Análise de séries temporais de coordenadas estimadas com GPS: uma proposta metodológica para detecção, remoção e recuperação de efeitos sazonais

GPS active networks are more and more used in geodetic surveying and scientific experiments, as water vapor monitoring in the atmosphere and lithosphere plate movement. Among the methods of GPS positioning, Precise Point Positioning (PPP) has provided very good results. A characteristic of PPP is related to the modeling and/or estimation of the errors involved in this method. The accuracy obtained for the coordinates can reach few millimeters. Seasonal effects can affect such accuracy if they are not consistent treated during the data processing. Coordinates time series analyses have been realized using Fourier or Harmonics spectral analyses, wavelets, least squares estimation among others. An approach is presented in this paper aiming to investigate the seasonal effects included in the stations coordinates time series. Experiments were carried out using data from stations Manaus (NAUS) and Fortaleza (BRFT) which belong to the Brazilian Continuous GPS Network (RBMC). The coordinates of these stations were estimated daily using PPP and were analyzed through wavelets for identification of the periods of the seasonal effects (annual and semi-annual) in each time series. These effects were removed by means of a filtering process applied in the series via the least squares adjustment (LSQ) of a periodic function. The results showed that the combination of these two mathematical tools, wavelets and LSQ, is an interesting and efficient technique for removal of seasonal effects in time series.

Stochastic modelling considering ionospheric scintillation effects on GNSS relative and point positioning

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Improving the GNSS positioning stochastic model in the presence of ionospheric scintillation

Ionospheric scintillations are caused by time-varying electron density irregularities in the ionosphere, occurring more often at equatorial and high latitudes. This paper focuses exclusively on experiments undertaken in Europe, at geographic latitudes between similar to 50 degrees N and similar to 80 degrees N, where a network of GPS receivers capable of monitoring Total Electron Content and ionospheric scintillation parameters was deployed. The widely used ionospheric scintillation indices S4 and sigma(phi) represent a practical measure of the intensity of amplitude and phase scintillation affecting GNSS receivers. However, they do not provide sufficient information regarding the actual tracking errors that degrade GNSS receiver performance. Suitable receiver tracking models, sensitive to ionospheric scintillation, allow the computation of the variance of the output error of the receiver PLL (Phase Locked Loop) and DLL (Delay Locked Loop), which expresses the quality of the range measurements used by the receiver to calculate user position. The ability of such models of incorporating phase and amplitude scintillation effects into the variance of these tracking errors underpins our proposed method of applying relative weights to measurements from different satellites. That gives the least squares stochastic model used for position computation a more realistic representation, vis-a-vis the otherwise 'equal weights' model. For pseudorange processing, relative weights were computed, so that a 'scintillation-mitigated' solution could be performed and compared to the (non-mitigated) 'equal weights' solution. An improvement between 17 and 38% in height accuracy was achieved when an epoch by epoch differential solution was computed over baselines ranging from 1 to 750 km. The method was then compared with alternative approaches that can be used to improve the least squares stochastic model such as weighting according to satellite elevation angle and by the inverse of the square of the standard deviation of the code/carrier divergence (sigma CCDiv). The influence of multipath effects on the proposed mitigation approach is also discussed. With the use of high rate scintillation data in addition to the scintillation indices a carrier phase based mitigated solution was also implemented and compared with the conventional solution. During a period of occurrence of high phase scintillation it was observed that problems related to ambiguity resolution can be reduced by the use of the proposed mitigated solution.

Orientação indireta de imagens digitais usando telhados de duas águas como apoio de campo

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Orbit determination using GPS including perturbations due to geopotential coefficients of high degree and order and solar radiation pressure

The main target here is to determine the orbit of an artificial satellite, using signals of the GPS constellation and least squares algorithms implemented through sequential Givens rotations as a method of estimation, with the aim of improving the performance of the orbit estimation process and, at the same time, minimizing the computational procedure cost. Geopotential perturbations up to high order and direct solar radiation pressure were taken into account. It was also considered the position of the GPS antenna on the satellite body that, lately, consists of the influence of the satellite attitude motion in the orbit determination process. An application has been done, using real data from the Topex/Poseidon satellite, whose ephemeris is available at Internet. The best accuracy obtained in position was smaller than 5 meters for short period (2 hours) and smaller than 28 meters for long period (24 hours) orbit determination. In both cases, the perturbations mentioned before were taken into consideration and the analysis occurred without selective availability on the signals measurements.

Parâmetros e tendência genética da produção de leite de cabra no Brasil

A caprinocultura leiteira no Brasil, apesar de ser uma atividade rural consolidada há algumas décadas, tem se mostrado totalmente dependente de outros países no que se refere ao melhoramento genético. A maioria dos plantéis existentes atualmente tem como base animais importados, e a renovação do material genético é feita por meio da importação de sêmen. Inexistem informações sobre o valor genético dos animais e sua evolução no decorrer dos anos. No presente trabalho, foram estimadas a herdabilidade e a repetibilidade da produção de leite utilizando o REML. Os valores obtidos foram 0,21557 e 0,21564, respectivamente. Para a predição do valor gênico dos animais, foi usado o procedimento BLUP com modelo animal. A mudança na tendência genética anual estimada por um modelo quadrático foi -0,8109 kg/ano², indicando desaceleração no ganho genético. A correlação de Pearson entre os valores gênicos dos bodes estimados com base na média da capacidade provável de produção das filhas obtida pelo método de mínimos quadrados com as estimadas pelas equações do modelo misto foi de 0,5751. A correlação de SPEARMAN entre as classificações dos bodes obtidos pelos dois métodos foi de 0,5813.

Fatores genéticos e de meio na produção de leite de caprinos leiteiros

Objetivou-se, no presente estudo, avaliar a produção de leite de caprinos leiteiros da região sudeste do Brasil, com intuito de verificar os fatores de meio e estimar os parâmetros genéticos pelo método dos mínimos quadrados (MMQ). Os controles de 1336 lactações foram inicialmente ajustados pela função multifásica (difásica) e calculou-se a produção de leite total (PLT). Os dados foram provenientes de sete propriedades e três raças (Parda Alpina, Saanen e Toggenburg). A média e o erro-padrão da PLT estimados pelo MMQ foram de 635,31 ±39,75 kg. A interação ano x estação do parto influenciou a PLT. em um dos anos estudados, a PLT foi menor para as cabras paridas no final da estação. Nas três estações de parto, observou-se comportamento quadrático da PLT, em função dos anos de parto. Para as três estações, a PLT aumentou de 1986 até meados de 1990, decrescendo em seguida. A idade de máxima PLT foi observada aos 46,65 meses. Das três raças estudadas, observou-se que as raças Parda Alpina e Saanen apresentaram alternância de superioridade na PLT em algumas fazendas, porém maiores que a Toggenburg. Os coeficientes de herdabilidade e repetibilidade da PLT estimados pelo MMQ foram de 0,296 ± 0,079 e 0,277 ± 0,033, respectivamente. Estes resultados revelam baixa confiabilidade em poucas observações dessas características ou na inconsistência das estimativas da função multifásica. Como a PLT é uma característica limitada ao sexo, sugere-se o teste de progênie como método de seleção mais eficiente para os reprodutores e uso de inseminação artificial como processo de disseminação do material genético selecionado.

The application of interpolating MLS approximations to the analysis of MHD flows

The element-free Galerkin method (EFGM) is a very attractive technique for solutions of partial differential equations, since it makes use of nodal point configurations which do not require a mesh. Therefore, it differs from FEM-like approaches by avoiding the need of meshing, a very demanding task for complicated geometry problems. However, the imposition of boundary conditions is not straightforward, since the EFGM is based on moving-least-squares (MLS) approximations which are not necessarily interpolants. This feature requires, for instance, the introduction of modified functionals with additional unknown parameters such as Lagrange multipliers, a serious drawback which leads to poor conditionings of the matrix equations. In this paper, an interpolatory formulation for MLS approximants is presented: it allows the direct introduction of boundary conditions, reducing the processing time and improving the condition numbers. The formulation is applied to the study of two-dimensional magnetohydrodynamic flow problems, and the computed results confirm the accuracy and correctness of the proposed formulation. (C) 2002 Elsevier B.V. All rights reserved.

Fatores genéticos e de Meio na idade ao primeiro parto de caprinos leiteiros

Data on age at first kidding (IPP) were collected on seven farms in the Brazilian Southeastern region which explored breds. Least squares (LS) were used to evaluate the effects of environmental factors and to estimate variance components, and the derivative-free restricted maximum likelihood (DFREML) method was used to estimate the variance components of IPP and to genetically evaluate the goats used in the southest region of Brazil. The LS mean and standard error of IPP were 607.18 +/- 17.09 days. The interaction of year x kidding season had a significantly influenced IPP, indicating that management conditions varied among the seasons within each specific year, with a direct influence on body weight which is the main criterion adopted by farmers to decide when the animal is ready to breed. The effect of farm-breed combination influenced the IPP. The compararison among levels of farm-breed were done by cluster analysis. The results indicated that the individual goat management within each farm had a greater influence than breed, since goats of different breeds showed high and similar values on those farms having a high mean IPP. Heritability estimates obtained by LS using intraclass correlations among paternal half-sibs and those obtained by REML were 0.220 and 0.369, respectively.

A Bayesian Analysis of Spectral ARMA Model

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Physico-chemical parameter correlations in the [RuCl2(CO)(L)(PPh3)2] complexes (L = N-heterocycles)

Fourteen complexes in the series [RuCl2(CO)(L)(PPh3)2] (where L = N-heterocycles) have been prepared and characterized by IR and NMR spectroscopies, and cyclic voltammetry. A good correlation is found between observed and calculated electrochemical potentials; E1/2 vs pKa or (Gp, σm for a series of similar ligands. It is now reported that the carbonyl stretching frequency, νCO, and the 13C and 31P NMR signals do not correlate well with any of the physico-chemical parameters used (E1/2, Taft's and Hammett's parameters). This behaviour is probably due to the characteristics of the Ru(II) species, which does not transmit the steric and electron donor/acceptor properties of the ligands to the carbonyl group, or because the measurements are not able to detect the effect induced by the changes in the ligand L. Indeed, good correlations are obtained when the measurements directly involve the metal centre, as is the case in the E1/2 measurements. Crystals of o[RuCl2(CO)(4-pic)(PPh3)2] are monoclinic, space group P21/n, a = 12.019(2), b = 13.825(3) and c = 22.253(3) . The structure was solved by the Patterson method and was refined by full-matrix least-squares procedure to R = 0.054 and Rw = 0.055, for 2114 reflections with I > 3σ(I). For L = 2-acetylpyridine and 2-methylimidazole, complexes with formulae [RuCl2(CO)(L)(PPh3)] · L and [RuCl2(CO)(L)2 (PPh3)], respectively, were obtained. © 1998 Elsevier Science Ltd. All rights reserved.

Using cubic splines to mitigate systematic errors in GPS relative positioning

Systematic errors can have a significant effect on GPS observable. In medium and long baselines the major systematic error source are the ionosphere and troposphere refraction and the GPS satellites orbit errors. But, in short baselines, the multipath is more relevant. These errors degrade the accuracy of the positioning accomplished by GPS. So, this is a critical problem for high precision GPS positioning applications. Recently, a method has been suggested to mitigate these errors: the semiparametric model and the penalised least squares technique. It uses a natural cubic spline to model the errors as a function which varies smoothly in time. The systematic errors functions, ambiguities and station coordinates, are estimated simultaneously. As a result, the ambiguities and the station coordinates are estimated with better reliability and accuracy than the conventional least square method.

Modifying the stochastic model to mitigate GPS systematic errors in relative positioning

The GPS observables are subject to several errors. Among them, the systematic ones have great impact, because they degrade the accuracy of the accomplished positioning. These errors are those related, mainly, to GPS satellites orbits, multipath and atmospheric effects. Lately, a method has been suggested to mitigate these errors: the semiparametric model and the penalised least squares technique (PLS). In this method, the errors are modeled as functions varying smoothly in time. It is like to change the stochastic model, in which the errors functions are incorporated, the results obtained are similar to those in which the functional model is changed. As a result, the ambiguities and the station coordinates are estimated with better reliability and accuracy than the conventional least square method (CLS). In general, the solution requires a shorter data interval, minimizing costs. The method performance was analyzed in two experiments, using data from single frequency receivers. The first one was accomplished with a short baseline, where the main error was the multipath. In the second experiment, a baseline of 102 km was used. In this case, the predominant errors were due to the ionosphere and troposphere refraction. In the first experiment, using 5 minutes of data collection, the largest coordinates discrepancies in relation to the ground truth reached 1.6 cm and 3.3 cm in h coordinate for PLS and the CLS, respectively, in the second one, also using 5 minutes of data, the discrepancies were 27 cm in h for the PLS and 175 cm in h for the CLS. In these tests, it was also possible to verify a considerable improvement in the ambiguities resolution using the PLS in relation to the CLS, with a reduced data collection time interval. © Springer-Verlag Berlin Heidelberg 2007.

Towards forecasting and mitigating ionospheric scintillation effects on GNSS

The effect of the ionosphere on the signals of Global Navigation Satellite Systems (GNSS), such as the Global Positionig System (GPS) and the proposed European Galileo, is dependent on the ionospheric electron density, given by its Total Electron Content (TEC). Ionospheric time-varying density irregularities may cause scintillations, which are fluctuations in phase and amplitude of the signals. Scintillations occur more often at equatorial and high latitudes. They can degrade navigation and positioning accuracy and may cause loss of signal tracking, disrupting safety-critical applications, such as marine navigation and civil aviation. This paper addresses the results of initial research carried out on two fronts that are relevant to GNSS users if they are to counter ionospheric scintillations, i.e. forecasting and mitigating their effects. On the forecasting front, the dynamics of scintillation occurrence were analysed during the severe ionospheric storm that took place on the evening of 30 October 2003, using data from a network of GPS Ionospheric Scintillation and TEC Monitor (GISTM) receivers set up in Northern Europe. Previous results [1] indicated that GPS scintillations in that region can originate from ionospheric plasma structures from the American sector. In this paper we describe experiments that enabled confirmation of those findings. On the mitigation front we used the variance of the output error of the GPS receiver DLL (Delay Locked Loop) to modify the least squares stochastic model applied by an ordinary receiver to compute position. This error was modelled according to [2], as a function of the S4 amplitude scintillation index measured by the GISTM receivers. An improvement of up to 21% in relative positioning accuracy was achieved with this technnique.

Adaptive filter feature identification for structural health monitoring in aeronautical panel

This paper presents an approach for structural health monitoring (SHM) by using adaptive filters. The experimental signals from different structural conditions provided by piezoelectric actuators/sensors bonded in the test structure are modeled by a discrete-time recursive least square (RLS) filter. The biggest advantage to use a RLS filter is the clear possibility to perform an online SHM procedure since that the identification is also valid for non-stationary linear systems. An online damage-sensitive index feature is computed based on autoregressive (AR) portion of coefficients normalized by the square root of the sum of the square of them. The proposed method is then utilized in a laboratory test involving an aeronautical panel coupled with piezoelectric sensors/actuators (PZTs) in different positions. A hypothesis test employing the t-test is used to obtain the damage decision. The proposed algorithm was able to identify and localize the damages simulated in the structure. The results have shown the applicability and drawbacks the method and the paper concludes with suggestions to improve it. ©2010 Society for Experimental Mechanics Inc.