THE NETWORK OF PERMANENT GPS STATIONS IN CENTRAL

EUROPE AS THE REFERENCE FOR CERGOP RELATED

ACTIVITIES

Ján Hefty, Ľubomíra Gerhátová, Miroslava Igondová,

Marián Kováč, Michal Hrčka
Department of Theoretical Geodesy, Slovak University of Technology
Radlinského 11, 813 68 Bratislava, Slovakia
e-mail: jan.hefty@stuba.sk

ABSTRACT: Reference for geodynamical projects in Central Europe based on

permanent GPS observations in the region. Experiences from one-year interval of data
analysis. Method of processing the permanent GPS data and inclusion of epoch
campaigns.

1. INTRODUCTION

One of the purposes of CERGOP-2/Enviroment is to provide a precise geodetic frame

for geodynamic research in the region of Central and Southern Europe (Sledzinski,
2003). Definition, mathematical model, practical realisation and systematic
maintenance of geocentric reference frame suitable for geo-kinematical monitoring in
the region is task of the CERGOP-2 Workpackage 5 “GPS data analysis and the
definition of reference frames”(WP.5). According to the present favourable status of
permanent GPS networks in Europe it was decided to define the reference frame on the
basis of permanent GPS stations. The long-term stability of the frame is obtained
through combination with results (coordinates, velocities and their covariance
matrices) of long-term observations by VLBI, SLR and GPS at some collocated
European ITRF sites. As the intermediate reference for all CERGOP related activities
serves the selected subset of permanent GPS sites with stable monumentation, suitable
geological environment and homogeneous continuos time series of GPS site
coordinates. The continuous product of the WP.5 are the daily and weekly coordinates
of Central European GPS permanent network and other relevant information in
SINEX format.

2. NETWORK OF PERMANENT GPS STATIONS IN CENTRAL

EUROPE

In March 2003 started at Slovak University of Technology (SUT) in Bratislava

systematic processing and analysis of network of Central European permanent GNSS
stations comprising of more than 30 sites. This network will serve as primary reference
for all CERGOP related activities (Hefty, 2003).
The key for selecting the network stations was based on following priorities:
• All CERGOP permanent stations.
• Majority of active EUREF Permanent Network (EPN) stations in the region.
• Non-EPN permanent stations with observations available for scientific purposes.

The processing strategy allows to immediately include all new planned CERGOP
permanent stations and other relevant stations if their data will be available.

Permanent processing of Central European Network (CEN) within the CERGOP-

2/Environment is regularly performed now at SUT Bratislava. In the next step it is
expected to combine SUT results with other similar networks, like regional networks
processed at SRI Graz and University Padova.

For CEN analysis at SUT were selected following stations:

• Three IGS global stations (GRAZ, WTZR and POTS),
• 14 IGS European network stations,
• 19 EPN stations,
• One non-EPN station.

At the present time 37 stations form the CEN, their distribution is in Fig. 1. The
network includes 13 CEGRN permanent stations. Processing of CEN at SUT is realised
since Apr. 2003 when the CERGOP-2/Environment officially started.

Fig. 1 Stations of CEN analysed at SUT in Bratislava

The main features of the CEN analysis:
• Bernese GPS Software 4.2 (Hugentobler et al., 2001) is used for processing the
network solutions.
• Analysis procedure follows similar rules as are applied for EUREF Permanent
Network processing.
• The coordinate outputs are SINEX files from daily solutions and SINEX files with
weekly combination.
• Additional outputs are the troposphere zenith delays, troposphere gradients and
ionosphere models.
• The daily network solutions are referenced to ITRF through one site strongly
constrained (BOR1 during the whole interval).

An example of one-year coordinate time series is in Fig. 2. The daily series of WROC
station is following the Eurasian NE linear drift and is influenced by the fact that the
network solutions are referenced to only one site – BOR1. The other network stations
show similar behaviour.

south – north east – west

0.030 0.030

0.020 0.020

0.010 0.010

0.000 0.000

-0.010 -0.010
2003 2004 2003 2004

up
0.020

0.010

0.000

-0.010

-0.020
2003 2004

Fig. 2 Example of time series of daily coordinates of station WROC obtained from
processing of CEN at SUT Bratislava

3. EVALUATION OF INTERNAL CONSISTENCY OF COORDINATE

TIME SERIES

For the coordinate series of the individual sites (like is the example of WROC in fig. 2)
is characteristic that the data are influenced by trend common to all stations situated in
Central Europe, variations of reference BOR1 station and variation of the stations
themselves. To reduce the effects common to all Central European stations we
evaluated the reference series on the basis of stable sites with continuous observation
history. The procedure of selection of reference stations is iterative: we started with a
set of station generally accepted as stable (WTZR, BOR1, GRAZ, JOZE, POTS,
ZIMM, PENC) and compute the zero version of the reference series. Then the observed
series are reduced for the reference series and the scatter of coordinates of individual
stations is computed. Sites with scatter below certain limit are taken as the reference
for the next approximation.

The outlined procedure resulted to selection of 20 reference stations: JOZE, GOPE,

BZRG, POTS, TUBO, WTZR, BUCU, PENC, BOR1, UZHL, LAMA, BOGO, WROC,
BBYS, UZHL, OROS, OSJE, BUCU, ZIMM, GSR1. This selection was realised on the
basis of the first one-year interval of CEN data. Prolongation of the series can slightly
modify the set of reference stations in future.

The reference series for one-year interval of data processed within the WP.5 is given in
Fig. 3. The time series reflect a superposition of more effects: mean trend of all stations
due to Eurasian continental drift, variation of reference station BOR1 observations,
daily network solutions inconsistencies and scatter among the reference stations.

Evolution of consistency of reference series is shown in fig. 4. The lines represent rms of
one coordinate of site participated in the reference set. The horizontal e-w and n-s
positions are stable during the all one-year analysed period at the level from 2 to 4 mm.
The up component is much more noisy and unstable in time. Further investigation of
these phenomena will be possible after completion of longer interval of data.

south – north east – west

0.030 0.030

0.020 0.020

0.010 0.010

0.000 0.000

-0.010 -0.010
2003 2004 2003 2004
up
0.020

0.010

0.000

-0.010

-0.020
2003 2004

Fig. 3 The reference series for one-year interval of data processed within the WP5 for
horizontal and up components
 0.015

e-w
n-e

0.010 up

0.005

0.000
2003 2004

Fig. 4 Consistency of time series of reference sites

(rms of daily coordinates of reference sites)

Example of one-year observation series reduced for the reference series plotted in fig. 3
is given for the IGS site WROC in fig. 5. The graphs reflect very stable station
behaviour in horizontal position with trend ≈1mm/year and seasonal variation with 5
mm amplitude of the up component.

Fig. 6 shows rms of horizontal n, e components and up component for each of analysed
stations. The significant difference among the individual stations is clearly visible. It is
worth to mention that among the stations with larger scatter are also the CERGOP-2
sites like DUBR, SOFI and MOPI.

south – north east – west

0.020 0.020

0.010 0.010

0.000 0.000

-0.010 -0.010

-0.020 -0.020
2003 2004 2003 2004
up
0.020

0.010

0.000

-0.010

-0.020
2003 2004

Fig. 5 Example of time series of daily coordinates of station WROC obtained from
processing of permanent CEN within the WP5
 south – north east – west
0.014 0.014

DUBR

ORID
0.012 0.012

0.010 0.010

ZYWI
0.008 0.008

KLOP
0.006 0.006

ZYWI

SOFI
PADO

ORID

DRES
SOFI

DUBR

MEDI
SRJV

MEDI
KRAW

PADO
GRAZ

ZIMM
0.004 0.004

OBE2
GANP

SRJV
DRES
KLOP

BUCU
BZRG

BZRG

BZRG

BZRG
MOPI
OBE2
BUCU

ZIMM
GSR1

GSR1
BBYS
MOPI

OSJE

SULP
BOGI

WTZR
OROS
GRAZ

BOGO
LAMA

BBYS
PENC
WTZR

KRAW
WROC
UZHL
SULP

GANP
TUBO
POTS

PENC
WROC
UZHL

OROS
JOZE

BOGO
BOR1
POTS

LAMA
TUBO

BOR1

BOGI

OSJE
GOPE
GOPE

JOZE

KATO
KATO
JOZ2

JOZ2
0.002 0.002

0.000 0.000

up
0.022

ORID
0.020

0.018
MOPI

0.016

0.014

0.012
DUBR
SOFI

0.010
OBE2
SRJV

KLOP
PADO

ZIMM
MEDI

0.008
PENC

ZYWI
BUCU

LAMA
BZRG

BZRG
DRES
GRAZ

SULP
BOGI
JOZE

BBYS
WTZR

GSR1
GANP
UZHL

0.006
OROS
BOGO

KRAW
TUBO
POTS

JOZ2
WROC

KATO
BOR1

OSJE
GOPE

0.004

0.002

0.000

Fig. 6 Rms of site n, e and up coordinates relative to reference series obtained from
one-year interval of CEN observations

The graphs in fig. 6 can be used for selection of suitable reference sites for local and
regional networks analysed within the CERGOP-2.

4. METHOD OF ANALYSIS OF PERMANENT AND EPOCH

OBSERVATIONS IN COMMON REFERENCE FRAME

Geodynamical investigations within the CERGOP-2/Environment are based on both

permanent and epoch GPS observations. To minimize the possible effect of
inconsistencies between the permanent and epoch observations resulting from different
approach to referencing these two sets of data we propose a common model for data
analysis (Hefty et al., 2004). According to experience with long-term GPS monitoring
the site coordinate evolution can be modelled as a sum of following phenomena:
• Linear trend (absolute or relative velocity)
• Seasonal variations
• Diurnal variations
• Reference frame changes, equipment changes, antenna modelling
• Site environmental influences.
Taking into account these effects the observation equation for x coordinate of
permanent site i determined from 24-hour observation centred for moment t will be

 2π ⋅ (t − t0 )   2π ⋅ (t − t0 ) 
xt = x0 + vx ⋅ (t − t0 ) + bx sin   + cx cos +
 365   365 
(1)
 4π ⋅ (t − t0 )   4π ⋅ (t − t0 )  r
+ d x sin   + ex cos  + ∑ z x kδ (t − tk ) + ε
 365   365  k =1

where the parameters are

x0 mean coordinate at reference epoch t0

vx velocity
ax, bx, cx, dx amplitudes of seasonal variations
zxk amplitudes of sudden changes and pulses
δ (t − t k ) function describing the time dependence of phenomenon occurred at
epoch tk
εx observation error.

The symbolic name xt is used for geocentric coordinates Xj, Yj, or Zj of j-th site (j =1, 2,
… n), observed at epoch ti where n denotes number of processed sites in the permanent
network If the network coordinates observed at epoch ti are grouped in vector xti then
model of common processing of m daily network solutions (i =1, 2, … m). will be

 x t1   J1 D1 H1 S1   x 0   ε1  Σ x1 0 L 0 
x   0 L 0 
 t 2  = J 2 D2 H2 S 2  v   ε  Σ x2
 x +  2  , Σx =  (2)
 M   M M M M  a  M   M M O M 
         
x t m  J m Dm Hm Sm   z  ε m   0 0 L Σ xm 

where the unknown parameters are

x0 permanent network coordinates at epoch t0

vx velocities
a amplitudes of seasonal terms
z amplitudes of jumps and pulses

The design matrices J, D, H and S relate the observed coordinates to parameters

common for whole estimated period. The covariance matrix Σx is of block diagonal
type, assuming that the daily solutions are mutually independent. The model (2)
requires that all the daily solutions xti are referred to one common reference frame.
Such requirement is usually hardly to fulfil, especially for longer series of observations.
The alternative model respecting the possible alterations of reference frames is given
below.

To deal with reference frame problem the enlargement of the model (2) is necessary.
Each daily solution (except the reference one) is completed by set of transformation
parameters r relating the daily coordinates to the reference set. To ensure a solvability
of the problem a set of reference velocities v0 with covariance matrix Σv have to be
introduced as a fictive observations. Then the model reads

 x t 1   J1 0 D1 H1 S1   x 0   ε1  Σ x1 0 L 0 0
x  J T2 D2 H2 
S2  r    ε  0 Σ x2 L 0 0 
 t2   2    2 
 M = M M M M M v x  +  M  , Σ x =  M M O M M (3)
        
x t m  J m Tm Dm Hm S m   a  ε m  0 0 L Σ xm 0
 v 0   0 0 Dv 0 0   z   ε v   0 0 L 0 Σ v 

Design matrices Ti are comprised of coefficients for translation and rotation

parameters. In the above equation for clarity the first epoch is chosen as the reference.
Generally, any other epoch could be taken as the reference.

Reference velocities v0 define the scale of estimated velocities vx. If the ITRF velocities
of reference sites are chosen, the estimated velocities of all sites will be of absolute
character (including the global plate motion). If the intraplate velocities serve as the
reference, the estimated motions will reflect the relative movements of monitored sites.
The application of this model to CEN assumes inclusion of velocities of IGS collocated
sites and velocities of other ITRF sites included in CEN if they satisfy the internal
consistency requirements described in previous section of this paper.

The models (2) and (3) reflect all the systematic coordinate changes mentioned. It is
worth to stress that it is necessary to define a-priori the type of function δ(t - tk) and the
epochs tk of appearance of changes, like antennae or receiver replacements, station
environment changes etc. The check of appropriate parameterisation is that all the n
residual time series of {Xj}, {Yj}, {Zj} coordinates reduced for estimated parameters
have to be continuous.

Solution of eqs. (2) or (3) yields to a consistent set of coordinates and velocities of
permanent network regarding all systematic variations. If in these equations p epoch
solutions xek (k = 1, 2, … p) are introduced, the compatibility of epoch networks with
permanent network will be ensured.

For the sake of simplicity let’s consider model (2) assuming that all permanent and
epoch solutions are related to a common reference. Then the enlarged model will
become

 x t 1   J1 D1 H1 S1   ε1 
 M   M   M 
   M M M   Σ x1 L C pe L 0
 0  
x  M
 xt m   J m Dm Hm Sm    εm   O M M 
    v  
 x e1  =  J e1 De1 0 S e1   x  +  ε e1  , Σ x = C ep L Σ xe 1 L 0 (4)
a  
 M   M M M M    M 
   z    M M O M 
x e p  J ep Dep 0 S ep  ε ep   0 L 0 L Σ v 
v   0 Dv 0 0  ε 
 0   v
where the symbols with indices e relate to the epoch observations. By introduction of
matrices Cpe in covariance matrix Σx is stressed that permanent and epoch observations
could be mutually correlated. Note that the epoch observations are used for estimating
the coordinates and velocities only (very exceptionally the model could introduce also
jumps and pulses amplitudes for epoch stations) but no for seasonal parameters.
Enlargement of the model (4) by addition of transformation parameters (similarly to
transition from (2) to (3)) is straightforward.

The method of inclusion of epoch observations and long-term experiments into the
permanent network frame was proved by analyses of GPS campaign in High Tatra
mountains in 2003 and observations on Lomnický štít in 2004 within the CERGOP-2
WP10.5 activities. It is expected to apply this approach for referencing the CERGN
2003 epoch campaign to permanent network frame.

5. CONCLUSIONS
The regular processing of CEN is regularly continuing at SUT Bratislava with delay of
producing weekly results 3-5 weeks after the observations. The SINEX files are
available at web page http://cergop.vm.stuba.sk. Further, following problems will be
handled

• Enlarging the network with additional EPN and non-EPN stations to obtain more
regular station distribution.
• Combination of regional permanent network solutions of more centres.
• Reprocessing of older data, at least to complete the pre - CERGOP-2 epoch in 2003
(January to March).
• The completion of other products is expected, e.g. refined troposphere zenith
delays, precipitable water vapour, horizontal gradients and coordinate series with
sub-daily resolution.
• Combination of results of CERGOP-2 epoch observing campaign obtained at three
analysis centres (OLG, WUT and SUT) and their inclusion to CEN.

ACKNOWLEDGEMENT: This work was partly supported by grant No. 1/1033/04 of

the Grant Agency of Slovak Republic VEGA

REFERENCES

HEFTY, J. 2003. Work package 5 of CERGOP-2/Environment: Data analysis and the

definition of reference frames. Activity report April-September 2003. Reports
on geodesy. Reports on Geodesy 3(66). p. 55 – 65.
HEFTY, J. – KOVÁČ, M. - IGONDOVÁ, M. 2004. Integration of GPS epoch
campaigns into the GPS permanent network frame. Acta Montana (in press).
HUGENTOBLER, U. - SCHAER, S. - FRIDEZ, P. (eds) 2001. Bernese GPS Software
Version 4.2. Bern: Astronomical Institute, University of Berne. 515 s.
SLEDZINSKI, J. 2003. Concise overview of activities of the CEI WGST Section C
“GEODESY”. Reports on Geodesy 3(66). p. 15-28.