Raspberry Pi Reflector (RPR): a Low-cost Water-level Monitoring System
based on GNSS Interferometric Reflectometry
Abstract
Although reflectometry had not been considered as a primary application
of GPS and similar Global Navigation Satellite Systems (GNSS),
fast-growing GNSS tracking networks has led to the emergence of GNSS
interferometric reflectometry technique for monitoring surface changes
such as water level. However, geodetic GNSS instruments are expensive,
which is a limiting factor for their prompt and more widespread
deployment as a dedicated environmental sensing technique. We present a
prototype called Raspberry Pi Reflector (RPR) that includes a low-cost
and low-maintenance single-frequency GPS module and a navigation antenna
connected to an inexpensive Raspberry Pi microcomputer. A unit has been
successfully operating for almost two years since March 2020 in Wesel
(Germany) next to the Rhine river. Sub-daily and daily water levels are
retrieved using spectral analysis of reflection data. The river level
measurements from RPR are compared with a co-located river gauge. We
find an RMSE of 7.6 cm in sub-daily estimates and 6 cm in daily means of
river level. In August 2021, we changed the antenna orientation from
upright to sideways facing the river. The RMSE dropped to 3 cm
(sub-daily) and 1.5 cm (daily) with the new orientation. While satellite
radar altimetry techniques have been utilized to monitor water levels
with global coverage, their measurements are associated with moderate
uncertainties and temporal resolution. Therefore, such low-cost and
high-precision instruments can be paired with satellite data for
calibrating, validating and modeling purposes. These instruments are
financially (< US$ 150) and technically accessible worldwide.