Bernese GPS Software Version 5.0 - Bernese GNSS Software

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2. Fundamentals 2.1.1 GPS System Description 2.1.1.1 GPS Satellites and Their Constellation The constellation of the GPS was subject to several changes due to budgetary considerations. The present full constellation provides global coverage with four to eight simultaneously observable satellites above 15 o elevation. This is accomplished by nominally 24 satellites. The satellites are located in six orbital planes on almost circular orbits with an altitude of about 20 200 km above the surface of the Earth, inclined by 55 o with respect to the equator and with orbital periods of approximately 11 hours 58 minutes (half a sidereal day). Consequently, almost identical Earth-satellite configurations are repeated 4 minutes earlier on consecutive days. The distribution of the GPS satellites over the six orbital planes is listed in Table 2.1. The first GPS satellite PRN 4 (Pseudo-Random Noise number — see below) was launched on February 22, 1978. PRN 4 was the first in a series of 11 so-called Block I satellites. The Block I satellites had an inclination of about 63 o with respect to the Earth’s equator. The test configuration was optimized for the North American region in the sense that four or more satellites could be observed there for a considerable fraction of the day. The test configuration was not optimal in other parts of the world. Today, all Block I satellites are deactivated. The GPS satellites provide a platform for radio transmitter, atomic clocks, computers, and various equipment used for positioning and for a series of other military projects (e.g., atomic flash detection). The electronic equipment of the satellites allows the user to operate a receiver to measure quasi-simultaneously topocentric distances to more than three satellites. Each satellite broadcasts a message which allows the user to recognize the satellite and to determine its position in space for arbitrary time epochs. The satellites are equipped with solar panels for power supply, reaction wheels for attitude control, and a propulsion system for orbit adjustments. The operational constellation is currently (January 2007) (a) Viewed from a latitude of φ = 35 o . (b) Viewed from a latitude of φ = 90 o . Figure 2.1: GPS orbits (Earth and orbital planes in scale). Page 12 AIUB
2.1 GPS and GLONASS—A Short Review Table 2.1: GPS constellation status (19-Jan-2007), Cs: Cesium, Rb: Rubidium. Plane SVN PRN Block Clock Launch Plane SVN PRN Block Clock Launch A-1 39 09 IIA Rb 93-06-26 D-1 61 02 IIR Rb 04-11-06 A-2 52 31 IIR-M Rb 06-09-25 D-2 46 11 IIR Rb 99-10-07 A-3 38 08 IIA Cs 97-11-06 D-3 45 21 IIR Rb 03-03-31 A-4 27 27 IIA Cs 92-09-09 D-4 34 04 IIA Rb 93-10-26 A-5 25 25 IIA Rb 92-02-23 D-5 15 15 II Rb 90-10-01 D-6 24 24 IIA Cs 91-07-04 B-1 56 16 IIR Rb 03-01-29 E-1 51 20 IIR Rb 00-05-11 B-2 30 30 IIA Cs 96-09-12 E-2 47 22 IIR Rb 03-12-21 B-3 44 28 IIR Rb 00-07-16 E-3 40 10 IIA Cs 96-07-16 B-4 35 05 IIA Rb 93-08-30 E-4 54 18 IIR Rb 01-01-30 B-5 58 12 IIR-M Rb 06-11-17 C-1 36 06 IIA Rb 94-03-10 F-1 41 14 IIR Rb 00-11-10 C-2 33 03 IIA Cs 96-03-28 F-2 26 26 IIA Rb 92-07-07 C-3 59 19 IIR Rb 04-03-20 F-3 43 13 IIR Rb 97-07-23 C-4 53 17 IIR-M Rb 05-09-26 F-4 60 23 IIR Rb 04-06-23 C-5 37 07 IIA Rb 93-05-13 F-5 29 29 IIA Rb 92-12-18 F-6 32 01 IIA Cs 92-11-22 realized by the (last active) Block II, Block IIA, Block IIR as well as three modernized Block IIR-M satellites. The first Block II satellite was launched on February 1989. Today, a full constellation of at least 24 satellites is available (31 satellites in January 2007). Z 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000000 1111111 0000000 1111111 0000000 1111111 000000000 111111111 000000000 111111111 000000000 111111111 000000000 111111111 0000000000 1111111111 000000000 111111111 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000000000 1111111111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000 1111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000 1111 0000 1111 000000000000 111111111111 0000 1111 0000 1111 000000000000 111111111111 0000 1111 0000 1111 000000000000 111111111111 0000 1111 0000 1111 000000000000 111111111111 0000 1111 0000 1111 000000000000 111111111111 0000 1111 0000 1111 0000 1111 000 111000 111 000 111000 111 000 111000 111 000000000000 111111111111 000 111000 111 000000000000 111111111111 000 111000 111 000000000000 111111111111 000 111 000000000000 111111111111 000 111 000000000000 111111111111 X 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 0000000000000 1111111111111 Figure 2.2: GPS Block II satellite and satellite-fixed coordinate system. 2.1.1.2 The Satellite Signal All signals transmitted by the satellite are derived from the fundamental frequency f0 of the satellite oscillator (see Table 2.2). The two sinusoidal carrier frequencies f1 and f2 (corresponding wavelengths λ1 ≈ 19 cm and λ2 ≈ 24 cm) are right-hand circular polarized and modulated with the codes and the navigation message to transmit information such as the readings of the satellite clocks, the orbital parameters, etc. The so-called biphase modulation is used as shown in Figure 2.3. The codes P(t), C(t), and the navigation message Bernese GPS Software Version 5.0 Page 13 Y
Page 1 and 2: Bernese GPS Software Version 5.0 Ed
Page 3: Bernese GPS Software Version 5.0 As
Page 6 and 7: Contents 2.3.6.1 Ionosphere-Free Li
Page 8 and 9: Contents 6.3.3 Kinematic Stations .
Page 10 and 11: Contents 9.4.4 Pre-Elimination Opti
Page 12 and 13: Contents 13.2 How to Correct P1-P2
Page 14 and 15: Contents 18.3.2 Command Bar . . . .
Page 16 and 17: Contents 20.4 Description of the Pr
Page 18 and 19: Contents 22.8.2 Station Abbreviatio
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Page 22 and 23: List of Figures 5.1 Flow diagram of
Page 24 and 25: List of Figures 13.3 P1-C1 code bia
Page 26 and 27: List of Figures 22.20 Tabular orbit
Page 28 and 29: List of Tables 12.2 Influences of t
Page 30 and 31: 1. Introduction and Overview • bu
Page 32 and 33: 1. Introduction and Overview Table
Page 34 and 35: 1. Introduction and Overview • Th
Page 36 and 37: 1. Introduction and Overview The Be
Page 38 and 39: 1. Introduction and Overview for Ca
Page 42 and 43: 2. Fundamentals Table 2.2: Componen
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Page 46 and 47: 2. Fundamentals Figure 2.5: GLONASS
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4. Import and Export of External Fi
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5. Preparation of Earth Orientation
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6. Data Preprocessing Preprocessing
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6. Data Preprocessing (a) AS turned
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6. Data Preprocessing 6.2.4 Code Sm
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6. Data Preprocessing is set to 2.
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6. Data Preprocessing 6.3.2 Preproc
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6. Data Preprocessing RMS of kin. s
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6. Data Preprocessing The ambiguiti
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6. Data Preprocessing no loss of si
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6. Data Preprocessing This epoch-di
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6. Data Preprocessing result in lar
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6. Data Preprocessing (e.g., from C
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6. Data Preprocessing The second pa
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6. Data Preprocessing GAR small pie
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6. Data Preprocessing -------------
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6. Data Preprocessing automated pro
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6. Data Preprocessing 6.6.2 Generat
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6. Data Preprocessing 6.6.3 Detect
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6. Data Preprocessing (6) If the to
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6. Data Preprocessing Page 138 AIUB
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7. Parameter Estimation p u × 1 ve
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7. Parameter Estimation The two bas
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7. Parameter Estimation contains a
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7. Parameter Estimation The binary
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7. Parameter Estimation 7.5.2 Piece
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7. Parameter Estimation The equatio
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7. Parameter Estimation 7.5.4.4 Fix
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7. Parameter Estimation where Q 11
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7. Parameter Estimation consequence
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7. Parameter Estimation are address
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7. Parameter Estimation ... ! Pre-p
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7. Parameter Estimation The RINEX m
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7. Parameter Estimation In a succes
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7. Parameter Estimation Page 166 AI
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8. Initial Phase Ambiguities and Am
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9. Combination of Solutions 9.2 Seq
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9. Combination of Solutions Substit
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9. Combination of Solutions We may
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9. Combination of Solutions files a
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9. Combination of Solutions x x 1 t
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9. Combination of Solutions Both re
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9. Combination of Solutions 9.4 The
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9. Combination of Solutions 9.4.2 G
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9. Combination of Solutions Excepti
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9. Combination of Solutions As alre
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9. Combination of Solutions Table 9
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9. Combination of Solutions The poi
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9. Combination of Solutions (2) Tra
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9. Combination of Solutions Step 1:
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10. Station Coordinates and Velocit
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Page 220 AIUB Station coordinates a
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11. Troposphere Modeling and Estima
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12. Ionosphere Modeling and Estimat
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13. Differential Code Biases Promin
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13. Differential Code Biases Figure
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13. Differential Code Biases Figure
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13. Differential Code Biases ======
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13. Differential Code Biases Page 2
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14. Clock Estimation τ (BRUS-PTBB)
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14. Clock Estimation Here the limit
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14. Clock Estimation to zero. All c
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14. Clock Estimation #OBS : Number
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14. Clock Estimation 14.3 Clock RIN
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14. Clock Estimation cessed if CCRN
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14. Clock Estimation RINEX files th
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14. Clock Estimation the clock valu
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14. Clock Estimation SINGLE POINT P
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14. Clock Estimation Page 308 AIUB
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15. Estimation of Satellite Orbits
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16. Antenna Phase Center Offsets an
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17. Data Simulation Tool GPSSIM 17.
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17. Data Simulation Tool GPSSIM The
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17. Data Simulation Tool GPSSIM The
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17. Data Simulation Tool GPSSIM Res
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18. The Menu System 18.2 Starting t
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18. The Menu System 18.3.1 Menu Bar
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18. The Menu System 18.3.5 Panel Co
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18. The Menu System the menu the ne
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18. The Menu System Table 18.1: Pre
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18. The Menu System 18.5.3 System E
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18. The Menu System 18.7 Change Opt
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18. The Menu System 18.9 Technical
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18. The Menu System ... ! Environme
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18. The Menu System The keyword ENV
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18. The Menu System ! List of Remai
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18. The Menu System The MENUAUX-mec
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18. The Menu System Keyword values
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19. Bernese Processing Engine (BPE)
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20. Processing Examples inspect the
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20. Processing Examples 20.3.1 How
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20. Processing Examples • (option
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20. Processing Examples PID 111 PRE
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20. Processing Examples 20.4.1.4 Co
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20. Processing Examples 20.4.1.5 Ta
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20. Processing Examples 20.4.1.7 Cr
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20. Processing Examples 20.4.2.1 Co
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20. Processing Examples appears in
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20. Processing Examples PID 313 MPR
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20. Processing Examples Further rea
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20. Processing Examples # # Create
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20. Processing Examples PID 101 GPS
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20. Processing Examples The RINEX n
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20. Processing Examples # # Preproc
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20. Processing Examples the loop, d
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20. Processing Examples PID 903 CLK
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20. Processing Examples and IGS 00B
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20. Processing Examples • Save th
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20. Processing Examples PID 321 GPS
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20. Processing Examples PID 301 CLK
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21. Program Structure $C / %C% PGM
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21. Program Structure (program GPSE
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21. Program Structure continued fro
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21. Program Structure continued fro
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21. Program Structure ! -----------
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22. Data Structure "Program" Area $
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22. Data Structure Table 22.1: List
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22. Data Structure 22.4.2 Geodetic
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22. Data Structure 22.4.4 Antenna P
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Page 484 AIUB ANTENNA PHASE CENTER
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22. Data Structure 22.4.5 Satellite
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22. Data Structure 22.4.6 Satellite
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22. Data Structure DIFFERENCE OF GP
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22. Data Structure 22.4.9 Subdaily
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22. Data Structure EGM96 EGM96, VER
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22. Data Structure SINEX : OPTION I
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22. Data Structure 22.4.16 Panel Up
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22. Data Structure 22.6.2 Header an
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22. Data Structure 15 Antenna type(
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22. Data Structure SVN-NUMBER= 2 ME
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22. Data Structure -1 2 1 5 TITLE :
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22. Data Structure Used by: ORBGEN
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22. Data Structure 53064.00 53065.0
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22. Data Structure CODE’S MONTHLY
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22. Data Structure Table 22.4: Stat
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22. Data Structure (3) TYPE 003: HA
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22. Data Structure 22.8.4 Station P
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22. Data Structure Remarks: • Eac
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22. Data Structure The following st
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22. Data Structure Table 22.7: List
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22. Data Structure AJAC $$ FES2004
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22. Data Structure Station sigma fi
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22. Data Structure GOPE 11502M002 Z
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22. Data Structure 22.8.18 Receiver
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22. Data Structure CODE RAPID 3-DAY
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22. Data Structure 22.9.3 Meteo and
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22. Data Structure IONOSPHERE MODEL
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22. Data Structure 22.10 Miscellane
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22. Data Structure 22.10.4 Variance
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22. Data Structure 22.10.5 Normal E
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22. Data Structure 22.10.7 Observat
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22. Data Structure Created by: Each
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22. Data Structure ----------------
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22. Data Structure 22.10.17 BPE log
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23. Installation Guide 23.1.2 Conte
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23. Installation Guide 23.1.3.2 Ins
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23. Installation Guide BERN50 : $C
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23. Installation Guide If you have
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23. Installation Guide To make the
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23. Installation Guide List of Inst
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23. Installation Guide 23.2.4 Confi
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23. Installation Guide Configure me
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23. Installation Guide ${P}/EXAMPLE
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23. Installation Guide To recompile
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23. Installation Guide Page 574 AIU
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24. The Step from Version 4.2 to Ve
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BIBLIOGRAPHY Bock, H. (2004), Effic
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BIBLIOGRAPHY Janes, H. W., R. B. La
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BIBLIOGRAPHY Schaer, S. (1998), COD
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BIBLIOGRAPHY Page 588 AIUB
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INDEX OF PROGRAMS NEQ2ASC, 207, 541
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Index of Program Panels CODSPP 2: I
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Index of Program Panels MKCLUS 3: R
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INDEX OF KEYWORDS Antenna verificat
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INDEX OF KEYWORDS Cluster definitio
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INDEX OF KEYWORDS variance-covarian
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INDEX OF KEYWORDS orbit products, 1
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INDEX OF KEYWORDS Multi-session sol
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INDEX OF KEYWORDS Orbital elements
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INDEX OF KEYWORDS Receiver antenna
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INDEX OF KEYWORDS orbit modeling, 9
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INDEX OF KEYWORDS WGS-84, 19, 88, 2
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