Bernese GNSS Software
Version 5.2
Tutorial
Processing Example
Introductory Course
Terminal Session
Rolf Dach, Peter Walser
February 2013
AIUB
Astronomical Institute, University of Bern
Contents
1 Introduction to the Example Campaign 1
1.1 Stations in the Example Campaign . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Directory Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2.1 The DATAPOOL Directory Structure . . . . . . . . . . . . . . . . . . 4
1.2.2 The Campaign–Directory Structure . . . . . . . . . . . . . . . . . . 6
1.2.3 Input Files for the Processing Examples . . . . . . . . . . . . . . . 7
1.2.4 The SAVEDISK Directory Structure . . . . . . . . . . . . . . . . . . 10
2 Terminal Session: Monday 11
2.1 Start the Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 Select Current Session . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.3 Campaign Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.4 Menu Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.5 Generate A Priori Coordinates . . . . . . . . . . . . . . . . . . . . . . . . 14
2.6 Importing the Observations . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.7 Daily Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3 Terminal Session: Tuesday 21
3.1 Prepare Pole Information . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Generate Orbit Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.3 Data Preprocessing (I) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.3.1 Receiver Clock Synchronization . . . . . . . . . . . . . . . . . . . . 30
3.3.2 Form Baselines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.3.3 Preprocessing of the Phase Baseline Files . . . . . . . . . . . . . . 37
3.4 Daily Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4 Terminal Session: Wednesday 41
4.1 Data Preprocessing (II) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.2 Produce a First Network Solution . . . . . . . . . . . . . . . . . . . . . . . 49
4.3 Ambiguity Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.3.1 Ambiguity Resolution: Quasi–Ionosphere–Free (QIF) . . . . . . . . 53
4.3.2 Ambiguity Resolution: Short Baselines . . . . . . . . . . . . . . . . 62
4.3.3 Ambiguity Resolution: Bernese Processing Engine (BPE) . . . . . 65
4.3.4 Ambiguity Resolution: Summary . . . . . . . . . . . . . . . . . . . 69
4.4 Daily Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
5 Terminal Session: Thursday 73
5.1 Final Network Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
5.2 Check the Coordinates of the Fiducial Sites . . . . . . . . . . . . . . . . . 78
5.3 Check the Daily Repeatability . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.4 Compute the Reduced Solution of the Sessions . . . . . . . . . . . . . . . 87
5.5 Velocity Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
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Contents
5.6 Daily Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
6 Additional Examples 99
6.1 Preparing Combined GPS and GLONASS IGS–Orbits . . . . . . . . . . . 99
6.1.1 Prepare Pole Information . . . . . . . . . . . . . . . . . . . . . . . 99
6.1.2 Merging Precise Orbit Files . . . . . . . . . . . . . . . . . . . . . . 100
6.1.3 Generating Standard Orbit Files . . . . . . . . . . . . . . . . . . . 101
6.2 Kinematic Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
6.2.1 Estimating Kinematic Positions in a Double–Difference Solu tion . . 105
6.2.2 Extracting the Program Output from a Kinematic Positioning . . . 109
6.2.3 Further suggestions . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
6.3 Zero Difference Processing for Clock Estimation . . . . . . . . . . . . . . . 110
6.3.1 Preprocessing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
6.3.2 Residual Screening . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
6.3.3 Generate Clock Solutions . . . . . . . . . . . . . . . . . . . . . . . 122
6.3.4 Further suggestions . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
6.4 Simulation of Global Navigation Satellite Systems (GNSS) Observations . 131
6.4.1 Simulatio n of GNSS Observations . . . . . . . . . . . . . . . . . . . 131
6.4.2 Zero Difference Solution from Simula ted GNSS Observations . . . 134
6.4.3 Double–Difference Solution from Simulated GNSS Observations . . 138
6.4.4 Final Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
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1 Introduction to the Example Campaign
1.1 Stations in the Example Campaign
Data from thirteen European stations of the International GNSS Service (IGS) net-
work and from the EUREF Permanent Network (EPN) were selected for the exam-
ple campaign. They are listed in Table 1.1. The locations of these stations are
given in Figure 1.1. Three of the stations support only Global Positioning System
(GPS) whereas all other sites provide data from both GPS a nd its Russian counterpart
Globalьna navigacionna sputni ko va sistema: Global Navigation Satellite Sys-
tem (GLONASS).
GANP
HERT
JOZ2
LAMA
MATE
ONSA
PTBB
TLSE
WSRT
WTZR
WTZZ
ZIM2
ZIMM
Receiver is tracking
Station with coordinates/velocities in IGb08
Receiver is tracking
GPS/GLONASS GPS−only
,
Figure 1.1: Stations used in example campaign
The observations for these stations are
available for four days. Two days in year
2010 (day of year 207 and 208) and two
in 2011 (days 205 and 206). In the ter-
minal sessions you will analyze the data
in order to obtain a velocity field based
on final products from Center for Orbit
Determination in Europe (CODE). For
eight of these stations, coordina tes and
velocities are given in the IGb08 refer-
ence frame, an IGS–specific realization
of the ITRF2008 (see ${D}/STAT_LOG/
IGb08.snx).
Between these days in 2010 and 2011
the receivers (LAMA, TLSE, WTZR) and
the full equipment (WTZZ) have been
changed. The receiver type, the antenna
type, and the antenna height are also pro-
vided in Table 1.1. Notice, that for three
antennas (GANP, WTZR, ZIM2) values
from an individual calibration are available
from the EPN processing. For all other antennas only type–spe cific calibration results
from the IGS processing (${X}/GEN/IGS08.ATX) are available. More details are provided
in Table 1.2. Only in two cases where no calibration of the antenna/radome combination
was available (ONSA, WSRT) the calibration values of the antenna without radome were
used instead. With one exception (ONSA) even system–specific calibrations for GPS and
GLONASS measurements are available.
The distances between stations in the network are between 200 and 1000 km. There
are two pairs of receivers at one site included in the e xample dataset: in Zimmerwald,
the distance between ZIMM and ZIM2 is only 19 m. In Kötzting the receivers WTZR
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