Bernese GPS Software Version 5.0 - Bernese GNSS Software

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Contents List of Figures XVII List of Tables XXIII 1. Introduction and Overview 1 1.1 From Version 3 to Version 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Main Objectives and General Characteristics . . . . . . . . . . . . . . . . . 2 1.3 Program Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.4 About this Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.5 Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2. Fundamentals 11 2.1 GPS and GLONASS—A Short Review . . . . . . . . . . . . . . . . . . . . 11 2.1.1 GPS System Description . . . . . . . . . . . . . . . . . . . . . . . . 12 2.1.1.1 GPS Satellites and Their Constellation . . . . . . . . . . 12 2.1.1.2 The Satellite Signal . . . . . . . . . . . . . . . . . . . . . 13 2.1.1.3 Signal Processing . . . . . . . . . . . . . . . . . . . . . . 16 2.1.2 GLONASS System Description . . . . . . . . . . . . . . . . . . . . 17 2.1.2.1 GLONASS Satellites and Their Constellation . . . . . . 17 2.1.2.2 The Signals of the GLONASS Satellites . . . . . . . . . . 19 2.1.2.3 IGEX and IGLOS: Global GLONASS Campaigns . . . . 22 2.2 GNSS Satellite Orbits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 2.2.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 2.2.2 Celestial Mechanics . . . . . . . . . . . . . . . . . . . . . . . . . . 25 2.2.2.1 The Keplerian Orbit . . . . . . . . . . . . . . . . . . . . 26 2.2.2.2 The Osculating Orbital Elements . . . . . . . . . . . . . 27 2.2.2.3 Deterministic Orbit Parameterization . . . . . . . . . . . 31 2.2.2.4 Pseudo-Stochastic Orbit Parameterization . . . . . . . . 32 2.2.2.5 Variational Equations . . . . . . . . . . . . . . . . . . . . 33 2.2.3 Numerical Integration . . . . . . . . . . . . . . . . . . . . . . . . . 34 2.3 Observation Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 2.3.1 Code Pseudoranges . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 2.3.2 Phase Pseudoranges . . . . . . . . . . . . . . . . . . . . . . . . . . 36 2.3.3 Measurement Biases . . . . . . . . . . . . . . . . . . . . . . . . . . 37 2.3.4 Forming Differences . . . . . . . . . . . . . . . . . . . . . . . . . . 38 2.3.5 Receiver Clocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 2.3.6 Linear Combinations of Observations . . . . . . . . . . . . . . . . . 39 Bernese GPS Software Version 5.0 Page I
Page 1 and 2: Bernese GPS Software Version 5.0 Ed
Page 3: Bernese GPS Software Version 5.0 As
Page 7 and 8: Contents 4.8 IONEX . . . . . . . .
Page 9 and 10: Contents 7.7.1.2 Processing LEO Dat
Page 11 and 12: Contents 10.6.5 Merging Coordinate
Page 13 and 14: Contents 16.1 Introduction . . . .
Page 15 and 16: Contents 19.6.5 Useful Utilities fo
Page 17 and 18: Contents 21.2 Overview of the Direc
Page 19 and 20: Contents 23.1.3.1 Installation of M
Page 21 and 22: List of Figures 1.1 Functional flow
Page 23 and 24: List of Figures 9.10 Modification o
Page 25 and 26: List of Figures 18.4 Extraction of
Page 27 and 28: List of Tables 1.1 Parameter types
Page 29 and 30: 1. Introduction and Overview The Be
Page 31 and 32: • processing of data from a large
Page 33 and 34: 1.2 Main Objectives and General Cha
Page 35 and 36: orbit data e.g., precise orbits, na
Page 37 and 38: 1.5 Acknowledgments In Chapter 20:
Page 39 and 40: 2. Fundamentals This introductory c
Page 41 and 42: 2.1 GPS and GLONASS—A Short Revie
Page 43 and 44: Table 2.3: Broadcast clock paramete
Page 49 and 50: where n = 1,... ,24 frequency chann
Page 53 and 54: Table 2.7: Errors in baseline compo
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2.2 GNSS Satellite Orbits ω is cal
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Semimajor axis [km] - 26560 km 1.5
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2.2.2.3 Deterministic Orbit Paramet
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2.2 GNSS Satellite Orbits because u
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2.3 Observation Equations How do we
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Using a Taylor series development w
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2.3 Observation Equations Using dou
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2.3.6.3 Wide-Lane Linear Combinatio
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3. Campaign Setup Within the Bernes
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3.3 Session Definition ${P}/MYCAMP/
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3.4 Create Station Files A default
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3.4 Create Station Files The files
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4. Import and Export of External Fi
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4.2 RINEX Observation Files 4.2.1 H
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4.2 RINEX Observation Files 2.10 OB
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Figure 4.2: Input options for RXOBV
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4.2.3.3 Antenna Names 4.2 RINEX Obs
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4.2 RINEX Observation Files • “
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4.2 RINEX Observation Files in one
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4.3 RINEX Navigation Files 4.3 RINE
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ftp://ftp.igs.org/igscb/data/format
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Bernese GPS Software Version 5.0 Pa
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4.6.3 Writing SINEX Files 4.7 Tropo
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1.0 IONOSPHERE MAPS GNSS IONEX VERS
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4.10 RINEX Meteo Files A clock RINE
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4.12 External Data Sources 1.3 M AN
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The subdirectories contain the foll
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continued from previous page CODE f
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5. Preparation of Earth Orientation
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5.2 Preparation of Earth Orientatio
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5.3 Preparation of GNSS Broadcast I
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5.4 Preparation of Precise Orbit In
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5.4.1 Conversion of Precise Orbit I
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5.6 Concatenation of Orbit Informat
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6. Data Preprocessing 6.1 Overview
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6.2 Preprocessing on the RINEX Leve
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6.2 Preprocessing on the RINEX Leve
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6.2.5 Resulting Smoothed RINEX File
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6.3 Receiver Clock Synchronization
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6.3 Receiver Clock Synchronization
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6.4 Forming Baselines Furthermore t
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6.4.2 Strategies for Baseline Defin
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6.5 Preprocessing Phase Observation
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The possible types of cycle slip fl
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Example 2 6.5 Preprocessing Phase O
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Example of a REDISP output for zero
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nSat : the number of satellites, an
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6.6 Screening of Post-Fit Residuals
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6.7 Marking of Observations too. Th
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7. Parameter Estimation 7.1 Introdu
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7.3 The Observations 7.3 The Observ
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7.4 Weighting and Correlations •
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7.4 Weighting and Correlations The
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7.5 Parameterization In case of non
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7.5.3 Epoch-Parameters 7.5 Paramete
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7.5 Parameterization is often used
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7.5 Parameterization EVERY SESSION:
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parameter setup loop sessions/files
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7.7.1.2 Processing LEO Data 7.7 Spe
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7.7 Special Applications (8) The sc
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7.7 Special Applications may be imp
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7.8 Program Output and Extraction P
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7.8 Program Output and Extraction P
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8. Initial Phase Ambiguities and Am
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Mean Difference (in millimeters) 60
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8.2 Theory • Depending on the sel
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8.3 Ambiguity Resolution Algorithms
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if the real-valued ambiguities p1 i
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8.3.4 QIF (Quasi Ionosphere-Free) A
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8.3 Ambiguity Resolution Algorithms
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8.4 Resolution Strategies (1) For v
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9. Combination of Solutions 9.1 Mot
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9.2.2 Sequential Least-Squares Adju
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9.3 Manipulation of Normal Equation
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9.3.5 Changing the Validity Interva
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x Figure 9.2: Reducing the number o
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9.3.9 Constraining of Parameters 9.
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9.3 Manipulation of Normal Equation
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loop over input NEQ-files parameter
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Figure 9.7: General options for pro
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9.4 The Program ADDNEQ2 Before pre-
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9.4 The Program ADDNEQ2 implemented
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9.4 The Program ADDNEQ2 • Pre-eli
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9.4 The Program ADDNEQ2 With progra
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daily large NEQ ADDNEQ2 small NEQ G
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10. Station Coordinates and Velocit
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10.2 Defining the Geodetic Datum fo
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10.2 Defining the Geodetic Datum fo
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10.2.2.4 Fixing Reference Coordinat
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10.3 Coordinate and Velocity Estima
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10.3 Coordinate and Velocity Estima
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Comparison of Individual Solutions:
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10.4 Estimating Kinematic Coordinat
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Latitude Longitude Height 60 mm 30
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10.5 Precise Point Positioning 10.5
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10.6 Coordinate and Velocity Relate
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10.6 Coordinate and Velocity Relate
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10.6.7 Propagating Coordinates to S
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11. Troposphere Modeling and Estima
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11.3 Theory Table 11.1: Correlation
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11.4 Troposphere Modeling in the Be
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11.5 Troposphere Data Input and Out
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11.6 Remarks and Hints on Troposphe
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12. Ionosphere Modeling and Estimat
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Altitude Hmax Chapman profile Ion p
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12.2 Theory where we have to use th
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Single layer H Receiver R α z z’
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12.3 Ionosphere Modeling β is the
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12.4 Estimation of Deterministic Io
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12.5 Stochastic Ionosphere Modeling
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Latitude in degrees Number of wide-
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13. Differential Code Biases 13.1 I
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13.1 Introduction Figure 13.1: P1-P
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13.2 How to Correct P1-P2 and P1-C1
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13.3 Determination of GNSS Code Bia
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13.3 Determination of GNSS Code Bia
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14. Clock Estimation 14.1 Introduct
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14.2 Precise Clock Estimation To il
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14.2 Precise Clock Estimation Figur
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∆δ(PTBB) 20 ps 15 ps 10 ps 5 ps
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14.3 Clock RINEX Utility in Bernese
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14.4 Satellite Clock Validation (4)
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14.5 Generation of High Rate Clocks
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15. Estimation of Satellite Orbits
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15.3 Orbit Improvement file. To use
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15.3 Orbit Improvement You may thus
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15.3 Orbit Improvement Figure 15.2:
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15.3.2 Orbit Combination with ADDNE
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15.4 Estimation of Earth Orientatio
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CENTER OF MASS: -------------- 15.4
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16. Antenna Phase Center Offsets an
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16.2 Antenna Phase Center Correctio
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16.2.3 Receiver Antenna Phase Cente
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The extension xxx of the above file
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16.3 ANTEX Converter PHCCNV 16.3.1
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16.3 ANTEX Converter PHCCNV Since t
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16.3 ANTEX Converter PHCCNV 16.3.2.
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16.4 Estimation of Phase Center Cor
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17. Data Simulation Tool GPSSIM 17.
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17.4 Basic Options Atmosphere speci
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where: E0 is the night time electro
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17.9 Low Earth Orbiters 17.9 Low Ea
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18. The Menu System 18.1 Introducti
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18.3 Elements of the Bernese Menu W
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18.3 Elements of the Bernese Menu W
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18.4 Processing Defaults Path and e
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18.5 Menu Variables Figure 18.2: Op
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18.5 Menu Variables The range varia
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18.6 Program Output and Error Handl
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18.8 Calling Programs Without the M
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18.9 Technical Details new program
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18.9 Technical Details Table 18.2:
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18.9 Technical Details # BEGIN_PANE
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Table 18.3: Keywords for starting t
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18.9 Technical Details The situatio
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19. Bernese Processing Engine (BPE)
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19.3 BPE Components and Environment
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BPE server BPE client starts the cl
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19.4 CPU Control File Figure 19.3:
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19.5 Process Control File (PCF) Opt
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Figure 19.5: Process Control File,
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19.5 Process Control File (PCF) PID
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Figure 19.8: Process Control File,
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19.6.2 Variables in User Scripts 19
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01: package COOVEL; 02: @ISA = ("RU
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03: BRZM 04: FFMA 05: FFZI 06: PTZM
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19.6 User Scripts the Perl variable
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19.6 User Scripts In the slave scri
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19.6.5.6 Define Time Variables 19.6
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19.7 BPE Program Option Directories
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19.8 Starting the BPE The Figure 19
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19.8.2 Non-Interactive Mode 19.9 Mu
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19.10 BPE Output and Protocol Files
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19.11 Error Handling The standard o
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19.12 Bernese Program Options for A
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19.12 Bernese Program Options for A
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20. Processing Examples 20.1 Introd
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20.3 Installation Verification Usin
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20.3.3 What to do in Case of Errors
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20.4.1.1 Copy Required Files 20.4 D
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20.4 Description of the Processing
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20.4.2 Double-Difference Processing
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# # Prepare pole, orbit, and clock
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20.4.2.8 Velocity Estimation 20.4 D
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20.4.4.3 Extract Broadcast Clocks f
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20.5 Processing own Data With Examp
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20.5 Processing own Data With Examp
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PID 221 SMTBV3: Set the “Sampling
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PID 412 GPSQIF P: • Introduce “
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21. Program Structure 21.1 Introduc
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21.3 Summary of the Bernese GPS Sof
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continued from previous page 21.3 S
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continued from previous page 21.3 S
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21.4.1 Maximum Dimensions 21.4 Prog
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22. Data Structure 22.1 Introductio
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22.4 General Files We may also divi
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22.4.1 Constants File Type: ASCII D
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22.4.3 Receiver Characterization Fi
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22.4 General Files • Unlike in ea
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22.4 General Files • The satellit
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POLE OFFSET COEFFICIENTS IERS EOP S
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22.4.13 Planetary and Lunar Ephemer
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22.4 General Files (8) At “REQUES
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22.6 Bernese Observation Files 22.6
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22.6 Bernese Observation Files 1 IG
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Table 22.3: Orbit related files. Fi
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TABULAR EPHEMERIS DERIVED FROM PREC
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Created by: ORBGEN (”Menu>Orbits/
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22.7 Orbit Related Files VERSION 2
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Remarks: 22.7 Orbit Related Files S
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22.8 Station Related Files * ATTITU
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22.8 Station Related Files Used by:
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22.8.5 Station Coordinates Type: AS
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22.8.6 Station Eccentricities Type:
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22.8 Station Related Files IGS00/IT
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22.8 Station Related Files Created
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22.8 Station Related Files Example
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22.8 Station Related Files RESIDUAL
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22.8 Station Related Files By using
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22.9 Atmosphere Related Files 22.9
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22.9.2 Tropospheric SINEX File Type
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22.9 Atmosphere Related Files D: L1
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22.9 Atmosphere Related Files CODE
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22.10.2 Normal Equation Files 22.10
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22.10 Miscellaneous Files EXAMPLE 1
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22.10.6 Residual Files 22.10 Miscel
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Table 22.10: Actions (REASON) in ob
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SINGLE POINT POSITIONING SOLUTIONS:
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aiub/EXAMPLE/OBS/0SYS2330.PSH /aiub
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23. Installation Guide 23.1 Install
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23.1.3.1 Installation of Main Progr
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%P%\EXAMPLE\SOL solution files (e.g
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23.1.4.2 Add a new Campaign Directo
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23.1 Installation Guide for Windows
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23.2 Installation Guide for UNIX Pl
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***********************************
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24. The Step from Version 4.2 to Ve
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24.2 Convert a Campaign from Versio
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24.3 Adapt the BPE for Version 5.0
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Bibliography Argus, D. F., and R. G
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BIBLIOGRAPHY Gao, Y., F. Lahaye, P.
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BIBLIOGRAPHY Ray, J. (2000), New ps
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BIBLIOGRAPHY Wooden, W.H. (1985), N
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Index of Programs ABBO2N, 514, 577
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Index of Program Panels Bold printe
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GPSEST 6.9.2: LEO Orbit Determinati
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Index of Keywords A priori coordina
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access to variables, 402, 408 contr
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RINEX level, 104 short baselines, 1
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system selection, 56 GLONASS ambigu
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overview, 257 wide-lane, 41, 119, 1
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naming convention, 45 session, 62 s
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Precession, 27 Precise clocks estim
Page 637 and 638:
validation, 305 Satellite informati
Page 639 and 640:
TEC maps, 71 Tectonic plate, 212, 2
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