QoS-aware reference station placement for regional network RTK

Network RTK (Real-Time Kinematic) is a technology that is based on GPS (Global Positioning System) or more generally on GNSS (Global Navigation Satellite System) measurements to achieve centimeter-level accuracy positioning in real-time. Reference station placement is an important problem in the design and deployment of network RTK systems as it directly affects the quality of the positioning service and the cost of the network RTK systems. This paper identifies a new reference station placement for network RTK, namely QoS-aware regional network RTK reference station placement problem, and proposes an algorithm for the new reference station placement problem. The algorithm can always produce a reference station placement solution that completely covers the region of network RTK.

A reference station-based GNSS computing mode to support unified precise point positioning and real-time kinematic services

Currently, the GNSS computing modes are of two classes: network-based data processing and user receiver-based processing. A GNSS reference receiver station essentially contributes raw measurement data in either the RINEX file format or as real-time data streams in the RTCM format. Very little computation is carried out by the reference station. The existing network-based processing modes, regardless of whether they are executed in real-time or post-processed modes, are centralised or sequential. This paper describes a distributed GNSS computing framework that incorporates three GNSS modes: reference station-based, user receiver-based and network-based data processing. Raw data streams from each GNSS reference receiver station are processed in a distributed manner, i.e., either at the station itself or at a hosting data server/processor, to generate station-based solutions, or reference receiver-specific parameters. These may include precise receiver clock, zenith tropospheric delay, differential code biases, ambiguity parameters, ionospheric delays, as well as line-of-sight information such as azimuth and elevation angles. Covariance information for estimated parameters may also be optionally provided. In such a mode the nearby precise point positioning (PPP) or real-time kinematic (RTK) users can directly use the corrections from all or some of the stations for real-time precise positioning via a data server. At the user receiver, PPP and RTK techniques are unified under the same observation models, and the distinction is how the user receiver software deals with corrections from the reference station solutions and the ambiguity estimation in the observation equations. Numerical tests demonstrate good convergence behaviour for differential code bias and ambiguity estimates derived individually with single reference stations. With station-based solutions from three reference stations within distances of 22–103 km the user receiver positioning results, with various schemes, show an accuracy improvement of the proposed station-augmented PPP and ambiguity-fixed PPP solutions with respect to the standard float PPP solutions without station augmentation and ambiguity resolutions. Overall, the proposed reference station-based GNSS computing mode can support PPP and RTK positioning services as a simpler alternative to the existing network-based RTK or regionally augmented PPP systems.

Spanish National GPS Reference Station Network (ERGPS)

The Instituto Geográfico Nacional de España, thought its geodesy department, since 1997 has carried out the establisment of a GPS Reference Station Network (ERGPS) delivered all around Spain which allows millimetric co-ordinate results, as well as velocity fields in a Global Reference System (ITRFxx). It serves as support for other geodetic networks. Some of these stations are being integrated into the EUREF (EUropean REference Frame) Permanent Station Network. The ERGPS forms the zero order of the Spanish new geodesy

(Table 1) Gravity and pressure within the Sleipner area relative to ones at the reference station in 2002 and 2005

At Sleipner, CO2 is being separated from natural gas and injected into an underground saline aquifer for environmental purposes. Uncertainty in the aquifer temperature leads to uncertainty in the in situ density of CO2. In this study, gravity measurements were made over the injection site in 2002 and 2005 on top of 30 concrete benchmarks on the seafloor in order to constrain the in situ CO2 density. The gravity measurements have a repeatability of 4.3 µGal for 2003 and 3.5 µGal for 2005. The resulting time-lapse uncertainty is 5.3 µGal. Unexpected benchmark motions due to local sediment scouring contribute to the uncertainty. Forward gravity models are calculated based on both 3D seismic data and reservoir simulation models. The time-lapse gravity observations best fit a high temperature forward model based on the time-lapse 3D seismics, suggesting that the average in situ CO2 density is about to 530kg/m**3. Uncertainty in determining the average density is estimated to be ±65 kg/m**3 (95% confidence), however, this does not include uncertainties in the modeling. Additional seismic surveys and future gravity measurements will put better constraints on the CO2 density and continue to map out the CO2 flow.

Evolutionary placement of continuously operating reference stations of network Real-Time Kinematic

Network RTK (Real-Time Kinematic) is a technology that is based on GPS (Global Positioning System) or more generally on GNSS (Global Navigation Satellite System) observations to achieve centimeter-level accuracy positioning in real time. It is enabled by a network of Continuously Operating Reference Stations (CORS). CORS placement is an important problem in the design of network RTK as it directly affects not only the installation and running costs of the network RTK, but also the Quality of Service (QoS) provided by the network RTK. In our preliminary research on the CORS placement, we proposed a polynomial heuristic algorithm for a so-called location-based CORS placement problem. From a computational point of view, the location-based CORS placement is a largescale combinatorial optimization problem. Thus, although the heuristic algorithm is efficient in computation time it may not be able to find an optimal or near optimal solution. Aiming at improving the quality of solutions, this paper proposes a repairing genetic algorithm (RGA) for the location-based CORS placement problem. The RGA has been implemented and compared to the heuristic algorithm by experiments. Experimental results have shown that the RGA produces better quality of solutions than the heuristic algorithm.

Theory and development of GPS integrity monitoring system

This thesis discusses various aspects of the integrity monitoring of GPS applied to civil aircraft navigation in different phases of flight. These flight phases include en route, terminal, non-precision approach and precision approach. The thesis includes four major topics: probability problem of GPS navigation service, risk analysis of aircraft precision approach and landing, theoretical analysis of Receiver Autonomous Integrity Monitoring (RAIM) techniques and RAIM availability, and GPS integrity monitoring at a ground reference station. Particular attention is paid to the mathematical aspects of the GPS integrity monitoring system. The research has been built upon the stringent integrity requirements defined by civil aviation community, and concentrates on the capability and performance investigation of practical integrity monitoring systems with rigorous mathematical and statistical concepts and approaches. Major contributions of this research are: • Rigorous integrity and continuity risk analysis for aircraft precision approach. Based on the joint probability density function of the affecting components, the integrity and continuity risks of aircraft precision approach with DGPS were computed. This advanced the conventional method of allocating the risk probability. • A theoretical study of RAIM test power. This is the first time a theoretical study on RAIM test power based on the probability statistical theory has been presented, resulting in a new set of RAIM criteria. • Development of a GPS integrity monitoring and DGPS quality control system based on GPS reference station. A prototype of GPS integrity monitoring and DGPS correction prediction system has been developed and tested, based on the A USN A V GPS base station on the roof of QUT ITE Building.

Vehicle-to-vehicle real-time relative positioning using 5.9 GHz DSRC media

Vehicular accidents are one of the deadliest safety hazards and accordingly an immense concern of individuals and governments. Although, a wide range of active autonomous safety systems, such as advanced driving assistance and lane keeping support, are introduced to facilitate safer driving experience, these stand-alone systems have limited capabilities in providing safety. Therefore, cooperative vehicular systems were proposed to fulfill more safety requirements. Most cooperative vehicle-to-vehicle safety applications require relative positioning accuracy of decimeter level with an update rate of at least 10 Hz. These requirements cannot be met via direct navigation or differential positioning techniques. This paper studies a cooperative vehicle platform that aims to facilitate real-time relative positioning (RRP) among adjacent vehicles. The developed system is capable of exchanging both GPS position solutions and raw observations using RTCM-104 format over vehicular dedicated short range communication (DSRC) links. Real-time kinematic (RTK) positioning technique is integrated into the system to enable RRP to be served as an embedded real-time warning system. The 5.9 GHz DSRC technology is adopted as the communication channel among road-side units (RSUs) and on-board units (OBUs) to distribute GPS corrections data received from a nearby reference station via the Internet using cellular technologies, by means of RSUs, as well as to exchange the vehicular real-time GPS raw observation data. Ultimately, each receiving vehicle calculates relative positions of its neighbors to attain a RRP map. A series of real-world data collection experiments was conducted to explore the synergies of both DSRC and positioning systems. The results demonstrate a significant enhancement in precision and availability of relative positioning at mobile vehicles.

Helsingin lämpösaareke ajallisena ja paikallisena ilmiönä

The urban heat island phenomenon is the most well-known all-year-round urban climate phenomenon. It occurs in summer during the daytime due to the short-wave radiation from the sun and in wintertime, through anthropogenic heat production. In summertime, the properties of the fabric of city buildings determine how much energy is stored, conducted and transmitted through the material. During night-time, when there is no incoming short-wave radiation, all fabrics of the city release the energy in form of heat back to the urban atmosphere. In wintertime anthropogenic heating of buildings and traffic deliver energy into the urban atmosphere. The initial focus of Helsinki urban heat island was on the description of the intensity of the urban heat island (Fogelberg 1973, Alestalo 1975). In this project our goal was to carry out as many measurements as possible over a large area of Helsinki to give a long term estimate of the Helsinki urban heat island. Helsinki is a city with 550 000 inhabitants and located on the north shore of Finnish Bay of the Baltic Sea. Initially, comparison studies against long-term weather station records showed that our regular, but weekly, sampling of observations adequately describe the Helsinki urban heat island. The project covered an entire seasonal cycle over the 12 months from July 2009 to June 2010. The measurements were conducted using a moving platform following microclimatological traditions. Tuesday was selected as the measuring day because it was the only weekday during the one year time span without any public holidays. Once a week, two set of measurements, in total 104, were conducted in the heterogeneous temperature conditions of Helsinki city centre. In the more homogeneous suburban areas, one set of measurements was taken every second week, to give a total of 52.The first set of measurements took place before noon, and the second 12 hours, just prior to midnight. Helsinki Kaisaniemi weather station was chosen as the reference station. This weather station is located in a large park in the city centre of Helsinki. Along the measurement route, 336 fixed points were established, and the monthly air temperature differences to Kaisaniemi were calculated to produce monthly and annual maps. The monthly air temperature differences were interpolated 21.1 km by 18.1 km horizontal grid with 100 metre resolution residual kriging method. The following independent variables for the kriging interpolation method were used: topographical height, portion of sea area, portion of trees, fraction of built-up and not built-up area, volumes of buildings, and population density. The annual mean air temperature difference gives the best representation of the Helsinki urban heat island effect- Due to natural variability of weather conditions during the measurement campaign care must be taken when interpretation the results for the monthly values. The main results of this urban heat island research project are: a) The city centre of Helsinki is warmer than its surroundings, both on a monthly main basis, and for the annual mean, however, there are only a few grid points, 46 out of 38 191, which display a temperature difference of more than 1K. b) If the monthly spatial variation is air temperature differences is small, then usually the temperature difference between the city and the surroundings is also small. c) Isolated large buildings and suburban centres create their own individual heat island. d) The topographical influence on air temperature can generally be neglected for the monthly mean, but can be strong under certain weather conditions.

Ecological impact of Mahshahr petrochemical activities on abundance and diversity of macrobenthic fauna in Zangi Creek (Persian Gulf)

The Moosa Creek extends from its opening into the Persian Gulf, with some sub narrow creeks leading to it. Zangi creek is one of the main branches of Moosa creek. The creek contains numerous sources of organic pollution, including sewage outlet flows and boat waste. After establishing the Petrochemical special Economic Zone (PETZONE) in 1997 near to the Zangi Creek, the pipelines, streets and railway made it distinct from eastern and western parts of this creek. Industrial activities have released sludge and effluents in this creek along these years. A survey of the Zangi creek was performed, assessing water properties, organic pollution, and the population density, distribution and diversity of macrobenthic fauna through bi-monthly sampling from July 2006 to September 2007. Samples were collected from water near the bottom and sediment at 7 stations include 2 stations inside the distinct Zangi creek and 4 stations along a transect with 1 km distances between them in eastern free part and one reference station located at the Persian Gulf entrance to the Moosa creek. The environmental parameters such as temperature, salinity, pH, dissolved oxygen, COD, turbidity, EC and heavy metals include Hg, Cd, Pb, Ni as well as percentage silt-clay and total organic matter of the sediment were measured. The faunal population density and their distribution are discussed in relation to the environmental changes. Results showed spatial heterogeneity in faunal distribution of the Zangi creek. Nine groups of macrofauna were identified out of distinct zangi creek. Polychaets formed the dominant group (48%) followed by bivalves (13%), gastropods (10%), Decapods (2%), Tanaids (5%), and all other groups (22%). The distinct creek was heavily polluted without any macrofauna communities probably as a consequence of the high pH, COD, low salinity and heavy metals contamination specially Cd and Pb. The other stations near to the disposal site were found with macrofauna communities commonly tolerant to organic pollution, At 3 km east of the disposal site, macrofauna is comparable to the surrounded creek, whereas macrofauna still indicate environmental degradation. Farther a way, faunal density decreases and equilibrium taxa gradually replace opportunistic species, while the other stations were far from polluted area contained lower pollution and relatively healthy macrofauna. The mean biomass of macrobenthic fauna were estimated for the whole studied area. The results are considered in Minimum density and biomass in surrounded creek and maximum density and biomass in 3 km of surrounded area. Biodiversity Indices were low in surrounded creek. The Shanon-weaver information index was used to describe the spatially variations in diversity. Macrofauna density, shanon and simpson index were significantly variable between surrounded and free parts of Zangi creek (p<0.05). The numerical abundance of macrobenthose varied from 221. m-2 in polluted area to 4346 m-2 in free part of Zangi creek. The Shanon-weaver information index varied from 0.4 in distinct area to 2.9 in reference station. The physico- chemical changes between distinct and free creeks showed significant variations such as pH, salinity and EC. Salinity and EC were significantly positive correlate to macrofauna density, whereas pH and TOM percentage indicated significantly negative correlation to density. Heavy metals concentrations in sediments were higher than water samples. Concentration pattern of heavy metals in sediments and water samples were Ni>Pb>Cd>Hg. Salinity and pH were significantly correlated to metals in sediments (p<0.01). No significant correlation were found between Macrofauna density and heavy metals (p<0.05).

Studies on distribution, diversity and production of macrobenthic fauna in the Chahbahar Bay

The population density, distribution, diversity and secondry production of macrobenthic fauna of the inner Chahbahar Bay were studied through bi-monthly sampling from April 1995 to March 1996. Samples were collected from water near the bottom and sediment at 14 stations inside the Bay and one reference station located outside at the entrance to the Bay. The environmental parameters Such as temperature, water depth, salinity, pH and dissolved oxygen as well as percentage silt-clay and total organic matter of the sediment were measured. The faunal population density and their distribution is discussed in relation to the environmental changes. results obtained indicated both spatial and temporal heterogeneity in faunal distribution of the Chahbahar Bay. The total of 18 groups of macrofauna were identified in all samples. Amphipods formed the dominant group (21%) followed by polychaetes (19%), gastropods (15.7%) bivalves (10.6%) and all other groups (33.7%). Seasonal changes in faunal density is shown in relation to Indian Ocean southwest monsoon,the result of which indicated lower population density during monsoon (June to September) than that of the premonsoon (February to May) and post monsoon (October to January) periods. The numerical abundance of macrobenthos varied from 10260.m2 before monsoon to 5190 m2 during monsoon season. Three dominant groups of macrofauna including polychaetes, gastropods, and bivalves were identified in all collected samples. Indices of diversity, richness and evenness were calculated for these three dominant groups. The Shannon-Weaver information index was used to describe the spatially and temporally variation in diversity of these three major faunal groups. The results exhibited lower faunal diversity during monsoon period. The annual production of two dominant macrofauna species including a species of bivalve, Nuculana acuta and a species of Cephalochordata, Branchiostoma lanceolatum were measured by using age group determination. Furthermore the mean biomass and total annual production of macrobenthic fauna were estimated for the whole studied area. The potential yield of demersal fishery resources (fish and crustacean) then estimated and worked out to be 15360 tons/year asuming 10% ecological efficiency of hypothetical pyramid from 3rd to 4th marine trophic level. Accordingly the annual exploitable demersal fishery resources for the entire Chahbahar Bay was estimated to be 7600 to 8500 tons/year by taking 50 to 55% of the total estimated potential in to account.

A modelling study of transient, buoyancy-driven exchange flow over a descending barrier

Results are presented from a series of model studies of the transient exchange flow resulting from the steady descent of an impermeable barrier separating initially-quiescent fresh and saline water bodies having density ρ0 and ρ0 + (Δρ)0, respectively. A set of parametric laboratory experiments has been carried out (i) to determine the characteristic features of the time-dependent exchange flow over the barrier crest and (ii) to quantify the temporal increase in the thickness and spatial extent of the brackish water reservoir formed behind the barrier by the outflowing, partly-mixed saline water. The results of the laboratory experiments have been compared with the predictions of a theoretical model adapted from the steady, so-called maximal exchange flow case and good qualitative agreement between theory and experiment has been demonstrated. The comparisons indicate that head losses of between 7% and 3% are applicable to the flow over the ridge crest in the early and late stages, respectively, of the barrier descent phase, with these losses being attributed to mixing processes associated with the counterflowing layers of fresh and saline water in the vicinity of the ridge crest. The experimental data show (and the theoretical model predictions confirm) that (i) the dimensionless time of detection tdet (g′/Hb)1/2 of the brackish water pool fed by the dense outflow increases (at a given distance from the barrier) with increasing values of the descent rate parameter g'Hb/(dhb/dt)2 and (ii) the normalised thickness δ(x,t)/Hb of the pool at a given reference station increases monotonically with increasing values of the modified time (t - tdet)/(Hb/g′) 1/2, with the rate of thickening decreasing with increasing values of the descent rate parameter g'Hb (dhb/dt)2. Here, g′ = (g/ρ0) (Δρ)0 is the modified gravitational acceleration, Hb is the mean depth of the water and dhb/dt denotes the rate of descent of the barrier height hb with elapsed time t after the two water bodies are first brought into contact. © 2004 Kluwer Academic Publishers.

Atmospheric Models Applied to DGPS and RTK Network in Brazil: Preliminary Results

Several positioning techniques have been developed to explore the GPS capability to provide precise coordinates in real time. However, a significant problem to all techniques is the ionosphere effect and the troposphere refraction. Recent researches in Brazil, at São Paulo State University (UNESP), have been trying to tackle these problems. In relation to the ionosphere effects it has been developed a model named Mod_Ion. Concerning tropospheric refraction, a model of Numerical Weather Prediction(NWP) has been used to compute the zenithal tropospheric delay (ZTD). These two models have been integrated with two positioning methods: DGPS (Differential GPS) and network RTK (Real Time Kinematic). These two positioning techniques are being investigated at São Paulo State University (UNESP), Brazil. The in-house DGPS software was already finalized and has provided very good results. The network RTK software is still under development. Therefore, only preliminary results from this method using the VRS (Virtual Reference Station) concept are presented.

Integridade no posicionamento RTK e RTK em rede

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)