Ionospheric Drift Measurements

Ionospheric Drift Measurements
(Doppler inteferometry)
Cesidio Bianchi INGV - Roma Italy
Overview
1. Vertical Ionospheric Sounding (VIS) and principle of
the measurement
2. Multipath VISs echo signal
3. Doppler frequency shift
4. Principle of Doppler Interferometry
5. Phase relation and source position/velocity
determination
6. Conclusions
Introduction
The technique of Doppler drift measurements is a complex technique
that is now affordable by means of an advanced ionospheric sounder.
The echo signal contains the Doppler shift (in frequency) imposed on
the wave carrier by each point source where the signal is reflected.
The combination of vertical sounding and interferometric Doppler
detection discloses the Doppler sources.
Studies of the dynamics of the ionosphere and its related phenomena
AGW, TID, thermospheric wind, ionization/recombination of plasma
density and in general plasma drift.
1-Vertical Ionospheric Sounding and principle of measurement
'
2
h
c
t =
N f
c
9
Reflected
ray
Incident
ray
ionosphere
1-Vertical Ionospheric Sounding..
The measurement techniques of the Doppler drift in
the advanced ionosondes follows and derives from
the VIS where the echo signal is analysed in
frequency domain.
This measurement is performed at a fixed
frequency once that the height of the reflector is
established by a normal VS (see the ionogram).
Other differences such as the use of sine pulse,
signal sampling etc. will be explained later.
1-VIS and principle of measurement
A wave carrier of angular frequency is sent toward to the
ionosphere where it is reflected.
In the frequency range of 2-15 MHz the solid beam angle of
the employed antenna is very wide and the gain as low as 1-3
dB depending on the frequency so that an area of hundreds
of square kilometers is illuminated.
Because of the rippled ionospheric surfaces and the volume
inhomogeneities the signal is reflected back from various
point sources that satisfy the reflection law.
These point sources if moving are considered Doppler sources
that superimpose a Doppler shift on the signal carrier .
1-VSI and principle of measurement
2. Multipath VISs echo signal
) 2 cos( ) ( ) (
0 0
t f t u t A =
The transmitted signal of the ionosonde is:
where f
0
the carrier frequency, A(t) is the time dependent amplitude,
u(t) is the waveform of the HF radar signal that contains the reversal
phase code.
The received signal is:
=
+ + =
) (
0
0
) ( )] ( )) ( ( 2 cos[ )) ( ( ) (
t N
s
Ds s s
t n t t t f t t t r
where, the sum of the s reflectors can vary during the measurements
from 0 to N(t) take into account the N(t) multipath, the attenuated
s-path containing the code that is delayed by
s
,
Ds
is the time
dependent Doppler phase shift and n(t) is the noise.
2-Multipath VISs echo signal
The above relation describes the received echo signal we have to
deal about. The composite signal presents different time delay
s
,
while the phase change
Ds
due to the Doppler of the moving
reflectors contributes to the short time scale variations of the
power of the received echo. The multipath echo signal is then
down converted and reduced to the baseband described of the
following relation:
=
+ =
) (
0
) ( )] ( cos[ )) ( ( ) (
t N
s
Ds s
t n t t t t r
2- Multipath VISs echo signal
Considering:
- only a single flat reflector (it means only one Doppler )
- no electromagnetic noise or interferences
-non modulated wave having carrier angular frequency
- no losses
- only ordinary propagation mode
the echo signal is: A(t) = A
0
cos [( + )t + ]
where, is the time independent phase
For multipath signal (s sources)
A(t) = A
0
cos
s
[( +
s
)t +
s
]
3. Doppler frequency shift
In a moving (flat mirror reflector) with velocity v in vertical
direction, the radio wave of frequency f , is reflected back
with frequency f f . The sign is dependent on the versus
of the velocity of the reflector.
3- Doppler frequency shift
3-Doppler frequency shift
V
r
=W = radial
component
of the
vector
W
If the wave is emitted by a moving sources or picked-up
by a receiver in motion respect to the a fixed source and
the refractive index does not change in time we have:
v r.
c
f
f =
where r the ray direction and v the velocity (source or
receiving point). The velocity v (m/s) is the quantity that
usually we want to know.
v r. = W
In radar system the previous relation is still valid if we multiply it by 2
As in the previous relation the angular pulsation shift is:
where W is the radial velocity of the reflecting point, c is the light
velocity. Dividing by 2 both side of the above equation and replacing
= 2f with c k and we obtain:
where, f is the frequency, f is the frequency shift due to the Doppler
effect, and k wave vector.
c / W 2 =
/ W k f
D
=
W
2
c
f
f =
Measure of the Doppler frequency shift
By means of:
- Direct on the analog signal (heterodyne
analyzer)
- Direct by a digital Spectrum Analyzer
- PC after sampling and A/D and later
performing a DFT or FFT
Hz 4 (MHz) 8 (MHz) 12 (MHz) 16 (MHz) 20 (MHz)
V
r
= 3 m/s 0.08 0.16 0.24 0.32 0.4
V
r
=12 m/s 0.32 0.64 0.96 1.28 1.6
V
r
=36 m/s 0.96 1.92 2.88 3.84 4.8
Expected Doppler frequency shift f at the various
carrier frequency in MHz and different radial velocity
of the reflector
FFT resolution f (minimum) is related to the observation
time T. The smallest frequency is 1/T
The highest frequency in the FFT f
max
is f
s
/2; where f
s
is the
sampling frequency.
If we want a resolution = 0.08 Hz,
12.5 s time window is required
4. Principle of Doppler interferometry
In principle the interferometric Doppler technique rely
on the frequency and phase analysis of the signal picked-
up from spaced antennas lying in a plane at an
appropriate distance.
In our description we refer to 4 antennas placed in the
geometric barycentre and in vertices of equilateral
triangle as in figure. In order to better discriminate the
phase contributions it is important to maximize the
triangle size (more than 50 m), anyway to eliminate the
phase ambiguity, the distances between the antennas from
the centre of the triangle mustnt be greater than the
wavelength employed in the sounding system.
(The method here presented were developed at the University of Lowell Massachusetts Center for Atmospheric Research)
4 Principle..
4 Principle
The composite signal is received in the 4 spaced antennas.
The multipath components arrive with different time delays.
Because of the different delays the phase of the
components are different in each of the four antennas.
The separation of the different components and their
phase relation is the base Doppler interferometry.
The analysis of the phase relation allows us to locate each
single source in the horizontal plane at height R
established by VIS
4 Principle..
The output of a single
powerful algorithm (CFFT)
furnishes Doppler
harmonics and phases
which analysis allows to
derive the
sky-map of the sources.
The distance from
the vertical is given
by the zenithal angle
while the direction of the
velocity in the plane is
given by the azimuthal
angle .
x
y
k
k
tg = ) (
z
k
k
= ) cos(
4 Principle
The moving source (s ) adds a shift in frequency according to
the above equation and in the antenna we receive a composite
signal with different s that are the contribution of the s
significant sources.
In case of a single receiving antenna the spectral analysis
furnishes all the spectral components and the related phases
and we cannot discriminate the spatial distribution of the
different sources.
In case of 3 or more antennas it is possible with an
interferometric Doppler technique to solve the spatial
distribution of the significant sources.
4 Principle
Doppler
components
and ralated
phases
4 Principle
Spectral Analysis uses complex FFT (CFFT)
- Input data of the complex FFT are couple of N
values or complex number (a+jb) i.e. the result of the
quadrature sampling.
- Output furnishes couple of values representing
angular frequencies and phases of the Doppler sources.
- CFFT output yields a couple of N values from -N/2 to
N/2 representing amplitude and phase of each spectral
line. In this context negative spectral lines have a
physical significance. They means motion of the source
away from the center of the reference frame.
4 Principle..
Considering only one source (it means only one Doppler ),
at the antenna 1 the time varying amplitude of the echo
signal is:
A
1
(t) = A
01
cos [( + )t +
1
]
while at the generic antenna (a) the amplitude of the echo
signal is:
A
a
(t) = A
0a
cos [( + )t +
a
]
For multipath signal (s sources) we have:
A
a
(t) = A
0a
s
cos [( +
s
)t +
as
]
4 Principle.
After the quadrature sampling the signal of the two following
discrete-time sequences a and b will be obtained:
a (n ) = A0a(s) cos( (n) + a)
b (n ) = A0b(s) sin ( (n) + as)
where n is the sampling time interval.
If the sampling is performed at exactly the time period of
the carrier wave (2/), the sampling itself acts like a filter
rejecting the carrier and the two sequences will contain
only the Doppler shift .
4 Principle
Amplitude A(1 ) and phase (1 ) of the signal
at a given time 1 are:
=tan
-1
[ b(1 ) / a(1 )]
2
1
2
1 ) ( ) ( b a A + =
4 Principle
The two discrete-time sequences a (n) and b(n) are the input
of the algorithm that performs a complex Fast Fourier
Transform, (CFFT). The FFT of the N samples (where N is a
power of 2) can be written as:
where n is an index that runs from N/2 to N/2, d is a
dummy index used to perform the operation, and fa (n) is:
fa (n) = a(n) + ib(n)
= A0 cos( (n))+ A0 sin( (n))
It is worth to apply a tapering function (Hanning or others) to the
discrete and finite time sequences to avoid the ringing sin (x)/x after the
spectral analysis.
F d f n e
a n N
N
a
i
N
dn
( ) ( )
/
/
=
=
2
2 1
2
4 Principle
These values are sufficient to establish the significant
Doppler sources and the position in the horizontal plane
at the height first determined by the VIS (ionogram).
indicates the s Doppler
sources
indicates the relative phase
4. Principle..
5. Phase relation and source position/velocity
determination
5. Phase relation and..
It is worth to remark that different Doppler sources
are distinguishable by different
s
values (where s
is the number of sources).
For a given Doppler source , knowing the range r,
the wavelength , the distance l of separation
between the considered antennas and measuring the
phase differences 1as, it is possible to calculate the
two angles and and consequently the horizontal
position of the source respect to our reference
framework.
The phase term due to the source s in the
antenna 1 is
1
= k r
1s
+
where k is the wave vector, r
1s
is the oriented
vector from the antenna 1 to the source s, and
is the phase value at the level of the source s.
In the next analysis we can neglect because
it is a constant value that disappear in the
operation of subtraction.
Phase at the antenna a same Doppler source s
a
= k r
as
+ = k r
1s
+ kl
a
+
Phase difference between antenna 1 and a
We assume the antenna 1 as reference point.
Phase at the antenna a
=
1
-
a
= kl
a
5. Phase relation and
where la is the oriented vector from the antenna 1 and
the antenna a.
It means that the phase differences between the
antenna 1 and the generic antenna a is ksl a.
It must also be noted that because of the huge distance
of the r1s compared with the small distance between the
antennas la, the vector ks has the orientation in all the 4
antennas.
In the choosen geometry =
1
-
a
=kl
a
= k l
a
cos () = 2/ l cos()
=
(2/ ) l cos()
Referring to the previous figure the phase difference
between the antenna 1 and the generic antenna a is:
1as
=
1s
-
as
= k
s
l
a
= k
s
l
a
cos ()
1as
=(2 / ) l cos(a)
where
a
is the angle between k
s
and l
a
The phase difference
between the antenna 1 and the generic antenna a, according
to the above equation, is a function of the angle between
the vector k and l.
The moving source (s ), that has appropriate RCS adds a
shift in frequency to the carrier wave so that the
antenna array receives a composite signal with different
s
that are the contribution of the s sources.
In case of 4 antennas it is possible with this
interferometric Doppler technique to obtain the spatial
distribution of the main sources.
Each multipath component is characterized by the wave
vector k
s.
The phase difference between the antenna i
and the antenna j, placed at l
i
and l
j
is:
ji=

j

i=
k
s
(l
j
l
i
)
Utilizing 4 antennas (six equations) it is possible to solve
the wave vector k
s
(k
x
, k
y
, k
z
). First we are interested to
determine k
x
, k
y,
the components in the horizontal plane
xy then k
z
.
The sources position will be find as in the following.
By applying the linear regression we can write:
We are interested only at the first two components of k. The third
component will be evaluate later knowing that |k|=2/. More explicitly
It is possible to minimize the above equating to zero the derivative of
rr
respect to k
x
and k
y
. Because all the phase differences of the single
spectral component
ij
are measured (CFFT output), x
ij
, y
ij
are known
quantities while the unknown are k
x
and k
y
.

= + =
=
1
1 1
2
)] ( ) [(
N
j
N
j i
i j s i j
rr l l k

= + =
=
1
1 1
2
] [ ) , (
N
j
N
j i
ji y ji x ji y x
rr y k x k k k

= +
= + =
=
|
|
\
|
=
1
1 1
1
1 1
) , (
0 ] [ 2
N
j
N
j
ji
N
j
N
j i
ji y ji ji
k
k k
x y k x
x
y x
0 ] [ 2
1
1 1
1
1 1
) , (
=
|
|
\
|
=

= +
= + =
N
j
N
j
ji
N
j
N
j i
ji ji x ji
k
k k
y y x k
y
y x
ji
N
j
N
j i
ji
ji
N
j
N
j i
ji
ji
N
j
N
j
ji ji x
ji
N
j
N
j
ji y
ji
y
x
y y x k
y y k x

= +
= +

= + =
= + =
= +
= +
1
1 1
1
1 1
2
1
1 1
1
1 1
2
.
) (
) (
This linear system can be written in terms of matrix:

[ A] [ K] =[]
(
=
y
x
k
k
K] [
(
(
(
(
= + =
= + =
1
1 1
1
1 1
] [
N
j
N
j i
ji ji
N
j
N
j i
ji ji
y
x
(
(
(
(
= + =
= + =
= + =
= + =
1
1 1
2
1
1 1
1
1 1
1
1 1
2
] [
N
j
N
j i
ji
N
j
N
j i
ji ji
N
j
N
j i
ji ji
N
j
N
j i
ji
y y x
y x x
A
where:
Solving respect to k
x
and k
y
we obtain:
[ I] [ K] =[ A
-1
][ ]
where, [I] is the identity matrix [I]= [A] [A]
-1
. The inverse of the matrix
is:
being |A| the determinant of [A] equal:
(
(
(
(
= + =
= + =
= + =
= + =
1
1 1
2
1
1 1
1
1 1
1
1 1
2
| |
1
1
] [
N
j
N
j i
ji
N
j
N
j i
ji ji
N
j
N
j i
ji ji
N
j
N
j i
ji
A
x y x
y x y
A

= + =
= + =
= + =
= + =
=
1
1 1
1
1 1
1
1 1
2
1
1 1
2
| |
N
j
N
j i
ji ji
N
j
N
j i
ji ji
N
j
N
j i
ji
N
j
N
j i
ji y x y x y x A
then k
x
and k
y
are:
| |
. .
1
1 1
1
1 1
1
1 1
1
1 1
2
A
y y x x y
x
N
j
N
j
N
j
N
j
ji
N
j
N
j i
ji ji ji ji
N
j
N
j i
ji
ji
k

= +
= +
= + =
= + =
=

| |
. .
1
1 1
1
1 1
1
1 1
1
1 1
2
A
x y x y x
y
N
j
N
j
N
j
N
j
ji
N
j
N
j i
ji ji ji ji
N
j
N
j i
ji
ji
k

= +
= +
= + =
= + =
=

The last two yield the wanted result including the azimuth angle of
the Doppler source. In the framework of the antennas barycentre is:
While the vertical component k
z
is:
with k defined as 2/. In theory k= 2(f+f
D
)/c but being f
D
<< f one
will assume k=2f/c. The order of magnitude of the error is 10
-(4)
rad/m
and
) ( atan
x
y
k
k
=
2 2
2
y x z
k k k k =
z
k
k
= ) cos(
x
y
k
k
tg = ) (
where, is the zenith angle. These two couple of values will define the
Doppler sources in the horizontal plane or sky-map.
If we assume that the observed Doppler source
displacements are the result of a single horizontal drift
(bulk motion) of the ionospheric plasma it is possible to
determine its velocity. The Doppler frequency shift
caused by moving reflectors having radial velocity W
s
seen
in the previous relation.
where W
s
is the velocity of the source and k
s
the wave
vector and the angular frequency .
c / Ws 2 =
Drift velocity Calculation
If we assume that all the sources in the horizontal plane
are moving at the same velocity (V). The radial velocity Ws
calculated by means of last-square fit analysis
Ws= - (sc)/2
where s is the source index and gs a weighting
factor related to the number of sources
[ ]
=

s s
s s s
g
W V g
err
2
) (
2
being V=(V
x
+V
y
+V
z
) the searched drift velocity
By setting the partial derivative
err
2
/ Vx,
err
2
/ Vy
and
err
2
/ Vz,
to zero three simultaneous equation are obtained from
which Vx, Vy and Vz are calculated.
( ) [ ]
{ } 0
2
2 ) ( ) ( ) (
=
=
+ +
s s
s z s y s x s s
x x
g
W V W V W V g
V V
err
etc..
6. Conclusions
Find the height of the layer and choose the frequency by
VIS
Acquire the 4 temporal sequences of the echo signal with quadrature
sampling (amplitude and phase).
Perform CFFT that yields both harmonics components and related
phases (each
s
has different phase at the generic antenna a).
Obtain the most significant harmonic components n that are the
Doppler sources (maximum 128 o 256 ..)
Perform the best fit analysis of the phase differences that furnishes
the position of the sources in an horizontal plane (sky-map)
Perform the best fit analysis of the radial velocities that furnishes
the plasma drift direction (bulk motion)
Other considerations
Some more things we have to add
By means this technique it is impossible to separate two or
more sources giving the same .
Environmental noise and RF interferences are very critical in
this kind of measurements and, we cannot use radar waveform
(to avoid phase ambiguity), so the signal cannot be processed.
Intrinsic error of the measurements (phase incoherence of
the system).
If the refractive index changes in time, what we measure is
not only the real velocity because of a term of apparent
velocity must be included.
Apparent velocity
In general what we measure is not the drift
velocity
The time varying refractive index can introduce
a phase change because of the phase path
variation
So only in particular condition we can be sure
That we are measuring the plasma drift velocity.
3b
The detected radial component of the vector v is
related to the shift in frequency by:
dt
dl
c
f
f =
where,
f
is the frequency shift measured,
c the light velocity,
f the frequency and
(d l/dt) the time derivative of the phase path l
=
0
) (
S
dr r n l
Phase path
In general the phase path of the wave has different
direction respect to the wave ray
=
s
ds f n l
0
) cos( ) (
where is the angle between the propagation
direction and the ray direction.
s
0
s
3c
3d
When the refractive index does not change in time
we have:
v r.
c
f
f =
where r the ray direction and v the drift velocity of the
plasma. The velocity v (m/s) is the quantity that usually
we want know.

Ionospheric Drift Measurements

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Ionospheric Drift Measurements

This linear system can be written in terms of matrix:

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