Wet Zenith Delay Agreement of Less Than 6 mm Between GPS and WVR Measurements
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tropospheric measurements from GPS receivers and W↗
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Calibrating Spaceborne Microwave Radiometers with GPS
Data from terrestrial GPS receivers are being used in growing numbers of applications requiring precise tropospheric sensing. One emerging application is the calibration of water vapor measurements from spaceborne microwave radiometers.
GPS Water Vapor Radiometers↗
The March 1985 demonstration of the fiducial network concept for GPS geodesy: A preliminary report
The first field tests in preparation for the NASA Global Positioning System (GPS) Caribbean Initiative were conducted in late March and Early April of 1985. The GPS receivers were located at the POLARIS Very Long Base Interferometry (VLBI) stations at Westford, Massachusetts; Richmond, Florida; and Ft. Davis, Texas; and at the Mojave, Owens Valley, and Hat Creek VLBI stations in California. Other mobile receivers were placed near Mammoth Lakes, California; Pt. Mugu, California; Austin, Texas; and Dahlgren, Virginia. These sites were equipped with a combination of GPS receiver types, including SERIES-X, TI-4100 and AFGL dual frequency receivers. The principal objectives of these tests were the demonstration of the fiducial network concept for precise GPS geodesy, the performance assessment of the participating GPS receiver types, and to conduct the first in a series of experiments to monitor ground deformation in the Mammoth Lakes-Long Valley caldera region in California. Other objectives included the testing of the water vapor radiometers for the calibration of GPS data, the development of efficient procedures for planning and coordinating GPS field exercise, the establishment of institutional interfaces for future cooperating ventures, the testing of the GPS Data Analysis Software (GIPSY, for GPS Inferred Positioning SYstem), and the establishment of a set of calibration baselines in California. Preliminary reports of the success of the field tests, including receiver performance and data quality, and on the status of the data analysis software are given.
Davidson, J. M.↗
Quantifying the information content in GPS slant path delays
We quantify the amount of information on atmospheric water vapor that can be extracted from GPS line of sight measurement, by comparing these measurements to those made with acollocated pointed water vapor radiometer.
GPS metrology↗
Ground-Based GPS as a Calibration/Validation Tool for Tropospheric Sensing Instruments
The tropospheric sensing capabilities of ground-based GPS have been the subject of intensive validation efforts in recent years. But a maturing GPS technology is now rapidly becoming a valuable calibration/validation tool in its own right. We will describe two applications where ground-based GPS receivers have been used as a calibration/validation tool. The first such case is the Cassini gravitational wave media calibration project. A water vapor radiometer (WVR) will calibrate the telemetry signal from the Cassini spacecraft for line-of-sight wet tropospheric fluctuations. The demanding mission specifications require that the WVR's retrieval of wet delay from measurements of brightness temperature be precisely calibrated. We will describe the results from a special campaign to calibrate the WVR's retrieval algorithm with GPS. The second case involves the Topex/Poseidon microwave radiometer (TMR) which is used to calibrate the altimetric measurement for the effect of tropospheric water vapor. Using GPS data from 1992 to 1997 we detected an anomalous drift in columnar water vapor measurements from the TMR. The TMR's spurious drift implies that the uncalibrated estimate of global mean sea level change from Topex/Poseidon is too low by approximately 1 mm/yr. We will discuss the challenges of using long-term time series and problems relating to using the global GPS network as a calibration tool.
Bar-Sever, Y. E.↗
A GPS measurement system for precise satellite tracking and geodesy
NASA is pursuing two key applications of differential positioning with the Global Positioning System (GPS): sub-decimeter tracking of earth satellites and few-centimeter determination of ground-fixed baselines. Key requirements of the two applications include the use of dual-frequency carrier phase data, multiple ground receivers to serve as reference points, simultaneous solution for use position and GPS orbits, and calibration of atmospheric delays using water vapor radiometers. Sub-decimeter tracking will be first demonstrated on the TOPEX oceanographic satellite to be launched in 1991. A GPS flight receiver together with at least six ground receivers will acquire delta range data from the GPS carriers for non-real-time analysis. Altitude accuracies of 5 to 10 cm are expected. For baseline measurements, efforts will be made to obtain precise differential pseudorange by resolving the cycle ambiguity in differential carrier phase. This could lead to accuracies of 2 or 3 cm over a few thousand kilometers. To achieve this, a high-performance receiver is being developed, along with improved calibration and data processing techniques. Demonstrations may begin in 1986.
Yunck, T. P.↗
Effect of wet tropospheric path delays on estimation of geodetic baselines in the Gulf of California using the Global Positioning System
Surface Meteorological (SM) and Water Vapor Radiometer (WVR) measurements are used to provide an independent means of calibrating the GPS signal for the wet tropospheric path delay in a study of geodetic baseline measurements in the Gulf of California using GPS in which high tropospheric water vapor content yielded wet path delays in excess of 20 cm at zenith. Residual wet delays at zenith are estimated as constants and as first-order exponentially correlated stochastic processes. Calibration with WVR data is found to yield the best repeatabilities, with improved results possible if combined carrier phase and pseudorange data are used. Although SM measurements can introduce significant errors in baseline solutions if used with a simple atmospheric model and estimation of residual zenith delays as constants, SM calibration and stochastic estimation for residual zenith wet delays may be adequate for precise estimation of GPS baselines. For dry locations, WVRs may not be required to accurately model tropospheric effects on GPS baselines.
Tralli, David M.↗
A few parts in 10 to the 8th geodetic baseline repeatablity in the Gulf of California using the Global Positioning System
GPS geodetic measurements of 350-650 km baselines across the Pacific-North America plate boundary in the Gulf of California are presented. The analysis employs a four-station U.S. fiducial network and combined carrier phase and pseudorange data. Water vapor radiometer data at the Gulf sites are used to calibrate the GPS signal for wet tropospheric path delays. Residual tropospheric delays are modeled as first-order exponentially correlated stochastic processes. The measurement precision for horizontal components is a few parts in 10 to the 8th or better.
Tralli, David M.↗
Retrieval Assimilation and Modeling of Atmospheric Water Vapor from Ground- and Space-Based GPS Networks: Investigation of the Global and Regional Hydrological Cycles
Uncertainty over the response of the atmospheric hydrological cycle (particularly the distribution of water vapor and cloudiness) to anthropogenic forcing is a primary source of doubt in current estimates of global climate sensitivity, which raises severe difficulties in evaluating its likely societal impact. Fortunately, a variety of advanced techniques and sensors are beginning to shed new light on the atmospheric hydrological cycle. One of the most promising makes use of the sensitivity of the Global Positioning System (GPS) to the thermodynamic state, and in particular the water vapor content, of the atmosphere through which the radio signals propagate. Our strategy to derive the maximum benefit for hydrological studies from the rapidly increasing GPS data stream will proceed in three stages: (1) systematically analyze and archive quality-controlled retrievals using state-of-the-art techniques; (2) employ both currently available and innovative assimilation procedures to incorporate these determinations into advanced regional and global atmospheric models and assess their effects; and (3) apply the results to investigate selected scientific issues of relevance to regional and global hydrological studies. An archive of GPS-based estimation of total zenith delay (TZD) data and water vapor where applicable has been established with expanded automated quality control. The accuracy of the GPS estimates is being monitored; the investigation of systematic errors is ongoing using comparisons with water vapor radiometers. Meteorological packages have been implemented. The accuracy and utilization of the TZD estimates has been improved by implementing a troposphere gradient model. GPS-based gradients have been validated as real atmospheric moisture gradients, establishing a link between the estimated gradients and the passage of weather fronts. We have developed a generalized ray tracing inversion scheme that can be used to analyze occultation data acquired from space- or land-based receivers. The National Center for Atmospheric Research mesoscale model (version MM5) has been adapted for Southern California, and assimilation studies are underway. Additional information is contained in the original.
Dickey, Jean O.↗
Some tests of wet tropospheric calibration for the CASA Uno Global Positioning System experiment
Wet tropospheric path delay can be a major error source for Global Positioning System (GPS) geodetic experiments. Strategies for minimizing this error are investigted using data from CASA Uno, the first major GPS experiment in Central and South America, where wet path delays may be both high and variable. Wet path delay calibration using water vapor radiometers (WVRs) and residual delay estimation is compared with strategies where the entire wet path delay is estimated stochastically without prior calibration, using data from a 270-km test baseline in Costa Rica. Both approaches yield centimeter-level baseline repeatability and similar tropospheric estimates, suggesting that WVR calibration is not critical for obtaining high precision results with GPS in the CASA region.
Dixon, T. H.↗
Characterization of Climate Change and Variability with GPS
We compared zonal mean specific humidity derived from the 21 June-4 July 1995 Global Positioning System (GPS)/MET occultation observations with that derived from the European Center for Medium-Range Weather Forecasts (ECMWF) global analyses. The GPS/MET results indicate a drier troposphere, especially near the subtropical tradewind inversion. A small, moist bias in the GPS/MET upper northern-hemisphere troposphere compared to ECMWF may be due to a small radiosonde temperature bias. A diagram shows the difference (g/kg) between the GPS/MET zonal mean specific humidity and that for June-August derived from 1963-1973 radiosondes. Although the observing period is short, GPS and ECMWF results both indicate a significantly wetter boundary layer at most latitudes consistent with decadal trends observed in radiosonde data. GPS/MET results exhibit higher tropical convective available potential energy (CAPE), suggesting a more vigorous tropical Hadley circulation. Drier, free troposphere air in the descending branches of the Hadley circulation is due in part to a moist radiosonde bias but may also reflect some negative moisture feedback. Using 1992-1997 ground GPS observations and recent advancements in GPS technology, we removed an apparent altimetric drift (-1.2 +/- 0.4 mm/yr) due to columnar water vapor from the Topography (Ocean) Experiment (TOPEX) microwave radiometer, which brought the TOPEX mean sea level change estimates into better agreement with historical tide gauge records, suggesting global mean sea level is rising at a rate of 1.5-2.0 mm/yr. We can also discern a statistically significant increase of 0.2 +/- 0.1 kg/square m/yr in mean columnar water vapor over the ocean from 1992-1997. Optimal fingerprinting can be used for the detection and attribution of tropospheric warming due to an anthropogenic greenhouse. Optimal fingerprinting distinguishes between different types of signals according to their spatial and temporal patterns, while minimizing the influence of natural climate variability. S. Leroy concludes that the signal-to-noise ratio of global warming detection increases by unity approximately every 10 years if a single oceanic region is chosen. Less time for detection is likely when many global regions are considered simultaneously. GPS occultation constellations allow the possibility of detecting small changes in upper air temperature with inconsequential calibration errors, making occultation an ideal data type for global warming detection studies. Our initial study of a 22-GHz satellite-satellite occultation system predicts upper troposphere moisture sensitivities of 3-5 ppmv and 1-2 percent in the middle and lower troposphere. Additional information contained in original.
Kursinski, R.↗
The measurement of atmospheric water vapor - Radiometer comparison and spatial variations
Two water vapor radiometer (WVR) experiments were conducted to evaluate whether such instruments are both suitable and necessary to correct for propagation effects that are induced by precipitable water vapor (PWV) on signals from GPS and VLBI. WVRs are suitable for these corrections if they provide wet path delays to better than 0.5 cm. They are needed if spatial variations of PWV result in complicated, direction-dependent propagation effects that are too complex to be parametrized in the GPS or VLBI geodetic solution. The suitability of radiometers was first addressed by comparing six airport WVRs for two weeks. While two WVRs showed an average wet path delay bias of only 0.1 cm, others were biased by 1-3 cm relative to each other and relative to radiosondes. The second experiment addressed the question whether radiometers are needed for the detection of inhomogeneities in the wet delay. Three JPL D-series radiometers were operated at three sites 50 km apart. The WVRs simultaneously sampled PWV at different azimuths and elevations in search of spatial variations of PWV. On one day of this second experiment evidence was found for spatial variations of the wet path delay as high as 20 percent of the total wet path delay.
Rocken, C.↗
Estimating Horizontal Gradients of Tropospheric Path Delay with a Single GPS Receiver
We present eveidence that modeling troposhere delay graidnts in precise GPS geodesy can improve the accuracy and precision of the estimated quantities. We also present evidence that the gradient estimates resemble real atmospheric moisture gradients observed with a water vapor radiometer.
Tropospheric↗
A water-vapor radiometer error model
The water-vapor radiometer (WVR) is used to calibrate unpredictable delays in the wet component of the troposphere in geodetic microwave techniques such as very-long-baseline interferometry (VLBI) and Global Positioning System (GPS) tracking. Based on experience with Jet Propulsion Laboratory (JPL) instruments, the current level of accuracy in wet-troposphere calibration limits the accuracy of local vertical measurements to 5-10 cm. The goal for the near future is 1-3 cm. Although the WVR is currently the best calibration method, many instruments are prone to systematic error. In this paper, a treatment of WVR data is proposed and evaluated. This treatment reduces the effect of WVR systematic errors by estimating parameters that specify an assumed functional form for the error. The assumed form of the treatment is evaluated by comparing the results of two similar WVR's operating near each other. Finally, the observability of the error parameters is estimated by covariance analysis.
Beckman, B.↗
High-Altitude MMIC Sounding Radiometer for the Global Hawk Unmanned Aerial Vehicle
Microwave imaging radiometers operating in the 50-183 GHz range for retrieving atmospheric temperature and water vapor profiles from airborne platforms have been limited in the spatial scales of atmospheric structures that are resolved not because of antenna aperture size, but because of high receiver noise masking the small variations that occur on small spatial scales. Atmospheric variability on short spatial and temporal scales (second/ km scale) is completely unresolved by existing microwave profilers. The solution was to integrate JPL-designed, high-frequency, low-noise-amplifier (LNA) technology into the High-Altitude MMIC Sounding Radiometer (HAMSR), which is an airborne microwave sounding radiometer, to lower the system noise by an order of magnitude to enable the instrument to resolve atmospheric variability on small spatial and temporal scales. HAMSR has eight sounding channels near the 60-GHz oxygen line complex, ten channels near the 118.75-GHz oxygen line, and seven channels near the 183.31-GHz water vapor line. The HAMSR receiver system consists of three heterodyne spectrometers covering the three bands. The antenna system consists of two back-to-back reflectors that rotate together at a programmable scan rate via a stepper motor. A single full rotation includes the swath below the aircraft followed by observations of ambient (roughly 0 C in flight) and heated (70 C) blackbody calibration targets located at the top of the rotation. A field-programmable gate array (FPGA) is used to read the digitized radiometer counts and receive the reflector position from the scan motor encoder, which are then sent to a microprocessor and packed into data files. The microprocessor additionally reads telemetry data from 40 onboard housekeeping channels (containing instrument temperatures), and receives packets from an onboard navigation unit, which provides GPS time and position as well as independent attitude information (e.g., heading, roll, pitch, and yaw). The raw data files are accessed through an Ethernet port. The HAMSR data rate is relatively low at 75 kbps, allowing for real-time access over the Global Hawk high-data-rate downlink. Once on the ground, the raw data are unpacked and processed through two levels of processing. The Level 1 product contains geo-located, time-stamped, calibrated brightness temperatures for the Earth scan. These data are then input to a lD variational retrieval algorithm to produce temperature, water vapor, and cloud liquid water profiles, as well as several derived products such as potential temperature and relative humidity.
Brown, Shannon T.↗
Modeled and Empirical Approaches for Retrieving Columnar Water Vapor from Solar Transmittance Measurements in the 0.72, 0.82, and 0.94 Micrometer Absorption Bands
A Sun photometer (18 channels between 300 and 1024 nm) has been used for measuring the columnar content of atmospheric water vapor (CWV) by solar transmittance measurements in absorption bands with channels centered at 719, 817, and 946 nm. The observable is the band-weighted transmittance function defined by the spectral absorption of water vapor and the spectral features of solar irradiance and system response. The transmittance function is approximated by a three-parameter model. Its parameters are determined from MODTRAN and LBLRTM simulations or empirical approaches using CWV data of a dual-channel microwave radiometer (MWR) or a Fourier transform spectrometer (FTS). Data acquired over a 2-year period during 1996-1998 at two different sites in Switzerland, Bern (560 m above sea level (asl)) and Jungfraujoch (3580 m asl) were compared to MWR, radiosonde (RS), and FTS retrievals. At the low-altitude station with an average CWV amount of 15 mm the LBLRTM approach (based on recently corrected line intensities) leads to negligible biases at 719 and 946 nm if compared to an average of MWR, RS, and GPS retrievals. However, at 817 nm an overestimate of 2.7 to 4.3 mm (18-29%) remains. At the high-altitude station with an average CWV amount of 1.4 mm the LBLRTM approaches overestimate the CWV by 1.0, 1.4. and 0.1 mm (58, 76, and 3%) at 719, 817, and 946 nm, compared to the ITS instrument. At the low-altitude station, CWV estimates, based on empirical approaches, agree with the MWR within 0.4 mm (2.5% of the mean); at the high-altitude site with a factor of 10 less water vapor the agreement of the sun photometers (SPM) with the ITS is 0.0 to 0.2 mm (1 to 9% of the mean CWV there). Sensitivity analyses show that for the conditions met at the two stations with CWV ranging from 0.2 to 30 mm, the retrieval errors are smallest if the 946 nm channel is used.
Ingold, T.↗
Mobile VLBI and GPS measurement of vertical crustal motion
Mobile Very Long Base Interferometry (VLBI) and Global Positioning System (GPS) geodetic measurements have many error sources in common. Calibration of the effects of water vapor on signal transmission through the atmosphere, however, remains the primary limitation to the accuracy of vertical crustal motion measurements made by either technique. The two primary methods of water vapor calibration currently in use for mobile VLBI baseline measurements were evaluated: radiometric measurements of the sky brightness near the 22 GHz emission line of free water molecules and surface meteorological measurements used as input to an atmospheric model. Based upon a limited set of 9 baselines, it is shown that calibrating VLBI data with water vapor radiometer measurements provides a significantly better fit to the theoretical decay model than calibrating the same data with surface meteorological measurements. The effect of estimating a systematic error in the surface meteorological calibration is shown to improve the consistency of the vertical baseline components obtained by the two calibration methods. A detailed error model for the vertical baseline components obtained indicates current mobile VLBI technology should allow accuracies of order 3 cm with WVR calibration and 10 cm when surface meteorological calibration is used.
Kroger, P. M.↗
Mobile very long baseline interferometry and Global Positioning System measurement of vertical crustal motion
Mobile Very Long Base Interferometry (VLBI) and Global Positioning System (GPS) geodetic measurements have many error sources in common. Calibration of the effects of water vapor on signal transmission through the atmosphere, however, remains the primary limitation to the accuracy of vertical crustal motion measurements made by either technique. The two primary methods of water vapor calibration currently in use for mobile VLBI baseline measurements were evaluated: radiometric measurements of the sky brightness near the 22 GHz emission line of free water molecules and surface meteorological measurements used as input to an atmospheric model. Based upon a limited set of 9 baselines, it is shown that calibrating VLBI data with water vapor radiometer measurements provides a significantly better fit to the theoretical decay model than calibrating the same data with surface meteorological measurements. The effect of estimating a systematic error in the surface meteorological calibration is shown to improve the consistency of the vertical baseline components obtained by the two calibration methods. A detailed error model for the vertical baseline components obtained indicates current mobile VLBI technology should allow accuracies of order 3 cm with WVR calibration and 10 cm when surface meteorological calibration is used.
Kroger, Peter M.↗