ALBERT

Description: Global Positioning System (Global Positioning System) measurements in China indicate that crustal shortening accommodates most of India's penetration into Eurasia. Deformation within the Tibetan Plateau and its margins, the Himalaya, the Altyn Tagh, and the Qilian Shan, absorbs more than 90% of the relative motion between the Indian and Eurasian plates. Internal shortening of the Tibetan plateau itself accounts for more than one-third of the total convergence. However, the Tibetan plateau south of the Kunlun and Ganzi-Mani faults is moving eastward relative to both India and Eurasia. This movement is accommodated through rotation of material around the eastern Syntaxis. The North China and South China blocks, east of the Tibetan Plateau, move coherently east-southeastward at rates of 2 to 8 millimeters per year and 6 to 11 millimeters per year, respectively, with respect to the stable Eurasia.

Description: The Chinese BeiDou Navigation Satellite System has provided a global-coverage service since 27 December 2018. Eighteen BD3 MEO satellites have been launched into space during 2017 and 2018. The signal constitution has been redesigned and four open service signals are used for transmission, including B1I, B1C, B2a and B3I. This paper focuses on the signal performance, Precise Orbit Determination (POD) and the atomic clock’s frequency stability issues of the BD3 satellites. The satellite-induced code bias issue found in BD2 satellites multipath combination has been proven to be eliminated in BD3 satellites. However, the pseudorange code of B1C is much noisier than that of other three frequencies, which may be related to the signal constitution and power distribution, as the minimum received power levels on the ground of B1C is 3 dB lower than that of the B2a signal. Similar results were achieved by the Ionosphere-Free combination residuals in POD using four signals, B1I-B3I, B1I-B2a, B1C-B3I and B1C-B2a, and the phase residual of B1C-B2a combination performed best. Considering the noise amplitude and compatibility with other GNSS (Global Navigation Satellite System), the B1C-B2a combination is recommended in priority for precise GNSS data processing. GFIFP combinations were also implemented to evaluate the inter-frequency phase bias of the four signals. The experimental results showed that the systematic signal with an amplitude of about 2 cm could be found in the GFIFP series. In addition, multi-GNSS POD was performed and analyzed as well, using about a hundred global-distributed IGS and iGMAS stations. Furthermore, the atomic clock’s frequency stability was estimated using the parameters of clock bias calculated in POD and the Overlap Allan Deviations showed that the frequency stability of BD3 reached approximately 2.43 × 10−14 at intervals of 10,000 s and 2.51 × 10−15 at intervals of 86,400 s, which was better than that of the GPS BLOCK IIF satellites but worse than that of Galileo satellites.

Description: The fusion of visual and inertial measurements for motion tracking has become prevalent in the robotic community, due to its complementary sensing characteristics, low cost, and small space requirements. This fusion task is known as the vision-aided inertial navigation system problem. We present a novel hybrid sliding window optimizer to achieve information fusion for a tightly-coupled vision-aided inertial navigation system. It possesses the advantages of both the conditioning-based method and the prior-based method. A novel distributed marginalization method was also designed based on the multi-state constraints method with significant efficiency improvement over the traditional method. The performance of the proposed algorithm was evaluated with the publicly available EuRoC datasets and showed competitive results compared with existing algorithms.

Description: The characteristics of the improved Atomic Frequency Standard (AFS) operated on the latest BeiDou-3 experimental satellites are analyzed from day-of-year (DOY) 254 to 281, of the year 2017, considering the following three aspects: stability, periodicity, and prediction precision. The two-step method of Precise Orbit Determination (POD) is used to obtain the precise clock offsets. We presented the stability of such new clocks and studied the influence of the uneven distribution of the ground stations on the stability performance of the clock. The results show that the orbit influence on the Medium Earth Orbit (MEO) clock offsets is the largest of three satellite types, especially from 3 × 10 3 s to 8.64 × 10 4 s. Considering this orbit influence, the analysis shows that the Passive Hydrogen Maser (PHM) clock carried on C32 is approximately 2.6 × 10 − 14 at an interval of 10 4 , and has the best stability for any averaging intervals among the BeiDou satellite clocks, which currently achieves a level comparable to that of the PHM clock of Galileo, and the rubidium (Rb) clocks of Global Positioning System (GPS) Block IIF. The stability of the improved Rb AFS on BeiDou-3 is also superior to that of BeiDou-2 from 3 × 10 2 s to 3 × 10 3 s, and comparable to that of Rb AFS on the Galileo. Moreover, the periodicity of the PHM clock and the improved Rb clock are presented. For the PHM clock, the amplitudes are obviously reduced, while the new Rb clocks did not show a visible improvement, which will need further analysis in the future. As expected, the precision of the short-term clock prediction is improved because of the better characteristics of AFS. The Root Mean Square (RMS) of 1-h clock prediction is less than 0.16 ns.

Description: To meet the real-time and low power consumption demands in MEMS navigation and guidance field, an improved Kalman filter algorithm for GNSS/INS was proposed in this paper named as one-step prediction of matrix. Quantitative analysis of field test datasets was made to compare the navigation accuracy with the standard algorithm, which indicated that the degradation caused by the simplified algorithm is small enough compared to the navigation errors of the GNSS/INS system itself. Meanwhile, the computation load and time consumption of the algorithm decreased over 50% by the improved algorithm. The work has special significance for navigation applications that request low power consumption and strict real-time response, such as cellphone, wearable devices, and deeply coupled GNSS/INS systems.

Description: The variometric approach is investigated to measure real-time seismic waves induced by the 2015 Mw 7.8 Nepal earthquake with high-rate multi-GNSS observations, especially with the contribution of newly available BDS. The velocity estimation using GPS+BDS shows an additional improvement of around 20% with respect to GPS-only solutions. We also reconstruct displacements by integrating GNSS-derived velocities after a linear trend removal (IGV). The displacement waveforms with accuracy of better than 5 cm are derived when post-processed GPS precise point positioning results are used as ground truth, even if those stations have strong ground motions and static offsets of up to 1-2m. GNSS-derived velocity and displacement waveforms with the variometric approach are in good agreement with results from strong motion data. We therefore conclude that it is feasible to capture real-time seismic waves with multi-GNSS observations using the IGV enhanced variometric approach, which has critical implications for earthquake early warning, tsunami forecasting and rapid hazard assessment.

Description: Using GNSS observable from some stations in the Asia-Pacific area, the carrier-to-noise ratio (CNR) and multipath combinations of BeiDou Navigation Satellite System (BDS), as well as their variations with time and/or elevation were investigated and compared with those of GPS and Galileo. Provided the same elevation, the CNR of B1 observables is the lowest among the three BDS frequencies, while B3 is the highest. The code multipath combinations of BDS inclined geosynchronous orbit (IGSO) and medium Earth orbit (MEO) satellites are remarkably correlated with elevation, and the systematic “V” shape trends could be eliminated through between-station-differencing or modeling correction. Daily periodicity was found in the geometry-free ionosphere-free (GFIF) combinations of both BDS geostationary Earth orbit (GEO) and IGSO satellites. The variation range of carrier phase GFIF combinations of GEO satellites is −2.0 to 2.0 cm. The periodicity of carrier phase GFIF combination could be significantly mitigated through between-station differencing. Carrier phase GFIF combinations of BDS GEO and IGSO satellites might also contain delays related to satellites. Cross-correlation suggests that the GFIF combinations’ time series of some GEO satellites might vary according to their relative geometries with the sun.

Description: There is always a need to extract more accurate regional common mode component (CMC) series from coordinate time series of Global Positioning System (GPS) stations, which would be of great benefit to describe the deformation features of the Earth’s surface with more reliability. For this purpose, this paper combines all 11 International Global Navigation Satellite System (GNSS) Service (IGS) stations in China with over 70 stations selected from the Crustal Movement Observation Network of China (CMONOC) to compute CMC series of IGS stations by using a principal component analysis (PCA) method under cases of one whole region and eight sub-regions. The comparison results show that the percentage of first-order principal component (PC1) in North, East and Up components increase by 10.8%, 16.1% and 25.1%, respectively, after dividing the whole China region into eight sub-regions. Meanwhile, Root Mean Square (RMS) reduction rates of residual series that have removed CMC also improve obviously after partitioning. In addition, we compute displacements of these IGS stations caused by environmental loadings (including atmospheric pressure loading, non-tidal oceanic loading and hydrological loading) to analyze their contributions to the non-linear variation in GPS coordinate time series. The comparison result shows that the method we raise, PCA filtering in sub-regions, performs better than the environmental loading corrections (ELCs) in improving the signal-to-noise ratio (SNR) of GPS coordinate time series. This paper raises new criteria for selecting appropriate CMONOC stations around IGS stations when computing sub-regional CMC, involving three criteria of interstation distance, geology and self-condition of stations themselves. According to experiments, these criteria are implemental and effective in selecting suitable stations, by which to extract sub-regional CMC with higher accuracy.

Description: Star trackers are currently the most accurate spacecraft attitude sensors. As a result, they are widely used in remote sensing satellites. Since traditional charge-coupled device (CCD)-based star trackers have a limited sensitivity range and dynamic range, the matching process for a star tracker is typically not very sensitive to star brightness. For active pixel sensor (APS) star trackers, the intensity of an imaged star is valuable information that can be used in star identification process. In this paper an improved brightness referenced star identification algorithm is presented. This algorithm utilizes the k-vector search theory and adds imaged stars’ intensities to narrow the search scope and therefore increase the efficiency of the matching process. Based on different imaging conditions (slew, bright bodies, etc.) the developed matching algorithm operates in one of two identification modes: a three-star mode, and a four-star mode. If the reference bright stars (the stars brighter than three magnitude) show up, the algorithm runs the three-star mode and efficiency is further improved. The proposed method was compared with other two distinctive methods the pyramid and geometric voting methods. All three methods were tested with simulation data and actual in orbit data from the APS star tracker of ZY-3. Using a catalog composed of 1500 stars, the results show that without false stars the efficiency of this new method is 4~5 times that of the pyramid method and 35~37 times that of the geometric method.