Bridging Space and Time: The Revolutionary Impact of GNSS Technology
Peering into Infinity: Mankind standing on the Threshold of Space-Time, Gazing at the Endless Possibilities Beyond

Bridging Space and Time: The Revolutionary Impact of GNSS Technology

Introduction

In this golden era of technological evolution, navigation systems like Global Navigation Satellite Systems (GNSS) have broken Earth's atmospheric confines, offering deep insights into the universe's profound intricacies via the space-time continuum. This article sheds light on the revolutionary impact of GNSS technology, also known as satellite navigation systems, and its role in human progression. Specifically, we will delve into how GNSS technology intersects with Einstein's theory of relativity, the practical challenges it faces, and the future innovations on the horizon. Instead of merely enhancing geographical accuracy, GNSS has broader implications for our understanding of space and time.

Section 1: GNSS Technology - A Comprehensive Overview

In the fast-changing world of tech, GNSS stands out as an innovator, navigating through the complexities of modern exploration. This section aims to provide a more detailed insight into GNSS technology, a cornerstone in geospatial technology, tracing its evolution, components, and its pivotal role in various sectors of contemporary society.

1.1 Evolution and Development

The origins of GNSS technology date back to the second half of the 20th century, a vibrant period marked by the space race and the blossoming of new technologies. It was during this time that the American Global Positioning System (GPS) was launched, an initiative spearheaded by the United States Department of Defense. Interestingly, this project was born out of the necessity of the Cold War, initially serving military objectives before its remarkable transition to civilian use, becoming an indispensable tool in various sectors globally. This transition is a vivid example of the harmonious blend of science and society in the development of modern satellite-based navigation, a narrative thoroughly discussed in "GNSS - Global Navigation Satellite Systems: GPS, GLONASS, Galileo, and more" by Bernhard Hofmann-Wellenhof, Herbert Lichtenegger, and Elmar Wasle.

Emulating this pioneering initiative, several other global powers embarked on the journey to develop their systems, weaving their own unique narratives into the fabric of space navigation. The Russian GLONASS, for instance, symbolizes a story of resilience, recovering from a period of decline in the 90s to regain full operational status in 2011.

In contrast, the European Union's Galileo represents a vision of autonomy, aiming to establish a navigation system independent of the American and Russian networks. Since its inception, it has made significant strides, offering services like the Search and Rescue (SAR) service, which is part of the international Cospas-Sarsat programme, and the Open Service Navigation Message Authentication (OS-NMA), a notable contribution to GNSS security. It serves as a symbol of Europe’s technological sovereignty in satellite navigation, having achieved a series of significant milestones and continually expanding its global footprint.

Meanwhile, China's BeiDou system, named after the Big Dipper constellation, embodies a harmonious blend of ancient celestial navigation traditions with modern aspirations in space technology, echoing China's rich astronomical heritage.

These developments have fostered a global community interconnected through precise geolocation and timing services, uniting nations (less so nowadays) despite their differences and offering guidance through the celestial spheres, echoing the timeless tradition of seeking direction from the stars.

1.2 Components and Functional Architecture

GNSS functions via a meticulously organized framework, encompassing three primary segments: space, control, and user. Each segment is crucial in establishing the system's seamless functionality, intricately interconnected to provide a cohesive and robust navigational tool. This complex coordination and integration are detailed in "GPS Satellite Surveying" by Alfred Leick, Lev Rapoport, and Dmitry Tatarnikov.

Firstly, the space segment forms the outermost layer of this network, housing a constellation of satellites that navigate predetermined trajectories around the Earth. These satellites function as vigilant observers, continuously sending vital data back to the ground, thereby maintaining a persistent watch over our planet.

Subsequently, the control segment establishes the groundwork on our planet, functioning as the central nervous system of the GNSS technology. This segment is constituted of ground-based stations, which are tasked with monitoring and controlling the satellite operations. These stations ensure the harmonious and precise functioning of the network, a cornerstone in maintaining the equilibrium between the astronomical components and terrestrial needs.

Lastly, the user segment acts as a bridge between the sophisticated technology of GNSS and its practical applications. This segment, which includes receivers adept at interpreting signals transmitted by the satellites, has transformed the way we perceive and interact with the world in many ways. It brings the far reaches of space right into the palms of our hands, translating complex satellite data into accessible geolocation and time information.

Together, these components portray human ingenuity and the relentless pursuit of precision and connectivity.

Diagram illustrating the three key segments of GNSS technology—space, control, and user—connected from Earth to orbiting satellites, symbolizing the unlocking of the universe through advanced navigation.
Unlocking the Universe: A Visual Journey through GNSS Technology—From Earth to Orbiting Satellites and the Three Key Segments that Make It All Possible


1.3 Applications and Impact on Modern Society

GNSS technology has seamlessly woven itself into the fabric of modern society, instigating transformative shifts across various domains including transportation, agriculture, science, defense, and location-based service

In the transportation sector, GNSS technology has replaced the reliance on celestial navigation and complex maps, serving as a guide that enhances safety and efficiency in aviation, maritime, and land vehicle navigation by providing real-time data.

The agriculture sector has welcomed the advent of GNSS technology, heralding the rise of precision farming. This innovation allows farmers to optimize resource utilization and improve yield, marrying modern technology with sustainable practices to foster a green revolution that nourishes a burgeoning global population.

Moreover, the scientific community has utilized GNSS technology as a valuable resource for research in fields such as geophysics, climate studies, and space weather monitoring. It offers novel perspectives on Earth's dynamics and environmental shifts, facilitating the study of phenomena like tectonic plate movements and climate change patterns, which were previously unobservable to this extent.

1.4 Future Prospects and Innovations

Looking ahead, GNSS is set for even more groundbreaking advancements and integration with other advanced navigation systems. The prospects range from enhancing autonomous vehicle communication to refining signal processing for even greater accuracy. These advancements promise to extend the applications of GNSS into new realms, including augmented reality, emergency response systems, and more IoT devices. With influences from scientific domains like quantum mechanics and general relativity, the horizon of GNSS technology is broad, promising unprecedented levels of precision and a myriad of new applications.

Section 2: The Space-Time Continuum - Bridging Space and Time

"Time - A nonspatial continuum in which events occur in apparently irreversible succession from past through present to the future. An interval separating two points on this continuum, measured essentially by selecting a regularly recurring event, such as the sunrise , and counting the number of its recurrences during the interval of duration" - American Heritage Dictionary

The concept of the space-time continuum, a fundamental principle rooted in the theory of relativity, serves as a cornerstone in our understanding of the universe and forms the backbone of modern navigational systems. This section seeks to elucidate the nuances of the space-time continuum and its relationship with GNSS technology.

2.1 Theoretical Foundations

In the vast landscape of the universe, the space-time continuum is deeply rooted in Einstein's revolutionary theory of general relativity. This theory, which emerged in the early 20th century, marked a significant departure from the Newtonian concept of gravity that had dominated scientific thought for centuries.

Einstein introduced a revolutionary concept that seamlessly merged the three dimensions of space with the fleeting yet perpetual dimension of time, crafting a unified entity known as the space-time continuum. This continuum can be envisaged as a four-dimensional fabric, a vibrant canvas that is continually shaped and warped by the gravitational influence of massive celestial objects like stars and planets. These entities exert gravitational forces on this fabric, guiding the motion of other celestial bodies within this expansive tapestry, a concept vividly detailed in "Relativity, Gravitation and Cosmology: A Basic Introduction" by Ta-Pei Cheng.

The beauty of this theory lies in its departure from the established Newtonian view of gravity as a force acting between masses. Instead, Einstein portrayed gravity as curvatures within the space-time fabric, a dynamic and ever-changing landscape that dictates the motion of celestial bodies. This shift in perspective opened new avenues for understanding the cosmos, offering a lens through which we could perceive the intricate movement of celestial entities in a manner more aligned with the actual dynamics of the universe.

This theoretical foundation has fostered the development of technologies that harness the principles of relativity. Among these, the GNSS technology stands a practical application of these profound concepts, significantly enhancing our navigational capabilities.

Albert Einstein's theory of general relativity revolutionized our understanding of the universe. It replaced Newtonian gravity with a more dynamic concept, where the fabric of space-time is shaped by mass and energy. This foundational theory has had practical applications that notably influence the capabilities of GNSS technology today.

2.2 Interconnection with Celestial Navigation

Throughout history, the art and science of celestial navigation have maintained a deep-rooted connection with the concepts of space and time, a relationship that has evolved and blossomed over the centuries.

The history of celestial navigation has had a significant influence on modern GNSS technology. Ancient mariners like the Phoenicians and Polynesians relied on celestial bodies for navigation, laying the groundwork for understanding the relationship between space and time. The Greeks furthered this by developing astrolabes, early devices for celestial measurement that hinted at the complexities of modern navigational tools.

What is a Clock?

"Time "keeping" is simply a matter of counting cycles or units of time. A clock is what does the counting. In a more strict definition, a clock also keeps track of its count and displays what it has counted. But in a broad sense, the Earth and the Sun are a clock—the most common and most ancient clock we have, and the basis of all other clocks. When ancient peoples put a stick in the ground to observe the movement of its shadow from sunrise to sunset, it was fairly easy and certainly a natural step to mark off "noon" and other points where the shadow lay at other times of day—in other words, to make a sundial. Sundials can tell the time reliably when the Sun is shining. They are of no use at all when the Sun is not shining. So people made mechanical devices called clocks to interpolate or keep track of time between checks with the Sun. The Sun was a sort of "master clock" that served as a primary time scale by which the secondary mechanical clocks were calibrated and adjusted."

- "From Sundials to Atomic Clocks: Understanding Time and Frequency", J. Jespersen, J. Fitz-Randolph.

During the Islamic Golden Age, Muslim scholars and astronomers made substantial improvements to the astrolabe, refining its accuracy and usability. Their contributions helped transition the astrolabe from a rudimentary device into a more sophisticated instrument, which played a role in the development of navigation technologies.

These historical methods have not merely been succeeded by but have directly influenced modern technologies. GNSS technology essentially stands as an advanced form of celestial navigation, incorporating principles that can be traced back to these ancient and medieval methods but adding the dimensions of time accuracy and global coverage.

Graphical representation showcasing the interplay between the space-time continuum and GNSS technology, highlighting how time and space dimensions are integrated for precise navigation.
Where Time Meets Space: Exploring the Symbiotic Relationship Between the Space-Time Continuum and GNSS Technology

While significant progress has been made in marrying GNSS technology with the space-time continuum, this union comes with its own set of hurdles. One significant hurdle is the gravitational time dilation effects on satellite clocks, which require meticulous calibration. This subject is deeply elaborated upon in "Gravitation" by Misner, Thorne, and Wheeler. Another challenge is signal propagation delays due to Earth's atmosphere, necessitating specialized algorithms to ensure data integrity and maintain navigational accuracy.

As we look ahead, GNSS technology promises further evolution, driven by cutting-edge research in physics and astronomy. Innovations are particularly anticipated in the realms of quantum mechanics and gravitational wave research, potentially redefining our understanding of space-time.

Section 3: GNSS and the Space-Time Connection

Operating at the intersection of space and time, GNSS technology embodies modern innovation, fostering its symbiotic relationship with the space-time continuum. This section elaborates on the connection between GNSS technology and the space-time continuum, offering a deeper insight into the underlying principles and the remarkable advancements it brings to navigation.

3.1 The Role of Atomic Clocks

The heartbeat of GNSS technology lies in the precise workings of atomic clocks housed within the satellite constellations. These marvels of modern technology, known for their unparalleled precision, function based on the consistent vibrations of atoms, which in turn generate an incredibly stable frequency output.

The significance of this precision cannot be overstated. It stands as a pillar in ensuring the seamless synchronization essential for the effective functioning of GNSS. It's a delicate balance, where even a slight discrepancy of a nanosecond can translate into substantial positional errors, thus highlighting the critical role these clocks play in the system.

In this context, atomic clocks serve as an illustration of the space-time continuum in action. They manifest a realm where time isn't just a passive observer but an active participant, interacting with space to facilitate accurate navigation. This dynamic relationship offers a deeper insight into the vital role these clocks play in navigating our modern world.

Visual depiction of the Cosmic Time Scale, illustrating the vastness and solitude of infinite space, and its relation to the concept of time.
The Cosmic Time Scale: Just as vast and lonely as seemingly infinite space

In his recent paper, Frederick David Tombe delves into the fascinating relationship between atomic clocks and the principles of relativity. Tombe posits that two physical effects—motion and gravity—cause atomic clocks to run slower, and these effects can be quantified using equations related to those of relativity. He explores the commonality between motion and escape velocity in affecting clock mechanisms and challenges conventional wisdom by suggesting that time dilation is a myth. Tombe also introduces the concept of a 'fine-grained torque' that affects the intrinsic energy within the atomic clock, which is further influenced by a proposed aether filled with electron-positron vortices. This torque is the key to understanding how both motion and gravitational potential energy alter the clock's internal mechanism, thereby affecting its timekeeping abilities. The paper offers a fresh perspective that could reshape our understanding of time, motion, and gravitation.

3.2 Signal Propagation and General Relativity

The intricate workings of GNSS find their foundation in the doctrines of general relativity, a pivotal element in the conceptual framework of the space-time continuum. As the signals embark on their journey from the satellites in space to the receivers stationed on Earth, they navigate a realm where space and time exist in a complex, interdependent relationship.

This journey is not a straightforward one, for the signals encounter the curvature of space-time, a dynamic entity that is significantly influenced by the gravitational pull of the Earth. This gravitational influence, in turn, impacts the speed and trajectory of the signals as they make their way towards Earth. It is a testament to the intricate design of GNSS technology that these gravitational effects are carefully accounted for in its algorithms, ensuring that the process of position determination remains precise and accurate.

3.3 Intersecting Frontiers: GNSS and Space Exploration

As space exploration ventures further into the unknown, the role of GNSS is also evolving. This expansion is not just technological but visionary, stretching the boundaries of human capability and extending GNSS's reach beyond Earth.

Looking ahead, we can anticipate the development of GNSS-like systems for other celestial bodies, harnessing the principles of the space-time continuum for interplanetary navigation. Such advancements mark the beginning of a transformative phase in GNSS technology, aiming to use the concepts of space-time as a navigational tool and potentially guiding space missions with unprecedented accuracy.

This ambitious vision heralds a new era where navigation capabilities transcend Earth, setting the stage for journeys to distant celestial bodies with the same precision and reliability that GNSS offers here.

Section 4: Challenges and Innovations

The trajectory of GNSS technology, while revolutionary, is not devoid of challenges. As we stand at the cusp of new discoveries, the continual evolution of this technology promises to address existing limitations and spearhead groundbreaking developments. This section outlines the present challenges and forecasts the innovations that hold the potential to redefine our understanding of navigation within the space-time continuum.

4.1 Present Challenges

4.1.1 Signal Interference

Signal interference continues to be a significant roadblock in the advancement of GNSS technology, with challenges stemming from both natural and man-made phenomena. On one end of the spectrum, natural events like solar flares and geomagnetic storms introduce unpredictable disruptions that can severely affect the network's accuracy and reliability.

However, it's not just the cosmos that poses challenges. The human element, specifically in the form of intentional interference such as jamming and spoofing, is an equally pressing concern. Recent initiatives by u-blox highlight the extent of this vulnerability. The company participated in field tests to assess the resilience of GNSS receivers under actual conditions of jamming and spoofing. These real-world tests have been instrumental in identifying the receiver's behavior under dynamic conditions and have led to valuable insights for enhancing security in future devices. For instance, the tests showed that multi-frequency receivers are particularly effective in maintaining position and time data, even when one frequency band is compromised.

(See "GNSS/GPS jamming and spoofing tests under actual conditions: A step further in improving the resilience of receivers against RF interference" by Phillip Richter, Senior System Architect at u-blox AG )

In essence, the landscape of GNSS technology is fraught with complexities, both natural and man-made. The work of companies like u-blox is pivotal in developing robust countermeasures that can safeguard the integrity of GNSS systems, thereby ensuring that whether the threats are cosmic or manufactured, the technology remains resilient and reliable.

4.1.2 Atmospheric Delays

As GNSS signals make their way through the Earth's atmosphere, they encounter delays that have the potential to significantly alter the accuracy of position determination. These delays are mainly influenced by the Earth's ionosphere and troposphere, which introduce variations in the propagation speed of the signals. To address these challenges, complex algorithms are integrated into the GNSS framework to correct these delays, thereby ensuring that the system maintains its precision in navigation.

The ionosphere, being the ionized layer of the Earth's atmosphere, presents a major influence on the accuracy and reliability of satellite-based positioning or time estimation. The refractive index of the ionosphere is different from that of free space, causing a deviation in the propagation speed of radio signals. In particular, the ionosphere's impact varies significantly compared to that of the troposphere. Ionospheric range errors can fluctuate from a few meters to many tens of meters at zenith. Notably, since the removal of Selective Availability in 2000, the ionosphere has become the single largest error source for GNSS users, particularly for high-accuracy applications like Precise Point Positioning (PPP) and Real Time Kinematic (RTK) positioning. The ionosphere's dispersive nature offers the possibility of largely correcting ionospheric refraction through dual-frequency observables (or to put it another way; the ionosphere affects radio signals in a way that depends on their frequencies. This characteristic allows us to mostly correct signal distortions caused by the ionosphere. We can do this by using signals at two different frequencies to measure and adjust for these distortions). Furthermore, research indicates that advanced correction approaches, including higher-order ionospheric effects, offer promising avenues for improving the accuracy of GNSS systems.

As we navigate through these present challenges, our focus remains steadfast on developing strategies that can effectively mitigate these hurdles. This aims to foster a GNSS network that is both resilient and adaptive, capable of navigating the complexities of the modern world with unparalleled precision and reliability.

(See Hoque, Mainul & Jakowski, Norbert. (2012). Ionospheric Propagation Effects on GNSS Signals and New Correction Approaches)

4.2 Forthcoming Innovations

The development of various reference frames like fixed epoch, current epoch, and regional static frames aim to provide more accurate and time-bound location data. We will explore how these innovations are set to revolutionize the GNSS technology, making it more reliable and precise.

4.2.1 Addressing Interoperability Concerns & Innovations in Real-time Corrections

As underscored in the white paper "Not just where are you, but when are you: Unveiling the mystery behind GNSS correction service reference frames," authored by Bastian Huck, Senior Principal Engineer at u-blox AG, one of the primary challenges in the field of GNSS correction services is the use of different reference frames. These varying frames can lead to significant offsets when users attempt to compare location measurements across services. The challenge of interoperability between these disparate reference frames looms large, especially for applications that require cross-platform data consistency or redundancy. To address this, there is an emerging trend towards developing standardized methods or robust conversion tools that can facilitate seamless integration between different GNSS correction services.

Another avenue for innovation, as touched upon in the white paper, is the real-time correction of GNSS data. As GNSS correction services like PointPerfect (u-blox) and RTX (Trimble) aim to provide "dynamic" current epoch corrections, the need for real-time updates becomes increasingly crucial. Advances in communication technologies are enabling faster and more reliable transmission of correction data. These innovations not only improve the timeliness but also enhance the accuracy of GNSS measurements, thereby reducing the impact of challenges related to tectonic plate movements and other geophysical factors.

4.2.2 Integration with Quantum Mechanics

The integration of quantum mechanics into GNSS technology holds great promise. Quantum mechanics, with its ability to delve deep into the behaviors of subatomic particles, could lead to the development of quantum clocks. These advanced timekeeping devices are being meticulously engineered to offer unparalleled synchronization within GNSS systems.

The utility of quantum technologies is not limited to the Earth's surface. As pointed out in recent studies, the long lines of sight and low losses of free-space optical transmission in space make it an attractive arena for quantum key distribution (QKD) and other quantum technologies. Various orbital regions, from Low Earth Orbits (LEOs) to Geostationary Orbits (GEOs), offer unique advantages for the deployment of quantum technologies. For instance, satellites in medium Earth orbit are generally used to provide global navigation communications, and the development of space-based quantum clocks promises to upgrade the performance of existing GNSS systems significantly. These quantum clocks also enable distributed quantum information processing, such as faster algorithmic processing of data through distributed quantum computing (Belenchia et al., 2022).

Furthermore, the field of quantum communication technologies is emerging as a frontier in safeguarding GNSS signals against persistent threats like interference and spoofing. These technologies herald the onset of a new era where navigation systems are secure and reliable. Fortified by the principles of quantum mechanics, they offer a network resilient against external threats.

By leveraging the unique advantages that different orbital regions offer for the deployment of quantum technologies, GNSS systems are set to benefit from enhancements in accuracy, security, and functionality.

4.2.3 Gravitational Wave Research

Delving deeper into the cosmos, the field of gravitational wave research presents another exciting frontier in the evolution of navigation technology. These waves, ripples in the very fabric of space-time as predicted by Einstein's theory of general relativity, offer fascinating possibilities for the development of future navigation systems. The study of gravitational waves could potentially unveil novel methods of celestial navigation, introducing a new dimension in space-time navigation that leverages the dynamics of the space-time continuum to guide explorations in the cosmos. In practical terms, understanding these ripples in space-time might open doors for GNSS technology to develop new, more accurate navigational algorithms, particularly for applications in space exploration.

The advancements in gravitational-wave physics, as described in the article "Gravitational-wave physics and astronomy in the 2020s and 2030s" (Bailes, M., Berger, B.K., Brady, P.R. et al.), have direct implications for our understanding of the space-time continuum. Gravitational waves are ripples in space-time caused by some of the most violent and energetic processes in the universe. Their detection and study provide a unique avenue for testing the properties of space-time itself, as predicted by Albert Einstein's General Theory of Relativity.

For Navigation Systems like GPS, we find a fascinating intersection. GNSS already relies on the principles of General Relativity to correct for the time dilation effects experienced by satellites in weaker gravitational fields. The high-precision measurements required for gravitational-wave detection could potentially lead to technologies that enhance the accuracy and reliability of GNSS systems. For example, any advancements in the understanding of gravitational interactions at large scales might refine the relativistic corrections applied in GNSS calculations.

Moreover, the advent of space-based gravitational-wave detectors like LISA could provide synergies in satellite technologies. Such advancements could conceivably contribute to more robust, accurate, and versatile GNSS systems in the future.

The article concludes that gravitational-wave detectors have "opened a new window onto the Universe" (Nature Reviews Physics, vol. 3, May 2021). This new window could offer valuable insights into the space-time continuum that, in turn, enhance our existing navigation technologies and frameworks.

Man looking at a visual representation of the universe through a large picture frame, capturing the concept of self-reflection and the vast cosmos.
I Couldn't Resist: I call this one "Self-Reflection"

Conclusion

This exploration into Global Navigation Satellite Systems (GNSS) serves as a compelling narrative that encapsulates human ingenuity by touching on the blend of technological advancement with theoretical physics. The discussion traverses the evolution, components, and societal impact of GNSS technology, guided by Einstein's general relativity and enriched by a range of scholarly works. Despite challenges such as signal interference and atmospheric delays, GNSS technology promises ongoing innovations in quantum technologies and real-time corrections. These developments open up a vista of opportunities, setting the stage for transformative leaps in navigation and our understanding of the universe. It is hoped that this article will serve as both a brief summation and an invitation to partake in the ongoing journey to unravel the complex tapestry of space and time, through the lens of geolocation services. Feel free to share your insights or experiences related to GNSS technology in the comments below. Your engagement will enrich the collective understanding of this transformative field.

References

  1. Jespersen, J. & Fitz-Randolph, J. (1999). "From Sundials to Atomic Clocks"
  2. Hofmann-Wellenhof, B., Lichtenegger, H., & Wasle, E. (2007). "GNSS - Global Navigation Satellite Systems: GPS, GLONASS, Galileo, and more."
  3. Cheng, T.-P. (2004). "Relativity, Gravitation and Cosmology: A Basic Introduction."
  4. Leick, A., Rapoport, L., & Tatarnikov, D. (2015). "GPS Satellite Surveying."
  5. Greene, B. (2003). "The Fabric of the Cosmos: Space, Time, and the Texture of Reality."
  6. Misner, C.W., Thorne, K.S., & Wheeler, J.A. (1973). "Gravitation."
  7. Ashby, N. (2003). "Relativity in the Global Positioning System." Living Reviews in Relativity.
  8. Huck, B. (2023). "Not just where are you, but when are you: Unveiling the mystery behind GNSS correction service reference frames." u-blox AG.
  9. Richter, P. (2023). "GNSS/GPS jamming and spoofing tests under actual conditions." u-blox AG.
  10. Hoque, M., & Jakowski, N. (2012). "Ionospheric Propagation Effects on GNSS Signals and New Correction Approaches." DOI: 10.5772/30090.
  11. Belenchia, A. et al. (2022). "Quantum physics in space." Physics Reports, 951, 1-70. DOI: 10.1016/j.physrep.2021.11.004.
  12. Tombe, Frederick. (2023). Atomic Clocks and Relativity.
  13. Bailes, M., Berger, B.K., Brady, P.R. et al. Gravitational-wave physics and astronomy in the 2020s and 2030s. Nat Rev Phys 3, 344–366 (2021). https://doi.org/10.1038/s42254-021-00303-8

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