GAMIT/GLOBK入门简介和安装

一、前言

GAMIT/GLOBK is a comprehensive GNSS analysis package developed at MIT, the Harvard-Smithsonian Center for Astrophysics (CfA), Scripps Institution of Oceanography (SIO), and Australian National University for estimating station coordinates and velocities, stochastic or functional representations of post-seismic deformation, atmospheric delays, satellite orbits, and Earth orientation parameters.Although the software is currently maintained by the three authors of this document at MIT, many people have made substantial contributions. The orbital integration and modules used in computing the theoretical phase observable have their origins in the Planetary Ephemeris Program (PEP) written by Michael Ash, Irwin Shapiro, and Bill Smith at Lincoln Laboratory in the 1960’s, with later contributions by Bob Reasenberg and John Chandler at MIT. The codes for processing GPS observations were developed at MIT in the 1980’s by Chuck Counselman, Sergei Gourevitch, Yehuda Bock, Rick Abbot, and King. GAMIT attained its current form through the efforts of Bock, Danan
Dong, Peng Fang (SIO), Kurt Feigl, Herring, King, McClusky (ANU), Mike Moore (ANU), Peter Morgan (Canberra U), Mark Murray (NM Tech), Liz Petrie (U Newcastle),Berkhard Schraffin (Ohio State), Seiichi Shimada (NEID), Paul Tregoning (ANU), and Chris Watson (U Hobart). GLOBK was developed by Herring and Jim Davis at CfA for combination of VLBI data and modified at MIT to incorporate GPS data. Funding for the early development of GAMIT was provided by the Air Force Geophysics Laboratory,and for GLOBK by NASA. Current support for development and support of the scientific community comes primarily from the National Science Foundation.

GAMIT/GLOBK是MIT开发的一个综合全面的GNSS解析软件库，包括哈佛-史密森天体物理中心，斯克里普斯海洋研究所，和澳大利亚国立大学，以实现测定位置坐标和速度，震后变形、大气延迟、卫星轨道和地球定向参数的随机或函数表示等。尽管该软件目前由本文档的三位作者在 MIT 维护，但许多人也做出了重要贡献。用于计算可观测理论相位的轨道积分和模块起源于 1960 年代林肯实验室的 Michael Ash、Irwin Shapiro 和 Bill Smith 编写的行星星历计划 (PEP)，随后麻省理工学院 Bob Reasenberg 和 John Chandler 也做了贡献。用于处理 GPS 观测的代码是 1980 年代在麻省理工学院由 Chuck Counselman、Sergei Gourevitch、Yehuda Bock、Rick Abbot 和 King 开发的。GAMIT在达南博克、Dong, Peng Fang (SIO), Kurt Feigl, Herring, King, McClusky (ANU), Mike Moore (ANU), Peter Morgan (Canberra U), Mark Murray (NM Tech), Liz Petrie (U Newcastle), Berkhard Schraffin ( 俄亥俄州立大学)、Seiichi Shimada (NEID)、Paul Tregoning (ANU) 和 Chris Watson (U Hobart)的努力下达到了现在的状态。GLOBK 由 CfA 的 Herring 和 Jim Davis 开发，用于合并 VLBI （基长基线干涉测量）数据，并在 MIT 进行了修改以合并 GPS 数据。GAMIT 早期开发的资金由空军地球物理实验室提供，美国宇航局为 GLOBK 提供资金。 目前对科学界的发展和支持主要来自国家科学基金会。

To control processing the software uses C-shell scripts (stored in /com and mostly named to begin with sh_ ) which invoke the Fortran or C programs compiled in the /libraries,/gamit, and /kf directories. The software is designed to run under any UNIX operating system supporting X-Windows, including LINUX and MacOS. The parameter logic allows a maximum of 99 sites and the standard distribution is dimensioned for 80 sites, but since the run is proportional to the cube of the number of parameters, with networks larger than 50 sites greater efficiency is obtained by parallel processing using connected subnets. IGS processing at MIT includes over 300 sites, and processing at New Mexico Tech for the North American Plate Boundary Observatory over 1000 sites.

为了控制程序，软件使用C-shell脚本调用在 /libraries,/gamit, 和 /kf 目录下的Fortran或者C语言程序。该软件可运行在Unix、X-windows和MacOS操作系统。参数逻辑最多允许 99 个站点，标准分布的维度为 80 个站点，但由于运行与参数数量的立方成正比，因此网络超过 50 个站点时，通过使用连接的子网进行并行处理可以获得更高的效率。麻省理工学院的 IGS 处理包括 300 多个地点，新墨西哥理工学院为北美板块边界观测站处理 1000 多个地点。

二、GNSS Measurements and Analysis（GNSS测量和分析）

1、Phase and pseudorange observations（相位和伪距测量）

High-precision geodetic measurements with GNSS are performed using the carrier beat phase,the output from a single phase-tracking channel of a GNSS receiver.This observable is the difference between the phase of the carrier wave implicit in the signal received from the satellite,and the phase of a local oscillator within the receiver.The phase can be measured with sufficient precision that the instrumental resolution is a millimeter or less in equivalent path length. The dominant source of error in a phase measurement or series of measurements between a single satellite and ground station is the unpredictable behavior of the time and frequency standards (“clocks”) serving as reference for the transmitter and receiver. Even though the satellites carry atomic frequency standards, the instability of these standards would still limit positioning to the several meter level were it not for the possibility of eliminating their effect through signal differencing.

高精度大地测量使用载波差拍相位实现，通过GNSS接收机的一个单相位追踪通道输出。可观察到的是从卫星接收到的信号中隐含的载波相位与接收器内的本地振荡器相位之间的差异。可以以足够的精度测量相位，以使仪器分辨率在等效路径长度上为一毫米或更小。单个卫星和地面站之间的相位测量或一系列测量中的主要误差来源是作为发射器和接收器参考的时间和频率标准（“时钟”）的不可预测行为。即使卫星携带原子频率标准，但这些标准的不稳定性仍然会将定位限制在几米级别，如果不通过信号差分消除其影响的可能性。

A second type of GNSS measurement is the pseudo-range, obtained using the codes transmitted by the satellites. Pseudo-ranges provide the primary GNSS observation for navigation but are not precise enough to be used directly in geodetic surveys. They are useful, however, for estimating the offsets of receiver clocks, resolving ambiguities, and repairing cycle slips in phase observations.

第二种GNSS测量是伪距，通过运用卫星发射的代码。伪距为导航提供了主要的 GNSS 观测，但不够精确，无法直接用于大地测量。 然而，它们对于估计接收器时钟的偏移、解决歧义以及修复相位观测中的周跳非常有用。

三、Automatic Processing with GAMIT and GLOBK

GAMIT is composed of distinct programs which perform the functions of preparing the data for processing (makexp and makex), generating reference orbit and rotation values for the satellites (arc, yawtab), interpolating time- and location-specific values of atmospheric and loading models (grdtab), computing residual observations (O-C’s) and partial derivatives from a geometrical model (model), detecting outliers or breaks in the data (autcln), and performing a least squares analysis (solve). Although the modules can be run individually, they are tied together through the data flow, particularly file-naming conventions, in such a way that most processing is best done with shell scripts and a sequence of batch files set up by a driver module (fixdrv) for modeling, editing, and estimation. Though the data editing is almost always performed automatically, the solution residuals can be displayed or plotted so that problematic data can be identified.

GAMIT 由不同的程序组成，它们包括为处理准备数据的功能（makexp 和 makex），为卫星生成参考轨道和旋转值（arc，yawtab），插值大气和载荷模型（grdtab）的时间和位置特定值，计算剩余观测值（O-C’s）和几何模型（模型）的偏导数 ，检测数据中的异常值或中断（autcln），并执行最小二乘分析（求解）。尽管这些模块可以单独运行，但它们通过数据流（尤其是文件命名约定）绑定在一起，因此大多数处理最好使用 shell 脚本和驱动程序模块（fixdrv）设置的一系列批处理文件来完成 ) 用于建模、编辑和估计。虽然数据编辑几乎总是自动执行，但可以显示或绘制解决方案残差，以便识别有问题的数据。

Likewise, GLOBK operates through distinct programs, which can be invoked with a single command or run separately. The primary functions are to combine quasiobservations–either GAMIT/GLOBK “h-files” or the internationally accepted SINEX format–from multiple networks and/or epochs (glred or globk), and to impose on this solution a reference frame appropriate to the scientific objective (glorg). Note that globk and glred are the same program, just called in different modes: glred to read data from one day at a time for generating time series, globk for stacking multiple epochs to obtain a mean position and/or velocity.

同样，GLOBK 通过不同的程序运行，可以使用单个命令调用或单独运行。主要功能是结合来自多个网络和/或时代（glred 或 globk）的准观测——GAMIT/GLOBK“h-files”或国际公认的 SINEX 格式，并在此解决方案上施加一个适合于科学目标（glorg）。 请注意，globk 和 glred 是同一个程序，只是以不同的模式调用：globk 一次读取一天的数据以生成时间序列，globk 用于堆叠多个时期以获得平均位置和/或速度。

The full sequence of steps to take you from phase data to time series is accomplished with two shell scripts: sh_gamit looks for RINEX data over a range of days and invokes the GAMIT programs to produce constrained and loose estimates of coordinates together with sky plots of phase data as a record of the processing; sh_glred uses the GAMIT results to produce time series of day-to-day repeatability or a combined h-file that may be further combined with those from other epochs to estimate station velocities. The only preparation required is assembling the meta-data from station logs; setting up the control files, most of which are common to all analyses of a particular era; and assembling RINEX files not available from public archive in one or more directories on your system.

从相位数据到时间序列的完整步骤序列是通过两个 shell 脚本完成的： sh_gamit 在几天的范围内查找 RINEX 数据并调用 GAMIT 程序来生成受约束和松散的坐标估计以及相位的天空图 作为处理记录的数据； sh_glred 使用 GAMIT 结果来生成日常可重复性的时间序列或组合的 h 文件，该文件可以进一步与来自其他时代的 h 文件组合以估计台站速度。唯一需要的准备工作是从台站日志中组装元数据； 设置控制文件，其中大部分对特定时代的所有分析都是通用的； 并在系统上的一个或多个目录中组装公共档案中不可用的 RINEX 文件。

Note that all of the scripts and programs that use command-line control are selfdocumenting: to see the input commands, just type the script or program name with no arguments.

请注意，所有使用命令行控制的脚本和程序都是自记录的：要查看输入命令，只需键入不带参数的脚本或程序名称。

GAMIT/GLOBK主要处理事后静态数据，对于动态数据则无能为力，要处理动态数据，可使用麻省理工开发的track程序。GAMIT/GLOBK在基准站10km以内，通常都非常容易固定移动站位置，10~100km范围相对困难，对于超过100km范围则取决于观测数据的质量。

四、安装

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