GNSS gyroscopes:determination of angular velocity and acceleration with very high-rate GNSS

Although global navigation satellite systems(GNSS)have been routinely applied to determine attitudes,there exists no literature on determining angular velocity and/or angular acceleration from GNSS.Motivated by the invention of computerized accelerometers of the correspondence author and following the success of accurately recovering translational velocity and acceleration waveforms from very high-rate GNSS precise positioning by Xu and his collaborators in 2021,we propose the concept of GNSS gyroscopes and reconstruct angular velocity and acceleration from very high-rate GNSS attitudes by applying regularization under the criterion of minimum mean squared errors.The major results from the experiments can be summarized in the following:(i)angular velocity and acceleration waveforms computed by applying the difference methods to high-rate GNSS attitudes are too noisy and can be physically not meaningful and numerically incorrect.The same can be said about inertial measurement unit(IMU)attitudes,if IMU gyros are not of very high accuracy;(ii)regularization is successfully applied to reconstruct the high-rate angular velocity and acceleration waveforms from 50 Hz GNSS attitudes and significantly outperforms the difference methods,validating the proposed concept of GNSS gyroscopes.By comparing the angular velocity and acceleration results by using the difference methods and regularization,we find that the peak values of angular velocity and acceleration by regularization are much smaller by a maximum factor of 1.57 in the angular velocity to a maximum factor of 8662.53 times in the angular acceleration in the case of high-rate GNSS,and by a maximum factor of 1.26 in the angular velocity to a maximum factor of 2819.85 times in the angular acceleration in the case of IMU,respectively;and(iii)the IMU attitudes apparently lead to better regularized angular velocity and acceleration waveforms than the high-rate GNSS attitudes,which can well be explained by the fact that the former is of better accuracy than the latter.As a result,to suppress the significant amplification of noise in GNSS attitudes,larger regularization parameters have to be chosen for the high-rate GNSS attitudes,resulting in smaller peak angular accelerations by a maximum factor of 37.55 percent in the angular velocity to a maximum factor of 6.20 times in the angular acceleration in comparison of the corresponding IMU results.Nevertheless,the regularized angular acceleration waveforms for both GNSS and IMU look more or less similar in pattern or waveform shape.

云南地区GNSS应变率场异常识别方法及地震预测效能评估

利用1999-2020年云南及邻区近300个GNSS测站的观测数据解算获取的速度场为约束,采用克里金插值方法分时段估计了1999-2007年,2009-2014年,2015-2020年三期区域应变率场;通过回溯各个观测时段之后3年内M_(S)≥5.0地震事件,分析区域地壳形变特征与地震事件发生地点之间的相关性,结果表明,绝大部分地震都发生在面应变高梯度带的张压转换区和最大剪应变率沿断层方向的高值区或其边缘。基于上述应变率场异常特征,提出格网地震危险因子算法,建立地震危险区识别模型,通过估计格网最大剪应变率和面应变率风险区划因子,定量提取异常区地震危险指标,结果显示采用数值模型识别出的异常区与地震事件具有较好地对应关系;进一步采用R值评分的方式对应变率场异常区模型识别方法进行地震预测效能量化评估与分析,结果显示3期应变率场预测结果均通过R值评分检测。

基于GNSS-IR高度角偏差修正方法的研究与评估

针对高度角偏差使全球导航卫星系统干涉反射测量(GNSS-IR)反演海面高度的精度降低这一问题,提出一种基于电离层区域的高度角偏差修正方法,为验证方法的可靠性,将修正高度角偏差前后的反演结果进行对比。结果表明,经过高度角偏差修正的反演结果精度更高,利用高度角偏差修正方法可以较好地修正电离层引起的高度角偏差。

2023年甘肃积石山M_(S)6.2地震对GNSS基准站形变影响快速分析

收集2023-12-18积石山地震震中附近多座GNSS地面基准站地震前后1 Hz高频数据,采用PRIDE PPP-AR、TRACK软件进行动态PPP解算和高精度静态数据处理,得到GNSS基准站的同震形变位移波动和永久形变位移,分析地震对震中GNSS地面基准站造成的形变影响。结果表明,PRIDE PPP-AR和TRACK软件均可计算地震对基准站造成的同震形变位移影响。静态解算结果显示,此次地震造成LXJS站(距震中5.3 km)在水平方向产生约18 mm的永久形变位移,对GNSS基准站稳定性的影响范围约50 km。该快速形变分析方法和结果可为防灾减灾和实时导航定位服务提供参考和数据支撑。

Thick Electrodes of a Self-Assembled MXene Hydrogel Composite for High-Rate Energy Storage

Supercapacitors based on two-dimensional MXene(Ti_(3)C_(2)T_(z))have shown extraordinary performance in ultrathin electrodes with low mass loading,but usually there is a significant reduction in high-rate performance as the thickness increases,caused by increasing ion diffusion limitation.Further limitations include restacking of the nanosheets,which makes it challenging to realize the full potential of these electrode materials.Herein,we demonstrate the design of a vertically aligned MXene hydrogel composite,achieved by thermal-assisted self-assembled gelation,for high-rate energy storage.The highly interconnected MXene network in the hydrogel architecture provides very good electron transport properties,and its vertical ion channel structure facilitates rapid ion transport.The resulting hydrogel electrode show excellent performance in both aqueous and organic electrolytes with respect to high capacitance,stability,and high-rate capability for up to 300μm thick electrodes,which represents a significant step toward practical applications.

青藏高原地壳隆升的GNSS与GRACE联合研究进展

作为世界屋脊,青藏高原现今的地壳隆升状态是地球科学的一个重要关注点,对其地壳运动的观测与动力机制分析是深入认识该问题的关键.随着卫星大地测量的快速发展,以全球导航卫星系统(GNSS)和重力恢复与气候实验卫星(GRACE)为主的观测技术在青藏高原地球动力学研究中表现出巨大优势和潜力.GNSS给出了精细的三维地壳变形结果,GRACE提供了丰富的时变重力数据,前人已有效结合这两种资料对青藏高原地壳运动与固体物质迁移问题进行了充分研究,较系统地评估了高原地壳隆升现状.因此,本文将综述当前联合GNSS与GRACE数据进行高原地壳隆升研究的科学进展,涉及到高原地壳位移场与时变重力场观测、负荷变形估算与构造变形提取、地壳厚度与Moho面深度变化反演等研究成果,本文还简单讨论分析青藏高原当前地壳隆升的环境背景与动力机制.

安卓GNSS原始数据转换为RINEX的方法与实现

安卓设备收集的全球导航卫星系统(GNSS)数据在从地理空间定位到环境监测的各种应用中越来越重要。但缺乏将安卓GNSS原始数据转换为接收机独立交换格式(RINEX)的标准化工具,这给初学者和研究人员带来了重大挑战。为了满足这一需求,本文基于Python开发安卓GNSS原始数据转换RINEX工具箱(AGRDRT),旨在简化转换过程并提高安卓GNSS数据的可用性。所提出的工具箱利用Python的versatility提供一个友好的用户界面,用于将安卓GNSS原始数据转换为广泛采用的RINEX 3.05标准格式。AGRDRT主要功能包括强大的数据解析算法、对不同GNSS星座的支持以及与各种安卓设备配置的兼容性。

Phase Engineering of MXene Derivatives Via Molecular Design for High-Rate Sodium-Ion Batteries

Since 2019,research into MXene derivatives has seen a dramatic rise;further progress requires a rational design for specific functionality.Herein,through a molecular design by selecting suitable functional groups in the MXene coating,we have implemented the dual N doping of the derivatives,nitrogen-doped TiO_(2)@nitrogen-doped carbon nanosheets(N-TiO_(2)@NC),to strike a balance between the active anatase TiO_(2)at low temperatures,and carbon activation at high temperatures.The NH_(3)reduction environment generated at 400℃as evidenced by the in situ pyrolysis SVUV-PIMS process is crucial for concurrent phase engineering.With both electrical conductivity and surface Na+availability,the N-TiO_(2)@NC achieves higher interface capacitive-like sodium storage with long-term stability.More than 100 mAh g^(-1)is achieved at 2 A g^(-1)after 5000 cycles.The proposed design may be extended to other MXenes and solidify the growing family of MXene derivatives for energy storage.

Leveraging ROTI map derived from Indonesian GNSS receiver network for advancing study of Equatorial Plasma Bubble in Southeast/East Asia

This paper highlights the crucial role of Indonesia’s GNSS receiver network in advancing Equatorial Plasma Bubble(EPB)studies in Southeast and East Asia,as ionospheric irregularities within EPB can disrupt GNSS signals and degrade positioning accuracy.Managed by the Indonesian Geospatial Information Agency(BIG),the Indonesia Continuously Operating Reference Station(Ina-CORS)network comprises over 300 GNSS receivers spanning equatorial to southern low-latitude regions.Ina-CORS is uniquely situated to monitor EPB generation,zonal drift,and dissipation across Southeast Asia.We provide a practical tool for EPB research,by sharing two-dimensional rate of Total Electron Content(TEC)change index(ROTI)derived from this network.We generate ROTI maps with a 10-minute resolution,and samples from May 2024 are publicly available for further scientific research.Two preliminary findings from the ROTI maps of Ina-CORS are noteworthy.First,the Ina-CORS ROTI maps reveal that the irregularities within a broader EPB structure persist longer,increasing the potential for these irregularities to migrate farther eastward.Second,we demonstrate that combined ROTI maps from Ina-CORS and GNSS receivers in East Asia and Australia can be used to monitor the development of ionospheric irregularities in Southeast and East Asia.We have demonstrated the combined ROTI maps to capture the development of ionospheric irregularities in the Southeast/East Asian sector during the G5 Geomagnetic Storm on May 11,2024.We observed simultaneous ionospheric irregularities in Japan and Australia,respectively propagating northwestward and southwestward,before midnight,whereas Southeast Asia’s equatorial and low-latitude regions exhibited irregularities post-midnight.By sharing ROTI maps from Indonesia and integrating them with regional GNSS networks,researchers can conduct comprehensive EPB studies,enhancing the understanding of EPB behavior across Southeast and East Asia and contributing significantly to ionospheric research.

GNSS与SINS融合下的露天煤矿无人驾驶矿用卡车视觉惯性导航方法

无人驾驶矿用卡车在露天煤矿内工作时,依靠单一的捷联惯性导航系统(SINS)实现车辆惯性导航,长期推算导航过程中会发生信息累积,导致导航轨迹绝对位置误差较大。因此提出全球导航卫星系统(GNSS)与SINS融合的露天煤矿无人驾驶矿用卡车视觉惯性导航方法。获取露天煤矿场景动态视觉图像,依托于同时定位与地图构建(SLAM)算法建立车辆行驶动态环境地图,并运用基于3D距离误差的判断方法,筛选出动态特征点,标注出地图内动态区域,以此来定位无人驾驶矿用卡车实时位置。将GNSS和SINS融合起来,构建一种组合型视觉惯性导航模型,并引入卡尔曼滤波方程优化模型参数。最后,在循环神经网络的辅助下修正导航结果,生成高精度无人驾驶矿用卡车导航结果。实验结果表明,该方法形成的导航轨迹绝对位置误差不超过3 m,证明了其优越的导航性能。

3D tomographic analysis of equatorial plasma bubble using GNSS-TEC data from Indonesian GNSS Network

Equatorial Plasma Bubbles(EPBs)are ionospheric irregularities that take place near the magnetic equator.EPBs most commonly occur after sunset during the equinox months,although they can also be observed during other seasons.The phenomenon significantly disrupts radio wave signals essential to communication and navigation systems.The national network of Global Navigation Satellite System(GNSS)receivers in Indonesia(>30°longitudinal range)provides an opportunity for detailed EPB studies.To explore this,we conducted preliminary 3D tomography of total electron content(TEC)data captured by GNSS receivers following a geomagnetic storm on December 3,2023,when at least four EPB clusters occurred in the Southeast Asian sector.TEC and extracted TEC depletion with a 120-minute running average were then used as inputs for a 3D tomography program.Their 2D spatial distribution consistently captured the four EPB clusters over time.These tomography results were validated through a classical checkerboard test and comparisons with other ionospheric data sources,such as the Global Ionospheric Map(GIM)and International Reference Ionosphere(IRI)profile.Validation of the results demonstrates the capability of the Indonesian GNSS network to measure peak ionospheric density.These findings highlight the potential for future three-dimensional research of plasma bubbles in low-latitude regions using existing GNSS networks,with extensive longitudinal coverage.

GNSS组合导航定位与导航监测性能分析

为了提升GNSS组合导航定位精度与导航监测性能,本文通过介绍GNSS多源融合导航的空间坐标与姿态转换方法,深入探讨了机载导航中GNSS/INS组合定位技术的应用。同时,针对复杂环境下的定位误差问题,提出了融合导航定位的抗差算法。进一步地分析了无人机禁飞区管控现状,并重点研究了导航监测技术,包括导航定位偏差的检验方法。研究结果表明,GNSS多源融合与抗差算法的结合显著提高了导航定位的准确性和可靠性,为无人机等载体的安全、高效运行提供了有力保障。

基于GNSS三维水道观测技术的水深测量

为了探究GNSS三维水道观测技术在长江中游及汉江中下游水深测量精度问题,基于国内外目前水深测量研究现状,阐述了传统验潮模式与GNSS三维水道观测模式两种水深测量基本原理,通过Hypack软件获取GNSS动态测高数据,对试验区内两种模式下水深测量数据的精度进行了详细分析。结果表明:测区内分段高程转换模型精度与GNSS定位精度均为良好。GNSS三维水道观测数据与验潮数据相比,水位互差小于0.1 m的测点占比大于95%,满足相关行业规范要求,证明GNSS三维水道观测技术在长江中游及汉江中下游河段具备一定可靠性和精确性,可进一步推广应用。

基于GNSS技术的城市高层建筑沉降监测研究

利用GNSS(全球导航卫星系统)技术对城市高楼的沉降进行监测,已经变成了现代城市发展中的核心研究方向。在城市化进程不断加快的背景下,城市高层建筑正面临着沉降和稳定性等难题,所以准确地对建筑沉降进行监控显得尤为重要。介绍基于GNSS技术的城市高层建筑沉降监测应用原理和系统设计,着重说明监测点的布设方案,GNSS接收机选择配置和数据传输处理系统设计。通过探讨原始观测数据预处理,基线解算及网平差等各种数据处理方法和时间序列分析方法,给出建筑沉降速率准确计算模型。

Assessing the data quality and seismic monitoring capabilities of the Belt and Road GNSS network

The Belt and Road global navigation satellite system(B&R GNSS)network is the first large-scale deployment of Chinese GNSS equipment in a seismic system.Prior to this,there have been few systematic assessments of the data quality of Chinese GNSS equipment.In this study,data from four representative GNSS sites in different regions of China were analyzed using the G-Nut/Anubis software package.Four main indicators(data integrity rate,data validity ratio,multi-path error,and cycle slip ratio)used to systematically analyze data quality,while evaluating the seismic monitoring capabilities of the network based on earthquake magnitudes estimated from high-frequency GNSS data are evaluated by estimating magnitude based on highfrequency GNSS data.The results indicate that the quality of the data produced by the three types of Chinese receivers used in the network meets the needs of earthquake monitoring and the new seismic industry standards,which provide a reference for the selection of equipment for future new projects.After the B&R GNSS network was established,the seismic monitoring capability for earthquakes with magnitudes greater than M_(W)6.5 in most parts of the Sichuan-Yunnan region improved by approximately 20%.In key areas such as the Sichuan-Yunnan Rhomboid Block,the monitoring capability increased by more than 25%,which has greatly improved the effectiveness of regional comprehensive earthquake management.

卫星拒止环境下无人机INS/GNSS紧组合定位算法研究

无人机在城市或山区等复杂低空环境下飞行时,很容易进入卫星拒止区域,导致接收到的卫星信号较少,GNSS接收机定位精度大幅下降甚至停止工作。针对无人机在卫星拒止环境下INS/GNSS紧组合的定位性能迅速下降的问题,提出使用零速修正方法对INS/GNSS紧组合定位算法进行改进;并根据航路所需导航性能需求,针对长时间处于拒止环境下可能引起的零速修正重启问题进行了有效约束,保证了无人机在此环境下拥有良好的导航性能。仿真实验证明,相对于传统卡尔曼滤波,零速修正调整的卡尔曼滤波显著降低了定位误差,其中水平误差降低了90.39%,高度误差降低了86.47%,UANP值减少了72.99%,导航定位性能明显提高。

技术驱动下智联域控制器系统与GNSS卫星定位的降本增效及思考

新能源汽车市场的竞争愈加激烈,汽车成本和价格是决定汽车销量的决定性因素之一。智联域控制器系统作为新能源汽车实现GNSS卫星定位和网络通信的关键零件,其重要性日益凸显。文章以智联域控制器系统为例,研究了在技术驱动下的降本增效迭代方案,在不影响性能的前提下,降低零件成本,提高新能源汽车市场竞争力。

GNSS约束的2022年泸定M6.8地震滑动分布及同震应力变化

2022年9月5日四川泸定县发生M6.8级强震,震中位于鲜水河断裂东南末端,野外地质调查初步结果显示本次地震并未发现明显的地表破裂迹象.本文基于震后科考GNSS流动观测和震中周边连续站观测资料,解算并提取震中90 km范围内31个测站的静态水平向同震位移.结果显示:GNSS同震形变场空间分布呈现明显的左旋走滑特征,观测到的最大水平向同震位移达23 cm,震中距50 km范围内同震位移量普遍大于1 cm.基于GNSS观测资料反演得到的同震滑动分布显示泸定地震地表破裂主要集中在磨西至田湾之间,主破裂深度2~8 km,最大滑动量~1.96 m,地震矩9.25×10^(18)N·m,对应矩震级M_W6.6.静态库仑应力结果显示本次地震增强了震源破裂区周边活动断层的库仑应力,并触发了大量余震,余震主要发生在库仑应力增强区域.结合震间闭锁分布、历史地震及库仑应力变化,我们认为未来需要密切关注与磨西断裂交接的安宁河、大凉山断裂以及康定—磨西段的地震危险性.

GNSS辅助风云三号卫星MERSI近红外通道的大气可降水量反演方法

大气水汽是对流层中的重要参数之一,已被广泛应用于短临天气预警和长期气候监测等领域。我国风云三号(FY-3)系列卫星搭载的中分辨率光谱成像仪可用于大气水汽监测,但反演大气可降水量(PWV)时存在大气透过率参数低估、水汽与大气透过率回归系数经验选取的缺陷,无法满足在短临降雨监测、数值同化等高精度PWV应用方面的需求。针对该问题,本文提出一种GNSS辅助FY-3卫星的高精度PWV反演方法。本文方法引入高精度实测GNSS PWV作为大气透过率计算模型的回归拟合参数,辅助FY-3 L1级数据精确估计PWV和大气透过率的模型回归系数;同时,该方法顾及季节和高程因素对FY-3-L1 PWV反演的影响,分季节反演PWV并引入数字高程模型修正由于部分大气透过率参数低估导致的FY-3 L1 PWV相对不准确的现象。选取中国区域2013—2014年FY-3A卫星的L1数据和中国地壳运动观测网络的260个GNSS测站数据进行试验。结果表明,本文提出的GNSS辅助FY-3系列卫星PWV反演方法优于传统方法(FY-3A-L2 PWV),其整体精度改善率为74.5%,可得到更加可靠、稳健性更强的PWV格网产品,对于其在短临降雨监测和数值同化等方面具有重要意义。

顾及BDS-3星钟约束的GNSS超快速轨道钟差解算方法

BDS-3高稳定星载原子钟作为北斗星座的显著技术优势,在GNSS数据处理中尚未得到充分利用。针对严格时效性限制下GNSS超快速轨道钟差参数精度受限问题,本文提出顾及BDS-3星钟约束的GNSS超快速轨道钟差解算方法。首先,以GNSS轨道钟差参数间相关性为基础,构建顾及BDS-3星钟参数特性的GNSS定轨模型;然后,基于GNSS精密钟差产品,分析星钟约束对GNSS轨道钟差参数精度的影响规律;最后,为克服预报钟差精度与约束筛选对定轨影响,建立BDS-3星钟建模与GNSS超快速轨道钟差估计的同步处理方法。试验结果表明,在BDS-3星钟参数最优约束下,BDS-3与GPS轨道钟差精度可分别提升27.5%、5.1%和20.2%、5.2%;且较传统BDS-3星钟单历元处理策略,基于BDS-3星钟建模与GNSS超快速定轨同步处理方法,GNSS超快速轨道钟差精度可分别提升至4.8%与34.2%,轨道精度实现了毫米级改善。因此,顾及BDS-3星钟约束的GNSS超快速轨道钟差解算方法可有效对BDS-3高稳星钟信息模型化,并实现GNSS超快速轨道钟差精度的优化处理。