The 1-Centimeter Orbit: Jason-1 Precision Orbit Determination Using GPS,SLR, DORIS,and Altimeter Data Special Issue: Jason-1 Calibration/Validation

The Jason-1 radar altimeter satellite, launched on December 7, 2001 is the follow on to the highly successful TOPEX/Poseidon (T/P) mission and will continue the time series of centimeter level ocean topography measurements. Orbit error is a major component in the overall error budget of all altimeter satellite missions. Jason-1 is no exception and has set a 1-cm radial orbit accuracy goal, which represents a factor of two improvement over what is currently being achieved for T/P. The challenge to precision orbit determination (POD) is both achieving the 1-cm radial orbit accuracy and evaluating the performance of the 1-cm orbit. There is reason to hope such an improvement is possible. The early years of T/P showed that GPS tracking data collected by an on-board receiver holds great promise for precise orbit determination. In the years following the T/P launch there have been several enhancements to GPS, improving its POD capability. In addition, Jason-1 carries aboard an enhanced GPS receiver and significantly improved SLR and DORIS tracking systems along with the altimeter itself. In this article we demonstrate the 1-cm radial orbit accuracy goal has been achieved using GPS data alone in a reduced dynamic solution. It is also shown that adding SLR data to the GPS-based solutions improves the orbits even further. In order to assess the performance of these orbits it is necessary to process all of the available tracking data (GPS, SLR, DORIS, and altimeter crossover differences) as either dependent or independent of the orbit solutions. It was also necessary to compute orbit solutions using various combinations of the four available tracking data in order to independently assess the orbit performance. Towards this end, we have greatly improved orbits determined solely from SLR+DORIS data by applying the reduced dynamic solution strategy. In addition, we have computed reduced dynamic orbits based on SLR, DORIS, and crossover data that are a significant improvement over the SLR- and DORIS-based dynamic solutions. These solutions provide the best performing orbits for independent validation of the GPS-based reduced dynamic orbits. The application of the 1-cm orbit will significantly improve the resolution of the altimeter measurement, making possible further strides in radar altimeter remote sensing.     

The 1-Centimeter Orbit: Jason-1 Precision Orbit Determination Using GPS, SLR, DORIS, and Altimeter Data

The Jason-1 radar altimeter satellite, launched on December 7, 2001 is the follow on to the highly successful TOPEX/Poseidon (T/P) mission and will continue the time series of centimeter level ocean topography measurements. Orbit error is a major component in the overall error budget of all altimeter satellite missions. Jason-1 is no exception and has set a 1-cm radial orbit accuracy goal, which represents a factor of two improvement over what is currently being achieved for T/P. The challenge to precision orbit determination (POD) is both achieving the 1-cm radial orbit accuracy and evaluating the performance of the 1-cm orbit. There is reason to hope such an improvement is possible. The early years of T/P showed that GPS tracking data collected by an on-board receiver holds great promise for precise orbit determination. In the years following the T/P launch there have been several enhancements to GPS, improving its POD capability. In addition, Jason-1 carries aboard an enhanced GPS receiver and significantly improved SLR and DORIS tracking systems along with the altimeter itself. In this article we demonstrate the 1-cm radial orbit accuracy goal has been achieved using GPS data alone in a reduced dynamic solution. It is also shown that adding SLR data to the GPS-based solutions improves the orbits even further. In order to assess the performance of these orbits it is necessary to process all of the available tracking data (GPS, SLR, DORIS, and altimeter crossover differences) as either dependent or independent of the orbit solutions. It was also necessary to compute orbit solutions using various combinations of the four available tracking data in order to independently assess the orbit performance. Towards this end, we have greatly improved orbits determined solely from SLR+DORIS data by applying the reduced dynamic solution strategy. In addition, we have computed reduced dynamic orbits based on SLR, DORIS, and crossover data that are a significant improvement over the SLR- and DORIS-based dynamic solutions. These solutions provide the best performing orbits for independent validation of the GPS-based reduced dynamic orbits. The application of the 1-cm orbit will significantly improve the resolution of the altimeter measurement, making possible further strides in radar altimeter remote sensing.     

Jason-1 Precision Orbit Determination by Combining SLR and DORIS with GPS Tracking Data

With the implementation of the Jason-1 satellite altimeter mission, the goal of reaching the 1-cm level in orbit accuracy was set. To support the Precision Orbit Determination (POD) requirements, the Jason-1 spacecraft carries receivers for DORIS (Doppler Orbitography and Radiopositioning Integrated by Satellite) and GPS (Global Positioning System), as well as a retroreflector for SLR (Satellite Laser Ranging). The overall orbit accuracy for Jason will depend on the quality and the relative weighting of the available tracking data. In this study, the relative importance of the SLR, DORIS, and GPS tracking data is assessed along with the most effective parameterization for accounting for the unmodeled accelerations through the application of empirical accelerations. The optimal relative weighting for each type of tracking data was examined. It is demonstrated that GPS tracking alone is capable of supporting a radial orbit accuracy for Jason-1 at the 1-cm level, and that including SLR tracking provides additional benefits. It is also shown that the GRACE (Gravity Recovery and Climate Experiment) gravity model GGM01S provides a significant improvement in the orbit accuracy and reduction in the level of geographically correlated orbit errors.     

Jason-1 Precision Orbit Determination by Combining SLR and DORIS with GPS Tracking Data

With the implementation of the Jason-1 satellite altimeter mission, the goal of reaching the 1-cm level in orbit accuracy was set. To support the Precision Orbit Determination (POD) requirements, the Jason-1 spacecraft carries receivers for DORIS (Doppler Orbitography and Radiopositioning Integrated by Satellite) and GPS (Global Positioning System), as well as a retroreflector for SLR (Satellite Laser Ranging). The overall orbit accuracy for Jason will depend on the quality and the relative weighting of the available tracking data. In this study, the relative importance of the SLR, DORIS, and GPS tracking data is assessed along with the most effective parameterization for accounting for the unmodeled accelerations through the application of empirical accelerations. The optimal relative weighting for each type of tracking data was examined. It is demonstrated that GPS tracking alone is capable of supporting a radial orbit accuracy for Jason-1 at the 1-cm level, and that including SLR tracking provides additional benefits. It is also shown that the GRACE (Gravity Recovery and Climate Experiment) gravity model GGM01S provides a significant improvement in the orbit accuracy and reduction in the level of geographically correlated orbit errors.     

基于与Jason-2数据比对的Jason-3卫星高度计全球数据质量评估

Jason-3卫星高度计于2016年1月17日成功发射，2016年2月12日进入预定轨道，与Jason-2高度计同轨进入编队飞行阶段，并落后Jason-2高度计约1分20秒，两者相距约560 km。2016年9月1日，Jason-2高度计变换轨道，编队飞行阶段结束，两高度计进入平行轨道，以增加卫星高度计对地观测的空间覆盖。本研究主要开展了Jason-3高度计的数据质量的评估与检验，包括Jason-3高度计数据可用性和有效性的验证，以及Jason-3高度计和校正辐射计各参数的数据质量监测。重点开展了Jason-2与Jason-3高度计各项参数的综合比较，利用Jason-2与Jason-3高度计编队飞行阶段的数据精确评估了两高度计参数的一致性，并从全球数据角度分析了Jason-3高度计获取各参数的能力以及稳定性；通过与Jason-2互交叉点比较分析评估Jason-3高度计海面高度数据质量情况，验证Jason-3高度计数据精度。结果表明，Jason-3高度计的数据质量满足高度计测高的要求，具有与Jason-1、Jason-2、T/P等高度计相同或更高的测高精度以监测全球海平面变化，此外，Jason-3有效波高参数数据质量明显优于Jason-2高度计。     

One-Centimeter Orbit Determination for Jason-1: New GPS-Based Strategies

The U.S./French Jason-1 satellite is carrying a state-of-the-art GPS receiver to support precise orbit determination (POD) requirements. The performance of the Jason-1 “BlackJack” GPS receiver was strongly reflected in early POD results from the mission, enabling radial accuracies of 1-2 cm soon after the satellite's 2001 launch. We have made further advances in the GPS-based POD for Jason-1, most notably in describing the phase center variations of the on-board GPS antenna. We have also adopted new geopotential models from the Gravity Recovery and Climate Experiment (GRACE). The new strategies have enabled us to better exploit the unique contributions of the BlackJack GPS tracking data in the POD process. Results of both internal and external (e.g., laser ranging) comparisons indicate that orbit accuracies of 1 cm (radial RMS) are being achieved for Jason-1 using GPS data alone.     

One-Centimeter Orbit Determination for Jason-1: New GPS-Based Strategies

The U.S./French Jason-1 satellite is carrying a state-of-the-art GPS receiver to support precise orbit determination (POD) requirements. The performance of the Jason-1 “BlackJack” GPS receiver was strongly reflected in early POD results from the mission, enabling radial accuracies of 1–2 cm soon after the satellite's 2001 launch. We have made further advances in the GPS-based POD for Jason-1, most notably in describing the phase center variations of the on-board GPS antenna. We have also adopted new geopotential models from the Gravity Recovery and Climate Experiment (GRACE). The new strategies have enabled us to better exploit the unique contributions of the BlackJack GPS tracking data in the POD process. Results of both internal and external (e.g., laser ranging) comparisons indicate that orbit accuracies of 1 cm (radial RMS) are being achieved for Jason-1 using GPS data alone.     

Absolute Calibration of TOPEX/Poseidon and Jason-1 Using GPS Buoys in Bass Strait, Australia

An absolute calibration of the TOPEX/Poseidon (T/P) and Jason-1 altimeters has been undertaken during the dedicated calibration phase of the Jason-1 mission, in Bass Strait, Australia. The present study incorporates several improvements to the earlier calibration methodology used for Bass Strait, namely the use of GPS buoys and the determination of absolute bias in a purely geometrical sense, without the necessity of estimating a marine geoid. This article focuses on technical issues surrounding the GPS buoy methodology for use in altimeter calibration studies. We present absolute bias estimates computed solely from the GPS buoy deployments and derive formal uncertainty estimates for bias calculation from a single overflight at the 40-45 mm level. Estimates of the absolute bias derived from the GPS buoys is -10 ± 19 mm for T/P and +147 ± 21 mm for Jason-1 (MOE orbit) and +131 ± 21 mm for Jason-1 (GPS orbit). Considering the estimated error budget, our bias values are equivalent to other determinations from the dedicated NASA and CNES calibration sites.     

HY-2卫星雷达高度计时标偏差估算

卫星雷达高度计是海洋遥感监测的重要传感器之一,测高系统和定轨系统是高度计重要的组成部分。若两系统使用不同的系统时钟,则获得的轨道高度和卫星测距值之间可能会存在一个时标偏差,该时标偏差会降低卫星雷达高度计的海面高度测量精度。针对HY-2卫星雷达高度计的时标偏差问题,本文分析了时标偏差对测高精度的影响,介绍了一种使用自交叉点数据估算时标偏差值的方法,并基于HY-2卫星雷达高度计第21个周期数据开展了时标偏差修正实验。时标偏差修正后HY-2自交叉点的海面高度差值(也称"不符值")分布收敛程度有了明显的提高,其RMS均方根值从24.7 cm减小到了7.0 cm,HY-2与Jason-2互交叉点的不符值的RMS也从16.6 cm减小到了7.3 cm。这表明本文介绍的时标偏差修正方法可有效地提高HY-2卫星雷达高度计的测高精度。     

DORIS-DIODE: Jason-1 has a Navigator on Board

DIODE (Doris Immediate On-board orbit DEtermination) is a series of real-time orbit determination software, which process one-way up-link Doppler measurements performed by a DORIS receiver on a satellite. The DIODE software are embedded within the DORIS receivers, and they provide orbit and time determination to the user as well as technical parameters to adjust the tracking loop within the instrument. After a first successful flight on-board SPOT4, the second generation of the family operates on-board Jason-1, with more efficient and more accurate algorithms. Similar versions have been embarked onboard SPOT5 and ENVISAT. The accuracy is between 10 and 30 centimeters RMS for the radial component, and about 50 centimeters RMS in 3D. With several Failure Detection and Incident Recovery (FDIR) enhancements implemented in the software, DIODE/Jason-1 has experienced only one anomaly in July 2004; its availability is 99.7%, after two years and a half in-orbit. This article describes the DORIS/DIODE element of the Jason-1 system. It summarizes the main results obtained from the various verification activities that concerned all parts of this navigation and time-tagging Jason-1 subsystem.     

中国HY-2卫星雷达高度计有效波高真实性检验

Chinese Haiyang-2(HY-2) satellite is the first Chinese marine dynamic environment satellite. The dual-frequency(Ku and C band) radar altimeter onboard HY-2 has been working effective to provide operational significant wave height(SWH) for more than three years(October 1, 2011 to present).We validated along-track Ku-band SWH data of HY-2 satellite against National Data Buoy Center(NDBC) in-situ measurements over a time period of three years from October 1, 2011 to September 30, 2014, the root mean square error(RMSE) and mean bias of HY-2SWH is 0.38 m and(–0.13±0.35) m, respectively. We also did cross validation against Jason-2 altimeter SWH data,the RMSE and the mean bias is 0.36 m and(–0.22±0.28) m, respectively. In order to compare the statistical results between HY-2 and Jason-2 satellite SWH data, we validated the Jason-2 satellite radar altimeter along-track Ku-band SWH data against NDBC measurements using the same method. The results demonstrate the validation method in this study is scientific and the RMSE and mean bias of Jason-2 SWH data is 0.26 m and(0.00±0.26) m,respectively. We also validated both HY-2 and Jason-2 SWH data every month, the mean bias of Jason-2 SWH data almost equaled to zero all the time, while the mean bias of HY-2 SWH data was no less than –0.31 m before April2013 and dropped to zero after that time. These results indicate that the statistical results for HY-2 altimeter SWH are reliable and HY-2 altimeter along-track SWH data were steady and of high quality in the last three years. The results also indicate that HY-2 SWH data have greatly been improved and have the same accuracy with Jason-2SWH data after April, 2013. SWH data provided by HY-2 satellite radar altimeter are useful and acceptable for ocean operational applications.     

Absolute Calibration of Jason-1 and TOPEX/Poseidon Altimeters in Corsica

The double geodetic Corsica site, which includes Ajaccio-Aspretto and Cape Senetosa (40 km south Ajaccio) in the western Mediterranean area, has been chosen to permit the absolute calibration of radar altimeters. It has been developed since 1998 at Cape Senetosa and, in addition to the use of classical tide gauges, a GPS buoy is deployed every 10 days under the satellites ground track (10 km off shore) since 2000. The 2002 absolute calibration campaign made from January to September in Corsica revealed the necessity of deploying different geodetic techniques on a dedicated site to reach an accuracy level of a few mm: in particular, the French Transportable Laser Ranging System (FTLRS) for accurate orbit determination, and various geodetic equipment as well as a local marine geoid, for monitoring the local sea level and mean sea level. TOPEX/Poseidon altimeter calibration has been performed from cycle 208 to 365 using M-GDR products, whereas Jason-1 altimeter calibration used cycles from 1 to 45 using I-GDR products. For Jason-1, improved estimates of sea-state bias and columnar atmospheric wet path delay as well as the most precise orbits available have been used. The goal of this article is to give synthetic results of the analysis of the different error sources for the tandem phase and for the whole studied period, as geophysical corrections, orbits and reference frame, sea level, and finally altimeter biases. Results are at the millimeter level when considering one year of continuous monitoring; they show a great consistency between both satellites with biases of 6 ± 3 mm (ALT-B) and 120 ± 7 mm, respectively, for TOPEX/Poseidon and Jason-1.     

Absolute Calibration of Jason-1 and TOPEX/Poseidon Altimeters in Corsica Special Issue: Jason-1 Calibration/Validation

The double geodetic Corsica site, which includes Ajaccio-Aspretto and Cape Senetosa (40 km south Ajaccio) in the western Mediterranean area, has been chosen to permit the absolute calibration of radar altimeters. It has been developed since 1998 at Cape Senetosa and, in addition to the use of classical tide gauges, a GPS buoy is deployed every 10 days under the satellites ground track (10 km off shore) since 2000. The 2002 absolute calibration campaign made from January to September in Corsica revealed the necessity of deploying different geodetic techniques on a dedicated site to reach an accuracy level of a few mm: in particular, the French Transportable Laser Ranging System (FTLRS) for accurate orbit determination, and various geodetic equipment as well as a local marine geoid, for monitoring the local sea level and mean sea level. TOPEX/Poseidon altimeter calibration has been performed from cycle 208 to 365 using M-GDR products, whereas Jason-1 altimeter calibration used cycles from 1 to 45 using I-GDR products. For Jason-1, improved estimates of sea-state bias and columnar atmospheric wet path delay as well as the most precise orbits available have been used. The goal of this article is to give synthetic results of the analysis of the different error sources for the tandem phase and for the whole studied period, as geophysical corrections, orbits and reference frame, sea level, and finally altimeter biases. Results are at the millimeter level when considering one year of continuous monitoring; they show a great consistency between both satellites with biases of 6 ± 3 mm (ALT-B) and 120 ± 7 mm, respectively, for TOPEX/Poseidon and Jason-1.     

HY-2A卫星雷达高度计数据的全球统计评价及质量分析

自HY-2A卫星发射以来,针对HY-2A卫星雷达高度计产品的交叉定标、真实性检验及质量评估工作一直在持续开展。本文主要以HY-2A卫星高度计第44周期的IGDR产品数据为例,通过使用全球分布图、二维直方图和每日均值统计的方法完成了与Jason-2IGDR产品的比对验证,同时对主要环境校正参数及地球物理产品的数据质量稳定性进行了分析,结果显示高度计产品数据质量较稳定,此外利用HY-2A卫星升降轨交叉点海面高度差、与Jason-2卫星交叉点海面高度差以及沿轨海平面异常数据分析的方法进行了HY-2A卫星高度计观测系统的性能评估,结果显示,HY-2A卫星海面高度精度约为7.48cm,精度接近Jason-2,能满足海洋应用与科学研究的需要。     

Jason-1 Geophysical Performance Evaluation

The Jason-1 satellite was launched on 7 December 2001 with the primary objective of continuing the high accuracy time series of altimeter measurements that began with the TOPEX/Poseidon mission in 1992. To achieve this goal, it is necessary to validate the performance of the Jason-1 measurement system, and to verify that its error budget is at least at the same level as that of the TOPEX/Poseidon mission. The article reviews the main components of the Jason-1 altimetric error budget from instrument characterization to the geophysical use of the data. Using the Interim Geophysical Data Records (16DR) that were distributed to the Jason-1 Science Working Team during the verification phase of the mission, it is shown that the Jason-1 mission is performing well enough to continue studies of the large-scale features of the ocean, and especially to continue time series of mean sea-level variations with an accuracy comparable to TOPEX/Poseidon.     

Guest editorial

The Jason-1 satellite was launched on 7 December 2001 with the primary objective of continuing the high accuracy time series of altimeter measurements that began with the TOPEX/Poseidon mission in 1992. To achieve this goal, it is necessary to validate the performance of the Jason-1 measurement system, and to verify that its error budget is at least at the same level as that of the TOPEX/Poseidon mission. The article reviews the main components of the Jason-1 altimetric error budget from instrument characterization to the geophysical use of the data. Using the Interim Geophysical Data Records (16DR) that were distributed to the Jason-1 Science Working Team during the verification phase of the mission, it is shown that the Jason-1 mission is performing well enough to continue studies of the large-scale features of the ocean, and especially to continue time series of mean sea-level variations with an accuracy comparable to TOPEX/Poseidon.     

Global Statistical Assessment and Cross-Calibration with Jason-2 for Reprocessed HY-2 A Altimeter Data

HY-2 A (Haiyang-2 A) satellite was launched on August 16, 2011 and radar altimeter is one of its main payloads. We reprocessed two years of HY-2 A altimeter sensor geophysical dataset records (SGDR) data. This paper presents the main results in terms of reprocessed HY-2 A altimeter data quality: verification of data availability and validity, monitoring several relevant altimeter parameters, and assessment of the HY-2 A altimeter system performances. A cross-calibration analysis of reprocessed HY-2 A altimeter data with Jason-2 was conducted. The reprocessed HY-2 A altimeter data show good quality and have a low level of noise with respect to Jason-2. The same geophysical correction methods were used to calculate the sea surface height (SSH) for the two missions. The mean standard deviations of the crossover differences for HY-2 A and Jason-2 are 5.24 cm and 5.34 cm, respectively. The mean standard deviation of the crossover differences between HY-2 A and Jason-2 is 5.37 cm. These show that HY-2 A can provide SSH measurements at almost the same level of accuracy as Jason-2. The relative SSH bias between HY-2 A and Jason-2 due to the Ultra Stable Oscillator (USO) drift is obviously observed, and it can affect the calculation of mean sea level and should be further studied and corrected.     

DORIS/DIODE: Real-Time Orbit Determination Performance on Board SARAL/AltiKa

One amazing heritage of the current altimetry missions, Jason-2, CryoSat-2 (without mentioning their predecessors TOPEX-Poseidon, ERS, Jason-1, and EnviSat) is that DORIS using DIODE On-Board Orbit Determination software calculate orbits in real-time with accuracy. For example, accuracy has been improved to 2.7 cm RMS on board DORIS/Jason-2 compared with the final Precise Orbit Ephemerides (POE) orbit, generally known to have less than 1 cm accuracy on the radial component. Simultaneously, an efficient integrity team on-ground continually monitors the health of the DORIS system.

In February 2013, SARAL/AltiKa was launched hosting a DORIS DGXX receiver with the latest LV11 software as previously used in Jason-2 and CryoSat-2. DORIS on-board SARAL has since been permanently producing results efficiently every ten seconds without exception, including during manoeuvring phases. Spacecraft, ground-system, and users are provided with real-time information on the satellite position: the accuracy is approximately 3.0 cm RMS on the radial component, which is a major break-through for Near Real-Time (NRT) processing. These results are detailed in the paper. Future DORIS/DIODE versions will be used on-board Jason-3 and Sentinel-3.     

卫星高度计海面风速的校准与验证

为了改善不同卫星高度计海面风速数据之间的一致性,以浮标数据为基准,对国内的HY-2A和国外的T/P、GFO、Jason-1、Envisat、Jason-2、CryoSat-2共7颗卫星高度计的海面风速数据进行了分析,给出了各个卫星高度计的海面风速校准公式,并对其校准效果进行了验证。验证结果表明:各个卫星高度计的海面风速在经过校准后,与浮标海面风速差异的均值和均方根都有所降低,其中HY-2A最为显著。经过校准后所有卫星高度计的海面风速与浮标海面风速差异的均值都在±0.2m/s以内。除了HY-2A、GFO和Jason-1,其余4颗卫星高度计校准后的海面风速与浮标海面风速差异的均方根都在1.6m/s以下。由此可以得出结论,利用本文的校准公式对各个卫星高度计(特别是HY-2A卫星高度计)的海面风速进行校准,可以有效减少其与浮标海面风速之间的差异。     

Nonparametric Estimates of the Sea State Bias for the Jason-1 Radar Altimeter

The Jason-1 sea state bias (SSB) is analyzed in depth from the first year of GDR products. Compared to previous missions, this work benefits from two aspects of the empirical determination of the SSB from the altimetric data themselves. First, from a methodological point of view, a nonparametric technique (NP) has been developed and largely tested on TOPEX/Poseidon 1, GFO and Envisat data. The NP estimator has proven to be a useful tool in the SSB estimation, and it is now mature enough to be used for a refined analysis. On the other hand, the SSB can be extracted from three different data sets (crossovers, collinear data, and residuals) with different characteristics. It is then possible to cross calibrate various estimations of the SSB models and to determine the most accurate one. A systematic comparison is made between these different estimates for the Jason-1 altimeter. The collinear and crossover data sets yield very similar estimates despite their difference of spatial and temporal distributions. These SSB models assure consistency with the TOPEX mission when comparing Jason-1 and TOPEX residuals during the tandem phase. Thanks to the present work, the impact of the short wavelengths filtering on the SSB estimation is evidenced. More generally, our understanding of potential errors affecting the sea surface height and their impact onto the SSB estimation is also improved.