Skip to main content
SpringerLink
Log in

Hong Kong–Zhuhai–Macao Bridge deformation monitoring using PPP-RTK with multipath correction method

  • Original Article
  • Published:
GPS Solutions Aims and scope Submit manuscript

Abstract

The present study provides a suitable GNSS positioning model for long-span bridge deformation monitoring and further improves the GNSS positioning performance using the multipath mitigation technique. An ambiguity-fixed ionosphere-weighted PPP-RTK model is constructed to provide real-time high-accuracy positioning service for long-span bridge deformation monitoring. In addition, a multipath model is established for GPS and BDS (GEO/IGSO/MEO) in the space domain for multipath mitigation. Elevation and azimuth of each satellite is recorded to compute multipath correction when the satellite appears in the same location. The results show that PPP-RTK can be well used for long-span bridge deformation monitoring. The multi-constellation multipath model can significantly improve performance. With the multipath mitigation method, PPP-RTK has obviously gained in the convergence time to reliably fix the ambiguities, as well as in the positioning accuracy and normal distribution characteristics of the observation residuals. We show bridge deformation monitoring results of the Hong Kong–Zhuhai–Macao Bridge for five consecutive days, where the PPP-RTK performance with multipath mitigation shows high positioning accuracy with fast convergence time. Moreover, our model is capable of identifying the high-frequency vibration and low-frequency displacement of the bridge. The natural frequency of 0.373 Hz in the vertical direction of the bridge under the typhoon Chaba excitation has been detected.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11

Similar content being viewed by others

Data availability

The observation data of this study are available from the authors for academic purposes on reasonable request.

References

  • Agnew D, Larson K (2007) Finding the repeat times of the GPS constellation. GPS Solutions 11(1):71–76

    Article  Google Scholar 

  • Asaka R, Sakai K, Yahagi R (2020) Quantum circuit for the fast Fourier transform. Quantum Inf Process 19:1–20

    Article  Google Scholar 

  • Ashkenazi V, Roberts G (1997) Experimental monitoring of the Humber bridge using GPS. Proc Inst Civil Eng-Civil Eng 120:177–182

    Google Scholar 

  • Atkins C, Ziebart M (2016) Effectiveness of observation-domain sidereal filtering for GPS precise point positioning. GPS Solutions 20(1):111–122

    Article  Google Scholar 

  • Atkins C, Ziebart M (2017) Performance of GPS sidereal filters during a satellite outage. J Geodetic Sci 7(1):141–150

    Article  Google Scholar 

  • Choi K, Bilich A, Larson K, Axelrad P (2004) Modified sidereal filtering: Implications for high-rate GPS positioning. Geophys Res Lett 31(22):1–4

    Article  Google Scholar 

  • Euler H, Goad C (1991) On optimal filtering of GPS dual frequency observations without using orbit information. Bull Geodesique 65(2):130–143

    Article  Google Scholar 

  • Follestad A, Clausen L, Moen J, Jacobsen K (2021) Latitudinal, diurnal, and seasonal variations in the accuracy of an RTK positioning system and its relationship with ionospheric irregularities. Space Weather 19(6):1–11

    Article  Google Scholar 

  • Fuhrmann T, Luo X, Knöpfler A, Mayer M (2015) Generating statistically robust multipath stacking maps using congruent cells. GPS Solutions 19(1):83–92

    Article  Google Scholar 

  • Gao R, Liu Z, Zhang B (2022) Ionosphere-weighted post-processing kinematic for airborne positioning with refined modeling of receiver phase biases and tropospheric zenith wet delays. GPS Solutions 26(4):113

    Article  Google Scholar 

  • Han H, Wang J, Meng X, Liu H (2016) Analysis of the dynamic response of a long span bridge using GPS/accelerometer/anemometer under typhoon loading. Eng Struct 122:238–250

    Article  Google Scholar 

  • Hou P, Zhang B, Yasyukevich Y, Liu T, Zha J (2022) Multi-frequency phase-only PPP-RTK model applied to BeiDou data. GPS Solutions 26(3):76

    Article  Google Scholar 

  • Knapp K, Kruk M, Levinson D, Diamond H, Neumann C (2010) The International Best Track Archive for Climate Stewardship (IBTrACS): unifying tropical cyclone data. Bull Am Meteorol Soc 91:363–376

    Article  Google Scholar 

  • Lau L (2017) Wavelet packets based denoising method for measurement domain repeat-time multipath filtering in GPS static high-precision positioning. GPS Solutions 21(2):461–474

    Article  Google Scholar 

  • Liu Y, Ye S, Song W, Lou Y, Chen D (2017) Integrating GPS and BDS to shorten the initialization time for ambiguity-fixed PPP. GPS Solutions 21(2):333–343

    Article  Google Scholar 

  • Odolinski R, Teunissen P (2017) Low-cost, high-precision, single-frequency GPS-BDS RTK positioning. GPS Solutions 21(3):1315–1330

    Article  Google Scholar 

  • Odolinski R, Teunissen P, Odijk D (2015) Combined GPS plus BDS for short to long baseline RTK positioning. Meas Sci Technol 26(4):1–16

    Article  Google Scholar 

  • Pan L, Zhang X, Li X, Li X, Lu C, Liu J, Wang Q (2019) Satellite availability and point positioning accuracy evaluation on a global scale for integration of GPS, GLONASS, BeiDou and Galileo. Adv Space Res 63(9):2696–2710

    Article  Google Scholar 

  • Parkins A (2011) Increasing GNSS RTK availability with a new single-epoch batch partial ambiguity resolution algorithm. GPS Solutions 15(4):391–402

    Article  Google Scholar 

  • Ragheb A, Clarke P, Edwards S (2007) GPS sidereal filtering: coordinate- and carrier-phase-level strategies. J Geodesy 81(5):325–335

    Article  Google Scholar 

  • Roberts G, Meng X, Dodson A, Cosser E (2002) Multipath mitigation for bridge deformation monitoring. J Glob Position 1(3):25–33

    Article  Google Scholar 

  • Su M, Zheng J, Yang Y, Wu Q (2018) A new multipath mitigation method based on adaptive thresholding wavelet denoising and double reference shift strategy. GPS Solutions 22(2):40

    Article  Google Scholar 

  • Tang X, Roberts G, Li X, Hancock C (2017) Real-time kinematic PPP GPS for structure monitoring applied on the severn suspension bridge. UK Adv Space Res 60(5):925–937

    Article  Google Scholar 

  • Tang X, Li X, Roberts G, Hancock C, de Ligt H, Guo F (2019) 1 Hz GPS satellites clock correction estimations to support high-rate dynamic PPP GPS applied on the Severn suspension bridge for deflection detection. GPS Solutions 23(2):28

    Article  Google Scholar 

  • Teunissen P (1985) Zero order design: generalized inverses, adjustment, the datum problem and S-transformations. In: Grafarend EW, Sansò F (eds) Optimization and design of geodetic networks. Springer, Berlin Heidelberg, pp 11–55

    Chapter  Google Scholar 

  • Teunissen P (1998) Success probability of integer GPS ambiguity rounding and bootstrapping. J Geodesy 72(10):606–612

    Article  Google Scholar 

  • Teunissen P (1999) An optimality property of the integer least-squares estimator. J Geodesy 73(11):587–593

    Article  Google Scholar 

  • Teunissen P, Khodabandeh A (2015) Review and principles of PPP-RTK methods. J Geodesy 89(3):217–240

    Article  Google Scholar 

  • Teunissen P, Odolinski R, Odijk D (2014) Instantaneous BeiDou plus GPS RTK positioning with high cut-off elevation angles. J Geodesy 88(4):335–350

    Article  Google Scholar 

  • Wang D, Meng X, Gao C, Pan S, Chen Q (2017) Multipath extraction and mitigation for bridge deformation monitoring using a single-difference model. Adv Space Res 60(12):2882–2895

    Article  Google Scholar 

  • Xi R, Jiang W, Meng X, Chen H, Chen Q (2018) Bridge monitoring using BDS-RTK and GPS-RTK techniques. Measurement 120:128–139

    Article  Google Scholar 

  • Ye S, Chen D, Liu Y, Jiang P, Tang W, Xia P (2015) Carrier phase multipath mitigation for BeiDou navigation satellite system. GPS Solutions 19:545–557

    Article  Google Scholar 

  • Zha J, Zhang B, Liu T, Hou P (2021) Ionosphere-weighted undifferenced and uncombined PPP-RTK: theoretical models and experimental results. GPS Solutions 25(4):1–12

    Article  Google Scholar 

  • Zhang B, Teunissen P, Odijk D (2011) A novel Un-differenced PPP-RTK concept. J Navig 64(S1):S180–S191

    Article  Google Scholar 

  • Zhang B, Chen Y, Yuan Y (2018) PPP-RTK based on undifferenced and uncombined observations: theoretical and practical aspects. J Geodesy 93(7):1011–1024

    Article  Google Scholar 

  • Zhang B, Hou P, Zha J, Liu T (2022) PPP-RTK functional models formulated with undifferenced and uncombined GNSS observations. Satellite Navig 3(1):1–15

    Google Scholar 

  • Zhong P, Ding X, Yuan L, Xu Y, Kwok K, Chen Y (2010) Sidereal filtering based on single differences for mitigating GPS multipath effects on short baselines. J Geodesy 84(2):145–158

    Article  Google Scholar 

  • Zhou P, Wang J (2013) Stochastic Ionosphere models for precise GNSS positioning: sensitivity analysis. J Glob Position Syst 12:53–60

    Article  Google Scholar 

  • Zhu Y, Lin M, Meng F, Liu X, Lin W (2019) The Hong Kong–Zhuhai–Macao Bridge. Engineering 5(1):10–14

    Article  Google Scholar 

Download references

Acknowledgements

This work was funded by the National Natural Science Foundation of China (Grant No. 42022025). This work was supported by National Key R&D Program of China (Grant No. 2019YFB1600700). This work was supported in part by the Research Grants Council of the Hong Kong Special Administrative Region, China under Project PolyU/RGC 15221620/B-Q80Q.

Author information

Authors and Affiliations

  1. Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan, China

    Rui Gao & Baocheng Zhang

  2. College of Earth and Planetary Sciences, University of Chinese Academy of Sciences, Beijing, China

    Rui Gao

  3. Department of Land Surveying and Geo-Informatics, Hong Kong Polytechnic University, Hung Hum, Kowloon, Hong Kong

    Rui Gao & Zhizhao Liu

  4. School of Surveying, University of Otago, Dunedin, New Zealand

    Robert Odolinski

  5. Hong Kong-Zhuhai-Macao Bridge Authority, Zhuhai, China

    Qiang Jing

  6. China Transport Telecommunications and Information Center, Beijing, China

    Jiantong Zhang & Hua Zhang

Authors
  1. Rui Gao
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zhizhao Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Robert Odolinski
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Qiang Jing
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Jiantong Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Hua Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  7. Baocheng Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

Contributions

Rui Gao processed the data, analyzed the results and wrote the main manuscript text. Zhizhao Liu designed the research and revised the manuscript. Robert Odolinski revised the manuscript. Qiang Jing, Jiantong Zhang and Hua Zhang conducted the experiment and collected the data. Baocheng Zhang initialized the idea, proposed the method and revised the manuscript. All authors reviewed the manuscript.

Corresponding authors

Correspondence to Zhizhao Liu or Baocheng Zhang.

Ethics declarations

Competing interests

The authors declare no competing interests.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Gao, R., Liu, Z., Odolinski, R. et al. Hong Kong–Zhuhai–Macao Bridge deformation monitoring using PPP-RTK with multipath correction method. GPS Solut 27, 195 (2023). https://doi.org/10.1007/s10291-023-01491-9

Download citation

  • Received:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s10291-023-01491-9

Keywords

Search

Navigation