Multi-GNSS-Weighted Interpolated Tropospheric Delay to Improve Long-Baseline RTK Positioning.

Until now, RTK (real-time kinematic) and NRTK (Network-based RTK) have been the most popular cm-level accurate positioning approaches based on Global Navigation Satellite System (GNSS) signals in real-time. The tropospheric delay is a major source of RTK errors, especially for medium and long baselines. This source of error is difficult to quantify due to its reliance on highly variable atmospheric humidity. In this paper, we use the NRTK approach to estimate double-differenced zenith tropospheric delays alongside ambiguities and positions based on a complete set of multi-GNSS data in a sample 6-station network in Europe. The ZTD files published by IGS were used to validate the estimated ZTDs. The results confirmed a good agreement, with an average Root Mean Squares Error (RMSE) of about 12 mm. Although multiplying the unknowns makes the mathematical model less reliable in correctly fixing integer ambiguities, adding a priori interpolated ZTD as quasi-observations can improve positioning accuracy and Integer Ambiguity Resolution (IAR) performance. In this work, weighted least-squares (WLS) were performed using the interpolation of ZTD values of near reference stations of the IGS network. When using a well-known Kriging interpolation, the weights depend on the semivariogram, and a higher network density is required to obtain the correct covariance function. Hence, we used a simple interpolation strategy, which minimized the impact of altitude variability within the network. Compared to standard RTK where ZTD is assumed to be unknown, this technique improves the positioning accuracy by about 50%. It also increased the success rate for IAR by nearly 1.

Observations regarding coarse sediment classification based on multi-beam echo-sounder's backscatter strength and depth residuals in Dutch rivers.

This contribution investigates the behavior of two important riverbed sediment classifiers, derived from multi-beam echo-sounder (MBES)-operating at 300 kHz-data, in very coarse sediment environments. These are the backscatter strength and the depth residuals. Four MBES data sets collected at different parts of rivers in the Netherlands are employed. From previous research the backscatter strength was found to increase for increasing mean grain sizes. Depth residuals, however, are often found to have lower values for coarser sediments. Investigation of the four data sets indicates that these statements are valid only for moderately coarse sediment such as sand. For very coarse sediments (e.g., coarse gravel) the backscatter strength is found to decrease and the depth residuals increase for increasing mean grain sizes. This is observed when the sediment mean grain size becomes significantly larger than the acoustic wavelength of the MBES (5 mm). Knowledge regarding this behavior is of high importance when using backscatter strength and depth residuals for sediment classification purposes as the reverse in behavior can induce ambiguity in the classification.

An inter-comparison of sediment classification methods based on multi-beam echo-sounder backscatter and sediment natural radioactivity data.

This contribution presents sediment classification results derived from different sources of data collected at the Dordtse Kil river, the Netherlands. The first source is a multi-beam echo-sounder (MBES). The second source is measurements taken with a gamma-ray scintillation detector, i.e., the Multi-Element Detection System for Underwater Sediment Activity (Medusa), towed over the sediments and measuring sediment natural radioactivity. Two analysis methods are employed for sediment classification based on the MBES data. The first is a Bayesian estimation method that uses the average backscatter data per beam and, therefore, is independent of the quality of the MBES calibration. The second is a model-based method that matches the measured backscatter curves to theoretical curves, predicted by a physics-based model. Medusa provides estimates for the concentrations of potassium, uranium, thorium, and cesium, known to be indicative for sediment properties, viz. mean grain size, silt content, and the presence of organic matter. In addition, a hydrophone attached to the Medusa system provides information regarding the sediment roughness. This paper presents an inter-comparison between the sediment classification results using the above-mentioned methods. It is shown that although originating from completely different sources, the MBES and Medusa provide similar information, revealing the same sediment distribution.

Improving riverbed sediment classification using backscatter and depth residual features of multi-beam echo-sounder systems.

Riverbed and seafloor sediment classification using acoustic remote sensing techniques is of high interest due to their high coverage capabilities at limited cost. This contribution presents the results of riverbed sediment classification using multi-beam echo-sounder data based on an empirical method. Two data sets are considered, both taken at the Waal River, namely Sint Andries and Nijmegen. This work is a follow-up to the work carried out by Amiri-Simkooei et al. [J. Acoust. Soc. Am. 126(4), 1724-1738 (2009)]. The empirical method bases the classification on features of the backscatter strength and depth residuals. A principal component analysis is used to identify the most appropriate and informative features. Clustering is then applied to the principal components resulting from this set of features to assign a sediment class to each measurement. The results show that the backscatter strength features discriminate between different classes based on the sediment properties, whereas the depth residual features discriminate classes based on riverbed forms such as the "fixed layer" (stone having riprap structure) and riverbed ripples. Combination of these two sets of features is highly recommended because they provide complementary information on both the composition and the structure of the riverbed.

Riverbed sediment classification using multi-beam echo-sounder backscatter data.

A method has recently been developed that employs multi-beam echo-sounder backscatter data to both obtain the number of sediment classes and discriminate between them by applying the Bayes decision rule to multiple hypotheses [Simons and Snellen, Appl. Acoust. 70, 1258-1268 (2009)]. In deep water, the number of scatter pixels within the beam footprint is large enough to ensure Gaussian distributions for the backscatter strengths and to increase the discriminative power between acoustic classes. In very shallow water (<10 m), however, this number is too small. This paper presents an extension of this high-frequency methodology for these environments, together with a demonstration of its performance using backscatter data from the river Waal, The Netherlands. The objective of this work is threefold. (i) Increasing the discriminating power of the classification method: high-resolution bathymetry data allow precise bottom slope corrections for obtaining the true incident angle, and the high-resolution backscatter data reduce the statistical fluctuations via an averaging procedure. (ii) Performing a correlation analysis: the dependence of acoustic backscatter classification on sediment physical properties is verified by observing a significant correlation of 0.75 (and a disattenuated correlation of 0.90) between the classification results and sediment mean grain size. (iii) Enhancing the statistical description of the backscatter intensities: angular evolution of the K-distribution shape parameter indicates that the riverbed is a rough surface, in agreement with the results of the core analysis.