Patrick Henkel
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View article: Precise Estimation of Snow Water Equivalent based on GPS and Galileo Measurements
Precise Estimation of Snow Water Equivalent based on GPS and Galileo Measurements Open
A precise information on Snow Water Equivalent (SWE) and Liquid Water Content (LWC) is essential for various applications, e.g. for optimized operations of hydropower plants, for improved flood forecast, and for cryosphere research.Global …
View article: Exploring the advantages of automated stations to retrieve continuous weather and snow-related data in high-elevation sites (Monte Rosa massif - Western Italian Alps)
Exploring the advantages of automated stations to retrieve continuous weather and snow-related data in high-elevation sites (Monte Rosa massif - Western Italian Alps) Open
Anthropogenic climate change is strongly impacting mountain regions. The warming rate observed for the Alpine Region is well above the global average. Moreover, crucial water reservoirs such as glacier ice and seasonal snowpack are extreme…
View article: Assessment on the continuous measurements of snow water equivalent on the Monte Rosa massif (Italy) performed with state-of-the-art sensors in the 2023-24 winter season
Assessment on the continuous measurements of snow water equivalent on the Monte Rosa massif (Italy) performed with state-of-the-art sensors in the 2023-24 winter season Open
The effects of anthropogenic climate change are particularly evident in mountainous regions, where the warming rate is higher than the global average. In this framework, the Alps have recently experienced multiple seasons characterized by …
View article: GNSS signal-based snow water equivalent determination for different snowpack conditions along a steep elevation gradient
GNSS signal-based snow water equivalent determination for different snowpack conditions along a steep elevation gradient Open
Snow water equivalent (SWE) can be measured using low-cost Global Navigation Satellite System (GNSS) sensors with one antenna placed below the snowpack and another one serving as a reference above the snow. The underlying GNSS signal-based…
View article: Snow Parameter Estimation with Multi-Frequency and Multi-Constellation Global Navigation Satellite System Signals
Snow Parameter Estimation with Multi-Frequency and Multi-Constellation Global Navigation Satellite System Signals Open
The Snow Water Equivalent (SWE) describes the amount of water stored in snow. The SWE is a key parameter for various applications including meteorological information systems, run-off predictions for hydro power plants, and roof load monit…
View article: GNSS signal-based snow water equivalent determination for different snowpack conditions along a steep elevation gradient
GNSS signal-based snow water equivalent determination for different snowpack conditions along a steep elevation gradient Open
Snow water equivalent (SWE) can be measured using low-cost Global Navigation Satellite System (GNSS) sensors with one antenna placed below the snowpack and another one serving as a reference above the snow. The underlying GNSS signal-based…
View article: Low Bandwidth Network-RTK Correction Dissemination for High Accuracy Maritime Navigation
Low Bandwidth Network-RTK Correction Dissemination for High Accuracy Maritime Navigation Open
More than half of the incidents reported to EMSA relate to nautical events such as collision, groundings and contacts. Knowledge of accurate and high-integrity positioning is therefore not only a need for future automated shipping but a ba…
View article: “PREParE SHIPS” for Automated Ship Passages by Modern Decision Support Tools by Exchanging Future Positions
“PREParE SHIPS” for Automated Ship Passages by Modern Decision Support Tools by Exchanging Future Positions Open
Misunderstanding the intentions of other vessels is one of the most common causes of ship collisions today. Such misunderstandings are particularly dangerous during navigation in restricted areas, such as fairways, port areas, and inland w…
View article: Assessment of operational monitoring of snow water equivalent measurements with low-cost GNSS sensors
Assessment of operational monitoring of snow water equivalent measurements with low-cost GNSS sensors Open
<p>The water stored in the snowpack is a crucial contribution to the hydrological cycle in mountain areas. Estimating the spatial distribution and temporal evolution of snow water equivalent (SWE) in mountain regions is, therefore, a…
View article: Determination of Snow Water Equivalent with only one Global Navigation Satellite System receiver and a Virtual Reference Station
Determination of Snow Water Equivalent with only one Global Navigation Satellite System receiver and a Virtual Reference Station Open
<p>The snow water equivalent (SWE) is a key parameter in hydrology. In the past years, the signals of Global Navigation Satellite System (GNSS) receivers were discovered to be very attractive for SWE monitoring. The set-up of GNSS-ba…
View article: Retrieval of Snow Water Equivalent, Liquid Water Content, and Snow Height of Dry and Wet Snow by Combining GPS Signal Attenuation and Time Delay
Retrieval of Snow Water Equivalent, Liquid Water Content, and Snow Height of Dry and Wet Snow by Combining GPS Signal Attenuation and Time Delay Open
For numerous hydrological applications, information on snow water equivalent (SWE) and snow liquid water content (LWC) are fundamental. In situ data are much needed for the validation of model and remote sensing products; however, they are…
View article: Advances in Snow Hydrology Using a Combined Approach of GNSS In Situ Stations, Hydrological Modelling and Earth Observation—A Case Study in Canada
Advances in Snow Hydrology Using a Combined Approach of GNSS In Situ Stations, Hydrological Modelling and Earth Observation—A Case Study in Canada Open
The availability of in situ snow water equivalent (SWE), snowmelt and run-off measurements is still very limited especially in remote areas as the density of operational stations and field observations is often scarce and usually costly, l…
View article: Precise Positioning of Robots with Fusion of GNSS, INS, Odometry, Barometer, Local Positioning System and Visual Localization
Precise Positioning of Robots with Fusion of GNSS, INS, Odometry, Barometer, Local Positioning System and Visual Localization Open
The autonomous driving of robots requires precise and reliable positioning information with low-cost sensors. In this paper, we propose a tightly coupled sensor fusion of multiple complementary sensors including GNSS-RTK, INS, odometry, Lo…
View article: Cascaded Real-Time Kinematic Positioning with Multi-Frequency Linear Combinations
Cascaded Real-Time Kinematic Positioning with Multi-Frequency Linear Combinations Open
Real-Time Kinematic (RTK) positioning with Global Navigation Satellite Systems (GNSS) enables centimeter-level positioning accuracies. However, the small wavelength of the GNSS carrier signals often prevents a reliable ambiguity resolution…
View article: Estimation of Snow Parameters with GPS and Galileo
Estimation of Snow Parameters with GPS and Galileo Open
The Snow Water Equivalent (SWE) is a key parameter for hydrological applications. In this paper, we describe a novel snow monitoring station that determines SWE solely from differential carrier phase measurements of both GPS and Galileo sa…
View article: Integration of Barometric Height into RTK Positioning for Fast Ambiguity Refixing
Integration of Barometric Height into RTK Positioning for Fast Ambiguity Refixing Open
The horizontal positioning accuracy of Global Navigation Satellite System receivers is in general two times higher than the vertical positioning accuracy. The integration of barometric height information improves in particular the vertical…
View article: Reliable Multi-GNSS Real-Time Kinematic Positioning
Reliable Multi-GNSS Real-Time Kinematic Positioning Open
Surveying, agriculture and the navigation of autonomous robots, cars, ships and aerial systems require Global Navigation Satellite Systems (GNSS) for precise positioning. In this paper, we describe a Real-Time Kinematic (RTK) positioning m…
View article: Snow Water Equivalent of Dry Snow Derived From GNSS Carrier Phases
Snow Water Equivalent of Dry Snow Derived From GNSS Carrier Phases Open
Snow water equivalent (SWE) is a key variable for various hydrological applications. It is defined as the depth of water that would result upon complete melting of a mass of snow. However, until now, continuous measurements of the SWE are …
View article: Precise Positioning in Alpine Areas with Troposphere and Multipath Estimation
Precise Positioning in Alpine Areas with Troposphere and Multipath Estimation Open
Real-time kinematic (RTK) positioning with Global Navigation Satellite System (GNSS) signals is widely used, e.g., for surveying, agriculture, and potentially for autonomous vehicles and unmanned air vehicles in the future. In this paper, …
View article: Precise RTK Positioning with GNSS, INS, Barometer and Vision
Precise RTK Positioning with GNSS, INS, Barometer and Vision Open
The navigation of autonomous ground vehicles and unmanned aerial vehicles requires precise and reliable position and attitude information. A sensor fusion of GNSS, INS, barometer and vision is attractive for unmanned aerial vehicles. The f…
View article: Satellite Phase Bias Estimation with Global Networks and High-Dimensional Integer Ambiguity Fixing
Satellite Phase Bias Estimation with Global Networks and High-Dimensional Integer Ambiguity Fixing Open
Precise point positioning requires precise knowledge of satellite phase biases, satellite position and satellite clock corrections. In this paper, a method for the estimation of these parameters with a global network of multi-frequency ref…
View article: Calibration of Magnetometers with GNSS Receivers and Magnetometer-Aided GNSS Ambiguity Fixing
Calibration of Magnetometers with GNSS Receivers and Magnetometer-Aided GNSS Ambiguity Fixing Open
Magnetometers provide compass information, and are widely used for navigation, orientation and alignment of objects. As magnetometers are affected by sensor biases and eventually by systematic distortions of the Earth magnetic field, a cal…
View article: Reliable RTK Positioning with Tight Coupling of 6 Low-Cost Sensors
Reliable RTK Positioning with Tight Coupling of 6 Low-Cost Sensors Open
A tight coupling of GNSS and inertial measurements is needed for both accurate and reliable positioning. The use of Multi-GNSS is recommended to obtain a sufficient number of visible satellites in any outdoor environment. In this paper, we…
View article: Real-time kinematic positioning with GPS and GLONASS
Real-time kinematic positioning with GPS and GLONASS Open
Recently, low-cost dual constellation receivers with simultaneous tracking of GPS and GLONASS satellites and raw carrier phase output have become available. This enables a faster and more reliable ambiguity fixing especially in areas with …
View article: Precise point positioning with multipath estimation
Precise point positioning with multipath estimation Open
Precise Point Positioning with low-cost GNSS receivers is attractive for numerous applications, as it can provide centimeter-level positioning without the exchange of raw measurements from a reference station. However, pseudorange multipat…
View article: Real-time kinematic positioning for unmanned air vehicles
Real-time kinematic positioning for unmanned air vehicles Open
Real-Time Kinematic (RTK) positioning with lowcost mass-market Global Navigation Satellite System (GNSS) receivers and antennas is attractive for precise landing of Unmanned Air Vehicles (UAV). Code multipath mitigation and a reliable reso…
View article: Precise RTK Positioning with GPS/ INS Tight Coupling and Multipath Estimation
Precise RTK Positioning with GPS/ INS Tight Coupling and Multipath Estimation Open
Real-Time Kinematic (RTK) positioning is attractive for numerous applications including autonomous driving of vehicles. However, multipath remains a challenge for RTK positioning especially in urban environments. Choke-ring antennas which …
View article: Estimation of code ionospheric biases using Kriging method
Estimation of code ionospheric biases using Kriging method Open
The code ionospheric bias, also known as the Differential Code Bias (DCB), is an important correction term for single-frequency receiver. This paper proposes a new method to estimate the biases as well as the vertical ionospheric delays us…