Lars Prange

CODE’s five-system orbit and clock solution—the challenges of multi-GNSS data analysis

This article describes the processing strategy and the validation results of CODE’s MGEX (COM) orbit and satellite clock solution, including the satellite systems GPS, GLONASS, Galileo, BeiDou, and QZSS. The validation with orbit misclosures and SLR residuals shows that the orbits of the new systems Galileo, BeiDou, and QZSS are affected by modelling deficiencies with impact on the orbit scale (e.g., antenna calibration, Earth albedo, and transmitter antenna thrust). Another weakness is the attitude and solar radiation pressure (SRP) modelling of satellites moving in the orbit normal mode—which is not yet correctly considered in the COM solution. Due to these issues, we consider the current state COM solution as preliminary. We, however, use the long-time series of COM products for identifying the challenges and for the assessment of model-improvements. The latter is demonstrated on the example of the solar radiation pressure (SRP) model, which has been replaced by a more generalized model. The SLR validation shows that the new SRP model significantly improves the orbit determination of Galileo and QZSS satellites at times when the satellite’s attitude is maintained by yaw-steering. The impact of this orbit improvement is also visible in the estimated satellite clocks—demonstrating the potential use of the new generation satellite clocks for orbit validation. Finally, we point out further challenges and open issues affecting multi-GNSS data processing that deserves dedicated studies.

AIUB-GRACE02S: Status of GRACE Gravity Field Recovery Using the Celestial Mechanics Approach

The gravity field model AIUB-GRACE02S is the second release of a model generated with the Celestial Mechanics Approach using GRACE data. Inter-satellite K-band range-rate measurements and GPS-derived kinematic positions serve as observations to solve for the Earth’s static gravity field in a generalized orbit determination problem. Apart from the normalized spherical harmonic coefficients up to degree 150, arc-specific parameters like initial conditions and pseudo-stochastic parameters are solved for in a rigorous least-squares adjustment based on both types of observations. The quality of AIUB-GRACE02S has significantly improved with respect to the earlier release 01 due to a refined orbit parametrization and the implementation of all relevant background models. AIUB-GRACE02S is based on 2 years of data and was derived in one iteration step from EGM96, which served as a priori gravity field model. Comparisons with levelling data and models from other groups are used to assess the suitability of the Celestial Mechanics Approach for GRACE gravity field determination.

Gravity Field Determination at the AIUB - The Celestial Mechanics Approach

We present the gravity field model AIUB-CHAMP01S, which has been generated using the Celestial Mechanics approach. GPS-derived kinematic positions of low Earth orbiters (LEOs) are used as pseudo-observations to solve for the Earth’s gravity field parameters in a generalized orbit determination problem. Apart from normalized spherical harmonic (SH) coefficients, arc-specific parameters (e.g., accelerometer calibration parameters, dynamical parameters, or pseudo-stochastic parameters) are set up and normal equations are written for all daily LEO arcs. The daily normal equations are combined to weekly, monthly, and annual systems before inversion. The parametrization can be modified on the normal equation level without a new time-consuming set up of the daily normal equations. The results based on one year of CHAMP data demonstrate that the Celestial Mechanics approach is comparable in quality with other approaches

The CODE MGEX orbit and clock solution

The Center for Orbit Determination in Europe (CODE) is contributing as a global analysis center to the International GNSS Service (IGS) since many years. The processing of GPS and GLONASS data is well established in CODE’s ultra-rapid, rapid, and final product lines. With the introduction of new signals for the established and new GNSS, new challenges and opportunities are arising for the GNSS data management and processing. The IGS started the Multi-GNSS-EXperiment (MGEX) in 2012 in order to gain first experience with the new data formats and to develop new strategies for making optimal use of these additional measurements. CODE has started to contribute to IGS MGEX with a consistent, rigorously combined triple-system orbit solution (GPS, GLONASS, and Galileo). SLR residuals for the computed Galileo satellite orbits are of the order of 10 cm. Furthermore CODE established a GPS and Galileo clock solution. A quality assessment shows that these experimental orbit and clock products allow even a Galileo-only precise point positioning (PPP) with accuracies on the decimeter- (static PPP) to meter-level (kinematic PPP) for selected stations.

Assessment of GPS-only Observables for Gravity Field Recovery from GRACE

Kinematic positions of individual low Earth orbiting satellites equipped with spaceborne GPS receivers have been used in the past to determine the long wavelength static part of the Earth’s gravity field. In the near future GPS-derived relative kinematic positions of present and upcoming formation flying satellites like COSMIC and SWARM could be used in addition to perform and improve the long wavelength static part of the gravity field also with non-dedicated satellites. Since space baselines between satellites can be determined more precisely from GPS than the individual positions, a corresponding improvement of the estimated gravity field coefficients is commonly expected. We review and extend the principles of gravity field determination from kinematic positions of single satellites and apply them to kinematic baseline data. Simulated as well as real data from the GRACE GPS receivers are used to evaluate our procedures and to assess the impact of different GPS observables and processing strategies on the quality of the estimated gravity field coefficients

Determination of multi-GNSS pseudo-absolute code biases and verification of receiver tracking technology

It is common to handle code biases in the Global Navigation Satellite System (GNSS) data analysis as conventional differential code biases (DCBs): P1-C1, P1-P2, and P2-C2. Due to the increasing number of signals and systems in conjunction with various tracking modes for the different signals (as defined in RINEX3 format), the number of DCBs would increase drastically and the bookkeeping becomes almost unbearable. The Center for Orbit Determination in Europe (CODE) has thus changed its processing scheme to observablespecific signal biases (OSB). This means that for each observation involved all related satellite and receiver biases are considered. The OSB contributions from various ionosphere analyses (geometry-free linear combination) using different observables and frequencies and from clock analyses (ionosphere-free linear combination) are then combined on normal equation level. By this, one consistent set of OSB values per satellite and receiver can be obtained that contains all information needed for GNSS-related processing. This advanced procedure of code bias handling is now also applied to the IGS (International GNSS Service) MGEX (Multi-GNSS Experiment) procedure at CODE. Results for the biases from the legacy IGS solution as well as the CODE MGEX processing (considering GPS, GLONASS, Galileo, BeiDou, and QZSS) are presented. The consistency with the traditional method is confirmed and the new results are discussed regarding the long-term stability.

CODE ultra-rapid product series for the IGS

CODE, the Center for Orbit Determination in Europe, is a joint venture of the following four institutions: Astronomical Institute, University of Bern (AIUB), Bern, Switzerland; Federal Office of Topography swisstopo, Wabern, Switzerland; Federal Agency of Cartography and Geodesy (BKG), Frankfurt a. M., Germany; Institut fur Astronomische und Physikalische Geodasie, Technische Universitat Munchen (IAPG, TUM), Munich, Germany. It acts as a global analysis center of the International GNSS Service (IGS). The operational computations are performed at AIUB using the latest development version of the Bernese GNSS Software. In this context an ultra-rapid solution series is generated considering GPS and GLONASS satellites. It is updated several times per day and contains 24 hours of observed and 24 hours of predicted orbit interval. More details are available in: Lutz, S., G. Beutler, S. Schaer, R. Dach, A. Jaggi; 2014: CODEs new ultra-rapid orbit and ERP products for the IGS. GPS Solutions. DOI 10.1007/s10291-014-0432-2

CODE Analysis center: Technical Report 2015

Applications of the Global Navigation Satellite Systems (GNSS) to Earth Sciences are numerous. The International GNSS Service (IGS), a voluntary federation of government agencies, universities and research institutions, combines GNSS resources and expertise to provide the highest–quality GNSS data, products, and services in order to support high–precision applications for GNSS–related research and engineering activities. This IGS Technical Report 2015 includes contributions from the IGS Governing Board, the Central Bureau, Analysis Centers, Data Centers, station and network operators, working groups, pilot projects, and others highlighting status and important activities, changes and results that took place and were achieved during 2015.

CODE's multi-GNSS orbit and clock solution

We present CODE’s latest MGEX solution a fully integrated 5-system (GPS, GLONASS, Galileo, BeiDou, QZSS) GNSS orbit and clock solution, based on data starting from January 2014. The impact of radiation pressure modeling and orbital arc length on the solution quality will be discussed. The results will be validated with satellite laser ranging (SLR), assessment of satellite clock performance, and precise point positioning (PPP).