Bernese GNSS Software Version 5.2
Tutorial Processing Example Introductory Course Terminal Session
Rolf Dach, Pierre Fridez
September 2017
AIUB
Astronomical Institute, University of Bern
Contents 1 Introduction to the Example Campaign 1.1 Stations in the Example Campaign . . . . . . . 1.2 Directory Structure . . . . . . . . . . . . . . . . 1.2.1 The DATAPOOL Directory Structure . . . 1.2.2 The Campaign–Directory Structure . . . 1.2.3 Input Files for the Processing Examples 1.2.4 The SAVEDISK Directory Structure . . .
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13 13 13 14 14 16 18
Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19 19 21 28
2 Terminal Session: Monday 2.1 Start the Menu . . . . . . . . . 2.2 Select Current Session . . . . . 2.3 Campaign Setup . . . . . . . . 2.4 Menu Variables . . . . . . . . . 2.5 Generate A Priori Coordinates 2.6 Session Goals . . . . . . . . . . 3 Terminal Session: Pole and Orbit 3.1 Prepare Pole Information . . 3.2 Generate Orbit Files . . . . . 3.3 Session Goals . . . . . . . . .
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4 Terminal Session: Tuesday 4.1 Importing the Observations . . . . . . . . . . . . 4.2 Data Preprocessing (I) . . . . . . . . . . . . . . . 4.2.1 Receiver Clock Synchronization . . . . . . 4.2.2 Form Baselines . . . . . . . . . . . . . . . 4.2.3 Preprocessing of the Phase Baseline Files 4.3 Daily Goals . . . . . . . . . . . . . . . . . . . . .
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6 Terminal Session: Thursday 6.1 Final Network Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2 Check the Coordinates of the Fiducial Sites . . . . . . . . . . . . . . . . .
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5 Terminal Session: Wednesday 5.1 Data Preprocessing (II) . . . . . . . . . . . . . . . . . . . . . . . 5.2 Produce a First Network Solution . . . . . . . . . . . . . . . . . . 5.3 Ambiguity Resolution . . . . . . . . . . . . . . . . . . . . . . . . 5.3.1 Ambiguity Resolution: Quasi–Ionosphere–Free (QIF) . . . 5.3.2 Ambiguity Resolution: Short Baselines . . . . . . . . . . . 5.3.3 Ambiguity Resolution: Bernese Processing Engine (BPE) 5.3.4 Ambiguity Resolution: Summary . . . . . . . . . . . . . . 5.4 Daily Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Contents 6.3 6.4 6.5
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89 91 95 95 96 103
7 Additional Examples 7.1 Advanced Aspects in Using ITRF2014/IGS14 . . . . . . . . . . . . . . . 7.1.1 Using ITRF2014/IGS14 Frames for Reprocessing . . . . . . . . . 7.1.2 Ignoring Stations with PSD Corrections for Datum Definition . . 7.1.3 Recovering a Linear Velocity Field for a Certain Interval . . . . . 7.2 Preparing Combined GPS and GLONASS IGS–Orbits . . . . . . . . . . 7.2.1 Prepare Pole Information . . . . . . . . . . . . . . . . . . . . . . 7.2.2 Merging Precise Orbit Files . . . . . . . . . . . . . . . . . . . . . 7.2.3 Generating Standard Orbit Files . . . . . . . . . . . . . . . . . . 7.3 Kinematic Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3.1 Estimating Kinematic Positions in a Double–Difference Solution . 7.3.2 Extracting the Program Output from a Kinematic Positioning . . 7.3.3 Further suggestions . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4 Zero Difference Processing for Clock Estimation . . . . . . . . . . . . . . 7.4.1 Preprocessing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4.2 Residual Screening . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4.3 Generate Clock Solutions . . . . . . . . . . . . . . . . . . . . . . 7.4.4 Further Suggestions . . . . . . . . . . . . . . . . . . . . . . . . . 7.5 Using RINEX 3 Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.1 Basic Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.2 RINEX 3 Handling in RNXSMT . . . . . . . . . . . . . . . . . . . 7.5.3 RINEX 3 Handling in the Example BPEs . . . . . . . . . . . . . 7.6 Processing Galileo Observations . . . . . . . . . . . . . . . . . . . . . . . 7.6.1 Galileo Satellite-Related Metadata . . . . . . . . . . . . . . . . . 7.6.2 Preparing the Orbit and Clock Products . . . . . . . . . . . . . . 7.6.3 Observation Selection . . . . . . . . . . . . . . . . . . . . . . . . 7.6.4 Processing the Example Including Galileo . . . . . . . . . . . . . 7.6.5 Adapting the Example BPEs . . . . . . . . . . . . . . . . . . . . 7.7 Simulation of Global Navigation Satellite Systems (GNSS) Observations 7.7.1 Simulation of GNSS Observations . . . . . . . . . . . . . . . . . . 7.7.2 Zero Difference Solution from Simulated GNSS Observations . . 7.7.3 Double–Difference Solution from Simulated GNSS Observations . 7.7.4 Final Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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105 106 106 107 108 112 112 113 114 118 118 122 123 124 124 128 135 143 144 144 145 146 147 147 147 149 150 153 155 155 158 162 166
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6.6
Check the Daily Repeatability . . . . . . . . . . . Compute the Reduced Solution of the Sessions . Velocity Estimation . . . . . . . . . . . . . . . . . 6.5.1 Preparation for ITRF2014/IGS14 Velocity 6.5.2 Velocity Estimation Based on NEQ Files . Daily Goals . . . . . . . . . . . . . . . . . . . . .
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1 Introduction to the Example Campaign 1.1 Stations in the Example Campaign Data from thirteen European stations of the International GNSS Service (IGS) network and from the EUREF Permanent Network (EPN) were selected for the example campaign. They are listed in Table 1.1. The locations of these stations are given in Figure 1.1. Three of the stations support only Global Positioning System (GPS) whereas all other sites provide data from both GPS and its Russian counterpart Globalьna001f navigacionna001f sputnikova001f sistema: Global Navigation Satellite System (GLONASS). The observations for these stations are available for four days. Two days in year 2010 (day of year 207 and 208) and two in 2011 (days 205 and 206)1 . In the terminal sessions you will analyze the data in order to obtain a velocity field based on final products from Center for Orbit Determination in Europe (CODE). For eight of these stations, coordinates and velocities are given in the IGS14 reference frame, an IGS–specific realization of the ITRF2014 (see ${D}/STAT_LOG/ IGS14.snx).
, ONSA
LAMA WSRT HERT
PTBB WTZZ WTZR
JOZ2 GANP
ZIM2 ZIMM TLSE
MATE Between these days in 2010 and 2011 the receivers (LAMA, TLSE, WTZR) and Station with coordinates/velocities in IGS14 the full equipment (WTZZ) have been changed. The receiver type, the antenna Receiver is tracking GPS/GLONASS GPS−only type, and the antenna height are also provided in Table 1.1. Notice, that for three Figure 1.1: Stations used in example campaign antennas (GANP, WTZR, ZIM2) values from an individual calibration are available from the EPN processing. For all other antennas only type–specific calibration results from the IGS processing (${X}/GEN/I14.ATX) are available. More details are provided in Table 1.2. Only in one case where no calibration of the antenna/radome combination was available (ONSA) the calibration values of the antenna without radome were used instead. With one exception (ONSA) even system–specific calibrations for GPS and GLONASS measurements are available.
The distances between stations in the network are between 200 and 1000 km. There are two pairs of receivers at one site included in the example dataset: in Zimmerwald, 1
A fifth day (day 213 of year 2017) is available to demonstrate the usage of RINEX 3 data and the processing of Galileo observations, see Sections 7.5 and 7.6, respectively. These data are only relevant if you want to follow the examples in these two sections.
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1 Introduction to the Example Campaign
Table 1.1: List of stations used for the example campaign including receiver and antenna type as well as the antenna height.
Station name GANP 11515M001 HERT 13212M010 JOZ2 12204M002 LAMA 12209M001
MATE 12734M008 ONSA 10402M004 PTBB 14234M001 TLSE 10003M009
WSRT 13506M005 WTZR 14201M010
WTZZ 14201M014
ZIM2 14001M008 ZIMM 14001M004
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Location Ganovce, Slovakia
Receiver type Antenna type Radome TRIMBLE NETR8 TRM55971.00 NONE
Antenna height 0.3830 m
Hailsham, United Kingdom
LEICA GRX1200GGPRO LEIAT504GG NONE
0.0000 m
Jozefoslaw, Poland
LEICA GRX1200GGPRO LEIAT504GG NONE
0.0000 m
Olsztyn, Poland
Matera, Italy Onsala, Sweden Braunschweig, Germany Toulouse, France
Westerbork, The Netherlands Kötzting, Germany
Kötzting, Germany
Zimmerwald, Switzerland Zimmerwald, Switzerland
2010: LEICA GRX1200GGPRO LEIAT504GG LEIS 2011: LEICA GRX1200+GNSS LEIAT504GG LEIS
0.0600 m 0.0600 m
LEICA GRX1200GGPRO LEIAT504GG NONE
0.1010 m
JPS E_GGD AOAD/M_B
OSOD
0.9950 m
ASHTECH Z–XII3T ASH700936E SNOW
0.0562 m
2010: TRIMBLE NETR5 TRM59800.00 NONE 2011: TRIMBLE NETR9 TRM59800.00 NONE AOA SNR–12 ACT AOAD/M_T DUTD 2010: LEICA GRX1200GGPRO LEIAR25.R3 LEIT 2011: LEICA GRX1200+GNSS LEIAR25.R3 LEIT 2010: TPS E_GGD TPSCR3_GGD CONE 2011: JAVAD TRE_G3TH DELTA LEIAR25.R3 LEIT
1.0530 m 1.0530 m 0.3888 m 0.0710 m 0.0710 m 0.2150 m 0.0450 m
TRIMBLE NETR5 TRM59800.00 NONE
0.0000 m
TRIMBLE NETRS TRM29659.00 NONE
0.0000 m
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1.2 Directory Structure
Table 1.2: List of antenna/radome combinations used in the example campaign together with the available antenna calibration values in IGS14 model.
Antenna type AOAD/M_B OSOD AOAD/M_T DUTD ASH700936E SNOW LEIAR25.R3 LEIT
Type of calibration for GPS for GLONASS ADOPTED from NONE ADOPTED from GPS ROBOT — ROBOT — ROBOT ROBOT
LEIAT504GG NONE
ROBOT
ROBOT
LEIAT504GG TPSCR3_GGD TRM29659.00 TRM55971.00 TRM59800.00
ROBOT ROBOT ROBOT ROBOT ROBOT
ROBOT ROBOT — ROBOT ROBOT
LEIS CONE NONE NONE NONE
used at stations ONSA WSRT PTBB WTZR, WTZZ(2011) JOZ2, HERT, MATE LAMA WTZZ(2010) ZIMM GANP TLSE, ZIM2
the distance between ZIMM and ZIM2 is only 19 m. In Kötzting the receivers WTZR and WTZZ are separated by less than 2 m — this is a short GPS/GLONASS baseline. The receivers used at the stations MATE, ONSA, PTBB, and WSRT are connected to H-Maser clocks. The receiver type ASHTECH Z-XII3T used at PTBB was specifically developed for time and frequency applications. In 2011 both receivers in Kötzting (WTZR and WTZZ) were connected to the same H–Maser (EFOS 18).
1.2 Directory Structure The data belonging to this example campaign is included in the distribution of the Bernese GNSS Software. Therefore, you may also use this document to generate solutions from the example dataset to train yourself in the use of the Bernese GNSS Software outside the environment of the Bernese Introductory Course. There are three areas relevant for the data processing (in the environment of the Bernese Introductory Course they are all located in the ${HOME}/GPSDATA directory): ${D}: The DATAPOOL area is intended as an interface where all external files can be deposited after their download. It can be used by several processing campaigns. ${P}: The CAMPAIGN52 directory contains all processing campaigns for the Version 5.2 of the Bernese GNSS Software. In the Bernese Introductory Course environment all groups use ${P}/INTRO2 in their ${HOME} directory. ${S}: The SAVEDISK area shall serve as a product database where the result files from different processes/projects can be collected and archived. At the beginning it only contains reference files (*.*_REF) obtained with the example BPE from the distribution. 2
The second campaign ${P}/EXM_GAL is only related to Section 7.6 where the analysis of Galileo measurements is explained.
Bernese GNSS Software, Version 5.2
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1 Introduction to the Example Campaign
1.2.1 The DATAPOOL Directory Structure (${D}) Motivation for the DATAPOOL area The idea of the DATAPOOL area is to place local copies of external files somewhere on your filesystem. It has several advantages compared to downloading the data each time when starting the processing: • The files are downloaded only once, even if they are used for several campaigns. • The data download can be organized with a set of scripts running independently from the Bernese GNSS Software environment, scheduled by the expected availability of the external files to download. • The processing itself becomes independent from the availability of external data sources.
Structure and content of the DATAPOOL area The DATAPOOL area contains several subdirectories taking into account the different potential sources of files and their formats: RINEX : The data of GNSS stations is provided in Receiver INdependent EXchange format (RINEX) files. The directory contains observation (Hatanaka–compressed) and navigation (GPS and GLONASS) files. These RINEX files are “originary” files that are not changed during the processing. The RINEX files can be downloaded from international data centers. Project–specific files are copied into this area. If you mix the station lists from different projects, take care on the uniqueness of the four–character IDs of all stations in the RINEX file names. HOURLY : The same as the RINEX directory but dedicated to hourly RINEX data as used for near real–time applications. Note: not all stations in this example provide hourly RINEX files. RINEX3 : The same as the RINEX directory but the data are given in the RINEX 3 format. These files are in particular intended to support the description on how to use RINEX 3 data, see Section 7.5 . LEO : This directory is intended to host files which are necessary for Low Earth Orbiter (LEO) data processing. RINEX files are stored in the subdirectory RINEX (of the LEO directory). The corresponding attitude files are placed in the subdirectory ATTIT. These files are needed to run the example BPE on LEO orbit determination (LEOPOD. PCF). They are not used in the example during the Bernese Introductory Course.
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1.2 Directory Structure SLR_NP : The Satellite Laser Ranging (SLR) data is provided in the quicklook normal point format. The directory contains the normal point files downloaded from the International Laser Ranging Service (ILRS) data centers. These files are needed to run the example BPE on validating orbit using SLR observations (SLRVAL.PCF). They are not used in the example during the Bernese Introductory Course. STAT_LOG : This directory contains the station information files (e.g., from ftp://igscb.igs. org/pub/station/general). This information may be completed by the originary information on the reference frame (e.g., the IGb08.snx or IGS14.snx from ftp: //igscb.igs.org/pub/station/coord). It also contains (apart from the coordinates and velocities of selected IGS sites) the history of the used equipment as it has been assumed for the reference frame generation. A comparison with the igs.snx file constructed at the IGS Central Bureau (IGSCB) from the site information files may be useful for a verification of the history records. COD/COM/IGS : Orbits, Earth orientation parmeters (EOP), and satellite clock corrections are basic external information for a GNSS analysis. The source of the files may be the FTP server from CODE (ftp://ftp.aiub.unibe.ch/CODE or http://www.aiub. unibe.ch/download/CODE/), or the Crustal Dynamics Data Information System FTP server (e.g., for downloading GPS–related IGS products ftp://cddis.gsfc. nasa.gov/gnss/products and in ftp://cddis.gsfc.nasa.gov/glonass/products for GLONASS–related IGS products). The files are named with the GPS week and the day of the week (apart from files containing information for the entire week, e.g., EOP, or the processing summaries). The IGS provides GPS and GLONASS orbits only in separate files (IGS/IGL–series from the final product line) stemming from independent combination procedures with different contributing analysis center (AC). Nevertheless, they are consistent enough to merge both files together as the first step of the processing as described in Section 7.2 . CODE contributes fully combined multi–GNSS solutions to the IGS final (and rapid as well as ultra–rapid) product line. When you are going to process Galileo data (see Section 7.6) you will need related orbit, EOP, and satellite clock corrections for these satellites as well. They are not included in the legacy IGS products. For that reason you need products from the Multi-GNSS Extension (MGEX) project of the IGS. CODE’s MGEX products are available with the label COM at ftp://ftp.aiub.unibe.ch/CODE_MGEX/CODE or ftp://cddis.gsfc.nasa.gov/gnss/products/mgex . BSW52 : In this directory we have placed files containing external input information in Bernese–specific formats. The files are neutral with respect to the data you are going to process. Typical examples are ionosphere maps or differential code biases (DCB) files. These files can be downloaded from http://www.aiub.unibe.ch/ download/CODE/ or http://www.aiub.unibe.ch/download/BSWUSER52/ areas.
Bernese GNSS Software, Version 5.2
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1 Introduction to the Example Campaign REF52 : Here we propose to collect files in Bernese format which are useful for several campaigns (e.g., reference frame files: IGB08_R.CRD, IGB08_R.VEL or IGS14_R.CRD, IGS14_R.VEL). Typical examples are station coordinate, velocity, and information files (e.g., EXAMPLE.CRD, EXAMPLE.VEL, EXAMPLE.STA, . . . , EPN.CRD). All stations of a project are contained in one file but the processing of the project’s data may be performed in different campaigns. MSC : This directory contains example files for the automated processing with the BPE. VMF1 : The grids for the Vienna Mapping Function (VMF1) are located in a separate directory. The files can be downloaded from http://ggosatm.hg.tuwien.ac.at/DELAY/ GRID/VMFG/ . They are not used for the examples but it shall indicate that for other types of files other directories may be created. All files and meta–information related to the 13 stations selected for the example campaign are already in this DATAPOOL–area (${D}) after installing the Bernese GNSS Software. GNSS orbit information is available from CODE (legacy and MGEX) and IGS (directories ${D}/COD, ${D}/COM or ${D}/IGS, respectively).
1.2.2 The Campaign–Directory Structure Putting data from the DATAPOOL into the campaign When running an automated processing using the BPE there is a script at the beginning of the process which copies the data from the DATAPOOL–area into the campaign. If you are going to process data manually you first have to copy the necessary files into the campaign and decompress them if necessary using standard utilities (uncompress, gunzip3 , or CRZ2RNX for RINEX–files). Content of the campaign area to process the example All files needed to process the data according to this tutorial are already copied into the campaign area. If you want to follow the example outside the Bernese Introductory Course environment you have to put the following files at the correct places in the campaign directory structure. $ { P }/ INTRO / ATM /
COD10207 . ION
COD10208 . ION
COD11205 . ION
COD11206 . ION
VMF10207 . GRD
VMF10208 . GRD
VMF11205 . GRD
VMF11206 . GRD
COD15941 . PRE COD15947 . IEP IGS15941 . PRE IGL15941 . PRE IGS15947 . IEP P1C11007 . DCB P1P21007 . DCB
COD15942 . PRE
COD16460 . PRE COD16467 . IEP IGS16460 . PRE IGL16460 . PRE IGS16467 . IEP P1C11107 . DCB P1P21107 . DCB
COD16461 . PRE
$ { P }/ INTRO / BPE / $ { P }/ INTRO / GRD / $ { P }/ INTRO / OBS / $ { P }/ INTRO / ORB /
IGS15942 . PRE IGL15942 . PRE
IGS16461 . PRE IGL16461 . PRE
$ { P }/ INTRO / ORX / 3
These tools are also available for WINDOWS-platforms, see www.gzip.org . Note, that gunzip can also be used to uncompress UNIX–compressed files with the extension .Z .
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1.2 Directory Structure
$ { P }/ INTRO / OUT /
COD15941 . CLK IGS15941 . CLK
COD15942 . CLK IGS15942 . CLK
COD16460 . CLK IGS16460 . CLK
COD16461 . CLK IGS16461 . CLK
$ { P }/ INTRO / RAW /
GANP2070 .10 O HERT2070 .10 O JOZ22070 .10 O LAMA2070 .10 O MATE2070 .10 O ONSA2070 .10 O PTBB2070 .10 O TLSE2070 .10 O WSRT2070 .10 O WTZR2070 .10 O WTZZ2070 .10 O ZIM22070 .10 O ZIMM2070 .10 O
GANP2080 .10 O HERT2080 .10 O JOZ22080 .10 O LAMA2080 .10 O MATE2080 .10 O ONSA2080 .10 O PTBB2080 .10 O TLSE2080 .10 O WSRT2080 .10 O WTZR2080 .10 O WTZZ2080 .10 O ZIM22080 .10 O ZIMM2080 .10 O
GANP2050 .11 O HERT2050 .11 O JOZ22050 .11 O LAMA2050 .11 O MATE2050 .11 O ONSA2050 .11 O PTBB2050 .11 O TLSE2050 .11 O WSRT2050 .11 O WTZR2050 .11 O WTZZ2050 .11 O ZIM22050 .11 O ZIMM2050 .11 O
GANP2060 .11 O HERT2060 .11 O JOZ22060 .11 O LAMA2060 .11 O MATE2060 .11 O ONSA2060 .11 O PTBB2060 .11 O TLSE2060 .11 O WSRT2060 .11 O WTZR2060 .11 O WTZZ2060 .11 O ZIM22060 .11 O ZIMM2060 .11 O
EXAMPLE . CRD EXAMPLE . BLQ IGB08_R . CRD IGS14_R . CRD IGS14 . FIX SESSIONS . SES
EXAMPLE . VEL EXAMPLE . ATL IGB08_R . VEL IGS14_R . VEL IGS14 . SIG
EXAMPLE . STA EXAMPLE . CLU IGB08 . FIX IGS14 . PSD
EXAMPLE . ABB EXAMPLE . PLD IGB08 . SIG
$ { P }/ INTRO / SOL / $ { P }/ INTRO / STA /
The directory ${P}/INTRO/GEN/ contains copies of the files from the ${X}/GEN directory, which are used by the processing programs. The files PCV_Bxx.I08 and PCV_Bxx.I14, respectively, is user-specific and the “xx” chars represent your terminal account number. If you want to view these files, please use those in your campaign and not the ones in the ${X}/GEN directory to prevent potential interferences with your colleagues. $ { P }/ INTRO / GEN /
CONST . RECEIVER . SATELLIT . I08 SATELLIT . I14 SAT_2010 . CRX IAU2000R06 . NUT EGM2014_SMALL . SINEX . IONEX .
DATUM .
GPSUTC .
POLOFF .
PCV . I08 PCV . I14 SAT_2011 . CRX IERS2010XY . SUB s1_s2_def_ce . dat SINEX . PPP IONEX . PPP
PCV_Bxx . I08 PCV_Bxx . I14
I08 . ATX I14 . ATX
OT_FES2004 . TID
TIDE2000 . TPO
SINEX . RNX2SNX
1.2.3 Input Files for the Processing Examples Atmosphere files ATM The input files in this directory are global ionosphere models in the Bernese format obtained from the IGS processing at CODE. They will be used to support the phase ambiguity resolution with the QIF strategy and to enable the higher order ionosphere (HOI) corrections. General files GEN These general input files contain information that is neither user– nor campaign–specific. They are accessed by all users, and changes in these files will affect processing for everyone. Consequently, these files are located in the ${X}/GEN directory. Table 1.3 shows the list of general files necessary for the processing example. It also shows which files need to be updated from time to time by downloading them from the anonymous ftp–server of AIUB (http://www.aiub.unibe.ch/download/BSWUSER52/GEN). Since GPS week 1934 (29 January 2017) the IGS is using the IGS14 reference frame together with the related antenna model (I14.ATX). They are available in the related Bernese GNSS Software, Version 5.2
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1 Introduction to the Example Campaign Table 1.3: List of general files to be used in the Filename Content CONST. All constants used in the Bernese GNSS Software DATUM. Definition of geodetic datum GPSUTC. Leap seconds POLOFF.
Pole offset coefficients
RECEIVER.
Receiver information
SATELLIT.I14 or SATELLIT.I08 PCV.I14 or PCV.I08
Satellite information file
SAT_$Y+0.CRX
Satellite problems
IAU2000R06.NUT
Nutation model coefficients Subdaily pole model coefficients Ocean tides coefficients Solid Earth tides coefficients Earth potential coefficients (reduced version, sufficient for GNSS and LEO orbit determination) S1/S2 atmospheric tidal loading coefficients SINEX header information
IERS2010XY.SUB OT_FES2004.TID TIDE2000.TPO EGM2008_SMALL.
s1_s2_def_ce. dat SINEX. SINEX.TRO SINEX.PPP SINEX.RNX2SNX IONEX. IONEX.PPP
Phase center eccentricities and variations
. . . for the PPP example . . . for RNX2SNX example IONEX header information . . . for the PPP example
Bernese programs for the processing example. Modification Update from No BSW aftp Introducing new reference ellipsoid When a new leap second is announced by the IERS Introducing new values from IERS annual report (until 1997) Introducing new receiver type New launched satellites
BSW aftp
Introducing new antenna corrections or new antenna/radome combinations Satellite maneuvers, bad data, ... No
BSW aftp or update with ATX2PCV
No
--
No No
— --
No
--
No
--
Adapt SINEX header for your institution
--
Adapt IONEX header for your institution
--
BSW aftp --
BSW aftp BSW aftp
BSW aftp --
SATELLIT.I14 and PCV.I14 files. The predecessor antenna model is related to the IGb08 reference frame and is provided in the SATELLIT.I08 and PCV.I08 files. Please check the consistent usage of these files. Each Bernese processing program has its own panel for general files. Make sure that you use the correct files listed in Table 1.3 .
Grid files GRD In this directory the grid files *.GRD are collected. To apply for instance the VMF1 troposphere model (a priori information from European Centre for Medium-Range Weather Forecasts (ECMWF) and Vienna mapping function) you need a grid with the necessary coefficients. Page 8
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1.2 Directory Structure Orbit files ORB The precise orbits in the files *.PRE are usually the final products from CODE analysis center containing GPS and GLONASS orbits from a rigorous multi–GNSS analysis. Alternatively also the combined final products from the IGS can be used. They do not contain orbits for the GLONASS satellites. The combined GLONASS satellite orbits from the IGS are available in IGL–files. Both precise orbit files need to be merged for a multi–GNSS analysis.The corresponding EOP are given in weekly files with the extension *.IEP (take care on full consistency with the orbit product). Furthermore, the directory contains monthly means for the DCB. Clock RINEX files OUT The clock RINEX files are located in the OUT–directory. They are consistent with the GNSS orbits and EOP products in the ORB–directory. They contain station and satellite clock corrections with at least 5 minutes sampling — there are also files from the IGS or some of the ACs providing satellite clock corrections with a sampling of 30 seconds . RINEX files RAW The raw data are given in RINEX format. The observations *.$YO ($Y is the menu time variable for the two–digit year of the current session) are used for all examples. Station files STA The coordinates and velocities of the stations given in the IGS realization of the reference frame ITRF2014 are available in the files IGS14_R.CRD and IGS14_R.VEL . Since the ITRF2014 solution, in addition to the linear station velocities (see VEL) for some stations also corrections for Post Seismic Deformation (PSD) need to apply that are provided in the file IGS14.PSD . The IGS core stations are listed in IGS14.FIX . This file will be used to define the geodetic datum when estimating station coordinates. The files for the previously used IGS realization of the ITRF2008 are available as well: IGB08_R.CRD, IGB08_R.VEL and IGB08.FIX (Note that the PSD corrections are not yet in use). You can browse all these files with a text editor or with the menu ('Menu>Campaign>Edit station files'). For all stations that have unknown coordinates in the IGS14 reference frame a Precise Point Positioning (PPP) using the example BPE (PPP_BAS.PCF) for day 207 of year 2010 has been executed. For our EXAMPLE–project a resulting coordinate file EXAMPLE.CRD has been generated. It contains all IGS core sites (copied from file IGS14_R.CRD) and the PPP results for the remaining stations. The epoch of the coordinates is January 01, 2010 . The corresponding velocity file EXAMPLE.VEL contains the velocities for the core sites (copied from file IGS14_R.VEL) completed by the NNR–NUVEL1A velocities for the other stations. The assignment of stations to tectonic plates is given in the file EXAMPLE. PLD.
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1 Introduction to the Example Campaign To make sure that you process the data in the Bernese GNSS Software with correct station information (station name, receiver type, antenna type, antenna height, etc.) the file EXAMPLE.STA is used to verify the RINEX header information. The reason to use this file has to be seen in the context that some antenna heights or receiver/antenna types in the RINEX files may not be correct or may be measured to a different antenna reference point. Similarly, the marker (station) names in the RINEX files may differ from the names we want to use in the processing. The antenna types have to correspond to those in the file ${X}/GEN/PCV.I14 in order that the correct phase center offsets and variations are used. The receiver types have to be defined in the ${X}/GEN/RECEIVER. file to correctly apply the DCB corrections. For each station name unique four– and two–character abbreviations to construct the names for the Bernese observation files need to be defined in the file EXAMPLE.ABB . It was automatically generated by the PPP–example BPE. If you want to process big networks, the baselines need to be divided into clusters to speed up the processing. For that purpose each station has to be assigned to a region by a cluster number in the file EXAMPLE. CLU . The last files to be mentioned in this directory are EXAMPLE.BLQ and EXAMPLE.ATL. They respectively provide the coefficients for the ocean and atmospheric tidal loading of the stations. They should at least be applied in the final run of GPSEST.
1.2.4 The SAVEDISK Directory Structure (${S}) Motivation for the SAVEDISK area When processing GNSS data, a lot of files from various processing steps will populate your campaign directories. The main result files from the data analysis should be collected in the SAVEDISK area. This area is intended as long–term archive for your result files. Because the result files are stored in the SAVEDISK area, you can easily clean up your campaign area without loosing important files. Please keep in mind that the computing performance decreases if you have several thousands of files in a directory.
Structure and content of the SAVEDISK area We propose to build subdirectories in the SAVEDISK area for each of your projects. If these projects collect data over several years, yearly subdirectories are recommended. It is also practical to use further subdirectories like ATM, ORB, OUT, SOL, STA to distribute the files and to get shorter listings if you are looking for a file. The SAVEDISK area contains after its installation a directory structure according to the description above. Each example BPE is assumed as a project. Therefore, you will find on the top level of the SAVEDISK the directories PPP, RNX2SNX, CLKDET, LEOPOD, and SLRVAL (related to the different example BPEs). There may even be specific directories for different series of solutions in various projects (e.g., PPP_GAL, RNX2SNX_GAL where also Galileo measurements have been included; see Section 7.6 on how to generate these solutions).
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1.2 Directory Structure In each of these directories you will find several files ending with _REF. They are generated by running the example BPEs on the system at Astronomical Institute of the University of Bern (AIUB). Even if the objectives of this tutorial and of the RNX2SNX example BPE are in both cases to process data from a regional network, the results will not be identical since there are some differences in the processing strategies and selected options.
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1 Introduction to the Example Campaign
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2 Terminal Session: Monday Today’s terminal session is to: 1. become familiar with the UNIX environment, the menu of the Bernese GNSS Software, and the example campaign, 2. verify the campaign setup done for you (see sections 2.2 and 2.3, and also the handout for the terminal sessions), 3. generate the a priori coordinates for all 4 days using COOVEL (see Section 2.5), and 4. start to prepare pole and orbit information according to chapter 3.
2.1 Start the Menu Start the menu program using the command G1 . Navigate through the submenus to become familiar with the structure of the menu. Read the general help (available at 'Menu>Help>General') to get an overview on the usage of the menu program of the Bernese GNSS Software. For the terminal session in the Bernese Introductory Course, the campaign setup has already been done for each user. Please check that the campaign name in the statusbar of the Bernese Menu is set correctly to your campaign (i.e., Campaign ${P}/INTRO) and that the current session is set to the first session (i.e., $Y+0=2010, $S+0=2070). If this is not the case, please contact the staff in the Terminal room.
2.2 Select Current Session Select 'Menu>Campaign>Edit session table' to check the session table. It is recommended to use the wildcard string ???0 for the “List of sessions” in panel “SESSION TABLE” . The panel below shows the session definition for a typical permanent campaign with 24-hours sessions. The setup of the session table is a very important task when you prepare a campaign. Please read the corresponding online help carefully. 1
At the exercise terminals the Bernese environment is loaded automatically during login. At home you have to source the file ${X}/EXE/LOADGPS.setvar on UNIX–platforms either manually or during login.
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2 Terminal Session: Monday
Save the session table (press the ˆSave button) and open the “Date Selection Dialog” in the 'Menu>Configure>Set session/compute date' in order to define the current session:
2.3 Campaign Setup Usually, a new campaign must be added to the campaign list ('Menu>Campaign>Edit list of first and select it as the active campaign ('Menu>Campaign>Select active campaign'), before the directory structure can be created ('Menu>Campaign>Create new campaign'). In the Bernese Introductory Course environment this should already have been done for your campaign, but please verify that. campaigns')
In the Bernese Introductory Course environment the selected campaign should be ${P}/ INTRO . In order to become familiar with the campaign structure, you can inspect your campaign directory and inspect the contents using the command line (using cd for changing directories and ls to create directory listings) or using a filemanager (e.g., midnight commander mc).
2.4 Menu Variables When processing GNSS data, it is often necessary to repeat a program run several times with only slightly different option settings. A typical example would be the processing of several sessions of data. The names of observation files change from session to session because the session number is typically a part of the filename. It would be very cumbersome to repeat all the runs selecting the correct files manually every time. For the BPE an automation is mandatory. For such cases the Bernese menu system provides a powerful tool: the so–called menu variables. The menu variables are defined in the user–specific menu input file ${U}/PAN/MENU_VAR.INP that is accessible through 'Menu
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2.4 Menu Variables >Configure>Menu variables'. Three kinds of menu variables are available: predefined variables (also called menu time variables), user–defined variables, and system environment variables.
The use of system environment variables is necessary to generate the complete path to the files used in the Bernese GNSS Software. The campaign data are located in the directory ${P}/INTRO=${HOME}/GPSDATA/CAMPAIGN52/INTRO. The user– dependent files can be found at ${U}=${HOME}/GPSUSER52 — note that ${HOME} may have been already translated into the name of your home–directory. The temporary user files are saved in ${T}=/scratch/local/bern52 (change bern52 to your user name). Finally, the campaign–independent files reside in ${X}=/home/bswadmin/BERN52/ GPS.
The predefined variables provide a set of time strings assigned to the current session. From the second panel of the menu variables you get an overview on the available variables and their usage:
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2 Terminal Session: Monday Be aware that the variable $S+1 refers to the next session. Because we are using a session table for daily processing it also corresponds to the next day. These variables are automatically translated by the menu upon saving the panel or running the program. We recommend to make use of them in the input panels (e.g. for filename specification).
2.5 Generate A Priori Coordinates As stated before the a priori coordinates generated from the PPP processing example BPE refer to the epoch January 01, 2010 . The first step is to extrapolate the coordinates to the epoch that is currently processed. Starting with ITRF2014 also Post Seismic Deformation (PSD) corrections have to be applied when the epoch of the coordinate sets are changed. They are provided in the input field “PSD corrections (ITRF14)” . Of course this feature is also included in the IGS14 frame – the IGS-specific realization of the ITRF2014 . Note that for earlier reference frames (e.g., ITRF2008) this input field has to be empty. This is the task of the program COOVEL. Open the program input panel in >Coordinate tools>Extrapolate coordinates':
“Reference epoch: date” “Output coordinate file” “Title line”
'Menu>Service
$YMD_STR+0 → 2010 07 26 APR$YD+0 → APR10207 Session $YSS+0: → Session 102070:
Start the program with the ˆRun–button. The program generates an output file COOVEL. L?? in the directory ${P}/INTRO/OUT. This file may be browsed using the ˆOutput–button or with 'Menu>Service>Browse program output' . It should look like
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2.5 Generate A Priori Coordinates
Bernese GNSS Software , Version 5.2 ------------------------------------------------------------------------------Program : COOVEL Purpose : Extrapolate coordinates ------------------------------------------------------------------------------Campaign : $ { P }/ INTRO Default session : 2070 year 2010 Date : 28 - Aug -2017 12:53:08 User name : bern52
EXAMPLE : Session 102070: Coordinate propagation -------------------------------------------------------------------------------
INPUT AND OUTPUT FILENAMES -------------------------------------------------------------------------------------------------------Geodetic datum : $ { X }/ GEN / DATUM . Input coordinate file : $ { P }/ INTRO / STA / EXAMPLE . CRD Input velocity file : $ { P }/ INTRO / STA / EXAMPLE . VEL Output coordinate file : $ { P }/ INTRO / STA / APR10207 . CRD PSD corrections ( ITRF14 ) : $ { P }/ INTRO / STA / IGS14 . PSD Stations without PSD corrections : --Program output : $ { P }/ INTRO / OUT / COOVEL . L01 Error message : $ { U }/ WORK / ERROR . MSG Session table : $ { P }/ INTRO / STA / SESSIONS . SES -------------------------------------------------------------------------------
REFERENCE EPOCH : INTERPOLATION FACTOR :
2010 -01 -01 00:00:00 -0.5639972621492129
---------------------------------------------------------------->>> CPU / Real time for pgm ' COOVEL ': 0:00:00.073 / 0:00:00.0 72 >>> Program finished successfully
The header area of the program output is standardized for all programs of the Bernese GNSS Software, Version 5.2 . Furthermore each program has a title line that should characterize the program run. It is printed to the program output and to most of the result files. Many program output files furthermore provide a list of input and output files that have been used or generated. The last two lines of the above example appear also in each program output of the Bernese GNSS Software, Version 5.2 . It reports the processing time and the status successful or with error. The result of the run of COOVEL is an a priori coordinate file (${P}/INTRO/STA/APR10207. CRD) containing the positions of the sites to be processed for the epoch of the current session (the lines for the other stations are ignored in the processing): EXAMPLE : Session 102070: Coordinate propagation -------------------------------------------------------------------------------LOCAL GEODETIC DATUM : IGS14 EPOCH : 2010 -07 -26 00:00:00 NUM
STATION NAME
75 92 107 122 136 176 192 236 262 263 264 276 278
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
X (M) 3929181.42149 4033460.84965 3664880.48096 3524522.83273 4641949.45305 3370658.46071 3844059.87505 4627851.75737 3828735.78447 4075580.45375 4075579.33655 4331299.79586 4331296.98727
Y (M) 1455236.82074 23537.88977 1409190.68062 1329693.71243 1393045.52644 711877.21784 709661.40917 119640.11911 443305.04516 931853.89112 931853.20686 567537.42125 567555.97754
Bernese GNSS Software, Version 5.2
Z (M) 4793653.95 013 4924318.3145 2 5009618.5 3020 5129846.4 0652 4133287.5 4704 5349787.00 718 5023129.60 833 4372993.61 061 5064884.77 803 4801568.17 900 4801569.08 922 4633133.77 671 4633133.99 975
FLAG I I P P I I P I I I P I I
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2 Terminal Session: Monday Have a look at the LOCAL GEODETIC DATUM: in the resulting coordinate file. It is set to IGS14 in this case. If you go back to your input file (e.g., pressing the Rerˆun button) you may open the dialog to select the “Input coordinate file” by pressing on the button next to the input field. Select now the file EXAMPLE.CRD and press the button Browse in order to open a window where the selected file is displayed.
Here you can see the LOCAL GEODETIC DATUM: is set to IGS14_0. This difference is the indicator whether the PSD corrections have been applied or not. Coordinate files that indicate that the PSD corrections have not been applied cannot be used for processing GNSS data. At the same time it is protecting you to apply the corrections twice. For that reason the execution of the program COOVEL for applying the PSD corrections is also essential even if none of the stations in your processing (as in our example) is effected by these corrections. You can repeat all steps for the other three sessions in the example campaign by changing the current session using the ˆ+Day or ˆ-Day to change a limited number of days (not sessions) or via 'Menu>Configure>Set session/compute date' . You can then use the Rerˆun button to restart the program. No options need to be changed because of the consequent use of the menu time variables was made. During the terminal session you only have to compute the first day (207, year 2010) the other three days have already been processed for you.
2.6 Session Goals At the end of this session, you should have created the following files: 1. a priori coordinates in your campaign’s STA directory: file APR10207. CRD Until the end of today’s terminal session you should start with preparing the pole and orbit information, see Chapter 3 .
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3 Terminal Session: Pole and Orbit Preparation (Monday/Tuesday)
The terminal session on pole and orbit preparation is to: 1. generate the pole information file in the Bernese format (POLUPD) 2. generate tabular orbit files from CODE precise files (PRETAB) 3. generate the Bernese standard orbit files (ORBGEN) You should start with these tasks during Monday’s terminal sessions and finish the processing during the terminal session on Tuesday.
Introductory Remark We recommend to use the final or reprocessed products from CODE because they contain consistent orbits for GPS and GLONASS. They also include all active GNSS satellites (even if they are unhealthy or during GPS satellite repositioning events) with the highest possible accuracy thanks to three–day long–arc technology. Due to this choice you will get the best possible consistency between the external products and the software. You may alternativly use the products from IGS. Seperate product files for GPS and GLONASS orbits exist from independent combination procedures that first need to be merged for a multi–GNSS processing. For most of the applications, merging the precise orbit files is sufficient — a tutorial on the procedure is given in Section 7.2 of this book. On the other hand, the consistency of the orbits can not be as good as that of CODE (or other analysis center) following the strategy of the rigorous combined processing of GPS and GLONASS measurements for orbit determination.
3.1 Prepare Pole Information Together with the precise orbit files (PRE), a consistent set of Earth orientation parameters (EOP) is provided in the ORB directory. Whereas the orbits are given in daily files the EOP are available in weekly files for the final product series from the CODE analysis center. We have to convert the information from the International Earth Rotation and Reference Systems Service (IERS)/IGS standard format (file extension within the Bernese GNSS Software is IEP) into the internal Bernese EOP format (file extension within the Bernese GNSS Software is ERP). This is the task of the program POLUPD ('Menu>Orbits/EOP>Handle EOP files>Convert IERS to Bernese Format') which is also able to update the EOP records of an existing file.
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3 Terminal Session: Pole and Orbit Preparation
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3.2 Generate Orbit Files The last panel for the program POLUPD is an example for the specification of time windows in the Bernese GNSS Software, Version 5.2 . Time windows can be defined by sessions (a single session or a range of sessions). Alternatively, a time window may be specified by a start and an end epoch. By entering either a start or an end epoch you may define only the beginning or the end of the time interval. We refer to the online help for more details. The messages ### PG POLUPD : NUTATION MODEL NAME NOT EQUAL DEFAULT DEFAULT NUTATION MODEL NAME : IAU2000R06 NUTATION MODEL NAME IN FILE : IAU2000
### PG POLUPD : SUBDAILY POLE MODEL NAME NOT EQUAL DEFAULT DEFAULT SUBDAILY POLE MODEL NAME : IERS2010 SUBDAILY POLE MODEL NAME IN FILE : IERS2000
just inform that you have selected the most recent nutation and subdaily pole model whereas the operational solution at CODE was computed using an older model at that time. If you do not want to accept this inconsistency you may alternatively use the results from a reprocessing effort (e.g., http://www.aiub.unibe.ch/download/REPRO_2015/ CODE/).
3.2 Generate Orbit Files In this processing example we use only two programs of the orbit part of the Bernese GNSS Software. The first program is called PRETAB and may be accessed using 'Menu >Orbits/EOP>Create tabular orbits'. The main task of PRETAB is to create tabular orbit files (TAB; i.e., to transform the precise orbits from the terrestrial into the celestial reference frame) and to generate a satellite clock file (CLK). The clock file will be needed, e.g., in program CODSPP (see Section 4.2.1, to be discussed in the Tuesday’s lectures on preprocessing).
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3 Terminal Session: Pole and Orbit Preparation You have to apply the same subdaily pole and nutation models as you have used before when you have generated the Bernese formatted pole file (COD$YD+0.ERP).
If you process precise orbits from CODE it is generally not necessary to remove bad satellites. It might become necessary for orbit products from other sources (e.g., from the IGS). Because CODE introduces the correct accuracy code for all its satellites the above settings do not harm the import of satellite orbits from CODE.
Panel “PRETAB 3: Options for Clocks” contains the options for extracting the satellite clock information. The clock values in the precise orbit file are sampled to 15 min. We interpolate with a “Polynomial degree” of 2 with an “Interval for polynomials” of 12 hours. This is good enough for the receiver clock synchronization in CODSPP. A message like this is expected: ### PG PRETAB : SATELLITE CLOCK VALUES MISSING SATELLITE : 101 FILE NUMBER : 1 FILE NAME : $ { P }/ INTRO / ORB / COD15941 . PRE
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3.2 Generate Orbit Files
### PG PRETAB : SATELLITE CLOCK VALUES MISSING SATELLITE : 102 FILE NUMBER : 1 FILE NAME : $ { P }/ INTRO / ORB / COD15941 . PRE ...
It indicates that the precise orbit files do not contain clock corrections for GLONASS satellites (GLONASS satellite are indicated with satellite number between 100 and 199 within the Bernese GNSS Software). Consequently the synchronization of the receiver clocks in CODSPP will only be done based on the GPS satellite clocks. The second program of the orbit part used here is called ORBGEN ('Menu>Orbits/EOP >Create/update standard orbits'). It prepares the so–called standard orbits using the satellite positions in the tabular orbit files as pseudo–observations for a least–squares adjustment.
Make sure that the ERP file, the nutation, and the subdaily pole model are the same you have used in PRETAB. It is mandatory to consistently use this triplet of files together with the generated standard orbits for all processing programs (otherwise a warning message is issued).
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3 Terminal Session: Pole and Orbit Preparation
With the beginning of GPS week 1826 (January 4, 2015), the CODE analysis center introduced a new Empirical CODE Orbit Model (new ECOM). Therefore, when using orbits from CODE after January 4, 2015 (or from the CODE’s most recent reprocessing effort) you have to choose the new model when importing the orbit files in ORBGEN. This is done by changing the option SYSTEM FOR DYNAMICAL ORBIT PARAMETERS from “System DYX” to “System D2X” in panel 3.1.
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3.2 Generate Orbit Files
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3 Terminal Session: Pole and Orbit Preparation The program produces an output file ORB10207.OUT (or corresponding to the other sessions) which should look like ... INPUT AND OUTPUT FILENAMES -------------------------------------------------------------------------------------------------------General constants : $ { X }/ GEN / CONST . Correction GPS - UTC : $ { X }/ GEN / GPSUTC . Planetary ephemeris file : $ { X }/ GEN / DE405 . EPH Coeff . of Earth potential : $ { X }/ GEN / EGM2008_SMALL . Solid Earth tides file : $ { X }/ GEN / TIDE2000 . TPO Ocean tides file : $ { X }/ GEN / OT_FES2004 . TID Satellite problems : $ { X }/ GEN / SAT_2010 . CRX Satellite information : $ { X }/ GEN / SATELLIT . I14 Nutation model : $ { X }/ GEN / IAU2000R06 . NUT Subdaily pole model : $ { X }/ GEN / IERS2010XY . SUB Pole file : $ { P }/ INTRO / ORB / COD10207 . ERP Ocean loading corrections : $ { P }/ INTRO / STA / EXAMPLE . BLQ Atmospheric loading corrections : $ { P }/ INTRO / STA / EXAMPLE . ATL Orbital elements , file 1 : --Orbital elements , file 2 : --Standard orbits : $ { P }/ INTRO / ORB / COD10207 . STD Radiation pressure coeff . : --Summary file : --Summary file for IGS - ACC : $ { P }/ INTRO / OUT / ORB10207 . LST Residual plot file : --Residual file : --Program output : $ { P }/ INTRO / OUT / ORB10207 . OUT Error message : $ { U }/ WORK / ERROR . MSG Scratch file : $ { U }/ WORK / ORBGEN . SCR Scratch file : $ { U }/ WORK / ORBGEN . SC2 Session table : $ { P }/ INTRO / STA / SESSIONS . SES ------------------------------------------------------------------------------...
... ------------------------------------------------------------------------------RMS ERRORS AND MAX . RESIDUALS ARC NUMBER : 1 ITERATION : 4 -------------------------------------------------------------------------------
RMS ( M ) -------
QUADRATIC MEAN OF O - C ( M ) TOTAL RADIAL ALONG OUT -----------------------------
MAX . RESIDUALS ( M ) RADIAL ALONG OUT --------------------
SAT ---
# POS ----
1 2 3 4 5 6 7 8 9 10 11 12 13 ... 28 29 30 31 32 101 102 103 104 105 107 ... 121 122 123 124
96 96 96 96 96 96 96 96 96 96 96 96 96
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.002 0.002 0.003 0.001 0.002 0.002 0.002 0.003 0.002 0.001 0.002 0.002 0.002
0.003 0.002 0.003 0.003 0.003 0.003 0.003 0.003 0.004 0.002 0.003 0.003 0.003
0.002 0.002 0.002 0.002 0.003 0.002 0.003 0.003 0.002 0.002 0.002 0.002 0.002
96 96 96 96 96 96 96 96 96 96 96
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.002 0.002 0.003 0.002 0.003 0.002 0.003 0.002 0.001 0.001 0.002
0.003 0.002 0.003 0.003 0.003 0.002 0.003 0.003 0.003 0.003 0.002
0.002 0.001 0.002 0.002 0.002 0.002 0.003 0.002 0.003 0.002 0.002
96 96 96 96
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.002 0.002 0.002 0.002
0.003 0.003 0.002 0.003
0.002 0.002 0.002 0.002
------------------------------------------------------------------------------...
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3.2 Generate Orbit Files The most important information in the output file are the RMS errors for each satellite. These should be 1 mm (for older orbits it may also achieve 3. . . 5 mm) if precise orbits from CODE were used together with the consistent EOP information (the actual RMS errors depend on the quality of the precise orbits, on the pole file used for the transformation between IERS Terrestrial Reference Frame (ITRF) and International Celestial Reference Frame (ICRF) in PRETAB, and on the orbit model used in ORBGEN). Comparing the RMS error from the third and the fourth iteration you will see that three iterations should already be enough to produce precise standard orbits for GNSS satellites. The file ${P}/INTRO/OUT/ORB10207.LST summarizes the orbit fit RMS values in one table: EXAMPLE : Session 102070: Standard orbit generation 28 - AUG -17 12:59 TIME FROM DAY : 1 GPS WEEK : 1594 TO DAY : 2 GPS WEEK : 1594 ------------------------------------------------------------------------------ORBIT REPEATABILITY FROM A 1 - DAY FIT THROUGH DAILY ORBIT SOL UTIONS ( MM ) # ECLIPSING SATELLITES : 5 E / 0 M ( 0 EM ) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ECL .. .. .. .. .. .. .. E . E . E . .. .. .. .. .. .. .. .. DOY 1 2 3 4 5 6 ... 12 13 14 15 16 ... 32 101 102 103 104 105 107 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - 207 1 1 1 1 1 1 ... 1 1 1 1 1 ... 1 1 1 1 1 1 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ALL 1 1 1 1 1 1 ... 1 1 1 1 1 ... 1 1 1 1 1 1 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - -
... ... ... ... ... ... ...
The output shows that 5 satellites are in eclipse (indicated above the satellite number by E for Earth or M for Moon). A similar file may be generated using the orbit products from IGS (including the EOP information) following the procedure described in Section 7.2 . As you can notice the RMS errors are slightly higher. It does not mean that the orbits from CODE are better than the IGS orbits. The orbit model in ORBGEN is only more consistent with the orbit model used at CODE: EXAMPLE : Session 102070: Standard orbit generation 28 - AUG -17 13:32 TIME FROM DAY : 1 GPS WEEK : 1594 TO DAY : 2 GPS WEEK : 1594 ------------------------------------------------------------------------------ORBIT REPEATABILITY FROM A 1 - DAY FIT THROUGH DAILY ORBIT SOL UTIONS ( MM ) # ECLIPSING SATELLITES : 5 E / 0 M ( 0 EM ) ----------------------------------------------------------------ECL .. .. .. .. .. .. .. E . E . E . .. .. DOY 1 2 3 4 5 6 ... 12 13 14 15 16 ... 32 ----------------------------------------------------------------207 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 ----------------------------------------------------------------ALL 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 -----------------------------------------------------------------
(Note the missing GLONASS satellites in the IGS orbit product.) In the example for day 208 of year 2010 a satellite 75 appears. The GPS–satellite 25 had a repositioning event at 2010–07–27 16:08:03 (see ${X}/GEN/SAT_2010.CRX). The satellite is introduced in the processing with two independent arcs: one before (number 25) and one after (number 75) the event (you may verify this by the number of epochs available for each of these two satellite arcs). Bernese GNSS Software, Version 5.2
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3 Terminal Session: Pole and Orbit Preparation
3.3 Session Goals At the end of this session, you should have created the following files: 1. Bernese pole file in the campaign’s ORB directory: COD10207. ERP , 2. Bernese standard orbit file in the ORB directory: COD10207. STD , 3. Bernese satellite clock file in the ORB directory: COD10207. CLK .
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4 Terminal Session: Tuesday Today’s terminal session is to: 1. import the observations from the RINEX format into the Bernese format using RXOBV3 (section 4.1). 2. preprocess the Bernese observation files: • receiver clock synchronization (CODSPP, section 4.2.1) • baseline generation (SNGDIF, section 4.2.2) • preprocess baselines (MAUPRP, section 4.2.3)
4.1 Importing the Observations The campaign has been set up and all necessary files are available. The first part of processing consists of the transfer of the observations from RINEX to Bernese (binary) format. To get an overview of the data availability you may generate a pseudographic from the RINEX observation files using the program RNXGRA in 'Menu>RINEX>RINEX utilities>Create observation statistics' — this step is not mandatory but it may be useful to get an impression of the tracking performance of the stations before you start the analysis. Importing the RINEX observation files is the task of the program RXOBV3 in 'Menu>RINEX >Import RINEX to Bernese format>Observation files' (we do not use the RINEX navigation files for this processing example).
All RINEX observation files fitting the pattern ${P}/INTRO/RAW/????2070.10O are selected automatically by the current entry in the input field “original RINEX observation files” . You can verify this by pressing the button just right from this input field (labeled with the
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4 Terminal Session: Tuesday file extension 10O). In the file selection dialog you will find the list of currently selected files. The RINEX files of the year 2011 are shown if a current session from the year 2011 is selected. In that case the label of the button changes to 11O. The next panel specifies the general input files. For the tutorial session during the course the phase center offset file has to be changed to a user-specific file (replace the “xx” chars with your user number, e.g.: PCV_Bxx.I14 to PCVB01.I14). Be aware that the file PCV_Bxx.I14 is not part of the distribution. If you are running the tutorial campaign on your own machine you have to use either the PCV.I14 or create a copy of the original file.
There are three further panels defining the input options for RXOBV3. They allow to select the data to be imported and to specify a few parameters for the Bernese observation header files.
We select GPS/GLO for the option “Satellite system to be considered” to exclude observations from GNSS where no orbits are available.
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4.1 Importing the Observations
Two more panels provide options to verify the RINEX header information:
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday
Start the program with the ˆRun–button. A warning message may appear to inform you that the observations for the GLONASS satellite R09 (satellite system R for GLONASS in RINEX whereas satellite numbers between 100 and 199 are in use within the Bernese GNSS Software) are removed because of an entry in the “Satellite problems” file provided in panel “RXOBV3 1.1: General Files” . ### SR SAVMEA : PROBLEM FOR SATELLITE : INDICATED IN SATCRUX : PROBLEM : REQUESTED ACTION : TIME WINDOW : IN RINEX FILE :
109 $ { X }/ GEN / SAT_2010 . CRX BAD PHASE + CODE OBS . REMOVED 2008 -05 -14 00:00:00 2010 -09 -30 23:59:59 $ { P }/ INTRO / RAW / GANP2070 .10 O
Messages from SR R2RDOH: TOO MANY COMMENT LINES may appear for some RINEX files but they are not critical. The program produces an output file RXO10207.OUT in the directory ${P}/INTRO/OUT (resp. corresponding filenames for the other sessions). This file may be browsed using the ˆOutput button or with 'Menu>Service>Browse program output' . After echoing the input options, the file provides an overview of the station information records in the RINEX observation file header and the values that are used for the processing in the Bernese GNSS Software. In addition some observation statistics are available. In the last section you may check the completeness of the Bernese observation files by the available number of epochs: ... TABLE OF INPUT AND OUTPUT FILE NAMES : -----------------------------------# satell . Bernese code header file name # epo ... GPS GLO Bernese code observ . file name Bernese phase header file name # epo ... GPS GLO Bernese phase observ . file name ---------------------------------------------------------------------------------------------
Num
1
2
3
Rinex file name
$ { P }/ INTRO / RAW / GANP2070 .10 O
$ { P }/ INTRO / RAW / HERT2070 .10 O
$ { P }/ INTRO / RAW / JOZ22070 .10 O
$ { P }/ INTRO / OBS / GANP2070 . CZH $ { P }/ INTRO / OBS / GANP2070 . CZO $ { P }/ INTRO / OBS / GANP2070 . PZH $ { P }/ INTRO / OBS / GANP2070 . PZO $ { P }/ INTRO / OBS / HERT2070 . CZH $ { P }/ INTRO / OBS / HERT2070 . CZO $ { P }/ INTRO / OBS / HERT2070 . PZH $ { P }/ INTRO / OBS / HERT2070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . CZH $ { P }/ INTRO / OBS / JOZ22070 . CZO $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZO
2880
...
30
20
2880
...
30
20
2880
...
31
20
2880
...
31
20
2880
...
30
20
2880
...
30
20
...
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4.2 Data Preprocessing (I)
11
12
13
$ { P }/ INTRO / RAW / WTZZ2070 .10 O
$ { P }/ INTRO / RAW / ZIM22070 .10 O
$ { P }/ INTRO / RAW / ZIMM2070 .10 O
$ { P }/ INTRO / OBS / WTZZ207 0 . CZH $ { P }/ INTRO / OBS / WTZZ2070 . CZO $ { P }/ INTRO / OBS / WTZZ2070 . PZH $ { P }/ INTRO / OBS / WTZZ2070 . PZO $ { P }/ INTRO / OBS / ZIM2207 0 . CZH $ { P }/ INTRO / OBS / ZIM22070 . CZO $ { P }/ INTRO / OBS / ZIM22070 . PZH $ { P }/ INTRO / OBS / ZIM22070 . PZO $ { P }/ INTRO / OBS / ZIMM207 0 . CZH $ { P }/ INTRO / OBS / ZIMM2070 . CZO $ { P }/ INTRO / OBS / ZIMM2070 . PZH $ { P }/ INTRO / OBS / ZIMM2070 . PZO
2880
...
32
20
2880
...
32
20
2879
...
32
20
2879
...
32
20
2879
...
31
0
2879
...
31
0
---------------------------------------------------------------->>> CPU / Real time for pgm ' RXOBV3 ': 0:00:14.767 / 0:00:14.7 91 >>> Program finished successfully
If epochs or satellites are missing for some RINEX files you may check this with the RINEX observation graphic from program RNXGRA. In July 2010 32 GPS and 20 GLONASS satellites were active, where one of the GPS satellites (PRN 01) was unhealthy. For that reason many of the stations did track only 31 out of 32 GPS satellites.
4.2 Data Preprocessing (I) 4.2.1 Receiver Clock Synchronization
Now we are ready to invoke the processing part of the Bernese GNSS Software. We have to run three programs for this example. The first program is called CODSPP ('Menu >Processing>Code-based clock synchronization'. Its main task is to compute the receiver clock corrections.
Bernese GNSS Software, Version 5.2
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We already have geocentric coordinates of good quality available for the sites from the PPP example BPE. Therefore, the option “Estimate coordinates” may be set to NO. The most important option for this CODSPP run is “Save clock estimates” . It has to be set to BOTH.
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4.2 Data Preprocessing (I)
The warning messages issued by the program CODSPP remind that only GPS satellite clock corrections have been extracted from the precise orbit files. Consequently, the receiver clocks are synchronized with respect to the GPS system time. CODSPP produces the following output: ... STATION : GANP 11515 M001 FILE : $ { P }/ INTRO / OBS / GANP2070 . CZO RECEIVER UNIT : 999999 -------------------------------------------------------------------------------------------
DAY OF YEAR
:
OBSERVATIONS REQUESTED WINDOW
: :
MEASUREMENT INTERVAL : SAMPLING RATE : PROCESSED FREQUENCY : ELEVATION LIMIT :
ATMOSPHERE MODELS
207 FROM 2010 -07 -26 00:00: 0.00 --
TO 2010 -07 -26
23:59:30 .00 --
30 SEC 1 L3 3 DEG TROPOSPHERE GMF
:
IONOSPHERE NONE
STATISTICS FOR GPS SATELLITES : ---------------------------------SATELLITE NUMBER : OBSERVATIONS IN FILE : USED OBSERVATIONS : BAD OBSERVATIONS (%): RMS ERROR ( M ) :
2 1015 1015 0.0 0.9
3 910 910 0.0 1.1
4 1019 1019 0.0 0.9
5 1029 1029 0.0 1.0
6 838 838 0.0 1.0
7 914 914 0.0 1.0
8 841 841 0.0 1.0
9 832 832 0.0 1.2
10 971 971 0.0 1.2
11 857 857 0.0 0.9
... TOTAL ... 27074 ... 27074 ... 0.0 ... 1.0
103 935 0 0.0 0.0
104 929 0 0.0 0.0
105 1149 0 0.0 0.0
107 1097 0 0.0 0.0
108 905 0 0.0 0.0
110 1005 0 0.0 0.0
111 991 0 0.0 0.0
113 903 0 0.0 0.0
... TOTAL ... 19977 ... 0 ... 0.0 ... 0.0
STATISTICS FOR GLONASS SATELLITES : ---------------------------------SATELLITE NUMBER : OBSERVATIONS IN FILE : USED OBSERVATIONS : BAD OBSERVATIONS (%): RMS ERROR ( M ) :
101 905 0 0.0 0.0
102 932 0 0.0 0.0
RESULTS : -------OBSERVATIONS IN FILE : USED OBSERVATIONS : BAD OBSERVATIONS : RMS OF UNIT WEIGHT : NUMBER OF ITERATIONS : ...
47051 27074 0.00 % 1.07 M 2
You see in this statistic that the GLONASS measurements have not been used (because of the missing GLONASS satellite clock corrections).
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday
... STATION COORDINATES : -------------------LOCAL GEODETIC DATUM :
GANP 11515 M001 ( MARKER )
IGS14
X Y Z HEIGHT LATITUDE LONGITUDE
A PRIORI 3929181.42 1455236.82 4793653.95
NEW 3929181.42 1455236.82 4793653.95
746.01 49 2 4.971 20 19 22.574
746.01 49 2 4.971 20 19 22.574
NEW - A PRIORI 0.00 0.00 0.00
0 0
0 0
0.00 0.000 0.000
RMS ERROR 0.00 0.00 0.00 0.00 0.0000 0.0000
CLOCK PARAMETERS : ----------------OFFSET FOR REFERENCE EPOCH :
-0.000000021
GPS / GLONASS SYSTEM DIFFERENCE :
OFFSET : RMS ERROR :
SEC
0.00 NSEC 0.00 NSEC
CLOCK OFFSETS STORED IN CODE + PHASE OBSERVATION FILES ... ... ******************************************************************************* SUMMARY OF BAD OBSERVATIONS ******************************************************************************* MAXIMUM RESIDUAL DIFFERENCE ALLOWED : CONFIDENCE INTERVAL OF F * SIGMA WITH F : NUMBER OF BAD OBSERVATION PIECES
30.00 M 5.00
:
3
NUMB FIL STATION TYP SAT FROM TO # EPO ------------------------------------------------------------------------------1 2
8 8
TLSE 10003 M009 TLSE 10003 M009
OUT OUT
1 1
10 -07 -26 15:10:00 10 -07 -26 15:32:30
10 -07 -26 15:28:30 10 -07 -26 15:33:00
38 2
3
12
ZIM2 14001 M008
OUT
26
10 -07 -26 20:08:30
10 -07 -26 20:08: 30
1
-------------------------------------------------------------------------------
******************************************************************************* GLONASS / GPS TIME OFFSETS ******************************************************************************* FILE STATION NAME TIME OFFSET ( NS ) RMS ERROR ( NS ) ----------------------------------------------------------1 2 3 4 5 6 7 8 9 10 11 12 13
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
NO NO NO NO NO NO NO NO NO NO NO NO NO
RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS
AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE
----------------------------------------------------------0 TOTAL 0.000 0.000 -----------------------------------------------------------
The most important message in the output file is CLOCK OFFSETS STORED IN CODE+PHASE OBSERVATION FILES. This indicates that the receiver clock corrections
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4.2 Data Preprocessing (I) computed by CODSPP are stored in code and phase observation files. After this step we will no longer use the code observations in this example. The a posteriori RMS error (for each zero difference file processed) should be checked in the CODSPP output file. A value of about 20–30 m is normal if Selective Availability (SA) — artificial degradation of the satellite clock accuracy — is on (before May 2000). Without SA a value of about 3 m is expected if P–code measurements are available (this is the case for the time interval of the processing example). However, much worse code measurements would still be sufficiently accurate to compute the receiver clock corrections with the necessary accuracy of 1 µs . In the section GLONASS/GPS TIME OFFSETS you may only find the inter–system bias (ISB) for each of the receivers as they have been estimated by CODSPP if both, GPS and GLONASS satellite clock corrections were introduced. You may use the extraction program CODXTR ('Menu>Processing>Program output extraction>Codebased clock synchronization') to generate a short summary from the CODSPP program output: ... ------------------------------------------------------------------------------File Input files ------------------------------------------------------------------------------1 $ { P }/ INTRO / OUT / COD10207 . OUT -------------------------------------------------------------------------------
13 FILES , MAX . RMS : MAX . BAD :
2.12 M FOR STATION : PTBB 14234 M001 5.26 % FOR STATION : WSRT 13506 M005
---------------------------------------------------------------->>> CPU / Real time for pgm ' CODXTR ': 0:00:00.008 / 0:00:00.0 07 >>> Program finished successfully
4.2.2 Form Baselines The second preprocessing program is called SNGDIF and may be activated in 'Menu >Processing>Create baseline files'. SNGDIF creates the single differences and stores them into files. We use the strategy OBS-MAX for PHASE observation files.
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday To enter GPS in option “Stations must contain observ. from a GNSS” requires that each station included in the baseline creation provides at least GPS measurements. This option can be used to exclude those datasets containing only GLONASS observations.
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4.2 Data Preprocessing (I) The output of SNGDIF simply echoes the zero difference files used and the single difference files created. The first table confirms that all stations provide at least data from GPS. For that reason all stations are included in the baseline creation. ... NUM HEADER FILE NAMES STATION NAME # SAT SYS REMARK ------------------------------------------------------------------------------1 $ { P }/ INTRO / OBS / GANP2070 . PZH GANP 11515 M001 50 GR includ ed 2 $ { P }/ INTRO / OBS / HERT2070 . PZH HERT 13212 M010 51 GR includ ed 3 $ { P }/ INTRO / OBS / JOZ22070 . PZH JOZ2 12204 M002 50 GR includ ed 4 $ { P }/ INTRO / OBS / LAMA2070 . PZH LAMA 12209 M001 50 GR includ ed 5 $ { P }/ INTRO / OBS / MATE2070 . PZH MATE 12734 M008 51 GR includ ed 6 $ { P }/ INTRO / OBS / ONSA2070 . PZH ONSA 10402 M004 50 GR includ ed 7 $ { P }/ INTRO / OBS / PTBB2070 . PZH PTBB 14234 M001 32 G include d 8 $ { P }/ INTRO / OBS / TLSE2070 . PZH TLSE 10003 M009 52 GR includ ed 9 $ { P }/ INTRO / OBS / WSRT2070 . PZH WSRT 13506 M005 31 G include d 10 $ { P }/ INTRO / OBS / WTZR2070 . PZH WTZR 14201 M010 51 GR inclu ded 11 $ { P }/ INTRO / OBS / WTZZ2070 . PZH WTZZ 14201 M014 52 GR inclu ded 12 $ { P }/ INTRO / OBS / ZIM22070 . PZH ZIM2 14001 M008 52 GR inclu ded 13 $ { P }/ INTRO / OBS / ZIMM2070 . PZH ZIMM 14001 M004 31 G includ ed ...
The creation of the following 12 baseline files from 13 zero difference observation files is reported: SNGDIF : INPUT AND OUTPUT OBSERVATION FILE NAMES ----------------------------------------------0 - DIF . HEADER FILE NAMES ( INPUT ) 0 - DIF . OBS . FILE NAMES ( INPUT ) NUM * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *** $ { P }/ INTRO / OBS / GANP2070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / HERT2070 . PZH $ { P }/ INTRO / OBS / ZIM22070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / LAMA2070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / ONSA2070 . PZH ... $ { P }/ INTRO / OBS / ZIM22070 . PZH $ { P }/ INTRO / OBS / ZIMM2070 . PZH
$ { P }/ INTRO / OBS / GANP2070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . PZO $ { P }/ INTRO / OBS / HERT2070 . PZO $ { P }/ INTRO / OBS / ZIM22070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . PZO $ { P }/ INTRO / OBS / LAMA2070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . PZO $ { P }/ INTRO / OBS / ONSA2070 . PZO
1 2 3 4 5 6 7 8
$ { P }/ INTRO / OBS / ZIM22070 . PZO $ { P }/ INTRO / OBS / ZIMM2070 . PZO
23 24
1 - DIF . HEADER FILE NAMES ( OUT ) 1 - DIF . OBS . FILE NAMES ( OUT ) NR1 NR2 STAT . * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *** *** ***** $ { P }/ INTRO / OBS / GAJO2070 . PSH $ { P }/ INTRO / OBS / HEZI2070 . PSH $ { P }/ INTRO / OBS / JOLA2070 . PSH $ { P }/ INTRO / OBS / JOON2070 . PSH ... $ { P }/ INTRO / OBS / ZIZM2070 . PSH
$ { P }/ INTRO / OBS / GAJO2070 . PSO $ { P }/ INTRO / OBS / HEZI2070 . PSO $ { P }/ INTRO / OBS / JOLA2070 . PSO $ { P }/ INTRO / OBS / JOON2070 . PSO
1 3 5 7
2 4 6 8
OK OK OK OK
$ { P }/ INTRO / OBS / ZIZM2070 . PSO
23
24
OK
If the strategy OBS-MAX was selected all possible pairs of zero difference files are listed with the corresponding criterion value. The baselines belonging to the created network configuration are labeled with OK . 1 2 3 4
GANP GANP GANP GANP ... 21 HERT 22 HERT 23 HERT 24 JOZ2 25 JOZ2 26 JOZ2 27 JOZ2 28 JOZ2 29 JOZ2 30 JOZ2 31 JOZ2 ...
11515 M001 11515 M001 11515 M001 11515 M001
-
HERT JOZ2 LAMA MATE
13212 M010 12204 M002 12209 M001 12734 M008
# SAT : # SAT : # SAT : # SAT :
50 50 50 50
CRIT .: CRIT .: CRIT .: CRIT .:
20892 23424 22806 20725
13212 M010 13212 M010 13212 M010 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002
-
WTZZ ZIM2 ZIMM LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ
14201 M014 14001 M008 14001 M004 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014
# SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT :
51 51 31 50 50 50 30 50 30 50 50
CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .:
22697 23219 13051 24807 20969 23855 11243 21991 14464 24390 24182
Bernese GNSS Software, Version 5.2
OK
OK OK OK
OK OK
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4 Terminal Session: Tuesday
4.2.3 Preprocessing of the Phase Baseline Files The main task of the program MAUPRP is the cycle–slip detection and correction. It is started using 'Menu>Processing>Phase preprocessing'.
In the next input panel “MAUPRP 2: Output Files” you only need to specify the “Program output” , e.g., to MPR$YD+0 .
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4.2 Data Preprocessing (I)
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday
The output of the program MAUPRP is discussed in detail in the lecture session. The software manual contains a detailed description, too. You can find here the results of the adjustment of the input parameters for the maximum accepted change of the ionosphere from one epoch to the next, which is computed according to the baseline length (AUTO in option “Screening mode, frequency to check” , panel “MAUPRP 3: General Options” ). ... STATION 1: GANP 11515 M001 STATION 2: JOZ2 12204 M002
YEAR : DAY :
2010 207
SESSION : FILE :
2070 0
BASELINE LENGTH ( M ) : 344406.641 OBSERVAT . FILE NAME : $ { P }/ INTRO / OBS / GAJO2070 . PSH BASELINE DEPENDENT OPTIONS : -------------------------CHECK FREQUENCIES ( L1 =1 , L2 =2 , L1 & L2 =3 , L1 , L2 =4) --> : MAX . IONOS . DIFF . BETW . EPOCHS ( o / o OF L1 CYCLES ) --> : ...
3 94
The most important item to check is the epoch difference solution: ... -----------------------------------------------------------------------EPOCH DIFFERENCE SOLUTION -----------------------------------------------------------------------FREQUENCY OF EPOCH DIFF . SOLU .: # OBS . USED FOR EPOCH DIFF . SOLU : RMS OF EPOCH DIFF . SOLUTION ( M ):
3 42814 0.012
COORDINATES
0.185 + 0.032 + 0.290 + -
NEW - A PRIORI X ( M ): Y ( M ): Z ( M ):
0.021 0.021 0.014
-----------------------------------------------------------------------...
The epoch difference solution is used as the reference for the data screening. For a successful phase preprocessing the RMS OF EPOCH DIFF. SOLUTION has to be below 2 cm. The estimates for the coordinates in the epoch difference solution are expected to be smaller than about 0.5 m. It should be pointed out that it is not necessary to run the program MAUPRP more than once for each baseline. However, it is mandatory to run MAUPRP again if you (for whatever reason) have to re–create the baselines with program SNGDIF.
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4.3 Daily Goals You might get some warning messages regarding too large O − C (i.e., observed minus computed) values on certain baselines for certain epochs. The corresponding observations get flagged, and will not disturb the processing. You can use the extraction program MPRXTR ('Menu>Processing>Program output extraction>Phase preprocessing') to generate a short summary of the MAUPRP output. The file you have specified in “MAUPRP station summary file” looks like this: SUMMARY OF THE MAUPRP OUTPUT FILE ********************************* SESS FIL OK ? ST1 ST2 L ( KM ) # OBS . RMS DX DY DZ # SL # DL # MA MAXL3 MIN . SLIP --------------------------------------------------------------------------------------------2070 1 OK GANP JOZ2 344 42814 12 185 32 290 12 369 72 49 12 2070 2 OK HERT ZIM2 685 41498 13 -317 11 -329 6 591 95 47 11 2070 3 OK JOZ2 LAMA 201 43720 11 -12 -4 71 39 826 101 49 11 2070 4 OK JOZ2 ONSA 830 41462 11 -416 -151 -456 7 609 113 34 11 2070 5 OK JOZ2 WSRT 981 22358 11 -198 -21 -229 8 413 47 33 11 2070 6 OK JOZ2 WTZR 663 41785 13 -231 -76 -377 11 641 81 48 11 2070 7 OK MATE ZIM2 1014 38157 13 471 42 455 64 876 117 49 11 2070 8 OK PTBB ZIM2 640 20063 12 43 -8 -10 82 242 36 50 13 2070 9 OK TLSE ZIM2 597 41698 13 8 38 126 6 609 89 47 11 2070 10 OK WTZR WTZZ 0 43787 12 -9 -13 -4 96 461 65 0 0 2070 11 OK WTZR ZIM2 476 42211 14 147 11 91 6 974 89 43 13 2070 12 OK ZIM2 ZIMM 0 23786 13 -16 4 -32 25 88 35 0 0 --------------------------------------------------------------------------------------------Tot : 12 536 43787 14 471 42 455 96 974 117 50 0
Note that in the bottom line the maximum values for each column are reported to show the “worst case”.
4.3 Daily Goals At the end of today’s session, you should have created the following files: 1. Bernese formatted zero difference observation files in your campaign’s OBS directory: GANP2070. CZH , GANP2070. PZH , GANP2070. CZO , GANP2070. PZO , ... (for all stations). 2. Single difference files (baseline files) in the OBS directory: GAJO2070. PSH , GAJO2070. PSO , HEZI2070. PSH , HEZI2070. PSO ,... for all baselines, 3. you should also have verified the outputs of these programs: ORBGEN, CODSPP, SNGDIF, and MAUPRP
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday
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5 Terminal Session: Wednesday Today’s terminal session is to: 1. perform a residual screening (GPSEST, RESRMS, SATMRK), 2. generate a first estimation for coordinates and troposphere parameters (GPSEST), 3. resolve the double difference ambiguities (GPSEST). .
5.1 Data Preprocessing (II) The main parameter estimation based on a least–squares adjustment is the task of program GPSEST. It is a good idea to start GPSEST first in the session mode and to produce a L3 solution (ionosphere–free linear combination) with real–valued ambiguities. We do not expect any final results from this run but we want to check the quality of data and save the residuals after the least–squares adjustment. The program is available via 'Menu>Processing >Parameter estimation'. We use the following options:
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5 Terminal Session: Wednesday
This run is intended to screen the post–fit residuals for outliers. Later on, for the ambiguity resolution, all observations are needed without down–sampling the data. To run the program GPSEST for the network with 13 stations and the observations to more than 50 satellites without reducing the data sampling rate takes easily 10 minutes or more. For that reason we are forced to sample the data, e.g., down to 3 minutes — we will see in the next step how to solve this discrepancy.
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5.1 Data Preprocessing (II)
We want to put loose constraints on the station coordinates that are available from the IGS realization of ITRF2014 reference frame (flag I like IGS14 in the coordinate file).
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
No parameters (not even ambiguity parameters) can be pre–eliminated if residuals should be written into the residual output file:
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5.1 Data Preprocessing (II) A 4 hour resolution in time for the troposphere parameters is sufficient for this purpose:
The program output of GPSEST summarizes all important input options, input data, and reports the estimated results. An important information in the output file is the a posteriori RMS error: ... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF
: :
0.0013 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
72462 1.66
...
An a posteriori RMS error of about 1.0. . . 1.5 mm is expected if elevation–dependent weighting is used. A significant higher RMS error indicates that either your data stems from low–quality receivers, that the data was collected under extremely bad conditions, or that the preprocessing step (MAUPRP and CODSPP) was not successfully performed. Below you find the section reporting on coordinate estimation. You should check the improvement for the a priori coordinates. If all stations get approximately the same improvement in the order of decimeters, very likely the datum definition failed. Check that you have really selected datum stations.
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
... STATION COORDINATES : -------------------
( NOT SAVED )
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 75
GANP 11515 M001
X Y Z HEIGHT LATITUDE LONGITUDE
107
JOZ2 12204 M002
X Y Z HEIGHT LATITUDE LONGITUDE
92
HERT 13212 M010
X Y Z HEIGHT LATITUDE LONGITUDE
276
ZIM2 14001 M008
X Y Z HEIGHT LATITUDE LONGITUDE
3929181.4215 1455236.8207 4793653.9501 746.0149 49 2 4.971296 20 19 22.574398 3664880.4810 1409190.6806 5009618.5302
52 21
152.5315 5 52.211587 1 56.470161
4033460.8497 23537.8898 4924318.3145
50 52 0 20
83.3341 2.929075 3.676778
4331299.7959 567537.4213 4633133.7767 956.4292 46 52 37.540239 7 27 54.115566
3929181.4183 1455236.8270 4793653.9485 746.0131 49 2 4.971282 20 19 22.574740 3664880.4813 1409190.6835 5009618.5337
52 21
152.5351 5 52.211621 1 56.470295
4033460.8497 23537.8977 4924318.3219
50 52 0 20
83.3399 2.929224 3.677186
4331299.7868 567537.4272 4633133.7769 956.4237 46 52 37.540436 7 27 54.115899
-0.0032 0.0062 -0.0016
0.0042 0.0041 0.0042
-0.0017 -0.0004 0.0069
0.0044 .. 0.0040 .. 0.0041 ..
0.0004 0.0029 0.0035
0.0042 0.0041 0.0041
0.0036 0.0011 0.0025
0.0043 .. 0.0040 .. 0.0040 ..
0.0000 0.0080 0.0074
0.0042 0.0041 0.0042
0.0058 0.0046 0.0079
0.0044 .. 0.0040 .. 0.0040 ..
-0.0090 0.0059 0.0002
0.0041 0.0040 0.0041
-0.0055 0.0061 0.0070
0.0042 .. 0.0040 .. 0.0040 ..
...
If the residuals have been stored in the binary residual file (specified in “GPSEST 2.2: Output Files 2” ) it is possible to have a look to the residuals (program REDISP, 'Menu>Service>Residual files>Display residual file'). To screen the residuals automatically use the program RESRMS in 'Menu>Service>Residual files >Create residual statistics'.
The sampling interval you have previously introduced in option “Sampling interval” in program GPSEST has to be repeated here. RESRMS makes the assumption that the observations between two outliers in the sampled residual file are also bad.
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5.1 Data Preprocessing (II)
The program output of RESRMS (${P}/INTRO/OUT/RMS10207.OUT) provides a nice overview on the data quality. ... FILE INFORMATION AND STATISTIC : -----------------------------Num Station 1 Station 2 Total RMS med . Resi Sigma numObs nSat nDel .. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 1 2 3 4 5 6 7 8 9 10 11 12
GANP HERT JOZ2 JOZ2 JOZ2 JOZ2 MATE PTBB TLSE WTZR WTZR ZIM2
11515 M001 13212 M010 12204 M002 12204 M002 12204 M002 12204 M002 12734 M008 14234 M001 10003 M009 14201 M010 14201 M010 14001 M008
JOZ2 ZIM2 LAMA ONSA WSRT WTZR ZIM2 ZIM2 ZIM2 WTZZ ZIM2 ZIMM
12204 M002 14001 M008 12209 M001 10402 M004 13506 M005 14201 M010 14001 M008 14001 M008 14001 M008 14201 M014 14001 M008 14001 M004
1.4 1.4 1.3 1.3 1.3 1.6 1.6 1.4 1.6 1.6 1.7 0.9
0.7 0.8 0.7 0.7 0.8 0.8 0.8 0.8 0.8 0.7 1.0 0.5
1.2 1.1 1.1 1.0 1.2 1.2 1.2 1.2 1.3 1.0 1.4 0.8
7611 7372 7741 7368 4192 7460 6788 3819 7443 7817 7563 4540
50 51 50 50 30 50 51 32 52 51 51 31
16 11 17 20 12 18 22 15 19 51 28 1
.. .. .. .. .. .. .. .. .. .. .. ..
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ..
NUMBER OF EDIT REQUESTS : ...
230
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday In addition, files containing a summary table (${P}/INTRO/OUT/RMS10207.SUM) and a histogram (${P}/INTRO/OUT/RMS10207.LST) of the residuals are available. The most important result file for the data screening is the “Edit information file” (${P}/INTRO/OUT/ RMS10207.EDT), which may be used by the program SATMRK to mark outliers in the observation files ('Menu>Service>Bernese observation files>Mark/delete observations'):
The program output from SATMRK reports the number of marked observations per baseline: ... SUMMARY OF ACTION IN THE OBS . FILE ( S ): -------------------------------------
$ { P }/ INTRO / OUT / RMS1 0207 . EDT
Mea Observations Num Station name 1 Station name 2 type mark unmark delete ---------------------------------------------------------------------------1 GANP 11515 M001 JOZ2 12204 M002 P : 420 0 0 2 HERT 13212 M010 ZIM2 14001 M008 P : 300 0 0 3 JOZ2 12204 M002 LAMA 12209 M001 P : 422 0 0 4 JOZ2 12204 M002 ONSA 10402 M004 P : 530 0 0 5 JOZ2 12204 M002 WSRT 13506 M005 P : 370 0 0 6 JOZ2 12204 M002 WTZR 14201 M010 P : 526 0 0 7 MATE 12734 M008 ZIM2 14001 M008 P : 688 0 0 8 PTBB 14234 M001 ZIM2 14001 M008 P : 326 0 0 9 TLSE 10003 M009 ZIM2 14001 M008 P : 512 0 0 10 WTZR 14201 M010 WTZZ 14201 M014 P : 1096 0 0 11 WTZR 14201 M010 ZIM2 14001 M008 P : 874 0 0 12 ZIM2 14001 M008 ZIMM 14001 M004 P : 22 0 0 ---------------------------------------------------------------------------Total : 6086 0 0 ----------------------------------------------------------------------------
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5.1 Data Preprocessing (II)
5.2 Produce a First Network Solution After screening the observations for outliers we can generate an ionosphere–free (L3 ) solution with unresolved ambiguities. A detailed discussion on the Troposphere/Ionosphere modelling will be given in a dedicated lecture tomorrow. The input options are very similar to the previous preprocessing step. There are only a few differences shown in the following panels:
The file in the input field “Ionosphere models” enables the HOI–corrections. We store the coordinates and troposphere parameters into files to be re–introduced later:
In the subsequent panel you should remove the output filename for the “Residuals” because we do not need the residuals from this run.
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The next two panels with the general options for GPSEST remain untouched:
To heavily constrain the coordinates of the IGS core sites is not the best way to realize the geodetic datum for a solution. The program ADDNEQ2 offers more sophisticated options (e.g., minimum constraint solution). Today we will follow this simple approach:
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5.1 Data Preprocessing (II) Since we do not store residual files in this run, ambiguity parameters may be pre–eliminated from the normal equation before the parameters are estimated:
The estimation of troposphere parameters is mandatory for a campaign of this type. We increase the number of estimated parameters (e.g., to 24 instead of 6 parameters per station and session). In addition, it is recommended to set up troposphere gradient parameters. In order to avoid a format overflow in the “Troposphere estimates” output file that may happen if a troposphere parameter is estimated based on very few observations concentrated at one end of the interval of parameter validity, a small relative sigma (e.g., 5 meter) may help.
In the first part of the output generated by program GPSEST, the selected options are echoed. The result part starts with some statistics on the parameters and the observations:
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES SITE - SPECIFIC TROPOSPHERE PARAMETERS
39 1369 377
0 1369 0
( BEFORE INV )
39 1481 377
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 1785 1369 1897 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE
L3
ALL
73602
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 73602 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
Then the a posteriori RMS error and the results of the initial least–squares adjustment are given ... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0011 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
71834 1.28
Below you find the output of the results for coordinates and troposphere parameters: ... STATION COORDINATES : -------------------
$ { P }/ INTRO / STA / FLT10207 . CRD
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 75
GANP 11515 M001
X Y Z HEIGHT LATITUDE LONGITUDE
107
JOZ2 12204 M002
X Y Z HEIGHT LATITUDE LONGITUDE
92
HERT 13212 M010
X Y Z HEIGHT LATITUDE LONGITUDE
3929181.4215 1455236.8207 4793653.9501 746.0149 49 2 4.971296 20 19 22.574398 3664880.4810 1409190.6806 5009618.5302
52 21
152.5315 5 52.211587 1 56.470161
4033460.8497 23537.8898 4924318.3145
50 52 0 20
83.3341 2.929075 3.676778
3929181.4200 1455236.8215 4793653.9494 746.0136 49 2 4.971309 20 19 22.574460 3664880.4789 1409190.6787 5009618.5326
52 21
152.5318 5 52.211702 1 56.470106
4033460.8499 23537.8878 4924318.3167
50 52 0 20
83.3359 2.929114 3.676679
-0.0015 0.0008 -0.0007
0.0007 0.0007 0.0008
-0.0013 0.0004 0.0013
0.0009 .. 0.0005 .. 0.0007 ..
-0.0021 -0.0019 0.0024
0.0007 0.0006 0.0007
0.0003 0.0035 -0.0010
0.0008 .. 0.0005 .. 0.0006 ..
0.0002 -0.0019 0.0022
0.0007 0.0007 0.0007
0.0018 0.0012 -0.0019
0.0009 .. 0.0005 .. 0.0007 ..
...
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5.3 Ambiguity Resolution
... SITE - SPECIFIC TROPOSPHERE PARAMETERS : ------------------------------------
$ { P }/ INTRO / ATM / F LT10207 . TRP
REFERENCE ELEVATION ANGLE OF GRADIENT TERMS : MINIMUM ELEVATION ANGLE : MAPPING FACTOR AT MINIMUM ELEVATION ANGLE :
45.0 DEGREES 5.0 DEGREES 11.4
CORRECTIONS ( M ) RMS ERRORS ( M ) ... REQU . STATION NAME NORTH EAST ZENITH NORTH EAST ZENITH ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... 1 2 3 4 5 ... 24 25 26 27 28 29 30 ...
GANP GANP GANP GANP GANP
11515 M001 11515 M001 11515 M001 11515 M001 11515 M001
-0.00024 -0.00021 -0.00018 -0.00015 -0.00012
-0.00019 -0.00015 -0.00010 -0.00006 -0.00001
0.12103 0.11639 0.11814 0.12171 0.12203
0.00011 0.00011 0.00010 0.00009 0.00009
0.00013 0.00012 0.00011 0.00010 0.00010
0.00226 0.00167 0.00156 0.00160 0.00129
... ... ... ... ...
GANP GANP HERT HERT HERT HERT HERT
11515 M001 11515 M001 13212 M010 13212 M010 13212 M010 13212 M010 13212 M010
0.00044 0.00047 -0.00142 -0.00135 -0.00127 -0.00120 -0.00113
0.00085 0.00090 -0.00190 -0.00181 -0.00172 -0.00163 -0.00154
0.13680 0.12869 0.19943 0.19841 0.18943 0.19009 0.19263
0.00011 0.00012 0.00013 0.00012 0.00011 0.00011 0.00010
0.00012 0.00013 0.00015 0.00014 0.00014 0.00013 0.00012
0.00181 0.00224 0.00299 0.00153 0.00187 0.00178 0.00149
... ... ... ... ... ... ...
Because outliers have been removed in the previous step, the obtained a posteriori RMS error should decrease (at least not increase). If this is not the case, it is likely that the observations and the heavily constrained a priori coordinates are inconsistent.
5.3 Ambiguity Resolution To resolve the ambiguities, we process the baselines separately one by one using the Quasi– Ionosphere–Free (QIF) strategy. This baseline processing mode is necessary because of the tremendous number of parameters. The attempt to resolve the ambiguities in a session solution might require too much CPU and memory to be feasible (several iterations with inversions of the full normal equation (NEQ) are necessary).
5.3.1 Ambiguity Resolution: Quasi–Ionosphere–Free (QIF) The complete list of baseline observation files of a session (e.g., session 2070 of year 2010) can be generated by listing all phase single–difference header files in the campaign’s observation directory of your campaign: [email protected] :~ > ls $ { P }/ INTRO / OBS /????2070. PSH $ { P }/ INTRO / OBS / GAJO2070 . PSH $ { P }/ INTRO / OBS / HEZI2070 . PSH $ { P }/ INTRO / OBS / JOLA2070 . PSH $ { P }/ INTRO / OBS / JOON2070 . PSH $ { P }/ INTRO / OBS / JOWS2070 . PSH $ { P }/ INTRO / OBS / JOWT2070 . PSH $ { P }/ INTRO / OBS / MAZI2070 . PSH $ { P }/ INTRO / OBS / PTZI2070 . PSH $ { P }/ INTRO / OBS / TLZI2070 . PSH $ { P }/ INTRO / OBS / WTWZ2070 . PSH $ { P }/ INTRO / OBS / WTZI2070 . PSH $ { P }/ INTRO / OBS / ZIZM2070 . PSH
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The first baseline for this session is from GANP to JOZ2 with the observation filename GAJO2070. Using the menu time variables this name is specified as GAJO$S+0. The following options are used for the ambiguity resolution step:
Only one baseline file is selected. Coordinates and troposphere estimates are introduced from the previous first network solution (Section 5.2).
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5.3 Ambiguity Resolution Specify a baseline specific output to prevent overwriting in subsequent runs: GAJO$+0Q. The Q at the end shall indicate that it is the output from the QIF–strategy.
Because the QIF–ambiguity resolution strategy is very sensitive to the formal errors of the ambguity parameters we have to include all measurements with the full sampling of 30 s into the processing.
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The selection of a “ZPD model and mapping function (GNSS)” is disabled because a troposphere file has been introduced in panel “GPSEST 1.2: Input Files 2” . The program uses the troposphere model from this input file and allows no other selection for consistency reasons. In the subsequent panel the “Resolution strategy” is chosen. Please, do not forget to store the resolved integer ambiguities in your observation file (mark checkbox at “Save resolved ambiguities” ).
In case of ambiguity resolution including GLONASS, only one ambiguity per iteration can be resolved. The program will adjust the setting automatically issuing a warning message.
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5.3 Ambiguity Resolution
An additional panel with options specific to epoch–parameters is displayed now because the “Parameter Setup: stochastic ionosphere parameters” are pre-eliminated EVERY_EPOCH.
After reporting input options and input data for the current run of GPSEST, the results are presented in two parts. The first part refers to the solution where the ambiguities are estimated as real values whereas the second part reports the results after resolving the ambiguity parameters to integer values. The real–valued estimates for the ambiguities may be found below the STATION COORDINATES section of the program output:
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... STATION COORDINATES AMBIGUITIES STOCHASTIC IONOSPHERE PARAMETERS
3 196 40364
0 0 40364
( EPOCH - WISE )
3 242 45454
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... TOTAL NUMBER OF PARAMETERS 40563 40364 45699 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... PHASE PHASE
L1 L2
ALL ALL
37484 37484
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... TOTAL NUMBER OF OBSERVATIONS 74968 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... ...
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0011 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
34405 1.18
... STATION COORDINATES : -------------------
$ { P }/ INTRO / STA / FLT10207 . CRD
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 107
JOZ2 12204 M002
X Y Z
3664880.4789 1409190.6787 5009618.5326
HEIGHT LATITUDE LONGITUDE
152.5318 5 52.211702 1 56.470106
52 21
3664880.4791 1409190.6784 5009618.5331
52 21
152.5323 5 52.211710 1 56.470086
0.0003 -0.0003 0.0005
0.0002 0.0002 0.0002
0.0005 0.0002 -0.0004
0.0002 .. 0.0001 .. 0.0002 ..
...
... AMBIGUITIES : ----------REFERENCE AMBI FILE SAT . EPOCH FRQ WLF CLU AMBI CLU AMBIGUITY RMS TOTAL AMBIGU . DL / L -------------------------------------------------------------------------------------1 2 3 4 5 6 7 8 9 10 11 12
1 1 1 1 1 1 1 1 1 1 1 1
3 11 11 14 14 14 17 17 19 19 19 20
2199 1 2613 1 1478 2569 1 1111 1 897 2337 1
1 1 1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1 1 1
3 4 6 7 8 9 10 11 13 14 15 16
-
-
1.07 2.12 -3.84 1.74 -0.67 1.17 3.38 -1.90 2.64 0.38 -2.80 2.31
21.81 21.81 21.81 21.81 21.81 21.81 21.81 21.81 21.81 21.82 21.81 21.81
1747244.07 -120949.88 -120952.84 -484082.26 -484244.67 -484299.83 -1280029.62 -1280192.90 1400087.64 1400165.38 1400190.20 757891.31
...
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5.3 Ambiguity Resolution If GLONASS data are processed, single–difference (instead of double–difference) ambiguities are resolved and no — REFERENCE — as in case of GPS–only appears. In the next part of the output the result of the QIF ambiguity resolution algorithm is given: ... AMBIGUITY RESOLUTION : -------------------STRATEGY :
QUASI - IONOSPHERE - FREE AMBIGUITY RESOLUTION ( QIF )
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 1 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
89 106
1
94 112
1
-4
-3
-0.03
-0.04
0.009
0.002
0.003
27
9
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 2 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
18
22
1
82
97
1
0
1
0.09
0.11
-0.022
0.009
0.003
24
6
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 3 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
1
3
1
82
97
2
-1
-1
-0.02
-0.03
0.006
-0.002
0.003
3
6
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 4 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
16
20
1
82
97
3
-4
-2
-0.08
-0.10
0.021
-0.005
0.003
22
6
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 5 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1 11 15 1 82 97 4 -5 -3 0.13 0.18 -0.043 -0.021 0.003 19 6 ... ----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 54 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
70
82
3
71
83
1
-2
-3
0.22
0.31
-0.086
-0.079
0.009
111
111
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 55 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
25
29
1
66
77
3
6
5
-0.05
-0.06
0.014
0.001
0.009
105
101
...
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The individual iteration steps are first described (we specified that only one ambiguity may be resolved within each iteration step — see panel “GPSEST 3.2.4: Quasi-IonosphereFree Ambiguity Resolution Strategy” ). The following information is listed for each resolved double–difference ambiguity: FILE file number (1 in our case; we process one baseline only), AM1 first ambiguity number (single–difference level), CL1 corresponding ambiguity cluster, #AM1 number of ambiguities belonging to the same cluster, AM2, CL2, #AM2 similar information for the second ambiguity. BEST INT. L1, L2 are the integer corrections to the a priori values (a priori values are computed using the a priori coordinates and may be rather inaccurate). CORRECTIONS IN CYCLES for carriers L1 and L2 gives the information about the fractional parts of the L1 and L2 ambiguities. The CORRECTIONS IN CYCLES L5 and L3 are of greater interest. The value L5 represents the ionosphere–induced bias expressed in L5 cycles. These values may not be greater than the maximum value specified in panel “GPSEST 3.2.4: Quasi-Ionosphere-Free Ambiguity Resolution Strategy” (option “Search width for pairs of L1 and L2 ambiguities” ). RMS(L3) is the criterion according to which the ambiguities are sorted. Ambiguities with L3 RMS errors larger than the value specified in the program input panel (in our example 0.03) will not be resolved. SA1, SA2 first and second satellite number related to the ambiguities. Note that in AMBIGUITY RESOLUTION ITERATION: 65 and 66 there are examples for resolving pairs of ambiguities from the same satellite (path–to–path ambiguity resolution) — GLONASS satellites 114, and 119 . The tion:
following
table
summarizes
the
results
of
the
ambiguity
resolu-
... REFERENCE AMBI FILE SAT . EPOCH FRQ WLF CLU AMBI CLU AMBIGUITY RMS TOTAL AMBIGU . DL / L - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 ...
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1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
3 11 11 14 14 14 17 17 19 19 19 20 20 22 22 22 24 24 28 28
2199 1 2613 1 1478 2569 1 1111 1 897 2337 1 2770 1 1248 2254 1 2196 1 782
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
3 4 6 7 8 9 10 11 13 14 15 16 17 18 19 20 21 22 23 24
-
-
-1 1 0 5 3 5 5 -1.83 7 0.47 -5 1 6 1.30 6 -4 5 0 1.75 -4
22.57 22.57
22.59
22.60
1747242. -120951. -120949. -484079. -484241. -484296. -1280028. -1280192.83 1400092. 1400165.47 1400188. 757890. 757842. -893533.70 -893514. -893533. 427188. 427032. -394055.25 -394018.
0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
AIUB
5.3 Ambiguity Resolution The ambiguities for which an RMS is specified could not be resolved (these ambiguities will be treated as real values by all subsequent program runs). In case of GLONASS, only ambiguities with the same channel number are resolved in Version 5.2 of Bernese GNSS Software . Ambiguity resolution has an influence on other parameters. Therefore, the results of the ambiguity–fixed solution are given in Part 2 of the output: ... 14. RESULTS ( PART 2) -------------------NUMBER OF PARAMETERS ( PART 2): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES STOCHASTIC IONOSPHERE PARAMETERS
3 66 40364
0 0 40364
( EPOCH - WISE )
3 242 45454
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 40433 40364 45699 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 2): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE PHASE
L1 L2
ALL ALL
37484 37484
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 74968 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 2): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0011 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
34535 1.27
... STATION COORDINATES : -------------------
$ { P }/ INTRO / STA / FLT10207 . CRD
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 107
JOZ2 12204 M002
X Y Z HEIGHT LATITUDE LONGITUDE
3664880.4789 1409190.6787 5009618.5326
52 21
152.5318 5 52.211702 1 56.470106
3664880.4789 1409190.6780 5009618.5333
52 21
152.5322 5 52.211720 1 56.470073
0.0000 -0.0007 0.0007
0.0001 0.0001 0.0002
0.0004 0.0006 -0.0006
0.0002 .. 0.0001 .. 0.0001 ..
...
You may see from the output that from a total of 196 ambiguities 130 ambiguities could be resolved (compare part 1 AMBIGUITIES with part 2 AMBIGUITIES). Note that these numbers include reference ambiguities for each GNSS, GLONASS frequency number and frequency.
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
5.3.2 Ambiguity Resolution: Short Baselines
There are two very short baselines in the network where a direct ambiguity resolution for the L1 and L2 signal is possible applying the sigma–strategy.
The ultra–short baseline in Kötzting is between WTZR and WTZZ (WTWZ2070.PSH). The GPSEST input panels should look like follows:
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5.3 Ambiguity Resolution The program output name is again related to the name of the baseline but contains an identifier 1 at the end to distinguish the files from the output files of the QIF–strategy:
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
The structure of the program output is the same as it has extensively been described in the previous section for the QIF ambiguity resolution strategy. It starts with PART 1 for the solution before the ambiguity resolution. Here are the corresponding parameter statistics: ... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES
3 206
0 0
3 232
... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 209 0 235 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE PHASE
L1 L2
ALL ALL
38232 38232
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 76464 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
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5.3 Ambiguity Resolution
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0012 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
76255 1.53
After the ambiguity resolution the same statistics is provided in PART 2: ... 14. RESULTS ( PART 2) -------------------NUMBER OF PARAMETERS ( PART 2): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES
3 40
0 0
3 232
... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 43 0 235 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 2): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0012 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
76421 1.82
From the number of ambiguity parameters it can be computed that 166 out of 206 ambiguities from both GPS and GLONASS have been resolved to their integer numbers. Please remind, that at least 4 ambiguity parameters must remain as real values because of one reference ambiguity per GNSS and frequency are needed. Because the two receivers belong to different groups regarding “GLONASS amb. resol. between different frequencies” only the ambiguities between the same frequency numbers have been resolved. In addition, depending on the receiver type, not all ambiguities for GPS are allowed to be resolved too, to prevent problems with the quarter–cycle bias between the L2P and L2C signal (see option “Consider GPS quarter-cycle biases” in panel “GPSEST 3.2: General Options 2” and the lecture on ambiguity resolution).
5.3.3 Ambiguity Resolution: BPE Admittedly, it is cumbersome to process the baselines “manually” one after the other — you have twelve baselines per session for this small example campaign. On Thursday you will have a lecture on automation of the data processing with the BPE . In the example BPE RNX2SNX.PCF a sequence for the ambiguity resolution is included. For this tutorial lecture a small part of this BPE is extracted into a separate TUTORIAL.PCF BPE. The process control file (PCF) is located in the directory ${U}/PCF. If you are
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday not in the Bernese Introductory Course environment, you have to use the RNX2SNX.PCF instead of the TUTORIAL.PCF and skip the unneeded scripts (a brief description is given in the panel description of the RUNBPE) program. The PCF consists of three parts: the first part defines the scripts and the option directories where the program’s input files are taken from. In addition the waiting conditions are defined to keep the correct order for the execution of the scripts. In the second part, special execution modes are defined, e.g., that the scripts GNSQIF_P with PID 132 and GNSL12_P with PID 142 may run in parallel for each individual baseline. The preparatory scripts GNSQIFAP and GNSL12AP define the list of baselines to be processed. The third part defines the so called BPE– or PCF–variables that can be used within the scripts or in the input fields of the menu. A detailed introduction to the BPE will be the topic of a lecture on Thursday. The TUTORIAL.PCF is responsible for the following tasks: 011 TUT_COP : Copies the files from the previous processing steps of the tutorial to the filenames used in the RNX2SNX.PCF example BPE. It uses the PCF– and time variables for that purpose: copy copy copy copy copy
file file file file file
from from from from from
../STA/APR${yyddd}.CRD ../STA/FLT${yyddd}.CRD ../ATM/FLT${yyddd}.TRP ../ORB/COD${yyddd}.STD ../ORB/COD${yyddd}.ERP
to to to to to
../STA/APR${yyssss}.CRD ../STA/FLT${yyssss}.CRD ../ATM/FLT${yyssss}.TRP ../ORB/COD${yyssss}.STD ../ORB/COD${yyssss}.ERP
where ${yyddd} stands for the two–digit year and the day of year. The new filename contains ${yyssss} the two–digit year together with the session (in our case day of year plus the zero–character 0). If you are not in the Bernese Introductory Course environment, you have to copy these files manually to run the ambiguity resolution sequence of RNX2SNX.PCF . 101 SATMRK : All previously resolved ambiguities are re–initialized to start for all files from unresolved ambiguities (otherwise the interpretation of the statistic of resolved ambiguities may become difficult). 131 GNSQIFAP and 132 GNSQIF_P : Applies the QIF ambiguity resolution strategy to all baselines of the example in a baseline–by–baseline mode, where several baselines may be processed at the same time in parallel. 141 GNSL12AP and 142 GNSL12_P : Applies the SIGMA ambiguity resolution strategy directly to the original observations on the L1 and L2 frequency for both short baselines in the example network: Kötzting (WTZR and WTZZ) and Zimmerwald (ZIM2 and ZIMM). These scripts also run in a baseline–by–baseline mode, allowing for a parallel processing.
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5.3 Ambiguity Resolution
# # # TUTORIAL . PCF # # # Purpose : Run the ambiguity resolution for one session in the # > of the # Bernese Software Introductory Course # # ---------------------------------------------------------------------------# # Author : R . Dach # Created : 23 - Jan -2012 Last modified : 23 - Jan -2012 # # Changes : # # # # PID SCRIPT OPT_DIR CAMPAIGN CPU P WAIT FOR .... 3** 8******* 8******* 8******* 8******* 1 3** 3** 3** 3** 3** 3** 3** 3** 3** 3** # # Copy input files # ---------------011 TUT_COP R2S_GEN ANY 1 # # Resolve phase ambiguities # ------------------------101 SATMRK R2S_GEN ANY 1 011 131 GNSQIFAP R2S_QIF ANY 1 101 132 GNSQIF_P R2S_QIF ANY 1 131 141 GNSL12AP R2S_L12 ANY 1 132 142 GNSL12_P R2S_L12 ANY 1 141 # # End of BPE # ---------999 DUMMY NO_OPT ANY 1 142 # # PID USER PASSWORD PARAM1 PARAM2 PARAM3 PARAM4 PARAM5 PARAM6 .. 3** 12********** 8******* 8******* 8******* 8******* 8*** **** 8******* 8*******.. # # Resolve phase ambiguities # ------------------------131 $131 132 PARALLEL $131 141 $141 142 PARALLEL $141 # # VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 16* ************* V_A A priori information APR V_B Orbit / ERP , DCB , CLK information COD V_C Preliminary ( ambiguity - float ) results FLT V_CRDINF Project related station filenames EXAMPLE V_GNSSAR GNSS to be used for ambiguity resolution ALL V_BL_QIF Maximum baseline length for QIF AR 2000 V_BL_L12 Maximum baseline length for L1 & L2 AR 20 V_PCV Absolute / relative PCV model I14 V_SATINF Satellite information file SATELLIT V_PCVINF PCV information file PCV_Bxx V_SATCRX Satellite problem file SAT_$Y +0 V_RECINF Receiver characterization file RECEIVER . V_BLQINF BLQ FILE NAME , CMC CORRECTIONS EXAMPLE V_ATLINF ATL FILE NAME , CMC CORRECTIONS EXAMPLE V_HOIFIL Ionosphere model COD$YD +0 # # DO NOT USE V_D , V_J , V_M , V_Y VARIABLES ! # ( they are used already by the menu ) #
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday In the Bernese Introductory Course environment the TUTORIAL.PCF BPE can be started for one session (e.g., day 207 of year 2010) using 'Menu>BPE>Start BPE processing':
If you follow the tutorial outside from the environment of the Bernese Introductory Course you can select RNX2SNX in option “Process control file” and skip all scripts apart from PID 401 SATMRK and the range from PID 431 GNSQIFAP to PID 442 GNSL12_P (option “Skip scripts” ).
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5.3 Ambiguity Resolution
Run the BPE for the current session. If the BPE stops with an error you can inspect the files ARyyddd0_...PRT and ARyyddd0_...LOG belonging to your current session. They are located in the BPE directory of your campaign. These files notice for instance if an input file is missing. This might be the case if you did not follow the naming convention proposed in the tutorial. In that case you have to copy the file from your naming to the expected one.
5.3.4 Ambiguity Resolution: Summary
For each observation file a corresponding program output file is generated. Using the program GPSXTR ('Menu>Processing>Program output extraction>Parameter estimation/stacking') you can generate a summary of the ambiguity resolution for all baselines of the session:
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday All program output files related to the QIF ambiguity resolution method have been specified with program output filenames fitting in the shape ${P}/INTRO/OUT/????$S+0_Q.OUT and can, therefore, easily be selected in the input field “GPSEST/ADDNEQ output files” .
The program issues a warning message because only for a global network the evaluation of the ambiguity resolution statistics allow to assess the orbit quality: ### SR EXTAMB : ORBIT ACCURACY NOT ESTIMATED
This summary (${P}/INTRO/OUT/QIF10207.SUM) reports among others how many ambiguities are resolved for each baseline1 : File
Length Before After Res Sys ( km ) # Amb ( mm ) # Amb ( mm ) (%) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... GAJO2070 GANP JOZ2 344.407 102 1.1 24 1.1 76.5 G ... GAJO2070 GANP JOZ2 344.407 90 1.1 38 1.1 57.8 R ... GAJO2070 GANP JOZ2 344.407 192 1.1 62 1.1 67.7 GR ... HEZI2070 HERT ZIM2 685.151 120 1.1 46 1.1 61.7 G ... HEZI2070 HERT ZIM2 685.151 98 1.1 64 1.1 34.7 R ... HEZI2070 HERT ZIM2 685.151 218 1.1 110 1.1 49.5 GR ... JOLA2070 JOZ2 LAMA 201.183 118 1.0 36 1.0 69.5 G ... JOLA2070 JOZ2 LAMA 201.183 96 1.0 38 1.0 60.4 R ... JOLA2070 JOZ2 LAMA 201.183 214 1.0 74 1.0 65.4 GR ... JOON2070 JOZ2 ONSA 829.775 136 1.0 58 1.1 57.4 G ... JOON2070 JOZ2 ONSA 829.775 104 1.0 68 1.1 34.6 R ... JOON2070 JOZ2 ONSA 829.775 240 1.0 126 1.1 47.5 GR ... JOWS2070 JOZ2 WSRT 981.243 106 1.1 32 1.1 69.8 G ... JOWT2070 JOZ2 WTZR 663.182 104 1.4 28 1.5 73.1 G ... JOWT2070 JOZ2 WTZR 663.182 98 1.4 50 1.5 49.0 R ... JOWT2070 JOZ2 WTZR 663.182 202 1.4 78 1.5 61.4 GR ... MAZI2070 MATE ZIM2 1013.811 122 1.2 54 1.3 55.7 G ... MAZI2070 MATE ZIM2 1013.811 94 1.2 60 1.3 36.2 R ... MAZI2070 MATE ZIM2 1013.811 216 1.2 114 1.3 47.2 GR ... PTZI2070 PTBB ZIM2 640.077 114 1.3 26 1.4 77.2 G ... TLZI2070 TLSE ZIM2 596.848 120 1.3 20 1.3 83.3 G ... TLZI2070 TLSE ZIM2 596.848 90 1.3 58 1.3 35.6 R ... TLZI2070 TLSE ZIM2 596.848 210 1.3 78 1.3 62.9 GR ... WTZI2070 WTZR ZIM2 475.909 116 1.5 44 1.5 62.1 G ... WTZI2070 WTZR ZIM2 475.909 92 1.5 56 1.5 39.1 R ... WTZI2070 WTZR ZIM2 475.909 208 1.5 100 1.5 51.9 GR ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... Tot : 10 643.159 1158 1.2 368 1.3 68.2 G ... Tot : 8 601.283 762 1.2 432 1.3 43.3 R ... Tot : 10 643.159 1920 1.2 800 1.3 58.3 GR ...
1
Sta1 Sta2
# AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF
You may check the impact of introducing the ionosphere model (COD$YD+0 in “Ionosphere models” of panel “GPSEST 1.1: Input Files 1” ) by cleaning this input field. Repeat the ambiguity resolution (without saving the resolved ambiguities into the observation file: unmark option “Save resolved ambiguities” in panel “GPSEST 3.2: General Options 2” ) and compare the a posteriori RMS and the number of resolved ambiguities.
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5.4 Daily Goals An analogue statistics can be produced for the short baseline ambiguity resolution. Exchange the entry for the input file selection (“GPSEST/ADDNEQ output files” ) to catch all files of the shape ${P}/INTRO/OUT/????$S+0_1.OUT. It is recommended to change also the name of the resulting summary (“Ambiguity res. summary” ) and the identification string in the summary (e.g., L12 for “Ambiguity resolution: #AR_ID” ) in panel “GPSXTR 2: Output Files” . File
Sta1 Sta2
Length Before After Res Sys ( km ) # Amb ( mm ) # Amb ( mm ) (%) ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... WTWZ2070 WTZR WTZZ 0.002 108 1.2 16 1.3 85.2 G ... WTWZ2070 WTZR WTZZ 0.002 94 1.2 20 1.3 78.7 R ... WTWZ2070 WTZR WTZZ 0.002 202 1.2 36 1.3 82.2 GR ... ZIZM2070 ZIM2 ZIMM 0.019 108 1.1 2 1.1 98.1 G ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... Tot : 2 0.010 216 1.2 18 1.2 91.7 G ... Tot : 1 0.002 94 1.2 20 1.3 78.7 R ... Tot : 2 0.010 310 1.2 38 1.2 87.7 GR ...
# AR_L12 # AR_L12 # AR_L12 # AR_L12 # AR_L12 # AR_L12 # AR_L12
The solutions from the BPE are identical to the two manually processed solutions. You can compare the following two files in ${P}/INTRO/OUT for each strategy (e.g., with tkdiff): Filenames from Manual processing processed by the BPE Strategy: QIF: GAJO207Q.OUT GAJO2070_Q.OUT Strategy: direct L1 /L2 : WTWZ2071.OUT WTWZ2070_1.OUT If you compare the number of ambiguity parameters in the GPSEST program output with the number of ambiguities in the GPSXTR summary files, the number of reference ambiguities that need to be kept unresolved are considered.
5.4 Daily Goals At the end of today’s session, you should have: 1. used GPSEST for residual screening, created files: EDT10207. OUT , EDT10207. RES in your campaign’s OUT directory, 2. screened the residual files from the above run using RESRMS: created files RMS10207. SUM , RMS10207. LST , RMS10207. EDT , and RMS10207. OUT , 3. used SATMRK to mark the identified outliers, 4. used GPSEST for a first coordinate and troposphere estimation, created files: FLT10207. CRD and FLT10207. TRP , 5. used GPSEST for QIF ambiguity resolution, created files: GAJO207Q. OUT , 6. used GPSEST for direct SIGMA ambiguity resolution, created files: WTWZ2071. OUT , 7. apply the ambiguity resolution to all baselines running a BPE, 8. used GPSXTR to create a summary of the ambiguity resolution, created file: QIF10207. SUM
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
Proposal for Further Activities Even if it is not needed for the processing progress of the regional network you may use some time in this terminal session to have a look into the examples for “Epoch Parameter Processing” (sections 7.3 for Kinematic Positioning and 7.4 for Zero Difference Processing for Clock Estimation). This section also provides also some instructions on other topic, e.g., the usage of RINEX 3 observation files in Section 7.5 . Note that some panels assume the availability of the final solution for regional network processing (FIN$YD+0) that will be generated in the terminal session of tomorrow only. You may replace these files by the results from the first network solution before the ambiguity resolution (FLT$YD+0) for this exercise.
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6 Terminal Session: Thursday Finish the work of yesterday by resolving the ambiguities for all baselines (day 207 year 2010). Today’s terminal session is to: 1. compute a final network solution of the day (GPSEST), 2. check the coordinates of the fiducial sites (ADDNEQ2, HELMR1), 3. check the daily repeatability (COMPAR), 4. recompute final solution and generate reduced size normal equation files (ADDNEQ2), 5. compute velocities (ADDNEQ2), for the current session. Compare the final coordinate results of the daily solutions (which are already processed and availalble).
6.1 Final Network Solution The resolved ambiguities may be introduced from the Bernese observation files into the final network solution. To start the program GPSEST in the session mode you have to select all single difference files of the corresponding session. In panel “GPSEST 1.1: Input Files 1” :
If the grid files for the coefficients of the VMF1 are available (downloaded from http://ggosatm.hg.tuwien.ac.at/DELAY/GRID/VMFG/ and the five grid files of the day are concatenated), we can introduce them into panel “GPSEST 1.1: Input Files 1” .
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6 Terminal Session: Thursday We do not introduce “Troposphere estimates” anymore from the previous solutions.
In panel “GPSEST 2.1: Output Files 1” we request the normal equation file as the only output file.
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6.1 Final Network Solution For the final run of GPSEST we consider the correlations between the observations correctly:
If the VMF1 grid files are available we can switch now from DRY_GMF to DRY_VMF to use the VMF1 instead of the Global Mapping Function (GMF). In the Bernese Introductory Course environment these files are available. Remember that you need to specify the grid files with the coefficients in the input field “Gridded VMF1 coefficients” in panel “GPSEST 1.1: Input Files 1” . Ambiguities which have been resolved in the previous runs of program GPSEST are introduced as known.
The checkbox in option “Stop program after NEQ saving” reduces the task of GPSEST to setting up the NEQ but not solving it. In particular in case of bigger networks this may save a lot of computing time because the solution for the session will be computed later on by ADDNEQ2 anyhow.
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday Since this is the final run of GPSEST, it is worthwhile to add some additional information about the observation files into the program output. This is useful if you archive the program output of this run together with the observation files and the resulting normal equation files.
We do not fix any stations on their a priori position, i.e., the coordinates of all stations will be estimated. This retains the flexibility for later changes in the realization of the reference frame (station constraints) with program ADDNEQ2. Because no solution in GPSEST is computed you can select here all types of datum definition apart from “Coordinates fixed” (the normal equations are always stored without any constraints):
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6.1 Final Network Solution The unresolved ambiguities are pre–eliminated. In addition we may setup additional parameters of interest.
The selection of the mapping function has to be consistent with the selection of the troposphere model in “ZPD model and mapping function (GNSS)” in panel “GPSEST 3.2: General Options 2” .
The output of the GPSEST contains only the input parameter and ends with the parameter statistics: 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES SITE - SPECIFIC TROPOSPHERE PARAMETERS
39 673 377
0 673 0
( BEFORE INV )
39 785 377
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 1089 673 1201 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE
L3
ALL
73602
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 73602 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... SOLUTION SKIPPED ...
---------------------------------------------------------------->>> CPU / Real time for pgm ' GPSEST ': 0:00:47.682 / 0:00:47.7 52 >>> Program finished successfully
After running GPSEST in session mode the normal equation file FIX10207.NQ0 should be available in the directory ${P}/INTRO/SOL In the environment of the Bernese Introductory Course these files are provided in the archive ${S}/RNX2SNX/2010/SOL/ and ${S}/RNX2SNX/2011/SOL/ respectively. Copy the files of the additional three days into your campaign. Following files should be now available in the directory ${P}/INTRO/SOL
FIX10207.NQ0, FIX11205.NQ0,
FIX10208.NQ0, FIX11206.NQ0.
and
6.2 Check the Coordinates of the Fiducial Sites To check the consistency of our network solution with respect to the coordinates available in the IGS14 reference frame we generate a minimum constraint solution for the network using program ADDNEQ2 ('Menu>Processing>Combine normal equation systems') with the following options:
No further input files in the next panel are needed.
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6.2 Check the Coordinates of the Fiducial Sites
A troposphere SINEX file may be generated in this solution by adding an output filename to the “Troposphere estimates (SINEX)” input field in panel “ADDNEQ2 2.1: Output Files 1” .
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday In the following three panels, all parameter types supported by ADDNEQ2 are listed. You may specify whether a parameter shall be pre-eliminated or not. An empty entry means that the parameter is not expected in the input NEQ files. Please note that an automated preselection is not possible for technical reasons. If a parameter with an empty input field is detected in the input NEQ files, the program will stop with an error. In the opposite case, a warning message is issued.
For the validation of the datum stations we choose the “Minimum constraint solution” . Because it is a regional network, we only apply the no–translation condition. The other conditions are sufficiently defined by the satellite orbits.
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6.2 Check the Coordinates of the Fiducial Sites The following panel allows to change the parameter spacing. We do not need this feature at the moment and leave, therefore, all input fields empty.
The relative constraints applied to the vertical troposphere and gradient parameters are so loose that they do not affect the solution. As in GPSEST, they simply prevent a format overflow in the output troposphere file in case of very weakly observed parameters due to gaps in the observation scenario.
The ADDNEQ2 program output starts with some information about the parameters contained in the input NQ0 file(s). The input options for the program run follow. An important part is the statistics for the current ADDNEQ2 solution: ... SUMMARY OF RESULTS -----------------Number of parameters : -------------------Parameter type Adjusted explicitly / implicitly ------------------------------------------------------------------------------Station coordinates / velocities 39 39 0 Site - specific troposphere parameters 377 377 0 ------------------------------------------------------------------------------Previously pre - eliminated parameters 656 656 ------------------------------------------------------------------------------Total number 1072 416 656 ...
Bernese GNSS Software, Version 5.2
.. Deleted ... .. ------- ... 0 ... 0 ... .. ------- ... .. ------- ... 0
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6 Terminal Session: Thursday
... Statistics : ---------Total number of authentic observations Total number of pseudo - observations
73602 341
Total number of explicit parameters Total number of implicit parameters
416 656
Total number of observations Total number of adjusted parameters Degree of freedom ( DOF )
73943 1072 72871
A posteriori RMS of unit weight Chi **2/ DOF Total number of observation files Total number of stations Total number of satellites ...
0.00115 m 1.32 12 13 0
Below this part the program output reports the results of the parameter estimation in a standardized format for all parameter types: ... Station coordinates and velocities : ---------------------------------Sol Station name Typ Correction Estimated value RMS error A priori value ------------------------------------------------------------------------------------1 GANP 11515 M001 X -0.00246 3929181.41903 0.00050 3929181. 42149 1 GANP 11515 M001 Y -0.00001 1455236.82073 0.00024 1455236. 82074 1 GANP 11515 M001 Z -0.00240 4793653.94773 0.00059 4793653. 95013 1 HERT 13212 M010 X -0.00135 4033460.84830 0.00058 4033460. 84965 1 HERT 13212 M010 Y -0.00158 23537.88819 0.00020 23537.8897 7 1 HERT 13212 M010 Z 0.00045 4924318.31497 0.00062 4924318.3 1452 1 JOZ2 12204 M002 X -0.00418 3664880.47678 0.00051 3664880. 48096 1 JOZ2 12204 M002 Y -0.00372 1409190.67690 0.00025 1409190. 68062 1 JOZ2 12204 M002 Z -0.00019 5009618.53001 0.00063 5009618. 53020 1 LAMA 12209 M001 X -0.00759 3524522.82514 0.00055 3524522. 83273 ...
... ... ... ... ... ... ... ... ... ... ... ...
Abb ---# CRD # CRD # CRD # CRD # CRD # CRD # CRD # CRD # CRD # CRD
... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...
Abb --# TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP
Site - specific troposphere parameters : -----------------------------------Station name Typ Correction Estimated value RMS error A priori value ------------------------------------------------------------------------------------GANP 11515 M001 N -0.00035 -0.00035 0.00007 0.00000 GANP 11515 M001 E 0.00011 0.00011 0.00009 0.00000 GANP 11515 M001 U 0.13553 2.24964 0.00135 2.11411 GANP 11515 M001 U 0.13073 2.24507 0.00101 2.11433 GANP 11515 M001 U 0.13286 2.24742 0.00095 2.11456 GANP 11515 M001 U 0.13901 2.25379 0.00097 2.11478 GANP 11515 M001 U 0.13493 2.24993 0.00085 2.11500 GANP 11515 M001 U 0.13519 2.25041 0.00098 2.11522 GANP 11515 M001 U 0.13060 2.24604 0.00095 2.11544 GANP 11515 M001 U 0.13367 2.24951 0.00082 2.11584 GANP 11515 M001 U 0.13178 2.24801 0.00089 2.11623 GANP 11515 M001 U 0.13341 2.25003 0.00085 2.11662 GANP 11515 M001 U 0.13276 2.24977 0.00083 2.11701 GANP 11515 M001 U 0.13687 2.25427 0.00083 2.11740 GANP 11515 M001 U 0.14007 2.25786 0.00077 2.11779 GANP 11515 M001 U 0.14164 2.25973 0.00086 2.11809 GANP 11515 M001 U 0.13776 2.25614 0.00104 2.11838 GANP 11515 M001 U 0.13772 2.25639 0.00096 2.11867 GANP 11515 M001 U 0.13297 2.25194 0.00101 2.11897 GANP 11515 M001 U 0.13823 2.25749 0.00091 2.11926 GANP 11515 M001 U 0.13867 2.25822 0.00088 2.11955 GANP 11515 M001 U 0.13921 2.25881 0.00088 2.11960 GANP 11515 M001 U 0.13899 2.25864 0.00101 2.11965 GANP 11515 M001 U 0.13434 2.25403 0.00102 2.11970 GANP 11515 M001 U 0.14064 2.26039 0.00094 2.11975 GANP 11515 M001 U 0.14075 2.26055 0.00107 2.11980 GANP 11515 M001 N 0.00019 0.00019 0.00007 0.00000 GANP 11515 M001 E 0.00080 0.00080 0.00009 0.00000 GANP 11515 M001 U 0.13904 2.25888 0.00140 2.11985 HERT 13212 M010 N -0.00105 -0.00105 0.00007 0.00000 HERT 13212 M010 E -0.00216 -0.00216 0.00010 0.00000 HERT 13212 M010 U 0.20436 2.50827 0.00162 2.30390 ...
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6.2 Check the Coordinates of the Fiducial Sites The coordinate solution for the session (${P}/INTRO/STA/FIN10207.CRD) may be compared with the a priori coordinates for the IGS core sites. The program HELMR1 ('Menu >Service>Coordinate tools>Helmert transformation') is used for this purpose:
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday For our example we get the following output. The M–flag for some stations indicates that they are not used to compute the transformation parameters. For these sites, only the residuals are printed to the program output. Bernese GNSS Software , Version 5.2 ------------------------------------------------------------------------------Program : HELMR1 Purpose : Helmert Transformation ------------------------------------------------------------------------------Campaign : $ { P }/ INTRO Default session : 2070 year 2010 Date : 28 - Aug -2017 15:43:08 User name : bern52
EXAMPLE : Session 102070: Check fiducial coordinates -------------------------------------------------------------------------------
FILE 1: EXAMPLE . CRD : IGS14 : coordinate list FILE 2: FIN10207 . CRD : EXAMPLE : Session 102070: Final coord inate / troposphere res LOCAL GEODETIC DATUM : IGS14 RESIDUALS IN LOCAL SYSTEM ( NORTH , EAST , UP )
--------------------------------------------------------------------| NUM | NAME | FLG | RESIDUALS IN MILLIMETERS | | --------------------------------------------------------------------| | | | | | | 75 | GANP 11515 M001 | I W | -0.24 -0.40 3.40 | | | 92 | HERT 13212 M010 | I W | -1.50 1.34 0.71 | | | 107 | JOZ2 12204 M002 | P A | -3.44 2.98 3.26 | M | | 122 | LAMA 12209 M001 | P A | -4.14 1.30 7.27 | M | | 136 | MATE 12734 M008 | I W | 3.61 1.02 -1.72 | | | 176 | ONSA 10402 M004 | I W | -0.75 -0.15 -0.64 | | | 192 | PTBB 14234 M001 | P A | -3.95 3.14 7.02 | M | | 236 | TLSE 10003 M009 | I W | 2.83 -3.44 -0.06 | | | 262 | WSRT 13506 M005 | I W | -0.72 -0.05 0.56 | | | 263 | WTZR 14201 M010 | I W | 0.52 1.41 -1.24 | | | 264 | WTZZ 14201 M014 | P A | -2.77 3.46 1.50 | M | | 276 | ZIM2 14001 M008 | I W | -4.38 -1.23 -1.83 | | | 278 | ZIMM 14001 M004 | I W | 0.64 1.49 0.82 | | | | | | | | --------------------------------------------------------------------| | RMS / COMPONENT | | 2.35 1.60 1.63 | | | | MEAN | | 0.00 -0.00 -0.00 | | | | MIN | | -4.38 -3.44 -1.83 | | | | MAX | | 3.61 1.49 3.40 | | ---------------------------------------------------------------------
NUMBER OF PARAMETERS : NUMBER OF COORDINATES : RMS OF TRANSFORMATION :
3 27 1.89 MM
BARYCENTER COORDINATES : LATITUDE LONGITUDE HEIGHT
: : :
48 45 56.82 9 29 24.71 -37.545 KM
PARAMETERS : TRANSLATION IN TRANSLATION IN TRANSLATION IN
N E U
NUMBER OF ITERATIONS
: : :
:
0.02 0.03 0.00
+++-
0.63 0.63 0.63
MM MM MM
1
NO OUTLIER DETECTED
---------------------------------------------------------------->>> CPU / Real time for pgm ' HELMR1 ': 0:00:00.076 / 0:00:00.0 75 >>> Program finished successfully
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6.3 Check the Daily Repeatability We can conclude that no problems concerning the stations used for the datum definition were detected. If there were problems, the ADDNEQ2 run needs to be repeated with the problematic station either removed from the file ${P}/INTRO/STA/IGS14.FIX or with manual selection of the stations used for the datum definition in panel “ADDNEQ2 5.1: Datum Definition for Station Coordinates” . In order to check the repeatability of the coordinate solutions for all 4 days, repeat the above steps for the remaining three days.
6.3 Check the Daily Repeatability If the minimum constraint solutions of the four sessions are available, the repeatability of the coordinate solutions may be checked using the program COMPAR ('Menu>Service >Coordinate tools>Coordinate comparison').
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday The program computes the arithmetic mean for all station coordinates. The difference of each individual coordinate set to this mean value and the overall RMS are reported in the following section of the program output: NUM STATION # FIL C RMS 1 2 3 4 ----------------------------------------------------------75
GANP 11515 M001
4
N E U
8.45 -6.81 -7.81 7.08 7.54 11.66 -10.03 -10.16 10.68 9.50 2.76 1.58 2.51 -0.36 -3.73
92
HERT 13212 M010
4
N E U
107
JOZ2 12204 M002
4
N E U
8.11 -6.91 -7.13 7.26 6.78 12.66 -10.52 -11.40 11.18 10.75 4.40 2.98 4.55 -3.45 -4.08
122
LAMA 12209 M001
4
N E U
8.42 -7.37 -7.19 6.66 7.91 11.99 -10.50 -10.27 10.37 10.40 3.05 3.42 1.25 -0.97 -3.70
136
MATE 12734 M008
4
N E U
11.57 -10.24 -9.76 10.86 9.15 14.02 -11.97 -12.31 11.85 12.43 1.58 -0.11 -0.02 1.99 -1.86
176
ONSA 10402 M004
4
N E U
8.22 10.44 3.88
-7.14 -7.08 -8.76 -9.31 -2.34 -3.91
6.50 8.61 4.70
192
PTBB 14234 M001
4
N E U
8.91 11.57 1.11
-6.90 -8.50 -9.92 -10.12 -1.66 0.43
7.82 7.58 9.75 10.29 0.48 0.74
236
TLSE 10003 M009
4
N E U
9.13 -8.60 -7.18 11.50 -10.17 -9.73 2.14 -0.50 -2.65
7.67 8.11 9.66 10.24 0.69 2.46
262
WSRT 13506 M005
4
N E U
9.56 10.00 2.26
263
WTZR 14201 M010
4
N E U
8.93 -7.86 -7.60 7.59 7.87 11.55 -10.20 -9.79 9.64 10.35 2.42 0.47 2.96 -0.56 -2.88
264
WTZZ 14201 M014
4
N E U
8.32 -7.24 -7.17 6.97 7.44 13.21 -11.43 -11.44 10.98 11.89 1.59 -1.97 1.18 1.40 -0.60
276
ZIM2 14001 M008
4
N E U
9.33 11.58 0.86
-8.01 -8.14 -9.93 -10.13 -1.16 -0.04
278
ZIMM 14001 M004
4
N E U
9.46 11.09 0.53
-8.26 -8.11 8.41 7.96 -9.63 -9.57 9.73 9.47 0.70 0.11 -0.30 -0.51
8.70 9.56 3.39
-7.38 -7.69 7.61 -8.75 -7.79 8.07 -2.48 -0.29 -2.11
-8.18 -8.37 8.64 -8.35 -8.95 8.37 2.45 -0.43 -2.89
7.46 8.47 4.88
7.72 9.46 1.54
7.90 8.94 0.87
7.68 8.47 9.93 10.13 0.34 0.86
-----------------------------------------------------------
While interpreting this output, keep in mind that the first two columns and the last two columns refer to different epochs (see warning message). The difference between these epochs is about one year. Obviously, station velocities need to be estimated (this will be done in the next step described in Section 6.5).
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6.4 Compute the Reduced Solution of the Sessions If reliable velocities for all stations are available they can be introduced:
You may check the influence on the repeatability on your own. Please be reminded, that for the ITRF2014 (IGS14) reference frame the linear station velocities are not sufficient. You may see the effect of the PSD corrections in the repeatablity. This is not the case for this example because none of the stations is affected by an earthquake and, therefore, no PSD corrections have to be considered. This output may be used for quality assessment. Stations with a problem in one or more sessions can be identified and excluded from the final ADDNEQ2 solution by adding them to section TYPE 003: STATION PROBLEMS in the station information file (${P}/INTRO/STA/EXAMPLE.STA). All parameters of these stations will be pre–eliminated before the normal equations are stacked and, therefore, also before the solution is computed.
6.4 Compute the Reduced Solution of the Sessions If one or more stations have to be excluded from the session solution or if the datum definition of the solution is still not acceptable, the final solution of the session has to be re–computed by repeating the ADDNEQ2 in Section 6.2. Finally, the result files for the final solution of the session are: ${P}/INTRO/SOL/FIN$YD+0.NQ0, ${P}/INTRO/STA/FIN$YD+0.CRD, and ${P}/INTRO/ATM/FIN$YD+0.TRP. It is preferable for the velocity estimation to have smaller normal equation files containing only the coordinate parameters for each session. In addition, we generate a coordinate Solution INdependent EXchange format (SINEX) file (in NEQ representation) as the final solution of the day, so the troposphere parameters have to be pre–eliminated before the solution is computed. We introduce the station coordinates (${P}/INTRO/STA/FIN$YD+ 0.CRD) obtained with the minimum constraint solution in the previous run of ADDNEQ2 and constrain the solution to these coordinates. To generate these reduced NQ0 files and the SINEX file, the execution of ADDNEQ2 has to be repeated with the following changes in the input options:
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Please note that the output SINEX file includes a skeleton from ${X}/GEN/SINEX. RNX2SNX . We propose to derive individual SINEX skeletons for different tasks that you can include a specific description how the product has been generated. The skeleton is provided in the input field “SINEX general input file” in panel “ADDNEQ2 1.3: General Files” .
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6.4 Compute the Reduced Solution of the Sessions
Because you are storing a SINEX file in NEQ representation (see option “Content of SINEX” ) no regularization is necessary.
The troposphere parameters are pre–eliminated:
To keep the a priori and estimated sets of coordinates in the resulting SINEX file consistent, we introduce the coordinate solution of the session in “Station coordinates” in “ADDNEQ2 1.1: Input Files 1” and constrain all coordinate parameters to these values.
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The normal equation file (${P}/INTRO/SOL/RED10207.NQ0) contains only the station coordinate parameters. The following section of the program output documents the pre– elimination of the troposphere parameters: ... SUMMARY OF RESULTS -----------------Number of parameters : -------------------Parameter type Adjusted explicitly / implicitly ( pre - elimi -----------------------------------------------------------------------------------------Station coordinates / velocities 39 39 0 Site - specific troposphere parameters 377 0 377 ( before st -----------------------------------------------------------------------------------------Previously pre - eliminated parameters 656 656 -----------------------------------------------------------------------------------------Total number 1072 39 1033 ...
... ... ... ... ... ... ...
... Statistics : ---------Total number of authentic observations Total number of pseudo - observations
73602 377
Total number of explicit parameters Total number of implicit parameters
39 1033
Total number of observations Total number of adjusted parameters Degree of freedom ( DOF )
73979 1072 72907
A posteriori RMS of unit weight Chi **2/ DOF Total number of observation files Total number of stations Total number of satellites ...
0.00115 m 1.32 12 13 0
You can also see that the number of explicit parameters in the NQ0 file was dramatically reduced (from 416 to 39). This is an advantage for the combination of a big number of normal equation files for the estimation of station velocities.
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6.5 Velocity Estimation
6.5 Velocity Estimation
6.5.1 Preparation for ITRF2014/IGS14 Velocity Estimation
This section can be skipped if no ITRF2014/IGS14 reference frame is used as geodetic datum.
Because of the PSD corrections the linear station velocity must not represent the actual station velocity one has to prepare the station coordinate and velocity files before they can be used for the datum defintion in the program ADDNEQ2. We have to compute the station coordinates at the reference epoch using the program COOVEL ('Menu>Service >Coordinate tools>Extrapolate coordinates'):
In our example none of the stations that shall be used for the datum definition is related to the PSD corrections. So, you can continue here. If you have another station selection where the PSD corrections become relevant we refer to Section 7.1 for further instructions.
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6.5.2 Velocity Estimation Based on NEQ Files
The velocity estimation in program ADDNEQ2 is easy. Introduce the normal equation files containing only the station coordinate parameters. Copy the prepared files for the three additional days (208 year 2010, 205 and 206 year 2011) from ${S}/RNX2SNX/2010/ SOL/RED10*NQ0 and ${S}/RNX2SNX/2011/SOL/RED11*NQ0 into ${P}/INTRO/SOL/ directory. The normal equation files have to cover a reasonable time interval to reliably estimate velocities (in this case one year):
Station velocities are set up by marking the checkbox:
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6.5 Velocity Estimation Furthermore, we check the repeatability of the daily solutions after the velocity estimation. The coordinates in the resulting file will refer to the epoch 2010 01 01. The input NEQ files do only contain coordinates:
The realization of the geodetic datum is done for positions and velocities separately in the following panels:
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The following panel provides options to detect bad daily solutions based on the repeatability:
After the velocity estimation the repeatability of the coordinate solutions from the individual normal equations look like: ... Statistics of individual solutions : ---------------------------------# Observations # Parameters File RMS ( m ) DOF Chi **2/ DOF authentic / pseudo explicit / imp licit / singular --------------------------------------------------------------------------------------------1 0.00115 72874 1.32 73940 6 39 1033 0 2 0.00121 72878 1.46 73861 6 39 950 0 3 0.00123 75378 1.50 76336 6 39 925 0 4 0.00122 75405 1.48 76421 6 39 983 0
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Comparison of individual solutions : ---------------------------------GANP 11515 M001 GANP 11515 M001 GANP 11515 M001
N E U
0.40 0.53 1.24
0.45 0.03 -0.25
-0.46 -0.01 0.32
-0.22 0.66 1.58
0.17 -0.65 -1.40
HERT 13212 M010 HERT 13212 M010 HERT 13212 M010
N E U
0.12 0.41 3.10
0.08 -0.48 -0.91
-0.10 0.45 0.91
0.11 -0.20 -3.65
-0.13 0.17 3.71
JOZ2 12204 M002 JOZ2 12204 M002 JOZ2 12204 M002
N E U
0.24 0.40 0.51
0.06 0.41 -0.60
-0.05 -0.39 0.63
0.28 0.28 0.11
-0.30 -0.28 -0.11
LAMA 12209 M001 LAMA 12209 M001 LAMA 12209 M001
N E U
0.48 0.14 1.40
-0.14 -0.16 1.27
0.16 0.16 -1.23
-0.57 0.05 1.15
0.58 -0.04 -1.18
MATE 12734 M008 MATE 12734 M008 MATE 12734 M008
N E U
0.74 0.22 1.42
-0.25 0.15 0.12
0.25 -0.15 -0.17
0.87 -0.23 1.80
-0.87 0.22 -1.67
ONSA 10402 M004 ONSA 10402 M004 ONSA 10402 M004
N E U
0.45 0.37 1.39
-0.09 0.25 0.98
0.13 -0.24 -0.96
-0.53 -0.37 1.40
0.55 0.39 -1.40
PTBB 14234 M001 PTBB 14234 M001 PTBB 14234 M001
N E U
0.62 0.20 0.75
0.73 0.09 -0.87
-0.76 -0.09 0.85
0.17 -0.22 -0.35
-0.16 0.23 0.29
TLSE 10003 M009 TLSE 10003 M009 TLSE 10003 M009
N E U
0.63 0.27 1.36
-0.77 -0.22 1.31
0.72 0.18 -1.25
-0.21 -0.28 -1.08
0.19 0.26 1.07
WSRT 13506 M005 WSRT 13506 M005 WSRT 13506 M005
N E U
0.35 0.32 2.15
0.04 0.30 1.65
-0.02 -0.29 -1.59
0.46 -0.24 -2.20
-0.39 0.28 1.95
WTZR 14201 M010 WTZR 14201 M010 WTZR 14201 M010
N E U
0.16 0.31 1.17
-0.18 -0.23 -1.09
0.17 0.22 1.03
-0.09 -0.32 1.01
0.10 0.30 -0.92
WTZZ 14201 M014 WTZZ 14201 M014 WTZZ 14201 M014
N E U
0.18 0.33 1.31
-0.08 -0.01 -1.42
0.08 0.01 1.36
-0.19 -0.40 0.80
0.21 0.40 -0.81
ZIM2 14001 M008 ZIM2 14001 M008 ZIM2 14001 M008
N E U
0.29 0.10 0.48
0.03 0.11 -0.38
-0.02 -0.09 0.35
-0.36 -0.07 -0.50
0.36 0.06 0.40
ZIMM 14001 M004 ZIMM 14001 M004 ZIMM 14001 M004
N E U
0.23 0.14 0.40
-0.12 -0.03 0.47
0.11 0.03 -0.50
0.25 0.14 -0.10
-0.27 -0.19 0.09
Variance - covariance scaling factors : ----------------------------------Parameter type Component Scaling factor wrt RMS / variance DOF ---------------------------------------------------------------------------------------------Station coordinates N 1.39976 1.95932 52 Station coordinates E 1.31297 1.72389 52 Station coordinates U / vertical 1.49414 2.23244 52 Station coordinates Horizontal 1.35706 1.84160 104 Station coordinates All 1.40424 1.97188 156 ---------------------------------------------------------------------------------------------Total 1.40424 1.97188 156 ...
Below this table, bad daily solutions according to the settings in panel “ADDNEQ2 7: Comparison of Individual Solutions” are summarized (if there are any). In this example we have no additional section and, therefore, no outliers. If you compare the velocities obtained for the two sites in Kötzting (WTZR and WTZZ) and Zimmerwald (ZIM2 and ZIMM) you will find small differences:
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...
Stati Station coordinates and velocities : ---------------------------------Reference epoch : 2010 -01 -01 00:00:00 Station name Typ A priori value Estimated value Correction RMS error ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ... WTZR 14201 M010 VX -0.01629 -0.01820 -0.00191 0.00050 VY 0.01714 0.01648 -0.00066 0.00021 VZ 0.00986 0.00751 -0.00235 0.00055
... WTZZ 14201 M014
... ... ZIM2 14001 M008
... ZIMM 14001 M004
VU VN VE
-0.00043 0.01557 0.02034
-0.00352 0.01555 0.02012
-0.00309 -0.00002 -0.00022
0.00071 ... 0.00022 ... 0.00018 ...
VX VY VZ
-0.01629 0.01714 0.00986
-0.01531 0.02011 0.01007
0.00098 0.00297 0.00021
VU VN VE
-0.00043 0.01557 0.02034
0.00078 0.01449 0.02301
0.00121 -0.00109 0.00267
VX VY VZ
-0.01393 0.01809 0.01169
-0.01354 0.01860 0.01202
0.00039 0.00051 0.00033
VU VN VE
0.00070 0.01636 0.01975
0.00125 0.01625 0.02020
0.00055 -0.00011 0.00045
0.00069 ... 0.00022 ... 0.00018 ...
VX VY VZ
-0.01393 0.01809 0.01169
-0.01499 0.01755 0.01067
-0.00106 -0.00054 -0.00102
0.00084 0.00028 0.00081
VU VN VE
0.00070 0.01636 0.01975
-0.00081 0.01648 0.01935
-0.00151 0.00013 -0.00040
0.00113 ... 0.00034 ... 0.00026 ...
0.00054 0.00023 0.00059 0.00077 ... 0.00024 ... 0.00020 ...
0.00050 0.00019 0.00052
...
You can constrain the velocity estimates for the pairs of receivers at one location in the station information file. Copy the original station information file ${P}/INTRO/STA/EXAMPLE. STA and add the following lines to part TYPE 004: STATION COORDINATES AND VELOCITIES (ADDNEQ) of this copy. TYPE 004: STATION COORDINATES AND VELOCITIES ( ADDNEQ ) ----------------------------------------------------REL . CONSTR . POSITION STATION NAME 1 STATION NAME 2 ... EAST UP **************** **************** ... **.***** **.***** WTZR 14201 M010 WTZZ 14201 M014 ... ZIM2 14001 M008 ZIMM 14001 M004 ...
(Pay attention starts.)
to
the
number
of
blank
lines
RELATIVE CONSTR . VELOCITY NORTH EAST UP **.***** **.***** **.***** 0.00001 0.00001 0.00001 0.00001 0.00001 0.00001
before
the
next
section
When introducing this information, the program ADDNEQ2 will issue the following message: ### SR AOPTNET : You are going to use relative constraints for station coordinates / velocities from station info file . Please keep in mind that you will NOT constrain the estimated results but only the improvements of the apriori values .
If only the improvements (column Correction) for the velocities are constrained, you must make sure that also the a priori values (column A priori value) for the velocities are identical to obtain (column Estimated value) the same velocities for a group of stations. You can
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6.5 Velocity Estimation verify this in the input velocity file ${P}/INTRO/STA/EXAMPLE.VEL: ... 263 264 ... 276 278 ...
WTZR 14201 M010 WTZZ 14201 M014
-0.01629 -0.01629
0.01714 0.01714
0.00986 0.00986
IG14 EURA NNR EURA
ZIM2 14001 M008 ZIMM 14001 M004
-0.01393 -0.01393
0.01809 0.01809
0.01169 0.01169
IG14 EURA IG14 EURA
If this is not the case, you should unify the a priori values.
The relative constraining of the velocity estimates is confirmed in the section of the input parameters (below the a priori coordinates and velocities) of the ADDNEQ2–program output: ... Relative constraints between stations : Station names ----------------------------------------------WTZR 14201 M010 WTZZ 14201 M014 ZIM2 14001 M008 ZIMM 14001 M004
... relative constraints for velocities ... N ( m / year ) E ( m / year ) U ( m / year ) ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... 0.00001 0.00001 0.00001 ... 0.00001 0.00001 0.00001
Introducing this modified station information file instead of the original one you will get the following estimates for the station velocities in Kötzting and Zimmerwald: ... Station coordinates and velocities : ---------------------------------Reference epoch : 2010 -01 -01 00:00:00 Station name Typ A priori value Estimated value Correction RMS error ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ... WTZR 14201 M010
... WTZZ 14201 M014
VX VY VZ
-0.01629 0.01714 0.00986
-0.01699 0.01806 0.00857
-0.00070 0.00092 -0.00129
0.00039 0.00016 0.00042
VU VN VE
-0.00043 0.01557 0.02034
-0.00172 0.01509 0.02139
-0.00129 -0.00048 0.00105
0.00055 0.00017 0.00014
VX VY VZ
-0.01629 0.01714 0.00986
-0.01699 0.01807 0.00857
-0.00070 0.00093 -0.00129
0.00039 0.00016 0.00042
VU VN VE
-0.00043 0.01557 0.02034
-0.00172 0.01509 0.02140
-0.00128 -0.00049 0.00106
0.00055 0.00017 0.00014
... ... ...
... ... ...
...
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... ZIM2 14001 M008
... ZIMM 14001 M004
VX VY VZ
-0.01393 0.01809 0.01169
-0.01414 0.01804 0.01146
-0.00021 -0.00005 -0.00023
0.00040 0.00015 0.00041
VU VN VE
0.00070 0.01636 0.01975
0.00037 0.01635 0.01972
-0.00032 -0.00000 -0.00002
0.00055 0.00017 0.00014
VX VY VZ
-0.01393 0.01809 0.01169
-0.01414 0.01804 0.01146
-0.00021 -0.00005 -0.00023
0.00040 0.00015 0.00041
VU VN VE
0.00070 0.01636 0.01975
0.00037 0.01635 0.01972
-0.00032 -0.00000 -0.00002
0.00055 0.00017 0.00014
... ... ...
... ... ...
...
The final results are contained in the files ${P}/INTRO/STA/FINAL.CRD EXAMPLE : Estimate final solution - coordinates and velocit ies 28 - AUG -17 16:03 -------------------------------------------------------------------------------LOCAL GEODETIC DATUM : IGS14 EPOCH : 2010 -01 -01 00:00:00 NUM
STATION NAME
75 92 107 122 136 176 192 236 262 263 264 276 278
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
X (M) 3929181.43126 4033460.85505 3664880.49055 3524522.83658 4641949.46826 3370658.46734 3844059.87805 4627851.76301 3828735.79223 4075580.46481 4075579.34558 4331299.80234 4331296.99495
Y (M) 1455236.81309 23537.87958 1409190.66849 1329693.70182 1393045.51501 711877.20881 709661.39520 119640.11214 443305.03608 931853.87929 931853.19399 567537.41214 567555.96571
Z (M) 4793653.94 428 4924318.3093 1 5009618.5 2923 5129846.4 0041 4133287.5 3776 5349787.00 033 5023129.60 030 4372993.60 102 5064884.77 220 4801568.17 525 4801569.08 708 4633133.77 514 4633133.99 187
FLAG W W A A W W A W W W A W W
and ${P}/INTRO/STA/FINAL.VEL EXAMPLE : Estimate final solution - coordinates and velocit ies 28 - AUG -17 16:03 -------------------------------------------------------------------------------LOCAL GEODETIC DATUM : IGS14 NUM
STATION NAME
VX ( M / Y )
VY ( M / Y )
VZ ( M / Y )
75 92 107 122 136 176 192 236 262 263 264 276 278
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
-0.02030 -0.01036 -0.02293 -0.02128 -0.01977 -0.01249 -0.01518 -0.00937 -0.01652 -0.01699 -0.01699 -0.01414 -0.01414
0.01400 0.01632 0.01468 0.01414 0.01941 0.01575 0.01748 0.01952 0.01538 0.01806 0.01807 0.01804 0.01804
0.00629 0.01150 0.00251 0.00466 0.01507 0.01282 0.01026 0.01347 0.00835 0.00857 0.00857 0.01145 0.01145
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11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
FLAG W W A A W W A W W W A W W
PLATE EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA
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6.6 Daily Goals
6.6 Daily Goals At the end of today’s session, you should have: 1. used GPSEST to compute a final solution of the day, created files: FIX10207. OUT , FIX10207. NQ0 (for all sessions), 2. checked the coordinates of the fiducial sites using ADDNEQ2 and HELMR1, created files: FIN10207. CRD , FIN10207. TRP , FIN10207. OUT , and HLM10207. OUT , 3. used COMPAR to check the daily repeatabilities, created file: COMPAR. OUT , 4. used ADDNEQ2 to create a final session solution, and reduced size NEQs, created files: RED10207. NQ0 and RED10207. SNX , 5. if possible, used ADDNEQ2 for velocity estimation, created files: FINAL. CRD and FINAL. VEL .
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7 Additional Examples In the previous terminal sessions you have estimated coordinates, velocities, and troposphere parameters. This is the standard application of the Bernese GNSS Software for most users. If you have finished this work or if you want to follow more examples at home, this section of the document provides some suggestions to practice: • advanced usage of ITRF2014/IGS14 (see Section 7.1 on page 106), • generation of a combined GPS/GLONASS orbit from IGS (see Section 7.2 on page 112), • kinematic positioning for a station (see Section 7.3 on page 118), • zero difference processing to estimate clocks (see Section 7.4 on page 124), • inclusion of RINEX 3 data in the processing (see Section 7.5 on page 144), • enabling the processing of Galileo data (see Section 7.6 on page 147), and • simulation of GNSS observations (see Section 7.7 on page 155).
Extended Example Dataset In particular for Sections 7.5 and 7.6 the example dataset has been extended. The same set of stations that have been introduced in Section 1.1 are provided for day 213 in year 2017 (01 August 2017). For all stations RINEX 2 data are available in the datapool (${D}/RINEX). In the (${D}/RINEX3 directory for 7 of them are the observations also given in RINEX 3 format (long filenames). Six out of these stations provide also Galileo measurements. An additional campaign (${P}/EXM_GAL) in the Bernese Introductory Course is established where these RINEX observation files are copied and extracted in the RAW directory. Please note that RINEX 3 file have there the conventional short filename to guarantee the compatibilty with the filenaming to access them in the Bernese processing prgrams. Furthermore this campaign is prepared to analyze this day. In particular, the orbit product files from CODE are copied into the ORB directory. Apart from the COD (GPS and GLONASS) also the COM products (CODE’s five-system solution for IGS MGEX).
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7 Additional Examples
7.1 Advanced Aspects in Using ITRF2014/IGS14 The velocity of a station in the ITRF2014/IGS14 is only derived by the sum of the linear velocities and the PSD corrections. On the other hand, for the datum definition of a velocity field the same parametrization for all stations and coordinate components is needed, what means, only linear station velocity parameters. There is of course the option to first subtract the PSD corrections from the coordinates and only linear velocities remain which can be aligned to the linear velocities from the ITRF2014/IGS14 solution SINEX file. It should be noted that this freezes the empirical PSD corrections that have been computed based on the IGS repro2 campaign. Consequently also GNSS modelling effects from the repro2 solution may be transferred into the new coordinate series, even when computed with a different (better) GNSS observation modelling. In addition the linear velocity field must first be adjusted to the PSD corrections before it can be integrated in the interval of your GNSS solution. In this section we are discussing potential alternative approaches.
7.1.1 Using ITRF2014/IGS14 Frames for Reprocessing For reprocessing the station coordinates for a specific epoch are necessary. This can be done as simple as deomnstrated in Section 2.5 of this tutorial. Nevertheless. it is recommended in case of a reprocessing to not use the IGS14_R.CRD, IGS14_R.VEL, and IGS14.FIX files as they are provided. It is preferable to extract the coordinates and velocities valid for the specific epoch of the session in the reprocessing from the IGS14 SINEX solution file by running the program SNX2NQ0 ('Menu>Conversion >SINEX to normal equations').
In order to follow the example, you have to copy the IGS14.SNX from ${D}/STAT_LOG/ IGS14.snx to ${P}/INTRO/SOL/IGS14.SNX (note that your operating system might be case sensitive).
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7.1 Advanced Aspects in Using ITRF2014/IGS14
Note that only the CRD and VEL informaion must be extracted but no NEQs are needed.
The following three files should now be available: ${P}/INTRO/STA/IGS14.CRD, ${P}/INTRO/STA/IGS14.VEL, and ${P}/INTRO/STA/IGS14.FIX.
The datum identifier in the coordinate files should be IGS14_0 in order to apply the PSD corrections by executing the program COOVEL. Because the files only contain those stations where coordinates and velocities are given in the IGS14 solution for the given epoch the remaining stations for your project need to be added using the program program CRDMERGE ('Menu>Service>Coordinate tools>Merge coordinate/velocity files').
7.1.2 Ignoring Stations with PSD Corrections for Datum Definition
You may simply follow the approach from previous ITRF solutions by limiting yourself to those stations for the datum definition where no PSD corrections are given in the IGS14 solution. As long as this limited number of stations is sufficient for your application you can follow this simple approach as it was demonstrated in Section 6.5 of this tutorial.
In order to get a list of stations where no PSD corrections are applied the pogram COOVEL offers an option “Stations without PSD corrections” .
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You may enter the last epoch of interest (e.g., day 206 of year 2011, the last day of the example dataset). The result file ${P}/INTRO/STA/I14_nPSD.FIX contains a list of stations where no PSD corrections were given. This file can be used as the list of available set of stations that may be used for the datum definition in the program ADDNEQ2:
Use the analogue setting for the datum definition for the station velocities in panel “ADDNEQ2 6.1: Datum Definition for Station Velocities” .
7.1.3 Recovering a Linear Velocity Field for a Certain Interval If you cannot continue in the simple way as in this example by simply ignoring all stations with PSD corrections for the datum definition, a dedicated BPE named ${U}/PCF/ITRF. PCF (description in ${U}/PCF/ITRF.README) is provided with the software. It may be started with 'Menu>BPE>Start BPE processing'. In the second panel “RUNBPE 2: Process Control Options” the ITRF.PCF is specified for “Process control file” . The most interesting is the last panel:
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7.1 Advanced Aspects in Using ITRF2014/IGS14
The BPE copies the files IGS14.SNX (given in V_REFSNX) and IGS14.PSD (given in V_REFPSD) from ${D}/REF52 into the campaign. It extracts the coordinates and velocities into Bernese formatted files where the datum identifier IGS14 (see variable V_REFDAT) is used. Starting from the epoch 2010 07 01 (see V_EPO1) this extraction is repeated every 30 days (see V_NINT) until epoch 2011 07 31 (see V_EPO2) is exceeded. The start and end date should cover the data interval that shall be used for the velocity estimation (in our case from day 207 in year 2010 to day 206 in year 2011). In this way, 10 coordinate files are extracted. The coordinates are fitted by a linear model in script COMPAR2 (PID 212) expecting that the fit during the interval is better than the thresholds given in the last panel of the related program input file:
(The panel is obtained via COMPAR2 .)
'Menu>BPE>Edit PCF program input files'
after selecting PID 121:
For most of the stations the residuals in the program output file ${P}/INTRO/OUT/ myIGS14.OUT (where myIGS14 is again related to the variable V_REFNAM) are zero. Deviations from zero may have two reasons:
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7 Additional Examples • the PSD corrections have been become close to a linear model with station AREQ as an example where the earthquake from 2001 has only a marginal deviation from a linear station velocity AREQ 42202 M005
N
0.03
AREQ 42202 M005
E
0.05
AREQ 42202 M005
U
0.01
0.07 -0.03 0.08 -0.05 -0.02 0.01
0.03 -0.03 0.05 -0.04 -0.01 0.01
0.01 -0.02 0.01 -0.03 -0.00 0.00
-0.01 -0.01 -0.02 -0.01 0.01 0.00
-0.03 0.02 -0.03 0.00 0.01 -0.00
-0.03 0.03 -0.05 0.04 0.01 -0.01
-0.04 0.05 -0.05 0.09 0.01 -0.02
• where the IGS14.SNX contains discontinuities like in the example for station WUHN at day 082 of year 2011 WUHN 21602 M001
N
0.11
WUHN 21602 M001
E
1.09
WUHN 21602 M001
U
4.19
0.12 -0.17 1.13 -1.61 -4.34 6.18
0.08 -0.21 0.73 -1.99 -2.84 7.68
0.04 0.16 0.35 1.56 -1.33 -6.01
-0.00 0.12 -0.04 1.17 0.17 -4.51
-0.05 0.08 -0.44 0.77 1.67 -3.01
-0.09 0.04 -0.82 0.39 3.17 -1.50
-0.13 0.00 -1.21 0.01 4.67 -0.00
(Note that discontinuities can be managed according to the description in Section 10.3.5 of the Bernese GNSS Software user manual. The station information file may be added in panel “COMPAR2 1: Input Files” , PID 121 .) At the end of the procedure three files are obtained myIGS14_R.CRD, myIGS14_R.VEL, and myIGS14.FIX (with myIGS14 is stemming from the variable V_REFNAM) that contain only those stations where threshold specified above are not exceeded. These files may either be copied to ${D}/REF52 (take care on overwriting potential other files from other projects) and may be used for variable V_REFINF in other example BPEs. For the interactive use they should be merged with the stations from you project using the program CRDMERGE:
If is of course essential that all coordinate files (myIGS14_R.CRD and EXAMPLE.CRD) refer to the same epoch.
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7.1 Advanced Aspects in Using ITRF2014/IGS14 To active the option “Synchronize stations with same DOMES number” is in particular help to antenna sharing stations where not all of the receiver/antenna combinations are included in the reference frame file myIGS14_R.CRD.
Note that this option requires the IGS-related station naming convention with the 4character ID and the domes number. Repeat the program to merge also the velocity files.
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7 Additional Examples
7.2 Preparing Combined GPS and GLONASS IGS–Orbits In this section the differences to the standard procedure using CODE products containing GPS and GLONASS orbits with respect to IGS products are demonstrated. The IGS uses independent combination procedures for GPS and GLONASS orbits resulting in two sets of precise orbit files. That’s why the orbits for the two GNSS first need to be merged. In contrast, CODE (and other AC) uses a rigorous combined multi–GNSS processing scheme, hence producing a single precise orbit file.
7.2.1 Prepare Pole Information For the IGS precise orbit files (PRE) the consistent EOP need to be available in the ORB directory (which is the case in the Bernese Introductory Course environment). As for the use of CODE products in Section 3.1, the EOP information has to be converted from the IERS/IGS standard format (file extension within the Bernese GNSS Software is IEP) to the internal Bernese EOP format (file extension within the Bernese GNSS Software is ERP). This is the task of the program POLUPD ('Menu>Orbits/EOP>Handle EOP files>Convert IERS to Bernese Format'). Simply specify IGS–related filenames — other settings are analogous to Section 3.1 .
The messages ### PG POLUPD : NUTATION MODEL NOT SPECIFIED IN INPUT ERP FILE USING NUTATION MODEL NAME : IAU2000R06 ### PG POLUPD : SUBDAILY POLE MODEL NOT SPECIFIED IN INPUT ERP FILE USING SUBDAILY POLE MODEL NAME : IERS2010
just inform you that the nutation and subdaily pole models from the files in the input panel are written to the output file because no Bernese formatted ERP file was used as input. This is different to importing the EOP from CODE products because here the information on the nutation and sub daily pole model is also available in the international format (with the extension IEP).
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7.2 Preparing Combined GPS and GLONASS IGS–Orbits
7.2.2 Merging Precise Orbit Files
Before we can prepare the orbits from the IGS for a combined GPS+GLONASS processing we need to merge the two separate files IGS15941.PRE and IGL15941.PRE. This is the task of the program CCPREORB ('Menu>Orbits/EOP>Concatenate/merge precise orbit files'):
The resulting filename consists of the solution identifier (“First four characters” ) and the session of the first epoch (if “Reference epoch for output files” is empty). The reference epoch may also be specified by the user as the above example shows. Using the input options from above panel we expect the result file named as ${P}/INTO/ORB/GNSS2070. PRE .
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In the next panel you may specify the time window for which the satellite positions shall be included in the resulting precise orbit file.
7.2.3 Generating Standard Orbit Files The subsequent steps to create the so–called standard orbit files from precise orbit files are again analogue to the standard procedure using CODE products as detailed in Section 3.2 . The first step is the conversion into tabular orbit files (TAB) using the program PRETAB ('Menu>Orbits/EOP>Create tabular orbits'). The merged GPS/GLONASS precise orbit file is chosen as input and IGS–related output files are recommended.
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7.2 Preparing Combined GPS and GLONASS IGS–Orbits
It is important to enable the option “Exclude sat. with accuracy code 0” if you process orbits that are not provided by CODE (label “COD”). The precise GLONASS orbit files from the IGS contain the GLONASS broadcast clock information (instead of no clock corrections for GLONASS as in the CODE product files). This leads to two differences with respect to the use of the standard products from CODE: • The messages on missing GLONASS satellites clocks are not displayed (at least not for all GLONASS satellites). • Because the Bernese GNSS satellite clock files contain also clock corrections for the GLONASS satellites, the program CODSPP may compute the inter–system bias between IGSF–time scale (GPS satellite clocks in the IGS final product files) and GLONASS broadcast time system. Both differences have no impact on the obtained results. For some days a message like this may appear: ### PG PRETAB : SATELLITE CLOCK VALUES MISSING SATELLITE : 1 FILE NUMBER : 1 FILE NAME : $ { P }/ INTRO / ORB / GNSS2080 . PRE
It reports that for a specific satellite no clock information is provided in the IGS files. As long as this message lists only a limited number of satellites, the synchronization of the receiver clocks in CODSPP is still possible with the remaining satellites. It is therefore not critical. To generate the standard orbits (extension STD) from the tabular orbits the program ORBGEN ('Menu>Orbits/EOP>Create/update standard orbits') has to be used. Introduce the IGS–related tabular orbit file together with the consistent ERP file (as well as the consistent nutation, and the subdaily pole model in panel “ORBGEN 1.1: General Files” ):
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The name of the resulting orbit file should also be related to IGS:
The other options can be used as given in Section 3.2. The resulting program output is expected to look like ... ------------------------------------------------------------------------------RMS ERRORS AND MAX . RESIDUALS ARC NUMBER : 1 ITERATION : 4 -------------------------------------------------------------------------------
SAT ---
# POS ----
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96
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RMS ( M ) ------0.002 0.002 0.004 0.001 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.003 0.003 0.003 0.002 0.004 0.002 0.003 0.002 0.002 0.002 0.003 0.003
QUADRATIC MEAN OF O - C ( M ) TOTAL RADIAL ALONG OUT ----------------------------0.002 0.002 0.004 0.001 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.003 0.003 0.003 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.003 0.003
0.001 0.002 0.004 0.001 0.002 0.003 0.002 0.001 0.002 0.002 0.001 0.003 0.003 0.004 0.002 0.004 0.002 0.003 0.002 0.002 0.001 0.003 0.003
0.001 0.001 0.003 0.001 0.001 0.003 0.002 0.001 0.001 0.002 0.001 0.002 0.002 0.003 0.002 0.003 0.002 0.002 0.002 0.001 0.001 0.002 0.002
0.003 0.002 0.004 0.001 0.002 0.004 0.002 0.002 0.003 0.003 0.002 0.003 0.003 0.002 0.002 0.004 0.002 0.003 0.003 0.003 0.003 0.003 0.003
MAX . RESIDUALS ( M ) RADIAL ALONG OUT -------------------0.004 0.003 0.009 0.003 0.004 0.008 0.005 0.003 0.003 0.005 0.004 0.007 0.013 0.011 0.008 0.007 0.006 0.006 0.005 0.004 0.003 0.005 0.011
0.004 0.004 0.006 0.003 0.005 0.006 0.005 0.003 0.003 0.005 0.003 0.005 0.007 0.006 0.004 0.008 0.005 0.004 0.004 0.004 0.002 0.005 0.006
0.007 0.005 0.007 0.003 0.010 0.007 0.004 0.006 0.006 0.005 0.007 0.006 0.006 0.009 0.005 0.008 0.007 0.007 0.005 0.006 0.006 0.006 0.005
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7.2 Preparing Combined GPS and GLONASS IGS–Orbits
24 25 26 27 28 29 30 31 32 101 102 103 104 105 107 108 110 111 113 114 115 117 118 119 120 121 122 123 124
96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96
0.001 0.002 0.004 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.002 0.002 0.002 0.001 0.002 0.002 0.002 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002
0.001 0.002 0.004 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.001 0.002 0.002 0.002 0.001 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.002
0.001 0.001 0.005 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.001 0.002 0.001 0.001 0.002 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.001 0.001
0.001 0.001 0.003 0.001 0.002 0.003 0.002 0.002 0.001 0.002 0.002 0.002 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.002 0.001 0.002 0.001 0.002 0.001 0.002 0.002 0.001 0.002
0.002 0.003 0.003 0.003 0.002 0.003 0.002 0.003 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.003 0.003 0.003 0.002 0.002 0.001
0.003 0.003 0.011 0.003 0.004 0.005 0.006 0.005 0.005 0.006 0.006 0.005 0.005 0.003 0.003 0.004 0.007 0.003 0.004 0.005 0.004 0.010 0.004 0.005 0.004 0.006 0.004 0.003 0.003
0.002 0.003 0.006 0.003 0.005 0.006 0.005 0.005 0.003 0.004 0.005 0.006 0.003 0.007 0.007 0.003 0.003 0.010 0.005 0.012 0.008 0.009 0.006 0.006 0.004 0.004 0.006 0.004 0.017
0.005 0.007 0.005 0.006 0.007 0.007 0.005 0.009 0.006 0.007 0.005 0.006 0.004 0.004 0.005 0.004 0.005 0.006 0.005 0.004 0.005 0.003 0.006 0.006 0.006 0.014 0.004 0.004 0.003
------------------------------------------------------------------------------...
The RMS error for the orbit fit for precise IGS orbits should be below 5 mm (for older orbits it may also achieve 10. . . 15 mm). The file ${P}/INTRO/OUT/IGS10207.LST contains the same results as displayed on page 27 but contains also the GLONASS satellite orbits: EXAMPLE : Session 102070: Standard orbit generation 28 - AUG -17 13:32 TIME FROM DAY : 1 GPS WEEK : 1594 TO DAY : 2 GPS WEEK : 1594 ------------------------------------------------------------------------------ORBIT REPEATABILITY FROM A 1 - DAY FIT THROUGH DAILY ORBIT SOL UTIONS ( MM ) # ECLIPSING SATELLITES : 5 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ECL .. .. .. .. .. .. .. E . E . E . .. .. .. .. .. .. .. .. DOY 1 2 3 4 5 6 ... 12 13 14 15 16 ... 32 101 102 103 104 105 107 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - 207 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 2 2 2 1 1 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ALL 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 2 2 2 1 1 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - -
... ... ... ... ... ... ...
If you want to use these orbit files in the processing programs, you simply have to replace the CODE–related by the IGS–related filenames for the standard orbit and EOP files.
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7.3 Kinematic Positioning 7.3.1 Estimating Kinematic Positions in a Double–Difference Solution The example campaign contains no really roving stations. You can, however, define one of them to be kinematic (e.g., station GANP). Introduce the coordinates from the final solution (${P}/INTRO/STA/FIN10207.CRD) for all other sites.
Remove the name of the resulting “Normal equations” file in panel “GPSEST 2.1: Output Files 1” if there is any entry in this input field. Store the kinematic coordinates in an output file (“Kinematic coordinates” in panel “GPSEST 2.2: Output Files 2” ).
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7.3 Kinematic Positioning
Because the number of parameters for the kinematic positioning may become very large, we select only a short data interval of one hour for this kinematic positioning:
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7 Additional Examples The option “Enable extended program output” may be disabled now:
Fix all station coordinates apart from GANP in the panels “GPSEST 4: Datum Definition for Station Coordinates” (choose MANUAL in panel “GPSEST 4: Datum Definition for Station Coordinates” and select all stations except GANP in panel “GPSEST 4.2” ).
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7.3 Kinematic Positioning Enable the kinematic coordinates option without any pre–elimination in a first run:
An additional panel for options related to epoch parameters is displayed where you can accept the default values:
Let us assume only horizontal movements for this site:
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7.3.2 Extracting the Program Output from a Kinematic Positioning As expected you will get only small estimates for the kinematic coordinates since GANP was not moving: KINEMATIC COORDINATES : --------------------EPO : EPOCHS SINCE
$ { P }/ INTRO / STA / KIN10207 . KIN
2010 -07 -26 02:00:00
( SAMPLING
300 SEC )
CORRECTION AND RMS IN METER ... EPO EPOCH ( MJD ) # OBS STA LATITUDE LONGITUDE HEIGHT ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -...
1 2 3 4 5 6 7 8 9 10 11 12
With
GANP 11515 M001 55403.083333 55403.086806 55403.090278 55403.093750 55403.097222 55403.100694 55403.104167 55403.107639 55403.111111 55403.114583 55403.118056 55403.121528
15 14 14 14 13 13 13 13 14 14 14 13
GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP
49 2 -0.0048 0.0049 0.0019 0.0007 -0.0024 -0.0045 -0.0031 0.0012 -0.0062 -0.0028 -0.0009 -0.0049
4.971302 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.005 + - 0.005 + - 0.005 + - 0.005 + - 0.005
20 19 22.574439 -0.0035 + - 0.004 -0.0045 + - 0.004 -0.0003 + - 0.004 0.0015 + - 0.004 0.0016 + - 0.004 0.0034 + - 0.004 0.0026 + - 0.004 0.0041 + - 0.004 0.0022 + - 0.004 0.0034 + - 0.005 0.0023 + - 0.005 -0.0014 + - 0.005
746.0115 0.0000 + - 0.000 0.0000 + - 0.000 -0.0000 + - 0.000 -0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 -0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 -0.0000 + - 0.000
... ... ... ... ... ... ... ... ... ... ... ...
the
program GPSXTR ('Menu>Processing>Program output extraction>Parameter estimation/stacking') a comprehensive summary of the estimates for the kinematic solution can be extracted:
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7.3 Kinematic Positioning The resulting summary file looks like: -------------------------------------------------------------------------------* XEPO 12 0 12 * INI 0.0000 0.0000 0.0000 * EST 0.0000 0.0000 0.0000 * DIFXYZ 0.0000 0.0000 0.0000 * DIFNEU -0.0017 0.0009 0.0000 ------------------------------------------------------------------------------EPOCH DN DE DU 1 -0.0048 -0.0035 0.0000 2 0.0049 -0.0045 0.0000 3 0.0019 -0.0003 -0.0000 4 0.0007 0.0015 -0.0000 5 -0.0024 0.0016 0.0000 6 -0.0045 0.0034 0.0000 7 -0.0031 0.0026 0.0000 8 0.0012 0.0041 -0.0000 9 -0.0062 0.0022 0.0000 10 -0.0028 0.0034 0.0000 11 -0.0009 0.0023 0.0000 12 -0.0049 -0.0014 -0.0000 ------------------------------------------------------------------------------* AVG -0.0017 0.0009 0.0000 * SIG 0.0036 0.0028 0.0000 * RMS 0.0033 0.0028 0.0000 * RMSTC 0.0011 ------------------------------------------------------------------------------STATION : GANP PARAMS : 96 12 0 509 ( AMB , CRD , CLK , TOT ) OBSERV : 0 1592 1592
The different components of the summary are described in the online help.
7.3.3 Further suggestions • Introduce the result file with kinematic coordinates as an input file for another run of GPSEST. If the estimates become zero it is a confirmation that the file was correctly considered as the a priori kinematic positions for the station GANP. • Use the pre–elimination EVERY_EPOCH for the “Kinematic coordinates” (they are back– substituded by the program in order to get a solution also for those parameters). Compare the results with the first solution. • Switch the “Var-covar wrt epoch parameters” in panel “GPSEST 6.7: General Options for Epoch Parameters” from SIMPLIFIED to CORRECT. Compare the results again with the first solution. • Compute kinematic coordinates for the full day using the epoch–wise pre–elimination and back–substitution algorithm. To save computing power we recommend to sample the data to 300 s. • Repeat the kinematic solution considering only one of the two GNSS at the time (choose either GPS or GLONASS in option “Satellite system” of panel “GPSEST 3.1: General Options 1” ).
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7.4 Zero Difference Processing for Clock Estimation For the clock estimation we have to use code and phase data together. The data is analyzed at zero difference level.
7.4.1 Preprocessing There are two ways for preprocessing zero difference observations in the Bernese GNSS Software, Version 5.2 available: • Precise satellite clocks are available for all satellites with the same sampling as the RINEX observations to be processed (typically 30 s): 1. RNXSMT to screen and smooth code measurements based on a consistency check between the code and phase observations 2. RXOBV3 to import the screened smoothed code together with the original phase data into Bernese observation file format 3. CODSPP to synchronize receiver clocks with respect to the GNSS system time 4. MAUPRP to screen the phase measurements 5. GPSEST, RESRMS, SATMRK to screen residuals from a zero difference network solution • Precise satellite clocks are not available: 1. RNXSMT to screen phase and code measurements based on a consistency check; smooth the code observations 2. RXOBV3 to import the screened phase and smoothed code data into Bernese observation file format 3. CODSPP to synchronize receiver clocks with respect to the GNSS system time 4. GPSEST, RESRMS, SATMRK to screen residuals from a zero difference network solution iteratively with a descreasing threshold In this text book we follow the second approach. The preprocessing of zero difference data starts with program RNXSMT, available from 'Menu>RINEX>RINEX utilities>Clean/smooth observation files'. In the first panel select all RINEX files of the active session:
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7.4 Zero Difference Processing for Clock Estimation The default input options perform well in most cases:
In the last panel you decide whether or not to “Preprocess phase observations” by checking or unchecking the box:
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7 Additional Examples The resulting smoothed RINEX files look like usual RINEX files but the line ### PG RNXSMT : RINEX FILE CHANGED
COMMENT
indicates that the numbers in the file result from RNXSMT. The S/N indicators have the following meaning: “1” considered by RNXSMT as bad data “5” data have only been copied from the original file by RNXSMT “9” considered by RNXSMT as good data The cycle slip flags in a smoothed RINEX file indicate the epochs/satellites where new ambiguities are needed according to the evaluation of RNXSMT. In order to import the smoothed RINEX observation files into the Bernese format you have to select them in the first input panel of program RXOBV3 (note that you will overwrite your zero difference observation files from the previous processing example by doing this):
If you have preprocessed the phase measurementents already in RNXSMT you can resample the observations already in RXOBV3: set the “Sampling interval” in panel “RXOBV3 2: Input Options 1” , e.g., to 300 seconds.
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7.4 Zero Difference Processing for Clock Estimation Furthermore, you have to consider the “SIGNAL STRENGTH REQUIREMENTS” for smoothed RINEX files (see above):
After importing the data into the Bernese format you have to repeat the receiver clock synchronization with program CODSPP. The options are identical to the settings in Section 4.2.1. The only difference is the option “Mark outliers in obs. files” in the last input panel: depending on your preprocessing chain it is recommended to select: BOTH if you have screened phase and code data in RNXSMT, because it is assumed that
the corresponding phase measurement is also bad if a problematic code data record has passed RNXSMT. CODE if you have used RNXSMT to only screen and smooth code observations so far. From problems in the code data cannot be deduced the quality of the corresponding phase measurements.
If you have not yet cleaned the phase observations in RNXSMT (approach with precise high–rate clocks available), you have to run MAUPRP now ('Menu>Processing>Phase preprocessing'). You need for this purpose a precise satellite clock corrections for all satellites and with the full sampling of 30 seconds (or even higher). Select “Zero-difference observation files” instead of “Single-difference observation files” and introduce a consistent set of “GNSS standard orbits” , “Pole file” , and “Satellite clocks” in panel “MAUPRP 1: Input Files” . An additional panel “MAUPRP 7: Clock Events” will be displayed (see online help for further details). It is
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7 Additional Examples receommended to disable the cycle slip corrections by checking the box for option “Do not accept cycle slip corrections” in panel “MAUPRP 8: Cycle Slip Detection/Correction” . All other settings can remain as described in Section 4.2.3.˙ You may skip this step if you have preprocessed the phase data already in RNXSMT.
7.4.2 Residual Screening Now you are ready to run GPSEST ('Menu>Processing>Parameter estimation') in the zero difference mode to store residuals for screening. You also have to include a DCB file when processing code observations.
In the subsequent two panels, the output files for residuals and clock estimates are specified:
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7.4 Zero Difference Processing for Clock Estimation
Take care to specify “Correlation strategy” with CORRECT and to store NORMALIZED residuals
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7 Additional Examples The options in the following panel are only relevant to zero difference processing. They define, e.g., the source clocks used as a priori for satellites and receivers if more than one potential source is available:
The datum definition shall be consider according to the information in the a priori coordinate file given in panel “GPSEST 1.1: Input Files 1” :
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7.4 Zero Difference Processing for Clock Estimation Clock parameters are setup and pre–eliminated EVERY_EPOCH:
For the residual screening, a reduced set of troposphere parameters can be estimated:
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7 Additional Examples The following panel asks for the options regarding the clock estimation. If you include GLONASS you need to choose “Rclk.off: Parameter setup” different from NONE. See online help for additional information.
The program output file should report the clock parameters: ... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
STATION COORDINATES RECEIVER CLOCK BIASES / TIME BIASES AMBIGUITIES SITE - SPECIFIC TROPOSPHERE PARAMETERS EPOCH WISE STATION CLOCKS EPOCH WISE SATELLITE CLOCKS
39 200 1375 91 3739 5842
0 0 0 0 3739 5842
( EPOCH - WISE ) ( EPOCH - WISE )
39 200 1442 91 3744 6059
... ... ... ... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 11286 9581 11575 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE CODE
L3 L3
ALL ALL
54384 54393
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 108777 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
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0.0015 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
97491 2.38
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7.4 Zero Difference Processing for Clock Estimation The residuals are stored in the file ${P}/INTRO/OUT/CLK02143.RES. Use program RESRMS ('Menu>Service>Residual files>Create residual statistics') to screen for outliers bigger than 2 cm for code and phase data (remember that code residuals are scaled to phase residuals — 2 cm in the input field correspond to a 2 m threshold for code residuals):
The statistics in the program output file clearly indicates some stations with problematic obervations: FILE INFORMATION AND STATISTIC : -----------------------------Num Station 1 ... Total RMS med . Resi Sigma numObs nSat nDel ObsTyp .. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -.. 1 2 3 4 5 6 7 ... 14 15 16 17 18 19 20 ...
GANP HERT JOZ2 LAMA MATE ONSA PTBB
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001
... ... ... ... ... ... ...
1.3 2.0 2.0 1.3 3.6 2.4 1.7
0.7 0.7 0.8 0.6 0.8 0.7 0.9
1.1 1.0 1.1 0.9 1.2 1.0 1.3
4682 4716 4805 4786 4324 4624 2155
50 51 50 50 51 50 32
1 3 2 1 9 1 1
PHASE PHASE PHASE PHASE PHASE PHASE PHASE
.. .. .. .. .. .. ..
GANP HERT JOZ2 LAMA MATE ONSA PTBB
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001
... ... ... ... ... ... ...
0.4 0.3 0.3 0.2 0.3 0.3 0.5
0.1 0.1 0.1 0.1 0.1 0.1 0.2
0.3 0.2 0.2 0.2 0.2 0.2 0.3
4683 4718 4806 4788 4325 4624 2155
50 51 50 50 51 50 32
0 0 0 0 0 0 0
CODE CODE CODE CODE CODE CODE CODE
.. .. .. .. .. .. ..
Bernese GNSS Software, Version 5.2
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7 Additional Examples Mark the corresponding code and phase zero difference observations using program SATMRK ('Menu>Service>Bernese observation files>Mark/delete observations':
If you inspect the program output you will notice that only 354 observations have been removed from all observation files. Repeat the GPSEST–run and store again the residuals. ... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0009 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
97420 0.79
In the second iteration we screen for residuals bigger than 6 mm in RESRMS and mark these observations with SATMRK, too. If you have done the screening of phase observations in MAUPRP instead of RNXSMT you can skip the first iteration and you only need to run once through the residual screening procedure (sequence of GPSEST, RESRMS, SATMRK) using the final threshold for the residuals of 6 mm . Page 134
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7.4 Zero Difference Processing for Clock Estimation
7.4.3 Generate Clock Solutions
Repeat the run of GPSEST with the clean observation files to get the definitive clock estimates. You may introduce the estimated coordinates and troposphere parameters1 from the final double–difference solution for the session (e.g., FIN$YD+0). You also have to include a DCB file when processing code observations.
1
If you introduce a troposphere result file based on VMF1, you also need to introduce the same “Gridded VMF1 coefficients” in panel “GPSEST 1.1: Input Files 1” as you have used to generate the “Troposphere estimates” .
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7 Additional Examples Store also the coordinate results that correspond to the clock estimates.
In the final run the clock results for satellites and receivers shall be stored in a “Clock RINEX” result file in panel “GPSEST 2.2: Output Files 2” .
The input field for “ZPD model and mapping function (GNSS)” in panel “GPSEST 3.2: General Options 2” is inactive because a file with “Troposphere estimates” is introduced. The same troposphere model is used in this program run.
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7.4 Zero Difference Processing for Clock Estimation The datum definition shall be reconsidered when introducing a solution for the coordinates:
The sampling of troposphere parameters for those stations where you cannot introduce a complete set of estimates in the file from “Troposphere estimates” given in panel “GPSEST 1.2: Input Files 2” shall be identical with those in the input file:
Bernese GNSS Software, Version 5.2
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7 Additional Examples If you have selected a “Clock RINEX” result file in panel “GPSEST 2.2: Output Files 2” you are asked for the header information. Please replace the placeholders by the information for your institution and give a description for your results.
... NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP -----------------------------------------------------------------------------------------RECEIVER CLOCK BIASES / TIME BIASES 200 0 200 AMBIGUITIES 1320 0 1442 EPOCH WISE STATION CLOCKS 3739 3739 ( EPOCH - WISE ) 3744 EPOCH WISE SATELLITE CLOCKS 5842 5842 ( EPOCH - WISE ) 6059 -----------------------------------------------------------------------------------------TOTAL NUMBER OF PARAMETERS 11101 9581 11445 ------------------------------------------------------------------------------------------
... ... ... ... ... ... ... ... ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE CODE
L3 L3
ALL ALL
54188 54390
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 108578 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
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0.0008 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
97477 0.64
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7.4 Zero Difference Processing for Clock Estimation The estimated inter–frequency biases caused by different hardware delays in the receiver for each GLONASS satellite due to the individual frequency are reported in the following section in the program output: ... RECEIVER CLOCKS / TIME BIASES : ----------------------------REQUEST STATION NAME OFFSET ( USEC ) RMS ( NSEC ) ---------------------------------------------------------------------------------------------1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2
GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP HERT HERT HERT
11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 13212 M010 13212 M010 13212 M010
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
---0.244906 -0.251354 -0.236973 -0.229242 -0.243824 -0.241614 -0.226128 -0.250173 -0.248057 -0.249851 -0.250245 -0.245288 -0.243093 -0.249622 -0.244722 -0.243063 -0.242501 -0.250258 -0.242287 -0.242737 --0.065866 0.069644
0.000000 -0.244906 -0.251354 -0.236973 -0.229242 -0.243824 -0.241614 -0.226128 -0.250173 -0.248057 -0.249851 -0.250245 -0.245288 -0.243093 -0.249622 -0.244722 -0.243063 -0.242501 -0.250258 -0.242287 -0.242737 0.000000 0.065866 0.069644
--0.134 0.144 0.153 0.150 0.128 0.118 0.131 0.129 0.129 0.131 0.130 0.128 0.132 0.131 0.131 0.125 0.113 0.127 0.149 0.140 --0.131 0.135
SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT
GPS 101 102 103 104 105 107 108 110 111 113 114 115 117 118 119 120 121 122 123 124 GPS 101 102
...
The report of the clock estimates looks like: ... EPOCH WISE STATION CLOCKS : --------------------------
$ { P }/ INTRO / OUT / CLK10207 . CLK
STATION CLOCK VALUES ( USEC ) TYPE STAT EPOCH ( MJD ) A PRIORI CORRECTION TOTAL RMS ( NSEC ) # OBS STAT . ----------------------------------------------------------------------------------------------23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 ...
1 2 3 4 5 6 7 8 9 10 11 12 13 1 2 3
55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.003472 55403.003472 55403.003472
-0.021330 -0.002644 0.001614 -0.000525 -0.028072 -31.022254 0.528750 -0.035458 0.138215 -0.008899 -219.055034 -0.031458 0.028115 -0.022433 -0.001060 0.001511
EPOCH WISE SATELLITE CLOCKS : ----------------------------
0.000009 -0.000817 -0.000189 0.000184 0.001137 -0.000121 0.000326 -0.000356 0.000294 -0.000339 0.000212 -0.000164 -0.000175 0.000071 -0.000899 -0.000144
-0.021321 -0.003462 0.001424 -0.000340 -0.026935 -31.022376 0.529076 -0.035814 0.138509 -0.009237 -219.054822 -0.031623 0.027940 -0.022362 -0.001959 0.001367
0.003 0.003 0.003 0.003 0.003 0.003 0.005 0.003 0.004 0.003 0.004 0.003 0.004 0.003 0.003 0.003
34 29 35 35 30 30 11 28 20 33 18 30 18 34 29 34
R R R R R R R R R R R R R R R R
# # # # # # # # # # # # # # # #
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM GANP HERT JOZ2
$ { P }/ INTRO / ORB / CLK10207 . CLK
SATELLITE CLOCK VALUES ( USEC ) TYPE SAT EPOCH ( MJD ) A PRIORI CORRECTION TOTAL RMS ( NSEC ) # OBS -----------------------------------------------------------------------------------------24 24 24 24 24 24 24 24 24 24 24 24 24
3 6 9 11 14 17 19 20 22 24 28 31 32
55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000
586.451514 559.025665 20.468252 -78.075202 71.688147 163.652097 -52.512921 52.929104 166.687820 307.451136 -9.425636 -21.952063 -46.318216
Bernese GNSS Software, Version 5.2
-0.000519 0.001482 0.007644 0.000795 0.000893 0.000782 0.000589 0.000155 0.002045 0.000259 0.000221 0.000419 0.000435
586.450995 559.027147 20.475896 -78.074407 71.689041 163.652879 -52.512332 52.929259 166.689865 307.451395 -9.425414 -21.951644 -46.317781
0.013 4.082 7.717 0.002 0.003 0.010 0.003 0.004 0.014 0.007 0.007 0.084 0.003
15 1 * 1 * 26 26 22 26 26 12 25 22 2 * 26
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7 Additional Examples
24 24 24 24 24 24 24 24 24 24 24 24 24 ...
104 105 107 113 114 115 120 121 122 3 6 9 11
55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.003472 55403.003472 55403.003472 55403.003472
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 586.452934 559.021364 20.469100 -78.075981
-79.261456 -153.329680 -292.762903 -276.613710 -168.479768 23.463583 -73.657604 -200.315946 -10.570479 -0.001054 0.001878 -0.000804 0.000704
-79.261456 -153.329680 -292.762903 -276.613710 -168.479768 23.463583 -73.657604 -200.315946 -10.570479 586.451879 559.023242 20.468296 -78.075277
7.795 0.004 0.011 0.023 0.010 0.028 0.004 0.003 0.006 0.015 4.987 5.760 0.002
1 * 18 18 9 15 6 18 18 18 13 1 * 1 * 26
The “∗”–character indicates satellites where the satellite clock correction has been computed from a limited number of stations. Because this section can become very long, it can also be skipped in the GPSEST program output by checking the box “Printing: Suppression of output concerning epoch parameters” in panel “GPSEST 3.2.1.1: Extended Program Output Options” (enabled only if the checkbox “Enable extended program output” in panel “GPSEST 3.2: General Options 2” is checked). Differences of clocks and Allan deviations for differences of clocks can be extracted from the GPSEST program output by the program GPSXTR ('Menu>Processing>Program output extraction >Parameter estimation/stacking'). The pair of clocks (receiver or satellites) are defined by a baseline file (extension BSL).
The baseline file might, e.g., be generated via the definition file':
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7.4 Zero Difference Processing for Clock Estimation The clock solution is finalized by selecting the reference clock using program CCRNXC ('Menu>Service>Clock tools>Combine/manipulate clock RINEX files'):
Bernese GNSS Software, Version 5.2
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7 Additional Examples
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7.4 Zero Difference Processing for Clock Estimation The table at the end of the program output provides an overview of the clock quality: ... REFERENCE CLOCK SELECTION FOR OUTPUT FILE ----------------------------------------Selected reference station : ...
WTZR 14201 M010
STATISTICS ON THE CLOCKS IN THE OUTPUT FILE ------------------------------------------# per file rms of poly . fit ( ns ) Clock name out 001 n = 0 n = 1 n = 2 ------------------------------------------------------------------WTZR 14201 M010 288 288 1.472 0.000 0.000 WSRT 13506 M005 288 288 4.520 0.030 0.030 MATE 12734 M008 288 288 29.164 0.054 0.052 PTBB 14234 M001 288 288 0.397 0.058 0.043 ONSA 10402 M004 284 284 5.626 0.081 0.076 LAMA 12209 M001 288 288 2.928 2.933 2.932 JOZ2 12204 M002 288 288 3.062 3.067 3.069 HERT 13212 M010 288 288 3.316 3.322 3.328 ZIMM 14001 M004 288 288 4.277 4.091 3.833 TLSE 10003 M009 288 288 5.174 4.892 4.734 ZIM2 14001 M008 287 287 5.297 5.021 4.712 GANP 11515 M001 288 288 6.752 6.689 6.629 WTZZ 14201 M014 288 288 0.3 E +06 0.3 E +06 0.3 E +06 G01 59 59 21.055 0.132 0.133 G02 113 113 53.429 0.138 0.122 G18 111 111 42.222 0.159 0.160 G29 93 93 40.762 0.163 0.136 G20 83 83 14.263 0.176 0.176 G07 105 105 3.172 0.187 0.139 G11 87 87 89.783 0.196 0.194 G19 103 103 91.484 0.196 0.135 G25 83 83 32.984 0.208 0.064 G23 98 98 32.857 0.221 0.115 G13 86 86 10.754 0.224 0.171 G12 86 86 38.001 0.230 0.155 G15 102 102 104.651 0.230 0.203 G14 111 111 111.497 0.240 0.234 G16 108 108 87.317 0.243 0.240 G31 113 113 71.214 0.268 0.165 G22 110 110 14.917 0.272 0.244 G21 102 102 45.128 0.292 0.254 G05 111 111 65.889 0.357 0.310 G06 93 93 248.950 0.371 0.341 R02 98 98 44.930 0.371 0.271 R13 103 103 22.467 0.371 0.341 R04 99 99 4.500 0.407 0.380 G32 87 87 300.001 0.425 0.257 R05 124 124 19.774 0.573 0.499 R19 100 100 20.046 0.592 0.318 ...
7.4.4 Further Suggestions • Switch the “Var-covar wrt epoch parameters” in panel “GPSEST 6.7: General Options for Epoch Parameters” from SIMPLIFIED to CORRECT. • Compute a PPP for one of the stations in the zero difference network solution. Compare the coordinates and clocks from the PPP with the results from the network solution. Exchange the orbits, EOP, and satellite clock corrections from your solution by products from other sources (e.g., CODE or IGS). • Use the PPP approach to screen the residuals of the Bernese zero difference observation files. This has to be done station by station. Make sure that you use a consistent set of orbits, EOP, and satellite clocks (e.g., IGS final products or CODE final solution).
Bernese GNSS Software, Version 5.2
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7 Additional Examples
7.5 Using RINEX 3 Data The campaign ${P}/EXM_GAL in the Bernese Introductory Course environment contains some RINEX 3 files in order to follow the example in this section.
7.5.1 Basic Principles To accommodate for the various GNSS, RINEX 3 format was adapted for additional observation types. However, Version 5.2 of the Bernese GNSS Software is still limited to dual-frequency processing, so we need to select two frequencies for the processing. For each frequency, then, different observation types may be selected according to the availability and a given priority list given in a file (e.g, ${X}/GEN/OBS.SEL): GNSS observation selection for Bernese GNSS Software Version 5.2 21 - Aug -2012 -------------------------------------------------------------------------------Format version :
1.00
Receiver type ********************
S/S ***
O/F ***
RINEX observation codes and their prio rity *** *** *** *** *** *** *** *** *** *** *** ***
DEFAULT
G G G G R R R R
L1 L2 C1 C2 L1 L2 C1 C2
L1P L2P C1P C2P L1P L2P C1P C2P
SIMULA
G G G G R R R R
L1 L2 C1 C2 L1 L2 C1 C2
L1W L2W C1W C2W L1W L2W L1W L2W
L1W L2W C1W C2W
L1C L1X L2C L2D L2X C1C C1X C2C C2D C2X L1C L1X L2C L2X C1C C1X C2C C2X
Make sure that the observation types from your RINEX 3 observation files are contained in this priority list. If an observation type is not listed it is not considered by the program RNXSMT. This selection is performed by the program RNXSMT where the priority list is specified in option “Receiver-specific observation type priority” (panel “RNXSMT 1.1: General Files” ). The resulting smoothed RINEX file (extension SMT) contains a special section in its comment lines reporting the original observation types according to the RINEX 3 convention: ### GEOS : GEOS : GEOS : GEOS : GEOS : ... GEOS : GEOS : GEOS : GEOS :
PG 1 2 3 4 5
RNXSMT : RINEX FILE CHANGED G 1 C1C C2W L1C L2W G 2 C1C C2W L1C L2W G 3 C1C C2W L1C L2W G 4 C1C C2W L1C L2W G 5 C1C C2W L1C L2W
COMMENT COMMENT COMMENT COMMENT COMMENT COMMENT
51 52 53 54
R121 R122 R123 R124
COMMENT COMMENT COMMENT COMMENT
C1P C1P C1P C1P
C2P C2P C2P C2P
L1P L1P L1P L1P
L2P L2P L2P L2P
When importing these files into the binary Bernese observation file format using the program RXOBV3 this information is kept in the header section. This information will be used in future versions of Bernese GNSS Software to manage the observation type identification. This mechanism requires to start with program RNXSMT whenever RINEX 3 files should be imported into Bernese GNSS Software, Version 5.2 . Page 144
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7.5 Using RINEX 3 Data
7.5.2 RINEX 3 Handling in RNXSMT In the first panel of RMXSMT the “Original RINEX observation files” are selected. Observation files in RINEX 2 and RINEX 3 format can be processed together in one program run. For that reason the potential long names of RINEX 3 files need to be converted to the conventional names of the RINEX 2 format.
In order to import RINEX 3 formatted files a priority list need to be specified in “Receiverspecific observation type priority” :
In the last panel of RNXSMT it may be selected whether phase and/or code measurements shall be preprocessed. If both checkboxes are deactivated the original observations from the input RINEX files are simply copied into the smoothed RINEX files.
Bernese GNSS Software, Version 5.2
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7 Additional Examples
7.5.3 RINEX 3 Handling in the Example BPEs Since the release from 2016-Jan-08 of Version 5.2 , the BPE examples distributed with the Bernese GNSS Software contain four variables related to the selection of RINEX files to be processed: • V_OBSSEL to select the stations to be processed (see more information in the README-files of the BPEs), • V_RNXDIR location of the observation files in RINEX 2 format, • V_RX3DIR location of the observation files in RINEX 3 format, and • V_OBSINF name of the “Receiver-specific observation type priority” file to be used in the program RNXSMT if RINEX 3 formatted observation files are used. In the default setup the third section of the process control files considers only RINEX 2 formatted observation files: VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX
RINEX 3 observation typ selection
OBS . SEL
To accept also observation files in RINEX 3 format for processing, the corresponding directory need to be specified in V_RX3DIR : VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX RINEX3
RINEX 3 observation typ selection
OBS . SEL
The user script RNX_COP copies the observation files with the following priority from the datapool into the campaign area: 1. 2. 3. 4. 5.
RINEX 3 RINEX 3 RINEX 3 RINEX 3 RINEX 2
files files files files files
with with with with with
long names; generated by the receiver long names; generated from a stream long names; source unknown short names; source unknown short names
As soon as a RINEX 3 observation file is found, also the variable designed for the “Receiver-specific observation type priority” becomes relevant. Make sure that for your own BPEs the program RNXSMT is the first program that accesses the RINEX observation files.
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7.6 Processing Galileo Observations
7.6 Processing Galileo Observations Orbit and observation files containing Galileo are provided for one day (doy 213 of year 2017) in the campaign ${P}/EXM_GAL in the Bernese Introductory Course environment.
7.6.1 Galileo Satellite-Related Metadata Since 29 January 2017, the IGS is using the antenna corrections related to the IGS realization of the ITRF2014. The igs14.atx published by the IGS contains also corrections for the Galileo satellite antennas. Galileo meta data are contained in the satellite information file (${X}/GEN/SATELLIT.I14) as well as the antenna phase center correction file (${X}/GEN/PCV.I14) published at http://www.aiub.unibe.ch/download/ BSWUSER52/GEN or distributed with the software. These antenna corrections have been estimated under the assumption that the Galileo L1 /L5 ground antenna phase center corrections are identical with GPS L1 /L2 . This assumption has been taken because dedicated Galileo calibrations are not yet available for most antennas. The processing of Galileo observations follows the same scheme and is, therefore, consistent.
7.6.2 Preparing the Orbit and Clock Products The orbit products that shall be used need also to contain Galileo orbits and satellite clock corrections (in particular for a PPP processing). Since this information is not contained in the IGS legacy products, it is necessary to introduce products from the MGEX project of the IGS. In this context for instance CODE provides a dedicated multi-GNSS solution (the solution label COM is used for this purpose). The products can be downloaded from http://www.aiub.unibe.ch/download/CODE_MGEX/CODE and should be made available in the datapool area ${D}/COM for the use with the BPE. The orbit files have to be prepared as described in Section 3. Apart from the different filenaming (COM instead of COD) it should be considered that the EOP files are given in daily instead of weekly files. Consequently you need to specify COM$WD+0 instead of COD$W+07 to the field “Foreign formatted ERP files” in panel “POLUPD 1: Input/Output Files” . Since the beginning of the year 2014 the MGEX-related products generated by CODE are based on the updated Empirical CODE Orbit Model (ECOM) containing the twice-perrevolution term in the D-component (pointing from the satellite to the Sun). In order to correctly integrate these orbits with the program ORBGEN of Version 5.2 of Bernese GNSS Software you should consider the remarks in the section on Orbit Modeling at CODE Analysis Center and Compatibility with Version 5.2 on page 119 of the user manual. It means in particular that the orbit model in the program ORBGEN should be adjusted as follows:
Bernese GNSS Software, Version 5.2
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7 Additional Examples
Even if orbits from more than GPS, GLONASS, and Galileo (as supported by Version 5.2 of Bernese GNSS Software) are contained in the orbit products, ORBGEN selects only those where records in the satellite information file are available. If you plan to do a PPP processing you may directly extract the satellite clock corrections from the clock RINEX file using the program RNXCLK ('Menu>RINEX>RINEX utilities>Extract satellite clock'):
The result file will have the same name as the input file but will be located in the ORB directory of the campaign. Page 148
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7.6 Processing Galileo Observations
7.6.3 Observation Selection Galileo measurements should only be provided in RINEX 3 format. Basically the instructions from Section 7.5 apply. It is only necessary to extend the observation type priority file by the Galileo-related measurement types. An example (${X}/GEN/OBS_GAL.SEL) is provided together with the Bernese GNSS Software: Receiver type ********************
S/S ***
O/F ***
RINEX observation codes and their prio rity *** *** *** *** *** *** *** *** *** *** *** ***
DEFAULT
G G G G R R R R E E E E
L1 L2 C1 C2 L1 L2 C1 C2 L1 L2 C1 C2
L1P L2P C1P C2P L1P L2P C1P C2P L1C L5Q C1C C5Q
L1W L2W C1W C2W
L1C L1X L2C L2D L2X C1C C1X C2C C2D C2X L1C L1X L2C L2X C1C C1X C2C C2X L1X L5I L5X C1X C5I C5X
...
This file needs to be specified in the option “Receiver-specific observation type priority” for the program RNXSMT:
All the other settings may be taken as shown in Section 7.5.2 . The SMT files have now to be imported into the the Bernese internal observation file format using the program RXOBV3:
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7 Additional Examples Since the observation type priority file acts as a filter, only observations for the systems listed in this file have been passed the program RNXSMT. For that reason the SMT-files contain only observations from the selected satellite systems. No further filtering is needed when importing the observations into the Bernese observation file format. Therefore, ALL satellite systems can selected in option “Satellite system to be considered” :
Please take care on the settings in the section “SIGNAL STRENGTH REQUIREMENTS” in panel “RXOBV3 4: Input Options 2” (see Section 7.4.1).
7.6.4 Processing the Example Including Galileo
At this point you can continue the processing for a regional network as described in this tutorial from Section 4.2 (page 33) onwards in order to generate a double difference network solution including Galileo. You need only to take care that you use the COM instead of COD orbit products and the the selection of the GNSS to be processed does not exclude Galileo (ALL for “Satellite system” ).
Forcing the Usage of Galileo Data in a Double-Difference Solution
In order to optimize the baseline creation for the usage of Galileo data the following procedure can be established. It is in particular useful if orbits for these satellites shall be estimated and/or the network of the Galileo tracking stations is so sparse that these measurements are not suffciently available.
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7.6 Processing Galileo Observations Step 1: Create first a set of baselines from those stations that provide Galileo measurements:
Store the resulting baselines in a file:
Step 2: Complete the network with the remaining stations:
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7 Additional Examples
Using Galileo in a Zero-Difference Solution
Within the receivers an ISB between the Galileo and GPS pseudorange signals is expected as it is the case between GPS and GLONASS. Because all Galileo satellites are using the same frequencies only one bias parameter per station needs to be added. In order to setup this bias parameter the option “Differential code biases” needs to be enabled:
As the “Type of differential code biases” LC for the receivers needs to be selected if the ionosphere-free linear combination L3 is processed:
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7.6 Processing Galileo Observations
Unfortunately, this bias parameter cannot be combined with bias parameters from the type P1-C1 or P1-C1_MULTIPLIER . The related biases for GPS need to be introduced as a priori values in “Observable-specifc biases” in panel “GPSEST 1.1: Input Files 1” and cannot be reestimated at the same time. If P1-C1_MULTIPLIER is selected, GPSEST automatically switches to LC if GPS and Galileo observations are processed together. In case of the geometry-free linear combination L4 the P 1 − P 2 bias needs to be specified. Here the necessary Galileo-related bias is set up automatically. Apart from these modifications, the analysis of the zero-difference network as described in Section 7.4 is possible including Galileo observations.
7.6.5 Adapting the Example BPEs The PPP (PPP_BAS.PCF and PPP_DEMO.PCF) as well as the double-difference network (RNX2SNX.PCF) processing example BPEs can be switched for processing Galileo observations by changing a few BPE server variables: • Allow the import of Galileo observations from the RINEX observation files by chaning VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_SATSYS Select the GNSS ( GPS , GPS / GLO ) GPS / GLO ...
to VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_SATSYS Select the GNSS ( GPS , GPS / GLO ) ALL ...
The value of this variable is introduced into the option “Satellite system to be considered” in program RXOBV3 in order to select the GNSS for importing the measurements into the Bernese formatted binary files. • Another set of changes in the BPE variables is related to the usage of RINEX 3 measurements, which is disabled in the default version:
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7 Additional Examples
VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX
RINEX 3 observation typ selection
OBS . SEL
According to Section 7.5 they are enabled by: VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX RINEX3
RINEX 3 observation typ selection
OBS_GAL . SEL
• Finally, the orbit products that shall be used need also to contain Galileo orbits and satellite clock corrections by choosing COM instead of COD products by changing VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_B Orbit / ERP , DCB , CLK information COD ...
to VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_B Orbit / ERP , DCB , CLK information COM ...
It is obvious that the products need to be available in the datapool (${D}/COM). • It might be useful to deposit the results from the Galileo processing in a separate folder in the savedisk archive. You may adapt the BPE variable V_RESULT accordingly: VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_RESULT Directory name for the RNX2SNX results RNX2SNX_GA L ...
For zero-difference processing the ISB between the three involved GNSS in the receivers need to be taken into account. In Section 7.4 this is demonstrated between GPS and GLONASS by enabling the “GLONASS receiver clock biases” in panel “GPSEST 5.2: Setup of Parameters and Pre-Elimination 2” . To add the ISB for Galileo as well, one additional bias parameter is needed per receiver (because, as GPS, Galileo uses the same frequency for all satellites). This additional bias is enabled automatically by the user script TIMEST_P in confunction with the program GPSEST. The program switches the “Type of differential code biases” from P1-C1_MULTIPLIER to LC as soon as Galileo data are available. This mechnism allows the PPP example BPEs to use Galileo data. In the case of the zerodifference network processing example (CLKDET.PCF) this would require a reorganization of the bias-handling. For that reason this example BPE does not support the analysis of Galileo data at the current status.
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7.7 Simulation of GNSS Observations
7.7 Simulation of GNSS Observations The Bernese GNSS Software provides the simulation tool GPSSIM ('Menu>Service>Generate simulated observation data'). It generates synthetic GNSS (i.e., GPS and GLONASS) observations for terrestrial static or kinematic stations as well as for LEO. Code and phase zero difference observation files can be created based on an observation scenario defined by • GNSS satellite geometry given by a standard orbit and • a set of receivers with positions from a coordinate file, kinematic positions, or a LEO standard orbit file.
7.7.1 Simulation of GNSS Observations It is important that you remove all previously existing observation files for this session from the OBS directory of your campaign before your start to simulate observations. Otherwise you run into the danger of mixing your current set of simulated observations with other measurements: [email protected] :~ > rm $ { P }/ INTRO / OBS /????2070. CZ ? [email protected] :~ > rm $ { P }/ INTRO / OBS /????2070. PZ ?
Please keep in mind that the observation files from your previous work in this campaign are lost due to this command. If you still need them, please copy them away. The input files for the generation of synthetic GNSS observations with program GPSSIM ('Menu>Service>Generate simulated observation data') are defined in the first input panel:
Select EXAMPLE.ABB in option “Abbreviation table” in the next panel “GPSSIM 1.1: General Files” .
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7 Additional Examples In the second panel, the interval for data simulation is defined and the list of stations selected from all sites in the input “Coordinate file” :
The meta data for each station is specified in this panel:
The “Receiver” for each station must start with SIMULA to indicate that this is a simulated station. In the input field you may only extend this string by a user input. Note that the receiver and antenna types you are defining here must be registered in the “Receiver information” and “Phase center eccentricities” files given in panel “GPSSIM 1.1: General Files” .
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7.7 Simulation of GNSS Observations Please check the completeness for each involved GNSS which is not defined by the receiver type connected to the antenna but by the list of satellites in the “GNSS Standard orbit” . If you would use the real antenna names for the stations as they are given in Tab. 1.1 GPSSIM would fail and issue a message like *** SR SEARCH_OFF : No offset values found for satellite system R of Antenna : ASH700936E SNOW Number : 0
which indicates deficiencies that need to be fixed manually or with the support of the program ATX2PCV ('Menu>Conversion>ANTEX to Bernese format'). In that case you need to define some antenna phase center corrections for this antenna type for GLONASS. If there is no need for any other antenna naming convention it is proposed to use the antenna name SIMULA with radome type NONE what seems to be sufficient for most of the simulation purposes.
In the subsequent panels some basic characteristics, assumptions on the ionospheric conditions, and the noise level are introduced. Even cycle slips may be simulated.
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7 Additional Examples
The observations are generated without noise to check the consistency with the processing program in the subsequent sections.
7.7.2 Zero Difference Solution from Simulated GNSS Observations
The simulated observations can directly be introduced in program GPSEST for an analysis on zero difference level (if you have not simulated cycle slips). Please pay attention to the consistency of all input files:
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7.7 Simulation of GNSS Observations
Result files can be specified to compare the results with the inputs for GPSSIM. A residual file might also be useful.
The processing models also have to be consistent with the simulation or to contain well defined differences which are the subject of your investigation:
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7 Additional Examples
No constraints for datum definition are needed because these are noise–free simulated data:
Only the receiver and satellite clocks are estimated:
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7.7 Simulation of GNSS Observations
The resulting program output file looks like the usual output from GPSEST but with perfect observations without any noise: ... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES RECEIVER CLOCK BIASES / TIME BIASES AMBIGUITIES EPOCH WISE STATION CLOCKS EPOCH WISE SATELLITE CLOCKS
39 260 1529 3744 6302
0 0 0 3744 6302
( EPOCH - WISE ) ( EPOCH - WISE )
39 260 1529 3744 6302
... ... ... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 11874 10046 11874 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE CODE
L3 L3
ALL ALL
68024 68024
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 136048 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
0.0000 M
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
124174 0.00
Bernese GNSS Software, Version 5.2
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
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7 Additional Examples No improvements for the station coordinates and other parameters are expected: ... STATION COORDINATES : -------------------
( NOT SAVED )
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 75
GANP 11515 M001
X Y Z HEIGHT LATITUDE LONGITUDE
3929181.4190 1455236.8207 4793653.9477 746.0115 49 2 4.971302 20 19 22.574439
3929181.4190 1455236.8207 4793653.9477 746.0115 49 2 4.971302 20 19 22.574439
0.0000 0.0000 0.0000
0.0000 0.0000 0.0000
0.0000 0.0000 0.0000
0.0000 .. 0.0000 .. 0.0000 ..
...
The inter–system and inter–frequency biases have been assumed to be zero during the simulation (what is equivalent to any other constant number): ... RECEIVER CLOCKS / TIME BIASES : ----------------------------REQUEST STATION NAME OFFSET ( USEC ) RMS ( NSEC ) ---------------------------------------------------------------------------------------------1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP
11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
--0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000
0.000000 0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000
--0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000
SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT
GPS 101 102 103 104 105 107 108 110 111 113 114 115 117 118 119 120 121 122 123
...
The same holds for the epoch–wise clocks. The residuals in the optional residual output file of such a dataset is well below the 1 µm level.
7.7.3 Double–Difference Solution from Simulated GNSS Observations As in the beginning of the simulation, you should make sure that no other baseline observation files for the current session exist in the OBS–directory of your campaign to prevent any interferences and mixtures of simulated measurements with other ones. [email protected] :~ > rm $ { P }/ INTRO / OBS /????2070. PS ?
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7.7 Simulation of GNSS Observations The simulated measurements can also be processed in the double–difference mode. In that case you have to start with forming baselines using the program SNGDIF ('Menu>Processing >Create baseline files') in nearly the same shape as in Section 4.2.2 for real observations:
The main difference is that you should also keep all ambiguities from the zero difference in the baseline observation files, what is managed by checking the box for option “Merge ambiguities from input files” :
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7 Additional Examples The resulting baseline files from simulated observations can now be analysed with program GPSEST:
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7.7 Simulation of GNSS Observations The models are selected to be fully consistent with the simulation:
No other mated:
parameters
than
station
Bernese GNSS Software, Version 5.2
coordinates
and
ambiguities
are
esti-
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7 Additional Examples
The results scribed:
are
analogue
to
the
zero
difference
case
previously
de-
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0000 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE ...
56179 0.00
The ambiguities are set up in a way that the correct resolution for all ambiguities is zero in any case. This is an easy way to verify ambiguity resolution strategies.
7.7.4 Final Remarks There are many opportunities to use this simulation tool. It depends on your needs and the concrete target of the simulation study to define the experiment. As it was just demonstrated the full consistency between the processing and the simulation programs is guaranteed by the Bernese GNSS Software. The big advantage of a simulation is that the correct solution is known a priori. On the other hand, you have to keep in mind that the simulated data can only contain effects included in the simulation model. If a receiver for instance introduces a significant variation of the inter–system bias between GPS and GLONASS data — an effect that is not considered in the simulation model — the influence of such an effect on the results cannot be evaluated by the simulation.
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Tutorial Processing Example Introductory Course Terminal Session
Rolf Dach, Pierre Fridez
September 2017
AIUB
Astronomical Institute, University of Bern
Contents 1 Introduction to the Example Campaign 1.1 Stations in the Example Campaign . . . . . . . 1.2 Directory Structure . . . . . . . . . . . . . . . . 1.2.1 The DATAPOOL Directory Structure . . . 1.2.2 The Campaign–Directory Structure . . . 1.2.3 Input Files for the Processing Examples 1.2.4 The SAVEDISK Directory Structure . . .
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13 13 13 14 14 16 18
Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19 19 21 28
2 Terminal Session: Monday 2.1 Start the Menu . . . . . . . . . 2.2 Select Current Session . . . . . 2.3 Campaign Setup . . . . . . . . 2.4 Menu Variables . . . . . . . . . 2.5 Generate A Priori Coordinates 2.6 Session Goals . . . . . . . . . . 3 Terminal Session: Pole and Orbit 3.1 Prepare Pole Information . . 3.2 Generate Orbit Files . . . . . 3.3 Session Goals . . . . . . . . .
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4 Terminal Session: Tuesday 4.1 Importing the Observations . . . . . . . . . . . . 4.2 Data Preprocessing (I) . . . . . . . . . . . . . . . 4.2.1 Receiver Clock Synchronization . . . . . . 4.2.2 Form Baselines . . . . . . . . . . . . . . . 4.2.3 Preprocessing of the Phase Baseline Files 4.3 Daily Goals . . . . . . . . . . . . . . . . . . . . .
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6 Terminal Session: Thursday 6.1 Final Network Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2 Check the Coordinates of the Fiducial Sites . . . . . . . . . . . . . . . . .
77 77 82
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5 Terminal Session: Wednesday 5.1 Data Preprocessing (II) . . . . . . . . . . . . . . . . . . . . . . . 5.2 Produce a First Network Solution . . . . . . . . . . . . . . . . . . 5.3 Ambiguity Resolution . . . . . . . . . . . . . . . . . . . . . . . . 5.3.1 Ambiguity Resolution: Quasi–Ionosphere–Free (QIF) . . . 5.3.2 Ambiguity Resolution: Short Baselines . . . . . . . . . . . 5.3.3 Ambiguity Resolution: Bernese Processing Engine (BPE) 5.3.4 Ambiguity Resolution: Summary . . . . . . . . . . . . . . 5.4 Daily Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Contents 6.3 6.4 6.5
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89 91 95 95 96 103
7 Additional Examples 7.1 Advanced Aspects in Using ITRF2014/IGS14 . . . . . . . . . . . . . . . 7.1.1 Using ITRF2014/IGS14 Frames for Reprocessing . . . . . . . . . 7.1.2 Ignoring Stations with PSD Corrections for Datum Definition . . 7.1.3 Recovering a Linear Velocity Field for a Certain Interval . . . . . 7.2 Preparing Combined GPS and GLONASS IGS–Orbits . . . . . . . . . . 7.2.1 Prepare Pole Information . . . . . . . . . . . . . . . . . . . . . . 7.2.2 Merging Precise Orbit Files . . . . . . . . . . . . . . . . . . . . . 7.2.3 Generating Standard Orbit Files . . . . . . . . . . . . . . . . . . 7.3 Kinematic Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3.1 Estimating Kinematic Positions in a Double–Difference Solution . 7.3.2 Extracting the Program Output from a Kinematic Positioning . . 7.3.3 Further suggestions . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4 Zero Difference Processing for Clock Estimation . . . . . . . . . . . . . . 7.4.1 Preprocessing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4.2 Residual Screening . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4.3 Generate Clock Solutions . . . . . . . . . . . . . . . . . . . . . . 7.4.4 Further Suggestions . . . . . . . . . . . . . . . . . . . . . . . . . 7.5 Using RINEX 3 Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.1 Basic Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.2 RINEX 3 Handling in RNXSMT . . . . . . . . . . . . . . . . . . . 7.5.3 RINEX 3 Handling in the Example BPEs . . . . . . . . . . . . . 7.6 Processing Galileo Observations . . . . . . . . . . . . . . . . . . . . . . . 7.6.1 Galileo Satellite-Related Metadata . . . . . . . . . . . . . . . . . 7.6.2 Preparing the Orbit and Clock Products . . . . . . . . . . . . . . 7.6.3 Observation Selection . . . . . . . . . . . . . . . . . . . . . . . . 7.6.4 Processing the Example Including Galileo . . . . . . . . . . . . . 7.6.5 Adapting the Example BPEs . . . . . . . . . . . . . . . . . . . . 7.7 Simulation of Global Navigation Satellite Systems (GNSS) Observations 7.7.1 Simulation of GNSS Observations . . . . . . . . . . . . . . . . . . 7.7.2 Zero Difference Solution from Simulated GNSS Observations . . 7.7.3 Double–Difference Solution from Simulated GNSS Observations . 7.7.4 Final Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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105 106 106 107 108 112 112 113 114 118 118 122 123 124 124 128 135 143 144 144 145 146 147 147 147 149 150 153 155 155 158 162 166
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6.6
Check the Daily Repeatability . . . . . . . . . . . Compute the Reduced Solution of the Sessions . Velocity Estimation . . . . . . . . . . . . . . . . . 6.5.1 Preparation for ITRF2014/IGS14 Velocity 6.5.2 Velocity Estimation Based on NEQ Files . Daily Goals . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . Estimation . . . . . . . . . . . . . .
. . . . . .
. . . . . .
. . . . . .
. . . . . .
. . . . . .
1 Introduction to the Example Campaign 1.1 Stations in the Example Campaign Data from thirteen European stations of the International GNSS Service (IGS) network and from the EUREF Permanent Network (EPN) were selected for the example campaign. They are listed in Table 1.1. The locations of these stations are given in Figure 1.1. Three of the stations support only Global Positioning System (GPS) whereas all other sites provide data from both GPS and its Russian counterpart Globalьna001f navigacionna001f sputnikova001f sistema: Global Navigation Satellite System (GLONASS). The observations for these stations are available for four days. Two days in year 2010 (day of year 207 and 208) and two in 2011 (days 205 and 206)1 . In the terminal sessions you will analyze the data in order to obtain a velocity field based on final products from Center for Orbit Determination in Europe (CODE). For eight of these stations, coordinates and velocities are given in the IGS14 reference frame, an IGS–specific realization of the ITRF2014 (see ${D}/STAT_LOG/ IGS14.snx).
, ONSA
LAMA WSRT HERT
PTBB WTZZ WTZR
JOZ2 GANP
ZIM2 ZIMM TLSE
MATE Between these days in 2010 and 2011 the receivers (LAMA, TLSE, WTZR) and Station with coordinates/velocities in IGS14 the full equipment (WTZZ) have been changed. The receiver type, the antenna Receiver is tracking GPS/GLONASS GPS−only type, and the antenna height are also provided in Table 1.1. Notice, that for three Figure 1.1: Stations used in example campaign antennas (GANP, WTZR, ZIM2) values from an individual calibration are available from the EPN processing. For all other antennas only type–specific calibration results from the IGS processing (${X}/GEN/I14.ATX) are available. More details are provided in Table 1.2. Only in one case where no calibration of the antenna/radome combination was available (ONSA) the calibration values of the antenna without radome were used instead. With one exception (ONSA) even system–specific calibrations for GPS and GLONASS measurements are available.
The distances between stations in the network are between 200 and 1000 km. There are two pairs of receivers at one site included in the example dataset: in Zimmerwald, 1
A fifth day (day 213 of year 2017) is available to demonstrate the usage of RINEX 3 data and the processing of Galileo observations, see Sections 7.5 and 7.6, respectively. These data are only relevant if you want to follow the examples in these two sections.
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1 Introduction to the Example Campaign
Table 1.1: List of stations used for the example campaign including receiver and antenna type as well as the antenna height.
Station name GANP 11515M001 HERT 13212M010 JOZ2 12204M002 LAMA 12209M001
MATE 12734M008 ONSA 10402M004 PTBB 14234M001 TLSE 10003M009
WSRT 13506M005 WTZR 14201M010
WTZZ 14201M014
ZIM2 14001M008 ZIMM 14001M004
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Location Ganovce, Slovakia
Receiver type Antenna type Radome TRIMBLE NETR8 TRM55971.00 NONE
Antenna height 0.3830 m
Hailsham, United Kingdom
LEICA GRX1200GGPRO LEIAT504GG NONE
0.0000 m
Jozefoslaw, Poland
LEICA GRX1200GGPRO LEIAT504GG NONE
0.0000 m
Olsztyn, Poland
Matera, Italy Onsala, Sweden Braunschweig, Germany Toulouse, France
Westerbork, The Netherlands Kötzting, Germany
Kötzting, Germany
Zimmerwald, Switzerland Zimmerwald, Switzerland
2010: LEICA GRX1200GGPRO LEIAT504GG LEIS 2011: LEICA GRX1200+GNSS LEIAT504GG LEIS
0.0600 m 0.0600 m
LEICA GRX1200GGPRO LEIAT504GG NONE
0.1010 m
JPS E_GGD AOAD/M_B
OSOD
0.9950 m
ASHTECH Z–XII3T ASH700936E SNOW
0.0562 m
2010: TRIMBLE NETR5 TRM59800.00 NONE 2011: TRIMBLE NETR9 TRM59800.00 NONE AOA SNR–12 ACT AOAD/M_T DUTD 2010: LEICA GRX1200GGPRO LEIAR25.R3 LEIT 2011: LEICA GRX1200+GNSS LEIAR25.R3 LEIT 2010: TPS E_GGD TPSCR3_GGD CONE 2011: JAVAD TRE_G3TH DELTA LEIAR25.R3 LEIT
1.0530 m 1.0530 m 0.3888 m 0.0710 m 0.0710 m 0.2150 m 0.0450 m
TRIMBLE NETR5 TRM59800.00 NONE
0.0000 m
TRIMBLE NETRS TRM29659.00 NONE
0.0000 m
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1.2 Directory Structure
Table 1.2: List of antenna/radome combinations used in the example campaign together with the available antenna calibration values in IGS14 model.
Antenna type AOAD/M_B OSOD AOAD/M_T DUTD ASH700936E SNOW LEIAR25.R3 LEIT
Type of calibration for GPS for GLONASS ADOPTED from NONE ADOPTED from GPS ROBOT — ROBOT — ROBOT ROBOT
LEIAT504GG NONE
ROBOT
ROBOT
LEIAT504GG TPSCR3_GGD TRM29659.00 TRM55971.00 TRM59800.00
ROBOT ROBOT ROBOT ROBOT ROBOT
ROBOT ROBOT — ROBOT ROBOT
LEIS CONE NONE NONE NONE
used at stations ONSA WSRT PTBB WTZR, WTZZ(2011) JOZ2, HERT, MATE LAMA WTZZ(2010) ZIMM GANP TLSE, ZIM2
the distance between ZIMM and ZIM2 is only 19 m. In Kötzting the receivers WTZR and WTZZ are separated by less than 2 m — this is a short GPS/GLONASS baseline. The receivers used at the stations MATE, ONSA, PTBB, and WSRT are connected to H-Maser clocks. The receiver type ASHTECH Z-XII3T used at PTBB was specifically developed for time and frequency applications. In 2011 both receivers in Kötzting (WTZR and WTZZ) were connected to the same H–Maser (EFOS 18).
1.2 Directory Structure The data belonging to this example campaign is included in the distribution of the Bernese GNSS Software. Therefore, you may also use this document to generate solutions from the example dataset to train yourself in the use of the Bernese GNSS Software outside the environment of the Bernese Introductory Course. There are three areas relevant for the data processing (in the environment of the Bernese Introductory Course they are all located in the ${HOME}/GPSDATA directory): ${D}: The DATAPOOL area is intended as an interface where all external files can be deposited after their download. It can be used by several processing campaigns. ${P}: The CAMPAIGN52 directory contains all processing campaigns for the Version 5.2 of the Bernese GNSS Software. In the Bernese Introductory Course environment all groups use ${P}/INTRO2 in their ${HOME} directory. ${S}: The SAVEDISK area shall serve as a product database where the result files from different processes/projects can be collected and archived. At the beginning it only contains reference files (*.*_REF) obtained with the example BPE from the distribution. 2
The second campaign ${P}/EXM_GAL is only related to Section 7.6 where the analysis of Galileo measurements is explained.
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1.2.1 The DATAPOOL Directory Structure (${D}) Motivation for the DATAPOOL area The idea of the DATAPOOL area is to place local copies of external files somewhere on your filesystem. It has several advantages compared to downloading the data each time when starting the processing: • The files are downloaded only once, even if they are used for several campaigns. • The data download can be organized with a set of scripts running independently from the Bernese GNSS Software environment, scheduled by the expected availability of the external files to download. • The processing itself becomes independent from the availability of external data sources.
Structure and content of the DATAPOOL area The DATAPOOL area contains several subdirectories taking into account the different potential sources of files and their formats: RINEX : The data of GNSS stations is provided in Receiver INdependent EXchange format (RINEX) files. The directory contains observation (Hatanaka–compressed) and navigation (GPS and GLONASS) files. These RINEX files are “originary” files that are not changed during the processing. The RINEX files can be downloaded from international data centers. Project–specific files are copied into this area. If you mix the station lists from different projects, take care on the uniqueness of the four–character IDs of all stations in the RINEX file names. HOURLY : The same as the RINEX directory but dedicated to hourly RINEX data as used for near real–time applications. Note: not all stations in this example provide hourly RINEX files. RINEX3 : The same as the RINEX directory but the data are given in the RINEX 3 format. These files are in particular intended to support the description on how to use RINEX 3 data, see Section 7.5 . LEO : This directory is intended to host files which are necessary for Low Earth Orbiter (LEO) data processing. RINEX files are stored in the subdirectory RINEX (of the LEO directory). The corresponding attitude files are placed in the subdirectory ATTIT. These files are needed to run the example BPE on LEO orbit determination (LEOPOD. PCF). They are not used in the example during the Bernese Introductory Course.
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1.2 Directory Structure SLR_NP : The Satellite Laser Ranging (SLR) data is provided in the quicklook normal point format. The directory contains the normal point files downloaded from the International Laser Ranging Service (ILRS) data centers. These files are needed to run the example BPE on validating orbit using SLR observations (SLRVAL.PCF). They are not used in the example during the Bernese Introductory Course. STAT_LOG : This directory contains the station information files (e.g., from ftp://igscb.igs. org/pub/station/general). This information may be completed by the originary information on the reference frame (e.g., the IGb08.snx or IGS14.snx from ftp: //igscb.igs.org/pub/station/coord). It also contains (apart from the coordinates and velocities of selected IGS sites) the history of the used equipment as it has been assumed for the reference frame generation. A comparison with the igs.snx file constructed at the IGS Central Bureau (IGSCB) from the site information files may be useful for a verification of the history records. COD/COM/IGS : Orbits, Earth orientation parmeters (EOP), and satellite clock corrections are basic external information for a GNSS analysis. The source of the files may be the FTP server from CODE (ftp://ftp.aiub.unibe.ch/CODE or http://www.aiub. unibe.ch/download/CODE/), or the Crustal Dynamics Data Information System FTP server (e.g., for downloading GPS–related IGS products ftp://cddis.gsfc. nasa.gov/gnss/products and in ftp://cddis.gsfc.nasa.gov/glonass/products for GLONASS–related IGS products). The files are named with the GPS week and the day of the week (apart from files containing information for the entire week, e.g., EOP, or the processing summaries). The IGS provides GPS and GLONASS orbits only in separate files (IGS/IGL–series from the final product line) stemming from independent combination procedures with different contributing analysis center (AC). Nevertheless, they are consistent enough to merge both files together as the first step of the processing as described in Section 7.2 . CODE contributes fully combined multi–GNSS solutions to the IGS final (and rapid as well as ultra–rapid) product line. When you are going to process Galileo data (see Section 7.6) you will need related orbit, EOP, and satellite clock corrections for these satellites as well. They are not included in the legacy IGS products. For that reason you need products from the Multi-GNSS Extension (MGEX) project of the IGS. CODE’s MGEX products are available with the label COM at ftp://ftp.aiub.unibe.ch/CODE_MGEX/CODE or ftp://cddis.gsfc.nasa.gov/gnss/products/mgex . BSW52 : In this directory we have placed files containing external input information in Bernese–specific formats. The files are neutral with respect to the data you are going to process. Typical examples are ionosphere maps or differential code biases (DCB) files. These files can be downloaded from http://www.aiub.unibe.ch/ download/CODE/ or http://www.aiub.unibe.ch/download/BSWUSER52/ areas.
Bernese GNSS Software, Version 5.2
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1 Introduction to the Example Campaign REF52 : Here we propose to collect files in Bernese format which are useful for several campaigns (e.g., reference frame files: IGB08_R.CRD, IGB08_R.VEL or IGS14_R.CRD, IGS14_R.VEL). Typical examples are station coordinate, velocity, and information files (e.g., EXAMPLE.CRD, EXAMPLE.VEL, EXAMPLE.STA, . . . , EPN.CRD). All stations of a project are contained in one file but the processing of the project’s data may be performed in different campaigns. MSC : This directory contains example files for the automated processing with the BPE. VMF1 : The grids for the Vienna Mapping Function (VMF1) are located in a separate directory. The files can be downloaded from http://ggosatm.hg.tuwien.ac.at/DELAY/ GRID/VMFG/ . They are not used for the examples but it shall indicate that for other types of files other directories may be created. All files and meta–information related to the 13 stations selected for the example campaign are already in this DATAPOOL–area (${D}) after installing the Bernese GNSS Software. GNSS orbit information is available from CODE (legacy and MGEX) and IGS (directories ${D}/COD, ${D}/COM or ${D}/IGS, respectively).
1.2.2 The Campaign–Directory Structure Putting data from the DATAPOOL into the campaign When running an automated processing using the BPE there is a script at the beginning of the process which copies the data from the DATAPOOL–area into the campaign. If you are going to process data manually you first have to copy the necessary files into the campaign and decompress them if necessary using standard utilities (uncompress, gunzip3 , or CRZ2RNX for RINEX–files). Content of the campaign area to process the example All files needed to process the data according to this tutorial are already copied into the campaign area. If you want to follow the example outside the Bernese Introductory Course environment you have to put the following files at the correct places in the campaign directory structure. $ { P }/ INTRO / ATM /
COD10207 . ION
COD10208 . ION
COD11205 . ION
COD11206 . ION
VMF10207 . GRD
VMF10208 . GRD
VMF11205 . GRD
VMF11206 . GRD
COD15941 . PRE COD15947 . IEP IGS15941 . PRE IGL15941 . PRE IGS15947 . IEP P1C11007 . DCB P1P21007 . DCB
COD15942 . PRE
COD16460 . PRE COD16467 . IEP IGS16460 . PRE IGL16460 . PRE IGS16467 . IEP P1C11107 . DCB P1P21107 . DCB
COD16461 . PRE
$ { P }/ INTRO / BPE / $ { P }/ INTRO / GRD / $ { P }/ INTRO / OBS / $ { P }/ INTRO / ORB /
IGS15942 . PRE IGL15942 . PRE
IGS16461 . PRE IGL16461 . PRE
$ { P }/ INTRO / ORX / 3
These tools are also available for WINDOWS-platforms, see www.gzip.org . Note, that gunzip can also be used to uncompress UNIX–compressed files with the extension .Z .
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1.2 Directory Structure
$ { P }/ INTRO / OUT /
COD15941 . CLK IGS15941 . CLK
COD15942 . CLK IGS15942 . CLK
COD16460 . CLK IGS16460 . CLK
COD16461 . CLK IGS16461 . CLK
$ { P }/ INTRO / RAW /
GANP2070 .10 O HERT2070 .10 O JOZ22070 .10 O LAMA2070 .10 O MATE2070 .10 O ONSA2070 .10 O PTBB2070 .10 O TLSE2070 .10 O WSRT2070 .10 O WTZR2070 .10 O WTZZ2070 .10 O ZIM22070 .10 O ZIMM2070 .10 O
GANP2080 .10 O HERT2080 .10 O JOZ22080 .10 O LAMA2080 .10 O MATE2080 .10 O ONSA2080 .10 O PTBB2080 .10 O TLSE2080 .10 O WSRT2080 .10 O WTZR2080 .10 O WTZZ2080 .10 O ZIM22080 .10 O ZIMM2080 .10 O
GANP2050 .11 O HERT2050 .11 O JOZ22050 .11 O LAMA2050 .11 O MATE2050 .11 O ONSA2050 .11 O PTBB2050 .11 O TLSE2050 .11 O WSRT2050 .11 O WTZR2050 .11 O WTZZ2050 .11 O ZIM22050 .11 O ZIMM2050 .11 O
GANP2060 .11 O HERT2060 .11 O JOZ22060 .11 O LAMA2060 .11 O MATE2060 .11 O ONSA2060 .11 O PTBB2060 .11 O TLSE2060 .11 O WSRT2060 .11 O WTZR2060 .11 O WTZZ2060 .11 O ZIM22060 .11 O ZIMM2060 .11 O
EXAMPLE . CRD EXAMPLE . BLQ IGB08_R . CRD IGS14_R . CRD IGS14 . FIX SESSIONS . SES
EXAMPLE . VEL EXAMPLE . ATL IGB08_R . VEL IGS14_R . VEL IGS14 . SIG
EXAMPLE . STA EXAMPLE . CLU IGB08 . FIX IGS14 . PSD
EXAMPLE . ABB EXAMPLE . PLD IGB08 . SIG
$ { P }/ INTRO / SOL / $ { P }/ INTRO / STA /
The directory ${P}/INTRO/GEN/ contains copies of the files from the ${X}/GEN directory, which are used by the processing programs. The files PCV_Bxx.I08 and PCV_Bxx.I14, respectively, is user-specific and the “xx” chars represent your terminal account number. If you want to view these files, please use those in your campaign and not the ones in the ${X}/GEN directory to prevent potential interferences with your colleagues. $ { P }/ INTRO / GEN /
CONST . RECEIVER . SATELLIT . I08 SATELLIT . I14 SAT_2010 . CRX IAU2000R06 . NUT EGM2014_SMALL . SINEX . IONEX .
DATUM .
GPSUTC .
POLOFF .
PCV . I08 PCV . I14 SAT_2011 . CRX IERS2010XY . SUB s1_s2_def_ce . dat SINEX . PPP IONEX . PPP
PCV_Bxx . I08 PCV_Bxx . I14
I08 . ATX I14 . ATX
OT_FES2004 . TID
TIDE2000 . TPO
SINEX . RNX2SNX
1.2.3 Input Files for the Processing Examples Atmosphere files ATM The input files in this directory are global ionosphere models in the Bernese format obtained from the IGS processing at CODE. They will be used to support the phase ambiguity resolution with the QIF strategy and to enable the higher order ionosphere (HOI) corrections. General files GEN These general input files contain information that is neither user– nor campaign–specific. They are accessed by all users, and changes in these files will affect processing for everyone. Consequently, these files are located in the ${X}/GEN directory. Table 1.3 shows the list of general files necessary for the processing example. It also shows which files need to be updated from time to time by downloading them from the anonymous ftp–server of AIUB (http://www.aiub.unibe.ch/download/BSWUSER52/GEN). Since GPS week 1934 (29 January 2017) the IGS is using the IGS14 reference frame together with the related antenna model (I14.ATX). They are available in the related Bernese GNSS Software, Version 5.2
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1 Introduction to the Example Campaign Table 1.3: List of general files to be used in the Filename Content CONST. All constants used in the Bernese GNSS Software DATUM. Definition of geodetic datum GPSUTC. Leap seconds POLOFF.
Pole offset coefficients
RECEIVER.
Receiver information
SATELLIT.I14 or SATELLIT.I08 PCV.I14 or PCV.I08
Satellite information file
SAT_$Y+0.CRX
Satellite problems
IAU2000R06.NUT
Nutation model coefficients Subdaily pole model coefficients Ocean tides coefficients Solid Earth tides coefficients Earth potential coefficients (reduced version, sufficient for GNSS and LEO orbit determination) S1/S2 atmospheric tidal loading coefficients SINEX header information
IERS2010XY.SUB OT_FES2004.TID TIDE2000.TPO EGM2008_SMALL.
s1_s2_def_ce. dat SINEX. SINEX.TRO SINEX.PPP SINEX.RNX2SNX IONEX. IONEX.PPP
Phase center eccentricities and variations
. . . for the PPP example . . . for RNX2SNX example IONEX header information . . . for the PPP example
Bernese programs for the processing example. Modification Update from No BSW aftp Introducing new reference ellipsoid When a new leap second is announced by the IERS Introducing new values from IERS annual report (until 1997) Introducing new receiver type New launched satellites
BSW aftp
Introducing new antenna corrections or new antenna/radome combinations Satellite maneuvers, bad data, ... No
BSW aftp or update with ATX2PCV
No
--
No No
— --
No
--
No
--
Adapt SINEX header for your institution
--
Adapt IONEX header for your institution
--
BSW aftp --
BSW aftp BSW aftp
BSW aftp --
SATELLIT.I14 and PCV.I14 files. The predecessor antenna model is related to the IGb08 reference frame and is provided in the SATELLIT.I08 and PCV.I08 files. Please check the consistent usage of these files. Each Bernese processing program has its own panel for general files. Make sure that you use the correct files listed in Table 1.3 .
Grid files GRD In this directory the grid files *.GRD are collected. To apply for instance the VMF1 troposphere model (a priori information from European Centre for Medium-Range Weather Forecasts (ECMWF) and Vienna mapping function) you need a grid with the necessary coefficients. Page 8
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1.2 Directory Structure Orbit files ORB The precise orbits in the files *.PRE are usually the final products from CODE analysis center containing GPS and GLONASS orbits from a rigorous multi–GNSS analysis. Alternatively also the combined final products from the IGS can be used. They do not contain orbits for the GLONASS satellites. The combined GLONASS satellite orbits from the IGS are available in IGL–files. Both precise orbit files need to be merged for a multi–GNSS analysis.The corresponding EOP are given in weekly files with the extension *.IEP (take care on full consistency with the orbit product). Furthermore, the directory contains monthly means for the DCB. Clock RINEX files OUT The clock RINEX files are located in the OUT–directory. They are consistent with the GNSS orbits and EOP products in the ORB–directory. They contain station and satellite clock corrections with at least 5 minutes sampling — there are also files from the IGS or some of the ACs providing satellite clock corrections with a sampling of 30 seconds . RINEX files RAW The raw data are given in RINEX format. The observations *.$YO ($Y is the menu time variable for the two–digit year of the current session) are used for all examples. Station files STA The coordinates and velocities of the stations given in the IGS realization of the reference frame ITRF2014 are available in the files IGS14_R.CRD and IGS14_R.VEL . Since the ITRF2014 solution, in addition to the linear station velocities (see VEL) for some stations also corrections for Post Seismic Deformation (PSD) need to apply that are provided in the file IGS14.PSD . The IGS core stations are listed in IGS14.FIX . This file will be used to define the geodetic datum when estimating station coordinates. The files for the previously used IGS realization of the ITRF2008 are available as well: IGB08_R.CRD, IGB08_R.VEL and IGB08.FIX (Note that the PSD corrections are not yet in use). You can browse all these files with a text editor or with the menu ('Menu>Campaign>Edit station files'). For all stations that have unknown coordinates in the IGS14 reference frame a Precise Point Positioning (PPP) using the example BPE (PPP_BAS.PCF) for day 207 of year 2010 has been executed. For our EXAMPLE–project a resulting coordinate file EXAMPLE.CRD has been generated. It contains all IGS core sites (copied from file IGS14_R.CRD) and the PPP results for the remaining stations. The epoch of the coordinates is January 01, 2010 . The corresponding velocity file EXAMPLE.VEL contains the velocities for the core sites (copied from file IGS14_R.VEL) completed by the NNR–NUVEL1A velocities for the other stations. The assignment of stations to tectonic plates is given in the file EXAMPLE. PLD.
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1 Introduction to the Example Campaign To make sure that you process the data in the Bernese GNSS Software with correct station information (station name, receiver type, antenna type, antenna height, etc.) the file EXAMPLE.STA is used to verify the RINEX header information. The reason to use this file has to be seen in the context that some antenna heights or receiver/antenna types in the RINEX files may not be correct or may be measured to a different antenna reference point. Similarly, the marker (station) names in the RINEX files may differ from the names we want to use in the processing. The antenna types have to correspond to those in the file ${X}/GEN/PCV.I14 in order that the correct phase center offsets and variations are used. The receiver types have to be defined in the ${X}/GEN/RECEIVER. file to correctly apply the DCB corrections. For each station name unique four– and two–character abbreviations to construct the names for the Bernese observation files need to be defined in the file EXAMPLE.ABB . It was automatically generated by the PPP–example BPE. If you want to process big networks, the baselines need to be divided into clusters to speed up the processing. For that purpose each station has to be assigned to a region by a cluster number in the file EXAMPLE. CLU . The last files to be mentioned in this directory are EXAMPLE.BLQ and EXAMPLE.ATL. They respectively provide the coefficients for the ocean and atmospheric tidal loading of the stations. They should at least be applied in the final run of GPSEST.
1.2.4 The SAVEDISK Directory Structure (${S}) Motivation for the SAVEDISK area When processing GNSS data, a lot of files from various processing steps will populate your campaign directories. The main result files from the data analysis should be collected in the SAVEDISK area. This area is intended as long–term archive for your result files. Because the result files are stored in the SAVEDISK area, you can easily clean up your campaign area without loosing important files. Please keep in mind that the computing performance decreases if you have several thousands of files in a directory.
Structure and content of the SAVEDISK area We propose to build subdirectories in the SAVEDISK area for each of your projects. If these projects collect data over several years, yearly subdirectories are recommended. It is also practical to use further subdirectories like ATM, ORB, OUT, SOL, STA to distribute the files and to get shorter listings if you are looking for a file. The SAVEDISK area contains after its installation a directory structure according to the description above. Each example BPE is assumed as a project. Therefore, you will find on the top level of the SAVEDISK the directories PPP, RNX2SNX, CLKDET, LEOPOD, and SLRVAL (related to the different example BPEs). There may even be specific directories for different series of solutions in various projects (e.g., PPP_GAL, RNX2SNX_GAL where also Galileo measurements have been included; see Section 7.6 on how to generate these solutions).
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1.2 Directory Structure In each of these directories you will find several files ending with _REF. They are generated by running the example BPEs on the system at Astronomical Institute of the University of Bern (AIUB). Even if the objectives of this tutorial and of the RNX2SNX example BPE are in both cases to process data from a regional network, the results will not be identical since there are some differences in the processing strategies and selected options.
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2 Terminal Session: Monday Today’s terminal session is to: 1. become familiar with the UNIX environment, the menu of the Bernese GNSS Software, and the example campaign, 2. verify the campaign setup done for you (see sections 2.2 and 2.3, and also the handout for the terminal sessions), 3. generate the a priori coordinates for all 4 days using COOVEL (see Section 2.5), and 4. start to prepare pole and orbit information according to chapter 3.
2.1 Start the Menu Start the menu program using the command G1 . Navigate through the submenus to become familiar with the structure of the menu. Read the general help (available at 'Menu>Help>General') to get an overview on the usage of the menu program of the Bernese GNSS Software. For the terminal session in the Bernese Introductory Course, the campaign setup has already been done for each user. Please check that the campaign name in the statusbar of the Bernese Menu is set correctly to your campaign (i.e., Campaign ${P}/INTRO) and that the current session is set to the first session (i.e., $Y+0=2010, $S+0=2070). If this is not the case, please contact the staff in the Terminal room.
2.2 Select Current Session Select 'Menu>Campaign>Edit session table' to check the session table. It is recommended to use the wildcard string ???0 for the “List of sessions” in panel “SESSION TABLE” . The panel below shows the session definition for a typical permanent campaign with 24-hours sessions. The setup of the session table is a very important task when you prepare a campaign. Please read the corresponding online help carefully. 1
At the exercise terminals the Bernese environment is loaded automatically during login. At home you have to source the file ${X}/EXE/LOADGPS.setvar on UNIX–platforms either manually or during login.
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Save the session table (press the ˆSave button) and open the “Date Selection Dialog” in the 'Menu>Configure>Set session/compute date' in order to define the current session:
2.3 Campaign Setup Usually, a new campaign must be added to the campaign list ('Menu>Campaign>Edit list of first and select it as the active campaign ('Menu>Campaign>Select active campaign'), before the directory structure can be created ('Menu>Campaign>Create new campaign'). In the Bernese Introductory Course environment this should already have been done for your campaign, but please verify that. campaigns')
In the Bernese Introductory Course environment the selected campaign should be ${P}/ INTRO . In order to become familiar with the campaign structure, you can inspect your campaign directory and inspect the contents using the command line (using cd for changing directories and ls to create directory listings) or using a filemanager (e.g., midnight commander mc).
2.4 Menu Variables When processing GNSS data, it is often necessary to repeat a program run several times with only slightly different option settings. A typical example would be the processing of several sessions of data. The names of observation files change from session to session because the session number is typically a part of the filename. It would be very cumbersome to repeat all the runs selecting the correct files manually every time. For the BPE an automation is mandatory. For such cases the Bernese menu system provides a powerful tool: the so–called menu variables. The menu variables are defined in the user–specific menu input file ${U}/PAN/MENU_VAR.INP that is accessible through 'Menu
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2.4 Menu Variables >Configure>Menu variables'. Three kinds of menu variables are available: predefined variables (also called menu time variables), user–defined variables, and system environment variables.
The use of system environment variables is necessary to generate the complete path to the files used in the Bernese GNSS Software. The campaign data are located in the directory ${P}/INTRO=${HOME}/GPSDATA/CAMPAIGN52/INTRO. The user– dependent files can be found at ${U}=${HOME}/GPSUSER52 — note that ${HOME} may have been already translated into the name of your home–directory. The temporary user files are saved in ${T}=/scratch/local/bern52 (change bern52 to your user name). Finally, the campaign–independent files reside in ${X}=/home/bswadmin/BERN52/ GPS.
The predefined variables provide a set of time strings assigned to the current session. From the second panel of the menu variables you get an overview on the available variables and their usage:
Bernese GNSS Software, Version 5.2
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2 Terminal Session: Monday Be aware that the variable $S+1 refers to the next session. Because we are using a session table for daily processing it also corresponds to the next day. These variables are automatically translated by the menu upon saving the panel or running the program. We recommend to make use of them in the input panels (e.g. for filename specification).
2.5 Generate A Priori Coordinates As stated before the a priori coordinates generated from the PPP processing example BPE refer to the epoch January 01, 2010 . The first step is to extrapolate the coordinates to the epoch that is currently processed. Starting with ITRF2014 also Post Seismic Deformation (PSD) corrections have to be applied when the epoch of the coordinate sets are changed. They are provided in the input field “PSD corrections (ITRF14)” . Of course this feature is also included in the IGS14 frame – the IGS-specific realization of the ITRF2014 . Note that for earlier reference frames (e.g., ITRF2008) this input field has to be empty. This is the task of the program COOVEL. Open the program input panel in >Coordinate tools>Extrapolate coordinates':
“Reference epoch: date” “Output coordinate file” “Title line”
'Menu>Service
$YMD_STR+0 → 2010 07 26 APR$YD+0 → APR10207 Session $YSS+0: → Session 102070:
Start the program with the ˆRun–button. The program generates an output file COOVEL. L?? in the directory ${P}/INTRO/OUT. This file may be browsed using the ˆOutput–button or with 'Menu>Service>Browse program output' . It should look like
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2.5 Generate A Priori Coordinates
Bernese GNSS Software , Version 5.2 ------------------------------------------------------------------------------Program : COOVEL Purpose : Extrapolate coordinates ------------------------------------------------------------------------------Campaign : $ { P }/ INTRO Default session : 2070 year 2010 Date : 28 - Aug -2017 12:53:08 User name : bern52
EXAMPLE : Session 102070: Coordinate propagation -------------------------------------------------------------------------------
INPUT AND OUTPUT FILENAMES -------------------------------------------------------------------------------------------------------Geodetic datum : $ { X }/ GEN / DATUM . Input coordinate file : $ { P }/ INTRO / STA / EXAMPLE . CRD Input velocity file : $ { P }/ INTRO / STA / EXAMPLE . VEL Output coordinate file : $ { P }/ INTRO / STA / APR10207 . CRD PSD corrections ( ITRF14 ) : $ { P }/ INTRO / STA / IGS14 . PSD Stations without PSD corrections : --Program output : $ { P }/ INTRO / OUT / COOVEL . L01 Error message : $ { U }/ WORK / ERROR . MSG Session table : $ { P }/ INTRO / STA / SESSIONS . SES -------------------------------------------------------------------------------
REFERENCE EPOCH : INTERPOLATION FACTOR :
2010 -01 -01 00:00:00 -0.5639972621492129
---------------------------------------------------------------->>> CPU / Real time for pgm ' COOVEL ': 0:00:00.073 / 0:00:00.0 72 >>> Program finished successfully
The header area of the program output is standardized for all programs of the Bernese GNSS Software, Version 5.2 . Furthermore each program has a title line that should characterize the program run. It is printed to the program output and to most of the result files. Many program output files furthermore provide a list of input and output files that have been used or generated. The last two lines of the above example appear also in each program output of the Bernese GNSS Software, Version 5.2 . It reports the processing time and the status successful or with error. The result of the run of COOVEL is an a priori coordinate file (${P}/INTRO/STA/APR10207. CRD) containing the positions of the sites to be processed for the epoch of the current session (the lines for the other stations are ignored in the processing): EXAMPLE : Session 102070: Coordinate propagation -------------------------------------------------------------------------------LOCAL GEODETIC DATUM : IGS14 EPOCH : 2010 -07 -26 00:00:00 NUM
STATION NAME
75 92 107 122 136 176 192 236 262 263 264 276 278
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
X (M) 3929181.42149 4033460.84965 3664880.48096 3524522.83273 4641949.45305 3370658.46071 3844059.87505 4627851.75737 3828735.78447 4075580.45375 4075579.33655 4331299.79586 4331296.98727
Y (M) 1455236.82074 23537.88977 1409190.68062 1329693.71243 1393045.52644 711877.21784 709661.40917 119640.11911 443305.04516 931853.89112 931853.20686 567537.42125 567555.97754
Bernese GNSS Software, Version 5.2
Z (M) 4793653.95 013 4924318.3145 2 5009618.5 3020 5129846.4 0652 4133287.5 4704 5349787.00 718 5023129.60 833 4372993.61 061 5064884.77 803 4801568.17 900 4801569.08 922 4633133.77 671 4633133.99 975
FLAG I I P P I I P I I I P I I
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2 Terminal Session: Monday Have a look at the LOCAL GEODETIC DATUM: in the resulting coordinate file. It is set to IGS14 in this case. If you go back to your input file (e.g., pressing the Rerˆun button) you may open the dialog to select the “Input coordinate file” by pressing on the button next to the input field. Select now the file EXAMPLE.CRD and press the button Browse in order to open a window where the selected file is displayed.
Here you can see the LOCAL GEODETIC DATUM: is set to IGS14_0. This difference is the indicator whether the PSD corrections have been applied or not. Coordinate files that indicate that the PSD corrections have not been applied cannot be used for processing GNSS data. At the same time it is protecting you to apply the corrections twice. For that reason the execution of the program COOVEL for applying the PSD corrections is also essential even if none of the stations in your processing (as in our example) is effected by these corrections. You can repeat all steps for the other three sessions in the example campaign by changing the current session using the ˆ+Day or ˆ-Day to change a limited number of days (not sessions) or via 'Menu>Configure>Set session/compute date' . You can then use the Rerˆun button to restart the program. No options need to be changed because of the consequent use of the menu time variables was made. During the terminal session you only have to compute the first day (207, year 2010) the other three days have already been processed for you.
2.6 Session Goals At the end of this session, you should have created the following files: 1. a priori coordinates in your campaign’s STA directory: file APR10207. CRD Until the end of today’s terminal session you should start with preparing the pole and orbit information, see Chapter 3 .
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3 Terminal Session: Pole and Orbit Preparation (Monday/Tuesday)
The terminal session on pole and orbit preparation is to: 1. generate the pole information file in the Bernese format (POLUPD) 2. generate tabular orbit files from CODE precise files (PRETAB) 3. generate the Bernese standard orbit files (ORBGEN) You should start with these tasks during Monday’s terminal sessions and finish the processing during the terminal session on Tuesday.
Introductory Remark We recommend to use the final or reprocessed products from CODE because they contain consistent orbits for GPS and GLONASS. They also include all active GNSS satellites (even if they are unhealthy or during GPS satellite repositioning events) with the highest possible accuracy thanks to three–day long–arc technology. Due to this choice you will get the best possible consistency between the external products and the software. You may alternativly use the products from IGS. Seperate product files for GPS and GLONASS orbits exist from independent combination procedures that first need to be merged for a multi–GNSS processing. For most of the applications, merging the precise orbit files is sufficient — a tutorial on the procedure is given in Section 7.2 of this book. On the other hand, the consistency of the orbits can not be as good as that of CODE (or other analysis center) following the strategy of the rigorous combined processing of GPS and GLONASS measurements for orbit determination.
3.1 Prepare Pole Information Together with the precise orbit files (PRE), a consistent set of Earth orientation parameters (EOP) is provided in the ORB directory. Whereas the orbits are given in daily files the EOP are available in weekly files for the final product series from the CODE analysis center. We have to convert the information from the International Earth Rotation and Reference Systems Service (IERS)/IGS standard format (file extension within the Bernese GNSS Software is IEP) into the internal Bernese EOP format (file extension within the Bernese GNSS Software is ERP). This is the task of the program POLUPD ('Menu>Orbits/EOP>Handle EOP files>Convert IERS to Bernese Format') which is also able to update the EOP records of an existing file.
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3 Terminal Session: Pole and Orbit Preparation
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3.2 Generate Orbit Files The last panel for the program POLUPD is an example for the specification of time windows in the Bernese GNSS Software, Version 5.2 . Time windows can be defined by sessions (a single session or a range of sessions). Alternatively, a time window may be specified by a start and an end epoch. By entering either a start or an end epoch you may define only the beginning or the end of the time interval. We refer to the online help for more details. The messages ### PG POLUPD : NUTATION MODEL NAME NOT EQUAL DEFAULT DEFAULT NUTATION MODEL NAME : IAU2000R06 NUTATION MODEL NAME IN FILE : IAU2000
### PG POLUPD : SUBDAILY POLE MODEL NAME NOT EQUAL DEFAULT DEFAULT SUBDAILY POLE MODEL NAME : IERS2010 SUBDAILY POLE MODEL NAME IN FILE : IERS2000
just inform that you have selected the most recent nutation and subdaily pole model whereas the operational solution at CODE was computed using an older model at that time. If you do not want to accept this inconsistency you may alternatively use the results from a reprocessing effort (e.g., http://www.aiub.unibe.ch/download/REPRO_2015/ CODE/).
3.2 Generate Orbit Files In this processing example we use only two programs of the orbit part of the Bernese GNSS Software. The first program is called PRETAB and may be accessed using 'Menu >Orbits/EOP>Create tabular orbits'. The main task of PRETAB is to create tabular orbit files (TAB; i.e., to transform the precise orbits from the terrestrial into the celestial reference frame) and to generate a satellite clock file (CLK). The clock file will be needed, e.g., in program CODSPP (see Section 4.2.1, to be discussed in the Tuesday’s lectures on preprocessing).
Bernese GNSS Software, Version 5.2
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3 Terminal Session: Pole and Orbit Preparation You have to apply the same subdaily pole and nutation models as you have used before when you have generated the Bernese formatted pole file (COD$YD+0.ERP).
If you process precise orbits from CODE it is generally not necessary to remove bad satellites. It might become necessary for orbit products from other sources (e.g., from the IGS). Because CODE introduces the correct accuracy code for all its satellites the above settings do not harm the import of satellite orbits from CODE.
Panel “PRETAB 3: Options for Clocks” contains the options for extracting the satellite clock information. The clock values in the precise orbit file are sampled to 15 min. We interpolate with a “Polynomial degree” of 2 with an “Interval for polynomials” of 12 hours. This is good enough for the receiver clock synchronization in CODSPP. A message like this is expected: ### PG PRETAB : SATELLITE CLOCK VALUES MISSING SATELLITE : 101 FILE NUMBER : 1 FILE NAME : $ { P }/ INTRO / ORB / COD15941 . PRE
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3.2 Generate Orbit Files
### PG PRETAB : SATELLITE CLOCK VALUES MISSING SATELLITE : 102 FILE NUMBER : 1 FILE NAME : $ { P }/ INTRO / ORB / COD15941 . PRE ...
It indicates that the precise orbit files do not contain clock corrections for GLONASS satellites (GLONASS satellite are indicated with satellite number between 100 and 199 within the Bernese GNSS Software). Consequently the synchronization of the receiver clocks in CODSPP will only be done based on the GPS satellite clocks. The second program of the orbit part used here is called ORBGEN ('Menu>Orbits/EOP >Create/update standard orbits'). It prepares the so–called standard orbits using the satellite positions in the tabular orbit files as pseudo–observations for a least–squares adjustment.
Make sure that the ERP file, the nutation, and the subdaily pole model are the same you have used in PRETAB. It is mandatory to consistently use this triplet of files together with the generated standard orbits for all processing programs (otherwise a warning message is issued).
Bernese GNSS Software, Version 5.2
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3 Terminal Session: Pole and Orbit Preparation
With the beginning of GPS week 1826 (January 4, 2015), the CODE analysis center introduced a new Empirical CODE Orbit Model (new ECOM). Therefore, when using orbits from CODE after January 4, 2015 (or from the CODE’s most recent reprocessing effort) you have to choose the new model when importing the orbit files in ORBGEN. This is done by changing the option SYSTEM FOR DYNAMICAL ORBIT PARAMETERS from “System DYX” to “System D2X” in panel 3.1.
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3.2 Generate Orbit Files
Bernese GNSS Software, Version 5.2
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3 Terminal Session: Pole and Orbit Preparation The program produces an output file ORB10207.OUT (or corresponding to the other sessions) which should look like ... INPUT AND OUTPUT FILENAMES -------------------------------------------------------------------------------------------------------General constants : $ { X }/ GEN / CONST . Correction GPS - UTC : $ { X }/ GEN / GPSUTC . Planetary ephemeris file : $ { X }/ GEN / DE405 . EPH Coeff . of Earth potential : $ { X }/ GEN / EGM2008_SMALL . Solid Earth tides file : $ { X }/ GEN / TIDE2000 . TPO Ocean tides file : $ { X }/ GEN / OT_FES2004 . TID Satellite problems : $ { X }/ GEN / SAT_2010 . CRX Satellite information : $ { X }/ GEN / SATELLIT . I14 Nutation model : $ { X }/ GEN / IAU2000R06 . NUT Subdaily pole model : $ { X }/ GEN / IERS2010XY . SUB Pole file : $ { P }/ INTRO / ORB / COD10207 . ERP Ocean loading corrections : $ { P }/ INTRO / STA / EXAMPLE . BLQ Atmospheric loading corrections : $ { P }/ INTRO / STA / EXAMPLE . ATL Orbital elements , file 1 : --Orbital elements , file 2 : --Standard orbits : $ { P }/ INTRO / ORB / COD10207 . STD Radiation pressure coeff . : --Summary file : --Summary file for IGS - ACC : $ { P }/ INTRO / OUT / ORB10207 . LST Residual plot file : --Residual file : --Program output : $ { P }/ INTRO / OUT / ORB10207 . OUT Error message : $ { U }/ WORK / ERROR . MSG Scratch file : $ { U }/ WORK / ORBGEN . SCR Scratch file : $ { U }/ WORK / ORBGEN . SC2 Session table : $ { P }/ INTRO / STA / SESSIONS . SES ------------------------------------------------------------------------------...
... ------------------------------------------------------------------------------RMS ERRORS AND MAX . RESIDUALS ARC NUMBER : 1 ITERATION : 4 -------------------------------------------------------------------------------
RMS ( M ) -------
QUADRATIC MEAN OF O - C ( M ) TOTAL RADIAL ALONG OUT -----------------------------
MAX . RESIDUALS ( M ) RADIAL ALONG OUT --------------------
SAT ---
# POS ----
1 2 3 4 5 6 7 8 9 10 11 12 13 ... 28 29 30 31 32 101 102 103 104 105 107 ... 121 122 123 124
96 96 96 96 96 96 96 96 96 96 96 96 96
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.002 0.002 0.003 0.001 0.002 0.002 0.002 0.003 0.002 0.001 0.002 0.002 0.002
0.003 0.002 0.003 0.003 0.003 0.003 0.003 0.003 0.004 0.002 0.003 0.003 0.003
0.002 0.002 0.002 0.002 0.003 0.002 0.003 0.003 0.002 0.002 0.002 0.002 0.002
96 96 96 96 96 96 96 96 96 96 96
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.002 0.002 0.003 0.002 0.003 0.002 0.003 0.002 0.001 0.001 0.002
0.003 0.002 0.003 0.003 0.003 0.002 0.003 0.003 0.003 0.003 0.002
0.002 0.001 0.002 0.002 0.002 0.002 0.003 0.002 0.003 0.002 0.002
96 96 96 96
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.002 0.002 0.002 0.002
0.003 0.003 0.002 0.003
0.002 0.002 0.002 0.002
------------------------------------------------------------------------------...
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3.2 Generate Orbit Files The most important information in the output file are the RMS errors for each satellite. These should be 1 mm (for older orbits it may also achieve 3. . . 5 mm) if precise orbits from CODE were used together with the consistent EOP information (the actual RMS errors depend on the quality of the precise orbits, on the pole file used for the transformation between IERS Terrestrial Reference Frame (ITRF) and International Celestial Reference Frame (ICRF) in PRETAB, and on the orbit model used in ORBGEN). Comparing the RMS error from the third and the fourth iteration you will see that three iterations should already be enough to produce precise standard orbits for GNSS satellites. The file ${P}/INTRO/OUT/ORB10207.LST summarizes the orbit fit RMS values in one table: EXAMPLE : Session 102070: Standard orbit generation 28 - AUG -17 12:59 TIME FROM DAY : 1 GPS WEEK : 1594 TO DAY : 2 GPS WEEK : 1594 ------------------------------------------------------------------------------ORBIT REPEATABILITY FROM A 1 - DAY FIT THROUGH DAILY ORBIT SOL UTIONS ( MM ) # ECLIPSING SATELLITES : 5 E / 0 M ( 0 EM ) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ECL .. .. .. .. .. .. .. E . E . E . .. .. .. .. .. .. .. .. DOY 1 2 3 4 5 6 ... 12 13 14 15 16 ... 32 101 102 103 104 105 107 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - 207 1 1 1 1 1 1 ... 1 1 1 1 1 ... 1 1 1 1 1 1 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ALL 1 1 1 1 1 1 ... 1 1 1 1 1 ... 1 1 1 1 1 1 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - -
... ... ... ... ... ... ...
The output shows that 5 satellites are in eclipse (indicated above the satellite number by E for Earth or M for Moon). A similar file may be generated using the orbit products from IGS (including the EOP information) following the procedure described in Section 7.2 . As you can notice the RMS errors are slightly higher. It does not mean that the orbits from CODE are better than the IGS orbits. The orbit model in ORBGEN is only more consistent with the orbit model used at CODE: EXAMPLE : Session 102070: Standard orbit generation 28 - AUG -17 13:32 TIME FROM DAY : 1 GPS WEEK : 1594 TO DAY : 2 GPS WEEK : 1594 ------------------------------------------------------------------------------ORBIT REPEATABILITY FROM A 1 - DAY FIT THROUGH DAILY ORBIT SOL UTIONS ( MM ) # ECLIPSING SATELLITES : 5 E / 0 M ( 0 EM ) ----------------------------------------------------------------ECL .. .. .. .. .. .. .. E . E . E . .. .. DOY 1 2 3 4 5 6 ... 12 13 14 15 16 ... 32 ----------------------------------------------------------------207 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 ----------------------------------------------------------------ALL 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 -----------------------------------------------------------------
(Note the missing GLONASS satellites in the IGS orbit product.) In the example for day 208 of year 2010 a satellite 75 appears. The GPS–satellite 25 had a repositioning event at 2010–07–27 16:08:03 (see ${X}/GEN/SAT_2010.CRX). The satellite is introduced in the processing with two independent arcs: one before (number 25) and one after (number 75) the event (you may verify this by the number of epochs available for each of these two satellite arcs). Bernese GNSS Software, Version 5.2
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3 Terminal Session: Pole and Orbit Preparation
3.3 Session Goals At the end of this session, you should have created the following files: 1. Bernese pole file in the campaign’s ORB directory: COD10207. ERP , 2. Bernese standard orbit file in the ORB directory: COD10207. STD , 3. Bernese satellite clock file in the ORB directory: COD10207. CLK .
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4 Terminal Session: Tuesday Today’s terminal session is to: 1. import the observations from the RINEX format into the Bernese format using RXOBV3 (section 4.1). 2. preprocess the Bernese observation files: • receiver clock synchronization (CODSPP, section 4.2.1) • baseline generation (SNGDIF, section 4.2.2) • preprocess baselines (MAUPRP, section 4.2.3)
4.1 Importing the Observations The campaign has been set up and all necessary files are available. The first part of processing consists of the transfer of the observations from RINEX to Bernese (binary) format. To get an overview of the data availability you may generate a pseudographic from the RINEX observation files using the program RNXGRA in 'Menu>RINEX>RINEX utilities>Create observation statistics' — this step is not mandatory but it may be useful to get an impression of the tracking performance of the stations before you start the analysis. Importing the RINEX observation files is the task of the program RXOBV3 in 'Menu>RINEX >Import RINEX to Bernese format>Observation files' (we do not use the RINEX navigation files for this processing example).
All RINEX observation files fitting the pattern ${P}/INTRO/RAW/????2070.10O are selected automatically by the current entry in the input field “original RINEX observation files” . You can verify this by pressing the button just right from this input field (labeled with the
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4 Terminal Session: Tuesday file extension 10O). In the file selection dialog you will find the list of currently selected files. The RINEX files of the year 2011 are shown if a current session from the year 2011 is selected. In that case the label of the button changes to 11O. The next panel specifies the general input files. For the tutorial session during the course the phase center offset file has to be changed to a user-specific file (replace the “xx” chars with your user number, e.g.: PCV_Bxx.I14 to PCVB01.I14). Be aware that the file PCV_Bxx.I14 is not part of the distribution. If you are running the tutorial campaign on your own machine you have to use either the PCV.I14 or create a copy of the original file.
There are three further panels defining the input options for RXOBV3. They allow to select the data to be imported and to specify a few parameters for the Bernese observation header files.
We select GPS/GLO for the option “Satellite system to be considered” to exclude observations from GNSS where no orbits are available.
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4.1 Importing the Observations
Two more panels provide options to verify the RINEX header information:
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday
Start the program with the ˆRun–button. A warning message may appear to inform you that the observations for the GLONASS satellite R09 (satellite system R for GLONASS in RINEX whereas satellite numbers between 100 and 199 are in use within the Bernese GNSS Software) are removed because of an entry in the “Satellite problems” file provided in panel “RXOBV3 1.1: General Files” . ### SR SAVMEA : PROBLEM FOR SATELLITE : INDICATED IN SATCRUX : PROBLEM : REQUESTED ACTION : TIME WINDOW : IN RINEX FILE :
109 $ { X }/ GEN / SAT_2010 . CRX BAD PHASE + CODE OBS . REMOVED 2008 -05 -14 00:00:00 2010 -09 -30 23:59:59 $ { P }/ INTRO / RAW / GANP2070 .10 O
Messages from SR R2RDOH: TOO MANY COMMENT LINES may appear for some RINEX files but they are not critical. The program produces an output file RXO10207.OUT in the directory ${P}/INTRO/OUT (resp. corresponding filenames for the other sessions). This file may be browsed using the ˆOutput button or with 'Menu>Service>Browse program output' . After echoing the input options, the file provides an overview of the station information records in the RINEX observation file header and the values that are used for the processing in the Bernese GNSS Software. In addition some observation statistics are available. In the last section you may check the completeness of the Bernese observation files by the available number of epochs: ... TABLE OF INPUT AND OUTPUT FILE NAMES : -----------------------------------# satell . Bernese code header file name # epo ... GPS GLO Bernese code observ . file name Bernese phase header file name # epo ... GPS GLO Bernese phase observ . file name ---------------------------------------------------------------------------------------------
Num
1
2
3
Rinex file name
$ { P }/ INTRO / RAW / GANP2070 .10 O
$ { P }/ INTRO / RAW / HERT2070 .10 O
$ { P }/ INTRO / RAW / JOZ22070 .10 O
$ { P }/ INTRO / OBS / GANP2070 . CZH $ { P }/ INTRO / OBS / GANP2070 . CZO $ { P }/ INTRO / OBS / GANP2070 . PZH $ { P }/ INTRO / OBS / GANP2070 . PZO $ { P }/ INTRO / OBS / HERT2070 . CZH $ { P }/ INTRO / OBS / HERT2070 . CZO $ { P }/ INTRO / OBS / HERT2070 . PZH $ { P }/ INTRO / OBS / HERT2070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . CZH $ { P }/ INTRO / OBS / JOZ22070 . CZO $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZO
2880
...
30
20
2880
...
30
20
2880
...
31
20
2880
...
31
20
2880
...
30
20
2880
...
30
20
...
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4.2 Data Preprocessing (I)
11
12
13
$ { P }/ INTRO / RAW / WTZZ2070 .10 O
$ { P }/ INTRO / RAW / ZIM22070 .10 O
$ { P }/ INTRO / RAW / ZIMM2070 .10 O
$ { P }/ INTRO / OBS / WTZZ207 0 . CZH $ { P }/ INTRO / OBS / WTZZ2070 . CZO $ { P }/ INTRO / OBS / WTZZ2070 . PZH $ { P }/ INTRO / OBS / WTZZ2070 . PZO $ { P }/ INTRO / OBS / ZIM2207 0 . CZH $ { P }/ INTRO / OBS / ZIM22070 . CZO $ { P }/ INTRO / OBS / ZIM22070 . PZH $ { P }/ INTRO / OBS / ZIM22070 . PZO $ { P }/ INTRO / OBS / ZIMM207 0 . CZH $ { P }/ INTRO / OBS / ZIMM2070 . CZO $ { P }/ INTRO / OBS / ZIMM2070 . PZH $ { P }/ INTRO / OBS / ZIMM2070 . PZO
2880
...
32
20
2880
...
32
20
2879
...
32
20
2879
...
32
20
2879
...
31
0
2879
...
31
0
---------------------------------------------------------------->>> CPU / Real time for pgm ' RXOBV3 ': 0:00:14.767 / 0:00:14.7 91 >>> Program finished successfully
If epochs or satellites are missing for some RINEX files you may check this with the RINEX observation graphic from program RNXGRA. In July 2010 32 GPS and 20 GLONASS satellites were active, where one of the GPS satellites (PRN 01) was unhealthy. For that reason many of the stations did track only 31 out of 32 GPS satellites.
4.2 Data Preprocessing (I) 4.2.1 Receiver Clock Synchronization
Now we are ready to invoke the processing part of the Bernese GNSS Software. We have to run three programs for this example. The first program is called CODSPP ('Menu >Processing>Code-based clock synchronization'. Its main task is to compute the receiver clock corrections.
Bernese GNSS Software, Version 5.2
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We already have geocentric coordinates of good quality available for the sites from the PPP example BPE. Therefore, the option “Estimate coordinates” may be set to NO. The most important option for this CODSPP run is “Save clock estimates” . It has to be set to BOTH.
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4.2 Data Preprocessing (I)
The warning messages issued by the program CODSPP remind that only GPS satellite clock corrections have been extracted from the precise orbit files. Consequently, the receiver clocks are synchronized with respect to the GPS system time. CODSPP produces the following output: ... STATION : GANP 11515 M001 FILE : $ { P }/ INTRO / OBS / GANP2070 . CZO RECEIVER UNIT : 999999 -------------------------------------------------------------------------------------------
DAY OF YEAR
:
OBSERVATIONS REQUESTED WINDOW
: :
MEASUREMENT INTERVAL : SAMPLING RATE : PROCESSED FREQUENCY : ELEVATION LIMIT :
ATMOSPHERE MODELS
207 FROM 2010 -07 -26 00:00: 0.00 --
TO 2010 -07 -26
23:59:30 .00 --
30 SEC 1 L3 3 DEG TROPOSPHERE GMF
:
IONOSPHERE NONE
STATISTICS FOR GPS SATELLITES : ---------------------------------SATELLITE NUMBER : OBSERVATIONS IN FILE : USED OBSERVATIONS : BAD OBSERVATIONS (%): RMS ERROR ( M ) :
2 1015 1015 0.0 0.9
3 910 910 0.0 1.1
4 1019 1019 0.0 0.9
5 1029 1029 0.0 1.0
6 838 838 0.0 1.0
7 914 914 0.0 1.0
8 841 841 0.0 1.0
9 832 832 0.0 1.2
10 971 971 0.0 1.2
11 857 857 0.0 0.9
... TOTAL ... 27074 ... 27074 ... 0.0 ... 1.0
103 935 0 0.0 0.0
104 929 0 0.0 0.0
105 1149 0 0.0 0.0
107 1097 0 0.0 0.0
108 905 0 0.0 0.0
110 1005 0 0.0 0.0
111 991 0 0.0 0.0
113 903 0 0.0 0.0
... TOTAL ... 19977 ... 0 ... 0.0 ... 0.0
STATISTICS FOR GLONASS SATELLITES : ---------------------------------SATELLITE NUMBER : OBSERVATIONS IN FILE : USED OBSERVATIONS : BAD OBSERVATIONS (%): RMS ERROR ( M ) :
101 905 0 0.0 0.0
102 932 0 0.0 0.0
RESULTS : -------OBSERVATIONS IN FILE : USED OBSERVATIONS : BAD OBSERVATIONS : RMS OF UNIT WEIGHT : NUMBER OF ITERATIONS : ...
47051 27074 0.00 % 1.07 M 2
You see in this statistic that the GLONASS measurements have not been used (because of the missing GLONASS satellite clock corrections).
Bernese GNSS Software, Version 5.2
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... STATION COORDINATES : -------------------LOCAL GEODETIC DATUM :
GANP 11515 M001 ( MARKER )
IGS14
X Y Z HEIGHT LATITUDE LONGITUDE
A PRIORI 3929181.42 1455236.82 4793653.95
NEW 3929181.42 1455236.82 4793653.95
746.01 49 2 4.971 20 19 22.574
746.01 49 2 4.971 20 19 22.574
NEW - A PRIORI 0.00 0.00 0.00
0 0
0 0
0.00 0.000 0.000
RMS ERROR 0.00 0.00 0.00 0.00 0.0000 0.0000
CLOCK PARAMETERS : ----------------OFFSET FOR REFERENCE EPOCH :
-0.000000021
GPS / GLONASS SYSTEM DIFFERENCE :
OFFSET : RMS ERROR :
SEC
0.00 NSEC 0.00 NSEC
CLOCK OFFSETS STORED IN CODE + PHASE OBSERVATION FILES ... ... ******************************************************************************* SUMMARY OF BAD OBSERVATIONS ******************************************************************************* MAXIMUM RESIDUAL DIFFERENCE ALLOWED : CONFIDENCE INTERVAL OF F * SIGMA WITH F : NUMBER OF BAD OBSERVATION PIECES
30.00 M 5.00
:
3
NUMB FIL STATION TYP SAT FROM TO # EPO ------------------------------------------------------------------------------1 2
8 8
TLSE 10003 M009 TLSE 10003 M009
OUT OUT
1 1
10 -07 -26 15:10:00 10 -07 -26 15:32:30
10 -07 -26 15:28:30 10 -07 -26 15:33:00
38 2
3
12
ZIM2 14001 M008
OUT
26
10 -07 -26 20:08:30
10 -07 -26 20:08: 30
1
-------------------------------------------------------------------------------
******************************************************************************* GLONASS / GPS TIME OFFSETS ******************************************************************************* FILE STATION NAME TIME OFFSET ( NS ) RMS ERROR ( NS ) ----------------------------------------------------------1 2 3 4 5 6 7 8 9 10 11 12 13
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
NO NO NO NO NO NO NO NO NO NO NO NO NO
RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS
AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE
----------------------------------------------------------0 TOTAL 0.000 0.000 -----------------------------------------------------------
The most important message in the output file is CLOCK OFFSETS STORED IN CODE+PHASE OBSERVATION FILES. This indicates that the receiver clock corrections
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4.2 Data Preprocessing (I) computed by CODSPP are stored in code and phase observation files. After this step we will no longer use the code observations in this example. The a posteriori RMS error (for each zero difference file processed) should be checked in the CODSPP output file. A value of about 20–30 m is normal if Selective Availability (SA) — artificial degradation of the satellite clock accuracy — is on (before May 2000). Without SA a value of about 3 m is expected if P–code measurements are available (this is the case for the time interval of the processing example). However, much worse code measurements would still be sufficiently accurate to compute the receiver clock corrections with the necessary accuracy of 1 µs . In the section GLONASS/GPS TIME OFFSETS you may only find the inter–system bias (ISB) for each of the receivers as they have been estimated by CODSPP if both, GPS and GLONASS satellite clock corrections were introduced. You may use the extraction program CODXTR ('Menu>Processing>Program output extraction>Codebased clock synchronization') to generate a short summary from the CODSPP program output: ... ------------------------------------------------------------------------------File Input files ------------------------------------------------------------------------------1 $ { P }/ INTRO / OUT / COD10207 . OUT -------------------------------------------------------------------------------
13 FILES , MAX . RMS : MAX . BAD :
2.12 M FOR STATION : PTBB 14234 M001 5.26 % FOR STATION : WSRT 13506 M005
---------------------------------------------------------------->>> CPU / Real time for pgm ' CODXTR ': 0:00:00.008 / 0:00:00.0 07 >>> Program finished successfully
4.2.2 Form Baselines The second preprocessing program is called SNGDIF and may be activated in 'Menu >Processing>Create baseline files'. SNGDIF creates the single differences and stores them into files. We use the strategy OBS-MAX for PHASE observation files.
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday To enter GPS in option “Stations must contain observ. from a GNSS” requires that each station included in the baseline creation provides at least GPS measurements. This option can be used to exclude those datasets containing only GLONASS observations.
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4.2 Data Preprocessing (I) The output of SNGDIF simply echoes the zero difference files used and the single difference files created. The first table confirms that all stations provide at least data from GPS. For that reason all stations are included in the baseline creation. ... NUM HEADER FILE NAMES STATION NAME # SAT SYS REMARK ------------------------------------------------------------------------------1 $ { P }/ INTRO / OBS / GANP2070 . PZH GANP 11515 M001 50 GR includ ed 2 $ { P }/ INTRO / OBS / HERT2070 . PZH HERT 13212 M010 51 GR includ ed 3 $ { P }/ INTRO / OBS / JOZ22070 . PZH JOZ2 12204 M002 50 GR includ ed 4 $ { P }/ INTRO / OBS / LAMA2070 . PZH LAMA 12209 M001 50 GR includ ed 5 $ { P }/ INTRO / OBS / MATE2070 . PZH MATE 12734 M008 51 GR includ ed 6 $ { P }/ INTRO / OBS / ONSA2070 . PZH ONSA 10402 M004 50 GR includ ed 7 $ { P }/ INTRO / OBS / PTBB2070 . PZH PTBB 14234 M001 32 G include d 8 $ { P }/ INTRO / OBS / TLSE2070 . PZH TLSE 10003 M009 52 GR includ ed 9 $ { P }/ INTRO / OBS / WSRT2070 . PZH WSRT 13506 M005 31 G include d 10 $ { P }/ INTRO / OBS / WTZR2070 . PZH WTZR 14201 M010 51 GR inclu ded 11 $ { P }/ INTRO / OBS / WTZZ2070 . PZH WTZZ 14201 M014 52 GR inclu ded 12 $ { P }/ INTRO / OBS / ZIM22070 . PZH ZIM2 14001 M008 52 GR inclu ded 13 $ { P }/ INTRO / OBS / ZIMM2070 . PZH ZIMM 14001 M004 31 G includ ed ...
The creation of the following 12 baseline files from 13 zero difference observation files is reported: SNGDIF : INPUT AND OUTPUT OBSERVATION FILE NAMES ----------------------------------------------0 - DIF . HEADER FILE NAMES ( INPUT ) 0 - DIF . OBS . FILE NAMES ( INPUT ) NUM * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *** $ { P }/ INTRO / OBS / GANP2070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / HERT2070 . PZH $ { P }/ INTRO / OBS / ZIM22070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / LAMA2070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / ONSA2070 . PZH ... $ { P }/ INTRO / OBS / ZIM22070 . PZH $ { P }/ INTRO / OBS / ZIMM2070 . PZH
$ { P }/ INTRO / OBS / GANP2070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . PZO $ { P }/ INTRO / OBS / HERT2070 . PZO $ { P }/ INTRO / OBS / ZIM22070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . PZO $ { P }/ INTRO / OBS / LAMA2070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . PZO $ { P }/ INTRO / OBS / ONSA2070 . PZO
1 2 3 4 5 6 7 8
$ { P }/ INTRO / OBS / ZIM22070 . PZO $ { P }/ INTRO / OBS / ZIMM2070 . PZO
23 24
1 - DIF . HEADER FILE NAMES ( OUT ) 1 - DIF . OBS . FILE NAMES ( OUT ) NR1 NR2 STAT . * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *** *** ***** $ { P }/ INTRO / OBS / GAJO2070 . PSH $ { P }/ INTRO / OBS / HEZI2070 . PSH $ { P }/ INTRO / OBS / JOLA2070 . PSH $ { P }/ INTRO / OBS / JOON2070 . PSH ... $ { P }/ INTRO / OBS / ZIZM2070 . PSH
$ { P }/ INTRO / OBS / GAJO2070 . PSO $ { P }/ INTRO / OBS / HEZI2070 . PSO $ { P }/ INTRO / OBS / JOLA2070 . PSO $ { P }/ INTRO / OBS / JOON2070 . PSO
1 3 5 7
2 4 6 8
OK OK OK OK
$ { P }/ INTRO / OBS / ZIZM2070 . PSO
23
24
OK
If the strategy OBS-MAX was selected all possible pairs of zero difference files are listed with the corresponding criterion value. The baselines belonging to the created network configuration are labeled with OK . 1 2 3 4
GANP GANP GANP GANP ... 21 HERT 22 HERT 23 HERT 24 JOZ2 25 JOZ2 26 JOZ2 27 JOZ2 28 JOZ2 29 JOZ2 30 JOZ2 31 JOZ2 ...
11515 M001 11515 M001 11515 M001 11515 M001
-
HERT JOZ2 LAMA MATE
13212 M010 12204 M002 12209 M001 12734 M008
# SAT : # SAT : # SAT : # SAT :
50 50 50 50
CRIT .: CRIT .: CRIT .: CRIT .:
20892 23424 22806 20725
13212 M010 13212 M010 13212 M010 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002
-
WTZZ ZIM2 ZIMM LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ
14201 M014 14001 M008 14001 M004 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014
# SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT :
51 51 31 50 50 50 30 50 30 50 50
CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .:
22697 23219 13051 24807 20969 23855 11243 21991 14464 24390 24182
Bernese GNSS Software, Version 5.2
OK
OK OK OK
OK OK
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4.2.3 Preprocessing of the Phase Baseline Files The main task of the program MAUPRP is the cycle–slip detection and correction. It is started using 'Menu>Processing>Phase preprocessing'.
In the next input panel “MAUPRP 2: Output Files” you only need to specify the “Program output” , e.g., to MPR$YD+0 .
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4.2 Data Preprocessing (I)
Bernese GNSS Software, Version 5.2
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The output of the program MAUPRP is discussed in detail in the lecture session. The software manual contains a detailed description, too. You can find here the results of the adjustment of the input parameters for the maximum accepted change of the ionosphere from one epoch to the next, which is computed according to the baseline length (AUTO in option “Screening mode, frequency to check” , panel “MAUPRP 3: General Options” ). ... STATION 1: GANP 11515 M001 STATION 2: JOZ2 12204 M002
YEAR : DAY :
2010 207
SESSION : FILE :
2070 0
BASELINE LENGTH ( M ) : 344406.641 OBSERVAT . FILE NAME : $ { P }/ INTRO / OBS / GAJO2070 . PSH BASELINE DEPENDENT OPTIONS : -------------------------CHECK FREQUENCIES ( L1 =1 , L2 =2 , L1 & L2 =3 , L1 , L2 =4) --> : MAX . IONOS . DIFF . BETW . EPOCHS ( o / o OF L1 CYCLES ) --> : ...
3 94
The most important item to check is the epoch difference solution: ... -----------------------------------------------------------------------EPOCH DIFFERENCE SOLUTION -----------------------------------------------------------------------FREQUENCY OF EPOCH DIFF . SOLU .: # OBS . USED FOR EPOCH DIFF . SOLU : RMS OF EPOCH DIFF . SOLUTION ( M ):
3 42814 0.012
COORDINATES
0.185 + 0.032 + 0.290 + -
NEW - A PRIORI X ( M ): Y ( M ): Z ( M ):
0.021 0.021 0.014
-----------------------------------------------------------------------...
The epoch difference solution is used as the reference for the data screening. For a successful phase preprocessing the RMS OF EPOCH DIFF. SOLUTION has to be below 2 cm. The estimates for the coordinates in the epoch difference solution are expected to be smaller than about 0.5 m. It should be pointed out that it is not necessary to run the program MAUPRP more than once for each baseline. However, it is mandatory to run MAUPRP again if you (for whatever reason) have to re–create the baselines with program SNGDIF.
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4.3 Daily Goals You might get some warning messages regarding too large O − C (i.e., observed minus computed) values on certain baselines for certain epochs. The corresponding observations get flagged, and will not disturb the processing. You can use the extraction program MPRXTR ('Menu>Processing>Program output extraction>Phase preprocessing') to generate a short summary of the MAUPRP output. The file you have specified in “MAUPRP station summary file” looks like this: SUMMARY OF THE MAUPRP OUTPUT FILE ********************************* SESS FIL OK ? ST1 ST2 L ( KM ) # OBS . RMS DX DY DZ # SL # DL # MA MAXL3 MIN . SLIP --------------------------------------------------------------------------------------------2070 1 OK GANP JOZ2 344 42814 12 185 32 290 12 369 72 49 12 2070 2 OK HERT ZIM2 685 41498 13 -317 11 -329 6 591 95 47 11 2070 3 OK JOZ2 LAMA 201 43720 11 -12 -4 71 39 826 101 49 11 2070 4 OK JOZ2 ONSA 830 41462 11 -416 -151 -456 7 609 113 34 11 2070 5 OK JOZ2 WSRT 981 22358 11 -198 -21 -229 8 413 47 33 11 2070 6 OK JOZ2 WTZR 663 41785 13 -231 -76 -377 11 641 81 48 11 2070 7 OK MATE ZIM2 1014 38157 13 471 42 455 64 876 117 49 11 2070 8 OK PTBB ZIM2 640 20063 12 43 -8 -10 82 242 36 50 13 2070 9 OK TLSE ZIM2 597 41698 13 8 38 126 6 609 89 47 11 2070 10 OK WTZR WTZZ 0 43787 12 -9 -13 -4 96 461 65 0 0 2070 11 OK WTZR ZIM2 476 42211 14 147 11 91 6 974 89 43 13 2070 12 OK ZIM2 ZIMM 0 23786 13 -16 4 -32 25 88 35 0 0 --------------------------------------------------------------------------------------------Tot : 12 536 43787 14 471 42 455 96 974 117 50 0
Note that in the bottom line the maximum values for each column are reported to show the “worst case”.
4.3 Daily Goals At the end of today’s session, you should have created the following files: 1. Bernese formatted zero difference observation files in your campaign’s OBS directory: GANP2070. CZH , GANP2070. PZH , GANP2070. CZO , GANP2070. PZO , ... (for all stations). 2. Single difference files (baseline files) in the OBS directory: GAJO2070. PSH , GAJO2070. PSO , HEZI2070. PSH , HEZI2070. PSO ,... for all baselines, 3. you should also have verified the outputs of these programs: ORBGEN, CODSPP, SNGDIF, and MAUPRP
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday
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5 Terminal Session: Wednesday Today’s terminal session is to: 1. perform a residual screening (GPSEST, RESRMS, SATMRK), 2. generate a first estimation for coordinates and troposphere parameters (GPSEST), 3. resolve the double difference ambiguities (GPSEST). .
5.1 Data Preprocessing (II) The main parameter estimation based on a least–squares adjustment is the task of program GPSEST. It is a good idea to start GPSEST first in the session mode and to produce a L3 solution (ionosphere–free linear combination) with real–valued ambiguities. We do not expect any final results from this run but we want to check the quality of data and save the residuals after the least–squares adjustment. The program is available via 'Menu>Processing >Parameter estimation'. We use the following options:
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5 Terminal Session: Wednesday
This run is intended to screen the post–fit residuals for outliers. Later on, for the ambiguity resolution, all observations are needed without down–sampling the data. To run the program GPSEST for the network with 13 stations and the observations to more than 50 satellites without reducing the data sampling rate takes easily 10 minutes or more. For that reason we are forced to sample the data, e.g., down to 3 minutes — we will see in the next step how to solve this discrepancy.
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5.1 Data Preprocessing (II)
We want to put loose constraints on the station coordinates that are available from the IGS realization of ITRF2014 reference frame (flag I like IGS14 in the coordinate file).
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
No parameters (not even ambiguity parameters) can be pre–eliminated if residuals should be written into the residual output file:
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5.1 Data Preprocessing (II) A 4 hour resolution in time for the troposphere parameters is sufficient for this purpose:
The program output of GPSEST summarizes all important input options, input data, and reports the estimated results. An important information in the output file is the a posteriori RMS error: ... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF
: :
0.0013 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
72462 1.66
...
An a posteriori RMS error of about 1.0. . . 1.5 mm is expected if elevation–dependent weighting is used. A significant higher RMS error indicates that either your data stems from low–quality receivers, that the data was collected under extremely bad conditions, or that the preprocessing step (MAUPRP and CODSPP) was not successfully performed. Below you find the section reporting on coordinate estimation. You should check the improvement for the a priori coordinates. If all stations get approximately the same improvement in the order of decimeters, very likely the datum definition failed. Check that you have really selected datum stations.
Bernese GNSS Software, Version 5.2
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... STATION COORDINATES : -------------------
( NOT SAVED )
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 75
GANP 11515 M001
X Y Z HEIGHT LATITUDE LONGITUDE
107
JOZ2 12204 M002
X Y Z HEIGHT LATITUDE LONGITUDE
92
HERT 13212 M010
X Y Z HEIGHT LATITUDE LONGITUDE
276
ZIM2 14001 M008
X Y Z HEIGHT LATITUDE LONGITUDE
3929181.4215 1455236.8207 4793653.9501 746.0149 49 2 4.971296 20 19 22.574398 3664880.4810 1409190.6806 5009618.5302
52 21
152.5315 5 52.211587 1 56.470161
4033460.8497 23537.8898 4924318.3145
50 52 0 20
83.3341 2.929075 3.676778
4331299.7959 567537.4213 4633133.7767 956.4292 46 52 37.540239 7 27 54.115566
3929181.4183 1455236.8270 4793653.9485 746.0131 49 2 4.971282 20 19 22.574740 3664880.4813 1409190.6835 5009618.5337
52 21
152.5351 5 52.211621 1 56.470295
4033460.8497 23537.8977 4924318.3219
50 52 0 20
83.3399 2.929224 3.677186
4331299.7868 567537.4272 4633133.7769 956.4237 46 52 37.540436 7 27 54.115899
-0.0032 0.0062 -0.0016
0.0042 0.0041 0.0042
-0.0017 -0.0004 0.0069
0.0044 .. 0.0040 .. 0.0041 ..
0.0004 0.0029 0.0035
0.0042 0.0041 0.0041
0.0036 0.0011 0.0025
0.0043 .. 0.0040 .. 0.0040 ..
0.0000 0.0080 0.0074
0.0042 0.0041 0.0042
0.0058 0.0046 0.0079
0.0044 .. 0.0040 .. 0.0040 ..
-0.0090 0.0059 0.0002
0.0041 0.0040 0.0041
-0.0055 0.0061 0.0070
0.0042 .. 0.0040 .. 0.0040 ..
...
If the residuals have been stored in the binary residual file (specified in “GPSEST 2.2: Output Files 2” ) it is possible to have a look to the residuals (program REDISP, 'Menu>Service>Residual files>Display residual file'). To screen the residuals automatically use the program RESRMS in 'Menu>Service>Residual files >Create residual statistics'.
The sampling interval you have previously introduced in option “Sampling interval” in program GPSEST has to be repeated here. RESRMS makes the assumption that the observations between two outliers in the sampled residual file are also bad.
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5.1 Data Preprocessing (II)
The program output of RESRMS (${P}/INTRO/OUT/RMS10207.OUT) provides a nice overview on the data quality. ... FILE INFORMATION AND STATISTIC : -----------------------------Num Station 1 Station 2 Total RMS med . Resi Sigma numObs nSat nDel .. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 1 2 3 4 5 6 7 8 9 10 11 12
GANP HERT JOZ2 JOZ2 JOZ2 JOZ2 MATE PTBB TLSE WTZR WTZR ZIM2
11515 M001 13212 M010 12204 M002 12204 M002 12204 M002 12204 M002 12734 M008 14234 M001 10003 M009 14201 M010 14201 M010 14001 M008
JOZ2 ZIM2 LAMA ONSA WSRT WTZR ZIM2 ZIM2 ZIM2 WTZZ ZIM2 ZIMM
12204 M002 14001 M008 12209 M001 10402 M004 13506 M005 14201 M010 14001 M008 14001 M008 14001 M008 14201 M014 14001 M008 14001 M004
1.4 1.4 1.3 1.3 1.3 1.6 1.6 1.4 1.6 1.6 1.7 0.9
0.7 0.8 0.7 0.7 0.8 0.8 0.8 0.8 0.8 0.7 1.0 0.5
1.2 1.1 1.1 1.0 1.2 1.2 1.2 1.2 1.3 1.0 1.4 0.8
7611 7372 7741 7368 4192 7460 6788 3819 7443 7817 7563 4540
50 51 50 50 30 50 51 32 52 51 51 31
16 11 17 20 12 18 22 15 19 51 28 1
.. .. .. .. .. .. .. .. .. .. .. ..
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ..
NUMBER OF EDIT REQUESTS : ...
230
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday In addition, files containing a summary table (${P}/INTRO/OUT/RMS10207.SUM) and a histogram (${P}/INTRO/OUT/RMS10207.LST) of the residuals are available. The most important result file for the data screening is the “Edit information file” (${P}/INTRO/OUT/ RMS10207.EDT), which may be used by the program SATMRK to mark outliers in the observation files ('Menu>Service>Bernese observation files>Mark/delete observations'):
The program output from SATMRK reports the number of marked observations per baseline: ... SUMMARY OF ACTION IN THE OBS . FILE ( S ): -------------------------------------
$ { P }/ INTRO / OUT / RMS1 0207 . EDT
Mea Observations Num Station name 1 Station name 2 type mark unmark delete ---------------------------------------------------------------------------1 GANP 11515 M001 JOZ2 12204 M002 P : 420 0 0 2 HERT 13212 M010 ZIM2 14001 M008 P : 300 0 0 3 JOZ2 12204 M002 LAMA 12209 M001 P : 422 0 0 4 JOZ2 12204 M002 ONSA 10402 M004 P : 530 0 0 5 JOZ2 12204 M002 WSRT 13506 M005 P : 370 0 0 6 JOZ2 12204 M002 WTZR 14201 M010 P : 526 0 0 7 MATE 12734 M008 ZIM2 14001 M008 P : 688 0 0 8 PTBB 14234 M001 ZIM2 14001 M008 P : 326 0 0 9 TLSE 10003 M009 ZIM2 14001 M008 P : 512 0 0 10 WTZR 14201 M010 WTZZ 14201 M014 P : 1096 0 0 11 WTZR 14201 M010 ZIM2 14001 M008 P : 874 0 0 12 ZIM2 14001 M008 ZIMM 14001 M004 P : 22 0 0 ---------------------------------------------------------------------------Total : 6086 0 0 ----------------------------------------------------------------------------
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.. .. .. .. .. .. .. .. .. .. .. .. .. .. .. ..
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5.1 Data Preprocessing (II)
5.2 Produce a First Network Solution After screening the observations for outliers we can generate an ionosphere–free (L3 ) solution with unresolved ambiguities. A detailed discussion on the Troposphere/Ionosphere modelling will be given in a dedicated lecture tomorrow. The input options are very similar to the previous preprocessing step. There are only a few differences shown in the following panels:
The file in the input field “Ionosphere models” enables the HOI–corrections. We store the coordinates and troposphere parameters into files to be re–introduced later:
In the subsequent panel you should remove the output filename for the “Residuals” because we do not need the residuals from this run.
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The next two panels with the general options for GPSEST remain untouched:
To heavily constrain the coordinates of the IGS core sites is not the best way to realize the geodetic datum for a solution. The program ADDNEQ2 offers more sophisticated options (e.g., minimum constraint solution). Today we will follow this simple approach:
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5.1 Data Preprocessing (II) Since we do not store residual files in this run, ambiguity parameters may be pre–eliminated from the normal equation before the parameters are estimated:
The estimation of troposphere parameters is mandatory for a campaign of this type. We increase the number of estimated parameters (e.g., to 24 instead of 6 parameters per station and session). In addition, it is recommended to set up troposphere gradient parameters. In order to avoid a format overflow in the “Troposphere estimates” output file that may happen if a troposphere parameter is estimated based on very few observations concentrated at one end of the interval of parameter validity, a small relative sigma (e.g., 5 meter) may help.
In the first part of the output generated by program GPSEST, the selected options are echoed. The result part starts with some statistics on the parameters and the observations:
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES SITE - SPECIFIC TROPOSPHERE PARAMETERS
39 1369 377
0 1369 0
( BEFORE INV )
39 1481 377
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 1785 1369 1897 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE
L3
ALL
73602
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 73602 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
Then the a posteriori RMS error and the results of the initial least–squares adjustment are given ... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0011 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
71834 1.28
Below you find the output of the results for coordinates and troposphere parameters: ... STATION COORDINATES : -------------------
$ { P }/ INTRO / STA / FLT10207 . CRD
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 75
GANP 11515 M001
X Y Z HEIGHT LATITUDE LONGITUDE
107
JOZ2 12204 M002
X Y Z HEIGHT LATITUDE LONGITUDE
92
HERT 13212 M010
X Y Z HEIGHT LATITUDE LONGITUDE
3929181.4215 1455236.8207 4793653.9501 746.0149 49 2 4.971296 20 19 22.574398 3664880.4810 1409190.6806 5009618.5302
52 21
152.5315 5 52.211587 1 56.470161
4033460.8497 23537.8898 4924318.3145
50 52 0 20
83.3341 2.929075 3.676778
3929181.4200 1455236.8215 4793653.9494 746.0136 49 2 4.971309 20 19 22.574460 3664880.4789 1409190.6787 5009618.5326
52 21
152.5318 5 52.211702 1 56.470106
4033460.8499 23537.8878 4924318.3167
50 52 0 20
83.3359 2.929114 3.676679
-0.0015 0.0008 -0.0007
0.0007 0.0007 0.0008
-0.0013 0.0004 0.0013
0.0009 .. 0.0005 .. 0.0007 ..
-0.0021 -0.0019 0.0024
0.0007 0.0006 0.0007
0.0003 0.0035 -0.0010
0.0008 .. 0.0005 .. 0.0006 ..
0.0002 -0.0019 0.0022
0.0007 0.0007 0.0007
0.0018 0.0012 -0.0019
0.0009 .. 0.0005 .. 0.0007 ..
...
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5.3 Ambiguity Resolution
... SITE - SPECIFIC TROPOSPHERE PARAMETERS : ------------------------------------
$ { P }/ INTRO / ATM / F LT10207 . TRP
REFERENCE ELEVATION ANGLE OF GRADIENT TERMS : MINIMUM ELEVATION ANGLE : MAPPING FACTOR AT MINIMUM ELEVATION ANGLE :
45.0 DEGREES 5.0 DEGREES 11.4
CORRECTIONS ( M ) RMS ERRORS ( M ) ... REQU . STATION NAME NORTH EAST ZENITH NORTH EAST ZENITH ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... 1 2 3 4 5 ... 24 25 26 27 28 29 30 ...
GANP GANP GANP GANP GANP
11515 M001 11515 M001 11515 M001 11515 M001 11515 M001
-0.00024 -0.00021 -0.00018 -0.00015 -0.00012
-0.00019 -0.00015 -0.00010 -0.00006 -0.00001
0.12103 0.11639 0.11814 0.12171 0.12203
0.00011 0.00011 0.00010 0.00009 0.00009
0.00013 0.00012 0.00011 0.00010 0.00010
0.00226 0.00167 0.00156 0.00160 0.00129
... ... ... ... ...
GANP GANP HERT HERT HERT HERT HERT
11515 M001 11515 M001 13212 M010 13212 M010 13212 M010 13212 M010 13212 M010
0.00044 0.00047 -0.00142 -0.00135 -0.00127 -0.00120 -0.00113
0.00085 0.00090 -0.00190 -0.00181 -0.00172 -0.00163 -0.00154
0.13680 0.12869 0.19943 0.19841 0.18943 0.19009 0.19263
0.00011 0.00012 0.00013 0.00012 0.00011 0.00011 0.00010
0.00012 0.00013 0.00015 0.00014 0.00014 0.00013 0.00012
0.00181 0.00224 0.00299 0.00153 0.00187 0.00178 0.00149
... ... ... ... ... ... ...
Because outliers have been removed in the previous step, the obtained a posteriori RMS error should decrease (at least not increase). If this is not the case, it is likely that the observations and the heavily constrained a priori coordinates are inconsistent.
5.3 Ambiguity Resolution To resolve the ambiguities, we process the baselines separately one by one using the Quasi– Ionosphere–Free (QIF) strategy. This baseline processing mode is necessary because of the tremendous number of parameters. The attempt to resolve the ambiguities in a session solution might require too much CPU and memory to be feasible (several iterations with inversions of the full normal equation (NEQ) are necessary).
5.3.1 Ambiguity Resolution: Quasi–Ionosphere–Free (QIF) The complete list of baseline observation files of a session (e.g., session 2070 of year 2010) can be generated by listing all phase single–difference header files in the campaign’s observation directory of your campaign: [email protected] :~ > ls $ { P }/ INTRO / OBS /????2070. PSH $ { P }/ INTRO / OBS / GAJO2070 . PSH $ { P }/ INTRO / OBS / HEZI2070 . PSH $ { P }/ INTRO / OBS / JOLA2070 . PSH $ { P }/ INTRO / OBS / JOON2070 . PSH $ { P }/ INTRO / OBS / JOWS2070 . PSH $ { P }/ INTRO / OBS / JOWT2070 . PSH $ { P }/ INTRO / OBS / MAZI2070 . PSH $ { P }/ INTRO / OBS / PTZI2070 . PSH $ { P }/ INTRO / OBS / TLZI2070 . PSH $ { P }/ INTRO / OBS / WTWZ2070 . PSH $ { P }/ INTRO / OBS / WTZI2070 . PSH $ { P }/ INTRO / OBS / ZIZM2070 . PSH
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The first baseline for this session is from GANP to JOZ2 with the observation filename GAJO2070. Using the menu time variables this name is specified as GAJO$S+0. The following options are used for the ambiguity resolution step:
Only one baseline file is selected. Coordinates and troposphere estimates are introduced from the previous first network solution (Section 5.2).
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5.3 Ambiguity Resolution Specify a baseline specific output to prevent overwriting in subsequent runs: GAJO$+0Q. The Q at the end shall indicate that it is the output from the QIF–strategy.
Because the QIF–ambiguity resolution strategy is very sensitive to the formal errors of the ambguity parameters we have to include all measurements with the full sampling of 30 s into the processing.
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The selection of a “ZPD model and mapping function (GNSS)” is disabled because a troposphere file has been introduced in panel “GPSEST 1.2: Input Files 2” . The program uses the troposphere model from this input file and allows no other selection for consistency reasons. In the subsequent panel the “Resolution strategy” is chosen. Please, do not forget to store the resolved integer ambiguities in your observation file (mark checkbox at “Save resolved ambiguities” ).
In case of ambiguity resolution including GLONASS, only one ambiguity per iteration can be resolved. The program will adjust the setting automatically issuing a warning message.
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5.3 Ambiguity Resolution
An additional panel with options specific to epoch–parameters is displayed now because the “Parameter Setup: stochastic ionosphere parameters” are pre-eliminated EVERY_EPOCH.
After reporting input options and input data for the current run of GPSEST, the results are presented in two parts. The first part refers to the solution where the ambiguities are estimated as real values whereas the second part reports the results after resolving the ambiguity parameters to integer values. The real–valued estimates for the ambiguities may be found below the STATION COORDINATES section of the program output:
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... STATION COORDINATES AMBIGUITIES STOCHASTIC IONOSPHERE PARAMETERS
3 196 40364
0 0 40364
( EPOCH - WISE )
3 242 45454
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... TOTAL NUMBER OF PARAMETERS 40563 40364 45699 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... PHASE PHASE
L1 L2
ALL ALL
37484 37484
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... TOTAL NUMBER OF OBSERVATIONS 74968 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... ...
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0011 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
34405 1.18
... STATION COORDINATES : -------------------
$ { P }/ INTRO / STA / FLT10207 . CRD
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 107
JOZ2 12204 M002
X Y Z
3664880.4789 1409190.6787 5009618.5326
HEIGHT LATITUDE LONGITUDE
152.5318 5 52.211702 1 56.470106
52 21
3664880.4791 1409190.6784 5009618.5331
52 21
152.5323 5 52.211710 1 56.470086
0.0003 -0.0003 0.0005
0.0002 0.0002 0.0002
0.0005 0.0002 -0.0004
0.0002 .. 0.0001 .. 0.0002 ..
...
... AMBIGUITIES : ----------REFERENCE AMBI FILE SAT . EPOCH FRQ WLF CLU AMBI CLU AMBIGUITY RMS TOTAL AMBIGU . DL / L -------------------------------------------------------------------------------------1 2 3 4 5 6 7 8 9 10 11 12
1 1 1 1 1 1 1 1 1 1 1 1
3 11 11 14 14 14 17 17 19 19 19 20
2199 1 2613 1 1478 2569 1 1111 1 897 2337 1
1 1 1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1 1 1
3 4 6 7 8 9 10 11 13 14 15 16
-
-
1.07 2.12 -3.84 1.74 -0.67 1.17 3.38 -1.90 2.64 0.38 -2.80 2.31
21.81 21.81 21.81 21.81 21.81 21.81 21.81 21.81 21.81 21.82 21.81 21.81
1747244.07 -120949.88 -120952.84 -484082.26 -484244.67 -484299.83 -1280029.62 -1280192.90 1400087.64 1400165.38 1400190.20 757891.31
...
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5.3 Ambiguity Resolution If GLONASS data are processed, single–difference (instead of double–difference) ambiguities are resolved and no — REFERENCE — as in case of GPS–only appears. In the next part of the output the result of the QIF ambiguity resolution algorithm is given: ... AMBIGUITY RESOLUTION : -------------------STRATEGY :
QUASI - IONOSPHERE - FREE AMBIGUITY RESOLUTION ( QIF )
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 1 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
89 106
1
94 112
1
-4
-3
-0.03
-0.04
0.009
0.002
0.003
27
9
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 2 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
18
22
1
82
97
1
0
1
0.09
0.11
-0.022
0.009
0.003
24
6
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 3 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
1
3
1
82
97
2
-1
-1
-0.02
-0.03
0.006
-0.002
0.003
3
6
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 4 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
16
20
1
82
97
3
-4
-2
-0.08
-0.10
0.021
-0.005
0.003
22
6
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 5 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1 11 15 1 82 97 4 -5 -3 0.13 0.18 -0.043 -0.021 0.003 19 6 ... ----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 54 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
70
82
3
71
83
1
-2
-3
0.22
0.31
-0.086
-0.079
0.009
111
111
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 55 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
25
29
1
66
77
3
6
5
-0.05
-0.06
0.014
0.001
0.009
105
101
...
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The individual iteration steps are first described (we specified that only one ambiguity may be resolved within each iteration step — see panel “GPSEST 3.2.4: Quasi-IonosphereFree Ambiguity Resolution Strategy” ). The following information is listed for each resolved double–difference ambiguity: FILE file number (1 in our case; we process one baseline only), AM1 first ambiguity number (single–difference level), CL1 corresponding ambiguity cluster, #AM1 number of ambiguities belonging to the same cluster, AM2, CL2, #AM2 similar information for the second ambiguity. BEST INT. L1, L2 are the integer corrections to the a priori values (a priori values are computed using the a priori coordinates and may be rather inaccurate). CORRECTIONS IN CYCLES for carriers L1 and L2 gives the information about the fractional parts of the L1 and L2 ambiguities. The CORRECTIONS IN CYCLES L5 and L3 are of greater interest. The value L5 represents the ionosphere–induced bias expressed in L5 cycles. These values may not be greater than the maximum value specified in panel “GPSEST 3.2.4: Quasi-Ionosphere-Free Ambiguity Resolution Strategy” (option “Search width for pairs of L1 and L2 ambiguities” ). RMS(L3) is the criterion according to which the ambiguities are sorted. Ambiguities with L3 RMS errors larger than the value specified in the program input panel (in our example 0.03) will not be resolved. SA1, SA2 first and second satellite number related to the ambiguities. Note that in AMBIGUITY RESOLUTION ITERATION: 65 and 66 there are examples for resolving pairs of ambiguities from the same satellite (path–to–path ambiguity resolution) — GLONASS satellites 114, and 119 . The tion:
following
table
summarizes
the
results
of
the
ambiguity
resolu-
... REFERENCE AMBI FILE SAT . EPOCH FRQ WLF CLU AMBI CLU AMBIGUITY RMS TOTAL AMBIGU . DL / L - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 ...
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1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
3 11 11 14 14 14 17 17 19 19 19 20 20 22 22 22 24 24 28 28
2199 1 2613 1 1478 2569 1 1111 1 897 2337 1 2770 1 1248 2254 1 2196 1 782
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
3 4 6 7 8 9 10 11 13 14 15 16 17 18 19 20 21 22 23 24
-
-
-1 1 0 5 3 5 5 -1.83 7 0.47 -5 1 6 1.30 6 -4 5 0 1.75 -4
22.57 22.57
22.59
22.60
1747242. -120951. -120949. -484079. -484241. -484296. -1280028. -1280192.83 1400092. 1400165.47 1400188. 757890. 757842. -893533.70 -893514. -893533. 427188. 427032. -394055.25 -394018.
0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
AIUB
5.3 Ambiguity Resolution The ambiguities for which an RMS is specified could not be resolved (these ambiguities will be treated as real values by all subsequent program runs). In case of GLONASS, only ambiguities with the same channel number are resolved in Version 5.2 of Bernese GNSS Software . Ambiguity resolution has an influence on other parameters. Therefore, the results of the ambiguity–fixed solution are given in Part 2 of the output: ... 14. RESULTS ( PART 2) -------------------NUMBER OF PARAMETERS ( PART 2): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES STOCHASTIC IONOSPHERE PARAMETERS
3 66 40364
0 0 40364
( EPOCH - WISE )
3 242 45454
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 40433 40364 45699 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 2): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE PHASE
L1 L2
ALL ALL
37484 37484
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 74968 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 2): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0011 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
34535 1.27
... STATION COORDINATES : -------------------
$ { P }/ INTRO / STA / FLT10207 . CRD
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 107
JOZ2 12204 M002
X Y Z HEIGHT LATITUDE LONGITUDE
3664880.4789 1409190.6787 5009618.5326
52 21
152.5318 5 52.211702 1 56.470106
3664880.4789 1409190.6780 5009618.5333
52 21
152.5322 5 52.211720 1 56.470073
0.0000 -0.0007 0.0007
0.0001 0.0001 0.0002
0.0004 0.0006 -0.0006
0.0002 .. 0.0001 .. 0.0001 ..
...
You may see from the output that from a total of 196 ambiguities 130 ambiguities could be resolved (compare part 1 AMBIGUITIES with part 2 AMBIGUITIES). Note that these numbers include reference ambiguities for each GNSS, GLONASS frequency number and frequency.
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5.3.2 Ambiguity Resolution: Short Baselines
There are two very short baselines in the network where a direct ambiguity resolution for the L1 and L2 signal is possible applying the sigma–strategy.
The ultra–short baseline in Kötzting is between WTZR and WTZZ (WTWZ2070.PSH). The GPSEST input panels should look like follows:
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5.3 Ambiguity Resolution The program output name is again related to the name of the baseline but contains an identifier 1 at the end to distinguish the files from the output files of the QIF–strategy:
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The structure of the program output is the same as it has extensively been described in the previous section for the QIF ambiguity resolution strategy. It starts with PART 1 for the solution before the ambiguity resolution. Here are the corresponding parameter statistics: ... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES
3 206
0 0
3 232
... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 209 0 235 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE PHASE
L1 L2
ALL ALL
38232 38232
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 76464 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
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5.3 Ambiguity Resolution
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0012 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
76255 1.53
After the ambiguity resolution the same statistics is provided in PART 2: ... 14. RESULTS ( PART 2) -------------------NUMBER OF PARAMETERS ( PART 2): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES
3 40
0 0
3 232
... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 43 0 235 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 2): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0012 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
76421 1.82
From the number of ambiguity parameters it can be computed that 166 out of 206 ambiguities from both GPS and GLONASS have been resolved to their integer numbers. Please remind, that at least 4 ambiguity parameters must remain as real values because of one reference ambiguity per GNSS and frequency are needed. Because the two receivers belong to different groups regarding “GLONASS amb. resol. between different frequencies” only the ambiguities between the same frequency numbers have been resolved. In addition, depending on the receiver type, not all ambiguities for GPS are allowed to be resolved too, to prevent problems with the quarter–cycle bias between the L2P and L2C signal (see option “Consider GPS quarter-cycle biases” in panel “GPSEST 3.2: General Options 2” and the lecture on ambiguity resolution).
5.3.3 Ambiguity Resolution: BPE Admittedly, it is cumbersome to process the baselines “manually” one after the other — you have twelve baselines per session for this small example campaign. On Thursday you will have a lecture on automation of the data processing with the BPE . In the example BPE RNX2SNX.PCF a sequence for the ambiguity resolution is included. For this tutorial lecture a small part of this BPE is extracted into a separate TUTORIAL.PCF BPE. The process control file (PCF) is located in the directory ${U}/PCF. If you are
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5 Terminal Session: Wednesday not in the Bernese Introductory Course environment, you have to use the RNX2SNX.PCF instead of the TUTORIAL.PCF and skip the unneeded scripts (a brief description is given in the panel description of the RUNBPE) program. The PCF consists of three parts: the first part defines the scripts and the option directories where the program’s input files are taken from. In addition the waiting conditions are defined to keep the correct order for the execution of the scripts. In the second part, special execution modes are defined, e.g., that the scripts GNSQIF_P with PID 132 and GNSL12_P with PID 142 may run in parallel for each individual baseline. The preparatory scripts GNSQIFAP and GNSL12AP define the list of baselines to be processed. The third part defines the so called BPE– or PCF–variables that can be used within the scripts or in the input fields of the menu. A detailed introduction to the BPE will be the topic of a lecture on Thursday. The TUTORIAL.PCF is responsible for the following tasks: 011 TUT_COP : Copies the files from the previous processing steps of the tutorial to the filenames used in the RNX2SNX.PCF example BPE. It uses the PCF– and time variables for that purpose: copy copy copy copy copy
file file file file file
from from from from from
../STA/APR${yyddd}.CRD ../STA/FLT${yyddd}.CRD ../ATM/FLT${yyddd}.TRP ../ORB/COD${yyddd}.STD ../ORB/COD${yyddd}.ERP
to to to to to
../STA/APR${yyssss}.CRD ../STA/FLT${yyssss}.CRD ../ATM/FLT${yyssss}.TRP ../ORB/COD${yyssss}.STD ../ORB/COD${yyssss}.ERP
where ${yyddd} stands for the two–digit year and the day of year. The new filename contains ${yyssss} the two–digit year together with the session (in our case day of year plus the zero–character 0). If you are not in the Bernese Introductory Course environment, you have to copy these files manually to run the ambiguity resolution sequence of RNX2SNX.PCF . 101 SATMRK : All previously resolved ambiguities are re–initialized to start for all files from unresolved ambiguities (otherwise the interpretation of the statistic of resolved ambiguities may become difficult). 131 GNSQIFAP and 132 GNSQIF_P : Applies the QIF ambiguity resolution strategy to all baselines of the example in a baseline–by–baseline mode, where several baselines may be processed at the same time in parallel. 141 GNSL12AP and 142 GNSL12_P : Applies the SIGMA ambiguity resolution strategy directly to the original observations on the L1 and L2 frequency for both short baselines in the example network: Kötzting (WTZR and WTZZ) and Zimmerwald (ZIM2 and ZIMM). These scripts also run in a baseline–by–baseline mode, allowing for a parallel processing.
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5.3 Ambiguity Resolution
# # # TUTORIAL . PCF # # # Purpose : Run the ambiguity resolution for one session in the # > of the # Bernese Software Introductory Course # # ---------------------------------------------------------------------------# # Author : R . Dach # Created : 23 - Jan -2012 Last modified : 23 - Jan -2012 # # Changes : # # # # PID SCRIPT OPT_DIR CAMPAIGN CPU P WAIT FOR .... 3** 8******* 8******* 8******* 8******* 1 3** 3** 3** 3** 3** 3** 3** 3** 3** 3** # # Copy input files # ---------------011 TUT_COP R2S_GEN ANY 1 # # Resolve phase ambiguities # ------------------------101 SATMRK R2S_GEN ANY 1 011 131 GNSQIFAP R2S_QIF ANY 1 101 132 GNSQIF_P R2S_QIF ANY 1 131 141 GNSL12AP R2S_L12 ANY 1 132 142 GNSL12_P R2S_L12 ANY 1 141 # # End of BPE # ---------999 DUMMY NO_OPT ANY 1 142 # # PID USER PASSWORD PARAM1 PARAM2 PARAM3 PARAM4 PARAM5 PARAM6 .. 3** 12********** 8******* 8******* 8******* 8******* 8*** **** 8******* 8*******.. # # Resolve phase ambiguities # ------------------------131 $131 132 PARALLEL $131 141 $141 142 PARALLEL $141 # # VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 16* ************* V_A A priori information APR V_B Orbit / ERP , DCB , CLK information COD V_C Preliminary ( ambiguity - float ) results FLT V_CRDINF Project related station filenames EXAMPLE V_GNSSAR GNSS to be used for ambiguity resolution ALL V_BL_QIF Maximum baseline length for QIF AR 2000 V_BL_L12 Maximum baseline length for L1 & L2 AR 20 V_PCV Absolute / relative PCV model I14 V_SATINF Satellite information file SATELLIT V_PCVINF PCV information file PCV_Bxx V_SATCRX Satellite problem file SAT_$Y +0 V_RECINF Receiver characterization file RECEIVER . V_BLQINF BLQ FILE NAME , CMC CORRECTIONS EXAMPLE V_ATLINF ATL FILE NAME , CMC CORRECTIONS EXAMPLE V_HOIFIL Ionosphere model COD$YD +0 # # DO NOT USE V_D , V_J , V_M , V_Y VARIABLES ! # ( they are used already by the menu ) #
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5 Terminal Session: Wednesday In the Bernese Introductory Course environment the TUTORIAL.PCF BPE can be started for one session (e.g., day 207 of year 2010) using 'Menu>BPE>Start BPE processing':
If you follow the tutorial outside from the environment of the Bernese Introductory Course you can select RNX2SNX in option “Process control file” and skip all scripts apart from PID 401 SATMRK and the range from PID 431 GNSQIFAP to PID 442 GNSL12_P (option “Skip scripts” ).
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5.3 Ambiguity Resolution
Run the BPE for the current session. If the BPE stops with an error you can inspect the files ARyyddd0_...PRT and ARyyddd0_...LOG belonging to your current session. They are located in the BPE directory of your campaign. These files notice for instance if an input file is missing. This might be the case if you did not follow the naming convention proposed in the tutorial. In that case you have to copy the file from your naming to the expected one.
5.3.4 Ambiguity Resolution: Summary
For each observation file a corresponding program output file is generated. Using the program GPSXTR ('Menu>Processing>Program output extraction>Parameter estimation/stacking') you can generate a summary of the ambiguity resolution for all baselines of the session:
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5 Terminal Session: Wednesday All program output files related to the QIF ambiguity resolution method have been specified with program output filenames fitting in the shape ${P}/INTRO/OUT/????$S+0_Q.OUT and can, therefore, easily be selected in the input field “GPSEST/ADDNEQ output files” .
The program issues a warning message because only for a global network the evaluation of the ambiguity resolution statistics allow to assess the orbit quality: ### SR EXTAMB : ORBIT ACCURACY NOT ESTIMATED
This summary (${P}/INTRO/OUT/QIF10207.SUM) reports among others how many ambiguities are resolved for each baseline1 : File
Length Before After Res Sys ( km ) # Amb ( mm ) # Amb ( mm ) (%) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... GAJO2070 GANP JOZ2 344.407 102 1.1 24 1.1 76.5 G ... GAJO2070 GANP JOZ2 344.407 90 1.1 38 1.1 57.8 R ... GAJO2070 GANP JOZ2 344.407 192 1.1 62 1.1 67.7 GR ... HEZI2070 HERT ZIM2 685.151 120 1.1 46 1.1 61.7 G ... HEZI2070 HERT ZIM2 685.151 98 1.1 64 1.1 34.7 R ... HEZI2070 HERT ZIM2 685.151 218 1.1 110 1.1 49.5 GR ... JOLA2070 JOZ2 LAMA 201.183 118 1.0 36 1.0 69.5 G ... JOLA2070 JOZ2 LAMA 201.183 96 1.0 38 1.0 60.4 R ... JOLA2070 JOZ2 LAMA 201.183 214 1.0 74 1.0 65.4 GR ... JOON2070 JOZ2 ONSA 829.775 136 1.0 58 1.1 57.4 G ... JOON2070 JOZ2 ONSA 829.775 104 1.0 68 1.1 34.6 R ... JOON2070 JOZ2 ONSA 829.775 240 1.0 126 1.1 47.5 GR ... JOWS2070 JOZ2 WSRT 981.243 106 1.1 32 1.1 69.8 G ... JOWT2070 JOZ2 WTZR 663.182 104 1.4 28 1.5 73.1 G ... JOWT2070 JOZ2 WTZR 663.182 98 1.4 50 1.5 49.0 R ... JOWT2070 JOZ2 WTZR 663.182 202 1.4 78 1.5 61.4 GR ... MAZI2070 MATE ZIM2 1013.811 122 1.2 54 1.3 55.7 G ... MAZI2070 MATE ZIM2 1013.811 94 1.2 60 1.3 36.2 R ... MAZI2070 MATE ZIM2 1013.811 216 1.2 114 1.3 47.2 GR ... PTZI2070 PTBB ZIM2 640.077 114 1.3 26 1.4 77.2 G ... TLZI2070 TLSE ZIM2 596.848 120 1.3 20 1.3 83.3 G ... TLZI2070 TLSE ZIM2 596.848 90 1.3 58 1.3 35.6 R ... TLZI2070 TLSE ZIM2 596.848 210 1.3 78 1.3 62.9 GR ... WTZI2070 WTZR ZIM2 475.909 116 1.5 44 1.5 62.1 G ... WTZI2070 WTZR ZIM2 475.909 92 1.5 56 1.5 39.1 R ... WTZI2070 WTZR ZIM2 475.909 208 1.5 100 1.5 51.9 GR ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... Tot : 10 643.159 1158 1.2 368 1.3 68.2 G ... Tot : 8 601.283 762 1.2 432 1.3 43.3 R ... Tot : 10 643.159 1920 1.2 800 1.3 58.3 GR ...
1
Sta1 Sta2
# AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF
You may check the impact of introducing the ionosphere model (COD$YD+0 in “Ionosphere models” of panel “GPSEST 1.1: Input Files 1” ) by cleaning this input field. Repeat the ambiguity resolution (without saving the resolved ambiguities into the observation file: unmark option “Save resolved ambiguities” in panel “GPSEST 3.2: General Options 2” ) and compare the a posteriori RMS and the number of resolved ambiguities.
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5.4 Daily Goals An analogue statistics can be produced for the short baseline ambiguity resolution. Exchange the entry for the input file selection (“GPSEST/ADDNEQ output files” ) to catch all files of the shape ${P}/INTRO/OUT/????$S+0_1.OUT. It is recommended to change also the name of the resulting summary (“Ambiguity res. summary” ) and the identification string in the summary (e.g., L12 for “Ambiguity resolution: #AR_ID” ) in panel “GPSXTR 2: Output Files” . File
Sta1 Sta2
Length Before After Res Sys ( km ) # Amb ( mm ) # Amb ( mm ) (%) ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... WTWZ2070 WTZR WTZZ 0.002 108 1.2 16 1.3 85.2 G ... WTWZ2070 WTZR WTZZ 0.002 94 1.2 20 1.3 78.7 R ... WTWZ2070 WTZR WTZZ 0.002 202 1.2 36 1.3 82.2 GR ... ZIZM2070 ZIM2 ZIMM 0.019 108 1.1 2 1.1 98.1 G ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... Tot : 2 0.010 216 1.2 18 1.2 91.7 G ... Tot : 1 0.002 94 1.2 20 1.3 78.7 R ... Tot : 2 0.010 310 1.2 38 1.2 87.7 GR ...
# AR_L12 # AR_L12 # AR_L12 # AR_L12 # AR_L12 # AR_L12 # AR_L12
The solutions from the BPE are identical to the two manually processed solutions. You can compare the following two files in ${P}/INTRO/OUT for each strategy (e.g., with tkdiff): Filenames from Manual processing processed by the BPE Strategy: QIF: GAJO207Q.OUT GAJO2070_Q.OUT Strategy: direct L1 /L2 : WTWZ2071.OUT WTWZ2070_1.OUT If you compare the number of ambiguity parameters in the GPSEST program output with the number of ambiguities in the GPSXTR summary files, the number of reference ambiguities that need to be kept unresolved are considered.
5.4 Daily Goals At the end of today’s session, you should have: 1. used GPSEST for residual screening, created files: EDT10207. OUT , EDT10207. RES in your campaign’s OUT directory, 2. screened the residual files from the above run using RESRMS: created files RMS10207. SUM , RMS10207. LST , RMS10207. EDT , and RMS10207. OUT , 3. used SATMRK to mark the identified outliers, 4. used GPSEST for a first coordinate and troposphere estimation, created files: FLT10207. CRD and FLT10207. TRP , 5. used GPSEST for QIF ambiguity resolution, created files: GAJO207Q. OUT , 6. used GPSEST for direct SIGMA ambiguity resolution, created files: WTWZ2071. OUT , 7. apply the ambiguity resolution to all baselines running a BPE, 8. used GPSXTR to create a summary of the ambiguity resolution, created file: QIF10207. SUM
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Proposal for Further Activities Even if it is not needed for the processing progress of the regional network you may use some time in this terminal session to have a look into the examples for “Epoch Parameter Processing” (sections 7.3 for Kinematic Positioning and 7.4 for Zero Difference Processing for Clock Estimation). This section also provides also some instructions on other topic, e.g., the usage of RINEX 3 observation files in Section 7.5 . Note that some panels assume the availability of the final solution for regional network processing (FIN$YD+0) that will be generated in the terminal session of tomorrow only. You may replace these files by the results from the first network solution before the ambiguity resolution (FLT$YD+0) for this exercise.
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6 Terminal Session: Thursday Finish the work of yesterday by resolving the ambiguities for all baselines (day 207 year 2010). Today’s terminal session is to: 1. compute a final network solution of the day (GPSEST), 2. check the coordinates of the fiducial sites (ADDNEQ2, HELMR1), 3. check the daily repeatability (COMPAR), 4. recompute final solution and generate reduced size normal equation files (ADDNEQ2), 5. compute velocities (ADDNEQ2), for the current session. Compare the final coordinate results of the daily solutions (which are already processed and availalble).
6.1 Final Network Solution The resolved ambiguities may be introduced from the Bernese observation files into the final network solution. To start the program GPSEST in the session mode you have to select all single difference files of the corresponding session. In panel “GPSEST 1.1: Input Files 1” :
If the grid files for the coefficients of the VMF1 are available (downloaded from http://ggosatm.hg.tuwien.ac.at/DELAY/GRID/VMFG/ and the five grid files of the day are concatenated), we can introduce them into panel “GPSEST 1.1: Input Files 1” .
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6 Terminal Session: Thursday We do not introduce “Troposphere estimates” anymore from the previous solutions.
In panel “GPSEST 2.1: Output Files 1” we request the normal equation file as the only output file.
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6.1 Final Network Solution For the final run of GPSEST we consider the correlations between the observations correctly:
If the VMF1 grid files are available we can switch now from DRY_GMF to DRY_VMF to use the VMF1 instead of the Global Mapping Function (GMF). In the Bernese Introductory Course environment these files are available. Remember that you need to specify the grid files with the coefficients in the input field “Gridded VMF1 coefficients” in panel “GPSEST 1.1: Input Files 1” . Ambiguities which have been resolved in the previous runs of program GPSEST are introduced as known.
The checkbox in option “Stop program after NEQ saving” reduces the task of GPSEST to setting up the NEQ but not solving it. In particular in case of bigger networks this may save a lot of computing time because the solution for the session will be computed later on by ADDNEQ2 anyhow.
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6 Terminal Session: Thursday Since this is the final run of GPSEST, it is worthwhile to add some additional information about the observation files into the program output. This is useful if you archive the program output of this run together with the observation files and the resulting normal equation files.
We do not fix any stations on their a priori position, i.e., the coordinates of all stations will be estimated. This retains the flexibility for later changes in the realization of the reference frame (station constraints) with program ADDNEQ2. Because no solution in GPSEST is computed you can select here all types of datum definition apart from “Coordinates fixed” (the normal equations are always stored without any constraints):
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6.1 Final Network Solution The unresolved ambiguities are pre–eliminated. In addition we may setup additional parameters of interest.
The selection of the mapping function has to be consistent with the selection of the troposphere model in “ZPD model and mapping function (GNSS)” in panel “GPSEST 3.2: General Options 2” .
The output of the GPSEST contains only the input parameter and ends with the parameter statistics: 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES SITE - SPECIFIC TROPOSPHERE PARAMETERS
39 673 377
0 673 0
( BEFORE INV )
39 785 377
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 1089 673 1201 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
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NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE
L3
ALL
73602
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 73602 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... SOLUTION SKIPPED ...
---------------------------------------------------------------->>> CPU / Real time for pgm ' GPSEST ': 0:00:47.682 / 0:00:47.7 52 >>> Program finished successfully
After running GPSEST in session mode the normal equation file FIX10207.NQ0 should be available in the directory ${P}/INTRO/SOL In the environment of the Bernese Introductory Course these files are provided in the archive ${S}/RNX2SNX/2010/SOL/ and ${S}/RNX2SNX/2011/SOL/ respectively. Copy the files of the additional three days into your campaign. Following files should be now available in the directory ${P}/INTRO/SOL
FIX10207.NQ0, FIX11205.NQ0,
FIX10208.NQ0, FIX11206.NQ0.
and
6.2 Check the Coordinates of the Fiducial Sites To check the consistency of our network solution with respect to the coordinates available in the IGS14 reference frame we generate a minimum constraint solution for the network using program ADDNEQ2 ('Menu>Processing>Combine normal equation systems') with the following options:
No further input files in the next panel are needed.
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6.2 Check the Coordinates of the Fiducial Sites
A troposphere SINEX file may be generated in this solution by adding an output filename to the “Troposphere estimates (SINEX)” input field in panel “ADDNEQ2 2.1: Output Files 1” .
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday In the following three panels, all parameter types supported by ADDNEQ2 are listed. You may specify whether a parameter shall be pre-eliminated or not. An empty entry means that the parameter is not expected in the input NEQ files. Please note that an automated preselection is not possible for technical reasons. If a parameter with an empty input field is detected in the input NEQ files, the program will stop with an error. In the opposite case, a warning message is issued.
For the validation of the datum stations we choose the “Minimum constraint solution” . Because it is a regional network, we only apply the no–translation condition. The other conditions are sufficiently defined by the satellite orbits.
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6.2 Check the Coordinates of the Fiducial Sites The following panel allows to change the parameter spacing. We do not need this feature at the moment and leave, therefore, all input fields empty.
The relative constraints applied to the vertical troposphere and gradient parameters are so loose that they do not affect the solution. As in GPSEST, they simply prevent a format overflow in the output troposphere file in case of very weakly observed parameters due to gaps in the observation scenario.
The ADDNEQ2 program output starts with some information about the parameters contained in the input NQ0 file(s). The input options for the program run follow. An important part is the statistics for the current ADDNEQ2 solution: ... SUMMARY OF RESULTS -----------------Number of parameters : -------------------Parameter type Adjusted explicitly / implicitly ------------------------------------------------------------------------------Station coordinates / velocities 39 39 0 Site - specific troposphere parameters 377 377 0 ------------------------------------------------------------------------------Previously pre - eliminated parameters 656 656 ------------------------------------------------------------------------------Total number 1072 416 656 ...
Bernese GNSS Software, Version 5.2
.. Deleted ... .. ------- ... 0 ... 0 ... .. ------- ... .. ------- ... 0
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... Statistics : ---------Total number of authentic observations Total number of pseudo - observations
73602 341
Total number of explicit parameters Total number of implicit parameters
416 656
Total number of observations Total number of adjusted parameters Degree of freedom ( DOF )
73943 1072 72871
A posteriori RMS of unit weight Chi **2/ DOF Total number of observation files Total number of stations Total number of satellites ...
0.00115 m 1.32 12 13 0
Below this part the program output reports the results of the parameter estimation in a standardized format for all parameter types: ... Station coordinates and velocities : ---------------------------------Sol Station name Typ Correction Estimated value RMS error A priori value ------------------------------------------------------------------------------------1 GANP 11515 M001 X -0.00246 3929181.41903 0.00050 3929181. 42149 1 GANP 11515 M001 Y -0.00001 1455236.82073 0.00024 1455236. 82074 1 GANP 11515 M001 Z -0.00240 4793653.94773 0.00059 4793653. 95013 1 HERT 13212 M010 X -0.00135 4033460.84830 0.00058 4033460. 84965 1 HERT 13212 M010 Y -0.00158 23537.88819 0.00020 23537.8897 7 1 HERT 13212 M010 Z 0.00045 4924318.31497 0.00062 4924318.3 1452 1 JOZ2 12204 M002 X -0.00418 3664880.47678 0.00051 3664880. 48096 1 JOZ2 12204 M002 Y -0.00372 1409190.67690 0.00025 1409190. 68062 1 JOZ2 12204 M002 Z -0.00019 5009618.53001 0.00063 5009618. 53020 1 LAMA 12209 M001 X -0.00759 3524522.82514 0.00055 3524522. 83273 ...
... ... ... ... ... ... ... ... ... ... ... ...
Abb ---# CRD # CRD # CRD # CRD # CRD # CRD # CRD # CRD # CRD # CRD
... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...
Abb --# TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP
Site - specific troposphere parameters : -----------------------------------Station name Typ Correction Estimated value RMS error A priori value ------------------------------------------------------------------------------------GANP 11515 M001 N -0.00035 -0.00035 0.00007 0.00000 GANP 11515 M001 E 0.00011 0.00011 0.00009 0.00000 GANP 11515 M001 U 0.13553 2.24964 0.00135 2.11411 GANP 11515 M001 U 0.13073 2.24507 0.00101 2.11433 GANP 11515 M001 U 0.13286 2.24742 0.00095 2.11456 GANP 11515 M001 U 0.13901 2.25379 0.00097 2.11478 GANP 11515 M001 U 0.13493 2.24993 0.00085 2.11500 GANP 11515 M001 U 0.13519 2.25041 0.00098 2.11522 GANP 11515 M001 U 0.13060 2.24604 0.00095 2.11544 GANP 11515 M001 U 0.13367 2.24951 0.00082 2.11584 GANP 11515 M001 U 0.13178 2.24801 0.00089 2.11623 GANP 11515 M001 U 0.13341 2.25003 0.00085 2.11662 GANP 11515 M001 U 0.13276 2.24977 0.00083 2.11701 GANP 11515 M001 U 0.13687 2.25427 0.00083 2.11740 GANP 11515 M001 U 0.14007 2.25786 0.00077 2.11779 GANP 11515 M001 U 0.14164 2.25973 0.00086 2.11809 GANP 11515 M001 U 0.13776 2.25614 0.00104 2.11838 GANP 11515 M001 U 0.13772 2.25639 0.00096 2.11867 GANP 11515 M001 U 0.13297 2.25194 0.00101 2.11897 GANP 11515 M001 U 0.13823 2.25749 0.00091 2.11926 GANP 11515 M001 U 0.13867 2.25822 0.00088 2.11955 GANP 11515 M001 U 0.13921 2.25881 0.00088 2.11960 GANP 11515 M001 U 0.13899 2.25864 0.00101 2.11965 GANP 11515 M001 U 0.13434 2.25403 0.00102 2.11970 GANP 11515 M001 U 0.14064 2.26039 0.00094 2.11975 GANP 11515 M001 U 0.14075 2.26055 0.00107 2.11980 GANP 11515 M001 N 0.00019 0.00019 0.00007 0.00000 GANP 11515 M001 E 0.00080 0.00080 0.00009 0.00000 GANP 11515 M001 U 0.13904 2.25888 0.00140 2.11985 HERT 13212 M010 N -0.00105 -0.00105 0.00007 0.00000 HERT 13212 M010 E -0.00216 -0.00216 0.00010 0.00000 HERT 13212 M010 U 0.20436 2.50827 0.00162 2.30390 ...
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6.2 Check the Coordinates of the Fiducial Sites The coordinate solution for the session (${P}/INTRO/STA/FIN10207.CRD) may be compared with the a priori coordinates for the IGS core sites. The program HELMR1 ('Menu >Service>Coordinate tools>Helmert transformation') is used for this purpose:
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday For our example we get the following output. The M–flag for some stations indicates that they are not used to compute the transformation parameters. For these sites, only the residuals are printed to the program output. Bernese GNSS Software , Version 5.2 ------------------------------------------------------------------------------Program : HELMR1 Purpose : Helmert Transformation ------------------------------------------------------------------------------Campaign : $ { P }/ INTRO Default session : 2070 year 2010 Date : 28 - Aug -2017 15:43:08 User name : bern52
EXAMPLE : Session 102070: Check fiducial coordinates -------------------------------------------------------------------------------
FILE 1: EXAMPLE . CRD : IGS14 : coordinate list FILE 2: FIN10207 . CRD : EXAMPLE : Session 102070: Final coord inate / troposphere res LOCAL GEODETIC DATUM : IGS14 RESIDUALS IN LOCAL SYSTEM ( NORTH , EAST , UP )
--------------------------------------------------------------------| NUM | NAME | FLG | RESIDUALS IN MILLIMETERS | | --------------------------------------------------------------------| | | | | | | 75 | GANP 11515 M001 | I W | -0.24 -0.40 3.40 | | | 92 | HERT 13212 M010 | I W | -1.50 1.34 0.71 | | | 107 | JOZ2 12204 M002 | P A | -3.44 2.98 3.26 | M | | 122 | LAMA 12209 M001 | P A | -4.14 1.30 7.27 | M | | 136 | MATE 12734 M008 | I W | 3.61 1.02 -1.72 | | | 176 | ONSA 10402 M004 | I W | -0.75 -0.15 -0.64 | | | 192 | PTBB 14234 M001 | P A | -3.95 3.14 7.02 | M | | 236 | TLSE 10003 M009 | I W | 2.83 -3.44 -0.06 | | | 262 | WSRT 13506 M005 | I W | -0.72 -0.05 0.56 | | | 263 | WTZR 14201 M010 | I W | 0.52 1.41 -1.24 | | | 264 | WTZZ 14201 M014 | P A | -2.77 3.46 1.50 | M | | 276 | ZIM2 14001 M008 | I W | -4.38 -1.23 -1.83 | | | 278 | ZIMM 14001 M004 | I W | 0.64 1.49 0.82 | | | | | | | | --------------------------------------------------------------------| | RMS / COMPONENT | | 2.35 1.60 1.63 | | | | MEAN | | 0.00 -0.00 -0.00 | | | | MIN | | -4.38 -3.44 -1.83 | | | | MAX | | 3.61 1.49 3.40 | | ---------------------------------------------------------------------
NUMBER OF PARAMETERS : NUMBER OF COORDINATES : RMS OF TRANSFORMATION :
3 27 1.89 MM
BARYCENTER COORDINATES : LATITUDE LONGITUDE HEIGHT
: : :
48 45 56.82 9 29 24.71 -37.545 KM
PARAMETERS : TRANSLATION IN TRANSLATION IN TRANSLATION IN
N E U
NUMBER OF ITERATIONS
: : :
:
0.02 0.03 0.00
+++-
0.63 0.63 0.63
MM MM MM
1
NO OUTLIER DETECTED
---------------------------------------------------------------->>> CPU / Real time for pgm ' HELMR1 ': 0:00:00.076 / 0:00:00.0 75 >>> Program finished successfully
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6.3 Check the Daily Repeatability We can conclude that no problems concerning the stations used for the datum definition were detected. If there were problems, the ADDNEQ2 run needs to be repeated with the problematic station either removed from the file ${P}/INTRO/STA/IGS14.FIX or with manual selection of the stations used for the datum definition in panel “ADDNEQ2 5.1: Datum Definition for Station Coordinates” . In order to check the repeatability of the coordinate solutions for all 4 days, repeat the above steps for the remaining three days.
6.3 Check the Daily Repeatability If the minimum constraint solutions of the four sessions are available, the repeatability of the coordinate solutions may be checked using the program COMPAR ('Menu>Service >Coordinate tools>Coordinate comparison').
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday The program computes the arithmetic mean for all station coordinates. The difference of each individual coordinate set to this mean value and the overall RMS are reported in the following section of the program output: NUM STATION # FIL C RMS 1 2 3 4 ----------------------------------------------------------75
GANP 11515 M001
4
N E U
8.45 -6.81 -7.81 7.08 7.54 11.66 -10.03 -10.16 10.68 9.50 2.76 1.58 2.51 -0.36 -3.73
92
HERT 13212 M010
4
N E U
107
JOZ2 12204 M002
4
N E U
8.11 -6.91 -7.13 7.26 6.78 12.66 -10.52 -11.40 11.18 10.75 4.40 2.98 4.55 -3.45 -4.08
122
LAMA 12209 M001
4
N E U
8.42 -7.37 -7.19 6.66 7.91 11.99 -10.50 -10.27 10.37 10.40 3.05 3.42 1.25 -0.97 -3.70
136
MATE 12734 M008
4
N E U
11.57 -10.24 -9.76 10.86 9.15 14.02 -11.97 -12.31 11.85 12.43 1.58 -0.11 -0.02 1.99 -1.86
176
ONSA 10402 M004
4
N E U
8.22 10.44 3.88
-7.14 -7.08 -8.76 -9.31 -2.34 -3.91
6.50 8.61 4.70
192
PTBB 14234 M001
4
N E U
8.91 11.57 1.11
-6.90 -8.50 -9.92 -10.12 -1.66 0.43
7.82 7.58 9.75 10.29 0.48 0.74
236
TLSE 10003 M009
4
N E U
9.13 -8.60 -7.18 11.50 -10.17 -9.73 2.14 -0.50 -2.65
7.67 8.11 9.66 10.24 0.69 2.46
262
WSRT 13506 M005
4
N E U
9.56 10.00 2.26
263
WTZR 14201 M010
4
N E U
8.93 -7.86 -7.60 7.59 7.87 11.55 -10.20 -9.79 9.64 10.35 2.42 0.47 2.96 -0.56 -2.88
264
WTZZ 14201 M014
4
N E U
8.32 -7.24 -7.17 6.97 7.44 13.21 -11.43 -11.44 10.98 11.89 1.59 -1.97 1.18 1.40 -0.60
276
ZIM2 14001 M008
4
N E U
9.33 11.58 0.86
-8.01 -8.14 -9.93 -10.13 -1.16 -0.04
278
ZIMM 14001 M004
4
N E U
9.46 11.09 0.53
-8.26 -8.11 8.41 7.96 -9.63 -9.57 9.73 9.47 0.70 0.11 -0.30 -0.51
8.70 9.56 3.39
-7.38 -7.69 7.61 -8.75 -7.79 8.07 -2.48 -0.29 -2.11
-8.18 -8.37 8.64 -8.35 -8.95 8.37 2.45 -0.43 -2.89
7.46 8.47 4.88
7.72 9.46 1.54
7.90 8.94 0.87
7.68 8.47 9.93 10.13 0.34 0.86
-----------------------------------------------------------
While interpreting this output, keep in mind that the first two columns and the last two columns refer to different epochs (see warning message). The difference between these epochs is about one year. Obviously, station velocities need to be estimated (this will be done in the next step described in Section 6.5).
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6.4 Compute the Reduced Solution of the Sessions If reliable velocities for all stations are available they can be introduced:
You may check the influence on the repeatability on your own. Please be reminded, that for the ITRF2014 (IGS14) reference frame the linear station velocities are not sufficient. You may see the effect of the PSD corrections in the repeatablity. This is not the case for this example because none of the stations is affected by an earthquake and, therefore, no PSD corrections have to be considered. This output may be used for quality assessment. Stations with a problem in one or more sessions can be identified and excluded from the final ADDNEQ2 solution by adding them to section TYPE 003: STATION PROBLEMS in the station information file (${P}/INTRO/STA/EXAMPLE.STA). All parameters of these stations will be pre–eliminated before the normal equations are stacked and, therefore, also before the solution is computed.
6.4 Compute the Reduced Solution of the Sessions If one or more stations have to be excluded from the session solution or if the datum definition of the solution is still not acceptable, the final solution of the session has to be re–computed by repeating the ADDNEQ2 in Section 6.2. Finally, the result files for the final solution of the session are: ${P}/INTRO/SOL/FIN$YD+0.NQ0, ${P}/INTRO/STA/FIN$YD+0.CRD, and ${P}/INTRO/ATM/FIN$YD+0.TRP. It is preferable for the velocity estimation to have smaller normal equation files containing only the coordinate parameters for each session. In addition, we generate a coordinate Solution INdependent EXchange format (SINEX) file (in NEQ representation) as the final solution of the day, so the troposphere parameters have to be pre–eliminated before the solution is computed. We introduce the station coordinates (${P}/INTRO/STA/FIN$YD+ 0.CRD) obtained with the minimum constraint solution in the previous run of ADDNEQ2 and constrain the solution to these coordinates. To generate these reduced NQ0 files and the SINEX file, the execution of ADDNEQ2 has to be repeated with the following changes in the input options:
Bernese GNSS Software, Version 5.2
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Please note that the output SINEX file includes a skeleton from ${X}/GEN/SINEX. RNX2SNX . We propose to derive individual SINEX skeletons for different tasks that you can include a specific description how the product has been generated. The skeleton is provided in the input field “SINEX general input file” in panel “ADDNEQ2 1.3: General Files” .
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6.4 Compute the Reduced Solution of the Sessions
Because you are storing a SINEX file in NEQ representation (see option “Content of SINEX” ) no regularization is necessary.
The troposphere parameters are pre–eliminated:
To keep the a priori and estimated sets of coordinates in the resulting SINEX file consistent, we introduce the coordinate solution of the session in “Station coordinates” in “ADDNEQ2 1.1: Input Files 1” and constrain all coordinate parameters to these values.
Bernese GNSS Software, Version 5.2
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The normal equation file (${P}/INTRO/SOL/RED10207.NQ0) contains only the station coordinate parameters. The following section of the program output documents the pre– elimination of the troposphere parameters: ... SUMMARY OF RESULTS -----------------Number of parameters : -------------------Parameter type Adjusted explicitly / implicitly ( pre - elimi -----------------------------------------------------------------------------------------Station coordinates / velocities 39 39 0 Site - specific troposphere parameters 377 0 377 ( before st -----------------------------------------------------------------------------------------Previously pre - eliminated parameters 656 656 -----------------------------------------------------------------------------------------Total number 1072 39 1033 ...
... ... ... ... ... ... ...
... Statistics : ---------Total number of authentic observations Total number of pseudo - observations
73602 377
Total number of explicit parameters Total number of implicit parameters
39 1033
Total number of observations Total number of adjusted parameters Degree of freedom ( DOF )
73979 1072 72907
A posteriori RMS of unit weight Chi **2/ DOF Total number of observation files Total number of stations Total number of satellites ...
0.00115 m 1.32 12 13 0
You can also see that the number of explicit parameters in the NQ0 file was dramatically reduced (from 416 to 39). This is an advantage for the combination of a big number of normal equation files for the estimation of station velocities.
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6.5 Velocity Estimation
6.5 Velocity Estimation
6.5.1 Preparation for ITRF2014/IGS14 Velocity Estimation
This section can be skipped if no ITRF2014/IGS14 reference frame is used as geodetic datum.
Because of the PSD corrections the linear station velocity must not represent the actual station velocity one has to prepare the station coordinate and velocity files before they can be used for the datum defintion in the program ADDNEQ2. We have to compute the station coordinates at the reference epoch using the program COOVEL ('Menu>Service >Coordinate tools>Extrapolate coordinates'):
In our example none of the stations that shall be used for the datum definition is related to the PSD corrections. So, you can continue here. If you have another station selection where the PSD corrections become relevant we refer to Section 7.1 for further instructions.
Bernese GNSS Software, Version 5.2
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6.5.2 Velocity Estimation Based on NEQ Files
The velocity estimation in program ADDNEQ2 is easy. Introduce the normal equation files containing only the station coordinate parameters. Copy the prepared files for the three additional days (208 year 2010, 205 and 206 year 2011) from ${S}/RNX2SNX/2010/ SOL/RED10*NQ0 and ${S}/RNX2SNX/2011/SOL/RED11*NQ0 into ${P}/INTRO/SOL/ directory. The normal equation files have to cover a reasonable time interval to reliably estimate velocities (in this case one year):
Station velocities are set up by marking the checkbox:
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6.5 Velocity Estimation Furthermore, we check the repeatability of the daily solutions after the velocity estimation. The coordinates in the resulting file will refer to the epoch 2010 01 01. The input NEQ files do only contain coordinates:
The realization of the geodetic datum is done for positions and velocities separately in the following panels:
Bernese GNSS Software, Version 5.2
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The following panel provides options to detect bad daily solutions based on the repeatability:
After the velocity estimation the repeatability of the coordinate solutions from the individual normal equations look like: ... Statistics of individual solutions : ---------------------------------# Observations # Parameters File RMS ( m ) DOF Chi **2/ DOF authentic / pseudo explicit / imp licit / singular --------------------------------------------------------------------------------------------1 0.00115 72874 1.32 73940 6 39 1033 0 2 0.00121 72878 1.46 73861 6 39 950 0 3 0.00123 75378 1.50 76336 6 39 925 0 4 0.00122 75405 1.48 76421 6 39 983 0
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6.5 Velocity Estimation
Comparison of individual solutions : ---------------------------------GANP 11515 M001 GANP 11515 M001 GANP 11515 M001
N E U
0.40 0.53 1.24
0.45 0.03 -0.25
-0.46 -0.01 0.32
-0.22 0.66 1.58
0.17 -0.65 -1.40
HERT 13212 M010 HERT 13212 M010 HERT 13212 M010
N E U
0.12 0.41 3.10
0.08 -0.48 -0.91
-0.10 0.45 0.91
0.11 -0.20 -3.65
-0.13 0.17 3.71
JOZ2 12204 M002 JOZ2 12204 M002 JOZ2 12204 M002
N E U
0.24 0.40 0.51
0.06 0.41 -0.60
-0.05 -0.39 0.63
0.28 0.28 0.11
-0.30 -0.28 -0.11
LAMA 12209 M001 LAMA 12209 M001 LAMA 12209 M001
N E U
0.48 0.14 1.40
-0.14 -0.16 1.27
0.16 0.16 -1.23
-0.57 0.05 1.15
0.58 -0.04 -1.18
MATE 12734 M008 MATE 12734 M008 MATE 12734 M008
N E U
0.74 0.22 1.42
-0.25 0.15 0.12
0.25 -0.15 -0.17
0.87 -0.23 1.80
-0.87 0.22 -1.67
ONSA 10402 M004 ONSA 10402 M004 ONSA 10402 M004
N E U
0.45 0.37 1.39
-0.09 0.25 0.98
0.13 -0.24 -0.96
-0.53 -0.37 1.40
0.55 0.39 -1.40
PTBB 14234 M001 PTBB 14234 M001 PTBB 14234 M001
N E U
0.62 0.20 0.75
0.73 0.09 -0.87
-0.76 -0.09 0.85
0.17 -0.22 -0.35
-0.16 0.23 0.29
TLSE 10003 M009 TLSE 10003 M009 TLSE 10003 M009
N E U
0.63 0.27 1.36
-0.77 -0.22 1.31
0.72 0.18 -1.25
-0.21 -0.28 -1.08
0.19 0.26 1.07
WSRT 13506 M005 WSRT 13506 M005 WSRT 13506 M005
N E U
0.35 0.32 2.15
0.04 0.30 1.65
-0.02 -0.29 -1.59
0.46 -0.24 -2.20
-0.39 0.28 1.95
WTZR 14201 M010 WTZR 14201 M010 WTZR 14201 M010
N E U
0.16 0.31 1.17
-0.18 -0.23 -1.09
0.17 0.22 1.03
-0.09 -0.32 1.01
0.10 0.30 -0.92
WTZZ 14201 M014 WTZZ 14201 M014 WTZZ 14201 M014
N E U
0.18 0.33 1.31
-0.08 -0.01 -1.42
0.08 0.01 1.36
-0.19 -0.40 0.80
0.21 0.40 -0.81
ZIM2 14001 M008 ZIM2 14001 M008 ZIM2 14001 M008
N E U
0.29 0.10 0.48
0.03 0.11 -0.38
-0.02 -0.09 0.35
-0.36 -0.07 -0.50
0.36 0.06 0.40
ZIMM 14001 M004 ZIMM 14001 M004 ZIMM 14001 M004
N E U
0.23 0.14 0.40
-0.12 -0.03 0.47
0.11 0.03 -0.50
0.25 0.14 -0.10
-0.27 -0.19 0.09
Variance - covariance scaling factors : ----------------------------------Parameter type Component Scaling factor wrt RMS / variance DOF ---------------------------------------------------------------------------------------------Station coordinates N 1.39976 1.95932 52 Station coordinates E 1.31297 1.72389 52 Station coordinates U / vertical 1.49414 2.23244 52 Station coordinates Horizontal 1.35706 1.84160 104 Station coordinates All 1.40424 1.97188 156 ---------------------------------------------------------------------------------------------Total 1.40424 1.97188 156 ...
Below this table, bad daily solutions according to the settings in panel “ADDNEQ2 7: Comparison of Individual Solutions” are summarized (if there are any). In this example we have no additional section and, therefore, no outliers. If you compare the velocities obtained for the two sites in Kötzting (WTZR and WTZZ) and Zimmerwald (ZIM2 and ZIMM) you will find small differences:
Bernese GNSS Software, Version 5.2
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...
Stati Station coordinates and velocities : ---------------------------------Reference epoch : 2010 -01 -01 00:00:00 Station name Typ A priori value Estimated value Correction RMS error ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ... WTZR 14201 M010 VX -0.01629 -0.01820 -0.00191 0.00050 VY 0.01714 0.01648 -0.00066 0.00021 VZ 0.00986 0.00751 -0.00235 0.00055
... WTZZ 14201 M014
... ... ZIM2 14001 M008
... ZIMM 14001 M004
VU VN VE
-0.00043 0.01557 0.02034
-0.00352 0.01555 0.02012
-0.00309 -0.00002 -0.00022
0.00071 ... 0.00022 ... 0.00018 ...
VX VY VZ
-0.01629 0.01714 0.00986
-0.01531 0.02011 0.01007
0.00098 0.00297 0.00021
VU VN VE
-0.00043 0.01557 0.02034
0.00078 0.01449 0.02301
0.00121 -0.00109 0.00267
VX VY VZ
-0.01393 0.01809 0.01169
-0.01354 0.01860 0.01202
0.00039 0.00051 0.00033
VU VN VE
0.00070 0.01636 0.01975
0.00125 0.01625 0.02020
0.00055 -0.00011 0.00045
0.00069 ... 0.00022 ... 0.00018 ...
VX VY VZ
-0.01393 0.01809 0.01169
-0.01499 0.01755 0.01067
-0.00106 -0.00054 -0.00102
0.00084 0.00028 0.00081
VU VN VE
0.00070 0.01636 0.01975
-0.00081 0.01648 0.01935
-0.00151 0.00013 -0.00040
0.00113 ... 0.00034 ... 0.00026 ...
0.00054 0.00023 0.00059 0.00077 ... 0.00024 ... 0.00020 ...
0.00050 0.00019 0.00052
...
You can constrain the velocity estimates for the pairs of receivers at one location in the station information file. Copy the original station information file ${P}/INTRO/STA/EXAMPLE. STA and add the following lines to part TYPE 004: STATION COORDINATES AND VELOCITIES (ADDNEQ) of this copy. TYPE 004: STATION COORDINATES AND VELOCITIES ( ADDNEQ ) ----------------------------------------------------REL . CONSTR . POSITION STATION NAME 1 STATION NAME 2 ... EAST UP **************** **************** ... **.***** **.***** WTZR 14201 M010 WTZZ 14201 M014 ... ZIM2 14001 M008 ZIMM 14001 M004 ...
(Pay attention starts.)
to
the
number
of
blank
lines
RELATIVE CONSTR . VELOCITY NORTH EAST UP **.***** **.***** **.***** 0.00001 0.00001 0.00001 0.00001 0.00001 0.00001
before
the
next
section
When introducing this information, the program ADDNEQ2 will issue the following message: ### SR AOPTNET : You are going to use relative constraints for station coordinates / velocities from station info file . Please keep in mind that you will NOT constrain the estimated results but only the improvements of the apriori values .
If only the improvements (column Correction) for the velocities are constrained, you must make sure that also the a priori values (column A priori value) for the velocities are identical to obtain (column Estimated value) the same velocities for a group of stations. You can
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6.5 Velocity Estimation verify this in the input velocity file ${P}/INTRO/STA/EXAMPLE.VEL: ... 263 264 ... 276 278 ...
WTZR 14201 M010 WTZZ 14201 M014
-0.01629 -0.01629
0.01714 0.01714
0.00986 0.00986
IG14 EURA NNR EURA
ZIM2 14001 M008 ZIMM 14001 M004
-0.01393 -0.01393
0.01809 0.01809
0.01169 0.01169
IG14 EURA IG14 EURA
If this is not the case, you should unify the a priori values.
The relative constraining of the velocity estimates is confirmed in the section of the input parameters (below the a priori coordinates and velocities) of the ADDNEQ2–program output: ... Relative constraints between stations : Station names ----------------------------------------------WTZR 14201 M010 WTZZ 14201 M014 ZIM2 14001 M008 ZIMM 14001 M004
... relative constraints for velocities ... N ( m / year ) E ( m / year ) U ( m / year ) ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... 0.00001 0.00001 0.00001 ... 0.00001 0.00001 0.00001
Introducing this modified station information file instead of the original one you will get the following estimates for the station velocities in Kötzting and Zimmerwald: ... Station coordinates and velocities : ---------------------------------Reference epoch : 2010 -01 -01 00:00:00 Station name Typ A priori value Estimated value Correction RMS error ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ... WTZR 14201 M010
... WTZZ 14201 M014
VX VY VZ
-0.01629 0.01714 0.00986
-0.01699 0.01806 0.00857
-0.00070 0.00092 -0.00129
0.00039 0.00016 0.00042
VU VN VE
-0.00043 0.01557 0.02034
-0.00172 0.01509 0.02139
-0.00129 -0.00048 0.00105
0.00055 0.00017 0.00014
VX VY VZ
-0.01629 0.01714 0.00986
-0.01699 0.01807 0.00857
-0.00070 0.00093 -0.00129
0.00039 0.00016 0.00042
VU VN VE
-0.00043 0.01557 0.02034
-0.00172 0.01509 0.02140
-0.00128 -0.00049 0.00106
0.00055 0.00017 0.00014
... ... ...
... ... ...
...
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... ZIM2 14001 M008
... ZIMM 14001 M004
VX VY VZ
-0.01393 0.01809 0.01169
-0.01414 0.01804 0.01146
-0.00021 -0.00005 -0.00023
0.00040 0.00015 0.00041
VU VN VE
0.00070 0.01636 0.01975
0.00037 0.01635 0.01972
-0.00032 -0.00000 -0.00002
0.00055 0.00017 0.00014
VX VY VZ
-0.01393 0.01809 0.01169
-0.01414 0.01804 0.01146
-0.00021 -0.00005 -0.00023
0.00040 0.00015 0.00041
VU VN VE
0.00070 0.01636 0.01975
0.00037 0.01635 0.01972
-0.00032 -0.00000 -0.00002
0.00055 0.00017 0.00014
... ... ...
... ... ...
...
The final results are contained in the files ${P}/INTRO/STA/FINAL.CRD EXAMPLE : Estimate final solution - coordinates and velocit ies 28 - AUG -17 16:03 -------------------------------------------------------------------------------LOCAL GEODETIC DATUM : IGS14 EPOCH : 2010 -01 -01 00:00:00 NUM
STATION NAME
75 92 107 122 136 176 192 236 262 263 264 276 278
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
X (M) 3929181.43126 4033460.85505 3664880.49055 3524522.83658 4641949.46826 3370658.46734 3844059.87805 4627851.76301 3828735.79223 4075580.46481 4075579.34558 4331299.80234 4331296.99495
Y (M) 1455236.81309 23537.87958 1409190.66849 1329693.70182 1393045.51501 711877.20881 709661.39520 119640.11214 443305.03608 931853.87929 931853.19399 567537.41214 567555.96571
Z (M) 4793653.94 428 4924318.3093 1 5009618.5 2923 5129846.4 0041 4133287.5 3776 5349787.00 033 5023129.60 030 4372993.60 102 5064884.77 220 4801568.17 525 4801569.08 708 4633133.77 514 4633133.99 187
FLAG W W A A W W A W W W A W W
and ${P}/INTRO/STA/FINAL.VEL EXAMPLE : Estimate final solution - coordinates and velocit ies 28 - AUG -17 16:03 -------------------------------------------------------------------------------LOCAL GEODETIC DATUM : IGS14 NUM
STATION NAME
VX ( M / Y )
VY ( M / Y )
VZ ( M / Y )
75 92 107 122 136 176 192 236 262 263 264 276 278
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
-0.02030 -0.01036 -0.02293 -0.02128 -0.01977 -0.01249 -0.01518 -0.00937 -0.01652 -0.01699 -0.01699 -0.01414 -0.01414
0.01400 0.01632 0.01468 0.01414 0.01941 0.01575 0.01748 0.01952 0.01538 0.01806 0.01807 0.01804 0.01804
0.00629 0.01150 0.00251 0.00466 0.01507 0.01282 0.01026 0.01347 0.00835 0.00857 0.00857 0.01145 0.01145
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11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
FLAG W W A A W W A W W W A W W
PLATE EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA
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6.6 Daily Goals
6.6 Daily Goals At the end of today’s session, you should have: 1. used GPSEST to compute a final solution of the day, created files: FIX10207. OUT , FIX10207. NQ0 (for all sessions), 2. checked the coordinates of the fiducial sites using ADDNEQ2 and HELMR1, created files: FIN10207. CRD , FIN10207. TRP , FIN10207. OUT , and HLM10207. OUT , 3. used COMPAR to check the daily repeatabilities, created file: COMPAR. OUT , 4. used ADDNEQ2 to create a final session solution, and reduced size NEQs, created files: RED10207. NQ0 and RED10207. SNX , 5. if possible, used ADDNEQ2 for velocity estimation, created files: FINAL. CRD and FINAL. VEL .
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7 Additional Examples In the previous terminal sessions you have estimated coordinates, velocities, and troposphere parameters. This is the standard application of the Bernese GNSS Software for most users. If you have finished this work or if you want to follow more examples at home, this section of the document provides some suggestions to practice: • advanced usage of ITRF2014/IGS14 (see Section 7.1 on page 106), • generation of a combined GPS/GLONASS orbit from IGS (see Section 7.2 on page 112), • kinematic positioning for a station (see Section 7.3 on page 118), • zero difference processing to estimate clocks (see Section 7.4 on page 124), • inclusion of RINEX 3 data in the processing (see Section 7.5 on page 144), • enabling the processing of Galileo data (see Section 7.6 on page 147), and • simulation of GNSS observations (see Section 7.7 on page 155).
Extended Example Dataset In particular for Sections 7.5 and 7.6 the example dataset has been extended. The same set of stations that have been introduced in Section 1.1 are provided for day 213 in year 2017 (01 August 2017). For all stations RINEX 2 data are available in the datapool (${D}/RINEX). In the (${D}/RINEX3 directory for 7 of them are the observations also given in RINEX 3 format (long filenames). Six out of these stations provide also Galileo measurements. An additional campaign (${P}/EXM_GAL) in the Bernese Introductory Course is established where these RINEX observation files are copied and extracted in the RAW directory. Please note that RINEX 3 file have there the conventional short filename to guarantee the compatibilty with the filenaming to access them in the Bernese processing prgrams. Furthermore this campaign is prepared to analyze this day. In particular, the orbit product files from CODE are copied into the ORB directory. Apart from the COD (GPS and GLONASS) also the COM products (CODE’s five-system solution for IGS MGEX).
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7.1 Advanced Aspects in Using ITRF2014/IGS14 The velocity of a station in the ITRF2014/IGS14 is only derived by the sum of the linear velocities and the PSD corrections. On the other hand, for the datum definition of a velocity field the same parametrization for all stations and coordinate components is needed, what means, only linear station velocity parameters. There is of course the option to first subtract the PSD corrections from the coordinates and only linear velocities remain which can be aligned to the linear velocities from the ITRF2014/IGS14 solution SINEX file. It should be noted that this freezes the empirical PSD corrections that have been computed based on the IGS repro2 campaign. Consequently also GNSS modelling effects from the repro2 solution may be transferred into the new coordinate series, even when computed with a different (better) GNSS observation modelling. In addition the linear velocity field must first be adjusted to the PSD corrections before it can be integrated in the interval of your GNSS solution. In this section we are discussing potential alternative approaches.
7.1.1 Using ITRF2014/IGS14 Frames for Reprocessing For reprocessing the station coordinates for a specific epoch are necessary. This can be done as simple as deomnstrated in Section 2.5 of this tutorial. Nevertheless. it is recommended in case of a reprocessing to not use the IGS14_R.CRD, IGS14_R.VEL, and IGS14.FIX files as they are provided. It is preferable to extract the coordinates and velocities valid for the specific epoch of the session in the reprocessing from the IGS14 SINEX solution file by running the program SNX2NQ0 ('Menu>Conversion >SINEX to normal equations').
In order to follow the example, you have to copy the IGS14.SNX from ${D}/STAT_LOG/ IGS14.snx to ${P}/INTRO/SOL/IGS14.SNX (note that your operating system might be case sensitive).
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7.1 Advanced Aspects in Using ITRF2014/IGS14
Note that only the CRD and VEL informaion must be extracted but no NEQs are needed.
The following three files should now be available: ${P}/INTRO/STA/IGS14.CRD, ${P}/INTRO/STA/IGS14.VEL, and ${P}/INTRO/STA/IGS14.FIX.
The datum identifier in the coordinate files should be IGS14_0 in order to apply the PSD corrections by executing the program COOVEL. Because the files only contain those stations where coordinates and velocities are given in the IGS14 solution for the given epoch the remaining stations for your project need to be added using the program program CRDMERGE ('Menu>Service>Coordinate tools>Merge coordinate/velocity files').
7.1.2 Ignoring Stations with PSD Corrections for Datum Definition
You may simply follow the approach from previous ITRF solutions by limiting yourself to those stations for the datum definition where no PSD corrections are given in the IGS14 solution. As long as this limited number of stations is sufficient for your application you can follow this simple approach as it was demonstrated in Section 6.5 of this tutorial.
In order to get a list of stations where no PSD corrections are applied the pogram COOVEL offers an option “Stations without PSD corrections” .
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You may enter the last epoch of interest (e.g., day 206 of year 2011, the last day of the example dataset). The result file ${P}/INTRO/STA/I14_nPSD.FIX contains a list of stations where no PSD corrections were given. This file can be used as the list of available set of stations that may be used for the datum definition in the program ADDNEQ2:
Use the analogue setting for the datum definition for the station velocities in panel “ADDNEQ2 6.1: Datum Definition for Station Velocities” .
7.1.3 Recovering a Linear Velocity Field for a Certain Interval If you cannot continue in the simple way as in this example by simply ignoring all stations with PSD corrections for the datum definition, a dedicated BPE named ${U}/PCF/ITRF. PCF (description in ${U}/PCF/ITRF.README) is provided with the software. It may be started with 'Menu>BPE>Start BPE processing'. In the second panel “RUNBPE 2: Process Control Options” the ITRF.PCF is specified for “Process control file” . The most interesting is the last panel:
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7.1 Advanced Aspects in Using ITRF2014/IGS14
The BPE copies the files IGS14.SNX (given in V_REFSNX) and IGS14.PSD (given in V_REFPSD) from ${D}/REF52 into the campaign. It extracts the coordinates and velocities into Bernese formatted files where the datum identifier IGS14 (see variable V_REFDAT) is used. Starting from the epoch 2010 07 01 (see V_EPO1) this extraction is repeated every 30 days (see V_NINT) until epoch 2011 07 31 (see V_EPO2) is exceeded. The start and end date should cover the data interval that shall be used for the velocity estimation (in our case from day 207 in year 2010 to day 206 in year 2011). In this way, 10 coordinate files are extracted. The coordinates are fitted by a linear model in script COMPAR2 (PID 212) expecting that the fit during the interval is better than the thresholds given in the last panel of the related program input file:
(The panel is obtained via COMPAR2 .)
'Menu>BPE>Edit PCF program input files'
after selecting PID 121:
For most of the stations the residuals in the program output file ${P}/INTRO/OUT/ myIGS14.OUT (where myIGS14 is again related to the variable V_REFNAM) are zero. Deviations from zero may have two reasons:
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7 Additional Examples • the PSD corrections have been become close to a linear model with station AREQ as an example where the earthquake from 2001 has only a marginal deviation from a linear station velocity AREQ 42202 M005
N
0.03
AREQ 42202 M005
E
0.05
AREQ 42202 M005
U
0.01
0.07 -0.03 0.08 -0.05 -0.02 0.01
0.03 -0.03 0.05 -0.04 -0.01 0.01
0.01 -0.02 0.01 -0.03 -0.00 0.00
-0.01 -0.01 -0.02 -0.01 0.01 0.00
-0.03 0.02 -0.03 0.00 0.01 -0.00
-0.03 0.03 -0.05 0.04 0.01 -0.01
-0.04 0.05 -0.05 0.09 0.01 -0.02
• where the IGS14.SNX contains discontinuities like in the example for station WUHN at day 082 of year 2011 WUHN 21602 M001
N
0.11
WUHN 21602 M001
E
1.09
WUHN 21602 M001
U
4.19
0.12 -0.17 1.13 -1.61 -4.34 6.18
0.08 -0.21 0.73 -1.99 -2.84 7.68
0.04 0.16 0.35 1.56 -1.33 -6.01
-0.00 0.12 -0.04 1.17 0.17 -4.51
-0.05 0.08 -0.44 0.77 1.67 -3.01
-0.09 0.04 -0.82 0.39 3.17 -1.50
-0.13 0.00 -1.21 0.01 4.67 -0.00
(Note that discontinuities can be managed according to the description in Section 10.3.5 of the Bernese GNSS Software user manual. The station information file may be added in panel “COMPAR2 1: Input Files” , PID 121 .) At the end of the procedure three files are obtained myIGS14_R.CRD, myIGS14_R.VEL, and myIGS14.FIX (with myIGS14 is stemming from the variable V_REFNAM) that contain only those stations where threshold specified above are not exceeded. These files may either be copied to ${D}/REF52 (take care on overwriting potential other files from other projects) and may be used for variable V_REFINF in other example BPEs. For the interactive use they should be merged with the stations from you project using the program CRDMERGE:
If is of course essential that all coordinate files (myIGS14_R.CRD and EXAMPLE.CRD) refer to the same epoch.
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7.1 Advanced Aspects in Using ITRF2014/IGS14 To active the option “Synchronize stations with same DOMES number” is in particular help to antenna sharing stations where not all of the receiver/antenna combinations are included in the reference frame file myIGS14_R.CRD.
Note that this option requires the IGS-related station naming convention with the 4character ID and the domes number. Repeat the program to merge also the velocity files.
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7.2 Preparing Combined GPS and GLONASS IGS–Orbits In this section the differences to the standard procedure using CODE products containing GPS and GLONASS orbits with respect to IGS products are demonstrated. The IGS uses independent combination procedures for GPS and GLONASS orbits resulting in two sets of precise orbit files. That’s why the orbits for the two GNSS first need to be merged. In contrast, CODE (and other AC) uses a rigorous combined multi–GNSS processing scheme, hence producing a single precise orbit file.
7.2.1 Prepare Pole Information For the IGS precise orbit files (PRE) the consistent EOP need to be available in the ORB directory (which is the case in the Bernese Introductory Course environment). As for the use of CODE products in Section 3.1, the EOP information has to be converted from the IERS/IGS standard format (file extension within the Bernese GNSS Software is IEP) to the internal Bernese EOP format (file extension within the Bernese GNSS Software is ERP). This is the task of the program POLUPD ('Menu>Orbits/EOP>Handle EOP files>Convert IERS to Bernese Format'). Simply specify IGS–related filenames — other settings are analogous to Section 3.1 .
The messages ### PG POLUPD : NUTATION MODEL NOT SPECIFIED IN INPUT ERP FILE USING NUTATION MODEL NAME : IAU2000R06 ### PG POLUPD : SUBDAILY POLE MODEL NOT SPECIFIED IN INPUT ERP FILE USING SUBDAILY POLE MODEL NAME : IERS2010
just inform you that the nutation and subdaily pole models from the files in the input panel are written to the output file because no Bernese formatted ERP file was used as input. This is different to importing the EOP from CODE products because here the information on the nutation and sub daily pole model is also available in the international format (with the extension IEP).
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7.2 Preparing Combined GPS and GLONASS IGS–Orbits
7.2.2 Merging Precise Orbit Files
Before we can prepare the orbits from the IGS for a combined GPS+GLONASS processing we need to merge the two separate files IGS15941.PRE and IGL15941.PRE. This is the task of the program CCPREORB ('Menu>Orbits/EOP>Concatenate/merge precise orbit files'):
The resulting filename consists of the solution identifier (“First four characters” ) and the session of the first epoch (if “Reference epoch for output files” is empty). The reference epoch may also be specified by the user as the above example shows. Using the input options from above panel we expect the result file named as ${P}/INTO/ORB/GNSS2070. PRE .
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In the next panel you may specify the time window for which the satellite positions shall be included in the resulting precise orbit file.
7.2.3 Generating Standard Orbit Files The subsequent steps to create the so–called standard orbit files from precise orbit files are again analogue to the standard procedure using CODE products as detailed in Section 3.2 . The first step is the conversion into tabular orbit files (TAB) using the program PRETAB ('Menu>Orbits/EOP>Create tabular orbits'). The merged GPS/GLONASS precise orbit file is chosen as input and IGS–related output files are recommended.
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7.2 Preparing Combined GPS and GLONASS IGS–Orbits
It is important to enable the option “Exclude sat. with accuracy code 0” if you process orbits that are not provided by CODE (label “COD”). The precise GLONASS orbit files from the IGS contain the GLONASS broadcast clock information (instead of no clock corrections for GLONASS as in the CODE product files). This leads to two differences with respect to the use of the standard products from CODE: • The messages on missing GLONASS satellites clocks are not displayed (at least not for all GLONASS satellites). • Because the Bernese GNSS satellite clock files contain also clock corrections for the GLONASS satellites, the program CODSPP may compute the inter–system bias between IGSF–time scale (GPS satellite clocks in the IGS final product files) and GLONASS broadcast time system. Both differences have no impact on the obtained results. For some days a message like this may appear: ### PG PRETAB : SATELLITE CLOCK VALUES MISSING SATELLITE : 1 FILE NUMBER : 1 FILE NAME : $ { P }/ INTRO / ORB / GNSS2080 . PRE
It reports that for a specific satellite no clock information is provided in the IGS files. As long as this message lists only a limited number of satellites, the synchronization of the receiver clocks in CODSPP is still possible with the remaining satellites. It is therefore not critical. To generate the standard orbits (extension STD) from the tabular orbits the program ORBGEN ('Menu>Orbits/EOP>Create/update standard orbits') has to be used. Introduce the IGS–related tabular orbit file together with the consistent ERP file (as well as the consistent nutation, and the subdaily pole model in panel “ORBGEN 1.1: General Files” ):
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The name of the resulting orbit file should also be related to IGS:
The other options can be used as given in Section 3.2. The resulting program output is expected to look like ... ------------------------------------------------------------------------------RMS ERRORS AND MAX . RESIDUALS ARC NUMBER : 1 ITERATION : 4 -------------------------------------------------------------------------------
SAT ---
# POS ----
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96
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RMS ( M ) ------0.002 0.002 0.004 0.001 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.003 0.003 0.003 0.002 0.004 0.002 0.003 0.002 0.002 0.002 0.003 0.003
QUADRATIC MEAN OF O - C ( M ) TOTAL RADIAL ALONG OUT ----------------------------0.002 0.002 0.004 0.001 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.003 0.003 0.003 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.003 0.003
0.001 0.002 0.004 0.001 0.002 0.003 0.002 0.001 0.002 0.002 0.001 0.003 0.003 0.004 0.002 0.004 0.002 0.003 0.002 0.002 0.001 0.003 0.003
0.001 0.001 0.003 0.001 0.001 0.003 0.002 0.001 0.001 0.002 0.001 0.002 0.002 0.003 0.002 0.003 0.002 0.002 0.002 0.001 0.001 0.002 0.002
0.003 0.002 0.004 0.001 0.002 0.004 0.002 0.002 0.003 0.003 0.002 0.003 0.003 0.002 0.002 0.004 0.002 0.003 0.003 0.003 0.003 0.003 0.003
MAX . RESIDUALS ( M ) RADIAL ALONG OUT -------------------0.004 0.003 0.009 0.003 0.004 0.008 0.005 0.003 0.003 0.005 0.004 0.007 0.013 0.011 0.008 0.007 0.006 0.006 0.005 0.004 0.003 0.005 0.011
0.004 0.004 0.006 0.003 0.005 0.006 0.005 0.003 0.003 0.005 0.003 0.005 0.007 0.006 0.004 0.008 0.005 0.004 0.004 0.004 0.002 0.005 0.006
0.007 0.005 0.007 0.003 0.010 0.007 0.004 0.006 0.006 0.005 0.007 0.006 0.006 0.009 0.005 0.008 0.007 0.007 0.005 0.006 0.006 0.006 0.005
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7.2 Preparing Combined GPS and GLONASS IGS–Orbits
24 25 26 27 28 29 30 31 32 101 102 103 104 105 107 108 110 111 113 114 115 117 118 119 120 121 122 123 124
96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96
0.001 0.002 0.004 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.002 0.002 0.002 0.001 0.002 0.002 0.002 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002
0.001 0.002 0.004 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.001 0.002 0.002 0.002 0.001 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.002
0.001 0.001 0.005 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.001 0.002 0.001 0.001 0.002 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.001 0.001
0.001 0.001 0.003 0.001 0.002 0.003 0.002 0.002 0.001 0.002 0.002 0.002 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.002 0.001 0.002 0.001 0.002 0.001 0.002 0.002 0.001 0.002
0.002 0.003 0.003 0.003 0.002 0.003 0.002 0.003 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.003 0.003 0.003 0.002 0.002 0.001
0.003 0.003 0.011 0.003 0.004 0.005 0.006 0.005 0.005 0.006 0.006 0.005 0.005 0.003 0.003 0.004 0.007 0.003 0.004 0.005 0.004 0.010 0.004 0.005 0.004 0.006 0.004 0.003 0.003
0.002 0.003 0.006 0.003 0.005 0.006 0.005 0.005 0.003 0.004 0.005 0.006 0.003 0.007 0.007 0.003 0.003 0.010 0.005 0.012 0.008 0.009 0.006 0.006 0.004 0.004 0.006 0.004 0.017
0.005 0.007 0.005 0.006 0.007 0.007 0.005 0.009 0.006 0.007 0.005 0.006 0.004 0.004 0.005 0.004 0.005 0.006 0.005 0.004 0.005 0.003 0.006 0.006 0.006 0.014 0.004 0.004 0.003
------------------------------------------------------------------------------...
The RMS error for the orbit fit for precise IGS orbits should be below 5 mm (for older orbits it may also achieve 10. . . 15 mm). The file ${P}/INTRO/OUT/IGS10207.LST contains the same results as displayed on page 27 but contains also the GLONASS satellite orbits: EXAMPLE : Session 102070: Standard orbit generation 28 - AUG -17 13:32 TIME FROM DAY : 1 GPS WEEK : 1594 TO DAY : 2 GPS WEEK : 1594 ------------------------------------------------------------------------------ORBIT REPEATABILITY FROM A 1 - DAY FIT THROUGH DAILY ORBIT SOL UTIONS ( MM ) # ECLIPSING SATELLITES : 5 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ECL .. .. .. .. .. .. .. E . E . E . .. .. .. .. .. .. .. .. DOY 1 2 3 4 5 6 ... 12 13 14 15 16 ... 32 101 102 103 104 105 107 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - 207 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 2 2 2 1 1 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ALL 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 2 2 2 1 1 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - -
... ... ... ... ... ... ...
If you want to use these orbit files in the processing programs, you simply have to replace the CODE–related by the IGS–related filenames for the standard orbit and EOP files.
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7 Additional Examples
7.3 Kinematic Positioning 7.3.1 Estimating Kinematic Positions in a Double–Difference Solution The example campaign contains no really roving stations. You can, however, define one of them to be kinematic (e.g., station GANP). Introduce the coordinates from the final solution (${P}/INTRO/STA/FIN10207.CRD) for all other sites.
Remove the name of the resulting “Normal equations” file in panel “GPSEST 2.1: Output Files 1” if there is any entry in this input field. Store the kinematic coordinates in an output file (“Kinematic coordinates” in panel “GPSEST 2.2: Output Files 2” ).
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7.3 Kinematic Positioning
Because the number of parameters for the kinematic positioning may become very large, we select only a short data interval of one hour for this kinematic positioning:
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7 Additional Examples The option “Enable extended program output” may be disabled now:
Fix all station coordinates apart from GANP in the panels “GPSEST 4: Datum Definition for Station Coordinates” (choose MANUAL in panel “GPSEST 4: Datum Definition for Station Coordinates” and select all stations except GANP in panel “GPSEST 4.2” ).
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7.3 Kinematic Positioning Enable the kinematic coordinates option without any pre–elimination in a first run:
An additional panel for options related to epoch parameters is displayed where you can accept the default values:
Let us assume only horizontal movements for this site:
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7 Additional Examples
7.3.2 Extracting the Program Output from a Kinematic Positioning As expected you will get only small estimates for the kinematic coordinates since GANP was not moving: KINEMATIC COORDINATES : --------------------EPO : EPOCHS SINCE
$ { P }/ INTRO / STA / KIN10207 . KIN
2010 -07 -26 02:00:00
( SAMPLING
300 SEC )
CORRECTION AND RMS IN METER ... EPO EPOCH ( MJD ) # OBS STA LATITUDE LONGITUDE HEIGHT ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -...
1 2 3 4 5 6 7 8 9 10 11 12
With
GANP 11515 M001 55403.083333 55403.086806 55403.090278 55403.093750 55403.097222 55403.100694 55403.104167 55403.107639 55403.111111 55403.114583 55403.118056 55403.121528
15 14 14 14 13 13 13 13 14 14 14 13
GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP
49 2 -0.0048 0.0049 0.0019 0.0007 -0.0024 -0.0045 -0.0031 0.0012 -0.0062 -0.0028 -0.0009 -0.0049
4.971302 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.005 + - 0.005 + - 0.005 + - 0.005 + - 0.005
20 19 22.574439 -0.0035 + - 0.004 -0.0045 + - 0.004 -0.0003 + - 0.004 0.0015 + - 0.004 0.0016 + - 0.004 0.0034 + - 0.004 0.0026 + - 0.004 0.0041 + - 0.004 0.0022 + - 0.004 0.0034 + - 0.005 0.0023 + - 0.005 -0.0014 + - 0.005
746.0115 0.0000 + - 0.000 0.0000 + - 0.000 -0.0000 + - 0.000 -0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 -0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 -0.0000 + - 0.000
... ... ... ... ... ... ... ... ... ... ... ...
the
program GPSXTR ('Menu>Processing>Program output extraction>Parameter estimation/stacking') a comprehensive summary of the estimates for the kinematic solution can be extracted:
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7.3 Kinematic Positioning The resulting summary file looks like: -------------------------------------------------------------------------------* XEPO 12 0 12 * INI 0.0000 0.0000 0.0000 * EST 0.0000 0.0000 0.0000 * DIFXYZ 0.0000 0.0000 0.0000 * DIFNEU -0.0017 0.0009 0.0000 ------------------------------------------------------------------------------EPOCH DN DE DU 1 -0.0048 -0.0035 0.0000 2 0.0049 -0.0045 0.0000 3 0.0019 -0.0003 -0.0000 4 0.0007 0.0015 -0.0000 5 -0.0024 0.0016 0.0000 6 -0.0045 0.0034 0.0000 7 -0.0031 0.0026 0.0000 8 0.0012 0.0041 -0.0000 9 -0.0062 0.0022 0.0000 10 -0.0028 0.0034 0.0000 11 -0.0009 0.0023 0.0000 12 -0.0049 -0.0014 -0.0000 ------------------------------------------------------------------------------* AVG -0.0017 0.0009 0.0000 * SIG 0.0036 0.0028 0.0000 * RMS 0.0033 0.0028 0.0000 * RMSTC 0.0011 ------------------------------------------------------------------------------STATION : GANP PARAMS : 96 12 0 509 ( AMB , CRD , CLK , TOT ) OBSERV : 0 1592 1592
The different components of the summary are described in the online help.
7.3.3 Further suggestions • Introduce the result file with kinematic coordinates as an input file for another run of GPSEST. If the estimates become zero it is a confirmation that the file was correctly considered as the a priori kinematic positions for the station GANP. • Use the pre–elimination EVERY_EPOCH for the “Kinematic coordinates” (they are back– substituded by the program in order to get a solution also for those parameters). Compare the results with the first solution. • Switch the “Var-covar wrt epoch parameters” in panel “GPSEST 6.7: General Options for Epoch Parameters” from SIMPLIFIED to CORRECT. Compare the results again with the first solution. • Compute kinematic coordinates for the full day using the epoch–wise pre–elimination and back–substitution algorithm. To save computing power we recommend to sample the data to 300 s. • Repeat the kinematic solution considering only one of the two GNSS at the time (choose either GPS or GLONASS in option “Satellite system” of panel “GPSEST 3.1: General Options 1” ).
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7 Additional Examples
7.4 Zero Difference Processing for Clock Estimation For the clock estimation we have to use code and phase data together. The data is analyzed at zero difference level.
7.4.1 Preprocessing There are two ways for preprocessing zero difference observations in the Bernese GNSS Software, Version 5.2 available: • Precise satellite clocks are available for all satellites with the same sampling as the RINEX observations to be processed (typically 30 s): 1. RNXSMT to screen and smooth code measurements based on a consistency check between the code and phase observations 2. RXOBV3 to import the screened smoothed code together with the original phase data into Bernese observation file format 3. CODSPP to synchronize receiver clocks with respect to the GNSS system time 4. MAUPRP to screen the phase measurements 5. GPSEST, RESRMS, SATMRK to screen residuals from a zero difference network solution • Precise satellite clocks are not available: 1. RNXSMT to screen phase and code measurements based on a consistency check; smooth the code observations 2. RXOBV3 to import the screened phase and smoothed code data into Bernese observation file format 3. CODSPP to synchronize receiver clocks with respect to the GNSS system time 4. GPSEST, RESRMS, SATMRK to screen residuals from a zero difference network solution iteratively with a descreasing threshold In this text book we follow the second approach. The preprocessing of zero difference data starts with program RNXSMT, available from 'Menu>RINEX>RINEX utilities>Clean/smooth observation files'. In the first panel select all RINEX files of the active session:
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7.4 Zero Difference Processing for Clock Estimation The default input options perform well in most cases:
In the last panel you decide whether or not to “Preprocess phase observations” by checking or unchecking the box:
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7 Additional Examples The resulting smoothed RINEX files look like usual RINEX files but the line ### PG RNXSMT : RINEX FILE CHANGED
COMMENT
indicates that the numbers in the file result from RNXSMT. The S/N indicators have the following meaning: “1” considered by RNXSMT as bad data “5” data have only been copied from the original file by RNXSMT “9” considered by RNXSMT as good data The cycle slip flags in a smoothed RINEX file indicate the epochs/satellites where new ambiguities are needed according to the evaluation of RNXSMT. In order to import the smoothed RINEX observation files into the Bernese format you have to select them in the first input panel of program RXOBV3 (note that you will overwrite your zero difference observation files from the previous processing example by doing this):
If you have preprocessed the phase measurementents already in RNXSMT you can resample the observations already in RXOBV3: set the “Sampling interval” in panel “RXOBV3 2: Input Options 1” , e.g., to 300 seconds.
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7.4 Zero Difference Processing for Clock Estimation Furthermore, you have to consider the “SIGNAL STRENGTH REQUIREMENTS” for smoothed RINEX files (see above):
After importing the data into the Bernese format you have to repeat the receiver clock synchronization with program CODSPP. The options are identical to the settings in Section 4.2.1. The only difference is the option “Mark outliers in obs. files” in the last input panel: depending on your preprocessing chain it is recommended to select: BOTH if you have screened phase and code data in RNXSMT, because it is assumed that
the corresponding phase measurement is also bad if a problematic code data record has passed RNXSMT. CODE if you have used RNXSMT to only screen and smooth code observations so far. From problems in the code data cannot be deduced the quality of the corresponding phase measurements.
If you have not yet cleaned the phase observations in RNXSMT (approach with precise high–rate clocks available), you have to run MAUPRP now ('Menu>Processing>Phase preprocessing'). You need for this purpose a precise satellite clock corrections for all satellites and with the full sampling of 30 seconds (or even higher). Select “Zero-difference observation files” instead of “Single-difference observation files” and introduce a consistent set of “GNSS standard orbits” , “Pole file” , and “Satellite clocks” in panel “MAUPRP 1: Input Files” . An additional panel “MAUPRP 7: Clock Events” will be displayed (see online help for further details). It is
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7 Additional Examples receommended to disable the cycle slip corrections by checking the box for option “Do not accept cycle slip corrections” in panel “MAUPRP 8: Cycle Slip Detection/Correction” . All other settings can remain as described in Section 4.2.3.˙ You may skip this step if you have preprocessed the phase data already in RNXSMT.
7.4.2 Residual Screening Now you are ready to run GPSEST ('Menu>Processing>Parameter estimation') in the zero difference mode to store residuals for screening. You also have to include a DCB file when processing code observations.
In the subsequent two panels, the output files for residuals and clock estimates are specified:
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7.4 Zero Difference Processing for Clock Estimation
Take care to specify “Correlation strategy” with CORRECT and to store NORMALIZED residuals
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7 Additional Examples The options in the following panel are only relevant to zero difference processing. They define, e.g., the source clocks used as a priori for satellites and receivers if more than one potential source is available:
The datum definition shall be consider according to the information in the a priori coordinate file given in panel “GPSEST 1.1: Input Files 1” :
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7.4 Zero Difference Processing for Clock Estimation Clock parameters are setup and pre–eliminated EVERY_EPOCH:
For the residual screening, a reduced set of troposphere parameters can be estimated:
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7 Additional Examples The following panel asks for the options regarding the clock estimation. If you include GLONASS you need to choose “Rclk.off: Parameter setup” different from NONE. See online help for additional information.
The program output file should report the clock parameters: ... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
STATION COORDINATES RECEIVER CLOCK BIASES / TIME BIASES AMBIGUITIES SITE - SPECIFIC TROPOSPHERE PARAMETERS EPOCH WISE STATION CLOCKS EPOCH WISE SATELLITE CLOCKS
39 200 1375 91 3739 5842
0 0 0 0 3739 5842
( EPOCH - WISE ) ( EPOCH - WISE )
39 200 1442 91 3744 6059
... ... ... ... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 11286 9581 11575 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE CODE
L3 L3
ALL ALL
54384 54393
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 108777 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
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( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
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7.4 Zero Difference Processing for Clock Estimation The residuals are stored in the file ${P}/INTRO/OUT/CLK02143.RES. Use program RESRMS ('Menu>Service>Residual files>Create residual statistics') to screen for outliers bigger than 2 cm for code and phase data (remember that code residuals are scaled to phase residuals — 2 cm in the input field correspond to a 2 m threshold for code residuals):
The statistics in the program output file clearly indicates some stations with problematic obervations: FILE INFORMATION AND STATISTIC : -----------------------------Num Station 1 ... Total RMS med . Resi Sigma numObs nSat nDel ObsTyp .. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -.. 1 2 3 4 5 6 7 ... 14 15 16 17 18 19 20 ...
GANP HERT JOZ2 LAMA MATE ONSA PTBB
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001
... ... ... ... ... ... ...
1.3 2.0 2.0 1.3 3.6 2.4 1.7
0.7 0.7 0.8 0.6 0.8 0.7 0.9
1.1 1.0 1.1 0.9 1.2 1.0 1.3
4682 4716 4805 4786 4324 4624 2155
50 51 50 50 51 50 32
1 3 2 1 9 1 1
PHASE PHASE PHASE PHASE PHASE PHASE PHASE
.. .. .. .. .. .. ..
GANP HERT JOZ2 LAMA MATE ONSA PTBB
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001
... ... ... ... ... ... ...
0.4 0.3 0.3 0.2 0.3 0.3 0.5
0.1 0.1 0.1 0.1 0.1 0.1 0.2
0.3 0.2 0.2 0.2 0.2 0.2 0.3
4683 4718 4806 4788 4325 4624 2155
50 51 50 50 51 50 32
0 0 0 0 0 0 0
CODE CODE CODE CODE CODE CODE CODE
.. .. .. .. .. .. ..
Bernese GNSS Software, Version 5.2
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7 Additional Examples Mark the corresponding code and phase zero difference observations using program SATMRK ('Menu>Service>Bernese observation files>Mark/delete observations':
If you inspect the program output you will notice that only 354 observations have been removed from all observation files. Repeat the GPSEST–run and store again the residuals. ... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0009 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
97420 0.79
In the second iteration we screen for residuals bigger than 6 mm in RESRMS and mark these observations with SATMRK, too. If you have done the screening of phase observations in MAUPRP instead of RNXSMT you can skip the first iteration and you only need to run once through the residual screening procedure (sequence of GPSEST, RESRMS, SATMRK) using the final threshold for the residuals of 6 mm . Page 134
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7.4 Zero Difference Processing for Clock Estimation
7.4.3 Generate Clock Solutions
Repeat the run of GPSEST with the clean observation files to get the definitive clock estimates. You may introduce the estimated coordinates and troposphere parameters1 from the final double–difference solution for the session (e.g., FIN$YD+0). You also have to include a DCB file when processing code observations.
1
If you introduce a troposphere result file based on VMF1, you also need to introduce the same “Gridded VMF1 coefficients” in panel “GPSEST 1.1: Input Files 1” as you have used to generate the “Troposphere estimates” .
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7 Additional Examples Store also the coordinate results that correspond to the clock estimates.
In the final run the clock results for satellites and receivers shall be stored in a “Clock RINEX” result file in panel “GPSEST 2.2: Output Files 2” .
The input field for “ZPD model and mapping function (GNSS)” in panel “GPSEST 3.2: General Options 2” is inactive because a file with “Troposphere estimates” is introduced. The same troposphere model is used in this program run.
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7.4 Zero Difference Processing for Clock Estimation The datum definition shall be reconsidered when introducing a solution for the coordinates:
The sampling of troposphere parameters for those stations where you cannot introduce a complete set of estimates in the file from “Troposphere estimates” given in panel “GPSEST 1.2: Input Files 2” shall be identical with those in the input file:
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7 Additional Examples If you have selected a “Clock RINEX” result file in panel “GPSEST 2.2: Output Files 2” you are asked for the header information. Please replace the placeholders by the information for your institution and give a description for your results.
... NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP -----------------------------------------------------------------------------------------RECEIVER CLOCK BIASES / TIME BIASES 200 0 200 AMBIGUITIES 1320 0 1442 EPOCH WISE STATION CLOCKS 3739 3739 ( EPOCH - WISE ) 3744 EPOCH WISE SATELLITE CLOCKS 5842 5842 ( EPOCH - WISE ) 6059 -----------------------------------------------------------------------------------------TOTAL NUMBER OF PARAMETERS 11101 9581 11445 ------------------------------------------------------------------------------------------
... ... ... ... ... ... ... ... ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE CODE
L3 L3
ALL ALL
54188 54390
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 108578 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
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( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
97477 0.64
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7.4 Zero Difference Processing for Clock Estimation The estimated inter–frequency biases caused by different hardware delays in the receiver for each GLONASS satellite due to the individual frequency are reported in the following section in the program output: ... RECEIVER CLOCKS / TIME BIASES : ----------------------------REQUEST STATION NAME OFFSET ( USEC ) RMS ( NSEC ) ---------------------------------------------------------------------------------------------1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2
GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP HERT HERT HERT
11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 13212 M010 13212 M010 13212 M010
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
---0.244906 -0.251354 -0.236973 -0.229242 -0.243824 -0.241614 -0.226128 -0.250173 -0.248057 -0.249851 -0.250245 -0.245288 -0.243093 -0.249622 -0.244722 -0.243063 -0.242501 -0.250258 -0.242287 -0.242737 --0.065866 0.069644
0.000000 -0.244906 -0.251354 -0.236973 -0.229242 -0.243824 -0.241614 -0.226128 -0.250173 -0.248057 -0.249851 -0.250245 -0.245288 -0.243093 -0.249622 -0.244722 -0.243063 -0.242501 -0.250258 -0.242287 -0.242737 0.000000 0.065866 0.069644
--0.134 0.144 0.153 0.150 0.128 0.118 0.131 0.129 0.129 0.131 0.130 0.128 0.132 0.131 0.131 0.125 0.113 0.127 0.149 0.140 --0.131 0.135
SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT
GPS 101 102 103 104 105 107 108 110 111 113 114 115 117 118 119 120 121 122 123 124 GPS 101 102
...
The report of the clock estimates looks like: ... EPOCH WISE STATION CLOCKS : --------------------------
$ { P }/ INTRO / OUT / CLK10207 . CLK
STATION CLOCK VALUES ( USEC ) TYPE STAT EPOCH ( MJD ) A PRIORI CORRECTION TOTAL RMS ( NSEC ) # OBS STAT . ----------------------------------------------------------------------------------------------23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 ...
1 2 3 4 5 6 7 8 9 10 11 12 13 1 2 3
55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.003472 55403.003472 55403.003472
-0.021330 -0.002644 0.001614 -0.000525 -0.028072 -31.022254 0.528750 -0.035458 0.138215 -0.008899 -219.055034 -0.031458 0.028115 -0.022433 -0.001060 0.001511
EPOCH WISE SATELLITE CLOCKS : ----------------------------
0.000009 -0.000817 -0.000189 0.000184 0.001137 -0.000121 0.000326 -0.000356 0.000294 -0.000339 0.000212 -0.000164 -0.000175 0.000071 -0.000899 -0.000144
-0.021321 -0.003462 0.001424 -0.000340 -0.026935 -31.022376 0.529076 -0.035814 0.138509 -0.009237 -219.054822 -0.031623 0.027940 -0.022362 -0.001959 0.001367
0.003 0.003 0.003 0.003 0.003 0.003 0.005 0.003 0.004 0.003 0.004 0.003 0.004 0.003 0.003 0.003
34 29 35 35 30 30 11 28 20 33 18 30 18 34 29 34
R R R R R R R R R R R R R R R R
# # # # # # # # # # # # # # # #
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM GANP HERT JOZ2
$ { P }/ INTRO / ORB / CLK10207 . CLK
SATELLITE CLOCK VALUES ( USEC ) TYPE SAT EPOCH ( MJD ) A PRIORI CORRECTION TOTAL RMS ( NSEC ) # OBS -----------------------------------------------------------------------------------------24 24 24 24 24 24 24 24 24 24 24 24 24
3 6 9 11 14 17 19 20 22 24 28 31 32
55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000
586.451514 559.025665 20.468252 -78.075202 71.688147 163.652097 -52.512921 52.929104 166.687820 307.451136 -9.425636 -21.952063 -46.318216
Bernese GNSS Software, Version 5.2
-0.000519 0.001482 0.007644 0.000795 0.000893 0.000782 0.000589 0.000155 0.002045 0.000259 0.000221 0.000419 0.000435
586.450995 559.027147 20.475896 -78.074407 71.689041 163.652879 -52.512332 52.929259 166.689865 307.451395 -9.425414 -21.951644 -46.317781
0.013 4.082 7.717 0.002 0.003 0.010 0.003 0.004 0.014 0.007 0.007 0.084 0.003
15 1 * 1 * 26 26 22 26 26 12 25 22 2 * 26
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24 24 24 24 24 24 24 24 24 24 24 24 24 ...
104 105 107 113 114 115 120 121 122 3 6 9 11
55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.003472 55403.003472 55403.003472 55403.003472
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 586.452934 559.021364 20.469100 -78.075981
-79.261456 -153.329680 -292.762903 -276.613710 -168.479768 23.463583 -73.657604 -200.315946 -10.570479 -0.001054 0.001878 -0.000804 0.000704
-79.261456 -153.329680 -292.762903 -276.613710 -168.479768 23.463583 -73.657604 -200.315946 -10.570479 586.451879 559.023242 20.468296 -78.075277
7.795 0.004 0.011 0.023 0.010 0.028 0.004 0.003 0.006 0.015 4.987 5.760 0.002
1 * 18 18 9 15 6 18 18 18 13 1 * 1 * 26
The “∗”–character indicates satellites where the satellite clock correction has been computed from a limited number of stations. Because this section can become very long, it can also be skipped in the GPSEST program output by checking the box “Printing: Suppression of output concerning epoch parameters” in panel “GPSEST 3.2.1.1: Extended Program Output Options” (enabled only if the checkbox “Enable extended program output” in panel “GPSEST 3.2: General Options 2” is checked). Differences of clocks and Allan deviations for differences of clocks can be extracted from the GPSEST program output by the program GPSXTR ('Menu>Processing>Program output extraction >Parameter estimation/stacking'). The pair of clocks (receiver or satellites) are defined by a baseline file (extension BSL).
The baseline file might, e.g., be generated via the definition file':
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7.4 Zero Difference Processing for Clock Estimation The clock solution is finalized by selecting the reference clock using program CCRNXC ('Menu>Service>Clock tools>Combine/manipulate clock RINEX files'):
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7.4 Zero Difference Processing for Clock Estimation The table at the end of the program output provides an overview of the clock quality: ... REFERENCE CLOCK SELECTION FOR OUTPUT FILE ----------------------------------------Selected reference station : ...
WTZR 14201 M010
STATISTICS ON THE CLOCKS IN THE OUTPUT FILE ------------------------------------------# per file rms of poly . fit ( ns ) Clock name out 001 n = 0 n = 1 n = 2 ------------------------------------------------------------------WTZR 14201 M010 288 288 1.472 0.000 0.000 WSRT 13506 M005 288 288 4.520 0.030 0.030 MATE 12734 M008 288 288 29.164 0.054 0.052 PTBB 14234 M001 288 288 0.397 0.058 0.043 ONSA 10402 M004 284 284 5.626 0.081 0.076 LAMA 12209 M001 288 288 2.928 2.933 2.932 JOZ2 12204 M002 288 288 3.062 3.067 3.069 HERT 13212 M010 288 288 3.316 3.322 3.328 ZIMM 14001 M004 288 288 4.277 4.091 3.833 TLSE 10003 M009 288 288 5.174 4.892 4.734 ZIM2 14001 M008 287 287 5.297 5.021 4.712 GANP 11515 M001 288 288 6.752 6.689 6.629 WTZZ 14201 M014 288 288 0.3 E +06 0.3 E +06 0.3 E +06 G01 59 59 21.055 0.132 0.133 G02 113 113 53.429 0.138 0.122 G18 111 111 42.222 0.159 0.160 G29 93 93 40.762 0.163 0.136 G20 83 83 14.263 0.176 0.176 G07 105 105 3.172 0.187 0.139 G11 87 87 89.783 0.196 0.194 G19 103 103 91.484 0.196 0.135 G25 83 83 32.984 0.208 0.064 G23 98 98 32.857 0.221 0.115 G13 86 86 10.754 0.224 0.171 G12 86 86 38.001 0.230 0.155 G15 102 102 104.651 0.230 0.203 G14 111 111 111.497 0.240 0.234 G16 108 108 87.317 0.243 0.240 G31 113 113 71.214 0.268 0.165 G22 110 110 14.917 0.272 0.244 G21 102 102 45.128 0.292 0.254 G05 111 111 65.889 0.357 0.310 G06 93 93 248.950 0.371 0.341 R02 98 98 44.930 0.371 0.271 R13 103 103 22.467 0.371 0.341 R04 99 99 4.500 0.407 0.380 G32 87 87 300.001 0.425 0.257 R05 124 124 19.774 0.573 0.499 R19 100 100 20.046 0.592 0.318 ...
7.4.4 Further Suggestions • Switch the “Var-covar wrt epoch parameters” in panel “GPSEST 6.7: General Options for Epoch Parameters” from SIMPLIFIED to CORRECT. • Compute a PPP for one of the stations in the zero difference network solution. Compare the coordinates and clocks from the PPP with the results from the network solution. Exchange the orbits, EOP, and satellite clock corrections from your solution by products from other sources (e.g., CODE or IGS). • Use the PPP approach to screen the residuals of the Bernese zero difference observation files. This has to be done station by station. Make sure that you use a consistent set of orbits, EOP, and satellite clocks (e.g., IGS final products or CODE final solution).
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7.5 Using RINEX 3 Data The campaign ${P}/EXM_GAL in the Bernese Introductory Course environment contains some RINEX 3 files in order to follow the example in this section.
7.5.1 Basic Principles To accommodate for the various GNSS, RINEX 3 format was adapted for additional observation types. However, Version 5.2 of the Bernese GNSS Software is still limited to dual-frequency processing, so we need to select two frequencies for the processing. For each frequency, then, different observation types may be selected according to the availability and a given priority list given in a file (e.g, ${X}/GEN/OBS.SEL): GNSS observation selection for Bernese GNSS Software Version 5.2 21 - Aug -2012 -------------------------------------------------------------------------------Format version :
1.00
Receiver type ********************
S/S ***
O/F ***
RINEX observation codes and their prio rity *** *** *** *** *** *** *** *** *** *** *** ***
DEFAULT
G G G G R R R R
L1 L2 C1 C2 L1 L2 C1 C2
L1P L2P C1P C2P L1P L2P C1P C2P
SIMULA
G G G G R R R R
L1 L2 C1 C2 L1 L2 C1 C2
L1W L2W C1W C2W L1W L2W L1W L2W
L1W L2W C1W C2W
L1C L1X L2C L2D L2X C1C C1X C2C C2D C2X L1C L1X L2C L2X C1C C1X C2C C2X
Make sure that the observation types from your RINEX 3 observation files are contained in this priority list. If an observation type is not listed it is not considered by the program RNXSMT. This selection is performed by the program RNXSMT where the priority list is specified in option “Receiver-specific observation type priority” (panel “RNXSMT 1.1: General Files” ). The resulting smoothed RINEX file (extension SMT) contains a special section in its comment lines reporting the original observation types according to the RINEX 3 convention: ### GEOS : GEOS : GEOS : GEOS : GEOS : ... GEOS : GEOS : GEOS : GEOS :
PG 1 2 3 4 5
RNXSMT : RINEX FILE CHANGED G 1 C1C C2W L1C L2W G 2 C1C C2W L1C L2W G 3 C1C C2W L1C L2W G 4 C1C C2W L1C L2W G 5 C1C C2W L1C L2W
COMMENT COMMENT COMMENT COMMENT COMMENT COMMENT
51 52 53 54
R121 R122 R123 R124
COMMENT COMMENT COMMENT COMMENT
C1P C1P C1P C1P
C2P C2P C2P C2P
L1P L1P L1P L1P
L2P L2P L2P L2P
When importing these files into the binary Bernese observation file format using the program RXOBV3 this information is kept in the header section. This information will be used in future versions of Bernese GNSS Software to manage the observation type identification. This mechanism requires to start with program RNXSMT whenever RINEX 3 files should be imported into Bernese GNSS Software, Version 5.2 . Page 144
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7.5 Using RINEX 3 Data
7.5.2 RINEX 3 Handling in RNXSMT In the first panel of RMXSMT the “Original RINEX observation files” are selected. Observation files in RINEX 2 and RINEX 3 format can be processed together in one program run. For that reason the potential long names of RINEX 3 files need to be converted to the conventional names of the RINEX 2 format.
In order to import RINEX 3 formatted files a priority list need to be specified in “Receiverspecific observation type priority” :
In the last panel of RNXSMT it may be selected whether phase and/or code measurements shall be preprocessed. If both checkboxes are deactivated the original observations from the input RINEX files are simply copied into the smoothed RINEX files.
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7.5.3 RINEX 3 Handling in the Example BPEs Since the release from 2016-Jan-08 of Version 5.2 , the BPE examples distributed with the Bernese GNSS Software contain four variables related to the selection of RINEX files to be processed: • V_OBSSEL to select the stations to be processed (see more information in the README-files of the BPEs), • V_RNXDIR location of the observation files in RINEX 2 format, • V_RX3DIR location of the observation files in RINEX 3 format, and • V_OBSINF name of the “Receiver-specific observation type priority” file to be used in the program RNXSMT if RINEX 3 formatted observation files are used. In the default setup the third section of the process control files considers only RINEX 2 formatted observation files: VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX
RINEX 3 observation typ selection
OBS . SEL
To accept also observation files in RINEX 3 format for processing, the corresponding directory need to be specified in V_RX3DIR : VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX RINEX3
RINEX 3 observation typ selection
OBS . SEL
The user script RNX_COP copies the observation files with the following priority from the datapool into the campaign area: 1. 2. 3. 4. 5.
RINEX 3 RINEX 3 RINEX 3 RINEX 3 RINEX 2
files files files files files
with with with with with
long names; generated by the receiver long names; generated from a stream long names; source unknown short names; source unknown short names
As soon as a RINEX 3 observation file is found, also the variable designed for the “Receiver-specific observation type priority” becomes relevant. Make sure that for your own BPEs the program RNXSMT is the first program that accesses the RINEX observation files.
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7.6 Processing Galileo Observations
7.6 Processing Galileo Observations Orbit and observation files containing Galileo are provided for one day (doy 213 of year 2017) in the campaign ${P}/EXM_GAL in the Bernese Introductory Course environment.
7.6.1 Galileo Satellite-Related Metadata Since 29 January 2017, the IGS is using the antenna corrections related to the IGS realization of the ITRF2014. The igs14.atx published by the IGS contains also corrections for the Galileo satellite antennas. Galileo meta data are contained in the satellite information file (${X}/GEN/SATELLIT.I14) as well as the antenna phase center correction file (${X}/GEN/PCV.I14) published at http://www.aiub.unibe.ch/download/ BSWUSER52/GEN or distributed with the software. These antenna corrections have been estimated under the assumption that the Galileo L1 /L5 ground antenna phase center corrections are identical with GPS L1 /L2 . This assumption has been taken because dedicated Galileo calibrations are not yet available for most antennas. The processing of Galileo observations follows the same scheme and is, therefore, consistent.
7.6.2 Preparing the Orbit and Clock Products The orbit products that shall be used need also to contain Galileo orbits and satellite clock corrections (in particular for a PPP processing). Since this information is not contained in the IGS legacy products, it is necessary to introduce products from the MGEX project of the IGS. In this context for instance CODE provides a dedicated multi-GNSS solution (the solution label COM is used for this purpose). The products can be downloaded from http://www.aiub.unibe.ch/download/CODE_MGEX/CODE and should be made available in the datapool area ${D}/COM for the use with the BPE. The orbit files have to be prepared as described in Section 3. Apart from the different filenaming (COM instead of COD) it should be considered that the EOP files are given in daily instead of weekly files. Consequently you need to specify COM$WD+0 instead of COD$W+07 to the field “Foreign formatted ERP files” in panel “POLUPD 1: Input/Output Files” . Since the beginning of the year 2014 the MGEX-related products generated by CODE are based on the updated Empirical CODE Orbit Model (ECOM) containing the twice-perrevolution term in the D-component (pointing from the satellite to the Sun). In order to correctly integrate these orbits with the program ORBGEN of Version 5.2 of Bernese GNSS Software you should consider the remarks in the section on Orbit Modeling at CODE Analysis Center and Compatibility with Version 5.2 on page 119 of the user manual. It means in particular that the orbit model in the program ORBGEN should be adjusted as follows:
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Even if orbits from more than GPS, GLONASS, and Galileo (as supported by Version 5.2 of Bernese GNSS Software) are contained in the orbit products, ORBGEN selects only those where records in the satellite information file are available. If you plan to do a PPP processing you may directly extract the satellite clock corrections from the clock RINEX file using the program RNXCLK ('Menu>RINEX>RINEX utilities>Extract satellite clock'):
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7.6 Processing Galileo Observations
7.6.3 Observation Selection Galileo measurements should only be provided in RINEX 3 format. Basically the instructions from Section 7.5 apply. It is only necessary to extend the observation type priority file by the Galileo-related measurement types. An example (${X}/GEN/OBS_GAL.SEL) is provided together with the Bernese GNSS Software: Receiver type ********************
S/S ***
O/F ***
RINEX observation codes and their prio rity *** *** *** *** *** *** *** *** *** *** *** ***
DEFAULT
G G G G R R R R E E E E
L1 L2 C1 C2 L1 L2 C1 C2 L1 L2 C1 C2
L1P L2P C1P C2P L1P L2P C1P C2P L1C L5Q C1C C5Q
L1W L2W C1W C2W
L1C L1X L2C L2D L2X C1C C1X C2C C2D C2X L1C L1X L2C L2X C1C C1X C2C C2X L1X L5I L5X C1X C5I C5X
...
This file needs to be specified in the option “Receiver-specific observation type priority” for the program RNXSMT:
All the other settings may be taken as shown in Section 7.5.2 . The SMT files have now to be imported into the the Bernese internal observation file format using the program RXOBV3:
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7 Additional Examples Since the observation type priority file acts as a filter, only observations for the systems listed in this file have been passed the program RNXSMT. For that reason the SMT-files contain only observations from the selected satellite systems. No further filtering is needed when importing the observations into the Bernese observation file format. Therefore, ALL satellite systems can selected in option “Satellite system to be considered” :
Please take care on the settings in the section “SIGNAL STRENGTH REQUIREMENTS” in panel “RXOBV3 4: Input Options 2” (see Section 7.4.1).
7.6.4 Processing the Example Including Galileo
At this point you can continue the processing for a regional network as described in this tutorial from Section 4.2 (page 33) onwards in order to generate a double difference network solution including Galileo. You need only to take care that you use the COM instead of COD orbit products and the the selection of the GNSS to be processed does not exclude Galileo (ALL for “Satellite system” ).
Forcing the Usage of Galileo Data in a Double-Difference Solution
In order to optimize the baseline creation for the usage of Galileo data the following procedure can be established. It is in particular useful if orbits for these satellites shall be estimated and/or the network of the Galileo tracking stations is so sparse that these measurements are not suffciently available.
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7.6 Processing Galileo Observations Step 1: Create first a set of baselines from those stations that provide Galileo measurements:
Store the resulting baselines in a file:
Step 2: Complete the network with the remaining stations:
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Using Galileo in a Zero-Difference Solution
Within the receivers an ISB between the Galileo and GPS pseudorange signals is expected as it is the case between GPS and GLONASS. Because all Galileo satellites are using the same frequencies only one bias parameter per station needs to be added. In order to setup this bias parameter the option “Differential code biases” needs to be enabled:
As the “Type of differential code biases” LC for the receivers needs to be selected if the ionosphere-free linear combination L3 is processed:
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7.6 Processing Galileo Observations
Unfortunately, this bias parameter cannot be combined with bias parameters from the type P1-C1 or P1-C1_MULTIPLIER . The related biases for GPS need to be introduced as a priori values in “Observable-specifc biases” in panel “GPSEST 1.1: Input Files 1” and cannot be reestimated at the same time. If P1-C1_MULTIPLIER is selected, GPSEST automatically switches to LC if GPS and Galileo observations are processed together. In case of the geometry-free linear combination L4 the P 1 − P 2 bias needs to be specified. Here the necessary Galileo-related bias is set up automatically. Apart from these modifications, the analysis of the zero-difference network as described in Section 7.4 is possible including Galileo observations.
7.6.5 Adapting the Example BPEs The PPP (PPP_BAS.PCF and PPP_DEMO.PCF) as well as the double-difference network (RNX2SNX.PCF) processing example BPEs can be switched for processing Galileo observations by changing a few BPE server variables: • Allow the import of Galileo observations from the RINEX observation files by chaning VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_SATSYS Select the GNSS ( GPS , GPS / GLO ) GPS / GLO ...
to VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_SATSYS Select the GNSS ( GPS , GPS / GLO ) ALL ...
The value of this variable is introduced into the option “Satellite system to be considered” in program RXOBV3 in order to select the GNSS for importing the measurements into the Bernese formatted binary files. • Another set of changes in the BPE variables is related to the usage of RINEX 3 measurements, which is disabled in the default version:
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VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX
RINEX 3 observation typ selection
OBS . SEL
According to Section 7.5 they are enabled by: VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX RINEX3
RINEX 3 observation typ selection
OBS_GAL . SEL
• Finally, the orbit products that shall be used need also to contain Galileo orbits and satellite clock corrections by choosing COM instead of COD products by changing VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_B Orbit / ERP , DCB , CLK information COD ...
to VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_B Orbit / ERP , DCB , CLK information COM ...
It is obvious that the products need to be available in the datapool (${D}/COM). • It might be useful to deposit the results from the Galileo processing in a separate folder in the savedisk archive. You may adapt the BPE variable V_RESULT accordingly: VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_RESULT Directory name for the RNX2SNX results RNX2SNX_GA L ...
For zero-difference processing the ISB between the three involved GNSS in the receivers need to be taken into account. In Section 7.4 this is demonstrated between GPS and GLONASS by enabling the “GLONASS receiver clock biases” in panel “GPSEST 5.2: Setup of Parameters and Pre-Elimination 2” . To add the ISB for Galileo as well, one additional bias parameter is needed per receiver (because, as GPS, Galileo uses the same frequency for all satellites). This additional bias is enabled automatically by the user script TIMEST_P in confunction with the program GPSEST. The program switches the “Type of differential code biases” from P1-C1_MULTIPLIER to LC as soon as Galileo data are available. This mechnism allows the PPP example BPEs to use Galileo data. In the case of the zerodifference network processing example (CLKDET.PCF) this would require a reorganization of the bias-handling. For that reason this example BPE does not support the analysis of Galileo data at the current status.
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7.7 Simulation of GNSS Observations
7.7 Simulation of GNSS Observations The Bernese GNSS Software provides the simulation tool GPSSIM ('Menu>Service>Generate simulated observation data'). It generates synthetic GNSS (i.e., GPS and GLONASS) observations for terrestrial static or kinematic stations as well as for LEO. Code and phase zero difference observation files can be created based on an observation scenario defined by • GNSS satellite geometry given by a standard orbit and • a set of receivers with positions from a coordinate file, kinematic positions, or a LEO standard orbit file.
7.7.1 Simulation of GNSS Observations It is important that you remove all previously existing observation files for this session from the OBS directory of your campaign before your start to simulate observations. Otherwise you run into the danger of mixing your current set of simulated observations with other measurements: [email protected] :~ > rm $ { P }/ INTRO / OBS /????2070. CZ ? [email protected] :~ > rm $ { P }/ INTRO / OBS /????2070. PZ ?
Please keep in mind that the observation files from your previous work in this campaign are lost due to this command. If you still need them, please copy them away. The input files for the generation of synthetic GNSS observations with program GPSSIM ('Menu>Service>Generate simulated observation data') are defined in the first input panel:
Select EXAMPLE.ABB in option “Abbreviation table” in the next panel “GPSSIM 1.1: General Files” .
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7 Additional Examples In the second panel, the interval for data simulation is defined and the list of stations selected from all sites in the input “Coordinate file” :
The meta data for each station is specified in this panel:
The “Receiver” for each station must start with SIMULA to indicate that this is a simulated station. In the input field you may only extend this string by a user input. Note that the receiver and antenna types you are defining here must be registered in the “Receiver information” and “Phase center eccentricities” files given in panel “GPSSIM 1.1: General Files” .
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7.7 Simulation of GNSS Observations Please check the completeness for each involved GNSS which is not defined by the receiver type connected to the antenna but by the list of satellites in the “GNSS Standard orbit” . If you would use the real antenna names for the stations as they are given in Tab. 1.1 GPSSIM would fail and issue a message like *** SR SEARCH_OFF : No offset values found for satellite system R of Antenna : ASH700936E SNOW Number : 0
which indicates deficiencies that need to be fixed manually or with the support of the program ATX2PCV ('Menu>Conversion>ANTEX to Bernese format'). In that case you need to define some antenna phase center corrections for this antenna type for GLONASS. If there is no need for any other antenna naming convention it is proposed to use the antenna name SIMULA with radome type NONE what seems to be sufficient for most of the simulation purposes.
In the subsequent panels some basic characteristics, assumptions on the ionospheric conditions, and the noise level are introduced. Even cycle slips may be simulated.
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The observations are generated without noise to check the consistency with the processing program in the subsequent sections.
7.7.2 Zero Difference Solution from Simulated GNSS Observations
The simulated observations can directly be introduced in program GPSEST for an analysis on zero difference level (if you have not simulated cycle slips). Please pay attention to the consistency of all input files:
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7.7 Simulation of GNSS Observations
Result files can be specified to compare the results with the inputs for GPSSIM. A residual file might also be useful.
The processing models also have to be consistent with the simulation or to contain well defined differences which are the subject of your investigation:
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No constraints for datum definition are needed because these are noise–free simulated data:
Only the receiver and satellite clocks are estimated:
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7.7 Simulation of GNSS Observations
The resulting program output file looks like the usual output from GPSEST but with perfect observations without any noise: ... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES RECEIVER CLOCK BIASES / TIME BIASES AMBIGUITIES EPOCH WISE STATION CLOCKS EPOCH WISE SATELLITE CLOCKS
39 260 1529 3744 6302
0 0 0 3744 6302
( EPOCH - WISE ) ( EPOCH - WISE )
39 260 1529 3744 6302
... ... ... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 11874 10046 11874 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE CODE
L3 L3
ALL ALL
68024 68024
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 136048 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
0.0000 M
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
124174 0.00
Bernese GNSS Software, Version 5.2
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
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7 Additional Examples No improvements for the station coordinates and other parameters are expected: ... STATION COORDINATES : -------------------
( NOT SAVED )
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 75
GANP 11515 M001
X Y Z HEIGHT LATITUDE LONGITUDE
3929181.4190 1455236.8207 4793653.9477 746.0115 49 2 4.971302 20 19 22.574439
3929181.4190 1455236.8207 4793653.9477 746.0115 49 2 4.971302 20 19 22.574439
0.0000 0.0000 0.0000
0.0000 0.0000 0.0000
0.0000 0.0000 0.0000
0.0000 .. 0.0000 .. 0.0000 ..
...
The inter–system and inter–frequency biases have been assumed to be zero during the simulation (what is equivalent to any other constant number): ... RECEIVER CLOCKS / TIME BIASES : ----------------------------REQUEST STATION NAME OFFSET ( USEC ) RMS ( NSEC ) ---------------------------------------------------------------------------------------------1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP
11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
--0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000
0.000000 0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000
--0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000
SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT
GPS 101 102 103 104 105 107 108 110 111 113 114 115 117 118 119 120 121 122 123
...
The same holds for the epoch–wise clocks. The residuals in the optional residual output file of such a dataset is well below the 1 µm level.
7.7.3 Double–Difference Solution from Simulated GNSS Observations As in the beginning of the simulation, you should make sure that no other baseline observation files for the current session exist in the OBS–directory of your campaign to prevent any interferences and mixtures of simulated measurements with other ones. [email protected] :~ > rm $ { P }/ INTRO / OBS /????2070. PS ?
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7.7 Simulation of GNSS Observations The simulated measurements can also be processed in the double–difference mode. In that case you have to start with forming baselines using the program SNGDIF ('Menu>Processing >Create baseline files') in nearly the same shape as in Section 4.2.2 for real observations:
The main difference is that you should also keep all ambiguities from the zero difference in the baseline observation files, what is managed by checking the box for option “Merge ambiguities from input files” :
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7 Additional Examples The resulting baseline files from simulated observations can now be analysed with program GPSEST:
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7.7 Simulation of GNSS Observations The models are selected to be fully consistent with the simulation:
No other mated:
parameters
than
station
Bernese GNSS Software, Version 5.2
coordinates
and
ambiguities
are
esti-
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7 Additional Examples
The results scribed:
are
analogue
to
the
zero
difference
case
previously
de-
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0000 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE ...
56179 0.00
The ambiguities are set up in a way that the correct resolution for all ambiguities is zero in any case. This is an easy way to verify ambiguity resolution strategies.
7.7.4 Final Remarks There are many opportunities to use this simulation tool. It depends on your needs and the concrete target of the simulation study to define the experiment. As it was just demonstrated the full consistency between the processing and the simulation programs is guaranteed by the Bernese GNSS Software. The big advantage of a simulation is that the correct solution is known a priori. On the other hand, you have to keep in mind that the simulated data can only contain effects included in the simulation model. If a receiver for instance introduces a significant variation of the inter–system bias between GPS and GLONASS data — an effect that is not considered in the simulation model — the influence of such an effect on the results cannot be evaluated by the simulation.
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Bernese GNSS Software Version 5.2
Tutorial Processing Example Introductory Course Terminal Session
Rolf Dach, Pierre Fridez
September 2017
AIUB
Astronomical Institute, University of Bern
Contents 1 Introduction to the Example Campaign 1.1 Stations in the Example Campaign . . . . . . . 1.2 Directory Structure . . . . . . . . . . . . . . . . 1.2.1 The DATAPOOL Directory Structure . . . 1.2.2 The Campaign–Directory Structure . . . 1.2.3 Input Files for the Processing Examples 1.2.4 The SAVEDISK Directory Structure . . .
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1 1 3 4 6 7 10
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13 13 13 14 14 16 18
Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19 19 21 28
2 Terminal Session: Monday 2.1 Start the Menu . . . . . . . . . 2.2 Select Current Session . . . . . 2.3 Campaign Setup . . . . . . . . 2.4 Menu Variables . . . . . . . . . 2.5 Generate A Priori Coordinates 2.6 Session Goals . . . . . . . . . . 3 Terminal Session: Pole and Orbit 3.1 Prepare Pole Information . . 3.2 Generate Orbit Files . . . . . 3.3 Session Goals . . . . . . . . .
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4 Terminal Session: Tuesday 4.1 Importing the Observations . . . . . . . . . . . . 4.2 Data Preprocessing (I) . . . . . . . . . . . . . . . 4.2.1 Receiver Clock Synchronization . . . . . . 4.2.2 Form Baselines . . . . . . . . . . . . . . . 4.2.3 Preprocessing of the Phase Baseline Files 4.3 Daily Goals . . . . . . . . . . . . . . . . . . . . .
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6 Terminal Session: Thursday 6.1 Final Network Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2 Check the Coordinates of the Fiducial Sites . . . . . . . . . . . . . . . . .
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5 Terminal Session: Wednesday 5.1 Data Preprocessing (II) . . . . . . . . . . . . . . . . . . . . . . . 5.2 Produce a First Network Solution . . . . . . . . . . . . . . . . . . 5.3 Ambiguity Resolution . . . . . . . . . . . . . . . . . . . . . . . . 5.3.1 Ambiguity Resolution: Quasi–Ionosphere–Free (QIF) . . . 5.3.2 Ambiguity Resolution: Short Baselines . . . . . . . . . . . 5.3.3 Ambiguity Resolution: Bernese Processing Engine (BPE) 5.3.4 Ambiguity Resolution: Summary . . . . . . . . . . . . . . 5.4 Daily Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Contents 6.3 6.4 6.5
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89 91 95 95 96 103
7 Additional Examples 7.1 Advanced Aspects in Using ITRF2014/IGS14 . . . . . . . . . . . . . . . 7.1.1 Using ITRF2014/IGS14 Frames for Reprocessing . . . . . . . . . 7.1.2 Ignoring Stations with PSD Corrections for Datum Definition . . 7.1.3 Recovering a Linear Velocity Field for a Certain Interval . . . . . 7.2 Preparing Combined GPS and GLONASS IGS–Orbits . . . . . . . . . . 7.2.1 Prepare Pole Information . . . . . . . . . . . . . . . . . . . . . . 7.2.2 Merging Precise Orbit Files . . . . . . . . . . . . . . . . . . . . . 7.2.3 Generating Standard Orbit Files . . . . . . . . . . . . . . . . . . 7.3 Kinematic Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3.1 Estimating Kinematic Positions in a Double–Difference Solution . 7.3.2 Extracting the Program Output from a Kinematic Positioning . . 7.3.3 Further suggestions . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4 Zero Difference Processing for Clock Estimation . . . . . . . . . . . . . . 7.4.1 Preprocessing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4.2 Residual Screening . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4.3 Generate Clock Solutions . . . . . . . . . . . . . . . . . . . . . . 7.4.4 Further Suggestions . . . . . . . . . . . . . . . . . . . . . . . . . 7.5 Using RINEX 3 Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.1 Basic Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.2 RINEX 3 Handling in RNXSMT . . . . . . . . . . . . . . . . . . . 7.5.3 RINEX 3 Handling in the Example BPEs . . . . . . . . . . . . . 7.6 Processing Galileo Observations . . . . . . . . . . . . . . . . . . . . . . . 7.6.1 Galileo Satellite-Related Metadata . . . . . . . . . . . . . . . . . 7.6.2 Preparing the Orbit and Clock Products . . . . . . . . . . . . . . 7.6.3 Observation Selection . . . . . . . . . . . . . . . . . . . . . . . . 7.6.4 Processing the Example Including Galileo . . . . . . . . . . . . . 7.6.5 Adapting the Example BPEs . . . . . . . . . . . . . . . . . . . . 7.7 Simulation of Global Navigation Satellite Systems (GNSS) Observations 7.7.1 Simulation of GNSS Observations . . . . . . . . . . . . . . . . . . 7.7.2 Zero Difference Solution from Simulated GNSS Observations . . 7.7.3 Double–Difference Solution from Simulated GNSS Observations . 7.7.4 Final Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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105 106 106 107 108 112 112 113 114 118 118 122 123 124 124 128 135 143 144 144 145 146 147 147 147 149 150 153 155 155 158 162 166
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6.6
Check the Daily Repeatability . . . . . . . . . . . Compute the Reduced Solution of the Sessions . Velocity Estimation . . . . . . . . . . . . . . . . . 6.5.1 Preparation for ITRF2014/IGS14 Velocity 6.5.2 Velocity Estimation Based on NEQ Files . Daily Goals . . . . . . . . . . . . . . . . . . . . .
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1 Introduction to the Example Campaign 1.1 Stations in the Example Campaign Data from thirteen European stations of the International GNSS Service (IGS) network and from the EUREF Permanent Network (EPN) were selected for the example campaign. They are listed in Table 1.1. The locations of these stations are given in Figure 1.1. Three of the stations support only Global Positioning System (GPS) whereas all other sites provide data from both GPS and its Russian counterpart Globalьna001f navigacionna001f sputnikova001f sistema: Global Navigation Satellite System (GLONASS). The observations for these stations are available for four days. Two days in year 2010 (day of year 207 and 208) and two in 2011 (days 205 and 206)1 . In the terminal sessions you will analyze the data in order to obtain a velocity field based on final products from Center for Orbit Determination in Europe (CODE). For eight of these stations, coordinates and velocities are given in the IGS14 reference frame, an IGS–specific realization of the ITRF2014 (see ${D}/STAT_LOG/ IGS14.snx).
, ONSA
LAMA WSRT HERT
PTBB WTZZ WTZR
JOZ2 GANP
ZIM2 ZIMM TLSE
MATE Between these days in 2010 and 2011 the receivers (LAMA, TLSE, WTZR) and Station with coordinates/velocities in IGS14 the full equipment (WTZZ) have been changed. The receiver type, the antenna Receiver is tracking GPS/GLONASS GPS−only type, and the antenna height are also provided in Table 1.1. Notice, that for three Figure 1.1: Stations used in example campaign antennas (GANP, WTZR, ZIM2) values from an individual calibration are available from the EPN processing. For all other antennas only type–specific calibration results from the IGS processing (${X}/GEN/I14.ATX) are available. More details are provided in Table 1.2. Only in one case where no calibration of the antenna/radome combination was available (ONSA) the calibration values of the antenna without radome were used instead. With one exception (ONSA) even system–specific calibrations for GPS and GLONASS measurements are available.
The distances between stations in the network are between 200 and 1000 km. There are two pairs of receivers at one site included in the example dataset: in Zimmerwald, 1
A fifth day (day 213 of year 2017) is available to demonstrate the usage of RINEX 3 data and the processing of Galileo observations, see Sections 7.5 and 7.6, respectively. These data are only relevant if you want to follow the examples in these two sections.
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1 Introduction to the Example Campaign
Table 1.1: List of stations used for the example campaign including receiver and antenna type as well as the antenna height.
Station name GANP 11515M001 HERT 13212M010 JOZ2 12204M002 LAMA 12209M001
MATE 12734M008 ONSA 10402M004 PTBB 14234M001 TLSE 10003M009
WSRT 13506M005 WTZR 14201M010
WTZZ 14201M014
ZIM2 14001M008 ZIMM 14001M004
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Location Ganovce, Slovakia
Receiver type Antenna type Radome TRIMBLE NETR8 TRM55971.00 NONE
Antenna height 0.3830 m
Hailsham, United Kingdom
LEICA GRX1200GGPRO LEIAT504GG NONE
0.0000 m
Jozefoslaw, Poland
LEICA GRX1200GGPRO LEIAT504GG NONE
0.0000 m
Olsztyn, Poland
Matera, Italy Onsala, Sweden Braunschweig, Germany Toulouse, France
Westerbork, The Netherlands Kötzting, Germany
Kötzting, Germany
Zimmerwald, Switzerland Zimmerwald, Switzerland
2010: LEICA GRX1200GGPRO LEIAT504GG LEIS 2011: LEICA GRX1200+GNSS LEIAT504GG LEIS
0.0600 m 0.0600 m
LEICA GRX1200GGPRO LEIAT504GG NONE
0.1010 m
JPS E_GGD AOAD/M_B
OSOD
0.9950 m
ASHTECH Z–XII3T ASH700936E SNOW
0.0562 m
2010: TRIMBLE NETR5 TRM59800.00 NONE 2011: TRIMBLE NETR9 TRM59800.00 NONE AOA SNR–12 ACT AOAD/M_T DUTD 2010: LEICA GRX1200GGPRO LEIAR25.R3 LEIT 2011: LEICA GRX1200+GNSS LEIAR25.R3 LEIT 2010: TPS E_GGD TPSCR3_GGD CONE 2011: JAVAD TRE_G3TH DELTA LEIAR25.R3 LEIT
1.0530 m 1.0530 m 0.3888 m 0.0710 m 0.0710 m 0.2150 m 0.0450 m
TRIMBLE NETR5 TRM59800.00 NONE
0.0000 m
TRIMBLE NETRS TRM29659.00 NONE
0.0000 m
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1.2 Directory Structure
Table 1.2: List of antenna/radome combinations used in the example campaign together with the available antenna calibration values in IGS14 model.
Antenna type AOAD/M_B OSOD AOAD/M_T DUTD ASH700936E SNOW LEIAR25.R3 LEIT
Type of calibration for GPS for GLONASS ADOPTED from NONE ADOPTED from GPS ROBOT — ROBOT — ROBOT ROBOT
LEIAT504GG NONE
ROBOT
ROBOT
LEIAT504GG TPSCR3_GGD TRM29659.00 TRM55971.00 TRM59800.00
ROBOT ROBOT ROBOT ROBOT ROBOT
ROBOT ROBOT — ROBOT ROBOT
LEIS CONE NONE NONE NONE
used at stations ONSA WSRT PTBB WTZR, WTZZ(2011) JOZ2, HERT, MATE LAMA WTZZ(2010) ZIMM GANP TLSE, ZIM2
the distance between ZIMM and ZIM2 is only 19 m. In Kötzting the receivers WTZR and WTZZ are separated by less than 2 m — this is a short GPS/GLONASS baseline. The receivers used at the stations MATE, ONSA, PTBB, and WSRT are connected to H-Maser clocks. The receiver type ASHTECH Z-XII3T used at PTBB was specifically developed for time and frequency applications. In 2011 both receivers in Kötzting (WTZR and WTZZ) were connected to the same H–Maser (EFOS 18).
1.2 Directory Structure The data belonging to this example campaign is included in the distribution of the Bernese GNSS Software. Therefore, you may also use this document to generate solutions from the example dataset to train yourself in the use of the Bernese GNSS Software outside the environment of the Bernese Introductory Course. There are three areas relevant for the data processing (in the environment of the Bernese Introductory Course they are all located in the ${HOME}/GPSDATA directory): ${D}: The DATAPOOL area is intended as an interface where all external files can be deposited after their download. It can be used by several processing campaigns. ${P}: The CAMPAIGN52 directory contains all processing campaigns for the Version 5.2 of the Bernese GNSS Software. In the Bernese Introductory Course environment all groups use ${P}/INTRO2 in their ${HOME} directory. ${S}: The SAVEDISK area shall serve as a product database where the result files from different processes/projects can be collected and archived. At the beginning it only contains reference files (*.*_REF) obtained with the example BPE from the distribution. 2
The second campaign ${P}/EXM_GAL is only related to Section 7.6 where the analysis of Galileo measurements is explained.
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1 Introduction to the Example Campaign
1.2.1 The DATAPOOL Directory Structure (${D}) Motivation for the DATAPOOL area The idea of the DATAPOOL area is to place local copies of external files somewhere on your filesystem. It has several advantages compared to downloading the data each time when starting the processing: • The files are downloaded only once, even if they are used for several campaigns. • The data download can be organized with a set of scripts running independently from the Bernese GNSS Software environment, scheduled by the expected availability of the external files to download. • The processing itself becomes independent from the availability of external data sources.
Structure and content of the DATAPOOL area The DATAPOOL area contains several subdirectories taking into account the different potential sources of files and their formats: RINEX : The data of GNSS stations is provided in Receiver INdependent EXchange format (RINEX) files. The directory contains observation (Hatanaka–compressed) and navigation (GPS and GLONASS) files. These RINEX files are “originary” files that are not changed during the processing. The RINEX files can be downloaded from international data centers. Project–specific files are copied into this area. If you mix the station lists from different projects, take care on the uniqueness of the four–character IDs of all stations in the RINEX file names. HOURLY : The same as the RINEX directory but dedicated to hourly RINEX data as used for near real–time applications. Note: not all stations in this example provide hourly RINEX files. RINEX3 : The same as the RINEX directory but the data are given in the RINEX 3 format. These files are in particular intended to support the description on how to use RINEX 3 data, see Section 7.5 . LEO : This directory is intended to host files which are necessary for Low Earth Orbiter (LEO) data processing. RINEX files are stored in the subdirectory RINEX (of the LEO directory). The corresponding attitude files are placed in the subdirectory ATTIT. These files are needed to run the example BPE on LEO orbit determination (LEOPOD. PCF). They are not used in the example during the Bernese Introductory Course.
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1.2 Directory Structure SLR_NP : The Satellite Laser Ranging (SLR) data is provided in the quicklook normal point format. The directory contains the normal point files downloaded from the International Laser Ranging Service (ILRS) data centers. These files are needed to run the example BPE on validating orbit using SLR observations (SLRVAL.PCF). They are not used in the example during the Bernese Introductory Course. STAT_LOG : This directory contains the station information files (e.g., from ftp://igscb.igs. org/pub/station/general). This information may be completed by the originary information on the reference frame (e.g., the IGb08.snx or IGS14.snx from ftp: //igscb.igs.org/pub/station/coord). It also contains (apart from the coordinates and velocities of selected IGS sites) the history of the used equipment as it has been assumed for the reference frame generation. A comparison with the igs.snx file constructed at the IGS Central Bureau (IGSCB) from the site information files may be useful for a verification of the history records. COD/COM/IGS : Orbits, Earth orientation parmeters (EOP), and satellite clock corrections are basic external information for a GNSS analysis. The source of the files may be the FTP server from CODE (ftp://ftp.aiub.unibe.ch/CODE or http://www.aiub. unibe.ch/download/CODE/), or the Crustal Dynamics Data Information System FTP server (e.g., for downloading GPS–related IGS products ftp://cddis.gsfc. nasa.gov/gnss/products and in ftp://cddis.gsfc.nasa.gov/glonass/products for GLONASS–related IGS products). The files are named with the GPS week and the day of the week (apart from files containing information for the entire week, e.g., EOP, or the processing summaries). The IGS provides GPS and GLONASS orbits only in separate files (IGS/IGL–series from the final product line) stemming from independent combination procedures with different contributing analysis center (AC). Nevertheless, they are consistent enough to merge both files together as the first step of the processing as described in Section 7.2 . CODE contributes fully combined multi–GNSS solutions to the IGS final (and rapid as well as ultra–rapid) product line. When you are going to process Galileo data (see Section 7.6) you will need related orbit, EOP, and satellite clock corrections for these satellites as well. They are not included in the legacy IGS products. For that reason you need products from the Multi-GNSS Extension (MGEX) project of the IGS. CODE’s MGEX products are available with the label COM at ftp://ftp.aiub.unibe.ch/CODE_MGEX/CODE or ftp://cddis.gsfc.nasa.gov/gnss/products/mgex . BSW52 : In this directory we have placed files containing external input information in Bernese–specific formats. The files are neutral with respect to the data you are going to process. Typical examples are ionosphere maps or differential code biases (DCB) files. These files can be downloaded from http://www.aiub.unibe.ch/ download/CODE/ or http://www.aiub.unibe.ch/download/BSWUSER52/ areas.
Bernese GNSS Software, Version 5.2
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1 Introduction to the Example Campaign REF52 : Here we propose to collect files in Bernese format which are useful for several campaigns (e.g., reference frame files: IGB08_R.CRD, IGB08_R.VEL or IGS14_R.CRD, IGS14_R.VEL). Typical examples are station coordinate, velocity, and information files (e.g., EXAMPLE.CRD, EXAMPLE.VEL, EXAMPLE.STA, . . . , EPN.CRD). All stations of a project are contained in one file but the processing of the project’s data may be performed in different campaigns. MSC : This directory contains example files for the automated processing with the BPE. VMF1 : The grids for the Vienna Mapping Function (VMF1) are located in a separate directory. The files can be downloaded from http://ggosatm.hg.tuwien.ac.at/DELAY/ GRID/VMFG/ . They are not used for the examples but it shall indicate that for other types of files other directories may be created. All files and meta–information related to the 13 stations selected for the example campaign are already in this DATAPOOL–area (${D}) after installing the Bernese GNSS Software. GNSS orbit information is available from CODE (legacy and MGEX) and IGS (directories ${D}/COD, ${D}/COM or ${D}/IGS, respectively).
1.2.2 The Campaign–Directory Structure Putting data from the DATAPOOL into the campaign When running an automated processing using the BPE there is a script at the beginning of the process which copies the data from the DATAPOOL–area into the campaign. If you are going to process data manually you first have to copy the necessary files into the campaign and decompress them if necessary using standard utilities (uncompress, gunzip3 , or CRZ2RNX for RINEX–files). Content of the campaign area to process the example All files needed to process the data according to this tutorial are already copied into the campaign area. If you want to follow the example outside the Bernese Introductory Course environment you have to put the following files at the correct places in the campaign directory structure. $ { P }/ INTRO / ATM /
COD10207 . ION
COD10208 . ION
COD11205 . ION
COD11206 . ION
VMF10207 . GRD
VMF10208 . GRD
VMF11205 . GRD
VMF11206 . GRD
COD15941 . PRE COD15947 . IEP IGS15941 . PRE IGL15941 . PRE IGS15947 . IEP P1C11007 . DCB P1P21007 . DCB
COD15942 . PRE
COD16460 . PRE COD16467 . IEP IGS16460 . PRE IGL16460 . PRE IGS16467 . IEP P1C11107 . DCB P1P21107 . DCB
COD16461 . PRE
$ { P }/ INTRO / BPE / $ { P }/ INTRO / GRD / $ { P }/ INTRO / OBS / $ { P }/ INTRO / ORB /
IGS15942 . PRE IGL15942 . PRE
IGS16461 . PRE IGL16461 . PRE
$ { P }/ INTRO / ORX / 3
These tools are also available for WINDOWS-platforms, see www.gzip.org . Note, that gunzip can also be used to uncompress UNIX–compressed files with the extension .Z .
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1.2 Directory Structure
$ { P }/ INTRO / OUT /
COD15941 . CLK IGS15941 . CLK
COD15942 . CLK IGS15942 . CLK
COD16460 . CLK IGS16460 . CLK
COD16461 . CLK IGS16461 . CLK
$ { P }/ INTRO / RAW /
GANP2070 .10 O HERT2070 .10 O JOZ22070 .10 O LAMA2070 .10 O MATE2070 .10 O ONSA2070 .10 O PTBB2070 .10 O TLSE2070 .10 O WSRT2070 .10 O WTZR2070 .10 O WTZZ2070 .10 O ZIM22070 .10 O ZIMM2070 .10 O
GANP2080 .10 O HERT2080 .10 O JOZ22080 .10 O LAMA2080 .10 O MATE2080 .10 O ONSA2080 .10 O PTBB2080 .10 O TLSE2080 .10 O WSRT2080 .10 O WTZR2080 .10 O WTZZ2080 .10 O ZIM22080 .10 O ZIMM2080 .10 O
GANP2050 .11 O HERT2050 .11 O JOZ22050 .11 O LAMA2050 .11 O MATE2050 .11 O ONSA2050 .11 O PTBB2050 .11 O TLSE2050 .11 O WSRT2050 .11 O WTZR2050 .11 O WTZZ2050 .11 O ZIM22050 .11 O ZIMM2050 .11 O
GANP2060 .11 O HERT2060 .11 O JOZ22060 .11 O LAMA2060 .11 O MATE2060 .11 O ONSA2060 .11 O PTBB2060 .11 O TLSE2060 .11 O WSRT2060 .11 O WTZR2060 .11 O WTZZ2060 .11 O ZIM22060 .11 O ZIMM2060 .11 O
EXAMPLE . CRD EXAMPLE . BLQ IGB08_R . CRD IGS14_R . CRD IGS14 . FIX SESSIONS . SES
EXAMPLE . VEL EXAMPLE . ATL IGB08_R . VEL IGS14_R . VEL IGS14 . SIG
EXAMPLE . STA EXAMPLE . CLU IGB08 . FIX IGS14 . PSD
EXAMPLE . ABB EXAMPLE . PLD IGB08 . SIG
$ { P }/ INTRO / SOL / $ { P }/ INTRO / STA /
The directory ${P}/INTRO/GEN/ contains copies of the files from the ${X}/GEN directory, which are used by the processing programs. The files PCV_Bxx.I08 and PCV_Bxx.I14, respectively, is user-specific and the “xx” chars represent your terminal account number. If you want to view these files, please use those in your campaign and not the ones in the ${X}/GEN directory to prevent potential interferences with your colleagues. $ { P }/ INTRO / GEN /
CONST . RECEIVER . SATELLIT . I08 SATELLIT . I14 SAT_2010 . CRX IAU2000R06 . NUT EGM2014_SMALL . SINEX . IONEX .
DATUM .
GPSUTC .
POLOFF .
PCV . I08 PCV . I14 SAT_2011 . CRX IERS2010XY . SUB s1_s2_def_ce . dat SINEX . PPP IONEX . PPP
PCV_Bxx . I08 PCV_Bxx . I14
I08 . ATX I14 . ATX
OT_FES2004 . TID
TIDE2000 . TPO
SINEX . RNX2SNX
1.2.3 Input Files for the Processing Examples Atmosphere files ATM The input files in this directory are global ionosphere models in the Bernese format obtained from the IGS processing at CODE. They will be used to support the phase ambiguity resolution with the QIF strategy and to enable the higher order ionosphere (HOI) corrections. General files GEN These general input files contain information that is neither user– nor campaign–specific. They are accessed by all users, and changes in these files will affect processing for everyone. Consequently, these files are located in the ${X}/GEN directory. Table 1.3 shows the list of general files necessary for the processing example. It also shows which files need to be updated from time to time by downloading them from the anonymous ftp–server of AIUB (http://www.aiub.unibe.ch/download/BSWUSER52/GEN). Since GPS week 1934 (29 January 2017) the IGS is using the IGS14 reference frame together with the related antenna model (I14.ATX). They are available in the related Bernese GNSS Software, Version 5.2
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1 Introduction to the Example Campaign Table 1.3: List of general files to be used in the Filename Content CONST. All constants used in the Bernese GNSS Software DATUM. Definition of geodetic datum GPSUTC. Leap seconds POLOFF.
Pole offset coefficients
RECEIVER.
Receiver information
SATELLIT.I14 or SATELLIT.I08 PCV.I14 or PCV.I08
Satellite information file
SAT_$Y+0.CRX
Satellite problems
IAU2000R06.NUT
Nutation model coefficients Subdaily pole model coefficients Ocean tides coefficients Solid Earth tides coefficients Earth potential coefficients (reduced version, sufficient for GNSS and LEO orbit determination) S1/S2 atmospheric tidal loading coefficients SINEX header information
IERS2010XY.SUB OT_FES2004.TID TIDE2000.TPO EGM2008_SMALL.
s1_s2_def_ce. dat SINEX. SINEX.TRO SINEX.PPP SINEX.RNX2SNX IONEX. IONEX.PPP
Phase center eccentricities and variations
. . . for the PPP example . . . for RNX2SNX example IONEX header information . . . for the PPP example
Bernese programs for the processing example. Modification Update from No BSW aftp Introducing new reference ellipsoid When a new leap second is announced by the IERS Introducing new values from IERS annual report (until 1997) Introducing new receiver type New launched satellites
BSW aftp
Introducing new antenna corrections or new antenna/radome combinations Satellite maneuvers, bad data, ... No
BSW aftp or update with ATX2PCV
No
--
No No
— --
No
--
No
--
Adapt SINEX header for your institution
--
Adapt IONEX header for your institution
--
BSW aftp --
BSW aftp BSW aftp
BSW aftp --
SATELLIT.I14 and PCV.I14 files. The predecessor antenna model is related to the IGb08 reference frame and is provided in the SATELLIT.I08 and PCV.I08 files. Please check the consistent usage of these files. Each Bernese processing program has its own panel for general files. Make sure that you use the correct files listed in Table 1.3 .
Grid files GRD In this directory the grid files *.GRD are collected. To apply for instance the VMF1 troposphere model (a priori information from European Centre for Medium-Range Weather Forecasts (ECMWF) and Vienna mapping function) you need a grid with the necessary coefficients. Page 8
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1.2 Directory Structure Orbit files ORB The precise orbits in the files *.PRE are usually the final products from CODE analysis center containing GPS and GLONASS orbits from a rigorous multi–GNSS analysis. Alternatively also the combined final products from the IGS can be used. They do not contain orbits for the GLONASS satellites. The combined GLONASS satellite orbits from the IGS are available in IGL–files. Both precise orbit files need to be merged for a multi–GNSS analysis.The corresponding EOP are given in weekly files with the extension *.IEP (take care on full consistency with the orbit product). Furthermore, the directory contains monthly means for the DCB. Clock RINEX files OUT The clock RINEX files are located in the OUT–directory. They are consistent with the GNSS orbits and EOP products in the ORB–directory. They contain station and satellite clock corrections with at least 5 minutes sampling — there are also files from the IGS or some of the ACs providing satellite clock corrections with a sampling of 30 seconds . RINEX files RAW The raw data are given in RINEX format. The observations *.$YO ($Y is the menu time variable for the two–digit year of the current session) are used for all examples. Station files STA The coordinates and velocities of the stations given in the IGS realization of the reference frame ITRF2014 are available in the files IGS14_R.CRD and IGS14_R.VEL . Since the ITRF2014 solution, in addition to the linear station velocities (see VEL) for some stations also corrections for Post Seismic Deformation (PSD) need to apply that are provided in the file IGS14.PSD . The IGS core stations are listed in IGS14.FIX . This file will be used to define the geodetic datum when estimating station coordinates. The files for the previously used IGS realization of the ITRF2008 are available as well: IGB08_R.CRD, IGB08_R.VEL and IGB08.FIX (Note that the PSD corrections are not yet in use). You can browse all these files with a text editor or with the menu ('Menu>Campaign>Edit station files'). For all stations that have unknown coordinates in the IGS14 reference frame a Precise Point Positioning (PPP) using the example BPE (PPP_BAS.PCF) for day 207 of year 2010 has been executed. For our EXAMPLE–project a resulting coordinate file EXAMPLE.CRD has been generated. It contains all IGS core sites (copied from file IGS14_R.CRD) and the PPP results for the remaining stations. The epoch of the coordinates is January 01, 2010 . The corresponding velocity file EXAMPLE.VEL contains the velocities for the core sites (copied from file IGS14_R.VEL) completed by the NNR–NUVEL1A velocities for the other stations. The assignment of stations to tectonic plates is given in the file EXAMPLE. PLD.
Bernese GNSS Software, Version 5.2
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1 Introduction to the Example Campaign To make sure that you process the data in the Bernese GNSS Software with correct station information (station name, receiver type, antenna type, antenna height, etc.) the file EXAMPLE.STA is used to verify the RINEX header information. The reason to use this file has to be seen in the context that some antenna heights or receiver/antenna types in the RINEX files may not be correct or may be measured to a different antenna reference point. Similarly, the marker (station) names in the RINEX files may differ from the names we want to use in the processing. The antenna types have to correspond to those in the file ${X}/GEN/PCV.I14 in order that the correct phase center offsets and variations are used. The receiver types have to be defined in the ${X}/GEN/RECEIVER. file to correctly apply the DCB corrections. For each station name unique four– and two–character abbreviations to construct the names for the Bernese observation files need to be defined in the file EXAMPLE.ABB . It was automatically generated by the PPP–example BPE. If you want to process big networks, the baselines need to be divided into clusters to speed up the processing. For that purpose each station has to be assigned to a region by a cluster number in the file EXAMPLE. CLU . The last files to be mentioned in this directory are EXAMPLE.BLQ and EXAMPLE.ATL. They respectively provide the coefficients for the ocean and atmospheric tidal loading of the stations. They should at least be applied in the final run of GPSEST.
1.2.4 The SAVEDISK Directory Structure (${S}) Motivation for the SAVEDISK area When processing GNSS data, a lot of files from various processing steps will populate your campaign directories. The main result files from the data analysis should be collected in the SAVEDISK area. This area is intended as long–term archive for your result files. Because the result files are stored in the SAVEDISK area, you can easily clean up your campaign area without loosing important files. Please keep in mind that the computing performance decreases if you have several thousands of files in a directory.
Structure and content of the SAVEDISK area We propose to build subdirectories in the SAVEDISK area for each of your projects. If these projects collect data over several years, yearly subdirectories are recommended. It is also practical to use further subdirectories like ATM, ORB, OUT, SOL, STA to distribute the files and to get shorter listings if you are looking for a file. The SAVEDISK area contains after its installation a directory structure according to the description above. Each example BPE is assumed as a project. Therefore, you will find on the top level of the SAVEDISK the directories PPP, RNX2SNX, CLKDET, LEOPOD, and SLRVAL (related to the different example BPEs). There may even be specific directories for different series of solutions in various projects (e.g., PPP_GAL, RNX2SNX_GAL where also Galileo measurements have been included; see Section 7.6 on how to generate these solutions).
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1.2 Directory Structure In each of these directories you will find several files ending with _REF. They are generated by running the example BPEs on the system at Astronomical Institute of the University of Bern (AIUB). Even if the objectives of this tutorial and of the RNX2SNX example BPE are in both cases to process data from a regional network, the results will not be identical since there are some differences in the processing strategies and selected options.
Bernese GNSS Software, Version 5.2
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1 Introduction to the Example Campaign
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2 Terminal Session: Monday Today’s terminal session is to: 1. become familiar with the UNIX environment, the menu of the Bernese GNSS Software, and the example campaign, 2. verify the campaign setup done for you (see sections 2.2 and 2.3, and also the handout for the terminal sessions), 3. generate the a priori coordinates for all 4 days using COOVEL (see Section 2.5), and 4. start to prepare pole and orbit information according to chapter 3.
2.1 Start the Menu Start the menu program using the command G1 . Navigate through the submenus to become familiar with the structure of the menu. Read the general help (available at 'Menu>Help>General') to get an overview on the usage of the menu program of the Bernese GNSS Software. For the terminal session in the Bernese Introductory Course, the campaign setup has already been done for each user. Please check that the campaign name in the statusbar of the Bernese Menu is set correctly to your campaign (i.e., Campaign ${P}/INTRO) and that the current session is set to the first session (i.e., $Y+0=2010, $S+0=2070). If this is not the case, please contact the staff in the Terminal room.
2.2 Select Current Session Select 'Menu>Campaign>Edit session table' to check the session table. It is recommended to use the wildcard string ???0 for the “List of sessions” in panel “SESSION TABLE” . The panel below shows the session definition for a typical permanent campaign with 24-hours sessions. The setup of the session table is a very important task when you prepare a campaign. Please read the corresponding online help carefully. 1
At the exercise terminals the Bernese environment is loaded automatically during login. At home you have to source the file ${X}/EXE/LOADGPS.setvar on UNIX–platforms either manually or during login.
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2 Terminal Session: Monday
Save the session table (press the ˆSave button) and open the “Date Selection Dialog” in the 'Menu>Configure>Set session/compute date' in order to define the current session:
2.3 Campaign Setup Usually, a new campaign must be added to the campaign list ('Menu>Campaign>Edit list of first and select it as the active campaign ('Menu>Campaign>Select active campaign'), before the directory structure can be created ('Menu>Campaign>Create new campaign'). In the Bernese Introductory Course environment this should already have been done for your campaign, but please verify that. campaigns')
In the Bernese Introductory Course environment the selected campaign should be ${P}/ INTRO . In order to become familiar with the campaign structure, you can inspect your campaign directory and inspect the contents using the command line (using cd for changing directories and ls to create directory listings) or using a filemanager (e.g., midnight commander mc).
2.4 Menu Variables When processing GNSS data, it is often necessary to repeat a program run several times with only slightly different option settings. A typical example would be the processing of several sessions of data. The names of observation files change from session to session because the session number is typically a part of the filename. It would be very cumbersome to repeat all the runs selecting the correct files manually every time. For the BPE an automation is mandatory. For such cases the Bernese menu system provides a powerful tool: the so–called menu variables. The menu variables are defined in the user–specific menu input file ${U}/PAN/MENU_VAR.INP that is accessible through 'Menu
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2.4 Menu Variables >Configure>Menu variables'. Three kinds of menu variables are available: predefined variables (also called menu time variables), user–defined variables, and system environment variables.
The use of system environment variables is necessary to generate the complete path to the files used in the Bernese GNSS Software. The campaign data are located in the directory ${P}/INTRO=${HOME}/GPSDATA/CAMPAIGN52/INTRO. The user– dependent files can be found at ${U}=${HOME}/GPSUSER52 — note that ${HOME} may have been already translated into the name of your home–directory. The temporary user files are saved in ${T}=/scratch/local/bern52 (change bern52 to your user name). Finally, the campaign–independent files reside in ${X}=/home/bswadmin/BERN52/ GPS.
The predefined variables provide a set of time strings assigned to the current session. From the second panel of the menu variables you get an overview on the available variables and their usage:
Bernese GNSS Software, Version 5.2
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2 Terminal Session: Monday Be aware that the variable $S+1 refers to the next session. Because we are using a session table for daily processing it also corresponds to the next day. These variables are automatically translated by the menu upon saving the panel or running the program. We recommend to make use of them in the input panels (e.g. for filename specification).
2.5 Generate A Priori Coordinates As stated before the a priori coordinates generated from the PPP processing example BPE refer to the epoch January 01, 2010 . The first step is to extrapolate the coordinates to the epoch that is currently processed. Starting with ITRF2014 also Post Seismic Deformation (PSD) corrections have to be applied when the epoch of the coordinate sets are changed. They are provided in the input field “PSD corrections (ITRF14)” . Of course this feature is also included in the IGS14 frame – the IGS-specific realization of the ITRF2014 . Note that for earlier reference frames (e.g., ITRF2008) this input field has to be empty. This is the task of the program COOVEL. Open the program input panel in >Coordinate tools>Extrapolate coordinates':
“Reference epoch: date” “Output coordinate file” “Title line”
'Menu>Service
$YMD_STR+0 → 2010 07 26 APR$YD+0 → APR10207 Session $YSS+0: → Session 102070:
Start the program with the ˆRun–button. The program generates an output file COOVEL. L?? in the directory ${P}/INTRO/OUT. This file may be browsed using the ˆOutput–button or with 'Menu>Service>Browse program output' . It should look like
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2.5 Generate A Priori Coordinates
Bernese GNSS Software , Version 5.2 ------------------------------------------------------------------------------Program : COOVEL Purpose : Extrapolate coordinates ------------------------------------------------------------------------------Campaign : $ { P }/ INTRO Default session : 2070 year 2010 Date : 28 - Aug -2017 12:53:08 User name : bern52
EXAMPLE : Session 102070: Coordinate propagation -------------------------------------------------------------------------------
INPUT AND OUTPUT FILENAMES -------------------------------------------------------------------------------------------------------Geodetic datum : $ { X }/ GEN / DATUM . Input coordinate file : $ { P }/ INTRO / STA / EXAMPLE . CRD Input velocity file : $ { P }/ INTRO / STA / EXAMPLE . VEL Output coordinate file : $ { P }/ INTRO / STA / APR10207 . CRD PSD corrections ( ITRF14 ) : $ { P }/ INTRO / STA / IGS14 . PSD Stations without PSD corrections : --Program output : $ { P }/ INTRO / OUT / COOVEL . L01 Error message : $ { U }/ WORK / ERROR . MSG Session table : $ { P }/ INTRO / STA / SESSIONS . SES -------------------------------------------------------------------------------
REFERENCE EPOCH : INTERPOLATION FACTOR :
2010 -01 -01 00:00:00 -0.5639972621492129
---------------------------------------------------------------->>> CPU / Real time for pgm ' COOVEL ': 0:00:00.073 / 0:00:00.0 72 >>> Program finished successfully
The header area of the program output is standardized for all programs of the Bernese GNSS Software, Version 5.2 . Furthermore each program has a title line that should characterize the program run. It is printed to the program output and to most of the result files. Many program output files furthermore provide a list of input and output files that have been used or generated. The last two lines of the above example appear also in each program output of the Bernese GNSS Software, Version 5.2 . It reports the processing time and the status successful or with error. The result of the run of COOVEL is an a priori coordinate file (${P}/INTRO/STA/APR10207. CRD) containing the positions of the sites to be processed for the epoch of the current session (the lines for the other stations are ignored in the processing): EXAMPLE : Session 102070: Coordinate propagation -------------------------------------------------------------------------------LOCAL GEODETIC DATUM : IGS14 EPOCH : 2010 -07 -26 00:00:00 NUM
STATION NAME
75 92 107 122 136 176 192 236 262 263 264 276 278
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
X (M) 3929181.42149 4033460.84965 3664880.48096 3524522.83273 4641949.45305 3370658.46071 3844059.87505 4627851.75737 3828735.78447 4075580.45375 4075579.33655 4331299.79586 4331296.98727
Y (M) 1455236.82074 23537.88977 1409190.68062 1329693.71243 1393045.52644 711877.21784 709661.40917 119640.11911 443305.04516 931853.89112 931853.20686 567537.42125 567555.97754
Bernese GNSS Software, Version 5.2
Z (M) 4793653.95 013 4924318.3145 2 5009618.5 3020 5129846.4 0652 4133287.5 4704 5349787.00 718 5023129.60 833 4372993.61 061 5064884.77 803 4801568.17 900 4801569.08 922 4633133.77 671 4633133.99 975
FLAG I I P P I I P I I I P I I
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2 Terminal Session: Monday Have a look at the LOCAL GEODETIC DATUM: in the resulting coordinate file. It is set to IGS14 in this case. If you go back to your input file (e.g., pressing the Rerˆun button) you may open the dialog to select the “Input coordinate file” by pressing on the button next to the input field. Select now the file EXAMPLE.CRD and press the button Browse in order to open a window where the selected file is displayed.
Here you can see the LOCAL GEODETIC DATUM: is set to IGS14_0. This difference is the indicator whether the PSD corrections have been applied or not. Coordinate files that indicate that the PSD corrections have not been applied cannot be used for processing GNSS data. At the same time it is protecting you to apply the corrections twice. For that reason the execution of the program COOVEL for applying the PSD corrections is also essential even if none of the stations in your processing (as in our example) is effected by these corrections. You can repeat all steps for the other three sessions in the example campaign by changing the current session using the ˆ+Day or ˆ-Day to change a limited number of days (not sessions) or via 'Menu>Configure>Set session/compute date' . You can then use the Rerˆun button to restart the program. No options need to be changed because of the consequent use of the menu time variables was made. During the terminal session you only have to compute the first day (207, year 2010) the other three days have already been processed for you.
2.6 Session Goals At the end of this session, you should have created the following files: 1. a priori coordinates in your campaign’s STA directory: file APR10207. CRD Until the end of today’s terminal session you should start with preparing the pole and orbit information, see Chapter 3 .
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3 Terminal Session: Pole and Orbit Preparation (Monday/Tuesday)
The terminal session on pole and orbit preparation is to: 1. generate the pole information file in the Bernese format (POLUPD) 2. generate tabular orbit files from CODE precise files (PRETAB) 3. generate the Bernese standard orbit files (ORBGEN) You should start with these tasks during Monday’s terminal sessions and finish the processing during the terminal session on Tuesday.
Introductory Remark We recommend to use the final or reprocessed products from CODE because they contain consistent orbits for GPS and GLONASS. They also include all active GNSS satellites (even if they are unhealthy or during GPS satellite repositioning events) with the highest possible accuracy thanks to three–day long–arc technology. Due to this choice you will get the best possible consistency between the external products and the software. You may alternativly use the products from IGS. Seperate product files for GPS and GLONASS orbits exist from independent combination procedures that first need to be merged for a multi–GNSS processing. For most of the applications, merging the precise orbit files is sufficient — a tutorial on the procedure is given in Section 7.2 of this book. On the other hand, the consistency of the orbits can not be as good as that of CODE (or other analysis center) following the strategy of the rigorous combined processing of GPS and GLONASS measurements for orbit determination.
3.1 Prepare Pole Information Together with the precise orbit files (PRE), a consistent set of Earth orientation parameters (EOP) is provided in the ORB directory. Whereas the orbits are given in daily files the EOP are available in weekly files for the final product series from the CODE analysis center. We have to convert the information from the International Earth Rotation and Reference Systems Service (IERS)/IGS standard format (file extension within the Bernese GNSS Software is IEP) into the internal Bernese EOP format (file extension within the Bernese GNSS Software is ERP). This is the task of the program POLUPD ('Menu>Orbits/EOP>Handle EOP files>Convert IERS to Bernese Format') which is also able to update the EOP records of an existing file.
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3 Terminal Session: Pole and Orbit Preparation
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3.2 Generate Orbit Files The last panel for the program POLUPD is an example for the specification of time windows in the Bernese GNSS Software, Version 5.2 . Time windows can be defined by sessions (a single session or a range of sessions). Alternatively, a time window may be specified by a start and an end epoch. By entering either a start or an end epoch you may define only the beginning or the end of the time interval. We refer to the online help for more details. The messages ### PG POLUPD : NUTATION MODEL NAME NOT EQUAL DEFAULT DEFAULT NUTATION MODEL NAME : IAU2000R06 NUTATION MODEL NAME IN FILE : IAU2000
### PG POLUPD : SUBDAILY POLE MODEL NAME NOT EQUAL DEFAULT DEFAULT SUBDAILY POLE MODEL NAME : IERS2010 SUBDAILY POLE MODEL NAME IN FILE : IERS2000
just inform that you have selected the most recent nutation and subdaily pole model whereas the operational solution at CODE was computed using an older model at that time. If you do not want to accept this inconsistency you may alternatively use the results from a reprocessing effort (e.g., http://www.aiub.unibe.ch/download/REPRO_2015/ CODE/).
3.2 Generate Orbit Files In this processing example we use only two programs of the orbit part of the Bernese GNSS Software. The first program is called PRETAB and may be accessed using 'Menu >Orbits/EOP>Create tabular orbits'. The main task of PRETAB is to create tabular orbit files (TAB; i.e., to transform the precise orbits from the terrestrial into the celestial reference frame) and to generate a satellite clock file (CLK). The clock file will be needed, e.g., in program CODSPP (see Section 4.2.1, to be discussed in the Tuesday’s lectures on preprocessing).
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3 Terminal Session: Pole and Orbit Preparation You have to apply the same subdaily pole and nutation models as you have used before when you have generated the Bernese formatted pole file (COD$YD+0.ERP).
If you process precise orbits from CODE it is generally not necessary to remove bad satellites. It might become necessary for orbit products from other sources (e.g., from the IGS). Because CODE introduces the correct accuracy code for all its satellites the above settings do not harm the import of satellite orbits from CODE.
Panel “PRETAB 3: Options for Clocks” contains the options for extracting the satellite clock information. The clock values in the precise orbit file are sampled to 15 min. We interpolate with a “Polynomial degree” of 2 with an “Interval for polynomials” of 12 hours. This is good enough for the receiver clock synchronization in CODSPP. A message like this is expected: ### PG PRETAB : SATELLITE CLOCK VALUES MISSING SATELLITE : 101 FILE NUMBER : 1 FILE NAME : $ { P }/ INTRO / ORB / COD15941 . PRE
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3.2 Generate Orbit Files
### PG PRETAB : SATELLITE CLOCK VALUES MISSING SATELLITE : 102 FILE NUMBER : 1 FILE NAME : $ { P }/ INTRO / ORB / COD15941 . PRE ...
It indicates that the precise orbit files do not contain clock corrections for GLONASS satellites (GLONASS satellite are indicated with satellite number between 100 and 199 within the Bernese GNSS Software). Consequently the synchronization of the receiver clocks in CODSPP will only be done based on the GPS satellite clocks. The second program of the orbit part used here is called ORBGEN ('Menu>Orbits/EOP >Create/update standard orbits'). It prepares the so–called standard orbits using the satellite positions in the tabular orbit files as pseudo–observations for a least–squares adjustment.
Make sure that the ERP file, the nutation, and the subdaily pole model are the same you have used in PRETAB. It is mandatory to consistently use this triplet of files together with the generated standard orbits for all processing programs (otherwise a warning message is issued).
Bernese GNSS Software, Version 5.2
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3 Terminal Session: Pole and Orbit Preparation
With the beginning of GPS week 1826 (January 4, 2015), the CODE analysis center introduced a new Empirical CODE Orbit Model (new ECOM). Therefore, when using orbits from CODE after January 4, 2015 (or from the CODE’s most recent reprocessing effort) you have to choose the new model when importing the orbit files in ORBGEN. This is done by changing the option SYSTEM FOR DYNAMICAL ORBIT PARAMETERS from “System DYX” to “System D2X” in panel 3.1.
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3.2 Generate Orbit Files
Bernese GNSS Software, Version 5.2
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3 Terminal Session: Pole and Orbit Preparation The program produces an output file ORB10207.OUT (or corresponding to the other sessions) which should look like ... INPUT AND OUTPUT FILENAMES -------------------------------------------------------------------------------------------------------General constants : $ { X }/ GEN / CONST . Correction GPS - UTC : $ { X }/ GEN / GPSUTC . Planetary ephemeris file : $ { X }/ GEN / DE405 . EPH Coeff . of Earth potential : $ { X }/ GEN / EGM2008_SMALL . Solid Earth tides file : $ { X }/ GEN / TIDE2000 . TPO Ocean tides file : $ { X }/ GEN / OT_FES2004 . TID Satellite problems : $ { X }/ GEN / SAT_2010 . CRX Satellite information : $ { X }/ GEN / SATELLIT . I14 Nutation model : $ { X }/ GEN / IAU2000R06 . NUT Subdaily pole model : $ { X }/ GEN / IERS2010XY . SUB Pole file : $ { P }/ INTRO / ORB / COD10207 . ERP Ocean loading corrections : $ { P }/ INTRO / STA / EXAMPLE . BLQ Atmospheric loading corrections : $ { P }/ INTRO / STA / EXAMPLE . ATL Orbital elements , file 1 : --Orbital elements , file 2 : --Standard orbits : $ { P }/ INTRO / ORB / COD10207 . STD Radiation pressure coeff . : --Summary file : --Summary file for IGS - ACC : $ { P }/ INTRO / OUT / ORB10207 . LST Residual plot file : --Residual file : --Program output : $ { P }/ INTRO / OUT / ORB10207 . OUT Error message : $ { U }/ WORK / ERROR . MSG Scratch file : $ { U }/ WORK / ORBGEN . SCR Scratch file : $ { U }/ WORK / ORBGEN . SC2 Session table : $ { P }/ INTRO / STA / SESSIONS . SES ------------------------------------------------------------------------------...
... ------------------------------------------------------------------------------RMS ERRORS AND MAX . RESIDUALS ARC NUMBER : 1 ITERATION : 4 -------------------------------------------------------------------------------
RMS ( M ) -------
QUADRATIC MEAN OF O - C ( M ) TOTAL RADIAL ALONG OUT -----------------------------
MAX . RESIDUALS ( M ) RADIAL ALONG OUT --------------------
SAT ---
# POS ----
1 2 3 4 5 6 7 8 9 10 11 12 13 ... 28 29 30 31 32 101 102 103 104 105 107 ... 121 122 123 124
96 96 96 96 96 96 96 96 96 96 96 96 96
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.002 0.002 0.003 0.001 0.002 0.002 0.002 0.003 0.002 0.001 0.002 0.002 0.002
0.003 0.002 0.003 0.003 0.003 0.003 0.003 0.003 0.004 0.002 0.003 0.003 0.003
0.002 0.002 0.002 0.002 0.003 0.002 0.003 0.003 0.002 0.002 0.002 0.002 0.002
96 96 96 96 96 96 96 96 96 96 96
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.002 0.002 0.003 0.002 0.003 0.002 0.003 0.002 0.001 0.001 0.002
0.003 0.002 0.003 0.003 0.003 0.002 0.003 0.003 0.003 0.003 0.002
0.002 0.001 0.002 0.002 0.002 0.002 0.003 0.002 0.003 0.002 0.002
96 96 96 96
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.002 0.002 0.002 0.002
0.003 0.003 0.002 0.003
0.002 0.002 0.002 0.002
------------------------------------------------------------------------------...
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3.2 Generate Orbit Files The most important information in the output file are the RMS errors for each satellite. These should be 1 mm (for older orbits it may also achieve 3. . . 5 mm) if precise orbits from CODE were used together with the consistent EOP information (the actual RMS errors depend on the quality of the precise orbits, on the pole file used for the transformation between IERS Terrestrial Reference Frame (ITRF) and International Celestial Reference Frame (ICRF) in PRETAB, and on the orbit model used in ORBGEN). Comparing the RMS error from the third and the fourth iteration you will see that three iterations should already be enough to produce precise standard orbits for GNSS satellites. The file ${P}/INTRO/OUT/ORB10207.LST summarizes the orbit fit RMS values in one table: EXAMPLE : Session 102070: Standard orbit generation 28 - AUG -17 12:59 TIME FROM DAY : 1 GPS WEEK : 1594 TO DAY : 2 GPS WEEK : 1594 ------------------------------------------------------------------------------ORBIT REPEATABILITY FROM A 1 - DAY FIT THROUGH DAILY ORBIT SOL UTIONS ( MM ) # ECLIPSING SATELLITES : 5 E / 0 M ( 0 EM ) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ECL .. .. .. .. .. .. .. E . E . E . .. .. .. .. .. .. .. .. DOY 1 2 3 4 5 6 ... 12 13 14 15 16 ... 32 101 102 103 104 105 107 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - 207 1 1 1 1 1 1 ... 1 1 1 1 1 ... 1 1 1 1 1 1 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ALL 1 1 1 1 1 1 ... 1 1 1 1 1 ... 1 1 1 1 1 1 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - -
... ... ... ... ... ... ...
The output shows that 5 satellites are in eclipse (indicated above the satellite number by E for Earth or M for Moon). A similar file may be generated using the orbit products from IGS (including the EOP information) following the procedure described in Section 7.2 . As you can notice the RMS errors are slightly higher. It does not mean that the orbits from CODE are better than the IGS orbits. The orbit model in ORBGEN is only more consistent with the orbit model used at CODE: EXAMPLE : Session 102070: Standard orbit generation 28 - AUG -17 13:32 TIME FROM DAY : 1 GPS WEEK : 1594 TO DAY : 2 GPS WEEK : 1594 ------------------------------------------------------------------------------ORBIT REPEATABILITY FROM A 1 - DAY FIT THROUGH DAILY ORBIT SOL UTIONS ( MM ) # ECLIPSING SATELLITES : 5 E / 0 M ( 0 EM ) ----------------------------------------------------------------ECL .. .. .. .. .. .. .. E . E . E . .. .. DOY 1 2 3 4 5 6 ... 12 13 14 15 16 ... 32 ----------------------------------------------------------------207 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 ----------------------------------------------------------------ALL 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 -----------------------------------------------------------------
(Note the missing GLONASS satellites in the IGS orbit product.) In the example for day 208 of year 2010 a satellite 75 appears. The GPS–satellite 25 had a repositioning event at 2010–07–27 16:08:03 (see ${X}/GEN/SAT_2010.CRX). The satellite is introduced in the processing with two independent arcs: one before (number 25) and one after (number 75) the event (you may verify this by the number of epochs available for each of these two satellite arcs). Bernese GNSS Software, Version 5.2
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3 Terminal Session: Pole and Orbit Preparation
3.3 Session Goals At the end of this session, you should have created the following files: 1. Bernese pole file in the campaign’s ORB directory: COD10207. ERP , 2. Bernese standard orbit file in the ORB directory: COD10207. STD , 3. Bernese satellite clock file in the ORB directory: COD10207. CLK .
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4 Terminal Session: Tuesday Today’s terminal session is to: 1. import the observations from the RINEX format into the Bernese format using RXOBV3 (section 4.1). 2. preprocess the Bernese observation files: • receiver clock synchronization (CODSPP, section 4.2.1) • baseline generation (SNGDIF, section 4.2.2) • preprocess baselines (MAUPRP, section 4.2.3)
4.1 Importing the Observations The campaign has been set up and all necessary files are available. The first part of processing consists of the transfer of the observations from RINEX to Bernese (binary) format. To get an overview of the data availability you may generate a pseudographic from the RINEX observation files using the program RNXGRA in 'Menu>RINEX>RINEX utilities>Create observation statistics' — this step is not mandatory but it may be useful to get an impression of the tracking performance of the stations before you start the analysis. Importing the RINEX observation files is the task of the program RXOBV3 in 'Menu>RINEX >Import RINEX to Bernese format>Observation files' (we do not use the RINEX navigation files for this processing example).
All RINEX observation files fitting the pattern ${P}/INTRO/RAW/????2070.10O are selected automatically by the current entry in the input field “original RINEX observation files” . You can verify this by pressing the button just right from this input field (labeled with the
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4 Terminal Session: Tuesday file extension 10O). In the file selection dialog you will find the list of currently selected files. The RINEX files of the year 2011 are shown if a current session from the year 2011 is selected. In that case the label of the button changes to 11O. The next panel specifies the general input files. For the tutorial session during the course the phase center offset file has to be changed to a user-specific file (replace the “xx” chars with your user number, e.g.: PCV_Bxx.I14 to PCVB01.I14). Be aware that the file PCV_Bxx.I14 is not part of the distribution. If you are running the tutorial campaign on your own machine you have to use either the PCV.I14 or create a copy of the original file.
There are three further panels defining the input options for RXOBV3. They allow to select the data to be imported and to specify a few parameters for the Bernese observation header files.
We select GPS/GLO for the option “Satellite system to be considered” to exclude observations from GNSS where no orbits are available.
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4.1 Importing the Observations
Two more panels provide options to verify the RINEX header information:
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday
Start the program with the ˆRun–button. A warning message may appear to inform you that the observations for the GLONASS satellite R09 (satellite system R for GLONASS in RINEX whereas satellite numbers between 100 and 199 are in use within the Bernese GNSS Software) are removed because of an entry in the “Satellite problems” file provided in panel “RXOBV3 1.1: General Files” . ### SR SAVMEA : PROBLEM FOR SATELLITE : INDICATED IN SATCRUX : PROBLEM : REQUESTED ACTION : TIME WINDOW : IN RINEX FILE :
109 $ { X }/ GEN / SAT_2010 . CRX BAD PHASE + CODE OBS . REMOVED 2008 -05 -14 00:00:00 2010 -09 -30 23:59:59 $ { P }/ INTRO / RAW / GANP2070 .10 O
Messages from SR R2RDOH: TOO MANY COMMENT LINES may appear for some RINEX files but they are not critical. The program produces an output file RXO10207.OUT in the directory ${P}/INTRO/OUT (resp. corresponding filenames for the other sessions). This file may be browsed using the ˆOutput button or with 'Menu>Service>Browse program output' . After echoing the input options, the file provides an overview of the station information records in the RINEX observation file header and the values that are used for the processing in the Bernese GNSS Software. In addition some observation statistics are available. In the last section you may check the completeness of the Bernese observation files by the available number of epochs: ... TABLE OF INPUT AND OUTPUT FILE NAMES : -----------------------------------# satell . Bernese code header file name # epo ... GPS GLO Bernese code observ . file name Bernese phase header file name # epo ... GPS GLO Bernese phase observ . file name ---------------------------------------------------------------------------------------------
Num
1
2
3
Rinex file name
$ { P }/ INTRO / RAW / GANP2070 .10 O
$ { P }/ INTRO / RAW / HERT2070 .10 O
$ { P }/ INTRO / RAW / JOZ22070 .10 O
$ { P }/ INTRO / OBS / GANP2070 . CZH $ { P }/ INTRO / OBS / GANP2070 . CZO $ { P }/ INTRO / OBS / GANP2070 . PZH $ { P }/ INTRO / OBS / GANP2070 . PZO $ { P }/ INTRO / OBS / HERT2070 . CZH $ { P }/ INTRO / OBS / HERT2070 . CZO $ { P }/ INTRO / OBS / HERT2070 . PZH $ { P }/ INTRO / OBS / HERT2070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . CZH $ { P }/ INTRO / OBS / JOZ22070 . CZO $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZO
2880
...
30
20
2880
...
30
20
2880
...
31
20
2880
...
31
20
2880
...
30
20
2880
...
30
20
...
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4.2 Data Preprocessing (I)
11
12
13
$ { P }/ INTRO / RAW / WTZZ2070 .10 O
$ { P }/ INTRO / RAW / ZIM22070 .10 O
$ { P }/ INTRO / RAW / ZIMM2070 .10 O
$ { P }/ INTRO / OBS / WTZZ207 0 . CZH $ { P }/ INTRO / OBS / WTZZ2070 . CZO $ { P }/ INTRO / OBS / WTZZ2070 . PZH $ { P }/ INTRO / OBS / WTZZ2070 . PZO $ { P }/ INTRO / OBS / ZIM2207 0 . CZH $ { P }/ INTRO / OBS / ZIM22070 . CZO $ { P }/ INTRO / OBS / ZIM22070 . PZH $ { P }/ INTRO / OBS / ZIM22070 . PZO $ { P }/ INTRO / OBS / ZIMM207 0 . CZH $ { P }/ INTRO / OBS / ZIMM2070 . CZO $ { P }/ INTRO / OBS / ZIMM2070 . PZH $ { P }/ INTRO / OBS / ZIMM2070 . PZO
2880
...
32
20
2880
...
32
20
2879
...
32
20
2879
...
32
20
2879
...
31
0
2879
...
31
0
---------------------------------------------------------------->>> CPU / Real time for pgm ' RXOBV3 ': 0:00:14.767 / 0:00:14.7 91 >>> Program finished successfully
If epochs or satellites are missing for some RINEX files you may check this with the RINEX observation graphic from program RNXGRA. In July 2010 32 GPS and 20 GLONASS satellites were active, where one of the GPS satellites (PRN 01) was unhealthy. For that reason many of the stations did track only 31 out of 32 GPS satellites.
4.2 Data Preprocessing (I) 4.2.1 Receiver Clock Synchronization
Now we are ready to invoke the processing part of the Bernese GNSS Software. We have to run three programs for this example. The first program is called CODSPP ('Menu >Processing>Code-based clock synchronization'. Its main task is to compute the receiver clock corrections.
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday
We already have geocentric coordinates of good quality available for the sites from the PPP example BPE. Therefore, the option “Estimate coordinates” may be set to NO. The most important option for this CODSPP run is “Save clock estimates” . It has to be set to BOTH.
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4.2 Data Preprocessing (I)
The warning messages issued by the program CODSPP remind that only GPS satellite clock corrections have been extracted from the precise orbit files. Consequently, the receiver clocks are synchronized with respect to the GPS system time. CODSPP produces the following output: ... STATION : GANP 11515 M001 FILE : $ { P }/ INTRO / OBS / GANP2070 . CZO RECEIVER UNIT : 999999 -------------------------------------------------------------------------------------------
DAY OF YEAR
:
OBSERVATIONS REQUESTED WINDOW
: :
MEASUREMENT INTERVAL : SAMPLING RATE : PROCESSED FREQUENCY : ELEVATION LIMIT :
ATMOSPHERE MODELS
207 FROM 2010 -07 -26 00:00: 0.00 --
TO 2010 -07 -26
23:59:30 .00 --
30 SEC 1 L3 3 DEG TROPOSPHERE GMF
:
IONOSPHERE NONE
STATISTICS FOR GPS SATELLITES : ---------------------------------SATELLITE NUMBER : OBSERVATIONS IN FILE : USED OBSERVATIONS : BAD OBSERVATIONS (%): RMS ERROR ( M ) :
2 1015 1015 0.0 0.9
3 910 910 0.0 1.1
4 1019 1019 0.0 0.9
5 1029 1029 0.0 1.0
6 838 838 0.0 1.0
7 914 914 0.0 1.0
8 841 841 0.0 1.0
9 832 832 0.0 1.2
10 971 971 0.0 1.2
11 857 857 0.0 0.9
... TOTAL ... 27074 ... 27074 ... 0.0 ... 1.0
103 935 0 0.0 0.0
104 929 0 0.0 0.0
105 1149 0 0.0 0.0
107 1097 0 0.0 0.0
108 905 0 0.0 0.0
110 1005 0 0.0 0.0
111 991 0 0.0 0.0
113 903 0 0.0 0.0
... TOTAL ... 19977 ... 0 ... 0.0 ... 0.0
STATISTICS FOR GLONASS SATELLITES : ---------------------------------SATELLITE NUMBER : OBSERVATIONS IN FILE : USED OBSERVATIONS : BAD OBSERVATIONS (%): RMS ERROR ( M ) :
101 905 0 0.0 0.0
102 932 0 0.0 0.0
RESULTS : -------OBSERVATIONS IN FILE : USED OBSERVATIONS : BAD OBSERVATIONS : RMS OF UNIT WEIGHT : NUMBER OF ITERATIONS : ...
47051 27074 0.00 % 1.07 M 2
You see in this statistic that the GLONASS measurements have not been used (because of the missing GLONASS satellite clock corrections).
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday
... STATION COORDINATES : -------------------LOCAL GEODETIC DATUM :
GANP 11515 M001 ( MARKER )
IGS14
X Y Z HEIGHT LATITUDE LONGITUDE
A PRIORI 3929181.42 1455236.82 4793653.95
NEW 3929181.42 1455236.82 4793653.95
746.01 49 2 4.971 20 19 22.574
746.01 49 2 4.971 20 19 22.574
NEW - A PRIORI 0.00 0.00 0.00
0 0
0 0
0.00 0.000 0.000
RMS ERROR 0.00 0.00 0.00 0.00 0.0000 0.0000
CLOCK PARAMETERS : ----------------OFFSET FOR REFERENCE EPOCH :
-0.000000021
GPS / GLONASS SYSTEM DIFFERENCE :
OFFSET : RMS ERROR :
SEC
0.00 NSEC 0.00 NSEC
CLOCK OFFSETS STORED IN CODE + PHASE OBSERVATION FILES ... ... ******************************************************************************* SUMMARY OF BAD OBSERVATIONS ******************************************************************************* MAXIMUM RESIDUAL DIFFERENCE ALLOWED : CONFIDENCE INTERVAL OF F * SIGMA WITH F : NUMBER OF BAD OBSERVATION PIECES
30.00 M 5.00
:
3
NUMB FIL STATION TYP SAT FROM TO # EPO ------------------------------------------------------------------------------1 2
8 8
TLSE 10003 M009 TLSE 10003 M009
OUT OUT
1 1
10 -07 -26 15:10:00 10 -07 -26 15:32:30
10 -07 -26 15:28:30 10 -07 -26 15:33:00
38 2
3
12
ZIM2 14001 M008
OUT
26
10 -07 -26 20:08:30
10 -07 -26 20:08: 30
1
-------------------------------------------------------------------------------
******************************************************************************* GLONASS / GPS TIME OFFSETS ******************************************************************************* FILE STATION NAME TIME OFFSET ( NS ) RMS ERROR ( NS ) ----------------------------------------------------------1 2 3 4 5 6 7 8 9 10 11 12 13
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
NO NO NO NO NO NO NO NO NO NO NO NO NO
RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS
AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE
----------------------------------------------------------0 TOTAL 0.000 0.000 -----------------------------------------------------------
The most important message in the output file is CLOCK OFFSETS STORED IN CODE+PHASE OBSERVATION FILES. This indicates that the receiver clock corrections
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4.2 Data Preprocessing (I) computed by CODSPP are stored in code and phase observation files. After this step we will no longer use the code observations in this example. The a posteriori RMS error (for each zero difference file processed) should be checked in the CODSPP output file. A value of about 20–30 m is normal if Selective Availability (SA) — artificial degradation of the satellite clock accuracy — is on (before May 2000). Without SA a value of about 3 m is expected if P–code measurements are available (this is the case for the time interval of the processing example). However, much worse code measurements would still be sufficiently accurate to compute the receiver clock corrections with the necessary accuracy of 1 µs . In the section GLONASS/GPS TIME OFFSETS you may only find the inter–system bias (ISB) for each of the receivers as they have been estimated by CODSPP if both, GPS and GLONASS satellite clock corrections were introduced. You may use the extraction program CODXTR ('Menu>Processing>Program output extraction>Codebased clock synchronization') to generate a short summary from the CODSPP program output: ... ------------------------------------------------------------------------------File Input files ------------------------------------------------------------------------------1 $ { P }/ INTRO / OUT / COD10207 . OUT -------------------------------------------------------------------------------
13 FILES , MAX . RMS : MAX . BAD :
2.12 M FOR STATION : PTBB 14234 M001 5.26 % FOR STATION : WSRT 13506 M005
---------------------------------------------------------------->>> CPU / Real time for pgm ' CODXTR ': 0:00:00.008 / 0:00:00.0 07 >>> Program finished successfully
4.2.2 Form Baselines The second preprocessing program is called SNGDIF and may be activated in 'Menu >Processing>Create baseline files'. SNGDIF creates the single differences and stores them into files. We use the strategy OBS-MAX for PHASE observation files.
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday To enter GPS in option “Stations must contain observ. from a GNSS” requires that each station included in the baseline creation provides at least GPS measurements. This option can be used to exclude those datasets containing only GLONASS observations.
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4.2 Data Preprocessing (I) The output of SNGDIF simply echoes the zero difference files used and the single difference files created. The first table confirms that all stations provide at least data from GPS. For that reason all stations are included in the baseline creation. ... NUM HEADER FILE NAMES STATION NAME # SAT SYS REMARK ------------------------------------------------------------------------------1 $ { P }/ INTRO / OBS / GANP2070 . PZH GANP 11515 M001 50 GR includ ed 2 $ { P }/ INTRO / OBS / HERT2070 . PZH HERT 13212 M010 51 GR includ ed 3 $ { P }/ INTRO / OBS / JOZ22070 . PZH JOZ2 12204 M002 50 GR includ ed 4 $ { P }/ INTRO / OBS / LAMA2070 . PZH LAMA 12209 M001 50 GR includ ed 5 $ { P }/ INTRO / OBS / MATE2070 . PZH MATE 12734 M008 51 GR includ ed 6 $ { P }/ INTRO / OBS / ONSA2070 . PZH ONSA 10402 M004 50 GR includ ed 7 $ { P }/ INTRO / OBS / PTBB2070 . PZH PTBB 14234 M001 32 G include d 8 $ { P }/ INTRO / OBS / TLSE2070 . PZH TLSE 10003 M009 52 GR includ ed 9 $ { P }/ INTRO / OBS / WSRT2070 . PZH WSRT 13506 M005 31 G include d 10 $ { P }/ INTRO / OBS / WTZR2070 . PZH WTZR 14201 M010 51 GR inclu ded 11 $ { P }/ INTRO / OBS / WTZZ2070 . PZH WTZZ 14201 M014 52 GR inclu ded 12 $ { P }/ INTRO / OBS / ZIM22070 . PZH ZIM2 14001 M008 52 GR inclu ded 13 $ { P }/ INTRO / OBS / ZIMM2070 . PZH ZIMM 14001 M004 31 G includ ed ...
The creation of the following 12 baseline files from 13 zero difference observation files is reported: SNGDIF : INPUT AND OUTPUT OBSERVATION FILE NAMES ----------------------------------------------0 - DIF . HEADER FILE NAMES ( INPUT ) 0 - DIF . OBS . FILE NAMES ( INPUT ) NUM * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *** $ { P }/ INTRO / OBS / GANP2070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / HERT2070 . PZH $ { P }/ INTRO / OBS / ZIM22070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / LAMA2070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / ONSA2070 . PZH ... $ { P }/ INTRO / OBS / ZIM22070 . PZH $ { P }/ INTRO / OBS / ZIMM2070 . PZH
$ { P }/ INTRO / OBS / GANP2070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . PZO $ { P }/ INTRO / OBS / HERT2070 . PZO $ { P }/ INTRO / OBS / ZIM22070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . PZO $ { P }/ INTRO / OBS / LAMA2070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . PZO $ { P }/ INTRO / OBS / ONSA2070 . PZO
1 2 3 4 5 6 7 8
$ { P }/ INTRO / OBS / ZIM22070 . PZO $ { P }/ INTRO / OBS / ZIMM2070 . PZO
23 24
1 - DIF . HEADER FILE NAMES ( OUT ) 1 - DIF . OBS . FILE NAMES ( OUT ) NR1 NR2 STAT . * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *** *** ***** $ { P }/ INTRO / OBS / GAJO2070 . PSH $ { P }/ INTRO / OBS / HEZI2070 . PSH $ { P }/ INTRO / OBS / JOLA2070 . PSH $ { P }/ INTRO / OBS / JOON2070 . PSH ... $ { P }/ INTRO / OBS / ZIZM2070 . PSH
$ { P }/ INTRO / OBS / GAJO2070 . PSO $ { P }/ INTRO / OBS / HEZI2070 . PSO $ { P }/ INTRO / OBS / JOLA2070 . PSO $ { P }/ INTRO / OBS / JOON2070 . PSO
1 3 5 7
2 4 6 8
OK OK OK OK
$ { P }/ INTRO / OBS / ZIZM2070 . PSO
23
24
OK
If the strategy OBS-MAX was selected all possible pairs of zero difference files are listed with the corresponding criterion value. The baselines belonging to the created network configuration are labeled with OK . 1 2 3 4
GANP GANP GANP GANP ... 21 HERT 22 HERT 23 HERT 24 JOZ2 25 JOZ2 26 JOZ2 27 JOZ2 28 JOZ2 29 JOZ2 30 JOZ2 31 JOZ2 ...
11515 M001 11515 M001 11515 M001 11515 M001
-
HERT JOZ2 LAMA MATE
13212 M010 12204 M002 12209 M001 12734 M008
# SAT : # SAT : # SAT : # SAT :
50 50 50 50
CRIT .: CRIT .: CRIT .: CRIT .:
20892 23424 22806 20725
13212 M010 13212 M010 13212 M010 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002
-
WTZZ ZIM2 ZIMM LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ
14201 M014 14001 M008 14001 M004 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014
# SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT :
51 51 31 50 50 50 30 50 30 50 50
CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .:
22697 23219 13051 24807 20969 23855 11243 21991 14464 24390 24182
Bernese GNSS Software, Version 5.2
OK
OK OK OK
OK OK
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4 Terminal Session: Tuesday
4.2.3 Preprocessing of the Phase Baseline Files The main task of the program MAUPRP is the cycle–slip detection and correction. It is started using 'Menu>Processing>Phase preprocessing'.
In the next input panel “MAUPRP 2: Output Files” you only need to specify the “Program output” , e.g., to MPR$YD+0 .
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4.2 Data Preprocessing (I)
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday
The output of the program MAUPRP is discussed in detail in the lecture session. The software manual contains a detailed description, too. You can find here the results of the adjustment of the input parameters for the maximum accepted change of the ionosphere from one epoch to the next, which is computed according to the baseline length (AUTO in option “Screening mode, frequency to check” , panel “MAUPRP 3: General Options” ). ... STATION 1: GANP 11515 M001 STATION 2: JOZ2 12204 M002
YEAR : DAY :
2010 207
SESSION : FILE :
2070 0
BASELINE LENGTH ( M ) : 344406.641 OBSERVAT . FILE NAME : $ { P }/ INTRO / OBS / GAJO2070 . PSH BASELINE DEPENDENT OPTIONS : -------------------------CHECK FREQUENCIES ( L1 =1 , L2 =2 , L1 & L2 =3 , L1 , L2 =4) --> : MAX . IONOS . DIFF . BETW . EPOCHS ( o / o OF L1 CYCLES ) --> : ...
3 94
The most important item to check is the epoch difference solution: ... -----------------------------------------------------------------------EPOCH DIFFERENCE SOLUTION -----------------------------------------------------------------------FREQUENCY OF EPOCH DIFF . SOLU .: # OBS . USED FOR EPOCH DIFF . SOLU : RMS OF EPOCH DIFF . SOLUTION ( M ):
3 42814 0.012
COORDINATES
0.185 + 0.032 + 0.290 + -
NEW - A PRIORI X ( M ): Y ( M ): Z ( M ):
0.021 0.021 0.014
-----------------------------------------------------------------------...
The epoch difference solution is used as the reference for the data screening. For a successful phase preprocessing the RMS OF EPOCH DIFF. SOLUTION has to be below 2 cm. The estimates for the coordinates in the epoch difference solution are expected to be smaller than about 0.5 m. It should be pointed out that it is not necessary to run the program MAUPRP more than once for each baseline. However, it is mandatory to run MAUPRP again if you (for whatever reason) have to re–create the baselines with program SNGDIF.
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4.3 Daily Goals You might get some warning messages regarding too large O − C (i.e., observed minus computed) values on certain baselines for certain epochs. The corresponding observations get flagged, and will not disturb the processing. You can use the extraction program MPRXTR ('Menu>Processing>Program output extraction>Phase preprocessing') to generate a short summary of the MAUPRP output. The file you have specified in “MAUPRP station summary file” looks like this: SUMMARY OF THE MAUPRP OUTPUT FILE ********************************* SESS FIL OK ? ST1 ST2 L ( KM ) # OBS . RMS DX DY DZ # SL # DL # MA MAXL3 MIN . SLIP --------------------------------------------------------------------------------------------2070 1 OK GANP JOZ2 344 42814 12 185 32 290 12 369 72 49 12 2070 2 OK HERT ZIM2 685 41498 13 -317 11 -329 6 591 95 47 11 2070 3 OK JOZ2 LAMA 201 43720 11 -12 -4 71 39 826 101 49 11 2070 4 OK JOZ2 ONSA 830 41462 11 -416 -151 -456 7 609 113 34 11 2070 5 OK JOZ2 WSRT 981 22358 11 -198 -21 -229 8 413 47 33 11 2070 6 OK JOZ2 WTZR 663 41785 13 -231 -76 -377 11 641 81 48 11 2070 7 OK MATE ZIM2 1014 38157 13 471 42 455 64 876 117 49 11 2070 8 OK PTBB ZIM2 640 20063 12 43 -8 -10 82 242 36 50 13 2070 9 OK TLSE ZIM2 597 41698 13 8 38 126 6 609 89 47 11 2070 10 OK WTZR WTZZ 0 43787 12 -9 -13 -4 96 461 65 0 0 2070 11 OK WTZR ZIM2 476 42211 14 147 11 91 6 974 89 43 13 2070 12 OK ZIM2 ZIMM 0 23786 13 -16 4 -32 25 88 35 0 0 --------------------------------------------------------------------------------------------Tot : 12 536 43787 14 471 42 455 96 974 117 50 0
Note that in the bottom line the maximum values for each column are reported to show the “worst case”.
4.3 Daily Goals At the end of today’s session, you should have created the following files: 1. Bernese formatted zero difference observation files in your campaign’s OBS directory: GANP2070. CZH , GANP2070. PZH , GANP2070. CZO , GANP2070. PZO , ... (for all stations). 2. Single difference files (baseline files) in the OBS directory: GAJO2070. PSH , GAJO2070. PSO , HEZI2070. PSH , HEZI2070. PSO ,... for all baselines, 3. you should also have verified the outputs of these programs: ORBGEN, CODSPP, SNGDIF, and MAUPRP
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday
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5 Terminal Session: Wednesday Today’s terminal session is to: 1. perform a residual screening (GPSEST, RESRMS, SATMRK), 2. generate a first estimation for coordinates and troposphere parameters (GPSEST), 3. resolve the double difference ambiguities (GPSEST). .
5.1 Data Preprocessing (II) The main parameter estimation based on a least–squares adjustment is the task of program GPSEST. It is a good idea to start GPSEST first in the session mode and to produce a L3 solution (ionosphere–free linear combination) with real–valued ambiguities. We do not expect any final results from this run but we want to check the quality of data and save the residuals after the least–squares adjustment. The program is available via 'Menu>Processing >Parameter estimation'. We use the following options:
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5 Terminal Session: Wednesday
This run is intended to screen the post–fit residuals for outliers. Later on, for the ambiguity resolution, all observations are needed without down–sampling the data. To run the program GPSEST for the network with 13 stations and the observations to more than 50 satellites without reducing the data sampling rate takes easily 10 minutes or more. For that reason we are forced to sample the data, e.g., down to 3 minutes — we will see in the next step how to solve this discrepancy.
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5.1 Data Preprocessing (II)
We want to put loose constraints on the station coordinates that are available from the IGS realization of ITRF2014 reference frame (flag I like IGS14 in the coordinate file).
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
No parameters (not even ambiguity parameters) can be pre–eliminated if residuals should be written into the residual output file:
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5.1 Data Preprocessing (II) A 4 hour resolution in time for the troposphere parameters is sufficient for this purpose:
The program output of GPSEST summarizes all important input options, input data, and reports the estimated results. An important information in the output file is the a posteriori RMS error: ... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF
: :
0.0013 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
72462 1.66
...
An a posteriori RMS error of about 1.0. . . 1.5 mm is expected if elevation–dependent weighting is used. A significant higher RMS error indicates that either your data stems from low–quality receivers, that the data was collected under extremely bad conditions, or that the preprocessing step (MAUPRP and CODSPP) was not successfully performed. Below you find the section reporting on coordinate estimation. You should check the improvement for the a priori coordinates. If all stations get approximately the same improvement in the order of decimeters, very likely the datum definition failed. Check that you have really selected datum stations.
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
... STATION COORDINATES : -------------------
( NOT SAVED )
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 75
GANP 11515 M001
X Y Z HEIGHT LATITUDE LONGITUDE
107
JOZ2 12204 M002
X Y Z HEIGHT LATITUDE LONGITUDE
92
HERT 13212 M010
X Y Z HEIGHT LATITUDE LONGITUDE
276
ZIM2 14001 M008
X Y Z HEIGHT LATITUDE LONGITUDE
3929181.4215 1455236.8207 4793653.9501 746.0149 49 2 4.971296 20 19 22.574398 3664880.4810 1409190.6806 5009618.5302
52 21
152.5315 5 52.211587 1 56.470161
4033460.8497 23537.8898 4924318.3145
50 52 0 20
83.3341 2.929075 3.676778
4331299.7959 567537.4213 4633133.7767 956.4292 46 52 37.540239 7 27 54.115566
3929181.4183 1455236.8270 4793653.9485 746.0131 49 2 4.971282 20 19 22.574740 3664880.4813 1409190.6835 5009618.5337
52 21
152.5351 5 52.211621 1 56.470295
4033460.8497 23537.8977 4924318.3219
50 52 0 20
83.3399 2.929224 3.677186
4331299.7868 567537.4272 4633133.7769 956.4237 46 52 37.540436 7 27 54.115899
-0.0032 0.0062 -0.0016
0.0042 0.0041 0.0042
-0.0017 -0.0004 0.0069
0.0044 .. 0.0040 .. 0.0041 ..
0.0004 0.0029 0.0035
0.0042 0.0041 0.0041
0.0036 0.0011 0.0025
0.0043 .. 0.0040 .. 0.0040 ..
0.0000 0.0080 0.0074
0.0042 0.0041 0.0042
0.0058 0.0046 0.0079
0.0044 .. 0.0040 .. 0.0040 ..
-0.0090 0.0059 0.0002
0.0041 0.0040 0.0041
-0.0055 0.0061 0.0070
0.0042 .. 0.0040 .. 0.0040 ..
...
If the residuals have been stored in the binary residual file (specified in “GPSEST 2.2: Output Files 2” ) it is possible to have a look to the residuals (program REDISP, 'Menu>Service>Residual files>Display residual file'). To screen the residuals automatically use the program RESRMS in 'Menu>Service>Residual files >Create residual statistics'.
The sampling interval you have previously introduced in option “Sampling interval” in program GPSEST has to be repeated here. RESRMS makes the assumption that the observations between two outliers in the sampled residual file are also bad.
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5.1 Data Preprocessing (II)
The program output of RESRMS (${P}/INTRO/OUT/RMS10207.OUT) provides a nice overview on the data quality. ... FILE INFORMATION AND STATISTIC : -----------------------------Num Station 1 Station 2 Total RMS med . Resi Sigma numObs nSat nDel .. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 1 2 3 4 5 6 7 8 9 10 11 12
GANP HERT JOZ2 JOZ2 JOZ2 JOZ2 MATE PTBB TLSE WTZR WTZR ZIM2
11515 M001 13212 M010 12204 M002 12204 M002 12204 M002 12204 M002 12734 M008 14234 M001 10003 M009 14201 M010 14201 M010 14001 M008
JOZ2 ZIM2 LAMA ONSA WSRT WTZR ZIM2 ZIM2 ZIM2 WTZZ ZIM2 ZIMM
12204 M002 14001 M008 12209 M001 10402 M004 13506 M005 14201 M010 14001 M008 14001 M008 14001 M008 14201 M014 14001 M008 14001 M004
1.4 1.4 1.3 1.3 1.3 1.6 1.6 1.4 1.6 1.6 1.7 0.9
0.7 0.8 0.7 0.7 0.8 0.8 0.8 0.8 0.8 0.7 1.0 0.5
1.2 1.1 1.1 1.0 1.2 1.2 1.2 1.2 1.3 1.0 1.4 0.8
7611 7372 7741 7368 4192 7460 6788 3819 7443 7817 7563 4540
50 51 50 50 30 50 51 32 52 51 51 31
16 11 17 20 12 18 22 15 19 51 28 1
.. .. .. .. .. .. .. .. .. .. .. ..
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ..
NUMBER OF EDIT REQUESTS : ...
230
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday In addition, files containing a summary table (${P}/INTRO/OUT/RMS10207.SUM) and a histogram (${P}/INTRO/OUT/RMS10207.LST) of the residuals are available. The most important result file for the data screening is the “Edit information file” (${P}/INTRO/OUT/ RMS10207.EDT), which may be used by the program SATMRK to mark outliers in the observation files ('Menu>Service>Bernese observation files>Mark/delete observations'):
The program output from SATMRK reports the number of marked observations per baseline: ... SUMMARY OF ACTION IN THE OBS . FILE ( S ): -------------------------------------
$ { P }/ INTRO / OUT / RMS1 0207 . EDT
Mea Observations Num Station name 1 Station name 2 type mark unmark delete ---------------------------------------------------------------------------1 GANP 11515 M001 JOZ2 12204 M002 P : 420 0 0 2 HERT 13212 M010 ZIM2 14001 M008 P : 300 0 0 3 JOZ2 12204 M002 LAMA 12209 M001 P : 422 0 0 4 JOZ2 12204 M002 ONSA 10402 M004 P : 530 0 0 5 JOZ2 12204 M002 WSRT 13506 M005 P : 370 0 0 6 JOZ2 12204 M002 WTZR 14201 M010 P : 526 0 0 7 MATE 12734 M008 ZIM2 14001 M008 P : 688 0 0 8 PTBB 14234 M001 ZIM2 14001 M008 P : 326 0 0 9 TLSE 10003 M009 ZIM2 14001 M008 P : 512 0 0 10 WTZR 14201 M010 WTZZ 14201 M014 P : 1096 0 0 11 WTZR 14201 M010 ZIM2 14001 M008 P : 874 0 0 12 ZIM2 14001 M008 ZIMM 14001 M004 P : 22 0 0 ---------------------------------------------------------------------------Total : 6086 0 0 ----------------------------------------------------------------------------
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.. .. .. .. .. .. .. .. .. .. .. .. .. .. .. ..
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5.1 Data Preprocessing (II)
5.2 Produce a First Network Solution After screening the observations for outliers we can generate an ionosphere–free (L3 ) solution with unresolved ambiguities. A detailed discussion on the Troposphere/Ionosphere modelling will be given in a dedicated lecture tomorrow. The input options are very similar to the previous preprocessing step. There are only a few differences shown in the following panels:
The file in the input field “Ionosphere models” enables the HOI–corrections. We store the coordinates and troposphere parameters into files to be re–introduced later:
In the subsequent panel you should remove the output filename for the “Residuals” because we do not need the residuals from this run.
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The next two panels with the general options for GPSEST remain untouched:
To heavily constrain the coordinates of the IGS core sites is not the best way to realize the geodetic datum for a solution. The program ADDNEQ2 offers more sophisticated options (e.g., minimum constraint solution). Today we will follow this simple approach:
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5.1 Data Preprocessing (II) Since we do not store residual files in this run, ambiguity parameters may be pre–eliminated from the normal equation before the parameters are estimated:
The estimation of troposphere parameters is mandatory for a campaign of this type. We increase the number of estimated parameters (e.g., to 24 instead of 6 parameters per station and session). In addition, it is recommended to set up troposphere gradient parameters. In order to avoid a format overflow in the “Troposphere estimates” output file that may happen if a troposphere parameter is estimated based on very few observations concentrated at one end of the interval of parameter validity, a small relative sigma (e.g., 5 meter) may help.
In the first part of the output generated by program GPSEST, the selected options are echoed. The result part starts with some statistics on the parameters and the observations:
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES SITE - SPECIFIC TROPOSPHERE PARAMETERS
39 1369 377
0 1369 0
( BEFORE INV )
39 1481 377
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 1785 1369 1897 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE
L3
ALL
73602
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 73602 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
Then the a posteriori RMS error and the results of the initial least–squares adjustment are given ... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0011 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
71834 1.28
Below you find the output of the results for coordinates and troposphere parameters: ... STATION COORDINATES : -------------------
$ { P }/ INTRO / STA / FLT10207 . CRD
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 75
GANP 11515 M001
X Y Z HEIGHT LATITUDE LONGITUDE
107
JOZ2 12204 M002
X Y Z HEIGHT LATITUDE LONGITUDE
92
HERT 13212 M010
X Y Z HEIGHT LATITUDE LONGITUDE
3929181.4215 1455236.8207 4793653.9501 746.0149 49 2 4.971296 20 19 22.574398 3664880.4810 1409190.6806 5009618.5302
52 21
152.5315 5 52.211587 1 56.470161
4033460.8497 23537.8898 4924318.3145
50 52 0 20
83.3341 2.929075 3.676778
3929181.4200 1455236.8215 4793653.9494 746.0136 49 2 4.971309 20 19 22.574460 3664880.4789 1409190.6787 5009618.5326
52 21
152.5318 5 52.211702 1 56.470106
4033460.8499 23537.8878 4924318.3167
50 52 0 20
83.3359 2.929114 3.676679
-0.0015 0.0008 -0.0007
0.0007 0.0007 0.0008
-0.0013 0.0004 0.0013
0.0009 .. 0.0005 .. 0.0007 ..
-0.0021 -0.0019 0.0024
0.0007 0.0006 0.0007
0.0003 0.0035 -0.0010
0.0008 .. 0.0005 .. 0.0006 ..
0.0002 -0.0019 0.0022
0.0007 0.0007 0.0007
0.0018 0.0012 -0.0019
0.0009 .. 0.0005 .. 0.0007 ..
...
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5.3 Ambiguity Resolution
... SITE - SPECIFIC TROPOSPHERE PARAMETERS : ------------------------------------
$ { P }/ INTRO / ATM / F LT10207 . TRP
REFERENCE ELEVATION ANGLE OF GRADIENT TERMS : MINIMUM ELEVATION ANGLE : MAPPING FACTOR AT MINIMUM ELEVATION ANGLE :
45.0 DEGREES 5.0 DEGREES 11.4
CORRECTIONS ( M ) RMS ERRORS ( M ) ... REQU . STATION NAME NORTH EAST ZENITH NORTH EAST ZENITH ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... 1 2 3 4 5 ... 24 25 26 27 28 29 30 ...
GANP GANP GANP GANP GANP
11515 M001 11515 M001 11515 M001 11515 M001 11515 M001
-0.00024 -0.00021 -0.00018 -0.00015 -0.00012
-0.00019 -0.00015 -0.00010 -0.00006 -0.00001
0.12103 0.11639 0.11814 0.12171 0.12203
0.00011 0.00011 0.00010 0.00009 0.00009
0.00013 0.00012 0.00011 0.00010 0.00010
0.00226 0.00167 0.00156 0.00160 0.00129
... ... ... ... ...
GANP GANP HERT HERT HERT HERT HERT
11515 M001 11515 M001 13212 M010 13212 M010 13212 M010 13212 M010 13212 M010
0.00044 0.00047 -0.00142 -0.00135 -0.00127 -0.00120 -0.00113
0.00085 0.00090 -0.00190 -0.00181 -0.00172 -0.00163 -0.00154
0.13680 0.12869 0.19943 0.19841 0.18943 0.19009 0.19263
0.00011 0.00012 0.00013 0.00012 0.00011 0.00011 0.00010
0.00012 0.00013 0.00015 0.00014 0.00014 0.00013 0.00012
0.00181 0.00224 0.00299 0.00153 0.00187 0.00178 0.00149
... ... ... ... ... ... ...
Because outliers have been removed in the previous step, the obtained a posteriori RMS error should decrease (at least not increase). If this is not the case, it is likely that the observations and the heavily constrained a priori coordinates are inconsistent.
5.3 Ambiguity Resolution To resolve the ambiguities, we process the baselines separately one by one using the Quasi– Ionosphere–Free (QIF) strategy. This baseline processing mode is necessary because of the tremendous number of parameters. The attempt to resolve the ambiguities in a session solution might require too much CPU and memory to be feasible (several iterations with inversions of the full normal equation (NEQ) are necessary).
5.3.1 Ambiguity Resolution: Quasi–Ionosphere–Free (QIF) The complete list of baseline observation files of a session (e.g., session 2070 of year 2010) can be generated by listing all phase single–difference header files in the campaign’s observation directory of your campaign: [email protected] :~ > ls $ { P }/ INTRO / OBS /????2070. PSH $ { P }/ INTRO / OBS / GAJO2070 . PSH $ { P }/ INTRO / OBS / HEZI2070 . PSH $ { P }/ INTRO / OBS / JOLA2070 . PSH $ { P }/ INTRO / OBS / JOON2070 . PSH $ { P }/ INTRO / OBS / JOWS2070 . PSH $ { P }/ INTRO / OBS / JOWT2070 . PSH $ { P }/ INTRO / OBS / MAZI2070 . PSH $ { P }/ INTRO / OBS / PTZI2070 . PSH $ { P }/ INTRO / OBS / TLZI2070 . PSH $ { P }/ INTRO / OBS / WTWZ2070 . PSH $ { P }/ INTRO / OBS / WTZI2070 . PSH $ { P }/ INTRO / OBS / ZIZM2070 . PSH
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The first baseline for this session is from GANP to JOZ2 with the observation filename GAJO2070. Using the menu time variables this name is specified as GAJO$S+0. The following options are used for the ambiguity resolution step:
Only one baseline file is selected. Coordinates and troposphere estimates are introduced from the previous first network solution (Section 5.2).
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5.3 Ambiguity Resolution Specify a baseline specific output to prevent overwriting in subsequent runs: GAJO$+0Q. The Q at the end shall indicate that it is the output from the QIF–strategy.
Because the QIF–ambiguity resolution strategy is very sensitive to the formal errors of the ambguity parameters we have to include all measurements with the full sampling of 30 s into the processing.
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The selection of a “ZPD model and mapping function (GNSS)” is disabled because a troposphere file has been introduced in panel “GPSEST 1.2: Input Files 2” . The program uses the troposphere model from this input file and allows no other selection for consistency reasons. In the subsequent panel the “Resolution strategy” is chosen. Please, do not forget to store the resolved integer ambiguities in your observation file (mark checkbox at “Save resolved ambiguities” ).
In case of ambiguity resolution including GLONASS, only one ambiguity per iteration can be resolved. The program will adjust the setting automatically issuing a warning message.
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5.3 Ambiguity Resolution
An additional panel with options specific to epoch–parameters is displayed now because the “Parameter Setup: stochastic ionosphere parameters” are pre-eliminated EVERY_EPOCH.
After reporting input options and input data for the current run of GPSEST, the results are presented in two parts. The first part refers to the solution where the ambiguities are estimated as real values whereas the second part reports the results after resolving the ambiguity parameters to integer values. The real–valued estimates for the ambiguities may be found below the STATION COORDINATES section of the program output:
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... STATION COORDINATES AMBIGUITIES STOCHASTIC IONOSPHERE PARAMETERS
3 196 40364
0 0 40364
( EPOCH - WISE )
3 242 45454
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... TOTAL NUMBER OF PARAMETERS 40563 40364 45699 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... PHASE PHASE
L1 L2
ALL ALL
37484 37484
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... TOTAL NUMBER OF OBSERVATIONS 74968 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... ...
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0011 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
34405 1.18
... STATION COORDINATES : -------------------
$ { P }/ INTRO / STA / FLT10207 . CRD
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 107
JOZ2 12204 M002
X Y Z
3664880.4789 1409190.6787 5009618.5326
HEIGHT LATITUDE LONGITUDE
152.5318 5 52.211702 1 56.470106
52 21
3664880.4791 1409190.6784 5009618.5331
52 21
152.5323 5 52.211710 1 56.470086
0.0003 -0.0003 0.0005
0.0002 0.0002 0.0002
0.0005 0.0002 -0.0004
0.0002 .. 0.0001 .. 0.0002 ..
...
... AMBIGUITIES : ----------REFERENCE AMBI FILE SAT . EPOCH FRQ WLF CLU AMBI CLU AMBIGUITY RMS TOTAL AMBIGU . DL / L -------------------------------------------------------------------------------------1 2 3 4 5 6 7 8 9 10 11 12
1 1 1 1 1 1 1 1 1 1 1 1
3 11 11 14 14 14 17 17 19 19 19 20
2199 1 2613 1 1478 2569 1 1111 1 897 2337 1
1 1 1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1 1 1
3 4 6 7 8 9 10 11 13 14 15 16
-
-
1.07 2.12 -3.84 1.74 -0.67 1.17 3.38 -1.90 2.64 0.38 -2.80 2.31
21.81 21.81 21.81 21.81 21.81 21.81 21.81 21.81 21.81 21.82 21.81 21.81
1747244.07 -120949.88 -120952.84 -484082.26 -484244.67 -484299.83 -1280029.62 -1280192.90 1400087.64 1400165.38 1400190.20 757891.31
...
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5.3 Ambiguity Resolution If GLONASS data are processed, single–difference (instead of double–difference) ambiguities are resolved and no — REFERENCE — as in case of GPS–only appears. In the next part of the output the result of the QIF ambiguity resolution algorithm is given: ... AMBIGUITY RESOLUTION : -------------------STRATEGY :
QUASI - IONOSPHERE - FREE AMBIGUITY RESOLUTION ( QIF )
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 1 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
89 106
1
94 112
1
-4
-3
-0.03
-0.04
0.009
0.002
0.003
27
9
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 2 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
18
22
1
82
97
1
0
1
0.09
0.11
-0.022
0.009
0.003
24
6
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 3 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
1
3
1
82
97
2
-1
-1
-0.02
-0.03
0.006
-0.002
0.003
3
6
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 4 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
16
20
1
82
97
3
-4
-2
-0.08
-0.10
0.021
-0.005
0.003
22
6
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 5 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1 11 15 1 82 97 4 -5 -3 0.13 0.18 -0.043 -0.021 0.003 19 6 ... ----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 54 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
70
82
3
71
83
1
-2
-3
0.22
0.31
-0.086
-0.079
0.009
111
111
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 55 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
25
29
1
66
77
3
6
5
-0.05
-0.06
0.014
0.001
0.009
105
101
...
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The individual iteration steps are first described (we specified that only one ambiguity may be resolved within each iteration step — see panel “GPSEST 3.2.4: Quasi-IonosphereFree Ambiguity Resolution Strategy” ). The following information is listed for each resolved double–difference ambiguity: FILE file number (1 in our case; we process one baseline only), AM1 first ambiguity number (single–difference level), CL1 corresponding ambiguity cluster, #AM1 number of ambiguities belonging to the same cluster, AM2, CL2, #AM2 similar information for the second ambiguity. BEST INT. L1, L2 are the integer corrections to the a priori values (a priori values are computed using the a priori coordinates and may be rather inaccurate). CORRECTIONS IN CYCLES for carriers L1 and L2 gives the information about the fractional parts of the L1 and L2 ambiguities. The CORRECTIONS IN CYCLES L5 and L3 are of greater interest. The value L5 represents the ionosphere–induced bias expressed in L5 cycles. These values may not be greater than the maximum value specified in panel “GPSEST 3.2.4: Quasi-Ionosphere-Free Ambiguity Resolution Strategy” (option “Search width for pairs of L1 and L2 ambiguities” ). RMS(L3) is the criterion according to which the ambiguities are sorted. Ambiguities with L3 RMS errors larger than the value specified in the program input panel (in our example 0.03) will not be resolved. SA1, SA2 first and second satellite number related to the ambiguities. Note that in AMBIGUITY RESOLUTION ITERATION: 65 and 66 there are examples for resolving pairs of ambiguities from the same satellite (path–to–path ambiguity resolution) — GLONASS satellites 114, and 119 . The tion:
following
table
summarizes
the
results
of
the
ambiguity
resolu-
... REFERENCE AMBI FILE SAT . EPOCH FRQ WLF CLU AMBI CLU AMBIGUITY RMS TOTAL AMBIGU . DL / L - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 ...
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1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
3 11 11 14 14 14 17 17 19 19 19 20 20 22 22 22 24 24 28 28
2199 1 2613 1 1478 2569 1 1111 1 897 2337 1 2770 1 1248 2254 1 2196 1 782
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
3 4 6 7 8 9 10 11 13 14 15 16 17 18 19 20 21 22 23 24
-
-
-1 1 0 5 3 5 5 -1.83 7 0.47 -5 1 6 1.30 6 -4 5 0 1.75 -4
22.57 22.57
22.59
22.60
1747242. -120951. -120949. -484079. -484241. -484296. -1280028. -1280192.83 1400092. 1400165.47 1400188. 757890. 757842. -893533.70 -893514. -893533. 427188. 427032. -394055.25 -394018.
0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
AIUB
5.3 Ambiguity Resolution The ambiguities for which an RMS is specified could not be resolved (these ambiguities will be treated as real values by all subsequent program runs). In case of GLONASS, only ambiguities with the same channel number are resolved in Version 5.2 of Bernese GNSS Software . Ambiguity resolution has an influence on other parameters. Therefore, the results of the ambiguity–fixed solution are given in Part 2 of the output: ... 14. RESULTS ( PART 2) -------------------NUMBER OF PARAMETERS ( PART 2): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES STOCHASTIC IONOSPHERE PARAMETERS
3 66 40364
0 0 40364
( EPOCH - WISE )
3 242 45454
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 40433 40364 45699 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 2): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE PHASE
L1 L2
ALL ALL
37484 37484
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 74968 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 2): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0011 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
34535 1.27
... STATION COORDINATES : -------------------
$ { P }/ INTRO / STA / FLT10207 . CRD
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 107
JOZ2 12204 M002
X Y Z HEIGHT LATITUDE LONGITUDE
3664880.4789 1409190.6787 5009618.5326
52 21
152.5318 5 52.211702 1 56.470106
3664880.4789 1409190.6780 5009618.5333
52 21
152.5322 5 52.211720 1 56.470073
0.0000 -0.0007 0.0007
0.0001 0.0001 0.0002
0.0004 0.0006 -0.0006
0.0002 .. 0.0001 .. 0.0001 ..
...
You may see from the output that from a total of 196 ambiguities 130 ambiguities could be resolved (compare part 1 AMBIGUITIES with part 2 AMBIGUITIES). Note that these numbers include reference ambiguities for each GNSS, GLONASS frequency number and frequency.
Bernese GNSS Software, Version 5.2
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5.3.2 Ambiguity Resolution: Short Baselines
There are two very short baselines in the network where a direct ambiguity resolution for the L1 and L2 signal is possible applying the sigma–strategy.
The ultra–short baseline in Kötzting is between WTZR and WTZZ (WTWZ2070.PSH). The GPSEST input panels should look like follows:
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5.3 Ambiguity Resolution The program output name is again related to the name of the baseline but contains an identifier 1 at the end to distinguish the files from the output files of the QIF–strategy:
Bernese GNSS Software, Version 5.2
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The structure of the program output is the same as it has extensively been described in the previous section for the QIF ambiguity resolution strategy. It starts with PART 1 for the solution before the ambiguity resolution. Here are the corresponding parameter statistics: ... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES
3 206
0 0
3 232
... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 209 0 235 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE PHASE
L1 L2
ALL ALL
38232 38232
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 76464 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
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5.3 Ambiguity Resolution
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0012 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
76255 1.53
After the ambiguity resolution the same statistics is provided in PART 2: ... 14. RESULTS ( PART 2) -------------------NUMBER OF PARAMETERS ( PART 2): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES
3 40
0 0
3 232
... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 43 0 235 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 2): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0012 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
76421 1.82
From the number of ambiguity parameters it can be computed that 166 out of 206 ambiguities from both GPS and GLONASS have been resolved to their integer numbers. Please remind, that at least 4 ambiguity parameters must remain as real values because of one reference ambiguity per GNSS and frequency are needed. Because the two receivers belong to different groups regarding “GLONASS amb. resol. between different frequencies” only the ambiguities between the same frequency numbers have been resolved. In addition, depending on the receiver type, not all ambiguities for GPS are allowed to be resolved too, to prevent problems with the quarter–cycle bias between the L2P and L2C signal (see option “Consider GPS quarter-cycle biases” in panel “GPSEST 3.2: General Options 2” and the lecture on ambiguity resolution).
5.3.3 Ambiguity Resolution: BPE Admittedly, it is cumbersome to process the baselines “manually” one after the other — you have twelve baselines per session for this small example campaign. On Thursday you will have a lecture on automation of the data processing with the BPE . In the example BPE RNX2SNX.PCF a sequence for the ambiguity resolution is included. For this tutorial lecture a small part of this BPE is extracted into a separate TUTORIAL.PCF BPE. The process control file (PCF) is located in the directory ${U}/PCF. If you are
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday not in the Bernese Introductory Course environment, you have to use the RNX2SNX.PCF instead of the TUTORIAL.PCF and skip the unneeded scripts (a brief description is given in the panel description of the RUNBPE) program. The PCF consists of three parts: the first part defines the scripts and the option directories where the program’s input files are taken from. In addition the waiting conditions are defined to keep the correct order for the execution of the scripts. In the second part, special execution modes are defined, e.g., that the scripts GNSQIF_P with PID 132 and GNSL12_P with PID 142 may run in parallel for each individual baseline. The preparatory scripts GNSQIFAP and GNSL12AP define the list of baselines to be processed. The third part defines the so called BPE– or PCF–variables that can be used within the scripts or in the input fields of the menu. A detailed introduction to the BPE will be the topic of a lecture on Thursday. The TUTORIAL.PCF is responsible for the following tasks: 011 TUT_COP : Copies the files from the previous processing steps of the tutorial to the filenames used in the RNX2SNX.PCF example BPE. It uses the PCF– and time variables for that purpose: copy copy copy copy copy
file file file file file
from from from from from
../STA/APR${yyddd}.CRD ../STA/FLT${yyddd}.CRD ../ATM/FLT${yyddd}.TRP ../ORB/COD${yyddd}.STD ../ORB/COD${yyddd}.ERP
to to to to to
../STA/APR${yyssss}.CRD ../STA/FLT${yyssss}.CRD ../ATM/FLT${yyssss}.TRP ../ORB/COD${yyssss}.STD ../ORB/COD${yyssss}.ERP
where ${yyddd} stands for the two–digit year and the day of year. The new filename contains ${yyssss} the two–digit year together with the session (in our case day of year plus the zero–character 0). If you are not in the Bernese Introductory Course environment, you have to copy these files manually to run the ambiguity resolution sequence of RNX2SNX.PCF . 101 SATMRK : All previously resolved ambiguities are re–initialized to start for all files from unresolved ambiguities (otherwise the interpretation of the statistic of resolved ambiguities may become difficult). 131 GNSQIFAP and 132 GNSQIF_P : Applies the QIF ambiguity resolution strategy to all baselines of the example in a baseline–by–baseline mode, where several baselines may be processed at the same time in parallel. 141 GNSL12AP and 142 GNSL12_P : Applies the SIGMA ambiguity resolution strategy directly to the original observations on the L1 and L2 frequency for both short baselines in the example network: Kötzting (WTZR and WTZZ) and Zimmerwald (ZIM2 and ZIMM). These scripts also run in a baseline–by–baseline mode, allowing for a parallel processing.
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5.3 Ambiguity Resolution
# # # TUTORIAL . PCF # # # Purpose : Run the ambiguity resolution for one session in the # > of the # Bernese Software Introductory Course # # ---------------------------------------------------------------------------# # Author : R . Dach # Created : 23 - Jan -2012 Last modified : 23 - Jan -2012 # # Changes : # # # # PID SCRIPT OPT_DIR CAMPAIGN CPU P WAIT FOR .... 3** 8******* 8******* 8******* 8******* 1 3** 3** 3** 3** 3** 3** 3** 3** 3** 3** # # Copy input files # ---------------011 TUT_COP R2S_GEN ANY 1 # # Resolve phase ambiguities # ------------------------101 SATMRK R2S_GEN ANY 1 011 131 GNSQIFAP R2S_QIF ANY 1 101 132 GNSQIF_P R2S_QIF ANY 1 131 141 GNSL12AP R2S_L12 ANY 1 132 142 GNSL12_P R2S_L12 ANY 1 141 # # End of BPE # ---------999 DUMMY NO_OPT ANY 1 142 # # PID USER PASSWORD PARAM1 PARAM2 PARAM3 PARAM4 PARAM5 PARAM6 .. 3** 12********** 8******* 8******* 8******* 8******* 8*** **** 8******* 8*******.. # # Resolve phase ambiguities # ------------------------131 $131 132 PARALLEL $131 141 $141 142 PARALLEL $141 # # VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 16* ************* V_A A priori information APR V_B Orbit / ERP , DCB , CLK information COD V_C Preliminary ( ambiguity - float ) results FLT V_CRDINF Project related station filenames EXAMPLE V_GNSSAR GNSS to be used for ambiguity resolution ALL V_BL_QIF Maximum baseline length for QIF AR 2000 V_BL_L12 Maximum baseline length for L1 & L2 AR 20 V_PCV Absolute / relative PCV model I14 V_SATINF Satellite information file SATELLIT V_PCVINF PCV information file PCV_Bxx V_SATCRX Satellite problem file SAT_$Y +0 V_RECINF Receiver characterization file RECEIVER . V_BLQINF BLQ FILE NAME , CMC CORRECTIONS EXAMPLE V_ATLINF ATL FILE NAME , CMC CORRECTIONS EXAMPLE V_HOIFIL Ionosphere model COD$YD +0 # # DO NOT USE V_D , V_J , V_M , V_Y VARIABLES ! # ( they are used already by the menu ) #
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday In the Bernese Introductory Course environment the TUTORIAL.PCF BPE can be started for one session (e.g., day 207 of year 2010) using 'Menu>BPE>Start BPE processing':
If you follow the tutorial outside from the environment of the Bernese Introductory Course you can select RNX2SNX in option “Process control file” and skip all scripts apart from PID 401 SATMRK and the range from PID 431 GNSQIFAP to PID 442 GNSL12_P (option “Skip scripts” ).
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5.3 Ambiguity Resolution
Run the BPE for the current session. If the BPE stops with an error you can inspect the files ARyyddd0_...PRT and ARyyddd0_...LOG belonging to your current session. They are located in the BPE directory of your campaign. These files notice for instance if an input file is missing. This might be the case if you did not follow the naming convention proposed in the tutorial. In that case you have to copy the file from your naming to the expected one.
5.3.4 Ambiguity Resolution: Summary
For each observation file a corresponding program output file is generated. Using the program GPSXTR ('Menu>Processing>Program output extraction>Parameter estimation/stacking') you can generate a summary of the ambiguity resolution for all baselines of the session:
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday All program output files related to the QIF ambiguity resolution method have been specified with program output filenames fitting in the shape ${P}/INTRO/OUT/????$S+0_Q.OUT and can, therefore, easily be selected in the input field “GPSEST/ADDNEQ output files” .
The program issues a warning message because only for a global network the evaluation of the ambiguity resolution statistics allow to assess the orbit quality: ### SR EXTAMB : ORBIT ACCURACY NOT ESTIMATED
This summary (${P}/INTRO/OUT/QIF10207.SUM) reports among others how many ambiguities are resolved for each baseline1 : File
Length Before After Res Sys ( km ) # Amb ( mm ) # Amb ( mm ) (%) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... GAJO2070 GANP JOZ2 344.407 102 1.1 24 1.1 76.5 G ... GAJO2070 GANP JOZ2 344.407 90 1.1 38 1.1 57.8 R ... GAJO2070 GANP JOZ2 344.407 192 1.1 62 1.1 67.7 GR ... HEZI2070 HERT ZIM2 685.151 120 1.1 46 1.1 61.7 G ... HEZI2070 HERT ZIM2 685.151 98 1.1 64 1.1 34.7 R ... HEZI2070 HERT ZIM2 685.151 218 1.1 110 1.1 49.5 GR ... JOLA2070 JOZ2 LAMA 201.183 118 1.0 36 1.0 69.5 G ... JOLA2070 JOZ2 LAMA 201.183 96 1.0 38 1.0 60.4 R ... JOLA2070 JOZ2 LAMA 201.183 214 1.0 74 1.0 65.4 GR ... JOON2070 JOZ2 ONSA 829.775 136 1.0 58 1.1 57.4 G ... JOON2070 JOZ2 ONSA 829.775 104 1.0 68 1.1 34.6 R ... JOON2070 JOZ2 ONSA 829.775 240 1.0 126 1.1 47.5 GR ... JOWS2070 JOZ2 WSRT 981.243 106 1.1 32 1.1 69.8 G ... JOWT2070 JOZ2 WTZR 663.182 104 1.4 28 1.5 73.1 G ... JOWT2070 JOZ2 WTZR 663.182 98 1.4 50 1.5 49.0 R ... JOWT2070 JOZ2 WTZR 663.182 202 1.4 78 1.5 61.4 GR ... MAZI2070 MATE ZIM2 1013.811 122 1.2 54 1.3 55.7 G ... MAZI2070 MATE ZIM2 1013.811 94 1.2 60 1.3 36.2 R ... MAZI2070 MATE ZIM2 1013.811 216 1.2 114 1.3 47.2 GR ... PTZI2070 PTBB ZIM2 640.077 114 1.3 26 1.4 77.2 G ... TLZI2070 TLSE ZIM2 596.848 120 1.3 20 1.3 83.3 G ... TLZI2070 TLSE ZIM2 596.848 90 1.3 58 1.3 35.6 R ... TLZI2070 TLSE ZIM2 596.848 210 1.3 78 1.3 62.9 GR ... WTZI2070 WTZR ZIM2 475.909 116 1.5 44 1.5 62.1 G ... WTZI2070 WTZR ZIM2 475.909 92 1.5 56 1.5 39.1 R ... WTZI2070 WTZR ZIM2 475.909 208 1.5 100 1.5 51.9 GR ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... Tot : 10 643.159 1158 1.2 368 1.3 68.2 G ... Tot : 8 601.283 762 1.2 432 1.3 43.3 R ... Tot : 10 643.159 1920 1.2 800 1.3 58.3 GR ...
1
Sta1 Sta2
# AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF
You may check the impact of introducing the ionosphere model (COD$YD+0 in “Ionosphere models” of panel “GPSEST 1.1: Input Files 1” ) by cleaning this input field. Repeat the ambiguity resolution (without saving the resolved ambiguities into the observation file: unmark option “Save resolved ambiguities” in panel “GPSEST 3.2: General Options 2” ) and compare the a posteriori RMS and the number of resolved ambiguities.
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5.4 Daily Goals An analogue statistics can be produced for the short baseline ambiguity resolution. Exchange the entry for the input file selection (“GPSEST/ADDNEQ output files” ) to catch all files of the shape ${P}/INTRO/OUT/????$S+0_1.OUT. It is recommended to change also the name of the resulting summary (“Ambiguity res. summary” ) and the identification string in the summary (e.g., L12 for “Ambiguity resolution: #AR_ID” ) in panel “GPSXTR 2: Output Files” . File
Sta1 Sta2
Length Before After Res Sys ( km ) # Amb ( mm ) # Amb ( mm ) (%) ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... WTWZ2070 WTZR WTZZ 0.002 108 1.2 16 1.3 85.2 G ... WTWZ2070 WTZR WTZZ 0.002 94 1.2 20 1.3 78.7 R ... WTWZ2070 WTZR WTZZ 0.002 202 1.2 36 1.3 82.2 GR ... ZIZM2070 ZIM2 ZIMM 0.019 108 1.1 2 1.1 98.1 G ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... Tot : 2 0.010 216 1.2 18 1.2 91.7 G ... Tot : 1 0.002 94 1.2 20 1.3 78.7 R ... Tot : 2 0.010 310 1.2 38 1.2 87.7 GR ...
# AR_L12 # AR_L12 # AR_L12 # AR_L12 # AR_L12 # AR_L12 # AR_L12
The solutions from the BPE are identical to the two manually processed solutions. You can compare the following two files in ${P}/INTRO/OUT for each strategy (e.g., with tkdiff): Filenames from Manual processing processed by the BPE Strategy: QIF: GAJO207Q.OUT GAJO2070_Q.OUT Strategy: direct L1 /L2 : WTWZ2071.OUT WTWZ2070_1.OUT If you compare the number of ambiguity parameters in the GPSEST program output with the number of ambiguities in the GPSXTR summary files, the number of reference ambiguities that need to be kept unresolved are considered.
5.4 Daily Goals At the end of today’s session, you should have: 1. used GPSEST for residual screening, created files: EDT10207. OUT , EDT10207. RES in your campaign’s OUT directory, 2. screened the residual files from the above run using RESRMS: created files RMS10207. SUM , RMS10207. LST , RMS10207. EDT , and RMS10207. OUT , 3. used SATMRK to mark the identified outliers, 4. used GPSEST for a first coordinate and troposphere estimation, created files: FLT10207. CRD and FLT10207. TRP , 5. used GPSEST for QIF ambiguity resolution, created files: GAJO207Q. OUT , 6. used GPSEST for direct SIGMA ambiguity resolution, created files: WTWZ2071. OUT , 7. apply the ambiguity resolution to all baselines running a BPE, 8. used GPSXTR to create a summary of the ambiguity resolution, created file: QIF10207. SUM
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
Proposal for Further Activities Even if it is not needed for the processing progress of the regional network you may use some time in this terminal session to have a look into the examples for “Epoch Parameter Processing” (sections 7.3 for Kinematic Positioning and 7.4 for Zero Difference Processing for Clock Estimation). This section also provides also some instructions on other topic, e.g., the usage of RINEX 3 observation files in Section 7.5 . Note that some panels assume the availability of the final solution for regional network processing (FIN$YD+0) that will be generated in the terminal session of tomorrow only. You may replace these files by the results from the first network solution before the ambiguity resolution (FLT$YD+0) for this exercise.
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6 Terminal Session: Thursday Finish the work of yesterday by resolving the ambiguities for all baselines (day 207 year 2010). Today’s terminal session is to: 1. compute a final network solution of the day (GPSEST), 2. check the coordinates of the fiducial sites (ADDNEQ2, HELMR1), 3. check the daily repeatability (COMPAR), 4. recompute final solution and generate reduced size normal equation files (ADDNEQ2), 5. compute velocities (ADDNEQ2), for the current session. Compare the final coordinate results of the daily solutions (which are already processed and availalble).
6.1 Final Network Solution The resolved ambiguities may be introduced from the Bernese observation files into the final network solution. To start the program GPSEST in the session mode you have to select all single difference files of the corresponding session. In panel “GPSEST 1.1: Input Files 1” :
If the grid files for the coefficients of the VMF1 are available (downloaded from http://ggosatm.hg.tuwien.ac.at/DELAY/GRID/VMFG/ and the five grid files of the day are concatenated), we can introduce them into panel “GPSEST 1.1: Input Files 1” .
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6 Terminal Session: Thursday We do not introduce “Troposphere estimates” anymore from the previous solutions.
In panel “GPSEST 2.1: Output Files 1” we request the normal equation file as the only output file.
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6.1 Final Network Solution For the final run of GPSEST we consider the correlations between the observations correctly:
If the VMF1 grid files are available we can switch now from DRY_GMF to DRY_VMF to use the VMF1 instead of the Global Mapping Function (GMF). In the Bernese Introductory Course environment these files are available. Remember that you need to specify the grid files with the coefficients in the input field “Gridded VMF1 coefficients” in panel “GPSEST 1.1: Input Files 1” . Ambiguities which have been resolved in the previous runs of program GPSEST are introduced as known.
The checkbox in option “Stop program after NEQ saving” reduces the task of GPSEST to setting up the NEQ but not solving it. In particular in case of bigger networks this may save a lot of computing time because the solution for the session will be computed later on by ADDNEQ2 anyhow.
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday Since this is the final run of GPSEST, it is worthwhile to add some additional information about the observation files into the program output. This is useful if you archive the program output of this run together with the observation files and the resulting normal equation files.
We do not fix any stations on their a priori position, i.e., the coordinates of all stations will be estimated. This retains the flexibility for later changes in the realization of the reference frame (station constraints) with program ADDNEQ2. Because no solution in GPSEST is computed you can select here all types of datum definition apart from “Coordinates fixed” (the normal equations are always stored without any constraints):
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6.1 Final Network Solution The unresolved ambiguities are pre–eliminated. In addition we may setup additional parameters of interest.
The selection of the mapping function has to be consistent with the selection of the troposphere model in “ZPD model and mapping function (GNSS)” in panel “GPSEST 3.2: General Options 2” .
The output of the GPSEST contains only the input parameter and ends with the parameter statistics: 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES SITE - SPECIFIC TROPOSPHERE PARAMETERS
39 673 377
0 673 0
( BEFORE INV )
39 785 377
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 1089 673 1201 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE
L3
ALL
73602
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 73602 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... SOLUTION SKIPPED ...
---------------------------------------------------------------->>> CPU / Real time for pgm ' GPSEST ': 0:00:47.682 / 0:00:47.7 52 >>> Program finished successfully
After running GPSEST in session mode the normal equation file FIX10207.NQ0 should be available in the directory ${P}/INTRO/SOL In the environment of the Bernese Introductory Course these files are provided in the archive ${S}/RNX2SNX/2010/SOL/ and ${S}/RNX2SNX/2011/SOL/ respectively. Copy the files of the additional three days into your campaign. Following files should be now available in the directory ${P}/INTRO/SOL
FIX10207.NQ0, FIX11205.NQ0,
FIX10208.NQ0, FIX11206.NQ0.
and
6.2 Check the Coordinates of the Fiducial Sites To check the consistency of our network solution with respect to the coordinates available in the IGS14 reference frame we generate a minimum constraint solution for the network using program ADDNEQ2 ('Menu>Processing>Combine normal equation systems') with the following options:
No further input files in the next panel are needed.
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6.2 Check the Coordinates of the Fiducial Sites
A troposphere SINEX file may be generated in this solution by adding an output filename to the “Troposphere estimates (SINEX)” input field in panel “ADDNEQ2 2.1: Output Files 1” .
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday In the following three panels, all parameter types supported by ADDNEQ2 are listed. You may specify whether a parameter shall be pre-eliminated or not. An empty entry means that the parameter is not expected in the input NEQ files. Please note that an automated preselection is not possible for technical reasons. If a parameter with an empty input field is detected in the input NEQ files, the program will stop with an error. In the opposite case, a warning message is issued.
For the validation of the datum stations we choose the “Minimum constraint solution” . Because it is a regional network, we only apply the no–translation condition. The other conditions are sufficiently defined by the satellite orbits.
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6.2 Check the Coordinates of the Fiducial Sites The following panel allows to change the parameter spacing. We do not need this feature at the moment and leave, therefore, all input fields empty.
The relative constraints applied to the vertical troposphere and gradient parameters are so loose that they do not affect the solution. As in GPSEST, they simply prevent a format overflow in the output troposphere file in case of very weakly observed parameters due to gaps in the observation scenario.
The ADDNEQ2 program output starts with some information about the parameters contained in the input NQ0 file(s). The input options for the program run follow. An important part is the statistics for the current ADDNEQ2 solution: ... SUMMARY OF RESULTS -----------------Number of parameters : -------------------Parameter type Adjusted explicitly / implicitly ------------------------------------------------------------------------------Station coordinates / velocities 39 39 0 Site - specific troposphere parameters 377 377 0 ------------------------------------------------------------------------------Previously pre - eliminated parameters 656 656 ------------------------------------------------------------------------------Total number 1072 416 656 ...
Bernese GNSS Software, Version 5.2
.. Deleted ... .. ------- ... 0 ... 0 ... .. ------- ... .. ------- ... 0
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... Statistics : ---------Total number of authentic observations Total number of pseudo - observations
73602 341
Total number of explicit parameters Total number of implicit parameters
416 656
Total number of observations Total number of adjusted parameters Degree of freedom ( DOF )
73943 1072 72871
A posteriori RMS of unit weight Chi **2/ DOF Total number of observation files Total number of stations Total number of satellites ...
0.00115 m 1.32 12 13 0
Below this part the program output reports the results of the parameter estimation in a standardized format for all parameter types: ... Station coordinates and velocities : ---------------------------------Sol Station name Typ Correction Estimated value RMS error A priori value ------------------------------------------------------------------------------------1 GANP 11515 M001 X -0.00246 3929181.41903 0.00050 3929181. 42149 1 GANP 11515 M001 Y -0.00001 1455236.82073 0.00024 1455236. 82074 1 GANP 11515 M001 Z -0.00240 4793653.94773 0.00059 4793653. 95013 1 HERT 13212 M010 X -0.00135 4033460.84830 0.00058 4033460. 84965 1 HERT 13212 M010 Y -0.00158 23537.88819 0.00020 23537.8897 7 1 HERT 13212 M010 Z 0.00045 4924318.31497 0.00062 4924318.3 1452 1 JOZ2 12204 M002 X -0.00418 3664880.47678 0.00051 3664880. 48096 1 JOZ2 12204 M002 Y -0.00372 1409190.67690 0.00025 1409190. 68062 1 JOZ2 12204 M002 Z -0.00019 5009618.53001 0.00063 5009618. 53020 1 LAMA 12209 M001 X -0.00759 3524522.82514 0.00055 3524522. 83273 ...
... ... ... ... ... ... ... ... ... ... ... ...
Abb ---# CRD # CRD # CRD # CRD # CRD # CRD # CRD # CRD # CRD # CRD
... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...
Abb --# TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP
Site - specific troposphere parameters : -----------------------------------Station name Typ Correction Estimated value RMS error A priori value ------------------------------------------------------------------------------------GANP 11515 M001 N -0.00035 -0.00035 0.00007 0.00000 GANP 11515 M001 E 0.00011 0.00011 0.00009 0.00000 GANP 11515 M001 U 0.13553 2.24964 0.00135 2.11411 GANP 11515 M001 U 0.13073 2.24507 0.00101 2.11433 GANP 11515 M001 U 0.13286 2.24742 0.00095 2.11456 GANP 11515 M001 U 0.13901 2.25379 0.00097 2.11478 GANP 11515 M001 U 0.13493 2.24993 0.00085 2.11500 GANP 11515 M001 U 0.13519 2.25041 0.00098 2.11522 GANP 11515 M001 U 0.13060 2.24604 0.00095 2.11544 GANP 11515 M001 U 0.13367 2.24951 0.00082 2.11584 GANP 11515 M001 U 0.13178 2.24801 0.00089 2.11623 GANP 11515 M001 U 0.13341 2.25003 0.00085 2.11662 GANP 11515 M001 U 0.13276 2.24977 0.00083 2.11701 GANP 11515 M001 U 0.13687 2.25427 0.00083 2.11740 GANP 11515 M001 U 0.14007 2.25786 0.00077 2.11779 GANP 11515 M001 U 0.14164 2.25973 0.00086 2.11809 GANP 11515 M001 U 0.13776 2.25614 0.00104 2.11838 GANP 11515 M001 U 0.13772 2.25639 0.00096 2.11867 GANP 11515 M001 U 0.13297 2.25194 0.00101 2.11897 GANP 11515 M001 U 0.13823 2.25749 0.00091 2.11926 GANP 11515 M001 U 0.13867 2.25822 0.00088 2.11955 GANP 11515 M001 U 0.13921 2.25881 0.00088 2.11960 GANP 11515 M001 U 0.13899 2.25864 0.00101 2.11965 GANP 11515 M001 U 0.13434 2.25403 0.00102 2.11970 GANP 11515 M001 U 0.14064 2.26039 0.00094 2.11975 GANP 11515 M001 U 0.14075 2.26055 0.00107 2.11980 GANP 11515 M001 N 0.00019 0.00019 0.00007 0.00000 GANP 11515 M001 E 0.00080 0.00080 0.00009 0.00000 GANP 11515 M001 U 0.13904 2.25888 0.00140 2.11985 HERT 13212 M010 N -0.00105 -0.00105 0.00007 0.00000 HERT 13212 M010 E -0.00216 -0.00216 0.00010 0.00000 HERT 13212 M010 U 0.20436 2.50827 0.00162 2.30390 ...
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6.2 Check the Coordinates of the Fiducial Sites The coordinate solution for the session (${P}/INTRO/STA/FIN10207.CRD) may be compared with the a priori coordinates for the IGS core sites. The program HELMR1 ('Menu >Service>Coordinate tools>Helmert transformation') is used for this purpose:
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday For our example we get the following output. The M–flag for some stations indicates that they are not used to compute the transformation parameters. For these sites, only the residuals are printed to the program output. Bernese GNSS Software , Version 5.2 ------------------------------------------------------------------------------Program : HELMR1 Purpose : Helmert Transformation ------------------------------------------------------------------------------Campaign : $ { P }/ INTRO Default session : 2070 year 2010 Date : 28 - Aug -2017 15:43:08 User name : bern52
EXAMPLE : Session 102070: Check fiducial coordinates -------------------------------------------------------------------------------
FILE 1: EXAMPLE . CRD : IGS14 : coordinate list FILE 2: FIN10207 . CRD : EXAMPLE : Session 102070: Final coord inate / troposphere res LOCAL GEODETIC DATUM : IGS14 RESIDUALS IN LOCAL SYSTEM ( NORTH , EAST , UP )
--------------------------------------------------------------------| NUM | NAME | FLG | RESIDUALS IN MILLIMETERS | | --------------------------------------------------------------------| | | | | | | 75 | GANP 11515 M001 | I W | -0.24 -0.40 3.40 | | | 92 | HERT 13212 M010 | I W | -1.50 1.34 0.71 | | | 107 | JOZ2 12204 M002 | P A | -3.44 2.98 3.26 | M | | 122 | LAMA 12209 M001 | P A | -4.14 1.30 7.27 | M | | 136 | MATE 12734 M008 | I W | 3.61 1.02 -1.72 | | | 176 | ONSA 10402 M004 | I W | -0.75 -0.15 -0.64 | | | 192 | PTBB 14234 M001 | P A | -3.95 3.14 7.02 | M | | 236 | TLSE 10003 M009 | I W | 2.83 -3.44 -0.06 | | | 262 | WSRT 13506 M005 | I W | -0.72 -0.05 0.56 | | | 263 | WTZR 14201 M010 | I W | 0.52 1.41 -1.24 | | | 264 | WTZZ 14201 M014 | P A | -2.77 3.46 1.50 | M | | 276 | ZIM2 14001 M008 | I W | -4.38 -1.23 -1.83 | | | 278 | ZIMM 14001 M004 | I W | 0.64 1.49 0.82 | | | | | | | | --------------------------------------------------------------------| | RMS / COMPONENT | | 2.35 1.60 1.63 | | | | MEAN | | 0.00 -0.00 -0.00 | | | | MIN | | -4.38 -3.44 -1.83 | | | | MAX | | 3.61 1.49 3.40 | | ---------------------------------------------------------------------
NUMBER OF PARAMETERS : NUMBER OF COORDINATES : RMS OF TRANSFORMATION :
3 27 1.89 MM
BARYCENTER COORDINATES : LATITUDE LONGITUDE HEIGHT
: : :
48 45 56.82 9 29 24.71 -37.545 KM
PARAMETERS : TRANSLATION IN TRANSLATION IN TRANSLATION IN
N E U
NUMBER OF ITERATIONS
: : :
:
0.02 0.03 0.00
+++-
0.63 0.63 0.63
MM MM MM
1
NO OUTLIER DETECTED
---------------------------------------------------------------->>> CPU / Real time for pgm ' HELMR1 ': 0:00:00.076 / 0:00:00.0 75 >>> Program finished successfully
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6.3 Check the Daily Repeatability We can conclude that no problems concerning the stations used for the datum definition were detected. If there were problems, the ADDNEQ2 run needs to be repeated with the problematic station either removed from the file ${P}/INTRO/STA/IGS14.FIX or with manual selection of the stations used for the datum definition in panel “ADDNEQ2 5.1: Datum Definition for Station Coordinates” . In order to check the repeatability of the coordinate solutions for all 4 days, repeat the above steps for the remaining three days.
6.3 Check the Daily Repeatability If the minimum constraint solutions of the four sessions are available, the repeatability of the coordinate solutions may be checked using the program COMPAR ('Menu>Service >Coordinate tools>Coordinate comparison').
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GANP 11515 M001
4
N E U
8.45 -6.81 -7.81 7.08 7.54 11.66 -10.03 -10.16 10.68 9.50 2.76 1.58 2.51 -0.36 -3.73
92
HERT 13212 M010
4
N E U
107
JOZ2 12204 M002
4
N E U
8.11 -6.91 -7.13 7.26 6.78 12.66 -10.52 -11.40 11.18 10.75 4.40 2.98 4.55 -3.45 -4.08
122
LAMA 12209 M001
4
N E U
8.42 -7.37 -7.19 6.66 7.91 11.99 -10.50 -10.27 10.37 10.40 3.05 3.42 1.25 -0.97 -3.70
136
MATE 12734 M008
4
N E U
11.57 -10.24 -9.76 10.86 9.15 14.02 -11.97 -12.31 11.85 12.43 1.58 -0.11 -0.02 1.99 -1.86
176
ONSA 10402 M004
4
N E U
8.22 10.44 3.88
-7.14 -7.08 -8.76 -9.31 -2.34 -3.91
6.50 8.61 4.70
192
PTBB 14234 M001
4
N E U
8.91 11.57 1.11
-6.90 -8.50 -9.92 -10.12 -1.66 0.43
7.82 7.58 9.75 10.29 0.48 0.74
236
TLSE 10003 M009
4
N E U
9.13 -8.60 -7.18 11.50 -10.17 -9.73 2.14 -0.50 -2.65
7.67 8.11 9.66 10.24 0.69 2.46
262
WSRT 13506 M005
4
N E U
9.56 10.00 2.26
263
WTZR 14201 M010
4
N E U
8.93 -7.86 -7.60 7.59 7.87 11.55 -10.20 -9.79 9.64 10.35 2.42 0.47 2.96 -0.56 -2.88
264
WTZZ 14201 M014
4
N E U
8.32 -7.24 -7.17 6.97 7.44 13.21 -11.43 -11.44 10.98 11.89 1.59 -1.97 1.18 1.40 -0.60
276
ZIM2 14001 M008
4
N E U
9.33 11.58 0.86
-8.01 -8.14 -9.93 -10.13 -1.16 -0.04
278
ZIMM 14001 M004
4
N E U
9.46 11.09 0.53
-8.26 -8.11 8.41 7.96 -9.63 -9.57 9.73 9.47 0.70 0.11 -0.30 -0.51
8.70 9.56 3.39
-7.38 -7.69 7.61 -8.75 -7.79 8.07 -2.48 -0.29 -2.11
-8.18 -8.37 8.64 -8.35 -8.95 8.37 2.45 -0.43 -2.89
7.46 8.47 4.88
7.72 9.46 1.54
7.90 8.94 0.87
7.68 8.47 9.93 10.13 0.34 0.86
-----------------------------------------------------------
While interpreting this output, keep in mind that the first two columns and the last two columns refer to different epochs (see warning message). The difference between these epochs is about one year. Obviously, station velocities need to be estimated (this will be done in the next step described in Section 6.5).
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6.4 Compute the Reduced Solution of the Sessions If reliable velocities for all stations are available they can be introduced:
You may check the influence on the repeatability on your own. Please be reminded, that for the ITRF2014 (IGS14) reference frame the linear station velocities are not sufficient. You may see the effect of the PSD corrections in the repeatablity. This is not the case for this example because none of the stations is affected by an earthquake and, therefore, no PSD corrections have to be considered. This output may be used for quality assessment. Stations with a problem in one or more sessions can be identified and excluded from the final ADDNEQ2 solution by adding them to section TYPE 003: STATION PROBLEMS in the station information file (${P}/INTRO/STA/EXAMPLE.STA). All parameters of these stations will be pre–eliminated before the normal equations are stacked and, therefore, also before the solution is computed.
6.4 Compute the Reduced Solution of the Sessions If one or more stations have to be excluded from the session solution or if the datum definition of the solution is still not acceptable, the final solution of the session has to be re–computed by repeating the ADDNEQ2 in Section 6.2. Finally, the result files for the final solution of the session are: ${P}/INTRO/SOL/FIN$YD+0.NQ0, ${P}/INTRO/STA/FIN$YD+0.CRD, and ${P}/INTRO/ATM/FIN$YD+0.TRP. It is preferable for the velocity estimation to have smaller normal equation files containing only the coordinate parameters for each session. In addition, we generate a coordinate Solution INdependent EXchange format (SINEX) file (in NEQ representation) as the final solution of the day, so the troposphere parameters have to be pre–eliminated before the solution is computed. We introduce the station coordinates (${P}/INTRO/STA/FIN$YD+ 0.CRD) obtained with the minimum constraint solution in the previous run of ADDNEQ2 and constrain the solution to these coordinates. To generate these reduced NQ0 files and the SINEX file, the execution of ADDNEQ2 has to be repeated with the following changes in the input options:
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Please note that the output SINEX file includes a skeleton from ${X}/GEN/SINEX. RNX2SNX . We propose to derive individual SINEX skeletons for different tasks that you can include a specific description how the product has been generated. The skeleton is provided in the input field “SINEX general input file” in panel “ADDNEQ2 1.3: General Files” .
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6.4 Compute the Reduced Solution of the Sessions
Because you are storing a SINEX file in NEQ representation (see option “Content of SINEX” ) no regularization is necessary.
The troposphere parameters are pre–eliminated:
To keep the a priori and estimated sets of coordinates in the resulting SINEX file consistent, we introduce the coordinate solution of the session in “Station coordinates” in “ADDNEQ2 1.1: Input Files 1” and constrain all coordinate parameters to these values.
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The normal equation file (${P}/INTRO/SOL/RED10207.NQ0) contains only the station coordinate parameters. The following section of the program output documents the pre– elimination of the troposphere parameters: ... SUMMARY OF RESULTS -----------------Number of parameters : -------------------Parameter type Adjusted explicitly / implicitly ( pre - elimi -----------------------------------------------------------------------------------------Station coordinates / velocities 39 39 0 Site - specific troposphere parameters 377 0 377 ( before st -----------------------------------------------------------------------------------------Previously pre - eliminated parameters 656 656 -----------------------------------------------------------------------------------------Total number 1072 39 1033 ...
... ... ... ... ... ... ...
... Statistics : ---------Total number of authentic observations Total number of pseudo - observations
73602 377
Total number of explicit parameters Total number of implicit parameters
39 1033
Total number of observations Total number of adjusted parameters Degree of freedom ( DOF )
73979 1072 72907
A posteriori RMS of unit weight Chi **2/ DOF Total number of observation files Total number of stations Total number of satellites ...
0.00115 m 1.32 12 13 0
You can also see that the number of explicit parameters in the NQ0 file was dramatically reduced (from 416 to 39). This is an advantage for the combination of a big number of normal equation files for the estimation of station velocities.
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6.5 Velocity Estimation
6.5 Velocity Estimation
6.5.1 Preparation for ITRF2014/IGS14 Velocity Estimation
This section can be skipped if no ITRF2014/IGS14 reference frame is used as geodetic datum.
Because of the PSD corrections the linear station velocity must not represent the actual station velocity one has to prepare the station coordinate and velocity files before they can be used for the datum defintion in the program ADDNEQ2. We have to compute the station coordinates at the reference epoch using the program COOVEL ('Menu>Service >Coordinate tools>Extrapolate coordinates'):
In our example none of the stations that shall be used for the datum definition is related to the PSD corrections. So, you can continue here. If you have another station selection where the PSD corrections become relevant we refer to Section 7.1 for further instructions.
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6.5.2 Velocity Estimation Based on NEQ Files
The velocity estimation in program ADDNEQ2 is easy. Introduce the normal equation files containing only the station coordinate parameters. Copy the prepared files for the three additional days (208 year 2010, 205 and 206 year 2011) from ${S}/RNX2SNX/2010/ SOL/RED10*NQ0 and ${S}/RNX2SNX/2011/SOL/RED11*NQ0 into ${P}/INTRO/SOL/ directory. The normal equation files have to cover a reasonable time interval to reliably estimate velocities (in this case one year):
Station velocities are set up by marking the checkbox:
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6.5 Velocity Estimation Furthermore, we check the repeatability of the daily solutions after the velocity estimation. The coordinates in the resulting file will refer to the epoch 2010 01 01. The input NEQ files do only contain coordinates:
The realization of the geodetic datum is done for positions and velocities separately in the following panels:
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The following panel provides options to detect bad daily solutions based on the repeatability:
After the velocity estimation the repeatability of the coordinate solutions from the individual normal equations look like: ... Statistics of individual solutions : ---------------------------------# Observations # Parameters File RMS ( m ) DOF Chi **2/ DOF authentic / pseudo explicit / imp licit / singular --------------------------------------------------------------------------------------------1 0.00115 72874 1.32 73940 6 39 1033 0 2 0.00121 72878 1.46 73861 6 39 950 0 3 0.00123 75378 1.50 76336 6 39 925 0 4 0.00122 75405 1.48 76421 6 39 983 0
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6.5 Velocity Estimation
Comparison of individual solutions : ---------------------------------GANP 11515 M001 GANP 11515 M001 GANP 11515 M001
N E U
0.40 0.53 1.24
0.45 0.03 -0.25
-0.46 -0.01 0.32
-0.22 0.66 1.58
0.17 -0.65 -1.40
HERT 13212 M010 HERT 13212 M010 HERT 13212 M010
N E U
0.12 0.41 3.10
0.08 -0.48 -0.91
-0.10 0.45 0.91
0.11 -0.20 -3.65
-0.13 0.17 3.71
JOZ2 12204 M002 JOZ2 12204 M002 JOZ2 12204 M002
N E U
0.24 0.40 0.51
0.06 0.41 -0.60
-0.05 -0.39 0.63
0.28 0.28 0.11
-0.30 -0.28 -0.11
LAMA 12209 M001 LAMA 12209 M001 LAMA 12209 M001
N E U
0.48 0.14 1.40
-0.14 -0.16 1.27
0.16 0.16 -1.23
-0.57 0.05 1.15
0.58 -0.04 -1.18
MATE 12734 M008 MATE 12734 M008 MATE 12734 M008
N E U
0.74 0.22 1.42
-0.25 0.15 0.12
0.25 -0.15 -0.17
0.87 -0.23 1.80
-0.87 0.22 -1.67
ONSA 10402 M004 ONSA 10402 M004 ONSA 10402 M004
N E U
0.45 0.37 1.39
-0.09 0.25 0.98
0.13 -0.24 -0.96
-0.53 -0.37 1.40
0.55 0.39 -1.40
PTBB 14234 M001 PTBB 14234 M001 PTBB 14234 M001
N E U
0.62 0.20 0.75
0.73 0.09 -0.87
-0.76 -0.09 0.85
0.17 -0.22 -0.35
-0.16 0.23 0.29
TLSE 10003 M009 TLSE 10003 M009 TLSE 10003 M009
N E U
0.63 0.27 1.36
-0.77 -0.22 1.31
0.72 0.18 -1.25
-0.21 -0.28 -1.08
0.19 0.26 1.07
WSRT 13506 M005 WSRT 13506 M005 WSRT 13506 M005
N E U
0.35 0.32 2.15
0.04 0.30 1.65
-0.02 -0.29 -1.59
0.46 -0.24 -2.20
-0.39 0.28 1.95
WTZR 14201 M010 WTZR 14201 M010 WTZR 14201 M010
N E U
0.16 0.31 1.17
-0.18 -0.23 -1.09
0.17 0.22 1.03
-0.09 -0.32 1.01
0.10 0.30 -0.92
WTZZ 14201 M014 WTZZ 14201 M014 WTZZ 14201 M014
N E U
0.18 0.33 1.31
-0.08 -0.01 -1.42
0.08 0.01 1.36
-0.19 -0.40 0.80
0.21 0.40 -0.81
ZIM2 14001 M008 ZIM2 14001 M008 ZIM2 14001 M008
N E U
0.29 0.10 0.48
0.03 0.11 -0.38
-0.02 -0.09 0.35
-0.36 -0.07 -0.50
0.36 0.06 0.40
ZIMM 14001 M004 ZIMM 14001 M004 ZIMM 14001 M004
N E U
0.23 0.14 0.40
-0.12 -0.03 0.47
0.11 0.03 -0.50
0.25 0.14 -0.10
-0.27 -0.19 0.09
Variance - covariance scaling factors : ----------------------------------Parameter type Component Scaling factor wrt RMS / variance DOF ---------------------------------------------------------------------------------------------Station coordinates N 1.39976 1.95932 52 Station coordinates E 1.31297 1.72389 52 Station coordinates U / vertical 1.49414 2.23244 52 Station coordinates Horizontal 1.35706 1.84160 104 Station coordinates All 1.40424 1.97188 156 ---------------------------------------------------------------------------------------------Total 1.40424 1.97188 156 ...
Below this table, bad daily solutions according to the settings in panel “ADDNEQ2 7: Comparison of Individual Solutions” are summarized (if there are any). In this example we have no additional section and, therefore, no outliers. If you compare the velocities obtained for the two sites in Kötzting (WTZR and WTZZ) and Zimmerwald (ZIM2 and ZIMM) you will find small differences:
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...
Stati Station coordinates and velocities : ---------------------------------Reference epoch : 2010 -01 -01 00:00:00 Station name Typ A priori value Estimated value Correction RMS error ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ... WTZR 14201 M010 VX -0.01629 -0.01820 -0.00191 0.00050 VY 0.01714 0.01648 -0.00066 0.00021 VZ 0.00986 0.00751 -0.00235 0.00055
... WTZZ 14201 M014
... ... ZIM2 14001 M008
... ZIMM 14001 M004
VU VN VE
-0.00043 0.01557 0.02034
-0.00352 0.01555 0.02012
-0.00309 -0.00002 -0.00022
0.00071 ... 0.00022 ... 0.00018 ...
VX VY VZ
-0.01629 0.01714 0.00986
-0.01531 0.02011 0.01007
0.00098 0.00297 0.00021
VU VN VE
-0.00043 0.01557 0.02034
0.00078 0.01449 0.02301
0.00121 -0.00109 0.00267
VX VY VZ
-0.01393 0.01809 0.01169
-0.01354 0.01860 0.01202
0.00039 0.00051 0.00033
VU VN VE
0.00070 0.01636 0.01975
0.00125 0.01625 0.02020
0.00055 -0.00011 0.00045
0.00069 ... 0.00022 ... 0.00018 ...
VX VY VZ
-0.01393 0.01809 0.01169
-0.01499 0.01755 0.01067
-0.00106 -0.00054 -0.00102
0.00084 0.00028 0.00081
VU VN VE
0.00070 0.01636 0.01975
-0.00081 0.01648 0.01935
-0.00151 0.00013 -0.00040
0.00113 ... 0.00034 ... 0.00026 ...
0.00054 0.00023 0.00059 0.00077 ... 0.00024 ... 0.00020 ...
0.00050 0.00019 0.00052
...
You can constrain the velocity estimates for the pairs of receivers at one location in the station information file. Copy the original station information file ${P}/INTRO/STA/EXAMPLE. STA and add the following lines to part TYPE 004: STATION COORDINATES AND VELOCITIES (ADDNEQ) of this copy. TYPE 004: STATION COORDINATES AND VELOCITIES ( ADDNEQ ) ----------------------------------------------------REL . CONSTR . POSITION STATION NAME 1 STATION NAME 2 ... EAST UP **************** **************** ... **.***** **.***** WTZR 14201 M010 WTZZ 14201 M014 ... ZIM2 14001 M008 ZIMM 14001 M004 ...
(Pay attention starts.)
to
the
number
of
blank
lines
RELATIVE CONSTR . VELOCITY NORTH EAST UP **.***** **.***** **.***** 0.00001 0.00001 0.00001 0.00001 0.00001 0.00001
before
the
next
section
When introducing this information, the program ADDNEQ2 will issue the following message: ### SR AOPTNET : You are going to use relative constraints for station coordinates / velocities from station info file . Please keep in mind that you will NOT constrain the estimated results but only the improvements of the apriori values .
If only the improvements (column Correction) for the velocities are constrained, you must make sure that also the a priori values (column A priori value) for the velocities are identical to obtain (column Estimated value) the same velocities for a group of stations. You can
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6.5 Velocity Estimation verify this in the input velocity file ${P}/INTRO/STA/EXAMPLE.VEL: ... 263 264 ... 276 278 ...
WTZR 14201 M010 WTZZ 14201 M014
-0.01629 -0.01629
0.01714 0.01714
0.00986 0.00986
IG14 EURA NNR EURA
ZIM2 14001 M008 ZIMM 14001 M004
-0.01393 -0.01393
0.01809 0.01809
0.01169 0.01169
IG14 EURA IG14 EURA
If this is not the case, you should unify the a priori values.
The relative constraining of the velocity estimates is confirmed in the section of the input parameters (below the a priori coordinates and velocities) of the ADDNEQ2–program output: ... Relative constraints between stations : Station names ----------------------------------------------WTZR 14201 M010 WTZZ 14201 M014 ZIM2 14001 M008 ZIMM 14001 M004
... relative constraints for velocities ... N ( m / year ) E ( m / year ) U ( m / year ) ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... 0.00001 0.00001 0.00001 ... 0.00001 0.00001 0.00001
Introducing this modified station information file instead of the original one you will get the following estimates for the station velocities in Kötzting and Zimmerwald: ... Station coordinates and velocities : ---------------------------------Reference epoch : 2010 -01 -01 00:00:00 Station name Typ A priori value Estimated value Correction RMS error ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ... WTZR 14201 M010
... WTZZ 14201 M014
VX VY VZ
-0.01629 0.01714 0.00986
-0.01699 0.01806 0.00857
-0.00070 0.00092 -0.00129
0.00039 0.00016 0.00042
VU VN VE
-0.00043 0.01557 0.02034
-0.00172 0.01509 0.02139
-0.00129 -0.00048 0.00105
0.00055 0.00017 0.00014
VX VY VZ
-0.01629 0.01714 0.00986
-0.01699 0.01807 0.00857
-0.00070 0.00093 -0.00129
0.00039 0.00016 0.00042
VU VN VE
-0.00043 0.01557 0.02034
-0.00172 0.01509 0.02140
-0.00128 -0.00049 0.00106
0.00055 0.00017 0.00014
... ... ...
... ... ...
...
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... ZIM2 14001 M008
... ZIMM 14001 M004
VX VY VZ
-0.01393 0.01809 0.01169
-0.01414 0.01804 0.01146
-0.00021 -0.00005 -0.00023
0.00040 0.00015 0.00041
VU VN VE
0.00070 0.01636 0.01975
0.00037 0.01635 0.01972
-0.00032 -0.00000 -0.00002
0.00055 0.00017 0.00014
VX VY VZ
-0.01393 0.01809 0.01169
-0.01414 0.01804 0.01146
-0.00021 -0.00005 -0.00023
0.00040 0.00015 0.00041
VU VN VE
0.00070 0.01636 0.01975
0.00037 0.01635 0.01972
-0.00032 -0.00000 -0.00002
0.00055 0.00017 0.00014
... ... ...
... ... ...
...
The final results are contained in the files ${P}/INTRO/STA/FINAL.CRD EXAMPLE : Estimate final solution - coordinates and velocit ies 28 - AUG -17 16:03 -------------------------------------------------------------------------------LOCAL GEODETIC DATUM : IGS14 EPOCH : 2010 -01 -01 00:00:00 NUM
STATION NAME
75 92 107 122 136 176 192 236 262 263 264 276 278
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
X (M) 3929181.43126 4033460.85505 3664880.49055 3524522.83658 4641949.46826 3370658.46734 3844059.87805 4627851.76301 3828735.79223 4075580.46481 4075579.34558 4331299.80234 4331296.99495
Y (M) 1455236.81309 23537.87958 1409190.66849 1329693.70182 1393045.51501 711877.20881 709661.39520 119640.11214 443305.03608 931853.87929 931853.19399 567537.41214 567555.96571
Z (M) 4793653.94 428 4924318.3093 1 5009618.5 2923 5129846.4 0041 4133287.5 3776 5349787.00 033 5023129.60 030 4372993.60 102 5064884.77 220 4801568.17 525 4801569.08 708 4633133.77 514 4633133.99 187
FLAG W W A A W W A W W W A W W
and ${P}/INTRO/STA/FINAL.VEL EXAMPLE : Estimate final solution - coordinates and velocit ies 28 - AUG -17 16:03 -------------------------------------------------------------------------------LOCAL GEODETIC DATUM : IGS14 NUM
STATION NAME
VX ( M / Y )
VY ( M / Y )
VZ ( M / Y )
75 92 107 122 136 176 192 236 262 263 264 276 278
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
-0.02030 -0.01036 -0.02293 -0.02128 -0.01977 -0.01249 -0.01518 -0.00937 -0.01652 -0.01699 -0.01699 -0.01414 -0.01414
0.01400 0.01632 0.01468 0.01414 0.01941 0.01575 0.01748 0.01952 0.01538 0.01806 0.01807 0.01804 0.01804
0.00629 0.01150 0.00251 0.00466 0.01507 0.01282 0.01026 0.01347 0.00835 0.00857 0.00857 0.01145 0.01145
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11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
FLAG W W A A W W A W W W A W W
PLATE EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA
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6.6 Daily Goals
6.6 Daily Goals At the end of today’s session, you should have: 1. used GPSEST to compute a final solution of the day, created files: FIX10207. OUT , FIX10207. NQ0 (for all sessions), 2. checked the coordinates of the fiducial sites using ADDNEQ2 and HELMR1, created files: FIN10207. CRD , FIN10207. TRP , FIN10207. OUT , and HLM10207. OUT , 3. used COMPAR to check the daily repeatabilities, created file: COMPAR. OUT , 4. used ADDNEQ2 to create a final session solution, and reduced size NEQs, created files: RED10207. NQ0 and RED10207. SNX , 5. if possible, used ADDNEQ2 for velocity estimation, created files: FINAL. CRD and FINAL. VEL .
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7 Additional Examples In the previous terminal sessions you have estimated coordinates, velocities, and troposphere parameters. This is the standard application of the Bernese GNSS Software for most users. If you have finished this work or if you want to follow more examples at home, this section of the document provides some suggestions to practice: • advanced usage of ITRF2014/IGS14 (see Section 7.1 on page 106), • generation of a combined GPS/GLONASS orbit from IGS (see Section 7.2 on page 112), • kinematic positioning for a station (see Section 7.3 on page 118), • zero difference processing to estimate clocks (see Section 7.4 on page 124), • inclusion of RINEX 3 data in the processing (see Section 7.5 on page 144), • enabling the processing of Galileo data (see Section 7.6 on page 147), and • simulation of GNSS observations (see Section 7.7 on page 155).
Extended Example Dataset In particular for Sections 7.5 and 7.6 the example dataset has been extended. The same set of stations that have been introduced in Section 1.1 are provided for day 213 in year 2017 (01 August 2017). For all stations RINEX 2 data are available in the datapool (${D}/RINEX). In the (${D}/RINEX3 directory for 7 of them are the observations also given in RINEX 3 format (long filenames). Six out of these stations provide also Galileo measurements. An additional campaign (${P}/EXM_GAL) in the Bernese Introductory Course is established where these RINEX observation files are copied and extracted in the RAW directory. Please note that RINEX 3 file have there the conventional short filename to guarantee the compatibilty with the filenaming to access them in the Bernese processing prgrams. Furthermore this campaign is prepared to analyze this day. In particular, the orbit product files from CODE are copied into the ORB directory. Apart from the COD (GPS and GLONASS) also the COM products (CODE’s five-system solution for IGS MGEX).
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7.1 Advanced Aspects in Using ITRF2014/IGS14 The velocity of a station in the ITRF2014/IGS14 is only derived by the sum of the linear velocities and the PSD corrections. On the other hand, for the datum definition of a velocity field the same parametrization for all stations and coordinate components is needed, what means, only linear station velocity parameters. There is of course the option to first subtract the PSD corrections from the coordinates and only linear velocities remain which can be aligned to the linear velocities from the ITRF2014/IGS14 solution SINEX file. It should be noted that this freezes the empirical PSD corrections that have been computed based on the IGS repro2 campaign. Consequently also GNSS modelling effects from the repro2 solution may be transferred into the new coordinate series, even when computed with a different (better) GNSS observation modelling. In addition the linear velocity field must first be adjusted to the PSD corrections before it can be integrated in the interval of your GNSS solution. In this section we are discussing potential alternative approaches.
7.1.1 Using ITRF2014/IGS14 Frames for Reprocessing For reprocessing the station coordinates for a specific epoch are necessary. This can be done as simple as deomnstrated in Section 2.5 of this tutorial. Nevertheless. it is recommended in case of a reprocessing to not use the IGS14_R.CRD, IGS14_R.VEL, and IGS14.FIX files as they are provided. It is preferable to extract the coordinates and velocities valid for the specific epoch of the session in the reprocessing from the IGS14 SINEX solution file by running the program SNX2NQ0 ('Menu>Conversion >SINEX to normal equations').
In order to follow the example, you have to copy the IGS14.SNX from ${D}/STAT_LOG/ IGS14.snx to ${P}/INTRO/SOL/IGS14.SNX (note that your operating system might be case sensitive).
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Note that only the CRD and VEL informaion must be extracted but no NEQs are needed.
The following three files should now be available: ${P}/INTRO/STA/IGS14.CRD, ${P}/INTRO/STA/IGS14.VEL, and ${P}/INTRO/STA/IGS14.FIX.
The datum identifier in the coordinate files should be IGS14_0 in order to apply the PSD corrections by executing the program COOVEL. Because the files only contain those stations where coordinates and velocities are given in the IGS14 solution for the given epoch the remaining stations for your project need to be added using the program program CRDMERGE ('Menu>Service>Coordinate tools>Merge coordinate/velocity files').
7.1.2 Ignoring Stations with PSD Corrections for Datum Definition
You may simply follow the approach from previous ITRF solutions by limiting yourself to those stations for the datum definition where no PSD corrections are given in the IGS14 solution. As long as this limited number of stations is sufficient for your application you can follow this simple approach as it was demonstrated in Section 6.5 of this tutorial.
In order to get a list of stations where no PSD corrections are applied the pogram COOVEL offers an option “Stations without PSD corrections” .
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You may enter the last epoch of interest (e.g., day 206 of year 2011, the last day of the example dataset). The result file ${P}/INTRO/STA/I14_nPSD.FIX contains a list of stations where no PSD corrections were given. This file can be used as the list of available set of stations that may be used for the datum definition in the program ADDNEQ2:
Use the analogue setting for the datum definition for the station velocities in panel “ADDNEQ2 6.1: Datum Definition for Station Velocities” .
7.1.3 Recovering a Linear Velocity Field for a Certain Interval If you cannot continue in the simple way as in this example by simply ignoring all stations with PSD corrections for the datum definition, a dedicated BPE named ${U}/PCF/ITRF. PCF (description in ${U}/PCF/ITRF.README) is provided with the software. It may be started with 'Menu>BPE>Start BPE processing'. In the second panel “RUNBPE 2: Process Control Options” the ITRF.PCF is specified for “Process control file” . The most interesting is the last panel:
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The BPE copies the files IGS14.SNX (given in V_REFSNX) and IGS14.PSD (given in V_REFPSD) from ${D}/REF52 into the campaign. It extracts the coordinates and velocities into Bernese formatted files where the datum identifier IGS14 (see variable V_REFDAT) is used. Starting from the epoch 2010 07 01 (see V_EPO1) this extraction is repeated every 30 days (see V_NINT) until epoch 2011 07 31 (see V_EPO2) is exceeded. The start and end date should cover the data interval that shall be used for the velocity estimation (in our case from day 207 in year 2010 to day 206 in year 2011). In this way, 10 coordinate files are extracted. The coordinates are fitted by a linear model in script COMPAR2 (PID 212) expecting that the fit during the interval is better than the thresholds given in the last panel of the related program input file:
(The panel is obtained via COMPAR2 .)
'Menu>BPE>Edit PCF program input files'
after selecting PID 121:
For most of the stations the residuals in the program output file ${P}/INTRO/OUT/ myIGS14.OUT (where myIGS14 is again related to the variable V_REFNAM) are zero. Deviations from zero may have two reasons:
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7 Additional Examples • the PSD corrections have been become close to a linear model with station AREQ as an example where the earthquake from 2001 has only a marginal deviation from a linear station velocity AREQ 42202 M005
N
0.03
AREQ 42202 M005
E
0.05
AREQ 42202 M005
U
0.01
0.07 -0.03 0.08 -0.05 -0.02 0.01
0.03 -0.03 0.05 -0.04 -0.01 0.01
0.01 -0.02 0.01 -0.03 -0.00 0.00
-0.01 -0.01 -0.02 -0.01 0.01 0.00
-0.03 0.02 -0.03 0.00 0.01 -0.00
-0.03 0.03 -0.05 0.04 0.01 -0.01
-0.04 0.05 -0.05 0.09 0.01 -0.02
• where the IGS14.SNX contains discontinuities like in the example for station WUHN at day 082 of year 2011 WUHN 21602 M001
N
0.11
WUHN 21602 M001
E
1.09
WUHN 21602 M001
U
4.19
0.12 -0.17 1.13 -1.61 -4.34 6.18
0.08 -0.21 0.73 -1.99 -2.84 7.68
0.04 0.16 0.35 1.56 -1.33 -6.01
-0.00 0.12 -0.04 1.17 0.17 -4.51
-0.05 0.08 -0.44 0.77 1.67 -3.01
-0.09 0.04 -0.82 0.39 3.17 -1.50
-0.13 0.00 -1.21 0.01 4.67 -0.00
(Note that discontinuities can be managed according to the description in Section 10.3.5 of the Bernese GNSS Software user manual. The station information file may be added in panel “COMPAR2 1: Input Files” , PID 121 .) At the end of the procedure three files are obtained myIGS14_R.CRD, myIGS14_R.VEL, and myIGS14.FIX (with myIGS14 is stemming from the variable V_REFNAM) that contain only those stations where threshold specified above are not exceeded. These files may either be copied to ${D}/REF52 (take care on overwriting potential other files from other projects) and may be used for variable V_REFINF in other example BPEs. For the interactive use they should be merged with the stations from you project using the program CRDMERGE:
If is of course essential that all coordinate files (myIGS14_R.CRD and EXAMPLE.CRD) refer to the same epoch.
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7.1 Advanced Aspects in Using ITRF2014/IGS14 To active the option “Synchronize stations with same DOMES number” is in particular help to antenna sharing stations where not all of the receiver/antenna combinations are included in the reference frame file myIGS14_R.CRD.
Note that this option requires the IGS-related station naming convention with the 4character ID and the domes number. Repeat the program to merge also the velocity files.
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7.2 Preparing Combined GPS and GLONASS IGS–Orbits In this section the differences to the standard procedure using CODE products containing GPS and GLONASS orbits with respect to IGS products are demonstrated. The IGS uses independent combination procedures for GPS and GLONASS orbits resulting in two sets of precise orbit files. That’s why the orbits for the two GNSS first need to be merged. In contrast, CODE (and other AC) uses a rigorous combined multi–GNSS processing scheme, hence producing a single precise orbit file.
7.2.1 Prepare Pole Information For the IGS precise orbit files (PRE) the consistent EOP need to be available in the ORB directory (which is the case in the Bernese Introductory Course environment). As for the use of CODE products in Section 3.1, the EOP information has to be converted from the IERS/IGS standard format (file extension within the Bernese GNSS Software is IEP) to the internal Bernese EOP format (file extension within the Bernese GNSS Software is ERP). This is the task of the program POLUPD ('Menu>Orbits/EOP>Handle EOP files>Convert IERS to Bernese Format'). Simply specify IGS–related filenames — other settings are analogous to Section 3.1 .
The messages ### PG POLUPD : NUTATION MODEL NOT SPECIFIED IN INPUT ERP FILE USING NUTATION MODEL NAME : IAU2000R06 ### PG POLUPD : SUBDAILY POLE MODEL NOT SPECIFIED IN INPUT ERP FILE USING SUBDAILY POLE MODEL NAME : IERS2010
just inform you that the nutation and subdaily pole models from the files in the input panel are written to the output file because no Bernese formatted ERP file was used as input. This is different to importing the EOP from CODE products because here the information on the nutation and sub daily pole model is also available in the international format (with the extension IEP).
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7.2.2 Merging Precise Orbit Files
Before we can prepare the orbits from the IGS for a combined GPS+GLONASS processing we need to merge the two separate files IGS15941.PRE and IGL15941.PRE. This is the task of the program CCPREORB ('Menu>Orbits/EOP>Concatenate/merge precise orbit files'):
The resulting filename consists of the solution identifier (“First four characters” ) and the session of the first epoch (if “Reference epoch for output files” is empty). The reference epoch may also be specified by the user as the above example shows. Using the input options from above panel we expect the result file named as ${P}/INTO/ORB/GNSS2070. PRE .
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In the next panel you may specify the time window for which the satellite positions shall be included in the resulting precise orbit file.
7.2.3 Generating Standard Orbit Files The subsequent steps to create the so–called standard orbit files from precise orbit files are again analogue to the standard procedure using CODE products as detailed in Section 3.2 . The first step is the conversion into tabular orbit files (TAB) using the program PRETAB ('Menu>Orbits/EOP>Create tabular orbits'). The merged GPS/GLONASS precise orbit file is chosen as input and IGS–related output files are recommended.
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7.2 Preparing Combined GPS and GLONASS IGS–Orbits
It is important to enable the option “Exclude sat. with accuracy code 0” if you process orbits that are not provided by CODE (label “COD”). The precise GLONASS orbit files from the IGS contain the GLONASS broadcast clock information (instead of no clock corrections for GLONASS as in the CODE product files). This leads to two differences with respect to the use of the standard products from CODE: • The messages on missing GLONASS satellites clocks are not displayed (at least not for all GLONASS satellites). • Because the Bernese GNSS satellite clock files contain also clock corrections for the GLONASS satellites, the program CODSPP may compute the inter–system bias between IGSF–time scale (GPS satellite clocks in the IGS final product files) and GLONASS broadcast time system. Both differences have no impact on the obtained results. For some days a message like this may appear: ### PG PRETAB : SATELLITE CLOCK VALUES MISSING SATELLITE : 1 FILE NUMBER : 1 FILE NAME : $ { P }/ INTRO / ORB / GNSS2080 . PRE
It reports that for a specific satellite no clock information is provided in the IGS files. As long as this message lists only a limited number of satellites, the synchronization of the receiver clocks in CODSPP is still possible with the remaining satellites. It is therefore not critical. To generate the standard orbits (extension STD) from the tabular orbits the program ORBGEN ('Menu>Orbits/EOP>Create/update standard orbits') has to be used. Introduce the IGS–related tabular orbit file together with the consistent ERP file (as well as the consistent nutation, and the subdaily pole model in panel “ORBGEN 1.1: General Files” ):
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The name of the resulting orbit file should also be related to IGS:
The other options can be used as given in Section 3.2. The resulting program output is expected to look like ... ------------------------------------------------------------------------------RMS ERRORS AND MAX . RESIDUALS ARC NUMBER : 1 ITERATION : 4 -------------------------------------------------------------------------------
SAT ---
# POS ----
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96
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RMS ( M ) ------0.002 0.002 0.004 0.001 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.003 0.003 0.003 0.002 0.004 0.002 0.003 0.002 0.002 0.002 0.003 0.003
QUADRATIC MEAN OF O - C ( M ) TOTAL RADIAL ALONG OUT ----------------------------0.002 0.002 0.004 0.001 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.003 0.003 0.003 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.003 0.003
0.001 0.002 0.004 0.001 0.002 0.003 0.002 0.001 0.002 0.002 0.001 0.003 0.003 0.004 0.002 0.004 0.002 0.003 0.002 0.002 0.001 0.003 0.003
0.001 0.001 0.003 0.001 0.001 0.003 0.002 0.001 0.001 0.002 0.001 0.002 0.002 0.003 0.002 0.003 0.002 0.002 0.002 0.001 0.001 0.002 0.002
0.003 0.002 0.004 0.001 0.002 0.004 0.002 0.002 0.003 0.003 0.002 0.003 0.003 0.002 0.002 0.004 0.002 0.003 0.003 0.003 0.003 0.003 0.003
MAX . RESIDUALS ( M ) RADIAL ALONG OUT -------------------0.004 0.003 0.009 0.003 0.004 0.008 0.005 0.003 0.003 0.005 0.004 0.007 0.013 0.011 0.008 0.007 0.006 0.006 0.005 0.004 0.003 0.005 0.011
0.004 0.004 0.006 0.003 0.005 0.006 0.005 0.003 0.003 0.005 0.003 0.005 0.007 0.006 0.004 0.008 0.005 0.004 0.004 0.004 0.002 0.005 0.006
0.007 0.005 0.007 0.003 0.010 0.007 0.004 0.006 0.006 0.005 0.007 0.006 0.006 0.009 0.005 0.008 0.007 0.007 0.005 0.006 0.006 0.006 0.005
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24 25 26 27 28 29 30 31 32 101 102 103 104 105 107 108 110 111 113 114 115 117 118 119 120 121 122 123 124
96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96
0.001 0.002 0.004 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.002 0.002 0.002 0.001 0.002 0.002 0.002 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002
0.001 0.002 0.004 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.001 0.002 0.002 0.002 0.001 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.002
0.001 0.001 0.005 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.001 0.002 0.001 0.001 0.002 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.001 0.001
0.001 0.001 0.003 0.001 0.002 0.003 0.002 0.002 0.001 0.002 0.002 0.002 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.002 0.001 0.002 0.001 0.002 0.001 0.002 0.002 0.001 0.002
0.002 0.003 0.003 0.003 0.002 0.003 0.002 0.003 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.003 0.003 0.003 0.002 0.002 0.001
0.003 0.003 0.011 0.003 0.004 0.005 0.006 0.005 0.005 0.006 0.006 0.005 0.005 0.003 0.003 0.004 0.007 0.003 0.004 0.005 0.004 0.010 0.004 0.005 0.004 0.006 0.004 0.003 0.003
0.002 0.003 0.006 0.003 0.005 0.006 0.005 0.005 0.003 0.004 0.005 0.006 0.003 0.007 0.007 0.003 0.003 0.010 0.005 0.012 0.008 0.009 0.006 0.006 0.004 0.004 0.006 0.004 0.017
0.005 0.007 0.005 0.006 0.007 0.007 0.005 0.009 0.006 0.007 0.005 0.006 0.004 0.004 0.005 0.004 0.005 0.006 0.005 0.004 0.005 0.003 0.006 0.006 0.006 0.014 0.004 0.004 0.003
------------------------------------------------------------------------------...
The RMS error for the orbit fit for precise IGS orbits should be below 5 mm (for older orbits it may also achieve 10. . . 15 mm). The file ${P}/INTRO/OUT/IGS10207.LST contains the same results as displayed on page 27 but contains also the GLONASS satellite orbits: EXAMPLE : Session 102070: Standard orbit generation 28 - AUG -17 13:32 TIME FROM DAY : 1 GPS WEEK : 1594 TO DAY : 2 GPS WEEK : 1594 ------------------------------------------------------------------------------ORBIT REPEATABILITY FROM A 1 - DAY FIT THROUGH DAILY ORBIT SOL UTIONS ( MM ) # ECLIPSING SATELLITES : 5 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ECL .. .. .. .. .. .. .. E . E . E . .. .. .. .. .. .. .. .. DOY 1 2 3 4 5 6 ... 12 13 14 15 16 ... 32 101 102 103 104 105 107 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - 207 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 2 2 2 1 1 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ALL 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 2 2 2 1 1 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - -
... ... ... ... ... ... ...
If you want to use these orbit files in the processing programs, you simply have to replace the CODE–related by the IGS–related filenames for the standard orbit and EOP files.
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7.3 Kinematic Positioning 7.3.1 Estimating Kinematic Positions in a Double–Difference Solution The example campaign contains no really roving stations. You can, however, define one of them to be kinematic (e.g., station GANP). Introduce the coordinates from the final solution (${P}/INTRO/STA/FIN10207.CRD) for all other sites.
Remove the name of the resulting “Normal equations” file in panel “GPSEST 2.1: Output Files 1” if there is any entry in this input field. Store the kinematic coordinates in an output file (“Kinematic coordinates” in panel “GPSEST 2.2: Output Files 2” ).
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Because the number of parameters for the kinematic positioning may become very large, we select only a short data interval of one hour for this kinematic positioning:
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7 Additional Examples The option “Enable extended program output” may be disabled now:
Fix all station coordinates apart from GANP in the panels “GPSEST 4: Datum Definition for Station Coordinates” (choose MANUAL in panel “GPSEST 4: Datum Definition for Station Coordinates” and select all stations except GANP in panel “GPSEST 4.2” ).
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7.3 Kinematic Positioning Enable the kinematic coordinates option without any pre–elimination in a first run:
An additional panel for options related to epoch parameters is displayed where you can accept the default values:
Let us assume only horizontal movements for this site:
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7.3.2 Extracting the Program Output from a Kinematic Positioning As expected you will get only small estimates for the kinematic coordinates since GANP was not moving: KINEMATIC COORDINATES : --------------------EPO : EPOCHS SINCE
$ { P }/ INTRO / STA / KIN10207 . KIN
2010 -07 -26 02:00:00
( SAMPLING
300 SEC )
CORRECTION AND RMS IN METER ... EPO EPOCH ( MJD ) # OBS STA LATITUDE LONGITUDE HEIGHT ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -...
1 2 3 4 5 6 7 8 9 10 11 12
With
GANP 11515 M001 55403.083333 55403.086806 55403.090278 55403.093750 55403.097222 55403.100694 55403.104167 55403.107639 55403.111111 55403.114583 55403.118056 55403.121528
15 14 14 14 13 13 13 13 14 14 14 13
GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP
49 2 -0.0048 0.0049 0.0019 0.0007 -0.0024 -0.0045 -0.0031 0.0012 -0.0062 -0.0028 -0.0009 -0.0049
4.971302 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.005 + - 0.005 + - 0.005 + - 0.005 + - 0.005
20 19 22.574439 -0.0035 + - 0.004 -0.0045 + - 0.004 -0.0003 + - 0.004 0.0015 + - 0.004 0.0016 + - 0.004 0.0034 + - 0.004 0.0026 + - 0.004 0.0041 + - 0.004 0.0022 + - 0.004 0.0034 + - 0.005 0.0023 + - 0.005 -0.0014 + - 0.005
746.0115 0.0000 + - 0.000 0.0000 + - 0.000 -0.0000 + - 0.000 -0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 -0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 -0.0000 + - 0.000
... ... ... ... ... ... ... ... ... ... ... ...
the
program GPSXTR ('Menu>Processing>Program output extraction>Parameter estimation/stacking') a comprehensive summary of the estimates for the kinematic solution can be extracted:
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7.3 Kinematic Positioning The resulting summary file looks like: -------------------------------------------------------------------------------* XEPO 12 0 12 * INI 0.0000 0.0000 0.0000 * EST 0.0000 0.0000 0.0000 * DIFXYZ 0.0000 0.0000 0.0000 * DIFNEU -0.0017 0.0009 0.0000 ------------------------------------------------------------------------------EPOCH DN DE DU 1 -0.0048 -0.0035 0.0000 2 0.0049 -0.0045 0.0000 3 0.0019 -0.0003 -0.0000 4 0.0007 0.0015 -0.0000 5 -0.0024 0.0016 0.0000 6 -0.0045 0.0034 0.0000 7 -0.0031 0.0026 0.0000 8 0.0012 0.0041 -0.0000 9 -0.0062 0.0022 0.0000 10 -0.0028 0.0034 0.0000 11 -0.0009 0.0023 0.0000 12 -0.0049 -0.0014 -0.0000 ------------------------------------------------------------------------------* AVG -0.0017 0.0009 0.0000 * SIG 0.0036 0.0028 0.0000 * RMS 0.0033 0.0028 0.0000 * RMSTC 0.0011 ------------------------------------------------------------------------------STATION : GANP PARAMS : 96 12 0 509 ( AMB , CRD , CLK , TOT ) OBSERV : 0 1592 1592
The different components of the summary are described in the online help.
7.3.3 Further suggestions • Introduce the result file with kinematic coordinates as an input file for another run of GPSEST. If the estimates become zero it is a confirmation that the file was correctly considered as the a priori kinematic positions for the station GANP. • Use the pre–elimination EVERY_EPOCH for the “Kinematic coordinates” (they are back– substituded by the program in order to get a solution also for those parameters). Compare the results with the first solution. • Switch the “Var-covar wrt epoch parameters” in panel “GPSEST 6.7: General Options for Epoch Parameters” from SIMPLIFIED to CORRECT. Compare the results again with the first solution. • Compute kinematic coordinates for the full day using the epoch–wise pre–elimination and back–substitution algorithm. To save computing power we recommend to sample the data to 300 s. • Repeat the kinematic solution considering only one of the two GNSS at the time (choose either GPS or GLONASS in option “Satellite system” of panel “GPSEST 3.1: General Options 1” ).
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7.4 Zero Difference Processing for Clock Estimation For the clock estimation we have to use code and phase data together. The data is analyzed at zero difference level.
7.4.1 Preprocessing There are two ways for preprocessing zero difference observations in the Bernese GNSS Software, Version 5.2 available: • Precise satellite clocks are available for all satellites with the same sampling as the RINEX observations to be processed (typically 30 s): 1. RNXSMT to screen and smooth code measurements based on a consistency check between the code and phase observations 2. RXOBV3 to import the screened smoothed code together with the original phase data into Bernese observation file format 3. CODSPP to synchronize receiver clocks with respect to the GNSS system time 4. MAUPRP to screen the phase measurements 5. GPSEST, RESRMS, SATMRK to screen residuals from a zero difference network solution • Precise satellite clocks are not available: 1. RNXSMT to screen phase and code measurements based on a consistency check; smooth the code observations 2. RXOBV3 to import the screened phase and smoothed code data into Bernese observation file format 3. CODSPP to synchronize receiver clocks with respect to the GNSS system time 4. GPSEST, RESRMS, SATMRK to screen residuals from a zero difference network solution iteratively with a descreasing threshold In this text book we follow the second approach. The preprocessing of zero difference data starts with program RNXSMT, available from 'Menu>RINEX>RINEX utilities>Clean/smooth observation files'. In the first panel select all RINEX files of the active session:
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7.4 Zero Difference Processing for Clock Estimation The default input options perform well in most cases:
In the last panel you decide whether or not to “Preprocess phase observations” by checking or unchecking the box:
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7 Additional Examples The resulting smoothed RINEX files look like usual RINEX files but the line ### PG RNXSMT : RINEX FILE CHANGED
COMMENT
indicates that the numbers in the file result from RNXSMT. The S/N indicators have the following meaning: “1” considered by RNXSMT as bad data “5” data have only been copied from the original file by RNXSMT “9” considered by RNXSMT as good data The cycle slip flags in a smoothed RINEX file indicate the epochs/satellites where new ambiguities are needed according to the evaluation of RNXSMT. In order to import the smoothed RINEX observation files into the Bernese format you have to select them in the first input panel of program RXOBV3 (note that you will overwrite your zero difference observation files from the previous processing example by doing this):
If you have preprocessed the phase measurementents already in RNXSMT you can resample the observations already in RXOBV3: set the “Sampling interval” in panel “RXOBV3 2: Input Options 1” , e.g., to 300 seconds.
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7.4 Zero Difference Processing for Clock Estimation Furthermore, you have to consider the “SIGNAL STRENGTH REQUIREMENTS” for smoothed RINEX files (see above):
After importing the data into the Bernese format you have to repeat the receiver clock synchronization with program CODSPP. The options are identical to the settings in Section 4.2.1. The only difference is the option “Mark outliers in obs. files” in the last input panel: depending on your preprocessing chain it is recommended to select: BOTH if you have screened phase and code data in RNXSMT, because it is assumed that
the corresponding phase measurement is also bad if a problematic code data record has passed RNXSMT. CODE if you have used RNXSMT to only screen and smooth code observations so far. From problems in the code data cannot be deduced the quality of the corresponding phase measurements.
If you have not yet cleaned the phase observations in RNXSMT (approach with precise high–rate clocks available), you have to run MAUPRP now ('Menu>Processing>Phase preprocessing'). You need for this purpose a precise satellite clock corrections for all satellites and with the full sampling of 30 seconds (or even higher). Select “Zero-difference observation files” instead of “Single-difference observation files” and introduce a consistent set of “GNSS standard orbits” , “Pole file” , and “Satellite clocks” in panel “MAUPRP 1: Input Files” . An additional panel “MAUPRP 7: Clock Events” will be displayed (see online help for further details). It is
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7 Additional Examples receommended to disable the cycle slip corrections by checking the box for option “Do not accept cycle slip corrections” in panel “MAUPRP 8: Cycle Slip Detection/Correction” . All other settings can remain as described in Section 4.2.3.˙ You may skip this step if you have preprocessed the phase data already in RNXSMT.
7.4.2 Residual Screening Now you are ready to run GPSEST ('Menu>Processing>Parameter estimation') in the zero difference mode to store residuals for screening. You also have to include a DCB file when processing code observations.
In the subsequent two panels, the output files for residuals and clock estimates are specified:
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7.4 Zero Difference Processing for Clock Estimation
Take care to specify “Correlation strategy” with CORRECT and to store NORMALIZED residuals
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7 Additional Examples The options in the following panel are only relevant to zero difference processing. They define, e.g., the source clocks used as a priori for satellites and receivers if more than one potential source is available:
The datum definition shall be consider according to the information in the a priori coordinate file given in panel “GPSEST 1.1: Input Files 1” :
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7.4 Zero Difference Processing for Clock Estimation Clock parameters are setup and pre–eliminated EVERY_EPOCH:
For the residual screening, a reduced set of troposphere parameters can be estimated:
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7 Additional Examples The following panel asks for the options regarding the clock estimation. If you include GLONASS you need to choose “Rclk.off: Parameter setup” different from NONE. See online help for additional information.
The program output file should report the clock parameters: ... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
STATION COORDINATES RECEIVER CLOCK BIASES / TIME BIASES AMBIGUITIES SITE - SPECIFIC TROPOSPHERE PARAMETERS EPOCH WISE STATION CLOCKS EPOCH WISE SATELLITE CLOCKS
39 200 1375 91 3739 5842
0 0 0 0 3739 5842
( EPOCH - WISE ) ( EPOCH - WISE )
39 200 1442 91 3744 6059
... ... ... ... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 11286 9581 11575 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE CODE
L3 L3
ALL ALL
54384 54393
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 108777 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
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( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
97491 2.38
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7.4 Zero Difference Processing for Clock Estimation The residuals are stored in the file ${P}/INTRO/OUT/CLK02143.RES. Use program RESRMS ('Menu>Service>Residual files>Create residual statistics') to screen for outliers bigger than 2 cm for code and phase data (remember that code residuals are scaled to phase residuals — 2 cm in the input field correspond to a 2 m threshold for code residuals):
The statistics in the program output file clearly indicates some stations with problematic obervations: FILE INFORMATION AND STATISTIC : -----------------------------Num Station 1 ... Total RMS med . Resi Sigma numObs nSat nDel ObsTyp .. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -.. 1 2 3 4 5 6 7 ... 14 15 16 17 18 19 20 ...
GANP HERT JOZ2 LAMA MATE ONSA PTBB
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001
... ... ... ... ... ... ...
1.3 2.0 2.0 1.3 3.6 2.4 1.7
0.7 0.7 0.8 0.6 0.8 0.7 0.9
1.1 1.0 1.1 0.9 1.2 1.0 1.3
4682 4716 4805 4786 4324 4624 2155
50 51 50 50 51 50 32
1 3 2 1 9 1 1
PHASE PHASE PHASE PHASE PHASE PHASE PHASE
.. .. .. .. .. .. ..
GANP HERT JOZ2 LAMA MATE ONSA PTBB
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001
... ... ... ... ... ... ...
0.4 0.3 0.3 0.2 0.3 0.3 0.5
0.1 0.1 0.1 0.1 0.1 0.1 0.2
0.3 0.2 0.2 0.2 0.2 0.2 0.3
4683 4718 4806 4788 4325 4624 2155
50 51 50 50 51 50 32
0 0 0 0 0 0 0
CODE CODE CODE CODE CODE CODE CODE
.. .. .. .. .. .. ..
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7 Additional Examples Mark the corresponding code and phase zero difference observations using program SATMRK ('Menu>Service>Bernese observation files>Mark/delete observations':
If you inspect the program output you will notice that only 354 observations have been removed from all observation files. Repeat the GPSEST–run and store again the residuals. ... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0009 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
97420 0.79
In the second iteration we screen for residuals bigger than 6 mm in RESRMS and mark these observations with SATMRK, too. If you have done the screening of phase observations in MAUPRP instead of RNXSMT you can skip the first iteration and you only need to run once through the residual screening procedure (sequence of GPSEST, RESRMS, SATMRK) using the final threshold for the residuals of 6 mm . Page 134
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7.4 Zero Difference Processing for Clock Estimation
7.4.3 Generate Clock Solutions
Repeat the run of GPSEST with the clean observation files to get the definitive clock estimates. You may introduce the estimated coordinates and troposphere parameters1 from the final double–difference solution for the session (e.g., FIN$YD+0). You also have to include a DCB file when processing code observations.
1
If you introduce a troposphere result file based on VMF1, you also need to introduce the same “Gridded VMF1 coefficients” in panel “GPSEST 1.1: Input Files 1” as you have used to generate the “Troposphere estimates” .
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7 Additional Examples Store also the coordinate results that correspond to the clock estimates.
In the final run the clock results for satellites and receivers shall be stored in a “Clock RINEX” result file in panel “GPSEST 2.2: Output Files 2” .
The input field for “ZPD model and mapping function (GNSS)” in panel “GPSEST 3.2: General Options 2” is inactive because a file with “Troposphere estimates” is introduced. The same troposphere model is used in this program run.
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7.4 Zero Difference Processing for Clock Estimation The datum definition shall be reconsidered when introducing a solution for the coordinates:
The sampling of troposphere parameters for those stations where you cannot introduce a complete set of estimates in the file from “Troposphere estimates” given in panel “GPSEST 1.2: Input Files 2” shall be identical with those in the input file:
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7 Additional Examples If you have selected a “Clock RINEX” result file in panel “GPSEST 2.2: Output Files 2” you are asked for the header information. Please replace the placeholders by the information for your institution and give a description for your results.
... NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP -----------------------------------------------------------------------------------------RECEIVER CLOCK BIASES / TIME BIASES 200 0 200 AMBIGUITIES 1320 0 1442 EPOCH WISE STATION CLOCKS 3739 3739 ( EPOCH - WISE ) 3744 EPOCH WISE SATELLITE CLOCKS 5842 5842 ( EPOCH - WISE ) 6059 -----------------------------------------------------------------------------------------TOTAL NUMBER OF PARAMETERS 11101 9581 11445 ------------------------------------------------------------------------------------------
... ... ... ... ... ... ... ... ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE CODE
L3 L3
ALL ALL
54188 54390
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 108578 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
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0.0008 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
97477 0.64
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7.4 Zero Difference Processing for Clock Estimation The estimated inter–frequency biases caused by different hardware delays in the receiver for each GLONASS satellite due to the individual frequency are reported in the following section in the program output: ... RECEIVER CLOCKS / TIME BIASES : ----------------------------REQUEST STATION NAME OFFSET ( USEC ) RMS ( NSEC ) ---------------------------------------------------------------------------------------------1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2
GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP HERT HERT HERT
11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 13212 M010 13212 M010 13212 M010
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
---0.244906 -0.251354 -0.236973 -0.229242 -0.243824 -0.241614 -0.226128 -0.250173 -0.248057 -0.249851 -0.250245 -0.245288 -0.243093 -0.249622 -0.244722 -0.243063 -0.242501 -0.250258 -0.242287 -0.242737 --0.065866 0.069644
0.000000 -0.244906 -0.251354 -0.236973 -0.229242 -0.243824 -0.241614 -0.226128 -0.250173 -0.248057 -0.249851 -0.250245 -0.245288 -0.243093 -0.249622 -0.244722 -0.243063 -0.242501 -0.250258 -0.242287 -0.242737 0.000000 0.065866 0.069644
--0.134 0.144 0.153 0.150 0.128 0.118 0.131 0.129 0.129 0.131 0.130 0.128 0.132 0.131 0.131 0.125 0.113 0.127 0.149 0.140 --0.131 0.135
SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT
GPS 101 102 103 104 105 107 108 110 111 113 114 115 117 118 119 120 121 122 123 124 GPS 101 102
...
The report of the clock estimates looks like: ... EPOCH WISE STATION CLOCKS : --------------------------
$ { P }/ INTRO / OUT / CLK10207 . CLK
STATION CLOCK VALUES ( USEC ) TYPE STAT EPOCH ( MJD ) A PRIORI CORRECTION TOTAL RMS ( NSEC ) # OBS STAT . ----------------------------------------------------------------------------------------------23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 ...
1 2 3 4 5 6 7 8 9 10 11 12 13 1 2 3
55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.003472 55403.003472 55403.003472
-0.021330 -0.002644 0.001614 -0.000525 -0.028072 -31.022254 0.528750 -0.035458 0.138215 -0.008899 -219.055034 -0.031458 0.028115 -0.022433 -0.001060 0.001511
EPOCH WISE SATELLITE CLOCKS : ----------------------------
0.000009 -0.000817 -0.000189 0.000184 0.001137 -0.000121 0.000326 -0.000356 0.000294 -0.000339 0.000212 -0.000164 -0.000175 0.000071 -0.000899 -0.000144
-0.021321 -0.003462 0.001424 -0.000340 -0.026935 -31.022376 0.529076 -0.035814 0.138509 -0.009237 -219.054822 -0.031623 0.027940 -0.022362 -0.001959 0.001367
0.003 0.003 0.003 0.003 0.003 0.003 0.005 0.003 0.004 0.003 0.004 0.003 0.004 0.003 0.003 0.003
34 29 35 35 30 30 11 28 20 33 18 30 18 34 29 34
R R R R R R R R R R R R R R R R
# # # # # # # # # # # # # # # #
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM GANP HERT JOZ2
$ { P }/ INTRO / ORB / CLK10207 . CLK
SATELLITE CLOCK VALUES ( USEC ) TYPE SAT EPOCH ( MJD ) A PRIORI CORRECTION TOTAL RMS ( NSEC ) # OBS -----------------------------------------------------------------------------------------24 24 24 24 24 24 24 24 24 24 24 24 24
3 6 9 11 14 17 19 20 22 24 28 31 32
55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000
586.451514 559.025665 20.468252 -78.075202 71.688147 163.652097 -52.512921 52.929104 166.687820 307.451136 -9.425636 -21.952063 -46.318216
Bernese GNSS Software, Version 5.2
-0.000519 0.001482 0.007644 0.000795 0.000893 0.000782 0.000589 0.000155 0.002045 0.000259 0.000221 0.000419 0.000435
586.450995 559.027147 20.475896 -78.074407 71.689041 163.652879 -52.512332 52.929259 166.689865 307.451395 -9.425414 -21.951644 -46.317781
0.013 4.082 7.717 0.002 0.003 0.010 0.003 0.004 0.014 0.007 0.007 0.084 0.003
15 1 * 1 * 26 26 22 26 26 12 25 22 2 * 26
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7 Additional Examples
24 24 24 24 24 24 24 24 24 24 24 24 24 ...
104 105 107 113 114 115 120 121 122 3 6 9 11
55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.003472 55403.003472 55403.003472 55403.003472
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 586.452934 559.021364 20.469100 -78.075981
-79.261456 -153.329680 -292.762903 -276.613710 -168.479768 23.463583 -73.657604 -200.315946 -10.570479 -0.001054 0.001878 -0.000804 0.000704
-79.261456 -153.329680 -292.762903 -276.613710 -168.479768 23.463583 -73.657604 -200.315946 -10.570479 586.451879 559.023242 20.468296 -78.075277
7.795 0.004 0.011 0.023 0.010 0.028 0.004 0.003 0.006 0.015 4.987 5.760 0.002
1 * 18 18 9 15 6 18 18 18 13 1 * 1 * 26
The “∗”–character indicates satellites where the satellite clock correction has been computed from a limited number of stations. Because this section can become very long, it can also be skipped in the GPSEST program output by checking the box “Printing: Suppression of output concerning epoch parameters” in panel “GPSEST 3.2.1.1: Extended Program Output Options” (enabled only if the checkbox “Enable extended program output” in panel “GPSEST 3.2: General Options 2” is checked). Differences of clocks and Allan deviations for differences of clocks can be extracted from the GPSEST program output by the program GPSXTR ('Menu>Processing>Program output extraction >Parameter estimation/stacking'). The pair of clocks (receiver or satellites) are defined by a baseline file (extension BSL).
The baseline file might, e.g., be generated via the definition file':
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7.4 Zero Difference Processing for Clock Estimation The clock solution is finalized by selecting the reference clock using program CCRNXC ('Menu>Service>Clock tools>Combine/manipulate clock RINEX files'):
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7 Additional Examples
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7.4 Zero Difference Processing for Clock Estimation The table at the end of the program output provides an overview of the clock quality: ... REFERENCE CLOCK SELECTION FOR OUTPUT FILE ----------------------------------------Selected reference station : ...
WTZR 14201 M010
STATISTICS ON THE CLOCKS IN THE OUTPUT FILE ------------------------------------------# per file rms of poly . fit ( ns ) Clock name out 001 n = 0 n = 1 n = 2 ------------------------------------------------------------------WTZR 14201 M010 288 288 1.472 0.000 0.000 WSRT 13506 M005 288 288 4.520 0.030 0.030 MATE 12734 M008 288 288 29.164 0.054 0.052 PTBB 14234 M001 288 288 0.397 0.058 0.043 ONSA 10402 M004 284 284 5.626 0.081 0.076 LAMA 12209 M001 288 288 2.928 2.933 2.932 JOZ2 12204 M002 288 288 3.062 3.067 3.069 HERT 13212 M010 288 288 3.316 3.322 3.328 ZIMM 14001 M004 288 288 4.277 4.091 3.833 TLSE 10003 M009 288 288 5.174 4.892 4.734 ZIM2 14001 M008 287 287 5.297 5.021 4.712 GANP 11515 M001 288 288 6.752 6.689 6.629 WTZZ 14201 M014 288 288 0.3 E +06 0.3 E +06 0.3 E +06 G01 59 59 21.055 0.132 0.133 G02 113 113 53.429 0.138 0.122 G18 111 111 42.222 0.159 0.160 G29 93 93 40.762 0.163 0.136 G20 83 83 14.263 0.176 0.176 G07 105 105 3.172 0.187 0.139 G11 87 87 89.783 0.196 0.194 G19 103 103 91.484 0.196 0.135 G25 83 83 32.984 0.208 0.064 G23 98 98 32.857 0.221 0.115 G13 86 86 10.754 0.224 0.171 G12 86 86 38.001 0.230 0.155 G15 102 102 104.651 0.230 0.203 G14 111 111 111.497 0.240 0.234 G16 108 108 87.317 0.243 0.240 G31 113 113 71.214 0.268 0.165 G22 110 110 14.917 0.272 0.244 G21 102 102 45.128 0.292 0.254 G05 111 111 65.889 0.357 0.310 G06 93 93 248.950 0.371 0.341 R02 98 98 44.930 0.371 0.271 R13 103 103 22.467 0.371 0.341 R04 99 99 4.500 0.407 0.380 G32 87 87 300.001 0.425 0.257 R05 124 124 19.774 0.573 0.499 R19 100 100 20.046 0.592 0.318 ...
7.4.4 Further Suggestions • Switch the “Var-covar wrt epoch parameters” in panel “GPSEST 6.7: General Options for Epoch Parameters” from SIMPLIFIED to CORRECT. • Compute a PPP for one of the stations in the zero difference network solution. Compare the coordinates and clocks from the PPP with the results from the network solution. Exchange the orbits, EOP, and satellite clock corrections from your solution by products from other sources (e.g., CODE or IGS). • Use the PPP approach to screen the residuals of the Bernese zero difference observation files. This has to be done station by station. Make sure that you use a consistent set of orbits, EOP, and satellite clocks (e.g., IGS final products or CODE final solution).
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7 Additional Examples
7.5 Using RINEX 3 Data The campaign ${P}/EXM_GAL in the Bernese Introductory Course environment contains some RINEX 3 files in order to follow the example in this section.
7.5.1 Basic Principles To accommodate for the various GNSS, RINEX 3 format was adapted for additional observation types. However, Version 5.2 of the Bernese GNSS Software is still limited to dual-frequency processing, so we need to select two frequencies for the processing. For each frequency, then, different observation types may be selected according to the availability and a given priority list given in a file (e.g, ${X}/GEN/OBS.SEL): GNSS observation selection for Bernese GNSS Software Version 5.2 21 - Aug -2012 -------------------------------------------------------------------------------Format version :
1.00
Receiver type ********************
S/S ***
O/F ***
RINEX observation codes and their prio rity *** *** *** *** *** *** *** *** *** *** *** ***
DEFAULT
G G G G R R R R
L1 L2 C1 C2 L1 L2 C1 C2
L1P L2P C1P C2P L1P L2P C1P C2P
SIMULA
G G G G R R R R
L1 L2 C1 C2 L1 L2 C1 C2
L1W L2W C1W C2W L1W L2W L1W L2W
L1W L2W C1W C2W
L1C L1X L2C L2D L2X C1C C1X C2C C2D C2X L1C L1X L2C L2X C1C C1X C2C C2X
Make sure that the observation types from your RINEX 3 observation files are contained in this priority list. If an observation type is not listed it is not considered by the program RNXSMT. This selection is performed by the program RNXSMT where the priority list is specified in option “Receiver-specific observation type priority” (panel “RNXSMT 1.1: General Files” ). The resulting smoothed RINEX file (extension SMT) contains a special section in its comment lines reporting the original observation types according to the RINEX 3 convention: ### GEOS : GEOS : GEOS : GEOS : GEOS : ... GEOS : GEOS : GEOS : GEOS :
PG 1 2 3 4 5
RNXSMT : RINEX FILE CHANGED G 1 C1C C2W L1C L2W G 2 C1C C2W L1C L2W G 3 C1C C2W L1C L2W G 4 C1C C2W L1C L2W G 5 C1C C2W L1C L2W
COMMENT COMMENT COMMENT COMMENT COMMENT COMMENT
51 52 53 54
R121 R122 R123 R124
COMMENT COMMENT COMMENT COMMENT
C1P C1P C1P C1P
C2P C2P C2P C2P
L1P L1P L1P L1P
L2P L2P L2P L2P
When importing these files into the binary Bernese observation file format using the program RXOBV3 this information is kept in the header section. This information will be used in future versions of Bernese GNSS Software to manage the observation type identification. This mechanism requires to start with program RNXSMT whenever RINEX 3 files should be imported into Bernese GNSS Software, Version 5.2 . Page 144
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7.5 Using RINEX 3 Data
7.5.2 RINEX 3 Handling in RNXSMT In the first panel of RMXSMT the “Original RINEX observation files” are selected. Observation files in RINEX 2 and RINEX 3 format can be processed together in one program run. For that reason the potential long names of RINEX 3 files need to be converted to the conventional names of the RINEX 2 format.
In order to import RINEX 3 formatted files a priority list need to be specified in “Receiverspecific observation type priority” :
In the last panel of RNXSMT it may be selected whether phase and/or code measurements shall be preprocessed. If both checkboxes are deactivated the original observations from the input RINEX files are simply copied into the smoothed RINEX files.
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7 Additional Examples
7.5.3 RINEX 3 Handling in the Example BPEs Since the release from 2016-Jan-08 of Version 5.2 , the BPE examples distributed with the Bernese GNSS Software contain four variables related to the selection of RINEX files to be processed: • V_OBSSEL to select the stations to be processed (see more information in the README-files of the BPEs), • V_RNXDIR location of the observation files in RINEX 2 format, • V_RX3DIR location of the observation files in RINEX 3 format, and • V_OBSINF name of the “Receiver-specific observation type priority” file to be used in the program RNXSMT if RINEX 3 formatted observation files are used. In the default setup the third section of the process control files considers only RINEX 2 formatted observation files: VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX
RINEX 3 observation typ selection
OBS . SEL
To accept also observation files in RINEX 3 format for processing, the corresponding directory need to be specified in V_RX3DIR : VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX RINEX3
RINEX 3 observation typ selection
OBS . SEL
The user script RNX_COP copies the observation files with the following priority from the datapool into the campaign area: 1. 2. 3. 4. 5.
RINEX 3 RINEX 3 RINEX 3 RINEX 3 RINEX 2
files files files files files
with with with with with
long names; generated by the receiver long names; generated from a stream long names; source unknown short names; source unknown short names
As soon as a RINEX 3 observation file is found, also the variable designed for the “Receiver-specific observation type priority” becomes relevant. Make sure that for your own BPEs the program RNXSMT is the first program that accesses the RINEX observation files.
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7.6 Processing Galileo Observations
7.6 Processing Galileo Observations Orbit and observation files containing Galileo are provided for one day (doy 213 of year 2017) in the campaign ${P}/EXM_GAL in the Bernese Introductory Course environment.
7.6.1 Galileo Satellite-Related Metadata Since 29 January 2017, the IGS is using the antenna corrections related to the IGS realization of the ITRF2014. The igs14.atx published by the IGS contains also corrections for the Galileo satellite antennas. Galileo meta data are contained in the satellite information file (${X}/GEN/SATELLIT.I14) as well as the antenna phase center correction file (${X}/GEN/PCV.I14) published at http://www.aiub.unibe.ch/download/ BSWUSER52/GEN or distributed with the software. These antenna corrections have been estimated under the assumption that the Galileo L1 /L5 ground antenna phase center corrections are identical with GPS L1 /L2 . This assumption has been taken because dedicated Galileo calibrations are not yet available for most antennas. The processing of Galileo observations follows the same scheme and is, therefore, consistent.
7.6.2 Preparing the Orbit and Clock Products The orbit products that shall be used need also to contain Galileo orbits and satellite clock corrections (in particular for a PPP processing). Since this information is not contained in the IGS legacy products, it is necessary to introduce products from the MGEX project of the IGS. In this context for instance CODE provides a dedicated multi-GNSS solution (the solution label COM is used for this purpose). The products can be downloaded from http://www.aiub.unibe.ch/download/CODE_MGEX/CODE and should be made available in the datapool area ${D}/COM for the use with the BPE. The orbit files have to be prepared as described in Section 3. Apart from the different filenaming (COM instead of COD) it should be considered that the EOP files are given in daily instead of weekly files. Consequently you need to specify COM$WD+0 instead of COD$W+07 to the field “Foreign formatted ERP files” in panel “POLUPD 1: Input/Output Files” . Since the beginning of the year 2014 the MGEX-related products generated by CODE are based on the updated Empirical CODE Orbit Model (ECOM) containing the twice-perrevolution term in the D-component (pointing from the satellite to the Sun). In order to correctly integrate these orbits with the program ORBGEN of Version 5.2 of Bernese GNSS Software you should consider the remarks in the section on Orbit Modeling at CODE Analysis Center and Compatibility with Version 5.2 on page 119 of the user manual. It means in particular that the orbit model in the program ORBGEN should be adjusted as follows:
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Even if orbits from more than GPS, GLONASS, and Galileo (as supported by Version 5.2 of Bernese GNSS Software) are contained in the orbit products, ORBGEN selects only those where records in the satellite information file are available. If you plan to do a PPP processing you may directly extract the satellite clock corrections from the clock RINEX file using the program RNXCLK ('Menu>RINEX>RINEX utilities>Extract satellite clock'):
The result file will have the same name as the input file but will be located in the ORB directory of the campaign. Page 148
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7.6 Processing Galileo Observations
7.6.3 Observation Selection Galileo measurements should only be provided in RINEX 3 format. Basically the instructions from Section 7.5 apply. It is only necessary to extend the observation type priority file by the Galileo-related measurement types. An example (${X}/GEN/OBS_GAL.SEL) is provided together with the Bernese GNSS Software: Receiver type ********************
S/S ***
O/F ***
RINEX observation codes and their prio rity *** *** *** *** *** *** *** *** *** *** *** ***
DEFAULT
G G G G R R R R E E E E
L1 L2 C1 C2 L1 L2 C1 C2 L1 L2 C1 C2
L1P L2P C1P C2P L1P L2P C1P C2P L1C L5Q C1C C5Q
L1W L2W C1W C2W
L1C L1X L2C L2D L2X C1C C1X C2C C2D C2X L1C L1X L2C L2X C1C C1X C2C C2X L1X L5I L5X C1X C5I C5X
...
This file needs to be specified in the option “Receiver-specific observation type priority” for the program RNXSMT:
All the other settings may be taken as shown in Section 7.5.2 . The SMT files have now to be imported into the the Bernese internal observation file format using the program RXOBV3:
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7 Additional Examples Since the observation type priority file acts as a filter, only observations for the systems listed in this file have been passed the program RNXSMT. For that reason the SMT-files contain only observations from the selected satellite systems. No further filtering is needed when importing the observations into the Bernese observation file format. Therefore, ALL satellite systems can selected in option “Satellite system to be considered” :
Please take care on the settings in the section “SIGNAL STRENGTH REQUIREMENTS” in panel “RXOBV3 4: Input Options 2” (see Section 7.4.1).
7.6.4 Processing the Example Including Galileo
At this point you can continue the processing for a regional network as described in this tutorial from Section 4.2 (page 33) onwards in order to generate a double difference network solution including Galileo. You need only to take care that you use the COM instead of COD orbit products and the the selection of the GNSS to be processed does not exclude Galileo (ALL for “Satellite system” ).
Forcing the Usage of Galileo Data in a Double-Difference Solution
In order to optimize the baseline creation for the usage of Galileo data the following procedure can be established. It is in particular useful if orbits for these satellites shall be estimated and/or the network of the Galileo tracking stations is so sparse that these measurements are not suffciently available.
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7.6 Processing Galileo Observations Step 1: Create first a set of baselines from those stations that provide Galileo measurements:
Store the resulting baselines in a file:
Step 2: Complete the network with the remaining stations:
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7 Additional Examples
Using Galileo in a Zero-Difference Solution
Within the receivers an ISB between the Galileo and GPS pseudorange signals is expected as it is the case between GPS and GLONASS. Because all Galileo satellites are using the same frequencies only one bias parameter per station needs to be added. In order to setup this bias parameter the option “Differential code biases” needs to be enabled:
As the “Type of differential code biases” LC for the receivers needs to be selected if the ionosphere-free linear combination L3 is processed:
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7.6 Processing Galileo Observations
Unfortunately, this bias parameter cannot be combined with bias parameters from the type P1-C1 or P1-C1_MULTIPLIER . The related biases for GPS need to be introduced as a priori values in “Observable-specifc biases” in panel “GPSEST 1.1: Input Files 1” and cannot be reestimated at the same time. If P1-C1_MULTIPLIER is selected, GPSEST automatically switches to LC if GPS and Galileo observations are processed together. In case of the geometry-free linear combination L4 the P 1 − P 2 bias needs to be specified. Here the necessary Galileo-related bias is set up automatically. Apart from these modifications, the analysis of the zero-difference network as described in Section 7.4 is possible including Galileo observations.
7.6.5 Adapting the Example BPEs The PPP (PPP_BAS.PCF and PPP_DEMO.PCF) as well as the double-difference network (RNX2SNX.PCF) processing example BPEs can be switched for processing Galileo observations by changing a few BPE server variables: • Allow the import of Galileo observations from the RINEX observation files by chaning VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_SATSYS Select the GNSS ( GPS , GPS / GLO ) GPS / GLO ...
to VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_SATSYS Select the GNSS ( GPS , GPS / GLO ) ALL ...
The value of this variable is introduced into the option “Satellite system to be considered” in program RXOBV3 in order to select the GNSS for importing the measurements into the Bernese formatted binary files. • Another set of changes in the BPE variables is related to the usage of RINEX 3 measurements, which is disabled in the default version:
Bernese GNSS Software, Version 5.2
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VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX
RINEX 3 observation typ selection
OBS . SEL
According to Section 7.5 they are enabled by: VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX RINEX3
RINEX 3 observation typ selection
OBS_GAL . SEL
• Finally, the orbit products that shall be used need also to contain Galileo orbits and satellite clock corrections by choosing COM instead of COD products by changing VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_B Orbit / ERP , DCB , CLK information COD ...
to VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_B Orbit / ERP , DCB , CLK information COM ...
It is obvious that the products need to be available in the datapool (${D}/COM). • It might be useful to deposit the results from the Galileo processing in a separate folder in the savedisk archive. You may adapt the BPE variable V_RESULT accordingly: VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_RESULT Directory name for the RNX2SNX results RNX2SNX_GA L ...
For zero-difference processing the ISB between the three involved GNSS in the receivers need to be taken into account. In Section 7.4 this is demonstrated between GPS and GLONASS by enabling the “GLONASS receiver clock biases” in panel “GPSEST 5.2: Setup of Parameters and Pre-Elimination 2” . To add the ISB for Galileo as well, one additional bias parameter is needed per receiver (because, as GPS, Galileo uses the same frequency for all satellites). This additional bias is enabled automatically by the user script TIMEST_P in confunction with the program GPSEST. The program switches the “Type of differential code biases” from P1-C1_MULTIPLIER to LC as soon as Galileo data are available. This mechnism allows the PPP example BPEs to use Galileo data. In the case of the zerodifference network processing example (CLKDET.PCF) this would require a reorganization of the bias-handling. For that reason this example BPE does not support the analysis of Galileo data at the current status.
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7.7 Simulation of GNSS Observations
7.7 Simulation of GNSS Observations The Bernese GNSS Software provides the simulation tool GPSSIM ('Menu>Service>Generate simulated observation data'). It generates synthetic GNSS (i.e., GPS and GLONASS) observations for terrestrial static or kinematic stations as well as for LEO. Code and phase zero difference observation files can be created based on an observation scenario defined by • GNSS satellite geometry given by a standard orbit and • a set of receivers with positions from a coordinate file, kinematic positions, or a LEO standard orbit file.
7.7.1 Simulation of GNSS Observations It is important that you remove all previously existing observation files for this session from the OBS directory of your campaign before your start to simulate observations. Otherwise you run into the danger of mixing your current set of simulated observations with other measurements: [email protected] :~ > rm $ { P }/ INTRO / OBS /????2070. CZ ? [email protected] :~ > rm $ { P }/ INTRO / OBS /????2070. PZ ?
Please keep in mind that the observation files from your previous work in this campaign are lost due to this command. If you still need them, please copy them away. The input files for the generation of synthetic GNSS observations with program GPSSIM ('Menu>Service>Generate simulated observation data') are defined in the first input panel:
Select EXAMPLE.ABB in option “Abbreviation table” in the next panel “GPSSIM 1.1: General Files” .
Bernese GNSS Software, Version 5.2
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7 Additional Examples In the second panel, the interval for data simulation is defined and the list of stations selected from all sites in the input “Coordinate file” :
The meta data for each station is specified in this panel:
The “Receiver” for each station must start with SIMULA to indicate that this is a simulated station. In the input field you may only extend this string by a user input. Note that the receiver and antenna types you are defining here must be registered in the “Receiver information” and “Phase center eccentricities” files given in panel “GPSSIM 1.1: General Files” .
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7.7 Simulation of GNSS Observations Please check the completeness for each involved GNSS which is not defined by the receiver type connected to the antenna but by the list of satellites in the “GNSS Standard orbit” . If you would use the real antenna names for the stations as they are given in Tab. 1.1 GPSSIM would fail and issue a message like *** SR SEARCH_OFF : No offset values found for satellite system R of Antenna : ASH700936E SNOW Number : 0
which indicates deficiencies that need to be fixed manually or with the support of the program ATX2PCV ('Menu>Conversion>ANTEX to Bernese format'). In that case you need to define some antenna phase center corrections for this antenna type for GLONASS. If there is no need for any other antenna naming convention it is proposed to use the antenna name SIMULA with radome type NONE what seems to be sufficient for most of the simulation purposes.
In the subsequent panels some basic characteristics, assumptions on the ionospheric conditions, and the noise level are introduced. Even cycle slips may be simulated.
Bernese GNSS Software, Version 5.2
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7 Additional Examples
The observations are generated without noise to check the consistency with the processing program in the subsequent sections.
7.7.2 Zero Difference Solution from Simulated GNSS Observations
The simulated observations can directly be introduced in program GPSEST for an analysis on zero difference level (if you have not simulated cycle slips). Please pay attention to the consistency of all input files:
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7.7 Simulation of GNSS Observations
Result files can be specified to compare the results with the inputs for GPSSIM. A residual file might also be useful.
The processing models also have to be consistent with the simulation or to contain well defined differences which are the subject of your investigation:
Bernese GNSS Software, Version 5.2
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7 Additional Examples
No constraints for datum definition are needed because these are noise–free simulated data:
Only the receiver and satellite clocks are estimated:
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7.7 Simulation of GNSS Observations
The resulting program output file looks like the usual output from GPSEST but with perfect observations without any noise: ... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES RECEIVER CLOCK BIASES / TIME BIASES AMBIGUITIES EPOCH WISE STATION CLOCKS EPOCH WISE SATELLITE CLOCKS
39 260 1529 3744 6302
0 0 0 3744 6302
( EPOCH - WISE ) ( EPOCH - WISE )
39 260 1529 3744 6302
... ... ... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 11874 10046 11874 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE CODE
L3 L3
ALL ALL
68024 68024
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 136048 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
0.0000 M
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
124174 0.00
Bernese GNSS Software, Version 5.2
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
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7 Additional Examples No improvements for the station coordinates and other parameters are expected: ... STATION COORDINATES : -------------------
( NOT SAVED )
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 75
GANP 11515 M001
X Y Z HEIGHT LATITUDE LONGITUDE
3929181.4190 1455236.8207 4793653.9477 746.0115 49 2 4.971302 20 19 22.574439
3929181.4190 1455236.8207 4793653.9477 746.0115 49 2 4.971302 20 19 22.574439
0.0000 0.0000 0.0000
0.0000 0.0000 0.0000
0.0000 0.0000 0.0000
0.0000 .. 0.0000 .. 0.0000 ..
...
The inter–system and inter–frequency biases have been assumed to be zero during the simulation (what is equivalent to any other constant number): ... RECEIVER CLOCKS / TIME BIASES : ----------------------------REQUEST STATION NAME OFFSET ( USEC ) RMS ( NSEC ) ---------------------------------------------------------------------------------------------1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP
11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
--0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000
0.000000 0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000
--0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000
SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT
GPS 101 102 103 104 105 107 108 110 111 113 114 115 117 118 119 120 121 122 123
...
The same holds for the epoch–wise clocks. The residuals in the optional residual output file of such a dataset is well below the 1 µm level.
7.7.3 Double–Difference Solution from Simulated GNSS Observations As in the beginning of the simulation, you should make sure that no other baseline observation files for the current session exist in the OBS–directory of your campaign to prevent any interferences and mixtures of simulated measurements with other ones. [email protected] :~ > rm $ { P }/ INTRO / OBS /????2070. PS ?
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7.7 Simulation of GNSS Observations The simulated measurements can also be processed in the double–difference mode. In that case you have to start with forming baselines using the program SNGDIF ('Menu>Processing >Create baseline files') in nearly the same shape as in Section 4.2.2 for real observations:
The main difference is that you should also keep all ambiguities from the zero difference in the baseline observation files, what is managed by checking the box for option “Merge ambiguities from input files” :
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7 Additional Examples The resulting baseline files from simulated observations can now be analysed with program GPSEST:
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7.7 Simulation of GNSS Observations The models are selected to be fully consistent with the simulation:
No other mated:
parameters
than
station
Bernese GNSS Software, Version 5.2
coordinates
and
ambiguities
are
esti-
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7 Additional Examples
The results scribed:
are
analogue
to
the
zero
difference
case
previously
de-
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0000 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE ...
56179 0.00
The ambiguities are set up in a way that the correct resolution for all ambiguities is zero in any case. This is an easy way to verify ambiguity resolution strategies.
7.7.4 Final Remarks There are many opportunities to use this simulation tool. It depends on your needs and the concrete target of the simulation study to define the experiment. As it was just demonstrated the full consistency between the processing and the simulation programs is guaranteed by the Bernese GNSS Software. The big advantage of a simulation is that the correct solution is known a priori. On the other hand, you have to keep in mind that the simulated data can only contain effects included in the simulation model. If a receiver for instance introduces a significant variation of the inter–system bias between GPS and GLONASS data — an effect that is not considered in the simulation model — the influence of such an effect on the results cannot be evaluated by the simulation.
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Tutorial Processing Example Introductory Course Terminal Session
Rolf Dach, Pierre Fridez
September 2017
AIUB
Astronomical Institute, University of Bern
Contents 1 Introduction to the Example Campaign 1.1 Stations in the Example Campaign . . . . . . . 1.2 Directory Structure . . . . . . . . . . . . . . . . 1.2.1 The DATAPOOL Directory Structure . . . 1.2.2 The Campaign–Directory Structure . . . 1.2.3 Input Files for the Processing Examples 1.2.4 The SAVEDISK Directory Structure . . .
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Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19 19 21 28
2 Terminal Session: Monday 2.1 Start the Menu . . . . . . . . . 2.2 Select Current Session . . . . . 2.3 Campaign Setup . . . . . . . . 2.4 Menu Variables . . . . . . . . . 2.5 Generate A Priori Coordinates 2.6 Session Goals . . . . . . . . . . 3 Terminal Session: Pole and Orbit 3.1 Prepare Pole Information . . 3.2 Generate Orbit Files . . . . . 3.3 Session Goals . . . . . . . . .
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4 Terminal Session: Tuesday 4.1 Importing the Observations . . . . . . . . . . . . 4.2 Data Preprocessing (I) . . . . . . . . . . . . . . . 4.2.1 Receiver Clock Synchronization . . . . . . 4.2.2 Form Baselines . . . . . . . . . . . . . . . 4.2.3 Preprocessing of the Phase Baseline Files 4.3 Daily Goals . . . . . . . . . . . . . . . . . . . . .
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6 Terminal Session: Thursday 6.1 Final Network Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2 Check the Coordinates of the Fiducial Sites . . . . . . . . . . . . . . . . .
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5 Terminal Session: Wednesday 5.1 Data Preprocessing (II) . . . . . . . . . . . . . . . . . . . . . . . 5.2 Produce a First Network Solution . . . . . . . . . . . . . . . . . . 5.3 Ambiguity Resolution . . . . . . . . . . . . . . . . . . . . . . . . 5.3.1 Ambiguity Resolution: Quasi–Ionosphere–Free (QIF) . . . 5.3.2 Ambiguity Resolution: Short Baselines . . . . . . . . . . . 5.3.3 Ambiguity Resolution: Bernese Processing Engine (BPE) 5.3.4 Ambiguity Resolution: Summary . . . . . . . . . . . . . . 5.4 Daily Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Contents 6.3 6.4 6.5
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89 91 95 95 96 103
7 Additional Examples 7.1 Advanced Aspects in Using ITRF2014/IGS14 . . . . . . . . . . . . . . . 7.1.1 Using ITRF2014/IGS14 Frames for Reprocessing . . . . . . . . . 7.1.2 Ignoring Stations with PSD Corrections for Datum Definition . . 7.1.3 Recovering a Linear Velocity Field for a Certain Interval . . . . . 7.2 Preparing Combined GPS and GLONASS IGS–Orbits . . . . . . . . . . 7.2.1 Prepare Pole Information . . . . . . . . . . . . . . . . . . . . . . 7.2.2 Merging Precise Orbit Files . . . . . . . . . . . . . . . . . . . . . 7.2.3 Generating Standard Orbit Files . . . . . . . . . . . . . . . . . . 7.3 Kinematic Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3.1 Estimating Kinematic Positions in a Double–Difference Solution . 7.3.2 Extracting the Program Output from a Kinematic Positioning . . 7.3.3 Further suggestions . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4 Zero Difference Processing for Clock Estimation . . . . . . . . . . . . . . 7.4.1 Preprocessing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4.2 Residual Screening . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4.3 Generate Clock Solutions . . . . . . . . . . . . . . . . . . . . . . 7.4.4 Further Suggestions . . . . . . . . . . . . . . . . . . . . . . . . . 7.5 Using RINEX 3 Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.1 Basic Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.2 RINEX 3 Handling in RNXSMT . . . . . . . . . . . . . . . . . . . 7.5.3 RINEX 3 Handling in the Example BPEs . . . . . . . . . . . . . 7.6 Processing Galileo Observations . . . . . . . . . . . . . . . . . . . . . . . 7.6.1 Galileo Satellite-Related Metadata . . . . . . . . . . . . . . . . . 7.6.2 Preparing the Orbit and Clock Products . . . . . . . . . . . . . . 7.6.3 Observation Selection . . . . . . . . . . . . . . . . . . . . . . . . 7.6.4 Processing the Example Including Galileo . . . . . . . . . . . . . 7.6.5 Adapting the Example BPEs . . . . . . . . . . . . . . . . . . . . 7.7 Simulation of Global Navigation Satellite Systems (GNSS) Observations 7.7.1 Simulation of GNSS Observations . . . . . . . . . . . . . . . . . . 7.7.2 Zero Difference Solution from Simulated GNSS Observations . . 7.7.3 Double–Difference Solution from Simulated GNSS Observations . 7.7.4 Final Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
105 106 106 107 108 112 112 113 114 118 118 122 123 124 124 128 135 143 144 144 145 146 147 147 147 149 150 153 155 155 158 162 166
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6.6
Check the Daily Repeatability . . . . . . . . . . . Compute the Reduced Solution of the Sessions . Velocity Estimation . . . . . . . . . . . . . . . . . 6.5.1 Preparation for ITRF2014/IGS14 Velocity 6.5.2 Velocity Estimation Based on NEQ Files . Daily Goals . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . Estimation . . . . . . . . . . . . . .
. . . . . .
. . . . . .
. . . . . .
. . . . . .
. . . . . .
1 Introduction to the Example Campaign 1.1 Stations in the Example Campaign Data from thirteen European stations of the International GNSS Service (IGS) network and from the EUREF Permanent Network (EPN) were selected for the example campaign. They are listed in Table 1.1. The locations of these stations are given in Figure 1.1. Three of the stations support only Global Positioning System (GPS) whereas all other sites provide data from both GPS and its Russian counterpart Globalьna001f navigacionna001f sputnikova001f sistema: Global Navigation Satellite System (GLONASS). The observations for these stations are available for four days. Two days in year 2010 (day of year 207 and 208) and two in 2011 (days 205 and 206)1 . In the terminal sessions you will analyze the data in order to obtain a velocity field based on final products from Center for Orbit Determination in Europe (CODE). For eight of these stations, coordinates and velocities are given in the IGS14 reference frame, an IGS–specific realization of the ITRF2014 (see ${D}/STAT_LOG/ IGS14.snx).
, ONSA
LAMA WSRT HERT
PTBB WTZZ WTZR
JOZ2 GANP
ZIM2 ZIMM TLSE
MATE Between these days in 2010 and 2011 the receivers (LAMA, TLSE, WTZR) and Station with coordinates/velocities in IGS14 the full equipment (WTZZ) have been changed. The receiver type, the antenna Receiver is tracking GPS/GLONASS GPS−only type, and the antenna height are also provided in Table 1.1. Notice, that for three Figure 1.1: Stations used in example campaign antennas (GANP, WTZR, ZIM2) values from an individual calibration are available from the EPN processing. For all other antennas only type–specific calibration results from the IGS processing (${X}/GEN/I14.ATX) are available. More details are provided in Table 1.2. Only in one case where no calibration of the antenna/radome combination was available (ONSA) the calibration values of the antenna without radome were used instead. With one exception (ONSA) even system–specific calibrations for GPS and GLONASS measurements are available.
The distances between stations in the network are between 200 and 1000 km. There are two pairs of receivers at one site included in the example dataset: in Zimmerwald, 1
A fifth day (day 213 of year 2017) is available to demonstrate the usage of RINEX 3 data and the processing of Galileo observations, see Sections 7.5 and 7.6, respectively. These data are only relevant if you want to follow the examples in these two sections.
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Table 1.1: List of stations used for the example campaign including receiver and antenna type as well as the antenna height.
Station name GANP 11515M001 HERT 13212M010 JOZ2 12204M002 LAMA 12209M001
MATE 12734M008 ONSA 10402M004 PTBB 14234M001 TLSE 10003M009
WSRT 13506M005 WTZR 14201M010
WTZZ 14201M014
ZIM2 14001M008 ZIMM 14001M004
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Location Ganovce, Slovakia
Receiver type Antenna type Radome TRIMBLE NETR8 TRM55971.00 NONE
Antenna height 0.3830 m
Hailsham, United Kingdom
LEICA GRX1200GGPRO LEIAT504GG NONE
0.0000 m
Jozefoslaw, Poland
LEICA GRX1200GGPRO LEIAT504GG NONE
0.0000 m
Olsztyn, Poland
Matera, Italy Onsala, Sweden Braunschweig, Germany Toulouse, France
Westerbork, The Netherlands Kötzting, Germany
Kötzting, Germany
Zimmerwald, Switzerland Zimmerwald, Switzerland
2010: LEICA GRX1200GGPRO LEIAT504GG LEIS 2011: LEICA GRX1200+GNSS LEIAT504GG LEIS
0.0600 m 0.0600 m
LEICA GRX1200GGPRO LEIAT504GG NONE
0.1010 m
JPS E_GGD AOAD/M_B
OSOD
0.9950 m
ASHTECH Z–XII3T ASH700936E SNOW
0.0562 m
2010: TRIMBLE NETR5 TRM59800.00 NONE 2011: TRIMBLE NETR9 TRM59800.00 NONE AOA SNR–12 ACT AOAD/M_T DUTD 2010: LEICA GRX1200GGPRO LEIAR25.R3 LEIT 2011: LEICA GRX1200+GNSS LEIAR25.R3 LEIT 2010: TPS E_GGD TPSCR3_GGD CONE 2011: JAVAD TRE_G3TH DELTA LEIAR25.R3 LEIT
1.0530 m 1.0530 m 0.3888 m 0.0710 m 0.0710 m 0.2150 m 0.0450 m
TRIMBLE NETR5 TRM59800.00 NONE
0.0000 m
TRIMBLE NETRS TRM29659.00 NONE
0.0000 m
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1.2 Directory Structure
Table 1.2: List of antenna/radome combinations used in the example campaign together with the available antenna calibration values in IGS14 model.
Antenna type AOAD/M_B OSOD AOAD/M_T DUTD ASH700936E SNOW LEIAR25.R3 LEIT
Type of calibration for GPS for GLONASS ADOPTED from NONE ADOPTED from GPS ROBOT — ROBOT — ROBOT ROBOT
LEIAT504GG NONE
ROBOT
ROBOT
LEIAT504GG TPSCR3_GGD TRM29659.00 TRM55971.00 TRM59800.00
ROBOT ROBOT ROBOT ROBOT ROBOT
ROBOT ROBOT — ROBOT ROBOT
LEIS CONE NONE NONE NONE
used at stations ONSA WSRT PTBB WTZR, WTZZ(2011) JOZ2, HERT, MATE LAMA WTZZ(2010) ZIMM GANP TLSE, ZIM2
the distance between ZIMM and ZIM2 is only 19 m. In Kötzting the receivers WTZR and WTZZ are separated by less than 2 m — this is a short GPS/GLONASS baseline. The receivers used at the stations MATE, ONSA, PTBB, and WSRT are connected to H-Maser clocks. The receiver type ASHTECH Z-XII3T used at PTBB was specifically developed for time and frequency applications. In 2011 both receivers in Kötzting (WTZR and WTZZ) were connected to the same H–Maser (EFOS 18).
1.2 Directory Structure The data belonging to this example campaign is included in the distribution of the Bernese GNSS Software. Therefore, you may also use this document to generate solutions from the example dataset to train yourself in the use of the Bernese GNSS Software outside the environment of the Bernese Introductory Course. There are three areas relevant for the data processing (in the environment of the Bernese Introductory Course they are all located in the ${HOME}/GPSDATA directory): ${D}: The DATAPOOL area is intended as an interface where all external files can be deposited after their download. It can be used by several processing campaigns. ${P}: The CAMPAIGN52 directory contains all processing campaigns for the Version 5.2 of the Bernese GNSS Software. In the Bernese Introductory Course environment all groups use ${P}/INTRO2 in their ${HOME} directory. ${S}: The SAVEDISK area shall serve as a product database where the result files from different processes/projects can be collected and archived. At the beginning it only contains reference files (*.*_REF) obtained with the example BPE from the distribution. 2
The second campaign ${P}/EXM_GAL is only related to Section 7.6 where the analysis of Galileo measurements is explained.
Bernese GNSS Software, Version 5.2
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1.2.1 The DATAPOOL Directory Structure (${D}) Motivation for the DATAPOOL area The idea of the DATAPOOL area is to place local copies of external files somewhere on your filesystem. It has several advantages compared to downloading the data each time when starting the processing: • The files are downloaded only once, even if they are used for several campaigns. • The data download can be organized with a set of scripts running independently from the Bernese GNSS Software environment, scheduled by the expected availability of the external files to download. • The processing itself becomes independent from the availability of external data sources.
Structure and content of the DATAPOOL area The DATAPOOL area contains several subdirectories taking into account the different potential sources of files and their formats: RINEX : The data of GNSS stations is provided in Receiver INdependent EXchange format (RINEX) files. The directory contains observation (Hatanaka–compressed) and navigation (GPS and GLONASS) files. These RINEX files are “originary” files that are not changed during the processing. The RINEX files can be downloaded from international data centers. Project–specific files are copied into this area. If you mix the station lists from different projects, take care on the uniqueness of the four–character IDs of all stations in the RINEX file names. HOURLY : The same as the RINEX directory but dedicated to hourly RINEX data as used for near real–time applications. Note: not all stations in this example provide hourly RINEX files. RINEX3 : The same as the RINEX directory but the data are given in the RINEX 3 format. These files are in particular intended to support the description on how to use RINEX 3 data, see Section 7.5 . LEO : This directory is intended to host files which are necessary for Low Earth Orbiter (LEO) data processing. RINEX files are stored in the subdirectory RINEX (of the LEO directory). The corresponding attitude files are placed in the subdirectory ATTIT. These files are needed to run the example BPE on LEO orbit determination (LEOPOD. PCF). They are not used in the example during the Bernese Introductory Course.
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1.2 Directory Structure SLR_NP : The Satellite Laser Ranging (SLR) data is provided in the quicklook normal point format. The directory contains the normal point files downloaded from the International Laser Ranging Service (ILRS) data centers. These files are needed to run the example BPE on validating orbit using SLR observations (SLRVAL.PCF). They are not used in the example during the Bernese Introductory Course. STAT_LOG : This directory contains the station information files (e.g., from ftp://igscb.igs. org/pub/station/general). This information may be completed by the originary information on the reference frame (e.g., the IGb08.snx or IGS14.snx from ftp: //igscb.igs.org/pub/station/coord). It also contains (apart from the coordinates and velocities of selected IGS sites) the history of the used equipment as it has been assumed for the reference frame generation. A comparison with the igs.snx file constructed at the IGS Central Bureau (IGSCB) from the site information files may be useful for a verification of the history records. COD/COM/IGS : Orbits, Earth orientation parmeters (EOP), and satellite clock corrections are basic external information for a GNSS analysis. The source of the files may be the FTP server from CODE (ftp://ftp.aiub.unibe.ch/CODE or http://www.aiub. unibe.ch/download/CODE/), or the Crustal Dynamics Data Information System FTP server (e.g., for downloading GPS–related IGS products ftp://cddis.gsfc. nasa.gov/gnss/products and in ftp://cddis.gsfc.nasa.gov/glonass/products for GLONASS–related IGS products). The files are named with the GPS week and the day of the week (apart from files containing information for the entire week, e.g., EOP, or the processing summaries). The IGS provides GPS and GLONASS orbits only in separate files (IGS/IGL–series from the final product line) stemming from independent combination procedures with different contributing analysis center (AC). Nevertheless, they are consistent enough to merge both files together as the first step of the processing as described in Section 7.2 . CODE contributes fully combined multi–GNSS solutions to the IGS final (and rapid as well as ultra–rapid) product line. When you are going to process Galileo data (see Section 7.6) you will need related orbit, EOP, and satellite clock corrections for these satellites as well. They are not included in the legacy IGS products. For that reason you need products from the Multi-GNSS Extension (MGEX) project of the IGS. CODE’s MGEX products are available with the label COM at ftp://ftp.aiub.unibe.ch/CODE_MGEX/CODE or ftp://cddis.gsfc.nasa.gov/gnss/products/mgex . BSW52 : In this directory we have placed files containing external input information in Bernese–specific formats. The files are neutral with respect to the data you are going to process. Typical examples are ionosphere maps or differential code biases (DCB) files. These files can be downloaded from http://www.aiub.unibe.ch/ download/CODE/ or http://www.aiub.unibe.ch/download/BSWUSER52/ areas.
Bernese GNSS Software, Version 5.2
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1 Introduction to the Example Campaign REF52 : Here we propose to collect files in Bernese format which are useful for several campaigns (e.g., reference frame files: IGB08_R.CRD, IGB08_R.VEL or IGS14_R.CRD, IGS14_R.VEL). Typical examples are station coordinate, velocity, and information files (e.g., EXAMPLE.CRD, EXAMPLE.VEL, EXAMPLE.STA, . . . , EPN.CRD). All stations of a project are contained in one file but the processing of the project’s data may be performed in different campaigns. MSC : This directory contains example files for the automated processing with the BPE. VMF1 : The grids for the Vienna Mapping Function (VMF1) are located in a separate directory. The files can be downloaded from http://ggosatm.hg.tuwien.ac.at/DELAY/ GRID/VMFG/ . They are not used for the examples but it shall indicate that for other types of files other directories may be created. All files and meta–information related to the 13 stations selected for the example campaign are already in this DATAPOOL–area (${D}) after installing the Bernese GNSS Software. GNSS orbit information is available from CODE (legacy and MGEX) and IGS (directories ${D}/COD, ${D}/COM or ${D}/IGS, respectively).
1.2.2 The Campaign–Directory Structure Putting data from the DATAPOOL into the campaign When running an automated processing using the BPE there is a script at the beginning of the process which copies the data from the DATAPOOL–area into the campaign. If you are going to process data manually you first have to copy the necessary files into the campaign and decompress them if necessary using standard utilities (uncompress, gunzip3 , or CRZ2RNX for RINEX–files). Content of the campaign area to process the example All files needed to process the data according to this tutorial are already copied into the campaign area. If you want to follow the example outside the Bernese Introductory Course environment you have to put the following files at the correct places in the campaign directory structure. $ { P }/ INTRO / ATM /
COD10207 . ION
COD10208 . ION
COD11205 . ION
COD11206 . ION
VMF10207 . GRD
VMF10208 . GRD
VMF11205 . GRD
VMF11206 . GRD
COD15941 . PRE COD15947 . IEP IGS15941 . PRE IGL15941 . PRE IGS15947 . IEP P1C11007 . DCB P1P21007 . DCB
COD15942 . PRE
COD16460 . PRE COD16467 . IEP IGS16460 . PRE IGL16460 . PRE IGS16467 . IEP P1C11107 . DCB P1P21107 . DCB
COD16461 . PRE
$ { P }/ INTRO / BPE / $ { P }/ INTRO / GRD / $ { P }/ INTRO / OBS / $ { P }/ INTRO / ORB /
IGS15942 . PRE IGL15942 . PRE
IGS16461 . PRE IGL16461 . PRE
$ { P }/ INTRO / ORX / 3
These tools are also available for WINDOWS-platforms, see www.gzip.org . Note, that gunzip can also be used to uncompress UNIX–compressed files with the extension .Z .
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1.2 Directory Structure
$ { P }/ INTRO / OUT /
COD15941 . CLK IGS15941 . CLK
COD15942 . CLK IGS15942 . CLK
COD16460 . CLK IGS16460 . CLK
COD16461 . CLK IGS16461 . CLK
$ { P }/ INTRO / RAW /
GANP2070 .10 O HERT2070 .10 O JOZ22070 .10 O LAMA2070 .10 O MATE2070 .10 O ONSA2070 .10 O PTBB2070 .10 O TLSE2070 .10 O WSRT2070 .10 O WTZR2070 .10 O WTZZ2070 .10 O ZIM22070 .10 O ZIMM2070 .10 O
GANP2080 .10 O HERT2080 .10 O JOZ22080 .10 O LAMA2080 .10 O MATE2080 .10 O ONSA2080 .10 O PTBB2080 .10 O TLSE2080 .10 O WSRT2080 .10 O WTZR2080 .10 O WTZZ2080 .10 O ZIM22080 .10 O ZIMM2080 .10 O
GANP2050 .11 O HERT2050 .11 O JOZ22050 .11 O LAMA2050 .11 O MATE2050 .11 O ONSA2050 .11 O PTBB2050 .11 O TLSE2050 .11 O WSRT2050 .11 O WTZR2050 .11 O WTZZ2050 .11 O ZIM22050 .11 O ZIMM2050 .11 O
GANP2060 .11 O HERT2060 .11 O JOZ22060 .11 O LAMA2060 .11 O MATE2060 .11 O ONSA2060 .11 O PTBB2060 .11 O TLSE2060 .11 O WSRT2060 .11 O WTZR2060 .11 O WTZZ2060 .11 O ZIM22060 .11 O ZIMM2060 .11 O
EXAMPLE . CRD EXAMPLE . BLQ IGB08_R . CRD IGS14_R . CRD IGS14 . FIX SESSIONS . SES
EXAMPLE . VEL EXAMPLE . ATL IGB08_R . VEL IGS14_R . VEL IGS14 . SIG
EXAMPLE . STA EXAMPLE . CLU IGB08 . FIX IGS14 . PSD
EXAMPLE . ABB EXAMPLE . PLD IGB08 . SIG
$ { P }/ INTRO / SOL / $ { P }/ INTRO / STA /
The directory ${P}/INTRO/GEN/ contains copies of the files from the ${X}/GEN directory, which are used by the processing programs. The files PCV_Bxx.I08 and PCV_Bxx.I14, respectively, is user-specific and the “xx” chars represent your terminal account number. If you want to view these files, please use those in your campaign and not the ones in the ${X}/GEN directory to prevent potential interferences with your colleagues. $ { P }/ INTRO / GEN /
CONST . RECEIVER . SATELLIT . I08 SATELLIT . I14 SAT_2010 . CRX IAU2000R06 . NUT EGM2014_SMALL . SINEX . IONEX .
DATUM .
GPSUTC .
POLOFF .
PCV . I08 PCV . I14 SAT_2011 . CRX IERS2010XY . SUB s1_s2_def_ce . dat SINEX . PPP IONEX . PPP
PCV_Bxx . I08 PCV_Bxx . I14
I08 . ATX I14 . ATX
OT_FES2004 . TID
TIDE2000 . TPO
SINEX . RNX2SNX
1.2.3 Input Files for the Processing Examples Atmosphere files ATM The input files in this directory are global ionosphere models in the Bernese format obtained from the IGS processing at CODE. They will be used to support the phase ambiguity resolution with the QIF strategy and to enable the higher order ionosphere (HOI) corrections. General files GEN These general input files contain information that is neither user– nor campaign–specific. They are accessed by all users, and changes in these files will affect processing for everyone. Consequently, these files are located in the ${X}/GEN directory. Table 1.3 shows the list of general files necessary for the processing example. It also shows which files need to be updated from time to time by downloading them from the anonymous ftp–server of AIUB (http://www.aiub.unibe.ch/download/BSWUSER52/GEN). Since GPS week 1934 (29 January 2017) the IGS is using the IGS14 reference frame together with the related antenna model (I14.ATX). They are available in the related Bernese GNSS Software, Version 5.2
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1 Introduction to the Example Campaign Table 1.3: List of general files to be used in the Filename Content CONST. All constants used in the Bernese GNSS Software DATUM. Definition of geodetic datum GPSUTC. Leap seconds POLOFF.
Pole offset coefficients
RECEIVER.
Receiver information
SATELLIT.I14 or SATELLIT.I08 PCV.I14 or PCV.I08
Satellite information file
SAT_$Y+0.CRX
Satellite problems
IAU2000R06.NUT
Nutation model coefficients Subdaily pole model coefficients Ocean tides coefficients Solid Earth tides coefficients Earth potential coefficients (reduced version, sufficient for GNSS and LEO orbit determination) S1/S2 atmospheric tidal loading coefficients SINEX header information
IERS2010XY.SUB OT_FES2004.TID TIDE2000.TPO EGM2008_SMALL.
s1_s2_def_ce. dat SINEX. SINEX.TRO SINEX.PPP SINEX.RNX2SNX IONEX. IONEX.PPP
Phase center eccentricities and variations
. . . for the PPP example . . . for RNX2SNX example IONEX header information . . . for the PPP example
Bernese programs for the processing example. Modification Update from No BSW aftp Introducing new reference ellipsoid When a new leap second is announced by the IERS Introducing new values from IERS annual report (until 1997) Introducing new receiver type New launched satellites
BSW aftp
Introducing new antenna corrections or new antenna/radome combinations Satellite maneuvers, bad data, ... No
BSW aftp or update with ATX2PCV
No
--
No No
— --
No
--
No
--
Adapt SINEX header for your institution
--
Adapt IONEX header for your institution
--
BSW aftp --
BSW aftp BSW aftp
BSW aftp --
SATELLIT.I14 and PCV.I14 files. The predecessor antenna model is related to the IGb08 reference frame and is provided in the SATELLIT.I08 and PCV.I08 files. Please check the consistent usage of these files. Each Bernese processing program has its own panel for general files. Make sure that you use the correct files listed in Table 1.3 .
Grid files GRD In this directory the grid files *.GRD are collected. To apply for instance the VMF1 troposphere model (a priori information from European Centre for Medium-Range Weather Forecasts (ECMWF) and Vienna mapping function) you need a grid with the necessary coefficients. Page 8
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1.2 Directory Structure Orbit files ORB The precise orbits in the files *.PRE are usually the final products from CODE analysis center containing GPS and GLONASS orbits from a rigorous multi–GNSS analysis. Alternatively also the combined final products from the IGS can be used. They do not contain orbits for the GLONASS satellites. The combined GLONASS satellite orbits from the IGS are available in IGL–files. Both precise orbit files need to be merged for a multi–GNSS analysis.The corresponding EOP are given in weekly files with the extension *.IEP (take care on full consistency with the orbit product). Furthermore, the directory contains monthly means for the DCB. Clock RINEX files OUT The clock RINEX files are located in the OUT–directory. They are consistent with the GNSS orbits and EOP products in the ORB–directory. They contain station and satellite clock corrections with at least 5 minutes sampling — there are also files from the IGS or some of the ACs providing satellite clock corrections with a sampling of 30 seconds . RINEX files RAW The raw data are given in RINEX format. The observations *.$YO ($Y is the menu time variable for the two–digit year of the current session) are used for all examples. Station files STA The coordinates and velocities of the stations given in the IGS realization of the reference frame ITRF2014 are available in the files IGS14_R.CRD and IGS14_R.VEL . Since the ITRF2014 solution, in addition to the linear station velocities (see VEL) for some stations also corrections for Post Seismic Deformation (PSD) need to apply that are provided in the file IGS14.PSD . The IGS core stations are listed in IGS14.FIX . This file will be used to define the geodetic datum when estimating station coordinates. The files for the previously used IGS realization of the ITRF2008 are available as well: IGB08_R.CRD, IGB08_R.VEL and IGB08.FIX (Note that the PSD corrections are not yet in use). You can browse all these files with a text editor or with the menu ('Menu>Campaign>Edit station files'). For all stations that have unknown coordinates in the IGS14 reference frame a Precise Point Positioning (PPP) using the example BPE (PPP_BAS.PCF) for day 207 of year 2010 has been executed. For our EXAMPLE–project a resulting coordinate file EXAMPLE.CRD has been generated. It contains all IGS core sites (copied from file IGS14_R.CRD) and the PPP results for the remaining stations. The epoch of the coordinates is January 01, 2010 . The corresponding velocity file EXAMPLE.VEL contains the velocities for the core sites (copied from file IGS14_R.VEL) completed by the NNR–NUVEL1A velocities for the other stations. The assignment of stations to tectonic plates is given in the file EXAMPLE. PLD.
Bernese GNSS Software, Version 5.2
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1 Introduction to the Example Campaign To make sure that you process the data in the Bernese GNSS Software with correct station information (station name, receiver type, antenna type, antenna height, etc.) the file EXAMPLE.STA is used to verify the RINEX header information. The reason to use this file has to be seen in the context that some antenna heights or receiver/antenna types in the RINEX files may not be correct or may be measured to a different antenna reference point. Similarly, the marker (station) names in the RINEX files may differ from the names we want to use in the processing. The antenna types have to correspond to those in the file ${X}/GEN/PCV.I14 in order that the correct phase center offsets and variations are used. The receiver types have to be defined in the ${X}/GEN/RECEIVER. file to correctly apply the DCB corrections. For each station name unique four– and two–character abbreviations to construct the names for the Bernese observation files need to be defined in the file EXAMPLE.ABB . It was automatically generated by the PPP–example BPE. If you want to process big networks, the baselines need to be divided into clusters to speed up the processing. For that purpose each station has to be assigned to a region by a cluster number in the file EXAMPLE. CLU . The last files to be mentioned in this directory are EXAMPLE.BLQ and EXAMPLE.ATL. They respectively provide the coefficients for the ocean and atmospheric tidal loading of the stations. They should at least be applied in the final run of GPSEST.
1.2.4 The SAVEDISK Directory Structure (${S}) Motivation for the SAVEDISK area When processing GNSS data, a lot of files from various processing steps will populate your campaign directories. The main result files from the data analysis should be collected in the SAVEDISK area. This area is intended as long–term archive for your result files. Because the result files are stored in the SAVEDISK area, you can easily clean up your campaign area without loosing important files. Please keep in mind that the computing performance decreases if you have several thousands of files in a directory.
Structure and content of the SAVEDISK area We propose to build subdirectories in the SAVEDISK area for each of your projects. If these projects collect data over several years, yearly subdirectories are recommended. It is also practical to use further subdirectories like ATM, ORB, OUT, SOL, STA to distribute the files and to get shorter listings if you are looking for a file. The SAVEDISK area contains after its installation a directory structure according to the description above. Each example BPE is assumed as a project. Therefore, you will find on the top level of the SAVEDISK the directories PPP, RNX2SNX, CLKDET, LEOPOD, and SLRVAL (related to the different example BPEs). There may even be specific directories for different series of solutions in various projects (e.g., PPP_GAL, RNX2SNX_GAL where also Galileo measurements have been included; see Section 7.6 on how to generate these solutions).
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1.2 Directory Structure In each of these directories you will find several files ending with _REF. They are generated by running the example BPEs on the system at Astronomical Institute of the University of Bern (AIUB). Even if the objectives of this tutorial and of the RNX2SNX example BPE are in both cases to process data from a regional network, the results will not be identical since there are some differences in the processing strategies and selected options.
Bernese GNSS Software, Version 5.2
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1 Introduction to the Example Campaign
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2 Terminal Session: Monday Today’s terminal session is to: 1. become familiar with the UNIX environment, the menu of the Bernese GNSS Software, and the example campaign, 2. verify the campaign setup done for you (see sections 2.2 and 2.3, and also the handout for the terminal sessions), 3. generate the a priori coordinates for all 4 days using COOVEL (see Section 2.5), and 4. start to prepare pole and orbit information according to chapter 3.
2.1 Start the Menu Start the menu program using the command G1 . Navigate through the submenus to become familiar with the structure of the menu. Read the general help (available at 'Menu>Help>General') to get an overview on the usage of the menu program of the Bernese GNSS Software. For the terminal session in the Bernese Introductory Course, the campaign setup has already been done for each user. Please check that the campaign name in the statusbar of the Bernese Menu is set correctly to your campaign (i.e., Campaign ${P}/INTRO) and that the current session is set to the first session (i.e., $Y+0=2010, $S+0=2070). If this is not the case, please contact the staff in the Terminal room.
2.2 Select Current Session Select 'Menu>Campaign>Edit session table' to check the session table. It is recommended to use the wildcard string ???0 for the “List of sessions” in panel “SESSION TABLE” . The panel below shows the session definition for a typical permanent campaign with 24-hours sessions. The setup of the session table is a very important task when you prepare a campaign. Please read the corresponding online help carefully. 1
At the exercise terminals the Bernese environment is loaded automatically during login. At home you have to source the file ${X}/EXE/LOADGPS.setvar on UNIX–platforms either manually or during login.
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2 Terminal Session: Monday
Save the session table (press the ˆSave button) and open the “Date Selection Dialog” in the 'Menu>Configure>Set session/compute date' in order to define the current session:
2.3 Campaign Setup Usually, a new campaign must be added to the campaign list ('Menu>Campaign>Edit list of first and select it as the active campaign ('Menu>Campaign>Select active campaign'), before the directory structure can be created ('Menu>Campaign>Create new campaign'). In the Bernese Introductory Course environment this should already have been done for your campaign, but please verify that. campaigns')
In the Bernese Introductory Course environment the selected campaign should be ${P}/ INTRO . In order to become familiar with the campaign structure, you can inspect your campaign directory and inspect the contents using the command line (using cd for changing directories and ls to create directory listings) or using a filemanager (e.g., midnight commander mc).
2.4 Menu Variables When processing GNSS data, it is often necessary to repeat a program run several times with only slightly different option settings. A typical example would be the processing of several sessions of data. The names of observation files change from session to session because the session number is typically a part of the filename. It would be very cumbersome to repeat all the runs selecting the correct files manually every time. For the BPE an automation is mandatory. For such cases the Bernese menu system provides a powerful tool: the so–called menu variables. The menu variables are defined in the user–specific menu input file ${U}/PAN/MENU_VAR.INP that is accessible through 'Menu
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2.4 Menu Variables >Configure>Menu variables'. Three kinds of menu variables are available: predefined variables (also called menu time variables), user–defined variables, and system environment variables.
The use of system environment variables is necessary to generate the complete path to the files used in the Bernese GNSS Software. The campaign data are located in the directory ${P}/INTRO=${HOME}/GPSDATA/CAMPAIGN52/INTRO. The user– dependent files can be found at ${U}=${HOME}/GPSUSER52 — note that ${HOME} may have been already translated into the name of your home–directory. The temporary user files are saved in ${T}=/scratch/local/bern52 (change bern52 to your user name). Finally, the campaign–independent files reside in ${X}=/home/bswadmin/BERN52/ GPS.
The predefined variables provide a set of time strings assigned to the current session. From the second panel of the menu variables you get an overview on the available variables and their usage:
Bernese GNSS Software, Version 5.2
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2 Terminal Session: Monday Be aware that the variable $S+1 refers to the next session. Because we are using a session table for daily processing it also corresponds to the next day. These variables are automatically translated by the menu upon saving the panel or running the program. We recommend to make use of them in the input panels (e.g. for filename specification).
2.5 Generate A Priori Coordinates As stated before the a priori coordinates generated from the PPP processing example BPE refer to the epoch January 01, 2010 . The first step is to extrapolate the coordinates to the epoch that is currently processed. Starting with ITRF2014 also Post Seismic Deformation (PSD) corrections have to be applied when the epoch of the coordinate sets are changed. They are provided in the input field “PSD corrections (ITRF14)” . Of course this feature is also included in the IGS14 frame – the IGS-specific realization of the ITRF2014 . Note that for earlier reference frames (e.g., ITRF2008) this input field has to be empty. This is the task of the program COOVEL. Open the program input panel in >Coordinate tools>Extrapolate coordinates':
“Reference epoch: date” “Output coordinate file” “Title line”
'Menu>Service
$YMD_STR+0 → 2010 07 26 APR$YD+0 → APR10207 Session $YSS+0: → Session 102070:
Start the program with the ˆRun–button. The program generates an output file COOVEL. L?? in the directory ${P}/INTRO/OUT. This file may be browsed using the ˆOutput–button or with 'Menu>Service>Browse program output' . It should look like
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2.5 Generate A Priori Coordinates
Bernese GNSS Software , Version 5.2 ------------------------------------------------------------------------------Program : COOVEL Purpose : Extrapolate coordinates ------------------------------------------------------------------------------Campaign : $ { P }/ INTRO Default session : 2070 year 2010 Date : 28 - Aug -2017 12:53:08 User name : bern52
EXAMPLE : Session 102070: Coordinate propagation -------------------------------------------------------------------------------
INPUT AND OUTPUT FILENAMES -------------------------------------------------------------------------------------------------------Geodetic datum : $ { X }/ GEN / DATUM . Input coordinate file : $ { P }/ INTRO / STA / EXAMPLE . CRD Input velocity file : $ { P }/ INTRO / STA / EXAMPLE . VEL Output coordinate file : $ { P }/ INTRO / STA / APR10207 . CRD PSD corrections ( ITRF14 ) : $ { P }/ INTRO / STA / IGS14 . PSD Stations without PSD corrections : --Program output : $ { P }/ INTRO / OUT / COOVEL . L01 Error message : $ { U }/ WORK / ERROR . MSG Session table : $ { P }/ INTRO / STA / SESSIONS . SES -------------------------------------------------------------------------------
REFERENCE EPOCH : INTERPOLATION FACTOR :
2010 -01 -01 00:00:00 -0.5639972621492129
---------------------------------------------------------------->>> CPU / Real time for pgm ' COOVEL ': 0:00:00.073 / 0:00:00.0 72 >>> Program finished successfully
The header area of the program output is standardized for all programs of the Bernese GNSS Software, Version 5.2 . Furthermore each program has a title line that should characterize the program run. It is printed to the program output and to most of the result files. Many program output files furthermore provide a list of input and output files that have been used or generated. The last two lines of the above example appear also in each program output of the Bernese GNSS Software, Version 5.2 . It reports the processing time and the status successful or with error. The result of the run of COOVEL is an a priori coordinate file (${P}/INTRO/STA/APR10207. CRD) containing the positions of the sites to be processed for the epoch of the current session (the lines for the other stations are ignored in the processing): EXAMPLE : Session 102070: Coordinate propagation -------------------------------------------------------------------------------LOCAL GEODETIC DATUM : IGS14 EPOCH : 2010 -07 -26 00:00:00 NUM
STATION NAME
75 92 107 122 136 176 192 236 262 263 264 276 278
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
X (M) 3929181.42149 4033460.84965 3664880.48096 3524522.83273 4641949.45305 3370658.46071 3844059.87505 4627851.75737 3828735.78447 4075580.45375 4075579.33655 4331299.79586 4331296.98727
Y (M) 1455236.82074 23537.88977 1409190.68062 1329693.71243 1393045.52644 711877.21784 709661.40917 119640.11911 443305.04516 931853.89112 931853.20686 567537.42125 567555.97754
Bernese GNSS Software, Version 5.2
Z (M) 4793653.95 013 4924318.3145 2 5009618.5 3020 5129846.4 0652 4133287.5 4704 5349787.00 718 5023129.60 833 4372993.61 061 5064884.77 803 4801568.17 900 4801569.08 922 4633133.77 671 4633133.99 975
FLAG I I P P I I P I I I P I I
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2 Terminal Session: Monday Have a look at the LOCAL GEODETIC DATUM: in the resulting coordinate file. It is set to IGS14 in this case. If you go back to your input file (e.g., pressing the Rerˆun button) you may open the dialog to select the “Input coordinate file” by pressing on the button next to the input field. Select now the file EXAMPLE.CRD and press the button Browse in order to open a window where the selected file is displayed.
Here you can see the LOCAL GEODETIC DATUM: is set to IGS14_0. This difference is the indicator whether the PSD corrections have been applied or not. Coordinate files that indicate that the PSD corrections have not been applied cannot be used for processing GNSS data. At the same time it is protecting you to apply the corrections twice. For that reason the execution of the program COOVEL for applying the PSD corrections is also essential even if none of the stations in your processing (as in our example) is effected by these corrections. You can repeat all steps for the other three sessions in the example campaign by changing the current session using the ˆ+Day or ˆ-Day to change a limited number of days (not sessions) or via 'Menu>Configure>Set session/compute date' . You can then use the Rerˆun button to restart the program. No options need to be changed because of the consequent use of the menu time variables was made. During the terminal session you only have to compute the first day (207, year 2010) the other three days have already been processed for you.
2.6 Session Goals At the end of this session, you should have created the following files: 1. a priori coordinates in your campaign’s STA directory: file APR10207. CRD Until the end of today’s terminal session you should start with preparing the pole and orbit information, see Chapter 3 .
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3 Terminal Session: Pole and Orbit Preparation (Monday/Tuesday)
The terminal session on pole and orbit preparation is to: 1. generate the pole information file in the Bernese format (POLUPD) 2. generate tabular orbit files from CODE precise files (PRETAB) 3. generate the Bernese standard orbit files (ORBGEN) You should start with these tasks during Monday’s terminal sessions and finish the processing during the terminal session on Tuesday.
Introductory Remark We recommend to use the final or reprocessed products from CODE because they contain consistent orbits for GPS and GLONASS. They also include all active GNSS satellites (even if they are unhealthy or during GPS satellite repositioning events) with the highest possible accuracy thanks to three–day long–arc technology. Due to this choice you will get the best possible consistency between the external products and the software. You may alternativly use the products from IGS. Seperate product files for GPS and GLONASS orbits exist from independent combination procedures that first need to be merged for a multi–GNSS processing. For most of the applications, merging the precise orbit files is sufficient — a tutorial on the procedure is given in Section 7.2 of this book. On the other hand, the consistency of the orbits can not be as good as that of CODE (or other analysis center) following the strategy of the rigorous combined processing of GPS and GLONASS measurements for orbit determination.
3.1 Prepare Pole Information Together with the precise orbit files (PRE), a consistent set of Earth orientation parameters (EOP) is provided in the ORB directory. Whereas the orbits are given in daily files the EOP are available in weekly files for the final product series from the CODE analysis center. We have to convert the information from the International Earth Rotation and Reference Systems Service (IERS)/IGS standard format (file extension within the Bernese GNSS Software is IEP) into the internal Bernese EOP format (file extension within the Bernese GNSS Software is ERP). This is the task of the program POLUPD ('Menu>Orbits/EOP>Handle EOP files>Convert IERS to Bernese Format') which is also able to update the EOP records of an existing file.
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3.2 Generate Orbit Files The last panel for the program POLUPD is an example for the specification of time windows in the Bernese GNSS Software, Version 5.2 . Time windows can be defined by sessions (a single session or a range of sessions). Alternatively, a time window may be specified by a start and an end epoch. By entering either a start or an end epoch you may define only the beginning or the end of the time interval. We refer to the online help for more details. The messages ### PG POLUPD : NUTATION MODEL NAME NOT EQUAL DEFAULT DEFAULT NUTATION MODEL NAME : IAU2000R06 NUTATION MODEL NAME IN FILE : IAU2000
### PG POLUPD : SUBDAILY POLE MODEL NAME NOT EQUAL DEFAULT DEFAULT SUBDAILY POLE MODEL NAME : IERS2010 SUBDAILY POLE MODEL NAME IN FILE : IERS2000
just inform that you have selected the most recent nutation and subdaily pole model whereas the operational solution at CODE was computed using an older model at that time. If you do not want to accept this inconsistency you may alternatively use the results from a reprocessing effort (e.g., http://www.aiub.unibe.ch/download/REPRO_2015/ CODE/).
3.2 Generate Orbit Files In this processing example we use only two programs of the orbit part of the Bernese GNSS Software. The first program is called PRETAB and may be accessed using 'Menu >Orbits/EOP>Create tabular orbits'. The main task of PRETAB is to create tabular orbit files (TAB; i.e., to transform the precise orbits from the terrestrial into the celestial reference frame) and to generate a satellite clock file (CLK). The clock file will be needed, e.g., in program CODSPP (see Section 4.2.1, to be discussed in the Tuesday’s lectures on preprocessing).
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3 Terminal Session: Pole and Orbit Preparation You have to apply the same subdaily pole and nutation models as you have used before when you have generated the Bernese formatted pole file (COD$YD+0.ERP).
If you process precise orbits from CODE it is generally not necessary to remove bad satellites. It might become necessary for orbit products from other sources (e.g., from the IGS). Because CODE introduces the correct accuracy code for all its satellites the above settings do not harm the import of satellite orbits from CODE.
Panel “PRETAB 3: Options for Clocks” contains the options for extracting the satellite clock information. The clock values in the precise orbit file are sampled to 15 min. We interpolate with a “Polynomial degree” of 2 with an “Interval for polynomials” of 12 hours. This is good enough for the receiver clock synchronization in CODSPP. A message like this is expected: ### PG PRETAB : SATELLITE CLOCK VALUES MISSING SATELLITE : 101 FILE NUMBER : 1 FILE NAME : $ { P }/ INTRO / ORB / COD15941 . PRE
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3.2 Generate Orbit Files
### PG PRETAB : SATELLITE CLOCK VALUES MISSING SATELLITE : 102 FILE NUMBER : 1 FILE NAME : $ { P }/ INTRO / ORB / COD15941 . PRE ...
It indicates that the precise orbit files do not contain clock corrections for GLONASS satellites (GLONASS satellite are indicated with satellite number between 100 and 199 within the Bernese GNSS Software). Consequently the synchronization of the receiver clocks in CODSPP will only be done based on the GPS satellite clocks. The second program of the orbit part used here is called ORBGEN ('Menu>Orbits/EOP >Create/update standard orbits'). It prepares the so–called standard orbits using the satellite positions in the tabular orbit files as pseudo–observations for a least–squares adjustment.
Make sure that the ERP file, the nutation, and the subdaily pole model are the same you have used in PRETAB. It is mandatory to consistently use this triplet of files together with the generated standard orbits for all processing programs (otherwise a warning message is issued).
Bernese GNSS Software, Version 5.2
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3 Terminal Session: Pole and Orbit Preparation
With the beginning of GPS week 1826 (January 4, 2015), the CODE analysis center introduced a new Empirical CODE Orbit Model (new ECOM). Therefore, when using orbits from CODE after January 4, 2015 (or from the CODE’s most recent reprocessing effort) you have to choose the new model when importing the orbit files in ORBGEN. This is done by changing the option SYSTEM FOR DYNAMICAL ORBIT PARAMETERS from “System DYX” to “System D2X” in panel 3.1.
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3.2 Generate Orbit Files
Bernese GNSS Software, Version 5.2
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3 Terminal Session: Pole and Orbit Preparation The program produces an output file ORB10207.OUT (or corresponding to the other sessions) which should look like ... INPUT AND OUTPUT FILENAMES -------------------------------------------------------------------------------------------------------General constants : $ { X }/ GEN / CONST . Correction GPS - UTC : $ { X }/ GEN / GPSUTC . Planetary ephemeris file : $ { X }/ GEN / DE405 . EPH Coeff . of Earth potential : $ { X }/ GEN / EGM2008_SMALL . Solid Earth tides file : $ { X }/ GEN / TIDE2000 . TPO Ocean tides file : $ { X }/ GEN / OT_FES2004 . TID Satellite problems : $ { X }/ GEN / SAT_2010 . CRX Satellite information : $ { X }/ GEN / SATELLIT . I14 Nutation model : $ { X }/ GEN / IAU2000R06 . NUT Subdaily pole model : $ { X }/ GEN / IERS2010XY . SUB Pole file : $ { P }/ INTRO / ORB / COD10207 . ERP Ocean loading corrections : $ { P }/ INTRO / STA / EXAMPLE . BLQ Atmospheric loading corrections : $ { P }/ INTRO / STA / EXAMPLE . ATL Orbital elements , file 1 : --Orbital elements , file 2 : --Standard orbits : $ { P }/ INTRO / ORB / COD10207 . STD Radiation pressure coeff . : --Summary file : --Summary file for IGS - ACC : $ { P }/ INTRO / OUT / ORB10207 . LST Residual plot file : --Residual file : --Program output : $ { P }/ INTRO / OUT / ORB10207 . OUT Error message : $ { U }/ WORK / ERROR . MSG Scratch file : $ { U }/ WORK / ORBGEN . SCR Scratch file : $ { U }/ WORK / ORBGEN . SC2 Session table : $ { P }/ INTRO / STA / SESSIONS . SES ------------------------------------------------------------------------------...
... ------------------------------------------------------------------------------RMS ERRORS AND MAX . RESIDUALS ARC NUMBER : 1 ITERATION : 4 -------------------------------------------------------------------------------
RMS ( M ) -------
QUADRATIC MEAN OF O - C ( M ) TOTAL RADIAL ALONG OUT -----------------------------
MAX . RESIDUALS ( M ) RADIAL ALONG OUT --------------------
SAT ---
# POS ----
1 2 3 4 5 6 7 8 9 10 11 12 13 ... 28 29 30 31 32 101 102 103 104 105 107 ... 121 122 123 124
96 96 96 96 96 96 96 96 96 96 96 96 96
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.002 0.002 0.003 0.001 0.002 0.002 0.002 0.003 0.002 0.001 0.002 0.002 0.002
0.003 0.002 0.003 0.003 0.003 0.003 0.003 0.003 0.004 0.002 0.003 0.003 0.003
0.002 0.002 0.002 0.002 0.003 0.002 0.003 0.003 0.002 0.002 0.002 0.002 0.002
96 96 96 96 96 96 96 96 96 96 96
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001
0.002 0.002 0.003 0.002 0.003 0.002 0.003 0.002 0.001 0.001 0.002
0.003 0.002 0.003 0.003 0.003 0.002 0.003 0.003 0.003 0.003 0.002
0.002 0.001 0.002 0.002 0.002 0.002 0.003 0.002 0.003 0.002 0.002
96 96 96 96
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.001 0.001 0.001 0.001
0.002 0.002 0.002 0.002
0.003 0.003 0.002 0.003
0.002 0.002 0.002 0.002
------------------------------------------------------------------------------...
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3.2 Generate Orbit Files The most important information in the output file are the RMS errors for each satellite. These should be 1 mm (for older orbits it may also achieve 3. . . 5 mm) if precise orbits from CODE were used together with the consistent EOP information (the actual RMS errors depend on the quality of the precise orbits, on the pole file used for the transformation between IERS Terrestrial Reference Frame (ITRF) and International Celestial Reference Frame (ICRF) in PRETAB, and on the orbit model used in ORBGEN). Comparing the RMS error from the third and the fourth iteration you will see that three iterations should already be enough to produce precise standard orbits for GNSS satellites. The file ${P}/INTRO/OUT/ORB10207.LST summarizes the orbit fit RMS values in one table: EXAMPLE : Session 102070: Standard orbit generation 28 - AUG -17 12:59 TIME FROM DAY : 1 GPS WEEK : 1594 TO DAY : 2 GPS WEEK : 1594 ------------------------------------------------------------------------------ORBIT REPEATABILITY FROM A 1 - DAY FIT THROUGH DAILY ORBIT SOL UTIONS ( MM ) # ECLIPSING SATELLITES : 5 E / 0 M ( 0 EM ) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ECL .. .. .. .. .. .. .. E . E . E . .. .. .. .. .. .. .. .. DOY 1 2 3 4 5 6 ... 12 13 14 15 16 ... 32 101 102 103 104 105 107 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - 207 1 1 1 1 1 1 ... 1 1 1 1 1 ... 1 1 1 1 1 1 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ALL 1 1 1 1 1 1 ... 1 1 1 1 1 ... 1 1 1 1 1 1 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - -
... ... ... ... ... ... ...
The output shows that 5 satellites are in eclipse (indicated above the satellite number by E for Earth or M for Moon). A similar file may be generated using the orbit products from IGS (including the EOP information) following the procedure described in Section 7.2 . As you can notice the RMS errors are slightly higher. It does not mean that the orbits from CODE are better than the IGS orbits. The orbit model in ORBGEN is only more consistent with the orbit model used at CODE: EXAMPLE : Session 102070: Standard orbit generation 28 - AUG -17 13:32 TIME FROM DAY : 1 GPS WEEK : 1594 TO DAY : 2 GPS WEEK : 1594 ------------------------------------------------------------------------------ORBIT REPEATABILITY FROM A 1 - DAY FIT THROUGH DAILY ORBIT SOL UTIONS ( MM ) # ECLIPSING SATELLITES : 5 E / 0 M ( 0 EM ) ----------------------------------------------------------------ECL .. .. .. .. .. .. .. E . E . E . .. .. DOY 1 2 3 4 5 6 ... 12 13 14 15 16 ... 32 ----------------------------------------------------------------207 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 ----------------------------------------------------------------ALL 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 -----------------------------------------------------------------
(Note the missing GLONASS satellites in the IGS orbit product.) In the example for day 208 of year 2010 a satellite 75 appears. The GPS–satellite 25 had a repositioning event at 2010–07–27 16:08:03 (see ${X}/GEN/SAT_2010.CRX). The satellite is introduced in the processing with two independent arcs: one before (number 25) and one after (number 75) the event (you may verify this by the number of epochs available for each of these two satellite arcs). Bernese GNSS Software, Version 5.2
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3.3 Session Goals At the end of this session, you should have created the following files: 1. Bernese pole file in the campaign’s ORB directory: COD10207. ERP , 2. Bernese standard orbit file in the ORB directory: COD10207. STD , 3. Bernese satellite clock file in the ORB directory: COD10207. CLK .
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4 Terminal Session: Tuesday Today’s terminal session is to: 1. import the observations from the RINEX format into the Bernese format using RXOBV3 (section 4.1). 2. preprocess the Bernese observation files: • receiver clock synchronization (CODSPP, section 4.2.1) • baseline generation (SNGDIF, section 4.2.2) • preprocess baselines (MAUPRP, section 4.2.3)
4.1 Importing the Observations The campaign has been set up and all necessary files are available. The first part of processing consists of the transfer of the observations from RINEX to Bernese (binary) format. To get an overview of the data availability you may generate a pseudographic from the RINEX observation files using the program RNXGRA in 'Menu>RINEX>RINEX utilities>Create observation statistics' — this step is not mandatory but it may be useful to get an impression of the tracking performance of the stations before you start the analysis. Importing the RINEX observation files is the task of the program RXOBV3 in 'Menu>RINEX >Import RINEX to Bernese format>Observation files' (we do not use the RINEX navigation files for this processing example).
All RINEX observation files fitting the pattern ${P}/INTRO/RAW/????2070.10O are selected automatically by the current entry in the input field “original RINEX observation files” . You can verify this by pressing the button just right from this input field (labeled with the
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4 Terminal Session: Tuesday file extension 10O). In the file selection dialog you will find the list of currently selected files. The RINEX files of the year 2011 are shown if a current session from the year 2011 is selected. In that case the label of the button changes to 11O. The next panel specifies the general input files. For the tutorial session during the course the phase center offset file has to be changed to a user-specific file (replace the “xx” chars with your user number, e.g.: PCV_Bxx.I14 to PCVB01.I14). Be aware that the file PCV_Bxx.I14 is not part of the distribution. If you are running the tutorial campaign on your own machine you have to use either the PCV.I14 or create a copy of the original file.
There are three further panels defining the input options for RXOBV3. They allow to select the data to be imported and to specify a few parameters for the Bernese observation header files.
We select GPS/GLO for the option “Satellite system to be considered” to exclude observations from GNSS where no orbits are available.
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4.1 Importing the Observations
Two more panels provide options to verify the RINEX header information:
Bernese GNSS Software, Version 5.2
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Start the program with the ˆRun–button. A warning message may appear to inform you that the observations for the GLONASS satellite R09 (satellite system R for GLONASS in RINEX whereas satellite numbers between 100 and 199 are in use within the Bernese GNSS Software) are removed because of an entry in the “Satellite problems” file provided in panel “RXOBV3 1.1: General Files” . ### SR SAVMEA : PROBLEM FOR SATELLITE : INDICATED IN SATCRUX : PROBLEM : REQUESTED ACTION : TIME WINDOW : IN RINEX FILE :
109 $ { X }/ GEN / SAT_2010 . CRX BAD PHASE + CODE OBS . REMOVED 2008 -05 -14 00:00:00 2010 -09 -30 23:59:59 $ { P }/ INTRO / RAW / GANP2070 .10 O
Messages from SR R2RDOH: TOO MANY COMMENT LINES may appear for some RINEX files but they are not critical. The program produces an output file RXO10207.OUT in the directory ${P}/INTRO/OUT (resp. corresponding filenames for the other sessions). This file may be browsed using the ˆOutput button or with 'Menu>Service>Browse program output' . After echoing the input options, the file provides an overview of the station information records in the RINEX observation file header and the values that are used for the processing in the Bernese GNSS Software. In addition some observation statistics are available. In the last section you may check the completeness of the Bernese observation files by the available number of epochs: ... TABLE OF INPUT AND OUTPUT FILE NAMES : -----------------------------------# satell . Bernese code header file name # epo ... GPS GLO Bernese code observ . file name Bernese phase header file name # epo ... GPS GLO Bernese phase observ . file name ---------------------------------------------------------------------------------------------
Num
1
2
3
Rinex file name
$ { P }/ INTRO / RAW / GANP2070 .10 O
$ { P }/ INTRO / RAW / HERT2070 .10 O
$ { P }/ INTRO / RAW / JOZ22070 .10 O
$ { P }/ INTRO / OBS / GANP2070 . CZH $ { P }/ INTRO / OBS / GANP2070 . CZO $ { P }/ INTRO / OBS / GANP2070 . PZH $ { P }/ INTRO / OBS / GANP2070 . PZO $ { P }/ INTRO / OBS / HERT2070 . CZH $ { P }/ INTRO / OBS / HERT2070 . CZO $ { P }/ INTRO / OBS / HERT2070 . PZH $ { P }/ INTRO / OBS / HERT2070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . CZH $ { P }/ INTRO / OBS / JOZ22070 . CZO $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZO
2880
...
30
20
2880
...
30
20
2880
...
31
20
2880
...
31
20
2880
...
30
20
2880
...
30
20
...
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4.2 Data Preprocessing (I)
11
12
13
$ { P }/ INTRO / RAW / WTZZ2070 .10 O
$ { P }/ INTRO / RAW / ZIM22070 .10 O
$ { P }/ INTRO / RAW / ZIMM2070 .10 O
$ { P }/ INTRO / OBS / WTZZ207 0 . CZH $ { P }/ INTRO / OBS / WTZZ2070 . CZO $ { P }/ INTRO / OBS / WTZZ2070 . PZH $ { P }/ INTRO / OBS / WTZZ2070 . PZO $ { P }/ INTRO / OBS / ZIM2207 0 . CZH $ { P }/ INTRO / OBS / ZIM22070 . CZO $ { P }/ INTRO / OBS / ZIM22070 . PZH $ { P }/ INTRO / OBS / ZIM22070 . PZO $ { P }/ INTRO / OBS / ZIMM207 0 . CZH $ { P }/ INTRO / OBS / ZIMM2070 . CZO $ { P }/ INTRO / OBS / ZIMM2070 . PZH $ { P }/ INTRO / OBS / ZIMM2070 . PZO
2880
...
32
20
2880
...
32
20
2879
...
32
20
2879
...
32
20
2879
...
31
0
2879
...
31
0
---------------------------------------------------------------->>> CPU / Real time for pgm ' RXOBV3 ': 0:00:14.767 / 0:00:14.7 91 >>> Program finished successfully
If epochs or satellites are missing for some RINEX files you may check this with the RINEX observation graphic from program RNXGRA. In July 2010 32 GPS and 20 GLONASS satellites were active, where one of the GPS satellites (PRN 01) was unhealthy. For that reason many of the stations did track only 31 out of 32 GPS satellites.
4.2 Data Preprocessing (I) 4.2.1 Receiver Clock Synchronization
Now we are ready to invoke the processing part of the Bernese GNSS Software. We have to run three programs for this example. The first program is called CODSPP ('Menu >Processing>Code-based clock synchronization'. Its main task is to compute the receiver clock corrections.
Bernese GNSS Software, Version 5.2
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We already have geocentric coordinates of good quality available for the sites from the PPP example BPE. Therefore, the option “Estimate coordinates” may be set to NO. The most important option for this CODSPP run is “Save clock estimates” . It has to be set to BOTH.
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4.2 Data Preprocessing (I)
The warning messages issued by the program CODSPP remind that only GPS satellite clock corrections have been extracted from the precise orbit files. Consequently, the receiver clocks are synchronized with respect to the GPS system time. CODSPP produces the following output: ... STATION : GANP 11515 M001 FILE : $ { P }/ INTRO / OBS / GANP2070 . CZO RECEIVER UNIT : 999999 -------------------------------------------------------------------------------------------
DAY OF YEAR
:
OBSERVATIONS REQUESTED WINDOW
: :
MEASUREMENT INTERVAL : SAMPLING RATE : PROCESSED FREQUENCY : ELEVATION LIMIT :
ATMOSPHERE MODELS
207 FROM 2010 -07 -26 00:00: 0.00 --
TO 2010 -07 -26
23:59:30 .00 --
30 SEC 1 L3 3 DEG TROPOSPHERE GMF
:
IONOSPHERE NONE
STATISTICS FOR GPS SATELLITES : ---------------------------------SATELLITE NUMBER : OBSERVATIONS IN FILE : USED OBSERVATIONS : BAD OBSERVATIONS (%): RMS ERROR ( M ) :
2 1015 1015 0.0 0.9
3 910 910 0.0 1.1
4 1019 1019 0.0 0.9
5 1029 1029 0.0 1.0
6 838 838 0.0 1.0
7 914 914 0.0 1.0
8 841 841 0.0 1.0
9 832 832 0.0 1.2
10 971 971 0.0 1.2
11 857 857 0.0 0.9
... TOTAL ... 27074 ... 27074 ... 0.0 ... 1.0
103 935 0 0.0 0.0
104 929 0 0.0 0.0
105 1149 0 0.0 0.0
107 1097 0 0.0 0.0
108 905 0 0.0 0.0
110 1005 0 0.0 0.0
111 991 0 0.0 0.0
113 903 0 0.0 0.0
... TOTAL ... 19977 ... 0 ... 0.0 ... 0.0
STATISTICS FOR GLONASS SATELLITES : ---------------------------------SATELLITE NUMBER : OBSERVATIONS IN FILE : USED OBSERVATIONS : BAD OBSERVATIONS (%): RMS ERROR ( M ) :
101 905 0 0.0 0.0
102 932 0 0.0 0.0
RESULTS : -------OBSERVATIONS IN FILE : USED OBSERVATIONS : BAD OBSERVATIONS : RMS OF UNIT WEIGHT : NUMBER OF ITERATIONS : ...
47051 27074 0.00 % 1.07 M 2
You see in this statistic that the GLONASS measurements have not been used (because of the missing GLONASS satellite clock corrections).
Bernese GNSS Software, Version 5.2
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... STATION COORDINATES : -------------------LOCAL GEODETIC DATUM :
GANP 11515 M001 ( MARKER )
IGS14
X Y Z HEIGHT LATITUDE LONGITUDE
A PRIORI 3929181.42 1455236.82 4793653.95
NEW 3929181.42 1455236.82 4793653.95
746.01 49 2 4.971 20 19 22.574
746.01 49 2 4.971 20 19 22.574
NEW - A PRIORI 0.00 0.00 0.00
0 0
0 0
0.00 0.000 0.000
RMS ERROR 0.00 0.00 0.00 0.00 0.0000 0.0000
CLOCK PARAMETERS : ----------------OFFSET FOR REFERENCE EPOCH :
-0.000000021
GPS / GLONASS SYSTEM DIFFERENCE :
OFFSET : RMS ERROR :
SEC
0.00 NSEC 0.00 NSEC
CLOCK OFFSETS STORED IN CODE + PHASE OBSERVATION FILES ... ... ******************************************************************************* SUMMARY OF BAD OBSERVATIONS ******************************************************************************* MAXIMUM RESIDUAL DIFFERENCE ALLOWED : CONFIDENCE INTERVAL OF F * SIGMA WITH F : NUMBER OF BAD OBSERVATION PIECES
30.00 M 5.00
:
3
NUMB FIL STATION TYP SAT FROM TO # EPO ------------------------------------------------------------------------------1 2
8 8
TLSE 10003 M009 TLSE 10003 M009
OUT OUT
1 1
10 -07 -26 15:10:00 10 -07 -26 15:32:30
10 -07 -26 15:28:30 10 -07 -26 15:33:00
38 2
3
12
ZIM2 14001 M008
OUT
26
10 -07 -26 20:08:30
10 -07 -26 20:08: 30
1
-------------------------------------------------------------------------------
******************************************************************************* GLONASS / GPS TIME OFFSETS ******************************************************************************* FILE STATION NAME TIME OFFSET ( NS ) RMS ERROR ( NS ) ----------------------------------------------------------1 2 3 4 5 6 7 8 9 10 11 12 13
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
NO NO NO NO NO NO NO NO NO NO NO NO NO
RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS RESULTS
AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE AVAILABLE
----------------------------------------------------------0 TOTAL 0.000 0.000 -----------------------------------------------------------
The most important message in the output file is CLOCK OFFSETS STORED IN CODE+PHASE OBSERVATION FILES. This indicates that the receiver clock corrections
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4.2 Data Preprocessing (I) computed by CODSPP are stored in code and phase observation files. After this step we will no longer use the code observations in this example. The a posteriori RMS error (for each zero difference file processed) should be checked in the CODSPP output file. A value of about 20–30 m is normal if Selective Availability (SA) — artificial degradation of the satellite clock accuracy — is on (before May 2000). Without SA a value of about 3 m is expected if P–code measurements are available (this is the case for the time interval of the processing example). However, much worse code measurements would still be sufficiently accurate to compute the receiver clock corrections with the necessary accuracy of 1 µs . In the section GLONASS/GPS TIME OFFSETS you may only find the inter–system bias (ISB) for each of the receivers as they have been estimated by CODSPP if both, GPS and GLONASS satellite clock corrections were introduced. You may use the extraction program CODXTR ('Menu>Processing>Program output extraction>Codebased clock synchronization') to generate a short summary from the CODSPP program output: ... ------------------------------------------------------------------------------File Input files ------------------------------------------------------------------------------1 $ { P }/ INTRO / OUT / COD10207 . OUT -------------------------------------------------------------------------------
13 FILES , MAX . RMS : MAX . BAD :
2.12 M FOR STATION : PTBB 14234 M001 5.26 % FOR STATION : WSRT 13506 M005
---------------------------------------------------------------->>> CPU / Real time for pgm ' CODXTR ': 0:00:00.008 / 0:00:00.0 07 >>> Program finished successfully
4.2.2 Form Baselines The second preprocessing program is called SNGDIF and may be activated in 'Menu >Processing>Create baseline files'. SNGDIF creates the single differences and stores them into files. We use the strategy OBS-MAX for PHASE observation files.
Bernese GNSS Software, Version 5.2
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4 Terminal Session: Tuesday To enter GPS in option “Stations must contain observ. from a GNSS” requires that each station included in the baseline creation provides at least GPS measurements. This option can be used to exclude those datasets containing only GLONASS observations.
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4.2 Data Preprocessing (I) The output of SNGDIF simply echoes the zero difference files used and the single difference files created. The first table confirms that all stations provide at least data from GPS. For that reason all stations are included in the baseline creation. ... NUM HEADER FILE NAMES STATION NAME # SAT SYS REMARK ------------------------------------------------------------------------------1 $ { P }/ INTRO / OBS / GANP2070 . PZH GANP 11515 M001 50 GR includ ed 2 $ { P }/ INTRO / OBS / HERT2070 . PZH HERT 13212 M010 51 GR includ ed 3 $ { P }/ INTRO / OBS / JOZ22070 . PZH JOZ2 12204 M002 50 GR includ ed 4 $ { P }/ INTRO / OBS / LAMA2070 . PZH LAMA 12209 M001 50 GR includ ed 5 $ { P }/ INTRO / OBS / MATE2070 . PZH MATE 12734 M008 51 GR includ ed 6 $ { P }/ INTRO / OBS / ONSA2070 . PZH ONSA 10402 M004 50 GR includ ed 7 $ { P }/ INTRO / OBS / PTBB2070 . PZH PTBB 14234 M001 32 G include d 8 $ { P }/ INTRO / OBS / TLSE2070 . PZH TLSE 10003 M009 52 GR includ ed 9 $ { P }/ INTRO / OBS / WSRT2070 . PZH WSRT 13506 M005 31 G include d 10 $ { P }/ INTRO / OBS / WTZR2070 . PZH WTZR 14201 M010 51 GR inclu ded 11 $ { P }/ INTRO / OBS / WTZZ2070 . PZH WTZZ 14201 M014 52 GR inclu ded 12 $ { P }/ INTRO / OBS / ZIM22070 . PZH ZIM2 14001 M008 52 GR inclu ded 13 $ { P }/ INTRO / OBS / ZIMM2070 . PZH ZIMM 14001 M004 31 G includ ed ...
The creation of the following 12 baseline files from 13 zero difference observation files is reported: SNGDIF : INPUT AND OUTPUT OBSERVATION FILE NAMES ----------------------------------------------0 - DIF . HEADER FILE NAMES ( INPUT ) 0 - DIF . OBS . FILE NAMES ( INPUT ) NUM * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *** $ { P }/ INTRO / OBS / GANP2070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / HERT2070 . PZH $ { P }/ INTRO / OBS / ZIM22070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / LAMA2070 . PZH $ { P }/ INTRO / OBS / JOZ22070 . PZH $ { P }/ INTRO / OBS / ONSA2070 . PZH ... $ { P }/ INTRO / OBS / ZIM22070 . PZH $ { P }/ INTRO / OBS / ZIMM2070 . PZH
$ { P }/ INTRO / OBS / GANP2070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . PZO $ { P }/ INTRO / OBS / HERT2070 . PZO $ { P }/ INTRO / OBS / ZIM22070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . PZO $ { P }/ INTRO / OBS / LAMA2070 . PZO $ { P }/ INTRO / OBS / JOZ22070 . PZO $ { P }/ INTRO / OBS / ONSA2070 . PZO
1 2 3 4 5 6 7 8
$ { P }/ INTRO / OBS / ZIM22070 . PZO $ { P }/ INTRO / OBS / ZIMM2070 . PZO
23 24
1 - DIF . HEADER FILE NAMES ( OUT ) 1 - DIF . OBS . FILE NAMES ( OUT ) NR1 NR2 STAT . * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *** *** ***** $ { P }/ INTRO / OBS / GAJO2070 . PSH $ { P }/ INTRO / OBS / HEZI2070 . PSH $ { P }/ INTRO / OBS / JOLA2070 . PSH $ { P }/ INTRO / OBS / JOON2070 . PSH ... $ { P }/ INTRO / OBS / ZIZM2070 . PSH
$ { P }/ INTRO / OBS / GAJO2070 . PSO $ { P }/ INTRO / OBS / HEZI2070 . PSO $ { P }/ INTRO / OBS / JOLA2070 . PSO $ { P }/ INTRO / OBS / JOON2070 . PSO
1 3 5 7
2 4 6 8
OK OK OK OK
$ { P }/ INTRO / OBS / ZIZM2070 . PSO
23
24
OK
If the strategy OBS-MAX was selected all possible pairs of zero difference files are listed with the corresponding criterion value. The baselines belonging to the created network configuration are labeled with OK . 1 2 3 4
GANP GANP GANP GANP ... 21 HERT 22 HERT 23 HERT 24 JOZ2 25 JOZ2 26 JOZ2 27 JOZ2 28 JOZ2 29 JOZ2 30 JOZ2 31 JOZ2 ...
11515 M001 11515 M001 11515 M001 11515 M001
-
HERT JOZ2 LAMA MATE
13212 M010 12204 M002 12209 M001 12734 M008
# SAT : # SAT : # SAT : # SAT :
50 50 50 50
CRIT .: CRIT .: CRIT .: CRIT .:
20892 23424 22806 20725
13212 M010 13212 M010 13212 M010 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002 12204 M002
-
WTZZ ZIM2 ZIMM LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ
14201 M014 14001 M008 14001 M004 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014
# SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT : # SAT :
51 51 31 50 50 50 30 50 30 50 50
CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .: CRIT .:
22697 23219 13051 24807 20969 23855 11243 21991 14464 24390 24182
Bernese GNSS Software, Version 5.2
OK
OK OK OK
OK OK
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4.2.3 Preprocessing of the Phase Baseline Files The main task of the program MAUPRP is the cycle–slip detection and correction. It is started using 'Menu>Processing>Phase preprocessing'.
In the next input panel “MAUPRP 2: Output Files” you only need to specify the “Program output” , e.g., to MPR$YD+0 .
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4.2 Data Preprocessing (I)
Bernese GNSS Software, Version 5.2
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The output of the program MAUPRP is discussed in detail in the lecture session. The software manual contains a detailed description, too. You can find here the results of the adjustment of the input parameters for the maximum accepted change of the ionosphere from one epoch to the next, which is computed according to the baseline length (AUTO in option “Screening mode, frequency to check” , panel “MAUPRP 3: General Options” ). ... STATION 1: GANP 11515 M001 STATION 2: JOZ2 12204 M002
YEAR : DAY :
2010 207
SESSION : FILE :
2070 0
BASELINE LENGTH ( M ) : 344406.641 OBSERVAT . FILE NAME : $ { P }/ INTRO / OBS / GAJO2070 . PSH BASELINE DEPENDENT OPTIONS : -------------------------CHECK FREQUENCIES ( L1 =1 , L2 =2 , L1 & L2 =3 , L1 , L2 =4) --> : MAX . IONOS . DIFF . BETW . EPOCHS ( o / o OF L1 CYCLES ) --> : ...
3 94
The most important item to check is the epoch difference solution: ... -----------------------------------------------------------------------EPOCH DIFFERENCE SOLUTION -----------------------------------------------------------------------FREQUENCY OF EPOCH DIFF . SOLU .: # OBS . USED FOR EPOCH DIFF . SOLU : RMS OF EPOCH DIFF . SOLUTION ( M ):
3 42814 0.012
COORDINATES
0.185 + 0.032 + 0.290 + -
NEW - A PRIORI X ( M ): Y ( M ): Z ( M ):
0.021 0.021 0.014
-----------------------------------------------------------------------...
The epoch difference solution is used as the reference for the data screening. For a successful phase preprocessing the RMS OF EPOCH DIFF. SOLUTION has to be below 2 cm. The estimates for the coordinates in the epoch difference solution are expected to be smaller than about 0.5 m. It should be pointed out that it is not necessary to run the program MAUPRP more than once for each baseline. However, it is mandatory to run MAUPRP again if you (for whatever reason) have to re–create the baselines with program SNGDIF.
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4.3 Daily Goals You might get some warning messages regarding too large O − C (i.e., observed minus computed) values on certain baselines for certain epochs. The corresponding observations get flagged, and will not disturb the processing. You can use the extraction program MPRXTR ('Menu>Processing>Program output extraction>Phase preprocessing') to generate a short summary of the MAUPRP output. The file you have specified in “MAUPRP station summary file” looks like this: SUMMARY OF THE MAUPRP OUTPUT FILE ********************************* SESS FIL OK ? ST1 ST2 L ( KM ) # OBS . RMS DX DY DZ # SL # DL # MA MAXL3 MIN . SLIP --------------------------------------------------------------------------------------------2070 1 OK GANP JOZ2 344 42814 12 185 32 290 12 369 72 49 12 2070 2 OK HERT ZIM2 685 41498 13 -317 11 -329 6 591 95 47 11 2070 3 OK JOZ2 LAMA 201 43720 11 -12 -4 71 39 826 101 49 11 2070 4 OK JOZ2 ONSA 830 41462 11 -416 -151 -456 7 609 113 34 11 2070 5 OK JOZ2 WSRT 981 22358 11 -198 -21 -229 8 413 47 33 11 2070 6 OK JOZ2 WTZR 663 41785 13 -231 -76 -377 11 641 81 48 11 2070 7 OK MATE ZIM2 1014 38157 13 471 42 455 64 876 117 49 11 2070 8 OK PTBB ZIM2 640 20063 12 43 -8 -10 82 242 36 50 13 2070 9 OK TLSE ZIM2 597 41698 13 8 38 126 6 609 89 47 11 2070 10 OK WTZR WTZZ 0 43787 12 -9 -13 -4 96 461 65 0 0 2070 11 OK WTZR ZIM2 476 42211 14 147 11 91 6 974 89 43 13 2070 12 OK ZIM2 ZIMM 0 23786 13 -16 4 -32 25 88 35 0 0 --------------------------------------------------------------------------------------------Tot : 12 536 43787 14 471 42 455 96 974 117 50 0
Note that in the bottom line the maximum values for each column are reported to show the “worst case”.
4.3 Daily Goals At the end of today’s session, you should have created the following files: 1. Bernese formatted zero difference observation files in your campaign’s OBS directory: GANP2070. CZH , GANP2070. PZH , GANP2070. CZO , GANP2070. PZO , ... (for all stations). 2. Single difference files (baseline files) in the OBS directory: GAJO2070. PSH , GAJO2070. PSO , HEZI2070. PSH , HEZI2070. PSO ,... for all baselines, 3. you should also have verified the outputs of these programs: ORBGEN, CODSPP, SNGDIF, and MAUPRP
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday Today’s terminal session is to: 1. perform a residual screening (GPSEST, RESRMS, SATMRK), 2. generate a first estimation for coordinates and troposphere parameters (GPSEST), 3. resolve the double difference ambiguities (GPSEST). .
5.1 Data Preprocessing (II) The main parameter estimation based on a least–squares adjustment is the task of program GPSEST. It is a good idea to start GPSEST first in the session mode and to produce a L3 solution (ionosphere–free linear combination) with real–valued ambiguities. We do not expect any final results from this run but we want to check the quality of data and save the residuals after the least–squares adjustment. The program is available via 'Menu>Processing >Parameter estimation'. We use the following options:
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5 Terminal Session: Wednesday
This run is intended to screen the post–fit residuals for outliers. Later on, for the ambiguity resolution, all observations are needed without down–sampling the data. To run the program GPSEST for the network with 13 stations and the observations to more than 50 satellites without reducing the data sampling rate takes easily 10 minutes or more. For that reason we are forced to sample the data, e.g., down to 3 minutes — we will see in the next step how to solve this discrepancy.
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5.1 Data Preprocessing (II)
We want to put loose constraints on the station coordinates that are available from the IGS realization of ITRF2014 reference frame (flag I like IGS14 in the coordinate file).
Bernese GNSS Software, Version 5.2
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No parameters (not even ambiguity parameters) can be pre–eliminated if residuals should be written into the residual output file:
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5.1 Data Preprocessing (II) A 4 hour resolution in time for the troposphere parameters is sufficient for this purpose:
The program output of GPSEST summarizes all important input options, input data, and reports the estimated results. An important information in the output file is the a posteriori RMS error: ... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF
: :
0.0013 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
72462 1.66
...
An a posteriori RMS error of about 1.0. . . 1.5 mm is expected if elevation–dependent weighting is used. A significant higher RMS error indicates that either your data stems from low–quality receivers, that the data was collected under extremely bad conditions, or that the preprocessing step (MAUPRP and CODSPP) was not successfully performed. Below you find the section reporting on coordinate estimation. You should check the improvement for the a priori coordinates. If all stations get approximately the same improvement in the order of decimeters, very likely the datum definition failed. Check that you have really selected datum stations.
Bernese GNSS Software, Version 5.2
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... STATION COORDINATES : -------------------
( NOT SAVED )
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 75
GANP 11515 M001
X Y Z HEIGHT LATITUDE LONGITUDE
107
JOZ2 12204 M002
X Y Z HEIGHT LATITUDE LONGITUDE
92
HERT 13212 M010
X Y Z HEIGHT LATITUDE LONGITUDE
276
ZIM2 14001 M008
X Y Z HEIGHT LATITUDE LONGITUDE
3929181.4215 1455236.8207 4793653.9501 746.0149 49 2 4.971296 20 19 22.574398 3664880.4810 1409190.6806 5009618.5302
52 21
152.5315 5 52.211587 1 56.470161
4033460.8497 23537.8898 4924318.3145
50 52 0 20
83.3341 2.929075 3.676778
4331299.7959 567537.4213 4633133.7767 956.4292 46 52 37.540239 7 27 54.115566
3929181.4183 1455236.8270 4793653.9485 746.0131 49 2 4.971282 20 19 22.574740 3664880.4813 1409190.6835 5009618.5337
52 21
152.5351 5 52.211621 1 56.470295
4033460.8497 23537.8977 4924318.3219
50 52 0 20
83.3399 2.929224 3.677186
4331299.7868 567537.4272 4633133.7769 956.4237 46 52 37.540436 7 27 54.115899
-0.0032 0.0062 -0.0016
0.0042 0.0041 0.0042
-0.0017 -0.0004 0.0069
0.0044 .. 0.0040 .. 0.0041 ..
0.0004 0.0029 0.0035
0.0042 0.0041 0.0041
0.0036 0.0011 0.0025
0.0043 .. 0.0040 .. 0.0040 ..
0.0000 0.0080 0.0074
0.0042 0.0041 0.0042
0.0058 0.0046 0.0079
0.0044 .. 0.0040 .. 0.0040 ..
-0.0090 0.0059 0.0002
0.0041 0.0040 0.0041
-0.0055 0.0061 0.0070
0.0042 .. 0.0040 .. 0.0040 ..
...
If the residuals have been stored in the binary residual file (specified in “GPSEST 2.2: Output Files 2” ) it is possible to have a look to the residuals (program REDISP, 'Menu>Service>Residual files>Display residual file'). To screen the residuals automatically use the program RESRMS in 'Menu>Service>Residual files >Create residual statistics'.
The sampling interval you have previously introduced in option “Sampling interval” in program GPSEST has to be repeated here. RESRMS makes the assumption that the observations between two outliers in the sampled residual file are also bad.
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5.1 Data Preprocessing (II)
The program output of RESRMS (${P}/INTRO/OUT/RMS10207.OUT) provides a nice overview on the data quality. ... FILE INFORMATION AND STATISTIC : -----------------------------Num Station 1 Station 2 Total RMS med . Resi Sigma numObs nSat nDel .. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 1 2 3 4 5 6 7 8 9 10 11 12
GANP HERT JOZ2 JOZ2 JOZ2 JOZ2 MATE PTBB TLSE WTZR WTZR ZIM2
11515 M001 13212 M010 12204 M002 12204 M002 12204 M002 12204 M002 12734 M008 14234 M001 10003 M009 14201 M010 14201 M010 14001 M008
JOZ2 ZIM2 LAMA ONSA WSRT WTZR ZIM2 ZIM2 ZIM2 WTZZ ZIM2 ZIMM
12204 M002 14001 M008 12209 M001 10402 M004 13506 M005 14201 M010 14001 M008 14001 M008 14001 M008 14201 M014 14001 M008 14001 M004
1.4 1.4 1.3 1.3 1.3 1.6 1.6 1.4 1.6 1.6 1.7 0.9
0.7 0.8 0.7 0.7 0.8 0.8 0.8 0.8 0.8 0.7 1.0 0.5
1.2 1.1 1.1 1.0 1.2 1.2 1.2 1.2 1.3 1.0 1.4 0.8
7611 7372 7741 7368 4192 7460 6788 3819 7443 7817 7563 4540
50 51 50 50 30 50 51 32 52 51 51 31
16 11 17 20 12 18 22 15 19 51 28 1
.. .. .. .. .. .. .. .. .. .. .. ..
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ..
NUMBER OF EDIT REQUESTS : ...
230
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday In addition, files containing a summary table (${P}/INTRO/OUT/RMS10207.SUM) and a histogram (${P}/INTRO/OUT/RMS10207.LST) of the residuals are available. The most important result file for the data screening is the “Edit information file” (${P}/INTRO/OUT/ RMS10207.EDT), which may be used by the program SATMRK to mark outliers in the observation files ('Menu>Service>Bernese observation files>Mark/delete observations'):
The program output from SATMRK reports the number of marked observations per baseline: ... SUMMARY OF ACTION IN THE OBS . FILE ( S ): -------------------------------------
$ { P }/ INTRO / OUT / RMS1 0207 . EDT
Mea Observations Num Station name 1 Station name 2 type mark unmark delete ---------------------------------------------------------------------------1 GANP 11515 M001 JOZ2 12204 M002 P : 420 0 0 2 HERT 13212 M010 ZIM2 14001 M008 P : 300 0 0 3 JOZ2 12204 M002 LAMA 12209 M001 P : 422 0 0 4 JOZ2 12204 M002 ONSA 10402 M004 P : 530 0 0 5 JOZ2 12204 M002 WSRT 13506 M005 P : 370 0 0 6 JOZ2 12204 M002 WTZR 14201 M010 P : 526 0 0 7 MATE 12734 M008 ZIM2 14001 M008 P : 688 0 0 8 PTBB 14234 M001 ZIM2 14001 M008 P : 326 0 0 9 TLSE 10003 M009 ZIM2 14001 M008 P : 512 0 0 10 WTZR 14201 M010 WTZZ 14201 M014 P : 1096 0 0 11 WTZR 14201 M010 ZIM2 14001 M008 P : 874 0 0 12 ZIM2 14001 M008 ZIMM 14001 M004 P : 22 0 0 ---------------------------------------------------------------------------Total : 6086 0 0 ----------------------------------------------------------------------------
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.. .. .. .. .. .. .. .. .. .. .. .. .. .. .. ..
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5.1 Data Preprocessing (II)
5.2 Produce a First Network Solution After screening the observations for outliers we can generate an ionosphere–free (L3 ) solution with unresolved ambiguities. A detailed discussion on the Troposphere/Ionosphere modelling will be given in a dedicated lecture tomorrow. The input options are very similar to the previous preprocessing step. There are only a few differences shown in the following panels:
The file in the input field “Ionosphere models” enables the HOI–corrections. We store the coordinates and troposphere parameters into files to be re–introduced later:
In the subsequent panel you should remove the output filename for the “Residuals” because we do not need the residuals from this run.
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The next two panels with the general options for GPSEST remain untouched:
To heavily constrain the coordinates of the IGS core sites is not the best way to realize the geodetic datum for a solution. The program ADDNEQ2 offers more sophisticated options (e.g., minimum constraint solution). Today we will follow this simple approach:
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5.1 Data Preprocessing (II) Since we do not store residual files in this run, ambiguity parameters may be pre–eliminated from the normal equation before the parameters are estimated:
The estimation of troposphere parameters is mandatory for a campaign of this type. We increase the number of estimated parameters (e.g., to 24 instead of 6 parameters per station and session). In addition, it is recommended to set up troposphere gradient parameters. In order to avoid a format overflow in the “Troposphere estimates” output file that may happen if a troposphere parameter is estimated based on very few observations concentrated at one end of the interval of parameter validity, a small relative sigma (e.g., 5 meter) may help.
In the first part of the output generated by program GPSEST, the selected options are echoed. The result part starts with some statistics on the parameters and the observations:
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES SITE - SPECIFIC TROPOSPHERE PARAMETERS
39 1369 377
0 1369 0
( BEFORE INV )
39 1481 377
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 1785 1369 1897 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE
L3
ALL
73602
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 73602 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
Then the a posteriori RMS error and the results of the initial least–squares adjustment are given ... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0011 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
71834 1.28
Below you find the output of the results for coordinates and troposphere parameters: ... STATION COORDINATES : -------------------
$ { P }/ INTRO / STA / FLT10207 . CRD
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 75
GANP 11515 M001
X Y Z HEIGHT LATITUDE LONGITUDE
107
JOZ2 12204 M002
X Y Z HEIGHT LATITUDE LONGITUDE
92
HERT 13212 M010
X Y Z HEIGHT LATITUDE LONGITUDE
3929181.4215 1455236.8207 4793653.9501 746.0149 49 2 4.971296 20 19 22.574398 3664880.4810 1409190.6806 5009618.5302
52 21
152.5315 5 52.211587 1 56.470161
4033460.8497 23537.8898 4924318.3145
50 52 0 20
83.3341 2.929075 3.676778
3929181.4200 1455236.8215 4793653.9494 746.0136 49 2 4.971309 20 19 22.574460 3664880.4789 1409190.6787 5009618.5326
52 21
152.5318 5 52.211702 1 56.470106
4033460.8499 23537.8878 4924318.3167
50 52 0 20
83.3359 2.929114 3.676679
-0.0015 0.0008 -0.0007
0.0007 0.0007 0.0008
-0.0013 0.0004 0.0013
0.0009 .. 0.0005 .. 0.0007 ..
-0.0021 -0.0019 0.0024
0.0007 0.0006 0.0007
0.0003 0.0035 -0.0010
0.0008 .. 0.0005 .. 0.0006 ..
0.0002 -0.0019 0.0022
0.0007 0.0007 0.0007
0.0018 0.0012 -0.0019
0.0009 .. 0.0005 .. 0.0007 ..
...
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5.3 Ambiguity Resolution
... SITE - SPECIFIC TROPOSPHERE PARAMETERS : ------------------------------------
$ { P }/ INTRO / ATM / F LT10207 . TRP
REFERENCE ELEVATION ANGLE OF GRADIENT TERMS : MINIMUM ELEVATION ANGLE : MAPPING FACTOR AT MINIMUM ELEVATION ANGLE :
45.0 DEGREES 5.0 DEGREES 11.4
CORRECTIONS ( M ) RMS ERRORS ( M ) ... REQU . STATION NAME NORTH EAST ZENITH NORTH EAST ZENITH ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... 1 2 3 4 5 ... 24 25 26 27 28 29 30 ...
GANP GANP GANP GANP GANP
11515 M001 11515 M001 11515 M001 11515 M001 11515 M001
-0.00024 -0.00021 -0.00018 -0.00015 -0.00012
-0.00019 -0.00015 -0.00010 -0.00006 -0.00001
0.12103 0.11639 0.11814 0.12171 0.12203
0.00011 0.00011 0.00010 0.00009 0.00009
0.00013 0.00012 0.00011 0.00010 0.00010
0.00226 0.00167 0.00156 0.00160 0.00129
... ... ... ... ...
GANP GANP HERT HERT HERT HERT HERT
11515 M001 11515 M001 13212 M010 13212 M010 13212 M010 13212 M010 13212 M010
0.00044 0.00047 -0.00142 -0.00135 -0.00127 -0.00120 -0.00113
0.00085 0.00090 -0.00190 -0.00181 -0.00172 -0.00163 -0.00154
0.13680 0.12869 0.19943 0.19841 0.18943 0.19009 0.19263
0.00011 0.00012 0.00013 0.00012 0.00011 0.00011 0.00010
0.00012 0.00013 0.00015 0.00014 0.00014 0.00013 0.00012
0.00181 0.00224 0.00299 0.00153 0.00187 0.00178 0.00149
... ... ... ... ... ... ...
Because outliers have been removed in the previous step, the obtained a posteriori RMS error should decrease (at least not increase). If this is not the case, it is likely that the observations and the heavily constrained a priori coordinates are inconsistent.
5.3 Ambiguity Resolution To resolve the ambiguities, we process the baselines separately one by one using the Quasi– Ionosphere–Free (QIF) strategy. This baseline processing mode is necessary because of the tremendous number of parameters. The attempt to resolve the ambiguities in a session solution might require too much CPU and memory to be feasible (several iterations with inversions of the full normal equation (NEQ) are necessary).
5.3.1 Ambiguity Resolution: Quasi–Ionosphere–Free (QIF) The complete list of baseline observation files of a session (e.g., session 2070 of year 2010) can be generated by listing all phase single–difference header files in the campaign’s observation directory of your campaign: [email protected] :~ > ls $ { P }/ INTRO / OBS /????2070. PSH $ { P }/ INTRO / OBS / GAJO2070 . PSH $ { P }/ INTRO / OBS / HEZI2070 . PSH $ { P }/ INTRO / OBS / JOLA2070 . PSH $ { P }/ INTRO / OBS / JOON2070 . PSH $ { P }/ INTRO / OBS / JOWS2070 . PSH $ { P }/ INTRO / OBS / JOWT2070 . PSH $ { P }/ INTRO / OBS / MAZI2070 . PSH $ { P }/ INTRO / OBS / PTZI2070 . PSH $ { P }/ INTRO / OBS / TLZI2070 . PSH $ { P }/ INTRO / OBS / WTWZ2070 . PSH $ { P }/ INTRO / OBS / WTZI2070 . PSH $ { P }/ INTRO / OBS / ZIZM2070 . PSH
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The first baseline for this session is from GANP to JOZ2 with the observation filename GAJO2070. Using the menu time variables this name is specified as GAJO$S+0. The following options are used for the ambiguity resolution step:
Only one baseline file is selected. Coordinates and troposphere estimates are introduced from the previous first network solution (Section 5.2).
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5.3 Ambiguity Resolution Specify a baseline specific output to prevent overwriting in subsequent runs: GAJO$+0Q. The Q at the end shall indicate that it is the output from the QIF–strategy.
Because the QIF–ambiguity resolution strategy is very sensitive to the formal errors of the ambguity parameters we have to include all measurements with the full sampling of 30 s into the processing.
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The selection of a “ZPD model and mapping function (GNSS)” is disabled because a troposphere file has been introduced in panel “GPSEST 1.2: Input Files 2” . The program uses the troposphere model from this input file and allows no other selection for consistency reasons. In the subsequent panel the “Resolution strategy” is chosen. Please, do not forget to store the resolved integer ambiguities in your observation file (mark checkbox at “Save resolved ambiguities” ).
In case of ambiguity resolution including GLONASS, only one ambiguity per iteration can be resolved. The program will adjust the setting automatically issuing a warning message.
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5.3 Ambiguity Resolution
An additional panel with options specific to epoch–parameters is displayed now because the “Parameter Setup: stochastic ionosphere parameters” are pre-eliminated EVERY_EPOCH.
After reporting input options and input data for the current run of GPSEST, the results are presented in two parts. The first part refers to the solution where the ambiguities are estimated as real values whereas the second part reports the results after resolving the ambiguity parameters to integer values. The real–valued estimates for the ambiguities may be found below the STATION COORDINATES section of the program output:
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday
... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... STATION COORDINATES AMBIGUITIES STOCHASTIC IONOSPHERE PARAMETERS
3 196 40364
0 0 40364
( EPOCH - WISE )
3 242 45454
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... TOTAL NUMBER OF PARAMETERS 40563 40364 45699 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... PHASE PHASE
L1 L2
ALL ALL
37484 37484
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... TOTAL NUMBER OF OBSERVATIONS 74968 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... ...
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0011 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
34405 1.18
... STATION COORDINATES : -------------------
$ { P }/ INTRO / STA / FLT10207 . CRD
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 107
JOZ2 12204 M002
X Y Z
3664880.4789 1409190.6787 5009618.5326
HEIGHT LATITUDE LONGITUDE
152.5318 5 52.211702 1 56.470106
52 21
3664880.4791 1409190.6784 5009618.5331
52 21
152.5323 5 52.211710 1 56.470086
0.0003 -0.0003 0.0005
0.0002 0.0002 0.0002
0.0005 0.0002 -0.0004
0.0002 .. 0.0001 .. 0.0002 ..
...
... AMBIGUITIES : ----------REFERENCE AMBI FILE SAT . EPOCH FRQ WLF CLU AMBI CLU AMBIGUITY RMS TOTAL AMBIGU . DL / L -------------------------------------------------------------------------------------1 2 3 4 5 6 7 8 9 10 11 12
1 1 1 1 1 1 1 1 1 1 1 1
3 11 11 14 14 14 17 17 19 19 19 20
2199 1 2613 1 1478 2569 1 1111 1 897 2337 1
1 1 1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1 1 1
3 4 6 7 8 9 10 11 13 14 15 16
-
-
1.07 2.12 -3.84 1.74 -0.67 1.17 3.38 -1.90 2.64 0.38 -2.80 2.31
21.81 21.81 21.81 21.81 21.81 21.81 21.81 21.81 21.81 21.82 21.81 21.81
1747244.07 -120949.88 -120952.84 -484082.26 -484244.67 -484299.83 -1280029.62 -1280192.90 1400087.64 1400165.38 1400190.20 757891.31
...
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5.3 Ambiguity Resolution If GLONASS data are processed, single–difference (instead of double–difference) ambiguities are resolved and no — REFERENCE — as in case of GPS–only appears. In the next part of the output the result of the QIF ambiguity resolution algorithm is given: ... AMBIGUITY RESOLUTION : -------------------STRATEGY :
QUASI - IONOSPHERE - FREE AMBIGUITY RESOLUTION ( QIF )
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 1 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
89 106
1
94 112
1
-4
-3
-0.03
-0.04
0.009
0.002
0.003
27
9
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 2 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
18
22
1
82
97
1
0
1
0.09
0.11
-0.022
0.009
0.003
24
6
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 3 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
1
3
1
82
97
2
-1
-1
-0.02
-0.03
0.006
-0.002
0.003
3
6
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 4 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
16
20
1
82
97
3
-4
-2
-0.08
-0.10
0.021
-0.005
0.003
22
6
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 5 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1 11 15 1 82 97 4 -5 -3 0.13 0.18 -0.043 -0.021 0.003 19 6 ... ----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 54 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
70
82
3
71
83
1
-2
-3
0.22
0.31
-0.086
-0.079
0.009
111
111
----------------------------------------------------------------------------------------AMBIGUITY RESOLUTION ITERATION : 55 ----------------------------------------------------------------------------------------BEST INT . CORRECTIONS IN CYCLES FILE AM1 CL1 # AM1 AM2 CL2 # AM2 L1 L2 L1 L2 L5 L3 RMS ( L3 ) SA1 SA2 ----------------------------------------------------------------------------------------1
25
29
1
66
77
3
6
5
-0.05
-0.06
0.014
0.001
0.009
105
101
...
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday The individual iteration steps are first described (we specified that only one ambiguity may be resolved within each iteration step — see panel “GPSEST 3.2.4: Quasi-IonosphereFree Ambiguity Resolution Strategy” ). The following information is listed for each resolved double–difference ambiguity: FILE file number (1 in our case; we process one baseline only), AM1 first ambiguity number (single–difference level), CL1 corresponding ambiguity cluster, #AM1 number of ambiguities belonging to the same cluster, AM2, CL2, #AM2 similar information for the second ambiguity. BEST INT. L1, L2 are the integer corrections to the a priori values (a priori values are computed using the a priori coordinates and may be rather inaccurate). CORRECTIONS IN CYCLES for carriers L1 and L2 gives the information about the fractional parts of the L1 and L2 ambiguities. The CORRECTIONS IN CYCLES L5 and L3 are of greater interest. The value L5 represents the ionosphere–induced bias expressed in L5 cycles. These values may not be greater than the maximum value specified in panel “GPSEST 3.2.4: Quasi-Ionosphere-Free Ambiguity Resolution Strategy” (option “Search width for pairs of L1 and L2 ambiguities” ). RMS(L3) is the criterion according to which the ambiguities are sorted. Ambiguities with L3 RMS errors larger than the value specified in the program input panel (in our example 0.03) will not be resolved. SA1, SA2 first and second satellite number related to the ambiguities. Note that in AMBIGUITY RESOLUTION ITERATION: 65 and 66 there are examples for resolving pairs of ambiguities from the same satellite (path–to–path ambiguity resolution) — GLONASS satellites 114, and 119 . The tion:
following
table
summarizes
the
results
of
the
ambiguity
resolu-
... REFERENCE AMBI FILE SAT . EPOCH FRQ WLF CLU AMBI CLU AMBIGUITY RMS TOTAL AMBIGU . DL / L - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 ...
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1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
3 11 11 14 14 14 17 17 19 19 19 20 20 22 22 22 24 24 28 28
2199 1 2613 1 1478 2569 1 1111 1 897 2337 1 2770 1 1248 2254 1 2196 1 782
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
3 4 6 7 8 9 10 11 13 14 15 16 17 18 19 20 21 22 23 24
-
-
-1 1 0 5 3 5 5 -1.83 7 0.47 -5 1 6 1.30 6 -4 5 0 1.75 -4
22.57 22.57
22.59
22.60
1747242. -120951. -120949. -484079. -484241. -484296. -1280028. -1280192.83 1400092. 1400165.47 1400188. 757890. 757842. -893533.70 -893514. -893533. 427188. 427032. -394055.25 -394018.
0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
AIUB
5.3 Ambiguity Resolution The ambiguities for which an RMS is specified could not be resolved (these ambiguities will be treated as real values by all subsequent program runs). In case of GLONASS, only ambiguities with the same channel number are resolved in Version 5.2 of Bernese GNSS Software . Ambiguity resolution has an influence on other parameters. Therefore, the results of the ambiguity–fixed solution are given in Part 2 of the output: ... 14. RESULTS ( PART 2) -------------------NUMBER OF PARAMETERS ( PART 2): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES STOCHASTIC IONOSPHERE PARAMETERS
3 66 40364
0 0 40364
( EPOCH - WISE )
3 242 45454
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 40433 40364 45699 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 2): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE PHASE
L1 L2
ALL ALL
37484 37484
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 74968 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 2): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0011 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
34535 1.27
... STATION COORDINATES : -------------------
$ { P }/ INTRO / STA / FLT10207 . CRD
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 107
JOZ2 12204 M002
X Y Z HEIGHT LATITUDE LONGITUDE
3664880.4789 1409190.6787 5009618.5326
52 21
152.5318 5 52.211702 1 56.470106
3664880.4789 1409190.6780 5009618.5333
52 21
152.5322 5 52.211720 1 56.470073
0.0000 -0.0007 0.0007
0.0001 0.0001 0.0002
0.0004 0.0006 -0.0006
0.0002 .. 0.0001 .. 0.0001 ..
...
You may see from the output that from a total of 196 ambiguities 130 ambiguities could be resolved (compare part 1 AMBIGUITIES with part 2 AMBIGUITIES). Note that these numbers include reference ambiguities for each GNSS, GLONASS frequency number and frequency.
Bernese GNSS Software, Version 5.2
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5.3.2 Ambiguity Resolution: Short Baselines
There are two very short baselines in the network where a direct ambiguity resolution for the L1 and L2 signal is possible applying the sigma–strategy.
The ultra–short baseline in Kötzting is between WTZR and WTZZ (WTWZ2070.PSH). The GPSEST input panels should look like follows:
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5.3 Ambiguity Resolution The program output name is again related to the name of the baseline but contains an identifier 1 at the end to distinguish the files from the output files of the QIF–strategy:
Bernese GNSS Software, Version 5.2
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The structure of the program output is the same as it has extensively been described in the previous section for the QIF ambiguity resolution strategy. It starts with PART 1 for the solution before the ambiguity resolution. Here are the corresponding parameter statistics: ... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES
3 206
0 0
3 232
... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 209 0 235 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE PHASE
L1 L2
ALL ALL
38232 38232
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 76464 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
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5.3 Ambiguity Resolution
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0012 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
76255 1.53
After the ambiguity resolution the same statistics is provided in PART 2: ... 14. RESULTS ( PART 2) -------------------NUMBER OF PARAMETERS ( PART 2): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES
3 40
0 0
3 232
... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 43 0 235 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ...
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 2): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0012 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
76421 1.82
From the number of ambiguity parameters it can be computed that 166 out of 206 ambiguities from both GPS and GLONASS have been resolved to their integer numbers. Please remind, that at least 4 ambiguity parameters must remain as real values because of one reference ambiguity per GNSS and frequency are needed. Because the two receivers belong to different groups regarding “GLONASS amb. resol. between different frequencies” only the ambiguities between the same frequency numbers have been resolved. In addition, depending on the receiver type, not all ambiguities for GPS are allowed to be resolved too, to prevent problems with the quarter–cycle bias between the L2P and L2C signal (see option “Consider GPS quarter-cycle biases” in panel “GPSEST 3.2: General Options 2” and the lecture on ambiguity resolution).
5.3.3 Ambiguity Resolution: BPE Admittedly, it is cumbersome to process the baselines “manually” one after the other — you have twelve baselines per session for this small example campaign. On Thursday you will have a lecture on automation of the data processing with the BPE . In the example BPE RNX2SNX.PCF a sequence for the ambiguity resolution is included. For this tutorial lecture a small part of this BPE is extracted into a separate TUTORIAL.PCF BPE. The process control file (PCF) is located in the directory ${U}/PCF. If you are
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5 Terminal Session: Wednesday not in the Bernese Introductory Course environment, you have to use the RNX2SNX.PCF instead of the TUTORIAL.PCF and skip the unneeded scripts (a brief description is given in the panel description of the RUNBPE) program. The PCF consists of three parts: the first part defines the scripts and the option directories where the program’s input files are taken from. In addition the waiting conditions are defined to keep the correct order for the execution of the scripts. In the second part, special execution modes are defined, e.g., that the scripts GNSQIF_P with PID 132 and GNSL12_P with PID 142 may run in parallel for each individual baseline. The preparatory scripts GNSQIFAP and GNSL12AP define the list of baselines to be processed. The third part defines the so called BPE– or PCF–variables that can be used within the scripts or in the input fields of the menu. A detailed introduction to the BPE will be the topic of a lecture on Thursday. The TUTORIAL.PCF is responsible for the following tasks: 011 TUT_COP : Copies the files from the previous processing steps of the tutorial to the filenames used in the RNX2SNX.PCF example BPE. It uses the PCF– and time variables for that purpose: copy copy copy copy copy
file file file file file
from from from from from
../STA/APR${yyddd}.CRD ../STA/FLT${yyddd}.CRD ../ATM/FLT${yyddd}.TRP ../ORB/COD${yyddd}.STD ../ORB/COD${yyddd}.ERP
to to to to to
../STA/APR${yyssss}.CRD ../STA/FLT${yyssss}.CRD ../ATM/FLT${yyssss}.TRP ../ORB/COD${yyssss}.STD ../ORB/COD${yyssss}.ERP
where ${yyddd} stands for the two–digit year and the day of year. The new filename contains ${yyssss} the two–digit year together with the session (in our case day of year plus the zero–character 0). If you are not in the Bernese Introductory Course environment, you have to copy these files manually to run the ambiguity resolution sequence of RNX2SNX.PCF . 101 SATMRK : All previously resolved ambiguities are re–initialized to start for all files from unresolved ambiguities (otherwise the interpretation of the statistic of resolved ambiguities may become difficult). 131 GNSQIFAP and 132 GNSQIF_P : Applies the QIF ambiguity resolution strategy to all baselines of the example in a baseline–by–baseline mode, where several baselines may be processed at the same time in parallel. 141 GNSL12AP and 142 GNSL12_P : Applies the SIGMA ambiguity resolution strategy directly to the original observations on the L1 and L2 frequency for both short baselines in the example network: Kötzting (WTZR and WTZZ) and Zimmerwald (ZIM2 and ZIMM). These scripts also run in a baseline–by–baseline mode, allowing for a parallel processing.
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5.3 Ambiguity Resolution
# # # TUTORIAL . PCF # # # Purpose : Run the ambiguity resolution for one session in the # > of the # Bernese Software Introductory Course # # ---------------------------------------------------------------------------# # Author : R . Dach # Created : 23 - Jan -2012 Last modified : 23 - Jan -2012 # # Changes : # # # # PID SCRIPT OPT_DIR CAMPAIGN CPU P WAIT FOR .... 3** 8******* 8******* 8******* 8******* 1 3** 3** 3** 3** 3** 3** 3** 3** 3** 3** # # Copy input files # ---------------011 TUT_COP R2S_GEN ANY 1 # # Resolve phase ambiguities # ------------------------101 SATMRK R2S_GEN ANY 1 011 131 GNSQIFAP R2S_QIF ANY 1 101 132 GNSQIF_P R2S_QIF ANY 1 131 141 GNSL12AP R2S_L12 ANY 1 132 142 GNSL12_P R2S_L12 ANY 1 141 # # End of BPE # ---------999 DUMMY NO_OPT ANY 1 142 # # PID USER PASSWORD PARAM1 PARAM2 PARAM3 PARAM4 PARAM5 PARAM6 .. 3** 12********** 8******* 8******* 8******* 8******* 8*** **** 8******* 8*******.. # # Resolve phase ambiguities # ------------------------131 $131 132 PARALLEL $131 141 $141 142 PARALLEL $141 # # VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 16* ************* V_A A priori information APR V_B Orbit / ERP , DCB , CLK information COD V_C Preliminary ( ambiguity - float ) results FLT V_CRDINF Project related station filenames EXAMPLE V_GNSSAR GNSS to be used for ambiguity resolution ALL V_BL_QIF Maximum baseline length for QIF AR 2000 V_BL_L12 Maximum baseline length for L1 & L2 AR 20 V_PCV Absolute / relative PCV model I14 V_SATINF Satellite information file SATELLIT V_PCVINF PCV information file PCV_Bxx V_SATCRX Satellite problem file SAT_$Y +0 V_RECINF Receiver characterization file RECEIVER . V_BLQINF BLQ FILE NAME , CMC CORRECTIONS EXAMPLE V_ATLINF ATL FILE NAME , CMC CORRECTIONS EXAMPLE V_HOIFIL Ionosphere model COD$YD +0 # # DO NOT USE V_D , V_J , V_M , V_Y VARIABLES ! # ( they are used already by the menu ) #
Bernese GNSS Software, Version 5.2
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5 Terminal Session: Wednesday In the Bernese Introductory Course environment the TUTORIAL.PCF BPE can be started for one session (e.g., day 207 of year 2010) using 'Menu>BPE>Start BPE processing':
If you follow the tutorial outside from the environment of the Bernese Introductory Course you can select RNX2SNX in option “Process control file” and skip all scripts apart from PID 401 SATMRK and the range from PID 431 GNSQIFAP to PID 442 GNSL12_P (option “Skip scripts” ).
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5.3 Ambiguity Resolution
Run the BPE for the current session. If the BPE stops with an error you can inspect the files ARyyddd0_...PRT and ARyyddd0_...LOG belonging to your current session. They are located in the BPE directory of your campaign. These files notice for instance if an input file is missing. This might be the case if you did not follow the naming convention proposed in the tutorial. In that case you have to copy the file from your naming to the expected one.
5.3.4 Ambiguity Resolution: Summary
For each observation file a corresponding program output file is generated. Using the program GPSXTR ('Menu>Processing>Program output extraction>Parameter estimation/stacking') you can generate a summary of the ambiguity resolution for all baselines of the session:
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5 Terminal Session: Wednesday All program output files related to the QIF ambiguity resolution method have been specified with program output filenames fitting in the shape ${P}/INTRO/OUT/????$S+0_Q.OUT and can, therefore, easily be selected in the input field “GPSEST/ADDNEQ output files” .
The program issues a warning message because only for a global network the evaluation of the ambiguity resolution statistics allow to assess the orbit quality: ### SR EXTAMB : ORBIT ACCURACY NOT ESTIMATED
This summary (${P}/INTRO/OUT/QIF10207.SUM) reports among others how many ambiguities are resolved for each baseline1 : File
Length Before After Res Sys ( km ) # Amb ( mm ) # Amb ( mm ) (%) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... GAJO2070 GANP JOZ2 344.407 102 1.1 24 1.1 76.5 G ... GAJO2070 GANP JOZ2 344.407 90 1.1 38 1.1 57.8 R ... GAJO2070 GANP JOZ2 344.407 192 1.1 62 1.1 67.7 GR ... HEZI2070 HERT ZIM2 685.151 120 1.1 46 1.1 61.7 G ... HEZI2070 HERT ZIM2 685.151 98 1.1 64 1.1 34.7 R ... HEZI2070 HERT ZIM2 685.151 218 1.1 110 1.1 49.5 GR ... JOLA2070 JOZ2 LAMA 201.183 118 1.0 36 1.0 69.5 G ... JOLA2070 JOZ2 LAMA 201.183 96 1.0 38 1.0 60.4 R ... JOLA2070 JOZ2 LAMA 201.183 214 1.0 74 1.0 65.4 GR ... JOON2070 JOZ2 ONSA 829.775 136 1.0 58 1.1 57.4 G ... JOON2070 JOZ2 ONSA 829.775 104 1.0 68 1.1 34.6 R ... JOON2070 JOZ2 ONSA 829.775 240 1.0 126 1.1 47.5 GR ... JOWS2070 JOZ2 WSRT 981.243 106 1.1 32 1.1 69.8 G ... JOWT2070 JOZ2 WTZR 663.182 104 1.4 28 1.5 73.1 G ... JOWT2070 JOZ2 WTZR 663.182 98 1.4 50 1.5 49.0 R ... JOWT2070 JOZ2 WTZR 663.182 202 1.4 78 1.5 61.4 GR ... MAZI2070 MATE ZIM2 1013.811 122 1.2 54 1.3 55.7 G ... MAZI2070 MATE ZIM2 1013.811 94 1.2 60 1.3 36.2 R ... MAZI2070 MATE ZIM2 1013.811 216 1.2 114 1.3 47.2 GR ... PTZI2070 PTBB ZIM2 640.077 114 1.3 26 1.4 77.2 G ... TLZI2070 TLSE ZIM2 596.848 120 1.3 20 1.3 83.3 G ... TLZI2070 TLSE ZIM2 596.848 90 1.3 58 1.3 35.6 R ... TLZI2070 TLSE ZIM2 596.848 210 1.3 78 1.3 62.9 GR ... WTZI2070 WTZR ZIM2 475.909 116 1.5 44 1.5 62.1 G ... WTZI2070 WTZR ZIM2 475.909 92 1.5 56 1.5 39.1 R ... WTZI2070 WTZR ZIM2 475.909 208 1.5 100 1.5 51.9 GR ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... Tot : 10 643.159 1158 1.2 368 1.3 68.2 G ... Tot : 8 601.283 762 1.2 432 1.3 43.3 R ... Tot : 10 643.159 1920 1.2 800 1.3 58.3 GR ...
1
Sta1 Sta2
# AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF # AR_QIF
You may check the impact of introducing the ionosphere model (COD$YD+0 in “Ionosphere models” of panel “GPSEST 1.1: Input Files 1” ) by cleaning this input field. Repeat the ambiguity resolution (without saving the resolved ambiguities into the observation file: unmark option “Save resolved ambiguities” in panel “GPSEST 3.2: General Options 2” ) and compare the a posteriori RMS and the number of resolved ambiguities.
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5.4 Daily Goals An analogue statistics can be produced for the short baseline ambiguity resolution. Exchange the entry for the input file selection (“GPSEST/ADDNEQ output files” ) to catch all files of the shape ${P}/INTRO/OUT/????$S+0_1.OUT. It is recommended to change also the name of the resulting summary (“Ambiguity res. summary” ) and the identification string in the summary (e.g., L12 for “Ambiguity resolution: #AR_ID” ) in panel “GPSXTR 2: Output Files” . File
Sta1 Sta2
Length Before After Res Sys ( km ) # Amb ( mm ) # Amb ( mm ) (%) ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... WTWZ2070 WTZR WTZZ 0.002 108 1.2 16 1.3 85.2 G ... WTWZ2070 WTZR WTZZ 0.002 94 1.2 20 1.3 78.7 R ... WTWZ2070 WTZR WTZZ 0.002 202 1.2 36 1.3 82.2 GR ... ZIZM2070 ZIM2 ZIMM 0.019 108 1.1 2 1.1 98.1 G ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -... Tot : 2 0.010 216 1.2 18 1.2 91.7 G ... Tot : 1 0.002 94 1.2 20 1.3 78.7 R ... Tot : 2 0.010 310 1.2 38 1.2 87.7 GR ...
# AR_L12 # AR_L12 # AR_L12 # AR_L12 # AR_L12 # AR_L12 # AR_L12
The solutions from the BPE are identical to the two manually processed solutions. You can compare the following two files in ${P}/INTRO/OUT for each strategy (e.g., with tkdiff): Filenames from Manual processing processed by the BPE Strategy: QIF: GAJO207Q.OUT GAJO2070_Q.OUT Strategy: direct L1 /L2 : WTWZ2071.OUT WTWZ2070_1.OUT If you compare the number of ambiguity parameters in the GPSEST program output with the number of ambiguities in the GPSXTR summary files, the number of reference ambiguities that need to be kept unresolved are considered.
5.4 Daily Goals At the end of today’s session, you should have: 1. used GPSEST for residual screening, created files: EDT10207. OUT , EDT10207. RES in your campaign’s OUT directory, 2. screened the residual files from the above run using RESRMS: created files RMS10207. SUM , RMS10207. LST , RMS10207. EDT , and RMS10207. OUT , 3. used SATMRK to mark the identified outliers, 4. used GPSEST for a first coordinate and troposphere estimation, created files: FLT10207. CRD and FLT10207. TRP , 5. used GPSEST for QIF ambiguity resolution, created files: GAJO207Q. OUT , 6. used GPSEST for direct SIGMA ambiguity resolution, created files: WTWZ2071. OUT , 7. apply the ambiguity resolution to all baselines running a BPE, 8. used GPSXTR to create a summary of the ambiguity resolution, created file: QIF10207. SUM
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Proposal for Further Activities Even if it is not needed for the processing progress of the regional network you may use some time in this terminal session to have a look into the examples for “Epoch Parameter Processing” (sections 7.3 for Kinematic Positioning and 7.4 for Zero Difference Processing for Clock Estimation). This section also provides also some instructions on other topic, e.g., the usage of RINEX 3 observation files in Section 7.5 . Note that some panels assume the availability of the final solution for regional network processing (FIN$YD+0) that will be generated in the terminal session of tomorrow only. You may replace these files by the results from the first network solution before the ambiguity resolution (FLT$YD+0) for this exercise.
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6 Terminal Session: Thursday Finish the work of yesterday by resolving the ambiguities for all baselines (day 207 year 2010). Today’s terminal session is to: 1. compute a final network solution of the day (GPSEST), 2. check the coordinates of the fiducial sites (ADDNEQ2, HELMR1), 3. check the daily repeatability (COMPAR), 4. recompute final solution and generate reduced size normal equation files (ADDNEQ2), 5. compute velocities (ADDNEQ2), for the current session. Compare the final coordinate results of the daily solutions (which are already processed and availalble).
6.1 Final Network Solution The resolved ambiguities may be introduced from the Bernese observation files into the final network solution. To start the program GPSEST in the session mode you have to select all single difference files of the corresponding session. In panel “GPSEST 1.1: Input Files 1” :
If the grid files for the coefficients of the VMF1 are available (downloaded from http://ggosatm.hg.tuwien.ac.at/DELAY/GRID/VMFG/ and the five grid files of the day are concatenated), we can introduce them into panel “GPSEST 1.1: Input Files 1” .
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6 Terminal Session: Thursday We do not introduce “Troposphere estimates” anymore from the previous solutions.
In panel “GPSEST 2.1: Output Files 1” we request the normal equation file as the only output file.
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6.1 Final Network Solution For the final run of GPSEST we consider the correlations between the observations correctly:
If the VMF1 grid files are available we can switch now from DRY_GMF to DRY_VMF to use the VMF1 instead of the Global Mapping Function (GMF). In the Bernese Introductory Course environment these files are available. Remember that you need to specify the grid files with the coefficients in the input field “Gridded VMF1 coefficients” in panel “GPSEST 1.1: Input Files 1” . Ambiguities which have been resolved in the previous runs of program GPSEST are introduced as known.
The checkbox in option “Stop program after NEQ saving” reduces the task of GPSEST to setting up the NEQ but not solving it. In particular in case of bigger networks this may save a lot of computing time because the solution for the session will be computed later on by ADDNEQ2 anyhow.
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday Since this is the final run of GPSEST, it is worthwhile to add some additional information about the observation files into the program output. This is useful if you archive the program output of this run together with the observation files and the resulting normal equation files.
We do not fix any stations on their a priori position, i.e., the coordinates of all stations will be estimated. This retains the flexibility for later changes in the realization of the reference frame (station constraints) with program ADDNEQ2. Because no solution in GPSEST is computed you can select here all types of datum definition apart from “Coordinates fixed” (the normal equations are always stored without any constraints):
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6.1 Final Network Solution The unresolved ambiguities are pre–eliminated. In addition we may setup additional parameters of interest.
The selection of the mapping function has to be consistent with the selection of the troposphere model in “ZPD model and mapping function (GNSS)” in panel “GPSEST 3.2: General Options 2” .
The output of the GPSEST contains only the input parameter and ends with the parameter statistics: 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES AMBIGUITIES SITE - SPECIFIC TROPOSPHERE PARAMETERS
39 673 377
0 673 0
( BEFORE INV )
39 785 377
... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 1089 673 1201 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
Bernese GNSS Software, Version 5.2
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NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE
L3
ALL
73602
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 73602 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... SOLUTION SKIPPED ...
---------------------------------------------------------------->>> CPU / Real time for pgm ' GPSEST ': 0:00:47.682 / 0:00:47.7 52 >>> Program finished successfully
After running GPSEST in session mode the normal equation file FIX10207.NQ0 should be available in the directory ${P}/INTRO/SOL In the environment of the Bernese Introductory Course these files are provided in the archive ${S}/RNX2SNX/2010/SOL/ and ${S}/RNX2SNX/2011/SOL/ respectively. Copy the files of the additional three days into your campaign. Following files should be now available in the directory ${P}/INTRO/SOL
FIX10207.NQ0, FIX11205.NQ0,
FIX10208.NQ0, FIX11206.NQ0.
and
6.2 Check the Coordinates of the Fiducial Sites To check the consistency of our network solution with respect to the coordinates available in the IGS14 reference frame we generate a minimum constraint solution for the network using program ADDNEQ2 ('Menu>Processing>Combine normal equation systems') with the following options:
No further input files in the next panel are needed.
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6.2 Check the Coordinates of the Fiducial Sites
A troposphere SINEX file may be generated in this solution by adding an output filename to the “Troposphere estimates (SINEX)” input field in panel “ADDNEQ2 2.1: Output Files 1” .
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday In the following three panels, all parameter types supported by ADDNEQ2 are listed. You may specify whether a parameter shall be pre-eliminated or not. An empty entry means that the parameter is not expected in the input NEQ files. Please note that an automated preselection is not possible for technical reasons. If a parameter with an empty input field is detected in the input NEQ files, the program will stop with an error. In the opposite case, a warning message is issued.
For the validation of the datum stations we choose the “Minimum constraint solution” . Because it is a regional network, we only apply the no–translation condition. The other conditions are sufficiently defined by the satellite orbits.
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6.2 Check the Coordinates of the Fiducial Sites The following panel allows to change the parameter spacing. We do not need this feature at the moment and leave, therefore, all input fields empty.
The relative constraints applied to the vertical troposphere and gradient parameters are so loose that they do not affect the solution. As in GPSEST, they simply prevent a format overflow in the output troposphere file in case of very weakly observed parameters due to gaps in the observation scenario.
The ADDNEQ2 program output starts with some information about the parameters contained in the input NQ0 file(s). The input options for the program run follow. An important part is the statistics for the current ADDNEQ2 solution: ... SUMMARY OF RESULTS -----------------Number of parameters : -------------------Parameter type Adjusted explicitly / implicitly ------------------------------------------------------------------------------Station coordinates / velocities 39 39 0 Site - specific troposphere parameters 377 377 0 ------------------------------------------------------------------------------Previously pre - eliminated parameters 656 656 ------------------------------------------------------------------------------Total number 1072 416 656 ...
Bernese GNSS Software, Version 5.2
.. Deleted ... .. ------- ... 0 ... 0 ... .. ------- ... .. ------- ... 0
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... Statistics : ---------Total number of authentic observations Total number of pseudo - observations
73602 341
Total number of explicit parameters Total number of implicit parameters
416 656
Total number of observations Total number of adjusted parameters Degree of freedom ( DOF )
73943 1072 72871
A posteriori RMS of unit weight Chi **2/ DOF Total number of observation files Total number of stations Total number of satellites ...
0.00115 m 1.32 12 13 0
Below this part the program output reports the results of the parameter estimation in a standardized format for all parameter types: ... Station coordinates and velocities : ---------------------------------Sol Station name Typ Correction Estimated value RMS error A priori value ------------------------------------------------------------------------------------1 GANP 11515 M001 X -0.00246 3929181.41903 0.00050 3929181. 42149 1 GANP 11515 M001 Y -0.00001 1455236.82073 0.00024 1455236. 82074 1 GANP 11515 M001 Z -0.00240 4793653.94773 0.00059 4793653. 95013 1 HERT 13212 M010 X -0.00135 4033460.84830 0.00058 4033460. 84965 1 HERT 13212 M010 Y -0.00158 23537.88819 0.00020 23537.8897 7 1 HERT 13212 M010 Z 0.00045 4924318.31497 0.00062 4924318.3 1452 1 JOZ2 12204 M002 X -0.00418 3664880.47678 0.00051 3664880. 48096 1 JOZ2 12204 M002 Y -0.00372 1409190.67690 0.00025 1409190. 68062 1 JOZ2 12204 M002 Z -0.00019 5009618.53001 0.00063 5009618. 53020 1 LAMA 12209 M001 X -0.00759 3524522.82514 0.00055 3524522. 83273 ...
... ... ... ... ... ... ... ... ... ... ... ...
Abb ---# CRD # CRD # CRD # CRD # CRD # CRD # CRD # CRD # CRD # CRD
... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...
Abb --# TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP # TRP
Site - specific troposphere parameters : -----------------------------------Station name Typ Correction Estimated value RMS error A priori value ------------------------------------------------------------------------------------GANP 11515 M001 N -0.00035 -0.00035 0.00007 0.00000 GANP 11515 M001 E 0.00011 0.00011 0.00009 0.00000 GANP 11515 M001 U 0.13553 2.24964 0.00135 2.11411 GANP 11515 M001 U 0.13073 2.24507 0.00101 2.11433 GANP 11515 M001 U 0.13286 2.24742 0.00095 2.11456 GANP 11515 M001 U 0.13901 2.25379 0.00097 2.11478 GANP 11515 M001 U 0.13493 2.24993 0.00085 2.11500 GANP 11515 M001 U 0.13519 2.25041 0.00098 2.11522 GANP 11515 M001 U 0.13060 2.24604 0.00095 2.11544 GANP 11515 M001 U 0.13367 2.24951 0.00082 2.11584 GANP 11515 M001 U 0.13178 2.24801 0.00089 2.11623 GANP 11515 M001 U 0.13341 2.25003 0.00085 2.11662 GANP 11515 M001 U 0.13276 2.24977 0.00083 2.11701 GANP 11515 M001 U 0.13687 2.25427 0.00083 2.11740 GANP 11515 M001 U 0.14007 2.25786 0.00077 2.11779 GANP 11515 M001 U 0.14164 2.25973 0.00086 2.11809 GANP 11515 M001 U 0.13776 2.25614 0.00104 2.11838 GANP 11515 M001 U 0.13772 2.25639 0.00096 2.11867 GANP 11515 M001 U 0.13297 2.25194 0.00101 2.11897 GANP 11515 M001 U 0.13823 2.25749 0.00091 2.11926 GANP 11515 M001 U 0.13867 2.25822 0.00088 2.11955 GANP 11515 M001 U 0.13921 2.25881 0.00088 2.11960 GANP 11515 M001 U 0.13899 2.25864 0.00101 2.11965 GANP 11515 M001 U 0.13434 2.25403 0.00102 2.11970 GANP 11515 M001 U 0.14064 2.26039 0.00094 2.11975 GANP 11515 M001 U 0.14075 2.26055 0.00107 2.11980 GANP 11515 M001 N 0.00019 0.00019 0.00007 0.00000 GANP 11515 M001 E 0.00080 0.00080 0.00009 0.00000 GANP 11515 M001 U 0.13904 2.25888 0.00140 2.11985 HERT 13212 M010 N -0.00105 -0.00105 0.00007 0.00000 HERT 13212 M010 E -0.00216 -0.00216 0.00010 0.00000 HERT 13212 M010 U 0.20436 2.50827 0.00162 2.30390 ...
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6.2 Check the Coordinates of the Fiducial Sites The coordinate solution for the session (${P}/INTRO/STA/FIN10207.CRD) may be compared with the a priori coordinates for the IGS core sites. The program HELMR1 ('Menu >Service>Coordinate tools>Helmert transformation') is used for this purpose:
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday For our example we get the following output. The M–flag for some stations indicates that they are not used to compute the transformation parameters. For these sites, only the residuals are printed to the program output. Bernese GNSS Software , Version 5.2 ------------------------------------------------------------------------------Program : HELMR1 Purpose : Helmert Transformation ------------------------------------------------------------------------------Campaign : $ { P }/ INTRO Default session : 2070 year 2010 Date : 28 - Aug -2017 15:43:08 User name : bern52
EXAMPLE : Session 102070: Check fiducial coordinates -------------------------------------------------------------------------------
FILE 1: EXAMPLE . CRD : IGS14 : coordinate list FILE 2: FIN10207 . CRD : EXAMPLE : Session 102070: Final coord inate / troposphere res LOCAL GEODETIC DATUM : IGS14 RESIDUALS IN LOCAL SYSTEM ( NORTH , EAST , UP )
--------------------------------------------------------------------| NUM | NAME | FLG | RESIDUALS IN MILLIMETERS | | --------------------------------------------------------------------| | | | | | | 75 | GANP 11515 M001 | I W | -0.24 -0.40 3.40 | | | 92 | HERT 13212 M010 | I W | -1.50 1.34 0.71 | | | 107 | JOZ2 12204 M002 | P A | -3.44 2.98 3.26 | M | | 122 | LAMA 12209 M001 | P A | -4.14 1.30 7.27 | M | | 136 | MATE 12734 M008 | I W | 3.61 1.02 -1.72 | | | 176 | ONSA 10402 M004 | I W | -0.75 -0.15 -0.64 | | | 192 | PTBB 14234 M001 | P A | -3.95 3.14 7.02 | M | | 236 | TLSE 10003 M009 | I W | 2.83 -3.44 -0.06 | | | 262 | WSRT 13506 M005 | I W | -0.72 -0.05 0.56 | | | 263 | WTZR 14201 M010 | I W | 0.52 1.41 -1.24 | | | 264 | WTZZ 14201 M014 | P A | -2.77 3.46 1.50 | M | | 276 | ZIM2 14001 M008 | I W | -4.38 -1.23 -1.83 | | | 278 | ZIMM 14001 M004 | I W | 0.64 1.49 0.82 | | | | | | | | --------------------------------------------------------------------| | RMS / COMPONENT | | 2.35 1.60 1.63 | | | | MEAN | | 0.00 -0.00 -0.00 | | | | MIN | | -4.38 -3.44 -1.83 | | | | MAX | | 3.61 1.49 3.40 | | ---------------------------------------------------------------------
NUMBER OF PARAMETERS : NUMBER OF COORDINATES : RMS OF TRANSFORMATION :
3 27 1.89 MM
BARYCENTER COORDINATES : LATITUDE LONGITUDE HEIGHT
: : :
48 45 56.82 9 29 24.71 -37.545 KM
PARAMETERS : TRANSLATION IN TRANSLATION IN TRANSLATION IN
N E U
NUMBER OF ITERATIONS
: : :
:
0.02 0.03 0.00
+++-
0.63 0.63 0.63
MM MM MM
1
NO OUTLIER DETECTED
---------------------------------------------------------------->>> CPU / Real time for pgm ' HELMR1 ': 0:00:00.076 / 0:00:00.0 75 >>> Program finished successfully
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6.3 Check the Daily Repeatability We can conclude that no problems concerning the stations used for the datum definition were detected. If there were problems, the ADDNEQ2 run needs to be repeated with the problematic station either removed from the file ${P}/INTRO/STA/IGS14.FIX or with manual selection of the stations used for the datum definition in panel “ADDNEQ2 5.1: Datum Definition for Station Coordinates” . In order to check the repeatability of the coordinate solutions for all 4 days, repeat the above steps for the remaining three days.
6.3 Check the Daily Repeatability If the minimum constraint solutions of the four sessions are available, the repeatability of the coordinate solutions may be checked using the program COMPAR ('Menu>Service >Coordinate tools>Coordinate comparison').
Bernese GNSS Software, Version 5.2
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6 Terminal Session: Thursday The program computes the arithmetic mean for all station coordinates. The difference of each individual coordinate set to this mean value and the overall RMS are reported in the following section of the program output: NUM STATION # FIL C RMS 1 2 3 4 ----------------------------------------------------------75
GANP 11515 M001
4
N E U
8.45 -6.81 -7.81 7.08 7.54 11.66 -10.03 -10.16 10.68 9.50 2.76 1.58 2.51 -0.36 -3.73
92
HERT 13212 M010
4
N E U
107
JOZ2 12204 M002
4
N E U
8.11 -6.91 -7.13 7.26 6.78 12.66 -10.52 -11.40 11.18 10.75 4.40 2.98 4.55 -3.45 -4.08
122
LAMA 12209 M001
4
N E U
8.42 -7.37 -7.19 6.66 7.91 11.99 -10.50 -10.27 10.37 10.40 3.05 3.42 1.25 -0.97 -3.70
136
MATE 12734 M008
4
N E U
11.57 -10.24 -9.76 10.86 9.15 14.02 -11.97 -12.31 11.85 12.43 1.58 -0.11 -0.02 1.99 -1.86
176
ONSA 10402 M004
4
N E U
8.22 10.44 3.88
-7.14 -7.08 -8.76 -9.31 -2.34 -3.91
6.50 8.61 4.70
192
PTBB 14234 M001
4
N E U
8.91 11.57 1.11
-6.90 -8.50 -9.92 -10.12 -1.66 0.43
7.82 7.58 9.75 10.29 0.48 0.74
236
TLSE 10003 M009
4
N E U
9.13 -8.60 -7.18 11.50 -10.17 -9.73 2.14 -0.50 -2.65
7.67 8.11 9.66 10.24 0.69 2.46
262
WSRT 13506 M005
4
N E U
9.56 10.00 2.26
263
WTZR 14201 M010
4
N E U
8.93 -7.86 -7.60 7.59 7.87 11.55 -10.20 -9.79 9.64 10.35 2.42 0.47 2.96 -0.56 -2.88
264
WTZZ 14201 M014
4
N E U
8.32 -7.24 -7.17 6.97 7.44 13.21 -11.43 -11.44 10.98 11.89 1.59 -1.97 1.18 1.40 -0.60
276
ZIM2 14001 M008
4
N E U
9.33 11.58 0.86
-8.01 -8.14 -9.93 -10.13 -1.16 -0.04
278
ZIMM 14001 M004
4
N E U
9.46 11.09 0.53
-8.26 -8.11 8.41 7.96 -9.63 -9.57 9.73 9.47 0.70 0.11 -0.30 -0.51
8.70 9.56 3.39
-7.38 -7.69 7.61 -8.75 -7.79 8.07 -2.48 -0.29 -2.11
-8.18 -8.37 8.64 -8.35 -8.95 8.37 2.45 -0.43 -2.89
7.46 8.47 4.88
7.72 9.46 1.54
7.90 8.94 0.87
7.68 8.47 9.93 10.13 0.34 0.86
-----------------------------------------------------------
While interpreting this output, keep in mind that the first two columns and the last two columns refer to different epochs (see warning message). The difference between these epochs is about one year. Obviously, station velocities need to be estimated (this will be done in the next step described in Section 6.5).
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6.4 Compute the Reduced Solution of the Sessions If reliable velocities for all stations are available they can be introduced:
You may check the influence on the repeatability on your own. Please be reminded, that for the ITRF2014 (IGS14) reference frame the linear station velocities are not sufficient. You may see the effect of the PSD corrections in the repeatablity. This is not the case for this example because none of the stations is affected by an earthquake and, therefore, no PSD corrections have to be considered. This output may be used for quality assessment. Stations with a problem in one or more sessions can be identified and excluded from the final ADDNEQ2 solution by adding them to section TYPE 003: STATION PROBLEMS in the station information file (${P}/INTRO/STA/EXAMPLE.STA). All parameters of these stations will be pre–eliminated before the normal equations are stacked and, therefore, also before the solution is computed.
6.4 Compute the Reduced Solution of the Sessions If one or more stations have to be excluded from the session solution or if the datum definition of the solution is still not acceptable, the final solution of the session has to be re–computed by repeating the ADDNEQ2 in Section 6.2. Finally, the result files for the final solution of the session are: ${P}/INTRO/SOL/FIN$YD+0.NQ0, ${P}/INTRO/STA/FIN$YD+0.CRD, and ${P}/INTRO/ATM/FIN$YD+0.TRP. It is preferable for the velocity estimation to have smaller normal equation files containing only the coordinate parameters for each session. In addition, we generate a coordinate Solution INdependent EXchange format (SINEX) file (in NEQ representation) as the final solution of the day, so the troposphere parameters have to be pre–eliminated before the solution is computed. We introduce the station coordinates (${P}/INTRO/STA/FIN$YD+ 0.CRD) obtained with the minimum constraint solution in the previous run of ADDNEQ2 and constrain the solution to these coordinates. To generate these reduced NQ0 files and the SINEX file, the execution of ADDNEQ2 has to be repeated with the following changes in the input options:
Bernese GNSS Software, Version 5.2
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Please note that the output SINEX file includes a skeleton from ${X}/GEN/SINEX. RNX2SNX . We propose to derive individual SINEX skeletons for different tasks that you can include a specific description how the product has been generated. The skeleton is provided in the input field “SINEX general input file” in panel “ADDNEQ2 1.3: General Files” .
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6.4 Compute the Reduced Solution of the Sessions
Because you are storing a SINEX file in NEQ representation (see option “Content of SINEX” ) no regularization is necessary.
The troposphere parameters are pre–eliminated:
To keep the a priori and estimated sets of coordinates in the resulting SINEX file consistent, we introduce the coordinate solution of the session in “Station coordinates” in “ADDNEQ2 1.1: Input Files 1” and constrain all coordinate parameters to these values.
Bernese GNSS Software, Version 5.2
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The normal equation file (${P}/INTRO/SOL/RED10207.NQ0) contains only the station coordinate parameters. The following section of the program output documents the pre– elimination of the troposphere parameters: ... SUMMARY OF RESULTS -----------------Number of parameters : -------------------Parameter type Adjusted explicitly / implicitly ( pre - elimi -----------------------------------------------------------------------------------------Station coordinates / velocities 39 39 0 Site - specific troposphere parameters 377 0 377 ( before st -----------------------------------------------------------------------------------------Previously pre - eliminated parameters 656 656 -----------------------------------------------------------------------------------------Total number 1072 39 1033 ...
... ... ... ... ... ... ...
... Statistics : ---------Total number of authentic observations Total number of pseudo - observations
73602 377
Total number of explicit parameters Total number of implicit parameters
39 1033
Total number of observations Total number of adjusted parameters Degree of freedom ( DOF )
73979 1072 72907
A posteriori RMS of unit weight Chi **2/ DOF Total number of observation files Total number of stations Total number of satellites ...
0.00115 m 1.32 12 13 0
You can also see that the number of explicit parameters in the NQ0 file was dramatically reduced (from 416 to 39). This is an advantage for the combination of a big number of normal equation files for the estimation of station velocities.
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6.5 Velocity Estimation
6.5 Velocity Estimation
6.5.1 Preparation for ITRF2014/IGS14 Velocity Estimation
This section can be skipped if no ITRF2014/IGS14 reference frame is used as geodetic datum.
Because of the PSD corrections the linear station velocity must not represent the actual station velocity one has to prepare the station coordinate and velocity files before they can be used for the datum defintion in the program ADDNEQ2. We have to compute the station coordinates at the reference epoch using the program COOVEL ('Menu>Service >Coordinate tools>Extrapolate coordinates'):
In our example none of the stations that shall be used for the datum definition is related to the PSD corrections. So, you can continue here. If you have another station selection where the PSD corrections become relevant we refer to Section 7.1 for further instructions.
Bernese GNSS Software, Version 5.2
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6.5.2 Velocity Estimation Based on NEQ Files
The velocity estimation in program ADDNEQ2 is easy. Introduce the normal equation files containing only the station coordinate parameters. Copy the prepared files for the three additional days (208 year 2010, 205 and 206 year 2011) from ${S}/RNX2SNX/2010/ SOL/RED10*NQ0 and ${S}/RNX2SNX/2011/SOL/RED11*NQ0 into ${P}/INTRO/SOL/ directory. The normal equation files have to cover a reasonable time interval to reliably estimate velocities (in this case one year):
Station velocities are set up by marking the checkbox:
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6.5 Velocity Estimation Furthermore, we check the repeatability of the daily solutions after the velocity estimation. The coordinates in the resulting file will refer to the epoch 2010 01 01. The input NEQ files do only contain coordinates:
The realization of the geodetic datum is done for positions and velocities separately in the following panels:
Bernese GNSS Software, Version 5.2
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The following panel provides options to detect bad daily solutions based on the repeatability:
After the velocity estimation the repeatability of the coordinate solutions from the individual normal equations look like: ... Statistics of individual solutions : ---------------------------------# Observations # Parameters File RMS ( m ) DOF Chi **2/ DOF authentic / pseudo explicit / imp licit / singular --------------------------------------------------------------------------------------------1 0.00115 72874 1.32 73940 6 39 1033 0 2 0.00121 72878 1.46 73861 6 39 950 0 3 0.00123 75378 1.50 76336 6 39 925 0 4 0.00122 75405 1.48 76421 6 39 983 0
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6.5 Velocity Estimation
Comparison of individual solutions : ---------------------------------GANP 11515 M001 GANP 11515 M001 GANP 11515 M001
N E U
0.40 0.53 1.24
0.45 0.03 -0.25
-0.46 -0.01 0.32
-0.22 0.66 1.58
0.17 -0.65 -1.40
HERT 13212 M010 HERT 13212 M010 HERT 13212 M010
N E U
0.12 0.41 3.10
0.08 -0.48 -0.91
-0.10 0.45 0.91
0.11 -0.20 -3.65
-0.13 0.17 3.71
JOZ2 12204 M002 JOZ2 12204 M002 JOZ2 12204 M002
N E U
0.24 0.40 0.51
0.06 0.41 -0.60
-0.05 -0.39 0.63
0.28 0.28 0.11
-0.30 -0.28 -0.11
LAMA 12209 M001 LAMA 12209 M001 LAMA 12209 M001
N E U
0.48 0.14 1.40
-0.14 -0.16 1.27
0.16 0.16 -1.23
-0.57 0.05 1.15
0.58 -0.04 -1.18
MATE 12734 M008 MATE 12734 M008 MATE 12734 M008
N E U
0.74 0.22 1.42
-0.25 0.15 0.12
0.25 -0.15 -0.17
0.87 -0.23 1.80
-0.87 0.22 -1.67
ONSA 10402 M004 ONSA 10402 M004 ONSA 10402 M004
N E U
0.45 0.37 1.39
-0.09 0.25 0.98
0.13 -0.24 -0.96
-0.53 -0.37 1.40
0.55 0.39 -1.40
PTBB 14234 M001 PTBB 14234 M001 PTBB 14234 M001
N E U
0.62 0.20 0.75
0.73 0.09 -0.87
-0.76 -0.09 0.85
0.17 -0.22 -0.35
-0.16 0.23 0.29
TLSE 10003 M009 TLSE 10003 M009 TLSE 10003 M009
N E U
0.63 0.27 1.36
-0.77 -0.22 1.31
0.72 0.18 -1.25
-0.21 -0.28 -1.08
0.19 0.26 1.07
WSRT 13506 M005 WSRT 13506 M005 WSRT 13506 M005
N E U
0.35 0.32 2.15
0.04 0.30 1.65
-0.02 -0.29 -1.59
0.46 -0.24 -2.20
-0.39 0.28 1.95
WTZR 14201 M010 WTZR 14201 M010 WTZR 14201 M010
N E U
0.16 0.31 1.17
-0.18 -0.23 -1.09
0.17 0.22 1.03
-0.09 -0.32 1.01
0.10 0.30 -0.92
WTZZ 14201 M014 WTZZ 14201 M014 WTZZ 14201 M014
N E U
0.18 0.33 1.31
-0.08 -0.01 -1.42
0.08 0.01 1.36
-0.19 -0.40 0.80
0.21 0.40 -0.81
ZIM2 14001 M008 ZIM2 14001 M008 ZIM2 14001 M008
N E U
0.29 0.10 0.48
0.03 0.11 -0.38
-0.02 -0.09 0.35
-0.36 -0.07 -0.50
0.36 0.06 0.40
ZIMM 14001 M004 ZIMM 14001 M004 ZIMM 14001 M004
N E U
0.23 0.14 0.40
-0.12 -0.03 0.47
0.11 0.03 -0.50
0.25 0.14 -0.10
-0.27 -0.19 0.09
Variance - covariance scaling factors : ----------------------------------Parameter type Component Scaling factor wrt RMS / variance DOF ---------------------------------------------------------------------------------------------Station coordinates N 1.39976 1.95932 52 Station coordinates E 1.31297 1.72389 52 Station coordinates U / vertical 1.49414 2.23244 52 Station coordinates Horizontal 1.35706 1.84160 104 Station coordinates All 1.40424 1.97188 156 ---------------------------------------------------------------------------------------------Total 1.40424 1.97188 156 ...
Below this table, bad daily solutions according to the settings in panel “ADDNEQ2 7: Comparison of Individual Solutions” are summarized (if there are any). In this example we have no additional section and, therefore, no outliers. If you compare the velocities obtained for the two sites in Kötzting (WTZR and WTZZ) and Zimmerwald (ZIM2 and ZIMM) you will find small differences:
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...
Stati Station coordinates and velocities : ---------------------------------Reference epoch : 2010 -01 -01 00:00:00 Station name Typ A priori value Estimated value Correction RMS error ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ... WTZR 14201 M010 VX -0.01629 -0.01820 -0.00191 0.00050 VY 0.01714 0.01648 -0.00066 0.00021 VZ 0.00986 0.00751 -0.00235 0.00055
... WTZZ 14201 M014
... ... ZIM2 14001 M008
... ZIMM 14001 M004
VU VN VE
-0.00043 0.01557 0.02034
-0.00352 0.01555 0.02012
-0.00309 -0.00002 -0.00022
0.00071 ... 0.00022 ... 0.00018 ...
VX VY VZ
-0.01629 0.01714 0.00986
-0.01531 0.02011 0.01007
0.00098 0.00297 0.00021
VU VN VE
-0.00043 0.01557 0.02034
0.00078 0.01449 0.02301
0.00121 -0.00109 0.00267
VX VY VZ
-0.01393 0.01809 0.01169
-0.01354 0.01860 0.01202
0.00039 0.00051 0.00033
VU VN VE
0.00070 0.01636 0.01975
0.00125 0.01625 0.02020
0.00055 -0.00011 0.00045
0.00069 ... 0.00022 ... 0.00018 ...
VX VY VZ
-0.01393 0.01809 0.01169
-0.01499 0.01755 0.01067
-0.00106 -0.00054 -0.00102
0.00084 0.00028 0.00081
VU VN VE
0.00070 0.01636 0.01975
-0.00081 0.01648 0.01935
-0.00151 0.00013 -0.00040
0.00113 ... 0.00034 ... 0.00026 ...
0.00054 0.00023 0.00059 0.00077 ... 0.00024 ... 0.00020 ...
0.00050 0.00019 0.00052
...
You can constrain the velocity estimates for the pairs of receivers at one location in the station information file. Copy the original station information file ${P}/INTRO/STA/EXAMPLE. STA and add the following lines to part TYPE 004: STATION COORDINATES AND VELOCITIES (ADDNEQ) of this copy. TYPE 004: STATION COORDINATES AND VELOCITIES ( ADDNEQ ) ----------------------------------------------------REL . CONSTR . POSITION STATION NAME 1 STATION NAME 2 ... EAST UP **************** **************** ... **.***** **.***** WTZR 14201 M010 WTZZ 14201 M014 ... ZIM2 14001 M008 ZIMM 14001 M004 ...
(Pay attention starts.)
to
the
number
of
blank
lines
RELATIVE CONSTR . VELOCITY NORTH EAST UP **.***** **.***** **.***** 0.00001 0.00001 0.00001 0.00001 0.00001 0.00001
before
the
next
section
When introducing this information, the program ADDNEQ2 will issue the following message: ### SR AOPTNET : You are going to use relative constraints for station coordinates / velocities from station info file . Please keep in mind that you will NOT constrain the estimated results but only the improvements of the apriori values .
If only the improvements (column Correction) for the velocities are constrained, you must make sure that also the a priori values (column A priori value) for the velocities are identical to obtain (column Estimated value) the same velocities for a group of stations. You can
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6.5 Velocity Estimation verify this in the input velocity file ${P}/INTRO/STA/EXAMPLE.VEL: ... 263 264 ... 276 278 ...
WTZR 14201 M010 WTZZ 14201 M014
-0.01629 -0.01629
0.01714 0.01714
0.00986 0.00986
IG14 EURA NNR EURA
ZIM2 14001 M008 ZIMM 14001 M004
-0.01393 -0.01393
0.01809 0.01809
0.01169 0.01169
IG14 EURA IG14 EURA
If this is not the case, you should unify the a priori values.
The relative constraining of the velocity estimates is confirmed in the section of the input parameters (below the a priori coordinates and velocities) of the ADDNEQ2–program output: ... Relative constraints between stations : Station names ----------------------------------------------WTZR 14201 M010 WTZZ 14201 M014 ZIM2 14001 M008 ZIMM 14001 M004
... relative constraints for velocities ... N ( m / year ) E ( m / year ) U ( m / year ) ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... 0.00001 0.00001 0.00001 ... 0.00001 0.00001 0.00001
Introducing this modified station information file instead of the original one you will get the following estimates for the station velocities in Kötzting and Zimmerwald: ... Station coordinates and velocities : ---------------------------------Reference epoch : 2010 -01 -01 00:00:00 Station name Typ A priori value Estimated value Correction RMS error ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... ... WTZR 14201 M010
... WTZZ 14201 M014
VX VY VZ
-0.01629 0.01714 0.00986
-0.01699 0.01806 0.00857
-0.00070 0.00092 -0.00129
0.00039 0.00016 0.00042
VU VN VE
-0.00043 0.01557 0.02034
-0.00172 0.01509 0.02139
-0.00129 -0.00048 0.00105
0.00055 0.00017 0.00014
VX VY VZ
-0.01629 0.01714 0.00986
-0.01699 0.01807 0.00857
-0.00070 0.00093 -0.00129
0.00039 0.00016 0.00042
VU VN VE
-0.00043 0.01557 0.02034
-0.00172 0.01509 0.02140
-0.00128 -0.00049 0.00106
0.00055 0.00017 0.00014
... ... ...
... ... ...
...
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... ZIM2 14001 M008
... ZIMM 14001 M004
VX VY VZ
-0.01393 0.01809 0.01169
-0.01414 0.01804 0.01146
-0.00021 -0.00005 -0.00023
0.00040 0.00015 0.00041
VU VN VE
0.00070 0.01636 0.01975
0.00037 0.01635 0.01972
-0.00032 -0.00000 -0.00002
0.00055 0.00017 0.00014
VX VY VZ
-0.01393 0.01809 0.01169
-0.01414 0.01804 0.01146
-0.00021 -0.00005 -0.00023
0.00040 0.00015 0.00041
VU VN VE
0.00070 0.01636 0.01975
0.00037 0.01635 0.01972
-0.00032 -0.00000 -0.00002
0.00055 0.00017 0.00014
... ... ...
... ... ...
...
The final results are contained in the files ${P}/INTRO/STA/FINAL.CRD EXAMPLE : Estimate final solution - coordinates and velocit ies 28 - AUG -17 16:03 -------------------------------------------------------------------------------LOCAL GEODETIC DATUM : IGS14 EPOCH : 2010 -01 -01 00:00:00 NUM
STATION NAME
75 92 107 122 136 176 192 236 262 263 264 276 278
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
X (M) 3929181.43126 4033460.85505 3664880.49055 3524522.83658 4641949.46826 3370658.46734 3844059.87805 4627851.76301 3828735.79223 4075580.46481 4075579.34558 4331299.80234 4331296.99495
Y (M) 1455236.81309 23537.87958 1409190.66849 1329693.70182 1393045.51501 711877.20881 709661.39520 119640.11214 443305.03608 931853.87929 931853.19399 567537.41214 567555.96571
Z (M) 4793653.94 428 4924318.3093 1 5009618.5 2923 5129846.4 0041 4133287.5 3776 5349787.00 033 5023129.60 030 4372993.60 102 5064884.77 220 4801568.17 525 4801569.08 708 4633133.77 514 4633133.99 187
FLAG W W A A W W A W W W A W W
and ${P}/INTRO/STA/FINAL.VEL EXAMPLE : Estimate final solution - coordinates and velocit ies 28 - AUG -17 16:03 -------------------------------------------------------------------------------LOCAL GEODETIC DATUM : IGS14 NUM
STATION NAME
VX ( M / Y )
VY ( M / Y )
VZ ( M / Y )
75 92 107 122 136 176 192 236 262 263 264 276 278
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM
-0.02030 -0.01036 -0.02293 -0.02128 -0.01977 -0.01249 -0.01518 -0.00937 -0.01652 -0.01699 -0.01699 -0.01414 -0.01414
0.01400 0.01632 0.01468 0.01414 0.01941 0.01575 0.01748 0.01952 0.01538 0.01806 0.01807 0.01804 0.01804
0.00629 0.01150 0.00251 0.00466 0.01507 0.01282 0.01026 0.01347 0.00835 0.00857 0.00857 0.01145 0.01145
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11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001 10003 M009 13506 M005 14201 M010 14201 M014 14001 M008 14001 M004
FLAG W W A A W W A W W W A W W
PLATE EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA EURA
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6.6 Daily Goals
6.6 Daily Goals At the end of today’s session, you should have: 1. used GPSEST to compute a final solution of the day, created files: FIX10207. OUT , FIX10207. NQ0 (for all sessions), 2. checked the coordinates of the fiducial sites using ADDNEQ2 and HELMR1, created files: FIN10207. CRD , FIN10207. TRP , FIN10207. OUT , and HLM10207. OUT , 3. used COMPAR to check the daily repeatabilities, created file: COMPAR. OUT , 4. used ADDNEQ2 to create a final session solution, and reduced size NEQs, created files: RED10207. NQ0 and RED10207. SNX , 5. if possible, used ADDNEQ2 for velocity estimation, created files: FINAL. CRD and FINAL. VEL .
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7 Additional Examples In the previous terminal sessions you have estimated coordinates, velocities, and troposphere parameters. This is the standard application of the Bernese GNSS Software for most users. If you have finished this work or if you want to follow more examples at home, this section of the document provides some suggestions to practice: • advanced usage of ITRF2014/IGS14 (see Section 7.1 on page 106), • generation of a combined GPS/GLONASS orbit from IGS (see Section 7.2 on page 112), • kinematic positioning for a station (see Section 7.3 on page 118), • zero difference processing to estimate clocks (see Section 7.4 on page 124), • inclusion of RINEX 3 data in the processing (see Section 7.5 on page 144), • enabling the processing of Galileo data (see Section 7.6 on page 147), and • simulation of GNSS observations (see Section 7.7 on page 155).
Extended Example Dataset In particular for Sections 7.5 and 7.6 the example dataset has been extended. The same set of stations that have been introduced in Section 1.1 are provided for day 213 in year 2017 (01 August 2017). For all stations RINEX 2 data are available in the datapool (${D}/RINEX). In the (${D}/RINEX3 directory for 7 of them are the observations also given in RINEX 3 format (long filenames). Six out of these stations provide also Galileo measurements. An additional campaign (${P}/EXM_GAL) in the Bernese Introductory Course is established where these RINEX observation files are copied and extracted in the RAW directory. Please note that RINEX 3 file have there the conventional short filename to guarantee the compatibilty with the filenaming to access them in the Bernese processing prgrams. Furthermore this campaign is prepared to analyze this day. In particular, the orbit product files from CODE are copied into the ORB directory. Apart from the COD (GPS and GLONASS) also the COM products (CODE’s five-system solution for IGS MGEX).
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7.1 Advanced Aspects in Using ITRF2014/IGS14 The velocity of a station in the ITRF2014/IGS14 is only derived by the sum of the linear velocities and the PSD corrections. On the other hand, for the datum definition of a velocity field the same parametrization for all stations and coordinate components is needed, what means, only linear station velocity parameters. There is of course the option to first subtract the PSD corrections from the coordinates and only linear velocities remain which can be aligned to the linear velocities from the ITRF2014/IGS14 solution SINEX file. It should be noted that this freezes the empirical PSD corrections that have been computed based on the IGS repro2 campaign. Consequently also GNSS modelling effects from the repro2 solution may be transferred into the new coordinate series, even when computed with a different (better) GNSS observation modelling. In addition the linear velocity field must first be adjusted to the PSD corrections before it can be integrated in the interval of your GNSS solution. In this section we are discussing potential alternative approaches.
7.1.1 Using ITRF2014/IGS14 Frames for Reprocessing For reprocessing the station coordinates for a specific epoch are necessary. This can be done as simple as deomnstrated in Section 2.5 of this tutorial. Nevertheless. it is recommended in case of a reprocessing to not use the IGS14_R.CRD, IGS14_R.VEL, and IGS14.FIX files as they are provided. It is preferable to extract the coordinates and velocities valid for the specific epoch of the session in the reprocessing from the IGS14 SINEX solution file by running the program SNX2NQ0 ('Menu>Conversion >SINEX to normal equations').
In order to follow the example, you have to copy the IGS14.SNX from ${D}/STAT_LOG/ IGS14.snx to ${P}/INTRO/SOL/IGS14.SNX (note that your operating system might be case sensitive).
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7.1 Advanced Aspects in Using ITRF2014/IGS14
Note that only the CRD and VEL informaion must be extracted but no NEQs are needed.
The following three files should now be available: ${P}/INTRO/STA/IGS14.CRD, ${P}/INTRO/STA/IGS14.VEL, and ${P}/INTRO/STA/IGS14.FIX.
The datum identifier in the coordinate files should be IGS14_0 in order to apply the PSD corrections by executing the program COOVEL. Because the files only contain those stations where coordinates and velocities are given in the IGS14 solution for the given epoch the remaining stations for your project need to be added using the program program CRDMERGE ('Menu>Service>Coordinate tools>Merge coordinate/velocity files').
7.1.2 Ignoring Stations with PSD Corrections for Datum Definition
You may simply follow the approach from previous ITRF solutions by limiting yourself to those stations for the datum definition where no PSD corrections are given in the IGS14 solution. As long as this limited number of stations is sufficient for your application you can follow this simple approach as it was demonstrated in Section 6.5 of this tutorial.
In order to get a list of stations where no PSD corrections are applied the pogram COOVEL offers an option “Stations without PSD corrections” .
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You may enter the last epoch of interest (e.g., day 206 of year 2011, the last day of the example dataset). The result file ${P}/INTRO/STA/I14_nPSD.FIX contains a list of stations where no PSD corrections were given. This file can be used as the list of available set of stations that may be used for the datum definition in the program ADDNEQ2:
Use the analogue setting for the datum definition for the station velocities in panel “ADDNEQ2 6.1: Datum Definition for Station Velocities” .
7.1.3 Recovering a Linear Velocity Field for a Certain Interval If you cannot continue in the simple way as in this example by simply ignoring all stations with PSD corrections for the datum definition, a dedicated BPE named ${U}/PCF/ITRF. PCF (description in ${U}/PCF/ITRF.README) is provided with the software. It may be started with 'Menu>BPE>Start BPE processing'. In the second panel “RUNBPE 2: Process Control Options” the ITRF.PCF is specified for “Process control file” . The most interesting is the last panel:
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7.1 Advanced Aspects in Using ITRF2014/IGS14
The BPE copies the files IGS14.SNX (given in V_REFSNX) and IGS14.PSD (given in V_REFPSD) from ${D}/REF52 into the campaign. It extracts the coordinates and velocities into Bernese formatted files where the datum identifier IGS14 (see variable V_REFDAT) is used. Starting from the epoch 2010 07 01 (see V_EPO1) this extraction is repeated every 30 days (see V_NINT) until epoch 2011 07 31 (see V_EPO2) is exceeded. The start and end date should cover the data interval that shall be used for the velocity estimation (in our case from day 207 in year 2010 to day 206 in year 2011). In this way, 10 coordinate files are extracted. The coordinates are fitted by a linear model in script COMPAR2 (PID 212) expecting that the fit during the interval is better than the thresholds given in the last panel of the related program input file:
(The panel is obtained via COMPAR2 .)
'Menu>BPE>Edit PCF program input files'
after selecting PID 121:
For most of the stations the residuals in the program output file ${P}/INTRO/OUT/ myIGS14.OUT (where myIGS14 is again related to the variable V_REFNAM) are zero. Deviations from zero may have two reasons:
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7 Additional Examples • the PSD corrections have been become close to a linear model with station AREQ as an example where the earthquake from 2001 has only a marginal deviation from a linear station velocity AREQ 42202 M005
N
0.03
AREQ 42202 M005
E
0.05
AREQ 42202 M005
U
0.01
0.07 -0.03 0.08 -0.05 -0.02 0.01
0.03 -0.03 0.05 -0.04 -0.01 0.01
0.01 -0.02 0.01 -0.03 -0.00 0.00
-0.01 -0.01 -0.02 -0.01 0.01 0.00
-0.03 0.02 -0.03 0.00 0.01 -0.00
-0.03 0.03 -0.05 0.04 0.01 -0.01
-0.04 0.05 -0.05 0.09 0.01 -0.02
• where the IGS14.SNX contains discontinuities like in the example for station WUHN at day 082 of year 2011 WUHN 21602 M001
N
0.11
WUHN 21602 M001
E
1.09
WUHN 21602 M001
U
4.19
0.12 -0.17 1.13 -1.61 -4.34 6.18
0.08 -0.21 0.73 -1.99 -2.84 7.68
0.04 0.16 0.35 1.56 -1.33 -6.01
-0.00 0.12 -0.04 1.17 0.17 -4.51
-0.05 0.08 -0.44 0.77 1.67 -3.01
-0.09 0.04 -0.82 0.39 3.17 -1.50
-0.13 0.00 -1.21 0.01 4.67 -0.00
(Note that discontinuities can be managed according to the description in Section 10.3.5 of the Bernese GNSS Software user manual. The station information file may be added in panel “COMPAR2 1: Input Files” , PID 121 .) At the end of the procedure three files are obtained myIGS14_R.CRD, myIGS14_R.VEL, and myIGS14.FIX (with myIGS14 is stemming from the variable V_REFNAM) that contain only those stations where threshold specified above are not exceeded. These files may either be copied to ${D}/REF52 (take care on overwriting potential other files from other projects) and may be used for variable V_REFINF in other example BPEs. For the interactive use they should be merged with the stations from you project using the program CRDMERGE:
If is of course essential that all coordinate files (myIGS14_R.CRD and EXAMPLE.CRD) refer to the same epoch.
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7.1 Advanced Aspects in Using ITRF2014/IGS14 To active the option “Synchronize stations with same DOMES number” is in particular help to antenna sharing stations where not all of the receiver/antenna combinations are included in the reference frame file myIGS14_R.CRD.
Note that this option requires the IGS-related station naming convention with the 4character ID and the domes number. Repeat the program to merge also the velocity files.
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7.2 Preparing Combined GPS and GLONASS IGS–Orbits In this section the differences to the standard procedure using CODE products containing GPS and GLONASS orbits with respect to IGS products are demonstrated. The IGS uses independent combination procedures for GPS and GLONASS orbits resulting in two sets of precise orbit files. That’s why the orbits for the two GNSS first need to be merged. In contrast, CODE (and other AC) uses a rigorous combined multi–GNSS processing scheme, hence producing a single precise orbit file.
7.2.1 Prepare Pole Information For the IGS precise orbit files (PRE) the consistent EOP need to be available in the ORB directory (which is the case in the Bernese Introductory Course environment). As for the use of CODE products in Section 3.1, the EOP information has to be converted from the IERS/IGS standard format (file extension within the Bernese GNSS Software is IEP) to the internal Bernese EOP format (file extension within the Bernese GNSS Software is ERP). This is the task of the program POLUPD ('Menu>Orbits/EOP>Handle EOP files>Convert IERS to Bernese Format'). Simply specify IGS–related filenames — other settings are analogous to Section 3.1 .
The messages ### PG POLUPD : NUTATION MODEL NOT SPECIFIED IN INPUT ERP FILE USING NUTATION MODEL NAME : IAU2000R06 ### PG POLUPD : SUBDAILY POLE MODEL NOT SPECIFIED IN INPUT ERP FILE USING SUBDAILY POLE MODEL NAME : IERS2010
just inform you that the nutation and subdaily pole models from the files in the input panel are written to the output file because no Bernese formatted ERP file was used as input. This is different to importing the EOP from CODE products because here the information on the nutation and sub daily pole model is also available in the international format (with the extension IEP).
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7.2 Preparing Combined GPS and GLONASS IGS–Orbits
7.2.2 Merging Precise Orbit Files
Before we can prepare the orbits from the IGS for a combined GPS+GLONASS processing we need to merge the two separate files IGS15941.PRE and IGL15941.PRE. This is the task of the program CCPREORB ('Menu>Orbits/EOP>Concatenate/merge precise orbit files'):
The resulting filename consists of the solution identifier (“First four characters” ) and the session of the first epoch (if “Reference epoch for output files” is empty). The reference epoch may also be specified by the user as the above example shows. Using the input options from above panel we expect the result file named as ${P}/INTO/ORB/GNSS2070. PRE .
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In the next panel you may specify the time window for which the satellite positions shall be included in the resulting precise orbit file.
7.2.3 Generating Standard Orbit Files The subsequent steps to create the so–called standard orbit files from precise orbit files are again analogue to the standard procedure using CODE products as detailed in Section 3.2 . The first step is the conversion into tabular orbit files (TAB) using the program PRETAB ('Menu>Orbits/EOP>Create tabular orbits'). The merged GPS/GLONASS precise orbit file is chosen as input and IGS–related output files are recommended.
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7.2 Preparing Combined GPS and GLONASS IGS–Orbits
It is important to enable the option “Exclude sat. with accuracy code 0” if you process orbits that are not provided by CODE (label “COD”). The precise GLONASS orbit files from the IGS contain the GLONASS broadcast clock information (instead of no clock corrections for GLONASS as in the CODE product files). This leads to two differences with respect to the use of the standard products from CODE: • The messages on missing GLONASS satellites clocks are not displayed (at least not for all GLONASS satellites). • Because the Bernese GNSS satellite clock files contain also clock corrections for the GLONASS satellites, the program CODSPP may compute the inter–system bias between IGSF–time scale (GPS satellite clocks in the IGS final product files) and GLONASS broadcast time system. Both differences have no impact on the obtained results. For some days a message like this may appear: ### PG PRETAB : SATELLITE CLOCK VALUES MISSING SATELLITE : 1 FILE NUMBER : 1 FILE NAME : $ { P }/ INTRO / ORB / GNSS2080 . PRE
It reports that for a specific satellite no clock information is provided in the IGS files. As long as this message lists only a limited number of satellites, the synchronization of the receiver clocks in CODSPP is still possible with the remaining satellites. It is therefore not critical. To generate the standard orbits (extension STD) from the tabular orbits the program ORBGEN ('Menu>Orbits/EOP>Create/update standard orbits') has to be used. Introduce the IGS–related tabular orbit file together with the consistent ERP file (as well as the consistent nutation, and the subdaily pole model in panel “ORBGEN 1.1: General Files” ):
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The name of the resulting orbit file should also be related to IGS:
The other options can be used as given in Section 3.2. The resulting program output is expected to look like ... ------------------------------------------------------------------------------RMS ERRORS AND MAX . RESIDUALS ARC NUMBER : 1 ITERATION : 4 -------------------------------------------------------------------------------
SAT ---
# POS ----
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96
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RMS ( M ) ------0.002 0.002 0.004 0.001 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.003 0.003 0.003 0.002 0.004 0.002 0.003 0.002 0.002 0.002 0.003 0.003
QUADRATIC MEAN OF O - C ( M ) TOTAL RADIAL ALONG OUT ----------------------------0.002 0.002 0.004 0.001 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.003 0.003 0.003 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.003 0.003
0.001 0.002 0.004 0.001 0.002 0.003 0.002 0.001 0.002 0.002 0.001 0.003 0.003 0.004 0.002 0.004 0.002 0.003 0.002 0.002 0.001 0.003 0.003
0.001 0.001 0.003 0.001 0.001 0.003 0.002 0.001 0.001 0.002 0.001 0.002 0.002 0.003 0.002 0.003 0.002 0.002 0.002 0.001 0.001 0.002 0.002
0.003 0.002 0.004 0.001 0.002 0.004 0.002 0.002 0.003 0.003 0.002 0.003 0.003 0.002 0.002 0.004 0.002 0.003 0.003 0.003 0.003 0.003 0.003
MAX . RESIDUALS ( M ) RADIAL ALONG OUT -------------------0.004 0.003 0.009 0.003 0.004 0.008 0.005 0.003 0.003 0.005 0.004 0.007 0.013 0.011 0.008 0.007 0.006 0.006 0.005 0.004 0.003 0.005 0.011
0.004 0.004 0.006 0.003 0.005 0.006 0.005 0.003 0.003 0.005 0.003 0.005 0.007 0.006 0.004 0.008 0.005 0.004 0.004 0.004 0.002 0.005 0.006
0.007 0.005 0.007 0.003 0.010 0.007 0.004 0.006 0.006 0.005 0.007 0.006 0.006 0.009 0.005 0.008 0.007 0.007 0.005 0.006 0.006 0.006 0.005
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7.2 Preparing Combined GPS and GLONASS IGS–Orbits
24 25 26 27 28 29 30 31 32 101 102 103 104 105 107 108 110 111 113 114 115 117 118 119 120 121 122 123 124
96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96 96
0.001 0.002 0.004 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.002 0.002 0.002 0.001 0.002 0.002 0.002 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002
0.001 0.002 0.004 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.001 0.002 0.002 0.002 0.001 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.002
0.001 0.001 0.005 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.001 0.001 0.002 0.001 0.001 0.002 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.001 0.001
0.001 0.001 0.003 0.001 0.002 0.003 0.002 0.002 0.001 0.002 0.002 0.002 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.002 0.001 0.002 0.001 0.002 0.001 0.002 0.002 0.001 0.002
0.002 0.003 0.003 0.003 0.002 0.003 0.002 0.003 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.002 0.003 0.002 0.002 0.002 0.002 0.002 0.002 0.003 0.003 0.003 0.002 0.002 0.001
0.003 0.003 0.011 0.003 0.004 0.005 0.006 0.005 0.005 0.006 0.006 0.005 0.005 0.003 0.003 0.004 0.007 0.003 0.004 0.005 0.004 0.010 0.004 0.005 0.004 0.006 0.004 0.003 0.003
0.002 0.003 0.006 0.003 0.005 0.006 0.005 0.005 0.003 0.004 0.005 0.006 0.003 0.007 0.007 0.003 0.003 0.010 0.005 0.012 0.008 0.009 0.006 0.006 0.004 0.004 0.006 0.004 0.017
0.005 0.007 0.005 0.006 0.007 0.007 0.005 0.009 0.006 0.007 0.005 0.006 0.004 0.004 0.005 0.004 0.005 0.006 0.005 0.004 0.005 0.003 0.006 0.006 0.006 0.014 0.004 0.004 0.003
------------------------------------------------------------------------------...
The RMS error for the orbit fit for precise IGS orbits should be below 5 mm (for older orbits it may also achieve 10. . . 15 mm). The file ${P}/INTRO/OUT/IGS10207.LST contains the same results as displayed on page 27 but contains also the GLONASS satellite orbits: EXAMPLE : Session 102070: Standard orbit generation 28 - AUG -17 13:32 TIME FROM DAY : 1 GPS WEEK : 1594 TO DAY : 2 GPS WEEK : 1594 ------------------------------------------------------------------------------ORBIT REPEATABILITY FROM A 1 - DAY FIT THROUGH DAILY ORBIT SOL UTIONS ( MM ) # ECLIPSING SATELLITES : 5 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ECL .. .. .. .. .. .. .. E . E . E . .. .. .. .. .. .. .. .. DOY 1 2 3 4 5 6 ... 12 13 14 15 16 ... 32 101 102 103 104 105 107 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - 207 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 2 2 2 1 1 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - ALL 2 2 4 1 2 3 ... 3 3 3 2 3 ... 2 2 2 2 1 1 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - ... - - - - - - - - - - - - - - - - - - - - - - - - - - - -
... ... ... ... ... ... ...
If you want to use these orbit files in the processing programs, you simply have to replace the CODE–related by the IGS–related filenames for the standard orbit and EOP files.
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7 Additional Examples
7.3 Kinematic Positioning 7.3.1 Estimating Kinematic Positions in a Double–Difference Solution The example campaign contains no really roving stations. You can, however, define one of them to be kinematic (e.g., station GANP). Introduce the coordinates from the final solution (${P}/INTRO/STA/FIN10207.CRD) for all other sites.
Remove the name of the resulting “Normal equations” file in panel “GPSEST 2.1: Output Files 1” if there is any entry in this input field. Store the kinematic coordinates in an output file (“Kinematic coordinates” in panel “GPSEST 2.2: Output Files 2” ).
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7.3 Kinematic Positioning
Because the number of parameters for the kinematic positioning may become very large, we select only a short data interval of one hour for this kinematic positioning:
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7 Additional Examples The option “Enable extended program output” may be disabled now:
Fix all station coordinates apart from GANP in the panels “GPSEST 4: Datum Definition for Station Coordinates” (choose MANUAL in panel “GPSEST 4: Datum Definition for Station Coordinates” and select all stations except GANP in panel “GPSEST 4.2” ).
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7.3 Kinematic Positioning Enable the kinematic coordinates option without any pre–elimination in a first run:
An additional panel for options related to epoch parameters is displayed where you can accept the default values:
Let us assume only horizontal movements for this site:
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7 Additional Examples
7.3.2 Extracting the Program Output from a Kinematic Positioning As expected you will get only small estimates for the kinematic coordinates since GANP was not moving: KINEMATIC COORDINATES : --------------------EPO : EPOCHS SINCE
$ { P }/ INTRO / STA / KIN10207 . KIN
2010 -07 -26 02:00:00
( SAMPLING
300 SEC )
CORRECTION AND RMS IN METER ... EPO EPOCH ( MJD ) # OBS STA LATITUDE LONGITUDE HEIGHT ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -...
1 2 3 4 5 6 7 8 9 10 11 12
With
GANP 11515 M001 55403.083333 55403.086806 55403.090278 55403.093750 55403.097222 55403.100694 55403.104167 55403.107639 55403.111111 55403.114583 55403.118056 55403.121528
15 14 14 14 13 13 13 13 14 14 14 13
GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP
49 2 -0.0048 0.0049 0.0019 0.0007 -0.0024 -0.0045 -0.0031 0.0012 -0.0062 -0.0028 -0.0009 -0.0049
4.971302 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.004 + - 0.005 + - 0.005 + - 0.005 + - 0.005 + - 0.005
20 19 22.574439 -0.0035 + - 0.004 -0.0045 + - 0.004 -0.0003 + - 0.004 0.0015 + - 0.004 0.0016 + - 0.004 0.0034 + - 0.004 0.0026 + - 0.004 0.0041 + - 0.004 0.0022 + - 0.004 0.0034 + - 0.005 0.0023 + - 0.005 -0.0014 + - 0.005
746.0115 0.0000 + - 0.000 0.0000 + - 0.000 -0.0000 + - 0.000 -0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 -0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 0.0000 + - 0.000 -0.0000 + - 0.000
... ... ... ... ... ... ... ... ... ... ... ...
the
program GPSXTR ('Menu>Processing>Program output extraction>Parameter estimation/stacking') a comprehensive summary of the estimates for the kinematic solution can be extracted:
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7.3 Kinematic Positioning The resulting summary file looks like: -------------------------------------------------------------------------------* XEPO 12 0 12 * INI 0.0000 0.0000 0.0000 * EST 0.0000 0.0000 0.0000 * DIFXYZ 0.0000 0.0000 0.0000 * DIFNEU -0.0017 0.0009 0.0000 ------------------------------------------------------------------------------EPOCH DN DE DU 1 -0.0048 -0.0035 0.0000 2 0.0049 -0.0045 0.0000 3 0.0019 -0.0003 -0.0000 4 0.0007 0.0015 -0.0000 5 -0.0024 0.0016 0.0000 6 -0.0045 0.0034 0.0000 7 -0.0031 0.0026 0.0000 8 0.0012 0.0041 -0.0000 9 -0.0062 0.0022 0.0000 10 -0.0028 0.0034 0.0000 11 -0.0009 0.0023 0.0000 12 -0.0049 -0.0014 -0.0000 ------------------------------------------------------------------------------* AVG -0.0017 0.0009 0.0000 * SIG 0.0036 0.0028 0.0000 * RMS 0.0033 0.0028 0.0000 * RMSTC 0.0011 ------------------------------------------------------------------------------STATION : GANP PARAMS : 96 12 0 509 ( AMB , CRD , CLK , TOT ) OBSERV : 0 1592 1592
The different components of the summary are described in the online help.
7.3.3 Further suggestions • Introduce the result file with kinematic coordinates as an input file for another run of GPSEST. If the estimates become zero it is a confirmation that the file was correctly considered as the a priori kinematic positions for the station GANP. • Use the pre–elimination EVERY_EPOCH for the “Kinematic coordinates” (they are back– substituded by the program in order to get a solution also for those parameters). Compare the results with the first solution. • Switch the “Var-covar wrt epoch parameters” in panel “GPSEST 6.7: General Options for Epoch Parameters” from SIMPLIFIED to CORRECT. Compare the results again with the first solution. • Compute kinematic coordinates for the full day using the epoch–wise pre–elimination and back–substitution algorithm. To save computing power we recommend to sample the data to 300 s. • Repeat the kinematic solution considering only one of the two GNSS at the time (choose either GPS or GLONASS in option “Satellite system” of panel “GPSEST 3.1: General Options 1” ).
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7 Additional Examples
7.4 Zero Difference Processing for Clock Estimation For the clock estimation we have to use code and phase data together. The data is analyzed at zero difference level.
7.4.1 Preprocessing There are two ways for preprocessing zero difference observations in the Bernese GNSS Software, Version 5.2 available: • Precise satellite clocks are available for all satellites with the same sampling as the RINEX observations to be processed (typically 30 s): 1. RNXSMT to screen and smooth code measurements based on a consistency check between the code and phase observations 2. RXOBV3 to import the screened smoothed code together with the original phase data into Bernese observation file format 3. CODSPP to synchronize receiver clocks with respect to the GNSS system time 4. MAUPRP to screen the phase measurements 5. GPSEST, RESRMS, SATMRK to screen residuals from a zero difference network solution • Precise satellite clocks are not available: 1. RNXSMT to screen phase and code measurements based on a consistency check; smooth the code observations 2. RXOBV3 to import the screened phase and smoothed code data into Bernese observation file format 3. CODSPP to synchronize receiver clocks with respect to the GNSS system time 4. GPSEST, RESRMS, SATMRK to screen residuals from a zero difference network solution iteratively with a descreasing threshold In this text book we follow the second approach. The preprocessing of zero difference data starts with program RNXSMT, available from 'Menu>RINEX>RINEX utilities>Clean/smooth observation files'. In the first panel select all RINEX files of the active session:
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7.4 Zero Difference Processing for Clock Estimation The default input options perform well in most cases:
In the last panel you decide whether or not to “Preprocess phase observations” by checking or unchecking the box:
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7 Additional Examples The resulting smoothed RINEX files look like usual RINEX files but the line ### PG RNXSMT : RINEX FILE CHANGED
COMMENT
indicates that the numbers in the file result from RNXSMT. The S/N indicators have the following meaning: “1” considered by RNXSMT as bad data “5” data have only been copied from the original file by RNXSMT “9” considered by RNXSMT as good data The cycle slip flags in a smoothed RINEX file indicate the epochs/satellites where new ambiguities are needed according to the evaluation of RNXSMT. In order to import the smoothed RINEX observation files into the Bernese format you have to select them in the first input panel of program RXOBV3 (note that you will overwrite your zero difference observation files from the previous processing example by doing this):
If you have preprocessed the phase measurementents already in RNXSMT you can resample the observations already in RXOBV3: set the “Sampling interval” in panel “RXOBV3 2: Input Options 1” , e.g., to 300 seconds.
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7.4 Zero Difference Processing for Clock Estimation Furthermore, you have to consider the “SIGNAL STRENGTH REQUIREMENTS” for smoothed RINEX files (see above):
After importing the data into the Bernese format you have to repeat the receiver clock synchronization with program CODSPP. The options are identical to the settings in Section 4.2.1. The only difference is the option “Mark outliers in obs. files” in the last input panel: depending on your preprocessing chain it is recommended to select: BOTH if you have screened phase and code data in RNXSMT, because it is assumed that
the corresponding phase measurement is also bad if a problematic code data record has passed RNXSMT. CODE if you have used RNXSMT to only screen and smooth code observations so far. From problems in the code data cannot be deduced the quality of the corresponding phase measurements.
If you have not yet cleaned the phase observations in RNXSMT (approach with precise high–rate clocks available), you have to run MAUPRP now ('Menu>Processing>Phase preprocessing'). You need for this purpose a precise satellite clock corrections for all satellites and with the full sampling of 30 seconds (or even higher). Select “Zero-difference observation files” instead of “Single-difference observation files” and introduce a consistent set of “GNSS standard orbits” , “Pole file” , and “Satellite clocks” in panel “MAUPRP 1: Input Files” . An additional panel “MAUPRP 7: Clock Events” will be displayed (see online help for further details). It is
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7 Additional Examples receommended to disable the cycle slip corrections by checking the box for option “Do not accept cycle slip corrections” in panel “MAUPRP 8: Cycle Slip Detection/Correction” . All other settings can remain as described in Section 4.2.3.˙ You may skip this step if you have preprocessed the phase data already in RNXSMT.
7.4.2 Residual Screening Now you are ready to run GPSEST ('Menu>Processing>Parameter estimation') in the zero difference mode to store residuals for screening. You also have to include a DCB file when processing code observations.
In the subsequent two panels, the output files for residuals and clock estimates are specified:
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7.4 Zero Difference Processing for Clock Estimation
Take care to specify “Correlation strategy” with CORRECT and to store NORMALIZED residuals
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7 Additional Examples The options in the following panel are only relevant to zero difference processing. They define, e.g., the source clocks used as a priori for satellites and receivers if more than one potential source is available:
The datum definition shall be consider according to the information in the a priori coordinate file given in panel “GPSEST 1.1: Input Files 1” :
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7.4 Zero Difference Processing for Clock Estimation Clock parameters are setup and pre–eliminated EVERY_EPOCH:
For the residual screening, a reduced set of troposphere parameters can be estimated:
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7 Additional Examples The following panel asks for the options regarding the clock estimation. If you include GLONASS you need to choose “Rclk.off: Parameter setup” different from NONE. See online help for additional information.
The program output file should report the clock parameters: ... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
STATION COORDINATES RECEIVER CLOCK BIASES / TIME BIASES AMBIGUITIES SITE - SPECIFIC TROPOSPHERE PARAMETERS EPOCH WISE STATION CLOCKS EPOCH WISE SATELLITE CLOCKS
39 200 1375 91 3739 5842
0 0 0 0 3739 5842
( EPOCH - WISE ) ( EPOCH - WISE )
39 200 1442 91 3744 6059
... ... ... ... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 11286 9581 11575 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE CODE
L3 L3
ALL ALL
54384 54393
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 108777 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
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( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
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7.4 Zero Difference Processing for Clock Estimation The residuals are stored in the file ${P}/INTRO/OUT/CLK02143.RES. Use program RESRMS ('Menu>Service>Residual files>Create residual statistics') to screen for outliers bigger than 2 cm for code and phase data (remember that code residuals are scaled to phase residuals — 2 cm in the input field correspond to a 2 m threshold for code residuals):
The statistics in the program output file clearly indicates some stations with problematic obervations: FILE INFORMATION AND STATISTIC : -----------------------------Num Station 1 ... Total RMS med . Resi Sigma numObs nSat nDel ObsTyp .. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -.. 1 2 3 4 5 6 7 ... 14 15 16 17 18 19 20 ...
GANP HERT JOZ2 LAMA MATE ONSA PTBB
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001
... ... ... ... ... ... ...
1.3 2.0 2.0 1.3 3.6 2.4 1.7
0.7 0.7 0.8 0.6 0.8 0.7 0.9
1.1 1.0 1.1 0.9 1.2 1.0 1.3
4682 4716 4805 4786 4324 4624 2155
50 51 50 50 51 50 32
1 3 2 1 9 1 1
PHASE PHASE PHASE PHASE PHASE PHASE PHASE
.. .. .. .. .. .. ..
GANP HERT JOZ2 LAMA MATE ONSA PTBB
11515 M001 13212 M010 12204 M002 12209 M001 12734 M008 10402 M004 14234 M001
... ... ... ... ... ... ...
0.4 0.3 0.3 0.2 0.3 0.3 0.5
0.1 0.1 0.1 0.1 0.1 0.1 0.2
0.3 0.2 0.2 0.2 0.2 0.2 0.3
4683 4718 4806 4788 4325 4624 2155
50 51 50 50 51 50 32
0 0 0 0 0 0 0
CODE CODE CODE CODE CODE CODE CODE
.. .. .. .. .. .. ..
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7 Additional Examples Mark the corresponding code and phase zero difference observations using program SATMRK ('Menu>Service>Bernese observation files>Mark/delete observations':
If you inspect the program output you will notice that only 354 observations have been removed from all observation files. Repeat the GPSEST–run and store again the residuals. ... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0009 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
97420 0.79
In the second iteration we screen for residuals bigger than 6 mm in RESRMS and mark these observations with SATMRK, too. If you have done the screening of phase observations in MAUPRP instead of RNXSMT you can skip the first iteration and you only need to run once through the residual screening procedure (sequence of GPSEST, RESRMS, SATMRK) using the final threshold for the residuals of 6 mm . Page 134
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7.4 Zero Difference Processing for Clock Estimation
7.4.3 Generate Clock Solutions
Repeat the run of GPSEST with the clean observation files to get the definitive clock estimates. You may introduce the estimated coordinates and troposphere parameters1 from the final double–difference solution for the session (e.g., FIN$YD+0). You also have to include a DCB file when processing code observations.
1
If you introduce a troposphere result file based on VMF1, you also need to introduce the same “Gridded VMF1 coefficients” in panel “GPSEST 1.1: Input Files 1” as you have used to generate the “Troposphere estimates” .
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7 Additional Examples Store also the coordinate results that correspond to the clock estimates.
In the final run the clock results for satellites and receivers shall be stored in a “Clock RINEX” result file in panel “GPSEST 2.2: Output Files 2” .
The input field for “ZPD model and mapping function (GNSS)” in panel “GPSEST 3.2: General Options 2” is inactive because a file with “Troposphere estimates” is introduced. The same troposphere model is used in this program run.
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7.4 Zero Difference Processing for Clock Estimation The datum definition shall be reconsidered when introducing a solution for the coordinates:
The sampling of troposphere parameters for those stations where you cannot introduce a complete set of estimates in the file from “Troposphere estimates” given in panel “GPSEST 1.2: Input Files 2” shall be identical with those in the input file:
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7 Additional Examples If you have selected a “Clock RINEX” result file in panel “GPSEST 2.2: Output Files 2” you are asked for the header information. Please replace the placeholders by the information for your institution and give a description for your results.
... NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP -----------------------------------------------------------------------------------------RECEIVER CLOCK BIASES / TIME BIASES 200 0 200 AMBIGUITIES 1320 0 1442 EPOCH WISE STATION CLOCKS 3739 3739 ( EPOCH - WISE ) 3744 EPOCH WISE SATELLITE CLOCKS 5842 5842 ( EPOCH - WISE ) 6059 -----------------------------------------------------------------------------------------TOTAL NUMBER OF PARAMETERS 11101 9581 11445 ------------------------------------------------------------------------------------------
... ... ... ... ... ... ... ... ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE CODE
L3 L3
ALL ALL
54188 54390
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 108578 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
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( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
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7.4 Zero Difference Processing for Clock Estimation The estimated inter–frequency biases caused by different hardware delays in the receiver for each GLONASS satellite due to the individual frequency are reported in the following section in the program output: ... RECEIVER CLOCKS / TIME BIASES : ----------------------------REQUEST STATION NAME OFFSET ( USEC ) RMS ( NSEC ) ---------------------------------------------------------------------------------------------1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2
GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP HERT HERT HERT
11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 13212 M010 13212 M010 13212 M010
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
---0.244906 -0.251354 -0.236973 -0.229242 -0.243824 -0.241614 -0.226128 -0.250173 -0.248057 -0.249851 -0.250245 -0.245288 -0.243093 -0.249622 -0.244722 -0.243063 -0.242501 -0.250258 -0.242287 -0.242737 --0.065866 0.069644
0.000000 -0.244906 -0.251354 -0.236973 -0.229242 -0.243824 -0.241614 -0.226128 -0.250173 -0.248057 -0.249851 -0.250245 -0.245288 -0.243093 -0.249622 -0.244722 -0.243063 -0.242501 -0.250258 -0.242287 -0.242737 0.000000 0.065866 0.069644
--0.134 0.144 0.153 0.150 0.128 0.118 0.131 0.129 0.129 0.131 0.130 0.128 0.132 0.131 0.131 0.125 0.113 0.127 0.149 0.140 --0.131 0.135
SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT
GPS 101 102 103 104 105 107 108 110 111 113 114 115 117 118 119 120 121 122 123 124 GPS 101 102
...
The report of the clock estimates looks like: ... EPOCH WISE STATION CLOCKS : --------------------------
$ { P }/ INTRO / OUT / CLK10207 . CLK
STATION CLOCK VALUES ( USEC ) TYPE STAT EPOCH ( MJD ) A PRIORI CORRECTION TOTAL RMS ( NSEC ) # OBS STAT . ----------------------------------------------------------------------------------------------23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 ...
1 2 3 4 5 6 7 8 9 10 11 12 13 1 2 3
55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.003472 55403.003472 55403.003472
-0.021330 -0.002644 0.001614 -0.000525 -0.028072 -31.022254 0.528750 -0.035458 0.138215 -0.008899 -219.055034 -0.031458 0.028115 -0.022433 -0.001060 0.001511
EPOCH WISE SATELLITE CLOCKS : ----------------------------
0.000009 -0.000817 -0.000189 0.000184 0.001137 -0.000121 0.000326 -0.000356 0.000294 -0.000339 0.000212 -0.000164 -0.000175 0.000071 -0.000899 -0.000144
-0.021321 -0.003462 0.001424 -0.000340 -0.026935 -31.022376 0.529076 -0.035814 0.138509 -0.009237 -219.054822 -0.031623 0.027940 -0.022362 -0.001959 0.001367
0.003 0.003 0.003 0.003 0.003 0.003 0.005 0.003 0.004 0.003 0.004 0.003 0.004 0.003 0.003 0.003
34 29 35 35 30 30 11 28 20 33 18 30 18 34 29 34
R R R R R R R R R R R R R R R R
# # # # # # # # # # # # # # # #
GANP HERT JOZ2 LAMA MATE ONSA PTBB TLSE WSRT WTZR WTZZ ZIM2 ZIMM GANP HERT JOZ2
$ { P }/ INTRO / ORB / CLK10207 . CLK
SATELLITE CLOCK VALUES ( USEC ) TYPE SAT EPOCH ( MJD ) A PRIORI CORRECTION TOTAL RMS ( NSEC ) # OBS -----------------------------------------------------------------------------------------24 24 24 24 24 24 24 24 24 24 24 24 24
3 6 9 11 14 17 19 20 22 24 28 31 32
55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000
586.451514 559.025665 20.468252 -78.075202 71.688147 163.652097 -52.512921 52.929104 166.687820 307.451136 -9.425636 -21.952063 -46.318216
Bernese GNSS Software, Version 5.2
-0.000519 0.001482 0.007644 0.000795 0.000893 0.000782 0.000589 0.000155 0.002045 0.000259 0.000221 0.000419 0.000435
586.450995 559.027147 20.475896 -78.074407 71.689041 163.652879 -52.512332 52.929259 166.689865 307.451395 -9.425414 -21.951644 -46.317781
0.013 4.082 7.717 0.002 0.003 0.010 0.003 0.004 0.014 0.007 0.007 0.084 0.003
15 1 * 1 * 26 26 22 26 26 12 25 22 2 * 26
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24 24 24 24 24 24 24 24 24 24 24 24 24 ...
104 105 107 113 114 115 120 121 122 3 6 9 11
55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.000000 55403.003472 55403.003472 55403.003472 55403.003472
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 586.452934 559.021364 20.469100 -78.075981
-79.261456 -153.329680 -292.762903 -276.613710 -168.479768 23.463583 -73.657604 -200.315946 -10.570479 -0.001054 0.001878 -0.000804 0.000704
-79.261456 -153.329680 -292.762903 -276.613710 -168.479768 23.463583 -73.657604 -200.315946 -10.570479 586.451879 559.023242 20.468296 -78.075277
7.795 0.004 0.011 0.023 0.010 0.028 0.004 0.003 0.006 0.015 4.987 5.760 0.002
1 * 18 18 9 15 6 18 18 18 13 1 * 1 * 26
The “∗”–character indicates satellites where the satellite clock correction has been computed from a limited number of stations. Because this section can become very long, it can also be skipped in the GPSEST program output by checking the box “Printing: Suppression of output concerning epoch parameters” in panel “GPSEST 3.2.1.1: Extended Program Output Options” (enabled only if the checkbox “Enable extended program output” in panel “GPSEST 3.2: General Options 2” is checked). Differences of clocks and Allan deviations for differences of clocks can be extracted from the GPSEST program output by the program GPSXTR ('Menu>Processing>Program output extraction >Parameter estimation/stacking'). The pair of clocks (receiver or satellites) are defined by a baseline file (extension BSL).
The baseline file might, e.g., be generated via the definition file':
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7.4 Zero Difference Processing for Clock Estimation The clock solution is finalized by selecting the reference clock using program CCRNXC ('Menu>Service>Clock tools>Combine/manipulate clock RINEX files'):
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7.4 Zero Difference Processing for Clock Estimation The table at the end of the program output provides an overview of the clock quality: ... REFERENCE CLOCK SELECTION FOR OUTPUT FILE ----------------------------------------Selected reference station : ...
WTZR 14201 M010
STATISTICS ON THE CLOCKS IN THE OUTPUT FILE ------------------------------------------# per file rms of poly . fit ( ns ) Clock name out 001 n = 0 n = 1 n = 2 ------------------------------------------------------------------WTZR 14201 M010 288 288 1.472 0.000 0.000 WSRT 13506 M005 288 288 4.520 0.030 0.030 MATE 12734 M008 288 288 29.164 0.054 0.052 PTBB 14234 M001 288 288 0.397 0.058 0.043 ONSA 10402 M004 284 284 5.626 0.081 0.076 LAMA 12209 M001 288 288 2.928 2.933 2.932 JOZ2 12204 M002 288 288 3.062 3.067 3.069 HERT 13212 M010 288 288 3.316 3.322 3.328 ZIMM 14001 M004 288 288 4.277 4.091 3.833 TLSE 10003 M009 288 288 5.174 4.892 4.734 ZIM2 14001 M008 287 287 5.297 5.021 4.712 GANP 11515 M001 288 288 6.752 6.689 6.629 WTZZ 14201 M014 288 288 0.3 E +06 0.3 E +06 0.3 E +06 G01 59 59 21.055 0.132 0.133 G02 113 113 53.429 0.138 0.122 G18 111 111 42.222 0.159 0.160 G29 93 93 40.762 0.163 0.136 G20 83 83 14.263 0.176 0.176 G07 105 105 3.172 0.187 0.139 G11 87 87 89.783 0.196 0.194 G19 103 103 91.484 0.196 0.135 G25 83 83 32.984 0.208 0.064 G23 98 98 32.857 0.221 0.115 G13 86 86 10.754 0.224 0.171 G12 86 86 38.001 0.230 0.155 G15 102 102 104.651 0.230 0.203 G14 111 111 111.497 0.240 0.234 G16 108 108 87.317 0.243 0.240 G31 113 113 71.214 0.268 0.165 G22 110 110 14.917 0.272 0.244 G21 102 102 45.128 0.292 0.254 G05 111 111 65.889 0.357 0.310 G06 93 93 248.950 0.371 0.341 R02 98 98 44.930 0.371 0.271 R13 103 103 22.467 0.371 0.341 R04 99 99 4.500 0.407 0.380 G32 87 87 300.001 0.425 0.257 R05 124 124 19.774 0.573 0.499 R19 100 100 20.046 0.592 0.318 ...
7.4.4 Further Suggestions • Switch the “Var-covar wrt epoch parameters” in panel “GPSEST 6.7: General Options for Epoch Parameters” from SIMPLIFIED to CORRECT. • Compute a PPP for one of the stations in the zero difference network solution. Compare the coordinates and clocks from the PPP with the results from the network solution. Exchange the orbits, EOP, and satellite clock corrections from your solution by products from other sources (e.g., CODE or IGS). • Use the PPP approach to screen the residuals of the Bernese zero difference observation files. This has to be done station by station. Make sure that you use a consistent set of orbits, EOP, and satellite clocks (e.g., IGS final products or CODE final solution).
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7.5 Using RINEX 3 Data The campaign ${P}/EXM_GAL in the Bernese Introductory Course environment contains some RINEX 3 files in order to follow the example in this section.
7.5.1 Basic Principles To accommodate for the various GNSS, RINEX 3 format was adapted for additional observation types. However, Version 5.2 of the Bernese GNSS Software is still limited to dual-frequency processing, so we need to select two frequencies for the processing. For each frequency, then, different observation types may be selected according to the availability and a given priority list given in a file (e.g, ${X}/GEN/OBS.SEL): GNSS observation selection for Bernese GNSS Software Version 5.2 21 - Aug -2012 -------------------------------------------------------------------------------Format version :
1.00
Receiver type ********************
S/S ***
O/F ***
RINEX observation codes and their prio rity *** *** *** *** *** *** *** *** *** *** *** ***
DEFAULT
G G G G R R R R
L1 L2 C1 C2 L1 L2 C1 C2
L1P L2P C1P C2P L1P L2P C1P C2P
SIMULA
G G G G R R R R
L1 L2 C1 C2 L1 L2 C1 C2
L1W L2W C1W C2W L1W L2W L1W L2W
L1W L2W C1W C2W
L1C L1X L2C L2D L2X C1C C1X C2C C2D C2X L1C L1X L2C L2X C1C C1X C2C C2X
Make sure that the observation types from your RINEX 3 observation files are contained in this priority list. If an observation type is not listed it is not considered by the program RNXSMT. This selection is performed by the program RNXSMT where the priority list is specified in option “Receiver-specific observation type priority” (panel “RNXSMT 1.1: General Files” ). The resulting smoothed RINEX file (extension SMT) contains a special section in its comment lines reporting the original observation types according to the RINEX 3 convention: ### GEOS : GEOS : GEOS : GEOS : GEOS : ... GEOS : GEOS : GEOS : GEOS :
PG 1 2 3 4 5
RNXSMT : RINEX FILE CHANGED G 1 C1C C2W L1C L2W G 2 C1C C2W L1C L2W G 3 C1C C2W L1C L2W G 4 C1C C2W L1C L2W G 5 C1C C2W L1C L2W
COMMENT COMMENT COMMENT COMMENT COMMENT COMMENT
51 52 53 54
R121 R122 R123 R124
COMMENT COMMENT COMMENT COMMENT
C1P C1P C1P C1P
C2P C2P C2P C2P
L1P L1P L1P L1P
L2P L2P L2P L2P
When importing these files into the binary Bernese observation file format using the program RXOBV3 this information is kept in the header section. This information will be used in future versions of Bernese GNSS Software to manage the observation type identification. This mechanism requires to start with program RNXSMT whenever RINEX 3 files should be imported into Bernese GNSS Software, Version 5.2 . Page 144
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7.5 Using RINEX 3 Data
7.5.2 RINEX 3 Handling in RNXSMT In the first panel of RMXSMT the “Original RINEX observation files” are selected. Observation files in RINEX 2 and RINEX 3 format can be processed together in one program run. For that reason the potential long names of RINEX 3 files need to be converted to the conventional names of the RINEX 2 format.
In order to import RINEX 3 formatted files a priority list need to be specified in “Receiverspecific observation type priority” :
In the last panel of RNXSMT it may be selected whether phase and/or code measurements shall be preprocessed. If both checkboxes are deactivated the original observations from the input RINEX files are simply copied into the smoothed RINEX files.
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7.5.3 RINEX 3 Handling in the Example BPEs Since the release from 2016-Jan-08 of Version 5.2 , the BPE examples distributed with the Bernese GNSS Software contain four variables related to the selection of RINEX files to be processed: • V_OBSSEL to select the stations to be processed (see more information in the README-files of the BPEs), • V_RNXDIR location of the observation files in RINEX 2 format, • V_RX3DIR location of the observation files in RINEX 3 format, and • V_OBSINF name of the “Receiver-specific observation type priority” file to be used in the program RNXSMT if RINEX 3 formatted observation files are used. In the default setup the third section of the process control files considers only RINEX 2 formatted observation files: VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX
RINEX 3 observation typ selection
OBS . SEL
To accept also observation files in RINEX 3 format for processing, the corresponding directory need to be specified in V_RX3DIR : VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX RINEX3
RINEX 3 observation typ selection
OBS . SEL
The user script RNX_COP copies the observation files with the following priority from the datapool into the campaign area: 1. 2. 3. 4. 5.
RINEX 3 RINEX 3 RINEX 3 RINEX 3 RINEX 2
files files files files files
with with with with with
long names; generated by the receiver long names; generated from a stream long names; source unknown short names; source unknown short names
As soon as a RINEX 3 observation file is found, also the variable designed for the “Receiver-specific observation type priority” becomes relevant. Make sure that for your own BPEs the program RNXSMT is the first program that accesses the RINEX observation files.
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7.6 Processing Galileo Observations
7.6 Processing Galileo Observations Orbit and observation files containing Galileo are provided for one day (doy 213 of year 2017) in the campaign ${P}/EXM_GAL in the Bernese Introductory Course environment.
7.6.1 Galileo Satellite-Related Metadata Since 29 January 2017, the IGS is using the antenna corrections related to the IGS realization of the ITRF2014. The igs14.atx published by the IGS contains also corrections for the Galileo satellite antennas. Galileo meta data are contained in the satellite information file (${X}/GEN/SATELLIT.I14) as well as the antenna phase center correction file (${X}/GEN/PCV.I14) published at http://www.aiub.unibe.ch/download/ BSWUSER52/GEN or distributed with the software. These antenna corrections have been estimated under the assumption that the Galileo L1 /L5 ground antenna phase center corrections are identical with GPS L1 /L2 . This assumption has been taken because dedicated Galileo calibrations are not yet available for most antennas. The processing of Galileo observations follows the same scheme and is, therefore, consistent.
7.6.2 Preparing the Orbit and Clock Products The orbit products that shall be used need also to contain Galileo orbits and satellite clock corrections (in particular for a PPP processing). Since this information is not contained in the IGS legacy products, it is necessary to introduce products from the MGEX project of the IGS. In this context for instance CODE provides a dedicated multi-GNSS solution (the solution label COM is used for this purpose). The products can be downloaded from http://www.aiub.unibe.ch/download/CODE_MGEX/CODE and should be made available in the datapool area ${D}/COM for the use with the BPE. The orbit files have to be prepared as described in Section 3. Apart from the different filenaming (COM instead of COD) it should be considered that the EOP files are given in daily instead of weekly files. Consequently you need to specify COM$WD+0 instead of COD$W+07 to the field “Foreign formatted ERP files” in panel “POLUPD 1: Input/Output Files” . Since the beginning of the year 2014 the MGEX-related products generated by CODE are based on the updated Empirical CODE Orbit Model (ECOM) containing the twice-perrevolution term in the D-component (pointing from the satellite to the Sun). In order to correctly integrate these orbits with the program ORBGEN of Version 5.2 of Bernese GNSS Software you should consider the remarks in the section on Orbit Modeling at CODE Analysis Center and Compatibility with Version 5.2 on page 119 of the user manual. It means in particular that the orbit model in the program ORBGEN should be adjusted as follows:
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Even if orbits from more than GPS, GLONASS, and Galileo (as supported by Version 5.2 of Bernese GNSS Software) are contained in the orbit products, ORBGEN selects only those where records in the satellite information file are available. If you plan to do a PPP processing you may directly extract the satellite clock corrections from the clock RINEX file using the program RNXCLK ('Menu>RINEX>RINEX utilities>Extract satellite clock'):
The result file will have the same name as the input file but will be located in the ORB directory of the campaign. Page 148
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7.6 Processing Galileo Observations
7.6.3 Observation Selection Galileo measurements should only be provided in RINEX 3 format. Basically the instructions from Section 7.5 apply. It is only necessary to extend the observation type priority file by the Galileo-related measurement types. An example (${X}/GEN/OBS_GAL.SEL) is provided together with the Bernese GNSS Software: Receiver type ********************
S/S ***
O/F ***
RINEX observation codes and their prio rity *** *** *** *** *** *** *** *** *** *** *** ***
DEFAULT
G G G G R R R R E E E E
L1 L2 C1 C2 L1 L2 C1 C2 L1 L2 C1 C2
L1P L2P C1P C2P L1P L2P C1P C2P L1C L5Q C1C C5Q
L1W L2W C1W C2W
L1C L1X L2C L2D L2X C1C C1X C2C C2D C2X L1C L1X L2C L2X C1C C1X C2C C2X L1X L5I L5X C1X C5I C5X
...
This file needs to be specified in the option “Receiver-specific observation type priority” for the program RNXSMT:
All the other settings may be taken as shown in Section 7.5.2 . The SMT files have now to be imported into the the Bernese internal observation file format using the program RXOBV3:
Bernese GNSS Software, Version 5.2
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7 Additional Examples Since the observation type priority file acts as a filter, only observations for the systems listed in this file have been passed the program RNXSMT. For that reason the SMT-files contain only observations from the selected satellite systems. No further filtering is needed when importing the observations into the Bernese observation file format. Therefore, ALL satellite systems can selected in option “Satellite system to be considered” :
Please take care on the settings in the section “SIGNAL STRENGTH REQUIREMENTS” in panel “RXOBV3 4: Input Options 2” (see Section 7.4.1).
7.6.4 Processing the Example Including Galileo
At this point you can continue the processing for a regional network as described in this tutorial from Section 4.2 (page 33) onwards in order to generate a double difference network solution including Galileo. You need only to take care that you use the COM instead of COD orbit products and the the selection of the GNSS to be processed does not exclude Galileo (ALL for “Satellite system” ).
Forcing the Usage of Galileo Data in a Double-Difference Solution
In order to optimize the baseline creation for the usage of Galileo data the following procedure can be established. It is in particular useful if orbits for these satellites shall be estimated and/or the network of the Galileo tracking stations is so sparse that these measurements are not suffciently available.
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7.6 Processing Galileo Observations Step 1: Create first a set of baselines from those stations that provide Galileo measurements:
Store the resulting baselines in a file:
Step 2: Complete the network with the remaining stations:
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Using Galileo in a Zero-Difference Solution
Within the receivers an ISB between the Galileo and GPS pseudorange signals is expected as it is the case between GPS and GLONASS. Because all Galileo satellites are using the same frequencies only one bias parameter per station needs to be added. In order to setup this bias parameter the option “Differential code biases” needs to be enabled:
As the “Type of differential code biases” LC for the receivers needs to be selected if the ionosphere-free linear combination L3 is processed:
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7.6 Processing Galileo Observations
Unfortunately, this bias parameter cannot be combined with bias parameters from the type P1-C1 or P1-C1_MULTIPLIER . The related biases for GPS need to be introduced as a priori values in “Observable-specifc biases” in panel “GPSEST 1.1: Input Files 1” and cannot be reestimated at the same time. If P1-C1_MULTIPLIER is selected, GPSEST automatically switches to LC if GPS and Galileo observations are processed together. In case of the geometry-free linear combination L4 the P 1 − P 2 bias needs to be specified. Here the necessary Galileo-related bias is set up automatically. Apart from these modifications, the analysis of the zero-difference network as described in Section 7.4 is possible including Galileo observations.
7.6.5 Adapting the Example BPEs The PPP (PPP_BAS.PCF and PPP_DEMO.PCF) as well as the double-difference network (RNX2SNX.PCF) processing example BPEs can be switched for processing Galileo observations by changing a few BPE server variables: • Allow the import of Galileo observations from the RINEX observation files by chaning VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_SATSYS Select the GNSS ( GPS , GPS / GLO ) GPS / GLO ...
to VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_SATSYS Select the GNSS ( GPS , GPS / GLO ) ALL ...
The value of this variable is introduced into the option “Satellite system to be considered” in program RXOBV3 in order to select the GNSS for importing the measurements into the Bernese formatted binary files. • Another set of changes in the BPE variables is related to the usage of RINEX 3 measurements, which is disabled in the default version:
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VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX
RINEX 3 observation typ selection
OBS . SEL
According to Section 7.5 they are enabled by: VARIABLE 8******* ... V_RNXDIR V_RX3DIR .. V_OBSINF ...
DESCRIPTION DEFAULT 40************************************** 30**************************** Directory with the RINEX2 files Directory with the RINEX3 files
RINEX RINEX3
RINEX 3 observation typ selection
OBS_GAL . SEL
• Finally, the orbit products that shall be used need also to contain Galileo orbits and satellite clock corrections by choosing COM instead of COD products by changing VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_B Orbit / ERP , DCB , CLK information COD ...
to VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_B Orbit / ERP , DCB , CLK information COM ...
It is obvious that the products need to be available in the datapool (${D}/COM). • It might be useful to deposit the results from the Galileo processing in a separate folder in the savedisk archive. You may adapt the BPE variable V_RESULT accordingly: VARIABLE DESCRIPTION DEFAULT 8******* 4 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * 3 0 * * * * * * * * * * * * * * * * * * * * * * * * * * * * ... V_RESULT Directory name for the RNX2SNX results RNX2SNX_GA L ...
For zero-difference processing the ISB between the three involved GNSS in the receivers need to be taken into account. In Section 7.4 this is demonstrated between GPS and GLONASS by enabling the “GLONASS receiver clock biases” in panel “GPSEST 5.2: Setup of Parameters and Pre-Elimination 2” . To add the ISB for Galileo as well, one additional bias parameter is needed per receiver (because, as GPS, Galileo uses the same frequency for all satellites). This additional bias is enabled automatically by the user script TIMEST_P in confunction with the program GPSEST. The program switches the “Type of differential code biases” from P1-C1_MULTIPLIER to LC as soon as Galileo data are available. This mechnism allows the PPP example BPEs to use Galileo data. In the case of the zerodifference network processing example (CLKDET.PCF) this would require a reorganization of the bias-handling. For that reason this example BPE does not support the analysis of Galileo data at the current status.
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7.7 Simulation of GNSS Observations
7.7 Simulation of GNSS Observations The Bernese GNSS Software provides the simulation tool GPSSIM ('Menu>Service>Generate simulated observation data'). It generates synthetic GNSS (i.e., GPS and GLONASS) observations for terrestrial static or kinematic stations as well as for LEO. Code and phase zero difference observation files can be created based on an observation scenario defined by • GNSS satellite geometry given by a standard orbit and • a set of receivers with positions from a coordinate file, kinematic positions, or a LEO standard orbit file.
7.7.1 Simulation of GNSS Observations It is important that you remove all previously existing observation files for this session from the OBS directory of your campaign before your start to simulate observations. Otherwise you run into the danger of mixing your current set of simulated observations with other measurements: [email protected] :~ > rm $ { P }/ INTRO / OBS /????2070. CZ ? [email protected] :~ > rm $ { P }/ INTRO / OBS /????2070. PZ ?
Please keep in mind that the observation files from your previous work in this campaign are lost due to this command. If you still need them, please copy them away. The input files for the generation of synthetic GNSS observations with program GPSSIM ('Menu>Service>Generate simulated observation data') are defined in the first input panel:
Select EXAMPLE.ABB in option “Abbreviation table” in the next panel “GPSSIM 1.1: General Files” .
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7 Additional Examples In the second panel, the interval for data simulation is defined and the list of stations selected from all sites in the input “Coordinate file” :
The meta data for each station is specified in this panel:
The “Receiver” for each station must start with SIMULA to indicate that this is a simulated station. In the input field you may only extend this string by a user input. Note that the receiver and antenna types you are defining here must be registered in the “Receiver information” and “Phase center eccentricities” files given in panel “GPSSIM 1.1: General Files” .
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7.7 Simulation of GNSS Observations Please check the completeness for each involved GNSS which is not defined by the receiver type connected to the antenna but by the list of satellites in the “GNSS Standard orbit” . If you would use the real antenna names for the stations as they are given in Tab. 1.1 GPSSIM would fail and issue a message like *** SR SEARCH_OFF : No offset values found for satellite system R of Antenna : ASH700936E SNOW Number : 0
which indicates deficiencies that need to be fixed manually or with the support of the program ATX2PCV ('Menu>Conversion>ANTEX to Bernese format'). In that case you need to define some antenna phase center corrections for this antenna type for GLONASS. If there is no need for any other antenna naming convention it is proposed to use the antenna name SIMULA with radome type NONE what seems to be sufficient for most of the simulation purposes.
In the subsequent panels some basic characteristics, assumptions on the ionospheric conditions, and the noise level are introduced. Even cycle slips may be simulated.
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The observations are generated without noise to check the consistency with the processing program in the subsequent sections.
7.7.2 Zero Difference Solution from Simulated GNSS Observations
The simulated observations can directly be introduced in program GPSEST for an analysis on zero difference level (if you have not simulated cycle slips). Please pay attention to the consistency of all input files:
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7.7 Simulation of GNSS Observations
Result files can be specified to compare the results with the inputs for GPSSIM. A residual file might also be useful.
The processing models also have to be consistent with the simulation or to contain well defined differences which are the subject of your investigation:
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No constraints for datum definition are needed because these are noise–free simulated data:
Only the receiver and satellite clocks are estimated:
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7.7 Simulation of GNSS Observations
The resulting program output file looks like the usual output from GPSEST but with perfect observations without any noise: ... 13. RESULTS ( PART 1) -------------------NUMBER OF PARAMETERS ( PART 1): ----------------------------PARAMETER TYPE # PARAMETERS # PRE - ELIMINATED # SET - UP ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... STATION COORDINATES RECEIVER CLOCK BIASES / TIME BIASES AMBIGUITIES EPOCH WISE STATION CLOCKS EPOCH WISE SATELLITE CLOCKS
39 260 1529 3744 6302
0 0 0 3744 6302
( EPOCH - WISE ) ( EPOCH - WISE )
39 260 1529 3744 6302
... ... ... ... ...
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF PARAMETERS 11874 10046 11874 ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
NUMBER OF OBSERVATIONS ( PART 1): ------------------------------TYPE FREQUENCY FILE / PAR # OBSERVATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... PHASE CODE
L3 L3
ALL ALL
68024 68024
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ... TOTAL NUMBER OF OBSERVATIONS 136048 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ...
A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
0.0000 M
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
124174 0.00
Bernese GNSS Software, Version 5.2
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE AT ...
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7 Additional Examples No improvements for the station coordinates and other parameters are expected: ... STATION COORDINATES : -------------------
( NOT SAVED )
NUM STATION NAME PARAMETER A PRIORI VALUE NEW VALUE NEW - A PRIORI RMS ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - .. 75
GANP 11515 M001
X Y Z HEIGHT LATITUDE LONGITUDE
3929181.4190 1455236.8207 4793653.9477 746.0115 49 2 4.971302 20 19 22.574439
3929181.4190 1455236.8207 4793653.9477 746.0115 49 2 4.971302 20 19 22.574439
0.0000 0.0000 0.0000
0.0000 0.0000 0.0000
0.0000 0.0000 0.0000
0.0000 .. 0.0000 .. 0.0000 ..
...
The inter–system and inter–frequency biases have been assumed to be zero during the simulation (what is equivalent to any other constant number): ... RECEIVER CLOCKS / TIME BIASES : ----------------------------REQUEST STATION NAME OFFSET ( USEC ) RMS ( NSEC ) ---------------------------------------------------------------------------------------------1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP GANP
11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001 11515 M001
0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
--0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000
0.000000 0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 -0.000000 0.000000
--0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000
SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT SAT
GPS 101 102 103 104 105 107 108 110 111 113 114 115 117 118 119 120 121 122 123
...
The same holds for the epoch–wise clocks. The residuals in the optional residual output file of such a dataset is well below the 1 µm level.
7.7.3 Double–Difference Solution from Simulated GNSS Observations As in the beginning of the simulation, you should make sure that no other baseline observation files for the current session exist in the OBS–directory of your campaign to prevent any interferences and mixtures of simulated measurements with other ones. [email protected] :~ > rm $ { P }/ INTRO / OBS /????2070. PS ?
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7.7 Simulation of GNSS Observations The simulated measurements can also be processed in the double–difference mode. In that case you have to start with forming baselines using the program SNGDIF ('Menu>Processing >Create baseline files') in nearly the same shape as in Section 4.2.2 for real observations:
The main difference is that you should also keep all ambiguities from the zero difference in the baseline observation files, what is managed by checking the box for option “Merge ambiguities from input files” :
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7 Additional Examples The resulting baseline files from simulated observations can now be analysed with program GPSEST:
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7.7 Simulation of GNSS Observations The models are selected to be fully consistent with the simulation:
No other mated:
parameters
than
station
Bernese GNSS Software, Version 5.2
coordinates
and
ambiguities
are
esti-
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7 Additional Examples
The results scribed:
are
analogue
to
the
zero
difference
case
previously
de-
... A POSTERIORI SIGMA OF UNIT WEIGHT ( PART 1): -----------------------------------------A POSTERIORI SIGMA OF UNIT WEIGHT
:
DEGREE OF FREEDOM ( DOF ) CHI **2/ DOF ...
: :
0.0000 M
( SIGMA OF ONE - WAY L1 PHASE OBSERVABLE ...
56179 0.00
The ambiguities are set up in a way that the correct resolution for all ambiguities is zero in any case. This is an easy way to verify ambiguity resolution strategies.
7.7.4 Final Remarks There are many opportunities to use this simulation tool. It depends on your needs and the concrete target of the simulation study to define the experiment. As it was just demonstrated the full consistency between the processing and the simulation programs is guaranteed by the Bernese GNSS Software. The big advantage of a simulation is that the correct solution is known a priori. On the other hand, you have to keep in mind that the simulated data can only contain effects included in the simulation model. If a receiver for instance introduces a significant variation of the inter–system bias between GPS and GLONASS data — an effect that is not considered in the simulation model — the influence of such an effect on the results cannot be evaluated by the simulation.
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Since GPS week 1934 (29 January 2017) the IGS is using the IGS14 reference frame together with the related antenna model (I14.ATX). They are available in the related Bernese GNSS Software, Version 5.2 Page 7 1 Introduction to the Example Campaign Table 1.3.