============================================================================= INTERNATIONAL GNSS SERVICE CODE Analysis Strategy Summary ============================================================================= | Analysis Center | Center for Orbit Determination in Europe (CODE) | | | Astronomical Institute | | | University of Bern | | | Sidlerstrasse 5 | | | CH-3012 Bern | | | Switzerland | | | E-mail: code (at) aiub.unibe.ch (CODE AC Team) | | | Phone: +41-31-631-8591 | | | Fax: +41-31-631-3869 | | | Data archive: ftp://ftp.unibe.ch/aiub/CODE/ | | | http://www.aiub.unibe.ch/download/CODE/ | | | Web: http://www.aiub.unibe.ch (CODE at AIUB) | | | http://www.bernese.unibe.ch (Bernese SW)| |---------------------------------------------------------------------------| | Contact People | Dr. Stefan Schaer | | | E-mail: stefan.schaer (at) aiub.unibe.ch | | | Phone: +41-31-631-8599 (8591) | | | Dr. Rolf Dach | | | E-mail: rolf.dach (at) aiub.unibe.ch | | | Phone: +41-31-631-8593 (8591) | | | Dr. Heik Bock | | | E-mail: heike.bock (at) aiub.unibe.ch | | | Phone: +41-31-631-8602 (8591) | | | Dr. Simon Lutz | | | E-mail: simon.lutz (at) aiub.unibe.ch | | | Phone: +41-31-631-3802 (8591) | | | Dr. Etienne Orliac | | | E-mail: etienne.orliac (at) aiub.unibe.ch | | | Phone: +41-31-631-8592 (8591) | | | Dr. Lars Prange | | | E-mail: lars.prange (at) aiub.unibe.ch | | | Phone: +41-31-631-3802 (8591) | | | Dr. Daniela Thaller | | | E-mail: daniela.thaller (at) aiub.unibe.ch | | | Phone: +41-31-631-3802 (8591) | |---------------------------------------------------------------------------| | Software Used | Bernese GNSS Software Version 5.3, developed at AIUB | |---------------------------------------------------------------------------| | GNSS system(s) | GPS, GLONASS | |---------------------------------------------------------------------------| | List of CODE's | ftp://ftp.unibe.ch/aiub/AIUB_AFTP.README | | analysis products | http://www.aiub.unibe.ch/download/AIUB_AFTP.README | | | | | Final Products | Files generated from three-day long-arc solutions: | | generated for | CODwwwwn.EPH.Z GNSS ephemeris/clock data in 7 daily | | GPS week 'wwww' | files at 15-min intervals in SP3 | | day of week 'n' | format, including accuracy codes | | (n=0,1,...,6) | computed from a long-arc analysis | | day of year 'ddd' | CODwwwwn.ERP.Z GNSS ERP (pole, UT1-UTC) solution | | year 'yy' | belonging to the COD-orbit files in | | | IGS IERS ERP format | | | CODwwwwn.SNX.Z GNSS daily coordinate/ERP/GC from the | | | long-arc solution in SINEX format | | | CODwwwwn.CLK.Z GPS satellite and receiver clock | | | corrections at 30-sec intervals | | | referring to the COD-orbits from the | | | long-arc analysis in clock RINEX | | | format | | | CODwwwwn.CLK_05S.Z GPS satellite and receiver clock | | | corrections at 5-sec intervals | | | referring to the COD-orbits from the | | | long-arc analysis in clock RINEX | | | format | | | CODwwwwn.TRO.Z GNSS 2-hour troposphere delay | | | estimates obtained from the long-arc | | | solution in troposphere SINEX format | | | | | | CODwwww7.ERP.Z GNSS ERP (pole, UT1-UTC) solution, | | | collection of the 7 daily COD-ERP | | | solutions of the week in IGS IERS ERP | | | format | | | CODwwww7.SUM Analysis summary for 1 week | | | CODwwww7.SNX.Z GNSS weekly station coordinates, | | | SATAs, GCs, and daily sets of ERPs in | | | SINEX format stacked from the seven | | | long-arc solutions of the week | | | | | | Files generated from clean one-day solutions: | | | COFwwwwn.EPH.Z GNSS ephemeris/clock data in 7 daily | | | files at 15-min intervals in SP3 | | | format, including accuracy codes | | | computed from a clean one-day solution| | | COFwwwwn.ERP.Z GNSS ERP (pole, UT1-UTC) solution | | | belonging to the COF-orbit files in | | | IGS IERS ERP format | | | COFwwwwn.SNX.Z GNSS daily coordinate/ERP/GC from the | | | clean one-day solution in SINEX format| | | COFwwwwn.CLK.Z GPS satellite and receiver clock | | | corrections at 30-sec intervals | | | referring to the COF-orbits from the | | | clean one-day analysis in clock RINEX | | | format | | | COFwwwwn.CLK_05S.Z GPS satellite and receiver clock | | | corrections at 5-sec intervals | | | referring to the COF-orbits from the | | | clean one-day analysis in clock RINEX | | | format | | | COFwwwwn.TRO.Z GNSS 2-hour troposphere delay | | | estimates obtained from the clean | | | one-day solution in troposphere | | | SINEX format | | | | | | COFwwww7.ERP.Z GNSS ERP (pole, UT1-UTC) solution, | | | collection of the 7 daily COF-ERP | | | solutions of the week in IGS IERS ERP | | | format | | | COFwwww7.SUM Analysis summary for 1 week | | | COFwwww7.SNX.Z GNSS weekly station coordinates, | | | SATAs, GCs, and daily sets of ERPs in | | | SINEX format stacked from the seven | | | clean one-day solutions of the week | | | | | | Other product files: | | | CODGddd0.yyI.Z GNSS 2-hour global ionosphere maps in | | | IONEX format, including satellite and | | | receiver P1-P2 code bias values | | | CGIMddd0.yyN GNSS daily Klobuchar-style | | | ionospheric (alpha and beta) | | | coefficients in RINEX format | | | P1P2yymm.DCB GNSS monthly P1-P2 code bias | | | solutions in Bernese DCB format | | | P1C1yymm.DCB/F GPS monthly P1-C1 code bias solutions | | | in Bernese DCB format and in a format | | | specific to the CC2NONCC utility | | | | | | Remarks: | | | | | | EPH: Orbit positions correspond to the estimates | | | for the middle day of a 3-day in case of a | | | long-arc analysis. | | | CLK: Clock corrections are consistent with | | | carrier phase as well as P1/P2 pseudorange | | | measurements. | | | CODE P1-C1 pseudorange bias values of a | | | moving 30-day solution are considered to | | | correct C1/X2 and C1/P2 receiver data. | | | EPH/ERP/SNX/TRO: These products are extracted from | | | one inversion of the normal equation based | | | either on a long-arc or clean one-day | | | solution. | | | | | | | | Rapid Products | CODwwwwn.EPH_R GNSS/GPS ephemeris/clock data in at | | generated daily | 15-min intervals in SP3 format, | | | including accuracy codes computed | | | from a long-arc analysis | | | CODwwwwn.ERP_R GNSS ERP (pole, UT1-UTC) solution in | | | IGS IERS ERP format | | | CODwwwwn.CLK_R GPS satellite and receiver clock | | | corrections at 30-sec intervals in | | | clock RINEX format | | | CODwwwwn.TRO_R GNSS 2-hour troposphere delay | | | estimates in troposphere SINEX format | | | CORGddd0.yyI GNSS 2-hour global ionosphere maps in | | | IONEX format, including satellite and | | | receiver P1-P2 code bias values | | | CGIMddd0.yyN_R GNSS daily Klobuchar-style | | | ionospheric (alpha and beta) | | | coefficients in RINEX format | | | CODwwwwd.SNX_R GNSS daily station coordinates and | | | set of 6-hourly ERPs in SINEX format | | | (for IERS inter-technique combination)| | | | | | Remarks: | | | | | | EPH: Orbit positions correspond to the estimates | | | for the last day of a 3-day long-arc analysis. | | | CLK: Clock corrections are consistent with carrier | | | phase as well as P1/P2 pseudorange | | | measurements. | | | CODE P1-C1 pseudorange bias values of a moving | | | 30-day solution are considered to correct | | | C1/X2 and C1/P2 receiver data. | | | | | | | | Ultra Rapid | COD.EPH_U GNSS ephemeris/broadcast clock data | | Products updated | in at 15-min intervals in SP3 format, | | every 6 hours | including accuracy codes computed | | | from a long-arc analysis | | | COD.ERP_U GNSS ERP (pole, UT1-UTC) solution | | | in IGS IERS ERP format | | | COD.SUM_U List of considered GNSS stations | | | COD.TRO_U GNSS 2-hour troposphere delay | | | estimates in troposphere SINEX format | | | COD.ION_U GNSS 2-hour global ionosphere maps in | | | Bernese ION format | | | | | | Remarks: | | | | | | EPH: Orbit positions correspond to the estimates | | | for the last 24 hours of a 3-day long-arc | | | analysis plus predictions for the following | | | 24 hours | | | EPH/ERP/TRO: Files contain generally results of | | | last update | | | ION: Last rapid ionosphere product complemented by | | | all available ionosphere predictions | | | | | | | | Predictions | CODwwwwn.EPH_Pi GNSS/GPS ephemeris/clock data at | | updated every 6 | 15-min intervals in SP3 format, | | hours | including accuracy codes computed | | | from a long-arc analysis | | | CODwwwwn.ERP_Pi GNSS ERP (pole, UT1-UTC) solution in | | | IGS IERS ERP format | | | COPGddd0.yyI GNSS 2-hour global ionosphere maps in | | | IONEX format, including satellite | | | P1-P2 code bias values | | | CGIMddd0.yyN_Pi GNSS daily Klobuchar-style | | | ionospheric (alpha and beta) | | | coefficients in RINEX format | | | CODwwwwd.EPH_5D GNSS/GPS ephemeris/clock data at | | | 15-min intervals in SP3 format | | | CODwwwwd.ERP_5D GNSS ERP (pole, UT1-UTC) solution | | | in IGS IERS ERP format | | | | | | Remarks: | | | | | | "P2" indicates 2-day predictions (24-48 hours); | | | "P" indicates 1-day predictions (0-24 hours). | | | "5D" indicates files containing predicted | | | information for 5 days (0-120 hours). | | | | | | | | Specialties in | - CODE has been generating its products from a | | CODE's analysis | rigorous combination of GPS and GLONASS | | | observations. In this way, best possible | | | consistency of the orbit products is guaranteed. | | | - Uninterrupted POD for all transmitting GNSS | | | satellites, specifically for: | | | . brand new satellites | | | . satellites without any broadcast orbit information| | | . satellites marked unhealthy/unusable | | | . poorly observed (GLONASS) satellites | | | . (GPS) satellites being repositioned | | | - Elevation mask angle of 3 degrees used. | | | - Sophisticated ambiguity resolution scheme, already | | | including GLONASS ambiguity resolution (with | | | restrictions, specifically for baseline lengths | | | longer than 200 km), self-calibrating for GLONASS. | | | - Ambiguity verification scheme: resolved ambiguities | | | are checked in terms of compability, also in order | | | to detect unexpected quarter-cycle issues. | | | - GPS quarter-cycle phase biase issue: potentially | | | affected GPS ambiguities are banned from ambiguity | | | resolution. | | | - Continuous parameterization, particularly for EOP, | | | troposphere ZPD and horizontal gradient parameters, | | | ionosphere parameters, allowing for connection of | | | the parameters at day boundaries. | | | - IGS fiducial sites are automatically verified for | | | consistent datum definition. This is also true with | | | respect to all antenna-sharing fiducial sites. | | | - Inclusion of fast moving South Pole station AMU2. | | | - Inclusion of all available NGA stations. | | | - Generation of high-rate (5-sec) clock products. | | | - Generation of high-rate (1-hour) EOP results | | | (internally). | | | - Setup of GNSS satellite antenna PCV parameters | | | specific to each individual GPS and GLONASS | | | satellite; corresponding patterns are not only | | | available for the ionosphere-free linear | | | combination but also for the geometry-free (L1-L2) | | | linear combination. | | | - A multi-GNSS-capable internal PCV file format is | | | used; receiver antenna PCV models specific to | | | GLONASS (or other) frequencies are applied. | | | - 3 terms of higher-order ionosphere (HOI) effects are| | | taken into account (based on CODE GIM & IGRF11SYN). | | | Scaling factor for 2nd and 3rd order HOI as well as | | | for ray bending for validation purposes and to | | | switch the parameter on or off | | | - Atmospheric non-tidal pressure loading correction | | | at observation level with scaling factors to obtain | | | solutions without applying such corrections | | | - Monitoring of various differential code biases | | | (DCBs), specifically: | | | . GPS/GLONASS P1-P2 satellite and receiver DCBs | | | . GPS/GLONASS P1-C1 and P2-C2 satellite DCBs | | | . biases crucial for GLONASS ambiguity resolution | | | Values are extracted from different data processing | | | steps and directly from the RINEX observation files | | | (where possible) | | | - Extensive monitoring of IGS data flow concerning: | | | . availability | | | . latency | | | . completeness | | | . consistency | | | - SINEX loop: COD & COF SINEX results are routinely | | | imported and re-introduced. First extracted and | | | secondly re-produced station coordinate results are | | | cross-checked to the original analysis results (at | | | 0.01-mm level). The extracted list of fiducial | | | stations is used for this re-production. | | | - Provision of GNSS geocenter coordinates in SINEX. | | | - Production of GNSS rapid SINEX files containing | | | station coordinates and ERPs with a time resolution | | | of 6 hours is foreseen as a contribution for the | | | IERS inter-technique combination. | | | - Regular GNSS orbit validation using SLR data; CODE | | | acts as an AAC of the ILRS. | | | - The latest version of our steadily further | | | developed GNSS analysis software is employed for | | | operational analysis. | | | | | Computer platform | Week 1477: UBELIX: Linux, x86_64 | | | Week 1065: UBECX: SunOS | | | | | Last changes: | Week 1691: See IGSREPORT.20913 | | | Week 1643: See IGSREPORT.19947 | | | Week 1632: See IGSREPORT.19702 | | | Week 1625: See IGSREPORT.19560 | | | Week 1619: See IGSREPORT.19411 | | | Week 1618: See IGSREPORT.19385 | | | Week 1604: See IGSREPORT.19068 and IGSMAIL.6287 | | | Week 1570: See IGSREPORT.18301 and IGSMAIL.6078 | | | Week 1542: See IGSREPORT.17667 and IGSMAIL.5970 | | | Week 1488: See IGSREPORT.16472 | | | Week 1477: See IGSREPORT.16225 and IGSMAIL.5771 | | | Week 1452: See IGSREPORT.15669/IGSREPORT.14622 | | | Week 1440: See IGSREPORT.15405 | | | Week 1439: See IGSREPORT.15403 | | | Week 1409: See IGSREPORT.14695 | | | Week 1406: See IGSREPORT.14622/IGSMAIL.5507 & .5518 | | | Week 1400: See IGSREPORT.14486 and IGSMAIL.5518 | | | Week 1367: See IGSREPORT.13669 | | | Week 1349: See IGSREPORT.13201 | | | Week 1328: See IGSREPORT.12706 | | | Week 1326: See IGSREPORT.12657 | | | Week 1321: See IGSREPORT.12569 and IGSMAIL.5151 | | | Week 1299: See IGSREPORT.12031 | | | Week 1282: See IGSREPORT.11617 | | | Week 1279: See IGSREPORT.11543 | | | Week 1255: See IGSMAIL.4913 | | | Week 1254: See IGSREPORT.10997 and IGLOSMAIL.963 | | | Week 1252: See IGSMAIL.4782 | | | Week 1242: See IGSREPORT.10752 | | | Week 1222: See IGSREPORT.10361 and | | | IGSMAIL.4474/IGLOSMAIL.770 | | | Week 1216: See IGSMAIL.4371/IGLOSMAIL.736 | | | Week 1191: See IGSREPORT.9756 and IGSMAIL.4162 | | | Week 1158: See IGSREPORT.9147 and IGSMAIL.3823 | | | Week 1143: See IGSREPORT.8868 | | | Week 1142: See IGSREPORT.8848 | | | Week 1135: See IGSREPORT.8710 | | | Week 1130: See IGSREPORT.8616 | | | Week 1128: See IGSREPORT.8577 | | | Week 1077: See IGSREPORT.7544 | | | Week 1065: See IGSREPORT.7279 | | | Week 1057: See IGSREPORT.7107 and IGSMAIL.2827 | | | Week 1021: See IGSREPORT.6351 | | | Week 0978: See IGSREPORT.5415 and IGSMAIL.2043 | | | Week 0947: See IGSREPORT.4698 and IGSMAIL.1829 | | | Week 0926: See IGSREPORT.4247 and IGSMAIL.1705 | | | Week 0873: See IGSREPORT.3056 | |---------------------------------------------------------------------------| | Preparation Date | 18-Aug-1996 | |---------------------------------------------------------------------------| | Modification Dates| 13-Mar-1998 | | | 12-Mar-2002/SS: Major revision and update | | | 13-Mar-2002/SS: JGM3 model up to degree 12 | | | 24-Oct-2002/SS: Typo concerning satellite antenna | | | offset value corrected | | | 28-May-2008/SS/RD: Major revision and update | | | 13-Oct-2010/SS/RD: Processing model update | | | 19-Dec-2012/SS: Major revision and update | |---------------------------------------------------------------------------| | Effective Date for| 19-Dec-2012 | | Data Analysis | | ============================================================================= ============================================================================= | MEASUREMENT MODELS | |---------------------------------------------------------------------------| | Preprocessing | Phase preprocessing in a baseline by baseline mode | | | using triple-differences. In most cases, cycle slips | | | are fixed looking simultaneously at different linear | | | combinations of L1 and L2. If a cycle slip cannot be | | | fixed reliably, bad data points are removed or new | | | ambiguities are set up. In addition, a data screening | | | step on the basis of weighted postfit residuals is | | | performed. Outliers are removed. | |---------------------------------------------------------------------------| | Basic Observables| GPS/GLONASS carrier phase; code only used for receiver | | | clock synchronization | | |--------------------------------------------------------| | | Elevation angle cutoff : 3 degrees | | | Sampling rate : 3 minutes | | | Weighting : 6 mm for double-differenced | | | ionosphere-free phase | | | observations at zenith; | | | elevation-dependent weighting| | | function 1/cos(z)**2 | |---------------------------------------------------------------------------| | Modeled | Double differences, ionosphere-free linear combination | | observables | | |---------------------------------------------------------------------------| | Satellite antenna| SV-specific z-offsets & block-specific x- & y-offsets | | -center of mass | from IGS using file igs08_wwww.atx based on ITRF2008 | | offsets | | |---------------------------------------------------------------------------| | Satellite antenna| block-specific nadir angle-dependent "absolute" PCVs | | phase center | applied from file igs08_wwww.atx; no azimuth-dependent | | corrections | corrections applied | |---------------------------------------------------------------------------| | Satellite clock | 2nd order relativistic correction for non-zero | | corrections | orbit ellipticity (-2*R*V/c) applied | | | NOTE: Other dynamical relativistic effects under | | | Orbit Models | |---------------------------------------------------------------------------| | GPS attitude | Nominal attitude implemented. | | model | | |---------------------------------------------------------------------------| | RHC phase | Phase polarization effects applied (Wu et al., 1993) | | rotation corr. | | |---------------------------------------------------------------------------| | Ground antenna | "absolute" elevation- & azimuth-dependent (when | | phase center | available) PCVs & L1/L2 offsets from ARP applied from | | offsets & | file igs08_wwww.atx | | corrections | Receiver antenna models specific to GLONASS are | | | applied (as far as available). | |---------------------------------------------------------------------------| | Antenna radome | Calibration applied if given in file igs08_wwww.atx; | | calibrations | otherwise radome effect neglected (radome => NONE) | |---------------------------------------------------------------------------| | Marker -> antenna| dN, dE, dU eccentricities from site logs applied to | | ARP eccentricity | compute station coordinates | |---------------------------------------------------------------------------| | Troposphere | ECMWF-based hydrostatic delay mapped with hydrostatic | | a priori model | VMF1. Coefficients from 6-hourly global grids. | | | | | | Gradient model: none | |---------------------------------------------------------------------------| | Ionosphere | 1st order effect: eliminated by forming the | | | ionosphere-free linear combination | | | of L1 and L2. | | |--------------------------------------------------------| | | 2nd order effect: applied, IGRF11 implementation, TEC | | | from CODE global ionosphere model | | |--------------------------------------------------------| | | 3rd order effect: applied, TEC from CODE global | | | ionosphere model | | |--------------------------------------------------------| | | Other effects: ray bending applied, TEC from CODE | | | global ionosphere model | | | | | | GNSS-derived global ionosphere map | | | information is used to support | | | ambiguity resolution when using the | | | QIF strategy. | |---------------------------------------------------------------------------| | Tidal | Solid Earth tide : complete model from IERS | | displacements | Conventions 2010 | | | | | | Step 1: in-phase: degree 2 and 3 | | | Nominal h02 and l02 : 0.6078, 0.0847 (anela.)| | | Nominal h22 and l22 :-0.0006, 0.0002 | | | Nominal h3 and l3 : 0.292 , 0.015 | | | | | | out-of-phase: degree 2 only semi- and diurnal | | | diurnal: nominal hI, lI :-0.0025,-0.0007 | | | semi-di: nominal hI, lI :-0.0022,-0.0007 | | | | | | latitude dependence | | | diurnal: nominal l1 : 0.0012 | | | semi-di: nominal l1 : 0.0024 | | | | | | Step 2: in-phase: degree 2, diurnal | | | in-phase and out-of-phase: long-period tides | | |--------------------------------------------------------| | | Permanent tide : applied in tide model, | | | NOT included in site coordinates| | |--------------------------------------------------------| | | Solid Earth pole tide: applied (IERS 2010) | | |--------------------------------------------------------| | | Oceanic pole tide : not applied | | |--------------------------------------------------------| | | Ocean tide loading : IERS 2010, site-dependent amps | | | & phases from Bos & Scherneck | | | website for FES2004 tide model | | | NEU site displacements computed | | | using hardisp.f from D. Agnew | | |--------------------------------------------------------| | | Ocean tide geocenter : coeffs. corrected for center of | | | mass motion of whole Earth | | |--------------------------------------------------------| | | Atmospheric tides : S1+S2 tidal corrections from the| | | Vienna atmospheric pressure | | | model | |---------------------------------------------------------------------------| | Non-tidal | Atmospheric pressure : Non-tidal components from the | | loadings | Vienna atmospheric pressure | | | model with three scaling factors| | | per station (one for each | | | component) for validation | | | purposes. | | | The product files are generated | | | without considering the non- | | | tidal pressure loading by | | | forcing the scaling factors to | | | zero. | | |--------------------------------------------------------| | | Ocean bottom pressure: not applied | | |--------------------------------------------------------| | | Surface hydrology : not applied | | |--------------------------------------------------------| | | Other effects : none applied | |---------------------------------------------------------------------------| | Earth orientation| Ocean tidal: diurnal/semidiurnal variations in x,y, & | | variations | UT1 applied according to IERS 2010, Tables| | | 8.2a, 8.2b, 8.3a, 8.3b | | |--------------------------------------------------------| | | Atmosphere tidal: S1, S2, S3 tides not applied | | |--------------------------------------------------------| | | High-frequency nutation: applied according to IERS | | | 2010, Table 5.1a | | |--------------------------------------------------------| | | UT1 libration: applied according to IERS 2010, Table | | | 5.1.b | ============================================================================= ============================================================================= | REFERENCE FRAMES | |---------------------------------------------------------------------------| | Time argument | TDT | | | GPS time as given by observation epochs, which is | | | offset by only a fixed constant (approx.) from TT/TDT | |---------------------------------------------------------------------------| | Inertial | geocentric; mean equator and equinox of 2000 Jan 1 | | frame | at 12:00 (J2000.0) | |---------------------------------------------------------------------------| | Terrestrial | ITRF2008 reference frame realized through a set of | | frame | station coordinates and velocities given in the IGS | | | internal realization IGb08. | | | | | | Datum definition: | | | . 3 no-net translation conditions (only if geocenter | | | is estimated) | | | . 3 no-net rotation conditions | | | . geocenter coordinates constrained nominally to | | | zero values | | | IGb08 fiducial sites are selected as reference, if: | | | . horizontal deviation < 10 mm | | | . vertical deviation < 30 mm | |---------------------------------------------------------------------------| | Tracking | Ultra-rapid with about 90, rapid with 120 and final | | network | 270 stations per day are used. | | | Station selection is based on long time series, | | | contribution to existing reference frames, co-location | | | with other space-geodetic techniques, GLONASS- | | | capability, and all-in-view tracking support for | | | unhealthy satellites. | |---------------------------------------------------------------------------| | Interconnection | Precession: IAU 2000 Precession Theory | | |--------------------------------------------------------| | (EOP parameter | Nutation: IAU 2000R06 Nutation Theory | | estimation is |--------------------------------------------------------| | below) | A priori EOPs: polar motion & UT1 from IERS C04 series | | | aligned to ITRF2008 | ============================================================================= ============================================================================= | ORBIT MODELS | |---------------------------------------------------------------------------| | Geopotential | EGM2008 model up to degree and order 12 (+C21+S21) | | (static) |--------------------------------------------------------| | | GM = 398600.4415 km**3/sec**2 | | |--------------------------------------------------------| | | AE = 6378.1363 km | |---------------------------------------------------------------------------| | Tidal variations | Solid Earth tides: applied according to IERS 2010 | | in geopotential |--------------------------------------------------------| | | Ocean tides: applied, FES2004 model | | |--------------------------------------------------------| | | Solid Earth pole tide: applied according to IERS 2010 | | |--------------------------------------------------------| | | Oceanic pole tide: applied according to IERS 2010 | |---------------------------------------------------------------------------| | Third-body | Sun, Moon, Jupiter, Venus, Mars as point masses | | |--------------------------------------------------------| | | Ephemeris: JPL DE405 | | |--------------------------------------------------------| | | GMsun = 132712500000 km**3/sec**2 | | |--------------------------------------------------------| | | GMmoon = 4902.7890 km**3/sec**2 | |---------------------------------------------------------------------------| | Solar radiation | A priori: CODE RPR model coefficients for GPS | | pressure model | satellites (updated 2007) ´ | | (parameter |--------------------------------------------------------| | estimation is | Earth shadow model: cylindric shadow | | below) |--------------------------------------------------------| | | Earth albedo: not applied | | |--------------------------------------------------------| | | Moon shadow model: umbra and penumbra | | |--------------------------------------------------------| | | Satellite attitude: nominal attitude | | |--------------------------------------------------------| | | Other forces: none applied | |---------------------------------------------------------------------------| | Relativistic | dynamical correction: applied according to IERS 2010, | | effects | eq. 10.12, Lense-Thirring & | | | geodesic precession neglected | | |--------------------------------------------------------| | | Gravitational time delay: applied according to | | | IERS 2010, eq. 11.17 | |---------------------------------------------------------------------------| | Numerical | Integration algorithms developed at AIUB by Gerhard | | Integration | Beutler (see references below). Representation of the | | | the orbit by a polynomial of degree 10 for 1 hour. | | |--------------------------------------------------------| | | Integration step: 1 hour | | |--------------------------------------------------------| | | Starter procedure: no special starter procedure needed | | |--------------------------------------------------------| | | Arc length: 72 hours for long-arc solutions | | | 24 hours for clean one-day solutions | ============================================================================= ============================================================================= | ESTIMATED PARAMETERS (& APRIORI VALUES & CONSTRAINTS) | |---------------------------------------------------------------------------| | Adjustment | Weighted least-squares algorithms | | method | | |---------------------------------------------------------------------------| | Data Span | Long-arc solutions include the data from three day, | | | combined on normal equation level. | | | Rapid/ultra-rapid: products are extracted from the | | | last day of the triple. | | | Final satellite orbits and troposphere parameters are | | | extracted from the middle day | | | | | | Clean one-day solutions consider only the data from | | | one single day. | |---------------------------------------------------------------------------| | Station | All station coordinates are adjusted with minimum | | coordinates | constraints, see above. | |---------------------------------------------------------------------------| | Satellite clocks | Not applicable for double difference processing | |---------------------------------------------------------------------------| | Receiver clocks | Not applicable for double difference processing | |---------------------------------------------------------------------------| | Orbital | 6 Keplerian elements plus 5 solar radiation parameters | | parameters | at start of arc; no a priori sigmas used. | | | Estimated RPR parameters (see Beutler 1994): | | | - Constants in D-, Y- and X-direction | | | - Periodic terms in X-direction | | | A priori orbits are from a previous reprocessing run | | | or from the CODE rapid orbit solution. | | | Pseudo-stochastic orbit parameters (small velocity | | | changes), every 12 hours, constrained to: | | | . 1.E-6 m/sec in radial | | | . 1.E-5 m/sec in along-track | | | . 1.E-8 m/sec in out-of-plane | |---------------------------------------------------------------------------| | Satellite | Not estimated | | attitude | | |---------------------------------------------------------------------------| | Troposphere | Zenith delay: estimated for each station in intervals | | | of 2 hours. Loose relative constraints of| | | 1 m are applied. Piece-wise, linear | | | parameterization, allowing for connection| | | of the parameters at day boundaries. | | |--------------------------------------------------------| | | Zenith delay epochs: every two hours starting at | | | midnight | | |--------------------------------------------------------| | | Mapping function: wet VMF1 | | |--------------------------------------------------------| | | Gradients: pairs of horizontal delay gradient | | | parameters are estimated in N-S and E-W | | | direction for each station in intervals of | | | 24 hours. No a priori constraints are | | | applied. Piece-wise, linear | | | parameterization, allowing for connection of| | | the parameters at day boundaries. | | | Details about the gradient model can be | | | found in Rothacher et al. (1997). | | | Refined gradient model used, see Chen and | | | Herring (1997). | |---------------------------------------------------------------------------| | Ionospheric | Not estimated in ionosphere-free analyses | | correction | | | | One scaling factor for 2nd and 3rd order terms and ray | | | bending is setup to switch the components on or off | | | on normal equation level. | | | The products are generated with considering all three | | | correction components. | |---------------------------------------------------------------------------| | Ambiguity | Ambiguities are resolved in a baseline-by-baseline | | | mode performing the following steps: | | | . Melbourne-Wuebbena approach (< 6000 km) | | | . Quasi-Ionosphere-Free (QIF) approach (< 2000 km) | | | (also for GLONASS, same frequencies) | | | . Phase-based widelane/narrowlane method (< 200 km) | | | (also for GLONASS, no restrictions) | | | . Direct L1/L2 method, also for GLONASS (< 20 km) | | | (also for GLONASS, no restrictions) | | | GNSS-derived global ionosphere map information is used | | | to support the code-less methods. | |---------------------------------------------------------------------------| | Earth Orient. | X- and Y-pole coordinates, and UT1-UTC are represented | | Parameters (EOP) | each with piece-wise linear polynomials which are | | | continuous in time. UT1-UTC is fixed to the a priori | | | value at the beginning of the first day. No further | | | a priori sigmas are used. | | | | | | All reported CODE EOP solutions do include a subdaily | | | EOP model (see above). The estimates therefore | | | correspond to daily averages on top of the introduced | | | a priori model. | | | | | | Drifts in nutation (Dpsi, Deps) are solved for in a | | | special 3-day solution. The corresponding nutation | | | parameters generally set up are constrained to the | | | IAU 2000R06 model for the CODE official solution. | | | | | | High-rate (1-hour) X-, Y- and UT1-UTC estimates are | | | also generated in a special 3-day solution. | |---------------------------------------------------------------------------| | Other | Center of mass coordinates: | | parameters | | | | Center of mass, or geocenter coordinate parameters are | | | commonly set up as part of each solution. The related | | | parameters are usually heavily constrained to zero | | | values. Additional computations on the normal equation | | | level are made regularly in order to retrieve 1-day, | | | 3-day, as well as weekly GNSS geocenter coordinates in | | | the current ITRF. | | | | | | GNSS satellite phase center offsets and patterns: | | | | | | Corresponding parameters are commonly set up as part | | | of each final solution for each individual GNSS | | | satellite. The related parameters are usually heavily | | | constrained to the corresponding nominal values (as | | | defined by the IGS08 PCV model). Such GNSS PCV | | | parameters are available for the ionosphere-free as | | | well as the geometry-free linear combination. | | | | | | GPS/GLONASS bias parameter: | | | | | | An extra set of four parameters is set up for each | | | GLONASS observing station to characterize: | | | - one GLONASS-GPS receiver antenna offset vector | | | (three components) and | | | - one GLONASS-GPS ZPD troposphere bias. | | | These biases are estimated on a weekly basis together | | | with the station coordinates. | | | | | | APL scaling factors: see above | | | | ============================================================================= ============================================================================= | REFERENCES |---------------------------------------------------------------------------- Bassiri, S., and G.A. 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