Bernese GPS Software Version 5.0 - Bernese GNSS Software

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Contents 6.3.3 Kinematic Stations . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 6.3.4 Extraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 6.4 Forming Baselines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 6.4.1 Algorithm for Baseline Selection . . . . . . . . . . . . . . . . . . . 114 6.4.2 Strategies for Baseline Definition . . . . . . . . . . . . . . . . . . . 115 6.5 Preprocessing Phase Observations . . . . . . . . . . . . . . . . . . . . . . . 115 6.5.1 Non-Parameter Screening . . . . . . . . . . . . . . . . . . . . . . . 117 6.5.2 Epoch-Difference Solution . . . . . . . . . . . . . . . . . . . . . . . 117 6.5.3 Automatic Cycle Slip Detection . . . . . . . . . . . . . . . . . . . . 118 6.5.4 Clock Events in Preprocessing of Zero-Difference Files . . . . . . . 120 6.5.5 Kinematic Stations . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 6.5.6 Screening of LEO Data . . . . . . . . . . . . . . . . . . . . . . . . 121 6.5.7 Program Output Examples . . . . . . . . . . . . . . . . . . . . . . 122 6.5.8 Extraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 6.6 Screening of Post-Fit Residuals . . . . . . . . . . . . . . . . . . . . . . . . . 130 6.6.1 Browsing the Residual Files . . . . . . . . . . . . . . . . . . . . . . 130 6.6.2 Generating Residual Statistic . . . . . . . . . . . . . . . . . . . . . 132 6.6.3 Detect Misbehaving Stations and Satellites . . . . . . . . . . . . . 134 6.7 Marking of Observations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 6.7.1 Manipulation of Observation Files . . . . . . . . . . . . . . . . . . 136 6.7.2 Use of Satellite Problem File . . . . . . . . . . . . . . . . . . . . . 137 7. Parameter Estimation 139 7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 7.2 Basic Theory of Least-Squares Estimation . . . . . . . . . . . . . . . . . . . 139 7.3 The Observations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 7.4 Weighting and Correlations . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 7.4.1 A Priori Sigma of Unit Weight . . . . . . . . . . . . . . . . . . . . 143 7.4.2 Station-Specific Weighting of Observations . . . . . . . . . . . . . 143 7.4.3 Elevation-Dependent Weighting of Observations . . . . . . . . . . 144 7.4.4 Real and Normalized Residuals . . . . . . . . . . . . . . . . . . . . 144 7.4.5 Correlations between Observations . . . . . . . . . . . . . . . . . . 146 7.5 Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 7.5.1 Types of Parameterization . . . . . . . . . . . . . . . . . . . . . . . 147 7.5.2 Piece-Wise Linear Parameters . . . . . . . . . . . . . . . . . . . . . 148 7.5.3 Epoch-Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 7.5.4 Constraining of Parameters . . . . . . . . . . . . . . . . . . . . . . 149 7.5.4.1 Absolute Constraining . . . . . . . . . . . . . . . . . . . 150 7.5.4.2 Relative Constraining . . . . . . . . . . . . . . . . . . . . 151 7.5.4.3 Zero-Mean Condition . . . . . . . . . . . . . . . . . . . . 151 7.5.4.4 Fixing of Parameters . . . . . . . . . . . . . . . . . . . . 152 7.5.5 Pre-Elimination of Parameters . . . . . . . . . . . . . . . . . . . . 152 7.5.6 Back-Substitution of Epoch-Parameters . . . . . . . . . . . . . . . 153 7.6 Flow Diagram of Program GPSEST . . . . . . . . . . . . . . . . . . . . . . 154 7.7 Special Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 7.7.1 Orbit Determination for Low Earth Orbiters . . . . . . . . . . . . 154 7.7.1.1 Preparation for Processing . . . . . . . . . . . . . . . . . 154 Page IV AIUB
Contents 7.7.1.2 Processing LEO Data . . . . . . . . . . . . . . . . . . . . 157 7.7.1.3 Import of LEO Attitude Files . . . . . . . . . . . . . . . 159 7.7.2 Processing of Satellite Laser Ranging Data . . . . . . . . . . . . . 160 7.8 Program Output and Extraction Program . . . . . . . . . . . . . . . . . . . 162 7.8.1 The Program Output . . . . . . . . . . . . . . . . . . . . . . . . . 162 7.8.2 The Output Extraction Program GPSXTR . . . . . . . . . . . . . . 164 8. Initial Phase Ambiguities and Ambiguity Resolution 167 8.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 8.2 Theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169 8.3 Ambiguity Resolution Algorithms . . . . . . . . . . . . . . . . . . . . . . . 172 8.3.1 ROUND Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 8.3.2 SEARCH Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 8.3.3 SIGMA-Dependent Algorithm . . . . . . . . . . . . . . . . . . . . . 175 8.3.4 QIF (Quasi Ionosphere-Free) Algorithm . . . . . . . . . . . . . . . 177 8.3.4.1 Theory of QIF Strategy . . . . . . . . . . . . . . . . . . . 177 8.3.4.2 The Role of the Ionosphere . . . . . . . . . . . . . . . . . 178 8.3.4.3 Implementation of the QIF Strategy . . . . . . . . . . . 179 8.4 Resolution Strategies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 9. Combination of Solutions 183 9.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 9.2 Sequential Least-Squares Estimation . . . . . . . . . . . . . . . . . . . . . . 184 9.2.1 Common Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . 184 9.2.2 Sequential Least-Squares Adjustment . . . . . . . . . . . . . . . . 185 9.2.3 Computation of the Combined RMS . . . . . . . . . . . . . . . . . 186 9.3 Manipulation of Normal Equations . . . . . . . . . . . . . . . . . . . . . . . 186 9.3.1 Changing Auxiliary Parameter Information . . . . . . . . . . . . . 186 9.3.2 Rescaling the Normal Equation Matrices . . . . . . . . . . . . . . . 187 9.3.3 A Priori Transformation of Coordinates into a Different Reference Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 9.3.4 Parameter Transformations . . . . . . . . . . . . . . . . . . . . . . 188 Changing A Priori Parameter Values . . . . . . . . . . . . . . . . . 188 9.3.5 Changing the Validity Interval . . . . . . . . . . . . . . . . . . . . 189 9.3.6 Parameter Stacking . . . . . . . . . . . . . . . . . . . . . . . . . . 189 9.3.7 Reduction of the Number of Parameters . . . . . . . . . . . . . . . 190 9.3.8 Introducing Additional Parameters . . . . . . . . . . . . . . . . . . 190 9.3.8.1 Estimation of Station Velocities . . . . . . . . . . . . . . 191 9.3.8.2 Changing the Parameter Representation for SINEX. . . . 192 9.3.9 Constraining of Parameters . . . . . . . . . . . . . . . . . . . . . . 193 Minimum Constraint Conditions . . . . . . . . . . . . . . . . . . . 193 9.3.10 Parameter Pre-Elimination and Deletion . . . . . . . . . . . . . . . 195 9.3.11 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 9.4 The Program ADDNEQ2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 9.4.1 Flow Chart of the Program . . . . . . . . . . . . . . . . . . . . . . 196 9.4.2 General Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 9.4.3 Dependence on A Priori Information . . . . . . . . . . . . . . . . . 199 Bernese GPS Software Version 5.0 Page V
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 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
Page 20 and 21: Contents Page XVI AIUB
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 40 and 41: 2. Fundamentals 2.1.1 GPS System De
Page 42 and 43: 2. Fundamentals Table 2.2: Componen
Page 44 and 45: 2. Fundamentals Clock correction [n
Page 46 and 47: 2. Fundamentals Figure 2.5: GLONASS
Page 48 and 49: 2. Fundamentals Table 2.6: GLONASS
Page 50 and 51: 2. Fundamentals In contrast to the
Page 52 and 53: 2. Fundamentals 2.2 GNSS Satellite
Page 54 and 55: 2. Fundamentals 2.2.2.1 The Kepleri
Page 56 and 57: 2. Fundamentals Table 2.9: Perturbi
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2. Fundamentals R.A. of Ascending N
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2. Fundamentals where aROCK is the
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2. Fundamentals By taking the deriv
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2. Fundamentals δi error of satell
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2. Fundamentals Ionospheric refract
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2. Fundamentals 2.3.6.1 Ionosphere-
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2. Fundamentals Table 2.10: Linear
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3. Campaign Setup variable to the f
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3. Campaign Setup Figure 3.1: Examp
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3. Campaign Setup In this section w
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3. Campaign Setup 3.5 Processing Ov
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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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