Search Results (219)

In mountainous canyon regions, BeiDou Navigation Satellite System (BDS)/Global Navigation Satellite System (GNSS) receivers are susceptible to multireflection and tropospheric factors, which frequently reduce the accuracy in monitoring vertical deformation monitoring under short-baseline methods. This limitation hinders the application of BDS/GNSS in high-precision monitoring scenarios in those cases. To address this issue, this study proposes a three-dimensional (3D) deformation measurement method that integrates BDS/GNSS positioning with dihedral corner reflectors (CRs). By incorporating high-precision horizontal positioning results obtained from BDS/GNSS into the radar line-of-sight (LOS) correction process and utilizing ascending and descending Synthetic Aperture Radar (SAR) data for joint monitoring, the method achieves millimeter-level- accuracy in measuring vertical deformation at corner reflector sites. At the same time, it enhances the 3D positioning accuracy of BDS/GNSS to the 1 mm level under short-baseline configurations. Based on monitoring stations deployed at the Jinsha River dam site, the proposed deformation fusion monitoring method was validated using high-resolution SAR imagery from Germany’s TerraSAR-X (TSX) satellite. Simulated horizontal and vertical displacements were introduced at the stations. The results demonstrate that BDS/GNSS achieves better than 1 mm horizontal monitoring accuracy and a vertical accuracy of around 5 mm. Interferometric SAR (InSAR) CRs achieve approximately 2 mm in horizontal accuracy and 1 mm in vertical accuracy. The integrated method yields a 3D deformation monitoring accuracy better than 1 mm. This paper’s results show high potential for achieving high-precision deformation observations by fusing BDS/GNSS and dihedral CRs, offering promising prospects for deformation monitoring in reservoir canyon regions. Full article

The BeiDou-3 Navigation Satellite System (BDS-3) precise point positioning (PPP) service through the B2b signal (PPP-B2b) leverages precise correction data disseminated by satellites to eliminate or mitigate key error sources, including satellite orbit errors, clock biases, and ionospheric delays, thereby enabling high-precision timing and positioning. This paper investigates the disparities in time comparison and positioning capabilities associated with the PPP-B2b signals transmitted by the BDS-3 Geostationary Earth Orbit (GEO) satellites (C59 and C61). Three stations in the Asia–Pacific region were selected to establish two time comparison links. The study evaluated the time transfer accuracy of PPP-B2b signals by analyzing orbit and clock corrections from BDS-3 GEO satellites C59 and C61. Using multi-GNSS final products (GBM post-ephemeris) as a reference, the performance of PPP-B2b-based time comparison was assessed. The results indicate that while both satellites achieve comparable time transfer accuracy, C59 demonstrates superior stability and availability compared to C61. Additionally, five stations from the International GNSS Service (IGS) and the International GNSS Monitoring and Assessment System (iGMAS) were selected to assess the positioning accuracy of PPP-B2b corrections transmitted by BDS-3 GEO satellites C59 and C61. Using IGS/iGMAS weekly solution positioning results as a reference, the analysis demonstrates that PPP-B2b enables centimeter-level static positioning and decimeter-level simulated kinematic positioning. Furthermore, C59 achieves higher positioning accuracy than C61. Full article

The Beidou Global System (BDS-3) innovatively achieves autonomous navigation using inter-satellite links (ISL) across the entire constellation, but it still faces challenges such as the limitations of the prior constraint orbital accuracy and the overall constellation rotation. The gradual availability of satellite laser ranging (SLR) data, with advantages of high precision and no ambiguous parameters, can provide new ideas for solving the current problem. This work firstly deduces the mathematical model for orbit determination by combining inter-satellite links and the introduced satellite laser ranging observations, then designs orbit determination experiments with different prior orbit constraints and different observation data, and finally evaluates the impacts of the prior orbits and the introduction of SLR observations from two dimensions: orbit accuracy and constellation rotation. The experimental results using one month of measured data show the following: (1) There is good consistency among different days, and the accuracy of the prior orbits affects the performance of the orbit determination and the consistency. Compared with broadcast ephemerides, using precise ephemerides as prior constraints significantly improves the consistency, and the orbit accuracy can be increased by about 75%. (2) The type of observation data affects the performance of the orbit determination. Introducing SLR observations can improve the orbit accuracy by approximately 13% to 26%. (3) Regardless of whether broadcast ephemerides or precise ephemerides are used as prior constraints, the constellation translation and rotation still exist after introducing SLR observations. Among the translation parameters, TX is the largest, followed by TY, and TZ is the smallest; all three rotation parameters (RX, RY, and RZ) show relatively large values, which may be related to the limited number of available satellite laser ranging stations during this period. (4) After considering the constellation translation and rotation, the orbit accuracy under different prior constraints remains at the same level. The statistical root mean square error (RMSE) indicates that the orbit accuracy of inclined geosynchronous orbit (IGSO) satellites in three directions is better than 20 cm, while the accuracy of medium earth orbit (MEO) satellites in along-track, cross-track, and radial directions is better than 10 cm, 8 cm, and 5 cm, respectively. Full article

The operational integrity of the BeiDou-3 Navigation Satellite System (BDS-3) has been significantly challenged by electromagnetic interference, particularly from Distance Measuring Equipment (DME) ground beacons to the newly implemented B2a signal, since its full operational deployment in 2020. This study developed a comprehensive interference evaluation model based on receiver signal processing principles to quantify the degradation of B2a signal reception performance under DME interference scenarios. Leveraging empirical data from the DME beacon network in the Chinese mainland, we systematically analyzed the interference effects through an effective carrier-to-noise ratio ($C/N_0$), signal detection probability, carrier tracking accuracy, and demodulation bit error rate (BER). The results demonstrate that the effective $C/N_0$ of the B2a signal degrades by up to 3.25 dB, the detection probability decreases by 33%, and the carrier tracking errors and BER increase by 2.57° and 5.1%, respectively, in worst-case interference scenarios. Furthermore, significant spatial correlation was observed between the interference hotspots and regions of high aircraft density. DME interference adversely affected the accuracy, availability, continuity, and integrity of the airborne BeiDou navigation system, thereby compromising civil aviation flight safety. These findings establish a scientific foundation for developing Minimum Operational Performance Standards for B2a signal receivers and for strategically optimizing DME beacon deployment throughout the Chinese mainland. Full article

Precise Global Navigation Satellite System (GNSS) orbit prediction is critical for real-time positioning applications. Current orbit prediction accuracy for the BeiDou Navigation Satellite System-3 (BDS-3) exhibits a notable disparity compared to GPS and Galileo, with limited advancements from traditional dynamic modeling approaches. This study introduces a novel data-driven methodology, Sample Convolution and Interaction Network with Self-Attention (SCINet-SA), to augment dynamic methods and improve BDS-3 ultra-rapid orbit prediction. SCINet-SA leverages deep learning to model the temporal characteristics of orbit differences between BDS-3 ultra-rapid and final products. By training on historical orbit difference data, SCINet-SA predicts future discrepancies, facilitating the refinement of ultra-rapid orbit estimates. The incorporation of a self-attention mechanism within SCINet-SA enables the model to effectively capture long-range temporal dependencies, thereby enhancing long-term prediction capabilities and mitigating the latency associated with final product availability. Rigorous experimental evaluation demonstrates the superior performance of SCINet-SA in enhancing BDS-3 ultra-rapid orbit prediction accuracy relative to alternative deep learning models. Specifically, SCINet-SA achieved the highest average relative improvement (IMP) in 3D Root Mean Square (RMS) error across 1 d, 7 d, and 15 d prediction horizons, yielding improvements of 21.69%, 18.66%, and 15.42%, respectively. The observed IMP range spanned from 7.78% to 38.91% for 1 d, 4.34% to 35.96% for 7 d, and 1.68% to 31.13% for 15 d predictions, underscoring the efficacy of the proposed methodology in advancing BDS-3 orbit prediction accuracy. Full article

The increasing demand for clean and reliable water resources, coupled with the growing threat of water pollution, has made real-time water quality (WQ) monitoring and assessment a critical priority in many urban areas. Urban environments encounter substantial challenges in maintaining WQ, driven by factors such as rapid population growth, industrial expansion, and the impacts of climate change. Effective real-time WQ monitoring is essential for safeguarding public health, promoting environmental sustainability, and ensuring adherence to regulatory standards. The rapid advancement of Internet of Things (IoT) sensor technologies and smartphone applications presents an opportunity to develop integrated platforms for real-time WQ assessment. Advances in the IoT provide a transformative solution for WQ monitoring, revolutionizing the way we assess and manage our water resources. Moreover, recent developments in Location-Based Services (LBSs) and Global Navigation Satellite Systems (GNSSs) have significantly enhanced the accessibility and accuracy of location information. With the proliferation of GNSS services, such as GPS, GLONASS, Galileo, and BeiDou, users now have access to a diverse range of location data that are more precise and reliable than ever before. These advancements have made it easier to integrate location information into various applications, from urban planning and disaster management to environmental monitoring and transportation. The availability of multi-GNSS support allows for improved satellite coverage and reduces the potential for signal loss in urban environments or densely built environments. To harness this potential and to enable the seamless integration of the IoT and LBSs for sustainable WQ monitoring, a systematic literature review was conducted to determine past trends and future opportunities. This research aimed to review the limitations of traditional monitoring systems while fostering an understanding of the positioning capabilities of LBSs in environmental monitoring for sustainable urban development. The review highlights both the advancements and challenges in using the IoT and LBSs for real-time WQ monitoring, offering critical insights into the current state of the technology and its potential for future development. There is a pressing need for an integrated, real-time WQ monitoring system that is cost-effective and accessible. Such a system should leverage IoT sensor networks and LBSs to provide continuous monitoring, immediate feedback, and spatially dynamic insights, empowering stakeholders to address WQ issues collaboratively and efficiently. Full article

Monitoring the stability and safety of climbing scaffolds in super-high-rise construction is critical to ensuring construction quality and worker safety. This study proposes a Global Navigation Satellite System (GNSS)-based real-time monitoring method to track scaffold displacement and assess structural performance. A multi-level data optimization framework integrating gross error elimination, data interpolation, robust Kalman filtering, and a Cumulative Sum Control Chart (CUSUM)-based early warning system is developed to enhance monitoring accuracy. The key objectives of this research are to improve real-time displacement tracking, suppress measurement noise, and establish an automated anomaly detection mechanism for climbing scaffolds under complex construction conditions. The proposed method was validated in a super-high-rise construction project in Tianjin, China. Experimental results demonstrated that the system effectively reduced high-frequency noise and gross errors, achieving root mean square error (RMSE) reductions of 51.4% in the E direction, 45.5% in the N direction, and 49.6% in the U direction. The system successfully tracked vertical climbing displacements of 4.4 m per ascent and horizontal deviations of 4 cm (E direction) and 2 cm (N direction). Additionally, the multi-level warning mechanism identified displacement anomalies based on predefined thresholds, providing an early warning function to enhance scaffold safety management. Compared to conventional monitoring methods, the proposed BeiDou/GNSS-based system provides higher precision, real-time adaptability, and enhanced automation, offering a scalable solution for intelligent construction safety management. The findings contribute to structural health monitoring (SHM) applications and can serve as a reference for future high-rise construction safety assessments. Full article

A system for monitoring and analyzing GNSS performance is being developed at DLR’s Galileo Competence Centre. Various parameters are monitored in order to characterize the performance of the four global satellite navigation systems. The focus of this contribution is on the extension of our system with monitoring and analysis capabilities for the Galileo HAS and specifically for the Internet Data Distribution component of the service. An initial analysis of the content of the HAS messages and the positioning performance of the service at example IGS station locations is discussed. Our analysis shows the continuous availability of the internet distribution component of the service and a horizontal positioning performance of the order of 20 cm or better for 95% of the epochs of the selected time periods and for the selected station locations. In addition to HAS, we also examined an additional set of performance parameters, which show similar performance levels between the Galileo, GPS and BeiDou systems. Full article

The integration of Global Navigation Satellite Systems (GNSS) has revolutionized geodetic positioning, with techniques like Precise Point Positioning with Ambiguity Resolution (PPP-AR) offering highly accurate results with reduced convergence times. The full deployment of the BeiDou Navigation Satellite System-3 (BDS-3) has spurred interest in assessing its standalone and combined performance with GPS in PPP-AR applications. This study evaluates the performance of BDS-3-based PPP-AR across diverse geographical regions considering space weather conditions (SWCs) for the first time. GNSS data from six International GNSS Service (IGS) stations located in the Asia–Pacific, Europe, Africa, and the Americas were processed for 15 consecutive days. The three scenarios (BDS-3 only, GPS only, and BDS-3 + GPS) were analyzed using the open-source raPPPid v2.3 software developed in 2023. The estimated coordinates were statistically compared to the IGS-derived coordinates to assess accuracy. Results demonstrate that BDS-3 PPP-AR can independently deliver reliable positioning for many applications and that the accuracy of BDS-3-based PPP-AR is relatively low in the Americas. However, combining BDS-3 with GPS significantly enhances horizontal and vertical accuracies, especially in the Americas, achieving improvements of up to 86% and 82%, respectively. These findings highlight the potential of BDS-3 for complementing GPS for precise geodetic applications. Full article

Road hazardous material transportation plays a critical role in road traffic management. Due to the dangerous nature of the cargo, hazardous material transportation trucks (HMTTs) have different route selection and driving characteristics compared to traditional freight trucks. These differences lead to unique travel and emission patterns, which in turn affect traffic management strategies and emission control measures. However, existing research predominantly focuses on safety aspects related to individual vehicle behavior, with limited exploration of the broader travel and emission characteristics of HMTTs. To bridge this gap, this study develops a comprehensive framework for analyzing the travel patterns and emissions of HMTTs. The methodology begins by applying a Gaussian mixture distribution model to identify vehicle stop points, eliminating biases associated with subjective settings. Origin–destination (OD) pairs are then determined through stop time clustering, followed by the extraction of travel characteristics using non-negative matrix factorization. Emissions are subsequently calculated based on the identified trip data. The relationship between emissions and land use characteristics is further analyzed using geographically weighted regression (GWR). Crucially, this study leverages data from the BeiDou Satellite Navigation System, focusing on HMTTs operating within Shanghai. The processed data reveal three distinct travel modes of HMTTs, categorized by spatiotemporal patterns: Daytime—Surrounding cities, Early morning—In-city, and Midnight—Scattered. Moreover, unlike other road vehicles, HMTT emissions are heavily influenced by industrial and company-related points of interest (POIs). These findings highlight the significant role of BeiDou Satellite Navigation System data in optimizing HMTT management strategies to reduce emissions and improve overall safety. Full article

An accurate estimation of Differential Code Bias (DCB) is essential for high-precision applications of the Global Navigation Satellite System (GNSS) and for the precise determination of GNSS-derived total electron content (TEC). This study leverages BeiDou Navigation Satellite System (BDS) and Global Positioning System (GPS) dual-frequency observations of the China Seismo-electromagnetic Satellite (CSES) from day of the year (DOY) 201 to DOY 232 in 2018, we evaluate the quality of CSES onboard GNSS observations, improve the data preprocessing method, and use the least-squares to estimate DCBs for both GNSS satellites and CSES receivers. A comprehensive analysis of the estimation accuracy is presented, revealing that DCBs for BDS satellites, derived from joint BDS and GPS observations, exhibit superior consistency compared to those from single BDS observations. Notably, the stability of DCBs for the CSES BDS receiver as well as for BDS GEO, IGSO, and MEO satellites has been significantly enhanced by 70%, 14%, 22%, and 23%, respectively. Conversely, the consistency of GPS satellite DCBs estimated from joint observations shows a decline when compared to the DCB products from the Center for Orbit Determination in Europe (CODE) and the Chinese Academy of Sciences (CAS). When fewer than nine satellites are tracked daily and nighttime observations are under 25%, estimation errors increase. The optimal DCB estimation is achieved with a cutoff elevation angle set at 10°, with monthly mean DCB values for CSES GPS and BDS receivers determined to be −2.193 ns and −1.099 ns, respectively, accompanied by root mean square errors (RMSEs) of 0.10 ns and 0.31 ns. The highest accuracy of DCBs estimated by the single-GPS scheme is corroborated by examining the occurrence of negative vertical total electron content (VTEC) percentages. Full article

The Global Navigation Satellite System (GNSS) has made important progress in Earth observation and applications. With the successful design of the BeiDou Navigation Satellite System (BDS), four global navigation satellite systems are available worldwide, together with Galileo, GLONASS, and GPS. These systems have been widely employed in positioning, navigation, and timing (PNT). Furthermore, GNSS refraction, reflection, and scattering signals can remotely sense the Earth’s surface and atmosphere with powerful implications for environmental remote sensing. In this paper, the recent developments and new application progress of multi-GNSS in Earth observation are presented and reviewed, including the methods of BDS/GNSS for Earth observations, GNSS navigation and positioning performance (e.g., GNSS-PPP and GNSS-NRTK), GNSS ionospheric modelling and space weather monitoring, GNSS meteorology, and GNSS-reflectometry and its applications. For instance, the static Precise Point Positioning (PPP) precision of most MGEX stations was improved by 35.1%, 18.7%, and 8.7% in the east, north, and upward directions, respectively, with PPP ambiguity resolution (AR) based on factor graph optimization. A two-layer ionospheric model was constructed using IGS station data through three-dimensional ionospheric model constraints and TEC accuracy was increased by about 20–27% with the GIM model. Ten-minute water level change with centimeter-level accuracy was estimated with ground-based multiple GNSS-R data based on a weighted iterative least-squares method. Furthermore, a cyclone and its positions were detected by utilizing the GNSS-reflectometry from the space-borne Cyclone GNSS (CYGNSS) mission. Over the years, GNSS has become a dominant technology among Earth observation with powerful applications, not only for conventional positioning, navigation and timing techniques, but also for integrated remote sensing solutions, such as monitoring typhoons, river water level changes, geological geohazard warnings, low-altitude UAV navigation, etc., due to its high performance, low cost, all time and all weather. Full article

Broadcast ephemeris data are essential for the precision and reliability of the BeiDou Navigation Satellite System (BDS) but are highly susceptible to anomalies caused by various interference factors, such as ionospheric and tropospheric effects, solar radiation pressure, and satellite clock biases. Traditional threshold-based methods and manual review processes are often insufficient for detecting these complex anomalies, especially considering the distinct characteristics of different satellite types. To address these limitations, this study proposes an automated anomaly detection method using the IF-TEA-LSTM model. By transforming broadcast ephemeris data into multivariate time series and integrating anomaly score sequences, the model enhances detection robustness through data integrity assessments and stationarity tests. Evaluation results show that the IF-TEA-LSTM model reduces the RMSE by up to 20.80% for orbital parameters and improves clock deviation prediction accuracy for MEO satellites by 68.37% in short-term forecasts, outperforming baseline models. This method significantly enhances anomaly detection accuracy across GEO, IGSO, and MEO satellite orbits, demonstrating its superiority in long-term data processing and its capacity to improve the reliability of satellite operations within the BDS. Full article

The BeiDou-3 navigation satellite system (BDS-3) has officially provided positioning, navigation, and timing (PNT) services to global users since 31 July 2020. With the application of inter-satellite link technology, global integrity monitoring becomes possible. Nevertheless, the content of integrity monitoring is still limited by the communication capacity of inter-satellite links and the layout of ground monitoring stations. Low earth orbit (LEO) satellites have advantages in information-carrying rate and kinematic velocity and can be used as satellite-based monitoring stations for navigation satellites. Large numbers of LEO satellites can provide more monitoring data than ground monitoring stations and make it easier to obtain full-arc observation data. A new challenge of redundant data also arises. This study constructs multi-source observation links with satellite-to-ground, inter-satellite, and satellite-based observation data, proposes an integrity monitoring method with optimization of observation links, and verifies the performance of integrity monitoring with different observation links. The experimental results show four findings. (1) Based on the integrity status of BDS-3, the proposed system-level integrity mode can realize full-arc anomaly diagnosis in information and signals according to the observation conditions of the target satellite. Apart from basic navigation messages and satellite-based augmentation messages, autonomous messages and inter-satellite ranging data can be used to evaluate the state of the target satellite. (2) For a giant LEO constellation, only a small number of LEO satellites need to be selected to construct a minimum satellite-based observation unit that can realize multiple returns of navigation messages and reduce the redundancy of observation data. With the support of 12 and 30 LEO satellites, the minimum number of satellite-based observation links is 1 and 4, respectively, verifying that a small amount of LEO satellites could be used to construct a minimum satellite-based observation unit. (3) A small number of LEO satellites can effectively improve the observation geometry of the target satellite. An orbit determination observation unit, which consists of chosen satellite-to-ground and/or satellite-based observation links based on observation geometry, is proposed to carry out fast calculations of satellite orbit. If the orbit determination observation unit contains 6 satellite-to-ground monitoring links and 6/12/60 LEO satellites, the value of satellite position dilution of precision (SPDOP) is 38.37, 24.60, and 15.71, respectively, with a 92.95%, 95.49%, and 97.12% improvement than the results using 6 satellite-to-ground monitoring links only. (4) LEO satellites could not only expand the resolution of integrity parameters in real time but also augment the service accuracy of the navigation satellite system. As the number of LEO satellites increases, the area where UDRE parameters can be solved in real time is constantly expanding to a global area. The service accuracy is 0.93 m, 0.88 m, and 0.65 m, respectively, with augmentation of 6, 12, and 60 LEO satellites, which is an 8.9%, 13.7%, and 36.3% improvement compared with the results of regional service. LEO satellites have practical application values by improving the integrity monitoring of navigation satellites. Full article

This study addresses the challenges associated with single-system long-baseline real-time kinematic (RTK) navigation, including limited positioning accuracy, inconsistent signal reception, and significant residual atmospheric errors following double-difference corrections. This study explores the effectiveness of long-baseline RTK navigation using an integrated system of the BeiDou Navigation Satellite System (BDS), Global Positioning System (GPS), and Galileo Satellite Navigation System (Galileo). A long-baseline RTK approach that incorporates Kalman filtering and partial ambiguity resolution is applied. Initially, error models are used to correct ionospheric and tropospheric delays. The zenith tropospheric and inclined ionospheric delays and additional atmospheric error components are then regarded as unknown parameters. These parameters are estimated together with the position and ambiguity parameters via Kalman filtering. A two-step method based on a success rate threshold is employed to resolve partial ambiguity. Data from five long-baseline IGS monitoring stations and real-time measurements from a ship were employed for the dual-frequency RTK positioning experiments. The findings indicate that integrating additional GNSSs beyond the BDS considerably enhances both the navigation precision and the rate of ambiguity resolution. At the IGS stations, the integration of the BDS, GPS, and Galileo achieved navigation precisions of 2.0 cm in the North, 5.1 cm in the East, and 5.3 cm in the Up direction while maintaining a fixed resolution exceeding 94.34%. With a fixed resolution of Up to 99.93%, the integration of BDS and GPS provides horizontal and vertical precision within centimeters in maritime contexts. Therefore, the proposed approach achieves precise positioning capabilities for the rover while significantly increasing the rate of successful ambiguity resolution in long-range scenarios, thereby enhancing its practical use and exhibiting substantial application potential. Full article