The International VLBI Service for Geodesy and Astrometry (IVS) regularly provides high-quality data to produce Earth Orientation Parameters (EOP), and for the maintenance and realisation of the International Terrestrial and Celestial Reference Frames, ITRF and ICRF. The first iteration of the celestial reference frame (CRF) at radio wavelengths, the ICRF1, was adopted by the International Astronomical Union (IAU) in 1997 to replace the FK5 optical frame. Soon after, the IVS began official operations and in 2009 there was a significant increase in data sufficient to warrant a second iteration of the CRF, ICRF2. The most recent ICRF3, was adopted by the IAU in 2018. However, due to the geographic distribution of observing stations being concentrated in the Northern hemisphere, CRFs are generally weaker in the South due to there being fewer Southern Hemisphere observations. To increase the Southern Hemisphere observations, and the density, precision of the sources, a series of deep South observing sessions was initiated in 1995. This initiative in 2004 became the IVS Celestial Reference Frame Deep South (IVS-CRDS) observing programme. This paper covers the evolution of the CRDS observing programme for the period 1995–2021, details the data products and results, and concludes with a summary of upcoming improvements to this ongoing project.

Mercury is locked in an unusual 3:2 spin-orbit resonance and as such is expected to be in a state of equilibrium called Cassini state. In that state, the angle between the spin axis and orbit normal, called obliquity, remains almost constant while the spin axis remains almost in the plane, also called Cassini plane, defined by the normal to the Laplace plane and the normal to the orbital plane. The spin axis and the orbit normal precess together with a period of about 300 kyr. The orientation of the spin axis of Mercury has been estimated using different approaches: (i) Earth-based radar observations, (ii) Messenger images and altimeter data, and (iii) Messenger radio tracking data. The different estimates all tend to confirm that Mercury occupies the Cassini state. The observed obliquity is small and close to 2 arcmin. It indicates a normalized polar moment of inertia of about 0.34. This information, combined with the existence of a liquid iron core, as evidenced by the librations, allows to constrain the interior structure of Mercury. However, the different estimates of the orientation of the spin axis locate the spin axis somewhat behind or ahead of the Cassini plane, and it is difficult to reconcile and interpret them coherently in terms of detailed interior properties. We review recent models for the obliquity and spin orientation of Mercury, which include the effects of complex orbital dynamics, tidal deformations and associated dissipation, and internal couplings related to the presence of fluid and solid cores. We discuss some implications regarding the interpretations of the orientation estimates in term of interior properties.

We compare published solutions for the rotation angle W(t) which describes the location of the prime meridian of Mars with respect to the ICRF equator in IAU recommendations. If the model for W includes a very long period term, we transform it into a quadratic polynomial with updated epoch value and rate, resulting in a difference in the mean epoch value up to 200 km. The mean and true epoch rotation angles are about 800 mas (13 m) apart in J2000 and should not be confused with each other in order to accurately locate the prime meridian. We identify two groups of radio-science solutions for W, which can be distinguished by the prime meridian location they used as a priori that differ from each other by about 100 m at J2000.

The modern Very Long Baseline Interferometry (VLBI) relativistic delay model, as documented in the IERS Conventions, refers to the time epoch when the signal passes one of two stations of an interferometer baseline (selected arbitrarily from the pair of stations and called the ‘reference station’ or ‘station 1’). This model consists of the previous correlation procedure used before the year 2002. However, since 2002 a new correlation procedure that produces the VLBI group delays referring to the time epoch of signal passage at the geocenter has been used. A corresponding correction to the conventional VLBI model delay has to be introduced. However, this correction has not been thoroughly presented in peer reviewed journals, and different approaches are used at the correlators to calculate the final group delays officially published in the IVS database. This may cause an inconsistency up to 6 ps for ground-based VLBI experiments between the group delay obtained by the correlator and the geometrical model delay from the IERS Conventions used in data analysis software. Moreover, a miscalculation of the signal arrival moment to the ‘reference station’ could result in a larger modelling error (up to 50 ps). The paper presents the justification of the correction due to transition between two epochs elaborated from the Lorentz transformation and the approach to model the uncertainty of the calculation of the signal arrival moment. Both changes are particularly essential for upcoming broadband technology geodetic VLBI observations.

IAU Commission 19 began in 1919 with the birth of the IAU at the Brussels Conference, where Standing Committee 19 on Latitude Variations was established as one of 32 standing committees. At the first IAU General Assembly in 1922, Standing Committee 19 became Commission 19 “Variation of Latitude”. In the beginning, the main topic of the Commission was the investigation of polar motion. Later, its activities included observations and theory of Earth rotation and connections between Earth orientation variations and geophysical phenomena. As a result, in 1964 at the XII IAU General Assembly, the Commission was renamed “Rotation of the Earth”. The investigation of Earth orientation variations is primarily based on observations of natural and artificial celestial objects. Therefore, maintenance of the international terrestrial and celestial reference frames, as well as the coordinate transformation between the frames and the improvement of the model of precession/nutation, have always been among the primary Commission topics. In 1987, the IAU through Commissions 19 and 31 “Time” established, jointly with the International Union of Geodesy and Geophysics, what is now known as the International Earth Rotation and Reference Systems Service. Commission 19 continued to work to develop methods to improve the accuracy and understanding of Earth orientation variations and related reference systems and frames as well as theoretical studies of Earth rotation. In 2015, Commission 19 was renewed as Commission A2 “Rotation of the Earth” continuing Commission 19’s functions and linking the astronomical community to other scientific organizations such as the International Association of Geodesy, International VLBI Service for Geodesy and Astrometry, International GNSS Service, International Laser Ranging Service and International DORIS Service. During its entire history, IAU Commission 19/A2 has always worked in close cooperation with these and other related services to improve the accuracy and consistency of the Earth orientation parameters and celestial and terrestrial reference frames.

Longitudinal librations are periodic changes in the rotation angle of a planet or satellite. Their observation and subsequent interpretation have profoundly increased our understanding of the interior structure of Mercury. Likewise, libration is thought to provide important constraints on the interior structure of icy satellites. Here we study the libration of Mercury and large icy satellites rotating synchronously with their orbital motion and explain how it depends on the interior structure.

Traditionally, navigation has been taught with methods employing Napier's rules for spherical triangles while methods derived from vector analysis and calculus appear to have been avoided in the teaching environment. In this document, vector methods are described that allow distance and azimuth at any point on a great circle to be determined. These methods are direct and avoid reliance on the formulae of spherical trigonometry. The vector approach presented here allows waypoints to be established without the need to either ascertain the position of the vertex or select the nearest pole; the method discussed here requires only one spherical triangle having an apex at the North Pole and is also easy to implement on a small computer.

Many problems in navigation can be best viewed and solved as problems in analytical geometry. We only need to understand the geometry of two ‘navigable’ surfaces; the sphere and the ellipsoid of revolution. The ellipsoidal model is generated by revolving an ellipse about its minor axis and this model is used as a global model for the surface of the Earth. The eccentricity of the meridian ellipse is small (≈0·082) so we sometimes refer to this surface as a ‘spheroid’ since the surface is still ‘sphere-like’. The physical Earth is, in fact, referred to as a ‘geoid’ whose surface is that which approximates global mean sea level. The mathematical representation of the geoid is not trivial and the ellipsoid of revolution is an extremely good approximation to it.