bernese gnss software: new features in version 5r. dach et al.: bernese gnss software: new features...

R.Dachetal.:Bernese

GNSSSoftware:New

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Documentcompiled:Bern,July

4,2013

Bernese GNSS Software:

New features in version 5.2

R. Dach and theBernese GNSS Software development team

Astronomical Institute, University of Bern, Switzerland

Sidlerstrasse 5, CH-3012 Bern

Bern, July 4, 2013

To all users of the Bernese GNSS Software, Version 5.2that are familiar with the previous version 5.0 .

Slide 1 of 239 Astronomical Institute, University of Bern AIUB

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Bernese GNSS Software:

New features in version 5.2

Preamble:

This collection of slides is intended as a compi-lation of differences of Version 5.2 with respectto Version 5.0 of the Bernese GNSS Software.

It is not focused on a specific application.They do also not claim to completeness.


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Introduction

IntroductionDevelopment of Version 5.2Software Testing for Version 5.2Statistics on Version 5.2Selected New Features in Version 5.2File Format Changes in Version 5.2


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Development of Version 5.2

• Version 5.0 was released in April 2004 (Manual in January 2007).

• Situation in 2010:• The modeling in Version 5.0 is not up–to–date anymore.A new version is urgently needed.

• The development of “Version 6” (fully multi–GNSS capable)made a lot of progress, but is not finalized yet.

• The transfer of most urgent developments from the operationalversion in Bern into version 5.0 is estimated by several months.

• Decision: derive a version 5.2 from the operational version inBernwith the limitation of dual–frequency support for all GNSS.

• Announcement at the EUREF-LAC-Workshop, Warsaw, Poland(November 2010).


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Development of Version 5.2

• Announcement: Dach et al.; 2010: Support from the BerneseSoftware for the EUREF-Reprocessing. EUREF-LAC-Workshop,Warsaw, Poland, November 18-19, 2010.

• Developments: ready by end of 2011

• Software testing: running the new example BPEs on differentLinux distributions using different Fortran compilers; later alsoWindows and Mac was included

• Finalize the Release: Write, review the READMEs and theWeb-page.

• Ready for delivery: BSWMail: 0310 — 18-Dec-2012 — Releaseof the new Bernese Version 5.2


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Software Testing for Version 5.2

• Extensive tests with the following compilers:• G95 (GCC 4.0.3 (g95 0.92!) Jun 24 2009)• GNU Fortran 4.[4..6].x• ifort (IFORT) 10 and 12• Portland pgf90 11.6• Sun Fortran 95 8.6

• Various Linux-distributions tested:• Debian 5.0.7 (32- and 64-bit)• Fedora 14 (32- and 64-bit)• Ubuntu 10 (32-bit) and 11 (64-bit)• OpenSuSE 11.3 (32- and 64-bit)• OpenSuSE 12.1 (64-bit)• Gentoo and RedHat (64-bit)

• Equivalent results for all example–BPEs!!


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Software Testing for Version 5.2

• Windows-Compiler:• Portland pgf90, version 12.10 (32 and 64 bit)• Lahey LF95 7.30• G95 (GCC 4.0.3 (g95 0.92!) Jun 24 2009)

• Windows-Platforms:• Windows XP• Windows Vista• Windows 7• Windows 8

• The Linux-Version may also be installed at OSX (Mac) systems.

• All details on the test results are available athttp://www.bernese.unibe.ch/support/cmp_all_list.php .


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Statistics on Version 5.2

Language, platforms, requirements:

• Programming language is Fortran90.

• It runs on PC/Windows, UNIX, LINUX, MAC.

• Required: Qt-library, Perl.

Development from Version 5.0 to Version 5.2 in numbers:

Number of . . . Version 5.2 Version 5.0. . . programs 99 93 +6. . . subroutines 1 497 1 315 +1 82. . . source code lines 432 326 318 120 +114 206. . . options/keywords 5 451 4 530 +921. . . words in the help 197 058 163 473 +33 585. . . EXAMPLE–file types 53 44 +9


http://www.bernese.unibe.ch/support/cmp_all_list.php

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Selected New Features in Version 5.2

• GLONASS ambiguity resolution (not for all strategies)• estimation of clock corrections from GLONASS data(inter-frequency code biases)

• troposphere modeling: GMF/GPT, VMF1• ionosphere modeling: higher order ionosphere correction• ADDNEQ2: refinement support for regional networks(e.g., repeatability computation with transformation parameters)

• ADDNEQ2: SINEX containing NEQ (instead of COV)• receiver antenna model estimation in ADDNEQ2• implementation of the IERS2010 and IGS standards• automated analysis of time series (FODITS)• ORBGEN: Stochastic pulses for orbit fitting• introducing corrections for atmospheric pressure loading

Complete list, seehttp://www.bernese.unibe.ch/features/features_new.php .


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File Format Changes in Version 5.2

Changed formats

• Station information/problem fileUse program STA2STA to convert these files from version 5.0(format version ”0.00”) to the new format (”1.01” or higher).“Menu>Service>Station information files>Convert stationinformation files”

• Antenna phase center correction fileUse the new program ATX2PCV to read the corrections fromANTEX for all the stations contained in the station informationfile.“Menu>Conversion>ANTEX to Bernese format”


http://www.bernese.unibe.ch/features/features_new.php

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Changed formats (cont.)

• Satellite information fileThe new formatted file is included in the distribution, but youcan also download it fromftp://ftp.unibe.ch/aiub/BSWUSER52/GEN

• Constant and datum information filesFiles extended with the additional records are included in thedistribution, but you can also download them fromftp://ftp.unibe.ch/aiub/BSWUSER52/GEN


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Changed formats (cont.)

• Program input files Use the new input files distributed with thesoftware. You may use “Menu>Configure>Update programinput files” to update your old input files to the new version.Attention: The new input files cannot be displayed with yourmenu from version 5.0 anymore.


ftp://ftp.unibe.ch/aiub/BSWUSER52/GEN

ftp://ftp.unibe.ch/aiub/BSWUSER52/GEN

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New formats without converters

There are several more file formats that have changed from Version5.0 to Version 5.2. The old formats can still be read by the programsbut files stored by the program from Version 5.2 cannot be handledby the Version 5.0 programs.

These file types are:

• Coordinate and velocity files• with more digits• station numbers are not used to identify a station in GPSESTanymore

• double use of station numbers is allowed• more than 1000 stations per file possible• reading routine stops if there is more than one entry per station inthe file


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New formats without converters (cont.)



• Normal equation files• support more data types• contain a statistic per parameters which GNSS or space geodetictechnique did contribute

• separate receiver antenna offsets for each potential GNSS as itwas used in GPSEST

• are written and read in a more efficient way


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New formats without converters (cont.)



• Standard orbit files with extensions in the orbit model description

• Observation (header) files contain a definition which type ofobservation was imported for the first and second frequencyusing RINEX3 observation type identifiers

• DCB files may contain new record types


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New file types

• Grid files(Extension GRD in the GRD directory of the campaign)VMF1 coefficients and station displacement models

• Atmospheric tidal loading(Extension ATL in the STA directory of the campaign)Extraction (done by program GRDS1S2) from a global grid forthe stations to be processed: “Menu>Service>Coordinate tools>Extract atmospheric tidal loading coefficients”

• Gravitational effect of the solid Earth tides on orbits(Extension TPO in $X/GEN directory)To be used by ORBGEN analogue to the corrections for theocean tides


$X/GEN

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New file types (cont.)

• Satellite-/receiver-specific observation type selection(in $X/GEN directory)To select the measurement types from a RINEX2 or a RINEX3observation file to be transferred for the first and secondfrequency into the Bernese formatted observation file

• Bias exchange file(extension BIA in the ORB directory of the campaign)International exchange format for receiver/satellite code andphase biasesRemark: To be implemented as soon as the format description isfinalized.


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New file types (cont.)

• Event list file and Earthquake file(extensions EVL and ERQ in STA directory of the campaign) Tobe used to define a priori events for FODITS and to reportsignificant events from a FODITS analysis (EVL only) “Menu>Service>Coordinate tools>Analysis of time series”

• SLR corrections(extension SLR in the STA directory of the campaign)To provide biases and center of mass corrections for SLRprocessing


$X/GEN

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File types not supported anymore

• All file types prior version 5.0 are not supported anymore, inparticular old normal equation files (extension NEQ), stationrenaming tables (extension STN), receiver/antenna renamingtables (extension TRN), antenna height translation tables(HTR), old abbreviation tables, etc.

• Orbital element files (extension ELE) generated with Version 5.0cannot be integrated by ORBGEN of Version 5.2.


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Overview

Introduction

Technical

Menu

Orbit Programs

Preprocessing Programs

NEQ–Generation: GPSEST

NEQ–Manipulation: ADDNEQ2

FODITS: Time Series Analysis

Service Programs

BPE: Automated Processing


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Technical

TechnicalInternals in the SubroutinesSeveral Compilers in ParallelCompiling the SoftwareUpdating the SoftwareOther News


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Internals in the Subroutines

Within the source code files two important changes have taken placeto reduce the uncertainties during programming:

• All subroutines are MODULES.If they are called by any module they must be included with aUSE–statement.

• This structure leads to a strong interface check for the list ofarguments when calling a subroutine/function.

• All subroutines contain a IMPLICIT NONE.All variables that are needed in the subroutine must be declared.

• The risk for a double use of the same variable for several purposesis reduced.


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Several Compilers in Parallel

It has been established the opportunity to use several compilers inparallel on the same installation of the Bernese GNSS Software.

Benefits:

• AIUB:• Source code can be easily tested with several compilers.

• Users:• Operational transition from one compiler to another one• Performance tests without effecting an operational solution

All compilers listed in the system variable F_VERS_LIST areconsidered by the compilation scripts.


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Several Compilers in Parallel

Consequence for the directory tree:

• $C/LIB/OBJ_xxx:compiled object and module files from each compiler

• $C/LIB/libBERN_xxx.a:individual libraries for each compiler

• $C/PGM/EXE_xxx:sets of executables generated with the compilers

The variable $XG must point to one of the PGM/EXE_xxx–directoriesto select the set of executables to be used for the processing.

In the default setup the variable $XG points to the directory for themain compiler defined by variable $F_VERS:

$XG=$C/PGM/EXE_$F_VERS


F_VERS_LIST

$C/LIB/OBJ_xxx

$C/LIB/libBERN_xxx.a

$C/PGM/EXE_xxx

$XG

PGM/EXE_xxx

$XG

$F_VERS

$XG

$C/PGM/EXE_$F_VERS

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Compiling the Software

With Version 5.2 the Bernese GNSS Software starts to use aMakefile to compile the Fortran Code.

The Makefile consists of two parts:• $X/EXE/Makefile.template contains the compiler options.

• Four sections are defined: f77 and f90 source code and anoperational or debugging mode.

• The compiler is defined via the system variable $F_VERS.• Both a speed–optimized and a debugging version of theexecutables is generated (set the system variable $F_DEBUG to“TRUE” or “FALSE” to generate only one set).

• Updates for the compiler options are available athttp://www.bernese.unibe.ch/support/cmp_all_list.php .

• The second part contains the dependencies between all Fortranmodules of the software package. It is located in theOBJ_xxx–directory.


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# G95# ---ifeq ($(F_VERS),G95)

CPP = cpCPPDEFS =FPPDEFS = -DOS_UNIX -DCMP_G95 -DEPH_$(JPLEPH) -DGRP_$(CGROUP)

F77 = g95FC = g95LD = g95FCVERS = --version | head -n2

ifeq ($(F_DEBUG),YES)FFLAGS = -c -cpp -g -Wall -Wextra -Wno =163 -ftrace=full -fbounds -check \

-I. -I$(C)/LIB/OBJ_$(F_VERS)c -I$(I) $(FC_OPTIONS) -fstaticFCFLAGS = -c -cpp -g -Wall -Wextra -Wno =163 -ftrace=full -fbounds -check \

-I. -I$(C)/LIB/OBJ_$(F_VERS)c -I$(I) $(FC_OPTIONS)# no=163 : Disable warnings about missing intents on format arguments

elseFFLAGS = -c -cpp -O -Wall -ftrace=full \

-I. -I$(C)/LIB/OBJ_$(F_VERS) -I$(I) $(FC_OPTIONS) -fstaticFCFLAGS = -c -cpp -O -Wall -ftrace=full \

-I. -I$(C)/LIB/OBJ_$(F_VERS) -I$(I) $(FC_OPTIONS)endif

LDFLAGS =endif


$X/EXE/Makefile.template

$F_VERS

$F_DEBUG

http://www.bernese.unibe.ch/support/cmp_all_list.php

OBJ_xxx

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The Makefile is generated with a perl script:

makemake.pl -r $C

based on the “USE”–statements in each subroutine.

Four commands are available to compile the source code:CBERN LIB This command compiles all modified Fortran modules

and creates/updates the Bernese core library.CBERN ALL This command also compiles the modified Fortran

programs and links all programs to the Bernese corelibrary.

CBERN COMPLINK This command re-compiles all Fortran source files,creates the Bernese core library and links all programs.

CBERN <SRNAME> This command compiles only the component SRNAME.If other components that are needed by SRNAME havealso been changed they are compiled as well.


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Updating the Software

• Even after the intensive testing of the version 5.2 we expect thatit still contains bugs. They are reported onhttp://www.bernese.unibe.ch/support/ .

• From time to time the bug–fixes and improvements will collectedto a new release of the Bernese GNSS Software, Version 5.2.

• The update utility is included in the $X/EXE/configure.pm(item 2).

• The update utility brings you from your current release level tothe latest one in one step.(different behavior than in version 5.0)


http://www.bernese.unibe.ch/support/

$X/EXE/configure.pm

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Updating the Software

Update procedure:

1. Run $X/EXE/configure.pm (item 2) to download the latestrelease.

2. Compile the new source codeeither with $X/EXE/configure.pm ; item 5or manually using the commands:

> $X/EXE/makemake.pl -r $C> $X/EXE/cbern.pl ALL

3. Run “Menu>Configure>Update program input files” for all userson the $U/PAN and $U/OPT/* directories!

Detailed information can be found in the file

$X/DOC/README_UPDATE.TXT


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Other News

• We assume that the UNIX–version is only used on Linux systems.

• The UNIX/Linux version can also be installed at MacOS systems.

• The distributed executables for Windows systems are nowgenerated with the Portland compiler.(until Version 5.0 Lahey compiler)

With the Portland compiler also 64–bit executables can beprovided.


$X/EXE/configure.pm

$X/EXE/configure.pm

$U/PAN

$U/OPT/*

$X/DOC/README_UPDATE.TXT

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Menu

MenuTechnicalAdjusting the current sessionREADME–FilesKeywords of the Input PanelsSelection FilesRemote Execution of the Menu


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Technical

• The menu has been upgraded to QT4.x .

We have not detected significant differences whatever version ofthe QT4 library is used.

• The basic layout and structure of the menu is still the same as inVersion 5.0.

Nevertheless, some programs in the pull–down menus andsub–menus have slightly been re–organzied and extended tocover the new needs of Version 5.2 .


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Technical

• The “uniline”–element from version 5.0 is now realized on thebasis of the “qtable”–element.


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Adjusting the current session

• The command bar contains two new buttons to increase ordecrease the current session my one day.


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Adjusting the current session

• When opening “Menu>Configure>Set session/compute date” atoday button exists to adjust the current session.


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README–Files

• All README–files are located in the directory$X/DOC/README_*.txt.

• The direct access is possible via “Menu>Help>Readme”


$X/DOC/README_*.txt

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Keywords of the Input Panels

• If you keep the mouse on an input element, the name of thecorresponding keyword is displayed in a message bubble .


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• A variable with the name of the keyword can be used in a spinbox

for flexible defining of values in an automated processing scheme.


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• A variable with the name of the keyword can be used in acombobox for flexible defining of values in an automatedprocessing scheme.


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Selection Files

• “F1_$YD~~” selects a range of coordinate files according to thetime window defined in $U/PAN/MENU_VAR.INP .

• In contrast to “F1_$YD+-” , the program does not stop if files inthe time window are missing.


F1_$YD~~

$U/PAN/MENU_VAR.INP

F1_$YD+-

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Remote Execution of the Menu

If you have to manage Bernese GNSS Software related processingthrough a slow Internet–connection, you may use the menu remotely.

Commend sequence:

• Establish a ssh–tunnel using the port 1234 on both sides:

local > ssh -L 1234: remotehost :1234 user@remotehost

• Launch $XQ/BSWD.pl as a daemon on the remote system:

remote > $XQ/BSWD.pl 1234 &

• Start the menu locally in the “MODEM”–mode:

local > $XQ/menu ’$U/PAN/MENU.INP ’ MODEM localhost 1234

• The system variable $U may only be translated on the remote system.• Since the ssh–tunnel is used you must specify the local port as “entry

into the tunnel” here.


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Orbit Programs

Orbit ProgramsSatellite NumbersPRETABORBGENDEFXTRWhich orbit products?


$XQ/BSWD.pl

$U

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Satellite Numbers

The definition of satellite number assignment has been extended:0. . . 099 GPS

100. . . 199 GLONASS200. . . 299 Galileo300. . . 399 SBAS400. . . 499 BeiDou500. . . 599 QZSS900. . . 949 Active LEOs with GNSS receiver950. . . 999 Passive LEOs, e.g., SLR canon ball satellties

Note, that processing of data from the above listed systems is onlyimplemented and tested to an operational stage for GPS, GLONASS,and active LEOs.Data from the other systems may be introduced for experimentswhere we cannot guarantee the expected functionality.


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PRETAB

• “Center of Mass Corrections” (CMC) forOcean and Atmospheric Tidal Loading

• Attention: exclude satellites with accuracy code =“0”


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ORBGEN

• All components of the CODE–SRP model are listed in the“Satellite information” file

• New set of “General Input Files” for latest IERS/IGS conventions


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ORBGEN

• Flexible selection of “dynamic orbit parameters” according to theapplication (GNSS, LEO, SLR)


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ORBGEN

• Stochastic pulses for orbit integrationAny precise orbit file coming from a Bernese orbit model can be

perfectly represented.


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ORBGEN

Pulses for specific satellites can also be addedin the “Satellite problem” file:

SATELLITE PROBLEM ACTION FROM TO*** * * YYYY MM DD HH MM SS YYYY MM DD HH MM SS

20 4 4 2013 01 16 06 00 0020 4 4 2013 01 16 18 00 00

PROBLEM DESCRIPTION PROBLEM ACTION DESCRIPTION ACTION------------------- ------- ------------------ ------SATELLITE MODELING 4 ADD PULSES IN ORBGEN 4


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DEFXTR

You may specify a maximum RMS of orbit fitting. If the RMS for at least

one satellite exceeds this threshold the program will stop with an error.


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DEFXTR

• The arithmetic mean of the RMS for the orbit fit of all satellitesbelonging to one GNSS is taken as the basis for the arc–split decision.

• Individual limits for different GNSS may be specified.

• Blank input fields mean no arc–split for a specific GNSS.


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DEFXTR

As in previous versions arc–split events are compiled in the “Satelliteproblem” file:

SATELLITE PROBLEM ACTION FROM TO*** * * YYYY MM DD HH MM SS YYYY MM DD HH MM SS-27 4 0 2013 01 01 00 00 00

6 4 0 2013 01 01 00 00 00

PROBLEM DESCRIPTION PROBLEM ACTION DESCRIPTION ACTION------------------- ------- ------------------ ------SATELLITE MODELING 4 SPLIT UP ARCS IN ADDNEQ2 0

SIGNS ARE ONLY RELEVANT FOR LONGARC COMPUTATION USING ADDNEQ2:+ SIGN: FORCE ADDNEQ2 TO PERFORM AN ARCSPLIT (=> NO LONGARC)- SIGN: PREVENT ADDNEQ2 FROM DOING AN ARCSPLIT (=> FORCE LONGARC)

ADDNEQ2 does not concatenate the orbit arcs across such an eventto a long–arc.

Note that arc-split events with negative satellite numbers indicate that no arc-split

event shall be considered by ADDNEQ at this epoch, e.g., because the satellite

was only marginally observed.


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Which orbit products?

Before GPS–week 1702:

• IGS includes three–day orbits from CODE into the combinedfinal product for GPS and GLONASS

After GPS–week 1702:

• IGS includes one–day orbits from CODE into the combined finalproduct for GPS but three–day orbits for GLONASS

Consequence:

• Orbits for unhealthy GPS satellites and for GPS repositioningevents may not be well determined by CODE one–day arcs(typically the only contribution).


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Which orbit products?

Option 1:

• Use IGS orbits but be careful with satellites flagged with anaccuracy code “0”.

Option 2:

• Use CODE orbits which are as complete as possible and with aconsistent good quality for all satellites.

Advantage for option 2:

• complete orbits for all active GNSS satellites

• GPS and GLONASS orbits are fully consistent(No merge of precise orbit files is needed.)

• best consistency with orbit model in the Bernese GNSS Software(in particular important for PPP)


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Preprocessing Programs

Preprocessing ProgramsRNXSMTRXOBV3CODSPPSNGDIFMAUPRP


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RNXSMT

• Direct estimation of Differential Code Biases (DCB)if both observation types are simultaneously in the RINEXobservation file


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RNXSMT

• max. number of observation records (high–rate data processing)• handling some special cases; considering “satellite problem” file• detect/handle clock events (code/phase measurementinconsistencies regarding the receiver clock reading)


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RNXSMT

• verify/determine GLONASS frequency number used by a receiver:

PRN :101 FREQ -NUM: EST 1 EXP 1 FILE: $P/ DCBIONO/RAW/FFMJ0670 .13OPRN :102 FREQ -NUM: EST -4 EXP -4 FILE: $P/ DCBIONO/RAW/FFMJ0670 .13OPRN :103 FREQ -NUM: EST 5 EXP 5 FILE: $P/ DCBIONO/RAW/FFMJ0670 .13O


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RXOBV3

New behavior with “Station information” file:

1. If an equipment change takes place within the interval of thedata to be imported from RINEX, no Bernese observation file iswritten.

2. If a subinterval of the interval of the data to be imported fromRINEX is indicated in section “TYPE 003: HANDLING OFSTATION PROBLEMS”, only the particular interval is ignoredbut the remaining measurements are imported into the Berneseobservation file.Version 5.0: no Bernese observation file was written


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version5.2


4,2013

RXOBV3

3. full check antenna number from RINEX for checking consistencyof individually calibrated antennas

TYPE 002: STATION INFORMATION-----------------------------

STATION NAME ... ANTENNA TYPE ANTENNA SERIAL NBR ANT # ...**************** ... ****************** ******************* ****** ...GANP 11515 M001 ... TRM29659 .00 NONE 999999 ...GANP 11515 M001 ... TRM55971 .00 NONE 37385 37385 ...GANP 11515 M001 ... TRM55971 .00 NONE 37385 37385 ...HERT 13212 M010 ... ASH701946 .2 NONE 999999 ...HERT 13212 M010 ... LEIAT504GG NONE 999999 ...

ANTENNA SERIAL NBR:string for verification in “ANT #” field of RINEX headerANT #:integer number to be used to identify the antenna for the processingin Bernese GNSS Software


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

RXOBV3

We need to distinguish two cases in the “Phase center eccentricities”file:

1. Dataset with individually calibrated antennas (e.g., EPN.ATX)individual other

Observation file: antenna number 999999Phase center file: antenna number 999999Normal equation file: antenna number 999999SINEX file: antenna number —

2. Dataset contains only type–specific calibrations (e.g., IGS.ATX)individual other

Observation file: antenna number 999999Phase center file: 0 0Normal equation file: antenna number 999999SINEX file: — —


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

CODSPP

Nothing to report


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

SNGDIF

• Only stations containing observations from a certain GNSS areincluded in the baseline creation.Make sure that all stations contain at least GPS observations.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

SNGDIF

Only station containing observations from a certain GNSS areincluded in the baseline creation.

Example for application:

1. include only stations with Galileo observations in the baselinecreating

2. save the baseline configuration in a file as “Listing of formedbaselines”

3. restart SNGDIF and introduce the baseline configuration as“Predefined baselines”

4. select GPS as the requested GNSS


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

SNGDIF

• merge ambiguities from (cleaned) Bernese zero–differenceobservation fileswas already a hidden option in version 5.0


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

SNGDIF

• baseline length bonus to obtain a more stable baselineconfigurations from day to day


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

SNGDIF

• add redundant baselines to collect more observations formarginally observed satellitesmight be helpful to compute orbits for all active GNSS satellites


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

MAUPRP

• “AUTO”–mode: optimal selection of the screening algorithm


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

MAUPRP

• “AUTO”–mode: optimal selection of the screening algorithm


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

MAUPRP

COMBINED or BOTH–mode?

• When pre–processing single–frequency data you cannot run theCOMBINED mode. (automatically switched to BOTH–mode)

• COMBINED–mode guarantees only a clean L3;BOTH–mode looks at the original observations L1 and L2.

• AUTO–mode switches between COMBINED– and BOTH–modeaccording to the length of the baseline:

– Max. baseline length to use BOTH mode, longer running inCOMBINED mode.

– MAXION is given for BOTH and COMBINED mode where itlinearly increases between two given baseline lengths.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

MAUPRP

Several internal improvements:

• Kinematic stations can now also be processed in the“BOTH”–mode allowing for single–frequency data.Needs an intensive tuning to distinguish between estimatedposition change and epoch–to–epoch variation in the ionosphere.

• If the polynomial fit of a sequence of observations (MAUPRP 5:Non–parametric screening) removes more than 25% of theobservations of a satellite the data from this satellite iscompletely marked:

SATELLITE #OBS. MARKED SLIPS INIT.SLIPS-----------------------------------------------------------------

2 287 24 15 19 285 116 17 1 << deleted

113 299 42 23 1...


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

MAUPRP

Several internal improvements:• If a sequence of cycle slip corrections results from the algorithmfor one and the same satellite over several epochs themeasurements are not accepted but removed as outliers.

------------------------------------------------------------------------CYCLE SLIPS ACCEPTED IN THIS RUN------------------------------------------------------------------------NUMBER OF SLIPS IN L1: 8NUMBER OF SLIPS IN L2: 50 6 CYCLE SLIPS REMOVED FROM LIST

NUMB TYP N EPOCH SAT FRQ WLF SLIP FRAC RES.L3 IONOS------------------------------------------------------------------------

1 DUA * 34 20 1 1 23. -0.04 -0.005 0.1092 DUA * 2 1 37. -0.04

5 1 -14. -0.17...36 DUA - 1027 7 2 1 -13. -0.04 -0.004 0.011

5 1 13. -0.0337 DUA - 1028 7 2 1 13. -0.05 -0.005 0.034

5 1 -13. -0.0638 DUA - 1029 7 2 1 -13. 0.32 0.035 0.004... 5 1 13. 0.08


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

NEQ–Generation: GPSEST

NEQ–Generation: GPSESTGeneralPrintingElevation–Depending WeightingIonosphereTroposphereLoading CorrectionsClock EstimationEpoch Parameter EstimationSatellite Antenna CorrectionsReceiver Antenna CorrectionsGNSS–Specific Translation ParametersOrbit Determination for GNSS SatellitesOrbit Determination for LEO SatellitesAmbiguities


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

General

• The input panels have been re–organized to smoothly includenew features.

• Only one subroutine for the inversion of normal equations left(before there were six!): SYMINVG.f90.

• The diagonal elements are normalized for inversion for all cases.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

General

The size of all main arrays is estimated and dynamically allocated.

STATISTICS ON PARAMETER DIMENSION:---------------------------------

Dimensions of the parametersParameter , description adjusted default user------------------------------------------------------------------------

MAXLOC: parameters to be processed 908 20000 -- 4.5%MAXFIL: files to be processed 2 250 -- 0.8%MAXSTA: stations involved 1 250 -- 0.4%MAXSAT: satellites involved 53 85 -- 62.4%MAXAMB: ambiguities in an observation file 98 1000 -- 9.8%MAXPAR: parameters simultaneously processed 471 7500 -- 6.3%MAXFLS: files simultaneously processed 2 90 -- 2.2%MAXSAS: satellites simultaneously processed 51 70 -- 72.9%MAXAMP: ambiguities simultaneously processed 98 3500 -- 2.8%MAXSNG: non -zero elements in first design matrix 15 550 -- 2.7%

Example from PPP


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

General

The size of all main arrays is estimated and dynamically allocated.

adjusted: estimated by GPSEST according to the program inputdefault: given as “soft limits” in $I/P_GPSEST.f90

2×default: used as “hard limits”user: input in a hidden input panel

Procedure:

1. GPSEST estimates the value for “adjusted” from the programinput options.

2. The “adjusted” value is compared with the “default” value.a) adjusted < default: no problemb) adjusted > default but adjusted < 2× default: warning

(extreme task but it is assumed as reasonable)c) adjusted > 2× default: error (assumption wrong operation)

3. In case a and b the array is allocated with the “adjusted” size.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

General

• The normal equation is only generated and saved but notinverted.

• The option is only active if a “Normal equation” output file isdefined in panel “GPSEST 2.1” .


$I/P_GPSEST.f90

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Printing

• The huge tables at the end of the GPSEST program output areonly generated on request.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Printing

• Intervals really connected by ambiguity parameters may be displayed.

• Big result parts from the GPSEST program output can be suppressed(assuming that the final solution is generated by ADDNEQ2 anyhow).


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Printing

Intervals connected by ambiguity parameters may be displayed.

TIME INTERVALS CONNECTED BY AT LEAST ONE PHASE OBSERVATION----------------------------------------------------------

SESS FILE STATION NAME 1 FROM TO-----------------------------------------------------------------------2070 1 GANP 11515 M001 2010 -07 -26 00:00:00 2010 -07 -26 23:55:002070 2 HERT 13212 M010 2010 -07 -26 00:00:00 2010 -07 -26 23:55:002070 3 JOZ2 12204 M002 2010 -07 -26 00:00:00 2010 -07 -26 23:55:002070 4 LAMA 12209 M001 2010 -07 -26 00:00:00 2010 -07 -26 23:55:002070 5 MATE 12734 M008 2010 -07 -26 00:00:00 2010 -07 -26 23:55:002070 6 ONSA 10402 M004 2010 -07 -26 00:00:00 2010 -07 -26 22:15:002070 6 ONSA 10402 M004 2010 -07 -26 22:40:00 2010 -07 -26 23:55:002070 7 PTBB 14234 M001 2010 -07 -26 00:00:00 2010 -07 -26 23:55:00

Independent whether these intervals are displayed in the programoutput or not they are used to constrain the reference ambiguity incase of a phase–only zero–difference solution.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Elevation–Depending Weighting

• Two new schemes for elevation–dependent weighting areavailable for option “Elevation-dependent weighting”in panel “GPSEST 3.1: General Options 1”:

Phase measurements Code measurementsNO: All observations are equally weighted. oldCOSZ: Model 1: cos(z)**2 Model 1: cos(z)**2 oldCOS2Z: Model 2: cos(z)**4 Model 2: cos(z)**4 newCOS2C: Model 1: cos(z)**2 Model 2: cos(z)**4 new

• The stronger down–weighting scheme for code observations withlow elevations is intended to reduce the influence of potentialmulti-path on GNSS–results computed from code and phasemeasurements, e.g., receiver/satellite clock corrections — byselecting “COS2C”.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Ionosphere

• As soon as an “Ionosphere model” file is defined in panel“GPSEST 1.1” higher order ionosphere (HOI) corrections are applied.

• For all three components, considered by the Bernese GNSS Software,Version 5.2, scaling factors can be setup in GPSEST.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Troposphere

• Separate input fields for troposphere models regarding microwaveand optical techniques.

• Input field becomes inactive if the troposphere model from a“Troposphere estimates” input file (panel “GPSEST 1.2”) is used.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Troposphere

New troposphere models:

• microwave: GMF/GPT and VMF1/ECMWF

• optical: Mendes-Pavlis


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Troposphere

Two new troposphere gradient models:

• TANZ: MacMillan (1995)

• CHENHER: Chen and Herring (1997)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Troposphere

The estimated troposphere gradients are reported in the resulting“Troposphere estimates (SINEX)” file specified in panel “GPSEST 2.1”:

+TROP/DESCRIPTION*_________KEYWORD_____________ __VALUE(S)_______________________________ELEVATION CUTOFF ANGLE 3SAMPLING INTERVAL 180SAMPLING TROP 3600TROP MAPPING FUNCTION WET GMFSOLUTION_FIELDS_1 TROTOT STDDEV TGNTOT STDDEV TGETOT STDDEV

-TROP/DESCRIPTION*-----------------------------------------------------------------------+TROP/STA_COORDINATES*SITE PT SOLN T __STA_X_____ __STA_Y_____ __STA_Z_____ SYSTEM REMRKGANP A 1 P 3929181.422 1455236.823 4793653.951 IGb08 XYZ...

-TROP/STA_COORDINATES*-----------------------------------------------------------------------+TROP/SOLUTION*SITE ____EPOCH___ TROTOT STDDEV TGNTOT STDDEV TGETOT STDDEVGANP 10:208:00000 2261.4 1.4 0.565 0.062 2.251 0.089GANP 10:208:03600 2261.5 1.0 0.541 0.058 2.152 0.084GANP 10:208:07200 2265.9 1.0 0.516 0.055 2.053 0.078GANP 10:208:10800 2266.0 1.0 0.492 0.051 1.953 0.073GANP 10:208:14400 2267.8 0.9 0.468 0.048 1.854 0.069


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Troposphere

Remarks for using the VMF1 troposphere model:

• Some of the VMF1 coefficients are derived from the ECWMF weathermodel. They are provided in global grid files every 6 hours.

• The grid files can be downloaded fromhttp://ggosatm.hg.tuwien.ac.at/DELAY/GRID/VMFG/yyyy .

• The grids need to be provided in the “Gridded VMF1 coefficients”input file in panel “GPSEST 1.1” .

• The grids are necessary if VMF1 is selected as the troposphere modelor if a “Troposphere estimates” input file based on VMF1 is selected.If VMF1–based troposphere parameters are stored in a normal equationfile the grid files are not needed by ADDNEQ2.


http://ggosatm.hg.tuwien.ac.at/DELAY/GRID/VMFG/yyyy

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Troposphere


• The grid files with VMF1 coefficients are indicated by the keywordVMF1 in the Data types–line.

• All grid files, necessary to cover the full interval of a program run,

• may be specified as separate files or they may be concatenated toone file.

• must have the same spatial resolution.

! Version: 1.0! Source: J. Boehm , TU Vienna (created: 2012 -01 -15)! Data_types: VMF1 (lat lon ah aw zhd zwd)! Epoch: 2012 01 14 12 00 0.0! Scale_factor: 1.e+00! Range/resolution: -90 90 0 360 2 2.5! Comment: http :// ggosatm.hg.tuwien.ac.at/DELAY/GRID/VMFG/90.0 0.0 0.00116032 0.00055520 2.2935 0.018190.0 2.5 0.00116032 0.00055520 2.2935 0.0181

...


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Troposphere


• The VMF1 coefficients based on the predicted ECMWF weather modelcan also be used for GNSS troposphere modeling (in particular forreal–time/near real–time applications). The GNSS–derived results areequivalent to the VMF1 coefficients based on the final ECMWFweather model. Nevertheless, if you are going to re–introducetroposphere estimates you should use the same type of grid.

• Even if the grids with the VMF1 coefficients are available with a veryhigh reliability, a fall back scenario is needed for an operationalprocessing scheme.Attention: ADDNEQ2 may not stack troposphere parameters at theday boundary if different troposphere models are in use — parametersare pre–eliminated “BEFORE STACKING”.

Detailed information can be found in the file $X/DOC/README_VMF.TXT .


$X/DOC/README_VMF.TXT

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Loading Corrections

The grid files – defined for VMF1 coefficients – may also be used tointroduce other corrections provided in grids, e.g., crustaldeformations due to non–tidal loading effects.

To distinguish between the different effects the keyword in theData types–line is essential:

Num. ofData types Content entries INP-file keywordVMF1 VMF1 troposphere model 4 VMF1_FILES

ATM-NT-LOAD atmospheric non-tidal loading 3 ALOAD_FILES

OCN-NT-LOAD ocean non-tidal loading 3 ONTLD_FILES

HYDR-LOAD hydrological effects 3 HLOAD_FILES

These keywords are defined in the module $I/D_GRID.f90 .

This assignment of keywords and number of columns is fixedto avoid (unintentionally) misuse of the different grid files.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Loading Corrections

As soon as a grid–file with loading corrections is specified in one of theinput fields for “gridded loading parameters” (panel “GPSEST 1.2”)the corresponding corrections are applied as time–dependentcorrections to the station coordinates (as done for all tidal effects).

The selected grid–files are reported in the GPSEST program output:

INFORMATION ON VIENNA GRID FILES:--------------------------------

Range of latitude Range of longitudeFilename Type min max step min max step Epoch-------------------------------------------------------------------------------VMF13068.GRD VMF1 -90.0 90.0 2.0 0.0 360.0 2.5 2013 -03 -09 00:00:00...VMF13068.GRD VMF1 -90.0 90.0 2.0 0.0 360.0 2.5 2013 -03 -10 00:00:00APL13068.GRD ATM -NT -LOAD -89.5 89.5 1.0 0.5 359.5 1.0 2013 -03 -09 00:00:00APL13068.GRD ATM -NT -LOAD -89.5 89.5 1.0 0.5 359.5 1.0 2013 -03 -09 06:00:00...

The same rules apply like for the VMF1 corrections regardingresolution of the grid, coverage of the time interval, . . .


VMF1

VMF1_FILES

ATM-NT-LOAD

ALOAD_FILES

OCN-NT-LOAD

ONTLD_FILES

HYDR-LOAD

HLOAD_FILES

$I/D_GRID.f90

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Loading Corrections

• For all three types of loading corrections separate scaling factorscan be introduced.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Loading Corrections

Remarks on scaling factors:

• The scaling factors can be setup per station, per group ofstations (defined via CLU-file), or one parameter for all stations.This parametrization can be changed on normal equation level.

• Three different decompositions can be selected:• three components: Up,North,East• two components: vert.,horizon.• one component: all directions

• The parameter setup is reported in the program output file:

Grid type #fil Scaling factors for stations Components for...-------------------------------------------------------------------------ATM -NT -LOAD 1 one scaling factor for each station for Up ,North ,EastOCN -NT -LOAD 0 no scaling factors are estimatedHYDR -LOAD 0 no scaling factors are estimated


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Loading Corrections

Remarks on scaling factors:

• The scaling factors can be

1. forced to “one”: corrections applied2. forced to “zero”: corrections removed3. freely estimated: validation of the correction by measurements

Several solution types can easily be derived from one normalequation.

• The program handles all correction types in the same way.This offers the opportunity to introduce, e.g., three atmosphericpressure loading models from different sources in GPSEST (withthe three different keywords) and check them on normal equationlevel.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Loading Corrections

Remarks on atmospheric tidal loading (ATL):

• In particular for the atmospheric pressure loading the use ofconsistent tidal and non–tidal parts is essential.

• The tidal component may be extracted from global grids for allstations in one Bernese coordinate file by using the programGRDS1S21 (“Menu>Service>Coordinate tools>Extractatmospheric tidal loading coefficients”) .

• The program needs to update the file with “S1/S2 loadingcoeff.” only if new stations have been added to the processing.

1The core of the program was kindly provided by T. van Dam.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Loading Corrections

• Take in particular care on the “Reference” of the ATLcorrections either “CoF” or “CoM”(consistency to the non–tidal part!)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Clock Estimation

New a priori clocks can be introduced via an input clock RINEX:

• Possible source for satellite clock corrections:Bernese satellite clock input file or input clock RINEX filePriority selection via input options in panel “GPSEST 3.3”


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Clock Estimation

New a priori clocks can be introduced via an input clock RINEX:

• Possible source for receiver clock corrections:Bernese observation files (CODSPP) or input clock RINEX filePriority selection via input options in panel “GPSEST 3.3”


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Clock Estimation

In case of missing satellite or receiver clock corrections:

• interpolation may be enabled according to a given tolerancesee input option in panel “GPSEST 3.3”


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Clock Estimation

J2–corrections (Kouba 2004) may be enabled:

• According to IGS standard these corrections are not applied.

• They are needed if a clock model shall be applied for a satellite clock.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Biases for GLONASS Clock Estimation

• DCB: differential codebiasdifferent hardware delaysfor P– and C–Code

• ISB: inter–system biasdifferent hardware delaysfor measurements ofdifferent GNSS

• IFB: inter–frequencybiasfrequency–dependenthardware delays for thedifferentGLONASS–signals

We can only extract the sum ofdelays from a GPS/GLONASSdata processing.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Clock Estimation for GLONASS

Bernese GNSS Software, version 5.2 allows to include GLONASS data in theclock estimation.

• The ISB/IFB need to be setup as parameter or independent series ofreceiver clock corrections have to be computed for GPS and GLONASS.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


Because each satellite emits its signals on individual frequencies differentreceiver hardware delays are expected.

• Phase observations: As long as the ambiguities are estimated to realvalues they compensate the inter–frequency biases.

• Code observations: Inter–frequency biases need to be estimated (tobe setup in panel “GPSEST 6.8.1”):

• NONE: No bias parameter is setup.• NON-GPS_SATELLITES: Individual bias parameters for each of theGLONASS satellites; no parameters for GPS satellites.

• FREQUENCY_SPECIFIC: Common bias parameters for GLONASSsatellites with the same frequency; no parameters for GPSsatellites.

• FREQ_SPEC_POLYNOM: Frequency–specific biases for GLONASS,represented by a polynomial (degree 4; useful if the GLONASSconstellation/network is weak); no parameters for GPS satellites.

• SATELLITE_SPECIFIC: Bias parameters for each satellite (GPSand GLONASS.


NONE

NON-GPS_SATELLITES

FREQUENCY_SPECIFIC

FREQ_SPEC_POLYNOM

SATELLITE_SPECIFIC

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• With the typical setup to following conditions are applied to theIFB/ISB parameters:

• Zero–mean condition are applied for the estimatesall requests to the same satellite/with the same frequency

• Relative to the GPS–related hardware delays(no correction for GPS observations)

• The IFB/ISB corrections may be stored and re–introduced inDCB–files. They can be estimated together with the usualDCB–parameters for GPS (e.g., P1−C1).

• If GLONASS clock estimation is done in clusters, theinter–system/frequency biases need to be unified.CCRNXC cannot be used for this purpose!

• The CLKDET.PCF example includes all necessary steps forGPS/GLONASS clock estimation with clustering.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Clock Estimation

• New header records are added to the resulting clock RINEX filesaccording to the updated format description and IGS–standards.


CLKDET.PCF

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Clock Estimation

AS G01 2013 03 10 04 45 ... 2 0.6259947409E-05 0.3060554059E-11 EAS G02 2013 03 10 04 45 ... 2 0.4216876212E-03 0.6918651401E-11AS G03 2013 03 10 04 45 ... 2 0.1785672593E-03 0.3122430852E-11AS G04 2013 03 10 04 45 ... 2 0.1569126673E-03 0.9142524118E-11AS G05 2013 03 10 04 45 ... 2 -0.3871764459E-03 0.5989196964E-11AS G06 2013 03 10 04 45 ... 2 0.3208767585E-03 0.3459390340E-11AS G07 2013 03 10 04 45 ... 2 0.1894464518E-03 0.3985010916E-11 EAS G08 2013 03 10 04 45 ... 2 0.5033153560E-05 0.2978087287E-11AS G09 2013 03 10 04 45 ... 2 0.2259306895E-03 0.3272592329E-11AS G10 2013 03 10 04 45 ... 2 -0.7267136692E-04 0.7064838349E-11

• Satellites in eclipse are flagged with “E” by the processingprograms (GPSEST, CLKEST, CODSPP)

• Such a flag is not supported by the official format description.It is an internal convention of the Bernese GNSS Software andmust be removed before submitting the files to any externalsource.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Clock Estimation

Eclipse flags in clock RINEX files may be removed the program CCRNXC:

• remove the flag to get an official clock RINEX file for publication

• delete the entire record because of the uncertainty of the attitudebehavior of the satellite in eclipse phases.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Clock Estimation

GPSXTR – Extraction from the GPSEST program output:

• Extract clock differences (pairs of clocks from BSL–file)

• Compute Allan Deviations from extracted clock differences


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Epoch Parameter Estimation

Back-substitution only for phase data:

• the code data are not needed for the back-substitution step• to make sure that no “code–only” clocks are generated• no residuals for the code measurements are available


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Epoch Parameter Estimation

• different sampling for epoch-wise pre-elimination andback-substitution for special experiments

• scratch file may be split (no 2GB limit anymore)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Satellite Antenna Corrections

• satellite–specific for offset and pattern

• may be combined to block–specific later in ADDNEQ2


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Receiver Antenna Corrections

System–specific receiver antenna corrections may be considered:

ANTENNA/RADOME TYPE NUMBER SYS FRQ TYP ... SINEX METHOD******************** ****** * *** *** ... ********** ****************ASH700936D_M NONE 0 G 2 1 ... IGS08_1685 ROBOT

R 2 1 ... IGS08_1685 ROBOTE 2 1 ... IGS08_1685 ADOPTED from GPS

NORTH MM EAST MM UP MM FACTOR*****.** *****.** *****.** **********

G01 0 0.37 -0.34 90.97 0.100E+01G02 0 -0.11 -0.08 120.36 0.100E+01R01 0 0.37 -0.34 90.97 0.100E+01R02 0 -0.11 -0.08 120.36 0.100E+01E01 0 0.37 -0.34 90.97 0.100E+01E07 0 -0.11 -0.08 120.36 0.100E+01

G01 0 A\Z 0 5 10 15 20 25 30 35 ...G01 0 0 0.00 -0.29 -1.07 -2.21 -3.57 -4.99 -6.32 -7.42 ...G01 0 5 0.00 -0.29 -1.06 -2.20 -3.56 -4.98 -6.31 -7.42 ...G01 0 10 0.00 -0.29 -1.06 -2.19 -3.55 -4.98 -6.31 -7.43 ...

• ATX2PCV: a new tool for extraction from ANTEX(more details in the section on Service Programs)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


Two new features for estimating receiver antenna offset and pattern:

• estimation individually for each GNSS

• support in normal equation files and the program ADDNEQ2


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

GNSS–Specific Translation Parameters

New parameter type:

• to compensate deficiencies in GLONASS receiver antenna calibration

• details in presentations from S. Schaer (e.g., EUREF-Symposium)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


x y

z

GPS

x y

z

GLONASS

• Station coordinate fromGPS-only

• Station coordinate fromGLONASS-only

• Vector between GPS– andGLONASS–coordinates

• two independent networkswith independent datumdefinition

• zero–mean condition overall GPS–GLONASS–biasin xyz


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• Troposphere esimtatesfrom GPS-only

• Troposphere esimtatesfrom GLONASS-only

• Difference betweenGPS– and GLONASS–troposphereseries

• zero–mean conditionover allGPS–GLONASS–bias


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Orbit Determination for GNSS Satellites

• orbit estimation for a subset of GNSS–satellites

• different systems for the dynamical orbit parameters(selected in ORBGEN)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Orbit Determination for LEO Satellites

• Stochastic components of the orbit can now not only beabsorbed by pulses (velocity changes) but also by accelerationsfor certain time intervals.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Ambiguity Resolution for GPS

The only critical point is the 14–cycle shift between L2C and L2P:

• L2C signals are available from new satellites (Block IIR–M and Block IIF),whereas the older satellites only provide L2P signals.

• Receivers from LEICA, NOVATEL, and JAVAD do not correct for the14–cycle shift between L2C and L2P data.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Ambiguity Resolution for GPS

The only critical point is the 14–cycle shift between L2C and L2P:

• ALWAYS: Never resolve ambiguities between Block IIR–M/BlockIIF and older satellites.

• IF INDICATED: Do not resolve ambiguities between the twosatellite groups if one of the above receivers is involved.

• NEVER: Completely ignored GPS quarter-cycle bias issue.

ALWAYS: recommendedIF INDICATED: risky

NEVER: only for tests


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Ambiguity Resolution for GLONASS

The critical point for the GLONASS ambiguity resolution is the initialization

based on the Differencial Code–Phase Bias (DCPB).

• Different levels of expected consistency of the DCPB on thebaseline may be selected.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Ambiguity Resolution for GLONASS

Remarks on ambiguity resolution for GLONASS:• Usage of ambiguity resolution strategies for GLONASS:

• MELWUB/L3: not for GLONASS• L5/L3: limited to same frequencies for GLONASS

(or DCPB are introduced)• QIF: limited to same frequencies for GLONASS• L1/L2: same receiver group for GLONASS

(or DCPB are introduced)

• In case of GLONASS ambiguity resolution only one ambiguityper iteration is permitted (automatically set by the program).

• If you choose more risky options for GLONASS ambiguityresolution it is highly recommended to verify the integerambiguities by checking the residual with introduced integerambiguities.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Ambiguities

GPSXTR – Extraction from the GPSEST program output:

• Ambiguity resolution results may be extracted GNSS–specific.

• To distinguish between different ambiguity resolution steps a keywordcan be added to the end of the summary line.


MELWUB/L3

L5/L3

QIF

L1/L2

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

NEQ–Manipulation: ADDNEQ2

NEQ–Manipulation: ADDNEQ2GeneralRepeatabilityNew Parameter Types in ADDNEQ2Satellite Antenna CorrectionsReceiver Antenna CorrectionsGLONASS Translation BiasDifferential Code Biases (DCB)GLONASS ISB/IFBClock ParametersHelmert ParametersScaling Factors for Higher Order IonosphereScaling Factors for Loading GridsOrbit Determination for GNSS SatellitesEarth Rotation ParametersStation Information File Handling


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

General

• The input panels have been re–organized to smoothly includenew features.

• NEQ manipulation w/o inversion (analogue to GPSEST):


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

General

How to select the parameter types in ADDNEQ2for which the input options must be displayed?

• Read through all input NEQ–files, check for the availableparameters, make all parameter manipulations to identify whichoptions are relevant.→ too time consuming

• Ask the user to select the panels manually (as in Version 5.0).→ risk that relevant options are not presented

• Present all panels to the user at all time.→ too many panels that are not needed for this run

• Ask the user for a manual selection of involved parameters andpresent the related panels.→ our solution to this dilemma for Version 5.2


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

General

• Pre–elimination panels (“ADDNEQ2 4.x”) are used to select theparameter types for presenting the related options


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

General

Presenting the panels with relevant options in ADDNEQ2,Version 5.2:

• When running ADDNEQ2 the program checks whether eachparameter was found with a “non–blank” entry in the panels“ADDNEQ2 4.x”.→ otherwise ADDNEQ2 stops with an error!

• If a parameter type is selected with a “non–blank” entry but itwas not used in a certain ADDNEQ2 run the program gives awarning message.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

General

New pre–eliminiation option:

• OUTSIDE_FROM_WINDOW:Parameters outside from a given time window are pre–eliminated.


OUTSIDE_FROM_WINDOW

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

General

New pre–eliminiation option:• Parameters from selected stations may be excluded from thepre–elimination strategy (e.g., troposphere parameters from aGNSS and VLBI solution on collocated sites).


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Repeatability

Comparison of individual solutions:

• selection of Helmert parameters, e.g., for regional networks

• in case of a “Minimum constraint solution” in panel “ADDNEQ2 5”choose option “HELMERT” to use the same parameters for comparison


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Repeatability

Extended comparison of individual solutions:

More statistics on the individual solutions:

• The ADDNEQ2 program output contains in Version 5.2 morestatistics on the individual solutions if they are generated.

“All parameters residuals” auxiliary output file(panel “ADDNEQ2 2.2”):

• The file contains the full output on the estimated parameters foreach individual solution from one of the input NEQ–files. Insteadof the a priori value the estimate from the overall solution isused, which results in the repeatibility series for all parameters.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

New Parameter Types in ADDNEQ2

New parameters in GPSEST and ADDNEQ2:

• scaling factors for loading grids

• scaling factors for higher order ionosphere corrections

• GNSS translation parameters

• GLONASS inter–system/frequency bias (ISB/IFB)

Parameters new in ADDNEQ2:

• receiver antenna calibration (offset/pattern)

• receiver/satellite clock

New parameters in ADDNEQ2 (not available in GPSEST):

• Helmert parameters between NEQs


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• Note that the pre–elimintation options can be definedseparately for the XY –components.

• The “Receiver antenna offset/variation” parameters are new inVersion 5.2 .


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• Starting from satellite–specific parameters different modificationsmay be applied by parameter transformation/stacking.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• A certain subset of satellites may be selected to apply theconstraints.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• For the parameters in the normal equations different constraintsmay be applied.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

GLONASS Translation Bias

• The GPS–GLONASS vectors should be tied to the networkanalogue to the geodetic datum definition in panel“ADDNEQ2 5” . A certain list of misbehaving stations may beexcluded.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

GLONASS Translation Bias

• The troposphere–related GPS–GLONASS translation parametersmust not be constrained if the coordinate translations are welldefined.

• Please use this parameter type only with reasonable care.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Differential Code Biases (DCB)

• Version 5.0: DCB–parameters automatically with zero–meancondition (therefore no option was needed)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Differential Code Biases (DCB)

DCB–parameter estimation in ADDNEQ2, Version 5.2:• with zero–mean condition (“SUM”) or• with constraining to the a priori from an input file (“ALL”)Attention: no input file means a priori value of “zero”!


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

GLONASS ISB/IFB

• Constraining and parameter transformation options are available.

• The “Inter-frequency bias, alarming limit” informs aboutunexpected high ISB/IFB.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

GLONASS ISB/IFB

Remark on the “Inter-frequency bias, alarming limit” option:

• If the “Inter-frequency bias, alarming limit” is exceeded, thefollowing warning message is issued:

### DCBSTORE: Exceptional IFB found for sat/sta: R03:YCBA 41803 M001

• The corresponding satellite should be removed from theobservation file of the station, because it may disturb thesolution if it become huge.(there are several zero–mean–conditions applied)

• The handling of such an event in an automated processingscheme is demonstrated in the script $U/SCRIPT/IFBNEQdistributed as a part of the clock determination example BPE(CLKDET.PCF).


$U/SCRIPT/IFBNEQ

CLKDET.PCF

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Clock Parameters

• Epoch–wise clock offsets in ADDNEQ2, e.g, to unify the satelliteclocks estimates from several clusters for ISB/IFB estimation.

• Use the “Sampling for pre-elimination” in GPSEST to reduce thenumber of clock parameters in your NEQ–file.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Helmert Parameters

• Translation, rotation, and scale between the input NEQ–files withrespect to the combined solution may be setup.

• These parameters are useful to absorb systematic effects between inputNEQ–file series before they are stacked.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Helmert Parameters

COVARIANCE COMPONENT ESTIMATION AND HELMERT PARAMETERS----------------------------------------------------------------------..NUM VALUE FILENAME GRP HELMERT PAR. HELMERT VALUES ..*** ************** ************* *** * * * * * * * ******* ****** ..

1 1.0000000E+00 BEK 2 2 2 0 0 0 0 0.000 0.000 ..2 1.0000000E+00 BKG 2 2 2 0 0 0 0 0.000 0.000 ..3 1.0000000E+00 COE 2 2 2 0 0 0 0 0.000 0.000 ..4 1.0000000E+00 LPT 2 2 2 0 0 0 0 0.000 0.000 ..

The parameters are selected/setup in the columns HELMERT PAR. ofthe “Variance rescaling factors” file given in panel “ADDNEQ2 1.1”:

• indicator is 1: apply given Helmert transformation parameters

• indicator is 2: setup Helmert parameters between individual inputNEQ files and the resulting combined NEQ that will beestimated together with the other parameters.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Helmert Parameters

• NO STACKING: Keep the parameters as they are in the input NEQs.This may result in time series of Helmert parameters for each NEQ–series.

• IDENT GROUP: Stack only Helmert parameters belonging to the same groupdefined in the “Variance rescaling factors” file (panel “ADDNEQ2 1.1”).

• STACK ALL: Stack all Helmert parameters independent of the group and epoch.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Scaling Factors for Higher Order Ionosphere

• All necessary operations can be done: constraining, theredefinition of the a priori value (between “zero” and “one” orany other value), and stacking station–wise parameters to onefor each of the three higher order ionosphere components.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Scaling Factors for Loading Grids

• All necessary operations can be done: constraining,transformations to reduce the number of parameters, and theredefinition of the a priori value (between “zero” and “one”).


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Scaling Factors for Loading Grids

• In case of a cumulative long–term solution these parameters arenot split due to station events (they are not renamed accordingto “TYPE 001: RENAMING OF STATIONS” from the stationinformation file).


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


Two new features result from the usage of the “Satellite problem” filein ADDNEQ2:

1. Stochastic pulses are setup by GPSEST for all satellites.For a specific satellite within a given interval these parameterscan be deleted in ADDNEQ2:

SATELLITE PROBLEMS: MANEUVERS OR BAD OBSERVATION INTERVALS--------------------------------------------------------------- ...

SATELLITE PROBLEM ACTION FROM TO*** * * YYYY MM DD HH MM SS YYYY MM DD ...211 4 5 2011 10 21 00 00 00 2099 12 31 ...212 4 5 2011 10 21 00 00 00 2099 12 31 ...219 4 5 2012 10 12 00 00 00 2099 12 31 ...220 4 5 2012 10 12 00 00 00 2099 12 31 ...

PROBLEM DESCRIPTION PROBLEM ACTION DESCRIPTION ACTION------------------- ------- ------------------ ------SATELLITE MODELING 4 DELETE ALL PULSES IN ADDNEQ2 5

Galileo satellites are good enough observed today that stochastic pulses

estimation does not degrade the orbit solution.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


Two new features result from the usage of the “Satellite problem” filein ADDNEQ2:2. Repositioning event close to midnight must be handled

• as arc slip in ADDNEQ2 but• as satellite maneuver event in ORBGEN

when a multi–day satellite arc shall be generated.Such a configuration did require two different satellite problemfiles in Version 5.0 . With Version 5.2 these events can behandled by all programs with the sequence:

SATELLITE PROBLEM ACTION FROM TO*** * * YYYY MM DD HH MM SS YYYY MM DD HH MM SS

20 3 2 2013 01 16 22 48 08 2013 01 16 23 59 5920 0 0 2013 01 16 22 48 08

PROBLEM DESCRIPTION PROBLEM ACTION DESCRIPTION ACTION------------------- ------- ------------------ ------SATELLITE MANEUVER 0 SET UP SAT. WITH SVN=SVN+50 0BAD PHASE & CODE DATA 3 REMOVE BOTH OBSERVATION TYPES 2


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Earth Rotation Parameters

• “Block reprograde terms in polar motion” with user constraint(like conditions for minimum constraint solution)

• Useful for generation of long time series with high–rate poleparameters


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Station Information File Handling

• pre-elimination of stations with equipment change in the“Station information” file


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


“TYPE 003: HANDLING OF STATION PROBLEMS”new algorithm for Version 5.2:

• A parameter is pre–eliminated because of station problemsif observations of this interval have contributed.

• If the begin or end of the problematic interval is identical with a rightor left boundary of a piece–wise linear sequence of parameters, only theeffected part is pre–eliminated.

• Long–term monitoring parameters are excluded from the stationproblem handling:

• scaling factors for loading grids• scaling factors for higher order ionosphere corrections• GNSS translation parameters

• Some examples are provided in the following slides(comparing with the behaviour of version 5.0)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


“TYPE 003: HANDLING OF STATION PROBLEMS”for epoch parameters:

input NEQ 1 input NEQ 2 input NEQ 3

Scenario 1:Interval in station information file

Scenario 2:

Scenario 3:

Scenario 4:

Scenario 5:


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


“TYPE 003: HANDLING OF STATION PROBLEMS”for piece–wise linear parameters: Version 5.0



Scenario 2:

Scenario 3:

Scenario 4:

Scenario 5:


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


“TYPE 003: HANDLING OF STATION PROBLEMS”for piece–wise linear parameters: Version 5.2



Scenario 2:

Scenario 3:

Scenario 4:

Scenario 5:


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


“TYPE 003: HANDLING OF STATION PROBLEMS”for constant offset parameters: Version 5.0



Scenario 2:

Scenario 3:

Scenario 4:

Scenario 5:


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


“TYPE 003: HANDLING OF STATION PROBLEMS”for constant offset parameters: Version 5.2



Scenario 2:

Scenario 3:

Scenario 4:

Scenario 5:


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


DELETING STATIONS WITH PROBLEMS: $P/ IGSFINAL/STA/CODE.STA-------------------------------

Num File name Station name # Par Reason------------------------------------------------------------------------

1 F1N13048.NQ0 XMIS 50183 M001 3 CRD station problem

2 F1N13049.NQ0 XMIS 50183 M001 3 CRD station problem2 F1N13049.NQ0 MDO1 40442 M012 3 CRD equipment change

3 F1N13050.NQ0 MDO1 40442 M012 3 CRD equipment change




• Pre–eliminated parameters are reported in the program output.

• They are not included in the list of stations as in Version 5.0.Consequently they must not be listed in the coordinate file.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

FODITS: Time Series Analysis

FODITS: Time Series AnalysisTime Series AnalysisFunctional ModelAdaption of the Functional ModelExample for FODITS FunctionalityFODITS in the Bernese GNSS SoftwareThe Input Panels for FODITS


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Time Series Analysis

The Bernese GNSS Software contains starting with Version 5.2 adedicated tool for time series analysis, named

FODITS: Find Outliers and Discontinuities in Time Series

• “Menu>Service>Coordinate tools>Analysis of time series”

• Program and the algorithm were developed and implemented byDr. Luca Ostini .

• Detailed description of the algorithm and the program can be found inthe document:http://www.bernese.unibe.ch/publist/2012/phd/diss_lo_4web.pdf


http://www.bernese.unibe.ch/publist/2012/phd/diss_lo_4web.pdf

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Functional Model

The functional model consists of the following components:

y(ti ) = d0 + v0(ti − t0) +nd∑

k=1

dk ·ηd,k(ti ) +

ns∑

k=1

sk ·ηs,k(ti ) +

nv∑

k=1

vk(ti − tv ,k)·ηv ,k(ti ) +

np∑

k=1

(ak sin(ωkti ) + bk cos(ωkti )) ·ηp,k(ti )

d0,v0 offset and drift at initial epoch t0dk ,sk discontinuities and outliersvk changes in the drift wrt. the initial epochak ,bk , periodic function with frequency ωk

ηx,k(ti ) . . . “0” or “1” to manage the validity intervals for the componentsof the functional model


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Adaption of the Functional Model

FODITS looks for the optimal set of components for the functionalmodel:

• A priori information:

• Epochs of equipment changes(to introduce discontinuities)

• Epoch, magnitude, and location of Earthquakes(to introduce discontinuity and velocity change)

• Further events and components (e.g., expected frequencies ofperiodic functions) may be introduced by the users

• All a priori information can be introduced either• NONE: do not use the a priori information• TEST: test for significance• INSR: insert component into the functional model in any case


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Adaption of the Functional Model

Nassi–Shneiderman diagram

for algorithm implemented in

FODITS


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Example for FODITS Functionality

D–TST indicates the potential reduction of the RMS of the residuals if a discontinuity is introduced at a certain epoch.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

FODITS in the Bernese GNSS Software

FODITS is a fully integrated component of the Bernese GNSS Software:

1. A1 – ADDNEQ2: first long–term stacking of normal equation filesCRD, VEL, and PLT files transfer the results to FODITS.

2. F1 – FODITS: three–dimensional analysis of the coordinate time seriesUpdated CRD, VEL, and STA files contain the results from the FODITS analysis.

3. A2 – ADDNEQ2: long–term solution considering the FODITS resultsFinal results from the long–term solution based on normal equations.

4. (F2 – FODITS: optional check of the results from the final ADDNEQ2 run)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013



The metadata (M) in Bernese GNSS Software consist in the following components:

• CRD,VEL,FIX: a priori underlying reference frame for the datum of thenetwork solution including the list of reference sites

• STA: station information file with “station renaming”, “station equipmenthistory”, “intervals with station problems”, and “relative constraining ofcoordinate/velocity estimates”

• ERQ,(EVL): list of Earthquake events and potential other events

⇒ M0 – a priori information =⇒ M1 – updated information by FODITS


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013



Technical remark:

• A1, F1, and A2 solutions need station names truncated after position 14(because renaming are given in positions 15 and 16)

• F2 solution must be created without such truncation.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

The Input Panels for FODITS

• “INPUT FILES”: RESIDUALS or COORDINATES(In case of RESIDUALS you may also transfer covariance informationfrom the A1 – ADDNEQ2 solution.)

• “PREDEFINED EVENTS”: from files EVL, STA, and/or LIST.ERQ


RESIDUALS

COORDINATES

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• A priori information for Earthquake events

• Number of iteration steps

• Criteria for new identified elements


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• The EVL file allows to feedback the analysis results.

• The PLT file contains residuals w.r.t. the functional model.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• Truncate all station names after position 14 (YES, NO, number).

• Previously tested elements from the input “Time series event list” file.

• Events from the input “Station information file” (panel “FODITS 1”).


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• Minimum interval to setup one drift parameter, e.g., velocity.

• Propose seasonal signals (of 365.25 and 182.625 days) orother frequencies.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• The datum definition may be tested for each epoch.(e.g., reference sites are not used after a detected discontinuity event)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• Test of significance for discontinuities, velocity changes, periodicfunctions and outliers.

• Limit the size of a detectable element according to the expecteduncertainty level of the time series.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• Identification of new elements: discontinuities, velocity changes,outliers, and periodic functions.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• Conditions to the confirmed reference stations.

• Prepare input files for “A2 – ADDNEQ2” solution.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Service Programs

Service ProgramsUtlities Related to Coordinate Result AnalysisUtilities for Bernese Observation FilesUtilities for Residual File AnalysisUtilities for Clock EstimationUtilities for the Station Information FilesSNX2NQ0: Import SINEX FilesATX2PCV: Import ANTEX FilesOrbit–Related UtilitiesOther Utilities


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

HELMR1

A small extension of the summary lines:

---------------------------------------------------------------------| NUM | NAME | FLG | RESIDUALS IN MILLIMETERS | |---------------------------------------------------------------------| | | | | || 12 | ALIC 50137 M001 | W I | 1.16 0.54 -0.49 | || 14 | ALRT 40162 M001 | W I | 7.24 -5.05 6.37 | |

...

| 586 | YARR 50107 M006 | W I | 4.54 1.87 -5.97 | || 598 | ZIMM 14001 M004 | W I | -1.13 0.29 3.17 | || | | | | |---------------------------------------------------------------------| | RMS / COMPONENT | | 3.78 3.83 9.29 | || | MEAN | | -0.01 -0.09 0.00 | || | MIN | | -8.18 -8.05 -18.35 | || | MAX | | 10.90 11.26 27.53 | |---------------------------------------------------------------------

NUMBER OF PARAMETERS : 7NUMBER OF COORDINATES : 195RMS OF TRANSFORMATION : 6.27 MM


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

COMPAR

• If you have specified “A priori velocities” file in panel “COMPAR 1”,the epochs of the coordinate files are unified to one of the above listed“Reference epochs”.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

ETRS89

• The program transforms coordinates from ITRF to ETRF or ETRF toITRF. The target system is specified in the combobox (TRF2000means either ITRF2000 or ETRF2000 as target system, depending onthe datum in the input coordinate file)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

ETRS89

• The transformation parameters for the above listed reference framesare known by the program from Boucher et al. (2011).

• Use MANUAL to set own parameters for other transformations.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

ETRS89

DATUM ELLIPSOID SHIFTS (M) ROTATIONS (")

IGS08 AE = 6378137.000 DX = 0.0000 RX = 0.0000GLOBAL 1/F= 298.2572221 DY = 0.0000 RY = 0.0000

SC = 0.00000D+00 DZ = 0.0000 RZ = 0.0000...

ETRF2000 AE = 6378137.000 DX = 0.0000 RX = 0.0000REGIONAL 1/F= 298.2572221 DY = 0.0000 RY = 0.0000

SC = 0.00000D+00 DZ = 0.0000 RZ = 0.0000...

CH - 1903 AE = 6377397.200 DX = 679.0000 RX = 0.0000LOCAL 1/F= 299.1528000 DY = -2.0000 RY = 0.0000

SC = 0.00000D+00 DZ = 404.0000 RZ = 0.0000

• A reference frame in the “Datum file” ($X/GEN/DATUM.) is labeled as“GLOBAL”, “REGIONAL”, or “LOCAL” frame.

• Only coordinate files with a datum string for a global reference frameare accepted for a GNSS data processing!


$X/GEN/DATUM.

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Other New Coordinate–Related Tools

VELDIF

• New program to compare station velocities:“Menu>Service>Coordinate tools>Velocity comparison”

GRDS1S2

• Extract S1/S2 tidal corrections for all stations given in acoordinate file from a global grid of atmospheric tidal pressureloading:“Menu>Service>Coordinate tools>Extract atmospheric tidalloading coefficients”


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Utilities for Bernese Observation Files

• A unified selection of observation files is introduced to all serviceprograms related to Bernese Observation Files.

• A similar set of input fields is also used in the processingprograms (where necessary).


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

SATGRA

• An observation statistics around a repositioning event may berequested.

• It is in particular useful to verify the estimated epoch andmagnitude of the event.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

SATGRA

SVN FRQ #OBS1 L3 930|A A****************** ...2 L3 870|a ************************** ...3 L3 717|A************** ...4 L3 832|a ************************ ...5 L3 815|A ************************ ...6 L3 935|a*********** A*a**...7 L3 725|A******************** ...8 L3 876|a ******************* a****** ...9 L3 970|a *************** a********...

10 L3 709|a ********************* ...11 L3 818|a ******************** ...12 L3 1000|A A**************** ...13 L3 920|a************ a********* ...

• If requested (“Plot ambiguities” in panel “SATGRA 2”) theambiguities are plotted into the observation scenarios. SinceVersion 5.2 resolved ambiguities are indicated with “a” whereasunresolved ambiguities as shown with “A”.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

SATMRK

• Only the resolved ambiguities from a specific GNSS may bere–initialized.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

RESRMS

• For your convenience, the frequency available in the residual filecan automatically be used for the RESRMS analysis (“AS IS”).(only possible for residual files with one frequency).


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Residual Summary Table

• More satellites require a longer buffer string when writing the file.(A message will be issued if the line is again too short an oneday.)

• RESRMS: No format overflow in case of huge residuals for the“Total value” per satellite and station.(automated switch to exponential format)

• RESCHK: In case of a solution degraded by huge residuals, theprogram may decide, whether a station or satellite is the biggerproblem.(The ratio of the biggest with respect to the other total residualvalues for the satellites and stations is analyzed.)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Utilities for Clock Estimation

RNXCLK is the clock RINEX importer:

• extract the satellite clock information into a Bernese satelliteclock file.

CCRNXC is the clock RINEX manipulation tool:

• cut/concatenate clock RINEX files,

• extract selected clocks from input files,

• merge or combine clock RINEX files,

• compare clock RINEX files,

• select a reference clock and align the clock values to thisreference,

• detect jumps in the clock time series, and

• extrapolate clock time series.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Utilities for Clock Estimation

CLKEST to interpolate a clock solution based on carrierphase data:

• The program was already distributed with Version 5.0, but on anexperimental basis.

• Since Version 5.2 the program is now available in“Menu>Service>Clock tools>Epoch-wise clock interpolation”

• For a detailed description of the algorithm we refer to:Bock, H., R. Dach, A. Jaggi, G. Beutler; 2009: High-rate GPSclock corrections from CODE: Support of 1 Hzapplications. Journal of Geodesy, vol. 83(11), pp. 1083-1094,DOI 10.1007/s00190-009-0326-1.

• Note that the implemented algorithm requires a global networksolution.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

STAMERGE

• New utility STAMERGE (“Menu>Service>Station information files>Merge station information files”).

• You may compare two station information files or merge them into oneresulting file.


10.1007/s00190-009-0326-1

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

RNX2STA/SNX2STA

Two programs to extract a “Station information” file either from

• RINEX: RNX2STA(“Menu>Service>Station information files>Extract informationfrom RINEX”) or

• SINEX: SNX2STA(“Menu>Service>Station information files>Extract informationfrom SINEX”).

Both programs have been extended to handle the verification of theindividually calibrated antennas.

Remark: A station information file extracted from a set of RINEX files with

program RNX2STA cannot be used to verify the header information of the

same RINEX files.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

STA2STA

• STA2STA is a new program of Version 5.2, available at“Menu>Service>Station information files>Convert stationinformation files”

• The program allows the conversion between different formatversions of the station information file and the station problemfile.

• Note, that the second block of the station information file(“TYPE 002: STATION INFORMATION”) is technique–specificsince format version 1.01 . The version and type is specified atthe beginning of the file:

FORMAT VERSION: 1.01TECHNIQUE: GNSS


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

SNX2NQ0: Import SINEX Files

Several new features are available in SNX2NQ0:

• Extract only coordinate (CRD) and velocity (VEL) files, but no normalequation file (NQ0) ,what significantly accelerates the procedure.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013



• In Version 5.0 only the information valid at the end of the SINEX timeinterval has been extracted. Now an epoch can be selected for whichthe coordinates and velocities are extracted.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013



• The station listing (FIX–file) can now be created following differentcriteria (see above).


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


• The option regarding the “SOLUTION BLOCK” selection is only usedif both representations are available in the SINEX file.

• The NQ0–file is written in any case if there is either the NEQ or theCOVA representation in the SINEX file available.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

ATX2PCV: Import ANTEX Files

• New program developed for the new formatted Bernese antennaphase eccentricity file supporting GNSS–specific antennacalibrations.

• Accessible via “Menu>Conversion>ANTEX to Bernese format”

• It replaces the program PHCCNV used until Version 5.0 .


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


Roles for using the new formatted Bernese antenna phase eccentricityfile by the processing programs:

• Each antenna must be available with its correct antenna type/radomeand antenna number.

• An antenna number “0” applies to all receiver antennas with thistype/radome (only group–specific calibrations). It cannot be mixedwith entries of individually calibrated antennas, where type–specificmean calibrations are labeled with “999999” .

• The antenna must be listed with corrections for all GNSS which mightbe supported by the antenna.

• The file may contain also frequency–specific satellite antenna phasecenter offet values (different from zero) that are applied in addition tothe “SENSOR OFFSETS” in the Satellite information file.

In conclusion, the processing programs expect all potentially neededantennas with their GNSS–specific corrections.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


Resulting requirements to ATX2PCV:

• The program must know the priority of available calibration methods toidentify the optimal set of calibration values.

• If no calibration values for a specific radome are available it shall usethe corrections of the same antenna type but without any radome(“ADOPTED from NONE”).

• The program must distinguish between datasets containing bothindividually as type–specificly calibrated antennas (like EPN) and thoseonly consisting of type–specific calibrations (like IGS).


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


Resulting requirements to ATX2PCV (cont.):

• From a “Station information” input file all potential antenna receivercombinations can be extracted. If for each receiver type the supportedGNSS are known the list of necessary GNSS–specific receiver antennacorrections can be constructed.If no calibrations for a certain GNSS are available in the input ANTEXfile, the values are “COPIED FROM GPS”.

• Antenna names for the GNSS satellites must be identical with the“SENSOR NAMES” in the “PART 2” of the Satellite information file.The time intervals must be identical between the ANTEX and theSatellite information file.

• The program must also be able to identify relative and absolutecalibration datasets.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


Basic applications of ATX2PCV:

1. Generate a completely new Bernese “Phase center eccentricity” filefrom ANTEX

2. Update the Bernese “Phase center eccentricity” file when new antennacalibration values are available in an ANTEX file

3. Merge individually calibrated antenna phase center corrections fromANTEX into an existing Bernese “Phase center eccentricity” file

4. Convert relative to absolute antenna phase center corrections

5. Update old Bernese “Phase center eccentricity” files containing oldsatellite antenna names and without receiver antenna radome codes


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013



R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013



R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013



R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

STDDIF

• Typical application is the comparison of two standard orbits.

• Since Version 5.2 the same standard orbit can be introducedtwice and the program checks for duplicated trajectories of thesame satellite to detect the epoch and magnitude of arepositioning event:

Maneuver: 2013 -03 -06 22:03:04 PRN 13 ...... 0.1860 m 181.7 mm/s 1.2 181.7 2.4 mm/s

• When printing the differences in the program output file thesatellite number is added for your convenience:

TIME (MJD) RADIAL ALONG TRACK OUT OF PLANE REMARK

56364.00000 0.96441 -2.62379 -0.14170 Sat: 156364.01042 0.98512 -2.89505 -0.14697 Sat: 156364.02083 0.98498 -3.16725 -0.14951 Sat: 156364.03125 0.96434 -3.43575 -0.14928 Sat: 156364.04167 0.92388 -3.69526 -0.14628 Sat: 1...


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

STDPRE

The fourth comment line is automatically set according to IGS standard:

/* Center for Orbit Determination in Europe (CODE)/* Rapid GNSS orbits and GPS clocks for year -day 13069/* Note: Last day of a 3-day arc GPS/GLONASS solution/* PCV:IGS08 OL/AL:FES2004 NONE YN ORB:CoN CLK:CoN


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

CCPREORB

• The first epoch gives the session in the “AUTO”–mode, which also definesthe filename. In case of missing records the resulting filename may becomeunpredictable. So, the epoch in the input field clearly defines the session andin this way also the resulting filename.

• The same principle was also implemented for other cut/concatenation tools.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Other Utilities

Two new groups of utilities are made available with Version 5.2:

• “Menu>Service>LEO utilities”

• “Menu>Service>SLR utilities”

Both sub–menus contain several tools for these specific applications.

The program GPSSIM (“Menu>Service>Generate simulatedobservation data”) was consistently adapted to all the relevantmodifications in the Bernese GNSS Software.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Menu>Service>LEO utilities

• LEOAUX is a program to convert CHAMP or GRACE auxiliaryfiles into ATT-, ACC-, and/or MAN-files

• KINPRE is a program to convert kinematic LEO positions intoSP3(c) format (PRE-files)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Menu>Service>SLR utilities

• IRV2STV: converts prediction files for SLR satellites in IRVformat (state vector) to ELE files (osculating elements) that isreadable by ORBGEN. Conversion is necessary for a priori orbitsof SLR satellites before 2006.

• CPFSP3: converts prediction files for SLR satellites in CPFformat to PRE format that is readable by ORBGEN to be usedfor a priori orbits of SLR satellites after 2006.

• SP3CPF: converts orbits in PRE format to CPF format .• SNX2SLR: generates or merge SLR data handling files (e.g.,range biases, station exclusions) from ILRS SINEX format.

• QLRINEXO: transfers SLR quick look data to RINEXobservation and RINEX meteo files

• QLRSUM: generates a report and statistics for the residuals ofSLR observations. The program enables outlier detection andadditional criteria for minimum number of SLR observations.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

BPE: Automated Processing

BPE: Automated ProcessingBPE StatisticsCPU StatisticsNew Features in PCFNew Features in User-ScriptsCPU-FilesRUNBPE


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

BPE Statistics

To the BPE program output some BPE statistics is added:• Statistics for the processed session:

------------------------------------------------------------- ...Statistics concerning time in sec ...

Session BPE CPU = PGM + Aux + Delay Queuing ...------------------------------------------------------------- ...RP130700 7233 40712 14437 26090 183 48874 ...Max 1745 755 1744 5 472PID_SUB 491 _000 501 _002 491 _000 471 _018 441 _083------------------------------------------------------------- ...

... ------------------------------------- ...

... Statistics concerning # of jobs ...

... PID + SUB = OK + Error Rerun ...

... ------------------------------------- ...

... 140 458 598 0 0 ...

... ----------------------------------------------------

...

... Start End Duration

... ----------------------------------------------------

... 12-Mar -2013 06:15:25 12-Mar -2013 08:15:59 02:00:33


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

BPE Statistics

To the BPE program output some BPE statistics is added:• Statistics for each script of the BPE:

------------------------------------------------------------------------Mean time in sec

PID Script OPT dir CPU = PGM + Aux Max CPU Sess PID_SUB Rer Err------------------------------------------------------------------------011 IGSR_COP NO_OPT 121 0 121 121 0700 011 _000 0 0...500 GPSCLUAP NO_OPT 10 0 10 10 0700 500 _000 0 0501 GPSCLU_P IGSR_Q 542 537 4 760 0700 501 _002 0 0502 GPSXTR IGSR_A 71 0 70 71 0700 502 _000 0 0520 ADDNEQ2Q IGSR_Q 154 82 70 154 0700 520 _000 0 0521 UPDSTD_2 IGSR_Q 7 4 1 7 0700 521 _000 0 0522 STDPRE IGSR_Q 1 0 1 1 0700 522 _000 0 0523 ADDNEQ2 IGSR_Q2 142 78 64 142 0700 523 _000 0 0524 COMPAR IGSR_Q 1 0 0 1 0700 524 _000 0 0525 FIX_CHK IGSR_Q 2 0 0 2 0700 525 _000 0 0560 ADDNEQ2N IGSR_ADD 371 301 67 371 0700 560 _000 0 0561 UPDSTD_R IGSR_ADD 11 8 2 11 0700 561 _000 0 0562 STDPRE_R IGSR_ADD 3 1 2 3 0700 562 _000 0 0563 POLXTR_R IGSR_ADD 1 0 0 1 0700 563 _000 0 0564 FIX_CHK IGSR_ADD 1 0 0 1 0700 564 _000 0 0565 COMPAR IGSR_ADD 1 0 0 1 0700 565 _000 0 0...


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

BPE Statistics

To the BPE program output some BPE statistics is added:

• Statistics for the CPU usage:

----------------------------------------------------------------------CPU time in sec Queuing time

CPU name #jobs Total Mean Max Min Total Max Sess PID_SUB----------------------------------------------------------------------BIG 170 14387 84 760 2 26769 472 0700 441 _083LOCAL 50 4054 81 1745 0 14 3 0700 491 _000SHORT 378 22271 58 268 0 22090 442 0700 441 _110----------------------------------------------------------------------

You may check whether the duration for each script corresponds to your expectation.Otherwise the statistics may help to identify inefficient configurations:

• Long time for the menu program to prepare INP files (e.g., slow disk access)

• slow connection between server and client

• transfer of unexpected big amount of data

• runs each script on the optimal CPU–type?

• long queuing time for a certain CPU–type


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

CPU Statistics

The BPE statistics shows (among others) the CPU consumption andthe real program run time of each Bernese program executable.

• When running the program a status line is issued to the standardoutput:

>>> CPU/Real time for pgm "ADDNEQ2 ": 0:04:23.254 / 0:04:27.198

• At the end of each program output the following sequence wasadded:

----------------------------------------------------------------->>> CPU/Real time for pgm "ADDNEQ2 ": 0:04:23.254 / 0:04:27.198>>> Program finished successfully

Note that on multi–core systems the “CPU” time may be even longerthan the “real” processing time.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

New Features in PCF

New “Special action” for a user script: CONT_ERR

• The BPE continues with the next script even if the script hasfinished with an error.

• This feature is intended for secondary scripts (e.g., forverification or downloading external files) where a failure doesnot harm the processing chain.

Longer strings for the default value of a BPE variabledefined in the PCFile is allowed:

• The default value for a BPE variable given in the PCF may nowbe 30 instead of 16 characters long (as in Version 5.0).


CONT_ERR

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

New Features in PCF

PARAMx list is reported in the PRT-filesPROTOCOL FILE FOR BPE SCRIPT----------------------------Campaign : $P/ IGSRAPIDYear : 13Session : 0700PCF name : IGSRAPID.PCFScript name : SKIP_ARPath to executables: $XGOption directory : NO_OPTProcess ID : 450Sub -process ID : 000Server host : sedna.ubelix.unibe.chRemote host : sedna.ubelix.unibe.ch (system pid: 27947)CPU name : LOCALPARAM1 : NEXTJOBPARAM2 : 480PARAM3 : 460

Date Time Run time Pgm.time Sta Program Message------------------------------------------------------------------------12-MAR -2013 07:04:48 00:00:00 MSG RUNBPE.pm SCRIPT STARTED12-MAR -2013 07:04:48 00:00:00 MSG SKIP_AR GOTO PID 46012-MAR -2013 07:04:48 00:00:00 MSG RUNBPE.pm SCRIPT ENDED------------------------------------------------------------------------


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

New Features in User-Scripts

The BPE client script $BPE/RUNBPE.pm got two new features thatare not obvious to the users:

• The BPE clients re–connects the TCP/IP connection to BPEserver if it was lost during the execution time.

• The network traffic between client and server has been optimized.The client does not send back the full protocol file with allwarning messages to the server but only selected information(e.g., the PID of the next script to be executed in case of theNEXT_JOB–statement).


$BPE/RUNBPE.pm

NEXT_JOB

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


Change/set BPE variables for all further scripts:# Define the directory where to store the results# -----------------------------------------------

my $dirSav = "$ENVS/" . $result . "/ $yyyy /";$bpe ->setVar(’DIRSAV ’,$dirSav );

• If this user scripts finishes this new variable (or the new value ofan existing variable) is reported to the BPE server. It is postedto all BPE scripts started afterwards.

• This feature offers several new and interesting applications.

• Be aware that this feature may also cause confusion:• A BPE variable may be different if a user script runs several timeswithin a BPE!

• A BPE variable may have the initial value or may be undefined ifthe BPE is not started from the beginning (using the options“Start with script” or “Skip scripts”)!


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


New methods in bpe_util.pm:

• rnx2crz, crz2rnx

Usage: @done = rnx2crz(@source ,[ $dest],[-l|-u])@done = crz2rnx(@source ,[ $dest][-l|-u])

Purpose: Compress/Uncompress RINEX files (M/m, N/n, G/g, O/o, D/d)Parameters: @source: List with (un)compressed RINEX files

$dest: Path to destination directory-l/-u: Extensions in lower/upper case@done: List of Compressed files

Further remarks:

• The executables RNX2CRX and CRX2RNX are expected in thePATH–variable.

• The gzip and compress are needed for the decompression andthe compression of files.

Missing tools may be downloaded according tohttp://www.bernese.unibe.ch/download/#TLS.


bpe_util.pm

rnx2crz

crz2rnx

RNX2CRX

CRX2RNX

gzip

compress

http://www.bernese.unibe.ch/download/#TLS

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


New methods in bpe_util.pm:• copyRef($source,@list_of_files)

Usage: copyRef($source ,@list_of_files)Purpose: Copy project specific files from the reference

directory into the campaign areaParameters: source: directory where the source files are located

@list_of_files: it contains a list of files to be copiedand a "1"/"0" flag after a blank to specifywhether it is an mandatory or optional file

Further remarks:• Files are only copied if they are newer in the source directory.• Example from $U/SCRIPT/PPP_COP:

my @filLst = ();push @filLst ,"$dirCrdIGS08_R.$extCrd 1"; # mandatorypush @filLst ,"$dirVelIGS08_R.$extVel 1"; # mandatorypush @filLst ,"$dirCrdEXAMPLE.$extCrd 0"; # optionalpush @filLst ,"$dirVelEXAMPLE.$extVel 0"; # optional

# Copy Reference FilescopyRef ("$ENVD/ REF52",@filLst );


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


New methods in bpe_util.pm:

• isHourly($session)

Usage: isHourly($session)Purpose: Checks whether a session identifier indicates

"hourly processing"Parameters: session : session identifier

isHourly: true if session ends with one of the charactersbetween A..X

• check_dir(@dirs)

Usage: check_dir($dir) or check_dir(@dirs)Purpose: Check whether a directory exists otherwise it is createdParameters: $dir/@dirs: single directory or list of directories


bpe_util.pm

copyRef($source,@list_of_files)

$U/SCRIPT/PPP_COP

bpe_util.pm

isHourly($session)

check_dir(@dirs)

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


New methods in bpe_util.pm:• prtBPEfile($BPEfile,$delete)

Usage: prtBPEfile($BPEfile ,$delete)Purpose: Prints the content of a BPE file to the standard outputParameters: $BPEfile : filename to be printed

$delete : switch whether delete the files (!=0) ornot (==0)

• The BPE file contains a list of files to be processed together in a“PARALLEL”-BPE script (typically given with PARAM1). Thecontent of this file may be listed in the LOG-file of the script.

• deleteFiles($bpe,$delFil,$delete)

Usage: deleteFiles($bpe ,$delFil ,$delete)Purpose: Delete files listed in the input fileParameters: bpe : BPE object

delFil : name of the file containing the list of filesto be deleted

delete : switch whether delete the deletion file or not


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013


New methods in bpe_util.pm:• copy2archive(source,target,flags,title)

Usage: copy2archive($source ,$target ,$flags ,$title)Purpose: Copy a list of files into the archive areaParameters: source: File to be copied into the archive (wildcards)

target: Target where to put the file(may be a directory or a file)

flags: c: UNIX compress the file at the targetz: gnu -zip the file at the targetf: append a title line

• $title denotes a line to identify a certain (re)processing chain.It may be appended to the ASCII file types in the archive.

• Example from $U/SCRIPT/PPP_SAV:

my @cpyLst = ("$dirOutPPP$yyssss.PRC $outSav f ", # $tit appended"$dirCrd$c$yyssss.$extCrd $staSav f "); # $tit appended"$dirSnx$c$yyssss.$extSnx $solSav z ", # gzip -compressed"$dirClk$c$yyssss.$extClk $outSav fz", # $tit & gzipmy $iErr = 0;map $iErr += copy2archive( split(" ",$_ ,$tit) ) @cpyLst;die() if $iErr; # stop in case of error


bpe_util.pm

prtBPEfile($BPEfile,$delete)

deleteFiles($bpe,$delFil,$delete)

bpe_util.pm

copy2archive(source,target,flags,title)

$title

$U/SCRIPT/PPP_SAV

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

CPU-Files

Various options for suspending BPEs (priority management)Do not start further jobs for the BPE with “PCF name” if

1. the file in “if file name” is “younger than n seconds” .A running BPE updates the status file every 5 seconds. So a BPE can be

suspended as long as another BPE with a higher priority is running.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

CPU-Files

Various options for suspending BPEs (priority management)Do not start further jobs for the BPE with “PCF name” if

2. the file in “if file name” exists.The BPE shall not launch further jobs. A STOP.FLG–file can, e.g., be used to

suspend several BPEs at the same time.


STOP.FLG

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

CPU-Files

Various options for suspending BPEs (priority management)Do not start further jobs for the BPE with “PCF name”

3. in general.A specific BPE shall not launch further jobs.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

CPU-Files

Various options for suspending BPEs (priority management)Remark: If a suspended PCF is started it issues a message but waits withthe execution of the first script until it gets the permission to launch jobs.

(Different behavior than in Version 5.0 .)


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

RUNBPE

• If multiple sessions shall be processed a new “modulo” optionbecomes available.You may easily launch 365 sessions with a modulo of 7 to runyour BPE, e.g., only for all Saturdays of the year.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

RUNBPE

• A BPE may run only for certain maximum time (e.g., 55minutes)and stops after this given time (e.g., before the next BPE in anhourly processing BPE starts) to prevent the overlay of BPEs.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

RUNBPE

• When running many sessions from one BPE (e.g., for areprocessing) it may useful to allow the continuation of theprocessing for further sessions even if some ended with an error.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

RUNBPE

• Each session can be processed independently in its owncampaign that is automatically created by the BPE.The campaign is prepared according to the specifications of$U/PAN/NEWCAMP.INP .


$U/PAN/NEWCAMP.INP

R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

RUNBPE

• The campaign for the BPE of a certain session will contain thespecified subdirectories.

• The listed files are copied from the given source into thepredefined subdirectory of the campaign.


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

RUNBPE

• BPE variables in the PCFile may contain menu time variablesthat are translated for the current session(even for a multi–session processing).


R.Dachetal.:Bernese

GNSSSoftware:New

featuresin

version5.2


4,2013

Example BPEs

The Bernese GNSS Software, Version 5.2 is distributed with severalready–to–use example BPEs (more details in a separate presentation):PPP_BAS.PCF Standard PPP for coordinate, troposphere, and receiver clock

determination based only on GPS data or a combinedGPS/GLONASS solution

PPP_DEMO.PCF PPP containing several extended processing examples, likepseudo-kinematic, high-rate troposphere, or ionosphere solutions

RNX2SNX.PCF Standard double-difference network solution based only on GPSdata or a combined GPS/GLONASS solution with an extendedambiguity resolution scheme

BASTST.PCF Baseline by baseline processing for trouble shooting.CLKDET.PCF Zero-difference network solution based only on GPS data or a

combined GPS/GLONASS solution providing clock corrections(e.g., w.r.t. an existing coordinate and troposphere solution)

LEOPOD.PCF Precise Orbit Determination for a Low Earth Orbiting Satellitesbased on on-board GPS-measurements (e.g., for GRACE)

SLRVAL.PCF Validation of an existing GNSS or LEO orbit using SLRmeasurements


PPP_BAS.PCF

PPP_DEMO.PCF

RNX2SNX.PCF

BASTST.PCF

CLKDET.PCF

LEOPOD.PCF

SLRVAL.PCF

bernese gnss software: new features in version 5r. dach et al.: bernese gnss software: new features...

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