Author: AC Coordinator / NRCan GSDivision Rapid Service IGS Orbit Combination - Week 0836 (Jan 14, 1996 - Jan 20, 1996) Contacts: J. Kouba (kouba@geod.emr.ca) Y. Mireault (mireault@geod.emr.ca), F. Lahaye (lahaye@geod.emr.ca) COMBINATION STRATEGY: Starting with GPS week 803, the IGS Rapid orbit combination is done directly in the ITRF without any alignment to the Bulletin A EOP series. Each centre satellite clock corrections are first transformed to a common reference. For each centre, a clock offset and a drift are estimated with respect to broadcast clock corrections using only non-SA satellites. These offsets and drifts are used to align each centre satellite clock corrections to GPS time. The resulting ephemerides and clock corrections are then combined as weighted averages computed over all centres. Each centre is given a position weight and a clock weight. The position weights are computed from each centre's absolute deviation to the unweighted average orbit after the estimation of a 7-parameter Helmert transformation. The clock weights are computed from the absolute deviation of the initial alignment to broadcast clock for the non-SA satellites, provided these satellites are representative of the clock solution quality of each centre. Finally, a 7-parameter Helmert transformation and clock offset and drift are estimated for each centre with respect to combined solutions and parameters and RMS of fit reported here. All the above estimations are performed using the L1-norm robust scheme. Each centre ephemerides are also evaluated individually and independently from the orbit combination by using week long arcs. The ERP used in this evaluation are those submitted by the respective centres supplemented with IERS Bulletin A UT1-UTC values when they are not supplied. The IGS combined orbits/clocks and all centres providing both orbit and clock solutions are further evaluated by an independent point positioning (navigation) program developed at NRCan. This is primarily intended for testing clock solution precision as well as the orbit/clock consistency. Like the clock solutions broadcast in the navigation message, the combined satellite clocks are corrected for the periodical relativistic correction (see e.g. GPS interface Control document ICD-GPS-200, p.73): -2*(X.V)/c, where X and V are the inertial sv state and velocity vectors and c is the speed of light. Also for compatibility, no satellite L1/L2 delay calibration should be applied. SOFTWARE: The weighted average software used was developed by T. Springer and G. Beutler during 1993. The GPS long arc orbit analysis software used here for individual centre ephemeris evaluation was developed by Beutler et al. at the Astronomical Institute of the University of Bern (AIUB). For more details on the orbit combination and complete references for both software see: Beutler, Kouba, Springer, 1993, Combining orbits of the IGS processing centres, in IGS Analysis Centre Workshop, October 12-14, Ottawa, pp 19-55. PRODUCTS GENERATED: The resulting average ephemeris and clocks are output to daily files in SP3 format. The satellite accuracy codes displayed in the header are based on the weighted RMS for each satellite. Note that each file contains all the satellites that appear in any of the centre ephemeris files. If a satellite or centre was excluded from combination, a note in the REMARKS section of this report will identify the exclusion and the reason. The resulting x and y earth rotation parameters (ERP) associated with the IGS ephemeris files are computed using a weighted average of all available centres (weights are those from the orbit combination). These values are supplemented with the current IERS Bulletin A UT1-UTC values. The Rapid Service Orbit files generated and uploaded into CDDIS @ NASA/GSFC are: IGS08360-6.SP3 IGS GPS ephemeris files for days 0-6, week 0836 in SP3 format. IGS08367.ERP Earth rotation parameters (ERP) associated with ephemerides. IGS08367.SUM Complete report. REMARKS on IGS Rapid Service Orbit Combination: 1. The centres used in the clock combination are COD, EMR, ESA, GFZ and JPL. The other centres are excluded because they either provide broadcast clocks (NGS) or clock corrections are not provided (SIO). The clock information not used is still compared to combination for completeness. The value of 999999.999999 microseconds, according to the sp3 format convention, is used to signify that no clock solution is available and therefore must not be used. 2. Only the GFZ "exact" clock corrections (one epoch out of two) are included in the combination and RMS computation (no "interpolation" values). 3. Centre clock weights were determined using the following non-SA satellites: PRN12, PRN15 and PRN28. 4 State vector resets were modeled for the following satellites to alleviate the effects of modelling problems, experienced by all centres, in the long arc process: Day (Date) | TIME | PRN | Centres | Reason ------------+----------+-----+------------------------------ 2 (Jan 16) | 00:00:00 | 23 | ALL | Modeling problems 5. Centre specific UT1-UTC values for ESA and NGS were not used in the long arc evaluation. Smaller RMS were obtained when UT1-UTC values from bulletin A were used. 6. Starting with GPS week 0834, long arc RMS for non-eclipsing satellites (NE) are now output below the total long arc RMS (T) (See Table 3). 7. Starting with GPS week 0834, the IGS combined orbits/clocks and all centres providing both orbit and clock solutions are now further evaluated by an independent point positioning (navigation) program. See COMBINATION STRATEGY AND ORBIT COMBINATION AND EVALUATION STATISTICS sections for more details. Tables 4 and 5 show the evaluation results. ORBIT COMBINATION AND EVALUATION STATISTICS: Most combination statistics are with respect to the combined orbits and consist of five parts. The first, Table 1, summarizes all statistics for the week. It contains means and standard deviations over the week of satellite ephemeris and clock correction transformation parameters for each centre (table 1.0836.a). It also displays the computed satellite position sigmas for the combined orbits (table 1.0836.b). The second part, Table 2, contains the complete ephemeris and clock correction transformation parameters (includes both the apriori and a posteriori values) for each centre and each day (tables 2.0836.0-6). The third part, Table 3, contains two types of daily RMS for each satellite and centre, along with the computed satellite position sigmas for the combined orbits (tables 3.0836.0-6). The first type of satellite RMS is based on orbit combination and the second RMS type is a result of the 7-day arc evaluation of each centre ephemerides. The fourth part, Table 4, is a weekly summary of the daily precise navigation summaries for centres providing both orbit and clock solutions. It contains weekly station RMS w.r.t. the initial coordinates for the Latitude, Longitude and Height components for up to three IGS stations (table 4.0836). The fifth and final part, Table 5, is similar to Table 4 and contains daily precise navigation statistics (tables 5.0836.0-6). In tables 1-3, the most important statistic which is meaningful for intra centre/satellite analysis is labeled WRMS. It is a weighted RMS where normalized weights are based on accuracy codes given in the SP3 files, and should not be affected by downweighted/problem satellites when acknowledged by individual centres in their SP3 file. Table 1: Week 0836 summary. (Jan 14, 1996 - Jan 20, 1996) Table 1.0836.a GPS week: 0836 MJD: 50096.0-50102.0 Mean and standard deviations of transformation parameters. WRMS - orbit RMS weighted by the SP3 header accuracy codes. STA - Mean number of stations in the daily solutions. Units: meters, mas, ppb, nano-sec, nano-sec/day. CENT STA| DX DY DZ RX RY RZ SCL RMS WRMS | TOFT TDRFT RMS --------|------------------------------------------------|--------------------- cod 63 | .00 .03 .01 -.23 .03 -.15 .1 .07 .07 | 3.0 -2.0 1.8 | .00 .01 .01 .15 .13 .27 .1 | 6.1 9.3 emr 29 | .01 -.04 -.01 .40 -.15 .36 -.1 .10 .10 | 220.9 19.7 .9 | .00 .01 .00 .09 .10 .10 .1 | 41.2 13.5 esa 44 | .01 -.02 -.01 .33 .16 -.47 .2 .16 .13 | 2.1 4.8 1.9 | .01 .01 .01 .22 .31 .20 .2 | 13.8 10.3 gfz 44 |-.03 -.02 .00 .08 -.02 -.11 -.3 .12 .11 | 222.7 19.4 7.1 | .00 .01 .00 .10 .06 .07 .1 | 42.0 12.8 jpl 37 | .01 .03 .00 -.26 .02 .04 .2 .08 .08 | 221.0 19.8 .9 | .01 .01 .01 .10 .14 .11 .1 | 41.2 13.6 ngs 44 | .00 -.02 .00 .23 .31 .07 -.1 .12 .12 | -2.0 3.3 77.3 | .01 .01 .01 .09 .14 .15 .2 | 4.9 9.6 sio 109|-.01 .02 .01 -.18 -.25 .01 .2 .10 .09 | .0 .0 .0 | .00 .01 .01 .09 .13 .34 .1 | .0 .0 Table 1.0836.b GPS week : 0836 MJD: 50096.0-50102.0 Satellite position sigmas for the combined orbits (coded in the IGS SP3 orbit files). "E" flags eclipsing satellites. Units: cm. Day of GPS week PRN | 0 1 2 3 4 5 6 | Remarks ------|-----------------------------|------------------------------------------ 1 | 4 3 3 3 3 3 4 | 2 | 3 3 3 3 2 3 3 | 4 | 3 4 3 3 3 4 4 | 5E | 4 3 3 3 3 3 3 | 6 | 3 3 3 3 3 4 3 | 7 | 4 4 3 3 3 3 3 | 9 | 3 3 3 2 2 3 3 | 12 | 4 4 3 3 4 4 3 | 14E | 4 4 5 5 3 4 4 | 15 | 3 4 4 4 4 4 4 | 16E | 3 5 4 4 4 4 4 | 17 | 3 4 4 3 4 4 3 | 18 | 3 3 2 2 2 2 3 | 19 | 3 4 3 3 3 3 3 | 20E | 5 4 6 4 3 3 3 | 21E | 4 4 5 4 5 7 5 | 22E | 3 4 4 3 4 4 3 | 23E | 4 5 4 4 4 5 10 | 24 | 4 4 4 4 4 4 5 | 25 | 3 2 3 3 3 3 3 | 26 | 3 4 3 3 4 3 3 | 27 | 3 3 3 3 3 3 2 | 28 | 3 3 4 4 4 4 3 | 29 | 2 3 2 2 2 3 3 | 31 | 4 6 5 4 4 4 5 | Table 2: Daily transformation of each centre to the combined IGS orbit and clocks for each day of the week. The transformation displayed is the sum of a priori and estimated transformations. WRMS - RMS weighted by the centres SP3 header accuracy codes. STA - Number of stations in the daily solutions. Units: meters, mas, ppb, nano-sec, nano-sec/day. Table 2.0836.0 GPS week: 0836 Day: 0 MJD: 50096.0 CENT STA| DX DY DZ RX RY RZ SCL RMS WRMS | TOFT TDRFT RMS --------|------------------------------------------------|--------------------- cod 62 | .00 .02 .00 -.26 .02 .07 .0 .06 .05 | -3.5 -1.2 1.7 emr 27 | .01 -.04 -.02 .47 -.07 .27 -.2 .11 .11 | 150.4 35.0 .9 esa 43 | .02 -.02 -.01 .48 .64 -.56 .3 .13 .13 | -20.4 11.0 1.8 gfz 41 |-.03 -.03 .00 .05 -.10 -.05 -.5 .13 .13 | 152.5 34.1 7.4 jpl 37 | .02 .03 -.01 -.31 -.08 -.20 .3 .07 .07 | 150.5 35.1 1.0 ngs 42 | .01 -.03 .00 .38 .21 .07 -.1 .13 .13 | -2.8 -.3 75.4 sio 106| .00 .02 .01 -.09 -.26 .04 .1 .07 .07 | .0 .0 .0 Table 2.0836.1 GPS week: 0836 Day: 1 MJD: 50097.0 CENT STA| DX DY DZ RX RY RZ SCL RMS WRMS | TOFT TDRFT RMS --------|------------------------------------------------|--------------------- cod 62 | .00 .04 .01 -.30 .11 .18 .1 .07 .07 | 6.4 -10.1 1.7 emr 29 | .01 -.04 -.01 .42 -.05 .50 -.1 .09 .09 | 186.1 21.4 .8 esa 44 | .01 -.03 -.02 .14 .08 -.59 .4 .14 .12 | 9.9 -5.0 1.9 gfz 42 |-.03 -.02 .01 .01 .02 -.07 -.4 .12 .11 | 187.1 21.6 7.0 jpl 37 | .00 .03 -.01 -.21 -.24 .01 .3 .09 .09 | 186.4 21.3 .9 ngs 43 | .00 -.02 .00 .27 .28 -.22 -.1 .12 .12 | -.8 .0 77.0 sio 106|-.01 .02 .01 -.29 .03 -.63 .1 .15 .13 | .0 .0 .0 Table 2.0836.2 GPS week: 0836 Day: 2 MJD: 50098.0 CENT STA| DX DY DZ RX RY RZ SCL RMS WRMS | TOFT TDRFT RMS --------|------------------------------------------------|--------------------- cod 65 | .01 .03 .00 -.17 .11 .07 .0 .06 .06 | 6.7 -1.5 1.6 emr 28 | .01 -.05 -.01 .34 -.25 .21 -.1 .10 .10 | 207.0 29.6 .8 esa 46 | .00 -.01 .00 .18 .24 -.46 .4 .16 .12 | -.7 3.6 1.3 gfz 45 |-.03 -.03 .00 .16 -.07 -.13 -.1 .12 .12 | 206.3 35.0 7.8 jpl 37 | .01 .02 .00 -.13 .10 .14 .2 .07 .07 | 207.0 30.1 .8 ngs 43 |-.01 -.02 -.01 .08 .24 .08 -.3 .14 .11 | -5.0 7.9 76.4 sio 107| .00 .02 .01 -.25 -.26 -.14 .2 .09 .09 | .0 .0 .0 Table 2.0836.3 GPS week: 0836 Day: 3 MJD: 50099.0 CENT STA| DX DY DZ RX RY RZ SCL RMS WRMS | TOFT TDRFT RMS --------|------------------------------------------------|--------------------- cod 64 | .00 .03 .01 -.11 .15 -.48 .0 .06 .06 | 9.7 -2.7 1.8 emr 31 | .01 -.03 -.02 .48 -.18 .37 -.1 .09 .09 | 238.9 9.2 .7 esa 44 | .00 -.02 .01 .18 -.25 -.14 .0 .15 .13 | -6.8 10.3 1.7 gfz 45 |-.03 -.02 .00 .19 -.03 -.22 -.2 .12 .11 | 237.8 13.8 6.0 jpl 37 | .00 .02 .00 -.34 .08 .07 .3 .07 .07 | 239.1 8.9 .8 ngs 47 | .01 -.02 .00 .23 .39 .23 -.2 .12 .12 | 3.1 1.6 78.1 sio 110|-.01 .02 .02 -.22 -.33 .41 .2 .08 .08 | .0 .0 .0 Table 2.0836.4 GPS week: 0836 Day: 4 MJD: 50100.0 CENT STA| DX DY DZ RX RY RZ SCL RMS WRMS | TOFT TDRFT RMS --------|------------------------------------------------|--------------------- cod 64 | .00 .03 .00 -.13 .09 -.45 .0 .07 .07 | 5.3 -6.7 1.9 emr 31 | .01 -.03 -.02 .29 -.04 .33 -.2 .08 .08 | 247.4 12.6 .8 esa 45 | .01 -.02 -.01 .58 -.17 -.73 .1 .15 .12 | 20.8 -.7 2.1 gfz 45 |-.03 -.03 .00 .17 -.04 -.11 -.2 .12 .11 | 251.5 8.5 6.3 jpl 37 | .01 .02 .00 -.39 .17 .05 .4 .08 .08 | 247.4 12.8 .9 ngs 45 | .00 .00 .01 .17 .13 .16 .1 .14 .14 | -1.8 3.2 75.7 sio 110|-.01 .03 .02 -.24 -.32 .28 .3 .08 .07 | .0 .0 .0 Table 2.0836.5 GPS week: 0836 Day: 5 MJD: 50101.0 CENT STA| DX DY DZ RX RY RZ SCL RMS WRMS | TOFT TDRFT RMS --------|------------------------------------------------|--------------------- cod 62 | .00 .03 .01 -.13 -.01 -.33 .2 .08 .08 | 3.4 -9.1 1.9 emr 28 | .02 -.04 -.01 .32 -.17 .44 -.1 .10 .10 | 259.4 -1.7 1.0 esa 43 | .00 -.03 -.02 .62 .36 -.29 .2 .18 .16 | -1.2 -7.3 2.1 gfz 45 |-.03 -.03 .00 .08 .01 -.03 -.3 .12 .10 | 259.1 .3 8.0 jpl 37 | .00 .03 .00 -.31 .10 .06 .1 .08 .08 | 259.4 -1.4 1.0 ngs 45 |-.01 -.01 .00 .24 .44 .21 .2 .12 .12 | 3.9 -10.2 78.0 sio 111|-.01 .02 .02 -.14 -.27 -.03 .2 .09 .08 | .0 .0 .0 Table 2.0836.6 GPS week: 0836 Day: 6 MJD: 50102.0 CENT STA| DX DY DZ RX RY RZ SCL RMS WRMS | TOFT TDRFT RMS --------|------------------------------------------------|--------------------- cod 65 |-.01 .03 .02 -.53 -.24 -.13 .3 .10 .08 | -7.1 17.6 2.0 emr 30 | .01 -.04 -.01 .49 -.29 .37 -.2 .10 .10 | 256.9 31.6 1.2 esa 42 | .00 -.03 -.02 .13 .21 -.54 .2 .19 .15 | 13.2 21.8 2.3 gfz 45 |-.03 -.02 .00 -.09 .06 -.16 -.2 .10 .10 | 264.4 22.5 7.3 jpl 37 | .01 .04 -.01 -.15 .01 .11 .1 .10 .10 | 257.1 32.1 1.2 ngs 45 | .00 -.05 .00 .23 .52 .00 .0 .11 .11 | -10.6 21.2 80.1 sio 113| .00 .04 .01 -.05 -.32 .15 .4 .11 .09 | .0 .0 .0 Table 3: Daily fit for each satellite and each centre resulting from weighted average combination and from long arc orbit dynamics (7-day). The first IGS column gives resulting satellite accuracy measures found in SP3 header. The last IGS column gives the RMS fit of the IGS orbit when processed through the 7-day arc evaluation. "E" stands for eclipsing satellites. "T" stands for Total long arc orbit RMS (all satellites). "NE" stands for Non-Eclipsing satellites long arc orbit RMS. Units: cm. Table 3.0836.0 GPS week: 0836 Day: 0 MJD: 50096.0 Weighted Average Orbit Dynamics (7 days) PRN | cod emr esa gfz jpl ngs sio IGS | cod emr esa gfz jpl ngs sio IGS ------|----------------------------------|---------------------------------- 1 | 4 6 14 13 8 19 9 4 | 7 7 13 8 9 19 15 6 2 | 8 9 10 9 5 16 5 3 | 7 16 15 15 9 16 14 9 4 | 5 8 9 12 6 11 6 3 | 6 10 12 12 5 10 8 6 5E | 7 8 10 18 7 11 8 4 | 10 14 12 16 13 15 19 11 6 | 4 11 9 9 6 15 6 3 | 4 12 13 12 5 15 11 7 7 | 5 19 13 11 7 9 6 4 | 3 21 14 14 7 15 11 7 9 | 4 11 8 10 7 9 11 3 | 6 14 11 13 7 11 11 7 12 | 7 17 8 10 8 12 6 4 | 6 12 11 12 7 14 10 6 14E | 5 15 17 13 7 9 11 4 | 15 19 18 22 21 24 17 16 15 | 3 9 12 12 7 10 8 3 | 5 13 15 16 5 14 10 6 16E | 4 9 14 13 8 8 4 3 | 20 26 20 27 20 20 21 19 17 | 5 9 14 12 6 11 7 3 | 4 14 17 14 5 16 9 7 18 | 4 10 10 8 7 6 5 3 | 4 14 9 6 9 11 9 6 19 | 4 10 11 14 6 9 4 3 | 5 7 9 8 9 12 11 5 20E | 6 10 16 21 7 20 9 5 | 14 17 16 21 12 30 20 14 21E | 6 10 19 16 8 16 6 4 | 16 17 20 21 16 21 18 16 22E | 6 6 13 11 8 14 6 3 | 4 12 15 14 7 13 12 7 23E | 9 15 14 10 9 15 6 4 | 9 17 14 9 15 25 20 15 24 | 4 12 15 17 5 12 6 4 | 5 10 19 17 5 12 8 6 25 | 3 6 15 10 6 10 9 3 | 6 8 14 7 9 7 12 6 26 | 7 6 13 9 6 10 7 3 | 8 9 12 10 10 11 14 6 27 | 5 14 10 8 6 5 7 3 | 5 15 9 8 7 9 11 6 28 | 4 9 9 13 8 13 6 3 | 6 14 14 18 5 15 12 7 29 | 5 8 8 8 5 5 5 2 | 6 9 9 6 7 8 12 5 31 | 6 9 20 13 6 14 5 4 | 4 14 15 17 4 14 12 6 ------|----------------------------------|---------------------------------- RMS | 5 11 13 12 7 12 7 |T 8 14 14 14 10 16 13 9 WRMS | 5 11 12 12 7 12 6 |NE 5 12 13 12 7 13 11 6 Table 3.0836.1 GPS week: 0836 Day: 1 MJD: 50097.0 Weighted Average Orbit Dynamics (7 days) PRN | cod emr esa gfz jpl ngs sio IGS | cod emr esa gfz jpl ngs sio IGS ------|----------------------------------|---------------------------------- 1 | 3 5 17 10 9 9 12 3 | 7 8 20 7 12 10 18 7 2 | 7 7 14 8 6 9 11 3 | 5 14 13 14 7 12 14 10 4 | 7 9 14 11 9 12 11 4 | 4 10 14 15 10 12 15 8 5 | 6 5 11 9 8 12 12 3 | 12 15 14 17 12 20 13 13 6 | 6 6 8 8 8 9 9 3 | 4 11 12 11 6 13 8 8 7 | 7 8 12 8 11 15 13 4 | 3 13 15 15 10 18 17 10 9 | 6 4 11 7 6 11 11 3 | 6 9 12 11 8 16 11 9 12 | 6 12 9 10 10 11 6 4 | 7 11 13 13 7 15 12 10 14E | 9 10 18 10 11 9 13 4 | 13 25 21 21 13 18 9 15 15 | 6 8 11 17 12 11 9 4 | 7 15 18 23 7 17 12 12 16E | 6 15 25 11 11 14 10 5 | 22 28 31 24 17 33 26 24 17 | 7 9 8 14 9 15 11 4 | 4 15 13 14 7 15 8 8 18 | 5 6 6 10 7 5 18 3 | 6 10 9 9 7 9 16 7 19 | 5 8 9 10 6 11 23 4 | 4 10 9 8 8 13 23 7 20 | 7 6 17 12 7 18 9 4 | 12 16 21 23 16 23 16 15 21E | 8 9 15 15 7 16 11 4 | 13 18 26 20 12 19 20 17 22 | 5 7 10 19 9 10 14 4 | 4 13 17 15 10 12 16 11 23E | 14 12 15 10 13 15 19 5 | 12 17 14 10 13 23 18 14 24 | 6 9 19 12 6 11 9 4 | 5 9 18 12 6 15 9 8 25 | 4 7 6 3 6 8 6 2 | 7 7 10 7 10 9 14 9 26 | 9 4 16 13 8 6 15 4 | 8 12 15 12 8 15 21 9 27 | 3 10 12 12 6 5 17 3 | 4 13 7 8 5 8 16 6 28 | 8 9 9 11 5 10 14 3 | 5 14 15 16 9 14 16 12 29 | 5 6 10 9 8 10 14 3 | 8 7 9 12 7 13 15 8 31 | 9 8 17 11 9 7 38 6 | 5 15 17 17 7 15 41 13 ------|----------------------------------|---------------------------------- RMS | 7 8 14 11 9 11 15 |T 8 14 16 15 9 16 17 11 WRMS | 6 8 11 11 9 11 12 |NE 6 12 14 13 8 14 17 9 Table 3.0836.2 GPS week: 0836 Day: 2 MJD: 50098.0 Weighted Average Orbit Dynamics (7 days) PRN | cod emr esa gfz jpl ngs sio IGS | cod emr esa gfz jpl ngs sio IGS ------|----------------------------------|---------------------------------- 1 | 4 4 20 8 4 7 7 3 | 8 9 15 10 11 9 12 7 2 | 7 7 16 9 5 9 6 3 | 5 14 13 14 7 15 8 8 4 | 5 10 13 11 5 7 7 3 | 6 9 15 13 7 10 11 6 5 | 4 10 10 11 6 9 9 3 | 7 14 13 16 7 12 14 9 6 | 3 7 8 11 6 10 10 3 | 4 11 14 12 6 14 15 7 7 | 7 8 14 13 6 10 9 3 | 4 13 14 16 6 15 11 7 9 | 3 6 10 9 8 13 8 3 | 4 8 8 8 7 9 13 5 12 | 5 14 8 6 5 12 10 3 | 7 11 10 12 7 10 10 7 14E | 10 11 26 11 8 14 7 5 | 13 21 23 20 13 26 15 13 15 | 5 11 12 16 6 11 12 4 | 4 14 15 19 6 16 14 6 16E | 4 14 20 14 7 14 9 4 | 21 24 26 25 20 23 23 21 17 | 4 12 13 10 8 19 10 4 | 3 17 15 13 6 16 12 7 18 | 5 6 6 5 6 5 7 2 | 7 12 10 6 10 9 11 6 19 | 6 7 8 12 8 7 6 3 | 3 9 10 10 9 8 10 5 20 | 5 17 14 13 8 40 10 6 | 12 16 18 23 11 37 17 14 21E | 8 16 13 22 7 10 8 5 | 10 20 21 24 12 19 17 15 22 | 5 9 19 12 6 11 9 4 | 6 13 21 11 9 14 10 8 23E | 9 12 9 13 8 17 6 4 | 17 16 18 16 18 14 18 16 24 | 5 7 25 14 6 13 5 4 | 5 9 23 13 8 11 11 6 25 | 4 7 9 6 5 11 12 3 | 5 8 9 7 9 9 15 7 26 | 8 9 8 13 7 6 7 3 | 12 9 24 13 13 12 13 10 27 | 5 5 17 9 6 3 6 3 | 4 10 10 10 7 8 8 6 28 | 7 10 14 13 7 14 7 4 | 4 16 13 16 6 13 13 7 29 | 6 5 8 5 6 7 8 2 | 8 9 11 8 10 16 11 7 31 | 8 11 27 12 6 8 15 5 | 4 15 13 16 6 12 20 7 ------|----------------------------------|---------------------------------- RMS | 6 10 15 12 6 13 9 |T 8 13 16 14 9 15 13 9 WRMS | 5 10 12 12 6 11 9 |NE 6 12 14 13 8 14 12 7 Table 3.0836.3 GPS week: 0836 Day: 3 MJD: 50099.0 Weighted Average Orbit Dynamics (7 days) PRN | cod emr esa gfz jpl ngs sio IGS | cod emr esa gfz jpl ngs sio IGS ------|----------------------------------|---------------------------------- 1 | 5 8 19 8 4 6 5 3 | 7 8 13 10 9 10 9 8 2 | 6 9 17 9 6 9 6 3 | 7 13 13 16 9 14 7 9 4 | 7 8 11 12 8 9 6 3 | 8 10 17 14 7 12 6 8 5 | 5 6 9 12 5 9 9 3 | 5 13 11 14 8 13 9 9 6 | 3 7 12 10 7 9 8 3 | 5 11 16 12 8 11 8 8 7 | 7 7 7 8 9 9 9 3 | 4 12 17 15 7 13 8 10 9 | 4 5 12 7 4 9 6 2 | 8 9 16 11 11 11 13 11 12 | 7 13 13 11 5 9 6 3 | 6 9 14 13 6 14 10 8 14E | 7 12 20 14 11 13 11 5 | 10 19 22 20 12 18 10 11 15 | 7 10 13 13 8 14 7 4 | 7 12 17 16 8 18 9 9 16E | 6 12 17 20 7 10 7 4 | 10 16 15 18 10 12 11 10 17 | 4 7 8 11 6 14 9 3 | 5 14 16 13 8 16 10 9 18 | 5 5 12 6 7 4 7 2 | 5 10 14 8 9 10 11 9 19 | 5 5 10 9 8 9 9 3 | 5 7 13 8 11 12 8 8 20 | 4 6 13 17 6 13 12 4 | 6 12 13 16 7 13 10 8 21E | 6 14 13 13 8 16 10 4 | 12 20 18 26 14 25 11 15 22 | 5 7 14 8 9 16 7 3 | 5 13 17 16 8 21 7 9 23E | 6 10 18 12 4 15 8 4 | 12 15 15 13 14 14 16 13 24 | 6 7 23 16 7 12 6 4 | 6 10 16 14 9 14 8 9 25 | 6 6 15 4 3 11 5 3 | 11 10 18 8 10 11 10 11 26 | 6 6 11 6 6 13 6 3 | 8 9 16 11 9 14 13 10 27 | 3 5 9 11 5 9 8 3 | 5 10 12 8 9 11 10 8 28 | 6 10 12 17 6 10 7 4 | 8 18 13 17 9 12 11 12 29 | 5 5 7 5 8 8 9 2 | 6 8 9 7 10 10 12 9 31 | 7 11 25 11 8 10 4 4 | 6 17 14 16 7 14 9 11 ------|----------------------------------|---------------------------------- RMS | 6 8 14 11 7 11 8 |T 7 12 15 14 9 14 10 9 WRMS | 5 8 12 11 7 11 7 |NE 6 11 14 12 8 13 9 9 Table 3.0836.4 GPS week: 0836 Day: 4 MJD: 50100.0 Weighted Average Orbit Dynamics (7 days) PRN | cod emr esa gfz jpl ngs sio IGS | cod emr esa gfz jpl ngs sio IGS ------|----------------------------------|---------------------------------- 1 | 7 5 9 7 7 17 10 3 | 10 14 10 12 11 21 18 12 2 | 7 5 10 8 7 9 3 2 | 6 12 16 15 8 15 10 10 4 | 7 8 15 11 4 6 7 3 | 6 11 16 15 9 10 9 10 5 | 5 4 10 10 8 13 7 3 | 8 13 14 17 8 16 9 10 6 | 4 10 9 9 10 10 7 3 | 5 13 12 15 7 13 8 10 7 | 8 6 18 7 7 9 8 3 | 5 13 14 17 10 13 13 12 9 | 4 6 8 8 5 8 5 2 | 7 12 14 13 9 14 8 9 12 | 9 12 10 10 9 13 6 4 | 11 11 15 16 8 17 14 11 14E | 7 7 13 7 9 14 8 3 | 7 18 30 18 11 20 12 13 15 | 6 10 11 14 9 18 7 4 | 7 13 14 16 11 20 7 10 16E | 7 8 10 17 7 16 9 4 | 16 19 18 19 13 23 14 15 17 | 7 8 11 8 6 16 11 4 | 6 13 14 15 7 17 7 8 18 | 4 3 12 5 7 8 6 2 | 6 12 14 11 11 15 12 11 19 | 5 5 11 12 7 10 5 3 | 7 9 18 13 11 12 10 10 20 | 6 5 19 10 7 13 7 3 | 7 11 15 15 7 18 6 9 21E | 10 8 16 24 12 19 10 5 | 15 18 21 26 15 25 16 15 22 | 8 8 16 11 10 14 8 4 | 5 12 18 16 9 19 6 10 23E | 8 11 12 19 9 12 5 4 | 20 20 16 23 25 23 23 20 24 | 6 10 24 13 6 11 6 4 | 8 12 17 15 8 12 8 10 25 | 4 6 12 4 5 15 6 3 | 8 9 11 10 8 17 10 9 26 | 7 6 24 8 8 17 6 4 | 14 17 26 16 14 15 12 15 27 | 4 4 9 10 7 13 6 3 | 7 11 16 11 10 15 8 9 28 | 6 8 16 15 6 10 10 4 | 7 16 12 16 8 17 11 12 29 | 5 5 9 6 7 7 7 2 | 7 12 19 13 12 13 11 11 31 | 8 8 21 14 7 16 10 4 | 7 17 12 18 9 19 12 13 ------|----------------------------------|---------------------------------- RMS | 7 7 14 11 8 13 7 |T 9 13 16 16 10 17 11 11 WRMS | 6 7 12 11 8 13 7 |NE 7 12 15 14 9 15 10 10 Table 3.0836.5 GPS week: 0836 Day: 5 MJD: 50101.0 Weighted Average Orbit Dynamics (7 days) PRN | cod emr esa gfz jpl ngs sio IGS | cod emr esa gfz jpl ngs sio IGS ------|----------------------------------|---------------------------------- 1 | 6 6 16 8 4 11 9 3 | 9 14 12 12 10 15 10 9 2 | 7 7 20 8 5 7 4 3 | 7 16 15 15 9 15 9 10 4 | 9 9 15 9 6 14 8 4 | 6 11 16 14 9 15 10 9 5 | 7 7 12 10 7 11 7 3 | 9 12 13 16 6 14 6 8 6 | 8 14 10 9 7 12 6 4 | 5 16 13 13 7 13 6 8 7 | 9 7 16 8 7 12 6 3 | 4 13 15 14 6 16 9 8 9 | 7 7 10 7 8 10 6 3 | 9 13 13 13 11 15 11 10 12 | 10 11 11 9 --- 10 8 4 | 9 9 13 12 --- 14 13 10 14E | 9 11 23 13 8 11 8 4 | 8 20 20 18 9 18 6 11 15 | 7 9 12 12 8 11 9 4 | 7 17 14 20 9 22 10 11 16E | 6 7 15 19 8 14 6 4 | 15 20 22 15 11 26 11 14 17 | 6 9 12 16 8 17 12 4 | 6 12 13 15 9 14 14 8 18 | 4 4 13 6 5 5 7 2 | 7 10 10 8 9 10 7 7 19 | 7 6 8 6 5 10 8 3 | 4 8 9 11 10 13 10 8 20 | 8 9 11 9 8 13 7 3 | 10 11 13 14 8 16 6 8 21E | 9 14 35 21 12 18 17 7 | 15 21 28 21 18 24 15 14 22 | 7 7 16 11 5 15 9 4 | 6 12 18 12 8 18 8 8 23E | 10 15 22 9 11 17 6 5 | 20 28 18 24 21 32 20 21 24 | 8 9 31 13 7 8 8 4 | 6 14 16 17 8 14 12 10 25 | 7 6 14 4 6 14 5 3 | 12 9 16 8 9 17 15 10 26 | 7 10 20 8 5 9 6 3 | 10 14 16 8 8 17 10 9 27 | 7 7 10 7 8 12 11 3 | 6 8 11 8 9 13 13 7 28 | 6 10 13 13 7 13 11 4 | 6 16 12 14 6 18 7 8 29 | 7 7 16 9 6 8 8 3 | 10 7 10 11 8 15 10 8 31 | 7 8 26 13 7 10 9 4 | 7 17 14 17 7 21 7 10 ------|----------------------------------|---------------------------------- RMS | 8 9 18 11 7 12 8 |T 9 14 15 14 9 17 10 10 WRMS | 7 9 15 10 7 12 8 |NE 7 12 13 13 8 15 10 8 Table 3.0836.6 GPS week: 0836 Day: 6 MJD: 50102.0 Weighted Average Orbit Dynamics (7 days) PRN | cod emr esa gfz jpl ngs sio IGS | cod emr esa gfz jpl ngs sio IGS ------|----------------------------------|---------------------------------- 1 | 11 5 21 8 7 13 6 4 | 9 13 13 10 14 10 11 10 2 | 10 6 20 7 5 4 6 3 | 9 15 17 18 12 18 11 14 4 | 8 9 26 8 5 8 9 4 | 6 13 21 12 8 12 7 11 5 | 7 5 7 9 7 9 10 3 | 8 12 14 12 9 13 8 9 6 | 7 12 13 7 9 7 8 3 | 6 13 14 13 7 12 7 11 7 | 7 5 15 8 7 11 7 3 | 5 16 12 16 8 13 8 11 9 | 8 8 9 6 8 9 9 3 | 9 13 13 11 11 15 10 12 12 | 7 11 10 4 --- 6 11 3 | 10 11 13 9 --- 14 9 8 14E | 13 9 24 9 8 8 5 4 | 7 16 17 16 9 16 9 12 15 | 9 14 11 10 8 15 11 4 | 10 16 16 17 8 16 9 13 16E | 11 10 14 13 8 11 7 4 | 12 16 19 19 11 20 11 12 17 | 6 5 14 6 9 8 11 3 | 10 16 19 14 10 23 9 16 18 | 9 5 8 6 5 10 7 3 | 7 16 13 12 10 16 9 10 19 | 10 7 10 8 5 9 7 3 | 10 9 15 11 10 16 9 9 20 | 7 7 10 7 6 13 11 3 | 9 11 15 13 8 16 9 10 21E | 11 7 19 16 10 15 16 5 | 24 31 35 36 21 36 21 29 22 | 7 9 14 8 6 12 9 3 | 5 9 17 13 7 18 5 9 23E | 19 28 28 26 29 24 28 10 | 28 27 22 22 35 22 34 22 24 | 8 10 38 10 5 5 9 5 | 10 13 26 12 11 13 7 13 25 | 9 5 13 6 5 13 10 3 | 11 12 13 12 11 18 11 13 26 | 8 10 12 5 6 8 9 3 | 15 13 16 13 14 11 10 14 27 | 8 5 11 5 6 4 7 2 | 9 10 12 10 11 14 11 10 28 | 6 6 12 11 6 5 10 3 | 5 12 12 13 7 12 10 12 29 | 8 5 18 5 4 7 8 3 | 7 12 13 10 10 8 9 10 31 | 8 8 33 10 10 13 7 5 | 6 15 13 13 8 16 7 11 ------|----------------------------------|---------------------------------- RMS | 9 10 18 10 9 11 10 |T 11 15 17 15 12 16 11 13 WRMS | 8 10 14 9 9 10 9 |NE 8 13 15 12 9 14 8 11 Table 4: Precise Navigation Summary. Weekly station RMS w.r.t. the initial coordinates for the Latitude, Longitude and Height components. See Table 5 for the daily summary. CLK - Satellite clocks used. EPO - Mean number of satellite clock epochs available in the daily solutions. U - Station Used in centre's solution (at least one day). Units: centimetres. Table 4.0836 GPS week: 0836 MJD: 50096.0-50102.0 CENT| CLK EPO | BRUS | USUD | WILL | ----|----------|----------------|----------------|----------------| cod | cod 2149 |U 57 41 95 |U 55 36 100 | 45 33 82 | emr | emr 2363 | 40 30 75 | 32 23 65 |U 28 17 44 | esa | esa 2210 | 117 48 144 |U 68 48 122 | 69 39 105 | gfz | gfz 1200 | 180 118 334 |U 201 109 318 | 191 111 293 | igs | igs 2397 | 51 32 77 | 36 27 70 | 34 21 52 | jpl | jpl 2352 |U 41 30 74 |U 29 22 63 | 34 19 51 | Table 5: Daily Precise Navigation Summary using the corresponding Centre orbit positions and satellite clock corrections at 15 min intervals. Each line gives the daily station RMS w.r.t. the initial coordinates for the Latitude, Longitude and Height components. CLK - Satellite clocks used. EPO - Number of satellite clock epochs available for that day. Units: centimetres. Table 5.0836.0 GPS week: 0836 Day: 0 MJD: 50096.0 CENT| CLK EPO | BRUS | USUD | WILL | ----|----------|----------------|----------------|----------------| cod | cod 2150 | 56 38 106 | 46 34 99 | 45 30 80 | emr | emr 2373 | 43 30 73 | 26 23 51 | 28 17 45 | esa | esa 2105 | 75 33 102 | 73 41 103 | 75 36 102 | gfz | gfz 1200 | 165 109 331 | 198 130 345 | 195 118 346 | igs | igs 2400 | 46 28 71 | 32 26 59 | 35 18 56 | jpl | jpl 2394 | 43 30 71 | 24 21 52 | 35 19 55 | Table 5.0836.1 GPS week: 0836 Day: 1 MJD: 50097.0 CENT| CLK EPO | BRUS | USUD | WILL | ----|----------|----------------|----------------|----------------| cod | cod 2185 | 54 38 93 | 56 45 118 | 44 35 78 | emr | emr 2366 | 39 27 82 | 34 31 86 | 23 14 39 | esa | esa 2149 | 151 54 184 | 57 51 112 | 54 30 72 | gfz | gfz 1200 | 177 105 283 | 202 114 296 | 179 110 270 | igs | igs 2398 | 55 31 81 | 35 33 88 | 26 19 38 | jpl | jpl 2380 | 42 28 85 | 30 28 88 | 28 17 48 | Table 5.0836.2 GPS week: 0836 Day: 2 MJD: 50098.0 CENT| CLK EPO | BRUS | USUD | WILL | ----|----------|----------------|----------------|----------------| cod | cod 2213 | 50 42 90 | 53 34 92 | 51 31 86 | emr | emr 2320 | 38 28 71 | 30 20 65 | 28 15 42 | esa | esa 2206 | 57 37 100 | 36 25 79 | 56 26 94 | gfz | gfz 1200 | 191 123 353 | 212 106 358 | 213 118 327 | igs | igs 2382 | 36 30 73 | 28 20 61 | 35 18 54 | jpl | jpl 2366 | 38 28 68 | 27 19 55 | 32 15 50 | Table 5.0836.3 GPS week: 0836 Day: 3 MJD: 50099.0 CENT| CLK EPO | BRUS | USUD | WILL | ----|----------|----------------|----------------|----------------| cod | cod 2209 | 48 39 77 | 57 40 103 | 45 31 88 | emr | emr 2376 | 32 31 68 | 39 30 73 | 31 18 44 | esa | esa 2259 | 92 42 145 | 56 53 109 | 65 39 91 | gfz | gfz 1200 | 180 127 351 | 227 110 347 | 174 104 258 | igs | igs 2400 | 38 32 77 | 42 32 78 | 34 21 50 | jpl | jpl 2384 | 31 30 66 | 37 30 74 | 37 21 55 | Table 5.0836.4 GPS week: 0836 Day: 4 MJD: 50100.0 CENT| CLK EPO | BRUS | USUD | WILL | ----|----------|----------------|----------------|----------------| cod | cod 2258 | 56 41 87 | 44 30 81 | 43 32 82 | emr | emr 2373 | 37 30 77 | 30 18 60 | 30 19 50 | esa | esa 2266 | 99 59 132 | 57 53 121 | 85 42 115 | gfz | gfz 1200 | 198 104 300 | 217 93 314 | 198 122 250 | igs | igs 2400 | 52 37 71 | 31 25 64 | 37 23 53 | jpl | jpl 2383 | 41 32 71 | 28 18 56 | 37 21 57 | Table 5.0836.5 GPS week: 0836 Day: 5 MJD: 50101.0 CENT| CLK EPO | BRUS | USUD | WILL | ----|----------|----------------|----------------|----------------| cod | cod 2016 | 61 39 108 | 60 30 93 | 41 39 85 | emr | emr 2365 | 45 28 74 | 28 17 52 | 28 17 46 | esa | esa 2231 | 142 53 152 | 83 42 139 | 60 43 92 | gfz | gfz 1200 | 209 136 375 | 184 100 271 | 209 105 303 | igs | igs 2400 | 63 31 83 | 34 20 54 | 32 23 51 | jpl | jpl 2286 | 47 28 73 | 26 15 48 | 32 19 46 | Table 5.0836.6 GPS week: 0836 Day: 6 MJD: 50102.0 CENT| CLK EPO | BRUS | USUD | WILL | ----|----------|----------------|----------------|----------------| cod | cod 2011 | 68 46 103 | 62 39 109 | 48 31 75 | emr | emr 2367 | 44 34 77 | 33 18 60 | 28 17 41 | esa | esa 2257 | 160 54 174 | 95 64 169 | 84 53 151 | gfz | gfz 1200 | 128 121 339 | 162 108 281 | 165 99 286 | igs | igs 2400 | 57 34 79 | 45 27 77 | 38 22 61 | jpl | jpl 2269 | 43 33 80 | 32 16 56 | 36 19 44 |