GEOIDE NETWORK

ANNUAL PROGRESS EVALUATION FORM

Reporting period: November 2005-October 2006

1. Science progress: Narrative

Project # 31 title is “Next-generation algorithms for navigation, geodesy and earth sciences under modernized Global Navigation Satellite Systems (GNSS)”. Like any other proposal submitted for GEOIDE Phase III it was prepared a couple of years in advance. It means that when we started our project several of its objectives and deliverables were already different from those in the proposal. We have met in October of 2006 in our first technical workshop. This workshop had the participation of most of our principal investigators, students and some of ours collaborators and partners. We have updated our goals and deliverables and this report reflects that.

Another important feature to report is the change in our principal investigators. We have been able to attract more researchers which we expect will widen up our approaches and investigation. Our team counts now with the presence of Dr. Marc Cocard, from Laval, Dr. Sunil Bisnath, from York, and Dr. René Landry from the Electrical Engineering Department of Ecole de Technologie Supérieure, joined the project. Nevertheless we lost Dr. Don Kim who left our project due to fact that he could no longer find time to collaborate. The other members of our PI team are Drs. Marcelo Santos, Richard Langley, Ahmed El-Rabbany, Spiros Pagiatakis, Rock Santerre, Georgia Fotopoulus and Herb Dragert.

Our project has been divided into 4 main areas.

• 1- Study of the availability, reliability, and accuracy of Galileo and modernized GPS measurements and their integration. A hardware simulator (Spirent) has been acquired with external funds (UNB). This simulator can “produce” L2C signals for testing with a L2C-capable receiver. L5 cannot be produced as yet since a hardware upgrade is necessary. Galileo signals cannot be generated by this hardware but we can get Galileo data from a software simulator from our European partners. We have made the decision not to write the software for a simulator ourselves because we can get simulated data from the two sources mentioned above and also from our collaborators (UofC). Rene Landry joined the team and will also contribute with the generation of simulated data. These simulated data sets being generated have allowed the evaluation and design of models and techniques for the assessment of modernized GNSS signals. Trimble and NovAtel receivers have been used in conjunction with the Spirent simulator. Software for processing and analysis of the data are being developed. Constellation analysis has been carried out by different means. Next steps involve the continuation of the same effort as well as considering the modification of newly developed software by UNB (GAPS) and Laval (PPPsoft) to accept modernized GPS signals (L2C), and modification of UNB's DIPOP suite for the same purpose. Geodetic Survey Division of NRCan is also considering performing tests using their PPP software. HQP involved in this item are: Liliana Sukeova, Rodrigo Leandro, Okwuchi Nanni, Simon Banville and Mohammed Boukhecha.

• 2- Development of carrier phase ambiguity resolution techniques. As planned we have started carrying out studies into various combinations of multi-frequency carrier phase observations using GPS and Galileo signal designs, in order to arrive at optimal combinations for fast, accurate and reliable ambiguity resolution for real-time kinematic (RTK) and post-processed data. For that purpose, we have to take into account the impact of other source of errors, such as atmosphere, biases and orbit. HQP involved in this item are Liliana Sukeova, Rodrigo Leandro, Simon Banville and Hamad Yousif.

• 3- Integration of legacy and modernised GPS observations and GPS and Galileo observation. This is a task we are starting to develop and is based upon some of the results from the previous steps. What is very important here is the enhancement of current capabilities of error modelling or even development of novel models to satisfy accuracy, availability, continuity, and integrity requirements in terms of both static and kinematic positioning. From research area 2, we can make use of optimum observation integration strategy looking at applications that require integrity monitoring, capable of not only detecting failures but also identifying the source of the failures. Such applications are the tsunami detection network in implementation on the West Coast, in which Dr. H. Dragert is involved. Another interesting issue that is resurfacing is on the use of legacy GPS observations and also on the (apparent) strengthening of the GLONASS system. At the time of our proposal, it seemed that GLONASS was destined for oblivion. Nearly 5 years after it seems as if energy has been placed to have the system in an operational capability soon. What implications this will have in the whole scenario of space-based positioning is yet to be seen and it is certainly one thing that we will be monitoring very closely. Our existing GLONASS-capable positioning software will be enhanced (Laval) and new GLONASS-capable software will be developed (UNB). HQP involved in this item are: Rodrigo Leandro and Mohammed Boukhecha.

• 4- Applications. In our original proposal we identified the modernization of augmentation infrastructures as one of the applications. This is of particular interest to NRCan, which helps operate and maintain the Canada-wide Differential GPS (CDGPS) Service, but any other augmentation service can benefit from this topic. The question still to be dealt with in the next years of the project is how the modernized GPS signals and Galileo will impact the current delivery of services. Tests have to be made and GSD of NRCan will participate heavily in this aspect.

  Another application identified deals with the determination of precise orbits for space geodetic missions. Even though this topic was thought of by N. Sneeuw (who is no longer in our project) two other PIs have been carrying out work on this topic. R. Langley (UNB) is involved with the development of CASSIOPE satellite whereas S. Pagiatakis with the SHINOOK space mission. A co-variance analysis study on the impact of modernized signals will be carried out this year.

  The last application identified deals with sensing the environment. This is a major and wide topic and much has already been done. When we refer to sensing the environment we are referring to enhancing existing and investigating novel ways to use GNSS for environmental monitoring and atmospheric sciences. As far as atmospheric sciences go, our focus has been on looking at different ways to model the delay caused by the propagation of the satellite signals through the ionosphere and through the neutral atmosphere. Work has been done with both of these atmospheric components. Neural networks and other approaches have been used for modelling the ionospheric delay. For the neutral atmospheric delay work has been done on refining the UNB prediction models and in the use of Numerical Weather Prediction Models (NWM). As far as environmental monitoring is concerned, our focus has been on the impact of using modernized GNSS signals in earthquake-prone regions, taking advantage of the network implemented on the West coast for early warning of Tsunami after an earthquake.

  HQP involved in this item are: Felipe Nievisnki, Hyunho Rho, Hamad Yousif, and Panagiodis Vergatis.

2. Networking and Partnerships

Items # 2 and # 3 are somehow intertwined.
Various activities took place within project level and involving partners:

• 1 - Dr. Spiros Pagiatakis, from York University (YorkU), deputy-leader of our project, visited UNB for two days, May 8th and 9th, 2006, for management meetings and technical consultations.
• 2 - Dr. Susan Skone, from the University of Calgary (UofC), leader of Project “A national system for water vapour estimation, using GPS and its applications”, spent 3 days at UNB, June 7th to 9th, 2006, consulting with the UNB project group. During her visit we discussed topics of interest to our two projects.
• 3 - Simon Banville, Ph.D. student under Dr. Rock Santerre, from the Université Laval (ULaval) spent over a month (from June 13th to July 28th, 2006) at UNB. During this time he consulted with the UNB group. He had chance to work on his research and he also gathered synthetic data from the Spirent hardware simulator used in parts of his investigation.
• 4 - As an outcome of our project technical workshop (see item 3) we are planning to continue student exchanges among project principal investigators and partners, to take place in the next year. This plan for next year (2007) is still in its infancy but we foresee the possibility of one UNB student visiting Université Laval, a UNB student visiting NRCan and NovAtel (project partners) and a York University student visiting UNB.
• 5 - Trimble Navigation has become a project partner. Trimble, by means of its Canadian representation CANSEL, has made available to our project 2 GPS receivers (on loan): the R7 and the NetR5. These receivers are capable of tracking modernized GPS signals (R7 tracks L2C; NetR5 tracks L2C and L5 as well as GLONASS on L1 and L2). These receivers have been used for tests as well as for contributing with the Global IGS Test Network that has been used for tracking modernized L2C signals. We have been using IGS station UNBJ (formerly UNB1) to have either the R7 and now the NetR5 receiver collocated with, named station UNB3. Data collected by station UNB3 has been made available to users worldwide via NASA'S Crustal Dynamics Data Information System (CDDIS).
• 6 - NovAtel, one of our project partners, provided 3 OEMV-3 GPS receivers to UNB. These receivers can handle modernized GPS signals, both L2C and eventually L5 as well as GLONASS.
• 7 - We have had extensive contacts with the Geodetic Survey Division of NRCan, one of our project partners. These contacts include exchange of information, discussions via various media (e-mail, phone, in person), access to data sets, exchange of programs and subroutines, without exception to all project investigators.
• 8 - We have extended our partnership with VEGA, a German-based software company and provider of software for handling Galileo data. VEGA is the distributor of the Galileo System Simulation Facility (GSSF) software simulator which we have been using in support to our project investigations. We still have to formalize VEGA's participation as partner but this is happening in practice already.

3. Networking, Communication/Collaboration

Items # 2 and # 3 are somehow intertwined.

• 1 - We had several project meetings, either in person or via other media, e.g., phone conferences or skype conferences. Most notable has been the effort in using scientific meetings as gathering points for project meetings, such as the ones that took place during the Canadian Geophysical Union Scientific Assembly, held in Banff, AB, May 14th to 17th, 2006, during the 7th Annual Scientific Conference of the GEOIDE Network, also held in Banff, Alberta, May 31st to June 2nd, 2006, and during the Institute of Navigation GNSS-2006, held in Fort Worth, Texas, USA, from September 26th to 29th, 2006. We intend to keep the same approach for communication among project members and partners for the years to come since they have been proved to work satisfactorily. One such conference targeted for next year is the International Union of Geodesy and Geophysics (IUGG) XXIV General Assembly to take place in Perugia, Italy. This is going to be an excellent opportunity for a face-to-face meeting with our European partners.
• 2 - We would like to give a great deal of attention to our Project 31 Quebec Technical Workshop, held at Université Laval, Pavillon Krueger, on October 27th and 28th, 2006. This Workshop counted on the participation of all principal investigators but two (Georgia Fotopoulus from UToronto and Herb Dragert from CGS/PGC), along with 8 students, 1 partner and 1 external scholar. Present at the Workshop were: PIs Marcelo Santos (UNB), Richard Langley (UNB), Spiros Pagiatakis (YorkU), Ahmed El-Rabbany (Ryerson), Rock Santerre (LavalU), Sunil Bisnath (YorkU) and Marc Cocard (LavalU); students Liliana Sukeova (UNB), Hamad Yousif (Ryerson), Simon Banville (Laval), Felipe Nievinski (UNB), Rodrigo Leandro (UNB), Valérie Kirouac (Laval), Phil Lamothe (Laval) and Mohammed Boukhecha (Laval); partners Paul Collins (NRCan); external scholar Julio Farret (UFSM, Brazil). The Workshop was composed of two parts. One dealing with a detailed description of each activity by project members followed by a discussion on future developments and on how to strengthen collaboration. The second part dealt with an overview of project plans targeting its refinement. Details of our first Technical Workshop can be found on our project website, including PDFs of presentations and meeting minutes. We are planning a second technical workshop to take place either in Fredericton, NB, or in Toronto, ON, in 2007.
• 3 - One very important outcome of our Quebec Technical Workshop was to develop an initial plan for joint publications including refereed papers. So far, we have not had any journal publication yet even though one paper is “in press” and another two papers have been submitted already. Most importantly though is the fact that we have identified a number of areas where joint papers (either journal or conference) can be prepared. Some of them being worked out now are targeting next year's IUGG General Assembly, to take place in Perugia, Italy. The IUGG is not only a good way to publicize our project and the GEOIDE network but also an avenue for having papers published in the refereed proceedings that follow this scientific assembly.
• 4 - We have been implementing effective collaboration with other GEOIDE Projects. We have made available data sets collected by UNB to be used by project “A national system for water vapour estimation using GPS and its applications”. We have obtained simulated data sets from the software simulator under development by project “Geomatics Enhancements with dual use of GPS II/III and Galileo”.
• 5 - We have kept our project website up and running providing updated information on the project and on project activities. For example, for additional information on the Quebec Workshop, please refer to http://gge.unb.ca/Research/GRL/GNSS/index.htm

4. Participation of HQP

We have had a great and effective participation of HQP in our project. For that matter we have counted on other sources of funds, from various different organizations, such as NSERC, CIDA, to name a few. A list of the HQP involved in our project during the time period covered by this report is presented below:

• Panagiotis Vergados (York)
• Hamad Yousif (Ryerson)
• Simon Banville (Laval)
• Valerie Kirouac (Laval)
• Phil Lamothe (Laval)
• Mohammed Boukhecha (Laval)
• Liliana Sukeova (UNB)
• Robert Kingdon (UNB)
• Felipe Nievinski (UNB)
• Rodrigo Leandro (UNB)
• Hyunho Rho (UNB)
• Okwuchi Nanni (UNB)

As for the past years, for 2007 our students are being encouraged and will be supported to participate in the GEOIDE annual conferences and GEOIDE summer schools relevant to the project activities. For example, at the 2006 Annual Conference, Liliana Sukeova (UNB), Simon Banville (U. Laval) and Hamad Yousif (Ryerson University) participated with oral and poster presentations. We expect to have an even bigger presence at the 2007 GEOIDE Annual Conference. In addition, our students usually participate in the annual Canadian Geophysical Union (CGU) meeting and at Institute of Navigation meetings. Other meetings serve as catalysts. We also intend to promote another Project 31 Technical Workshop in 2007. The past one proved to be an excellent venue for us to discuss the progress of our research, to strengthen ties between research teams and to discuss technical issues related to our research.

We also have had a student exchange (Simon Banville - Université Laval, supervised by Prof Rock Santerre). He spent over one month in the summer of 2006 at UNB working with Professors R. Langley and M. Santos on the development of carrier ambiguity resolution techniques and gathering data from the Spirent hardware simulator. He also interacted with other members of the UNB team. More student exchange is being considered for 2007.

The above aforementioned activities and others as they may be organised from time to time offer opportunities to both researchers and students to present their work and receive valuable feedback.

What follows is a list of students and professionals currently involved in the project. Their contributions to the project are also mentioned briefly:

• Panagiotis Vergados, PhD Student, co-supervised by S. Pagiatakis and M. Shepherd at York U.
  The York U Atmospheric Science team has continued their involvement with the Canadian Space Agency and Japan on the new space mission CHINOOK for atmospheric studies (to be launched in 2007). This mission will carry on board a GNSS receiver for accurate orbit determination and environmental studies. Prof. Spiros Pagiatakis and Marianna Shepherd (atmospheric scientist) have co-supervised P. Vergados who is funded primarily by CSA and NSERC and partially by GEOIDE. Panagiotis is a physicist who has recently obtained his MSc from York U on modelling of the upper atmosphere. He brings a lot of experience from atmospheric sciences and strong links with this scientific community so much needed for the project. Panagiotis Vergados began work in September 2005 to work on the modelling of the atmosphere using GNSS data on LEO. This activity lies within project component 4.
• Liliana Sukeova, M.Sc.E. student, supervised by Marcelo Santos at UNB.
  Liliana started her graduate studies in October 2005. She is involved with reviewing models and techniques related to the modernised L2C and L5 GPS signals. For this purpose she has been collecting GPS data using the Trimble R7 and the Trimble NetR5 receivers on loan from Cansel (private industry - in-kind support). She has also obtained data from all other IGS stations that have been collecting L2C data around the world. She has used the Spirent hardware simulator to get a full constellation of L2C signals. She has also used simulated L2C / L5 data sets provided by project # 29's software simulator. She has been analysing these data sets and has reported her initial findings during the 2006 GEOIDE Annual Conference in Banff. Her more recent findings will be showcased in the next CGU, GEOIDE, IUGG and ION Meetings. A refereed paper will be prepared for 2007. This work is closely related to objective #2.1 of this project.
• Robert Kingdon, M.Sc.E student, supervised by M. Santos at UNB.
  Robert is M.Sc.E. student (since September 2005), and even though he is technically involved with project #27, he has been providing technical support to this project by developing and maintaining the project website.
• Rodrigo Leandro: Ph.D. student, supervised by M. Santos at UNB.
  Rodrigo has continued with further enhancements to the tropospheric model UNB3. This model has been used extensively in North America by NRCan and other agencies and by the GPS satellite-based augmentation systems (WAAS, EGNOS, and MSAS). Even though this enhancement does not require the need of modernised signals it is the backbone activity for a better modelling of one of the source errors that affect GNSS signals. This work is done in collaboration with Prof. R. Langley and results were presented at the ION National Technical Meeting in January 2006 (Monterey, California) and at the ION GNSS 2006 meeting in Fort Worth, Texas. His ION GNSS 2006 paper received a best-paper-in-session commendation. This work is contributing to Objective 2.4 and specifically to component 2.4.3. Rodrigo has also done investigations related to modelling the ionosphere using neural networks and a paper has been accepted for publication in the Studia Geophysica et Geodetica. Rodrigo has also been very involved with the analysis of modernized L2C data and with the determination of the inter-frequency biases among the modernized signals. This is a very innovative work and we are hurrying up to have journal and conference publications as soon as possible. Rodrigo is funded by CIDA. Rodrigo's main research topic is on wide-area-based positioning.
• Felipe Nievinski, M.Sc.E. student, supervised by Marcelo Santos at UNB.
  Felipe has been developing work with the modelling of the neutral atmosphere based on the use of Numerical Weather Prediction Models (NWM). These models show a potential for help in improving the estimation of neutral atmospheric delays in the space-based positioning systems. Felipe has been conducting comparisons of results coming from various sources, namely, from the NWM, from radio sonde and from prediction models. He presented a paper at ION GNSS 2006, having been selected as a sponsored student paper awardee.
• Simon Banville, M.Sc. student, supervised by Rock Santerre at Université Laval.
  Simon has a B.Sc. in Geomatics Sciences from Laval University. He started his M.Sc. studies in May 2005. His graduate studies are partially funded by an NSERC scholarship. He has worked on the improvement of ambiguity convergence algorithms for Precise Point Positioning (PPP) and on receiver initial phase bias calibration. He is co-supervised by Marc Cocard of Université Laval.
• Mohammed Boukhecha, M.Sc.E. student, supervised by Marc Cocard at Université Laval.
  Mohammed has been working on ambiguity resolution using simulated data. He has carried out investigations on the effect of ionospheric noise on GPS, Galileo and hybrid combinations. A journal paper has been submitted based on this investigation.
• Parvin Kalantari: M.Sc. student, supervised by R. Santerre at Laval.
  Parvin has a background in Electrical Engineering from Iran. She initiated her M.Sc. studies in September 2005. Her research will deal with the development and the evaluation of a method (using SPIRENT simulator) for the calibration of receiver initial carrier phase values. This research is related to carrier phase ambiguity resolution for Precise Point Positioning. She is co-supervised by René Landry, an Electrical Engineering professor at École de Technologie Supérieure (ÉTS) in Montréal.
• Hamad Yousif, MASc student, supervised by A. El-Rabbany at Ryerson.
  Hamad has a background in Electrical Engineering from Sudan. He started his MASc studies in September 2005. His research focuses on the evaluation of orbital interpolation methods and the development of a neural network-based model for precise orbit prediction.
• Raymond Tsoi, M.Sc.E. student, supervised by N. Sneeuw at UofC and co-supervised by Dr. E. Cannon.
  While Dr. Sneeuw was still involved in the project, in the very early stages, Raymond was doing work dealing with the technique of formation flying to future space missions. As Dr. Sneeuw left the project his research topic changed away from ours and he is no longer contributing towards our project.
• Hyunho Rho, Ph.D. student, supervised by R. Langley at UNB
  Mr. Rho is a senior graduate student working on precise point positioning, wide-area DGPS (including the Canada-wide DGPS Service), and ionospheric effects on GPS signals. He has overseen the operation of the continuously operating GNSS and augmentation services monitoring systems at UNB. He deals with other project personnel on developing algorithms and methods for the amelioration of ionospheric effects on modernized GNSS signals.
• Okwuchi Nanni (UNB), is a M. Eng. Student under M. Santos at UNB.
  His contribution is under a special university work program called Work Study Program. This allows him to get involved in our project for 10 hours a week over the academic year 2006/2007. Okwuchi has been involved with data analysis on the quality of the L2C data collected by the global tracking network.

These students and professional are partly funded by GEOIDE. Additional funds are supplied by other sources such as NSERC Discovery Grants and contracts.

5. Leverage

A cash contribution from the Geodetic Survey Division of NRCan was approved in January 2006 and the initial amount of $12,000 (out of the $15,000 originally pledged) was transferred to the project, which amounts to about 12% of the total GEOIDE contribution. As the contribution agreement was vague and the funds were released in a very short period of time for being expended, an addendum is being worked out allowing us to spend the funds in different fiscal years. Another contribution agreement is in the works for the current fiscal year.

The project is leveraged by other sources such as NSERC, CFI and CIDA. Several graduate students are being partly supported by these agencies and their accomplishments to date will contribute significantly to the project.

NovAtel has provided 3 receivers capable of handling modernized GPS signals.

Trimble has loaned 2 receivers, capable of handling modernized GPS signals.

VEGA has supplied the GSSF software and Spirent offered a substantial discount when the UNB simulators were purchased with CFI and New Brunswick Innovation Foundation funds.

6. Knowledge Transfer

Even though we have revised our goals and deliverables to make them more up-to-date we are right on track in terms of developments. Milestones have been reported in papers already published or being worked out. This project has potential for providing refinements at the algorithm level that can be used in several applications and in software suites.

We continue the evaluation of signals and started to perform constellation, system and augmentation analysis. The outcome of reliability analysis and enhancement of algorithms for precise single-point and relative positioning have led to improvements in Laval University's in-house software, including PPP algorithms with fast ambiguity convergence time. Closer collaboration is being established with the Electrical Engineering Department at ETS in Montréal by means of Dr. René Jr. Landry, who became a project member. Similar developments have taken place at UNB, where the software suite DIPOP is being enhanced to accommodate the modernised signals, and where the newly created GAPS software is being enhanced to accommodate the modernized L2C signal.

On the applications side, a design for an enhanced CDGPS Service is underway in collaboration with GSD of NRCan. Design studies on spaceborne use of GPS and Galileo are also underway and we intend to have an exemplary covariance analysis tool. Work continued on targeting development of algorithms to provide precise satellite ephemerides at higher rates than the currently available precise orbits. The follow-on step is to develop of an efficient neural-network-based orbital prediction method. The collaboration of York U (S. Pagiatakis) with the atmospheric science team of York University and the University of Kyoto (Japan) has continued, particularly in the atmospheric sciences, and will result in significant benefits and knowledge transfer, by using radio-occultation techniques on GNNS. Also, the new family of UNB tropospheric propagation delay models have been refined. The UNB3 model is today widely used everywhere in the world.

7. Quality of the Research Results

We have had a considerable number of oral presentations, poster and conference papers. Some of them have made to refereed conference proceedings. Two papers have been submitted to journals, being one of them in press. One paper is being written to be submitted to a journal over the Winter. And at least additional two are expected to be submitted over the year.

Our strategy is to maintain the level of conference presentations and papers as a way to advertise the project and the network, but targeting refereed journals. A number of issues have been identified as candidates for cross-project authorship.

• Leandro, R., R. B. Langley and M. C. Santos (2006) “UNB Neutral Atmosphere Models: Development and Performance”, Proceedings of the Institute of Navigation National Technical Meeting, 18-20 January, 2006, Monterrey, CA, USA, pp. 564-573.
• Leandro, R. F., M. C. Santos and R. B. Langley (2006). “Wide Area Neutral Atmosphere Models for GNSS Applications.” Proceedings of the Institute of Navigation GNSS 2006, 29-26 September, 2006, Fort Worth, Texas, USA, in press.
• Fortes, L. P. S., S. M. A. Costa, M. A. A. Lima, J. A. Fazan, J. F. G. Monico, M. C. Santos and P. Tetréault (2006). “Modernizing the Brazilian Active Control Network.” Proceedings of the Institute of Navigation GNSS 2006, 29-26 September, 2006, Fort Worth, Texas, USA, in press.
• Leandro, R. and M. C. Santos (2006). “Wide Area based Precise Point Positioning.” Proceedings of the Institute of Navigation GNSS-2006, 29-26 September, 2006, Fort Worth, Texas, USA, in press.
• Nievinski, F. and M. C. Santos (2006). “Further Developments in Range-Extended GPS Kinematic Positioning Using a Numerical Weather Prediction Model.” Eos Trans. AGU, 87(36), Joint Assembly Suppl., Abstract G41A-02.
• Santos, M.C., and Richard Langley (2006). “A modernized DIPOP for modernized GNSS signals.” 8th Annual Scientific Conference of the GEOIDE Network, 31 May - 2 June, Banff, Alberta.
• Fortes, L. P. F., S.M.A. Costa, M.A.A. Lima, J.A. Fazan and M. C. Santos (2006). “Accessing the New SIRGAS2000 Reference Frame through a modernized Brazilian Active Control Network.” International Association of Geodesy Symposia (Ed. C. Rizos), IAG, IAPSO and IABO Joint Assembly “Dynamic Planet”, Cairns, Australia, 22-26 August 2005, Springer, pp. 653-659.
• Nievinski, F. and M. C. Santos (2006). "An Analysis of Errors Introduced by the Use of Transformation Grids." International Association of Geodesy Symposia (Ed. C. Rizos), IAG, IAPSO and IABO Joint Assembly “Dynamic Planet”, Cairns, Australia, 22-26 August 2005, Springer, pp. 677-684.
• Leandro, R. and M. C. Santos (2006). “An Empirical Stochastic Model for GPS" by Rodrigo Leandro and Marcelo Santos. International Association of Geodesy Symposia (Ed. C. Rizos), IAG, IAPSO and IABO Joint Assembly “Dynamic Planet”, Cairns, Australia, 22-26 August 2005, Springer, pp. 179-185.
• Leandro, R., C. A. U. Silva and M. C. Santos (2006). “Feeding Neural Networks Models with GPS Observations: A Challenging Task.” International Association of Geodesy Symposia (Ed. C. Rizos), IAG, IAPSO and IABO Joint Assembly “Dynamic Planet”, Cairns, Australia, 22-26 August 2005, Springer, pp. 186-193.
• Leandro, R. F. and M. C. Santos (2006). “A Neural Network Approach for Regional Vertical Total Electron Content Modelling.” Studia Geophysica et Geodaetica, in press.
• Nievinski, F.G. (2006). Numerical Weather Models for Tropospheric Mitigation in Marine Kinematic GPS: a Daylong Analysis. Proceedings of the Institute of Navigation GNSS2006, 29-26 September, 2006, Fort Worth, Texas, USA, in press.
• Sukeova, Liliana (2006). GPS Modernization and Galileo. 8th Annual Scientific Conference of the GEOIDE Network, 31 May - 2 June, Banff, Alberta.

8. Project Management

We have been working based on the expertise of the project leaders with great help from the principal investigators. M. Santos has used his managerial experience based on various previous projects he led; allied to his leadership of the multi-million dollar CIDA-funded National Geospatial Framework Project, in Brazil (www.pign.org). S. Pagiatakis has extensive management experience from Federal Government employment and also from past GEOIDE projects.

We have been emphasizing networking and communication among project members by means of regular meetings using the Internet and also personal contact via dedicated workshops and meetings. Most of these meetings try to take advantage of conferences attended by project members. Our Project 31 Quebec Technical Workshop was a big success and we intend to repeat it next year. We have also built a project website that will help advertise the project and the network.

We should mention the change in the principal investigators. Dr. Don Kim, from UNB, left the project. Dr. Sunil Bisnath, from York, Dr. Marc Cocard, from Laval, and Dr. René Landry from the Electrical Engineering Department of Ecole de Technologie Supérieure, joined the project.