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1.
Since before the inception of work by Okabe, the intermingling of spatial autocorrelation (i.e., local distance and configuration) and distance decay (i.e., global distance) effects has been suspected in spatial interaction data. This convolution was first treated conceptually because technology and methodology did not exist at the time to easily or fully address spatial autocorrelation effects within spatial interaction model specifications. Today, however, sufficient computer power coupled with eigenfunction-based spatial filtering offers a means for accommodating spatial autocorrelation effects within a spatial interaction model for modest-sized problems. In keeping with Okabe’s more recent efforts to dissemination spatial analysis tools, this paper summarizes how to implement the methodology utilized to analyze a particular empirical flows dataset.
Daniel A. GriffithEmail:
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2.
Show me the code: spatial analysis and open source   总被引：3，自引：1，他引：2  
This paper considers the intersection of academic spatial analysis with the open source revolution. Its basic premise is that the potential for cross-fertilization between the two is rich, yet some misperceptions about these two communities pose challenges to realizing these opportunities. The paper provides a primer on the open source movement for academicians with an eye towards correcting these misperceptions. It identifies a number of ways in which increased adoption of open source practices in spatial analysis can enhance the development of the next generation of tools and the wider practice of scientific research and education.
Sergio J. ReyEmail:
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3.
Separate space- or time-lags have been considered regularly in data analyses; as space–time models are more recently being studied extensively in data analytic fashion, joint estimation of both lags has to be considered explicitly. This paper addresses this issue, taking into special consideration parametric parsimony together with specification richness; use of the bivariate Poisson frequency distribution is advocated and applied to an empirical case. The relation of this approach to random effects specifications is investigated. Data for Belgian regional products constitute the empirical case study.
Daniel A. GriffithEmail:
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4.
A constrained LAMBDA method for GPS attitude determination   总被引：4，自引：0，他引：4  
An improved method to obtain fixed integer ambiguity in GPS attitude determination is presented. Known conditions are utilized as constraints to acquire attitude information when the float solution and its variance–covariance matrix are not accurate enough. The searching ellipsoidal region is first expanded to compensate for errors caused by the inaccurate float solution. Then the constraints are used to shrink the region to a proper size, which maintains the true integer ambiguity. Experimental results demonstrate that this scheme gives a fast search time and a higher success rate in determining the fixed integer ambiguity than the unconstrained method. The accuracy of attitude angles is also improved.
Bo WangEmail:
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5.
Likelihood-based methods for modeling multivariate Gaussian spatial data have desirable statistical characteristics, but the practicality of these methods for massive georeferenced data sets is often questioned. A sampling algorithm is proposed that exploits a relationship involving log-pivots arising from matrix decompositions used to compute the log determinant term that appears in the model likelihood. We demonstrate that the method can be used to successfully estimate log-determinants for large numbers of observations. Specifically, we produce an log-determinant estimate for a 3,954,400 by 3,954,400 matrix in less than two minutes on a desktop computer. The proposed method involves computations that are independent, making it amenable to out-of-core computation as well as to coarse-grained parallel or distributed processing. The proposed technique yields an estimated log-determinant and associated confidence interval.
James P. LeSage (Corresponding author)Email:
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6.
This study focuses on accommodating spatial dependency in data indexed by geographic location. In particular, the emphasis is on accommodating spatial error correlation across observational units in binary discrete choice models. We propose a copula-based approach to spatial dependence modeling based on a spatial logit structure rather than a spatial probit structure. In this approach, the dependence between the logistic error terms of different observational units is directly accommodated using a multivariate logistic distribution based on the Farlie-Gumbel-Morgenstein (FGM) copula. The approach represents a simple and powerful technique that results in a closed-form analytic expression for the joint probability of choice across observational units, and is straightforward to apply using a standard and direct maximum likelihood inference procedure. There is no simulation machinery involved, leading to substantial computation gains relative to current methods to address spatial correlation. The approach is applied to teenagers’ physical activity participation levels, a subject of considerable interest in the public health, transportation, sociology, and adolescence development fields. The results indicate that failing to accommodate heteroscedasticity and spatial correlation can lead to inconsistent and inefficient parameter estimates, as well as incorrect conclusions regarding the elasticity effects of exogenous variables.
Ipek N. SenerEmail:
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7.
A data archive of GPS navigation messages   总被引：2，自引：1，他引：1  
Since 18 June 2007 navigation data messages transmitted by the GPS constellation are recorded by five receivers within GeoForschungsZentrum’s global groundstation network. We describe the recording, processing, validation, analysis and archiving of the navigation data. During the 197 days between 18 June 2007 and 31 December 2007 a total of 125,723,666 subframes were collected. By taking into consideration that the same data set frequently is observed by two or more receivers concurrently, 65,153,955 unique subframes could be extracted from the observations. With an estimated 88,099,200 subframes transmitted by the constellation during this time period a data yield of about 74% was achieved. Simulation studies suggest that with two additional GPS receivers, which are scheduled for addition to the network in 2008, about 95% of the transmitted subframes will be retrieved. The message data archive is open to the scientific community for non-commercial purposes and may be accessed through GFZ’s Information System and Data Center ().
G. BeyerleEmail:
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8.
Since the assumption of all stations tracking the same satellites with identical weights was previously employed by Shen and Xu (GPS Solut 12:99–108, 2008) to derive the simplified GNSS single- and double-differenced equivalent equations, this supplementary paper expands these simplified equations in the case of each station tracking different satellites with elevation-dependent weights. Numerical experiments are performed to demonstrate the computational efficiency of the simplified equivalent algorithm relative to the traditional method in various scenarios of multi-baseline solutions with tracking different satellites. The fast computational speed of the simplified equivalent algorithm will potentially benefit the local, regional and even global GNSS multi-baseline solutions as well as the combined GNSS application.
Guochang XuEmail:
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9.
The architecture of the ultra-tight GPS/INS/PL integration is the key to its successful performance; the main feature of this architecture is the Doppler feedback to the GPS receiver tracking loops. This Doppler derived from INS, when integrated with the carrier tracking loops, removes the Doppler due to vehicle dynamics from the GPS/PL signal thereby achieving a significant reduction in the carrier tracking loop bandwidth. The bandwidth reduction provides several advantages such as: improvement in anti-jamming performance, and increase in post correlated signal strength which in turn increases the dynamic range and accuracy of measurements. Therefore, any degradation in the derived Doppler estimates will directly affect the tracking loop bandwidth and hence its performance. The quadrature signals from the receiver correlator, I (in-phase) and Q (quadrature), form the measurements, whereas the inertial sensor errors, position, velocity and attitude errors form the states of the complementary Kalman filter. To specify a reliable measurement model of the filter for this type of integrated system, a good understanding of GPS/PL signal characteristics is essential. It is shown in this paper that phase and frequency errors are the variables that relate the measurements and the states in the Kalman filter. The main focus of this paper is to establish the fundamental mathematical relationships that form the measurement model, and to show explicitly how the system error states are related to the GPS/PL signals. The derived mathematical relationships encapsulated in a Kalman filter, are tested by simulation and shown to be valid.
Ravindra Babu (Corresponding author)Email:
Jinling WangEmail:
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10.
A method is presented for estimating the roll and pitch attitude of a small-scaled unmanned helicopter based on the velocity measurements of the global positioning system (GPS). The small-scaled helicopter is a radio controlled (RC) model which is readily available and affordable for academic laboratories as a research platform. Only one single antenna GPS receiver is equipped on the RC helicopter to acquire the velocity measurements needed for the attitude estimation. The velocity information is recorded by the onboard computer for post-processing. An attitude and heading reference system (AHRS) is used to provide the reference attitudes. The required angular rates and heading for this study are also given by the gyroscopes and compass of the AHRS for the sake of system’s simplification. The Kalman filter is applied to estimate the helicopter’s accelerations by using the GPS velocity measurements. The estimated accelerations form the fundamental elements of synthesizing the pseudo-roll and the pseudo-pitch. With some legitimate simplifications and assumptions, the relation between the helicopter’s attitudes and the accelerations estimated from the GPS velocity measurements can be developed. Furthermore, to enhance the accuracy of the pseudo-attitudes, the angular rates acquired from the gyroscopes are incorporated into the estimation algorithm of pseudo-attitudes by using a complementary filter.
Fei-Bin HsiaoEmail:
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11.
Digital mobile mapping, the method that integrates digital imaging with direct geo-referencing, has developed rapidly over the past 15 years. The Kalman filter (KF) is considered an optimal estimation tool for real-time INS/GPS integrated kinematic positioning and orientation determination. However, the accuracy requirements of general mobile mapping applications cannot be easily achieved even when using the KF scheme. Therefore, this study proposes an intelligent scheme combining ANN and RTS backward smoother to overcome the limitations of KF and to enhance the overall accuracy of attitude determination for tactical grade and MEMS INS/GPS integrated systems.
Yun-Wen Huang (Corresponding author)Email:
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12.
Kalman-filter-based GPS clock estimation for near real-time positioning   总被引：11，自引：4，他引：7  
In this article, an algorithm for clock offset estimation of the GPS satellites is presented. The algorithm is based on a Kalman-filter and processes undifferenced code and carrier-phase measurements of a global tracking network. The clock offset and drift of the satellite clocks are estimated along with tracking station clock offsets, tropospheric zenith path delay and carrier-phase ambiguities. The article provides a brief overview of already existing near-real-time and real-time clock products. The filter algorithm and data processing scheme is presented. Finally, the accuracy of the orbit and clock product is assessed with a precise orbit determination of the MetOp satellite and compared to results gained with other real-time products.
André HauschildEmail:
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13.
In this paper a MATLAB toolbox for determining the attitude of a rigid platform by means of multiple non-dedicated antennas using global positioning system is presented. The programs embedded in this toolbox cover the RINEX data analysis, single point positioning, differential positioning, coordinate conversion, attitude determination, and other auxiliary functions. After forming the baselines through double-differenced (carrier phase smoothed) code observables, the attitude parameters are obtained by applying the direct attitude computation and the least squares attitude estimation. The theoretical background is summarized, and some hints regarding the software implementation are given in the paper. Moreover, improvements yielding an expanded functionality are proposed.
Zhen DaiEmail:
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14.
Antenna changes at GNSS reference stations frequently produce discontinuities in the coordinate time series. These apparent position shifts are mainly caused by changes of carrier-phase multipath effects and different errors in the antenna phase center corrections. A monitoring method was developed and successfully tested, which requires additional GNSS observations from a local, temporary reference station. Changes of carrier-phase measurement errors due to the antenna change are determined and stored in L1 and L2 phase maps. These phase maps provide corrections to be applied either to the observation data obtained before the antenna change or to the observation data obtained after the antenna change. The observation corrections are able to remove coordinate discontinuities independent of the selected coordinate estimation algorithm.
Lambert WanningerEmail:
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15.
Area coverage maximization in service facility siting   总被引：3，自引：2，他引：1  
Traditionally, models for siting facilities in order to optimize coverage of area demand have made use of discrete space representations to efficiently handle both candidate facility locations and demand. These discretizations of space are often necessary given the linear functional forms of many siting models and the complexities associated with evaluating continuous space. Recently, several spatial optimization approaches have been proposed to address the more general problem of identifying facility sites that maximize regional coverage for the case where candidate sites and demand are continuously distributed across space. One assumption of existing approaches is that only demand falling within a prescribed radius of the facility can be effectively served. In many practical applications, however, service areas are not necessarily circular, as terrain, transportation, and service characteristics of the facility often result in irregular shapes. This paper develops a generalized service coverage approach, allowing a sited facility to have any continuous service area shape, not simply a circle. Given that demand and facility sites are assumed to be continuous throughout a region, geometrical properties of the demand region and the service facility coverage area are exploited to identify a facility site to optimize the correspondence between the two areas. In particular, we consider the case where demand is uniformly distributed and the service area is translated to maximize coverage. A heuristic approach is proposed for efficient model solution. Application results are presented for siting a facility given differently shaped service areas.
Alan T. MurrayEmail:
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16.
In Global Navigation Satellite System (GNSS) positioning, the receiver measures the pseudorange with respect to each observable navigation satellite and determines the position and clock bias. In addition to the GPS, several other navigation satellite constellations including Glonass, Galileo and Compass can/will also be used to provide positioning, navigation, and timing information. The paper is concerned with the solvability of the navigation problem when the receiver attempts to process measurements from different constellations. As two different constellations may not be time-synchronized, the navigation problem involves the determination of position of the receiver and clock bias with respect to each constellation. The paper describes an analytic approach to account for the two-constellation navigation problem with three measurements from one constellation and two measurements from another constellation. It is shown that the two-constellation GNSS navigation problem becomes the solving of a set of two simultaneous quadratic equations or, equivalently, a quartic equation. Furthermore, the zero-crossover of the leading coefficient and the sign of the discriminant of the quartic equation are shown to play a significant role in governing the solvability, i.e., the existence and uniqueness of the navigation solutions.
Jyh-Ching JuangEmail:
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17.
The minimax hub location problem sites a facility to minimize the maximum weighted interaction cost between pairs of fixed nodes. In this paper, distances are represented by a rectilinear norm and may be suited to factory layout or street network problems. The problem is already well known (in 2-D) as the round trip location problem and is extended to 3-D in this paper. One rationale for the solution method is based on an extension of the geometric arguments used to solve the minimax single facility location problem. Suppose a budget is provided for interactions, and that each interaction must be accomplished for no more than this cost. The algorithm uses a bi-section search for the feasible budget until it finds the expenditure needed to provide for these flows. The extension in the present paper is that the nodes are permitted to be on different layers (levels). This 3-D version of the problem appears to be a new variant of the hub model. The models and solution techniques developed in the paper are illustrated using a small 55 node problem. Because of a relatively efficient implementation of the bi-section search, the algorithm in 2-D and 3-D is also applied successfully to a 550 node problem.
M. E. O’KellyEmail:
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18.
The majority of navigation satellites receivers operate on a single frequency and experience a positioning error due to the ionospheric delay. This can be compensated for using a variety of approaches that are compared in this paper. The study focuses on the last solar maximum. A 4D tomographic imaging technique is used to map the ionospheric electron density over the European region during 2002 and 2003. The electron density maps are then used to calculate the excess propagation delay on the L1 frequency experienced by GPS receivers at selected locations across Europe. The excess delay is applied to correct the pseudo-range single frequency observations at each location and the improvements to the resulting positioning are calculated. The real-time tomographic technique is shown to give navigation solutions that are better than empirical modelling methods and approach the accuracy of the full dual-frequency solution. The improvements in positioning accuracy vary from day to day depending on ionospheric conditions but can be up to 25 m during mid-day during these solar maximum conditions at European mid-latitudes.
Damien J. AllainEmail:
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19.
This study adopts the Chiu-fen-erh-shan landslide as a case study for incorporating comprehensive accelerograph and global positioning system (GPS) data to determine the best-fit acceleration data for analyzing a rock avalanche. Previous investigations indicate that the distance from an accelerograph to a landslide site is crucial to determining the best-fit acceleration data to use in conducting a seismic analysis. Unfortunately, the Chiu-fen-erh-shan landslide and its nearest accelerograph station are located in different geological zones. Thus, GPS data were compared to the displacements derived from the accelerograms of nearby monitoring stations to help select the best accelerograph data. This emphasizes that a high density distribution of accelerographs and GPS installations are essential to acquire the best data for the seismic analysis, especially in complex geological zones. After applying the best-fit accelerogram to Newmark’s sliding model and an empirical displacement attenuation formula to back-calculate the shear strength parameters of the sliding surface, a cohesion of 0 kPa and friction angle of the sliding surface of 24.8° were found for this landslide.
Jian-Hong WuEmail: Email:
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20.
Regional interactions and spillover effects should be considered as important factors in growth analysis of regional economies. Using modified versions of the Dendrinos–Sonis model, this paper analyses the spatial hierarchical system of Italy. The interaction among Italian regions is considered at three different levels of spatial aggregation, the NUTS-1, NUTS-2 and NUTS-3 levels. Compared to more popular spatial econometric approaches, the Dendrinos–Sonis model and its extensions provide greater flexibility in the way interaction between regions is handled but the results strongly depend on the choice of a reference region.
Geoffrey J. D. HewingsEmail:
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