Comparison of GPS/GLONASS Clock Solutions: R. Dach, S. Schaer, and M. Meindl

Comparison of GPS/GLONASS Clock Solutions
R. Dach1 , S. Schaer2 , and M. Meindl1

1 Astronomical
Institute, University of Bern
Sidlerstrasse 5, CH-3012 Bern

2 Federal
Office of Topography swisstopo
IGSWorkshop on GNSSBiases
Bern, Switzerland, 18.-19. January 2012
Outline
Comparison of GPS/GLONASS Clock Solutions
1. Direct comparison of the satellite clocks
2. Comparison of the submitted ISB/IFB
3. Precise Point Positioning solutions
AIUB
Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 2 / 34
Overview on the Contributions

Clock Solution
Systems
satell.
Analysis Center
COD
EMR
ESA
GFZ
GRG
IAC
AIUB
Center for Orbit

Determination in Europe,
AIUB, Switzerland
Natural Resources Canada,
Canada
European Space Operations
Center, ESA, Germany
GeoForschungsZentrum,
Germany
GRGS-CNES/CLS,
Toulouse, France
Information-Analytical
Centre, Russia
stations
GPS+GLONASS
30 sec
300 sec
GPS+GLONASS
30 sec
GPS+GLONASS
30 sec
300 sec
GPS+GLONASS
300 sec
300 sec
GPS+GLONASS
900 sec
900 sec
GPS+GLONASS
300 sec
300 sec
Satellite Clock Series (Reference clock: G15)
G22 in ns G12 in ns G02 in ns
Deviation from the median

1
COD
EMR
ESA
GFZ
GRG
IAC
COD
EMR
ESA
GFZ
GRG
IAC
COD
EMR
ESA
GFZ
GRG
IAC
0
1
1
0
1
1
0
1
0
12
16
20
24
DOY 2011348 (hours)
AIUB
R22 in ns R12 in ns R02 in ns

300
COD
EMR
ESA
GFZ
GRG
IAC
COD
EMR
ESA
GFZ
GRG
IAC
COD
EMR
ESA
GFZ
GRG
IAC
0
300
300
0
300
300
0
300
0
12
16
20
24
DOY 2011348 (hours)
AIUB
Biases in GPS/GLONASS (Clock) Processing

DCB: differential code bias

different hardware delays for
P and CCode
ISB: intersystem bias
different hardware delays for
measurements of different
GNSS
IFB: interfrequency bias
frequencydependent hardware delays for the different
GLONASSsignals
We can only extract the sum

of delays from a GPS/GLONASS
data processing.
AIUB
Biases in GPS/GLONASS (Clock) Processing

The different biases are realized in different ways in the six contributing
solutions. We can extract the following biases from the (satellite) clock time
series:
ISB: intersystem bias

one common offset between all GPS and GLONASS clocks from each of
the solutions
IFB: interfrequency bias
one offset for each GLONASS clock with respect to all GPS clocks of the
solution
Note, all offsets are realized as median to be robust against outliers.
AIUB
Deviation from the median, ISB subtracted

30
COD
EMR
ESA
GFZ
GRG
IAC
COD
EMR
ESA
GFZ
GRG
IAC
COD
EMR
ESA
GFZ
GRG
IAC
0
30
30
0
30
30
0
30
0
12
16
20
24
DOY 2011348 (hours)
AIUB
Deviation from the median, ISB+IFB subtracted

1
COD
EMR
ESA
GFZ
GRG
IAC
COD
EMR
ESA
GFZ
GRG
IAC
COD
EMR
ESA
GFZ
GRG
IAC
0
1
1
0
1
1
0
1
0
12
16
20
24
DOY 2011348 (hours)
AIUB
ISB/IFB as Extracted from Satellite Clocks
IFB in ns
50
362.6 ns 17.7 ns 12.8 ns 149.3 ns
11.2 ns
491171344.7 ns
0
50
100
COD
EMR
ESA
GFZ
Analysis center
GRG
IAC
Conclusion
The ISB/IFB can be estimated from the satellite clock solutions of

different ACs.
Appling these corrections allows for a GLONASS satellite clock
combination following the same technology as for GPS.
The estimated ISB/IFB can be rather inhomogeneous if a satellite is not
included in all solutions (which has no influence on a PPPsolution).
AIUB

100
50
0
50
100
100
50
0
50
100
100
50
0
50
100
0
COD
ESA
GFZ
GRG
COD
ESA
GFZ
GRG
COD
ESA
GFZ
GRG
12
16
20
24
DOY 2011348 (hours)
AIUB
Deviation from the median, ISB subtracted

30
COD
ESA
GFZ
GRG
COD
ESA
GFZ
GRG
COD
ESA
GFZ
GRG
0
30
30
0
30
30
0
30
0
12
16
20
24
DOY 2011348 (hours)
AIUB
Deviation from the median, ISB+IFB subtracted

1
COD
ESA
GFZ
GRG
COD
ESA
GFZ
GRG
COD
ESA
GFZ
GRG
0
1
1
0
1
1
0
1
0
12
16
20
24
DOY 2011348 (hours)
AIUB
IFB in ns
50
362.6 ns 17.7 ns 12.8 ns 149.3 ns
11.2 ns
491171344.7 ns
0
50
100
IFB in ns
50
COD
EMR
13.5 ns
2.9 ns
COD
ESA
ESA
GFZ
Analysis center
2.8 ns
GRG
IAC
29.4 ns
0
50
100
AIUB
GFZ
GRG
Analysis center
IFB in ns
50
362.6 ns 17.7 ns 12.8 ns 149.3 ns
11.2 ns
491171344.7 ns
0
50
100
COD
EMR
ESA
GFZ
Analysis center
GRG
IAC
Conclusion 2
To apply the mean ISB/IFB per satellite from the satellite clock solutions helps to
reduce the differences between the solutions.
Nevertheless, additional ISB/IFB need to be estimated from the satellite clock

solutions of different ACs to achieve the consistency level necessary for the
combination.
The problem of ISB/IFB estimation from satellites not included in all solutions is
reduced but not solved.
AIUB
IFB/ISB Computed by the Analysis Centers
Repeatability of the IFB/ISB (as they are)

10
49.2 ns
321.1 ns
158.4 ns
327.2 ns
COD
49.2 ns
ESA
331.0 ns
GFZ
159.6 ns
GRG
321.3 ns
COD
48.9 ns
ESA
323.6 ns
GFZ
158.3 ns
GRG
343.2 ns
0
10
10
0
10
10
0
10
COD
ESA
GFZ
Analysis center
GRG
Station: MATE Matera, IT
AIUB
Repeatability of the IFB/ISB (as they are)

10
35.7 ns
335.6 ns
173.1 ns
331.9 ns
COD
41.6 ns
ESA
340.1 ns
GFZ
168.0 ns
GRG
329.3 ns
COD
36.8 ns
ESA
335.1 ns
GFZ
171.0 ns
GRG
353.4 ns
0
10
10
0
10
10
0
10
COD
ESA
GFZ
Analysis center
GRG
Station: CONZ Concepcion, CL
AIUB
Repeatability of the IFB/ISB (unified reference)

10
49.6 ns
320.9 ns
158.8 ns
320.1 ns
COD
49.4 ns
ESA
334.5 ns
GFZ
159.7 ns
GRG
321.7 ns
COD
48.7 ns
ESA
321.6 ns
GFZ
158.4 ns
GRG
341.3 ns
0
10
10
0
10
10
0
10
COD
ESA
GFZ
Analysis center
GRG
AIUB
Repeatability of the IFB/ISB (unified reference)

10
35.8 ns
335.1 ns
173.0 ns
332.6 ns
COD
41.6 ns
ESA
342.7 ns
GFZ
168.1 ns
GRG
327.9 ns
COD
36.8 ns
ESA
333.5 ns
GFZ
171.0 ns
GRG
352.0 ns
0
10
10
0
10
10
0
10
COD
ESA
GFZ
Analysis center
GRG
Station: CONZ Concepcion, CL
AIUB

Conclusion
The IFB/ISB series from daily independent solutions need to be unitfied regarding
their reference.
The stability of the IFB with unified reference depend on the stability of the
differences between the IFB between two satellites from the day to day in the
original series.
In the best cases we achieve a peak-to-peak stability of 2 to 3 ns.
AIUB

ISB characteristic of the receivers
500
ISB in ns
400
ASHTECH Z18
JPS E_GGD
NOV OEMV3
TPS NETG3A
TRIMBLE NETR8
JAVAD TRE_G3T DELTA

JPS LEGACY
TPS E_GGD
TPS NETG3
TRIMBLE NETR9
JAVAD TRE_G3TH DELTA

LEICA GRX1200+GNSS
TPS GB1000
TPS ODYSSEY_E
JPS EGGDT
LEICA GRX1200GGPRO
TPS LEGACY
TRIMBLE NETR5
300
200
100
0
100
Analyse centrum: COD
AIUB
Stations

300
200
ASHTECH Z18
JPS E_GGD
NOV OEMV3
TPS NETG3A
TRIMBLE NETR8
JAVAD TRE_G3T DELTA

JPS LEGACY
TPS E_GGD
TPS NETG3
TRIMBLE NETR9

LEICA GRX1200+GNSS
TPS GB1000
TPS ODYSSEY_E
JPS EGGDT
LEICA GRX1200GGPRO
TPS LEGACY
TRIMBLE NETR5
ISB in ns
100
0
100
200
300
400
Analyse centrum: GFZ
AIUB
Stations

100
0
ASHTECH Z18
JPS E_GGD
NOV OEMV3
TPS NETG3A
TRIMBLE NETR8
JAVAD TRE_G3T DELTA

JPS LEGACY
TPS E_GGD
TPS NETG3
TRIMBLE NETR9

LEICA GRX1200+GNSS
TPS GB1000
TPS ODYSSEY_E
JPS EGGDT
LEICA GRX1200GGPRO
TPS LEGACY
TRIMBLE NETR5
ISB in ns
100
200
300
400
500
600
Analyse centrum: ESA
AIUB
Stations

300
200
ASHTECH Z18
JPS E_GGD
NOV OEMV3
TPS NETG3A
TRIMBLE NETR8
JAVAD TRE_G3T DELTA

JPS LEGACY
TPS E_GGD
TPS NETG3
TRIMBLE NETR9

LEICA GRX1200+GNSS
TPS GB1000
TPS ODYSSEY_E
JPS EGGDT
LEICA GRX1200GGPRO
TPS LEGACY
TRIMBLE NETR5
ISB in ns
100
0
100
200
300
400
Analyse centrum: GRG
AIUB
Stations

Differences between ISB characteristic of the receivers
180
ISB in ns
190
ASHTECH Z18
JPS E_GGD
NOV OEMV3
TPS NETG3A
TRIMBLE NETR8
JAVAD TRE_G3T DELTA

JPS LEGACY
TPS E_GGD
TPS NETG3
TRIMBLE NETR9

LEICA GRX1200+GNSS
TPS GB1000
TPS ODYSSEY_E
JPS EGGDT
LEICA GRX1200GGPRO
TPS LEGACY
TRIMBLE NETR5
200
210
220
230
Analyse centrum: CODGFZ
AIUB
Stations

350
ASHTECH Z18
JPS E_GGD
NOV OEMV3
TPS NETG3A
TRIMBLE NETR8
JAVAD TRE_G3T DELTA

JPS LEGACY
TPS E_GGD
TPS NETG3
TRIMBLE NETR9

LEICA GRX1200+GNSS
TPS GB1000
TPS ODYSSEY_E
JPS EGGDT
LEICA GRX1200GGPRO
TPS LEGACY
TRIMBLE NETR5
ISB in ns
360
370
380
390
Analyse centrum: CODESA
AIUB
Stations

140
ASHTECH Z18
JPS E_GGD
NOV OEMV3
TPS NETG3A
TRIMBLE NETR8
JAVAD TRE_G3T DELTA

JPS LEGACY
TPS E_GGD
TPS NETG3
TRIMBLE NETR9

LEICA GRX1200+GNSS
TPS GB1000
TPS ODYSSEY_E
JPS EGGDT
LEICA GRX1200GGPRO
TPS LEGACY
TRIMBLE NETR5
ISB in ns
150
160
170
180
Analyse centrum: GFZESA
AIUB
Stations

240
260
280
ASHTECH Z18
JPS E_GGD
NOV OEMV3
TPS NETG3A
TRIMBLE NETR8
JAVAD TRE_G3T DELTA

JPS LEGACY
TPS E_GGD
TPS NETG3
TRIMBLE NETR9

LEICA GRX1200+GNSS
TPS GB1000
TPS ODYSSEY_E
JPS EGGDT
LEICA GRX1200GGPRO
TPS LEGACY
TRIMBLE NETR5
ISB in ns
300
320
340
360
380
400
420
440
Analyse centrum: CODGRG
AIUB
Stations

20
40
60
ASHTECH Z18
JPS E_GGD
NOV OEMV3
TPS NETG3A
TRIMBLE NETR8
JAVAD TRE_G3T DELTA

JPS LEGACY
TPS E_GGD
TPS NETG3
TRIMBLE NETR9

LEICA GRX1200+GNSS
TPS GB1000
TPS ODYSSEY_E
JPS EGGDT
LEICA GRX1200GGPRO
TPS LEGACY
TRIMBLE NETR5
ISB in ns
80
100
120
140
160
180
200
220
Analyse centrum: GFZGRG
AIUB
Stations

140
120
100
ASHTECH Z18
JPS E_GGD
NOV OEMV3
TPS NETG3A
TRIMBLE NETR8
JAVAD TRE_G3T DELTA

JPS LEGACY
TPS E_GGD
TPS NETG3
TRIMBLE NETR9

LEICA GRX1200+GNSS
TPS GB1000
TPS ODYSSEY_E
JPS EGGDT
LEICA GRX1200GGPRO
TPS LEGACY
TRIMBLE NETR5
ISB in ns
80
60
40
20
0
20
40
60
Analyse centrum: ESAGRG
AIUB
Stations

Difference
COD GFZ
COD ESA
GFZ ESA
COD GRG
GFZ GRG
ESA GRG
Num. of
Stations
52
39
36
50
46
34
Mean
in ns
210.6
377.5
167.7
371.9
162.1
6.1
Median
in ns
209.4
377.6
168.2
372.2
163.0
5.8
RMS
in ns
4.9
5.1
6.1
18.7
19.2
20.6
High consistency (low RMS) with a proper IFBhandling

(enough weight for the code measurements?)
Test whether the ACs select the same type of code observations
(CODE differs from ESA and GFZ)
AIUB
Number of Satellites in the Solutions
Number of sat.
Number of sat.
Number of satellites per system

32
GPS
24
16
8
0
32
COD
EMR
GLONASS
ESA
GFZ
GRG
IAC
ESA
GFZ
Analysis center
GRG
IAC
24
16
8
0
AIUB
COD
EMR
RMS of Orbitfit using Bernese Software

Mean over all satellites of each system
Mean in mm
10
0
10
Mean in mm
GPS
COD
EMR
GLONASS
ESA
GFZ
GRG
IAC
ESA
GFZ
Analysis center
GRG
IAC
AIUB
COD
EMR
RMS of Orbitfit using Bernese Software
Median in mm
Median in mm
Median from all satellites of each system

10
GPS
0
10
COD
EMR
GLONASS
ESA
GFZ
GRG
IAC
ESA
GFZ
Analysis center
GRG
IAC
AIUB
COD
EMR
Comparison in the PPPPerformance

How the following Solutions Have Been Generated?
1. Data import and screening
(a) if highrate satellite clock corrections are available:
Phasedata are screened based on PPP with a sophisticated algorithm
before the first PPPsolution using postfit residual screening.
(b) without highrate satellite clock corrections:
Only the consistency between code and phasedata is checked before the
first PPPsolution using postfit residual screening.
2. static PPP using GPS/GLONASS data

assuming satellitespecific intersystem/interfrequency code biases without
ambiguity resolution for the phase data
3. pseudokinematic PPP using GPS/GLONASS data

(same as above)
AIUB
Statistics of the PPP Solution (after screening)

Number of code measurements (300 sec. sampling)
Code observ.
3000
2000
1000
0
3000
Code observ.
GPS
COD
EMR
GLONASS
ESA
GFZ
GRG
IAC
ESA
GFZ
Analysis center
GRG
IAC
2000
1000
0
COD
EMR
Station: ONSA Onsala, SE
AIUB
Phase observ.
Phase observ.
Number of phase measurements (300 sec. sampling)

3000
GPS
2000
1000
0
3000
COD
EMR
GLONASS
ESA
GFZ
GRG
IAC
ESA
GFZ
Analysis center
GRG
IAC
2000
1000
0
COD
EMR
AIUB

Number of ambiguity parameters
Ambiguities
200
100
0
200
Ambiguities
GPS
COD
EMR
GLONASS
ESA
GFZ
GRG
IAC
ESA
GFZ
Analysis center
GRG
IAC
100
COD
EMR
AIUB

A posteriori unit of weight
RMS in mm
0
2
RMS in mm
GPS/GLONASS with common receiver clock
COD
EMR
ESA
GFZ
GRG
GPS/GLONASS with independent receiver clock
IAC
COD
EMR
ESA
GFZ
Analysis center
GRG
IAC
AIUB
Coordinate Comparison from PPP Solutions
North in mm
North in mm
Coordinate difference to IGS08.SNX

15
10 GPS
5
0
5
10
15
15
COD
10 GLONASS
5
0
5
10
15
COD
EMR
ESA
GFZ
GRG
IAC
EMR
ESA
GFZ
Analysis center
GRG
IAC
AIUB
North in mm
North in mm

15
10 GPS/GLONASS with common receiver clock
5
0
5
10
15
15
COD
EMR
ESA
GFZ
GRG
10 GPS/GLONASS with independent receiver clock
5
0
5
10
15
COD
EMR
ESA
GFZ
Analysis center
GRG
IAC
IAC
AIUB
East in mm
East in mm

15
10 GPS
5
0
5
10
15
15
COD
10 GLONASS
5
0
5
10
15
COD
EMR
ESA
GFZ
GRG
IAC
EMR
ESA
GFZ
Analysis center
GRG
IAC
AIUB
East in mm
East in mm

15
5
0
5
10
15
15
COD
EMR
ESA
GFZ
GRG
5
0
5
10
15
COD
EMR
ESA
GFZ
Analysis center
GRG
IAC
IAC
AIUB
Up in mm
Up in mm

30
20 GPS
10
0
10
20
30
30
COD
20 GLONASS
10
0
10
20
30
COD
EMR
ESA
GFZ
GRG
IAC
EMR
ESA
GFZ
Analysis center
GRG
IAC
AIUB
Up in mm
Up in mm

30
10
0
10
20
30
30
COD
EMR
ESA
GFZ
GRG
10
0
10
20
30
COD
EMR
ESA
GFZ
Analysis center
GRG
IAC
IAC
AIUB
PseudoKinematic PPP Solutions

RMS of the differences w.r.t. the static solutions
North in mm
20
10
0
20
North in mm
GPS
COD
EMR
GLONASS
ESA
GFZ
GRG
IAC
ESA
GFZ
Analysis center
GRG
IAC
10
COD
EMR
AIUB

North in mm
20
10
0
20
North in mm
COD
EMR
ESA
GFZ
GRG
IAC
10
COD
EMR
ESA
GFZ
Analysis center
GRG
IAC
AIUB

East in mm
20
10
0
20
East in mm
GPS
COD
EMR
GLONASS
ESA
GFZ
GRG
IAC
ESA
GFZ
Analysis center
GRG
IAC
10
COD
EMR
AIUB

East in mm
20
10
0
20
East in mm
COD
EMR
ESA
GFZ
GRG
IAC
10
COD
EMR
ESA
GFZ
Analysis center
GRG
IAC
AIUB
Up in mm

40
20
0
Up in mm
GPS
40
COD
EMR
GLONASS
ESA
GFZ
GRG
IAC
ESA
GFZ
Analysis center
GRG
IAC
20
0
COD
EMR
AIUB
Up in mm

40
20
0
Up in mm
40
COD
EMR
ESA
GFZ
GRG
IAC
20
0
COD
EMR
ESA
GFZ
Analysis center
GRG
IAC
AIUB
GLONASS: InterfrequencyBiases
IFB as they are estimated in the static PPPsolution
IFB in ns
15
10
5
0
5
10
15
IFB in ns
GLONASSonly
10
COD
EMR
ESA
GFZ
GRG
IAC
5
0
5
10
COD
EMR
ESA
GFZ
Analysis center
GRG
IAC
AIUB
GLONASS: InterfrequencyBiases
IFB as they are estimated in the static PPPsolution
IFB in ns
15
10
5
0
5
10
15
IFB in ns
GLONASSonly
10
COD
EMR
ESA
GFZ
GRG
IAC
5
0
5
10
COD
EMR
ESA
GFZ
Analysis center
GRG
IAC
AIUB

Comparison of GPS/GLONASS Clock Solutions: R. Dach, S. Schaer, and M. Meindl

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Comparison of GPS/GLONASS Clock Solutions

R. Dach1 , S. Schaer2 , and M. Meindl1

Institute, University of Bern

Sidlerstrasse 5, CH-3012 Bern

Office of Topography swisstopo

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 2 / 34

Overview on the Contributions

Center for Orbit

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 3 / 34

Satellite Clock Series (Reference clock: G15)

G22 in ns G12 in ns G02 in ns

Deviation from the median

DOY 2011348 (hours)

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 4 / 34

Satellite Clock Series (Reference clock: G15)

R22 in ns R12 in ns R02 in ns

Deviation from the median

DOY 2011348 (hours)

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 5 / 34

Biases in GPS/GLONASS (Clock) Processing

DCB: differential code bias

We can only extract the sum

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 6 / 34

Biases in GPS/GLONASS (Clock) Processing

ISB: intersystem bias

Note, all offsets are realized as median to be robust against outliers.

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 7 / 34

Satellite Clock Series (Reference clock: G15)

R22 in ns R12 in ns R02 in ns

Deviation from the median, ISB subtracted

DOY 2011348 (hours)

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 8 / 34

Satellite Clock Series (Reference clock: G15)

R22 in ns R12 in ns R02 in ns

Deviation from the median, ISB+IFB subtracted

DOY 2011348 (hours)

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 9 / 34

ISB/IFB as Extracted from Satellite Clocks

362.6 ns 17.7 ns 12.8 ns 149.3 ns

The ISB/IFB can be estimated from the satellite clock solutions of

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 10 / 34

Satellite Clock Series (Reference clock: G15)

R22 in ns R12 in ns R02 in ns

Deviation from the median

DOY 2011348 (hours)

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 11 / 34

Satellite Clock Series (Reference clock: G15)

R22 in ns R12 in ns R02 in ns

Deviation from the median, ISB subtracted

DOY 2011348 (hours)

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 12 / 34

Satellite Clock Series (Reference clock: G15)

R22 in ns R12 in ns R02 in ns

Deviation from the median, ISB+IFB subtracted

DOY 2011348 (hours)

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 13 / 34

ISB/IFB as Extracted from Satellite Clocks

362.6 ns 17.7 ns 12.8 ns 149.3 ns

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 14 / 34

ISB/IFB as Extracted from Satellite Clocks

362.6 ns 17.7 ns 12.8 ns 149.3 ns

Nevertheless, additional ISB/IFB need to be estimated from the satellite clock

Dach, Schaer and Meindl: Comparison of GPS/GLONASS Clock Solution 14 / 34