Brazilian Network For Continuous Monitoring Research Articles

Performance Analysis of Relative GPS Positioning for Low-Cost Receiver-Equipped Agricultural Rovers.

Global navigation satellite systems (GNSSs) became an integral part of all aspects of our lives, whether for positioning, navigation, or timing services. These systems are central to a range of applications including road, aviation, maritime, and location-based services, agriculture, and surveying. The Global Positioning System (GPS) Standard Position Service (SPS) provides position accuracy up to 10 m. However, some modern-day applications, such as precision agriculture (PA), smart farms, and Agriculture 4.0, have demanded navigation technologies able to provide more accurate positioning at a low cost, especially for vehicle guidance and variable rate technology purposes. The Society of Automotive Engineers (SAE), for instance, through its standard J2945 defines a maximum of 1.5 m of horizontal positioning error at 68% probability (1σ), aiming at terrestrial vehicle-to-vehicle (V2V) applications. GPS position accuracy may be improved by addressing the common-mode errors contained in its observables, and relative GNSS (RGNSS) is a well-known technique for overcoming this issue. This paper builds upon previous research conducted by the authors and investigates the sensitivity of the position estimation accuracy of low-cost receiver-equipped agricultural rovers as a function of two degradation factors that RGNSS is susceptible to: communication failures and baseline distances between GPS receivers. The extended Kalman filter (EKF) approach is used for position estimation, based on which we show that it is possible to achieve 1.5 m horizontal accuracy at 68% probability (1σ) for communication failures up to 3000 s and baseline separation of around 1500 km. Experimental data from the Brazilian Network for Continuous Monitoring of GNSS (RBMC) and a moving agricultural rover equipped with a low-cost GPS receiver are used to validate the analysis.

Multipath Impact on Multi-Frequency and Multi-Constellation Code Measurements from Brazilian GNSS Stations

Although Global Navigation Satellite Systems (GNSS) positioning can achieve high accuracy in line-of-sight conditions, multipath remains a dominant source of error. Multipath occurs when the reflected signals reach the receiver in addition to the direct ones. Different systems design can impact the multipath effect, such as the signal modulation and chipping rate. In the context of multifrequency and multi-constellation scenario that we are achieving with four operational global constellations, this paper compares the multipath impact in different signals of GPS, GLONASS, Galileo and BeiDou. For the experiment, one week of data from 35 Brazilian Network for Continuous Monitoring of the GNSS Systems (RBMC) stations in June 2021 was processed. The multipath index was estimated based on the code- inus-carrier combination. For the first frequency of each system, similar results were obtained for GPS, GLONASS and BeiDou (approximately 56 cm). The Galileo BOC/AltBOC modulation offers better resistance to multipath, with a multipath index of 37 cm for E1 and of 12 cm for E5. Considering all selected stations, the multipath index of GPS L1 varied from 38 cm to 61 cm.

Effects of Tropospheric Refraction on Precise Point Positioning in Brazil

Troposphere is one of the most limiting sources of error in the accuracy of 15 Precise Point Positioning method. This work aims to analyze the effects of tropospheric 16 delay on this positioning technique by applying the Bernese scientific program to GNSS 17 data belonging to the Brazilian Network for Continuous Monitoring of GNSS Systems. 18 GNSS data are related to several climatic zones, including Amazon region, referring to four 19 seasons. The data were processed considering six strategies, each one using different 20 troposphere models and mapping functions for analysis. Results were evaluated according 21 to the Root Mean Square, estimated for 15 processing days for each season, involving 89 22 GNSS stations. Results show that the greatest effects of the tropospheric delay occurred in 23 the equatorial region, related to the altimetric component, in all seasons of the year. This 24 climatic zone is under a strong influence of the Amazon region, which presents high annual 25 humidity values. In addition, it can occur a great humidity variation in this region, which 26 can compromise the process of estimating wet component of tropospheric delay. Finally, 27 results showed that the best processing strategy was the use of the Vienna mapping function 28 in conjunction with corrections based on the Numerical Weather Forecast model.

EVALUATION OF AN UNMANNED AERIAL VEHICLE (UAV) FOR MEASURING AND MONITORING NATURAL DISASTER RISK AREAS

Abstract. This work presents an evaluation of a small UAV-RPAS-PPK to be used in the generation of digital surface models (DSM), without the need for control points, having as main application the monitoring of disaster risk areas (landslide and flooding). The areas to be measured are difficult to access, which prevents or makes access to the land difficult. In this evaluation, a study area of approximately 13 km2 was flown over, an average pixel of 11.6 cm and a total of 417 photos. The equipment used to acquire the images was a SenseFly eBee X, equipped with GNSS PPK for Direct Georeferencing (DG) and a camera model S.O.D.A. In all, 42 ground checkpoints were measured using a dual-frequency GNSS receiver. For both the measurement of the checkpoints and for the Direct Georeferencing (DG) base of the Unmanned Aerial Vehicles (UAV), a relative processing was performed, using the Brazilian Network for Continuous Monitoring (RBMC) as a reference. With this evaluation, it was possible to achieve a result (RMSE) for phototriangulation better than 1.2 pixels for horizontal and 1.5 pixels for vertical, without the need to measure any control points on the ground.

Assessment of tropospheric modeling on PPP-AR performances under brazilian atmospheric condition

In the Global Navigation Satellite System (GNSS), ambiguity resolution (AR) can shorten observation time and increase the positioning quality. The correct tropospheric modeling is intrinsically related to the ability to perform AR. Here, we assessed the influence of different tropospheric correction alternatives on AR for static Precise Point Positioning (PPP) in Brazilian territory. Our goal was to provide directions to users when choosing a suitable tropospheric model for application in PPP-AR under Brazilian atmospheric conditions. Thus, this study was carried out using well-known models such as the Saastamoinen model and the Zenith Tropospheric Delay (ZTD) Estimation and Numerical Weather Prediction (NWP) model from CPTEC/INPE. Six GNSS stations from the Brazilian Network for Continuous Monitoring (RBMC) (BRAZ, UFPR, RNNA, POVE, SMAR, and SAGA) were selected. Different GNSS processing setups were considered for GNSS data registered at selected stations during summer and winter. The assessment was based on a statistical analysis of positioning accuracy during one-hour sessions. The results indicated that such as the ZTD Estimation, the NWP model provides an accuracy of a few centimeters. On the other hand, the Saastamoinen model provided decimeter level accuracy, thus it is not the recommended choice for PPP-AR in the experimental conditions.

Cartographic Accuracy Standard (CAS) of the digital terrain model of the digital and continuous cartographic base of the state of Amapá: case study in the city of Macapá

The Cartographic Accuracy Standard (CAS) is a quality parameter used by the Brazilian standard to estimate the positional quality of cartographic products in their degree of precision, also including altimetry. The Digital and Continuous Cartographic Base of Amapá - BCDCA has a large amount of freely available spatial information, for the study of its territory within the state of Amapá. This project, a partnership between the Government of the State of Amapá and the Directorate of Geographical Services of the Brazilian Army (DSG), obtained a large amount of SAR data by interferometry. Among the resulting products, the Digital Terrain Model - DTM has a wide range of applications: watershed analysis, infrastructure program, diagnosis of environmental risks and so many others. Therefore, the present work aims to evaluate the altimetric data (DTM) provided by the BCDCA through 2172 orthometric points calculated from the Brazilian Network for Continuous Monitoring - RBMC measured in the field in the city of Macapá, capital of the State of Amapá. For the level curves, the results presented class A for the 1: 10 000 scale, at an equidistance of 5 m, showing that the DTM product is highly reliable for urban applications.

Evaluation of the dusk and early nighttime Total Electron Content modeling over the eastern Brazilian region during a solar maximum period

The ionosphere is one of the main sources of errors for the GNSS (Global Navigation Satellite System) users in low-latitude regions. The ionosphere delays the signal propagation, directly influencing the pseudorange estimation, which is fundamental for positioning estimation. This study aims at evaluating empirical and theoretical models that generate profiles of Total Electron Content (TEC), with respect to their ability to represent the spatiotemporal distribution of the ionospheric plasma. For this purpose, the TEC data calculated from measurements obtained by receivers from the Brazilian Network for Continuous Monitoring of GNSS Systems (RBMC) were compared with ionospheric models that provide the TEC values. The TEC calculation procedure is presented in the manuscript. The Klobuchar model, the empirical model IRI-2016, which has the NeQuick model integrated in its calculations, and the SAMI2 model were evaluated. Data from 2 years around solar maximum period was used considering averaged values over Brazilian region. The evaluations carried out between the TEC values obtained from the models and the real TEC data showed that the models have some deviations, therefore requiring future improvements. According to the results, the deviations may reach approximately 7 m and are originated from physical peculiarities on the spatial environment over the Brazilian region.

Assessment of Integrated Water Vapor Estimates from the iGMAS and the Brazilian Network GNSS Ground-Based Receivers in Rio de Janeiro

There is pressing demand for knowledge improvement of the integrated water vapor (IWV) distribution in regions affected by heat islands that are associated with extreme rainfall events such as in the metropolitan area of Rio de Janeiro (MARJ). This work assessed the suitability and evaluation of the spatiotemporal distribution of Global Navigation Satellite Systems (GNSS) IWV from the cooperation of the International GNSS Monitoring and Assessment System (iGMAS) and the National Observatory (Observatório Nacional, ON) of Brazil, from the Brazilian Network for Continuous Monitoring (RBMC), and IWV products from Moderate Resolution Imaging Spectroradiometer (MODIS) and radiosonde, jointly with surface meteorological data, in two sectors of the state of Rio de Janeiro from February 2015–August 2018. High variability of the near surface air temperature (T) and relative humidity (RH) were observed among eight meteorological sites. The mean T differences between sites, up to 4.4 °C, led to mean differences as high as 3.1 K for weighted mean temperature (Tm) and hence 0.83 mm for IWV differences. Local grid points of MODIS IWV estimates had relatively good agreement with the GNSS-derived IWV, with mean differences from –2.4–1.1 mm for the daytime passages of the satellites TERRA and AQUA and underestimation from –9 mm to –3 mm during nighttime overpasses. A contrasting behavior was found in the radiosonde IWV estimates compared with the estimates from GNSS. There were dry biases of 1.4 mm (3.7% lower than expected) by radiosonde IWV during the daytime, considering that all other estimates were unbiased and the differences between IWVGNSS and IWVRADS were consistent. Based on the IWV comparisons between radiosonde and GNSS at nighttime, the atmosphere over the radiosonde site is about 1.2 mm and 2.3 mm wetter than that over the RBMC RIOD and iGMAS RDJN stations, respectively. The atmosphere over the site RIOD was 1.2 mm wetter than over that of RDJN for all three-hour means. These results showed that there were important variabilities in the meteorological conditions and in the distribution of water vapor in the MERJ. The data from the iGMAS RDJN station were feasible, together with those from the RBMC, MODIS, and radiosonde data, to investigate IWV in the region with occurrence of heat islands and peculiar physiographic and meteorological characteristics. This work recommends the magnification of the GNSS network in the State of Rio de Janeiro with the use of complete meteorological station data collocated near every GNSS receiver, aiming to improve local IWV estimates and serving as additional support for operational numerical assimilation, weather forecast, and nowcast of extreme rainfall and flooding events.

Utilização de Veículos Aéreos Não Tripulado no Monitoramento da Dinâmica Sedimentar de Praias Expostas

O uso de veículos aéreos não tripulados (VANT), popularmente conhecidos por drones, têm sido utilizados com frequência em diversos setores, como segurança pública, fiscalização ambiental, pesquisa, agricultura e no monitoramento de ambientes naturais diversos. O monitoramento da dinâmica sedimentar de duas porções distintas da Praia de Navegantes (SC), Brasil – a porção Sul, em processo de recuperação há dez anos, e um trecho da porção Norte, Praia do Gravatá, em avançado processo de degradação – foi realizado entre os meses de abril e julho de 2019 com a utilização de um VANT. Foram realizados seis sobrevoos em cada um dos locais estudados. A aerofotogrametria desses locais foi realizada a uma altura pré-definida de 100 metros, tendo sido registrada por meio de memorial de processamento com a sobreposição lateral de 65% e frontal de 75% entre as imagens obtidas. As imagens de cada levantamento foram tratadas no software Agisoft PhotoScan com aplicação de pontos de apoio materializados em solo georreferenciados com emprego de aparelho GPS/GNSS, marca Geomax, Modelo Zenith 25, na qual os mesmos (pontos) foram pós-processados com base na Rede Brasileira de Monitoramento Contínuo (RBMC) do Instituto Brasileiro de Geografia e Estatística (IBGE). Foram geradas ortofotos georreferenciadas, imagens 3D com geração de curvas de nível com intervalos de 0,25 m, o que possibilitou calcular os volumes de sedimentos erodidos ou acrescidos. O método proposto demanda ainda de alguns ajustes e aprimoramento, mas demonstrou grande eficácia no monitoramento do processo de dinâmica sedimentar nos locais estudados.

STOCHASTIC MODEL OF THE BRAZILIAN GPS NETWORK COORDINATES TIME SERIES

Abstract It is well known that daily estimates of GPS coordinates are highly temporally correlated and that the knowledge and understanding of this correlation allows to establish more realistic uncertainties of the parameters estimated from the data. Despite this, there are currently no studies related to the analysis and calculation of the noise sources in geodetic time series in Brazil. In this context, this paper focuses on the investigation of the stochastic properties of a total of 486 coordinates time series from 159 GPS stations belonging to the Brazilian Network for Continuous Monitoring of GNSS (RBMC) using the maximum likelihood estimation approach. To reliably describe the GPS time series, we evaluate 4 possible stochastic models as models of each time series: 3 models with integer spectral indices (white noise, flicker plus white noise and random-walk plus white noise model) and 1 with fractional spectral index (fractional power-law plus white noise). By comparing the calculated noise content values for each model, it is possible to demonstrate a stepwise increase of the noise content, being the combination of a fractional power-law process and white noise process, the model with smaller values and the combination of random walk process with white noise process, the model with greater values. The analysis of the spatial distribution of the noise values of the processes allow demonstrate that the GPS sites with the highest accumulated noise values, coincide with sites located in coastal zones and river basins and that their stochastic properties can be aliased by the occurrence of different physical signals typical of this type of zones, as the case of the hydrological loading effect.

TEC modelling via neural network using observations from the first GLONASS R&D data network in Brazil and the RBMC

This work presents a result on the use of neural networks (NNs) model to estimate Total Electron Content (TEC) behavior based on Global Navigation Satellite Systems (GNSS) measurements in the Brazilian equatorial and low latitude sectors. The main goal of the proposed NN is to estimate GPS (Global Positioning System) TEC values at locations without a GNSS receiver that may be used, for instance, as background models in regional TEC mapping procedures. The proposed approach is useful especially for single frequency users that rely on corrections of ionospheric range errors by TEC models. The data used was collected on the first GLONASS (Globalnaya Navigatsionnaya Sputnikovaya Sistema) network for research and development (GLONASS R&D network), recently inaugurated in Brazil, and also on the Brazilian Network for Continuous Monitoring of the GNSS Systems (RBMC), with a temporal interval of 15s or 30s and a spatial resolution of about 300 km over an area corresponding to a longitudinal extension of 650 km. The input parameters for the NN used in this work are the latitude, longitude, day of the year (doy), time of the day, the global geomagnetic storm index (Kp-index), and the solar radio flux at 10.7 cm, and the output the vertical TEC (vTECe). The vTEC used for training the NN is calculated with the GPS-TEC Analysis Application, version 2.9.3. Future work considers applying the vTEC calculated with the ICTP method in the training process which allows the use of both GPS and GLONASS TEC. Information on the new GLONASS R&D network, future research possibilities and collaborations are also provided.

Short-term estimation of GNSS TEC using a neural network model in Brazil

This work presents a novel Neural Network (NN) model to estimate Total Electron Content (TEC) from Global Navigation Satellite Systems (GNSS) measurements in three distinct sectors in Brazil. The purpose of this work is to start the investigations on the development of a regional model that can be used to determine the vertical TEC over Brazil, aiming future applications on a near real-time frame estimations and short-term forecasting. The NN is used to estimate the GNSS TEC values at void locations, where no dual-frequency GNSS receiver that may be used as a source of data to GNSS TEC estimation is available. This approach is particularly useful for GNSS single-frequency users that rely on corrections of ionospheric range errors by TEC models. GNSS data from the first GLONASS network for research and development (GLONASS R&D network) installed in Latin America, and from the Brazilian Network for Continuous Monitoring of the GNSS (RMBC) were used on TEC calibration. The input parameters of the NN model are based on features known to influence TEC values, such as geographic location of the GNSS receiver, magnetic activity, seasonal and diurnal variations, and solar activity. Data from two ten-days periods (from DoY 154 to 163 and from 282 to 291) are used to train the network. Three distinct analyses have been carried out in order to assess time-varying and spatial performance of the model. At the spatial performance analysis, for each region, a set of stations is chosen to provide training data to the NN, and after the training procedure, the NN is used to estimate vTEC behavior for the test station which data were not presented to the NN in training process. An analysis is done by comparing, for each testing station, the estimated NN vTEC delivered by the NN and reference calibrated vTEC. Also, as a second analysis, the network ability to forecast one day after the time interval (DoY 292) based on information of the second period of investigation is also assessed in order to verify the feasibility on using low amount of data for short-term forecasting. In a third analysis, the spatial performance of the NN model is assessed and compared against CODE Global Ionospheric Maps during the geomagnetic storm registered on 13th and 14th October 2016. The results obtained from the three described analyses indicate that even using a ten-days period of data to train the network, the proposed NN model provides good spatial performance and presents to be a promising tool for short-term forecasting. The results obtained in the analysis presented a root mean squared error less than 7.9 TECU in all scenarios under investigation.

Brazilian active GNSS networks as systems for monitoring the ionosphere

This research shows the viability of using Global Navigation Satellite System (GNSS) stations from Brazilian active networks in monitoring the ionosphere. Various indexes of ionospheric irregularities and scintillation of GNSS signals, estimated in real-time and post-processed from GNSS data, are explored for this purpose. This way, an increase in the spatial resolution of ionospheric information is provided, allowing the generation of maps of scintillation and irregularities in observing the spatial and temporal behavior of the layer's activity cycle, since the number of ionosondes, imagers, and radars is insufficient for monitoring the irregularities in Brazil. Experiments to evaluate the estimates of the indexes are performed for periods of high and low variability of electrons. Three Brazilian networks are used: the Brazilian Network for Continuous Monitoring (RBMC), the GNSS Active Network of Sao Paulo State (GNSS-SP), and CIGALA/CALIBRA. The results are compared with data from ionosondes and PolaRxS-PRO Septentrio receivers, proving compatible with moderate to high correlations. An analysis of the seasonal variation during the peak of solar cycle 24 is carried out. The maps allow identifying the displacement of ionospheric irregularities along the magnetic equator over Brazil, from northeast to southwest, starting at 7:00 pm and ending at 2:00 am local time. Real-time monitoring is carried out for the summer solstice in the southern hemisphere, and results are consistent with those from the post-processed mode. The indexes and maps can be applied to the analysis of GNSS positioning. Real-time ionospheric information can be used in important practical applications because the displacement monitoring of irregularities allows prior knowledge of whether there will be a deterioration of positioning accuracy in a certain region.

Período de mínima atividade solar: melhora no desempenho do posicionamento relativo

In the relative positioning, even considering that part of the errors due to ionosphere is canceled with the double-difference observations, strong ionospheric effects can occur in maximum solar activity period. However, in minimum solar activity period, the ionospheric effects decrease significantly and therefore an improvement of the relative positioning performance takes place. In this paper we aim at showing that improvement for the scientific and GPS community users. So, have been experiments by using GPS data of two stations of the Brazilian Network for Continuous Monitoring of GPS, forming a baseline of 430 km. The processing were use accomplished with interval of two hours, and only L1 carrier data have been used. The analysis of the obtained results has been carried out from the discrepancies between the “true” coordinates and corresponding ones obtained in the processing. In maximum solar activity period the discrepancy value reached 25 m. On the other hand, in minimum solar activity period, the discrepancy value reached 5,5 m. It is important to emphasize that the majority of the discrepancy values didn’t exceed 0,50 m, and in some cases only reached 0,10 m. This shows the increase of application possibilities of the relative positioning using single-frequency GPS receivers in minimum solar activity period.

Assimilação do IWV-GPS no Brasil: otimização das estimativas do atraso zenital troposférico em tempo real

Valores do IWV (Integrated Water Vapor - Vapor D'água Integrado na coluna atmosférica) provenientes da Rede Brasileira de Monitoramento Contínuo (RBMC) dos Satélites GPS (Global Positioning System - Sistema de Posicionamento Global) compõem uma fonte adicional de informações da umidade para a assimilação em modelos operacionais de Previsão Numérica de Tempo (PNT) existentes no Brasil. Para que os valores do IWV-GPS sejam obtidos com maior eficiência é necessário uma otimização do processamento de dados GPS para a estimativa do ZTD ( Zenithal Tropospheric Delay - Atraso Zenital Troposférico), de forma que resultados com qualidade adequada possam ser obtidos com custo computacional baixo. Nessa otimização deve-se definir o tamanho ideal da chamada janela deslizante (sliding window ) de dados GPS envolvidos no processamento em tempo real, a qual deve ser a menor possível, mas fornecendo resultados satisfatórios. O objetivo desse trabalho é investigar sobre o tamanho ideal dessa janela de dados. Um experimento foi realizado envolvendo janelas de dados GPS de diferentes tamanhos, as quais foram testadas através de simulações de processamento em tempo real. Comparando os resultados simulados com aqueles obtidos no modo pós-processado, observou-se que do ponto de vista operacional o emprego de uma janela com 7 horas de dados proporciona os melhores resultados (Erro médio Quadrático de 1,61 e 1,82 kg m-2 para 60 e 120 minutos de latência, respectivamente).

Study of the March 31, 2001 magnetic storm effects on the ionosphere using GPS data

Despite the fact that much has been learned about the Sun–Earth relationship during disturbed conditions, understanding the effects of magnetic storms on the neutral and ionized upper atmosphere is still one of the most challenging topics remaining in the physics of this atmospheric region. In order to investigate the magnetospheric and ionospheric–thermospheric coupling processes, many researchers are taking advantage of the dispersive nature of the ionosphere to compute total electron content (TEC) from global positioning system (GPS) dual-frequency data. Even though there are currently a large number of GPS receivers in continuous operation, they are unevenly distributed for ionosphere study purposes, being situated mostly in the Northern Hemisphere. The relatively smaller number of GPS receivers located in the Southern Hemisphere and, consequently, the reduced number of available TEC measurements, cause ionospheric modelling to be less accurate in this region. In the work discussed in this paper, the University of New Brunswick Ionospheric Modelling Technique (UNB-IMT) has been used to describe the local time and geomagnetic latitude dependence of the TEC during the March 31, 2001 magnetic storm with an emphasis on the effects in the Southern Hemisphere. Data collected from several GPS networks worldwide, including the Brazilian network for continuous monitoring, have been used along with ionosonde measurements to investigate the global ionospheric response to this severe storm. Data analysis revealed interesting ionospheric effects, which are shown to be dependent on the local time at the storm commencement and the magnetic conditions previous to and during the storm period. The southward turning of the interplanetary magnetic field during the recovery phase of the storm began a process of substorm activity and development and intensification of electrojet activity over broad regions. Observed effects on the ionosphere during that storm are analysed and the mechanisms that gave rise to the ionospheric behaviour are discussed.

A velocity field estimation of the Brazilian portion of the SOAM plate

With the proposition for the adoption of Geocentric Reference System for the Americas (SIRGAS) as a terrestrial reference frame for South America, the need for temporal monitoring of station coordinates used in its materialization has become apparent. This would provide a dynamic characterization of the frame. The Brazilian Network for Continuous Monitoring of GPS (RBMC) has collected high accuracy GPS measurements since 1996. The Brazilian Institute of Geography and Statistics (IBGE) maintains this network in collaboration with several universities and organizations. Most of the stations are also part of the SIRGAS network. The RBMC also contributes data to the International Terrestrial Reference System (ITRS) to densify the global frame. Two of the RBMC stations are also part of the International GPS Service (IGS). This paper reports initial results from these stations. To estimate the velocity field defined by these stations, ten IGS stations located on the border of the South American plate and in adjacent plates, along with nine RBMC stations, were used. Observations covering five groups of 15 days each were used. These groups of observations were at epochs 1997.3, 1997.9, 1998.3, 1998.9 and 1999.2. Seven IGS stations were chosen to have their coordinates constrained to those epochs. IGS products (precise ephemeris and clocks) were used to process the daily solutions, which were carried out with Bernese software. Carrier phase double differences were formed using the ionospheric-delay free observable. The troposphere was modeled using a combination of the Saastamoinen model and the Niell mapping function. A tropospheric parameter was estimated every two hours. The results of the daily baseline solutions were combined using the summation of normal equations technique, in which the final coordinates and velocities were estimated. The results were compared with various models, such as the NNR-NUVEL1 and the APKIM8.80. Velocity vectors estimated for the RBMC stations show good agreement with those two models, with rates approximately equal to 2 cm/year.

Application of ionospheric corrections in the equatorial region for L1 GPS users

In the absence of the selective availability, which was turned off on May 1, 2000, the ionosphere can be the largest source of error in GPS positioning and navigation. Its effects on GPS observable cause a code delays and phase advances. The magnitude of this error is affected by the local time of the day, season, solar cycle, geographical location of the receiver and Earth’s magnetic field. As it is well known, the ionosphere is the main drawback for high accuracy positioning, when using single frequency receivers, either for point positioning or relative positioning of medium and long baselines. The ionosphere effects were investigated in the determination of point positioning and relative positioning using single frequency data. A model represented by a Fourier series type was implemented and the parameters were estimated from data collected at the active stations of RBMC (Brazilian Network for Continuous Monitoring of GPS satellites). The data input were the pseudorange observables filtered by the carrier phase. Quality control was implemented in order to analyse the adjustment and to validate the significance of the estimated parameters. Experiments were carried out in the equatorial region, using data collected from dual frequency receivers. In order to validate the model, the estimated values were compared with “ground truth”. For point and relative positioning of baselines of approximately 100 km, the values of the discrepancies indicated an error reduction better than 80% and 50% respectively, compared to the processing without the ionospheric model. These results give an indication that more research has to be done in order to provide support to the L1 GPS users in the Equatorial region.