Article Figures & Data
Figures
- FIGURE 1
Error generation diagram
- FIGURE 2
Projection of radial, along-track, and cross-track errors onto the user’s line of sight
- FIGURE 3
Orbit and clock errors for all GPS and Galileo satellites in all three cases at 30-s intervals in December 2018
- FIGURE 4
Example ephemerides interpolation (radial errors) of GPS PRN07 in December 2018 (upper), as well as its impact on radial+clock error ACF (lower)
- FIGURE 5
GPS and Galileo orbit and clock errors over December 2018
- FIGURE 6
Upper bound on standard deviation of ACF estimate (τ = 6 h, σ = 1.5 m)
- FIGURE 7
Statistics of the 2018 GPS/GAL orbit and clock errors
- FIGURE 8
Tapering window and its impact on an ACF
- FIGURE 9
PSDs of orbit and clock errors for (a) GPS and (b) Galileo
- FIGURE 10
PSD bounding of (a) GPS Rb, (b) GAL RAFS, (c) GPS Cs, and (d) GAL PHM
- FIGURE A2
GPS and Galileo ephemerides interpolation diagram
- FIGURE A1
GPS PRN07 ephemerides interpolation
- FIGURE C1
Example of tapering windows used in the PSD estimation process
- FIGURE C2
Impact of tapering window on PSD estimate of FOGMRP in terms of spectral leakage in (a) original figure and (b) the zoomed figure
- FIGURE C3
Impact of a tapering window on PSD estimate of FOGMRP in terms of data noise in (a) the original figure and (b) a zoomed-in version
- FIGURE C4
(a) Tapered ACF and (b) PSD estimates for GPS PRN 01 orbit+clock errors
Tables
PRN 01 02 03 05 06 07 08 09 10 11 12 13 14 15 16 17 Clock Rb Rb Rb Rb Rb Rb Cs Rb Rb Rb Rb Rb Rb Rb Rb Rb Block IIF IIR IIF IIR IIF IIR IIF IIF IIF IIR IIR IIR IIR IIR IIR IIR PRN 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 Clock Rb Rb Rb Rb Rb Rb Cs Rb Rb Rb Rb Rb Rb Rb Rb Block IIA IIR IIR IIR IIR IIR IIF IIF IIF IIF IIR IIR IIF IIR IIF PRN 01 02 03 05 07 08 09 11 12 13 14 15 18 Clock PHM PHM PHM PHM PHM PHM PHM RAFS PHM PHM PHM PHM PHM PRN 19 20 21 22 24 25 26 27 30 31 33 36 Clock PHM RAFS PHM RAFS PHM PHM PHM PHM PHM PHM PHM PHM τb (h) σb (m) GPS Rb 5 1.6 GPS Cs 5 1.8 GPS All 5 1.8 GAL RAFS 2 0.55 GAL PHM 2 0.65 GAL All 2 0.65 GPS PRN Mean [m] Std. Dev. [m] Length [mths] 1 0.15181 0.52102 ≤12 2 0.211 0.31693 ≤12 3 −0.59562 0.41451 ≤3 3 0.19369 0.35442 ≤3 3 0.032022 0.2914 ≤3 3 −0.33754 0.28413 ≤9 5 0.22566 0.33265 ≤12 6 0.042776 0.30049 ≤12 7 0.023768 0.47918 ≤12 8 −0.029357 1.1326 ≤12 9 0.064882 0.36227 ≤12 10 −0.10917 0.2902 ≤12 11 −0.04991 0.46482 ≤12 12 −0.095559 0.30714 ≤12 13 −0.070358 0.44447 ≤12 14 −0.0053735 0.33284 ≤12 15 0.12453 0.26539 ≤12 16 0.18851 0.30236 ≤12 17 −0.011678 0.74955 ≤12 18 −0.10958 0.79282 ≤9 19 0.24324 0.27517 ≤12 20 0.16795 0.27282 ≤12 21 0.16503 0.38677 ≤12 22 0.24805 0.2823 ≤9 22 0.044398 0.27601 ≤3 22 0.35408 0.27412 ≤3 23 −0.10955 0.27479 ≤12 24 −0.11647 1.4026 ≤12 25 −0.15957 0.30715 ≤9 25 −0.2088 0.26378 ≤6 26 −0.27604 0.37371 ≤3 26 0.12675 0.24348 ≤3 26 −0.22616 0.31531 ≤9 27 −0.16267 0.18802 ≤3 27 0.017111 0.23106 ≤6 27 0.19058 0.29172 ≤3 27 −0.046387 0.32942 ≤3 27 0.19249 0.26256 ≤3 28 −0.0059212 1.0776 ≤12 29 0.15855 0.61683 ≤12 30 −0.080241 0.29056 ≤12 30 0.18593 0.26506 ≤3 31 −0.15851 0.48574 ≤12 32 −0.043364 0.28695 ≤12 GAL PRN Mean [m] Std. Dev. [m] Length [mths] 1 0.091214 0.24568 ≤6 1 0.078555 0.21544 ≤3 1 −0.42204 0.22004 ≤3 1 −0.038823 0.21709 ≤3 1 −0.42519 0.23084 ≤3 1 −0.019701 0.23685 ≤3 2 0.015409 0.2775 ≤3 2 0.012696 0.21544 ≤6 2 −0.12253 0.22308 ≤9 3 −0.026017 0.22428 ≤6 3 −0.18805 0.18314 ≤9 4 −0.017809 0.23644 ≤6 4 −0.18604 0.18491 ≤9 5 −0.072306 0.24484 ≤6 5 −0.2584 0.1949 ≤9 7 0.048784 0.21218 ≤12 8 −0.1201 0.22493 ≤12 9 −0.021583 0.24177 ≤6 9 −0.15546 0.2156 ≤9 11 0.075113 0.28793 ≤12 12 −0.0031322 0.25776 ≤6 12 −0.11856 0.23787 ≤9 19 0.036388 0.2193 ≤12 21 −0.37697 0.25023 ≤3 24 0.05825 0.23793 ≤6 24 −0.061414 0.21475 ≤9 25 −0.22988 0.23432 ≤6 26 −0.045681 0.31476 ≤6 26 −0.25812 0.22305 ≤9 27 −0.12651 0.24678 ≤6 30 0.061876 0.28908 ≤6 30 −0.054281 0.25925 ≤9 31 −0.16386 0.23093 ≤6
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- Article
- Abstract
- 1 INTRODUCTION
- 2 ORBIT AND CLOCK ERROR CHARACTERIZATION OVER TIME
- 3 ERROR STATIONARITY ANALYSIS
- 4 ROBUST MODELING OF ORBIT AND CLOCK ERRORS
- 5 CONCLUSION
- HOW TO CITE THIS ARTICLE
- ACKNOWLEDGMENTS
- APPENDIX A EPHEMERIS INTERPOLATION
- APPENDIX B VARIANCE OF AUTOCORRELATION ESTIMATES
- APPENDIX C SENSITIVITY OF PSD ESTIMATION TO PARAMETER SELECTION
- APPENDIX D GPS AND GALILEO ORBIT AND CLOCK MEAN ERRORS
- REFERENCES
- Figures & Data
- Supplemental
- References
- Info & Metrics
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