Precise Orbit Determination of Low Earth Satellites at AIUB using GPS and SLR data

An ever increasing number of low Earth orbiting (LEO) satellites is, or will be, equipped with retro-reflectors for Satellite Laser Ranging (SLR) and on-board receivers to collect observations from Global Navigation Satellite Systems (GNSS) such as the Global Positioning Sys- tem (GPS) and the Russian GLONASS and the European Galileo systems in the future. At the Astronomical Insti- tute of the University of Bern (AIUB) LEO precise or- bit determination (POD) using either GPS or SLR data is performed for a wide range of applications for satellites at different altitudes. For this purpose the classical numeri- cal integration techniques, as also used for dynamic orbit determination of satellites at high altitudes, are extended by pseudo-stochastic orbit modeling techniques to effi- ciently cope with potential force model deficiencies for satellites at low altitudes. Accuracies of better than 2 cm may be achieved by pseudo-stochastic orbit modeling for satellites at very low altitudes such as for the GPS-based POD of the Gravity field and steady-state Ocean Circula- tion Explorer (GOCE).

Impact of loading displacements on SLR-derived parameters and on the consistency between GNSS and SLR results

Displacements of the Earth’s surface caused by tidal and non-tidal loading forces are relevant in high-precision space geodesy. Some of the corrections are recommended by the international scientific community to be applied at the observation level, e.g., ocean tidal loading (OTL) and atmospheric tidal loading (ATL). Non-tidal displacement corrections are in general recommended not to be applied in the products of the International Earth Rotation and Reference Systems Service, in particular atmospheric non-tidal loading (ANTL), oceanic and hydrological non-tidal corrections. We assess and compare the impact of OTL, ATL and ANTL on SLR-derived parameters by reprocessing 12 years of SLR data considering and ignoring individual corrections. We show that loading displacements have an influence not only on station long-term stability, but also on geocenter coordinates, Earth Rotation Parameters, and satellite orbits. Applying the loading corrections reduces the amplitudes of annual signals in the time series of geocenter and station coordinates. The general improvement of the SLR station 3D coordinate repeatability when applying OTL, ATL and ANTL corrections are 19.5 %, 0.2 % and 3.3 % respectively, w.r.t. the solutions without loading corrections. ANTL corrections play a crucial role in the combination of optical (SLR) and microwave (GNSS, VLBI, DORIS) space geodetic observation techniques, because of the so-called Blue-Sky effect: SLR measurements can be carried out only under cloudless sky conditions—typically during high air pressure conditions, when the Earth’s crust is deformed, whereas microwave observations are weather-independent. Thus, applying the loading corrections at the observation level improves SLR-derived products as well as the consistency with microwave-based results. We assess the Blue-Sky effect on SLR stations and the consistency improvement between GNSS and SLR solutions when ANTL corrections are included. The omission of ANTL corrections may lead to inconsistencies between SLR and GNSS solutions of up to 2.5 mm for inland stations. As a result, the estimated GNSS–SLR coordinate differences correspond better to the local ties at the co-located stations when applying ANTL corrections.

Earth gravity field recovery using GPS, GLONASS, and SLR satellites

The time variable Earth’s gravity field provides the information about mass transport within the system Earth, i.e., the relationship of mass transport between atmosphere, oceans, and land hydrology. We recover the low-degree parameters of the time variable gravity field using microwave observations from GPS and GLONASS satellites and from SLR data to five geodetic satellites, namely LAGEOS-1/2, Starlette, Stella, and AJISAI. GPS satellites are particularly sensitive to specific coefficients of the Earth's gravity field, because of the deep 2:1 orbital resonance with Earth rotation (two revolutions of the GPS satellites per sidereal day). The resonant coefficients cause, among other, a “secular” drift (actually periodic variations of very long periods) of the semi-major axes of up to 5.3 m/day of GPS satellites. We processed 10 years of GPS and GLONASS data using the standard orbit models from the Center of Orbit Determination in Europe (CODE) with a simultaneous estimation of the Earth gravity field coefficients and other parameters, e.g., satellite orbit parameters, station coordinates, Earth rotation parameters, troposphere delays, etc. The weekly GNSS gravity solutions up to degree and order 4/4 are compared to the weekly SLR gravity field solutions. The SLR-derived geopotential coefficients are compared to monthly GRACE and CHAMP results.

SLR-derived terrestrial reference frame using the observations to LAGEOS-1/2, Starlette, Stella, and AJISAI

Currently, the contributions of Starlette, Stella, and AJISAI are not taken into account when defining the International Terrestrial Reference Frame (ITRF), despite the large amount of data collected in a long time-span. Consequently, the SLR-derived parameters and the SLR part of the ITRF are almost exclusively defined by LAGEOS-1 and LAGEOS-2. We investigate the potential of combining the observations to several SLR satellites with different orbital characteristics. Ten years of SLR data are homogeneously processed using the development version 5.3 of the Bernese GNSS Software. Special emphasis is put on orbit parameterization and the impact of LEO data on the estimation of the geocenter coordinates, Earth rotation parameters, Earth gravity field coefficients, and the station coordinates in one common adjustment procedure. We find that the parameters derived from the multi-satellite solutions are of better quality than those obtained in single satellite solutions or solutions based on the two LAGEOS satellites. A spectral analysis of the SLR network scale w.r.t. SLRF2008 shows that artifacts related to orbit perturbations in the LAGEOS-1/2 solutions, i.e., periods related to the draconitic years of the LAGEOS satellites, are greatly reduced in the combined solutions.

Homogeneous reprocessing of GPS, GLONASS and SLR observations

The International GNSS Service (IGS) provides operational products for the GPS and GLONASS constellation. Homogeneously processed time series of parameters from the IGS are only available for GPS. Reprocessed GLONASS series are provided only by individual Analysis Centers (i. e. CODE and ESA), making it difficult to fully include the GLONASS system into a rigorous GNSS analysis. In view of the increasing number of active GLONASS satellites and a steadily growing number of GPS+GLONASS-tracking stations available over the past few years, Technische Universität Dresden, Technische Universität München, Universität Bern and Eidgenössische Technische Hochschule Zürich performed a combined reprocessing of GPS and GLONASS observations. Also, SLR observations to GPS and GLONASS are included in this reprocessing effort. Here, we show only SLR results from a GNSS orbit validation. In total, 18 years of data (1994–2011) have been processed from altogether 340 GNSS and 70 SLR stations. The use of GLONASS observations in addition to GPS has no impact on the estimated linear terrestrial reference frame parameters. However, daily station positions show an RMS reduction of 0.3 mm on average for the height component when additional GLONASS observations can be used for the time series determination. Analyzing satellite orbit overlaps, the rigorous combination of GPS and GLONASS neither improves nor degrades the GPS orbit precision. For GLONASS, however, the quality of the microwave-derived GLONASS orbits improves due to the combination. These findings are confirmed using independent SLR observations for a GNSS orbit validation. In comparison to previous studies, mean SLR biases for satellites GPS-35 and GPS-36 could be reduced in magnitude from −35 and −38 mm to −12 and −13 mm, respectively. Our results show that remaining SLR biases depend on the satellite type and the use of coated or uncoated retro-reflectors. For Earth rotation parameters, the increasing number of GLONASS satellites and tracking stations over the past few years leads to differences between GPS-only and GPS+GLONASS combined solutions which are most pronounced in the pole rate estimates with maximum 0.2 mas/day in magnitude. At the same time, the difference between GLONASS-only and combined solutions decreases. Derived GNSS orbits are used to estimate combined GPS+GLONASS satellite clocks, with first results presented in this paper. Phase observation residuals from a precise point positioning are at the level of 2 mm and particularly reveal poorly modeled yaw maneuver periods.

Status of the Zimmerwald SLR station

The Zimmerwald SLR station is operated in a monostatic mode with 532nm laser pulses emitted at adjustable frequencies of 90-110Hz with energies slightly less than 10mJ. A rotating shutter protects the CSPAD receiver from the backscatter of the transmit beam. These systems are located below the telescope in an operator room housed within the observatory building with the laser system located in a separated, air-conditioned part of the room. All hardware components may be automatically accessed by the control software and from remote if required. Thanks to the fully automatic and remotely controllable SLR operations, the Zimmerwald station is one of the most productive stations in the ILRS network. Key characteristics of the hardware are shown. Specialities like the tracking of the full GLONASS constellation, one-way ranging to the Lunar Reconnaissance Orbiter, and photon reception from bi-static experiments with the Graz SLR station are highlighted as well.

Contribution of Starlette, Stella, and AJISAI to the SLR-derived global reference frame

The contribution of Starlette, Stella, and AJI-SAI is currently neglected when defining the International Terrestrial Reference Frame, despite a long time series of precise SLR observations and a huge amount of available data. The inferior accuracy of the orbits of low orbiting geodetic satellites is the main reason for this neglect. The Analysis Centers of the International Laser Ranging Service (ILRS ACs) do, however, consider including low orbiting geodetic satellites for deriving the standard ILRS products based on LAGEOS and Etalon satellites, instead of the sparsely observed, and thus, virtually negligible Etalons. We process ten years of SLR observations to Starlette, Stella, AJISAI, and LAGEOS and we assess the impact of these Low Earth Orbiting (LEO) SLR satellites on the SLR-derived parameters. We study different orbit parameterizations, in particular different arc lengths and the impact of pseudo-stochastic pulses and dynamical orbit parameters on the quality of the solutions. We found that the repeatability of the East and North components of station coordinates, the quality of polar coordinates, and the scale estimates of the reference are improved when combining LAGEOS with low orbiting SLR satellites. In the multi-SLR solutions, the scale and the Z component of geocenter coordinates are less affected by deficiencies in solar radiation pressure modeling than in the LAGEOS-1/2 solutions, due to substantially reduced correlations between the Z geocenter coordinate and empirical orbit parameters. Eventually, we found that the standard values of Center-of-mass corrections (CoM) for geodetic LEO satellites are not valid for the currently operating SLR systems. The variations of station-dependent differential range biases reach 52 and 25 mm for AJISAI and Starlette/Stella, respectively, which is why estimating station dependent range biases or using station-dependent CoM, instead of one value for all SLR stations, is strongly recommended.This clearly indicates that the ILRS effort to produce CoM corrections for each satellite, which are site-specific and depend on the system characteristics at the time of tracking,is very important and needs to be implemented in the SLR data analysis.

SLR-GNSS analysis in the framework of the ITRF2013 computation

Pre-combined SLR-GNSS solutions are studied and the impact of different types of datum definition on the estimated parameters is assessed. It is found that the origin is realized best by using only the SLR core network for defining the geodetic datum and the inclusion of the GNSS core sites degrades the origin. The orientation, however, requires a dense and continuous network, thus, the inclusion of the GNSS core network is absolutely needed.