High-accuracy reanalysis products are beneficial to the retrieval and modeling of zenith tropospheric delay (ZTD) in GNSS positioning and the study of GNSS Meteorology. The performance of meteorological parameters and ZTD derived from Copernicus Arctic Regional ReAnalysis (CARRA), ERA5 and ERA5-Land over the Greenland covering the year of 2020 are comprehensively compared and analyzed in this study. Firstly, the accuracies of the atmospheric pressure, temperature and water vapor pressure retrieved from three reanalysis data are compared with the observations obtained from 6 radiosondes and 30 automatic weather stations. The results show that the accuracy of temperature data from ERA5 pressure-level in the height range of 23–30 km is higher than that of CARRA pressure-level. The atmospheric pressure, temperature and water vapor pressure from CARRA single-level are superior to those of ERA5 single-level and ERA5-Land. Secondly, the ZTD derived from CARRA, ERA5 and ERA5-Land are compared with GNSS final ZTD data from 37 UNAVCO stations. The Root Mean Square error (RMS) values of ERA5 pressure-level ZTD is 6.7 mm, showing slightly better accuracy than CARRA pressure-level ZTD of 10.7 mm. The RMS values of ZTD derived from CARRA single-level, ERA5 single-level and ERA5-Land based on the Saastamoinen model are 11.9 mm, 13.4 mm and 22.7 mm, respectively, which indicates that CARRA single-level ZTD shows best consistency with GNSS ZTD among three single-level reanalysis data. Moreover, the reanalysis-derived ZTD show obviously poorer accuracy in warm-season than that in cold-season. 

Comparison of ZTD derived from CARRA, ERA5 and ERA5-Land over the Greenland based on GNSS

Fluctuations in reservoir water levels exert a strong triggering effect on landslides along reservoir banks, constituting a long-term concern in the safe operation of hydroelectric projects and in the prevention and management of geological disasters. While existing research has investigated the impact of periodic water level changes on the deformation of reservoir bank landslides, observation and detection of such deformation are challenging, with noticeable gaps in understanding how these deformations respond to water level changes during the water impoundment period. To address this, our study targets the Baihetan Reservoir, leveraging 567 ascending and descending LiCSAR data and LiCSBAS (the small-baseline subset within LiCSAR) technology to construct a time series of ground deformations in the study area from 2019 to 2023. The TLCC (Time Lag Cross Correlation) model was employed to examine the time-lag response pattern of reservoir bank landslide deformations to reservoir water level changes during the impoundment period. Our findings indicate a clear time-lag response in reservoir bank landslide deformations to water level changes during the impoundment process. The rise in water levels emerged as a primary factor influencing the instability of reservoir bank landslides. During the half-year impoundment period of the Baihetan Reservoir, a time lag of 5–7 days was observed between landslide deformations and increases in water levels, with landslides on the eastern and western banks exhibiting differing time-lag response patterns. Our study illuminates the time-lag effect between water level changes during reservoir impoundment and reservoir bank landslide deformation monitoring. By proposing a quantitative analysis methodology utilizing LiCSBAS technology and the TLCC model, our findings can inform decision-making in the field of disaster prevention and reduction in reservoir engineering. 

Time-Lag Response of Landslide to Reservoir Water Level Fluctuations during the Storage Period: A Case Study of Baihetan Reservoir

Structural health monitoring (SHM) is vital for ensuring the service safety of aging bridges. As one of the most advanced sensing techniques, Global Navigation Satellite Systems (GNSS) could capture massive spatiotemporal information for effective bridge structural health monitoring (BSHM). Unfortunately, GNSS measurements often contain outliers due to various factors (e.g., severe weather conditions, multipath effects, etc.). All such outliers could jeopardize the accuracy and reliability of BSHM significantly. Previous studies have examined the feasibility of integrating the conventional multi-rate Kalman filter (MKF) with an adaptive algorithm in the data processing processes to ensure BSHM accuracy. However, frequent parameter adjustments are still needed in tedious data processing processes. This study proposed an outlier detection method using a Nelder-Mead simplex robust multi-rate Kalman filter (RMKF) for supporting trustworthy BSHM using GNSS and accelerometer. In the end, the authors have validated the proposed method using the monitoring data collected at the Wilford Bridge in the UK. Results showed that the accuracy of the total dynamic vibration displacement time series has been improved by 21% compared with the results using the conventional MKF approach. The authors envision that the proposed method will shed light on reliable and explainable data processing policy and trustworthy BSHM.

/pdf/outlier-detection-based-on-nelder-mead-simplex-robust-kalman-klhuaone.pdf

Outlier Detection Based on Nelder-Mead Simplex Robust Kalman Filtering for Trustworthy Bridge Structural Health Monitoring

GNSS/accelerometer integrated deformation monitoring algorithm based on sensors adaptive noise modeling

Abstract The Real-Time Kinematic (RTK) positioning method of the Global Navigation Satellite System (GNSS) has been widely used for landslide monitoring. The stability of its reference station is crucial to obtain accurate and reliable monitoring results. Unstable reference stations due to the geological environment and human activities are difficult to detect and in practical applications often ignored. As a result, it affects the positioning solutions and subsequently the interpretation and detection of landslide motions, which must be addressed in GNSS landslide monitoring. To solve this problem, we propose using the Precise Point Positioning (PPP) technique to analyze the stability of the reference station by verifying its position. The deformations of the monitoring stations are then compensated. First, the reference station coordinates are obtained by the PPP technique and tectonic motion is considered in data processing. The change or breakout of the reference station position is then determined using a cumulative sum control chart method. Finally, each monitoring station’s displacements are compensated according to the displacements of the reference station. According to the results of the Tengqing landslide experiment, the PPP technique can be used in GNSS landslide monitoring to analyze the stability of reference stations. With PPP, millimeter-level accuracy for the coordinates of reference stations is achieved. Compared to the traditional deformation series, the compensated displacement series more reliably reflects the landslide motions. This study will increase the reliability of monitoring results and contribute to implementing GNSS in monitoring landslides. 

Stability analysis of reference station and compensation for monitoring stations in GNSS landslide monitoring

Global Navigation Satellite System (GNSS) positioning technology has become the most effective method for real-time three-dimensional landslide monitoring. However, the GNSS observation signal is easily affected by the presence of a complex landslide environment with high occlusion and strong interference, in which case its accuracy and reliability cannot meet the requirements of landslide deformation monitoring. Although the accelerometers have strong autonomous working capacities and can complement the GNSS landslide monitoring technology, regular GNSS/accelerometer coupled deformation monitoring technology relies on high-quality GNSS measurement information in order to obtain high-precision accelerometer-reckoned results, derived by accurately estimating the baseline shift error (BSE). When the GNSS signal suffers severe interference, the GNSS monitoring error will be partially absorbed by the BSE component after Kalman filtering, resulting in the divergence of the deformation solution. In this study, an abnormal observation variance inflation model was used to process the simulated landslide monitoring data (GNSS and accelerometer raw observation) for three typical scenes—GNSS signal normally locked, signal partially lost, and short-term interruption. The results were as follows: (1) When the GNSS signal was normally locked, the accuracy was comparable to that of the coupled solution employing an accelerometer (the Root Mean Square (RMS) values in the East (E), North (N) and Upward (U) directions were 0.11 cm, 0.33 cm, and 0.30 cm, respectively). (2) When the GNSS signal was partially lost, the accelerometer could effectively suppress the low-precision float solution of the GNSS, but here, the accuracy of the coupled solution would also decrease with the duration of the floats (the RMS values were E—1.21 cm, N—0.31 cm, and U: 0.58—cm, respectively, when the floats lasted for 10 s, and increased to E—3.09 cm, N—0.39 cm, and U—1.14 cm when they lasted for 20 s, wherein E was the main simulated sliding direction). (3) When the GNSS signal was interrupted for a short time, the accuracy of the coupled solution gradually decreased during continuous interruption, and decreased more quickly during the sliding period of the landslide (when the interruption persisted for 10 s, the RMS values in the simulated landslide stability period were E—0.61 cm, N—0.24 cm, and U—0.25 cm, respectively, while in the simulated landslide sliding period they reached E—4.10 cm, N—6.84 cm, and U—2.30 cm). However, raw observations of the accelerometer could still effectively be used to assist in identifying the real state of the landslide, thereby providing auxiliary information pertinent to early landslide disaster warning.

https://www.mdpi.com/2072-4292/14/15/3537/pdf?version=1658807566

GNSS/Accelerometer Adaptive Coupled Landslide Deformation Monitoring Technology

Accurate estimation of tropospheric delay is significant for global navigation satellite system’s (GNSS) high-precision navigation and positioning. However, due to the random and contingent changes in weather conditions and water vapor factors, the classical tropospheric delay model cannot accurately reflect changes in tropospheric delay. In recent years, with the development of meteorological observation/detection and numerical weather prediction (NWP) technology, the accuracy and resolution of meteorological reanalysis data have been effectively improved, providing a new solution for the inversion and modeling of regional or global tropospheric delays. Here, we evaluate the consistency and accuracy of three different types of reanalysis data (i.e., ERA5, MERRA2, and CRA40) used to invert the zenith tropospheric delay (ZTD) from 436 international GNSS service (IGS) stations in 2020, based on the integral method. The results show that the ZTD inversion of the three types of reanalysis data was consistent with the IGS ZTD, even in heavy rain conditions. Furthermore, the average precision of the ZTD inversion of the ERA5 reanalysis data was higher, where the mean deviation (bias), mean absolute error (MAE), and root mean square (RMS) were –3.39, 9.69, and 12.55 mm, respectively. The ZTD average precisions of the MERRA2 and CRA40 inversions were comparable, showing slightly worse performance than the ERA5. In addition, we further analyzed the global distribution characteristics of the ZTD errors inverted from the reanalysis data. The results show that ZTD errors inverted from the reanalysis data were highly correlated with station latitude and climate type, and they were mainly concentrated in the tropical climate zone at low latitudes. Compared to dividing error areas by latitude, dividing error areas by climatic category could better reflect the global distribution of errors and would also provide a data reference for the establishment of tropospheric delay models considering climate type.

/pdf/accuracy-evaluation-and-analysis-of-gnss-tropospheric-delay-2b6wz7a9.pdf

Accuracy Evaluation and Analysis of GNSS Tropospheric Delay Inversion from Meteorological Reanalysis Data

Dual-antenna GNSS/MEMS INS Tightly Coupled Algorithm for Agricultural Machinery Based on Adaptive Federated Filtering

GNSS/MEMS INS tightly coupled algorithm for agricultural machinery navigation enhanced by random forest-based behavioral state awareness

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