Repeated Geodetic Measurements in the West Bohemia Seismoactive Region: Period 1993 - 1996

The western part of the Bohemian Massif is characterized by repeated occurrences of intraplate earthquake swarms. To study surface deformations of this anomalous region, a network covering about 2000 square kilometres for repeated geodetic measurements was established in 1993 - 1994. The positions of the individual points of the network were carefully picked with respect to local tectonic structure and earthquake foci distribution. GPS and precise levelling measurements were performed 1-2 times a year. The GPS data were processed by Bernese GPS software. No tendency to any displacement - either horizontal or vertical - of geological blocks was derived from the geodetic data for the period 1993 - 96. Only displacements of less than 5 mm/year in average could occur in the whole region in that period; larger displacements would have been revealed by our measurements.     

Efficient satellite orbit modelling using pseudo-stochastic parameters

If the force field acting on an artificial Earth satellite is not known a priori with sufficient accuracy to represent its observations on their accuracy level, one may introduce so-called pseudo-stochastic parameters into an orbit determination process, e.g. instantaneous velocity changes at user-defined epochs or piecewise constant accelerations in user-defined adjacent time subintervals or piecewise linear and continuous accelerations in adjacent time subintervals. The procedures, based on standard least-squares, associated with such parameterizations are well established, but they become inefficient (slow) if the number of pseudo-stochastic parameters becomes large. We develop two efficient methods to solve the orbit determination problem in the presence of pseudo-stochastic parameters. The results of the methods are identical to those obtained with conventional least-squares algorithms. The first efficient algorithm also provides the full variance–covariance matrix; the second, even more efficient algorithm, only parts of it.     

The celestial mechanics approach: application to data of the GRACE mission

The celestial mechanics approach (CMA) has its roots in the Bernese GPS software and was extensively used for determining the orbits of high-orbiting satellites. The CMA was extended to determine the orbits of Low Earth Orbiting satellites (LEOs) equipped with GPS receivers and of constellations of LEOs equipped in addition with inter-satellite links. In recent years the CMA was further developed and used for gravity field determination. The CMA was developed by the Astronomical Institute of the University of Bern (AIUB). The CMA is presented from the theoretical perspective in (Beutler et al. 2010). The key elements of the CMA are illustrated here using data from 50 days of GPS, K-Band, and accelerometer observations gathered by the Gravity Recovery And Climate Experiment (GRACE) mission in 2007. We study in particular the impact of (1) analyzing different observables [Global Positioning System (GPS) observations only, inter-satellite measurements only], (2) analyzing a combination of observations of different types on the level of the normal equation systems (NEQs), (3) using accelerometer data, (4) different orbit parametrizations (short-arc, reduced-dynamic) by imposing different constraints on the stochastic orbit parameters, and (5) using either the inter-satellite ranges or their time derivatives. The so-called GRACE baseline, i.e., the achievable accuracy of the GRACE gravity field for a particular solution strategy, is established for the CMA.     

Ambiguity resolution strategies using the results of the International GPS Geodynamics Service (IGS)

Resolving the initial phase ambiguities of GPS carrier phase observations was always considered an important aspect of GPS processing techniques. Resolution of the so-called wide-lane ambiguities using a special linear combination of theL ₁ andL ₂ carrier and code observations has become standard. New aspects have to be considered today: (1) Soon AS, the so-called Anti-Spoofing, will be turned on for all Block II spacecrafts. This means that precise code observations will be no longer available, which in turn means that the mentioned approach to resolve the wide-lane ambiguities will fail. (2) Most encouraging is the establishment of the new International GPS Geodynamics Service (IGS), from where high quality orbits, earth rotation parameters, and eventually also ionospheric models will be available. We are reviewing the ambiguity resolution problem under these new aspects: We look for methods to resolve the initial phase ambiguities without using code observations but using high quality orbits and ionospheric models from IGS, and we study the resolution of the narrow-lane ambiguities (after wide-lane ambiguity resolution) using IGS orbits.     

The celestial mechanics approach: theoretical foundations

Gravity field determination using the measurements of Global Positioning receivers onboard low Earth orbiters and inter-satellite measurements in a constellation of satellites is a generalized orbit determination problem involving all satellites of the constellation. The celestial mechanics approach (CMA) is comprehensive in the sense that it encompasses many different methods currently in use, in particular so-called short-arc methods, reduced-dynamic methods, and pure dynamic methods. The method is very flexible because the actual solution type may be selected just prior to the combination of the satellite-, arc- and technique-specific normal equation systems. It is thus possible to generate ensembles of substantially different solutions—essentially at the cost of generating one particular solution. The article outlines the general aspects of orbit and gravity field determination. Then the focus is put on the particularities of the CMA, in particular on the way to use accelerometer data and the statistical information associated with it.     

Combining consecutive short arcs into long arcs for precise and efficient GPS Orbit Determination

The final products of theCODE Analysis Center (Center for Orbit Determination in Europe) of theInternational GPS Service for Geodynamics (IGS) stem fromoverlapping 3-day-arcs. Until 31 December, 1994 these long arcs were computedfrom scratch, i.e. by processing three days of observations of about 40 stations (by mid 1995 about 60 stations were used) of the IGS Global Network in our parameter estimation program GPSEST. Becauseone-day-arcs have to be produced first (for the purpose of error detection etc.) the actual procedure was rather time-consuming. In the present article we develop the mathematical tools necessary to form long arcs based on the normal equation systems of consecutive short arcs (one-day-solutions in the case of CODE). The procedure in its simplest version is as follows:

• Each short arc is described bysix initial conditions and a number of dynamical orbit parameters (e.g. radiation pressure parameters). The resulting long arc in turn shall be based onn consecutive short arcs and described bysix initial conditions and again the same number of dynamical parameters as in the short arcs..
• By asking position and velocity to be continuous at the boundaries of the short arcs we obtain a long arc which is actually defined by one set of initial conditions andn sets of dynamical parameters (ifn short arcs are combined)..
• By asking the dynamical parameters to be identical in consecutive short arcs, the resulting long arc is characterized by exactly the same number of orbit parameters as each of the short arcs.
• This procedure isnot yet optimized becauseformally all n sets of orbit parameters have to be set up and solved for in the long arc solution (although they are not independent). In order to allow for an optimized solution we derive all necessary relations to eliminate the unnecessary parameters in the combination. Each long arc is characterized by the actual number of independent orbit parameters. The resulting procedure isvery efficient.

From the point of view of the result the new procedure iscompletely equivalent to an actual re-evaluation of all observations pertaining to the long arc. It is much more efficient and flexible, however because it allows us to construct 2-day-arcs, 3-day-arcs, etc. based on the previously stored daily normal equation systems without requiring much additional CPU time. The theory is developed in the first four sections. Technical aspects are dealt with in appendices A and B. The actual implementation into the Bernese GPS Software system and test results are given in section 5.