Data pilot

Author: d | 2025-04-23

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That is removed by an additional zero-mean constraint across all observed satellites of the constellation.Due to the estimation of epoch-wise parameters, the least-squares adjustment involves a substantially larger number of solve-for parameters than the single-receiver, bias-only problem. In view of the block diagonal structure of the normal equations and the purely diagonal structure of the large submatrix for the epoch parameters, the system can, nevertheless, be solved with moderate computational effort, even for long data arcs. Within the present study, a dual-receiver, zero-baseline configuration is used to determine biases between observations for combined data + pilot tracking mode and pilot-only mode, which cannot be generated simultaneously by a single receiver.ResultsBased on the concepts and data sets introduced above, data + pilot biases as well as biases of combined data + pilot tracking with respect to pilot-only tracking have been obtained. Results for the two types of biases in GPS, Galileo, BeiDou-3, and QZSS signals are presented and discussed in this section.Data + pilot biasesFor the L1C and L2C signals of GPS, the satellite-specific data + pilot biases as measured in the present analysis are confined to magnitudes of less than about 0.05 ns (1.5 cm), which is generally negligible in practical GNSS data analysis (Fig. 1). Based on tests for different days, arc lengths and elevation cutoff angles, the individual bias estimates exhibit an uncertainty of about 0.02 ns, close to the magnitude of the bias values themselves. The near-absence of data + pilot biases is indeed expected for the time-multiplexed modulation of the data (medium length) code and the data-less (long) pilot code in the L2C signal. Similar considerations hold for the data and pilot components of the L1C signal, which is transmitted by the GPS III satellites along with the P(Y) signal in the in-phase channel of the Is commonly used as a reference for the precise orbit and clock products of Galileo within the IGS. This leaves an ambiguity concerning the choice of pilot or combined data + pilot observations on both frequencies, which analysis centers and users often silently ignore. Signals with data and pilot components also serve as the clock reference for QZSS (L2C) and are likely to be applied for BeiDou-3 (B1C, B2a) in the foreseeable future.With this background, the present study aims to comprehensively characterize biases in open-service data/pilot signals of the various global and regional navigation satellite systems based on actual receiver measurements. In addition, first calibrations of x–p satellite biases for the relevant signals of GPS, Galileo, and BeiDou-3 are provided that will assist consistent processing of combined data + pilot and pilot-only observations from the respective receiver groups in a heterogeneous tracking network.Data and processingThe results discussed in this work are based on measurements collected with two basic receiver types specifically configured or modified to support independent and concurrent tracking of data and pilot channels. Following the initial work of Sleewaegen and Clemente (2018), a new and comprehensive set of data + pilot biases for four constellations was determined for the present study with two Septentrio PolaRx5 receivers in Leuven and Tokyo in January 2023. Other than the standard firmware, limited to pilot-only measurements, a special firmware build was used in both campaigns to support joint tracking and output of data and pilot observations. Overall, data + pilot biases for the GPS L1C, L2C, L5, Galileo E1 O/S, E5a, E5b, and BeiDou-3 B1C, B2a signals were obtained for the globally visible satellites in medium earth orbit. In addition, L1C, L2C, and L5 biases were measured for the QZSS satellites in both inclined geosynchronous and geostationary orbit.Next to the PolaRx5, measurements

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And conclusionsData + pilot biases as well as biases between observations from combined data + pilot tracking and pilot-only tracking have been measured for a comprehensive set of modern GNSS signals. Based on these measurements, it is shown that combined-minus-pilot-only biases for common receivers can be predicted from measured data + pilot biases and known power ratios with good confidence for most signals using a basic “multipath” model. For the dominating case of equal power sharing of the data and pilot components, they amount to 50% of the d–p biases. For the BDS-3 B1C and QZSS L1C signals with their 1:3 power sharing, a 37% bias ratio is predicted by the simple model, but smaller values may apply depending on the actual combining method and/or on the weighting of both components in a specific receiver architecture.The measurements confirm the common expectation that data + pilot biases of time-multiplexed signals, i.e., GPS and QZSS L2C, and interlaced signals, such as GPS L1C are fully negligible. With representative magnitudes of 0.05 ns or less, the biases for these signals do not merit a distinction of data, pilot, and combined tracking modes in GNSS data processing. For Galileo, satellite-specific data + pilot biases in the E1 O/S, E5a, and E5b signals are confined to typically 0.1–0.3 ns, which limits associated inconsistencies in the clock offset determination to the 5 cm level when neglecting those contributions in the processing of observations from the combined tracking mode. With representative magnitudes of 1–2 ns, the data-minus-pilot and combined-minus-pilot-tracking biases are no longer negligible, though, for GPS L5, QZSS L1C, and BeiDou-3 B1C/B2a signals. Here, use of pre-determined x–p biases in the observation model enables a unified processing of measurements from receiver groups with x- and p-tracking in orbit determination and time synchronization as well as precise. Data Pilot Expand Microsoft Excell data analysis options with Data Pilot; ExifFarmPro Create, view and edit EXIF/IPTC information; CHM2HTML Pilot Convert CHM into a set of HTML files using CHM2HTML Pilot. Red Eye Pilot Get rid of red eyes with just a couple of clicks; Document2PDF Pilot

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Pilot and data correlations prior to computing the discriminator, it can be modeled in analogy with short range multipath (Byun et al. 2002; Young and Meehan 1988) for in-phase signals. For a typical early-minus-late correlator and for a given data-minus-pilot bias \({B}_{\mathrm{d}-\mathrm{p}}\), the combined tracking will then result in the bias$${B}_{\mathrm{x}-\mathrm{p}}={B}_{\mathrm{d}-\mathrm{p}}\cdot \frac{\alpha }{1+\alpha }$$ (1) with respect to the pilot-only tracking, where \(\alpha \) denotes the amplitude ratio of the data component relative to the pilot component.In view of the small magnitude of data + pilot biases for current GNSS signals in relation to commonly employed correlator spacings, Eq. (1) is likewise applicable for more advanced correlator architectures such as double-delta and strobe correlators and can be used as a baseline for modeling the expected biases of combined data + pilot tracking relative to the pilot-only tracking. Nevertheless, it must be emphasized that implementation details for the combined tracking mode are not disclosed by the current receiver manufacturers. As such, the above model represents a conceptual model, but cannot necessarily substitute actual measurements of x–p biases. In particular, this applies to signals with different power in the data and pilot channel, such as QZSS L1C and BeiDou B1C, where non-identical weights may be applied in combination to minimize the resulting code tracking noise (Hegarty 1999; Guo et al. 2022).To distinguish the various modes of tracking and measurement generation, the Receiver INdependent EXchange (RINEX, Romero 2021) format provides distinct observation codes such as D (data) and P (pilot), I (in-phase) and Q (quadrature), S (short) and L (long), or B and C for data-only and pilot-only tracking. In contrast, the X and, occasionally, Z observation codes are used for measurements resulting from the combined tracking of the two signal components. The proper assignment and careful distinction of observation codes is a MIRAI data for the January to December 2022 timeframe and include both the first QZS-1 satellite (J001; transmitting until March 2022) and the QZS-1R replenishment satellite (J005).Overall, data + pilot biases of 0.5 to 1 ns are observed for both the L1C and L5 signal (Fig. 4). For L2C, negligible data + pilot biases are encountered, as can be expected for the time-multiplexed modulation. Other than GPS, which uses an interlaced majority voting for the in-phase L1 signal components, the L1C data and pilot components of QZSS are generated using an interplex modulation (Kogure et al 2017). As such, QZSS L1C data + pilot biases in QZSS are generally larger than those of GPS and also larger than those of the time-multiplexed L2C signal. They also exceed those of the Galileo E1 O/S signal, which makes use of a similar interplex modulation. While the L1C data + pilot bias for the Block I QZSS satellite J001 has a magnitude of roughly 0.5 ns, values for the subsequent Block II and IIA satellites are typically at the 0.1–0.2 ns level. L5 data + pilot biases, in contrast, are confined to roughly 0.2 ns across all generations of satellites.Fig. 4Estimated data + pilot code biases of QZSS signals as obtained with two different receiver types. For the PolaRx5 receiver, measurements of J002–J005 have been complemented with J001 data of Sleewaegen and Clemente (2018) after adjusting an offset in the biases for the commonly observed J002–J004 in both date sets. For comparison, inter-signal corrections transmitted in the CNAV and CNAV-2 navigation messages are shownFull size imageAs a peculiarity, we also note the occurrence of orbit-periodic variations with a peak-to-peak amplitude of up to 0.3 ns in the time series of L5 data + pilot pseudorange differences for the Block II and IIA satellites

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That stand out clearly above the measurement noise. The data + pilot bias variations across an orbit show a distinct pattern that differs with the geographic location of the observing stations. This hints at satellite-generated interference, but further investigations will be required to understand the nature of these variations fully. For the present analysis, Fig. 4 provides mean values of the data + pilot biases over the full visibility period and, in case of the TRE-3 results, over a geographically diverse set of stations.Differences between data + pilot estimates from the two types of receivers amount to 0.25 ns and 0.1 ns for L1C and L5, respectively. However, major inconsistencies of 0.5–1 ns can be observed in comparison with the long-term mean values of the L5 broadcast ISCs from the CNAV-1 message over the analysis period. The CNAV-1 L5 ISCs are also found to exhibit notable long-term variations with peak-to-peak amplitudes of up to 0.7 ns for the geostationary QZS-3 satellite (J003) that presently lack proper understanding and explanation. No such variations are encountered for the L1C ISCs transmitted in the CNAV-2 message of QZSS, which also show a better overall match with the observed data + pilot biases. Overall, the results hint at a possible deficiency in the ISC calibration of the QZSS ground segment rather than pronounced variability of the actual satellite biases.Biases of combined data and pilot trackingWhile the above measurements provide insight into the magnitude of data + pilot biases in the various GNSS signals, knowledge of these biases themselves is of only limited practical relevance for the processing of multi-GNSS observations from heterogeneous receiver networks due to the sparse availability of geodetic receivers providing measurements from data-only (“d”) tracking. Instead, the combined data-plus-pilot (“x”) tracking is most widely used as an alternative to pilot-only (“p”)

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Tracking and requires a distinction of the respective receiver groups in the determination of signal biases, clock offsets, and ionosphere products.Complementary test data for the estimation of x–p biases were collected in a dedicated receiver test bed to cope with this limitation. In the absence of GNSS receivers offering concurrent measurements from all three tracking modes, a pair of TRE-3S receivers in zero-baseline (ZB) configuration was used for our analysis. While one of the receivers was configured for combined data + pilot tracking, the second receiver provided individual pilot-only and data-only observations. Satellite-specific biases were then adjusted from the between-receiver single-difference observations along with epoch-wise single-difference clock offsets.Scatter plots of the resulting combined-minus-pilot-only biases versus the data-minus-pilot biases are shown in Fig. 5. It covers all GPS, Galileo, and BeiDou-3 signals with relevant intra-signal biases, whereas signals based on time multiplexing and interlaced majority voting have been excluded in view of their negligible data + pilot biases.Fig. 5Scatter plot of TRE-3S x–p biases versus d–p biases for GPS, Galileo, and BeiDou signals with non-negligible data + pilot biases. Next to the individual data points, a regression line and the respective slope are providedFull size imageWith the exception of the BDS B1C signal, all considered signals employ a 1:1 share of signal amplitudes and powers in the data and pilot channels. In accordance with expectations, the respective scatter plots show that the magnitude of x–p biases is close to 50% of the corresponding d–p biases. For the BDS B1C signal, the data and pilot channels are transmitted with a 1:3 power ratio (CSNO 2017), which corresponds to an amplitude ratio of \(\alpha =1/\sqrt 3\sim 0.58\). Using the model of (1), x–p biases are expected to amount to 37% of the d–p biases in this case, which is in fair agreement with. Data Pilot Expand Microsoft Excell data analysis options with Data Pilot; ExifFarmPro Create, view and edit EXIF/IPTC information; CHM2HTML Pilot Convert CHM into a set of HTML files using CHM2HTML Pilot. Red Eye Pilot Get rid of red eyes with just a couple of clicks; Document2PDF Pilot

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Of GPS, Galileo, and BeiDou-3 data + pilot biases for the aforementioned signals were performed at DLR’s German Space Operations Center (GSOC), Oberpfaffenhofen, in January 2023 with a pair of Javad TRE-3S receivers in zero-baseline configuration. While one of the two receivers was operated in the default configuration for combined data + pilot tracking with “normal” correlator settings, the second receiver was operated in a special “data” configuration providing distinct data and pilot observations. RINEX observation files for the two receivers were generated from binary receiver data in the vendor-specific JPS format (Javad 2022) using a conversion software (JPS2Rnx) independently developed by the authors.Given the limited QZSS visibility from Central Europe, complementary QZSS observations were obtained with Javad TRE-3 receivers of the Multi-GNSS Integrated Real-time and Archived Information system (MIRAI; Cabinet Office 2022a) between January and December 2022. A total of eight stations in the Asia-Pacific region contributed by the QZS operator and supporting joint output of data and pilot observations for GPS and QZSS satellites was selected for this purpose. RINEX observation files for the MIRAI stations are generated by the MIRAI providers based on real-time data streams with multi-signal messages (MSM) in Radio Technical Commission for Maritime Services (RTCM) v3.3 format (RTCM 2021). Due to apparent encoding errors, the designations for data and pilot observations are swapped in both the RTCM real-time streams and the RINEX observation files. For proper data analysis, the respective measurements were therefore exchanged prior to using them in the present analysis.For comparison with estimated data + pilot code biases, “inter-signal corrections” (ISCs) are used, which are transmitted within the navigation messages of most of the modernized signals. The respective values were extracted from RINEX 4 navigation data files (Montenbruck and Steigenberger 2022) provided by the IGS and represent average values over the January