Eugenio Realini

goGPS: open source software for enhancing the accuracy of low-cost receivers by single-frequency relative kinematic positioning

goGPS is a free and open source satellite positioning software package aiming to provide a collaborative platform for research and teaching purposes. It was first published in 2009 and since then several related projects are on-going. Its objective is the investigation of strategies for enhancing the accuracy of low-cost single-frequency GPS receivers, mainly by relative positioning with respect to a base station and by a tailored extended Kalman filter working directly on code and phase observations. In this paper, the positioning algorithms implemented in goGPS are presented, emphasizing the modularity of the software design; two specific strategies to support the navigation with low-cost receivers are also proposed and discussed, namely an empirical observation weighting function calibrated on the receiver signal-to-noise ratio and the inclusion of height information from a digital terrain model as an additional observation in the Kalman filter. The former is crucial when working with high-sensitivity receivers, while the latter can significantly improve the positioning in the vertical direction. The overall goGPS positioning accuracy is assessed by comparison with a dual-frequency receiver and with the positioning computed by a standard low-cost receiver. The benefits of the calibrated weighting function and the digital terrain model are investigated by an experiment in a dense urban environment. It comes out that the use of goGPS and low-cost receivers leads to results comparable with those obtained by higher level receivers; goGPS has good performances also in a dense urban environment, where its additional features play an important role.

goGPS: open-source MATLAB software

Abstract goGPS is a positioning software application designed to process single-frequency code and phase observations for absolute or relative positioning. Published under a free and open-source license, goGPS can process data collected by any receiver, but focuses on the treatment of observations by low-cost receivers. goGPS algorithms can produce epoch-by-epoch solutions by least squares adjustment, or multi-epoch solutions by Kalman filtering, which can be applied to either positions or observations. It is possible to aid the positioning by introducing additional constraints, either on the 3D trajectory such as a railway, or on a surface, e.g., a digital terrain model. goGPS is being developed by a collaboration of different research groups, and it can be downloaded from http://www.gogps-project.org. The version used in this manuscript can be also downloaded from the GPS Toolbox Web site http://www.ngs.noaa.gov/gps-toolbox. This software is continues to evolve, improving its functionalities according to the updates introduced by the collaborators. We describe the main modules of goGPS along with some examples to show the user how the software works.

Experimental Study on Low-Cost Satellite-Based Geodetic Monitoring over Short Baselines

AbstractThe use of geodetic techniques, in particular of the global positioning system (GPS), or other global navigation satellite systems (GNSS), for monitoring different kinds of deformations is a common practice. This is typically performed by setting a network of geodetic GPS/GNSS receivers, allowing accuracies in the order of millimeters. The use of lower-cost devices has been recently studied, showing that good results can be achieved. In this paper, the impact of the software used for the data analysis is also investigated to verify whether a fully low-cost monitoring system, i.e., both hardware and software, can be set up. This is done by performing a series of relative positioning experiments in which data are processed by different software packages. The main result is that by using a low-cost u-blox EVK-6T GPS receiver and analyzing its data with free and open-source software, movements of the order of a few millimeters can be detected when a short baseline with daily solutions is used.

Accuracy of Flight Altitude Measured with Low-Cost GNSS, Radar and Barometer Sensors: Implications for Airborne Radiometric Surveys

Flight height is a fundamental parameter for correcting the gamma signal produced by terrestrial radionuclides measured during airborne surveys. The frontiers of radiometric measurements with UAV require light and accurate altimeters flying at some 10 m from the ground. We equipped an aircraft with seven altimetric sensors (three low-cost GNSS receivers, one inertial measurement unit, one radar altimeter and two barometers) and analyzed ~3 h of data collected over the sea in the (35–2194) m altitude range. At low altitudes (H < 70 m) radar and barometric altimeters provide the best performances, while GNSS data are used only for barometer calibration as they are affected by a large noise due to the multipath from the sea. The ~1 m median standard deviation at 50 m altitude affects the estimation of the ground radioisotope abundances with an uncertainty less than 1.3%. The GNSS double-difference post-processing enhanced significantly the data quality for H > 80 m in terms of both altitude median standard deviation and agreement between the reconstructed and measured GPS antennas distances. Flying at 100 m the estimated uncertainty on the ground total activity due to the uncertainty on the flight height is of the order of 2%.

An observation campaign of precipitable water vapor with multiple GPS receivers in western Java, Indonesia

A campaign was conducted from 23 July to 5 August 2010 to measure atmospheric precipitable water vapor (PWV) using five Global Positioning System (GPS) receivers, stationed at four different locations in Jakarta and Bogor, western Java, Indonesia. Radiosondes were launched at an interval of 6 h to validate the GPS-derived PWV data. The validation resulted in a root mean square error of 2 to 3 mm in PWV. The influence of atmospheric pressure and temperature on GPS-derived PWV was evaluated. A regular semi-diurnal pressure oscillation was observed, showing an amplitude ranging from 3 to 5 hPa, which corresponds to 1.1 to 1.8 mm in PWV. A nocturnal temperature inversion layer was observed in the radiosonde profiles, which resulted in an error of about 0.5 mm in PWV. From 26 to 29 July, there was a passage of distributed rain clouds over western Java, moving southwestward from the equator toward the Indian Ocean. A second precipitation event, with scattered rain clouds forming locally near Bogor, occurred on 2 August. Both events were observed also by a C-band Doppler Radar operated near Jakarta. The highest peak of GPS-derived PWV (about 67 mm) registered during the campaign occurred on 27 July, coinciding with the distributed rainfall event. Spatial variations in the estimated PWV between the four sites were enhanced before both the analyzed rainfall events, on 27 July and 2 August. Peaks in the temporal variability of PWV were also observed in conjunction with the two events. The results indicated a relation between the space-time inhomogeneity of GPS-PWV and rainfall events in the tropics.

Precise GNSS Positioning Using Smart Devices

The recent access to GNSS (Global Navigation Satellite System) phase observations on smart devices, enabled by Google through its Android operating system, opens the possibility to apply precise positioning techniques using off-the-shelf, mass-market devices. The target of this work is to evaluate whether this is feasible, and which positioning accuracy can be achieved by relative positioning of the smart device with respect to a base station. Positioning of a Google/HTC Nexus 9 tablet was performed by means of batch least-squares adjustment of L1 phase double-differenced observations, using the open source goGPS software, over baselines ranging from approximately 10 m to 8 km, with respect to both physical (geodetic or low-cost) and virtual base stations. The same positioning procedure was applied also to a co-located u-blox low-cost receiver, to compare the performance between the receiver and antenna embedded in the Nexus 9 and a standard low-cost single-frequency receiver with external patch antenna. The results demonstrate that with a smart device providing raw GNSS phase observations, like the Nexus 9, it is possible to reach decimeter-level accuracy through rapid-static surveys, without phase ambiguity resolution. It is expected that sub-centimeter accuracy could be achieved, as demonstrated for the u-blox case, if integer phase ambiguities were correctly resolved.

Local-Scale Precipitable Water Vapor Retrieval from High-Elevation Slant Tropospheric Delays Using a Dense Network of GNSS Receivers

Local-scale monitoring of the temporal and spatial variability of precipitable water vapor (PWV) is crucial to improve the nowcasting and forecasting of localized meteorological hazards. While GPS is now routinely employed to retrieve PWV from estimated tropospheric delays (GPS meteorology), even the densest GPS networks available have a spatial resolution of the order of tens of kilometers, which is too coarse for detecting local fluctuations of water vapor. A densification of existing networks, at least in urban areas, is necessary to provide reliable and continuous water vapor monitoring with sufficiently high horizontal resolution. Densifying existing networks down to few kilometers of inter-station distances, however, introduces at least two issues: first, a horizontal smoothing effect occurs, induced by the significant overlapping of the inverse cones above low elevation angles typically used for GPS observation processing; second, an issue of economic nature might arise if geodetic receivers are used for large-scale densifications (e.g. for early warning systems serving large cities). We tackle the first issue by using only high-elevation slant delays for PWV retrieval, and in particular by exploiting the Japanese Quasi-Zenith Satellite System (QZSS), and the second issue by investigating the use of low-cost single-frequency receivers with local ionosphere delay models. In this work we describe the results obtained in PWV retrieval from high-elevation GPS and QZSS slant delays, estimated using a dense network of receivers installed near Kyoto, Japan.

Special issue “GNSS and SAR Technologies for Atmospheric Sensing”

Recent advances in the field of atmospheric and ionospheric sensing by GNSS and SAR technologies were discussed during two workshops held in February 2016 and October 2016 in Italy, hosted by GEOlab of Politecnico di Milano under partial support of the JSPS Bilateral Open Partnership Joint Research Projects. Another symposium was held in March 2017 at the Research Institute for Sustainable Humanosphere of Kyoto University, to discuss (1) the water vapor and ionospheric maps retrieval from space-borne and airborne SAR, (2) ionosphere and troposphere monitoring by the ground-based GNSS network and radio occultation, (3) mesoscale numerical weather prediction models and data assimilation, and (4) ground-based remote-sensing techniques, such as a wind profiling radar. This special issue collects high-quality papers that describe the findings reported during these three meetings, not limited to GNSS and SAR, but also including ground-based atmospheric sensing systems and numerical weather prediction models.

Incorporating Sentinel-derived products into numerical weather models: the ESA STEAM project

The STEAM (SaTellite Earth observation for Atmospheric Modelling) project, funded by the European Space Agency, aims at investigating new areas of synergy between high-resolution numerical weather prediction (NWP) models and data from spaceborne remote sensing sensors. An example of synergy is the incorporation of high-resolution remote sensing data products in NWP models. The rationale is that NWP models are presently able to produce forecasts with a spatial resolution in the order of 1 km, but unreliable surface information or poor knowledge of the initial state of the atmosphere may imply an inaccurate simulation of the weather phenomena. It is expected that forecast inaccuracies could be reduced by ingesting high resolution Earth Observation derived products into models operated at cloud resolving grid spacing. In this context, the Copernicus Sentinel satellites represent an important source of data, because they provide a set of high-resolution observations of physical variables (e.g. soil moisture, land/sea surface temperature, wind speed, columnar water vapor) used NWP models runs. This paper presents the first results of the experiments carried out in the framework of the STEAM project, regarding the ingestion/assimilation of surface information derived from Sentinel data into a NWP model. The experiments concern a flood event occurred in Tuscany (Central Italy) in September 2017. Moreover, in view of the assimilation of water vapor maps obtained by applying the SAR Interferometry technique to Sentinel-1 data, the results of the assimilation of Zenith total delay data derived from global navigation satellite system (GNSS) are also presented.

Experiments on Long-term Geodetic Monitoring by Low-cost GNSS Receivers and GoGPS Positioning Engine

This paper describes experiments of GNSS-based monitoring by means of different models and brands of low-cost receivers. Single-frequency observations were processed by Open Source goGPS Positioning Engine, in relative positioning mode with respect to a virtual reference station and three physical permanent stations. The experiments were carried out in Osaka, Japan and the results here described cover a timespan of eight months. The daily solutions show standard deviations ranging from about 1mm to 1cm, mainly depending on the base station observations quality. Academic Discipline and Sub-Disciplines : Geodesy