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.

Using home buyers’ revealed preferences to define the urban–rural fringe

The location of new homes defines the urban–rural fringe and determines many facets of the urban–rural interaction set in motion by construction of new homes in previously rural areas. Home, neighborhood and school district characteristics play a crucial role in determining the spatial location of new residential construction, which in turn defines the boundary and spatial extent of the urban–rural fringe. We develop and apply a spatial hedonic variant of the Blinder (J Hum Resour 8:436–455, 1973) and Oaxaca (Int Econ Rev 9:693–709, 1973) price decomposition to newer versus older home sales in the Columbus, Ohio metropolitan area during the year 2000. The preferences of buyers of newer homes are compared to those who purchased the nearest neighboring older home located in the same census block group, during the same year. Use of the nearest older home purchased in the same location represents a methodology to control for various neighborhood, social–economic-demographic and school district characteristics that influence home prices. Since newer homes reflect current preferences for home characteristics while older homes reflect past preferences for these characteristics, we use the price differentials between newer and older home sales in the Blinder–Oaxaca decomposition to assess the relative significance of various house characteristics to home buyers.

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.

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.

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.

GPS scintillation over the European Arctic during the November 2004 storms

Small-scale irregularities in the background electron density of the ionosphere can cause rapid fluctuations in the amplitude and phase of radio signals passing through it. These rapid fluctuations are known as scintillation and can cause a Global Positioning System (GPS) receiver to lose lock on a signal. This could compromise the integrity of a safety of life system based on GPS, operating in auroral regions. In this paper, the relationship between the loss of lock on GPS signals and ionospheric scintillation in auroral regions is explored. The period from 8 to 14 November 2004 is selected for this study, as it includes both geomagnetically quiet and disturbed conditions. Phase and amplitude scintillation are measured by GPS receivers located at three sites in Northern Scandinavia, and correlated with losses of signal lock in receivers at varying distances from the scintillation receivers. Local multi-path effects are screened out by rejection of low-elevation data from the analysis. The results indicate that losses of lock are more closely related to rapid fluctuations in the phase rather than the amplitude of the received signal. This supports the idea, suggested by Humphreys et al. (2005) (performance of GPS carrier tracking loops during ionospheric scintillations. Proceedings Internationsl Ionospheric Effects Symposium 3–5 May 2005), that a wide loop bandwidth may be preferred for receivers operating at auroral latitudes. Evidence from the Imaging Riometer for Ionospheric Studies (IRIS) appears to suggest that, for this particular storm, precipitation of particles in the D/E regions may be the mechanism that drives the rapid phase fluctuations in the signal.

A spatiotemporal analysis of aggregate labour force behaviour by sex and age across the European Union

This study investigates the causes of variation in age-specific male and female labour force participation rates using annual data from 154 regions across ten European Union member states for the period 1983–1997. Regional participation rates appear to be strongly correlated in time, weakly correlated in space and to parallel their national counterparts. An econometric model is designed consistent with these empirical findings. To control for potential endogeneity of the explanatory variables, we use an instrumental variables estimation scheme based on a matrix exponential spatial specification of the error terms. Many empirical studies of aggregate labour force behaviour have ignored population distribution effects, relying instead on the representative-agent paradigm. In order for representative-agent models to accurately describe aggregate behaviour, all marginal reactions of individuals to changes in aggregate variables must be identical. It turns out that this condition cannot apply to individuals across different sex/age groups.

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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An exploratory analysis of hierarchical spatial interaction: the case of regional income shares in Indonesia

Regional interaction is generally understood as implying movement between regions at the same level of an hierarchy. This paper extends the notion to include an hierarchical system, thus facilitating the consideration of vertical interaction in the analysis of regional interaction. Obviously, vertical interaction is not altogether a new concept. One could find this concept in many analyses related to national-local or federal-state relationships. This paper treats hierarchy in a strict sense; spatial units are interacting one with another within, but not between, presumed super regions. A particular example drawn in this paper is the province-region relationships for the case of Indonesia. In this framework, provinces form a region, and regions form the nation. The Dendrinos–Sonis model is then used as the basis for measuring the hierarchical spatial interaction in Indonesia. The analysis will explore the degree to which complementarity and competitive interaction revealed at one level in the hierarchy persist at lower or higher levels.

An ANN–RTS smoother scheme for accurate INS/GPS integrated attitude determination

Digital mobile mapping, the method that integrates digital imaging with direct geo-referencing, has developed rapidly over the past 15 years. The Kalman filter (KF) is considered an optimal estimation tool for real-time INS/GPS integrated kinematic positioning and orientation determination. However, the accuracy requirements of general mobile mapping applications cannot be easily achieved even when using the KF scheme. Therefore, this study proposes an intelligent scheme combining ANN and RTS backward smoother to overcome the limitations of KF and to enhance the overall accuracy of attitude determination for tactical grade and MEMS INS/GPS integrated systems.

Computer algebra solution of the GPS N-points problem

A computer algebra solution is applied here to develop and evaluate algorithms for solving the basic GPS navigation problem: finding a point position using four or more pseudoranges at one epoch (the GPS N-points problem). Using Mathematica 5.2 software, the GPS N-points problem is solved numerically, symbolically, semi-symbolically, and with Gauss–Jacobi, on a work station. For the case of N > 4, two minimization approaches based on residuals and distance norms are evaluated for the direct numerical solution and their computational duration is compared. For N = 4, it is demonstrated that the symbolic computation is twice as fast as the iterative direct numerical method. For N = 6, the direct numerical solution is twice as fast as the semi-symbolic, with the residual minimization requiring less computation time compared to the minimization of the distance norm. Gauss–Jacobi requires eight times more computation time than the direct numerical solution. It does, however, have the advantage of diagnosing poor satellite geometry and outliers. Besides offering a complete evaluation of these algorithms, we have developed Mathematica 5.2 code (a notebook file) for these algorithms (i.e., Sturmfel’s resultant, Dixon’s resultants, Groebner basis, reduced Groebner basis and Gauss–Jacobi). These are accessible to any geodesist, geophysicist, or geoinformation scientist via the GPS Toolbox () website or the Wolfram Information Center ().

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.

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.

Single-frequency precise point positioning with optimal filtering

The accuracy of standalone GPS positioning improved significantly when Selective Availability was turned off in May 2000. With the availability of various public GPS related products including precise satellite orbits and clocks, and ionosphere maps, a single-frequency standalone user can experience even a further improvement of the position accuracy. Next, using carrier phase measurements becomes crucial to smoothen the pseudorange noise. In this contribution, the most critical sources of error in single-frequency standalone positioning will be reviewed and different approaches to mitigate the errors will be considered. An optimal filter (using also carrier phase measurements) will be deployed. The final approach will then be evaluated in a decently long static test with receivers located in different regions of the world. Kinematic experiments have also been performed in various scenarios including a highly dynamic flight trial. The accuracy, in general, can be confirmed at 0.5 m horizontal and 1 m vertical, with static tests. Ultimate results demonstrate an accuracy close to 2 dm (95%) for the horizontal position components and 5 dm (95%) for the vertical in the flight experiment.

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.

Tracking and orbit determination performance of the GRAS instrument on MetOp-A

The global navigation satellite system receiver for atmospheric sounding (GRAS) on MetOp-A is the first European GPS receiver providing dual-frequency navigation and occultation measurements from a spaceborne platform on a routine basis. The receiver is based on ESA’s AGGA-2 correlator chip, which implements a high-quality tracking scheme for semi-codeless P(Y) code tracking on the L1 and L2 frequency. Data collected with the zenith antenna on MetOp-A have been used to perform an in-flight characterization of the GRAS instrument with focus on the tracking and navigation performance. Besides an assessment of the receiver noise and systematic measurement errors, the study addresses the precise orbit determination accuracy achievable with the GRAS receiver. A consistency on the 5 cm level is demonstrated for reduced dynamics orbit solutions computed independently by four different agencies and software packages. With purely kinematic solutions, 10 cm accuracy is obtained. As a part of the analysis, an empirical antenna offset correction and preliminary phase center correction map are derived, which notably reduce the carrier phase residuals and improve the consistency of kinematic orbit determination results.

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.

A swash–backwash model of the single epidemic wave

While there is a large literature on the form of epidemic waves in the time domain, models of their structure and shape in the spatial domain remain poorly developed. This paper concentrates on the changing spatial distribution of an epidemic wave over time and presents a simple method for identifying the leading and trailing edges of the spatial advance and retreat of such waves. Analysis of edge characteristics is used to (a) disaggregate waves into ‘swash’ and ‘backwash’ stages, (b) measure the phase transitions of areas from susceptible, S, through infective, I, to recovered, R, status (S → I → R) as dimensionless integrals and (c) estimate a spatial version of the basic reproduction number, R ₀. The methods used are illustrated by application to measles waves in Iceland over a 60-year period from 1915 to 1974. Extensions of the methods for use with more complex waves are possible through modifying the threshold values used to define the start and end points of an event.

Modeling spatial autocorrelation in spatial interaction data: empirical evidence from 2002 Germany journey-to-work flows

Since before the inception of work by Okabe, the intermingling of spatial autocorrelation (i.e., local distance and configuration) and distance decay (i.e., global distance) effects has been suspected in spatial interaction data. This convolution was first treated conceptually because technology and methodology did not exist at the time to easily or fully address spatial autocorrelation effects within spatial interaction model specifications. Today, however, sufficient computer power coupled with eigenfunction-based spatial filtering offers a means for accommodating spatial autocorrelation effects within a spatial interaction model for modest-sized problems. In keeping with Okabe’s more recent efforts to dissemination spatial analysis tools, this paper summarizes how to implement the methodology utilized to analyze a particular empirical flows dataset.

Ultra-tight GPS/INS/PL integration: a system concept and performance analysis

The architecture of the ultra-tight GPS/INS/PL integration is the key to its successful performance; the main feature of this architecture is the Doppler feedback to the GPS receiver tracking loops. This Doppler derived from INS, when integrated with the carrier tracking loops, removes the Doppler due to vehicle dynamics from the GPS/PL signal thereby achieving a significant reduction in the carrier tracking loop bandwidth. The bandwidth reduction provides several advantages such as: improvement in anti-jamming performance, and increase in post correlated signal strength which in turn increases the dynamic range and accuracy of measurements. Therefore, any degradation in the derived Doppler estimates will directly affect the tracking loop bandwidth and hence its performance. The quadrature signals from the receiver correlator, I (in-phase) and Q (quadrature), form the measurements, whereas the inertial sensor errors, position, velocity and attitude errors form the states of the complementary Kalman filter. To specify a reliable measurement model of the filter for this type of integrated system, a good understanding of GPS/PL signal characteristics is essential. It is shown in this paper that phase and frequency errors are the variables that relate the measurements and the states in the Kalman filter. The main focus of this paper is to establish the fundamental mathematical relationships that form the measurement model, and to show explicitly how the system error states are related to the GPS/PL signals. The derived mathematical relationships encapsulated in a Kalman filter, are tested by simulation and shown to be valid.

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