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 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.     

Geochemical facies model of ore formation in the Grythyttan-Hällefors area,Bergslagen, Central Sweden

The different iron and manganese ore deposits of the Grythyttan-Hällefors area display an arrangement that reflects a systematic change in redox conditions from oxidic banded iron formation into highly reduced graphite-bearing slates. This phenomenon is explained by a facies model. The different environmental conditions are also held to be responsible for the geochemical differentiation of base metal deposits into Cu ores associated with minerals of Bi, Co, Mo, As, Zn, Pb, Au, and Pb-Zn-Ag ores associated with minerals of Sb, Mn, As, Sn, Cu. Spatial relationships between deposits of these two groups and certain iron and manganese deposits point to a common source of all metals, possibly connected with exhalative derivates from basic volcanism.

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Zusammenfassung Die verschiedenen Eisen- und Manganerz-Bildungen des Grythyttan-Hällefors-Gebietes zeigen Verhältnisse auf, die einem systematischen Wechsel der Redoxbedingungen wiedergeben, von oxidischer Bändereisenerzbildung bis hin zu stark reduzierten graphitführenden Schiefern. Dieses Phänomen wird durch ein Fazies-Modell erklärt. Die unterschiedlichen Milieu-Bedingungen werden auch als Ursache für die geochemische Diferentiation unedler Metall-Ablagerungen in Cu-Erze angesehen, die mit Mineralien assoziiert sind, die Bi, Co, Mo, As, Zn, Pb, Au führen und in Pb-Zn-Ag-Erze in Verbindung mit Sb-, Mn-, As-, Sn- und Cu-führenden Mineralien. Die räumlichen Beziehungen zwischen Ablagerungen dieser zwei Gruppen und gewissen Eisen- und Mangan-Bildungen weisen auf eine gemeinsame Quelle aller Metalle hin, die möglicherweise mit exhalativen Derivaten eines basischen Vulkanismus in Verbindung steht.

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Résumé Les différents gisements de minerais de Fe et Mn de la région de Grythyttan-Hällefors montrent une disposition qui réflète un changement systématique dans les ernolitions de réduction des formations rubanées de fer oxydé en phyllades graphiteux. Ce phénomène s'explique suivant un modèle faciétal. Les différentes conditions de l'environnement sont ainsi rendues responsables de la différentiation géochimique des gisements métallifères de base en minerais de Cu associés à des minéraux de Bi, Co, Mo, As, Zn, Pb, Au et des minerais de Pb-Zn-Ag associés à des minéraux de Sb, Mn, As, Sn, Cu. Des relations spatiales entre les gisements de ces deux groupes et certains gisements de Fe et Mn indiquent une source commune pour tous les métaux, en liaison possible avec des émanations du volcanisme basique.

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Cosmogenic chlorine-36 production rates in terrestrial rocks

Chlorine-36 is produced in rocks exposed to cosmic rays at the earth surface through thermal neutron activation of ³⁵Cl, spallation of ³⁹K and ⁴⁰Ca, and slow negative moun capture by ⁴⁰Ca. We have measured the ³⁶Cl content of ¹⁴C-dated glacial boulders from the White Mountains in eastern California and in a ¹⁴C-dated basalt flow from Utah. Effective, time-intergrated production parameters were calculated by simultaneous solution of the ³⁶Cl production equations. The production rates due to spallation are 4160 ± 310 and 3050 ± 210 atoms ³⁶Cl yr⁻¹ mol⁻¹³⁹K and ⁴⁰Ca, respectively. The thermal neutron capture rate was calculated to be (3.07 ± 0.24) × 10⁵ neutrons (kg of rock)⁻¹ yr⁻¹. The reported values are normalized to sea level and high geomagnetic latitudes. Production of ³⁶Cl at different altitudes and latitudes can be estimated by appropriate scaling of the sea level rates. Chlorine-36 dating was performed on carbonate ejecta from Meteor Crater, Arizona, and late Pleistocene morainal boulders from the Sierra Nevada, California. Calculated ³⁶Cl ages are in good agreement with previously reported ages obtained using independent methods.     

Tensional crack development in physical models with inhomogeneities under load

Summary The paper deals with a study of the mean stress field (_M) and its gradient (_M/x) in uniaxially loaded two-dimensional models of small thickness with respect to other dimensions, in which two inhomogeneities, e.g., a circular opening and a linear slit have been made. Particular attention was paid to the stress field development in the treated models durin gthe change of the mutual geometric configuration of both the inhomogeneities in question. The problem was analysed theoretically by means of Muskhelishvili's potentials of the two-dimensional theory of elasticity. To compare the results of calculations, the schlieren method was used to visualize and record the studied gradients of stress fields in physical models. The results of the calculations were calibrated by laboratory tests. In this way the individual model situations were classified from the point of view of their resistance to the applied load.     

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.     

Full‐scale Applications of Membrane Filtration in Municipal Wastewater Treatment Plants

The performance of one pilot‐scale and two full‐scale membrane bioreactors (MBR) were evaluated based on the control of main operational parameters, composition of microbial community and pathogens concentration in the treated outlet. Plants were designed for 0.75 m³/day (A), 60 m³/day (B) and 30 m³/day (C). Inlet and outlet samples were monitored for chemical oxygen demand (COD), biological oxygen demand, total suspended solids, ammonia nitrogen concentration (NH₄–N), nitrate nitrogen concentration, total Kjeldahl nitrogen, total phosphorus and phosphate phosphorus concentration concentrations. Plants showed good COD removal: 91.9% for Plant A, 97.8% for Plant B and 94.2% for Plant C. The targeted nitrogenous ion was NH₄–N due to the requirements for outlet limits. NH₄–N removal was moderate for Plant A (73.3%) and Plant B (86.1%) and excellent for Plant C (>99%). Excellent phosphorus removal was achieved by Plant A (average outlet concentration was 0.7 mg/L, efficiency 84.7%). Unsatisfactory results for phosphorus removal were achieved at the full‐scale plants due to operational problems. The dependency between the extracellular polymeric substances increase and decreasing mixed liquor volatile suspended solids for both lab and full‐scale plants was confirmed. Soluble microbial product concentrations were reduced by 65–68% after coagulant dosage for Plant A. Outlets from the MBR plants were monitored for the presence of pathogens (thermotolerant coliforms, Escherichia coli, intestinal Enterococci and culturable microorganisms at 22 and 37°C). The treated effluent from Plant A, B and C met Czech national legislation regarding reuse criteria (standards) for environment, irrigation and swimming purposes. Plants B and C were not able to achieve requirements for potable water and personal hygiene quality standards.