GPS多路径信号提取地面反射点算法

基于GPS卫星、接收机天线、地面反射点及地心的空间几何关系,阐述了一种利用GPS多路径信号提取地面反射点的算法,并通过实验数据,利用Matlab实现了对地面反射点和反射点轨迹的提取。     

Evaluating pseudorange multipath effects at stations in the National CORS Network

A preliminary study was conducted to evaluate the amount of pseudorange multipath at 390+ sites in the National Continuously Operating Reference Station (CORS) Network. The National CORS Network is a cooperative effort involving over 110 different agencies, universities, and private companies who seek to make GPS data from dual-frequency receivers located throughout the United States and its territories available to the general public. For CORS users, pseudorange multipath can seriously degrade the accuracy of any application that relies on precise measurements of the pseudorange observable over a short period of time, including differential pseudorange navigation, kinematic and rapid-static surveying, and ionospheric monitoring. The main objectives of this study were to identify the most affected and least affected sites in the network, to closely investigate problematic sites, and to compare various receiver/antenna combinations. Dual-frequency carrier phase and pseudorange measurements were used to estimate the amount of L1 and L2 pseudorange multipath at each site over a one-year period. Some of the most severely affected sites were maritime Differential GPS and Nationwide Differential GPS (DGPS/NDGPS) sites. Photographs obtained for these sites verified the presence of transmission towers and other reflectors in close proximity to the GPS antennas. Plotting the variations of the L1 and L2 pseudorange multipath with respect to azimuth and elevation further verified that even above a 60° elevation angle there was still as much as five meters of pseudorange multipath at some sites. The least affected sites were the state networks installed in Ohio and Michigan; these sites used excellent antenna mounts, choke ring antennas, and new receiver technology. A comparison of the 12 most commonly used receiver/antenna combinations in the CORS Network indicated that newer receivers such as the Ashtech UZ-12, Leica RS-500, and Trimble 5700 help to significantly mitigate pseudorange multipath, while the receivers/antennas at some DGPS/NDGPS sites, and the antennas formerly used at the Wide Area Augmentation System (WAAS) sites, are among those most affected by pseudorange multipath. The receiver/antenna comparison did not take into account the potential presence of reflectors at the sites (i.e., it is possible that a well-performing receiver/antenna combination could have been consistently placed at very poor site locations, and vice-versa).Product Disclaimer: Mention of a commercial company or product does not constitute an endorsement by the National Oceanic and Atmospheric Administration. Use for publicity or advertisement purposes of information from this paper concerning proprietary products or the comparison of such products is not authorized.     

Effects of azimuthal multipath asymmetry on long GPS coordinate time series

Carrier phase multipath is currently one source of unmodeled signals that may bias GPS coordinate time series significantly. We investigate the effect of simulated carrier phase multipath on time series of several sites covering the period 2002.0–2008.0 and spanning a range of observation geometries. High-, mid-, and low-latitude IGS sites are investigated as well as sites with significant signal obstructions. We examine the effect of multipath in different sectors of the sky, considering time-constant, horizontal reflectors at each of 0.1, 0.2, and 1.5 m below the antenna. The differences between a horizontally uniform multipath source are analyzed, and it is shown that positioning errors are generally larger when unmodeled carrier phase multipath is azimuthally heterogeneous. Using the adopted multipath model, height biases reach ±1 mm in case of the symmetric multipath and ±5 mm for the asymmetric multipath but this increases to being ±10 mm in the worst case. In addition to mean bias, low-frequency variations in the bias also exist, including periodic signals and leading to velocity biases of up to ±0.1 mm/year in the symmetric case and ±1 mm/year in the asymmetric case over the considered period. In contrast to the generally slowly varying observation geometry that is typically experienced, we show the effects of an abrupt change in geometry due to receiver/antenna hardware changes; in the case considered, we see changed pattern of temporal variation in the bias in addition to an instantaneous offset.     

TEQC multipath metrics in MATLAB

Knowledge of the local direction of multipath at a particular site is important for a number of reasons. For example, such information can be used to study site selections or during monument design for GPS installations. We present a MATLAB program for creating colorized polar maps of high-frequency multipath using TEQC report files of single-epoch data. The maps, although not necessarily indicating the actual local direction of multipath on the ground, give the orientation with respect to the geometry of the satellites in the sky. This information can aid the interpretation of ground multipath geometry at the site. We give an example of short-span data with ∼0.05 Hz multipath (i.e. repeat period ≈ 20 s) although the program can be modified for long-term measurements as well.     

Pseudo-Satellite Applications in Deformation Monitoring

In this article, three general classes of potential pseudolite applications for deformation monitoring are described. The first is GPS augmentation with pseudolite(s), which is suitable for circumstances such as urban canyons, or for monitoring in valleys and deep open-cut mines. The second is indoor applications of pseudolite deformation monitoring systems. Pseudolite arrays can, in principle, completely replace the GPS satellite constellation. This could extend the “satellite-based” deformation monitoring applications into tunnels or underground, where GPS satellite signals cannot be tracked. The last case is an inverted pseudolite-based deformation monitoring system, where a “constellation” of GPS receivers with precisely known “orbits” track a mobile pseudolite. The system consists of an array of GPS receivers, the base reference pseudolite, the mobile pseudolite, and a central processing system. However, in the case of such pseudolite-only or hybrid pseudolite-GPS deformation monitoring systems, some additional issues need to be addressed. These include multipath, atmospheric delay effects, and pseudolite location-dependent biases. To address deformation monitoring applications, some practical procedures to mitigate or eliminate their influence are suggested. Some experiments were carried out using NovAtel GPS receivers and IntegriNautics IN200CXL pseudolite instruments. The experimental results indicate that the accuracy of the height component can indeed be significantly improved – the RMS of the vertical component has been reduced by a factor of 4, to the same level as the horizontal components. Their performance will be demonstrated through case study example. ? 2002 Wiley Periodicals, Inc.     

Satellite surface soil moisture from SMOS and Aquarius: Assessment for applications in agricultural landscapes

Satellite surface soil moisture has become more widely available in the past five years, with several missions designed specifically for soil moisture measurement now available, including the Soil Moisture and Ocean Salinity (SMOS) mission and the Soil Moisture Active/Passive (SMAP) mission. With a wealth of data now available, the challenge is to understand the skill and limitations of the data so they can be used routinely to support monitoring applications and to better understand environmental change. This paper examined two satellite surface soil moisture data sets from the SMOS and Aquarius missions against in situ networks in largely agricultural regions of Canada. The data from both sensors was compared to ground measurements on both an absolute and relative basis. Overall, the root mean squared errors for SMOS were less than 0.10 m³ m⁻³ at most sites, and less where the in situ soil moisture was measured at multiple sites within the radiometer footprint (sites in Saskatchewan, Manitoba and Ontario). At many sites, SMOS overestimates soil moisture shortly after rainfall events compared to the in situ data; however this was not consistent for each site and each time period. SMOS was found to underestimate drying events compared to the in situ data, however this observation was not consistent from site to site. The Aquarius soil moisture data showed higher root mean squared errors in areas where there were more frequent wetting and drying cycles. Overall, both data sets, and SMOS in particular, showed a stable and consistent pattern of capturing surface soil moisture over time.     

Single receiver phase ambiguity resolution with GPS data

Global positioning system (GPS) data processing algorithms typically improve positioning solution accuracy by fixing double-differenced phase bias ambiguities to integer values. These “double-difference ambiguity resolution” methods usually invoke linear combinations of GPS carrier phase bias estimates from pairs of transmitters and pairs of receivers, and traditionally require simultaneous measurements from at least two receivers. However, many GPS users point position a single local receiver, based on publicly available solutions for GPS orbits and clocks. These users cannot form double differences. We present an ambiguity resolution algorithm that improves solution accuracy for single receiver point-positioning users. The algorithm processes dual- frequency GPS data from a single receiver together with wide-lane and phase bias estimates from the global network of GPS receivers that were used to generate the orbit and clock solutions for the GPS satellites. We constrain (rather than fix) linear combinations of local phase biases to improve compatibility with global phase bias estimates. For this precise point positioning, no other receiver data are required. When tested, our algorithm significantly improved repeatability of daily estimates of ground receiver positions, most notably in the east component by approximately 30% with respect to the nominal case wherein the carrier biases are estimated as real values. In this “static” test for terrestrial receiver positions, we achieved daily repeatability of 1.9, 2.1 and 6.0 mm in the east, north and vertical (ENV) components, respectively. For kinematic solutions, ENV repeatability is 7.7, 8.4, and 11.7 mm, respectively, representing improvements of 22, 8, and 14% with respect to the nominal. Results from precise orbit determination of the twin GRACE satellites demonstrated that the inter-satellite baseline accuracy improved by a factor of three, from 6 to 2 mm up to a long-term bias. Jason-2/Ocean Surface Topography Mission precise orbit determination tests results implied radial orbit accuracy significantly below the 10 mm level. Stability of time transfer, in low-Earth orbit, improved from 40 to 7 ps. We produced these results by applying this algorithm within the Jet Propulsion Laboratory’s (JPL’s) GIPSY/OASIS software package and using JPL’s orbit and clock products for the GPS constellation. These products now include a record of the wide-lane and phase bias estimates from the underlying global network of GPS stations. This implies that all GIPSY–OASIS positioning users can now benefit from this capability to perform single-receiver ambiguity resolution.     

Quality assessment of FORMOSAT-3/COSMIC and GRACE GPS observables: analysis of multipath, ionospheric delay and phase residual in orbit determination

The precise orbit determination antennas of F3/C and GRACE-A satellites are from the same manufacturer, but are installed in different configurations. The current orbit accuracy of F3/C is 3 cm at arcs with good GPS data, compared to 1 cm of GRACE, which has a larger ratio of usable GPS data. This paper compares the qualities of GPS observables from F3/C and GRACE. Using selected satellites and time spans, the following average values for the satellite F3/C and satellite A of GRACE are obtained: multipath effect on the pseudorange P1, 0.78 and 0.38 m; multipath effect on the pseudorange P2, 1.03 and 0.69 m; occurrence frequency of cycle slip, 1/29 and 1/84; standard error of unit weight, 4 and 1 cm; dynamic–kinematic orbit difference, 10 and 2 cm. For gravity determination using F3/C GPS data, a careful selection of GPS data is critical. With six satellites in orbit, F3/C’s large amount of GPS data will make up the deficiency in data quality.     

GPS snow depth meter with geometry-free linear combinations of carrier phases

Multipath in global positioning system (GPS) is the interference of the microwave signals directly from satellites and those reflected before reaching the antenna, typically by the ground. Because reflected signals cause positioning errors, GPS antennas are designed to reduce such interference. Recent studies show that multipath could be utilized to infer the properties of the ground around the antenna. Here, we report one such application, i.e. a fixed GPS station used as a snow depth meter. Because the satellite moves in the sky, the excess path length of reflected waves changes at rates dependent on the antenna height. This causes quasi-periodic variations of the amplitude and phase of the received signals. Accumulation of snow reduces effective antenna heights, and we can see it by analyzing multipath signatures. Signal-to-noise ratios (SNR) are often used to analyze multipath, but they are not always available in raw GPS data files. Here, we demonstrate that the geometry-free linear combination (L4), normally used to study the ionosphere, can also be used to analyze multipath signatures. We obtained snow depth time series at a GPS station in Hokkaido, Japan, from January to April in 2009 using L4 and SNR. Then, we compared their precisions. We also discuss mechanisms responsible for the possible underestimation of the snow depth by GPS. Finally, we investigate the possibility of inferring physical conditions of the snow surface using amplitudes of multipath signatures.     

GPS precision as a function of session duration and reference frame using multi-point software

As an aid to survey design, we used data acquired from three European continuous GPS networks to test the precision of position estimates from static observations as a function of the length of the observing session and the number and distribution of reference stations. Our criterion was the weighted RMS of estimates over 31 days with respect to coordinates determined from 24-h sessions over a 2-year period. With a single reference station, a precision of 3 mm horizontal and 10 mm vertical could be achieved reliably only for session lengths of 3 h or longer and baselines less than 200 km. If four or more reference stations are used, these levels of precision were usually achieved with sessions as short as 2 h. With sessions 6 h or longer and four or more reference stations, the precision is typically 1–2 mm in horizontal and about 3–5 mm in vertical. Increasing the number of reference stations further provides only marginal improvement. Although there is some variation in precision in 4-station networks with the choice of reference stations, the dependence on distance and geometric distribution is weak.     

An open source GPS multipath simulator in Matlab/Octave

Multipath is detrimental for both GPS positioning and timing applications. However, the benefits of GPS multipath for reflectometry have become increasingly clear for monitoring soil moisture, snow depth, and vegetation growth. In positioning applications, a simulator can support multipath mitigation efforts in terms of, e.g., site selection, antenna design, receiver performance assessment, and in relating different observations to a common parameterization. For reflectometry, in order to convert observed multipath parameters into useable environmental products, it is important to be able to explicitly link the GPS observables to known characteristics of the GPS receiver/antenna and the reflecting environment. Existing GPS multipath software simulators are generally not readily available for the general scientific community to use and/or modify. Here, a simulator has been implemented in Matlab/Octave and is made available as open source code. It can produce signal-to-noise ratio, carrier phase, and code pseudorange observables, based on L1 and L2 carrier frequencies and C/A, P(Y), and L2C modulations. It couples different surface and antenna types with due consideration for polarization and coherence. In addition to offering predefined material types (water, concrete, soil, etc.), it allows certain dimensional properties to be varied, such as soil moisture and snow density.     

Characterization of diurnal cycles in ZTD from a decade of global GPS observations

The diurnal cycle of the tropospheric zenith total delay (ZTD) is one of the most obvious signals for the various physical processes relating to climate change on a short time scale. However, the observation of such ZTD oscillations on a global scale with traditional techniques (e.g. radiosondes) is restricted due to limitations in spatial and temporal resolution. Nowadays, the International GNSS Service (IGS) provides an important data source for investigating the diurnal and semidiurnal cycles of ZTD and related climatic signals. In this paper, 10 years of ZTD data from 1997 to 2007 with a 2-hour temporal resolution are derived from global positioning system (GPS) observations taken at 151 globally distributed IGS reference stations. These time series are used to investigate diurnal and semidiurnal oscillations. Significant diurnal and semidiurnal oscillations of ZTD are found for all GPS stations used in this study. The diurnal cycles (24 hours period) have amplitudes between 0.2 and 10.9 mm with an uncertainty of about 0.5 mm and the semidiurnal cycles (12 h period) have amplitudes between 0.1 and 4.3 mm with an uncertainty of about 0.2 mm. The larger amplitudes of the diurnal and semidiurnal ZTD cycles are observed in the low-latitude equatorial areas. The peak times of the diurnal cycles spread over the whole day, while the peak value of the semidiurnal cycles occurs typically about local noon. These GPS-derived diurnal and semidiurnal ZTD signals are similar with the surface pressure tides derived from surface synoptic pressure observations, indicating that atmospheric tides are the main driver of the diurnal and semidiurnal ZTD variations.     

Characterization of GPS/GIOVE sensor stations in the CONGO network

The Cooperative Network for GIOVE Observation (CONGO) is a global network of real-time capable multi-constellation GNSS receivers, which has been established by the German Aerospace Center (DLR) and the German Federal Agency for Cartography and Geodesy (BKG) as a test bed for experimentation with the new Galileo signals. The CONGO network employs a variety of different antennas and receivers which have become available for public use over the last 2 years. Following an overview of the network and the employed user equipment, the paper discusses the achieved GPS/GIOVE tracking performance. This includes a characterization of antenna gain patterns as well as receiver noise and multipath errors. Special attention is given to the discussion of inter-system biases. The nature and variation of these biases is illustrated based on a set of three different receivers operated in a zero-baseline configuration at the Wettzell site.     

Delineation and Characterization of Waterlogged Salt Affected Soils in IGNP Using Remote Sensing and GIS

The India Remote Sensing data on 1:50,000 scale revealed the occurrence of permanent waterlogging in low-lying flats and depressions of the Indira Gandhi Nahar Pariyojona (IGNP) command area. Such data also indicated seasonal dynamics of waterlogging and soil salinization (Salt efflorescence/crusting) in irrigated areas. Mixed spectral signatures of high moisture content and poor crop stand indicated the presence of shallow aquifers close to the main canal. Digital analysis facilitated some indicators for segregating such land uses, limited to optical range. Ground truth study found patchy crop stand, moist soil profile and subsurface soil salinization indicating the presence of high water table (<1.5 m). It also found fluctuating (1.5–6.0 m) water table with poor vegetative growth indicating areas sensitive to waterlogging These were classified as potential waterlogging. Moderate to high soil salinity was found at surface and at the control section (0.2–0.8 m) of soil profiles indicating initiation of secondary salinization. Coarse to medium soil texture facilitated capillary rise of salts with the advancing water table in irrigated zone. The presence of fine textured and impermeable calcium carbonate layers at a depth below the surface enhanced waterlogging and rise of water table. The preponderance of chlorides and sulfates of sodium, calcium and magnesium was found in the salinized areas. The quality of ponded water was extremely poor and unfit for its reuse. The ground water was saline in some areas but normally lies within the prescribed limit. The quality of drainage water was poor in saline depression and unsuitable for reuse. These were moderate in other areas suggesting its safe reuse if mixed with good quality water. Suitable soil and water management practices are necessary for sustainable crop production in the irrigated areas     

Improvement in PWV estimation from GPS due to the absolute calibration of antenna phase center variations

Climatology of column-integrated atmospheric water vapor over Spain has been carried out by means of three techniques: soundings, sun photometers and GPS receivers. Comparing data from stations equipped with more than one of these instruments, we found that a large discontinuity occurred on November 6, 2006, in the differences between the data series from GPS receivers and those from the other two techniques. Prior to that date, the GPS data indicate a wet bias of 2–3 mm for all stations when compared with sounding or photometer data, whereas after that date this bias practically reduces to zero. The root mean square error also decreases about half of its value. On November 6, 2006, the International GNSS Service adopted an absolute calibration model for the antennas of the GPS satellites and receivers instead of the relative one. This change is expected to be an improvement, increasing the accuracy of station position determination and consequently benefiting post-processing products such as zenith total delay from which the atmospheric water vapor content is calculated.     

Development and testing of a new ray-tracing approach to GNSS carrier-phase multipath modelling

Multipath is one of the most important error sources in Global Navigation Satellite System (GNSS) carrier-phase-based precise relative positioning. Its theoretical maximum is a quarter of the carrier wavelength (about 4.8 cm for the Global Positioning System (GPS) L1 carrier) and, although it rarely reaches this size, it must clearly be mitigated if millimetre-accuracy positioning is to be achieved. In most static applications, this may be accomplished by averaging over a sufficiently long period of observation, but in kinematic applications, a modelling approach must be used. This paper is concerned with one such approach: the use of ray-tracing to reconstruct the error and therefore remove it. In order to apply such an approach, it is necessary to have a detailed understanding of the signal transmitted from the satellite, the reflection process, the antenna characteristics and the way that the reflected and direct signal are processed within the receiver. This paper reviews all of these and introduces a formal ray-tracing method for multipath estimation based on precise knowledge of the satellite–reflector–antenna geometry and of the reflector material and antenna characteristics. It is validated experimentally using GPS signals reflected from metal, water and a brick building, and is shown to be able to model most of the main multipath characteristics. The method will have important practical applications for correcting for multipath in well-constrained environments (such as at base stations for local area GPS networks, at International GNSS Service (IGS) reference stations, and on spacecraft), and it can be used to simulate realistic multipath errors for various performance analyses in high-precision positioning.     

Effects of ionospheric disturbances on GPS observation in low latitude area

In this paper, ionospheric disturbance data from a local GPS network in Hong Kong (low latitude region) are studied in the solar maximum period (2001–2003). The spatial and temporal distributions of the disturbances in Hong Kong are investigated. It is found that strong ionospheric disturbances occur frequently during the solar maximum period, particularly around March and September, and concentrate at the region around geographic latitude 22°N (geomagnetic latitude 12°N). The effects of the disturbances on GPS geodetic receivers, such as loss of lock and measurement noise level, are also analyzed for the 3-year period. It shows that the measurement noise level and the number of losses of lock in GPS data increase dramatically during ionospheric disturbance periods. The behaviors of different types of GPS receivers during the disturbances are also compared.     

Characterization of the effects of high multipath phase rates in GPS

GPS multipath has been studied since the early 1970s. Prior to the investigation described in this paper, however, the effects due to the relative Doppler shift between the direct and multipath signal components have received scant attention. The single previous study that did address the issue indicated coherent receivers had significant performance advantages over noncoherent receivers. Specifically, it was stated that under the condition of fast-fading multipath, noncoherent receivers would yield a bias error, whereas coherent receivers would not. After reviewing the background theory, this paper describes a revised model of the phenomenon and shows the results of hardware simulations which validate the existence of the bias in both receiver types and offer support for the new model. A case study of a specific commercial receiver is presented. Electronic Publication     

The Mitigation of Multipath Errors by Strobe Correlators in GPS/GLONASS Receivers

An effective method of decreasing multipath errors in GPS or GPS/GLONASS receivers by changing delay lock loop correlator reference signal is discussed. Unlike other approaches, this method does not lead to apparatus complication, power comsumption increase, or augmentation of digital processor load. This method eliminates the multipath error completely if the difference in delays of direct and reflected signal is more than 30 m, and decreases this error for smaller delays. The cost of such decrease is that the noise error is decreased. However, the noise error is much less dangerous than the multipath one because of its smaller value and much shorter correlation interval. Calculated and experimental data for the method are given for multipath and noise errors. ? 1998 John Wiley & Sons, Inc.