Geodetic Antenna Research Articles

Monitoring subsidence of open pit mine slope based on GNSS/CORS technology - case study at the Coc Sau open-pit coal mine

Subsidence value is one of the important parameters to evaluate the stability of open pit mine slope. The subsidence is determined from height values measured at different times using different methods and equipment. When applying GNSS/CORS technology to monitor displacement, landslides, ground subsidence or structures, a specialized monitoring system is needed to ensure the necessary accuracy. This article presents the results of research on subsidence monitoring of open pit mine slope based on CORS technology and a self-developed GNSS receiver. The CORS station is set up with Trimble's Zyphir 2 Geodetic antenna and Stonex GNSS receiver located in Cam Pha city, Quang Ninh. The GNSS receiver for monitoring station is designed and developed based on the Trimble's GNSS BD970 board and integrated with a 4G wifi modem, allowing the transmission of monitoring data in standard NMEA0183 format to the CORS station's host computer. Decoded monitoring data and error filtering have improved the accuracy of height determination achieved at the mm level. Results of simulation experiments and experiments with actual monitoring data at Coc Sau coal mine, Cam Pha, Quang Ninh have proven the effectiveness and reliability of the method. With simulated experimental monitoring results, it shows that the largest subsidence difference is 16 mm and the smallest is 6 mm.

Performance analysis of frequency-mixed PPP-RTK using low-cost GNSS chipset with different antenna configurations

Low-cost Global Navigation Satellite System (GNSS) devices offer a cost-effective alternative to traditional GNSS systems, making GNSS technology accessible to a wider range of applications. Nevertheless, low-cost GNSS devices often face the challenges in effectively capturing and tracking satellite signals, which leads to losing the observations at certain frequencies. Moreover, the observation peculiarities of low-cost devices are in contradistinction to those of traditional geodetic GNSS receivers. In this contribution, a low-cost PPP-RTK model that considers the unique characteristics of different types of measurements is developed and its performance is fully evaluated with u-blox F9P receivers equipped with three distinctive antenna configurations: vertical dipole, microstrip patch, and helix antennas. Several static and kinematic experiments in different scenarios are conducted to verify the effectiveness of the proposed method. The results indicate that the mixed-frequency PPP-RTK model outperforms the traditional dual-frequency one with higher positioning accuracy and fixing percentage. Among the three low-cost antennas tested, the vertical dipole antenna demonstrates the best performance under static conditions and shows a comparable performance as geodetic antennas with a positioning accuracy of 0.02 m, 0.01 m and 0.07 m in the east, north, and up components, respectively. Under low-speed kinematic scenarios, the helix antenna outperforms the other two with a positioning accuracy of (0.07 m, 0.07 m, 0.34 m). Furthermore, the helix antenna is also proved to be the best choice for vehicle navigation with an ambiguity fixing rate of over 95% and a positioning accuracy of (0.13 m, 0.14 m, 0.36 m).

Optimizing Simultaneous Water Level and Wave Measurements From Multi‐GNSS Interferometric Reflectometry Over 1 Year at an Exposed Coastal Site

AbstractGlobal Navigation Satellite System Interferometric Reflectometry (GNSS‐IR) measures water level using the interference pattern in signal‐to‐noise ratio (SNR) from direct and reflected signals off the sea surface, retrieved from standard geodetic antennas. Significant wave height is also measured by determining the satellite elevation angles where reflections become incoherent. We developed an approach for standard geodetic antennas to simultaneously measure sea levels and waves using a criterion for identifying coherent reflections. We tested the method at an exposed coastal environment at the E.B. Scripps Memorial Pier in California. The 1‐year test captures a broad range of sea states and benefits from several co‐located standard oceanographic sensors. By including GPS, Galileo, and GLONASS observations, the retrieval rate increases by a factor of ∼2 over GPS alone. Uncorrected water levels are estimated with a root‐mean‐square (RMS) error of 18.2 cm with respect to a conventional tide gauge. We further developed a simplified correction to remove the effect of phenomena altering the SNR oscillatory frequency and phase, which reduces RMS errors to 9.4 cm. We estimate the significant wave height with 15 cm RMS error with respect to a traditional wave gauge. The method, however, requires a short calibration. We find the wave height errors increase abruptly beyond a fixed limit when high waves are present, that may be a result of the particular deployment geometry. With this caveat, the technology could be useful to deploy in under‐sampled regions affected by compounded coastal hazards, such as in areas affected by tropical cyclones and flooding.

Low-Cost Dual-Frequency GNSS Receivers and Antennas for Surveying in Urban Areas.

Low-cost dual-frequency global navigation satellite system (GNSS) receivers have recently been tested in various positioning applications. Considering that these sensors can now provide high positioning accuracy at a lower cost, they can be considered an alternative to high-quality geodetic GNSS devices. The main objectives of this work were to analyze the differences between geodetic and low-cost calibrated antennas on the quality of observations from low-cost GNSS receivers and to evaluate the performance of low-cost GNSS devices in urban areas. In this study, a simple RTK2B V1 board u-blox ZED-F9P (Thalwil, Switzerland) was tested in combination with a low-cost calibrated and geodetic antenna in open-sky and adverse conditions in urban areas, while a high-quality geodetic GNSS device was used as a reference for comparison. The results of the observation quality check show that low-cost GNSS instruments have a lower carrier-to-noise ratio (C/N0) than geodetic instruments, especially in the urban areas where the difference is larger and in favor of the geodetic GNSS instruments. The root-mean-square error (RMSE) of the multipath error in the open sky is twice as high for low-cost as for geodetic instruments, while this difference is up to four times greater in urban areas. The use of a geodetic GNSS antenna does not show a significant improvement in the C/N0 and multipath of low-cost GNSS receivers. However, the ambiguity fix ratio is larger when geodetic antennas are used, with a difference of 1.5% and 18.4% for the open-sky and urban conditions, respectively. It should be noted that float solutions may become more evident when low-cost equipment is used, especially for short sessions and in urban areas with more multipath. In relative positioning mode, low-cost GNSS devices were able to provide horizontal accuracy lower than 10 mm in urban areas in 85% of sessions, while the vertical and spatial accuracy was lower than 15 mm in 82.5% and 77.5% of the sessions, respectively. In the open sky, low-cost GNSS receivers achieve a horizontal, vertical, and spatial accuracy of 5 mm for all sessions considered. In RTK mode, positioning accuracy varies between 10-30 mm in the open-sky and urban areas, while better performance is demonstrated for the former.

Performance evaluation of single and double-frequency low-cost GNSS receivers in static relative mode

The advancement of low-cost GNSS receivers with modern built-up characteristics has opened a new window to investigate the performance of various low-cost receivers with an outlook on their performance and suitability for varied geodetic purposes. The main objective of this study is to evaluate the positioning performance of single and double-frequency GNSS receivers in combination with geodetic antennas in static relative mode regarding Mexican regulations. The recorded observations were processed by a static relative method including the CORS station from the National Institute of Statistics and Geography in Mexico (INEGI). The results of the survey conducted at a distance of 4 and 33 km from CORS station show similar accuracy for all low-cost receivers. For low-cost GNSS receivers NEO-M8T, NEO-6T, and ZED-F9P the solutions that were obtained reached mm in horizontal precision using a geodetic grade antenna. Similarly, the ZED-F9P model was proved at a long distance from the CORS station and presents high precision. Regarding the vertical component, in all cases where the GGM10 model was included, the vertical component is not allowed to use for topography or geodetic works, however, the horizontal component where mm precision was achieved is allowed for different highly precision survey works.

Integrating Qualitative and Quantitative Methods to Evaluate Performance of the Brazilian Network for Continuous Global Navigation Satellite System (GNSS) Monitoring (RBMC)

We discuss a qualitative analysis of the efficiency of the Brazilian Network for Continuous Global Navigation Satellite System Monitoring (RBMC) using the Complex Holographic Assessment of Paradoxical Problems method (CHAP²), whose premise is the organization of intersubjectivity facilitated by the use of visual representation of structured knowledge (conceptual mapping) to increase the degree of consciousness to manage the paradoxes resulting from the complexity of living systems. We also describe a quantitative evaluation using Data Envelopment Analysis (DEA) allowing a ranking in terms of efficiency for further assessment by a professional of the area. The outcome of this study would be useful for IBGE (Brazilian Institute of Geography and Statistics) managers to be aware, for instance, of the suppliers and manufacturers of equipment available (receiver and geodetic antenna, Internet connection and constant supply of electricity) in efficient and ineffective stations, to guide new acquisitions, among other applications.

Behavior of Low-Cost Receivers in Base-Rover Configuration with Geodetic-Grade Antennas.

The main goal of this research was to evaluate the performances of the ZED-F9P-Ublox low-cost GNSS receiver in a base-rover real configuration. We realized a base configuration with two permanent stations based on the ZED-F9P and two geodetic antennas and the rover configuration based on another ZED-F9P and an ANN-MB-00-00 Multi-band (L1, L2/E5b/B2I) active GNSS u-blox antenna. In the calculation of the reference stations, we compared the solutions with the ZED-F9P receiver and a professional receiver. Comparison showed greater variability in the solutions, but the coordinate values were in very good agreement. Standard deviations were in the order of a few millimeters. On the rover side, two car tests were performed in two different environments, one in an extra-urban environment with a long baseline of approximately 30 km in an open sky area with varying visibility and shielded locations, the other one in an urban area around a circle approximately 10 km in diameter with the presence of buildings and open sectors. The results of the measurements were very good, with more than 95% of fixed solutions in real-time and a time to fix on reacquisition of 1 or 2 s. Moreover, real-time kinematic solutions were in good agreement with the post-processed ones, showing that less than 5% of differences were above 30 mm in the horizontal component and 100 mm in the vertical component.

Applicability of Cost-Effective GNSS Sensors for Crustal Deformation Studies.

The geodetic monitoring of the continuous crustal deformation in a particular region has traditionally been the prerogative of the scientific communities capable of affording high-price geodetic-class instruments to track the tiny movements of tectonic plates without losing precision. However, GNSS technology has been continuously and rapidly growing, and in the last years, new cost-efficient instruments have entered the mass market, gaining the attention of the scientific community for potentially being high-performing alternative solutions. In this study, we match in parallel a dual-frequency low-cost receiver with two high-price geodetic instruments, all connected to the same geodetic antenna. We select North-East Italy as testing area, and we process the data together with the observations coming from a network of GNSS permanent stations operating in this region. We show that mm-order precision can be achieved by cost-effective GNSS receivers, while the results in terms of time series are largely comparable to those obtained using high-price geodetic receivers.

Performance Evaluation of Single-Frequency Precise Point Positioning and Its Use in the Android Smartphone

The opening access of global navigation satellite system (GNSS) raw data in Android smart devices has led to numerous studies on precise point positioning on mobile phones, among which single-frequency precise point positioning (SF-PPP) has become popular because smartphone-based dual-frequency data still suffer from poor observational quality. As the ionospheric delay is a dominant factor in SF-PPP, we first evaluated two SF-PPP approaches with the MGEX (Multi-GNSS Experiment) stations, the Group and Phase Ionospheric Correction (GRAPHIC) approach and the uncombined approach, and then applied them to a Huawei P40 smartphone. For MGEX stations, both approaches achieved less than 0.1 m and 0.2 m accuracy in horizontal and vertical components, respectively. Uncombined SF-PPP manifested a significant decrease in the convergence time by 40.7%, 20.0%, and 13.8% in the east, north, and up components, respectively. For P40 data, the SF-PPP performance was analyzed using data collected with both a built-in antenna and an external geodetic antenna. The P40 data collected with the built-in antenna showed lower carrier-to-noise ratio (C/N0) values, and the pseudorange noise reached 0.67 m, which is about 67% larger than that with a geodetic antenna. Because the P40 pseudorange noise presented a strong correlation with C/N0, a C/N0-dependent weight model was constructed and used for the P40 data with the built-in antenna. The convergence of uncombined SF-PPP approach was faster than the GRAPHIC model for both the internal and external antenna datasets. The root mean square (RMS) errors for the uncombined SF-PPP solutions of P40 with an external antenna were 0.14 m, 0.15 m, and 0.33 m in the east, north, and up directions, respectively. In contrast, the P40 with an embedded antenna could only reach 0.72 m, 0.51 m, and 0.66 m, respectively, indicating severe positioning degradation due to antenna issues. The results indicate that the two SF-PPP models both can achieve sub-meter level positioning accuracy utilizing multi-GNSS single-frequency observations from mobile smartphones.

Multi-frequency quadrifilar helix antennas for cm-accurate GNSS positioning

Abstract For a few years now, GNSS multi-frequency quadrifilar helix antennas (QHA) are available to be used for precise GNSS applications. We performed test measurements with two types of multi-frequency QHA and compared them with a geodetic patch antenna. Although code and carrier phase noise and high-frequent multipath was determined to be larger as compared to the geodetic antenna, the fast-static horizontal coordinate accuracies are on the same level and demonstrate cm-accuracy capability. One of the QHA types exhibited an increased susceptibility to near-field multipath effects which resulted in a degraded accuracy of the vertical coordinate component.

Correction to: Development of a GNSS‑IR instrument based on low‑cost positioning chips and its performance evaluation for estimating the reflector height

Global Navigation Satellite System interferometric reflectometry (GNSS-IR) can be used to monitor a series of geophysical parameters in a cost-effective manner with high temporal resolution. The technique makes use of the simultaneous reception of direct and reflected GNSS signals with a single antenna. Based on the low-cost u-blox M8N chips, a GNSS-IR instrument is developed, which could be used to collect and process GNSS signals automatically and save and transmit generated GNSS data. Details about the instrument are described here for the first time. Then, the recorded SNR observation characteristics are analyzed by comparing three in-situ SNR sequences, which are simultaneously collected by the instrument with a low-cost patch antenna and a geodetic antenna and by a geodetic GNSS receiver with a geodetic antenna. Based on the developed function relating the peak power spectral density to peak frequency estimation error of the low-cost instrument, a weighting method is proposed to fuse multiple estimations of the reflector height to improve the estimation accuracy of the GNSS-IR-based reflector height. The performances of the developed low-cost instrument and the proposed reflector height estimation method are evaluated using a data set collected in Xinxiang City, Henan, China, over 6 days. The results show that there exists good agreement between the instrument-based reflector height estimates and the ground-truth estimates, with root-mean-square errors of 1.1 cm and 0.4 cm for the normal average and the proposed weighted average results, respectively, when the antenna height is in the range of 0.65 m to 2.15 m and the reflecting surface is flat, silty loam soil ground.

Point Positioning Capability of Compact, Low-Cost GNSS Modules: A Case Study

Global Navigation Satellite System (GNSS) provides precise Position, Velocity, and Timing (PVT) information. Various types of receivers of varying cost and complexity are used for collection and use of GNSS data. Currently, cost-effective, compact, low power consuming, multi-constellation enabled, single, or dual-frequency GNSS modules are being increasingly available having the capability of providing modest position solution accuracy. This paper presents the results of GPS, BeiDou, and GPS + BeiDou hybrid positioning capabilities of few commercially available modules based on systematic analysis from data collected during two time periods from two locations of India using geodetic and commercial patch antennas w.r.t. the reference points created through PPP (Precise Point Positioning). The results are compared with those provided a survey-grade GNSS receiver. It is witnessed that, selected single frequency module can provide 3-4m 2DRMS (Distance Root Means Square) precision and their dual frequency counterparts can provide 2DRMS solution precision around 3 m in GPS-only operation, around 7 m in BeiDou-only operation and around 3.5 m in case of GPS + BeiDou hybrid operation. The performance of the compact modules clearly presents the cost-performance benefit of the compact modules for real-time applications and the results of this study would help in understanding the capabilities of these modules for mass-market applications.

VLBI measurement of the vector baseline between geodetic antennas at Kokee Park Geophysical Observatory, Hawaii

We measured the components of the 31-m-long vector between the two very-long-baseline interferometry (VLBI) antennas at the Kokee Park Geophysical Observatory (KPGO), Hawaii, with approximately 1 mm precision using phase delay observables from dedicated VLBI observations in 2016 and 2018. The two KPGO antennas are the 20 m legacy VLBI antenna and the 12 m VLBI Global Observing System (VGOS) antenna. Independent estimates of the vector between the two antennas were obtained by the National Geodetic Survey (NGS) using standard optical surveys in 2015 and 2018. The uncertainties of the latter survey were 0.3 and 0.7 mm in the horizontal and vertical components of the baseline, respectively. We applied corrections to the measured positions for the varying thermal deformation of the antennas on the different days of the VLBI and survey measurements, which can amount to 1 mm, bringing all results to a common reference temperature. The difference between the VLBI and survey results are 0.2 ± 0.4 mm, −1.3 ± 0.4 mm, and 0.8 ± 0.8 mm in the East, North, and Up topocentric components, respectively. We also estimate that the Up component of the baseline may suffer from systematic errors due to gravitational deformation and uncalibrated instrumental delay variations at the 20 m antenna that may reach ± 10 and −2 mm, respectively, resulting in an accuracy uncertainty on the order of 10 mm for the relative heights of the antennas. Furthermore, possible tilting of the 12 m antenna increases the uncertainties in the differences in the horizontal components to 1.0 mm. These results bring into focus the importance of (1) correcting to a common reference temperature the measurements of the reference points of all geodetic instruments within a site, (2) obtaining measurements of the gravitational deformation of all antennas, and (3) monitoring local motions of the geodetic instruments. These results have significant implications for the accuracy of global reference frames that require accurate local ties between geodetic instruments, such as the International Terrestrial Reference Frame (ITRF).

SNR-Based Water Height Retrieval in Rivers: Application to High Amplitude Asymmetric Tides in the Garonne River

Signal-to-noise ratio (SNR) time series acquired by a geodetic antenna were analyzed to retrieve water heights during asymmetric tides on a narrow river using the Interference Pattern Technique (IPT) from Global Navigation Satellite System Reflectometry (GNSS-R). The dynamic SNR method was selected because the elevation rate of the reflecting surface during rising tides is high in the Garonne River with macro tidal conditions. A new process was developed to filter out the noise introduced by the environmental conditions on the reflected signal due to the narrowness of the river compared to the size of the Fresnel areas, the presence of vegetation on the river banks, and the presence of boats causing multiple reflections. This process involved the removal of multipeaks in the Lomb-Scargle Periodogram (LSP) output and an iterative least square estimation (LSE) of the output heights. Evaluation of the results was performed against pressure-derived water heights. The best results were obtained using all GNSS bands (L1, L2, and L5) simultaneously: R = 0.99, ubRMSD = 0.31 m. We showed that the quality of the retrieved heights was consistent, whatever the vertical velocity of the reflecting surface, and was highly dependent on the number of satellites visible. The sampling period of our solution was 1 min with a 5-min moving window, and no tide models or fit were used in the inversion process. This highlights the potential of the dynamic SNR method to detect and monitor extreme events with GNSS-R, including those affecting inland waters such as flash floods.

Analysis of the performance of closely spaced low-cost multi-GNSS receivers

The recent advances of low-cost GNSS receivers have broadened their application field not only in positioning and navigation, but also in deformation monitoring of civil engineering structures and geohazards. Even though some consumer-grade low-cost GNSS receivers can achieve cm-level accuracy, their lower performance compared to the dual-frequency high-end GNSS receivers restricts its systematic application of GNSS technology in monitoring projects. In this study, the noise level and performance of the low-cost GNSS receivers are assessed against geodetic receivers in terms of precision and availability when subjected to different measurements conditions, such as antenna grade, satellite constellation, and base station (antenna-receiver), based on zero- and short-baseline measurements. Furthermore, a new method is developed where a dual low-cost GNSS rover-system is formed by deploying two closely spaced low-cost GNSS receivers (30 cm apart), aiming to model their common error (multipath, satellite constellation, etc.) and reduce their noise level. The analysis of the zero- and short-baseline measurements reveals the potential improvement of the precision of the low-cost receiver by using multi-GNSS measurements and the importance of using a GNSS base station with geodetic antenna. However, development of a methodology which is based on adopting the sidereal filtering and the common mode error technique for the two closely spaced low-cost GNSS receivers may lead to precision of mm-level. The proposed methodology may broaden the application of low-cost GNSS receivers in monitoring networks and mainly for slowly developed deformations.

Quality analysis of dual-frequency smartphone-based ionospheric TEC measurements: what can be achieved?

The growing quality of smartphone-based Global Navigation Satellite Systems (GNSS) chipsets opens a new frontier for scientific research in positioning, navigation and timing ap- plications. The portability and affordability of these instruments could enhance the current GNSS receiver global network for atmospheric monitoring purposes. However, the quality of the measurements gathered from smartphones have not yet been fully assessed. In this paper, an analysis of the quality of smartphone-based Total Electron Content (TEC) mea- surements is performed. The primary focus of this work is to provide a general analysis on the potential of using smartphone observations for ionospheric sciences. Dual-frequency phase observations are used to measure the relative TEC. For this experiment, GPS L1/L5 and Galileo E1/E5a observations acquired with the Xiaomi Mi8 and Huawei Mate20 X smartphones were considered. Both devices are equipped with the Broadcom BCM47755 chipset, which enables GNSS dual-frequency measurements. More than 100 hours of phase observations at mid-latitude during a low solar activity period were gathered. Three differ- ent setup configurations were defined to assess the effects multipath or signal strength may have in the quality of the phase observations. In addition, to detect and discard unrealistic fluctuating phase observations, a quality-check was performed. In the results, good agree- ment between the slant TEC (sTEC) measurements from the smartphone and the sTEC obtained from a co-located geodetic receiver is presented. Furthermore, the amount and quality of observations discarded by the quality-check are reported, which emphasises the use of the signal strength to indicate the quality of phase observations. The results indicate that the C/N0 and multipath are important —when gathering the data from a geodetic antenna, around 80% of the collected data passed a quality threshold. However, collecting data with the addition of an attenuator, or directly from the smartphone antenna, reduced the valid data to below 50%. However, given the ease of use of a smartphone for data collection, even at 50% of data being usable, this shows potential as a useful course of TEC for ionospheric observations.

High Quality Zenith Tropospheric Delay Estimation Using a Low-Cost Dual-Frequency Receiver and Relative Antenna Calibration

The recent release of consumer-grade dual-frequency receivers sparked scientific interest into use of these cost-efficient devices for high precision positioning and tropospheric delay estimations. Previous analyses with low-cost single-frequency receivers showed promising results for the estimation of Zenith Tropospheric Delays (ZTDs). However, their application is limited by the need to account for the ionospheric delay. In this paper we investigate the potential of a low-cost dual-frequency receiver (U-blox ZED-F9P) in combination with a range of different quality antennas. We show that the receiver itself is very well capable of achieving high-quality ZTD estimations. The limiting factor is the quality of the receiving antenna. To improve the applicability of mass-market antennas, a relative antenna calibration is performed, and new absolute Antenna Exchange Format (ANTEX) entries are created using a geodetic antenna as base. The performance of ZTD estimation with the tested antennas is evaluated, with and without antenna Phase Center Variation (PCV) corrections, using Precise Point Positioning (PPP). Without applying PCVs for the low-cost antennas, the Root Mean Square Errors (RMSE) of the estimated ZTDs are between 15 mm and 24 mm. Using the newly generated PCVs, the RMSE is reduced significantly to about 4 mm, a level that is excellent for meteorological applications. The standard U-blox ANN-MB-00 patch antenna, with a circular ground plane, after correcting the phase pattern yields comparable results (0.47 mm bias and 4.02 mm RMSE) to those from geodetic quality antennas, providing an all-round low-cost solution. The relative antenna calibration method presented in this paper opens the way for wide-spread application of low-cost receiver and antennas.

Analyzing the Satellite-Induced Code Bias Variation Characteristics for the BDS-3 Via a 40 m Dish Antenna.

The satellite-induced code bias variation of geostationary satellite orbit satellites and medium earth orbit satellites of the second-generation BeiDou Navigation Satellite System (BDS-2) exceeds 1 m, which severely affects the accuracy and stability of the ambiguity resolution and high-precision positioning. With the development of the third-generation BDS (BDS-3) with a new system design and new technology, analysis of the satellite-induced code variation characteristics of BDS-3 has become increasingly important. At present, many scholars have explored the satellite-induced code bias of BDS-3, but most of them focus on BDS-3 experimental satellites via normal geodetic antenna. Compared to normal geodetic antenna, the 40-m dish antenna from the National Time Service Center can accurately detect satellite-induced code variations with low noise and high gain. Thus, observational data from fifteen BDS-3 medium earth orbit satellites are collected with the B1I/B2b/B3I/B1C/B2a frequency bands on the day of year (DOY) 199–206 in 2019, the PRN numbers of which are C19/C20/C21/C22/C23/C24/C25/C26/C27/C28/C30/C32/C33 /C35/C37, via the 40 m dish antenna to analyze the code bias variation characteristics. The results show that the obvious satellite-induced elevation‑dependent code bias variations exist in the B1I/B2b/B3I/B1C/B2a frequency bands of C28, compared with other satellites. Similarly, the multipath (MP) combination of B3I has an obvious elevation‑dependent variation within a range of 0.1 m for C21/C24/C27/C28/C37 and elevation‑dependent variation of the B2a and B2b frequency bands also exists in most satellites with a range of 0.1 m. However, the MP combination values of some satellites are asymmetric with respect to elevation, which is different from BDS-2 satellites and especially obvious for BDS-3 satellites B1I and BIC frequency bands with elevation‑dependent variations of 0.2 m, indicating that the code bias variation is not uniquely related to elevation, especially for the B1I/BIC frequency bands. What’s more, the satellite-induced code bias variation of the BDS-3 satellites is greatly reduced compared with that of the BDS-2 satellites. In addition, the similar code bias variation appears at the Xia1 station with a normal geodetic antenna of B1I/B1C/B3I/B2a/B2b of C21, B3I/B2a/B2b of C24 and B2b of C28 among B1I/B1C/B3I/B2a/B2b of C21/C24/C27/C28/C37. The influence of the BDS-3 satellite-induced elevation‑dependent code bias on precision positioning and ambiguity fixing is worth further study using different antennas or receivers.

Evaluation and combination of quad-constellation multi-GNSS multipath reflectometry applied to sea level retrieval

The satellites of the Global Navigation Satellite System (GNSS) continuously broadcast L-band signals at about a 20-cm wavelength. Some signal-to-noise ratio (SNR) data received by off-shelf geodetic antennas contain the multipath information of the sea, and they have been demonstrated for use in retrieving sea levels; however, compared with conventional tide gauges, this GNSS multipath reflectometry (GNSS-MR) technique is limited in terms of both precision and sampling rate. The simplest measure to increase the sampling rate of retrievals is to use SNR data from more satellite tracks at more satellite constellations. This study estimated the sea level of station BRST belonging to the Multi-GNSS Experiment (MGEX) using SNR data of four constellations (GPS, GLONASS, Galileo, and BeiDou) of the GNSS. It was found that the S5X/S2X, S2P/S2C, S5X, and S7I SNR types had optimal precisions for the GPS, GLONASS, Galileo, and BeiDou, respectively. In addition, we developed a multi-GNSS combination algorithm to formulate a 10-min sea level time series based on a state transition equation set and a robust regression solution strategy. The combined sea level retrieval time series had an approximately 40%–75% accuracy improvement compared to individual signal sea level retrievals; with a constant sampling interval in the 10 min window, the combined method presented here is beneficial for both the precision and sampling rate. This approach is novel and advanced in two key ways, in that we use data from four constellations simultaneously and through the regression strategy, which is applied to synthesize all data into a time series at regular 10-min intervals. This technique could be applied to other sites and is therefore beneficial for the GNSS-MR community.

Correlator beamforming for multipath mitigation in high‐fidelity GNSS monitoring applications

Safety and security critical global navigation satellite system (GNSS) applications ensure system integrity by performing long-term monitoring to quantify and characterize GNSS signal anomalies. Multipath significantly hinders these high-fidelity signal quality monitoring applications. Besides multipath limiting antennas and sophisticated receiver signal processing, any remaining multipath is currently removed by antenna siting and azimuth/elevation masking. As urban development around airports and monitoring installations continues, these solutions may not suffice and more aggressive but cost-effective mitigation technologies are needed. This article explores the application of correlator beamforming as a potential solution. Unlike traditional multielement beamforming that requires a separate receiver front-end for each antenna element, correlator beamforming time multiplexes the received signals and performs beamforming as part of receiver correlation processing. This article shows that the multipath mitigation performance of correlator beamforming significantly exceeds a geodetic antenna and approaches that of traditional multi-element beamforming. The results presented are relevant for all GNSS monitoring applications.