Mitigating systematic errors for single frequency GPS receivers employing a penalized least squares methodology

Among the positioning systems that compose GNSS (Global Navigation Satellite System), GPS has the capability of providing low, medium and high precision positioning data. However, GPS observables may be subject to many different types of errors. These systematic errors can degrade the accuracy of the positioning provided by GPS. These errors are mainly related to GPS satellite orbits, multipath, and atmospheric effects. In order to mitigate these errors, a semiparametric model and the penalized least squares technique were employed in this study. This is similar to changing the stochastical model, in which error functions are incorporated and the results are similar to those in which the functional model is changed instead. Using this method, it was shown that ambiguities and the estimation of station coordinates were more reliable and accurate than when employing a conventional least squares methodology.

Real time orbit determination using GPS navigation solution

This work analyses a real time orbit estimator using the raw navigation solution provided by GPS receivers. The estimation algorithm considers a Kalman filter with a rather simple orbit dynamic model and random walk modeling of the receiver clock bias and drift. Using the Topex/Poseidon satellite as test bed, characteristics of model truncation, sampling rates and degradation of the GPS receiver (Selective Availability) were analysed. Copyright © 2007 by ABCM.

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.

GPS ambiguity resolution and validation under multipath effects: Improvements using wavelets

Integer carrier phase ambiguity resolution is the key to rapid and high-precision global navigation satellite system (GNSS) positioning and navigation. As important as the integer ambiguity estimation, it is the validation of the solution, because, even when one uses an optimal, or close to optimal, integer ambiguity estimator, unacceptable integer solution can still be obtained. This can happen, for example, when the data are degraded by multipath effects, which affect the real-valued float ambiguity solution, conducting to an incorrect integer (fixed) ambiguity solution. Thus, it is important to use a statistic test that has a correct theoretical and probabilistic base, which has became possible by using the Ratio Test Integer Aperture (RTIA) estimator. The properties and underlying concept of this statistic test are shortly described. An experiment was performed using data with and without multipath. Reflector objects were placed surrounding the receiver antenna aiming to cause multipath. A method based on multiresolution analysis by wavelet transform is used to reduce the multipath of the GPS double difference (DDs) observations. So, the objective of this paper is to compare the ambiguity resolution and validation using data from these two situations: data with multipath and with multipath reduced by wavelets. Additionally, the accuracy of the estimated coordinates is also assessed by comparing with the ground truth coordinates, which were estimated using data without multipath effects. The success and fail probabilities of the RTIA were, in general, coherent and showed the efficiency and the reliability of this statistic test. After multipath mitigation, ambiguity resolution becomes more reliable and the coordinates more precise. © Springer-Verlag Berlin Heidelberg 2007.

Ajustamento de redes gps em conformidade com as exigências da lei 10.267/2001

In the Brazil, several have been the applications of GPS and with the introduction of the Law 10.267/2001 that among other dispositions, it treats of the georeferencing of the rural parcels. However, most of the commercial softwares of processing and adjustment of GPS data doesn't allow that the users may evaluate their results in a reliable way. For example, the constraints are normally used as absolute, which provides results with very optimists precisions. The adoption of additional analyses and the implementation of softwares can reduce these kinds of problems. Thus, it was developed a software for adjustment of GPS networks, aiming to assist in a reliable way the requirements of the Law 10.267/2001. In this context, in this work it is analyzed the adjustments of GPS networks, utilizing absolute and relative constraints. In the case of the last one, the adjustments were accomplished considering and not considering the correlations among the coordinate positions.

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.

Geração de dados GPS de pseudodistância para uma estação virtual: Métodos, implementação e análise dos resultados

This paper aims to evaluate the quality of the pseudorange observables generated for a Virtual Reference Station (VRS). In order to generate the VRS data three different approaches were implemented and tested. In the first one, raw data from the reference station network were used while in the second it was based on double difference reference station corrections. Finally, in the third approach atmospheric models (ionosphere and troposphere) were used to create the VRS data. Sao Paulo State Network stations were used in all experiments. The VRS data were generated in a reference station position of known coordinates (real file). In order to validate the approaches, the VRS data were compared with the real data file. The results were quite similar, reaching the decimeter or centimeter level, depending on the approach applied.

Determination of onboard coplanar orbital maneuvers with orbits determined using GPS

In the present paper a study is made in order to find an algorithm that can calculate coplanar orbital maneuvers for an artificial satellite. The idea is to find a method that is fast enough to be combined with onboard orbit determination using GPS data collected from a receiver that is located in the satellite. After a search in the literature, three algorithms are selected to be tested. Preliminary studies show that one of them (the so called Minimum Delta-V Lambert Problem) has several advantages over the two others, both in terms of accuracy and time required for processing. So, this algorithm is implemented and tested numerically combined with the orbit determination procedure. Some adjustments are performed in this algorithm in the present paper to allow its use in real-time onboard applications. Considering the whole maneuver, first of all a simplified and compact algorithm is used to estimate in real-time and onboard the artificial satellite orbit using the GPS measurements. By using the estimated orbit as the initial one and the information of the final desired orbit (from the specification of the mission) as the final one, a coplanar bi-impulsive maneuver is calculated. This maneuver searches for the minimum fuel consumption. Two kinds of maneuvers are performed, one varying only the semi major axis and the other varying the semi major axis and the eccentricity of the orbit, simultaneously. The possibilities of restrictions in the locations to apply the impulses are included, as well as the possibility to control the relation between the processing time and the solution accuracy. Those are the two main reasons to recommend this method for use in the proposed application.

The impact of adding SBAS data on GPS data processing in southeast of Brazil: Preliminary result

Nowadays, L1 SBAS signals can be used in a combined GPS+SBAS data processing. However, such situation restricts the studies over short baselines. Besides of increasing the satellite availability, SBAS satellites orbit configuration is different from that of GPS. In order to analyze how these characteristics can impact GPS positioning in the southeast area of Brazil, experiments involving GPS-only and combined GPS+SBAS data were performed. Solutions using single point and relative positioning were computed to show the impact over satellite geometry, positioning accuracy and short baseline ambiguity resolution. Results showed that the inclusion of SBAS satellites can improve the accuracy of positioning. Nevertheless, the bad quality of the data broadcasted by these satellites limits their usage. © Springer-Verlag Berlin Heidelberg 2012.

Evaluation of the expression of p53, MDM2, and SUMO-1 in oral lichen planus

Objective: The objective of this study was to compare the expression of proteins p53, MDM2, and SUMO-1 in oral lichen planus (OLP) lesions, epithelial dysplasia, and squamous cell carcinoma. Materials and Methods: The sample consisted of the following five groups of cheek mucosa lesions: normal mucosa (NM), inflammatory fibrous hyperplasia (IFH), lichen planus, epithelial dysplasia, and squamous cell carcinoma. The tissue samples were stained with hematoxylin-eosin and submitted to immunohistochemistry using anti-p53, anti-MDM2, and anti-SUMO-1 antibodies. Results: The results of this study demonstrated similar expression of p53 and MDM2 between OLP, oral epithelial dysplasia and, to a lesser extent, between OLP and oral squamous cell carcinoma (OSCC). However, for SUMO-1 a similar expression was observed in OLP, NM, and IFH. Conclusions: The results demonstrated overexpression of important proteins (p53 and MDM2) related to regulatory mechanisms of apoptosis in OLP, suggesting that there is a favorable environment for malignant transformation. The expression of SUMO-1 in OLP was similar to NM and IFH, suggesting that alterations of this protein occur at later stages of carcinogenesis, because important overexpression occurred in oral epithelial dysplasia and OSCC. © 2013 John Wiley & Sons A/S.

Influência da combinação de dados GPS e GLONASS no georreferenciamento de imóveis rurais

The land question has been a widely discussed topic in Brazil, regarding land tenure. Law No. 10.267/01 was a major breakthrough for the agrarian issue. Since then on all rural properties must be georeferenced to the Brazilian Geodetic System (BGS). Therefore, satellite positioning and conventional methods are extensively used. Changes have been occurring in satellite positioning systems due to the addition of new signals in GPS (Global System Positioning), restructuring of GLONASS (Global Orbiting Navigation Satellite System), and the new systems like Galileo and Compass as well. To evaluate the effects of combining GPS and GLONASS data, several batches of processings were performed on different configurations. The data processing was performed to determine the coordinates of points of basic support and those materializing the neighborhood of the rural properties. As a result, it was found that the use of accurate ephemeris in transporting coordinates to support points has no significant influence, since transportation with broadcast ephemeris also meets the accuracy requirements for the Standard Technique for Georreferencing Rural Properties. On the other hand, when GPS and GLONASS data were used, such combination provides the best results. In the case of neighboring points, the use of GPS and GLONASS data is also recommended because such data meet the precision requirement and showed better results than those from where data were processed separately.

Onboard and real-time artificial satellite orbit determination using GPS

An algorithm for real-time and onboard orbit determination applying the Extended Kalman Filter (EKF) method is developed. Aiming at a very simple and still fairly accurate orbit determination, an analysis is performed to ascertain an adequacy of modeling complexity versus accuracy. The minimum set of to-be-estimated states to reach the level of accuracy of tens of meters is found to have at least the position, velocity, and user clock offset components. The dynamical model is assessed through several tests, covering force model, numerical integration scheme and step size, and simplified variational equations. The measurement model includes only relevant effects to the order of meters. The EKF method is chosen to be the simplest real-time estimation algorithm with adequate tuning of its parameters. In the developed procedure, the obtained position and velocity errors along a day vary from 15 to 20 m and from 0.014 to 0.018 m/s, respectively, with standard deviation from 6 to 10 m and from 0.006 to 0.008 m/s, respectively, with the SA either on or off. The results, as well as analysis of the final adopted models used, are presented in this work. © 2013 Ana Paula Marins Chiaradia et al.

Estimativa e análise de índices de irregularidades da ionosfera utilizando dados GPS de redes ativas

Observable GNSS (Global Navigation Satellite System) are affected by systematic errors due to free electrons present in the ionosphere. The error associated with the ionosphere depends on the Total Electron Content (TEC), which is influenced by several variables: solar cycle, season, local time, geomagnetic activity and geographic location. The GPS (Global Positioning System), GLONASS (Global Orbiting Navigation Satellite System) and Galileo dual frequency receivers allow the calculation of the error that affects the GNSS observables and the TEC. Using the rate of change of TEC (ROT - Rate of TEC) indices that indicate irregularities of the ionosphere can be determined, allowing inferences about its behavior. Currently it is possible to perform such studies in Brazil, due to the several Active Networks available, such as RBMC/RIBaC (Rede Brasileira de Monitoramento Contínuo/Rede INCRA de Bases Comunitárias) and GNSS Active Network of São Paulo. The proposed research aimed at estimating and analysing of indexes of irregularities of the ionosphere, besides supplying the geosciences of information about the behavior of the ionosphere.

Análise de séries temporais de coordenadas estimadas com GPS: uma proposta metodológica para eliminação de efeitos sazonais

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Recuperação de perfis atmosféricos a partir de ocultação GPS: fundamentos, implementação e análise de resultados

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)