GPS/Pseudolite/INS integration: concept and first tests

This paper discusses the introduction of pseudolites (ground-based GPS-like signal transmitters) into existing integrated GPS/INS systems in order to provide higher availability, integrity, and accuracy in a local area. Even though integrated GPS/INS systems can overcome inherent drawbacks of each component system (line-of-sight requirement for GPS, and INS errors that grow with time), performance is nevertheless degraded under adverse operational circumstances. Some typical examples are when the duration of satellite signal blockage exceeds an INS bridging level, resulting in large accumulated INS errors that cannot be calibrated by GPS. Such a scenario, unfortunately, is a common occurrence for certain kinematic applications. To address such shortcomings, both pseudolite/INS and GPS/pseudolite/INS integration schemes are proposed here. Typically, the former is applicable for indoor positioning where the GPS signal is unavailable for use. The latter would be appropriate for system augmentation when the number and geometry of visible satellites is not sufficient for accurate positioning or attitude determination. In this paper, some technical issues concerned with implementing these two integration schemes are described, including the measurement model, and the appropriate integration filter for INS error estimation and correction through GPS and pseudolite (PL) carrier phase measurements. In addition, the results from the processing of simulated measurements, as well as field experiments, are presented in order to characterize the system performance. As a result, it has been established that the GPS/PL/INS and PL/INS integration schemes would make it possible to ensure centimeter-level positioning accuracy even if the number of GPS signals is insufficient, or completely unavailable. Electronic Publication     

Studies of aerosol optical depth with the use of Microtops II sun photometers and MODIS detectors in coastal areas of the Baltic Sea

In this paper we describe the results of a research campaign dedicated to the studies of aerosol optical properties in different regions of both the open Baltic Sea and its coastal areas. During the campaign we carried out simultaneous measurements of aerosol optical depth at 4 stations with the use of the hand-held Microtops II sun photometers. The studies were complemented with aerosol data provided by the MODIS. In order to obtain the full picture of aerosol situation over the study area, we added to our analyses the air mass back-trajectories at various altitudes as well as wind fields. Such complex information facilitated proper conclusions regarding aerosol optical depth and Ångström exponent for the four locations and discussion of the changes of aerosol properties with distance and with changes of meteorological factors. We also show that the Microtops II sun photometers are reliable instruments for field campaigns. They are easy to operate and provide good quality results.     

Biomarkers of contaminant exposure: results of a field study with flounder (Platichthys flesus) from the southern Baltic Sea

The results of the present study are based on enzyme biomarker measurements in flounder (Platichthys flesus), a flatfish species that is widely distributed in Baltic coastal waters. The fish were collected from known pollution gradients and from reference areas regarded as relatively free of anthropogenic input. Muscular cholinesterases (ChEs), hepatic glutathione S-transferase (GST), and hepatic ethoxyresorufin-O-deethylase (EROD) activities were measured in each sampled specimen of flounder. Generalized linear models (GLM) were used to analyze the dependence of the enzyme activity on sampling year and area as well as on the biological parameters of the fish. Statistically significant differences in the activities of the measured biomarkers were observed between reference and contaminated sites. ChEs and GST activities differed with gender. The results of this study suggest that the location and year of sampling have a significant impact on the activity of all the measured biomarkers.