Kinematic Global Positioning System Research Articles

Performance of kinematic GPS PPP AR under different ionospheric scintillation conditions

To analyze the performance of Global Positioning System (GPS) Precise Point Positioning (PPP) Ambiguity Resolution (AR) under various ionospheric scintillation environments, we selected GPS data of ionospheric scintillation monitoring receivers (ISMR) and geodetic receivers from high-latitude and low-latitude regions during 2021–2023. We conducted GPS Kinematic PPP using Canadian Spatial Reference System (CSRS) PPP and used the maximum and average values of σφ and S4 as indicators to characterize the intensity of phase scintillation and amplitude scintillation for ISMRs, while the maximum and average values of Rate of Total Electron Content Index (ROTI) to characterize the intensity of ionospheric scintillation for geodetic receivers. We also used ambiguity resolved percentage (ARP) and the 3-Dimensional Root Mean Square (3D RMS) of positioning errors as performance metrics for PPP-AR and PPP. As the maximum and average values of ionospheric scintillation indices increase, the PPP-ARP for high-latitude ISMRs decreases to 90.0 %, and the 3D RMS can reach 0.204 m. During ionospheric quiet conditions, positioning accuracy of GPS PPP can reach the cm-mm level. As the geomagnetic latitude decreases, the scintillation effects on PPP-AR and PPP become more pronounced for high-latitude ISMRs. Compared with high-latitudes, ISMRs located at low-latitudes are more severely affected by scintillation, with PPP-ARP at the station HNLW in China and the station UFBA in Brazil dropping to 80.0 % and 60.0 %, respectively. The 3D RMS can reach 0.288 m and 0.341 m. The results of geodetic receives are consistent with those of ISMRs, with 3D RMS of positioning errors up to 0.240 m and 0.256 m for CYNE and MAL2, respectively, while PPP-ARP drops to 60.4 % and 79.6 %. Additionally, we observed a strong positive correlation between ionospheric scintillation duration and the maximum values of σφ, S4 and ROTI.

Roles of Exposure Time and Geochemical Factors in the Characteristics of the Surface Sediments of the Hwangdo Tidal Flat, Taean, Cheonsu Bay, West Coast of Korea

The Hwangdo tidal flat is an intertidal landform located in Cheonsu Bay, Taean-gun, Chungcheongnam-do, on the west coast of Korea. The topographical characteristics of the semi-enclosed bay on the eastern side of the study area include waterways, sandbars, small islands, and tidal flats. In this study, data were acquired from tide gauges installed on the Hwangdo Bridge, and the height of the ellipsoid was measured using a real-time kinematics global positioning system (RTK-GPS). Digital elevation model (DEM) using Matrice 300 drone data were also acquired after processing. The geochemical sediment characteristics in the study area were analyzed, together with tidal-flat exposure-time characteristics based on environmental factors. Sediment data (n = 107) collected from October 25 to 28, 2022 (Korean local time) were used to classify sediment particles according to Folk and Ward (1957). Sedimentary facies ranged from coarse sand (sand:mud ratio = 9:1) to sandy silt (sZ) followed by muddy sand (mS) and slightly gravelly sandy mud ((g)sM). Total organic carbon (TOC) in the surface sediments was also characterized based on a particle-size analysis. The mean change in tidal height measured at Hwangdo Bridge during the sampling period was ~7.53 m (minimum: −3.86 m, maximum: +3.67 m). Based on the Boryeong’s sea level measurement tide data in 2022, the tidal area in the drone images ranged from 6.362 m2 (0.006 km2) at DEM +4.0 to 4,841,078 m2 (4.841 km2) at DEM −4.0 m, indicating an increase in the tidal-flat area according to the tidal level of up to ~800-fold. The daily average exposure time was 9.0 h (minimum: 1.5 h, maximum: 17.9 h). Based on the results of multivariate analysis using exposure times and a geochemical dataset, four groups were identified: upper, middle, and lower intertidal zones and regions with a relatively high organic-matter concentration. A determination of the main characteristics of the Hwangdo tidal flat according to their spatial distribution showed that, among various environmental factors, changes in the sand or clay sediment composition were determined by community factors. The results of this study demonstrate the four statistically processed groups of marine environmental characteristics in the Hwangdo tidal flats. Changes in sedimentary patterns, rather than in the exposure time, accounted for the differences in the sediment compositions of the upper, middle, and lower stations, a response that is expected to continue.

Utilizing Drone-Based Ground-Penetrating Radar for Crime Investigations in Localizing and Identifying Clandestine Graves.

The decomposition of a body is influenced by burial conditions, making it crucial to understand the impact of different conditions for accurate grave detection. Geophysical techniques using drones have gained popularity in locating clandestine graves, offering non-invasive methods for detecting surface and subsurface irregularities. Ground-penetrating radar (GPR) is an effective technology for identifying potential grave locations without disturbance. This research aimed to prototype a drone system integrating GPR to assist in grave localization and to develop software for data management. Initial experiments compared GPR with other technologies, demonstrating its valuable applicability. It is suitable for various decomposition stages and soil types, although certain soil compositions have limitations. The research used the DJI M600 Pro drone and a drone-based GPR system enhanced by the real-time kinematic (RTK) global positioning system (GPS) for precision and autonomy. Tests with simulated graves and cadavers validated the system's performance, evaluating optimal altitude, speed, and obstacle avoidance techniques. Furthermore, global and local planning algorithms ensured efficient and obstacle-free flight paths. The results highlighted the potential of the drone-based GPR system in locating clandestine graves while minimizing disturbance, contributing to the development of effective tools for forensic investigations and crime scene analysis.

Exploring distinct types of intertidal bars on either side of a small estuary using a multifaceted approach

Multiple intertidal bars are common sedimentary landforms found on low-gradient sandy coasts exposed to low to moderate wave energy with a significant tidal range. However, studying the factors that influence their morphology can be challenging due to limited high-resolution field data and tools for bedform analysis. To address this, a multifaceted approach was used to investigate the morphology of intertidal bars at two adjacent tidal beaches on the north and south coasts of a small estuary on the Lianyungang coast of China. This approach included repeated real-time kinematic-global positioning system (RTK-GPS) leveling, unmanned aerial vehicle (UAV) surveys, surface sediment sampling, satellite remote sensing analysis, and automated bedform analysis. The study revealed two distinct types of intertidal bars on either side of the estuary with similar hydrodynamic settings. The north coast presented low-amplitude ridges (also called ridges and runnels), while the south coast had sand waves. The north coast displayed 2–5 oblique, asymmetrical, and dynamic bars that appeared at the seaward end of the intertidal zone and migrated landward to eventually attach to the steep beach on the landward end of the intertidal zone, representing a life cycle. The south coast had 6–9 parallel, continuous, symmetrical, and stable sand bars occupying the lower part of the intertidal zone. Due to the nearly identical hydrodynamic background, the alongshore variability in sediment supply is suggested as a key factor driving the formation of distinct types of bars.

Potential of Precise Fertilization through Adoption of Management Zones Strategy to Enhance Wheat Production

The variability in soil properties and crop yield can be overcome by adoption of smart farming practices through interpolation and mapping of spatial variability patterns. Geospatial technologies can be utilized to determine the cause of spatial variability in fields for site-specific application of fertilizer. This study was designed to quantify and identify the spatial variation in soil properties and wheat (Triticum aestivum L.) yield and to delineate prescription maps for precise application of fertilizer in a semi-arid subtropical region of Pakistan. To examine the variability in soil properties on the production of the considered crop, this study comprised two different fields and each field was divided into (20 × 20 m) grids. The samples of soil were collected at 15 cm and 30 cm soil depths before the fertilization to analyze the different soil characteristics i.e., nitrogen (N), electrical conductivity (EC), potassium (K), soil organic matter (SOM), phosphorus (P), and pH. The boundaries of selected fields and grid points were established with a real-time kinematics-global positioning system (RTK-GPS). The soil data were acquired with a soil proximal sensor at a depth of 7 cm after fertilization. The statistical analysis coefficient of variation (CV), geostatistical-analysis-nugget-to-sill ratio (N:S), and the interpolated maps (ArcGIS pro 2.3) were used to characterize the least to moderate variability of soil parameters and yield, demanding site-specific management of fertilizer application. Cluster analysis was conducted using Minitab 21, which classified soil and yield characteristics into five categories: “very good”, “very low”, “good”, “poor”, and “medium”, with an external heterogeneity and internal homogeneity both more than 60%. Significant relationships (p < 0.05) between soil and crop properties were used to develop the management zones (MZs) for the precise application of fertilizer in wheat fields. Significant differences (p < 0.05) in soil nutrients were found in the very high and very low productivity zones at both sampling times, which suggest delineating the MZs for precise application of fertilizer according to the need of crop and soil properties. The results revealed that the optimum number of MZs for the wheat fields was five and there was heterogeneity in the soil nutrients in five MZs. The findings of this study also highlight the necessity of predicting the crop and soil factors by using precision technologies to develop the prescription maps, because sampling and analysis of soil are expensive and time-consuming. Based on the demand of the soil and crops, site-specific fertilization can increase economic and environmental efficiency.

Coarse-to-fine visual autonomous unmanned aerial vehicle landing on a moving platform

Autonomous unmanned aerial vehicle (UAV) landing is a challenging task, especially on a moving platform in an unstructured environment. Under such a scenario, successful UAV landing is mainly affected by poor UAV localization performance. To solve this problem, we propose a coarse-to-fine visual autonomous UAV landing system based on an enhanced visual positioning approach. The landing platform is marked with a specially designed QR code marker, which is developed to improve the landing accuracy when the UAV approaches the landing site. Besides, we employ the you only look once framework to enhance the visual positioning accuracy, thereby promoting the landing platform detection when the UAV is flying far away. The framework recognizes the QR code and decodes the position of a UAV by the corner points of the QR code. Further, we use the Kalman filter to fuse the position data decoded from the QR code with those from the inertia measurement unit sensor. Then, the position data are used for UAV landing with a developed hierarchical landing strategy. To verify the effectiveness of the proposed system, we performed experiments in different environments under various light conditions. The experimental results demonstrate that the proposed system can achieve UAV landing with high accuracy, strong adaptability, and robustness. In addition, it can achieve accurate landing in different operating environments without external real-time kinematic global positioning system (RTK-GPS) signals, and the average landing error is 11.5 cm, which is similar to the landing error when using RTK-GPS signals as the ground truth.

Short-term dynamics of a high energy embayed beach: Stanwell Park, NSW, Australia

The three-dimensional variability of the subaerial beach is examined for Stanwell Park Beach, New South Wales (NSW), Australia. This embayed environment has previously been studied over long time scales (decades), but not over shorter time scales (days, weeks). Embayed beaches experience rotation events during which opposite accretion and erosion patterns are observed at the extremities of the beach. To analyse this phenomenon, the beach is mapped with 10 Real-Time Kinematic Global Positioning System (RTK-GPS) surveys collected from 10th February 2016 to 14th May 2016. This study aims to examine short-term changes (days, weeks) to the morphology of the subaerial beach of Stanwell Park Beach and any factors that may influence its behaviours. We show that a short-time beach rotation event occurs over one month, caused by a large eastern swell. However, swell with a southern direction generates rip current channels on the subaerial beach face. During this particular event, the amount of sediment transported is lower than during beach rotation events. Furthermore, Stanwell Park Beach has two lagoons that can open to discharge water accumulated in these lagoons. We show that during heavy rainfall, the lagoons open, transporting sediment in surf zone and thus causing erosion. This study provides a clear demonstration of the sensitivity of embayed beaches to short-term variability in wave climate.

Design and Experimental Study on an Innovative UAV-LiDAR Topographic Mapping System for Precision Land Levelling

Topographic maps provide detailed information on variations in ground elevation, which is essential for precision farmland levelling. This paper reports the development and experimental study on an innovative approach of generating topographic maps at farmland-level with the advantages of high efficiency and simplicity of implementation. The experiment uses a low-altitude Unmanned Aerial Vehicle (UAV) as a platform and integrates Light Detection and Ranging (LiDAR) distance measurements with Post-Processing Kinematic Global Positioning System (PPK-GNSS) coordinates. A topographic mapping experiment was conducted over two fields in Henan Province, China, and primitive errors of the topographic surveying data were evaluated. The Root Mean Square Error (RMSE) between elevation data of the UAV-LiDAR topographic mapping system and ground truth data was calculated as 4.1 cm and 3.6 cm for Field 1 and Field 2, respectively, which proved the feasibility and high accuracy of the topographic mapping system. Furthermore, the accuracies of topographic maps generated using different geo-spatial interpolation models were also evaluated. The results showed that a TIN (Triangulated Irregular Network) interpolation model expressed the best performances for both Field 1 with sparse topographic surveying points, and Field 2 with relatively dense topographic surveying points, when compared with other interpolation models. Moreover, we concluded that as the spatial resolution of topographic surveying points is intensified from 5 m × 0.5 m to 2.5 m × 0.5 m, the accuracy of the topographic map based on the TIN model improves drastically from 7.7 cm to 4.6 cm. Cut-fill analysis was also implemented based on the topographic maps of the TIN interpolation model. The result indicated that the UAV-LiDAR topographic mapping system could be successfully used to generate topographic maps with high accuracy, which could provide instructive information for precision farmland levelling.

Impact of Field Topography and Soil Characteristics on the Productivity of Alfalfa and Rhodes Grass: RTK-GPS Survey and GIS Approach

Understanding the spatial pattern of soil chemical properties along with the topologic indicators is essential for site-specific agriculture management. A study was conducted on a 50 ha field to investigate the effect of selected topographic indicators, including elevation (DEM), slope (SL), flow accumulation (FA) and Topographic Wetness Index (TWI) on forage crop production. The soil samples and yield data were obtained from the field inventory. Topographical parameters of elevation and slope were estimated with the use of a real-time kinematic global positioning system (RTK-GPS), and then the DEM was generated. The collected soil samples were analyzed for pH, EC, nitrogen and soil organic carbon. Sentinel-2 images were for the creation of yield maps of alfalfa and Rhodes grass. Subsequently, on the basis of DEM, the generated elevation, slope and FA model were then compared with the yield and soil chemical properties. Statistical analysis revealed that the SL, FA and TWI, which are associated with water distribution, were significantly related to crop yields. The FA showed a medium-to-non-significant correlation with the productivity of both alfalfa (R2 = 0.586; p = 0.015) and Rhodes grass (R2 = 0.578; p = 0.01). A significant inverse correlation was recorded between the SL and the yield of both crops (R2 = −0.591 to −0.617; p = 0.01). The yield map revealed that the majority of the area (37.56%) of the experimental field was occupied by the medium-yield class, followed by the high-yield class (33.03%).

Morphological changes and dynamic mechanism of blowouts on fixed dunes in the Otingdag sandy land, China

<p indent="0mm">Blowouts are a major indicator of fixed dune reactivation, and their continuous occurrence and expansion aggravate the process of regional desertification. Therefore, research on the morphological evolution and dynamic processes of blowouts is paramount not only to understanding reactivation processes in stabilized and semistabilized dune fields but also to accurately assessing regional desertification trends. At present, much research has focused on blowouts in coastal dunes and flat grasslands, and little research has focused on the evolution mode of blowouts that have developed on fixed dunes in semiarid inland areas. Moreover, the morphological changes and airflow dynamics of blowouts are usually analyzed separately, and research integrating the two is still insufficient. In this paper, a fixed dune on the southern edge of the Otingdag sandy land was selected as the research object. A high precision real-time kinematic global positioning system (RTK-GPS) and 17 2D ultrasonic anemometers were used to measure the topography and airflow of four blowouts with different morphologies on the fixed dunes, and the multiperiod imaging data and multiyear meteorological data were used to monitor the morphological changes of each type of blowout and the regional meteorological conditions. The goal of this research is to reveal the morphological evolution, erosion-accumulation characteristics and airflow distribution patterns of each type of blowout and to discuss the relationship among the topography of fixed dunes, morphology of various blowouts and airflow variation. The results showed that the length, width and area of each type of blowout continued to increase from 2010 to 2021, and the overall shapes of each type of blowout tend to be oval or trough-shaped. The expansion direction of the blowout shape has a general corresponding relationship with the erosion-accumulation pattern in the deflation basin. The eastern and southeastern edges of the deflation basins are the most severely eroded, and their overall shapes expand from west to east. Relative to the wind direction of the field reference station, the approaching wind direction of the blowouts hardly deflects at the foot of the windward slope of the fixed dune, while it deflects significantly at the middle and top of the fixed dune, and the deflection angle changes with the regional wind direction. Both the blowout shapes and the approaching wind directions determine the airflow pattern within the blowouts. Based on a detailed analysis of both the regional climate and the morphological changes in blowouts, this study considered that the effect of the topography of fixed dunes on regional airflow could be the fundamental reason for the morphological differences in blowouts. The shape of blowouts determines the airflow pattern in the deflation basin, and the change in the wind speed and wind direction in turn affects the erosion-accumulation pattern and finally changes the evolution direction of blowouts. The research results can act as a good supplement for studying blowouts in semiarid inland areas.

Volumetric change analysis of the Cauvery delta topography using radar remote sensing

Geomorphology refers to the study of the Earth’s physical land surface features. Digital Elevation Model (DEM) is a digital imagery where each pixel represents elevation value above or below mean sea level. The availability of DEM allows analysis of landscape morphology and related processes in terms of geomorphometry. DEM of Difference (DoD) techniques are used to estimate the elevation variations and volumetric changes over time. The volumetric change of terrain in the Cauvery delta (CD) for the past two decades is estimated using DoD algorithm by utilizing freely available moderate spatial resolution SRTM, PALSAR and Sentinel 1A DEMs which are derived by radar remote sensing technique. A detailed assessment of individual DEM’s errors and propagating errors into the DoD are estimated using the field elevation points measured by Real-Time Kinematic (RTK) Global Positioning System (GPS). The default errors in the SRTM, PALSAR and Sentinel 1A DEMs are observed with Root Mean Square Error (RMSE) of 3.33, 3.11 and 3.04 m respectively. The erosion and accretion rates determined are 25 and 30 million m3 / decade correspondingly. The total volume of sediment load due to erosion and accretion is 50 and 60 million m3 respectively during 2000–2020. Further the net area affected due to deposition (69 %) is higher than the total area affected due to erosion (30%). This study presents decadal sediment budget and rate of annual change due to erosion/accretion in the CD.

A Geological Environment Characteristics Dataset of Tidal Flat Surface Sediments: A 2021 Pilot Study of the Gomso Bay Tidal Flat Area to Use of Sediment Type Data

The Gomso Bay tidal flat is located between Buan-gun and Gochang-gun in Jeollabuk-do, Korea; it is a semi-closed bay in an area where tides prevail over waves. Tidal flats are mainly found south of Gochang-gun, and the main stream located north of the tidal flats is about 15 m deep and 900 m wide at low tide. Limited direct sampling is necessary for analyzing the geological environment of intertidal tidal flats, depending on the expected ebb-tide time and the number of survey items allowed for tidal flat access. This study assessed field measurement and laboratory analysis items for obtaining and establishing geological environment data to use of sediment type data in a pilot research area in the Gomso Bay tidal flat. Thirty sites were examined on June 22 and 24, 2021 (survey time about 3.5 hours for the 2 days). The field measurements were the sample date (year/month/day/hour/minute), ellipsoid height using a real-time kinematics global positioning system (RTK GPS) (m), shear strength (kg/cm&lt;sup&gt;2&lt;/sup&gt;), and Munsell color. Samples for particle size (phi, Φ), specific density, porosity (%), moisture content (%), total organic carbon (%), total carbon (%) and total nitrogen (%) were placed in zipper bags and polypropylene (PP) bottles. The sedimentary phases were classified following Folk and Ward (1957), the organic matter was characterized based on particle size analysis and each experimental result was verified. In the future, a geological environment characteristics dataset based on this pilot study will be used as basic data to assess changes in the tidal flat topography and sedimentation environment. It should be useful data for research, tidal flat environment conservation management and free open data for users of related researchers.

Very Early Postseismic Deformation Following the 2015 Mw 8.3 Illapel Earthquake, Chile Revealed From Kinematic GPS

AbstractThe very early phase of postseismic deformation spanning the first few hours is difficult to capture using daily Global Positioning System (GPS) and interferometric synthetic aperture radar. Using kinematic GPS instead, we analyzed the surface deformation that occurred during the first 3 days immediately after the 2015 Mw 8.3 Illapel earthquake. Particularly, the displacements at station PFRJ reached 2–3 cm during the first 2 hr, and grew to 6.1 cm after 12 hr from the origin time. We hence imaged the afterslip evolution by inverting kinematic GPS and found that the very early afterslip was mainly concentrated around the hypocenter. The early afterslip evolved to be distributed along three main slip zones along the strike, which was complementary to the coseismic slip zones in space. The location of aftershocks was highly consistent with the spatiotemporal evolution of early afterslip, suggesting that the occurrence of aftershocks may be influenced by afterslip in the very early postseismic period.

An AR Geo-Registration Algorithm for UAV TIR Video Streams Based on Dual-Antenna RTK-GPS

In emergency response and disaster rescue, unmanned aerial vehicles (UAVs) onboard thermal infrared (TIR) sensors are an essential means of acquiring ground information in the nighttime working environment. To enable field personnel to make better decisions based on TIR video streams returned from a UAV, the geographic information enhancement of TIR video streams is required. At present, it is difficult for low-cost UAVs to carry high-precision attitude sensors and thus obtain high-precision camera attitude information to meet the enhanced processing requirements of UAV TIR video streams. To this end, this paper proposes an improved Kalman filter algorithm to improve the geographic registration (geo-registration) accuracy by fusing the positioning and heading data from the dual-antenna real-time kinematic global positioning system (RTK-GPS) with onboard internal measurement unit (IMU) data. This method can yield high-precision position and attitude data in real time based on low-cost UAV hardware, based on which high-precision geo-registration results can be obtained. The computational complexity can be reduced compared with video stream feature tracking algorithms. Furthermore, the problem of unstable matching due to the low resolution and texture level of TIR video streams can be avoided. The experimental results prove that the proposed method can reduce the registration error by 66.15%, and significantly improve the geo-registration accuracy of UAV TIR video streams. Thus, it can strongly support the popularization and practicality of the application of augmented reality (AR) technology to low-cost UAV platforms.

Imaging evolution of Cascadia slow-slip event using high-rate GPS

The slip history of short-term slow slip event (SSE) is typically inferred from daily Global Positioning System (GPS) data, which, however, cannot image the sub-daily processes, leaving the underlying mechanisms of SSEs elusive. To address the temporal resolution issue, we attempted to employ the kinematic subdaily GPS analysis, which has never been applied to SSE studies because its signal-to-noise ratio has been believed too low. By carefully post-processing sub-daily positions to remove non-tectonic position fluctuation, our 30-min kinematic data clearly exhibits the transient motion of a few mm during one Cascadia SSE. A spatiotemporal slip image by inverting the 30-min data exhibits a multi-stage evolution; it consists of an isotropic growth of SSE followed by an along-strike migration and termination within the rheologically controlled down-dip width. This transition at the slip growth mode is similar to the rupture growth of regular earthquakes, implying the presence of common mechanical factors behind the two distinct slip phenomena. The comparison with a slip inversion of the daily GPS demonstrates the current performance and limitation of the subdaily data in the SSE detection and imaging. Better understanding of the non-tectonic noise in the kinematic GPS analysis will further improve the temporal resolution of SSE.

Testing Patch, Helix and Vertical Dipole GPS Antennas with without Choke Ring Frame

Abstract: The antenna is the connecting part between Global Positioning System (GPS) satellite and receiver, and it works on transferring the satellite signal propagation to the receiver with minimum interruption. This is beside the main role that GPS antenna can play for accurate and precise positioning. High quality GPS antennas have high gain, systematic radiation pattern, Right Hand Circular Polarization (RHCP), and low directivity. Multipath error is a principal error source connected with GPS positioning and it can be mitigated using better antenna design. GPS antennas tend to be provided with choke ring frame for protection from the reflected RHCP electromagnetic waves. In this paper, the performance of three different types of GPS antenna, namely: Microstrip Patch Antenna (MPA), Helix antenna (HA), and Vertical Dipole antenna (VDA), with and without choke ring frame, has been investigated using single frequency GPS receiver. The antennas have been examined under the same GPS environment, including satellites constellation, geometry, and surroundings, with different heights from the ground reflector surface for multipath evaluation. Short base-line kinematic differential code GPS (DGPS) technique has been used for removing and mitigating the main GPS error sources and focusing on multipath effect. Satellite residuals and the quality of the obtained positioning have been considered for evaluating the performance of each antenna. The results have reflected the ability of choke ring frames to improve the performance of the three GPS antennas with different rates in multipath areas, and illustrate the advantages and limitations of each antenna. Keywords: Micro-strip, Patch, Helix, Vertical Dipole, GPS, Choke Ring Antenna, Multipath.

The Advantages and Limitations of Low-Cost Single Frequency GPS/MEMS-Based INS Integration

Global Positioning System (GPS) provides a method for directly obtaining instantaneous position and velocity estimates using satellites-based passive range measurements. GPS is a whole day, all-weather, passive, satellite positioning system. Inertial Navigation System (INS) is a navigation aid system that uses a computer and Inertial Measurement Unite (IMU). IMU includes motion sensors and rotation sensors to continuously calculate relative position, orientation, and velocity. The integration of GPS/INS can help to overcome the limitations of the two systems providing integrated system better than either on a stand-alone basis. The integration of low-cost INS with dual frequency GPS has been widely studied and the same for the integration of tactical grid INS with low-cost GPS. However, during the last a few years, a number of low-cost GPS\low-cost INS integrated systems have been introduced and become popular in various engineering applications. However, reliable investigations into the advantages, limitations and quality of such integration level are still needed and more efforts are required, which will be the focus of this paper. The methodology followed in this paper for evaluating the integration of low-cost GPS/INS sensors depends on evaluating the two sensors individually and comparing the results with the integrated system. The results show that low-cost single frequency GPS receivers are able to provide a comparable accuracy level in both static and kinematic carrier phase differential GPS (DGPS). As for low-cost Micro-Electro-Mechanical System (MEMS)-based IMU, the accelerometers have provided instability comparing to gyros. The performance of gyros can be improved based on modelling the nearly-linear behaviour of the gyro drift. Tests show that the integration of low-cost GPS sensors with MEMS-based INS degrades the quality of gyro measurements and may not add any improvements to the quality of the individual GPS positioning.

Airborne Validation of ICESat-2 ATLAS Data over Crevassed Surfaces and Other Complex Glacial Environments: Results from Experiments of Laser Altimeter and Kinematic GPS Data Collection from a Helicopter over a Surging Arctic Glacier (Negribreen, Svalbard)

The topic of this paper is the airborne evaluation of ICESat-2 Advanced Topographic Laser Altimeter System (ATLAS) measurement capabilities and surface-height-determination over crevassed glacial terrain, with a focus on the geodetical accuracy of geophysical data collected from a helicopter. To obtain surface heights over crevassed and otherwise complex ice surface, ICESat-2 data are analyzed using the density-dimension algorithm for ice surfaces (DDA-ice), which yields surface heights at the nominal 0.7 m along-track spacing of ATLAS data. As the result of an ongoing surge, Negribreen, Svalbard, provided an ideal situation for the validation objectives in 2018 and 2019, because many different crevasse types and morphologically complex ice surfaces existed in close proximity. Airborne geophysical data, including laser altimeter data (profilometer data at 905 nm frequency), differential Global Positioning System (GPS), Inertial Measurement Unit (IMU) data, on-board-time-lapse imagery and photographs, were collected during two campaigns in summers of 2018 and 2019. Airborne experiment setup, geodetical correction and data processing steps are described here. To date, there is relatively little knowledge of the geodetical accuracy that can be obtained from kinematic data collection from a helicopter. Our study finds that (1) Kinematic GPS data collection with correction in post-processing yields higher accuracies than Real-Time-Kinematic (RTK) data collection. (2) Processing of only the rover data using the Natural Resources Canada Spatial Reference System Precise Point Positioning (CSRS-PPP) software is sufficiently accurate for the sub-satellite validation purpose. (3) Distances between ICESat-2 ground tracks and airborne ground tracks were generally better than 25 m, while distance between predicted and actual ICESat-2 ground track was on the order of 9 m, which allows direct comparison of ice-surface heights and spatial statistical characteristics of crevasses from the satellite and airborne measurements. (4) The Lasertech Universal Laser System (ULS), operated at up to 300 m above ground level, yields full return frequency (400 Hz) and 0.06–0.08 m on-ice along-track spacing of height measurements. (5) Cross-over differences of airborne laser altimeter data are −0.172 ± 2.564 m along straight paths, which implies a precision of approximately 2.6 m for ICESat-2 validation experiments in crevassed terrain. (6) In summary, the comparatively light-weight experiment setup of a suite of small survey equipment mounted on a Eurocopter (Helicopter AS-350) and kinematic GPS data analyzed in post-processing using CSRS-PPP leads to high accuracy repeats of the ICESat-2 tracks. The technical results (1)–(6) indicate that direct comparison of ice-surface heights and crevasse depths from the ICESat-2 and airborne laser altimeter data is warranted. Numerical evaluation of height comparisons utilizes spatial surface roughness measures. The final result of the validation is that ICESat-2 ATLAS data, analyzed with the DDA-ice, facilitate surface-height determination over crevassed terrain, in good agreement with airborne data, including spatial characteristics, such as surface roughness, crevasse spacing and depth, which are key informants on the deformation and dynamics of a glacier during surge.

Low-Cost and High-Performance Solution for Positioning and Monitoring of Large Structures.

Systems for accurate attitude and position monitoring of large structures, such as bridges, tunnels, and offshore platforms are changing in recent years thanks to the exploitation of sensors based on Micro-ElectroMechanical Systems (MEMS) as an Inertial Measurement Unit (IMU). Currently adopted solutions are, in fact, mainly based on fiber optic sensors (characterized by high performance in attitude estimation to the detriment of relevant costs large volumes and heavy weights) and integrated with a Global Position System (GPS) capable of providing low-frequency or single-update information about the position. To provide a cost-effective alternative and overcome the limitations in terms of dimensions and position update frequency, a suitable solution and a corresponding prototype, exhibiting performance very close to those of the traditional solutions, are presented and described hereinafter. The solution leverages a real-time Kalman filter that, along with the proper features of the MEMS inertial sensor and Real-Time Kinematic (RTK) GPS, allows achieving performance in terms of attitude and position estimates suitable for this kind of application. The results obtained in a number of tests underline the promising reliability and effectiveness of the solution in estimating the attitude and position of large structures. In particular, several tests carried out in the laboratory highlighted high system stability; standard deviations of attitude estimates as low as 0.04° were, in fact, experienced in tests conducted in static conditions. Moreover, the prototype performance was also compared with a fiber optic sensor in tests emulating actual operating conditions; differences in the order of a few hundredths of a degree were found in the attitude measurements.

On the performance of position-domain sidereal filter for 30-s kinematic GPS to mitigate multipath errors

The noise level of kinematic Global Positioning System (GPS) coordinates is much higher than static daily coordinates. Therefore, it needs to be improved to capture details of small sub-daily tectonic deformation. Multipath is one of the dominant error sources of kinematic GPS, which the sidereal filter can mitigate. With increasing interest in applying kinematic GPS to early postseismic deformation studies, we investigate the characteristics of multipath errors and the performance of the position-domain sidereal filter using 30-s kinematic coordinates with a length of nearly 5 days. Experiments using three very short baselines mostly free from atmospheric disturbances show that multipath signature in position-domain has better repeatability at longer periods, and sidereal filtering without low-pass filtering yields a lift of power spectral density (PSD) at periods shorter than 200 s. These results recommend an empirical practice of low-pass filtering to a sidereal filter. However, a moderate cut-off period maximizes the performance of the sidereal filter because of the smaller multipath signature at longer periods. The amplitude of post-sidereal-filtered fluctuation is less than 6 mm in standard deviation, which demonstrates the nearly lowest noise level of kinematic GPS used for postseismic and other tectonic deformation studies. Our sidereal filter is proven to mitigate several peaks of power spectral density at periods up to 100,000 s, but the period dependency of PSD is not fully alleviated by sidereal filtering, which needs future investigation.Graphical