A new method for specular and diffuse pseudorange multipath error extraction using wavelet analysis

Multipath remains one of the major challenges in Global Navigation Satellite System (GNSS) positioning because it is considered the dominant source of ranging errors, which can be classified into specular and diffuse types. We present a new method using wavelets to extract the pseudorange multipath in the time domain and breaking it down into the two components. The main idea is an analysis-reconstruction approach based on application of both continuous wavelet transform (CWT) and discrete wavelet transform (DWT). The proposed procedure involves the use of L1 code-minus-carrier (CMC) observable where higher-frequency terms are isolated as residuals. CMC residuals are analyzed by applying the CWT, and we propose the scalogram as a technique for discerning time–frequency variations of the multipath signal. Unlike Fourier transform, the potential of the CWT scalogram for examining the non-stationary and multifrequency nature of the multipath is confirmed as it simultaneously allows fine detection and time localization of the most representative frequencies of the signal. This interpretation of the CWT scalogram is relevant when choosing the levels of reconstruction with DWT, allowing accurate time domain extraction of both the specular and diffuse multipath. The performance and robustness of the method and its boundary applicability are assessed. The experiment was carried out using a receiver of Campania GNSS Network. The results are given in which specular multipath error is achieved using DWT level 7 approximation component and diffuse multipath error is achieved using DWT level 6 denoised detail component.     

Impact of different sampling rates on precise point positioning performance using online processing service

In this study, the effect of different sampling rates (i.e. observation recording interval) on the Precise Point Positioning (PPP) solutions in terms of accurac...     

Surface gravitational field and topography changes induced by the Earth’s fluid core motions

Using a Love number formalism, the elastic deformations of the mantle and the mass redistribution gravitational potential within the Earth induced by the fluid pressure acting at the core–mantle boundary (CMB) are computed. This pressure field changes at a decadal time scale and may be estimated from observations of the surface magnetic field and its secular variation. First, using a spherical harmonic expansion, the poloidal and toroidal part of the fluid velocity field at the CMB for the last 40 years is computed, under the hypothesis of tangential geostrophy. Then the associated geostrophic pressure, whose order of magnitude is about 1000 Pa, is computed. The surface topography induced by this pressure field is computed using Love numbers, and is a few millimetres. The mass redistribution gravitational potential induced by these deformations and, in particular, the zonal components of the related surface gravitational potential perturbation (J₂, J₃ and J₄ coefficients), are calculated. Overall perturbations for the J₂ coefficient of about 10^–10, for J₃ of about 10^–11 and for J₄ are found of about 0.3×10^–11. Finally, these theoretical results are compared with recent observations of the decadal variation of J₂ from satellite laser ranging. Results concerning J₂ can be described as follows: first, they are one order of magnitude too small to explain the observed decadal variation of J₂ and, second, they show a significant linear trend over the last 40 years, whose rate of decrease amounts to 7% of the observed value.     

Separators in 3D Quiet-Sun Magnetic Fields

At the confluence of four regions of different magnetic connectivity lies a distinct topological candidate for coronal heating, namely the magnetic separator. In this study, a method for tracing separator curves is developed and the statistical properties of separators in coronal fields are subsequently explored by analysing a model field with an exponential source distribution, similar to that studied by Schrijver and Title (2002). Magnetic fields based on data from an observed sequence of MDI magnetograms are also considered as a case study. The picture that emerges is one in which there are many more magnetic separators than previously thought, since many separators arise from each null point. For an exponential source distribution, an average of 10.1±0.13 separators per null are found, of which 1.04±0.04 multiply link pairs of nulls (i.e., there is more than one separator linking such pairs of nulls). For the observed sequence of magnetograms, these figures are 7.63±0.2 and 0.99± 0.059, respectively. The results obtained here show that separators have a tendency to group together into trunks about a null. In the case of prone nulls, these trunks lie either normal to the photospheric surface or on it. It is also established that pairs of coronal nulls are frequently interconnected, suggesting that they may have been created by purely coronal bifurcations.     

Palaeomagnetism of Holocene lake sediments from north Poland

Summary. Detailed palaeomagnetic investigations of 17 cores of Holocene lake sediments from four lakes in Poland show a pattern of declination variations similar to those found in Lake Windermere, England and in addition a well defined pattern of inclination variations. A total of nine inclination swings are observed compared to five declination swings and their phase relationships are such that both sets of swings cannot be periodic. Exact dating of the palaeomagnetic record is not possible as radiocarbon ages are over 1000 yr older than those deduced from palynological studies. Thermomagnetic and X-ray studies on magnetic concentrates confirm the results of studies of remanence cooling, IRM acquisition and coercivity experiments which are consistent with fine grained magnetite as the main magnetic mineral in the sediments.     

Non-tidal variations in the deflection of the vertical at Beijing Observatory

At Beijing Observatory both astrometric and gravimetric observations are available to study the non-tidal variations in the deflections of the vertical (or non-tidal plumbline variations, PLVs). From repeated gravimetric observations performed in a network around the observatory, the PLVs at Beijing Observatory during the period 1987.0–1996.0 have been calculated. After comparison with the observational residuals (which also contain the PLV components) of the photoelectric astrolabe located at the observatory, the accuracy of the obtained PLV results has been examined. It is shown that, due to the asymmetry of the gravimetric network, the qualities of the two different PLV components are not equal. The longitude component of the PLV at Beijing has been determined successfully, to be of the order of 0.05, with a contribution of about 0.02 in the inter-annual time scale. The result for the latitude PLV component is not good enough to draw a conclusion. Although both techniques are able to measure the PLV, the result of the determination depends very much on the availability of observational data.     

GGM02 – An improved Earth gravity field model from GRACE

A new generation of Earth gravity field models called GGM02 are derived using approximately 14 months of data spanning from April 2002 to December 2003 from the Gravity Recovery And Climate Experiment (GRACE). Relative to the preceding generation, GGM01, there have been improvements to the data products, the gravity estimation methods and the background models. Based on the calibrated covariances, GGM02 (both the GRACE-only model GGM02S and the combination model GGM02C) represents an improvement greater than a factor of two over the previous GGM01 models. Error estimates indicate a cumulative error less than 1 cm geoid height to spherical harmonic degree 70, which can be said to have met the GRACE minimum mission goals. Electronic Supplementary Material Supplementary material is available in the online version of this article at     

Computerised development control and approval system for City Hall of Kuala Lumpur

This paper will discuss the computerised development control and approval system being developed for the Planning and Development Control Department, City Hall of Kuala Lumpur, with stress on the GIS architecture developed within the system. The prospects and challenges towards implementation of the system are also discussed.     

SDINS/GPS in-flight alignment using GPS carrier phase rate

The alignments of the strapdown inertial navigation system (SDINS) utilizing GPS carrier phase rate measurements is introduced. In this paper, a measurement model of GPS carrier phase rate under two antenna configurations is derived in order to be used for the SDINS alignment process. For in-flight alignment, the performance of the proposed SDINS/GPS integration method is analyzed using the covariance analysis and the overall performance is briefly confirmed by the navigation result of a van test. Furthermore, we find that during in-flight alignment the proposed SDINS/GPS integrated system using GPS carrier phase rate measurements can be implemented in real time because the integer ambiguity problem resulting from carrier phase measurements is avoided.     

Ellipsoidal geoid computation

Modern geoid computation uses a global gravity model, such as EGM96, as a third component in a remove–restore process. The classical approach uses only two: the reference ellipsoid and a geometrical model representing the topography. The rationale for all three components is reviewed, drawing attention to the much smaller precision now needed when transforming residual gravity anomalies. It is shown that all ellipsoidal effects needed for geoid computation with millimetric accuracy are automatically included provided that the free air anomaly and geoid are calculated correctly from the global model. Both must be consistent with an ellipsoidal Earth and with the treatment of observed gravity data. Further ellipsoidal corrections are then negligible. Precise formulae are developed for the geoid height and the free air anomaly using a global gravity model, given as spherical harmonic coefficients. Although only linear in the anomalous potential, these formulae are otherwise exact for an ellipsoidal reference Earth—they involve closed analytical functions of the eccentricity (and the Earths spin rate), rather than a truncated power series in e². They are evaluated using EGM96 and give ellipsoidal corrections to the conventional free air anomaly ranging from –0.84 to +1.14 mGal, both extremes occurring in Tibet. The geoid error corresponding to these differences is dominated by longer wavelengths, so extrema occur elsewhere, rising to +766 mm south of India and falling to –594 mm over New Guinea. At short wavelengths, the difference between ellipsoidal corrections based only on EGM96 and those derived from detailed local gravity data for the North Sea geoid GEONZ97 has a standard deviation of only 3.3 mm. However, the long-wavelength components missed by the local computation reach 300 mm and have a significant slope. In Australia, for example, such a slope would amount to a 600-mm rise from Perth to Cairns.