sichuan Basin, China, killing more than ten thousand people in several cities and causing large economic losses. Global Positioning System (GPS) observations have provided unique insights on this event, including co-seismic ionospheric disturbances, co-/post-seismic crustal deformations and fault slip distributions. However, the processes and the driving mechanisms are still not clear, particularly possible seismo-lower atmospheric–ionospheric coupling behaviors. In this paper, the lower atmospheric (tropospheric) variations are investigated using the total zenith tropospheric delay (ZTD) from GPS measurements around this event. It has the first found co-seismic tropospheric anomalies during the mainshock with an increase and then a decrease, mainly in the zenith hydrostatic delay component (ZHD), while it is also supported by the same pattern of surface-observed atmospheric pressure changes at co-located GPS site that are driven by the ground-coupled air waves from ground vertical motion of seismic waves propagation. Therefore, the co-seismic tropospheric disturbances (CTD) indicate again the acoustic coupling effect of the atmosphere and the solid-Earth with air wave propagation from the ground to the top atmosphere.     

实时GNSS地震仪系统实现及精度分析

高频GNSS数据实时精密单点定位(RTPPP)可实时获得地表瞬时动态形变和地震波信号,为地震参数快速确定、地震快速响应及海啸预警提供实时的观测资料.本文构建了实时GNSS地震仪系统,主要包括RTPPP和实时探测两部分.利用RTPPP 方法处理了模拟的震动实验平台实验数据和2010年Baja California地震的数据,并与惯导(IMU)、事后PPP和差分相对定位结果比较,定量评估了实时GNSS地震仪系统的精度.结果表明,该系统可实现水平方向优于1cm,高程方向优于3cm的实时定位,且对Baja California地震的实时探测结果与南加州地震数据中心公布的结果相一致.     

JLCORS观测数据质量检测与评估

利用teqc软件对JLCORS网络系统的49个连续运行观测站的观测数据质量进行全面的检测与评估,包括数据完整性、电离层延迟及变率、多路径效应等,数据采样率选用30秒,卫星截止高度角为10度。结果显示,95%的观测站采样效率分布在0.9~1之间,80%的观测站CSR值分布在0.0~0.35之间;所有站点多路径MP1、MP2指标的RMS在0.15~0.45 m范围内,网络系统内MP1、MP1的最大值分别是SLAN站0.45 m和DEFN站0.42 m。接收机运行状态良好,观测环境和观测数据质量完全符合《中国地壳运动观测网络技术规程》要求,而且均优于国际IGS站点标准,对于电离层延迟较严重的时段和不健康的卫星进行了统计,可为GNSS后处理提供可靠的依据。     

基于实时精密单点定位技术的暴雨短临预报

提出了一种将实时精密单点定位(Precise Point Positioning, PPP)技术用于暴雨短临预报的新方法.该方法首先基于GPS连续运行参考站网(Continuously Operating Reference Stations, CORS)实时估计的精密卫星钟差完成PPP解算,再以实时获取的对流层延迟(Zenith Tropospheric Delay, ZTD)及其增量变化为依据进行暴雨短临预报.研究结果表明:一般雷暴天气来临之前的2~6 h,ZTD增量表现为先后突破±5 mm/5 min,且后续记录到的实际降水量大小与ZTD维持在高水平阶段的时间长短有较好的对应关系;就热带气旋而言,在强风作用下,ZTD增量变化表现的异常活跃和复杂,规律性较弱,但对短临预报强降雨仍有一定的指示作用.     

A Possible Detection of the 26 December 2004 Great Sumatra-Andaman Islands Earthquake with Solution Products of the International GNSS Service

The main goal of this work is to critically review the IGS solution products and Precise Point Positioning (PPP) in order to demonstrate their potential to contribute to studies of large earthquakes such as the one that devastated Southeast Asia on December 26th, 2004. In view of a possible detection of the Mw 9.0 Sumatra-Andaman Islands Earthquake of December 26, 2004, position solutions, ranging from intervals of years to one second, of four International GNSS Service (IGS) stations within 3000 km of the epicenter were examined. The IGS combined, cumulative solution product (IGS04P51), consisting of epoch and station velocity solutions and based on data spans of several years prior to the earthquake, was used as a reference. Four IGS combined weekly position solutions (igs04P1301-4), two weeks before and after the earthquake, were utilized for the weekly solution resolution. PPP static and kinematic solutions with IGS Final combined orbits and clocks were used for the mean daily and instantaneous 5-min and 1-sec epoch solutions, respectively. The most significant changes, detected by both weekly and daily solutions occurred in longitude. The nearest IGS station ntus, about 1000 km east of the epicenter, moved westward about 15 mm, while the more distant Indian station iisc (∼ 2300 km NW from the epicenter), shifted about 15 mm eastward. In spite of position errors caused by interpolation of the 5-min IGS clocks, the 1-sec solutions, based on separate data sets, available only for two stations (iisc, dgar), still showed seismic surface waves, in particular at the Indian station iisc. Precise daily IGS combined polar motion and length-of-day products, after correcting for the atmospheric effects, also likely detected, statistically significant, anomalistic excitations on December 26, 2004 that could be caused by this great earthquake.     

星基增强系统L1频段信息服务性能分析

在北斗全球导航服务进程中,北斗星基增强服务的建设是我国卫星导航事业自身建设和不断完善发展的内在需求,更是我国卫星导航系统标准化建设的必然要求。本文基于星基增强信息定位原理,研究并实现星基增强系统的标准定位算法,采用IGS站点数据及增强信息电文,对WAAS与EGNOS系统服务性能进行分析评估,在“陆态网络”数据处理中,加入SBAS信息也可对相关误差进行改正。结果表明,加入播发的差分改正信息定位精度相对于伪距单点定位显著提高,平面方向统计均方根残差优于1m,高程方向优于1.2m;研究发现受地面参考站分布区域以及电离层、观测星座的影响,WAAS和EGNOS在定位服务性能覆盖范围内均表现出一定的区域性。从总体分析来看,不同系统空间段GEO卫星播发SBAS消息特性不一,均满足单频定位需求,EGNOS稳定性低于WAAS系统,播发消息时有中断现象,在实时单频定位性能方面,WAAS的服务性能较EGNOS得到更优的解算结果。     

地基GNSS VTEC约束的大气掩星电离层误差修正方法

介绍了一种考虑电离层沿GNSS掩星射线路径分布不对称且兼顾一阶和二阶项的大气掩星电离层误差修正新方法,它综合地基GNSS VTEC的水平变化信息和电离层模式的垂直变化信息,在沿"入射线"与"出射线"双边局部球对称假设下,估算GNSS掩星射线路径上的电子密度;进而计算一阶和二阶项弯曲角电离层误差廓线.采用太阳活动低年的2008年7月15日和太阳活动较高年的2013年7月15日两天的MetOp-A和GRACE掩星观测资料和IGS的GNSS VTEC数据,计算了GNSS大气掩星弯曲角一阶和二阶项电离层误差廓线.对比分析表明：新方法经验模型和理论模型的二阶项弯曲角电离层残差,以及经验模型与实测数据的一阶和二阶项弯曲角电离层误差均具有良好的一致性,因此该方法可用于L2信号数据质量较差或L2信号中断的掩星事件,同时修正大气掩星一阶和二阶电离层误差,从而提高弯曲角精度和掩星观测资料的利用率.