LEO GPS attitude determination algorithm for a micro-satellite using boom-arm deployed antennas

This paper describes a low earth orbiter micro-satellite attitude determination algorithm using GPS phase and pseudorange data as the only observables. It is designed to run in real-time, at a rate of 10 Hz, on-board the spacecraft, using minimal chip and memory resources. The spacecraft design includes four GPS antennas deployed on boom arms to improve the antenna separations. The boom arms feature smart sensors, from which time-varying deformation data are used to calculate changes in the body-fixed system (BFS) co-ordinates of the attitude antennas. These data are used as input to the attitude algorithm to improve the accuracy of the output. The conventional double-difference phase observation equations have been re-arranged so that the only unknown parameters in the functions (once the ambiguities have been determined) are the spacecraft Euler angles. This greatly increases the redundancy in the mathematical model, and is exploited to enhance the algorithm's ability to trap observations contaminated by unmodelled multipath. This approach has been shown to be successful in identifying phase outliers at the 5–10 mm level. Speed of execution of the program is improved by utilising numerical differentiation of the model equations in the linearisation process. Furthermore, as the number of solve-for parameters is reduced to three by the chosen mathematical model, matrix inversion requirements are minimised. A novel approach to ambiguity resolution and determination of initial estimates of the attitude parameters has been developed utilising a heuristic technique and the known, and time varying, BFS co-ordinates of the antenna array. Algorithm testing is based on a simulation of the micro-satellite trajectory combined with variations in attitude derived from spin-stabilisation and periodic roll and pitch parameters. The trajectory of the spacecraft centre of mass was calculated by numerical integration of a force model using Earth gravity field parameters, third body effects due to the Sun and the Moon, dynamic Earth tide effects (solar and lunar), and a solar radiation pressure model. Frame transformations between J2000 and ITRF97 used the IERS conventions. A similar approach was used to calculate the trajectories of all available GPS satellites during the same period, using initial conditions of position and velocity from IGS precise orbits. RMS differences between the published precise orbit and the integrated satellite positions were at the 5-mm level. Phase observables are derived from these trajectories, biased by simulation of receiver and satellite clock errors, cycle slips, random or systematic noise and initial integer ambiguities. In the actual simulation of the attitude determination process in orbit, GPS satellite positions are calculated using broadcast ephemerides. The results show that the aim of 0.05° (two sigma) attitude precision can be met provided that the phase noise can be reduced to the level of 1–2 mm. Attitude precision was found to vary strongly with constellation geometry, which can change quite rapidly depending on the variations in spacecraft attitude. The redundancy in the mathematical model was found to be very effective in trapping and isolating cycle slips to the double difference observations that are contaminated. This allows for the possibility of correcting for cycle slips without full recourse to the ambiguity resolution algorithm. Electronic Publication     

A dendroclimatological study of east- and west-facing slopes in mountainous areas subjected to strong air pollution (the Sudetes,Central Europe)

The Sudetes Mountains (Central Europe) were under a particularly intense long-term air pollution load during the 1970s and 1980s. Intense industrial activity in this area led to large-scale forest dieback and reductions in tree growth rates, potentially limiting the use of tree-ring data from this region in dendroclimatic research. In this paper, ring-width chronologies were constructed for 493 Norway spruce trees (Picea abies L. Karst.) from 17 sampling sites within five major mountain ranges in the Sudetes Mountains of Poland. Growth-climate response data indicate that April?July temperatures are the main factor affecting radial growth of trees in the study area. Our data also indicate the strong influence of slope aspect on temperature signal strength. The lowest correlation values were obtained for sites located on western slopes with effective fog deposition, which are strongly affected by pollution. An appropriate sampling strategy resulted in the creation of a temperature-sensitive proxy record (rAMJJ = 0.70), exceptional for areas under strong pressure from human activity. Based on a regional master chronology, growing season (April?July) temperatures over the past 200 years were then reconstructed. Four warm and four cold periods were distinguished and compared with other reconstructions and long-term instrumental data.     

What do parameterized Om(z) diagnostics tell us in light of recent observations?

In this paper, we propose a new parametrization for Om(z) diagnostics and show how the most recent and significantly improved observations concerning the H(z) and SN Ia measurements can be used to probe the consistency or tension between the ΛCDM model and observations. Our results demonstrate that H0 plays a very important role in the consistency test of ΛCDM with H(z)data. Adopting the Hubble constant priors from Planck 2013 and Riess, one finds considerable tension between the current H(z) data and ΛCDM model and confirms the conclusions obtained previously by others. However, with the Hubble constant prior taken from WMAP9, the discrepancy between H(z) data and ΛCDM disappears, i.e., the current H(z) observations still support the cosmological constant scenario. This conclusion is also supported by the results derived from the Joint Lightcurve Analysis(JLA) SN Ia sample. The best-fit Hubble constant from the combination of H(z)+JLA(H00 = 68.81+1.5-1.49 km s-1 Mpc-1) is very consistent with results derived both by Planck 2013 and WMAP9, but is significantly different from the recent local measurement by Riess.     

Concentrated, ‘pulsed’ axial glacier flow: structural glaciological evidence from Kvíárjökull in SE Iceland

A detailed structural glaciological study carried out on Kvíárjökull in SE Iceland reveals that recent flow within this maritime glacier is concentrated within a narrow corridor located along its central axis. This active corridor is responsible for feeding ice from the accumulation zone on the south‐eastern side of Öræfajökull to the lower reaches of the glacier and resulted in a c. 200 m advance during the winter of 2013–2014 and the formation of a push‐moraine. The corridor comprises a series of lobes linked by a laterally continuous zone of highly fractured ice characterised by prominent flow‐parallel crevasses, separated by shear zones. The lobes form highly crevassed topographic highs on the glacier surface and occur immediately down‐ice of marked constrictions caused by prominent bedrock outcrops located on the northern side of the glacier. Close to the frontal margin of Kvíárjökull, the southern side of the glacier is relatively smooth and pock‐marked by a number of large moulins. The boundary between this slow moving ice and the active corridor is marked by a number of ice flow‐parallel strike‐slip faults and a prominent dextral shear zone which resulted in the clockwise rotation and dissection of an ice‐cored esker exposed on the glacier surface. It is suggested that this concentrated style of glacier flow identified within Kvíárjökull has affinities with the individual flow units which operate within pulsing or surging glaciers. © 2017 The Authors Earth Surface Processes and Landforms © 2017 John Wiley & Sons, Ltd.     

3D bearing capacity probabilistic analyses of footings on spatially variable c–φ soil

Acta Geotechnica - The paper examines three-dimensional (3D) analyses of the load bearing capacity of square and strip footings on a spatially variable cohesive–frictional (c–φ)...     

Single epoch estimation of the Galileo integrity chain sensor station clock offsets

The Galileo integrity chain depends on a number of key factors, one of which is contamination of the signal-in-space errors with residual errors other than imperfect modelling of satellite orbits and clocks. A potential consequence of this is that the user protection limit is driven not by the errors associated with the imperfect orbit and clock modelling, but by the distortions induced by noise and bias in the integrity chain. These distortions increase the minimum bias the integrity chain can guarantee to detect, which is reflected in the user protection limit. A contributor to this distortion is the inaccuracy associated with the estimation of the offset between the Galileo sensor station (GSS) receiver clocks and the Galileo system time (GST). This offset is termed the receiver clock synchronization error (CSE). This paper describes the research carried out to determine both the CSE and its associated error using GPS data as captured with the Galileo System Test Bed Version 1 (GSTB-V1). In the study we simulate open access to a time datum using IGS data. Two methods are compared for determining CSE and the corresponding uncertainty (noise) across a global network of tracking stations. The single-epoch single-station method is an ‘averaging’ technique that uses a single epoch of data, and is carried out at individual sensor stations, without recourse to the data from other stations. The global network solution method is also single epoch based, but uses the inversion of a linearised model of the global system to solve for the CSE simultaneously at all GSS along with a number of other parameters that would otherwise be absorbed into the CSE estimate in the averaging technique. To test the effectiveness of various configurations in the two methods the estimated synchronisation errors across the GSS network (comprising 25 stations) are compared to the same values as estimated by the International GPS Service (IGS) using a global tracking network of around 150 stations, as well as precise orbit and satellite clock models determined by a combination of global analysis centres. The results show that the averaging technique is vulnerable to unmodelled errors in the satellite clock offsets from system time, leading to receiver CSE errors in the region of 12 ns (3.7 m), this value being largely driven by the satellite CSE errors. The global network approach is capable of delivering CSE errors at the level of 1.5 ns (46 cm) depending on the number of parameters in the linearised model. The International GNSS Service (IGS) receiver clock estimates were used as a truth model for comparative assessment.     

A comparison of the flood precipitation episode in August 2002 with historic extreme precipitation events on the Czech territory

The hydro-meteorological characteristics of the flood from August 2002, which affected a great part of the Czech territory, particularly the Vltava and Labe river basin, were compared with corresponding conditions during similar flood events in the summer seasons of 1997, 1890, 1897 and 1903. The comparison shows analogies in synoptic conditions and causal precipitation heights. The heaviest precipitation fell in the area of a considerable horizontal pressure gradient on the rearward side of the cyclone which advanced very slowly to the north-east across Central Europe and created conditions for the transport of moist air as well as for an organized long-term updraft enhanced in orographically exposed regions. The varying features of the individual events were based on the spatial–temporal distribution of causal precipitation and also on the very different saturation of the catchments. It was chiefly the extraordinary time concentration of precipitation together with the highest catchment saturation that made the flood in 2002 the most extreme.The extremeness of meteorological fields during two episodes in July 1997 was compared with two episodes in August 2002 with the aid of the reanalysis data from ECMWF. The first episode in 1997 and the second episode in 2002 were the most similar and more extreme in terms of the large-scale fields of basic meteorological quantities. The similar features of these episodes are specifically an intensive influx of moisture into Central Europe and intensive upward motions in the precipitation area. The extremeness of upper- and low-level potential vorticity fields was evaluated to diagnose the behavior of the cyclone and frontal precipitation bands accompanying it. The suitable spatial configuration of positive upper- and low-level potential vorticity anomalies induced an additional amplification of upward motions in the precipitation area that apparently contributed to triggering the heavy precipitation over Central Europe. On the whole, quantities reached more extreme values during the second episode in 2002.