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For the first time, we introduced the probabilistic principal component analysis (pPCA) regarding the spatio-temporal filtering of Global Navigation Satellite System (GNSS) position time series to estimate and remove Common Mode Error (CME) without the interpolation of missing values. We used data from the International GNSS Service (IGS) stations which contributed to the latest International Terrestrial Reference Frame (ITRF2014). The efficiency of the proposed algorithm was tested on the simulated incomplete time series, then CME was estimated for a set of 25 stations located in Central Europe. The newly applied pPCA was compared with previously used algorithms, which showed that this method is capable of resolving the problem of proper spatio-temporal filtering of GNSS time series characterized by different observation time span. We showed, that filtering can be carried out with pPCA method when there exist two time series in the dataset having less than 100 common epoch of observations. The 1st Principal Component (PC) explained more than 36% of the total variance represented by time series residuals' (series with deterministic model removed), what compared to the other PCs variances (less than 8%) means that common signals are significant in GNSS residuals. A clear improvement in the spectral indices of the power-law noise was noticed for the Up component, which is reflected by an average shift towards white noise from-0.98 to-0.67 (30%). We observed a significant average reduction in the accuracy of stations' velocity estimated for filtered residuals by 35, 28 and 69% for the North, East, and Up components, respectively. CME series were also subjected to analysis in the context of environmental mass loading influences of the filtering results. Subtraction of the environmental loading models from GNSS residuals provides to reduction of the estimated CME variance by 20 and 65% for horizontal and vertical components, respectively.

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We described a spatio-temporal analysis of environmental loading models: atmospheric, continental hydrology, and non-tidal ocean changes, based on multichannel singular spectrum analysis (MSSA). We extracted the common annual signal for 16 different sections related to climate zones: equatorial, arid, warm, snow, polar and continents. We used the loading models estimated for a set of 229 ITRF2014 (International Terrestrial Reference Frame) International GNSS Service (IGS) stations and discussed the amount of variance explained by individual modes, proving that the common annual signal accounts for 16, 24 and 68% of the total variance of non-tidal ocean, atmospheric and hydrological loading models, respectively. Having removed the common environmental MSSA seasonal curve from the corresponding GPS position time series, we found that the residual station-specific annual curve modelled with the least-squares estimation has the amplitude of maximum 2 mm. This means that the environmental loading models underestimate the seasonalities observed by the GPS system. The remaining signal present in the seasonal frequency band arises from the systematic errors which are not of common environmental or geophysical origin. Using common mode error (CME) estimates, we showed that the direct removal of environmental loading models from the GPS series causes an artificial loss in the CME power spectra between 10 and 80 cycles per year. When environmental effect is removed from GPS series with MSSA curves, no influence on the character of spectra of CME estimates was noticed.

We described a spatio-temporal analysis of environmental loading models: atmospheric, continental hydrology, and non-tidal ocean changes, based on multichannel singular spectrum analysis (MSSA). We extracted the common annual signal for 16 different sections related to climate zones: equatorial, arid, warm, snow, polar and continents. We used the loading models estimated for a set of 229 ITRF2014 (International Terrestrial Reference Frame) International GNSS Service (IGS) stations and discussed the amount of variance explained by individual modes, proving that the common annual signal accounts for 16, 24 and 68% of the total variance of non-tidal ocean, atmospheric and hydrological loading models, respectively. Having removed the common environmental MSSA seasonal curve from the corresponding GPS position time series, we found that the residual station-specific annual curve modelled with the least-squares estimation has the amplitude of maximum 2 mm. This means that the environmental loading models underestimate the seasonalities observed by the GPS system. The remaining signal present in the seasonal frequency band arises from the systematic errors which are not of common environmental or geophysical origin. Using common mode error (CME) estimates, we showed that the direct removal of environmental loading models from the GPS series causes an artificial loss in the CME power spectra between 10 and 80 cycles per year. When environmental effect is removed from GPS series with MSSA curves, no influence on the character of spectra of CME estimates was noticed.