VGOS超宽带观测的首次UT1测量数据处理及分析

在国际甚长基线干涉测量（very long baseline interferometry, VLBI）大地测量与天体测量服务组织协调下,首次利用隶属于VLBI全球观测系统（VLBI global observing system, VGOS）的美国Kokee和德国Wettzell观测站及并置的传统VLBI观测站开展了世界时（universal time, UT1）联合测量试验,观测数据在上海VLBI中心进行了干涉处理。结果表明,VGOS超宽带观测系统的UT1测量精度约为7 μs,并置基线的传统S/X双频系统测量精度约为14 μs,VGOS系统的UT1解算结果优于S/X系统。通过试验建立了从相关处理、相关后处理到UT1参数解算的完整数据处理流程,验证了上海VLBI相关处理机的VGOS数据处理能力,为承担国内和国际VGOS观测数据的相关处理任务奠定了基础。     

EOP and scale from continuous VLBI observing: CONT campaigns to future VGOS networks

Continuous (CONT) VLBI campaigns have been carried out about every 3 years since 2002. The basic idea of these campaigns is to acquire state-of-the-art VLBI data over a continuous time period of about 2 weeks to demonstrate the highest accuracy of which the current VLBI system is capable. In addition, these campaigns support scientific studies such as investigations of high-resolution Earth rotation, reference frame stability, and daily to sub-daily site motions. The size of the CONT networks and the observing data rate have increased steadily since 1994. Performance of these networks based on reference frame scale precision and polar motion/LOD comparison with global navigation satellite system (GNSS) earth orientation parameters (EOP) has been substantially better than the weekly operational R1 and R4 series. The precisions of CONT EOP and scale have improved by more than a factor of two since 2002. Polar motion precision based on the WRMS difference between VLBI and GNSS for the most recent CONT campaigns is at the 30 \(\upmu \)as level, which is comparable to that of GNSS. The CONT campaigns are a natural precursor to the planned future VLBI observing networks, which are expected to observe continuously. We compare the performance of the most recent CONT campaigns in 2011 and 2014 with the expected performance of the future VLBI global observing system network using simulations. These simulations indicate that the expected future precision of scale and EOP will be at least 3 times better than the current CONT precision.     

Earth orientation parameters estimated from VLBI during the CONT11 campaign

In this paper we investigate the accuracy of the earth orientation parameters (EOP) estimated from the continuous VLBI campaign CONT11. We first estimated EOP with daily resolution and compared these to EOP estimated from GNSS data. We find that the WRMS differences are about 31  $\upmu $ as for polar motion and 7  $\upmu $ s for length of day. This is about the precision we could expect, based on Monte Carlo simulations and the results of the previous CONT campaigns. We also estimated EOP with hourly resolution to study the sub-diurnal variations. The results confirm the results of previous studies, showing that the current IERS model for high-frequency EOP variations does not explain all the sub-diurnal variations seen in the estimated time series. We then compared our results to various empirical high-frequency EOP models. However, we did not find that any of these gave any unambiguous improvement. Several simulations testing the impact of various aspects of, e.g. the observing network were also made. For example, we made simulations assuming that all CONT11 stations were equipped with fast VLBI2010 antennas. We found that the WRMS error decreased by about a factor five compared to the current VLBI system. Furthermore, the simulations showed that it is very important to have a homogenous global distribution of the stations for achieving the highest precision for the EOP.     

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.     

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 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.     

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.     

New VLBI2010 scheduling strategies and implications on the terrestrial reference frames

In connection with the work for the next generation VLBI2010 Global Observing System (VGOS) of the International VLBI Service for Geodesy and Astrometry, a new scheduling package (Vie_Sched) has been developed at the Vienna University of Technology as a part of the Vienna VLBI Software. In addition to the classical station-based approach it is equipped with a new scheduling strategy based on the radio sources to be observed. We introduce different configurations of source-based scheduling options and investigate the implications on present and future VLBI2010 geodetic schedules. By comparison to existing VLBI schedules of the continuous campaign CONT11, we find that the source-based approach with two sources has a performance similar to the station-based approach in terms of number of observations, sky coverage, and geodetic parameters. For an artificial 16 station VLBI2010 network, the source-based approach with four sources provides an improved distribution of source observations on the celestial sphere. Monte Carlo simulations yield slightly better repeatabilities of station coordinates with the source-based approach with two sources or four sources than the classical strategy. The new VLBI scheduling software with its alternative scheduling strategy offers a promising option with respect to applications of the VGOS.     

Improving the modeling of the atmospheric delay in the data analysis of the Intensive VLBI sessions and the impact on the UT1 estimates

The very long baseline interferometry (VLBI) Intensive sessions are typically 1-h and single-baseline VLBI sessions, specifically designed to yield low-latency estimates of UT1-UTC. In this work, we investigate what accuracy is obtained from these sessions and how it can be improved. In particular, we study the modeling of the troposphere in the data analysis. The impact of including external information on the zenith wet delays (ZWD) and tropospheric gradients from GPS or numerical weather prediction models is studied. Additionally, we test estimating tropospheric gradients in the data analysis, which is normally not done. To evaluate the results, we compared the UT1-UTC values from the Intensives to those from simultaneous 24-h VLBI session. Furthermore, we calculated length of day (LOD) estimates using the UT1-UTC values from consecutive Intensives and compared these to the LOD estimated by GPS. We find that there is not much benefit in using external ZWD; however, including external information on the gradients improves the agreement with the reference data. If gradients are estimated in the data analysis, and appropriate constraints are applied, the WRMS difference w.r.t. UT1-UTC from 24-h sessions is reduced by 5% and the WRMS difference w.r.t. the LOD from GPS by up to 12%. The best agreement between Intensives and the reference time series is obtained when using both external gradients from GPS and additionally estimating gradients in the data analysis.     

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.     

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.     

Comparison of individual and combined zenith tropospheric delay estimations during CONT08 campaign

CONT campaigns are 2-week campaigns of continuous VLBI observations. The IERS working group on combination at the observation level uses these campaigns to study such combinations. In this work, combinations of DORIS, GPS, SLR, and VLBI technique measurements are studied during CONT08. We present different results concerning the use of common zenith tropospheric delay (ZTD) during the combination. We compare the ZTD obtained separately using each individual technique data processing, the combined ZTD, and the ZTD derived from a meteorological model. This resulted in a high level of consistency between each of these ZTD at a sub-centimeter level, a consistency which especially depends on the number of observations per estimated ZTD and the humidity level in the troposphere. We noted that GPS provides the main information about the combined ZTD, the other techniques providing complementary information when a lack of GPS observations occurs.     

Troposphere delays from space geodetic techniques, water vapor radiometers, and numerical weather models over a series of continuous VLBI campaigns

Continuous, very long baseline interferometry (VLBI) campaigns over 2 weeks have been carried out repeatedly, i.e., CONT02 in October 2002, CONT05 in September 2005, CONT08 in August 2008, and CONT11 in September 2011, to demonstrate the highest accuracy the current VLBI was capable at that time. In this study, we have compared zenith total delays (ZTD) and troposphere gradients as consistently estimated from the observations of VLBI, Global Navigation Satellite Systems (GNSS), and Doppler Orbitography and Radiopositioning Integrated by Satellite (DORIS) at VLBI sites participating in the CONT campaigns. We analyzed the CONT campaigns using the state-of-the-art software following common processing strategies as closely as possible. In parallel, ZTD and gradients were derived from numerical weather models, i.e., from the global European Centre for Medium-Range Weather Forecasts (ECMWF) analysis fields, the High Resolution Limited Area Model (European sites), the Japan Meteorological Agency-Operational Meso-Analysis Field (MANAL, over Japan), and the Cloud Resolving Storm Simulator (Tsukuba, Japan). Finally, zenith wet delays were estimated from the observations of water vapor radiometers (WVR) at sites where the WVR observables are available during the CONT sessions. The best ZTD agreement, interpreted as the smallest standard deviation, was found between GNSS and VLBI techniques to be about 5–6 mm at most of the co-located sites and CONT campaigns. We did not detect any significant improvement in the ZTD agreement between various techniques over time, except for DORIS and MANAL. On the other hand, the agreement and thus the accuracy of the troposphere parameters mainly depend on the amount of humidity in the atmosphere.     

The mobile VLBI campaigns in Norway (1989–1993)

Summary Since 1989 several mobile VLBI campaigns have been carried out in Europe with a total of 14 sites occupied. The Norwegian stations at Tromsø and Trysil are the only mobile VLBI stations in Europe observed in more than one epoch, so they have produced the most interesting data from these campaigns. Tromsø is the only station observed in the two summer campaigns (1989 and 1992), while Trysil has been the winter site for MV-2 since late 1991 until the spring of 1993. In this paper we describe the mobile VLBI campaigns in Norway including the observational work and the detailed geodetic analysis performed with OCCAM V3.3. We have also analyzed a series of GPS data sets from Tromsø in order to check the reliability of the VLBI results for that station. The results reveal the need for a very careful design of mobile VLBI experiments, in particular regarding the consistency of the network and of the observation schedules, and the special care that is required in the analysis of the mobile VLBI data in order to achieve significant conclusions.     

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.     

High-resolution atmospheric angular momentum functions related to Earth rotation parameters during CONT08

Due to the temporal resolution of available numerical weather analyses, the effect of the atmosphere on Earth rotation at daily and sub-daily periods is usually investigated using 6-hourly atmospheric angular momentum (AAM) functions. During the period of CONT08, however, atmospheric analysis data were provided by the European Centre for Medium-Range Weather Forecasts (ECMWF) also on an hourly basis. In this paper, we, therefore, determine two sets of AAM functions from ECMWF data—one for CONT08 with hourly resolution and one for the year 2008 with 6-hourly resolution. The comparisons of the AAM functions to high-resolution Earth rotation parameters (ERP) from VLBI and GPS observations are carried out in the frequency domain. Special attention is paid to the preparation of the high-resolution data sets for the geodetic purposes, as there are jump discontinuities at 12 h intervals. Hence, the hourly AAM functions need to be concatenated. The revised functions yield much smaller amplitudes than their 6-hourly counterparts, as can be seen from the equatorial and the axial frequency spectra of atmospheric excitation in Earth rotation. This decrease of spectral power in the hourly AAM functions is found to be associated with a strong counteraction of pressure and wind terms, which originates from atmospheric circulation on short time scales. The results are compared to previous findings published by Brzeziński and Petrov (IERS Tech Note 28:53–60, 2000) based on the data from the U.S. National Centers for Environmental Prediction (NCEP).     

Use of atmospheric angular momentum forecasts for UT1 predictions: analyses over CONT08

Real-time orbit determination and interplanetary navigation require accurate predictions of the orientation of the Earth in the celestial reference frame and in particular that for Universal Time UT1. Much of the UT1 variations over periods ranging from hours to a couple of years are due to the global atmospheric circulation. Therefore, the axial atmospheric angular momentum (AAM) forecast series may be used as a proxy index to predict UT1. Our approach taking advantage of this fact is based on an adaptive procedure. It involves incorporating integrations of AAM estimates into UT1 series. The procedure runs on a routine basis using AAM forecasts that are based on the two meteorological series, from the US National Centers for Environmental Prediction and the Japan Meteorological Agency. It is pertinent to test the prediction method for the period that includes the special CONT08 campaign over which we expect a significant improvement in UT1 accuracy. The studies we carried out were aimed both to compare atmospheric forecasts and analyses, as well as to compare the skills of the UT1 forecasts based on the method with atmospheric forecasts and that using current statistical processes, as applied to the C04 Earth orientation parameters series derived by the International Earth rotation and Reference Systems service (IERS). Here we neglect the oceanic sub-diurnal and diurnal variations, as these signals are expected to be smaller than the UT1-equivalent of 100 μs, when averaged over a few days. The prediction performances for a 2-day forecast are similar, but at a forecast horizon of a week, the AAM-based forecast is roughly twice as skillful as the statistically based one.     

The International VLBI Service for Geodesy and Astrometry (IVS): current capabilities and future prospects

Very Long Baseline Interferometry (VLBI) plays a unique and fundamental role in the maintenance of the global (terrestrial and celestial) reference frames, which are required for precise positioning in many research areas such as the understanding and monitoring of global changes, and for space missions. The International VLBI Service for Geodesy and Astrometry (IVS) coordinates the global VLBI components and resources on an international basis. The service is tasked by the International Association of Geodesy (IAG) and International Astronomical Union (IAU) to provide products for the realization of the Celestial Reference Frame (CRF) through the positions of quasars, to deliver products for the maintenance of the terrestrial reference frame (TRF), such as station positions and their changes with time, and to generate products describing the rotation and orientation of the Earth. In particular, VLBI uniquely provides direct observations of nutation parameters and of the time difference UT1-UTC. This paper summarizes the evolution and current status of the IVS. It points out the activities to improve further on the product quality to meet future service requirements.     

VLBI全球观测系统(VGOS)研究进展

甚长基线干涉测量(VLBI)因其独具的超高空间分辨率和定位精度,使其从20世纪70年代末开始就一直是各国的大地测量学研究热点。然而目前VLBI的测量水平依旧不能满足许多需要毫米级精度的科学和工程领域的需求。为促进实现全球尺度下1mm位置精度的目标,国际VLBI大地测量与天体测量服务组织(IVS)正在推进新一代VLBI全球观测系统,即VGOS。本文从组成VGOS测站的各个子系统入手,介绍了国内外当前的进展情况及未来VGOS的发展趋势,并在最后列出了现阶段依旧面临的问题和挑战。     

Assessment of periodic sub-diurnal Earth rotation variations at tidal frequencies through transformation of VLBI normal equation systems

We present an empirical model for periodic variations of diurnal and sub-diurnal Earth rotation parameters (ERPs) that was derived based on the transformation of normal equation (NEQ) systems of Very Long Baseline Interferometry (VLBI) observing sessions. NEQ systems that contain highly resolved polar motion and UT1-TAI with a temporal resolution of 15 min were generated and then transformed to the coefficients of the tidal ERP model to be solved for. To investigate the quality of this model, comparisons with empirical models from the Global Positioning System (GPS), another VLBI model and the model adopted by the conventions of the International Earth Rotation and Reference Systems Service (IERS) were performed. The absolute coefficients of these models agree almost completely within 7.5 μ as in polar motion and 0.5 μs in UT1-TAI. Several bigger differences exist, which are discussed in this paper. To be able to compare the model estimates with results of the continuous VLBI campaigns, where signals with periods of 8 and 6 h were detected, terms in the ter- and quarter-diurnal band were included in the tidal ERP model. Unfortunately, almost no common features with the results of continuous VLBI campaigns or ERP predictions in these tidal bands can be seen.