Receivers able to track satellites belonging to different GNSSs (Global Navigation Satellite Systems) are available on the market. To compute coordinates and velocities it is necessary to identify all the elements that contribute to interoperability of the different GNSSs. For example the timescales kept by different GNSSs have to be aligned. Receiver-specific biases, or firmware-dependent biases, need to be calibrated. The reference frame used in the representation of the orbits must be unique. In this paper we address the interoperability issues from the standpoint of a Single Point Positioning (SPP) user, i.e., using pseudoranges and broadcast ephemeris. The biases between GNSSs timescales and receiver-dependent biases are analyzed for a set of 31 MGEX (Multi-GNSS Experiment) stations over a time span of more than three years. Time series of biases between timescales of GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), Galileo, BeiDou, QZSS (Quasi-Zenith Satellite System), SBAS (Satellite Based Augmentation System) and NAVIC (Navigation with Indian Constellation) are investigated, in addition to the identification of events like discontinuity of receiver-dependent biases due to firmware updating. The GPS broadcast reference frame is shown to be aligned to the one (IGS14) realized by the precise ephemeris of CODE (Center for Orbit Determination in Europe) to within 0.1 m and 2 milliarcsec, with values dependent on whether IIR-A, IIR-B/M or IIF satellite blocks are considered. Larger offsets are observed for GLONASS, up to 1 m for GLONASS K satellites. For Galileo the alignment of the broadcast orbit to IGS14/CODE is again at the 0.1 m and several milliarcsec level, with the FOC (Full Operational Capability) satellites slightly better than IOV (In Orbit Validation). For BeiDou an alignment of the broadcast frame to IGS14/CODE comparable to GLONASS is observed, regardless of whether IGSO (Inclined Geosynchronous Orbit) or MEO (Medium Earth Orbit) satellites are considered. For all satellites, position differences according to the broadcast ephemeris relative to IGS14/CODE orbits are projected to the radial, along-track and crosstrack triad, with the largest periodic differences affecting mostly the along track component. Sudden discontinuities at the level of up to 1 m and 2–3 ns are observed for the along-track component and the satellite clock, respectively. The time scales of GLONASS, Galileo, QZSS, SBAS and NAVIC are very closely aligned to GPS, with constant offsets depending on receiver type. The offset of the BeiDou time scale to GPS has an oscillatory pattern with peak-to-peak values up to 100 ns. To characterize receiver-dependent biases the average of six Septentrio receivers is taken as reference, and relative offsets of the other receiver types are investigated. These receiver-dependent biases may depend on the individual station, or for the same station on the update of the firmware. A detailed calibration history is presented for each multiGNSS station studied.

The seismic sequence of November 2019 in Albania culminating with the Mw = 6.4 event of 26 November 2019 was examined from the geodetic (InSAR and GNSS), structural, and historical viewpoints, with some ideas on possible areas of greater hazard. We present accurate estimates of the coseismic displacements using permanent GNSS stations active before and after the sequence, as well as SAR interferograms with Sentinel-1 in ascending and descending mode. When compared with the displacements predicted by a dislocation model on an elastic half space using the moment tensor information of a reverse fault mechanism, the InSAR and GNSS data fit at the mm level provided the hypocentral depth is set to 8 ± 2 km. Next, we examined the elastic stress generated by the Mw = 7.2 Montenegro earthquake of 1979, with the Albania 2019 event as receiver fault, to conclude that the Coulomb stress transfer, at least for the elastic component, was too small to have influenced the 2019 Albania event. A somewhat different picture emerges from the combined elastic deformation resulting after the two (1979 and 2019) events: we investigated the fault geometries where the Coulomb stress is maximized and concluded that the geometry with highest induced Coulomb stress, of the order of ca. 2–3 bar (0.2–0.3 MPa), is that of a vertical, dextral strike slip fault, striking SW to NE. This optimal receiver fault is located between the faults activated in 1979 and 2019, and very closely resembles the Lezhe fault, which marks the transition between the Dinarides and the Albanides.

To investigate the transfer of elastic energy between a regional stress field and a set of localized faults, we project the stress rate tensor inferred from the Italian GNSS (Global Navigation Satellite Systems) velocity field onto faults selected from the Database of Individual Seismogenic Sources (DISS 3.2.0). For given Lamé constants and friction coefficient, we compute the loading rate on each fault in terms of the Coulomb failure function (CFF) rate. By varying the strike, dip and rake angles around the nominal DISS values, we also estimate the geometry of planes that are optimally oriented for maximal CFF rate. Out of 86 Individual Seismogenic Sources (ISSs), all well covered by GNSS data, 78–81 (depending on the assumed friction coefficient) load energy at a rate of 0–4 kPa yr⁻¹. The faults displaying larger CFF rates (4–6 ± 1 kPa yr⁻¹) are located in the central Apennines and are all characterized by a significant strike-slip component. We also find that the loading rate of 75% of the examined sources is less than 1 kPa yr⁻¹ lower than that of optimally oriented faults. We also analysed 2016 August 24 and October 30 central Apennines earthquakes (M_w 6.0–6.5, respectively). The strike of their causative faults based on seismological and tectonic data and the geodetically inferred strike differ by <30°. Some sources exhibit a strike oblique to the direction of maximum strain rate, suggesting that in some instances the present-day stress acts on inherited faults. The choice of the friction coefficient only marginally affects this result.

Here we test the capability of the Broadcast Ephemeris Message, in both its GPS-like (Keplerian ellipse with secular and periodic perturbations) and Glonass-like (numerical integration of a 9D state vector) formats, to reproduce a corresponding precise ephemeris. We start from a daily Rinex 3.04 navigation file for multiple GNSS and the corresponding SP3 precise orbits computed by CNES (Centre National d’Etudes Spatiales) for GPS, Glonass, Galileo and CODE (Center for Orbit Determination in Europe) for Beidou, and compute broadcast ECEF coordinates and clocks. The pre-fit discrepancies are converted by least squares to corrections to the broadcast ephemeris parameters in two-hour consecutive arcs (for GPS, Galileo and Beidou) and to a set of seven Helmert parameters for the entire day, to align in origin, orientation and scale to the common GNSS IGS14 Reference Frame. The test cases suggest that the Broadcast Ephemeris Message, complemented with Reference Frame information, can reproduce the precise ephemeris and clocks with centimetric accuracy for intervals at least equal to the respective validity times, typically 2 h. The broadcast ephemeris of Glonass consists of three initial positions and velocities at epoch, three constant Lunisolar accelerations for the satellite position, and of three polynomial coefficients for the satellite clock. The 9D vector of state is numerically integrated to generate position and velocity data within the validity time (0.5 h) of the message. To test the capability of this model to reproduce the corresponding values of a precise ephemeris, the 9D vector of state and clock polynomials are adjusted until the rms (root mean squared spread) of the post-fit residuals relative to a precise orbit (CNES’s in our case) is minimum. We show in one example (one satellite for one day) that the Glonass type of message can reproduce a precise ephemeris and clock with a rms spread of 0.025 m over one-hour arcs. Volume computations on one month of data with all available satellites confirm the test results. For GPS, Glonass, Galileo and Beidou, the best fitting clock values predicted by our second order polynomials, based on a 15 min sampling, are shown to fit the corresponding high rate clocks (30 s sampling) of MGEX with zero bias and a rms spread of 0.062 ns (GPS G01), 0.023 ns (Galileo E01), 0.43 ns (Glonass R01), 0.086 ns (Beidou C07) and 0.086 ns (Beidou C12). Modifications to the GPS-like message structure and Glonass algorithm are proposed to increase the validity time by including the effect of the 3rd zonal harmonic of the Earth’s gravity field. The potential of the RTCM messages for broadcasting the improved navigation message is reviewed.