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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

Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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Page 1: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

Federal Office of Topography swisstopo

Introduction, Overview, Current Status, Bias Products

Stefan Schaer Swiss Federal Office of Topography (swisstopo) / CODE@AIUB

Page 2: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

2 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 3: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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

Page 4: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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)

Page 5: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

5 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

SINEX_BIAS V1.00: Sign Convention

Page 6: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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

Page 7: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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

Page 8: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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)

Page 9: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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)

Page 10: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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

Page 11: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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

Page 12: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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

Page 13: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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)

Page 14: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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)

Page 15: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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)

Page 16: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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)

Page 17: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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)

Page 18: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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)

Page 19: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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

Page 20: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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

Page 21: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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

Page 22: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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

Page 23: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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

Page 24: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

24 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 25: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

25 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 26: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

26 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 27: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

27 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 28: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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)

Page 29: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

29 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 30: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

30 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 31: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

31 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 32: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

32 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 33: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

33 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 34: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

34 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 35: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

35 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 36: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

36 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 37: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

37 Swiss Federal Office of Topography (swisstopo) IGS Workshop on GNSS Biases, November 5-6, 2015, Bern, Switzerland

Page 38: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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

Page 39: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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

Page 40: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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 (!!)

Page 41: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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)

Page 42: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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)

Page 43: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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)

Page 44: Introduction, Overview, Current Status, Bias ProductsFederal Office of Topography swisstopo Introduction, Overview, Current Status, Bias Products Stefan Schaer Swiss Federal Office

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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