Avoiding numerical stability problems of long duration DGPS/INS Kalman filters

A current pursuit of the geodetic community is the optimal integration of differential GPS (DGPS) and inertial navigation system (INS) data streams for precise and efficient position and gravity vector surveying. Therein a complete INS and multiple-antenna GPS receiver payload, mounted on a moving platform, is used in conjunction with a network of ground-fixed single antenna GPS receivers. This paper presents a complete, GPS-based, external updating measurement model for the applicable Kalman filter. The model utilizes four external observation types for every GPS satellite in-view: DGPS range differences, single phase differences, and single phase-rate differences; as well as the mobile, multipleantenna GPS receiver's measurement of theerrors in the INS's estimate of the phase difference between any two vehicle-borne GPS antennae. Although not widely conveyed in the geodetic world, the inertial navigation community has long known that traditional Kalman filter covariance propagation recurrences are inherently unstable when such highly accurate external updates are repeatedly applied (every 1 second) over long time durations. A hybrid square root covariance/U — D covariance factorization approach is a numerically stable alternative and is reviewed herein. The hybrid makeup of the algorithm is necessitated by the correlated nature of the fourth type of GPS external measurement listed above (each vehicle-borne GPS antenna formstwo baselines). Such measurement correlations require a functional transformation of the overall external updating model to permit the multiple updates (simultaneously available at each updating epoch) to be sequentially (and efficiently) processed. An appropriate transformation is given. Stable covariance propagation relationships are presented and the transformed Kalman gain is also furnished and its use in the determination of the externally updated error states is discussed. Specific DGPS/INS instabilities produced by the traditional recurrences are displayed. The stable alternative method requires about 25% more CPU time than the traditional Kalman recurrences. With the ever-increasing computational speeds of microprocessors, this added CPU time is of no real concern.     

Theory of satellite ground-track crossovers

The fundamental geometry of satellite ground tracks and their crossover problem are investigated. For idealized nominal ground tracks, the geometry is governed by a few constant parameters whose variations lead to qualitative changes in the crossover solutions. On the basis that the theory to locate crossovers has not been studied in sufficient detail, such changes are described in regard to the number of crossover solutions in conjunction with their bifurcations. Employing the spinor algebra as a tool for establishing the ground-track crossing condition, numerical methodologies to locate crossovers appearing in general dual-satellite ground-track configurations are also presented. The methodologies are applied to precisely determined orbital ephemerides of the GEOSAT, ERS-1, and TOPEX/POSEIDON altimeter satellites. Received: 19 November 1996 / Accepted: 12 May 1997     

The truth about Ground Truth

This paper presents a critical appreciation of the book edited by Pickles called Ground Truth . It offers a response in defence of GIS, written from the perspective of a quantitative geographer's unavoidably academic view of the strengths and weaknesses of GIS and Ground Truth. In essence, there is a growing need for a multi-partisan approach to improving rather than rubbishing a geoinformation technology that is an expanding global industry of considerable relevance both to the present and to the future.     

Multiplotting With Images from the Kodak DCS420 Digital Camera

This paper explores the potential of a digital camera to produce multiple images suitable for plotting. The objective was to build a three dimensional database by linking triangulated images from a Kodak DCS420 digital camera with a computer aided measurement system. The system then supplied X, Y, Z data from x, y image co-ordinates captured off two or more images. Relative accuracy in object space was around 1;50 000.     

Surveying Stonehenge By Photogrammetry

For centuries the ruins of Stonehenge have proved to be both a source of fascination and mystery for the many visitors to this World Heritage Site. The monument itself sets a puzzle that even to this day has not been solved, although there have been numerous theories suggested as to its construction. There is little accurate survey data currently available on the stones themselves, against which these many theories could be tested. The Photogrammetric Unit of English Heritage was therefore requested, in 1993, to commence a project to digitally map all the external faces of all the stones that form the visible remains of this internationally important monument. Photogrammetry was the chosen survey technique and this paper outlines the work of the Unit in using the latest digital photogrammetric equipment to generate a basic three dimensional model of Stonehenge.     

Innovations in Automation for Vision Metrology Systems

The advantages of vision metrology (VM) systems over their film-based counterparts, in terms of the degree of automation within the measurement process, were initially confined to the image mensuration stage. Of late, however, the potential of significantly raising the level of automation of offline and real time VM systems has been more fully exploited, to the point where full automation of the offline procedure has been realized. Innovative features such as automatic image point identification via coded targets, exterior orientation through automatically recognizable "control" groupings of target points, determination of image point correspondences within unlabelled point clouds, and real time tracking of multipoint, handheld measurement probes are now incorporated in industrial VM systems. Another significant innovation is the development of "smart" cameras with incorporated image processing and measurement capabilities which remove the necessity for transmitting image data to the host computer. This paper reviews recent innovations in automation and discusses their operational impact on practical VM applications. The concepts discussed are illustrated through reference to a modern VM system which supports offline and real time measurement.     

An integrated approach for ground water investigation in part of Fatehpur Sikri of district agra-a case study

The Fatehpur Sikri area infringing the western UP, Rajasthan border was investigated for its water supply crisis in respect of poor quality and quantity as well. The study has indicated presence of two parallel quartz reefs running in NE-SW direction. Geohydrological and photogeological studies have revealed the possibility of subsurface extension of quartz reefs. However, this weathered area along reefs is promising water bearing zone. Paleo channels are also marked during studies and the area found suitable for ground water exploitation. A map showing various categories is also presented.     

Relative utility of Landsat-TM and MSS data small scale soil mapping

The Landsat MSS and TM data in the form of false colour composite (FCC) prints at 1∶250,000 scale over parts of Mirzapur (U.P.) and Rohtas district of (Bihar) were interpreted monoscopically in concert with the collateral data and limited field check for soilscape boundary delineation. The study has revealed that at the mapping scale, except for improved image contrast and capturing features of relatively smaller dimensions, no additional advantage has been noticed with TM data over MSS data with respect to exhibition of soilscape boundaries. However, the capability of TM data to withstand enlargement upto 1∶50,000 which is not feasible with MSS data is an additional feature from soil mapping viewpoint.     

Quantification of suspended solids in Dal lake,Srinagar using remote sensing technology

Indian Remote Sensing satellite (IRS)-1B, Linear Imaging Self Scanner (LISS)-II spectral digital data was analysed to determine the feasibility of quantifying the concentration of suspended solids in the surface water of inland water body, Dal lake, in Srinagar, India. The water samples collected in concurrent with IRS-1B overpass, were analysed to determine the concentration of suspended solids. The results indicate that a positive functional relationship exist between the concentration of suspended solids and the visible wave length bands 1 and 3 and near infrared band 4. It has been observed that as the concentration of suspended solids increase, the spectral response also increases. It is concluded that IRS LISS-H data can be effectively used to quantify suspended sediment concentration in the Dal lake surface water.     

Response of GPS occultation signals to atmospheric gravity waves and retrieval of gravity wave parameters

We show that the amplitude of the Global Positioning System (GPS) signals in the radio occultation (RO) experiments is an indicator of the activity of the gravity waves (GW) in the atmosphere. The amplitude of the GPS RO signals is more sensitive to the atmospheric wave structures than is the phase. Early investigations used only the phase of the GPS occultation signals for statistical investigation of the GW activity in the height interval 10–40 km on a global scale. In this study, we use the polarization equations and Hilbert transform to find the 1-D GW radio image in the atmosphere by analyzing the amplitude of the RO signal. The radio image, also called the GW portrait, consists of the phase and amplitude of the GW as functions of height. We demonstrate the potential of this method using the amplitude data from GPS/Meteorology (GPS/MET) and satellite mission Challenge Mini-satellite Payload (CHAMP) RO events. The GW activity is nonuniformly distributed with the main contribution associated with the tropopause and the secondary maximums related to the GW breaking regions. Using our method we find the vertical profiles of the horizontal wind perturbations and its vertical gradient associated with the GW influence. The estimated values of the horizontal wind perturbations are in fairly good agreement with radiosonde data. The horizontal wind perturbations v(h) are ±1 to ±5 m s with vertical gradients dv/dh ±0.5 to ±15 m s km at height 10–40 km. The height dependence of the GW vertical wavelength was inferred through the differentiation of the GW phase. Analysis of this dependence using the dispersion relationship for the GW gives the estimation of the projection of the horizontal background wind velocity on the direction of the GW propagation. For the event considered, the magnitude of this projection changes between 1.5 and 10 m s at heights of 10–40 km. We conclude that the amplitude of the GPS occultation signals contain important information about the wave processes in the atmosphere on a global scale.