wednesday: 16:00-17:30 rocco malservisi: e-mail [email protected]@geophysik.lmu.de phone...
TRANSCRIPT
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Wednesday: 16:00-17:30
Rocco Malservisi: e-mail [email protected] 21804202
Class Web page: www.geophysik.lmu.de/~malservisi/TectGPS.html
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COMPARISON OF DIFFERENT TECHNIQUES
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The Global Positioning System• The Global Positioning System (GPS) is
a satellite-based navigation system.• GPS was originally intended for military applications, but in the
1980s, the government made the system available for civilian use.• GPS works in any weather conditions, anywhere in the world, 24
hours a day. There are no subscription fees or setup charges to use GPS
• Some civilian uses:– Navigation on land, sea, air
and space– Geophysics research– Guidance systems– Geodetic network densification– Hydrographic surveys
• The Global Positioning System (GPS) is a satellite-based navigation system.
• GPS was originally intended for military applications, but in the 1980s, the government made the system available for civilian use.
• GPS works in any weather conditions, anywhere in the world, 24 hours a day. There are no subscription fees or setup charges to use GPS
• Some civilian uses:– Navigation on land, sea, air
and space– Geophysics research– Guidance systems– Geodetic network densification– Hydrographic surveys
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HOW GPS WORKS
GPS is based on a 3 segment system:
SATELLITE VEICLES
CONTROL SEGMENT
USERS SEGMENT (Receivers, data analysis)
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HOW GPS WORKS
SATELLITE VEICLES (Space segment)
• The GPS satellite constellation includes 28 satellites in 6 orbits (55 inclination).
• Satellite orbital path is near to circular, with a semi-major axis of about 26,600 km (~20000 km hight) (11:58 hr orbits).
• The satellites travel at speed of 3 km/s, and are built to last 10 years.
• The GPS satellite constellation includes 28 satellites in 6 orbits (55 inclination).
• Satellite orbital path is near to circular, with a semi-major axis of about 26,600 km (~20000 km hight) (11:58 hr orbits).
• The satellites travel at speed of 3 km/s, and are built to last 10 years.
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HOW GPS WORKS
SATELLITE VEICLES (Space segment)
• Time kept by Cesium or Rubidium Clocks (3)
• SVs broadcast on 2 wavelenght L1 (~1.5GHz, ~19cm) L2 (~1.2 GHz ~24cm)
• Signals modulated by a code (discussed later)
• Message with satellite “personal” code, ephemerides and satellite health
• Time kept by Cesium or Rubidium Clocks (3)
• SVs broadcast on 2 wavelenght L1 (~1.5GHz, ~19cm) L2 (~1.2 GHz ~24cm)
• Signals modulated by a code (discussed later)
• Message with satellite “personal” code, ephemerides and satellite health
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GPS SIGNAL• Each satellite transmits low-power radio signals in 2 carrier
frequencies:– L1 – 1575.42 MHz 154 time base oscillator– L2 – 1227.6 MHz 120 time base oscillator
• The signal contains two complex patterns of digital signals: Precise (P) code and Coarse/Acquisition (C/A) code
• A long period modulation broadcast data as SV# or ephemerides.
• Each satellite transmits low-power radio signals in 2 carrier frequencies:– L1 – 1575.42 MHz 154 time base oscillator– L2 – 1227.6 MHz 120 time base oscillator
• The signal contains two complex patterns of digital signals: Precise (P) code and Coarse/Acquisition (C/A) code
• A long period modulation broadcast data as SV# or ephemerides.
Frequency (MHz)
Wavelength(m)
C/A code 1.023 293
P-code 10.23 29.3
L1 1574.42 0.19
L2 1227.6 0.24
data 30 sec
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HOW GPS WORKS
CONTROL SEGMENT• ground-based facilities are used to monitor and control the
satellites.
• Checking and reporting the satellites operational health.
• Checking their exact position in space.
• The master ground station transmits:
– Corrections for the satellite's ephemeris constants.
– Clock offsets.
• The GPS signal is updated every 2 hours.
• The satellites can then incorporate these updates in the signals they send to GPS receivers.
• ground-based facilities are used to monitor and control the satellites.
• Checking and reporting the satellites operational health.
• Checking their exact position in space.
• The master ground station transmits:
– Corrections for the satellite's ephemeris constants.
– Clock offsets.
• The GPS signal is updated every 2 hours.
• The satellites can then incorporate these updates in the signals they send to GPS receivers.
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HOW GPS WORKSUSERS SEGMENT (Receivers, data analysis)
• Receivers generate the same code as transmitted by satellites.
• The time delay (t) between a received signal and the receiver’s generated code enables a receiver to estimate its Range to a satellite.
• Receivers generate the same code as transmitted by satellites.
• The time delay (t) between a received signal and the receiver’s generated code enables a receiver to estimate its Range to a satellite.
Range (receiver-satellite) = T x c + errorsPseudorange = T x cRange (receiver-satellite) = T x c + errorsPseudorange = T x c
110 1111 1 1100 0 000
110 1111 1 1100 0 000
110 1111 1 1100 0 000
T=(Tr-Ts)
Received codeReceived code
Receiver generatedReceiver generated
Transmitted codeTransmitted code
t
main error source - receiver clock ( t)main error source - receiver clock ( t)
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THE BASIC IDEA
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FIND YOUR TIMEPerfect clock Slow clock
Using an extra satellite
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HOW TO COMPUTE DISTANCE FROM SVCODE PSEUDORANGE
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NOISES
IONOSPHERE
TROPOSPHERE
MULTIPATH
SATELLITE CONFIGURATION/GEOMETRY (DOP)
CLOCKS
MONUMENTS
ORBITS
ANTI SPOOFING (AS)
SELECTIVE AVAILABILITY (S/A)
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NOISES
IONOSPHERE and TROPOSPHERE
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NOISES
Ionospheric & Tropospheric Effects*
Ionosphere
IonosphereTroposphere
Troposphere
• Delay of GPS signal - code modulation and carrier phases
• Carrier phases are greatly effected by the free electrons in the Ionosphere.
• The Ionospheric effect increase as the Total Electron Content (TEC) increase.
• The Ionosphere is a dispersive medium – its effect is frequency dependent.
• Troposphere is non-dispersive medium effecting both code modulation and carrier phases the same way.
• Delay of GPS signal - code modulation and carrier phases
• Carrier phases are greatly effected by the free electrons in the Ionosphere.
• The Ionospheric effect increase as the Total Electron Content (TEC) increase.
• The Ionosphere is a dispersive medium – its effect is frequency dependent.
• Troposphere is non-dispersive medium effecting both code modulation and carrier phases the same way.
* For more See Leick (1995)
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Atmospheric EffectsSolutions for Ionospheric Effect
• The GPS message contains Ionospheric model data.This allow the computation of the approximate group delay.
• Dual-Frequency Ionospheric-free Solution – by using dual-frequency (L1 & L2) receivers (Expensive).
• The GPS message contains Ionospheric model data.This allow the computation of the approximate group delay.
• Dual-Frequency Ionospheric-free Solution – by using dual-frequency (L1 & L2) receivers (Expensive).
4000
250
26
16
10
0.4
40.
2.5
0.26
0.16
0.1
0.004
100 MHz
400 MHz
L2
L1
2 GHz
10 GHz
TEC=1018 [el/m2]
TEC=1016 [el/m2]Frequency
Ionospheric Range Correction [m]Ionospheric Range Correction [m]
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Atmospheric Effects
• The Tropospheric delay can vary from 2.0-2.5m in the zenith, to 20-28m at a 5o angle.
• The delay depends on the temperature, humidity and pressure
• The dry atmosphere can be accurately modeled to about 2-5% based on the laws of ideal gases
• The wet component is more difficult to quantify, but its contribution is only about 10% of the total effect
• The wet delay is about 5-30 cm. In continental midlatitudes.
• The Tropospheric delay can vary from 2.0-2.5m in the zenith, to 20-28m at a 5o angle.
• The delay depends on the temperature, humidity and pressure
• The dry atmosphere can be accurately modeled to about 2-5% based on the laws of ideal gases
• The wet component is more difficult to quantify, but its contribution is only about 10% of the total effect
• The wet delay is about 5-30 cm. In continental midlatitudes.
Solutions for Tropospheric Effect
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NOISES
MULTIPATH
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NOISES
SATELLITE CONFIGURATION/GEOMETRYGDOP Geometric Dilution of Precision
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HOW TO COMPUTE DISTANCE FROM SVPHASE PSEUDORANGE
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Single Difference phase
observable cancels most
common SV errors, such as SV
clock error.
Other errors decrease as the
length of the Baseline is shorter.
Single Difference phase
observable cancels most
common SV errors, such as SV
clock error.
Other errors decrease as the
length of the Baseline is shorter.
Single Difference
GPS
A
B
A
B
AB =A- B
ts
tA
tBBaselineBaseline
Precise relative positioning
Illustration: IGS/JPL/NASA
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Uses the L1 and L2 Carrier frequencies
(wavelength ~ 19-24 cm) to calculate precise
positioning between 2 GPS stations.
Double differencing received
signals at both stations cancels
out most systematic errors
(station and satellite clock offsets).
Uses the L1 and L2 Carrier frequencies
(wavelength ~ 19-24 cm) to calculate precise
positioning between 2 GPS stations.
Double differencing received
signals at both stations cancels
out most systematic errors
(station and satellite clock offsets). Ai
Bi
AB
GPSi
GPSj
Bj
Bj
BaselineBaseline
Double Difference
Precise relative positioning
Illustration: IGS/JPL/NASA
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Relative positioning (DGPS)
• For precise positioning we use a GPS
receiver at known location.
• Since we know this receiver’s exact
location, we can determine the errors in the
satellite signals.
• Corrections are transmitted from the base-
station to various users.
• Positioning accuracy is 1-2 m (Pseudorange
wavelength ~ 300 m).
• For precise positioning we use a GPS
receiver at known location.
• Since we know this receiver’s exact
location, we can determine the errors in the
satellite signals.
• Corrections are transmitted from the base-
station to various users.
• Positioning accuracy is 1-2 m (Pseudorange
wavelength ~ 300 m).
Illustration: garmin.com
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GPS METHODS COMPARISON
Lecture 3 May 10th 2005
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www.pbo.unavco.org
Lecture 3 May 10th 2005
Permanent sites examples
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GPS Data AnalysisGPS Data Analysis• GIPSY-OASIS 2.5
[Zumberge et al. 1997]• JPL Precise Orbits• ITRF-97• Atmospheric & ionospheric
models• Error Analysis [Mao et al.
1999]• Position Uncertainties
(mean) 3, 6 & 12 mm• Rate Uncertainties (mean) –
1.0, 1.3 & 2.5 mm/a
Coseismic Offset
Eruption
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Co-Seismic Offsets (Model Co-Seismic Offsets (Model from InSAR & local GPS)from InSAR & local GPS)
[Pedersen et al., 2003]
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Co-Seismic CorrectedCo-Seismic Corrected• June 17 & 21, 2000 SISZ
earthquakes• Distributed slip model
[Pedersen et al., 2003]• Correct positions for offsets,
recalculate time series• Residual = Feb. 28 – March
6, 2000 Hekla eruption
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Hekla DeformationHekla Deformation
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Co-Seismic CorrectedCo-Seismic Corrected• June 17 & 21, 2000 SISZ
earthquakes• Distributed slip model
[Pedersen et al., 2003]• Correct positions for offsets,
recalculate time series• Residual = Feb. 28 – March
6, 2000 Hekla eruption
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Co-Seismic CorrectedCo-Seismic Corrected
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Velocity Field Relative to Stable Velocity Field Relative to Stable North AmericaNorth America