Geoid determination using one-step integration

A residual (high-frequency) gravimetric geoid is usually computed from geographically limited ground, sea and/or airborne gravimetric data. The mathematical model for its determination from ground gravity is based on the transformation of observed discrete values of gravity into gravity potential related to either the international ellipsoid or the geoid. The two reference surfaces are used depending on height information that accompanies ground gravity data: traditionally orthometric heights determined by geodetic levelling were used while GPS positioning nowadays allows for estimation of geodetic (ellipsoidal) heights. This transformation is usually performed in two steps: (1) observed values of gravity are downward continued to the ellipsoid or the geoid, and (2) gravity at the ellipsoid or the geoid is transformed into the corresponding potential. Each of these two steps represents the solution of one geodetic boundary-value problem of potential theory, namely the first and second or third problem. Thus two different geodetic boundary-value problems must be formulated and solved, which requires numerical evaluation of two surface integrals. In this contribution, a mathematical model in the form of a single Fredholm integral equation of the first kind is presented and numerically investigated. This model combines the solution of the first and second/third boundary-value problems and transforms ground gravity disturbances or anomalies into the harmonically downward continued disturbing potential at the ellipsoid or the geoid directly. Numerical tests show that the new approach offers an efficient and stable solution for the determination of the residual geoid from ground gravity data.     

Height datum definition,height datum connection and the role of the geodetic boundary value problem

Vertical datum definition is identical with the choice of a potential (or height) value for the fundamental bench mark. Also the connection of two adjacent vertical datums poses no principal problem as long as the potential (or height) value of two bench marks of the two systems is known and they can be connected by levelling. Only the unification of large vertical datums and the connection of vertical datums separated by an ocean remains difficult. Two vertical datums can be connected indirectly by means of a combination of precise geocentric positions of two points, as derived by space techniques, their potential (or height) value in the respective height datum and their geoid height difference. The latter requires the solution of the linear geodetic boundary value problem under the assumption that potential and gravity anomalies refer to a variety of height datums. The unknown off-sets between the various datums appear in the solution inside and outside the Stokes integral and can be estimated in a least squares adjustment, if geocentric positions, levelled heights and adequate gravity material are available for all datum zones. The problem can in principle also be solved involving only two datums, in case a precise global gravity field becomes available purely from satellite methods.     

Uniqueness and existence for the geodetic boundary value problem using the known surface of the earth

The geodetic boundary value problem using the known surface of the earth is defined and shown to have at most one solution. Furthermore it is proved that the solution exists and that its harmonic part can be represented by the potential of a simple layer under the sufficient condition that at the surface of the earth directions are known which lie differentially close to the gradients of the gravity field. The advantages of this boundary value problem are outlined in comparison to the boundary value problem formulated by Molodensky.     

Poisson重力边值问题

提出了Poisson重力边值问题,即关于扰动位的Poisson方程的Stokes问题和Neumann问题。作为导引,先研究Poisson方程的Dirichlet问题．再分别引入一种辅助函数,将Stokes问题和Neumann问题改化为Dirichlet问题,从而立即得到它们的积分解。最终解式表现为两部分叠加：一部分仅与边界观测相关,另一部分为对地形测量的响应,为研究地形测量对外部重力场和大地水准面的精化提供新的途径。     

论大地水准面

经典大地水准面被定义为等重力位水准面 ,它在海洋中重合于假想的静止海水面 ,而后者通常又由平均海水面来代替。然而 ,平均海水面并非重力等位面 ,如果精度要求高于 1m ,则上述经典定义不再适用。近代大地水准面被定义为最接近于平均海水面的重力等位面 ,但关键问题是如何确定这种大地水准面。为实现这一目标 ,不仅需要确定大地水准面的形状 ,而且需要确定大地位常数W0 。探讨了几种主要的大地水准面的定义及其相关的确定大地水准面的问题 ,并建议了一种新的大地水准面的定义     

On the evaluation of stationary sea surface topography using geodetic techniques

One of the principal problems in separating the non-tidal Newtonian gravitational effects from other forces acting on the ocean surface with a resolution approaching the 10 cm level arises as a consequence ofall measurements of a geodetic nature being taken eitherat orto the ocean surface. The latter could be displaced by as much as ±2 m from the equipotential surface of the Earth’s gravity field corresponding to the mean level of the oceans at the epoch of observation— i.e., the geoid. A secondary problem of no less importance is the likelihood of all datums for geodetic levelling in different parts of the world not coinciding with the geoid as defined above. It is likely that conditions will be favourable for the resolution of this problem in the next decade as part of the activities of NASA’s Earth and Ocean Physics Applications Program (EOPAP). It is planned to launch a series of spacecraft fitted with altimeters for ranging to the ocean surface as part of this program. Possible techniques for overcoming the problems mentioned above are outlined within the framework of a solution of the geodetic boundary value problem to ±5 cm in the height anomaly. The latter is referred to a “higher” reference surface obtained by incorporating the gravity field model used in the orbital analysis with that afforded by the conventional equipotential ellipsoidal model (Mather 1974 b). The input data for the solution outlined are ocean surface heights as estimated from satellite altimetry and gravity anomalies on land and continental shelf areas. The solution calls for a quadratures evaluation in the first instance. The probability of success will be enhanced if care were paid to the elimination of sources of systematic error of long wavelength in both types of data as detailed in (Mather 1973 a; Mather 1974 b) prior to its collection and assembly for quadratures evaluations.     

Boundary-value problems in the complex world of geodetic measurements

A review of recent progress and current activities towards an improved formulation and solution of geodetic boundary value problems is given. Improvements stimulated and required by the dramatic changes of the real world of geodetic measurements are focused upon. Altimetry–gravimetry problems taking into account various scenarios of non-homogeneous data coverage are discussed in detail. Other problems are related to free geodetic datum parameters, most of all the vertical datum, overdetermination or additional constraints imposed by satellite geodetic observations or models. Some brief remarks are made on pseudo-boundary value problems for geoid determination and on purely gravitational boundary-value problems. Received: 17 March 1999 / Accepted: 19 April 1999     

On the non-linear geodetic boundary value problem for a fixed boundary surface

Summary The fixed gravimetric boundary value problem of Physical Geodesy is a nonlinear, oblique derivative problem. Expanding the non-linear boundary condition into a Taylor series—based upon some reference potential field approximating the geopotential—it is shown that the numerical convergence of this series is very rapid; only the quadratic term may have some practical impact on the solution. The secondorder solution term can be described by a spherical integral formula involving the deflections of the vertical with respect to the reference field. The influence of nonlinear terms on the figure of the level surfaces (e.g. the geoid) is roughly estimated to have an order of magnitude of some few centimetres, based upon a Somigliana-Pizzetti reference field; if on the other hand some high-degree geopotential model is used as reference then the effects by non-linearity are negligible from a practical point of view.     

最小二乘法求解三类卫星重力梯度边值问题的研究

研究了最小二乘法求解3类卫星重力梯度边值问题的理论和方法，给出了3类梯度观测值{Гzz}、{Гxz、Гyz}和{Гxx-Гyy,2Гxy}对应边值问题解的核函数严密表达式。模拟试算结果表明，最小二乘法求解的卫星重力梯度积分公式用于恢复地球重力场是有效而严密的。     

The ellipsoidal correction to the Stokes kernel for precise geoid determination

Solving the geodetic boundary-value problem (GBVP) for the precise determination of the geoid requires proper use of the fundamental equation of physical geodesy as the boundary condition given on the geoid. The Stokes formula and kernel are the result of spherical approximation of this fundamental equation, which is a violation of the proper relation between the observed quantity (gravity anomaly) and the sought function (geoid). The violation is interpreted here as the improper formulation of the boundary condition, which implies the spherical Stokes kernel to be in error compared with the proper kernel of integral transformation. To remedy this error, two correction kernels to the Stokes kernel were derived: the first in both closed and spectral forms and the second only in spectral form. Contributions from the first correction kernel to the geoid across the globe were [−0.867 m, +1.002 m] in the low-frequency domain implied by the GRIM4-S4 purely satellite-derived geopotential model. It is a few centimeters, on average, in the high-frequency domain with some exceptions of a few meters in places of high topographical relief and sizable geological features in accordance with the EGM96 combined geopotential model. The contributions from the second correction kernel to the geoid are [−0.259 m, +0.217 m] and [−0.024 m, +0.023 m] in the low- and high-frequency domains, respectively.     

Spherical integral formulas for upward/downward continuation of gravitational gradients onto gravitational gradients

New integral formulas for upward/downward continuation of gravitational gradients onto gravitational gradients are derived in this article. They provide more options for continuation of gravitational gradient combinations and extend available mathematical apparatus formulated for this purpose up to now. The starting point represents the analytical solution of the spherical gradiometric boundary value problem in the spatial domain. Applying corresponding differential operators on the analytical solution of the spherical gradiometric boundary value problem, a total of 18 integral formulas are provided. Spatial and spectral forms of isotropic kernels are given and their behaviour for parameters of a GOCE-like satellite is investigated. Correctness of the new integral formulas and the isotropic kernels is tested in a closed-loop simulation. The derived integral formulas and the isotropic kernels form a theoretical basis for validation purposes and geophysical applications of satellite gradiometric data as provided currently by the GOCE mission. They also extend the well-known Meissl scheme.     

On the solvability of the Stokes pseudo-boundary-value problem for geoid determination

A new form of boundary condition of the Stokes problem for geoid determination is derived. It has an unusual form, because it contains the unknown disturbing potential referred to both the Earth's surface and the geoid coupled by the topographical height. This is a consequence of the fact that the boundary condition utilizes the surface gravity data that has not been continued from the Earth's surface to the geoid. To emphasize the `two-boundary' character, this boundary-value problem is called the Stokes pseudo-boundary-value problem. The numerical analysis of this problem has revealed that the solution cannot be guaranteed for all wavelengths. We demonstrate that geoidal wavelengths shorter than some critical finite value must be excluded from the solution in order to ensure its existence and stability. This critical wavelength is, for instance, about 1 arcmin for the highest regions of the Earth's surface. Furthermore, we discuss various approaches frequently used in geodesy to convert the `two-boundary' condition to a `one-boundary' condition only, relating to the Earth's surface or the geoid. We show that, whereas the solution of the Stokes pseudo-boundary-value problem need not exist for geoidal wavelengths shorter than a critical wavelength of finite length, the solutions of approximately transformed boundary-value problems exist over a larger range of geoidal wavelengths. Hence, such regularizations change the nature of the original problem; namely, they define geoidal heights even for the wavelengths for which the original Stokes pseudo-boundary-value problem need not be solvable. Received 11 September 1995; Accepted 2 September 1996     

The free versus fixed geodetic boundary value problem for different combinations of geodetic observables

Various formulations of the geodetic fixed and free boundary value problem are presented, depending upon the type of boundary data. For the free problem, boundary data of type astronomical latitude, astronomical longitude and a pair of the triplet potential, zero and first-order vertical gradient of gravity are presupposed. For the fixed problem, either the potential or gravity or the vertical gradient of gravity is assumed to be given on the boundary. The potential and its derivatives on the boundary surface are linearized with respect to a reference potential and a reference surface by Taylor expansion. The Eulerian and Lagrangean concepts of a perturbation theory of the nonlinear geodetic boundary value problem are reviewed. Finally the boundary value problems are solved by Hilbert space techniques leading to new generalized Stokes and Hotine functions. Reduced Stokes and Hotine functions are recommended for numerical reasons. For the case of a boundary surface representing the topography a base representation of the solution is achieved by solving an infinite dimensional system of equations. This system of equations is obtained by means of the product-sum-formula for scalar surface spherical harmonics with Wigner 3j-coefficients.     

The free versus fixed geodetic boundary value problem for different combinations of geodetic observables

Various formulations of the geodetic fixed and free boundary value problem are presented, depending upon the type of boundary data. For the free problem, boundary data of type astronomical latitude, astronomical longitude and a pair of the triplet potential, zero and first-order vertical gradient of gravity are presupposed. For the fixed problem, either the potential or gravity or the vertical gradient of gravity is assumed to be given on the boundary. The potential and its derivatives on the boundary surface are linearized with respect to a reference potential and a reference surface by Taylor expansion. The Eulerian and Lagrangean concepts of a perturbation theory of the nonlinear geodetic boundary value problem are reviewed. Finally the boundary value problems are solved by Hilbert space techniques leading to new generalized Stokes and Hotine functions. Reduced Stokes and Hotine functions are recommended for numerical reasons. For the case of a boundary surface representing the topography a base representation of the solution is achieved by solving an infinite dimensional system of equations. This system of equations is obtained by means of the product-sum-formula for scalar surface spherical harmonics with Wigner 3j-coefficients.     

利用大地边值问题方法统一全球高程基准

为解决世界各国高程基准差异的问题,提出联合卫星重力场模型、地面重力数据、GNSS大地高、局部高程基准的正高或正常高,按大地边值问题法确定局部高程基准重力位差的方法。首先推导了利用传统地面"有偏"重力异常确定高程基准重力位差的方法;接着利用改化Stokes核函数削弱"有偏"重力异常的影响,并联合卫星重力场模型和地面"有偏"重力数据,得到独立于任何局部高程基准的重力水准面,以此来确定局部高程基准重力位差;最后利用GNSS+水准数据和重力大地水准面确定了美国高程基准与全球高程基准W₀的重力位差为-4.82±0.05 m²s^-2。     

大地水准面短议

介绍了大地水准面的定义，简单回顾了计算大地水准面研究的进展，扼要介绍了Stokes—Helmert方法，以及它对付不精确知道岩石密度的妙处，还评论了向下延拓的意义，最后展望了大地边值问题研究的前景.     

Solving three types of satellite gravity gradient boundary value problems by least-squares

The principle and method for solving three types of satellite gravity gradient boundary value problems by least-squares are discussed in detail. Also, kernel function expressions of the least-squares solution of three geodetic boundary value problems with the observations {Гzz}, {Гxz, Гyz} and {Гxx ? Гyy, 2Гxy} are presented. From the results of recovering gravity field using simulated gravity gradient tensor data, we can draw a conclusion that satellite gravity gradient integral formulas derived from least-squares are valid and rigorous for recovering the gravity field.     

A bias-free geodetic boundary value problem approach to height datum unification

A geodetic boundary value problem (GBVP) approach has been formulated which can be used for solving the problem of height datum unification. The developed technique is applied to a test area in Southwest Finland with approximate size of 1.5° × 3° and the bias of the corresponding local height datum (local geoid) with respect to the geoid is computed. For this purpose the bias-free potential difference and gravity difference observations of the test area are used and the offset (bias) of the height datum, i.e., Finnish Height Datum 2000 (N2000) fixed to Normaal Amsterdams Peil (NAP) as origin point, with respect to the geoid is computed. The results of this computation show that potential of the origin point of N2000, i.e., NAP, is (62636857.68 ± 0.5) (m²/s²) and as such is (0.191 ± 0.003) (m) under the geoid defined by W ₀ = 62636855.8 (m²/s²). As the validity test of our methodology, the test area is divided into two parts and the corresponding potential difference and gravity difference observations are introduced into our GBVP separately and the bias of height datums of the two parts are computed with respect to the geoid. Obtaining approximately the same bias values for the height datums of the two parts being part of one height datum with one origin point proves the validity of our approach. Besides, the latter test shows the capability of our methodology for patch-wise application.     

随机Poisson方程Dirichlet大地边值问题的随机积分解

利用随机微分方程理论,给出了随机Poisson方程Dirichlet大地边值问题的随机积分解,讨论了随机与确定边值问题间的关联。对应视为随机过程的函数,若采用确定性边值问题求解,不确定性影响将被直接带入最终解中;若采用随机积分解,则类似Gauss白噪声的影响将被滤掉,这对进一步提高重力场的求解精度具有重要影响。     

解混合边值问题直接计算位系数的变分原理

本文提出了利用变分法解混合边值问题直接计算位系数的原理。根据这一原理可解第一、第二和第三边值问题的混合边值问题直接求得位系数。利用这一原理可较简单地联合利用经典重力测量(即重力点的平面位置由天文或三角测量确定,高程由水准或三角高程确定)、卫星重力测量(即利用卫星定位技术确定重力点的平面位置和大地高)以及卫星测高数据研究地球的重力场。