| Overview | Specifications | Program Execution | Parameter Estimator | Plot Data | Utilities | Data Files | Libraries |
|
GPS Precise Analysis Software GpsTools: Specifications |
| System Requirements | Obs Data Editor | Parameter Estimator | Utilities | Libraries | Supported Data Formats |
| Item | Specification |
|---|---|
| Operating system | Windows XP, Windows Vista 32bit or 64bit |
| Software environment | MATLAB v.7.3 (R2006b) or higher version, 32bit or 64bit |
| Support software | |
| - Data compression/extraction | gzip |
| - Compressed RINEX | crx2rnx, rnx2crx |
| - Ocean loading prediction | GOTIC2 (Generate ocean loading coefficients) |
| Required Memory | >512MByte |
| Item | Specification |
|---|---|
| Input observation data | RINEX 2.10 (including high-rate RINEX) |
| Pseudorange code | P1+P2 or C1+P2+P1-C1 bias correction |
| P1-C1 bias | Standard parameters for IGS analysis |
| Detection of cycle-slips | Variation rate of geometry-free LC (variation
of ionospheric delay) Melbourne-Wubbena Wide-Lane LC: Moving Average、Moving Standard Deviation Variation rate of Iono-free code and carrier-phase LC Variation rate of MP1, MP2 LC |
| Repair of cycle-slips | Estimation of slip amount by difference of
Melbourne-Wubbena LC averages Estimation of slip amount by n-degree polynomial fitting of geometry-free LC |
| Rejection of outliers | Detect outlier by standard deviation test of Melbourne-Wubbena LC |
| Preprocessing of clock-jump | Code-phase incoherency correction by carrier phase or code/time-tag adjustment |
| Smoothing of code | L1, L2 carrier-smoothing of code observations |
| Extraction of data | Data extraction at each sampling interval and separate arcs |
| Output format | MATLAB binary (mat-file) |
| Item | Specification |
|---|---|
| Estimation scheme | Extended Kalman filter and smoother (EKF/S) |
| Estimation pass | 1-pass, 2-pass (forward-backward) or 3-pass (forward-backward-forward) |
| Estimated parameters | Receiver position (ECEF) Tropospheric zenith total delay (ZTD) and horizontal gradients (north/east/quadratic) Satellite and receiver clock (clock bias and drift relative reference clock) Satellite orbit (satellite mass-center position and velocity) Solar radiation pressure (SRP) model parameters Earth rotation parameters (ERP : Xp, Yp, UT1-UTC) Geocenter Offset (dx, dy, dz, scale) |
| Measurement models | |
| - Basic observable | Ionospheric-free LC of carrier-phases |
| - Diffencing of observable | Zero-difference/PPP |
| - Geometric range model | Satellite motion by earth 0-degree gravity and light-time iteration |
| - Satellite clock-bias | Estimated or fixed to input states |
| - Receiver clock-bias | Estimated or fixed to input states |
| - Satellite antenna phase center offset/variations | Block II/IIA : X=0.279, Y=0, Z=1.023 m, Block
IIR : X=Y=Z=0m or input satellite antenna model (ANTEX) |
| - Receiver antenna phase center offset/variations | Input receiver antenna model (IGS_01.PCV, NGS or ANTEX) |
| - Tropospheric delay | A priori model: Saastamoinen or no correction Mapping function: COSZ, NMF (Niell mapping function), GMF (global mapping function) or VMF1 (Vienna mapping function 1) Total delay model: Mdry(EL)*Tropdry+Mwet(EL)(1+(Gnorth*cosAZ+Geast*sinAZ)/tanEL)*(ZTD-Tropdry) (Mdry/Mwet: hydrostatic/wet mapping function, Tropdry: A priori hydrostatic model, Gnorth/Geast: Horizontal gradient N/E, AZ/EL: azimuth/elevation angle), estimation of quadratic coefficients |
| - Ionospheric delay | 1st-order term: eliminated by ionospheric-free
LC higher order terms: none |
| - Site-Displacement | Solid earth tide: IERS Conventions 1996 Ch.7 - Step1 : in-phase degree2 and 3, out-of-phase, latitude dependence - Step2 : contribution from the diurnal band : K1 only Ocean loading: IERS Conventions 1996 Ch.7 - 11 constituents (M2,S2,N2,K2,K1,O1,P1,Q1,Mf,Mm,Ssa) - input loading amplitude/phase coefficients (BLQ format) Pole tide: IERS Conventions 1996 Ch.7 Permanent deformation: can be eliminated Atmospheric loading: none |
| - Relativistic effects | Satellite clock variation and Shapiro time delay |
| - Phase windup effect | Wu (1996) model |
| - Multipath | Correction with carrier-phase multipath profile Correction with modified sidereal-filter |
| - Measurement errors | Standard deviation at zenith: user defined Elevation dependency: sqrt(1+f(1/sin(EL)^2-1)) |
| - Carrier-phase ambiguity | Guess estimation: Ionospheric-free LC carrier-phase
- pseudorange Estimation model: Float ionospheric-free LC carrier-phase ambiguity residual Integer ambiguity resolution: none |
| Satellite motion model | |
| - Geopotential | JGM-3, up to 12-degree/order |
| - Solar/Planetary Potentials | Moon and sun (point of mass) |
| - Planetary ephemeris | JPL DE/LE405 |
| - Eclipse model | Cylindric or Penumbra/umbra (earth and moon) |
| - Solar radiation pressure (SRP) model | Simple model (Cannonball model)+scale ROCK4/42 (T20,T30)+Scale, Ybias GSPM.04b+scale, Ybias, along-track, cross-track acceleration CODE RPR+D0, Y0, B0, Z0, X10, X30 |
| - Earth Tides | Solid Earth Tide: IERS Conventions 1996 Ch.6, frequency independent項2,3次、frequency dependent項K1 only Ocean loading: IERS Conventions 1996 Ch.6 8 constituents, up to 3rd order (CSR2.0) Pole tide: IERS Conventions 1996 Ch.6 delta-C21, delta-S21 |
| - Relativistic effects | IERS Conventions 1996 Ch.11 |
| - Earth albedo | None |
| - Air drag | None |
| - delta-V | Input user-defined acceleration and duration |
| - Numerical integration | Fixed step 4th-order Runge-Kutta or variable step/order Adams-Bashforth-Moulton |
| State transition model | |
| - Satellite/Receiver clock | Fixed, white-noise or 1st-order Gauss-Marcov |
| - Tropospheric parameters | Fixed, random-walk or 1st-order Gauss-Marcov |
| - Earth rotation parameters | Fixed or random-walk |
| - Geocenter offsets | Zero-fixed or random-walk |
| - Receiver position | Fixed, random-walk (static), or white-noise (kinematic) |
| - Carrier-phase ambiguity | Fixed in an arc, re-initialized at cycle-slip, estimated as float value |
| Reference frame | |
| - ECEF | ITRF |
| - ECI | ICRF (J2000.0) |
| - Precession/Nutation | IAU1976 precession, IAU1980 nutation＋dpsi/deps or IERS1996 nutation |
| - ERP variation | Subdaily-variation correction (Ray model) |
| - Earth rotation parameters | Fixed to IERS Bulletin A, B, C04 or IGS ERP or estimated |
| - Geocenter offsets | Zero-fixed of estimated |
| A priori/Fixed states | |
| - Satellite position/velocity | Broadcast ephemeris or precise ephemeris (SP3)＋interpolation |
| - Satellite clock | Broadcast SV clock parameters or precise clock (SP3, RINEX CLK)+interpolation |
| - Receiver clock | Estimated by point positioning or precise clock (RINEX CLK) |
| - Meteorological parameters | Standard atmosphere, GPT (Global pressure and temperature) or JMA NWM |
| - Receiver position | ITRF97, ITRF2000/2005, IGS00, IGb00, IGS05, IGS SINEX, GSI F1/F2 or user-defined |
| - Earth rotation parameters | IGS ERP, IERS Bulletin B, IERS EOP C04 |
| Item | Specification |
|---|---|
| File manager | List and filtered view, file manipulation (copy, move, rename, delete, uncompact, compact), Text file viewer, Matlab binary file viewer, image viewer |
| Plot results | |
| - Plot observation data | Plot raw/edited observation data, plot data availability, plot linear combination of observation data, plot cycle-slips, show RINEX text, execute TEQC |
| - Plot satellite orbit | Plot satellite position error (3D,Radial/Along-Track/Cross-Track,XYZ), plot position error by satellites/dates, plot SRP parameters, plot ERP, Plot Geocenter offset, output text, output summary. |
| - Plot satellite/receiver clock | Plot satellite/receiver clock bias, plot satellite/receiver clock error, plot satellite/receiver clock stability, output text file, output summary. |
| - Plot tropospheric parameters | Plot ZTD, plot ZTD error, plot map, output text file, output summary. |
| - Plot GPV data | Plot JMA NWM (MSM、RSM, GSM), read geoid model, plot map, plot contour, plot contour filled, plot mesh, plot surface, plot vector, plot streamline |
| - Plot ionospheric parameters | Plot IONEX file, plot VTEC map, plot contour. |
| - Plot LEO satellite orbit | Plot GRACE/CHAMP orbit file, Plot orbit errors (3D, Radial/Along-Track/Cross-Track, XYZ) |
| - Plot residuals | Plot residuals, plot residuals E/N/U components, plot residuals AZ/El, plot residuals Heading/Nadir, plot residuals in skyplot, plot residuals in 3D skyplot, output statistics, output antenna phase center parameter. |
| - Plot multipath profile | Plot multipath profile in skyplot, plot multipath profile in AZ/EL graph |
| - Plot satellite track and receiver positions | Plot satellite ground track, plot receiver positions in map, plot satellite coverages, plot baseline and baseline length, plot Voronoi region, plot satellite view in skyplot, plot satellite AZ/EL graph, plot satellite eclipse period, plot satellite-sun angle, plot DOP. |
| Data/product downlorder | Download data/products by FTP/HTTP, extend keywords in download address, uncompress files, download via proxy server. |
| Generate products | Generate satellite ephemeris (SP3), generate satellite/receiver clock (RINEX CLK), generate receiver position (SINEX) |
| Generate ocean loading coefficients | Front-end of GOTIC2 (ocean tide prediction), output BLQ format coefficients. |
| Estimate multipath profile | Estimate multipath profile by stacking of post-fit residuals. |
| Item | Specification |
|---|---|
| Common libraries | MATLAB interface, user callable routines |
| Supported model | Refer observation data editor and parameter estimator specs. |
| Supported data format | Internal binary (clean observation data, estimation results, estimation residuals, processing parameters), text/CSV format, RINEX OBS/NAV, SP3/SP3c, RINEX CLK, SINEX TROP, SINEX, GSI F1/F2, IONEX, IERS Bulletin B, IERS C04, IGS ERP, BLQ, IGS_01.PCV, ANTEX etc |
| Binary codes | C-MEX library with MATLAB MEX-interface |
| Item | Specification |
|---|---|
| Observation data | RINEX 2.10 OBS (Daily, 3H, 1H, High-Rate:15min) |
| Navigation messages | RINEX 2.10 NAV |
| Satellite precise ephemeris | NGS SP3、SP3-c |
| Satellite/Receiver clock | RINEX CLK |
| Tropospheric parameters | SINEX TROP |
| Station positions | SINEX、GSI F1/F2 |
| Ionospheric parameters | IONEX |
| Earth rotation parameters | IERS Bulletin B、IGS ERP |
| Ocean loading coefficients | BLQ |
| Antenna phase center | IGS_01.PCV, NGS PCV, ANTEX |
| Copyright (C) 2004-2008, T.Takasu, All Rights Reserved. |