Geoid Validation on the Baltic Sea Using Ship-borne GNSS Data

Abstract

We studied geoid validation using ship-borne global navigation satellite systems (GNSS) on the Baltic Sea. We obtained geoid heights by combining GNSS–inertial measurement unit observations, tide gauge data, and a physical sea model. We used two different geoid models available for the area. The ship route was divided into lines and the lines were processed separately. The GNSS results were reduced to the sea surface using attitude and draft parameters available from the vessel during the campaign. For these lines, the residual errors between ellipsoidal height versus geoid height and absolute dynamic topography varied between 0 and 15?cm, grand mean being 2?cm. The mean standard deviations of the original time series were approximately 11?cm and reduced to below 5?cm for the time series filtered with 10?min moving average. We showed that it is possible to recover geoid heights from the GNSS observations at sea and validate existing geoid models in a well-controlled area.     

基于GNSS浮标和验潮资料的HY-2A卫星高度计绝对定标

为探测我国HY-2A卫星高度计海面高测量绝对偏差及其在轨运行状态,本文利用GNSS浮标星下点同步测量和验潮资料海面高传递方法在山东千里岩和珠海担杆岛海域开展定标研究。为验证GNSS浮标定标方法的准确性,还对国外卫星Jason-2和Saral进行了定标实验。实验表明GNSS浮标绝对海面高测量精度达2 cm,对Jason-2和Saral高度计多个周期定标得到的海面高偏差均值分别为5.7 cm和-2.3 cm,与国际专门定标场的结果符合较好。2014年9月和2015年5月HY-2A卫星高度计浮标定标结果分别是-65 cm和-91 cm,因两次结果差异显著,故又利用千里岩验潮站资料对HY-2A卫星高度计第56至73周期进行了定标分析,结果证明HY-2A卫星海面高存在约-51 cm/a的漂移,置信度为95%的回归分析表明浮标和验潮定标结果符合。本文研究结果表明在我国尚无专门定标场的情况下,可利用GNSS浮标对我国高度计实施灵活、精准的在轨绝对定标,在有高度计轨迹经过验潮站的情况下可使用验潮资料结合精密大地水准面模型进行绝对定标。     

利用GPS拖体在万山区域测量平均海面技术研究

Wanshan area has been chosen to be the specified field to calibrate and validate(Cal/Val) the HY-2 altimeter and its follow-on satellites. In March 2018, an experiment has been conducted to determine the sea surface height(SSH) under the HY-2 A ground track(Pass No. 203). A GPS towing-body(GPS-TB) was designed to measure the SSH covering an area of about 6 km×28 km wide centered on the HY-2 A altimeter satellite ground track. Three GPS reference stations, one tide gauge and a GPS buoy were placed in the research area, in order to process and resolve the kinematic solution and check the precision of the GPS-TB respectively. All the GPS data were calculated by the GAMIT/GLOBK software and TRACK module. The sea surface was determined by the GPS-TB solution and the tide gauge placed on Zhiwan Island. Then the sea surface of this area was interpolated by Arc GIS10.2 with ordinary Kriging method. The results showed that the precision of the GPS-TB is about 1.10 cm compared with the tide gauge placed nearby, which has an equivalent precision with the GPS buoy. The interpolated sea surface has a bias of –1.5–4.0 cm with standard deviation of 0.2–2.4 cm compared with the checking line. The gradient of the measured sea surface is about 1.62 cm/km along the HY-2 orbit which shows a good agreement compared with the CLS11 mean sea surface(MSS). In the Cal/Val of satellites, the sea surface between the tide gauge/GPS buoy and the footprint of altimeter can be improved by this work.     

GNSS-Based Sea Level Monitoring

This paper attempts to assess the use of Global Navigation Satellite System (GNSS) as an accurate, reliable, and easy tool for sea level measurement. The GNSS technique was incorporated into a float based tide gauge system. A prototype of such an instrument was developed based on principles of conventional tide gauges, where high frequency noise is reduced mechanically. The ability of the GNSS based tide gauge (GTG) to monitor sea levels was tested in several experiments. The performance of the GTG was compared to that of a traditional tide gauge. The method of data analysis and data comparison between the GPS measurements and the tide gauge data is presented. The results show that the GTG is equal in performance to the traditional float operated tide gauge. It seems that the GTG is capable of delivering the same level of accuracy (1 cm), and its results are as reliable as its competitor, the traditional float tide gauge. The suggested instrument can be easily integrated into the array of permanent GNSS stations and assist in absolute measurements of sea level changes, caused by global warming and the greenhouse effect, for example.     

GNSS-Based Sea Level Monitoring

This paper attempts to assess the use of Global Navigation Satellite System (GNSS) as an accurate, reliable, and easy tool for sea level measurement. The GNSS technique was incorporated into a float based tide gauge system. A prototype of such an instrument was developed based on principles of conventional tide gauges, where high frequency noise is reduced mechanically. The ability of the GNSS based tide gauge (GTG) to monitor sea levels was tested in several experiments. The performance of the GTG was compared to that of a traditional tide gauge. The method of data analysis and data comparison between the GPS measurements and the tide gauge data is presented. The results show that the GTG is equal in performance to the traditional float operated tide gauge. It seems that the GTG is capable of delivering the same level of accuracy (1 cm), and its results are as reliable as its competitor, the traditional float tide gauge. The suggested instrument can be easily integrated into the array of permanent GNSS stations and assist in absolute measurements of sea level changes, caused by global warming and the greenhouse effect, for example.     

Book Reviews

The UK Hydrographic Office (UKHO)-sponsored Vertical Offshore Reference Frames (VORF) project aims to develop tidal level transformation models that are referenced to the GRS80 ellipsoid and thus compatible with GNSS positioning; in particular, heighting. Benefits include increasing the efficiency of hydrographic surveying, providing a stable consistent reference frame and enabling integration with land data in the coastal zone. Seven contemporary global ocean tide models are used to derive Lowest Astronomical Tide (LAT) surfaces which are each assessed by comparison with LAT values from the 7,389-strong UKHO tide gauge database, with the results correlated with distance from land. The proportion of truly offshore and pelagic gauges is relatively limited; however, the transition zone whereby the global ocean tide models commence to deteriorate in accuracy is evident at approximately 30km from the coast. The DTU10 model was selected as the strongest candidate overall. Subsequently, a thin plate spline method is used with the tide gauge dataset to enhance the DTU10 LAT surface in the coastal zone, creating a high resolution global LAT surface with respect to mean sea level. It is seen by cross-validation that the method may be used to predict LAT in near-shore locations with a standard error of 0.23 m.     

SARAL/AltiKa Absolute Calibration from the Multi-Mission Corsica Facilities

The geodetic Corsica site was set up in 1998 in order to perform altimeter calibration of the TOPEX/Poseidon (T/P) mission and subsequently, Jason-1 and OSTM/Jason-2. The scope of the site was widened in 2005 in order to undertake the calibration of the Envisat mission and most recently of SARAL/AltiKa. Here we present the first results from the latter mission using both indirect and direct calibration/validation approaches. The indirect approach utilizes a coastal tide gauge and, as a consequence, the altimeter derived sea surface height (SSH) needs to be corrected for the geoid slope. The direct approach utilizes a novel GPS-based system deployed offshore under the satellite ground track that permits a direct comparison with the altimeter derived SSH. The advantages and disadvantages of both systems (GPS-based and tide gauges) and methods (direct or indirect) will be described and discussed. Our results for O/IGD-R data show a very good consistency for these three kinds of products: their derived absolute SSH biases are consistent within 17 mm and their associated standard deviation ranges from 31 to 35 mm. The AltiKa absolute SSH bias derived from GPS-zodiac measurement using the direct method is ?54 ±10 mm based on the first 13 cycles.     

一种改进的卫星高度计绝对定标方法:以中国黄海海上试验为例

An improved absolute calibration technology based on indirect measurements was developed through two probative experiments, the performance of which was evaluated by applying the approach to in situ sea surface height(SSH) at the Tianheng Island(tidal gauge) and the satellite nadir(GPS buoy). Using Geoid/MSS(mean sea surface) data, which accounted for a constant offset between nadir and onshore tidal gauge water levels, and TMD(tidal model driver), which canceled out the time-varying offsets, nadir SSH(sea surface height) could be indirectly acquired at an onshore tidal gauge instead of from direct offshore observation. The approach extrapolated the onshore SSH out to the offshore nadir with an accuracy of(1.88±0.20) cm and a standard deviation of 3.3 cm, which suggested that the approach presented was feasible in absolute altimeter calibration/validation(Cal/Val), and the approach enormously facilitated the obtaining SSH from the offshore nadir.     

多系统GNSS浮标潮位提取精度研究

为实现多频多模GNSS浮标在远距离海洋潮汐测量中的应用,基于精密单点定位(precision pointing positioning,PPP)数据处理策略获取潮位信息,以压力验潮仪为参考,对GNSS浮标测量海面高进行经验模态分解(empirical mode decomposition,EMD),滤去高频波浪和噪声,获取潮位进行精度分析。结果表明:多系统可以提高PPP解算潮位精度。GPS/GLONASS双系统和GPS/GLONASS/Bei Dou三系统PPP提取潮位与验潮仪潮位差值的最大误差均小于18cm,RMSE小于6. 5cm。因此,多系统PPP解算GNSS浮标海面高可以实现远离海岸的潮位获取与监测,能够提高海上潮位测量的效率。     

The 2013 Ibiza Calibration Campaign of Jason-2 and SARAL Altimeters

This study presents the results of the 2013 Ibiza (Western Mediterranean) calibration campaign of Jason-2 and SARAL altimeters. It took place from 14 to 16 September 2013 and comprised two phases: the calibration of the GNSS (Global Navigation Satellite System) buoys to estimate the antenna height of each of them and the absolute calibration to estimate the altimeter bias (i.e., the difference of sea level measured by radar altimetry and GNSS). The first one was achieved in the Ibiza harbor at a close vicinity of the Ibiza tide gauge and the second one was performed at ～ 40 km at the northwest of Ibiza Island at a crossover point of Jason-2 and SARAL nominal groundtracks. Five buoys were used to delineate the crossover region and their measurements interpolated at the exact location of each overflight. The overflights occurred two consecutive days: 15 and 16 September 2013 for Jason-2 and SARAL, respectively. The GNSS data were processed using precise point positioning technique. The biases found are of (?0.1 ± 0.9) and (?3.1 ± 1.5) cm for Jason-2 and SARAL, respectively.     

Ku– and Ka-band Altimeter Data in the Northwestern Mediterranean Sea: Impact on the Observation of the Coastal Ocean Variability

The strong increase in altimeter measurement errors near land surfaces is a limiting factor for coastal applications. We analyze the performance of the new Ka-band SARAL/AltiKa (SRL) mission in the northwestern Mediterranean Sea. SRL sea surface height (SSH) measurements are compared with those from the Jason-2 Ku-band satellite mission. The results show a significant increase in both quantity and quality of SSH data available near coastlines when using SRL data. Available edited data are 95.1% of SRL compared with 88.6% for Jason-2. Closer than 10 km to the coastline, available SRL data are still about 60% and only about 31% for Jason-2. Comparisons of the altimeter sea level variations are made with available coastal tide gauge data. The differences obtained between altimeter and tide gauge SLA time series are reduced for SRL (3.3 cm in average) compared with Jason-2 (4.2 cm in average), especially closer than 30 km to the land. It results in higher correlations (by 30%) obtained with SRL data. The coastal circulation derived from altimetry using SRL data shows an offshore meandering, which is more stable in time and with larger velocities close to the coast than that derived from Jason-2 observations.     

中国沿海验潮站及其邻近地区陆地垂直运动分析

利用中国沿岸验潮站GNSS和邻近地区陆态网络GNSS基准站观测数据,结合卫星高度计和验潮站海平面观测数据分析了中国沿海验潮站及其邻近地区陆地垂直运动特征。中国沿海海平面观测以及验潮站和陆态网GNSS基准站观测结果显示,中国沿海省区市及沿海验潮站陆地垂直运动总体表现为：辽宁至江苏沿海上升、上海至福建泉州沿海沉降、福建厦门至广西沿海升降交替的格局,局部滨海平原地区如华北平原天津南部、河北平原的沧县则表现出显著的沉降特征。验潮站陆地的抬升与沉降是沿海相对海平面变化的重要组成部分,准确掌握验潮站及其邻近区域的陆地垂直运动特征,可为沿海相对海平面变化分析、海平面变化影响评估以及未来海平面上升预测提供依据。     

Vertical Land Motion in the Mediterranean Sea from Altimetry and Tide Gauge Stations

We have computed estimates of the rate of vertical land motion in the Mediterranean Sea from differences of sea level heights measured by the TOPEX/Poseidon radar altimeter and by a set of tide gauge stations. The comparison of data at 16 tide gauges, using both hourly data from local datasets and monthly data from the PSMSL dataset, shows a general agreement, significant differences are found at only one location. Differences of near-simultaneous, monthly and deseasoned monthly sea level height time-series have been considered in order to reduce the error in the estimated linear-term. In a subset of 23 tide gauge stations the mean accuracy of the estimated vertical rates is 2.3 ± 0.8 mm/yr. Results for various stations are in agreement with estimates of vertical land motion from geodetic methods. A comparison with vertical motion estimated by GPS at four locations shows a mean difference of ?0.04 ± 1.8 mm/yr, however the length of the GPS time-series and the number of locations are too small to draw general conclusions.     

Improving the Coastal Mean Dynamic Topography by Geodetic Combination of Tide Gauge and Satellite Altimetry

Abstract

The ocean mean dynamic topography (MDT) is the surface representation of the ocean circulation. The MDT may be determined by the ocean approach, which involves temporal averaging of numerical ocean circulation model information, or by the geodetic approach, wherein the MDT is derived using the ellipsoidal height of the mean sea surface (MSS), or mean sea level (MSL) minus the geoid as the geoid. The ellipsoidal height of the MSS might be estimated either by satellite or coastal tide gauges by connecting the tide gauge datum to the Earth-centred reference frame. In this article we present a novel approach to improve the coastal MDT, where the solution is based on both satellite altimetry and tide gauge data using new set of 302 tide gauges with ellipsoidal heights through the SONEL network. The approach was evaluated for the Northeast Atlantic coast where a dense network of GNSS-surveyed tide gauges is available. The typical misfit between tide gauge and satellite or oceanographic MDT was found to be around 9?cm. This misfit was found to be mainly due to small scale geoid errors. Similarly, we found, that a single tide gauge places only weak constraints on the coastal dynamic topography.     

GNSS船姿测量方法及对多波束测深精度的影响分析

GNSS船姿测量以其观测误差不随时间累积的特点得到了广泛研究和应用,本文基于三天线GNSS船姿测量方式,构建了波束脚印误差与姿态误差间的关系模型,设计仿真实验分析了基线长度对姿态误差的影响,以及不同水深环境下姿态误差与GNSS定位误差的关系。为突破传统RTK在测量距离上的限制,本文采用PPP、PPK、MBD (动态参考站差分)三种方法进行GNSS船姿计算,并通过海上实验与高精度惯性导航系统进行对比分析,结果表明使用MBD测姿结果要优于PPK和PPP模式,得到的航偏角、横摇角、纵摇角标准差均在0.1°左右,可满足通常情况下多波束测深对姿态精度的要求。     

基于GNSS浮标的波浪反演技术研究

波浪观测在海洋环境预报、海洋工程建设、海洋资源调查、航海安全等领域具有重要作用。基于全球导航卫星系统（Global Navigation Satellite System,GNSS）浮标进行波浪观测的方法具有全天候、实时、准确度高、价格低等诸多优点,同时还可以在浮标上集成其他海洋环境测量仪器,因此越来越受到世界各国研究者的重视。本文提出一种基于GNSS浮标的波浪参数反演方法,并成功应用于浙江温州海域,在海试过程中,同公认的波浪骑士浮标对比,平均波高相关系数达到0.95,标准差为4.06 cm,平均波周期相关系数为0.92,标准差为0.24 s,完全符合国家标准。本文所用浮标系统还可以搭载多种海洋环境要素观测传感器,可将数据实时传输至接收终端,具有较高的应用价值。     

Calibration and Verification of Jason-1 Using Global Along-Track Residuals with TOPEX Special Issue: Jason-1 Calibration/Validation

It is demonstrated that the Jason-1 measurements of sea surface height (SSH), wet path delay, and ionosphere path delay are within required accuracies, via a global cross-calibration with similar measurements made by TOPEX/Poseidon (T/P) over a 6-month period. Since the two satellites were on the same groundtrack separated in time by only 70 s, measurements were recorded at approximately the same location and time. The variations in the wet path delay measured by Jason-1 compared to T/P are only 5 mm RMS, well within the required performance of 1.2 cm RMS. The RMS of the ionosphere differences is also well within the expected values, with a mean RMS of 1.2 cm. The largest difference is that the Jason-1 SSH is biased high relative to T/P SSH by 144 mm after the T/P and Jason-1 data are both corrected with improved sea state bias (SSB) models. However, the bias will change if a different SSB model is used, so the user should be cautious that the bias used matches the SSB models. The bias is generally constant within ± 10 mm in the open ocean, but appears to be higher or lower in some regions. Additionally, the SSH has been verified by comparison with 36 island tide gauges over the same period. After removing the global relative bias, the Jason-1 SSH data agree with tide gauges within 3.7 cm RMS and with T/P data within about 3.5 cm RMS on average for 1-s measurements, meeting the required accuracy of 4.2 cm RMS.     

Calibration and Verification of Jason-1 Using Global Along-Track Residuals with TOPEX

It is demonstrated that the Jason-1 measurements of sea surface height (SSH), wet path delay, and ionosphere path delay are within required accuracies, via a global cross-calibration with similar measurements made by TOPEX/Poseidon (T/P) over a 6-month period. Since the two satellites were on the same groundtrack separated in time by only 70 s, measurements were recorded at approximately the same location and time. The variations in the wet path delay measured by Jason-1 compared to T/P are only 5 mm RMS, well within the required performance of 1.2 cm RMS. The RMS of the ionosphere differences is also well within the expected values, with a mean RMS of 1.2 cm. The largest difference is that the Jason-1 SSH is biased high relative to T/P SSH by 144 mm after the T/P and Jason-1 data are both corrected with improved sea state bias (SSB) models. However, the bias will change if a different SSB model is used, so the user should be cautious that the bias used matches the SSB models. The bias is generally constant within ± 10 mm in the open ocean, but appears to be higher or lower in some regions. Additionally, the SSH has been verified by comparison with 36 island tide gauges over the same period. After removing the global relative bias, the Jason-1 SSH data agree with tide gauges within 3.7 cm RMS and with T/P data within about 3.5 cm RMS on average for 1-s measurements, meeting the required accuracy of 4.2 cm RMS.     

Absolute sea level variability of Arctic Ocean in 1993–2018 from satellite altimetry and tide gauge observations

Arctic absolute sea level variations were analyzed based on multi-mission satellite altimetry data and tide gauge observations for the period of 1993–2018. The range of linear absolute sea level trends were found ?2.00 mm/a to 6.88 mm/a excluding the central Arctic, positive trend rates were predominantly located in shallow water and coastal areas, and negative rates were located in high-latitude areas and Baffin Bay. Satellite-derived results show that the average secular absolute sea level trend was (2.53±0.42) mm/a in the Arctic region. Large differences were presented between satellite-derived and tide gauge results, which are mainly due to low satellite data coverage, uncertainties in tidal height processing and vertical land movement (VLM). The VLM rates at 11 global navigation satellite system stations around the Arctic Ocean were analyzed, among which 6 stations were tide gauge co-located, the results indicate that the absolute sea level trends after VLM corrected were of the same magnitude as satellite altimetry results. Accurately calculating VLM is the primary uncertainty in interpreting tide gauge measurements such that differences between tide gauge and satellite altimetry data are attributable generally to VLM.     

Vertical Land Motion in the Mediterranean Sea from Altimetry and Tide Gauge Stations

We have computed estimates of the rate of vertical land motion in the Mediterranean Sea from differences of sea level heights measured by the TOPEX/Poseidon radar altimeter and by a set of tide gauge stations. The comparison of data at 16 tide gauges, using both hourly data from local datasets and monthly data from the PSMSL dataset, shows a general agreement, significant differences are found at only one location. Differences of near-simultaneous, monthly and deseasoned monthly sea level height time-series have been considered in order to reduce the error in the estimated linear-term. In a subset of 23 tide gauge stations the mean accuracy of the estimated vertical rates is 2.3 ± 0.8 mm/yr. Results for various stations are in agreement with estimates of vertical land motion from geodetic methods. A comparison with vertical motion estimated by GPS at four locations shows a mean difference of -0.04 ± 1.8 mm/yr, however the length of the GPS time-series and the number of locations are too small to draw general conclusions.