In recent years there has been a considerable research on the development of indoor positioning systems. Several kinds of technologies such as ultrasonic, UWB, WLAN, optical waves and hybrid solutions were utilized already. However, using these technologies many difficulties arise in indoor environments due to none line of sight (NLoS) and multipath errors. In this paper, the realization and the evaluation of a 3D indoor localization system, which is robust for harsh and NLoS environments is presented. The positioning system is Direct Current (DC) magnetic based, shows no multipath effects and has excellent characteristics for penetrating various obstacles. To elim inate additional interference fields (e.g. earth's magnetic field, electrical disturbances) a differential measurement principle and adaptive noise suppression algorithms are used.In the case of the deployment in smaller areas, even smart phones equipped with embedded low cost sensors can be utilized as mobile station. A real time 3D position estimation with an accuracy up to 50 cm is achievable by setting up only three magnetic coils inside or around the building. In order to analyze existing systematic errors, a simple calibration procedure has been implemented.The calibration routine reduces the systematic errors, which leads to improved system's positioning accuracy up to 10 cm.

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Different Earth orientation parameter (EOP) time series are publicly available that typically arise from the combination of individual space geodetic technique solutions. The applied processing strategies and choices lead to systematically differing signal and noise characteristics particularly at the shortest periods between 2 and 8 days. We investigate the consequences of typical choices by introducing new experimental EOP solutions obtained from combinations at either normal equation level processed by Deutsches Geodätisches Forschungsinstitut at the Technical University of Munich (DGFI-TUM) and Federal Agency for Cartography and Geodesy (BKG), or observation level processed by European Space Agency (ESA). All those experiments contribute to an effort initiated by ESA to develop an independent capacity for routine EOP processing and prediction in Europe. Results are benchmarked against geophysical model-based effective angular momentum functions processed by Helmholtz Centre Potsdam GFZ German Research Centre for Geosciences (ESMGFZ). We find, that a multitechnique combination at normal equation level that explicitly aligns a priori station coordinates to the ITRF2014 frequently outperforms the current International Earth Rotation and Reference Systems Service (IERS) standard solution 14C04. A multi-Global Navigation Satellite System (GNSS)-only solution already provides very competitive accuracies for the equatorial components. Quite similar results are also obtained from a short combination at observation level experiment using multi-GNSS solutions and SLR from Sentinel-3A and Sentinel-3B to realize space links. For ΔUT1, however, very long baseline interferometry (VLBI) information is known to be critically important so that experiments combining only GNSS and possibly SLR at observation level perform worse than combinations of all techniques at normal equation level. The low noise floor and smooth spectra obtained from the multi-GNSS solution nevertheless illustrates the potential of this most rigorous combination approach so that further efforts to include in particular VLBI are strongly recommended.

In recent years, a variety of real-time applications benefit from services provided by localization systems due to the advent of sensing and communication technologies. Since the Global Navigation Satellite System (GNSS) enables localization only outside buildings, applications for indoor positioning and navigation use alternative technologies. Ultra Wide Band Signals (UWB), Wireless Local Area Network (WLAN), ultrasonic or infrared are common examples. However, these technologies suffer from fading and multipath effects caused by objects and materials in the building. In contrast, magnetic fields are able to pass through obstacles without significant propagation errors, i.e. in Non-Line of Sight Scenarios (NLoS). The aim of this work is to propose a novel indoor positioning system based on artificially generated magnetic fields in combination with Inertial Measurement Units (IMUs). In order to reach a better coverage, multiple coils are used as reference points. A basic algorithm for three-dimensional applications is demonstrated as well as evaluated in this article. The established system is then realized by a sensor fusion principle as well as a kinematic motion model on the basis of a Kalman filter. Furthermore, a pressure sensor is used in combination with an adaptive filtering method to reliably estimate the platform’s altitude.

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The accurate knowledge of the Earth’s orientation and rotation in space is essential for a broad variety of scientific and societal applications. Among others, these include global positioning, near-Earth and deep-space navigation, the realisation of precise reference and time systems as well as studies of geodynamics and global change phenomena. In this paper, we present a refined strategy for processing and combining Very Long Baseline Interferometry (VLBI), Satellite Laser Ranging (SLR), Global Navigation Satellite Systems (GNSS), and Doppler Orbitography and Radiopositioning Integrated by Satellite (DORIS) observations at the normal equation level and formulate recommendations for a consistent processing of the space-geodetic input data. Based on the developed strategy, we determine final and rapid Earth rotation parameter (ERP) solutions with low latency that also serve as the basis for a subsequent prediction of ERPs involving effective angular momentum data. Realising final ERPs on an accuracy level comparable to the final ERP benchmark solutions IERS 14C04 and JPL COMB2018, our strategy allows to enhance the consistency between final, rapid and predicted ERPs in terms of RMS differences by up to 50% compared to existing solutions. The findings of the study thus support the ambitious goals of the Global Geodetic Observing System (GGOS) in providing highly accurate and consistent time series of geodetic parameters for science and applications.

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<p>We present the current activities of the Federal Agency for Cartography and Geodesy (BKG) towards a combined processing of VLBI and GNSS data.  The main goal of the combined analyses of the two different space-geodetic techniques is the improvement of the consistency between the techniques through common parameters, i.e., mainly Earth Rotation Parameters (ERPs), but also station coordinates and tropospheric parameters through local ties and atmospheric ties, respectively.</p><p>Based on our previous combination studies using GNSS data and VLBI Intensive sessions on a daily and multi-day level, we generate a consistent, low-latency ERP time series with a regular daily resolution for polar motion and dUT1. We achieved in this way a significant accuracy improvement of the dUT1 time series and a slight improvement of the pole coordinates time series, comparing ERPs from the combined processing with the individual technique-specific ERPs.</p><p>In our recent studies, we extend the combination of GNSS and VLBI Intensive sessions by adding VLBI 24-hour sessions in order to exploit the benefit of the combination to its maximum extend. We analyse the impact of the combination on the global parameters of interest, i.e., mainly dUT1, polar motion and LOD, but also on station coordinates.</p><p>BKG’s primary interest is the combination of GNSS and VLBI data on the observation level. However, the current combination efforts are based on the normal equation level using technique-specific SINEX files as a starting point.</p>