Abstract
To serve real-time users, the IGS (International GNSS Service) provides GPS and GLONASS Ultra-rapid (IGU) orbits with an update of every 6 h. Following similar procedures, we produce Galileo and BeiDou predicted orbits. Comparison with precise orbits from the German Research Centre for Geosciences (GFZ) and Satellite Laser Ranging (SLR) residuals show that the quality of Galileo and BeiDou 6-h predicted orbits decreases more rapidly than that for GPS satellites. Particularly, the performance of BeiDou IGSO and MEO 6-h predicted orbits is 5–6 times worse than the corresponding estimated orbits when satellites are in the eclipse seasons. An insufficient number and distribution of tracking stations, as well as an imperfect solar radiation pressure (SRP) model, limit the quality of Galileo and BeiDou orbit products. Rather than long time prediction, real-time orbit determination by means of a square root information filter (SRIF) produces precise orbits every epoch. By setting variable processing noise on SRP parameters, the filter has the capability of accommodating satellite maneuvers and attitude switches automatically. An epoch-wise ambiguity resolution procedure is introduced to estimate better real-time orbit products. Results show that the real-time estimated orbits are in general better than the 6-h predicted orbits if sufficient observations are available after real-time data preprocessing. On average, 3D RMS values of the real-time estimated orbits reduce by about 30%, 60% and 40% over the 6 h predicted orbits for GPS, BeiDou IGSO and BeiDou MEO eclipsing satellites, respectively. Galileo satellites did not enter into the eclipse season during the experimental period, the standard derivation (STD) of SLR residuals for the real-time estimated orbits are almost the same as for the post-processed orbits.
Similar content being viewed by others
References
Arnold D, Meindl M, Beutler G, Dach R, Schaer S, Lutz S, Prange L, Sośnica K, Mervart L, Jäggi A (2015) CODE’s new solar radiation pressure model for GNSS orbit determination. J Geod 89(8):775–791
Beutler G, Brockmann E, Gurtner W, Hugentobler U, Mervart L, Rothacher M, Verdun A (1994) Extended orbit modeling techniques at the CODE processing center of the international GPS service for geodynamics (IGS): theory and initial results. Manuscr Geod 19(6):367–386
Bierman GJ (1977) Factorization methods for discrete sequential estimation. Academic Press, New York
Böhm J, Niell A, Tregoning P, Schuh H (2006) Global mapping function (GMF): a new empirical mapping function based on numerical weather model data. Geophys Res Lett 33(7):L07304
Choi KK, Ray J, Griffiths J, Bae T-S (2013) Evaluation of GPS orbit prediction strategies for the IGS Ultra-rapid products. GPS Solut 17(3):403–412
Dach R, Hugentobler U, Fridez P, Meindl M (2007) Bernese GPS software version 5.0. Astronomical Institute, University of Bern
Dai X, Dai Z, Lou Y, Li M, Qing Y (2018) The filtered GNSS real-time precise orbit solution. In: China Satellite Navigation Conference. Springer, pp 317–326
Deng Z, Fritsche M, Uhlemann M, Wickert J, Schuh H (2016) Reprocessing of GFZ multi-GNSS product GBM. In: Proceedings of IGS Workshop, Sydney, Australia, 2016
Dow J, Neilan RE, Gendt G (2005) The international GPS service: celebrating the 10th anniversary and looking to the next decade. Adv Space Res 36(3):320–326
Duan B, Hugentobler U, Selmke I (2019) The adjusted optical properties for Galileo/BeiDou-2/QZS-1 satellites and initial results on BeiDou-3e and QZS-2 satellites. Adv Space Res 63(5):1803–1812
Ge M, Gendt G, Dick G, Zhang F (2005) Improving carrier-phase ambiguity resolution in global GPS network solutions. J Geod 79(1–3):103–110
Ge M, Gendt G, Dick G, Zhang F, Rothacher M (2006) A new data processing strategy for huge GNSS global networks. J Geod 80(4):199–203
Guo J, Xu X, Zhao Q, Liu J (2016) Precise orbit determination for quad-constellation satellites at Wuhan University: strategy, result validation, and comparison. J Geod 90(2):143–159
Hadas T, Bosy J (2015) IGS RTS precise orbits and clocks verification and quality degradation over time. GPS Solut 19(1):93–105
Johnston G, Riddell A, Hausler G (2017) The international GNSS service. In: Teunissen PJ, Montenbruck O (eds) Springer handbook of global navigation satellite systems. Springer, Cham, pp 967–982
Kouba J (2009) A guide to using international GNSS service (IGS) products. http://acc.igs.org/UsingIGSProductsVer21.pdf. Accessed 2017
Laurichesse D (2011) The CNES real-time PPP with undifferenced integer ambiguity resolution demonstrator. In: Proc. ION GNSS 2011, Oregon Convention Center, Portland, Oregon, USA, September 19–23, pp 654–662
Laurichesse D (2013) Real time precise GPS constellation and clocks estimation by means of a Kalman filter. In: Pro. ION GNSS 2013, Nashville Convention Center, Nashville, Tennessee, USA, September 16–20, pp 1155–1163
Laurichesse D, Mercier F, Berthias JP, Broca P, Cerri L (2009) Integer ambiguity resolution on undifferenced GPS phase measurements and its application to PPP and satellite precise orbit determination. Navigation 56(2):135–149
Li X, Ge M, Dai X, Ren X, Fritsche M, Wickert J, Schuh H (2015) Accuracy and reliability of multi-GNSS real-time precise positioning: GPS, GLONASS, BeiDou, and Galileo. J Geod 89(6):607–635
Loyer S, Perosanz F, Mercier F, Capdeville H, Marty J-C (2012) Zero-difference GPS ambiguity resolution at CNES–CLS IGS Analysis Center. J Geod 86(11):991–1003
Lutz S, Beutler G, Schaer S, Dach R, Jäggi A (2016) CODE’s new ultra-rapid orbit and ERP products for the IGS. GPS Solut 20(2):239–250
Montenbruck O, Steigenberger P, Prange L, Deng Z, Zhao Q, Perosanz F, Romero I, Noll C, Stürze A, Weber G (2017) The multi-GNSS experiment (MGEX) of the international GNSS service (IGS)–achievements, prospects and challenges. Adv Space Res 59(7):1671–1697
Parkinson B, Spilker J Jr, Axelrad P, Enge P (1996) Global positioning system: theory and applications, Volume I. American Institute of Aeronautics and Astronautics, Washington
Petit G, Luzum B (2010) IERS conventions. IERS technical note 36, Federal Agency for Cartography and Geodesy, Frankfurt am Main
Prange L, Orliac E, Dach R, Arnold D, Beutler G, Schaer S, Jäggi A (2017) CODE’s five-system orbit and clock solution—the challenges of multi-GNSS data analysis. J Geod 91(4):345–360
Sibthorpe A, Bar-Sever Y, Bertiger W, Lu W, Meyer R, Miller M, Romans L (2016) BeiDou orbit determination processes and products in JPL’s GDGPS System. In: Proceedings of IGS Workshop, Sydney, Australia, 2016
Steigenberger P, Hugentobler U, Loyer S, Perosanz F, Prange L, Dach R, Uhlemann M, Gendt G, Montenbruck O (2015) Galileo orbit and clock quality of the IGS multi-GNSS experiment. Adv Space Res 55(1):269–281
Wu J-T, Wu SC, Hajj GA, Bertiger WI, Lichten SM (1991) Effects of antenna orientation on GPS carrier phase. In: Proceedings of AAS/AIAA Astrodynamics Conference 1991, August 19–22, pp 1647–1660
Acknowledgements
This research is based on the analysis of Multi-GNSS observations provided by IGS MGEX. The effort of all the agencies and organizations as well as all the data centers is acknowledged. Satellite laser ranging observations of Galileo satellites are taken from cddis.gsfc.nasa.gov. We would like to thank the International Satellite Laser Ranging Service (ILRS) as well as the effort of all respective station operators.
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher’s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Duan, B., Hugentobler, U., Chen, J. et al. Prediction versus real-time orbit determination for GNSS satellites. GPS Solut 23, 39 (2019). https://doi.org/10.1007/s10291-019-0834-2
Received:
Accepted:
Published:
DOI: https://doi.org/10.1007/s10291-019-0834-2