Onboard Global Navigation Satellite System Research Articles

Integrated precise orbit determination of GPS, BDS, and partial satellites selected from LEO constellation

Traditional precise orbit determination (POD) for Global Navigation Satellite System (GNSS) typically relies on a considerable number of global ground stations. The rapid development of large Low Earth Orbit (LEO) communication constellations in recent years presents an opportunity for integrated POD of LEO and GNSS satellites. The participation of abundant observations from onboard GNSS receivers in GNSS POD can significantly enhance the orbit precision, availability, and integrity of GNSS satellites. However, the improvement in orbit precision comes with a notable increase in computation time when a substantial number of LEO satellites are involved. In this study, we propose a method for selecting LEO satellites based on the LEO geometric dilution of precision (LGDOP) value. By identifying the LEO satellite combination corresponding to the minimum LGDOP, partial LEO satellites evenly distributed are selected from the entire LEO constellation. Using the semi-realistic simulation approach, only onboard observations of the LEO constellation are simulated to enhance GPS and BDS POD. The average accuracy of orbit determination for simulated LEO satellites is 2.27 cm in 3D directions, comparable to FengYun-3 but inferior to GRACE-FO. When onboard observations from 10 LEO satellites, selected using the minimum LGDOP method, participate in the integrated POD, the orbit precision can be improved by 10 %-14 % compared with the sequence selection method. Consequently, the LGDOP selection method optimizes the distribution of LEO satellites and demonstrates superior effectiveness in enhancing GPS and BDS POD with an equivalent number of LEO satellites. Involving 20–30 LEO satellites in the solution can enhance the orbit precision of GPS and BDS satellites by approximately 40 % and 80 % for global and regional ground stations, respectively. Increasing the number of participating LEO satellites further does not significantly improve the GPS and BDS orbit precision but does notably increase the computation time, which exceed 12 h for regional stations and 14 h for global stations. Thus, selecting approximately 20–30 LEO satellites using the proposed method effectively balances orbit determination precision and computation efficiency.

Principles and methods of creating artificial vegetation cover on disturbed industrial lands

Biological reclamation is used to restore technogenically disturbed landscapes. Plant characteristics are important when choosing a plant assortment for the restoration of degraded areas. The purpose of this work was to study the principles and methods of creating artificial vegetation cover on disturbed industrial lands. Before carrying out biological reclamation, the surface was finished and a layer of potentially fertile soil layers with a capacity of at least 1 m and a fertile soil layer with a capacity of at least 0,5 m was applied. Before starting work, the quality of the seed material and its value were determined. Soil improvers (sapropel, latex, microorganisms, cellulose mulch) and biologics (TOP organic, complex of rhizospheric bacteria, hydrogel) were used for planting herbaceous and woody shrubby plants. After carrying out the hydraulic sowing activities, field germination of the seed was monitored every 10 days. Aerial photography was performed with an RGB camera using unmanned aerial vehicles of the DJI Phantom 4 Pro+ model with an on-board Global Navigation Satellite System receiver installed. It was found that the use of a biological product based on a complex of rhizospheric bacteria activated the processes of seed germination in experimental plots. Such activation made it possible to obtain productive bushiness of perennial crops in the early stages, due to which the area of vegetation covering the experimental site increased. The addition of hydrogel and TOP organic with a weight of 2 kg also had a positive effect on seed germination and plant survival. A comparative analysis of all experimental parameters revealed that the most effective projective coating of the site was obtained with the combined use of hydrogel and the preparation TOR-organic. At the same time, a further increase in the mass fraction of hydrogel in the substrate does not significantly affect the result of the creation of artificial vegetation cover on disturbed industrial lands.

Demand and key technology for a LEO constellation as augmentation of satellite navigation systems

A Low Earth Orbit (LEO) constellation augmenting satellite navigation is important in the future development of Global Navigation Satellite System (GNSS). GNSS augmented by LEO constellations can improve not only the accuracy of Positioning, Navigation, and Timing (PNT), but also the consistency and reliability of secure PNT system. This paper mainly analyzes the diverse demands of different PNT users for LEO augmented GNSS, including the precision demand in real-time, the availability demand in special areas, the navigation signal enhancement demand in complex electromagnetic environments, and the integrity demand with high security. Correspondingly, the possible contributions of LEO constellations to PNT performance are analyzed from multiple aspects. A particular attention is paid to the special PNT user requirements that cannot be fulfilled with existing GNSS, such as the PNT service demand in the polar regions and the onboard GNSS orbit determination demand of some LEO satellites. The key technologies to be considered in the constellation design, function realization, and payload development of the LEO-augmented navigation system are summarized.

The impact of oblique images and flight‐planning scenarios on the accuracy of UAV 3D mapping

AbstractThe developments in lightweight unmanned aerial vehicles (UAVs) and structure‐from‐motion (SfM)‐based software have opened a new era in 3D mapping which is notably cost‐effective and fast, though the photogrammetric blocks lead to systematic height error due to inaccurate camera calibration parameters particularly when the ground control points (GCPs) are few and unevenly distributed. The use of onboard Global Navigation Satellite System (GNSS) receivers (such as RTK‐ or PPK‐based devices which use the DGNSS technique) to obtain the accurate coordinates of camera perspective centres has reduced the need for ground surveys, nevertheless, the aforementioned systematic error was reported in the UAV photogrammetric blocks. In this research, three flight‐planning scenarios with oblique imagery in addition to the traditional nadir block were evaluated and processed with four different processing cases. Therefore, 16 various blocks with different overlaps, direct and indirect georeferencing approaches as well as flight‐planning scenarios were tested to examine and offer the best imaging network. The results denote that the combination of oblique images located on a circle in the centre of the block with the nadir block provides the best self‐calibration functionality and improves the final accuracy by 50% (from 0.163 to 0.085 m) for direct georeferenced blocks and by 40% (from 0.042 to 0.026 m) for indirect georeferenced blocks.

Absolute and relative POD of LEO satellites in formation flying: Undifferenced and uncombined approach

Absolute or relative precise orbit determination (POD) is an essential prerequisite for many low earth orbit (LEO) missions. The POD of LEO satellites typically relays on processing the onboard global navigation satellite system (GNSS) measurements. The absolute POD is usually based on an ionosphere-free (IF) combination, and currently, integer ambiguity resolution (IAR) can be achieved only when external GNSS satellite phase bias (SPB) products are used. The use of these products is not flexible in multi-frequency/multi-constellation scenarios and is difficult to achieve in real-time missions. For relative POD, the double-differenced (DD) with IAR is the most general method. However, the differencing process amplifies observation noise and loses the opportunity to impose dynamic constraints on some eliminated parameters. In this contribution, based on the use of undifferenced and uncombined (UDUC) observations, a new model for both absolute and relative POD is proposed. In this model, the ambiguities of common-view satellites are constructed into DD form, thus IAR can be achieved without any external SPB products. Working with the UDUC observations, multi-frequency scenarios can be easily applied, and residuals can be separated for each frequency. In addition, with precise GNSS satellite clock/orbit products, both the absolute and relative orbits can be derived, which supports absolute and relative LEO POD. Based on onboard GPS observations of T-A and T-B satellites in formation flying, the performance of the UDUC POD model with DD ambiguity was evaluated. With the UDUC algorithm and IAR, the proposed model presented a consistency of 2.8–3.8 cm in 3D with the reference orbits, and the orbit difference was reduced by 16.3% and 10.6% for T-A and T-B compared with the IF-based POD, respectively. In addition, the relative orbit of the two satellites derived from the proposed model showed a consistency of 1.1–1.5 mm, which proved the feasibility of the UDUC POD model with DD ambiguity for formation flying missions.

Improving topside ionospheric empirical model using FORMOSAT-7/COSMIC-2 data

The precise description of the topside ionosphere using an ionospheric empirical model has always been a work in progress. The NeQuick topside model is greatly enhanced by adopting radio occultation data from the FORMOSAT-7/COSMIC-2 constellation. The topside scale height H formulation in the NeQuick model is simplified into a linear combination of an empirically deduced parameter H0 and a gradient parameter g. The two-dimensional grid maps for the H0 and g parameters are generated as a function of the foF2 and hmF2 parameters. Corrected H0 and g values can be interpolated easily from two grid maps, allowing a more accurate description of the topside ionosphere than the original NeQuick model. The improved NeQuick model (namely NeQuick_GRID model) is statistically validated by comparing it to Total Electron Content (TEC) integrated from COSMIC-2 electron density profiles and space-borne TEC derived from onboard Global Navigation Satellite System observations, respectively. The results show that the NeQuick_GRID model can reduce relative errors by 38% approximately when compared to the integrated TEC from COSMIC profiles and by 15% approximately when compared to the space-borne TEC. Furthermore, a long-term statistical analysis during years of both high and low solar activities reveals that grid maps of the scale factor H0 and the gradient parameter g have very similar features, allowing rapid and efficient acquisition of high-precision electron density during different solar activity.

Study of Ionospheric Bending Angle and Scintillation Profiles Derived by GNSS Radio-Occultation with MetOp-A Satellite

In this work, a dedicated campaign by MetOp-A satellite is conducted to monitor the ionosphere based on radio-occultation (RO) measurements provided by the onboard GNSS (Global Navigation Satellite System) Receiver for Atmospheric Sounding (GRAS). The main goal is to analyze the capabilities of the collected data to represent the bending angle and scintillation profiles of the ionosphere. We compare the MetOp-A products with those generated by other RO missions and explore the spatial/temporal distributions sensed by the MetOp-A campaign. Validation of dual frequency bending angles at the RO tangent points, S4 index, and Rate of the Total electron content Index (ROTI) is performed against independent products from Fengyun-3D and FORMOSAT-7/COSMIC-2 satellites. Our main findings constitute the following: (1) bending angle profiles from MetOp-A agree well with Fengyun-3D measurements; (2) bending angle distributions show a typical S-shape variation along the altitudes; (3) signatures of the sporadic E-layer and equatorial ionization anomaly crests are observed by the bending angles; (4) sharp transitions are observed in the bending angle profiles above ~200 km due to the transition of the daytime/nighttime in addition to the transition of the bottom-side/top-side; and (5) sporadic E-layer signatures are observed in the S4 index distributions by MetOp-A and FORMOSAT-7/COSMIC-2, with expected differences in magnitudes between the GPS (Global Positioning System) L1 and L2 frequencies.

A method and its validation for measuring the absolute time-delay of the read-out system of a space electrostatic accelerometer.

High-precision accelerometers play an important role in satellite gravity field missions to measure the non-conservative forces acting on the satellites. To map the Earth's gravity field, the accelerometer data must be time-tagged using the on-board global navigation satellite system time reference. For example, in the Gravity Recovery and Climate Experiment mission, the time-tag error of the accelerometers must be within 0.1ms with respect to the satellite clock. To realize this requirement, the time delay between the actual measurement time and the nominal time of the accelerometer should be considered and corrected. This paper presents the techniques for measuring the absolute time delay of an electrostatic accelerometer on the ground, where this delay is mainly introduced by the low-noise scientific data read-out system, which is based on a Σ-Δ (sigma-delta) analog-to-digital converter (ADC). First, the time-delay sources of the system are theoretically analyzed. Then, a time-delay measurement method is proposed, and its principle and system error are presented. Finally, a prototype is built to demonstrate and investigate the feasibility of the method. Experimental results show that the absolute time delay of the read-out system is 150.80 ± 0.04ms. This important value is the basis for the final time-tag error correction of the scientific accelerometer data. Meanwhile, the time-delay measurement method described in this paper is also useful for other data acquisition systems.

Analysis of the Determination of the Accuracy Parameter for Dual Receivers Based on EGNOS Solution in Aerial Navigation

Abstract The paper presents the results of research on the determination of the accuracy parameter for European Geostationary Navigation Overlay System (EGNOS) positioning for a dual set of on-board global navigation satellite system (GNSS) receivers. The study focusses in particular on presenting a modified algorithm to determine the accuracy of EGNOS positioning for a mixed model with measurement weights. The mathematical algorithm considers the measurement weights as a function of the squared inverse and the inverse of the position dilution of precision (PDOP) geometrical coefficient. The research uses actual EGNOS measurement data recorded by two on-board GNSS receivers installed in a Diamond DA 20-C airplane. The calculations determined the accuracy of EGNOS positioning separately for each receiver and the resultant value for the set of two GNSS receivers. Based on the conducted tests, it was determined that the mixed model with measurement weights in the form of a function of the inverse square of the PDOP geometrical coefficient was the most efficient and that it improved the accuracy of EGNOS positioning by 37%–63% compared to the results of position errors calculated separately for each GNSS receiver.

Precise orbit determination for a large LEO constellation with inter-satellite links and the measurements from different ground networks: a simulation study

Geodetic applications of Low Earth Orbit (LEO) satellites requires accurate satellite orbits. Instead of using onboard Global Navigation Satellite System observations, this contribution treats the LEO satellite constellation independently, using Inter-Satellite Links and the measurements of different ground networks. Due to geopolitical and geographical reasons, a ground station network cannot be well distributed. We compute the impact of different ground networks (i.e., global networks with different numbers of stations and regional networks in different areas and latitudes) on LEO satellite orbit determination with and without the inter-satellite links. The results are based on a simulated constellation of 90 LEO satellites. We find that the orbits determined using a high latitude network is worse than using a middle or low latitude network. This is because the high latitude network has a poorer geometry even if the availability of satellite measurements is higher than for the other two cases. Also, adding more stations in a regional network shows almost no improvements on the satellite orbits if the number of stations is more than 16. With the help of ISL observations, however, the satellite orbits determined with a small regional network can reach the same accuracy as that with the global network of 60 stations. Furthermore, satellite biases can be well estimated (less than 0.6 mm) and have nearly no impact on satellite orbits. It does thus not matter if they are not physically calibrated for estimating precise orbits.

Accuracy Examination of the SDCM Augmentation System in Aerial Navigation

The paper presents a modified algorithm for determining the accuracy parameter of the system for differential corrections and monitoring (SDCM) navigation solution in air navigation. For this purpose, a solution to determine the resultant accuracy parameter was proposed by using two on-board global navigation satellite system (GNSS) receivers. The mathematical algorithm takes into account the calculation of a single point positioning accuracy for a given GNSS receiver and a weighting factor combining the position error values. The weighting factor was determined as a function of the number of tracked GNSS satellites used in the SDCM single point positioning solution. The resultant accuracy parameter was expressed in ellipsoidal coordinates BLh (B—latitude, L—longitude, h—ellipsoidal height). The study used GNSS kinematic data recorded by two on-board receivers: Trimble Alloy and Septentrio AsterRx2i, located in a Diamond DA 20-C1 aircraft. The test flight was performed near the city of Olsztyn in north-eastern Poland. Calculations and analyses were performed using RTKLIB software and the Scilab environment. On the basis of the performed tests, it was found that the proposed algorithm for SDCM system allows for improvement in the determination of the resultant accuracy value by 56–80% in relation to the results of position errors from a single GNSS receiver. Additionally, the proposed algorithm was tested for the European Geostationary Navigation Overlay Service (EGNOS) system, and in this case, the improvement in the accuracy parameter was even better and was in the range of 69–89%. The resulting SDCM and EGNOS positioning accuracy met the International Civil Aviation Organization (ICAO) certification requirements for SBAS systems in air navigation. The mathematical algorithm developed in this work was tested positively and can be implemented within the SBAS augmentation system in air navigation.

Performance assessment of real-time orbit determination for the Haiyang-2D using onboard BDS-3/GPS observations

The Global Navigation Satellite System (GNSS) receivers equipped on the Haiyang-2D (HY-2D) satellite is capable of tracking the signals of both the third generation of BeiDou satellite navigation System (BDS-3) and the Global Positioning System (GPS), which make it feasible to assess the performance of real-time orbit determination (RTOD) for the HY-2D using onboard GNSS observations. In this study, the achievable accuracy and convergence time of RTOD for the HY-2D using onboard BDS-3 and GPS observations are analyzed. Benefiting from the binary-offset-carrier (BOC) modulation, the BDS-3 C1X signal includes less noise than the GPS C1C signal, which has the same signal frequency and chipping rate. The root mean squares (RMS) of the noises of C1X and C1C code measurements are 0.579 m and 1.636 m, respectively. Thanks to a ten-times higher chipping rate, the code measurements of BDS-3 C5P, GPS C1W and C2W are less noisy. The RMS of code noises of BDS-3 C5P, GPS C1W, and C2W are 0.044 m, 0.386 m, and 0.272 m, respectively. For the HY-2D orbit, the three-dimensional (3D) and radial accuracies can reach 31.8 cm and 7.5 cm with only BDS-3 observations, around 50 % better than the corresponding accuracies with GPS. Better performance of the BDS-3 in RTOD for the HY-2D is attributed to the high quality of its broadcast ephemeris. When random parameters are used to absorb ephemeris errors, substantial improvement is seen in the accuracy of HY-2D orbit with either BDS-3 or GPS. The 3D RMS of HY-2D orbit errors with BDS-3 and GPS are enhanced to 23.1 cm and 33.6 cm, and the RMS of the radial components are improved to 6.1 cm and 13.3 cm, respectively. The convergence time is 41.6 and 75.5 min for the RTOD with BDS-3 and GPS, while it is reduced to 39.2 and 27.4 min after the broadcast ephemeris errors are absorbed by random parameters. Overall, the achievable accuracy of RTOD with BDS-3 reaches decimeter level, which is even better than that with GPS, making real-time navigation using onboard BDS-3 observations a feasible choice for future remote sensing missions.

Integrated kinematic precise orbit determination and clock estimation for low Earth orbit satellites with onboard and regional ground observations

Many low Earth orbit (LEO) satellite constellations have been designed in recent years to provide global broadband Internet services. These constellations provide opportunities for LEO satellites to serve as navigation satellites by launching navigation signals while also being equipped with an onboard global navigation satellite system (GNSS) receiver. We propose a kinematic precise orbit determination (KPOD) and precise clock estimation (PCE) approach for LEO satellites by integrating regional ground observations and onboard observations of LEO satellites. By taking into account the LEO satellite clock bias, this approach can demonstrate the contributions of the ground and onboard observations of LEO satellites to the orbit and clock results, respectively. A composite LEO satellite constellation consisting of 168 satellites and observations from regional ground stations and LEO satellite onboard receivers are simulated considering the LEO satellite clock bias to verify the proposed approach. The results indicate that the convergence time of LEO satellite orbit determination can reach 9.38 min with the integrated KPOD (IKPOD) method, which is a reduction of 24.0% compared with the traditional KPOD method. However, the additional improvement in the LEO satellite orbit accuracy after convergence is very limited. The average root mean square (RMS) and standard deviation (STD) values of all LEO satellite clocks using the integrated PCE (IPCE) method with the participation of LEO satellite onboard observations can reach 0.27 ns and 0.15 ns, respectively. The improvements in the average RMS and STD are 42.6% and 60.5%, respectively, compared with the ground LEO PCE method. The convergence time and accuracy of LEO/GNSS precise point positioning can be improved by 44.6%, 48.3%, 26.7%, and 20.4% in the east, north, and up directions, respectively, using LEO satellite orbits and clocks from the IKPOD and IPCE methods compared with KPOD and PCE.

Orbit Determination for All-Electric GEO Satellites Based on Space-Borne GNSS Measurements

Orbit accuracy of the transfer orbit and the mission orbit is the basis for the orbit control of all-electric-propulsion Geostationary Orbit (GEO) satellites. Global Navigation Satellite System (GNSS) simulation data are used to analyze the main factors affecting GEO satellite orbit prediction accuracy under the no-thrust condition, and an electric propulsion calibration algorithm is designed to analyze the orbit determination and prediction accuracy under the thrust condition. The calculation results show that the orbit determination accuracy of mission orbit and transfer orbit without thrust is better than 10 m using onboard GNSS technology. The calibration accuracy of electric thrust is about 10−9 m/s2 and 10−7 m/s2 with 40 h and 16 h arc length, respectively, using the satellite self-positioning data of 100 m accuracy to calibrate the electric thrust. If satellite self-positioning data accuracy is at the 10 m level, the electric thrust calibration accuracy can be improved by about one order of magnitude, and the 14-day prediction accuracy of the transfer orbit with thrust is better than 1 km.

On the 3D Reconstruction of Coastal Structures by Unmanned Aerial Systems with Onboard Global Navigation Satellite System and Real-Time Kinematics and Terrestrial Laser Scanning

A wide variety of hard structures protect coastal activities and communities from the action of tides and waves worldwide. It is fundamental to monitor the integrity of coastal structures, as interventions and repairs may be needed in case of damages. This work compares the effectiveness of an Unmanned Aerial System (UAS) and a Terrestrial Laser Scanner (TLS) to reproduce the 3D geometry of a rocky groin. The Structure-from-Motion (SfM) photogrammetry technique applied on drone images generated a 3D point cloud and a Digital Surface Model (DSM) without data gaps. Even though the TLS returned a 3D point cloud four times denser than the drone one, the TLS returned a DSM which was not representing about 16% of the groin (data gaps). This was due to the occlusions encountered by the low-lying scans determined by the displaced rocks composing the groin. Given also that the survey by UAS was about eight time faster than the TLS, the SFM-MV applied on UAS images was the most suitable technique to reconstruct the rocky groin. The UAS remote sensing technique can be considered a valid alternative to monitor all types of coastal structures, to improve the inspection of likely damages, and to support coastal structure management.

Improved Single-Frequency Kinematic Orbit Determination Strategy of Small LEO Satellite with the Sun-Pointing Attitude Mode

Kinematic orbit determination (KOD) of low earth orbit (LEO) satellites only using single-frequency global navigation satellite system (GNSS) data is a suitable solution for space applications demanding meter-level orbit precision. For some small LEO satellites with the sun-pointing attitude mode, the rotation of the GNSS antenna radiation pattern changes the observation noise characteristics. Since the rotation angle information of the antenna plane may not be available for most low-cost missions, the true elevation cannot be computed and a general elevation-dependent weighting model remains invalid for the onboard GNSS observations. Furthermore, the low-stability GNSS receiver clock oscillator of the LEO satellite at high speeds makes single-frequency cycle slip detection ineffective and difficult since the clock steering events occur frequently. In this study, we investigated the improved KOD strategy to improve the performance of orbit solution using single-frequency GPS and BeiDou navigation satellite system (BDS) observations collected from the Luojia-1A satellite. The weighting model based on exponential function and signal strength is proposed according to the analysis of satellite attitude impact, and a joint single-frequency detection algorithm of receiver clock jump and cycle slip is investigated as well. Based on the GPS/BDS-combined KOD results, it is demonstrated that the clock jump and cycle slip can be properly detected and observations can be effectively utilized with the proposed weighting model considering satellite attitude, which significantly improves the availability and accuracy of orbit solution. The number of available epochs is increased by 12.9% benefitting from this strategy. The orbital root mean square (RMS) precision improvements in the radial, along-track, and cross-track directions are 22.1%, 16.4%, and 6.5%, respectively. Combining BDS observations also contributes to orbit precision improvement, which reaches up to 28.8%.

Accuracy assessment of direct georeferencing UAV images with onboard global navigation satellite system and comparison of CORS/RTK surveying methods

Inexpensive and small unmanned aerial vehicles (UAVs) provide high-accuracy positional data and enable users to collect high-resolution aerial images. The analysis of images captured using UAVs in a specific reference system is traditionally accomplished using the georeferencing method with high-accuracy ground control points (GCPs). This study aims to test and compare the benchmarks and point clouds’ positional accuracy produced on three consecutive days with different flight combinations at 75 and 100 m flight altitude by means of network-based continuously operating reference stations and differential-based real-time kinematic georeferencing systems without using GCPs. A root mean squared error values were obtained 1–3 cm for the horizontal accuracy and 4–6 cm for the vertical accuracy values. Thus, the proposed system proved an acceptable positional accuracy level. According to the results of the proposed approach, it can be said that the evaluation and use of UAV data without using GCPs is within an adequate range for various mapping purposes.

Photogrammetry Using UAV-Mounted GNSS RTK: Georeferencing Strategies without GCPs

Georeferencing using ground control points (GCPs) is the most common strategy in photogrammetry modeling using unmanned aerial vehicle (UAV)-acquired imagery. With the increased availability of UAVs with onboard global navigation satellite system–real-time kinematic (GNSS RTK), georeferencing without GCPs is becoming a promising alternative. However, systematic elevation error remains a problem with this technique. We aimed to analyze the reasons for this systematic error and propose strategies for its elimination. Multiple flights differing in the flight altitude and image acquisition axis were performed at two real-world sites. A flight height of 100 m with a vertical (nadiral) image acquisition axis was considered primary, supplemented with flight altitudes of 75 m and 125 m with a vertical image acquisition axis and two flights at 100 m with oblique image acquisition axes (30° and 15°). Each of these flights was performed twice to produce a full double grid. Models were reconstructed from individual flights and their combinations. The elevation error from individual flights or even combinations yielded systematic elevation errors of up to several decimeters. This error was linearly dependent on the deviation of the focal length from the reference value. A combination of two flights at the same altitude (with nadiral and oblique image acquisition) was capable of reducing the systematic elevation error to less than 0.03 m. This study is the first to demonstrate the linear dependence between the systematic elevation error of the models based only on the onboard GNSS RTK data and the deviation in the determined internal orientation parameters (focal length). In addition, we have shown that a combination of two flights with different image acquisition axes can eliminate this systematic error even in real-world conditions and that georeferencing without GCPs is, therefore, a feasible alternative to the use of GCPs.

Applications of GIS-Based Software to Improve the Sustainability of a Forwarding Operation in Central Italy

Reducing potential soil damage due to the passing of forest machinery is a key issue in sustainable forest management. Limiting soil compaction has a significant positive impact on forest soil. With this in mind, the aim of this work was the application of precision forestry tools, namely the Global Navigation Satellite System (GNSS) and Geographic Information System (GIS), to improve forwarding operations in hilly areas, thereby reducing the soil surface impacted. Three different forest study areas located on the slopes of Mount Amiata (Tuscany, Italy) were analyzed. Extraction operations were carried out using a John Deere 1410D forwarder. The study was conducted in chestnut (Castanea sativa Mill.) coppice, and two coniferous stands: black pine (Pinus nigra Arn.) and Monterey pine (Pinus radiata D. Don). The first stage of this work consisted of field surveys collecting data concerning new strip roads prepared by the forwarder operator to extract all the wood material from the forest areas. These new strip roads were detected using a GNSS system: specifically, a Trimble Juno Sb handheld data collector. The accumulated field data were recorded in GIS Software Quantum GIS 2.18, allowing the creation of strip road shapefiles followed by a calculation of the soil surface impacted during the extraction operation. In the second phase, various GIS tools were used to define a preliminary strip road network, developed to minimize impact on the surface, and, therefore, environmental disturbance. The results obtained showed the efficiency of precision forestry tools to improve forwarding operations. This electronic component, integrated with the on-board GNSS and GIS systems of the forwarder, could assure that the machine only followed the previously-planned strip roads, leading to a considerable reduction of the soil compaction and topsoil disturbances. The use of such tool can also minimize the risks of accidents in hilly areas operations, thus allowing more sustainable forest operations under all the three pillars of sustainability (economy, environment and society).

Real-Time Kinematic Precise Orbit Determination for LEO Satellites Using Zero-Differenced Ambiguity Resolution

The rapid growing number of earth observation missions and commercial low-earth-orbit (LEO) constellation plans have provided a strong motivation to get accurate LEO satellite position and velocity information in real time. This paper is devoted to improve the real-time kinematic LEO orbits through fixing the zero-differenced (ZD) ambiguities of onboard Global Navigation Satellite System (GNSS) phase observations. In the proposed method, the real-time uncalibrated phase delays (UPDs) are estimated epoch-by-epoch via a global-distributed network to support the ZD ambiguity resolution (AR) for LEO satellites. By separating the UPDs, the ambiguities of onboard ZD GPS phase measurements recover their integer nature. Then, wide-lane (WL) and narrow-lane (NL) AR are performed epoch-by-epoch and the real-time ambiguity–fixed orbits are thus obtained. To validate the proposed method, a real-time kinematic precise orbit determination (POD), for both Sentinel-3A and Swarm-A satellites, was carried out with ambiguity–fixed and ambiguity–float solutions, respectively. The ambiguity fixing results indicate that, for both Sentinel-3A and Swarm-A, over 90% ZD ambiguities could be properly fixed with the time to first fix (TTFF) around 25–30 min. For the assessment of LEO orbits, the differences with post-processed reduced dynamic orbits and satellite laser ranging (SLR) residuals are investigated. Compared with the ambiguity–float solution, the 3D orbit difference root mean square (RMS) values reduce from 7.15 to 5.23 cm for Sentinel-3A, and from 5.29 to 4.01 cm for Swarm-A with the help of ZD AR. The SLR residuals also show notable improvements for an ambiguity–fixed solution; the standard deviation values of Sentinel-3A and Swarm-A are 4.01 and 2.78 cm, with improvements of over 20% compared with the ambiguity–float solution. In addition, the phase residuals of ambiguity–fixed solution are 0.5–1.0 mm larger than those of the ambiguity–float solution; the possible reason is that the ambiguity fixing separate integer ambiguities from unmodeled errors used to be absorbed in float ambiguities.