Modeling of precipitable water vapor from GPS observations using machine learning and tomography methods

Abstract

This paper studies the application of two machine learning methods to model precipitable water vapor (PWV) using observations of 23 GPS stations from the local GPS network of north-west of Iran in 2011. In a first step, the zenith tropospheric delay (ZTD) and zenith hydrostatic delay (ZHD) is calculated with the Bernese GNSS software and Saastamoinen model as revised by Davis, respectively. Then, by subtracting the ZHD from the ZTD, the zenith wet delay (ZWD) is obtained at each GPS station, for all times. In a second step, ZWD is modeled by two different machine learning methods, based on the latitude, longitude, DOY, time, relative humidity, temperature and pressure. After training a Support Vector Machine (SVM) and an Artificial Neural Network (ANN), ZWD temporal and spatial variations are estimated. Using the formula by Bevis, the ZWD can be converted to PWV at any time and space, for each machine learning method. The accuracy of the two new models is evaluated using control stations, exterior and radiosonde station, whose observations were not used in the training step. Also, all the results of the SVM and ANN are compared with a voxel-based tomography (VBT) model. In the control and exterior stations, ZWD estimated by the SVM (ZWDSVM) and ANN (ZWDANN) is compared with the ZWD obtained from the GPS (ZWDGPS). Also, in the control and exterior stations, precise point positioning (PPP) is used to evaluate the accuracy of the new models. In the radiosonde station, the PWV of the new models (PWVSVM, PWVANN) is compared with the radiosonde PWV (PWVradiosonde) and voxel-based PWV (PWVVBT). The averaged relative error of the SVM, ANN and VBT models in the control stations is 10.50%, 12.71% and 12.91%, respectively. For SVM, ANN and VBT models, the averaged RMSE at the control stations is 1.87 (mm), 2.22 (mm) and 2.29 (mm), respectively. Analysis of the results of PWV estimated by the SVM, ANN and VBT, as well as the surface precipitation obtained from meteorological stations, indicate the high accuracy of the SVM in comparison with the ANN and VBT model. In the results shown in this paper, the SVM has the best ability to accurately estimate ZWD and PWV, using local GPS network observations.