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International GPS Service 2001 - 2002 Technical Reports

Applications of the Global Positioning System (GPS) to Earth Science are numerous. The International GPS Service (IGS), a federation of government agencies and universities, plays an increasingly critical role in support of GPS-related research and engineering activities. Contributions from the IGS Governing Board and Central Bureau, analysis and data centers, station operators, and others constitute the 2001 / 2002 Technical Reports. Hard copies of each volume can be obtained by contacting the IGS Central Bureau at the Jet Propulsion Laboratory. This report is published in black and white. To view graphs or plots that use color to represent data trends or information, please refer to the online PDF version at http://igscb.jpl.nasa.gov/overview/pubs.html.

Gowey, Ken↗

International GPS Service : 2001-2002 technical reports

Applications of the Global Positioning System (GPS) to Earth Science are numerous. The International GPS Service (IGS), a federation of government agencies and universities, plays an increasingly critical role in support of GPS-related research and engineering activities. Contributions from the IGS Governing Board and Central Bureau, analysis and data centers, station operators, and others constitute the 2001 / 2002 Technical Reports.

Feltens, J.↗

Multipath calibration in GPS pseudorange measurements

Novel techniques are disclosed for eliminating multipath errors, including mean bias errors, in pseudorange measurements made by conventional global positioning system receivers. By correlating the multipath signals of different satellites at their cross-over points in the sky, multipath mean bias errors are effectively eliminated. By then taking advantage of the geometrical dependence of multipath, a linear combination of spherical harmonics are fit to the satellite multipath data to create a hemispherical model of the multipath. This calibration model can then be used to compensate for multipath in subsequent measurements and thereby obtain GPS positioning to centimeter accuracy.

Kee, Changdon↗

IGS 2000 Annual Report

Contents: The IGS Governing Board 2000; Central Bureau Status 2000; Growth of the IGS Network in 2000; Analysis Activities; Data Center Activities 2000; The International Terrestrial Reference Frame; IGS Reference Frame Coordination and Working Group Activities; The IGS/BIPM Time and Frequency Pilot Project; IGS Activities in the Area of the Ionosphere 2000; IGS Tropospheric Products; IGS International GLONASS Service Pilot Project; IGS LEO Pilot Project; Continuous GPS Positioning of Tide Gauges.

GLONASS↗

GPS/Optical/Inertial Integration for 3D Navigation Using Multi-Copter Platforms

In concert with the continued advancement of a UAS traffic management system (UTM), the proposed uses of autonomous unmanned aerial systems (UAS) have become more prevalent in both the public and private sectors. To facilitate this anticipated growth, a reliable three-dimensional (3D) positioning, navigation, and mapping (PNM) capability will be required to enable operation of these platforms in challenging environments where global navigation satellite systems (GNSS) may not be available continuously. Especially, when the platform's mission requires maneuvering through different and difficult environments like outdoor opensky, outdoor under foliage, outdoor-urban and indoor, and may include transitions between these environments. There may not be a single method to solve the PNM problem for all environments. The research presented in this paper is a subset of a broader research effort, described in [1]. The research is focused on combining data from dissimilar sensor technologies to create an integrated navigation and mapping method that can enable reliable operation in both an outdoor and structured indoor environment. The integrated navigation and mapping design is utilizes a Global Positioning System (GPS) receiver, an Inertial Measurement Unit (IMU), a monocular digital camera, and three short to medium range laser scanners. This paper describes specifically the techniques necessary to effectively integrate the monocular camera data within the established mechanization. To evaluate the developed algorithms a hexacopter was built, equipped with the discussed sensors, and both hand-carried and flown through representative environments. This paper highlights the effect that the monocular camera has on the aforementioned sensor integration scheme's reliability, accuracy and availability.

Dill, Evan T.↗

Monitoring Volcanoes by Use of Air-Dropped Sensor Packages

Sensor packages that would be dropped from airplanes have been proposed for pre-eruption monitoring of physical conditions on the flanks of awakening volcanoes. The purpose of such monitoring is to gather data that could contribute to understanding and prediction of the evolution of volcanic systems. Each sensor package, denoted a volcano monitoring system (VMS), would include a housing with a parachute attached at its upper end and a crushable foam impact absorber at its lower end (see figure). The housing would contain survivable low-power instrumentation that would include a Global Positioning System (GPS) receiver, an inclinometer, a seismometer, a barometer, a thermometer, and CO2 and SO2 analyzers. The housing would also contain battery power, control, data-logging, and telecommunication subsystems. The proposal for the development of the VMS calls for the use of commercially available sensor, power, and telecommunication equipment, so that efforts could be focused on integrating all of the equipment into a system that could survive impact and operate thereafter for 30 days, transmitting data on the pre-eruptive state of a target volcano to a monitoring center. In a typical scenario, VMSs would be dropped at strategically chosen locations on the flanks of a volcano once the volcano had been identified as posing a hazard from any of a variety of observations that could include eyewitness reports, scientific observations from positions on the ground, synthetic-aperture-radar scans from aircraft, and/or remote sensing from aboard spacecraft. Once dropped, the VMSs would be operated as a network of in situ sensors that would transmit data to a local monitoring center. This network would provide observations as part of an integrated volcano-hazard assessment strategy that would involve both remote sensing and timely observations from the in situ sensors. A similar strategy that involves the use of portable sensors (but not dropping of sensors from aircraft) is already in use in the Volcano Disaster Assistance Program (VDAP), which was developed by the U.S. Geological Survey and the U.S. Office of Foreign Disaster Assistance to respond to volcanic crises around the world. The VMSs would add a greatly needed capability that would enable VDAP response teams to deploy their volcano-monitoring equipment in a more timely manner with less risk to personnel in the field.

Kedar, Sharon↗

Measurement of CPAS Main Parachute Rate of Descent

The Crew Exploration Vehicle Parachute Assembly System (CPAS) is being designed to land the Orion Crew Module (CM) at a safe rate of descent at splashdown. Flight test performance must be measured to a high degree of accuracy to ensure this requirement is met with the most efficient design possible. Although the design includes three CPAS Main parachutes, the requirement is that the system must not exceed 33 ft/s under two Main parachutes, should one of the Main parachutes fail. Therefore, several tests were conducted with clusters of two Mains. All of the steady-state rate of descent data are normalized to standard sea level conditions and checked against the limit. As the Orion design gains weight, the system is approaching this limit to within measurement precision. Parachute "breathing," cluster interactions, and atmospheric anomalies can cause the rate of descent to vary widely and lead to challenges in characterizing parachute terminal performance. An early test had contradictory rate of descent results from optical trajectory and Differential Global Positioning Systems (DGPS). A thorough analysis of the data sources and error propagation was conducted to determine the uncertainty in the trajectory. It was discovered that the Time Space Position Information (TSPI) from the optical tracking provided accurate position data. However, the velocity from TPSI must be computed via numerical differentiation, which is prone to large error. DGPS obtains position through pseudo-range calculations from multiple satellites and velocity through Doppler shift of the carrier frequency. Because the velocity from DGPS is a direct measurement, it is more accurate than TSPI velocity. To remedy the situation, a commercial off-the-shelf product that combines GPS and an Inertial Measurement Unit (IMU) was purchased to significantly improve rate of descent measurements. This had the added benefit of solving GPS dropouts during aircraft extraction. Statistical probability distributions for CPAS Main parachute rate of descent and drag coefficient were computed and plotted. Using test data, a terminal rate of descent at splashdown can be estimated as a function of canopy loading.

Ray, Eric S.↗

Long term frequency stability analysis of the GPS NAVSTAR 6 Cesium clock

Time domain measurements, taken between the NAVSTAR 6 Spacecraft Vehicle (SV) and the Vandenberg Global Positioning System (GPS) Monitor Site, by a pseudo random noise receiver, were collected over an extended period of time and analyzed to estimate the long term frequency stability of the NAVSTAR 6 onboard frequency standard, referenced to the Vandenberg MS frequency standard. The technique employed separates the clock offset from the composite signal by first applying corrections for equipment delays, ionospheric delay, tropospheric delay, Earth rotation and the relativistic effect. The data are edited and smoothed using the predicted SV ephemeris to calculate the geometric delay. Then all available passes from each of the four GPS monitor stations, are collected at 1-week intervals and used to calculate the NAVSTAR orbital elements. The procedure is then completed by subtracting the corrections and the geometric delay, using the final orbital elements, from the composite signal, thus leaving the clock offset and random error.

Mccaskill, T. B.↗

GPS/Loran-C interoperability for time and frequency applications: A survey of the times of arrival of Loran-C transmissions via GPS common mode/common view satellite observations

The results from this survey clearly indicate that the Global Positioning System (GPS) time transfer capability is superior to that of the Loran-C system for absolute timing accuracy, and that even with the most careful calibration of the Loran-C receiver delay and propagation path, inexplicable time of arrival (TOA) biases remain which are larger than the variations across all of the transmitters. Much more data covering years would be needed to show that these biases were stable enough to be removed with a one time site calibration. The synchronization of the transmissions is excellent, all showing low parts in 10(exp 13) offsets versus the United States Naval Observatory (USNO) master clock. With the exception of the Searchlight transmitter, all of the transmissions exhibit timing stabilities over the entire period of less than 300 ns RMS which is at the observed levels of GPS under selective availability (SA). The Loran-C phase instabilities take place over a much greater time interval than those being forced onto the GPS signals under SA, providing for better medium to short term frequency stability. Data show that all but the most distant transmitters offer better than three parts in 10(exp 11) stability at this averaging time. It is in the frequency control area where GPS/Loran-C interoperation will offer some synergistic advantages over GPS alone under SA.

Penrod, Bruce↗

Gravity field estimation from future space missions - TOPEX/POSEIDON, Gravity Probe B, and ARISTOTELES

Accurate knowledge of the gravity field is a firm requirement in any study of Planet Earth. Space techniques have so far demonstrated their superiority in the global mapping of the gravity field based on ground tracking and altimeter data mostly. Numerical and analytical simulation studies of the upcoming geophysically relevant missions that will most likely carry GPS receivers, indicate significant improvements in the accuracy as well as the resolution of the gravity field. TOPEX will improve by some two orders of magnitude the long wavelength part (to degree about 20), while GP-B will contribute in the long as well as medium wavelength part of the spectrum (up to degree about 60). The gradiometer measurements on ARISTOTELES will contribute in the medium and short wavelength regions (from degree 30 up); GPS tracking of the spacecraft though will provide additional information for the long wavelength gravity and will help resolve it to accuracies comparable to those obtained from GP-B. With the mean rms coefficient error per degree kept below 10 exp -10, geophysical signals such as the post-glacial rebound, tidal variations, and secular and periodic variations of the zonal field rise above the noise level and become readily observable processes.

Pavlis, Erricos C.↗

Further development and flight test of an autonomous precision landing system using a parafoil

NASA Dryden Flight Research Center and NASA Johnson Space Center are jointly conducting a phased program to determine the feasibility of the autonomous recovery of a spacecraft using a ram-air parafoil system for the final stages of entry from space to a precision landing. The feasibility is being studied using a flight model of a spacecraft in the generic shape of a flattened biconic that weighs approximately 120 lb and is flown under a commercially available ram-air parafoil. Key components of the vehicle include the global positioning system (GPS) guidance for navigation, a flight control computer, an electronic compass, a yaw rate gyro, and an onboard data recorder. A flight test program is being used to develop and refine the vehicle. The primary flight goal is to demonstrate autonomous flight from an altitude of 3,000 m (10,000 ft) with a lateral offset of 1.6 km (1.0 mi) to a precision soft landing. This paper summarizes the progress to date. Much of the navigation system has been tested, including a heading tracker that was developed using parameter estimation techniques and a complementary filter. The autoland portion of the autopilot is still in development. The feasibility of conducting the flare maneuver without servoactuators was investigated as a means of significantly reducing the servoactuator rate and load requirements.

Murray, James E.↗

Early results from the TOPEX/POSEIDON GPS precise orbit determination demonstration

TOPEX/POSEIDON, a US/French oceanographic mission launched in August 1992, is the first earth satellite to carry a multi-channel, dual frequency Global Positioning System (GPS) receiver capable of making high precision P-code pseudorange and carrier phase measurements. The receiver was placed on TOPEX/POSEIDON as an experiment to demonstrate the potential of differential GPS tracking for subdecimeter orbit determination. In addition to the receiver, TOPEX/POSEIDON carries two flight-proven tracking systems to provide the operational precise orbit determination needed to meet the mission scientific requirements. These include a French-built one-way Doppler system known as DORIS (Doppler Orbitography and Radiopositioning Integrated by Satellite) and a circular ring of laser retroreflectors. Here we evaluate the quality of the GPS-determined orbits by examining post-fit residuals, orbit comparisons with DORIS, and orbit repeatability on overlapping data arcs. Overlapping data arcs with 6 hrs of common data out of a 30-hr arc have an average root-mean-square (RMS) altitude difference of 3.0 cm for 9 arcs. The average RMS altitude difference about the mean with a DORIS orbit was 5.7 cm.

Bertiger, Willy↗

Formal methods demonstration project for space applications

The Space Shuttle program is cooperating in a pilot project to apply formal methods to live requirements analysis activities. As one of the larger ongoing shuttle Change Requests (CR's), the Global Positioning System (GPS) CR involves a significant upgrade to the Shuttle's navigation capability. Shuttles are to be outfitted with GPS receivers and the primary avionics software will be enhanced to accept GPS-provided positions and integrate them into navigation calculations. Prior to implementing the CR, requirements analysts at Loral Space Information Systems, the Shuttle software contractor, must scrutinize the CR to identify and resolve any requirements issues. We describe an ongoing task of the Formal Methods Demonstration Project for Space Applications whose goal is to find an effective way to use formal methods in the GPS CR requirements analysis phase. This phase is currently under way and a small team from NASA Langley, ViGYAN Inc. and Loral is now engaged in this task. Background on the GPS CR is provided and an overview of the hardware/software architecture is presented. We outline the approach being taken to formalize the requirements, only a subset of which is being attempted. The approach features the use of the PVS specification language to model 'principal functions', which are major units of Shuttle software. Conventional state machine techniques form the basis of our approach. Given this background, we present interim results based on a snapshot of work in progress. Samples of requirements specifications rendered in PVS are offered to illustration. We walk through a specification sketch for the principal function known as GPS Receiver State processing. Results to date are summarized and feedback from Loral requirements analysts is highlighted. Preliminary data is shown comparing issues detected by the formal methods team versus those detected using existing requirements analysis methods. We conclude by discussing our plan to complete the remaining activities of this task.

Divito, Ben L.↗

A Multi-Sensor Water Vapor, Temperature and Cloud Climate Data Record: Status of Our MEaSUREs 2012 Project

- Our primary objectives: Incorporate all A-Train water vapor, including small-scale, horizontal and vertical water vapor structure from MODIS (Moderate Resolution Imaging Spectroradiometer) and GPS (Global Positioning System); Use MODIS cloud classification that is collocated at the pixel-scale over the full AIRS/AMSU (Atmospheric Infrared Sounder/Advanced Microwave Sounding Unit) swath; Extend summaries to PDFs (Probability Distribution Functions)/higher order moments of water vapor sorted by cloud classes; Establish robust, scale-dependent statistical relationships between cloud, temperature, and water vapor PDFs for the climate modeling community. - We will also: Update our current data record to new CloudSat/CALIPSO (Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observation) cloud classification; Provide merged AIRS and MLS (Microwave Limb Sounder) water vapor profiles using averaging kernels; Include temperature and water vapor from models (ECMWF - European Centre for Medium-Range Weather Forecasts) and re-analyses (MERRA - Modern Era-Retrospective Analysis for Research and Applications); Classify METOP-A (Meteorological Operational Satellite-A) and NOAA (National Oceanic and Atmospheric Administration) satellite water vapor with AVHRR (Advanced Very High Resolution Radiometer) during SNOs (Solar Neutrino Oscillations); Compare with the NVAP-M (re-analysis and extension of the NASA Water Vapor Project (NVAP)) water vapor climatologies; Use existing data sources and mature algorithms, and document processing algorithms.

Fetzer, Eric↗

Development of a Heterogeneous sUAS High-Accuracy Positional Flight Data Acquisition System

Recently, a heterogeneous FDAS, consisting of a diverse range of instruments was developed to support acoustic flight research programs at NASA Langley Research Center. In addition to a conventional GPS to measure latitude, longitude and altitude, the FDAS also utilizes a small, light-weight, low-cost DGPS system to obtain centimeter accuracy to measure the distance traveled by sound from a sUAS vehicle to a microphone on the ground. Acoustic flight testing using the FDAS installed on several different sUAS platforms has been conducted in support of the NASA CAS DELIVER and ERA ITD projects (Reference 1). The first FDAS prototype was assembled and implemented in the acoustic/flight measurement system in December 2014 to support DELIVER acoustic flight tests. Evaluation of the system performance and results from the data analyses were used to further test, develop and enhance the FDAS over a six-month period to support acoustic flight research for the ERA.

McSwain, Robert G.↗

Comparison of Vertical Surface Deformation Estimates Derived From Space-Based Gravimetry, Ground-Based GPS, and Model-Based Hydrologic Loading Over Snow-Dominated Watersheds in the United States

Spatiotemporal variability in Earth's terrestrial water storage (TWS) causes changes in surface deformation. The potential for using ground-based Global Positioning System (GPS) vertical displacement observations for estimating TWS is explored through a comparison of vertical displacements derived from space-based gravimetric retrievals, ground-based GPS, and model-based hydrologic estimates. The study presented here focuses on two snow-dominated basins in the Western United States for the years 2003–2016. Seasonal variations are observed in the vertical displacements derived from all three data sets, and the variation is coherent with the changes in hydrologic loading. Good consistency is observed between any two of the three data sets with gravimetric retrievals and hydrologic model estimates providing the highest level of agreement (i.e., all examined stations with correlation coefficient R > 0.70). Vertical displacements derived from gravimetric retrievals and ground-based GPS yielded R > 0.70 for more than 89% of the stations. In addition, it is found that both GPS-derived and space-based, gravimetry-derived vertical displacements clearly reflected the impact of climate variation (i.e., heavy precipitation during 2010–2011 winter followed by prolonged drought). Vertical displacements derived from the hydrologic model highlighted the relatively large precipitation convergence phase during late 2010 to early 2011 at some stations but not the prolonged drought that followed. The results indicate that ground-based GPS observations of vertical displacement have the capability to capture variations in TWS changes, which can be systematically merged in conjunction with Gravity Recovery and Climate Experiment (GRACE) into a land surface model to improve TWS estimates in a follow-up study.

Gaohong Yin↗

GPS Estimates of Integrated Precipitable Water Aid Weather Forecasters

Global Positioning System (GPS) meteorology provides enhanced density, low-latency (30-min resolution), integrated precipitable water (IPW) estimates to NOAA NWS (National Oceanic and Atmospheric Adminis tration Nat ional Weather Service) Weather Forecast Offices (WFOs) to provide improved model and satellite data verification capability and more accurate forecasts of extreme weather such as flooding. An early activity of this project was to increase the number of stations contributing to the NOAA Earth System Research Laboratory (ESRL) GPS meteorology observing network in Southern California by about 27 stations. Following this, the Los Angeles/Oxnard and San Diego WFOs began using the enhanced GPS-based IPW measurements provided by ESRL in the 2012 and 2013 monsoon seasons. Forecasters found GPS IPW to be an effective tool in evaluating model performance, and in monitoring monsoon development between weather model runs for improved flood forecasting. GPS stations are multi-purpose, and routine processing for position solutions also yields estimates of tropospheric zenith delays, which can be converted into mm-accuracy PWV (precipitable water vapor) using in situ pressure and temperature measurements, the basis for GPS meteorology. NOAA ESRL has implemented this concept with a nationwide distribution of more than 300 "GPSMet" stations providing IPW estimates at sub-hourly resolution currently used in operational weather models in the U.S.

Moore, Angelyn W.↗