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Deep space tracking and navigation are done in a quasi-inertial reference frame based upon the angular positions of distant active galactic nuclei (AGN). These objects, which are found at extreme distances characterized by median redshifts of z = 1, are ideal for reference frame definition because they exhibit no measurable parallax or proper motion. They are thought to be powered by super massive black holes whose gravitational energy drives galactic sized relativistic jets. These jets produce synchrotron emissions which are detectable by modern radio techniques such as Very Long baseline Interferometry (VLBI).

Ka-band (32 GHz, 9mm) Very Long Baseline Interferometric (VLBI) networking has now begun and has tremendous potential for expansion over the next few years. Ka-band VLBI astrometry from NASA's Deep Space Network has already developed a catalog of 470 observable sources with highly accurate positions. Now, several antennas worldwide are planning or are considering adding Ka-band VLBI capability. Thus, there is now an opportunity to create a worldwide Ka-band network with potential for high resolution imaging and astrometry. With baselines approaching a Giga-lambda, a Ka-band network would be able to probe source structure at the nano-radian (200 as) level ( 100X better than Hubble) and thus gain insight into the astrophysics of the most compact regions of emission in active galactic nuclei. We discuss the advantages of Ka-band, show the known sources and candidates, simulate projected baseline (uv) coverage, and discuss potential radio frequency feeds. The combination of these elements demonstrates the feasibility of a worldwide Ka network within the next few years!

The standard VLBI analysis models the distribution of measurement noise as Gaussian. Because the price of recording bits is steadily decreasing, thermal errors will soon no longer dominate. As a result, it is expected that troposphere and instrumentation/clock errors will increasingly become more dominant. Given that both of these errors have correlated spectra, properly modeling the error distributions will become increasingly relevant for optimal analysis. We discuss the advantages of modeling the correlations between tropospheric delays using a Kolmogorov spectrum and the frozen flow assumption pioneered by Treuhaft and Lanyi. We then apply these correlated noise spectra to the weighting of VLBI data analysis for two case studies: X/Ka-band global astrometry and Earth orientation. In both cases we see improved results when the analyses are weighted with correlated noise models vs. the standard uncorrelated models. The X/Ka astrometric scatter improved by approx.10% and the systematic Delta delta vs. delta slope decreased by approx. 50%. The TEMPO Earth orientation results improved by 17% in baseline transverse and 27% in baseline vertical.

This paper is an update of Sotuela et al. (2011) which improves their simulated Gaia frame tie precision by approximately 10% by adding three additional VLBI observing sessions. Astrometry at X/Ka-band (8.4/32 GHz) using NASAs Deep Space Network has detected 466 quasars with accuracies of 200-300 micro-arc seconds. A program is underway to reduce errors by a factor of 2-3. From our sample, 245 sources have optical magnitudes V less than 20 and should also be detectable by Gaia. A covariance study using existing X/Ka data and simulated Gaia uncertainties for the 345 objects yields a frame tie precision of 10-15 micro-arc seconds (1 - sigma). The characterization of wavelength dependent systematic from extended source morphology and core shift should benefit greatly from adding X/Ka-band measurements to S/X-band (2.3/8.4 GHz) measurements thus helping to constrain astrophysical models of the wavelength dependence of positions.

As thermal errors are reduced instrumental and troposphere correlated errors will increasingly become more important. Work in progress shows that troposphere covariance error models improve data analysis results. We expect to see stronger effects with higher data rates. Temperature modeling of delay errors may further reduce temporal correlations in the data.

A celestial reference frame at X/Ka-band (8.4/32 GHz) has been constructed using fifty-one 24-hour sessions with the Deep Space Network. We report on observations which have detected 436 sources covering the full 24 hours of right ascension and declinations down to -45 deg. Comparison of this X/Ka-band frame to the S/X-band (2.3/8.4 GHz) ICRF2 shows wRMS agreement of 200 micro-arcsec in a cos delta and 290 micro-arcsec in delta. There is evidence for zonal errors at the 100 micro-arcsec level. Known errors include limited SNR, lack of phase calibration, troposphere mismodelling, and limited southern geometry. The motivations for extending the ICRF to frequencies above 8 GHz are to access more compact source morphology for improved frame stability, to provide calibrators for phase referencing, and to support spacecraft navigation at Ka-band.

In order to extend the International Celestial Reference Frame from its S/X-band (2.3/8.4 GHz) basis to a complementary frame at X/Ka-band (8.4/32 GHz), we began in mid-2005 an ongoing series of X/Ka observations using NASA s Deep Space Network (DSN) radio telescopes. Over the course of 47 sessions, we have detected 351 extra-galactic radio sources covering the full 24 hours of right ascension and declinations down to -45 degrees. Angular source position accuracy is at the part-per-billion level. We developed an error budget which shows that the main errors arise from limited sensitivity, mismodeling of the troposphere, uncalibrated instrumental effects, and the lack of a southern baseline. Recent work has improved sensitivity by improving pointing calibrations and by increasing the data rate four-fold. Troposphere calibration has been demonstrated at the mm-level. Construction of instrumental phase calibrators and new digital baseband filtering electronics began in recent months. We will discuss the expected effect of these improvements on the X/Ka frame.

A celestial reference frame at X/Kaband (8.4/32 GHz) has been constructed using fiftyone 24-hour sessions with the Deep Space Network. We report on observations which have detected 436 sources covering the full 24 hours of right ascension and declinations down to -45 deg. Comparison of this X/Ka-band frame to the S/X-band (2.3/8.4 GHz) ICRF2 shows wRMS agreement of 200 micro-arcsec ( mu as) in alpha cos delta and 290 mu as in delta. There is evidence for zonal errors at the 100 mu as level. Known errors include limited SNR, lack of phase calibration, troposphere mismodelling, and limited southern geometry. The motivations for extending the ICRF to frequencies above 8 GHz are to access more compact source morphology for improved frame stability, to provide calibrators for phase referencing, and to support spacecraft navigation at Ka-band.

In this paper we will argue that the VLBI community should be developing a road map to transition from S/X to simultaneous X and Ka-band (32 GHz) observations. There are both negative and positive reasons for planning such a transition. On the negative side, we will outline concerns that S-band observations may be headed toward obsolescence. On the positive side, we will refer to evidence that X/Ka has potential for providing a more stable reference frame than S/X. We will propose timetables for a transition to X/Ka observing starting from the current status of X/Ka and plans that are now taking shape. First X/Ka fringes were obtained in 2001 with the Deep Space Network. Future plans will be discussed including a proposed X/Ka-band upgrade to the VLBA. Lastly, we will consider the need for a period of overlap between S/X and X/Ka so that the long and rich history of astrometric and geodetic VLBI is not compromised.

We describe the goals and initial results of a collaboration formed to survey extragalactic objects at radio frequencies of 24 and 43 GHz This survey is for extending the International Celestial Reference Frame (ICRF) that is the current coordinate system for astrometry and wh ich is the angular inertial frame of deep space navigation. In princ iple, the extension should lead to a more stable reference frame. We report upon our initial three 24-hour observing sessions involving about 100 radio sources at the VLBA.

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The ICRF forms the basis for all astrometry including use as the inertial coordinate system for navigating deep space missions. This frame was defined using S/X-band observations over the past 20+ years. In January 2002, the VLBA approved our proposal for observing time to extend the ICRF to K-band (24 GHz) and Q-band (43 GHz). The first step will be observations at K- and Q-bands on a subset of ICRF sources. Eventually, K- and Q-band multi-epoch observations will be used to estimate positions, flux density and source structure for a large fraction of the current S/X-band ICRF source list. This work will benefit the radio astronomy community by extending the VLBA calibrator list at these bands. In the longer term, we would also like to extend the ICRF to Ka-band (32 GHz). A celestial reference frame will be needed at this frequency to support deep space navigation. A navigation demonstration is being considered for NASA's Mars 2005 mission. The initial K- and Q-band work will serve to identify candidate sources at Ka-band for use with that mission.

A quasi-inertial reference frame is defined based on the radio positions of 212 extragalactic sources distributed over the entire sky.

This report is a revision of the document Observation Model and Parameter Partials for the JPL VLBI Parameter Estimation Software 'MODEST'---1991, dated August 1, 1991. It supersedes that document and its four previous versions (1983, 1985, 1986, and 1987). A number of aspects of the very long baseline interferometry (VLBI) model were improved from 1991 to 1994. Treatment of tidal effects is extended to model the effects of ocean tides on universal time and polar motion (UTPM), including a default model for nearly diurnal and semidiurnal ocean tidal UTPM variations, and partial derivatives for all (solid and ocean) tidal UTPM amplitudes. The time-honored 'K(sub 1) correction' for solid earth tides has been extended to include analogous frequency-dependent response of five tidal components. Partials of ocean loading amplitudes are now supplied. The Zhu-Mathews-Oceans-Anisotropy (ZMOA) 1990-2 and Kinoshita-Souchay models of nutation are now two of the modeling choices to replace the increasingly inadequate 1980 International Astronomical Union (IAU) nutation series. A rudimentary model of antenna thermal expansion is provided. Two more troposphere mapping functions have been added to the repertoire. Finally, corrections among VLBI observations via the model of Treuhaft and lanyi improve modeling of the dynamic troposphere. A number of minor misprints in Rev. 4 have been corrected.

Ocean tidal effects on universal time and polar motion (UTPM) are investigated at four nearly diurnal (K(sub 1), P(sub 1), O(sub 1), and Q(sub 1)) and four nearly semidiurnal (K(sub 2), S(sub 2), M(sub 2), and N(sub 2)) frequencies by analyzing very long baseline interferometry (VLBI) data extending from 1978 to 1992. We discuss limitations of comparisons between experiment and theory for the retograde nearly diurnal polar motion components due to their degeneracy with prograde components of the nutation model. Estimating amplitudes of contributions to the modeled VLBI observables at these eight frequencies produces a statistically highly significant improvement of 7 mm to the residuals of a fit to the observed delays. Use of such an improved UTPM model also reduces the 14-30 mm scatter of baseline lengths about a time-linear model of tectonic motion by 3-14 mm, also withhigh significance levels. A total of 28 UTPM ocean tidal amplitudes can be unambiguously estimated from the data, with resulting UTI and PM magnitudes as large as 21 micro secs and 270 microarc seconds and formal uncertainties of the order of 0.3 micro secs and 5 microarc secs for UTI and PM, respectively. Empirically determined UTPM amplitudes and phases are com1pared to values calculated theoretically by Gross from Seiler's global ocean tide model. The discrepancy between theory and experiment is larger by a factor of 3 for UTI amplitudes (9 micro secs) than for prograde PM amplitudes (42 microarc secs). The 14-year VLBI data span strongly attenuates the influence of mismodeled effects on estimated UTPM amplitudes and phases that are not coherent with the eight frequencies of interest. Magnitudes of coherent and quasi-coherent systematic errors are quantified by means of internal consistency tests. We conclude that coherent systematic effects are many times larger than the formal uncertainties and can be as large as 4 micro secs for UTI and 60 microarc secs for polar motion. On the basis of such ealistic error estimates, 22 of the 31 fitted UTPM ocean tidal amplitudes differ from zero by more than 2 sigma.

The density of radio sources near the ecliptic in the astrometric JPL Very Long Baseline Interferometry (VLBI) catalog has been increased by over 50 percent since 1985. This density increase has been driven by the need for more sources for the VLBI navigation of the Magellan and Galileo spacecraft, but the sources also will be usable for Mars Observer and other future missions. Since the last catalog, including observations made through 1985, was published in 1988, a total of 21 radio sources has been added that fulfill the following criteria: (1) they lie within 10 deg of the ecliptic plane; (2) their correlated flux densities are above 0.2 Jy on at least one of the Deep Space Network intercontinental baselines at both 2.3 and 8.4 GHz; and (3) the source positions are known to better than 5 milliarcseconds (25 nanoradians). The density of such sources in the catalog has been increased from 15.6 per steradian to 25.2 per steradian. Ten more sources have been added that fulfill the last two criteria given above and lie between 10 deg and 20 deg from the ecliptic plane. Analysis shows that there may be approx. 70 more sources with correlated flux densities above 0.2Jy that are within approx. 20 deg of the ecliptic. However, VLBI navigation observations of the new and prospective sources with the 250-kHz bandwidth of the current operational system will require the use of two 70-m antennas in most cases. Including both old and new sources, if two 34-m antennas are used, there will be usable navigation sources within 10 deg of a spacecraft in only 30 percent of the ecliptic, and sources within 20 deg of a spacecraft over 70 percent of the ecliptic.

An astrometric radio reference frame has been determined from intercontinental dual-frequency radio interferometric measurements. These measurements were carried out on a regular basis during 1978-1985 between NASA's Deep Space Network stations in California, Spain, and Australia. Analysis of 6800 pairs of delay and delay-rate observations made during 51 sessions produced estimates of 1300 parameters. The most significant of these are geophysical quantities and positions of extragalactic sources. The source catalog resulting from this analysis includes 106 sources fairly uniformly distributed over the celestial sphere, north of -45 deg declination. Almost all of the resulting source positions have formal uncertainties between 0.5 and 3 milliarcseconds (mas), with rms values of 2 mas in both angular coordinates. Internal consistency checks, as well as comparisons with independently determined source catalogs of comparable quality, indicate that relative source coordinates determined by VLBI contain systematic errors at the level of 1 to 2 mas.