Lecture Notes in Earth Sciences Editors: S. Bhattacharji, Brooklyn G. M. Friedman, Brooklyn and Troy H. J. Neugebauer, Bonn A. Seilacher, Tuebingen and Yale 60
S rin er P. g Berhn Heidelberg New York Barcelona Budapest Hong Kong London Milan Santa Clara Singapore Paris Tokyo
Alfred Kleusberg Peter J. G. Teunissen (Eds.) GPS for Geodesy Springer
Editors Prof. Dr. Alfred Kleusberg University of New Brunswick Department of Geodesy and Geomatics Engineering P.O. Box 4400, Fredericton, N.B., Canada E3B 5A3 Prof. Dr. Peter J. G. Teunissen Delft University of Technology Department of Geodetic Engineering Thijsseweg 11, 2629 JA Delft, The Netherlands Cataloging-in-Publication data applied for Die Deutsche Bibliothek - CIP-Einheitsaufnahme GPS for geodesy / Alfred Kleusberg ; Peter J. G. Teunissen (ed.). - Berlin ; Heidelberg ; New York ; Barcelona ; Budapest ; Hong Kong ; London ; Milan ; Paris ; Tokyo : Springer, 1996 (Lecture notes in earth sciences ; 6{I) ISBN 3-540-60785-4 (Berlin...) kart. ISBN 0-387-60785-4 (New York...) kart. NE: Kleusberg, Alfred [Hrsg.]; GT "For all Lecture Notes in Earth Sciences published till now please see final pages of the book" ISBN 3-540-60785-4 Springer-Verlag Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer-Verlag. Violations are liable for prosecution under the German Copyright Law. 9 Springer-Verlag Berlin Heidelberg 1996 Printed in Germany Typesetting: Camera ready by author SPIN: 10492796 32/3142-543210 - Printed on acid-free paper
PREFACE This monograph contains the revised and edited lecture notes of the International School GPS for Geodesy in Delft, The Netherlands, March 26 through April 1, 1995. The objective of the school was to provide the necessary information to understand the potential and the limitations of the Global Positioning System for applications in the field of geodesy. The school was held in the excellent facilities of the DISH Hotel, and attracted 60 geodesists and geophysicists from America, Asia, Australia, and Europe. The school was organized into lectures and discussion sessions. There were two lecture periods in the morning and two lecture periods in the afternoon, followed by a discussion session in the early evening. A welcome interruption to this regular schedule was a visit to the European Space Research and Technology Centre (ESTEC) in Noordwijk in the afternoon of March 29. A tour of the Noordwijk Space Expo and the ESA satellite test facilities, and presentations by ESTEC personnel of GPS and GNSS related activities at ESTEC, provided a different perspective to space geodesy. The school had the support of the International Association of Geodesy, the Netherlands Geodetic Commission, the Department of Geodetic Engineering of the Technical University of Delft, the Department of Geodesy and Geomatics Engineering of the University of New Brunswick, and the Survey Department of Rijkswaterstaat. This support is gratefully acknowledged. The organization of the International School began in early 1994, with the knowledgeable help of Frans Schrrder of the Netherlands Geodetic Commission. Throughout the year of preparation and during the school, Frans SchrOder looked after student registration and organized facilities, and thereby ensured the success of the school. The International School GPS for Geodesy would not have been possible without a team of dedicated lecturers of international reputation with expertise in GPS geodesy. The lecturers were willing to agree beforehand to a shared responsibility for parts of the school presentation and the preparation of the corresponding lecture notes. All authors tried to adhere to a common notation throughout the chapters of the lecture notes, and avoided unnecessary repetitions. The typescript of these lecture notes was edited by Wendy Wells of the Department of Geodesy and Geomatics Engineering of the University of New Brunswick. She received expert help on Chapter 8 from Jasmine van der Bijl of the Department of Geodetic Engineering, Delft University of Technology. Ms Wells succeeded in producing a coherently formatted manuscript from bits and pieces created with three different word processors on two different computer platforms. January 1996 Fredericton, Canada Delft, The Netherlands Alfred Kleusberg Peter Teunissen
TABLE OF CONTENTS Introduction... 1 1 Reference Systems... Yehuda Bock 2 GPS Satellite Orbits... Gerhard Beutler 3 Propagation of the GPS Signals... Richard B. Langley 4 GPS Receivers and the Observables... Richard B. Langley 5 GPS Observation Equations and Positioning Concepts... Peter J. G. Teunissen and Alfred Kleusberg 37 103 141 175 6 Single-Site GPS Models... 219 Clyde C. Goad 7 Short Distance GPS Models... 239 Clyde C. Goad 8 GPS Carrier Phase Ambiguity Fixing Concepts... Peter J. G. Teunissen 263 9 Medium Distance GPS Measurements... 337 Yehuda Bock 10 The GPS as a Tool in Global Geodynamics... 379 Gerhard Beutler