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Federal Office of Topography swisstopo
Introduction, Overview, Current Status, Bias Products
Stefan Schaer Swiss Federal Office of Topography (swisstopo) / CODE@AIUB
2 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
3 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
Presentations available at: www.biasws2012.unibe.ch
4 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
List of GNSS biases
• GNSS differential code biases (DCB) ionosphere • GNSS ionosphere-free LC code biases clock analysis • GLONASS interfrequency code biases (relevant to GNSS
clock analysis, or PPP) • “DCPB” crucial for GLONASS ambiguity resolution • Intersystem phase biases (or drifts) • Line bias variations (or inconsitencies) • Uncalibrated phase delays (UPD) relevant to undifferened
integer fixing for PPP • GLONASS-GPS station-specific intersystem translations as
considered in CODE’s GNSS analysis • (GPS) quarter-cycle issue • Further CODE specialties (e.g., DCB multiplier estimation)
5 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
SINEX_BIAS V1.00: Sign Convention
6 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
SINEX_BIAS V1.00: Total Bias and DCB
7 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
GPS C1, P1 and P2 Codes and Receiver Types According to: http://www.navipedia.net/index.php/GPS_C1,_P1_and_P2_Codes_and_Receiver_Types
8 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
CODE’s GPS/GLONASS P1-C1 DCB monthly solution, computed for September 2015 (directly from RINEX)
9 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
CODE’s GPS/GLONASS P2-C2 DCB monthly solution, computed for September 2015 (directly from RINEX)
10 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
CODE’s GPS/GLONASS P1-P2 DCB monthly solution, computed for September 2015
11 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
CODE’s GPS P1-P2 DCB monthly solution, computed for September 2015
12 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
CODE’s GLONASS P1-P2 DCB monthly solution, computed for September 2015
13 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
AC GLONASS bias files collected for comparison (GPS weeks 1666-1667) • COD Center for Orbit Determination in Europe, AIUB, Switzerland
- Bernese DCB • EMR Natural Resources Canada, Canada
- no GLONASS bias information (GLONASS biases ignored in GNSS clock analysis)
• ESA European Space Operations Center, ESA, Germany - bias-SINEX (first two days of GPS week 1666 missing)
• GFZ GeoForschungsZentrum, Germany - bias-SINEX
• GRG GRGS-CNES/CLS, Toulouse, France - modified Bernese DCB
• IAC Information-Analytical Centre, Russia - PBS format
• JPL Jet Propulsion Laboratory, USA - GIPSY time dependent parameter format (wrong weeks)
14 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
Station 1 Station 2 Station 3
Satellite 1 Satellite 2 Satellite 3 Satellite 4
GLO
NAS
S cl
ock
offs
et
Datum definition for GLONASS biases (1)
15 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
Station 1 Station 2 Station 3
Satellite 1 Satellite 2 Satellite 3 Satellite 4
GLO
NAS
S cl
ock
offs
et
Datum definition for GLONASS biases (2)
16 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
Station 1 Station 2 Station 3
Satellite 1 Satellite 2 Satellite 3 Satellite 4
GLO
NAS
S cl
ock
offs
et
Datum definition for GLONASS biases (3)
17 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
Station 1 Station 2 Station 3
Satellite 1 Satellite 2 Satellite 3 Satellite 4
GLO
NAS
S cl
ock
offs
et
Datum definition for GLONASS biases (4)
18 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
AC GLONASS bias comparison: COD-ESA (1)
19 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
AC GLONASS bias comparison: COD-ESA (2) sign changed
20 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
AC GLONASS bias comparison: COD-ESA (2) sign changed
21 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
AC GLONASS bias comparison: COD-ESA (3) P1-C1 DCB corrected
22 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
Summary of AC GLONASS bias comparison
AC Median (ns) Mean (ns) Std (ns)
COD-ESA 0.01 0 0.79
COD-GFZ 0.02 0 1.33
COD-GRG 5.63 1.87 23.12
ESA-GFZ 0.01 0 1.34
ESA-GRG 4.14 1.29 20.63
GFZ-GRG 6.00 1.72 25.23
23 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
Summary and conclusion
• Best agreement (smallest std) could be achieved for the comparison between COD and ESA - with an overall std of 0.79 ns - resulting in a single-AC std of 0.56 ns
• Only 24 constants were necessary to compensate for the GLONASS bias datum definition specific to each AC
24 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
25 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
26 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
27 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
28 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
LS combination of CODE’s accumulated IGSFINAL and EPNFINAL SDByyssss.LST results (WL)
ASHTECH Z18 : 22.120 2.268
JAVAD TRE_G3TH DELTA: 218.901 0.675
JPS EGGDT : 58.271 0.606
JPS E_GGD : 128.505 0.565
JPS LEGACY : 111.921 0.609
LEICA GRX1200+GNSS : -269.900 0.753
LEICA GRX1200GGPRO : -242.546 0.484
NOV OEMV3 : -247.286 0.516
SEPT POLARX3ETR : -501.984 0.533
TPS EGGDT : 70.275 0.726
TPS EUROCARD : 155.776 0.652
TPS E_GGD : 121.529 0.868
TPS LEGACY : 92.682 0.517
TPS NETG3 : 52.682 0.507
TPS ODYSSEY_E : 57.586 0.611
TRIMBLE NETR5 : 96.551 0.515
TRIMBLE NETR8 : 74.919 0.908
Receiver type SD bias RMS error (ns)
29 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
30 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
31 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
32 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
33 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
34 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
35 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
36 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
37 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
38 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
Mean GLONASS-GPS troposphere ZPD biases: CODE IGS (global) weekly results
GLONASS-GPS troposphere ZPD biases
(for up to 143 IGS GNSS stations)
-0.5
0
0.5
1
1.5
2
1615 1620 1625 1630 1635 1640
Time (GPS week)
Trop
osph
ere
ZPD
bias
(mm
)
MeanMedian
Model switch from IGS05 to IGS08
39 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
Station 1 Station 2
Satellite 1 Satellite 2
Mixture of different code observables (and biases!) is crucial for code-based widelane ambiguity resolution (1/2)
(C1P,C2W)
(C1C,C2W) (C1P,C2W)
(C1C,C2W)
Satellite-specific biases are relevant
40 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
Station 1 Station 2
Satellite 1 Satellite 2
Mixture of different code observables (and biases!) is crucial for code-based widelane ambiguity resolution (2/2)
(C1P,C2W)
(C1C,C2W) (C1C,C2W)
(C1C,C2C)
Satellite-specific biases are relevant
Station-specific biases are relevant (!!)
41 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
CODE’s GPS P1-C1 DCB monthly solution, computed for September 2015 (directly from RINEX)
42 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
CODE’s GLONASS P1-C1 DCB monthly solution, computed for September 2015 (directly from RINEX)
43 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
CODE’s GPS P2-C2 DCB monthly solution, computed for September 2015 (directly from RINEX)
44 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland
CODE’s GLONASS P2-C2 DCB monthly solution, computed for September 2015 (directly from RINEX)
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