A spectral optimally interpolated mean sea surface from satellite radar altimetry

 A technique is presented for the development of a high-precision and high-resolution mean sea surface model utilising radar altimetric sea surface heights extracted from the geodetic phase of the European Space Agency (ESA) ERS-1 mission. The methodology uses a cubic-spline fit of dual ERS-1 and TOPEX crossovers for the minimisation of radial orbit error. Fourier domain processing techniques are used for spectral optimal interpolation of the mean sea surface in order to reduce residual errors within the initial model. The EGM96 gravity field and sea surface topography models are used as reference fields as part of the determination of spectral components required for the optimal interpolation algorithm. A comparison between the final model and 10 cycles of TOPEX sea surface heights shows differences of between 12.3 and 13.8 cm root mean square (RMS). An un-optimally interpolated surface comparison with TOPEX data gave differences of between 15.7 and 16.2 cm RMS. The methodology results in an approximately 10-cm improvement in accuracy. Further improvement will be attained with the inclusion of stacked altimetry from both current and future missions. Received: 22 December 1999 / Accepted: 6 November 2000     

Geoid, topography, and the Bouguer plate or shell

 Topography plays an important role in solving many geodetic and geophysical problems. In the evaluation of a topographical effect, a planar model, a spherical model or an even more sophisticated model can be used. In most applications, the planar model is considered appropriate: recall the evaluation of gravity reductions of the free-air, Poincaré–Prey or Bouguer kind. For some applications, such as the evaluation of topographical effects in gravimetric geoid computations, it is preferable or even necessary to use at least the spherical model of topography. In modelling the topographical effect, the bulk of the effect comes from the Bouguer plate, in the case of the planar model, or from the Bouguer shell, in the case of the spherical model. The difference between the effects of the Bouguer plate and the Bouguer shell is studied, while the effect of the rest of topography, the terrain, is discussed elsewhere. It is argued that the classical Bouguer plate gravity reduction should be considered as a mathematical construction with unclear physical meaning. It is shown that if the reduction is understood to be reducing observed gravity onto the geoid through the Bouguer plate/shell then both models give practically identical answers, as associated with Poincaré's and Prey's work. It is shown why only the spherical model should be used in the evaluation of topographical effects in the Stokes–Helmert solution of Stokes' boundary-value problem. The reason for this is that the Bouguer plate model does not allow for a physically acceptable condensation scheme for the topography. Received: 24 December 1999 / Accepted: 11 December 2000     

The ERS-2 altimetric bias and gravity field enhancement using dual crossovers between ERS and TOPEX/Poseidon

 Dual satellite crossovers (DXO) between the two European Remote Sensing satellites ERS-1 and ERS-2 and TOPEX/Poseidon are used to (1) refine the Earth's gravity field and (2) extend the study of the ERS-2 altimetric range stability to cover the first four years of its operation. The enhanced gravity field model, AGM-98, is validated by several methodologies and will be shown to provide, in particular, low geographically correlated orbital error for ERS-2. For the ERS-2 altimetric range study, TOPEX/Poseidon is first calibrated through comparison against in situ tide gauge data. A time series of the ERS-2 altimeter bias has been recovered along with other geophysical correction terms using tables for bias jumps in the range measurements at the single point target response (SPTR) events. On utilising the original version of the SPTR tables the overall bias drift is seen to be 2.6±1.0 mm/yr with an RMS of fit of 12.2 mm but with discontinuities at the centimetre level at the SPTR events. On utilising the recently released revised tables, SPTR2000, the drift is better defined at 2.4±0.6 mm/yr with the RMS of fit reduced to 3.7 mm. Investigations identify the sea-state bias as a source of error with corrections affecting the overall drift by close to 1.2 mm/yr. Received: 25 May 2000 / Accepted: 24 January 2001     

Evaluation of pre-CHAMP gravity models `GRIM5-S1' and `GRIM5-C1' with satellite crossover altimetry

 The new GFZ/GRGS gravity field models GRIM5-S1 and GRIM5-C1, currently used as initial models for the CHAMP mission, have been compared with other recent models (JGM 3, EGM 96) for radial orbit accuracy (by means of latitude lumped coefficients) in computations on altimetry satellite orbits. The bases for accuracy judgements are multi-year averages of crossover sea height differences from Geosat and ERS 1/2 missions. This radially sensitive data is fully independent of the data used to develop these gravity models. There is good agreement between the observed differences in all of the world's oceans and projections of the same errors from the scaled covariance matrix of their harmonic geopotential coefficients. It was found that the tentative scale factor of five for the formal standard deviations of the harmonic coefficients of the new GRIM fields is justified, i.e. the accuracy estimates, provided together with the GRIM geopotential coefficients, are realistic. Received: 20 February 2001 / Accepted: 24 October 2001     

National height datum,the Gauss–Listing geoid level value w0 and its time variation 0 (Baltic Sea Level Project: epochs 1990.8, 1993.8, 1997.4)

 A methodology for precise determination of the fundamental geodetic parameter w ₀, the potential value of the Gauss–Listing geoid, as well as its time derivative ₀, is presented. The method is based on: (1) ellipsoidal harmonic expansion of the external gravitational field of the Earth to degree/order 360/360 (130 321 coefficients; http://www.uni-stuttgard.de/gi/research/ index.html projects) with respect to the International Reference Ellipsoid WGD2000, at the GPS positioned stations; and (2) ellipsoidal free-air gravity reduction of degree/order 360/360, based on orthometric heights of the GPS-positioned stations. The method has been numerically tested for the data of three GPS campaigns of the Baltic Sea Level project (epochs 1990.8,1993.4 and 1997.4). New w ₀ and ₀ values (w ₀=62 636 855.75 ± 0.21 m²/s², ₀=−0.0099±0.00079 m²/s² per year, w ₀/&γmacr;=6 379 781.502 m,₀/&γmacr;=1.0 mm/year, and &γmacr;= −9.81802523 m²/s²) for the test region (Baltic Sea) were obtained. As by-products of the main study, the following were also determined: (1) the high-resolution sea surface topography map for the Baltic Sea; (2) the most accurate regional geoid amongst four different regional Gauss–Listing geoids currently proposed for the Baltic Sea; and (3) the difference between the national height datums of countries around the Baltic Sea. Received: 14 August 2000 / Accepted: 19 June 2001     

How to handle topography in practical geoid determination: three examples

 Three different methods of handling topography in geoid determination were investigated. The first two methods employ the residual terrain model (RTM) remove–restore technique, yielding the quasigeoid, whereas the third method uses the classical Helmert condensation method, yielding the geoid. All three methods were used with the geopotential model Earth Gravity Model (1996) (EGM96) as a reference, and the results were compared to precise global positioning system (GPS) levelling networks in Scandinavia. An investigation of the Helmert method, focusing on the different types of indirect effects and their effects on the geoid, was also carried out. The three different methods used produce almost identical results at the 5-cm level, when compared to the GPS levelling networks. However, small systematic differences existed. Received: 18 March 1999 / Accepted: 21 March 2000     

Local geoid determination combining gravity disturbances and GPS/levelling: a case study in the Lake Nasser area, Aswan, Egypt

 The use of GPS for height control in an area with existing levelling data requires the determination of a local geoid and the bias between the local levelling datum and the one implicitly defined when computing the local geoid. If only scarse gravity data are available, the heights of new data may be collected rapidly by determining the ellipsoidal height by GPS and not using orthometric heights. Hence the geoid determination has to be based on gravity disturbances contingently combined with gravity anomalies. Furthermore, existing GPS/levelling data may also be used in the geoid determination if a suitable general gravity field modelling method (such as least-squares collocation, LSC) is applied. A comparison has been made in the Aswan Dam area between geoids determined using fast Fourier transform (FFT) with gravity disturbances exclusively and LSC using only the gravity disturbances and the disturbances combined with GPS/levelling data. The EGM96 spherical harmonic model was in all cases used in a remove–restore mode. A total of 198 gravity disturbances spaced approximately 3 km apart were used, as well as 35 GPS/levelling points in the vicinity and on the Aswan Dam. No data on the Nasser Lake were available. This gave difficulties when using FFT, which requires the use of gridded data. When using exclusively the gravity disturbances, the agreement between the GPS/levelling data were 0.71 ± 0.17 m for FFT and 0.63 ± 0.15 for LSC. When combining gravity disturbances and GPS/levelling, the LSC error estimate was ±0.10 m. In the latter case two bias parameters had to be introduced to account for a possible levelling datum difference between the levelling on the dam and that on the adjacent roads. Received: 14 August 2000 / Accepted: 28 February 2001     

Global mean sea surface and marine gravity anomaly from multi-satellite altimetry: applications of deflection-geoid and inverse Vening Meinesz formulae

 Global mean sea surface heights (SSHs) and gravity anomalies on a 2^′×2^′ grid were determined from Seasat, Geosat (Exact Repeat Mission and Geodetic Mission), ERS-1 (1.5-year mean of 35-day, and GM), TOPEX/POSEIDON (T/P) (5.6-year mean) and ERS-2 (2-year mean) altimeter data over the region 0^∘–360^∘ longitude and –80^∘–80^∘ latitude. To reduce ocean variabilities and data noises, SSHs from non-repeat missions were filtered by Gaussian filters of various wavelengths. A Levitus oceanic dynamic topography was subtracted from the altimeter-derived SSHs, and the resulting heights were used to compute along-track deflection of the vertical (DOV). Geoidal heights and gravity anomalies were then computed from DOV using the deflection-geoid and inverse Vening Meinesz formulae. The Levitus oceanic dynamic topography was added back to the geoidal heights to obtain a preliminary sea surface grid. The difference between the T/P mean sea surface and the preliminary sea surface was computed on a grid by a minimum curvature method and then was added to the preliminary grid. The comparison of the NCTU01 mean sea surface height (MSSH) with the T/P and the ERS-1 MSSH result in overall root-mean-square (RMS) differences of 5.0 and 3.1 cm in SSH, respectively, and 7.1 and 3.2 μrad in SSH gradient, respectively. The RMS differences between the predicted and shipborne gravity anomalies range from 3.0 to 13.4 mGal in 12 areas of the world's oceans. Received: 26 September 2001 / Accepted: 3 April 2002 Correspondence to: C. Hwang Acknowledgements. This research is partly supported by the National Science Council of ROC, under grants NSC89-2611-M-009-003-OP2 and NSC89-2211-E-009-095. This is a contribution to the IAG Special Study Group 3.186. The Geosat and ERS1/2 data are from NOAA and CERSAT/France, respectively. The T/P data were provided by AVISO. The CLS and GSFC00 MSS models were kindly provided by NASA/GSFC and CLS, respectively. Drs. Levitus, Monterey, and Boyer are thanked for providing the SST model. Dr. T. Gruber and two anonymous reviewers provided very detailed reviews that improved the quality of this paper.     

Geoid and high resolution sea surface topography modelling in the mediterranean from gravimetry,altimetry and GOCE data: evaluation by simulation

The determination of local geoid models has traditionally been carried out on land and at sea using gravity anomaly and satellite altimetry data, while it will be aided by the data expected from satellite missions such as those from the Gravity field and steady-state ocean circulation explorer (GOCE). To assess the performance of heterogeneous data combination to local geoid determination, simulated data for the central Mediterranean Sea are analyzed. These data include marine and land gravity anomalies, altimetric sea surface heights, and GOCE observations processed with the space-wise approach. A spectral analysis of the aforementioned data shows their complementary character. GOCE data cover long wavelengths and account for the lack of such information from gravity anomalies. This is exploited for the estimation of local covariance function models, where it is seen that models computed with GOCE data and gravity anomaly empirical covariance functions perform better than models computed without GOCE data. The geoid is estimated by different data combinations and the results show that GOCE data improve the solutions for areas covered poorly with other data types, while also accounting for any long wavelength errors of the adopted reference model that exist even when the ground gravity data are dense. At sea, the altimetric data provide the dominant geoid information. However, the geoid accuracy is sensitive to orbit calibration errors and unmodeled sea surface topography (SST) effects. If such effects are present, the combination of GOCE and gravity anomaly data can improve the geoid accuracy. The present work also presents results from simulations for the recovery of the stationary SST, which show that the combination of geoid heights obtained from a spherical harmonic geopotential model derived from GOCE with satellite altimetry data can provide SST models with some centimeters of error. However, combining data from GOCE with gravity anomalies in a collocation approach can result in the estimation of a higher resolution geoid, more suitable for high resolution mean dynamic SST modeling. Such simulations can be performed toward the development and evaluation of SST recovery methods.     

The solution of the general geodetic boundary value problem by least squares

 A general scheme is given for the solution in a least-squares sense of the geodetic boundary value problem in a spherical, constant-radius approximation, both uniquely and overdetermined, for a large class of observations. The only conditions are that the relation of the observations to the disturbing potential is such that a diagonalization in the spectrum can be found and that the error-covariance function of the observations is isotropic and homogeneous. Most types of observations used in physical geodesy can be adjusted to fit into this approach. Examples are gravity anomalies, deflections of the vertical and the second derivatives of the gravity potential. Received: 3 November 1999 / Accepted: 25 September 2000     

Role of ocean variability and dynamic ocean topography in the recovery of the mean sea surface and gravity anomalies from satellite altimeter data

Procedures to calculate mean sea surface heights and gravity anomalies from altimeter-derived sea surface heights and along-track sea surface slopes using the least-squares collocation procedure are derived. The slope data is used when repeat track averaging is not possible to reduce ocean variability effects. Tests were carried out using Topex, Geosat, ERS-1 [35-day and 168-day (2 cycle)] data. Calculations of gravity anomalies in the Gulf Stream region were made using the sea surface height and slope data. Tests were also made correcting the sea surface heights for dynamic ocean topography calculated from a degree 360 expansion of data from the POCM-4B global ocean circulation model. Comparisons of the anomaly predictions were carried out with ship data using anomalies calculated for this paper as well as others. Received: 19 August 1996 / Accepted: 14 April 1997     

Ocean tides from T/P, ERS-1, and GEOSAT altimetry

 Aliasing of the diurnal and semi-diurnal tides is a major problem when estimating the ocean tides from satellite altimetry. As a result of aliasing, the tides become correlated and many years of altimeter observations may be needed to seperate them. For the three major satellite altimetry missions to date i.e., GEOSAT, ERS-1, and TOPEX/POSEIDON (T/P), the alias periods as well as the Rayleigh periods over which the tides decorrelate can be identified. Especially in case of GEOSAT and ERS-1, severe correlation problems arise. However, it is shown by means of covariance analyses that the tidal phase advance differences on crossing satellite groundtracks can significantly reduce the correlations among the diurnal and semi-diurnal tides and among these tides and the seasonal cycles of ocean variability. Therefore, it has been attempted to solve a multi-satellite response tidal solution for the diurnal and semi-diurnal bands from a total of 7 years of altimetry. Unfortunately, it could be shown that the GEOSAT and ERS-1 orbit errors are too large to improve a 3-year T/P tidal solution with about 2 years of GEOSAT and 2 years of ERS-1 altimeter observations. However, these results are preliminary and it is expected that more accurate orbits, which have become available recently for ERS-1, and additional altimeter data from ERS-2 and the GEOSAT Follow-On (GFO) should lead to an improved T/P tidal model. Received: 4 May 1999 / Accepted: 24 January 2000     

Improvement of satellite derived pollution maps with the use of a geostatistical interpolation method

 The small number of ground stations for the assessment of the spatial distribution of air pollutants motivates the search for methods that make use of satellite images. One such method, known as Differential Texture Analysis (DTA), is used to measure the Aerosol Optical Thickness in the Visible (AOTV), which correlates highly with air quality. With this method, the presence of clouds and/or land cover changes produce patches of missing values. In this paper we demonstrate that universal kriging can be used to obtain reasonable estimates for these missing values. The methodology was applied to a satellite derived AOTV map of the city of Brescia (Italy). Received: 17 July 2001 / Accepted: 11 December 2001     

Precise geoid determination over Sweden using the Stokes–Helmert method and improved topographic corrections

 Four different implementations of Stokes' formula are employed for the estimation of geoid heights over Sweden: the Vincent and Marsh (1974) model with the high-degree reference gravity field but no kernel modifications; modified Wong and Gore (1969) and Molodenskii et al. (1962) models, which use a high-degree reference gravity field and modification of Stokes' kernel; and a least-squares (LS) spectral weighting proposed by Sj?berg (1991). Classical topographic correction formulae are improved to consider long-wavelength contributions. The effect of a Bouguer shell is also included in the formulae, which is neglected in classical formulae due to planar approximation. The gravimetric geoid is compared with global positioning system (GPS)-levelling-derived geoid heights at 23 Swedish Permanent GPS Network SWEPOS stations distributed over Sweden. The LS method is in best agreement, with a 10.1-cm mean and ±5.5-cm standard deviation in the differences between gravimetric and GPS geoid heights. The gravimetric geoid was also fitted to the GPS-levelling-derived geoid using a four-parameter transformation model. The results after fitting also show the best consistency for the LS method, with the standard deviation of differences reduced to ±1.1 cm. For comparison, the NKG96 geoid yields a 17-cm mean and ±8-cm standard deviation of agreement with the same SWEPOS stations. After four-parameter fitting to the GPS stations, the standard deviation reduces to ±6.1 cm for the NKG96 geoid. It is concluded that the new corrections in this study improve the accuracy of the geoid. The final geoid heights range from 17.22 to 43.62 m with a mean value of 29.01 m. The standard errors of the computed geoid heights, through a simple error propagation of standard errors of mean anomalies, are also computed. They range from ±7.02 to ±13.05 cm. The global root-mean-square error of the LS model is the other estimation of the accuracy of the final geoid, and is computed to be ±28.6 cm. Received: 15 September 1999 / Accepted: 6 November 2000     

Prediction of surface horizontal displacements, and gravity and tilt changes caused by filling the Three Gorges Reservoir

 Horizontal displacements, and gravity and tilt changes induced by filling the Three Gorges Reservoir are modeled using elastic loading Green functions. When the water surface reaches its highest level, the effects become maximum on the reservoir banks. The longitudinal and latitudinal components of the horizontal displacements reach −8.2 and 7.7 mm respectively, gravity is increased by up to 3.4 mGal, and the prime vertical and meridian components of the tilt changes are −7.8 and −17.5 arcseconds respectively. Accordingly, the filling of the reservoir will influence values observed from global positioning system (GPS), gravimetry and tilt measurements in the area. The results given can be used to provide important corrections for extracting earthquake-related signals from observed data. Received: 19 January 2001 / Accepted: 3 September 2001     

Estimated population mixing by country and risk cohort for the HIV/AIDS epidemic in Western Europe

 This paper applies a compartmental epidemic model to estimating the mixing relations that support the transfer of HIV infection between risk populations within the countries of Western Europe. To this end, a space-time epidemic model with compartments representing countries with populations specified to be at high (gay men and intravenous drug injectors ever with AIDS) and low (the remainder who are sexually active) risk is described. This model also allows for contacts between susceptible and infectious individuals by both local and international travel. This system is calibrated to recorded AIDS incidence and the best-fit solution provides estimates of variations in the rates of mixing between the compartments together with a reconstruction of the transmission pathway. This solution indicates that, for all the countries, AIDS incidence among those at low risk is expected to remain extremely small relative to their total number. A sensitivity analysis of the low risk partner acquisition rate, however, suggests this endemic state might be fragile within Europe during this century. The discussion examines the relevance of these mixing relationships for the maintenance of disease control. Received: 4 May 2000 / Accepted: 9 July 2000