Assessment of GNSS zenith tropospheric delay responses to atmospheric variables derived from ERA5 data over Nigeria

Tropospheric delay is a major error caused by atmospheric refraction in Global Navigation Satellite System(GNSS)positioning.The study evaluates the potential of the European Centre for Medium-range Weather Forecast(ECMWF)Reanalysis 5(ERA5)atmospheric variables in estimating the Zenith Tropospheric Delay(ZTD).Linear regression models(LRM)are applied to estimate ZTD with the ERA5 atmospheric variables.The ZTD are also estimated using standard ZTD models based on ERA5 and Global Pressure and Temperature 3(GPT3)atmospheric variables.These ZTD estimates are evaluated using the data collected from the permanent GNSS continuously operating reference stations in the Nigerian region.The results reveal that the Zenith Hydrostatic Delay(ZHD)from the LRM and the Saastamoinien model using ERA5 surface pressure are of identical accuracy,having a Root Mean Square(RMS)error of 2.3 mm while the GPT3-ZHD has an RMS of 3.4 mm.For the Zenith Wet Delay(ZWD)component,the best estimates are derived using ERA5 Precipitable Water Vapour(PWV).These include the ZWD derived by the LRM having an average RMS of 20.9 mm and Bevis equation having RMS of 21.1 mm and 21.0 mm for global and local weighted mean temperatures,respectively.The evaluation of GPT3-ZWD estimates gives RMS of 45.8 mm.This study has provided a valuable insight into the application of ERA5 data for ZTD estimation.In line with the fndings of the study,the ERA5 atmospheric variables are recommended for improving the accuracy in ZTD estimation,required for GNSS positioning.