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Geomatik-Seminar der ETH Zürich, 24. November 2010
SLR-Beobachtungen zuLAGEOS und GNSS-Satelliten
und die gemeinsame Auswertungmit GNSS-Beobachtungen
Daniela ThallerAstronomisches Institut, Universität Bern (AIUB)
Geomatik-Seminar der ETH Zürich, 24. November 2010
Gliederung
1. Prozessierung der LAGEOS-Daten am AIUB
2. Allgemeine Aspekte der Kombination von GNSS und SLR- Stationen als Kolokation- Satelliten als Kolokation
3. SLR-Tracking der GNSS-Satelliten(GPS und GLONASS)
4. Resultateder kombinierten GNSS-SLR-Auswertung - Stationskoordinaten / TRF- GNSS satellite antenna offsets- Biases zwischen GNSS und SLR
5. Zusammenfassungund Ausblick
Geomatik-Seminar der ETH Zürich, 24. November 2010
Prozessierung von LAGEOS am AIUB
Bernese GPS Software (BSW)wurde erweitert:→ Orbit-Modellierung für Kugelsatelliten→ Handling von SLR-Beobachtungen
Zusammenarbeit mit Bundesamt für Kartographie und Geodäsie (BKG):→ ILRS Analysis Center→ BKG-Beiträge basierend auf BSWseit Juli 2010
Analyse der LAGEOS-Daten am AIUB :
→ 2 Satelliten: LAGEOS-1 / -2
→ Wochenlösungen für2006 – 2010
Geomatik-Seminar der ETH Zürich, 24. November 2010
−180 −120 −60 0 60 120 180−90
−60
−30
0
30
60
90SLR network for 2007 − 2009 (Lageos tracking)
SLR tracking of LAGEOS
→ Geographical distribution is not ideal!→ Total for 2006 – 2009: 35 stations; 11 stations for datum definition→ Number of stations per week: 12 – 26(datum definition: 7 – 11)
Geomatik-Seminar der ETH Zürich, 24. November 2010
SLR tracking of LAGEOS
Total number of observations (normal points) per week for both satellites: ~ 3000
2006 2006.5 2007 2007.5 2008 2008.5 2009 2009.5 2010 2010.5 20110
1000
2000
3000
4000
5000
6000
7000
Year
# N
P p
er w
eek
Number of NP per week: LAGEOS−1 + LAGEOS−2
Geomatik-Seminar der ETH Zürich, 24. November 2010
Weekly LAGEOS solutions
Estimated parameters for weekly ILRS solution:
→ Station coordinates
→ Satellite orbits: 1 arc per week→ 6 osculating elements→ Dynamic orbit parameters:
- Constant acceleration in along-track- Once-per-rev in along-track- Once-per-rev in cross-track
→ Earth rotation :→ Polar motion (constant per day)→ Length of Day (LOD)
→ Range biasesfor selected sites (1 – 3 stations per week)
⇓
~ 120 – 140parametersper week
Geomatik-Seminar der ETH Zürich, 24. November 2010
Weekly LAGEOS solutions
Residualsfor LAGEOS-1after least squares adjustment:→ Yarragadee→ Zimmerwald
1 2 3 4 5 6 7 8 9 10 11 12−120
−100
−80
−60
−40
−20
0
20
40
60
80
100
120SLR residuals for station 7090 50107M001, satellite L51
Month of 2009
Res
idua
l [m
m]
#residuals = 11406, Mean = −0.1mm, RMS = 13.1mm
1 2 3 4 5 6 7 8 9 10 11 12−120
−100
−80
−60
−40
−20
0
20
40
60
80
100
120SLR residuals for station 7810 14001S007, satellite L51
Month of 2009
Res
idua
l [m
m]
#residuals = 9661, Mean = 0.9mm, RMS = 10.3mm
Geomatik-Seminar der ETH Zürich, 24. November 2010
Weekly LAGEOS solutions
Weekly RMS after least squares adjustment for Zimmerwald
2009 2009.2 2009.4 2009.6 2009.8 20100
2
4
6
8
10
12
14
16
Time
Wee
kly
RM
S [m
m]
Weekly RMS of residuals for station 7810
LAGEOS−1: mean = 9.3 mmLAGEOS−2: mean = 8.4 mm
2009 2009.2 2009.4 2009.6 2009.8 20100
100
200
300
400
500
600
Time
# N
P p
er w
eek
Number of NP per week: Station 7810
LAGEOS−1: mean = 206LAGEOS−2: mean = 160
Geomatik-Seminar der ETH Zürich, 24. November 2010
Co-locations for GNSS and SLR
Co-location at stations (e.g., for actual ITRF computation):→ Application of known local tie values→ GNSS observations of ground network; SLR observations to Lageos etc.
→ Independent ofsatellite tracked→ Local ties from terrestrial measurements
Geomatik-Seminar der ETH Zürich, 24. November 2010
Co-locations for GNSS and SLR→ bad global distribution of co-location sites→ only few co-locations (37)→ questions concerning accuracy, transformation local measurements → global
from ITRF2008-D solution (provided by M. Seitz, DGFI)
Geomatik-Seminar der ETH Zürich, 24. November 2010
Co-locations for GNSS and SLRCo-location at GNSS satellites = Common orbit parameters from GNSS
microwave and SLR range data
→ Vectorsof GNSS and SLR reference points w.r.t. satellite CoM needed
Space Tie =
1. GNSS Satellite Antenna Offsets (SAO) w.r.t. CoM
2. GNSS Phase Center Variations (PCV)
3. Offsets for Laser Retroreflector Array (LRA ) w.r.t. CoM
Geomatik-Seminar der ETH Zürich, 24. November 2010
Expectation from combined analysis
For a few sites only
Decorrelated if different elevation
angles
-Range biases
↔↔↔↔ Scale
-independentProblems in phase center modelling
GNSS satellite antenna phase center
↔↔↔↔ Scale
RPR well modelled
Problems in RPR modelling
Problems in RPR modelling
Radiation pressure
↔↔↔↔ Geocenter
SLR @LageosSLR @GNSSGNSS @GNSS
SLR @GNSS:
⇒ Geocenteris affected as well ⇒ LAGEOS needed
⇒ Scaleis transferred to GNSS⇒ LAGEOS helps for decorrelation
Geomatik-Seminar der ETH Zürich, 24. November 2010
SLR tracking of GNSS satellites→ Only 2 GPS satellitesare equipped with retro-reflector arrays (G05, G06)
→ All GLONASS satellitesare equipped with retro-reflector arrays
→ SLR tracking for selected GNSS satellites:
2 GPS →→→→ 2009: 13 GLONASS →→→→ 2010: 6
Geomatik-Seminar der ETH Zürich, 24. November 2010
SLR tracking of GNSS satellites
8 sites with > 1000 NP5 sites with > 500 NP6 sites with > 100 NP6 sites with < 100 NP
Altogether (2008):25 SLR sites31855 normal points (NP)
Northern hemisphere:16804 NP
Southern hemisphere:15051 NP
−180 −120 −60 0 60 120 180−90
−60
−30
0
30
60
90
Satellites tracked in 2008:
GPS: G05G06
GLONASS:R15R24R07R11
Geomatik-Seminar der ETH Zürich, 24. November 2010
07/03 01/04 07/04 01/05 07/05 01/06 07/06 01/07 07/07 01/08 07/08 01/09 07/09 01/100
20
40
60
80
Month / Year
# S
LR o
bs. /
Day
G05
Number of SLR observations per day
07/03 01/04 07/04 01/05 07/05 01/06 07/06 01/07 07/07 01/08 07/08 01/09 07/09 01/100
10
20
30
40
50
60
70
Month / Year
# S
LR o
bs. /
Day
G06
Geomatik-Seminar der ETH Zürich, 24. November 2010
07/07 01/08 07/08 01/09 07/09 01/100
20
40
60
80
100
120
140
Month / Year
# S
LR o
bs. /
Day
R15
07/03 01/04 07/04 01/05 07/05 01/06 07/06 01/07 07/07 01/080
20
40
60
80
100
120
140
Month / Year
# S
LR o
bs. /
Day
R03
Number of SLR observations per day
07/03 01/04 07/04 01/05 07/05 01/06 07/06 01/07 07/07 01/080
20
40
60
80
100
120
140
Month / Year
# S
LR o
bs. /
Day
R22
07/03 01/04 07/04 01/05 07/05 01/060
20
40
60
80
100
120
140
Month / Year
# S
LR o
bs. /
Day
R24
Geomatik-Seminar der ETH Zürich, 24. November 2010
−60
−40
−20
0
20
40
60
7090
7832
7810
7406
7839
7825
7840
8834
7405
7845
7080
7110
7308
7237
7941
7210
7358
7105
7249
7841
7501
7355
7821
7838
Bia
s [m
m]
Satellite− / site−specific bias
G05 G06
SLR residuals: Mean bias
Mean bias for all stationsfor 2003 – 2009 [mm]:
G05 G06-24.0 -26.4
Stations
R03 R07 R11 R15 R22 R24a R24b-13.5 -8.6 -19.5 -2.6 -14.1 -17.9 -16.0
Geomatik-Seminar der ETH Zürich, 24. November 2010
Combined analysis of GNSS and SLRProblems and Questions:
Are satellite co-locations (space ties) strong enough or are co-locations on ground (local ties) needed additionally?
Biases between GNSS and SLRare seen in SLR range residuals to given microwave-based orbits→ Several possible error sources ...
Correlations between parameters (offsets, range biases) and scale→ Common estimation possible?
Only few SLR observationsto GNSS satellites (10 – 20 per day)→ Weak estimation of parameters→ Daily solutions not possible
Geomatik-Seminar der ETH Zürich, 24. November 2010
Systematic effects between SLR and GNSS
2004 2005 2006 2007 2008 2009 2010−100
−50
0
50SLR residuals for station 7839 11001S002, satellite G06
Year
Res
idua
l [m
m]
Residuals: RMS = 13.1mmEpoch−diff. of residuals: RMS = 3.2mm
07/05 01/06 07/06 01/07 07/07 01/08 07/08−200
−150
−100
−50
0
50
100
150
200SLR residuals for station 7839 11001S002, satellite R07
Month/Year
Res
idua
l [m
m]
Residuals: RMS = 35.7mmEpoch−diff. of residuals: RMS = 8.5mm
1) Biases in SLR range residuals (cm-level)2) Epoch-differences of SLR range residuals have a much smaller RMS
⇒ systematic effects
Geomatik-Seminar der ETH Zürich, 24. November 2010
Systematic effects between SLR and GNSS
Possible reasons for systematic effects in SLR range residuals:
SLR station coordinates (fixed to SLRF2005)
TRF (scale, geocenter)
Offset for GNSS satellite antenna (SAO from igs05.atx)
Offset for laser reflector array (LRA from ILRS web site)
SLR range biases (unknown for GNSS satellites)
GNSS orbit modelling (solar radiation pressure)
⇒⇒⇒⇒ Must be handled in combined solution: - use known / better values- Estimation
Geomatik-Seminar der ETH Zürich, 24. November 2010
Combined analysis of GNSS and SLR
SLR station coordinates→ estimate + inclusion of LAGEOS
TRF scale (and geocenter)→ use from SLR
Offset for GNSS satellite antenna (SAO from igs05.atx)→ estimate
Offset for laser reflector array (LRA from ILRS web site)→ estimate
SLR range biases (unknown for GNSS satellites)→ estimate + inclusion of LAGEOS
⇒⇒⇒⇒ GNSS-microwave + SLR@GNSS + SLR@LAGEOS for 2006-2009
GNSS has rank-deficiency w.r.t. scale if SAO areestimated
Estimation of 1 bias parameter per station / per GNSS satellite
Geomatik-Seminar der ETH Zürich, 24. November 2010
Combined analysis of GNSS and SLR
→ GNSS-only NEQs (daily):- Combined GPS+GLONASS analysis performed at CODE- Re-analysis for 2003 – 2008, routine IGS analysis for 2009
→ SLR-only NEQs for SLR@GNSS (daily):- SLR data to GPS and GLONASS satellites- Parameterization identical to GNSS analysis (orbits, ERP, geocenter)- Range biases for all sites
→ Combination of daily NEQs
→ SLR-NEQs for Lageos (weekly):- Range biases only for selected sites
→ Combination of NEQs and accumulation to long-term solution:- Use of “Space ties” only; Local ties are not applied!
Geomatik-Seminar der ETH Zürich, 24. November 2010
SLR station coordinates
SLR station network- Not included in the datum definition (no-net-rotation, no-net-translation)- No local ties applied→ Only appended via the „space ties“ (common orbit parameters)
→ Agreement is at the cm-level if only SLR@GNSS is used→ Inclusion of Lageosimproves the coordinate estimates→ Connection by using space ties only is feasible
Validation of SLR station coordinates: Helmert transformation
SLRF2005 Lageos-onlyComb: SLR@GNSS 54.40 54.22 [mm]Comb: + Lageos 6.70 2.95 [mm]Lageos-only 7.49 [mm]
RMS
Geomatik-Seminar der ETH Zürich, 24. November 2010
SLR station coordinates
SLR station network:- Not included in the datum definition (no-net-rotation, no-net-translation)- No local ties applied→ Only appended via the „space ties“ (common orbit parameters)
→ Scale of SLR is defined well→ Inclusion of Lageosimproves the coordinate estimates
Validation of SLR station coordinates: Helmert transformation
SLRF2005 Lageos-onlyComb: SLR@GNSS 1.06+- 2.76 2.34 +- 2.75 [ppb]Comb: + Lageos 1.02 +- 0.34 0.25 +- 0.15 [ppb]Lageos-only 1.28 +- 0.38 [ppb]
Scale
Geomatik-Seminar der ETH Zürich, 24. November 2010
0
10
20
30
40
50
60
70
80
90M
DO
1−70
80Y
AR
2−70
90Y
AR
R−
7090
GO
DZ
−71
05M
ON
P−
7110
MA
UI−
7119
TH
TI−
7124
BJF
S−
7249
KG
NI−
7308
AR
EQ
−74
03C
ON
Z−
7405
HA
RB
−75
01H
RA
O−
7501
ZIM
M−
7810
ZIM
T−
7810
BO
R1−
7811
SF
ER
−78
24S
TR
1−78
25S
TR
2−78
25G
RA
Z−
7839
HE
RS
−78
40H
ER
T−
7840
PO
TS
−78
41G
RA
S−
7845
MA
T1−
7941
MA
TE
−79
41W
TZ
J−88
34W
TZ
L−88
34W
TZ
R−
8834
WT
ZZ
−88
34
AB
S(d
iscr
epan
cy w
.r.t.
LT
) [m
m]
Coordinate differences w.r.t. local ties: Absolute value of discrepancy
IGS−ILRS for ITRF2008AIUB: SAO fixed to igs05.atxAIUB: SAO estimated
Comparison with co-located GNSS sites1. Estimated SLR and GNSS station coordinates ⇒ ∆∆∆∆CRD_estimate2. Local tie between SLR and GNSS reference points: ∆∆∆∆CRD_LT
⇒ ∆∆∆∆CRD_estimate -∆∆∆∆CRD_LT
from ITRF2008-D solution (provided by M. Seitz, DGFI)
Geomatik-Seminar der ETH Zürich, 24. November 2010
Comparison with local ties1. Estimated SLR and GNSS station coordinates ⇒ ∆∆∆∆CRD_estimate2. Local tie between SLR and GNSS reference points: ∆∆∆∆CRD_LT
⇒ ∆∆∆∆CRD_estimate -∆∆∆∆CRD_LT: Height component ⇒ Agreement between GNSS and SLR sites better if GNSS SAO are estimated
(i.e. using the SLR scale)
−40
−30
−20
−10
0
10
20
30
40
MD
O1−
7080
YA
R2−
7090
YA
RR
−70
90
GO
DZ
−71
05
MO
NP
−71
10
MA
UI−
7119
TH
TI−
7124
BJF
S−
7249
KG
NI−
7308
AR
EQ
−74
03
CO
NZ
−74
05
HA
RB
−75
01
HR
AO
−75
01
ZIM
M−
7810
ZIM
T−
7810
BO
R1−
7811
SF
ER
−78
24
ST
R1−
7825
ST
R2−
7825
GR
AZ
−78
39
HE
RS
−78
40
HE
RT
−78
40
PO
TS
−78
41
GR
AS
−78
45
MA
T1−
7941
MA
TE
−79
41
WT
ZJ−
8834
WT
ZL−
8834
WT
ZR
−88
34
WT
ZZ
−88
34
height component [mm]
SAO fixed to igs05SAO estimated
SAO fixed to igs05.atxSAO estimated
Geomatik-Seminar der ETH Zürich, 24. November 2010
01/07 07/07 01/08 07/08 01/09 07/09 01/10−200
−150
−100
−50
0
50SLR range biases from weekly solutions: Station 7090
Ran
ge b
ias
[mm
]
Month / Year
GNSS sat. only: Mean = −41.7 mm, RMS = 29.8 mmGNSS+Lageos: Mean = −41.2 mm, RMS = 12.8 mm
→ Weekly estimation from SLR@GNSSdata only: not possible→ Inclusion of Lageosdata improves weekly solutions→ Yearly (or multi-year) solutions needed for reliable values
SLR-GNSS biases
Geomatik-Seminar der ETH Zürich, 24. November 2010
5
10
1530
210
60
240
90270
120
300
150
330
180
0
5
10
1530
210
60
240
90270
120
300
150
330
180
0
SLR-GNSS biases and GNSS SAOEffect of range bias:
identical effect for all directions of the observationEffect of SAO:
different size for different directions of the observation
⇒ Correlation can be reduced by homogeneous distributionof observations (regarding nadir / azimuth angle at the satellite)
G05 R15
Geomatik-Seminar der ETH Zürich, 24. November 2010
SLR-GNSS biases and GNSS SAO
Impact of GNSS-SAO estimation on SLR-GNSS „range“ biases:
< 5 mm
−50
−40
−30
−20
−10
0
10
20
30
40
50
Ran
ge b
ias
[mm
]
7810
7090
7406
7405
7105
7839
7110
7237
7825
7941
8834
7845
7308
7840
7080
7824
SLR range biases for satellite G06
GNSS SAO fixedGNSS SAO estimated
−50
−40
−30
−20
−10
0
10
20
30
40
50
Ran
ge b
ias
[mm
]
7810
7090
7406
7405
7105
7839
7110
7237
7825
7941
8834
7845
7308
7840
7080
7824
SLR range biases for satellite R15
GNSS SAO fixedGNSS SAO estimated
Geomatik-Seminar der ETH Zürich, 24. November 2010
SLR-GNSS biases and GNSS SAO
No general shift of SAO estimates⇒ Scale of SLR is transferred properly
to GNSS
Mean ∆∆∆∆Z for GPS:76.4 mm
Mean ∆∆∆∆Z for GLONASS:-47.7 mm
0 10 20 30 40 50 60 70−200
−100
0
100
200
300
Satellite number
∆ S
AO
Z [m
m]
Satellite Antenna Offset correction: Z component
GPS GLONASS (+40)
Geomatik-Seminar der ETH Zürich, 24. November 2010
SLR-GNSS biases and GNSS SAO
No general shift of SAO estimates⇒ Scale of SLR is transferred properly
to GNSS
Mean ∆∆∆∆Z for GPS:76.4 mm
≈≈≈≈ 0.59 ppb
Mean ∆∆∆∆Z for GLONASS:-47.7 mm
0 10 20 30 40 50 60 70−200
−100
0
100
200
300
Satellite number
∆ S
AO
Z [m
m]
Satellite Antenna Offset correction: Z component
GPS GLONASS (+40)
∆∆∆∆scale[ppb] ≈≈≈≈ -7.8• ∆∆∆∆SAO[m]
Geomatik-Seminar der ETH Zürich, 24. November 2010
SLR-GNSS biases and GNSS SAO
No general shift of SAO estimates⇒ Scale of SLR is transferred properly
to GNSS
Mean ∆∆∆∆Z for GPS:76.4 mm
≈≈≈≈ 0.59 ppb
Mean ∆∆∆∆Z for GLONASS:-47.7 mm
∆∆∆∆Scalefor GNSS network:0.59 ppb
∆∆∆∆Scalefor SLR network:0.00 ppb
0 10 20 30 40 50 60 70−200
−100
0
100
200
300
Satellite number
∆ S
AO
Z [m
m]
Satellite Antenna Offset correction: Z component
GPS GLONASS (+40)
∆∆∆∆scale[ppb] ≈≈≈≈ -7.8• ∆∆∆∆SAO[m]
Geomatik-Seminar der ETH Zürich, 24. November 2010
Zusammenfassung und Ausblick -1-
- LAGEOS-Prozessierung mit BSW ist auf einem guten Stand
- In Zusammenarbeit mit BKG werden täglich Lösungen an den ILRSgeliefert (seit Juli 2010)
- Re-Prozessierungam AIUB bisher für 2006 – 2010
- Weitergehende Re-Prozessierung im Rahmen eines gemeinsamen Projektes zusammen mit ETH Zürich, TU München und TU Dresden
- Erweiterung für ETALON ist momentan in der Testphase
- Verbesserung der Orbitmodellierung (Albedo-Modell)
- Weitere Parameter, z.B. Schwerefeld
Geomatik-Seminar der ETH Zürich, 24. November 2010
Zusammenfassung und Ausblick -2-
- Gemeinsame Auswertung von SLR- und Mikrowellen -Beobachtungenzu GNSS-Satellitenerfolgreich
- LAGEOS Beobachtungen stabilisieren die kombinierte Lösung
- SLR-Massstabwird über Satelliten-Kolokationen direkt ins GNSS-Netzübertragen→ ermöglicht Schätzung der GNSS SAOohne Fixieren des apriori
Massstabs
- GNSS SAO aus igs05.atxund SLR Massstabsind inkonsistent (0.59 ppb)
- SLR-GNSS-Kombination via „Space Ties“ ist möglich (ohne Local Ties)→ Genaue Tiesals Voraussetzung (Stationen und Satelliten)
- Trennung von SLR Range Biases und LRA Offsets noch nötig
Geomatik-Seminar der ETH Zürich, 24. November 2010
AIUBRolf Dach, Krzysztof Sosnica, Gerhard Beutler
BKGMaria Mareyen, Bernd Richter
DGFI Manuela Seitz
Geomatik-Seminar der ETH Zürich, 24. November 2010
Danke für die Aufmerksamkeit !
Geomatik-Seminar der ETH Zürich, 24. November 2010
Weekly LAGEOS solutions
Station coordinates: 7-parameter Helmert transformation w.r.t. SLRF2005RMS of transformation (weighting not considered!)
01/08 04/08 07/08 10/08 01/09 04/09 07/09 10/09 01/10 04/100
5
10
15
20
25
30
35
40
Month/Year
RM
S tr
ansf
orm
atio
n [m
m]
RMS of 7−parameter transformation to SLRF2005
Median = 12.0 mm
Geomatik-Seminar der ETH Zürich, 24. November 2010
Weekly LAGEOS solutions
Station coordinates: 7-parameter Helmert transformation w.r.t. SLRF2005
01/08 04/08 07/08 10/08 01/09 04/09 07/09 10/09 01/10 04/10−4
−3
−2
−1
0
1
2
3
4
5
6
Month/Year
Sca
le w
.r.t.
SLR
F20
05 [p
pb]
Scale w.r.t. SLRF2005
Median = 1.55 ppb
Geomatik-Seminar der ETH Zürich, 24. November 2010
Weekly LAGEOS solutions
Orbit comparison with other ILRS analysis centers
01/08 04/08 07/08 10/08 01/09 04/09 07/09 10/09 01/100
5
10
15
20
25
30Compare orbits: RMS of residuals
RM
S o
f res
idua
ls [m
m]
Month/Year
AIUB vs. BKGAIUB vs. ASIBKG vs. ASI
Geomatik-Seminar der ETH Zürich, 24. November 2010
Kombination von GNSS und SLR
SrelAAionAMWtrop tctc δδρδδρδρ ⋅−+⋅+++ ,),(=S
AL )( SAAt τ−− Sr⋅EOPR
SA
mult
phas
SAN
εδρδρλ
+
+
+⋅+)( AtAr
GNSS
⋅EOPR )(opttropδρ+=⋅⋅ SAc τ
2
1)( StSr− S
ACoMbiasrel εδρδρδρ ++++)( StAr
SLR
Geomatik-Seminar der ETH Zürich, 24. November 2010
Kombination von GNSS und SLR
SrelAAionAMWtrop tctc δδρδδρδρ ⋅−+⋅+++ ,),(=S
AL )( SAAt τ−− Sr⋅EOPR
SA
mult
phas
SAN
εδρδρλ
+
+
+⋅+)( AtAr
GNSS
⋅EOPR )(opttropδρ+=⋅⋅ SAc τ
2
1)( StSr− S
ACoMbiasrel εδρδρδρ ++++)( StAr
SLR
EOP:Pol, UT, Nutation
TRF Satellite orbit