双星伴飞卫星测高模式及其轨道设计

为达到提高反演海洋重力场分辨率的要求,本文提出一种双星伴飞的测高卫星模式,并根据卫星轨道设计的基本要求,给出相应的卫星轨道设计方案。仿真分析表明,该方案可在卫星设计寿命内完成反演1′×1′空间分辨率海洋重力场的要求,且观测数据覆盖了全球大部分海洋区域。该模式可实现星下点海平面梯度的实时测量,提出了改进测高反演海洋重力场的精度的新思路。     

海洋卫星测高及其反演全球海洋重力场和海底地形模型研究进展

海洋卫星测高在全球和区域大地水准面建模、全球海洋重力场反演、海底地形探测、海平面变化监测、构造板块运动研究等大地测量领域至关重要。本文概述了海洋微波测高卫星的简要发展历程,重点梳理了卫星测高在全球海洋重力场和全球海底地形建模方面取得的丰硕成果,对比分析了主流的海洋重力场和海底地形模型;介绍了合成孔径雷达高度计、Ka频段雷达高度计、合成孔径雷达干涉仪3种先进微波测高技术,并分析了其各自的优缺点,表明它们将在未来若干年呈并驱发展趋势;较为系统地阐述了海洋卫星测高的另一新型技术,即GNSS反射信号测量技术的研究动态,给出了GNSS-R(GNSS reflectometry)类(试验)卫星的发展脉络和发展前景。卫星测高的发展趋势之一是多颗测高卫星的组网观测,本文概括了曾经提出的和拟议中的若干组网测高计划,扼要介绍了由我国提出并正在实施的双星跟飞测高模式;最后指出了卫星测高发展的几个主要关注点,包括双星跟飞测高和SWOT(surface water ocean topography)任务的2维海面高(差)测量、卫星测高反演海底地形与高级地形激光高度计观测数据及遥感卫星图像的结合、星载GNSS-R厘米级海面高的载波相位测量、人工智能技术在卫星测高中的潜在应用等。     

Processing of altimetry data

Summary Two methods are discussed for the processing of altimetry data. For the first method it is assumed that the altimetry data, may be analyzed independent of the orbit computation for the satellite that carries the altimeter. Because of the high accuracy of the altimetry data, which can only be fully utilized if it is also introduced into the orbit computations, the second method deals with a simultaneous processing of altimetry data, orbit tracking, and gravity anomalies for the continents. To represent the gravity field, the potential of a simple layer is chosen whose unknown density is assumed to be constant over surface elements into which the surface of the earth is divided. Depending on the accuracy and the amount of the altimetry data, the surface elements for the density values are chosen smaller or larger, so that a very flexible representation of the earth’s gravity field is obtained. Because of the amount and the resolution of the altimetry data a large number of density values have to be determined in a least squares adjustment. To facilitate the computations, buffer zones are introduced so that the large system of normal equations can be broken up into small independent subsystems. Shortened version of a paper presented to the 14 th International Congress of Surveyors in Washington, Sept. 1974.     

Relation between geoidal undulation, deflection of the vertical and vertical gravity gradient revisited

The vertical gradients of gravity anomaly and gravity disturbance can be related to horizontal first derivatives of deflection of the vertical or second derivatives of geoidal undulations. These are simplified relations of which different variations have found application in satellite altimetry with the implicit assumption that the neglected terms—using remove-restore—are sufficiently small. In this paper, the different simplified relations are rigorously connected and the neglected terms are made explicit. The main neglected terms are a curvilinear term that accounts for the difference between second derivatives in a Cartesian system and on a spherical surface, and a small circle term that stems from the difference between second derivatives on a great and small circle. The neglected terms were compared with the dynamic ocean topography (DOT) and the requirements on the GOCE gravity gradients. In addition, the signal root-mean-square (RMS) of the neglected terms and vertical gravity gradient were compared, and the effect of a remove-restore procedure was studied. These analyses show that both neglected terms have the same order of magnitude as the DOT gradient signal and may be above the GOCE requirements, and should be accounted for when combining altimetry derived and GOCE measured gradients. The signal RMS of both neglected terms is in general small when compared with the signal RMS of the vertical gravity gradient, but they may introduce gradient errors above the spherical approximation error. Remove-restore with gravity field models reduces the errors in the vertical gravity gradient, but it appears that errors above the spherical approximation error cannot be avoided at individual locations. When computing the vertical gradient of gravity anomaly from satellite altimeter data using deflections of the vertical, the small circle term is readily available and can be included. The direct computation of the vertical gradient of gravity disturbance from satellite altimeter data is more difficult than the computation of the vertical gradient of gravity anomaly because in the former case the curvilinear term is needed, which is not readily available.     

Accuracy of mean earth ellipsoid based on Doppler,laser and altimeter observations

The error in the mean earth ellipsoid computer on the basis of Doppler or laser observations of artificial earth satellites or radar altimeter observations of the ocean surface from a satellite depends upon instrument precision, on uncertainties in the specification of the earth's gravity field at both long and short wave lengths, on uncertainties in the origin of the coordinate system, on modeling errors in ionospheric (except laser) and tropospheric refraction, and, for altimetry, on oceanographic effects. The magnitude of the uncertainty in the computed ellipsoid will vary depending on the size of these errors and on the number and distribution of observation stations. Review of computations based on various data sets indicates that differences in the computed ellipsoids are consistent with those expected due to the various error sources and that the best fitting ellipsoid has a semi-major axis of6378136±2 m.     

高度计测距精度对沿轨迹重力异常反演的影响

应用求解沿轨迹重力异常的垂线偏差法以及求解空间分辨率的交叉谱分析法,建立了高度计测距精度与沿轨迹重力异常反演精度以及空间分辨率的关联性模型。首先依据卫星测高原理,给出了沿轨迹重力异常的误差传播公式,然后以此为基础通过推导交叉谱分析中一致性系数与信噪比的数学表达式,建立了高度计测距精度与空间分辨率的解析关系。数值仿真结果表明:雷达高度计测距精度与沿轨迹重力异常反演精度成正比关系,与空间分辨率成幂函数关系,即高度计测距精度提高m倍,沿轨迹重力异常反演精度提高m倍,全球海域平均空间分辨率提高m0.464 4倍。将数值仿真结果与相关文献中对实际测高数据的处理结果进行比较,验证了理论分析及模型的正确性。     

全球海底地形精细建模进展与发展趋势

精细的海底地形模型在海底板块构造运动、水下载体航行保障、海洋资源勘探等方面具有重要作用。回顾国内外海底地形探测技术和模型构建的发展,讨论当前全球海底地形精细建模的研究现状和面临的主要挑战,总结今后全球海底地形精细建模的发展趋势,认为基于卫星测高技术的海洋重力场反演仍是未来全球海底地形精细建模的主要技术手段,并且新体制测高卫星如双星跟飞测高和SWOT(surface water ocean topography)二维海面高测量任务将为进一步提升海洋重力场以及海底地形模型精度提供数据源,结合地形复杂度优化海底地形反演理论方法有望带来理论创新,探索人工智能技术用于海底地形精细建模值得关注。     

Improving GOCE cross-track gravity gradients

The GOCE gravity gradiometer measured highly accurate gravity gradients along the orbit during GOCE’s mission lifetime from March 17, 2009, to November 11, 2013. These measurements contain unique information on the gravity field at a spatial resolution of 80 km half wavelength, which is not provided to the same accuracy level by any other satellite mission now and in the foreseeable future. Unfortunately, the gravity gradient in cross-track direction is heavily perturbed in the regions around the geomagnetic poles. We show in this paper that the perturbing effect can be modeled accurately as a quadratic function of the non-gravitational acceleration of the satellite in cross-track direction. Most importantly, we can remove the perturbation from the cross-track gravity gradient to a great extent, which significantly improves the accuracy of the latter and offers opportunities for better scientific exploitation of the GOCE gravity gradient data set.     

Coastal Gravity Anomalies from Retracked Geosat/GM Altimetry: Improvement, Limitation and the Role of Airborne Gravity Data

We process geophysical and waveform data records of the Geosat/GM (geodetic mission) satellite altimeter mission for waveform retracking and applications. An improved threshold retracker is developed. The performances of the Beta-5, threshold and improved threshold retrackers are assessed over waters around Taiwan. The improved threshold retracker outperforms the other two. The improvement in the accuracy of sea surface height (SSH) is investigated according to marine zone and the distance of waters to the shore. The improvement rate increases closer to the land, with the largest improvement rate of about 20% in waters within 10 km of the shore. Over waters around islands and coasts, there are still retracked SSHs with large errors. Least-squares collocation is used to compute gravity anomalies from the Geosat/GM altimeter data. Use of retracked SSHs improves the accuracy of gravity anomalies by about 11%. Adding airborne gravity data further improves the accuracy, especially in the immediate vicinity of the coasts. Tide model errors over coastal waters remain a problem in altimetry applications, even if the waveforms are properly retracked.     

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.     

资源三号02星激光测高精度分析与验证

资源三号02星搭载了我国首台对地观测的卫星激光测高试验性载荷,对该载荷的精度进行了理论分析,并采用多个区域进行了实际精度验证,同时对其在航天测绘中的应用进行了试验。资源三号02星激光测高仪在平坦地区(坡度≤2°)的理论高程精度为0.85m、平面精度14.2m。试验表明,资源三号02星激光测高仪获得的有效测高数据约占23.89%,检校场区域其高程精度为0.89m,平面精度为14.76m;华北地区高精度DSM地形数据验证其高程精度为1.09m,内陆渤海海面上的激光高程精度为0.47m。将激光足印点作为高程控制点时,在陕西渭南试验区能将资源三号02星立体影像无地面控制的高程精度从11.54m提高到1.90m。虽然资源三号02星激光测高仪为试验性载荷,但试验结果证实国产卫星激光测高数据能有效提高立体影像无地面控制的高程精度,在全球测图工程中具有推广应用价值,建议后续立体测图卫星搭载业务化应用的激光测高仪。     

The GeoForschungsZentrum Potsdam/Groupe de Recherche de Gèodésie Spatiale satellite-only and combined gravity field models: EIGEN-GL04S1 and EIGEN-GL04C

The recent improvements in the Gravity Recovery And Climate Experiment (GRACE) tracking data processing at GeoForschungsZentrum Potsdam (GFZ) and Groupe de Recherche de Géodésie Spatiale (GRGS) Toulouse, the availability of newer surface gravity data sets in the Arctic, Antarctica and North-America, and the availability of a new mean sea surface height model from altimetry processing at GFZ gave rise to the generation of two new global gravity field models. The first, EIGEN-GL04S1, a satellite-only model complete to degree and order 150 in terms of spherical harmonics, was derived by combination of the latest GFZ Potsdam GRACE-only (EIGEN-GRACE04S) and GRGS Toulouse GRACE/LAGEOS (EIGEN-GL04S) mean field solutions. The second, EIGEN-GL04S1 was combined with surface gravity data from altimetry over the oceans and gravimetry over the continents to derive a new high-resolution global gravity field model called EIGEN-GL04C. This model is complete to degree and order 360 and thus resolves geoid and gravity anomalies at half- wavelengths of 55 km at the equator. A degree-dependent combination method has been applied in order to preserve the high accuracy from the GRACE satellite data in the lower frequency band of the geopotential and to form a smooth transition to the high-frequency information coming from the surface data. Compared to pre-CHAMP global high-resolution models, the accuracy was improved at a spatial resolution of 200 km (half-wavelength) by one order of magnitude to 3 cm in terms of geoid heights. The accuracy of this model (i.e. the commission error) at its full spatial resolution is estimated to be 15 cm. The model shows a reduced artificial meridional striping and an increased correlation of EIGEN-GL04C-derived geostrophic meridional currents with World Ocean Atlas 2001 (WOA01) data. These improvements have led to select EIGEN-GL04C for JASON-1 satellite altimeter data reprocessing. Electronic Supplementary Material The online version of this article (doi:) contains supplementary material, which is available to authorized users.     

卫星高度计定标现状

定标是卫星高度计数据精度的重要保障,随着高度计卫星HY-2A的发射及后续卫星组网规划,中国将获取长时间序列的自主高度计观测资料,定标对数据精度和长期一致性的重要性日益凸显。总结了卫星高度计定标常用技术方法的国内外研究进展和现状,阐述了中国自主海上定标场的建设和应用情况,重点对青岛千里岩定标场的大地基准测量、地壳沉降监测及HY-2A等多颗卫星高度计的定标结果进行总结分析,并对规划建设中的珠海万山海上综合定标场和中国沿海定标场网做了介绍。此外利用GNSS水汽反演技术对星载微波辐射计观测的大气湿延迟开展了精度检核实验,得到了Jason-2卫星2010年—2016年微波辐射计大气湿延迟观测精度,证明了利用中国沿海GNSS连续运行站标定星载微波辐射计大气湿延迟的可行性,对于充分了解和认识卫星高度计定标的研究现状和发展趋势有一定的借鉴和指导意义。     

CE-1立体相机影像与激光高度计数据不一致性分析

直接利用CE－1激光高度计测高数据制作月球表面模型,分辨率、精度都较低。利用激光测高数据改善三线阵CCD数据立体定位精度是一种有效方法。通过计算立体影像外定向参数、激光脚印（footprint）月固坐标,基于物方空间到像方空间的快速反投影算法,分析研究立体影像与激光高度计数据不一致性,目的是为后续CE－1探月三线阵影像数据与激光测高数据联合平差处理提供相对基准控制。通过不一致性分析试验,得到一些有益的结论,这些分析结果有望在下一步联合平差处理中获得应用。     

TOPEX/Poseidon orbit error assessment

This paper discusses the accuracy of TOPEX/Poseidon orbits computed at Delft University, Section Space Research & Technology (DUT/SSR&T), from several types of tracking data,i.e. SLR, DORIS, and GPS. To quantify the orbit error, three schemes are presented. The first scheme relies on the direct altimeter observations and the covariance of the JGM-2 gravity field. The second scheme is based on crossover difference residuals while the third scheme uses the differences of dynamic orbit solutions with the GPS reduced-dynamic orbit. All three schemes give comparable results and indicate that the radial orbit error of TOPEX/Poseidon is 3–4 cm. From the orbit comparisons with GPS reduced dynamic, both the along-track and cross-track errors of the dynamic orbit solutions were found to be within 10–15 cm.     

高分七号卫星激光测高仪无场几何定标法

无场几何定标是未来多波束激光测高卫星面临的一个关键问题。本文针对高分七号（GF-7）线性体制全波形激光测高仪,提出了一种基于地形和波形匹配的无场分步定标方法。在深入分析高分七号卫星激光测高仪特点的基础上,构建了严密几何定位模型,采用公开版的地形参考数据和某地区1∶2000高精度的DOM和LiDAR-DSM基础地理信息成果,开展了在轨无场几何定标试验,显著提高了高分七号卫星激光测高数据精度。在2020年上半年受新冠肺炎影响未进行外场定标期间,有效解决了激光测高数据处理无定标参数的实际困难。本文对无场定标结果与高分七号实际外场定标结果进行对比验证,结果表明,无场定标结果与实际落点位置的平面误差为11.597±3.693 m,最小值为7.115 m,平坦地区高程精度优于0.3 m,虽然略低于外场定标结果,但能满足1∶10 000高程控制点测量需求。     

Orbit determination of the SELENE satellites using multi-satellite data types and evaluation of SELENE gravity field models

The SELENE mission, consisting of three separate satellites that use different terrestrial-based tracking systems, presents a unique opportunity to evaluate the contribution of these tracking systems to orbit determination precision. The tracking data consist of four-way Doppler between the main orbiter and one of the two sub-satellites while the former is over the far side, and of same-beam differential VLBI tracking between the two sub-satellites. Laser altimeter data are also used for orbit determination. The contribution to orbit precision of these different data types is investigated through orbit overlap analysis. It is shown that using four-way and VLBI data improves orbit consistency for all satellites involved by reducing peak values in orbit overlap differences that exist when only standard two-way Doppler and range data are used. Including laser altimeter data improves the orbit precision of the SELENE main satellite further, resulting in very smooth total orbit errors at an average level of 18 m. The multi-satellite data have also resulted in improved lunar gravity field models, which are assessed through orbit overlap analysis using Lunar Prospector tracking data. Improvements over a pre-SELENE model are shown to be mostly in the along-track and cross-track directions. Orbit overlap differences are at a level between 13 and 21 m with the SELENE models, depending on whether 1-day data overlaps or 1-day predictions are used.     

Residual errors in altimetry data detected by combinations of single- and dual-satellite crossovers

 The single- and dual-satellite crossover (SSC and DSC) residuals between and among Geosat, TOPEX/Poseidon (T/P), and ERS 1 or 2 have been used for various purposes, applied in geodesy for gravity field accuracy assessments and determination as well as in oceanography. The theory is presented and various examples are given of certain combinations of SSC and DSC that test for residual altimetry data errors, mostly of non-gravitational origin, of the order of a few centimeters. There are four types of basic DSCs and 12 independent combinations of them in pairs which have been found useful in the present work. These are defined in terms of the `mean' and `variable' components of a satellite's geopotential orbit error from Rosborough's 1st-order analytical theory. The remaining small errors, after all altimeter data corrections are applied and the relative offset of coordinate frames between altimetry missions removed, are statistically evaluated by means of the Student distribution. The remaining signal of `non-gravitational' origin can in some cases be attributed to the main ocean currents which were not accounted for among the media or sea-surface corrections. In future, they may be resolved by a long-term global circulation model. Experience with two current models, neither of which are found either to cover the most critical missions (Geosat & TOPEX/Poseidon) or to have the accuracy and resolution necessary to account for the strongest anomalies found across them, is described. In other cases, the residual signal is due to errors in tides, altimeter delay corrections or El Ni?o. (Various examples of these are also presented.) Tests of the combinations of the JGM 3-based DSC residuals show that overall the long-term data now available are well suited for a gravity field inversion refining JGM 3 for low- and resonant-order geopotential harmonics whose signatures are clearly seen in the basic DSC and SSC sets. Received: 15 January 1999 / Accepted: 9 September 1999     

基于Laplace方程的垂线偏差法反演全球海域重力异常

海洋重力场模型反演的质量主要依赖于采用测高数据的精度、空间分辨率和数据分布密集程度。本文联合Geosat GM/ERM、ERS-1 GM/ERM、TOPEX/Poseidon、Envisat、Cryosat-2、Jason-1 ERM/GM和SARAL/AltiKa等多种测高观测数据集,深入比较了多种波形重跟踪算法的效果,回波数据重跟踪处理后的沿轨海面高标准差。统计表明,Sandwell算法优于MLE-4算法、Davis阈值法、改进阈值法和β参数拟合法;基于不同测高数据波形重采样的结果给出了沿轨海面梯度计算中低通滤波的参数选择方法,并采用Sandwell提出的垂线偏差法,反演了全球海域1′×1′的重力场模型。检核表明,反演结果与DTU13和SIO V23.1模型检核的差值均方根分别为3.4、1.8 mGal,与NGDC船测数据的检核精度为4~8 mGal,且本文模型在部分典型海区内精度更优。     

The DNSC08GRA global marine gravity field from double retracked satellite altimetry

Satellite radar altimetry has been monitoring the earth’s oceans from space for several decades. However, only the GEOSAT and ERS-1 geodetic mission data recorded more than a decade ago provide altimetry with adequate spatial coverage to derive a high-resolution marine gravity field. The original geodetic mission data suffer from degradation in quality and coverage close to the coast and in Polar Regions as well as the occasionally wrongly retracking of these, even in the open ocean. In order to improve the quality of these geodetic mission data and to derive a new improved global marine gravity field called DNSC08GRA, a new double retracking technique for analyzing the waveform data has been developed. Multiple retracking allows the system to retrack more data to increase the spatial coverage of the data. Subsequently, a second retracking run is used to enhance the SSH determination by using information from the first fitting to inform the second set of retrackers about smoothly varying sea state parameters. The development of the new global marine gravity field DNSC08GRA is described in this paper. Besides application of new retracking techniques the radar altimetry has been processed using EGM2008 as reference and augmented with ArcGP gravity data and laser altimetry from ICESat to close the Polar gap. DNSC08GRA is seen to perform significantly better than previous global marine gravity field like KMS02. The improvement in accuracy is better than 20% in general, but in coastal regions, the improvement is in many places of the order of 40–50% compared to older global marine gravity field KMS02.