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Published
20 hours ago •
GeoscienceAustralia
GeoscienceAustralia
Clock error, orbit determination accuracy is relatively low
Dear ginan team： I used sample data to run the pod. Below is my pod.yaml file.
inputs:
include_yamls: [ /home/jddai/ginan/inputData/products/boxwing.yaml ] # required if using boxwing model
inputs_root: /home/jddai/ginan/inputData/products/
atx_files: [ igs20.atx ] # required
egm_files: [ tables/EGM2008.gfc ] # Earth gravity model coefficients file
igrf_files: [ tables/igrf13coeffs.txt ]
erp_files: [ finals.data.iau2000.txt ]
planetary_ephemeris_files: [ tables/DE436.1950.2050 ]
troposphere:
gpt2grid_files: [ tables/gpt_25.grd ]
tides:
ocean_tide_loading_blq_files: [ tables/OLOAD_GO.BLQ ] # required if ocean loading is applied
atmos_tide_loading_blq_files: [ tables/ALOAD_GO.BLQ ] # required if atmospheric tide loading is applied
ocean_pole_tide_loading_files: [ tables/opoleloadcoefcmcor.txt ] # required if ocean pole tide loading is applied
ocean_tide_potential_files: [ tables/fes2014b_Cnm-Snm.dat ]
snx_files:
# - "*.SNX" # use a wild card to include all files matching the description in the directory
- tables/igs_satellite_metadata_2203_plus.snx
- tables/sat_yaw_bias_rate.snx
- tables/qzss_yaw_modes.snx
- tables/bds_yaw_modes.snx
- IGS1R03SNX_20191950000_07D_07D_CRD.SNX
satellite_data:
nav_files: [ brdm1990.19p ]
gnss_observations:
gnss_observations_root: /home/jddai/ginan/inputData/data
rnx_inputs:
- AREG00PER_R_20191990000_01D_30S_MO.rnx
- ASCG00SHN_R_20191990000_01D_30S_MO.rnx
- CEDU00AUS_R_20191990000_01D_30S_MO.rnx
- COCO00AUS_R_20191990000_01D_30S_MO.rnx
- CPVG00CPV_R_20191990000_01D_30S_MO.rnx
- DARW00AUS_R_20191990000_01D_30S_MO.rnx
- DGAR00GBR_R_20191990000_01D_30S_MO.rnx
- DJIG00DJI_R_20191990000_01D_30S_MO.rnx
- FAIR00USA_R_20191990000_01D_30S_MO.rnx
- HERS00GBR_R_20191990000_01D_30S_MO.rnx
- HOB200AUS_R_20191990000_01D_30S_MO.rnx
- IISC00IND_R_20191990000_01D_30S_MO.rnx
- JFNG00CHN_R_20191990000_01D_30S_MO.rnx
- KARR00AUS_R_20191990000_01D_30S_MO.rnx
- KIRI00KIR_R_20191990000_01D_30S_MO.rnx
- KOKV00USA_R_20191990000_01D_30S_MO.rnx
- LHAZ00CHN_R_20191990000_01D_30S_MO.rnx
- LMMF00MTQ_R_20191990000_01D_30S_MO.rnx
- MAW100ATA_R_20191990000_01D_30S_MO.rnx
- MBAR00UGA_R_20191990000_01D_30S_MO.rnx
- METG00FIN_R_20191990000_01D_30S_MO.rnx
- MGUE00ARG_R_20191990000_01D_30S_MO.rnx
- NICO00CYP_R_20191990000_01D_30S_MO.rnx
- NKLG00GAB_R_20191990000_01D_30S_MO.rnx
- OHI300ATA_R_20191990000_01D_30S_MO.rnx
- POAL00BRA_R_20191990000_01D_30S_MO.rnx
- QUIN00USA_R_20191990000_01D_30S_MO.rnx
- REYK00ISL_R_20191990000_01D_30S_MO.rnx
- RGDG00ARG_R_20191990000_01D_30S_MO.rnx
- SAMO00WSM_R_20191990000_01D_30S_MO.rnx
- SEY200SYC_R_20191990000_01D_30S_MO.rnx
- SOLO00SLB_R_20191990000_01D_30S_MO.rnx
- TONG00TON_R_20191990000_01D_30S_MO.rnx
- TOPL00BRA_R_20191990000_01D_30S_MO.rnx
- TOW200AUS_R_20191990000_01D_30S_MO.rnx
- USN700USA_R_20191990000_01D_30S_MO.rnx
- VACS00MUS_R_20191990000_01D_30S_MO.rnx
- ZIM200CHE_R_20191990000_01D_30S_MO.rnx
- CUSV00THA_R_20191990000_01D_30S_MO.rnx
outputs:
outputs_root: /home/jddai/ginan/out/output_pod_example_300/
metadata:
config_description: pod_example
analysis_agency: GAA
analysis_centre: Geoscience Australia -----FILE NOT FOR OPERATIONAL USE-----
analysis_software: Ginan v3.0
rinex_comment: AUSNETWORK1
gradient_mapping_function: Chen & Herring, 1992 # (string) Name of mapping function used for mapping horizontal troposphere gradients
ocean_tide_loading_model: FES2014 # (string) Ocean tide loading model applied
reference_system: igs20 # (string) Terrestrial Reference System Code
time_system: G # (string) Time system - e.g. "G", "UTC"
trace:
level: 3
output_receivers: true
output_network: true
receiver_filename: <RECEIVER>_<CONFIG>_<YYYY><DDD><HH>.TRACE
network_filename: <RECEIVER>_<CONFIG>_<YYYY><DDD><HH>.TRACE
output_residuals: true
output_residual_chain: true
output_config: true
network_statistics:
output: true # (bool) Enable exporting network statistics data to file
directory: ./pod_network # (string) Directory to export network statistics data
filename: <CONFIG>_network_statistics.json # (string) Network statistics data filename
gpx:
output: true
sinex:
output: true
directory: ./pod_snx
filename: <CONFIG>_<YYYY><DDD><HH>.SNX
sp3:
output: true
directory: ./pod_sp3
filename: <CONFIG>_<YYYY><DDD><HH>.SP3
output_interval: 30 # (int) Update interval for sp3 records
clocks:
output: true
directory: ./pod_clk
filename: <CONFIG>_<YYYY><DDD><HH>.CLK
erp:
output: true
directory: ./pod_erp
filename: <CONFIG>_<YYYY><DDD><HH>.ERP
orbex:
output: true
filename: <CONFIG>_<YYYY><DDD><HH>.OBX
directory: ./pod_orbex
attitude_sources: [MODEL, NOMINAL]
satellite_options:
global:
#clock_codes: [AUTO, AUTO]
models:
clock:
enable: true
sources: [KALMAN, PRECISE, BROADCAST]
pos:
enable: true
sources: [KALMAN, PRECISE, BROADCAST]
attitude:
enable: true
sources: [MODEL, PRECISE, NOMINAL]
pco:
enable: true
pcv:
enable: true
code_bias:
enable: true
default_bias: 0
undefined_sigma: 0
phase_bias:
enable: false
default_bias: 0
undefined_sigma: 0
orbit_propagation:
albedo: cannonball
antenna_thrust: true
empirical: true
empirical_dyb_eclipse: [true,false,false]
planetary_perturbations: [moon,sun,mercury,venus,mars,jupiter,saturn,uranus,neptune,pluto]
pseudo_pulses:
enable: false
solar_radiation_pressure: boxwing
mass: 1000
area: 15
srp_cr: 1.75
power: 20
GPS:
clock_codes: [ L1W,L2W ]
# G04:
# exclude: true
G15:
exclude: true
E05: { exclude: true }
E06: { exclude: true }
E10: { exclude: true }
E16: { exclude: true }
E17: { exclude: true }
E23: { exclude: true }
E28: { exclude: true }
E29: { exclude: true }
E32: { exclude: true }
E34: { exclude: true }
E35: { exclude: true }
receiver_options: # Options to configure individual stations or global configs
USN7:
aliases: [PIVOT]
global:
error_model: elevation_dependent # uniform, elevation_dependent
elevation_mask: 10
code_sigma: 0.4
phase_sigma: 0.002
clock_codes: [AUTO, AUTO]
zero_dcb_codes: [NONE, NONE]
models:
eccentricity:
enable: true # (bool) Enable modelling of antenna eccentricities
attitude:
enable: true # (bool) Enables non-nominal attitude types
sources: [MODEL, NOMINAL] # List of sourecs to use for attitudes
clock:
enable: true # (bool) Enable modelling of clocks
pco:
enable: true # (bool) Enable modelling of phase center offsets
pcv:
enable: true # (bool) Enable modelling of phase center variations
code_bias:
enable: true # (bool) Enable modelling of code biases
default_bias: 0 # (float) Bias to use when no code bias is found
undefined_sigma: 0 # (float) Uncertainty sigma to apply to default code biases
phase_bias:
enable: false # (bool) Enable modelling of phase biases
default_bias: 0 # (float) Bias to use when no phase bias is found
undefined_sigma: 0 # (float) Uncertainty sigma to apply to default phase biases
pos:
enable: true # (bool) Enable modelling of position
ionospheric_components: # Ionospheric models produce frequency-dependent effects
enable: true # Enable ionospheric modelling
use_2nd_order: true
use_3rd_order: true
troposphere:
enable: true
models: [gpt2]
eop:
enable: true
apriori_sigma_enu: [0.003, 0.003, 0.009] # Use these fixed igma'sfor sites listed below
mincon_scale_apriori_sigma: 1 # Use ALL fixed and/or SINEX file sigma's (!! first preference to the fixed sigma's !!)
mincon_scale_filter_sigma: 0
#ABMF: {mincon_scale_apriori_sigma: 3 }
#ALBH: {mincon_scale_apriori_sigma: 3 }
#ALGO: {mincon_scale_apriori_sigma: 3 }
processing_options:
process_modes:
preprocessor: true
spp: true
ppp: true
ionosphere: false
epoch_control:
epoch_interval: 30
wait_next_epoch: 3600 # Wait up to an hour for next data point - When processing RINEX causes PEA to wait a long as need for last epoch to be processed.
wait_all_receivers: 1
gnss_general:
rec_reference_system: gps
minimise_sat_clock_offsets: true
sys_options:
gps:
process: true
ambiguity_resolution: false
reject_eclipse: false
code_priorities: [ L1W, L1C, L2W ]
# gal:
# process: true
# ambiguity_resolution: false
# reject_eclipse: false
# code_priorities: [ L1C, L5Q, L1X, L5X ]
# glo:
# process: true
# ambiguity_resolution: false
# reject_eclipse: true
# code_priorities: [ L1P, L1C, L2P, L2C ]
# qzs:
# process: true
# ambiguity_resolution: false
# reject_eclipse: true
# code_priorities: [ L1C, L2L, L2X ]
spp:
always_reinitialise: false
max_lsq_iterations: 12
outlier_screening:
max_gdop: 30
postfit:
sigma_check: true
ppp_filter:
ionospheric_components:
common_ionosphere: true
use_if_combo: false
outlier_screening:
prefit:
max_iterations: 2
sigma_check: true
sigma_threshold: 5
omega_test: false
postfit:
max_iterations: 10
sigma_check: true
sigma_threshold: 3
rts:
enable: true
model_error_handling:
meas_deweighting:
deweight_factor: 10000
state_deweighting:
deweight_factor: 10000
ambiguities:
outage_reset_limit: 3
phase_reject_limit: 2
reset_on:
gf: true
lli: true
mw: true
scdia: true
exclusions:
gf: true
lli: true
mw: true
scdia: true
eclipse: false
ionospheric_components:
outage_reset_limit: 3
orbit_errors:
enable: false
pos_process_noise: 10
vel_process_noise: 1
vel_process_noise_trail: 0
vel_process_noise_trail_tau: 0
minimum_constraints:
enable: true
rotation:
estimated: [true]
scale:
estimated: [true]
translation:
estimated: [true]
application_mode: weight_matrix
constrain_orbits: false
outlier_screening: # Statistical checks allow for detection of outliers that exceed their confidence intervals
postfit:
max_iterations: 10 # Maximum number of measurements to exclude using postfit checks while iterating filter
sigma_check: true # Enable sigma check
sigma_threshold: 3 # Sigma threshold
prefit:
max_iterations: 2 # Maximum number of measurements to exclude using prefit checks before attempting to filter
omega_test: false # Enable omega-test
sigma_check: true # Enable sigma check
sigma_threshold: 5 # Sigma threshold
orbit_propagation:
integrator_time_step: 60 # Timestep for the integrator, must be smaller than the processing time step, might be adjusted if the processing time step isn't a integer number of time steps
central_force: true
egm_field: true # Acceleration due to the high degree model of the Earth gravity model (exclude degree 0, made by central_force)
egm_degree: 15 # J2 acceleration perturbation due to the Sun and Moon
solid_earth_tide: true # Model accelerations due to solid earth tides
ocean_tide: true # Model accelerations due to ocean tides model
pole_tide_solid: true # Model accelerations due to solid pole tide (degree 2 only)
pole_tide_ocean: true
general_relativity: true
indirect_J2: true
estimation_parameters:
global_models:
eop:
estimated: [true]
sigma: [10,10,1e-9]
eop_rates:
estimated: [true]
sigma: [10]
receivers:
PIVOT:
#clock:
# estimated: [true]
# process_noise: [0]
# sigma: [1e-9]
code_bias:
estimated: [false]
global:
pos:
estimated: [true]
sigma: [1]
process_noise: [0.0]
# process_noise_dt: second
clock:
estimated: [true]
sigma: [1000]
process_noise: [10] # [100]
ambiguities:
estimated: [true]
sigma: [1000]
process_noise: [0]
# process_noise_dt: day
trop:
estimated: [true]
sigma: [0.3]
process_noise: [0.0001]
# process_noise_dt: second
trop_grads:
estimated: [true]
sigma: [0.03]
process_noise: [1.0E-6]
# process_noise_dt: second
ion_stec:
estimated: [true]
sigma: [500]
process_noise: [10]
code_bias:
estimated: [true]
sigma: [20]
process_noise: [0]
# USN7:
# clk:
# estimated: [false] # Set reference (pivot) station clock
# code_bias:
# estimated: [false]
satellites:
global:
clock:
estimated: [true]
sigma: [1000]
process_noise: [1]
tau: [100]
#mu: [10000]
code_bias:
estimated: [true]
sigma: [10]
process_noise: [0]
orbit: # Orbital state
estimated: [true] # [bools] Estimate state in kalman filter
sigma: [10, 10, 10, 0.01] # [floats] Apriori sigma values - if zero, will be initialised using least squares
process_noise: [0]
emp_d_0: { estimated: [true], sigma: [10]}
emp_y_0: { estimated: [true], sigma: [1]}
emp_b_0: { estimated: [true], sigma: [1]}
# emp_d_1: { estimated: [true], sigma: [1]}
# emp_y_1: { estimated: [true], sigma: [1]}
emp_b_1: { estimated: [true], sigma: [1]}
emp_d_2: { estimated: [true], sigma: [1]}
# emp_y_2: { estimated: [true], sigma: [1]}
# emp_b_2: { estimated: [true], sigma: [1]}
# emp_d_3: { estimated: [true], sigma: [1]}
# emp_y_3: { estimated: [true], sigma: [1]}
# emp_b_3: { estimated: [true], sigma: [1]}
# emp_d_4: { estimated: [true], sigma: [1]}
# emp_y_4: { estimated: [true], sigma: [1]}
# emp_b_4: { estimated: [true], sigma: [1]}
mongo: #enable: primary enable: none output_components: primary output_states: primary output_measurements: primary output_test_stats: none output_trace: none delete_history: primary
debug: # instrument: true #output_mincon: true #mincon_filename: preMinconState.bin #mincon_only: true # mincon_only: true
It was found that there was a large error in the orbit accuracy assessment. Are there any corrective measures? Among them I use https://github.com/GeoscienceAustralia/gnssanalysis for accuracy comparison
I found that the program performs backward Kalman data processing. How can I modify the pod.yaml file to improve the accuracy of orbit determination（do post-processing）?
