Impact of sampling interval on variance components of epoch-wise residual error in relative GPS positioning: A case study of a 40-km-long baseline

The study presents sampling interval impacts on variance components of the epoch-wise residual errors in relative GPS positioning. In the variance components estimation process, the 2-way nested ANOVA method was used. For that purpose, GPS observation data during four months at two permanent GPS stations, establishing a 40-km-long baseline as a part of the Montenegrin permanent network(Monte Pos), were used. The study results showed that there is no statistically significant impact of sampling interval changes on epoch-wise variance components related to the residual tropospheric and ionospheric delays(effect a) when it comes to such a baseline. However, it is not the case with epoch-wise variance components related to the interstation-distance-independent residual ‘far-field’ multipath effect(effect b). It turned out that the absolute values of relative differences of standard deviations of the effect a on the relative GPS coordinates(e, n and u) had maximum values 11.1%, 10.2% and 8.9%,respectively. Keeping the same order of presentation for the effect b, the values of 5.9%, 9.9% and 12.5%were obtained. In addition, absolute values of relative differences of standard deviations of horizontal and vertical position had maximum values of 3.8% and 7.7%, respectively.

Dependence of epoch-wise two-way nested ANOVA estimates of variances of unmodeled effects present in relative GPS positioning on satellite elevation cutoff angle and PDOP mask

Impact of satellite elevation cutoff angle and position dilution of precision(PDOP)mask change on epoch-wise variance components of unmodeled effects that accompany relative Global Positioning System(GPS)positioning is presented herein.Data used for this study refer to the winter and summer periods of the years with minimal(2008)and maximal(2013)solar activity.These data were collected every 30 s in static mode,at two permanent GPS stations located in Montenegro,establishing a mediumdistance(116-km-long)baseline with a height difference of approximately 760 m between its endpoints.The study showed that changing satellite elevation cutoff angle,with a fixed PDOP mask,affects epochwise two-way nested ANOVA estimates of variances related to the‘far-field’multipath(considered as the nested factor herein)and the combined unmodeled effect of tropospheric and ionospheric refraction(considered as the nesting factor herein).However,changing of PDOP mask,with a fixed satellite elevation cutoff angle,doesn’t affect epoch-wise two-way nested ANOVA estimate of variance of the combined unmodeled effect of tropospheric and ionospheric refraction,but,generally,affects the estimate of variance of the‘far-field’multipath(possibly mixed with a part of a‘shorter-term’ionospheric refraction),which is especially pronounced for the summer period.It should also be noted that there is a significant influence of satellite elevation cutoff angle change on both epoch-wise horizontal and vertical position accuracy,only for the summer period,especially in the presence of maximal solar activity,while there is no significant impact of PDOP mask change on epoch-wise positional accuracy.

GPS观测得的2023年2月土耳其双震前后的地壳形变

2023年2月6日土耳其发生7.8级双震,相隔仅9小时、相距近,都是近直立断层走滑型地震,是利用GPS观测研究地震前后地壳形变稀有震例。利用美国网站得到131个GPS站欧亚(板块)参考框架位移数据,分析了2次地震前后的地壳形变。同震水平位移是分析大地震前兆地壳运动的关键现象。GPS分别观测得的2次地震同震位移,特征显著:水平位移最大达4.4 m;向西、向东和向南水平位移3个分区明显,与区域内3个板块构造运动密切相关;而垂直位移较小,无明显分区。2次地震前震中附近的水平位移分别出现(第一次地震)峰值和(第二次地震)闭锁2种类型,但无明显的垂直位移积累。与其他震例一样,在震前两种类型的水平位移区域,同震水平位移是震前位移在时间或空间上的(弹性)回跳,表明大地震有前兆形变。2次地震重合的孕震区内,有对2次地震同震水平位移影响相近的区域。GPS观测明确显示,地壳水平运动是2次大地震的成因。尽管观测不足和未能预报2次地震,但仍突显GNSS可在地震监测、预警和地震预测中发挥作用的优势。

Outdoor position estimation based on a combination system of GPS-INS by using UPF

This paper proposes a technique that global positioning system(GPS)combines inertial navigation system(INS)by using unscented particle filter(UPF)to estimate the exact outdoor position.This system can make up for the weak point on position estimation by the merits of GPS and INS.In general,extended Kalman filter(EKF)has been widely used in order to combine GPS with INS.However,UPF can get the position more accurately and correctly than EKF when it is applied to real-system included non-linear,irregular distribution errors.In this paper,the accuracy of UPF is proved through the simulation experiment,using the virtual-data needed for the test.

Remote positioning system based on GPS/GPRS

Considering the need of target positioning,a remote positioning system is designed based on global positioning system(GPS)and general packet radio service(GPRS);The data collection terminal is based on microcontroller unit(MCU)PIC24FV301.It uses GPRS network to create wireless link and transmits GPS source information which is collected by LEA-5H board to monitor center on the Internet.The monitor center obtains the target information through processing and analysis of the calculated data.Actual operation results indicate that the designed system has excellent performance and achieves the goal of the remote location.

Coseismic and postseismic slip ruptures for 2015Mw 6.4 Pishan earthquake constrained by static GPS solutions

On 3 July 2015, a Mw 6.4 earthquake occurred on a blind fault struck Pishan, Xinjiang,China. By combining Crustal Movement Observation Network of China(CMONOC) and other Static Global Positioning System(GPS) sites surrounding Pishan region, it provides a rare chance for us to constrain the slip rupture for such a moderate event. The maximum displacement is up to 12 cm, 2 cm for coseismic and postseismic deformation, respectively,and both the deformation patterns show a same direction moving northeastward. With rectangular dislocation model, a magnitude of Mw6.48, Mw6.3 is calculated based on coseismic, postseismic deformation respectively. Our result indicates the western Kunlun range is still moving toward Tarim Basin followed by an obvious postseismic slip associated with this earthquake. To determine a more reasonable model for postseismic deformation, a longer GPS dataset will be needed.

GPS station short-term dynamic characteristics of micro displacement before Menyuan M6.4 earthquake

Continuous observation data from 24 GPS stations are selected in the area(33.0N-41.0N,95.0E-105.0E) for this study(the period is from Jan.1, 2015 to Jan.20, 2016). Three components, NS, EW and UD, of the daily solutions are filtered by the Hilberte Huang transform(HHT) with frequency band of 5.787 × 10^(-7)-7.716 × 10^(-8)Hz(20-150 days in period). And short-term dynamic characteristics of micro displacement before Menyuan M6.4 earthquake are studied by using the temporal dependencies and cross spectrum analysis. The results show that before the earthquake the horizontal undulatory motions are higher than the average level in the series data which indicate the disturbance feature of regional stress before the earthquake. Three GPS stations on Qinghai-Tibet Plateau with their setting perpendicular to the seismogenic fault have consistent movement. The increase of amplitude of the horizontal micro motion observed before the quake is conducive to the earthquake occurrence. However, we could not be sure if the undulatory motion triggered the earthquake. It is quite necessary to build more GPS continuous observation stations and optimize the monitoring network so as to improve the understanding of the shortterm dynamic crustal variation before earthquake.

Range resolution and sampling frequency trade-off for GPS passive radar

In a global positioning system(GPS)passive radar,a high resolution requires a high sampling frequency,which increases the computational load.Balancing the computational load and the range resolution is challenging.This paper presents a method to trade off the range resolution and the computational load by experimentally determining the optimal sampling frequency through an analysis of multiple sets of GPS satellite data at different sampling frequencies.The test data are used to construct a range resolution-sampling frequency trade-off model using least-squares estimation.The theoretical analysis shows that the experimental data are the best fit using smoothing and nthorder derivative splines.Using field GPS C/A code signal-based GPS radar,the trade-off between the optimal sampling frequency is determined to be in the 20461.25–24553.5 kHz range,which supports a resolution of 43–48 m.Compared with the conventional method,the CPU time is reduced by approximately 50%.

Estimation of Quaternion Motion for GPS-Based Attitude Determination Using the Extended Kalman Filter

In this paper,the Global Positioning System(GPS)interferometer provides the preliminarily computed quaternions,which are then employed as the measurement of the extended Kalman filter(EKF)for the attitude determination system.The estimated quaternion elements from the EKF output with noticeably improved precision can be converted to the Euler angles for navigation applications.The aim of the study is twofold.Firstly,the GPS-based computed quaternion vector is utilized to avoid the singularity problem.Secondly,the quaternion estimator based on the EKF is adopted to improve the estimation accuracy.Determination of the unknown baseline vector between the antennas sits at the heart of GPS-based attitude determination.Although utilization of the carrier phase observables enables the relative positioning to achieve centimeter level accuracy,however,the quaternion elements derived from the GPS interferometer are inherently noisy.This is due to the fact that the baseline vectors estimated by the least-squares method are based on the raw double-differenced measurements.Construction of the transformation matrix is accessible according to the estimate of baseline vectors and thereafter the computed quaternion elements can be derived.Using the Euler angle method,the process becomes meaningless when the angles are at 90where the singularity problem occurs.A good alternative is the quaternion approach,which possesses advantages over the equivalent Euler angle based transformation since they apply to all attitudes.Simulation results on the attitude estimation performance based on the proposed method will be presented and compared to the conventional method.The results presented in this paper elucidate the superiority of proposed algorithm.

Data Wipe-Off Technique for Tracking Weak GPS Signals

In this paper,the data wipe-off(DWO)algorithm is incorporated into the vector tracking loop of the Global Positioning System(GPS)receiver for improving signal tracking performance.The navigation data,which contains information that is necessary to perform navigation computations,are binary phase-shift keying(BPSK)modulated onto the GPS carrier phase with the bit duration of 20 ms(i.e.,50 bits per second).To continuously track the satellite’s signal in weak signal environment,the DWO algorithm on the basis of pre-detection method is adopted to detect data bit sign reversal every 20 ms.Tracking accuracy of a weak GPS signal is decreased by possible data bit sign reversal every 20 ms to the predetection integration time(PIT)or integration interval.To achieve better tracking performance in weak signal environment,the coherent integration interval can be extended.However,increase of the integration interval lead to decrease of the tracking accuracy by possible data bit sign reversal every 20 ms to the integration interval.When the integration interval of the correlator is extended over 20 ms in low C/No levels,the navigation DWO algorithm can be employed to avoid energy loss due to bit transitions.The method presented in this paper has an advantage to continuously estimate the navigation data bit and achieve improved tracking performance.Evaluation of the tracking performance based on the various integration intervals for the vector tracking loop of a GPS receiver will be presented.

Continuous Tracking of GPS Signals with Data Wipe-Off Method

The decentralized pre-filter based vector tracking loop(VTL)configuration with data wipe-off(DWO)method of the Global Positioning System(GPS)receiver is proposed for performance enhancement.It is a challenging task to continuously track the satellites’signals in weak signal environment for the GPS receiver.VTL is a very attractive technique as it can provide tracking capability in signal-challenged environments.In the VTL,each channel will not form a loop independently.On the contrary,the signals in the channels of VTL are shared with each other;the navigation processor in turn predicts the code phases.Thus,the receiver can successfully track signals even the signal strength from individual satellite is weak.The tracking loop based on the pre-filter provides more flexible adjustment to specific environments to reduce noise interference.Therefore,even if the signals from some satellites are very weak the receiver can track them from the navigation results based on the other satellites.The navigation data,which contains information necessary to perform navigation computations,are binary phase-shift keying(BPSK)modulated onto the GPS carrier phase with the bit duration of 20 ms(i.e.,50 bits per second)for the GPS L1 C/A signals.The coherent integration interval can be extended for improved tracking performance in signal-challenged environment.However,tracking accuracy is decreased by possible data bit sign reversal.The DWO algorithm can be employed to remove the data bit in I and Q correlation values so as to avoid energy loss due to bit transitions when the integration interval of the correlator is extended over 20 ms under the low carrier-to-noise ratio(C/No)environments.The proposed method has an advantage to provide continuous tracking of signals and obtain improved navigation performance.Performance evaluation of the tracking capability as well as positioning accuracy will be presented.

Estimator-Based GPS Attitude and Angular Velocity Determination

In this paper,the estimator-based Global Positioning System(GPS)attitude and angular velocity determination is presented.Outputs of the attitude estimator include the attitude angles and attitude rates or body angular velocities,depending on the design of estimator.Traditionally as a position,velocity and time sensor,the GPS also offers a free attitude-determination interferometer.GPS research and applications to the field of attitude determination using carrier phase or Doppler measurement has been extensively conducted.The rawattitude solution using the interferometry technique based on the least-squares approach is inherently noisy.The estimator such as the Kalman filter(KF)or extended Kalman filter(EKF)can be incorporated into the GPS interferometer,potentially providing several advantages,such as accuracy improvement,reliability enhancement,and real-time characteristics.Three estimator-based approaches are investigated for performance comparison,including(1)KF with measurement involving attitude angles only;(2)EKF with measurements based on attitude angles only;(3)EKF with measurements involving both attitude angles and body angular rates.The assistance from body mounted gyroscopes,if available,can be utilized as the measurements for further performance improvement,especially useful for the case of signal-challenged environment,such as the GPS outages.Modeling of the dynamic process involving the body angular rates and derivation of the related algorithm will be presented.Simulation results for various estimator-based approaches are conducted;performance comparison is presented for the case of GPS outages.

Complementary Kalman Filter as a Baseline Vector Estimator for GPS-Based Attitude Determination

The Global Positioning System(GPS)offers the interferometer for attitude determination by processing the carrier phase observables.By using carrier phase observables,the relative positioning is obtained in centimeter level.GPS interferometry has been firstly used in precise static relative positioning,and thereafter in kinematic positioning.The carrier phase differential GPS based on interferometer principles can solve for the antenna baseline vector,defined as the vector between the antenna designated master and one of the slave antennas,connected to a rigid body.Determining the unknown baseline vectors between the antennas sits at the heart of GPS-based attitude determination.The conventional solution of the baseline vectors based on least-squares approach is inherently noisy,which results in the noisy attitude solutions.In this article,the complementary Kalman filter(CKF)is employed for solving the baseline vector in the attitude determination mechanism to improve the performance,where the receiver-satellite double differenced observable was utilized as the measurement.By using the carrier phase observables,the relative positioning is obtained in centimeter level.Employing the CKF provides several advantages,such as accuracy improvement,reliability enhancement,and real-time assurance.Simulation results based on the conventional method where the least-squares approach is involved,and the proposed method where the CKF is involved are compared and discussed.

Cubature Kalman Filter Under Minimum Error Entropy With Fiducial Points for INS/GPS Integration

Traditional cubature Kalman filter(CKF)is a preferable tool for the inertial navigation system(INS)/global positioning system(GPS)integration under Gaussian noises.The CKF,however,may provide a significantly biased estimate when the INS/GPS system suffers from complex non-Gaussian disturbances.To address this issue,a robust nonlinear Kalman filter referred to as cubature Kalman filter under minimum error entropy with fiducial points(MEEF-CKF)is proposed.The MEEF-CKF behaves a strong robustness against complex nonGaussian noises by operating several major steps,i.e.,regression model construction,robust state estimation and free parameters optimization.More concretely,a regression model is constructed with the consideration of residual error caused by linearizing a nonlinear function at the first step.The MEEF-CKF is then developed by solving an optimization problem based on minimum error entropy with fiducial points(MEEF)under the framework of the regression model.In the MEEF-CKF,a novel optimization approach is provided for the purpose of determining free parameters adaptively.In addition,the computational complexity and convergence analyses of the MEEF-CKF are conducted for demonstrating the calculational burden and convergence characteristic.The enhanced robustness of the MEEF-CKF is demonstrated by Monte Carlo simulations on the application of a target tracking with INS/GPS integration under complex nonGaussian noises.

Analysis of RFID Based Positioning Technique Using Received Signal Strength and Directional Antenna

Automatic robot navigation is being utilized in many industries for the purpose of high speed work delivery. Color follower, fix path follower robots are current solution to this activities but dynamic path configuration is not possible in these robots. Hence new system proposes effective and fully dynamic path follower robots using RFID and directional antenna. Radio Frequency Identification (RFID) system permits automatic identification of objects with RFID tags using radio waves which have been widely used in mobile robot navigation, localization and mapping both in indoor and outdoor environment. This article presents a navigation strategy for autonomous mobile robot using passive RFID system. Proposed robot system is provided with RFID tag functionality which will load tag number and direction instruction. At some turning point, user will put RF tag, this tag will be read by RF reader which is placed on robot. As per direction instruction robot will change the direction and reach to the destination. Also as per the movement, robot will send its GPS location to PC (Personal Computer) which will be displayed on PC. Hence main goal is to provide more reliable and low energy consumption based indoor positioning system which will be achieved using directional antenna.

Analysis of Geo Positioning System Using RF &DA

Indoor positioning systems (IPSs) have been intended to provide position information of persons and devices. Higher user percentage of handheld devices such as tablets or mobile phones had led to the development of a number of indoor positioning systems. In this research a work on a real time portable RFID indoor positioning device such as on smartphone will be performed. The personal networks will be designed to meet the users’ needs and interconnect users’ devices equipped with different communications technologies in various places to form one network for better result. Radio frequency identification (RFID) with directional antenna has proved its potential for locating objects in indoor environment. Hence, the proposed device idea will be used to exploit various unknown locations in an indoor environment such as college campus;this interpretation will rely on Wireless LAN, Received Signal Strength values from Access Points (AP) in specific mentioned arenas;these APs will be monitored constantly by RFID with directional antenna (DA) and handheld devices. For obtaining the better results from existing devices, algorithms of Range Estimation are proposed, which can be used on various handheld devices for locating indoor objects.

A wireless geophone based on STM32

Seismic geophone is the key instrument for seismic data acquisition in the fields of oil and gas exploration and other relevant fields.It plays an important role in data quality,subsequent processing and interpretation.Aiming at the shortcomings of the existing geophones,such as large volume,heavy weight,unable to monitor in real-time,and heavy workload of data transmission and storage,this paper designs and implements a wireless geophone based on STM32 embedded microcontroller.It is mainly composed of STM32 microcontroller,acceleration sensor,global positioning system(GPS)module,Wi-Fi module and real-time seismic data receiving and processing module.Firstly,the acceleration of vibration in three directions is sensed by the acceleration sensor;secondly,the sampling and analog-to-digital conversion of the vibration data is controlled by the microcontroller;thirdly,the vibration and GPS data are sent to the personal computer(PC)through Wi-Fi,and the personal coomputer PC-side software module completes the reception,display,monitoring and storage of the seismic data;finally,the feasibility and effectiveness of the designed wireless geophone are verified through actual seismic data acquisition experiments.

An artificial neural network model in predicting VTEC over central Anatolia in Turkey

This research investigates the capability of artificial neural networks to predict vertical total electron content(VTEC)over central Anatolia in Turkey.The VTEC dataset was derived from the 19 permanent Global Positioning System(GPS)stations belonging to the Turkish National Permanent GPS NetworkActive(TUSAGA-Aktif)and International Global Navigation Satellite System Service(IGS)networks.The study area is located at 32.6°E-37.5°E and 36.0°N-42.0°N.Considering the factors inducing VTEC variations in the ionosphere,an artificial neural network(NN)with seven input neurons in a multi-layer perceptron model is proposed.The KURU and ANMU GPS stations from the TUSAGA-Aktif network are selected to implement the proposed neural network model.Based on the root mean square error(RMSE)results from 50 simulation tests,the hidden layer in the NN model is designed with 41 neurons since the lowest RMSE is achieved in this attempt.According to the correlation coefficients,absolute and relative errors,the NN VTEC provides better predictions for hourly and quarterly GPS VTEC.In addition,this paper demonstrates that the NN VTEC model shows better performance than the global IRI2016 model.Regarding the spatial contribution of the GPS network to TEC prediction,the KURU station performs better than ANMU station in fitting with the proposed NN model in the station-based comparison.

Locating Global System for Mobile Communication(GSM)Base Stations Using Geographic Information System(GIS)

The global system for mobile communication(GSM)is planned to meet the needs of the whole subscribers.The number of subscribers increased as the population increased due to the acceptance of GSM services by the subscribers.Thus,there should be a way to monitor base stations that will meet the increasing demand of subscribers in any area as a population surge will lead to more subscriptions.This will allow GSM network operators to serve their subscribers better and ease network congestion.This work presents a review of mobile evolution from the first generation to the fifth generation.A review of global positioning system(GPS)technology and its applications to geographic information systems(GIS)was done.The coordinates of these base stations were taken using a GPS device.These base station coordinates were then exported to QGIS for the design of the map.Thereafter,the output map was then integrated into the website.The discussions on the results followed and some useful suggestions given will go a long way to help the operators of GSM in Nigeria and in general.If the propositions given are adhered to,it will go a long way to help the operators reduce congestion on their network and thereby increase the satisfaction of the subscribers.

Impact Analysis of Solar Irradiance Change on Precision Orbit Determination of Navigation Satellites

Solar radiation pressure is the main driving force and error source for precision orbit determination of navigation satellites.It is proportional to the solar irradiance,which is the"sun constant".In regular calculation,the"solar constant"is regard as a constant.However,due to the existence of sunspots,flares,etc.,the solar constant is not fixed,the change in the year is about 1%.To investigate the variation of solar irradiance,we use interpolation and average segment modeling of total solar irradiance data of SORCE,establishing variance solar radiation pressure(VARSRP)model and average solar radiation pressure(AVESRP)model based on the built solar pressure model(SRPM)(constant model).According to observation data of global positioning system(GPS)and Beidou system(BDS)in 2015 and comparing the solar pressure acceleration of VARSRP,AVESRP and SRPM,the magnitude of change can reach 10-10 m/s^2.In addition,according to the satellite precise orbit determination,for GPS satellites,the results of VARSRP and AVESRP are slightly smaller than those of the SRPM model,and the improvement is between 0.1 to 0.5 mm.For geosynchronous orbit(GEO)satellites of BDS,The AVESRP and VARSRP have an improvement of 3.5 mm and 4.0 mm,respectively,based on overlapping arc,and SLR check results show the AVESRP model and the VARSRP model is improved by 2.3 mm and 3.5 mm,respectively.Moreover,the change of inclined geosynchronous orbit(IGSO)satellites and medium earth orbit(MEO)satellites is relatively small,and the improvement is smaller than 0.5 mm.