Theory of carrier phase ambiguity resolution

Carrier phase ambiguity resolution is the key to high precision Global Navigation Satellite System (GNSS) positioning and navigation. It applies to a great variety of current and future models of GPS, modernized GPS and Galileo. A proper handling of carrier phase ambiguity resolution requires a proper understanding of the underlying theory of integer inference. In this contribution a brief review is given of the probabilistic theory of integer ambiguity estimation. We describe the concept of ambiguity pull-in regions, introduce the class of admissible integer estimators, determine their probability mass functions and show how their variability affect the uncertainty in the so-called ‘fixed’ baseline solution. The theory is worked out in more detail for integer least-squares and integer bootstrapping. It is shown that the integer least-squares principle maximizes the probability of correct integer estimation. Sharp and easy-to-compute bounds are given for both the ambiguity success rate and the baseline’s probability of concentration. Finally the probability density function of the ambiguity residuals is determined. This allows one for the first time to formulate rigorous tests for the integerness of the parameters

DIA-datasnooping and identifiability

In this contribution, we present and analyze datasnooping in the context of the DIA method. As the DIA method for the detection, identification and adaptation of mismodelling errors is concerned with estimation and testing, it is the combination of both that needs to be considered. This combination is rigorously captured by the DIA estimator. We discuss and analyze the DIA-datasnooping decision probabilities and the construction of the corresponding partitioning of misclosure space. We also investigate the circumstances under which two or more hypotheses are nonseparable in the identification step. By means of a theorem on the equivalence between the nonseparability of hypotheses and the inestimability of parameters, we demonstrate that one can forget about adapting the parameter vector for hypotheses that are nonseparable. However, as this concerns the complete vector and not necessarily functions of it, we also show that parameter functions may exist for which adaptation is still possible. It is shown how this adaptation looks like and how it changes the structure of the DIA estimator. To demonstrate the performance of the various elements of DIA-datasnooping, we apply the theory to some selected examples. We analyze how geometry changes in the measurement setup affect the testing procedure, by studying their partitioning of misclosure space, the decision probabilities and the minimal detectable and identifiable biases. The difference between these two minimal biases is highlighted by showing the difference between their corresponding contributing factors. We also show that if two alternative hypotheses, say (Formula presented.) and (Formula presented.), are nonseparable, the testing procedure may have different levels of sensitivity to (Formula presented.)-biases compared to the same (Formula presented.)-biases

Testing of a new single-frequency GNSS carrier phase attitude determination method: land, ship and aircraft experiments

Global navigation satellite system (GNSS) ambiguity resolution is the process of resolving the unknown cycle ambiguities of the carrier phase data as integers. The sole purpose of ambiguity resolution is to use the integer ambiguity constraints as a means of improving significantly on the precision of the remaining GNSS model parameters. In this contribution, we consider the problem of ambiguity resolution for GNSS attitude determination. We analyse the performance of a new ambiguity resolution method for GNSS attitude determination. As it will be shown, this method provides a numerically efficient, highly reliable and robust solution of the nonlinearly constrained integer least-squares GNSS compass estimators. The analyses have been done by means of a unique set of extensive experimental tests, using simulated as well as actual GNSS data and using receivers of different manufacturers and type as well as different platforms. The executed field tests cover two static land experiments, one in the Netherlands and one in Australia, and two dynamic experiments, a low-dynamics vessel experiment and high-dynamics aircraft experiment. In our analyses, we focus on stand-alone, unaided, single-frequency, single epoch attitude determination, as this is the most challenging case of GNSS compass processing

Review and principles of PPP-RTK methods

PPP-RTK is integer ambiguity resolution-enabled precise point positioning. In this contribution, we present the principles of PPP-RTK, together with a review of different mechanizations that have been proposed in the literature. By application of S-system theory, the estimable parameters of the different methods are identified and compared. Their interpretation is essential for gaining a proper insight into PPP-RTK in general, and into the role of the PPP-RTK corrections in particular. We show that PPP-RTK is a relative technique for which the ‘single-receiver user’ integer ambiguities are in fact double-differenced ambiguities. We determine the transformational links between the different methods and their PPP-RTK corrections, thereby showing how different PPP-RTK methods can be mixed between network and users. We also present and discuss four different estimators of the PPP-RTK corrections. It is shown how they apply to the different PPP-RTK models, as well as why some of the proposed estimation methods cannot be accepted as PPP-RTK proper. We determine analytical expressions for the variance matrices of the ambiguity-fixed and ambiguity-float PPP-RTK corrections. This gives important insight into their precision, as well as allows us to discuss which parts of the PPP-RTK correction variance matrix are essential for the user and which are not

Distributional theory for the DIA method

The DIA method for the detection, identification and adaptation of model misspecifications combines estimation with testing. The aim of the present contribution is to introduce a unifying framework for the rigorous capture of this combination. By using a canonical model formulation and a partitioning of misclosure space, we show that the whole estimation–testing scheme can be captured in one single DIA estimator. We study the characteristics of this estimator and discuss some of its distributional properties. With the distribution of the DIA estimator provided, one can then study all the characteristics of the combined estimation and testing scheme, as well as analyse how they propagate into final outcomes. Examples are given, as well as a discussion on how the distributional properties compare with their usage in practice

PPP-RTK and inter-system biases: the ISB look-up table as a means to support multi-system PPP-RTK

PPP-RTK has the potential of benefiting enormously from the integration of multiple GNSS/RNSS systems. However, since unaccounted inter-system biases (ISBs) have a direct impact on the integer ambiguity resolution performance, the PPP-RTK network and user models need to be flexible enough to accommodate the occurrence of system-specific receiver biases. In this contribution we present such undifferenced, multi-system PPP-RTK full-rank models for both network and users. By an application of (Formula presented.)-system theory, the multi-system estimable parameters are presented, thereby identifying how each of the three PPP-RTK components are affected by the presence of the system-specific biases. As a result different scenarios are described of how these biases can be taken into account. To have users benefit the most, we propose the construction of an ISB look-up table. It allows users to search the table for a network receiver of their own type and select the corresponding ISBs, thus effectively realizing their own ISB-corrected user model. By applying such corrections, the user model is strengthened and the number of integer-estimable user ambiguities is maximized

Vegetations- und sedimentationsgeschichtliche Untersuchungen am Grand Étang bei Gérardmer (Vogesen)

Unweit von Gérardmer, in den südlichen Zentral-Vogesen, liegt im Gebirge ein Kar-artiges Becken, der Grand Étang. Die etwa 15 m mächtige Auffüllung dieses Beckens wurde pollenanalytisch untersucht. Daraus ergab sich ein Bild der Sedimentations- und Vegetationsgeschichte in und am Grand Étang, und zwar vom frühen Spätglazial bis in die Gegenwart. Die gefundenen Entwicklungslinien stimmen im allgemeinen mit denen anderer Moorgebiete der Vogesen überein. Aus den gesamten Daten ergibt sich, daß die Bewegungen der verschiedenen Vegetationsgürtel an den Hängen der Vogesen sowie die Zusammensetzung dieser Gürtel nicht nur von dem Temperaturverlauf während des Spätglazials und des Holozäns beeinflußt wurden, sondern auch von den Änderungen der Feuchtigkeit und der Entwicklung der Böden.researc

Workplace learning from a socio-cultural perspective: creating developmental space during the general practice clerkship

Workplace learning in undergraduate medical education has predominantly been studied from a cognitive perspective, despite its complex contextual characteristics, which influence medical students’ learning experiences in such a way that explanation in terms of knowledge, skills, attitudes and single determinants of instructiveness is unlikely to suffice. There is also a paucity of research which, from a perspective other than the cognitive or descriptive one, investigates student learning in general practice settings, which are often characterised as powerful learning environments. In this study we took a socio-cultural perspective to clarify how students learn during a general practice clerkship and to construct a conceptual framework that captures this type of learning. Our analysis of group interviews with 44 fifth-year undergraduate medical students about their learning experiences in general practice showed that students needed developmental space to be able to learn and develop their professional identity. This space results from the intertwinement of workplace context, personal and professional interactions and emotions such as feeling respected and self-confident. These forces framed students’ participation in patient consultations, conversations with supervisors about consultations and students’ observation of supervisors, thereby determining the opportunities afforded to students to mind their learning. These findings resonate with other conceptual frameworks and learning theories. In order to refine our interpretation, we recommend that further research from a socio-cultural perspective should also explore other aspects of workplace learning in medical education

Urinary 1-Hydroxypyrene Levels in Workers Exposed to Polycyclic Aromatic Hydrocarbon from Rubber Wood Burning

AbstractBackgroundUrinary 1-hydroxypyrene (1-OHP) was selected as a biomarker of polycyclic aromatic hydrocarbons (PAHs) to explore the accumulation level in the bodies of workers at rubber smoke sheet factories in southern Thailand.MethodsSpot urine samples were taken from four groups of workers from June 2006 to November 2007. The nonexposure or control groups included habitual cigarette smokers and nonsmokers. The other two groups were workers exposed to particle-bound PAHs from rubber wood smoke and they were nonsmokers. All spot urine samples were analyzed for 1-OHP and creatinine levels.ResultsThe mean ± standard deviation urinary 1-OHP in the control group of habitual smokers and the nonsmokers was 0.24 ± 0.16 μmol/mol creatinine and not-detected to 0.14 μmol/mol creatinine, respectively. In the workers, the 1-OHP levels on workdays had no significant difference from the 1-OHP levels on the days off. The yearly average 1-OHP level was 0.76 ± 0.41 μmol/mol creatinine whereas the average 1-OHP level during 10 consecutive workdays was 1.06 ± 0.29 μmol/mol creatinine (p > 0.05).ConclusionThe urinary 1-OHP levels of workers exposed to PAHs were high. The accumulation of 1-OHP in the body was not clear although the workers had long working hours with few days off during their working experience. Therefore, a regular day off schedule and rotation shift work during high productive RSS should be set for RSS workers

An analytical study of PPP-RTK corrections: precision, correlation and user-impact

PPP-RTK extends the PPP concept by providing single-receiver users, next to orbits and clocks, also information about the satellite phase and code biases, thus enabling single-receiver ambiguity resolution. It is the goal of the present contribution to provide an analytical study of the quality of the PPP-RTK corrections as well as of their impact on the user ambiguity resolution performance. We consider the geometry-free and the geometry-based network derived corrections, as well as the impact of network ambiguity resolution on these corrections. Next to the insight that is provided by the analytical solutions, the closed form expressions of the variance matrices also demonstrate how the corrections depend on network parameters such as number of epochs, number of stations, number of satellites, and number of frequencies. As a result we are able to describe in a qualitative sense how the user ambiguity resolution performance is driven by the data from the different network scenarios