GNSS time series prediction plays a significant role in monitoring crustal plate motion, landslide detection, and the maintenance of the global coordinate framework. Long short-term memory (LSTM) is a deep learning model that has been widely applied in the field of high-precision time series prediction and is often combined with Variational Mode Decomposition (VMD) to form the VMD-LSTM hybrid model. To further improve the prediction accuracy of the VMD-LSTM model, this paper proposes a dual variational modal decomposition long short-term memory (DVMD-LSTM) model to effectively handle noise in GNSS time series prediction. This model extracts fluctuation features from the residual terms obtained after VMD decomposition to reduce the prediction errors associated with residual terms in the VMD-LSTM model. Daily E, N, and U coordinate data recorded at multiple GNSS stations between 2000 and 2022 were used to validate the performance of the proposed DVMD-LSTM model. The experimental results demonstrate that, compared to the VMD-LSTM model, the DVMD-LSTM model achieves significant improvements in prediction performance across all measurement stations. The average RMSE is reduced by 9.86% and the average MAE is reduced by 9.44%; moreover, the average R2 increased by 17.97%. Furthermore, the average accuracy of the optimal noise model for the predicted results is improved by 36.50%, and the average velocity accuracy of the predicted results is enhanced by 33.02%. These findings collectively attest to the superior predictive capabilities of the DVMD-LSTM model, thereby demonstrating the reliability of the predicted results.

Changes in sea level exhibit nonlinearity, nonstationarity, and multivariable characteristics, making traditional time series forecasting methods less effective in producing satisfactory results. To enhance the accuracy of sea level change predictions, this study introduced an improved variational mode decomposition and ensemble empirical mode decomposition–long short-term memory hybrid model (VMD–EEMD–LSTM). This model decomposes satellite altimetry data from near the Dutch coast using VMD, resulting in components of the intrinsic mode functions (IMFs) with various frequencies, along with a residual sequence. EEMD further dissects the residual sequence obtained from VMD into second-order components. These IMFs decomposed by VMD and EEMD are utilized as features in the LSTM model for making predictions, culminating in the final forecasted results. The experimental results, obtained through a comparative analysis of six sets of Dutch coastal sea surface height data, confirm the excellent accuracy of the hybrid model proposed (root mean square error (RMSE) = 47.2 mm, mean absolute error (MAE) = 33.3 mm, coefficient of determination (R²) = 0.9). Compared to the VMD-LSTM model, the average decrease in RMSE was 58.7%, the average reduction in MAE was 60.0%, and the average increase in R² was 49.9%. In comparison to the EEMD-LSTM model, the average decrease in RMSE was 27.0%, the average decrease in MAE was 28.0%, and the average increase in R2 was 6.5%. The VMD–EEMD–LSTM model exhibited significantly improved predictive performance. The model proposed in this study demonstrates a notable enhancement in global mean sea lever (GMSL) forecasting accuracy during testing along the Dutch coast.

GNSS time series prediction plays a significant role in monitoring crustal plate motion, landslide detection, and maintenance of the global coordinate framework. Long Short-Term Memory (LSTM), a deep learning model has been widely applied in the field of high-precision time series prediction especially when combined with Variational Mode Decomposition (VMD) to form the VMD-LSTM hybrid model. To further improve the prediction accuracy of the VMD-LSTM model, this paper proposes a dual variational modal decomposition long short-term memory (DVMD-LSTM) model to effectively handle the noise in GNSS time series prediction. This model extracts fluctuation features from the residual terms obtained after VMD decomposition to reduce the prediction errors associated with residual terms in the VMD-LSTM model. Daily E, N, and U coordinate data recorded at multiple GNSS stations between 2000 and 2022 are used to validate the performance of the proposed DVMD-LSTM model. The experimental results demonstrate that compared to the VMD-LSTM model, the DVMD-LSTM model achieves significant improvements in prediction performance across all measurement stations. The average RMSE is reduced by 9.86%, and the average MAE is reduced by 9.44%. Furthermore, the average accuracy of the optimal noise model for the predicted results is improved by 36.50%, and the average speed accuracy of the predicted results is enhanced by 33.02%. These findings collectively attest to the superior predictive capabilities of the DVMD-LSTM model, thereby enhancing the reliability of the predicted results.

Changes in sea level exhibit nonlinearity, nonstationarity, and multivariable characteristics, making traditional time series forecasting methods less effective in producing satisfactory results. To enhance the accuracy of the predictions of changes in sea level, this study introduced an improved VMD–EEMD–LSTM hybrid model. This model decomposes satellite altimetry data from near the Dutch coast using VMD, resulting in components of the Intrinsic Mode Function (IMF) with various frequencies and a residual sequence. EEMD further dissects the residual sequence obtained from VMD into second-order components. These IMFs decomposed by VMD and EEMD are utilized as features in the LSTM model for making predictions, culminating in the final forecasted results. The experimental results demonstrated significant improvements in the predictive performance compared with the VMD–LSTM model. The RMSE (root mean square error) decreased by an average of 58.68%, the MAE (mean absolute error) reduced by an average of 59.96%, and the R2 (coefficient of determination) increased by an average of 49.85% compared with the VMD–LSTM model. In comparison with the EEMD–LSTM model, the RMSE decreased by an average of 26.95%, the MAE decreased by an average of 28.00%, and the R2 increased by an average of 6.53%. The VMD–EEMD–LSTM model exhibited significantly improved predictive performance.

Accurate noise model identification for GNSS time series is crucial for obtaining a reliable GNSS velocity field and its uncertainty for various studies in geodynamics and geodesy. Here, by comprehensively considering time span and missing data effect on the noise model of GNSS time series, we used four combined noise models to analyze the duration of the time series (ranging from 2 to 24 years) and the data gap (between 2% and 30%) effects on noise model selection and velocity estimation at 72 GNSS stations spanning from 1992 to 2022 in global region together with simulated data. Our results show that the selected noise model have better convergence when GNSS time series is getting longer. With longer time series, the GNSS velocity uncertainty estimation with different data gaps is more homogenous to a certain order of magnitude. When the GNSS time series length is less than 8 years, it shows that the flicker noise and random walk noise and white noise (FNRWWN), flicker noise and white noise (FNWN), and power law noise and white noise (PLWN) models are wrongly estimated as a Gauss–Markov and white noise (GGMWN) model, which can affect the accuracy of GNSS velocity estimated from GNSS time series. When the GNSS time series length is more than 12 years, the RW noise components are most likely to be detected. As the duration increases, the impact of RW on velocity uncertainty decreases. Finally, we show that the selection of the stochastic noise model and velocity estimation are reliable for a time series with a minimum duration of 12 years.

The expected acceleration in sea level rise (SLR) throughout this century poses significant threats to coastal cities and low-lying regions. Since the early 1990s, high-precision multi-mission satellite altimetry (SA) has enabled the routine measurement of sea levels, providing a continuous 30-year record from which the mean sea level rise (global and regional) and its variability can be computed. The latest reprocessed product from CMEMS span the period from 1993 to 2020, and have enabled the acquisition of accurate sea level data within the coastal range of 0–20 km. In order to fully utilize this new dataset, we establish a global virtual network consisting of 184 virtual SA stations. We evaluate the impact of different stochastic noises on the estimation of the velocity of the sea surface height (SSH) time series using BIC_tp information criterion. In the second step, the principal component analysis (PCA) allows the common mode noise in the SSH time series to be mitigated. Finally, we analyzed the spatiotemporal characteristics and accuracy of sea level change derived from SA. Our results suggest that the stochasticity of the SSH time series is not well described by a combination of random, flicker, and white noise, but is best described by an ARFIM/ARMA/GGM process. After removing the common mode noise with PCA, about 96.7% of the times series’ RMS decreased, and most of the uncertainty associated with the computed SLR decreased. We confirm that the spatiotemporal correlations should be accounted for to yield trustworthy trends and reliable uncertainties. Our estimated SLR is 2.75 ± 0.89 mm/yr, which aligns closely with recent studies, emphasizing the robustness and consistency of our method using virtual SA stations. We additionally introduce open-source software (SA_Tool V1.0) to process the SA data and reduce noise in surface height time series to the community.