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The carousel model of pulsar emission attributes the phenomenon of subpulsedrifting to a set of discrete sparks located very near the stellar surfacerotating around the magnetic axis. Here, we investigate the subpulse driftingbehaviour of PSR B0031-07 in the context of the carousel model. We show thatB0031-07's three drift modes (A, B, and C) can be understood in terms of asingle carousel rotation rate if the number of sparks is allowed to change byan integral number, and where the different drift rates are due to(first-order) aliasing effects. This also results in harmonically-relatedvalues for P 3 (the time it takes a subpulse to reappear at the same pulsephase), which we confirm for B0031-07. A representative solution has [n_A, n_B,n_C] = [15, 14, 13] sparks and a carousel rotation period of P_4 = 16.4 P_1. Wealso investigate the frequency dependence of B0031-07's subpulse behaviour. Weextend the carousel model to include the dual effects of aberration andretardation, including the time it takes the information about the surfacespark configuration to travel from the surface up to the emission point.Assuming these effects dominate at B0031-07's emission heights, we deriveconservative emission height differences of $\lesssim 2000$ km for mode A and$\lesssim 1000$ km for modes B and C as seen between 185 MHz and 610 MHz. Thisnew method of measuring emission heights is independent of others that involveaverage profile components or the polarisation position angle curve, and thusprovides a potentially strong test of the carousel model.

The frequency-dependent behaviour of subpulse drifting: I. Carousel geometry and emission heights of PSR B0031-07