Statistical evaluation of primary relevellings

For the following problems

- estimating the statistical parameters of the precise levelling,

- adjusting the primary levelling networks and

- estimating vertical crustal movements

mathematical models are being sketched out. Results obtained in evaluating primary relevellings in the G.D.R. are reported.     

Remote Sensing Data Acquisition,Platforms and Sensor Requirements

Although data available from various earth observation systems have been routinely used in many resource applications, however there have been gaps, and data needs of applications at different levels of details have not been met. There is a growing demand for availability of data at higher repetivity, at higher spatial resolution, in more and narrower spectral bands etc. Some of the thrust areas of applications particularly in the Indian context are;

1. Management of natural resources to ensure sustainable increase in agricultural production,
2. Study the state of the environment, its monitoring and assessment of the impact of. various development actions on the environment,
3. Updating and generation of large scale topographical maps.
4. Exploration/exploitation of marine and mineral resources and
5. Operational meteorology and studying various land and oceanic processes to understand/predict global climate changes.

Each of these thrust area of application has many components, related to basic resource areas such as agriculture, forestry, water resources, minerals, marine resources etc. and the field of cartography. Observational requirements for major applications have been summarized as under. Monitoring vegetation health from space remains the most important observational parameter with applications, in agriculture, forestry, environment, hydrology etc. Vegetation extent, quantity and temporal changes are the three main requirements which are not fully realized with RS data available. Vegetation productivity, forest biomass, canopy moisture status, canopy biogeochemistry are some examples. Crop production forecasting is an important application area. Remotely sensed data has been used for identification of crops and their acreage estimation. Fragmented holdings, large spread in crop calendars and different management practices continue to pose a challenge lo remote sensing. Remotely sensed data at much higher spatial resolution than hitherto available as well as at greater repetivity are required to meet this need. Non-availability of cloud-free data in the kharif season is one of the serious problems in operational use of remote sensing for crop inventory. Synthetic aperture radar data al X & Ku bands is necessary to meet this demand. Nutrient stress/disease detection requires observations in narrow spectral bands. In case of forestry applications, multispectral data at high spatial resolution of the order of 5 to 10 metres is required to make working plans at forest compartment level. Observations from space for deriving tree height are required for volume estimation. Observations in the middle infrared region would greatly enhance capability of satellite remote sensing in forest fire detection. Temporal, spatial and spectral observational requirements in various applications on vegetation viewing are diverse, as they address processes at different spatial and time scales. Hence, it would be worthwhile to address this issue in three broad categories. a) Full coverage, moderate spatial resolution with high repetivity (drought, large scale deforestation, forest phenology....). b) Full coverage, moderate to high spatial resolution and high repetivity (crop forecasting, vegetation productivity). c) Selected viewing at high spatial resolution, moderate to high repetivity and with new dimensions to imaging (narrow spectral bands, different viewing angles). A host of agrometeorological parameters are needed to be measured from space for their effective use in development of yield models. Estimation of root-zone soil moisture is an important area requiring radar measurements from space. Surface meteorological observations from space at the desired spatial and temporal distributions has not developed because of heavy demands placed on the sensor as well as analytical operational models. Agrometeorology not only provides quantitative inputs to other applications such as crop forecasting, hydrological models but also could be used for farmer advisory services by local bodies. Mineral exploration requires information on geological structures, geomorphology and lithology. Surface manifestation over localized regions requires large scale mapping while the lithology can be deciphered from specific narrow bands in visible. NIR, MIR and TIR regions. Sensors identified for mapping/cartography in conjunction with imaging spectrometer would seem to cover requirements of this application. Narrow spectral bands in the short regions which provide diagnostics of relevant geological phenomenon are necessary for mineral exploration. Thermal inertia measurements help in better discrimination of different rock units. Measurements from synthetic aperture data which would provide information on geological structures and geomorphology are necessary for mineral exploration. The applications related to marine environment fall in three major areas: (i) Ocean colour and productivity, biological resources; (ii) Land-ocean interface, this includes coastal landforms, bathymetry, littoral transport processes, etc. and; (iii) Physical oceanography, sea surface temperature, winds, wave spectra, energy and mass exchange between atmosphere and ocean. Measurement of chlorophyll concentration accurately on daily basis, sea surface temperature with an accuracy of 0.5 °K. and information on current patterns arc required for developing better fishery forecast models. Improved spatial resolution data are desirable for studying sediment and other coastal processes. Cartography is another important application area. The major problems encountered in relation to topographic map updation are location and geometric accuracy and information content. Two most important requirements for such an application are high spatial resolution data of 1 to 2 metre and stereo capability to provide vertical resolution of 1 metre. This requirement places stringent demands on the sensor specifications, geometric processing, platform stability and automated digital cartography. The requirements for the future earth observation systems based on different application needs can be summarized as follows:

1. Moderate spatial resolution (l50-300m), high repetivity (2 Days), minimum set of spectral bands (VIS, NIR, MIR. TIR) full coverage.
2. Moderate to high spatial resolution (20-40m), high repetivity (4-6 Days), spectral bands (VIS, MR, MIR, TIR) full coverage.
3. High spatial resolution (5-10m) muitispectral data with provision for selecting specific narrow bands (VIS, N1R. MIR), viewing from different angles.
4. Synthetic aperture radar operating in at least two frequencies (C, X, Ku), two incidence angles/polarizations, moderate to high spatial resolution (20-40m), high repetivity (4-6 Days).
5. Very high spatial resolution (1-2m) data in panchromatic band to provide terrain details at cadastral level (1:10,000).
6. Stereo capability (1-2m height resolution) to help planning/execution of development plans.
7. Moderate resolution sensor operating in VIS, NIR, MIR on a geostationary platform for observations at different sun angles necessary for the development of canopy reflectance inversion models.
8. Diurnal (at least two i.e. pre-dawn and noon) temperature measurements of the earth surface.
9. Ocean colour monitor with daily coverage.
10. Multi-frequency microwave radiometer, scatterometer. altimeter, atmospheric sounder, etc.

     

Prospects for gradiometric aiding of inertial survey systems

The state of current and proposed moving-base gravity gradiometer instruments is briefly reviewed. The review perspective is directed toward their deployment as a source of additional gravimetric data during inertial surveys. In such gradiometer-aided surveys, the additional gravity gradient information could be used to:

1. Improve surveyed gravity vector accuracy
2. Extend the interval between zero velocity update stops
3. Accomplish varying combinations of the above.

The paper examines potential survey improvements associated with gradiometers having noise levels observed in laboratory prototypes. The additional improvements possible with future gradiometers are also discussed. These results are interpreted in light of present and likely future inertial survey system technology.     

Confirming regional 1 cm differential geoid accuracy from airborne gravimetry: the Geoid Slope Validation Survey of 2011

A terrestrial survey, called the Geoid Slope Validation Survey of 2011 (GSVS11), encompassing leveling, GPS, astrogeodetic deflections of the vertical (DOV) and surface gravity was performed in the United States. The general purpose of that survey was to evaluate the current accuracy of gravimetric geoid models, and also to determine the impact of introducing new airborne gravity data from the ‘Gravity for the Redefinition of the American Vertical Datum’ (GRAV-D) project. More specifically, the GSVS11 survey was performed to determine whether or not the GRAV-D airborne gravimetry, flown at 11 km altitude, can reduce differential geoid error to below 1 cm in a low, flat gravimetrically uncomplicated region. GSVS11 comprises a 325 km traverse from Austin to Rockport in Southern Texas, and includes 218 GPS stations ( $\sigma _{\Delta h }= 0.4$ cm over any distance from 0.4 to 325 km) co-located with first-order spirit leveled orthometric heights ( $\sigma _{\Delta H }= 1.3$ cm end-to-end), including new surface gravimetry, and 216 astronomically determined vertical deflections $(\sigma _{\mathrm{DOV}}= 0.1^{\prime \prime })$ . The terrestrial survey data were compared in various ways to specific geoid models, including analysis of RMS residuals between all pairs of points on the line, direct comparison of DOVs to geoid slopes, and a harmonic analysis of the differences between the terrestrial data and various geoid models. These comparisons of the terrestrial survey data with specific geoid models showed conclusively that, in this type of region (low, flat) the geoid models computed using existing terrestrial gravity, combined with digital elevation models (DEMs) and GRACE and GOCE data, differential geoid accuracy of 1 to 3 cm (1 $\sigma )$ over distances from 0.4 to 325 km were currently being achieved. However, the addition of a contemporaneous airborne gravity data set, flown at 11 km altitude, brought the estimated differential geoid accuracy down to 1 cm over nearly all distances from 0.4 to 325 km.     

Geology of the area around Katta,sindhudurg district,Maharashtra. Based on aerospace data

Geological studies of the area around Katta, in the southern part of the Ratnagiri District of Maharashtra, were carried out with the help of visual remote sensing techniques using LANDSAT imageries on 1:250,000 scale and aerial photographs on 1:60,000 scale. The major stratigraphic units represented in the area under study are the Archean Complex, Kaladgi Supergroup, Deccan Trap, Laterite and Alluvium. The Kaladgis unconformably overlie the Archean metasediments and also at places exhibit faulted contacts with the latter. The major part of the area is covered by a thick evergreen vegetation. The interpretation followed by field work and laboratory work revealed the following:

1. The different lithologic units could be delineated on the aerial photographs.
2. Different lineaments marked on the imagery were found to be due either to faults or fracture zones. Some of the older faults appear to have been rejuvenated after the formation of the laterites.
3. Some of the lithologic horizons can be identified on the Landsat imagery by virtue of their spatial signatures.

These studies indicate that even in the area covered with thick vegetation, aerospace imagery in appropriate band and data scale can provide significant geological information.     

A note on adjustment of free networks

The present paper deals with the least-squares adjustment where the design matrix (A) is rank-deficient. The adjusted parameters \(\hat x\) as well as their variance-covariance matrix ( \(\sum _{\hat x} \) ) can be obtained as in the “standard” adjustment whereA has the full column rank, supplemented with constraints, \(C\hat x = w\) , whereC is the constraint matrix andw is sometimes called the “constant vector”. In this analysis only the inner adjustment constraints are considered, whereC has the full row rank equal to the rank deficiency ofA, andAC ^T =0. Perhaps the most important outcome points to the three kinds of results

1. A general least-squares solution where both \(\hat x\) and \(\sum _{\hat x} \) are indeterminate corresponds tow=arbitrary random vector.
2. The minimum trace (least-squares) solution where \(\hat x\) is indeterminate but \(\sum _{\hat x} \) is detemined (and trace \(\sum _{\hat x} \) corresponds tow=arbitrary constant vector.
3. The minimum norm (least-squares) solution where both \(\hat x\) and \(\sum _{\hat x} \) are determined (and norm \(\hat x\) , trace \(\sum _{\hat x} \) corresponds tow?0

     

Pre-zero-epoch covariance matrix in sequential analysis of deformations

A sequential adjustment procedure is proposed for the direct estimation of point—velocities in deformation analysis networks. At any intermediate stage of the adjustment the up-to-date covariance matrix of those velocities tells the evolving story of the network in terms of solvability and reliability. A pre-zero-epoch covariance matrix is utilized for a smooth and flexible treatment of two characteristic problems of deformation analysis:

- high turnover of points in the network

- processing variable and generally incomplete observational batches.

A small numerical example is presented at the end as an illustration.     

Global height system unification with GOCE: a simulation study on the indirect bias term in the GBVP approach

One of the main objectives of ESA’s Gravity Field and Steady-State Ocean Circulation mission GOCE (Gravity field and steady-state ocean circulation mission, 1999) is to allow global unification of height systems by directly providing potential differences between benchmarks in different height datum zones. In other words, GOCE provides a globally consistent and unbiased geoid. If this information is combined with ellipsoidal (derived from geodetic space techniques) and physical heights (derived from leveling/gravimetry) at the same benchmarks, datum offsets between the datum zones can be determined and all zones unified. The expected accuracy of GOCE is around 2–3 cm up to spherical harmonic degree n _max ≈ 200. The omission error above this degree amounts to about 30 cm which cannot be neglected. Therefore, terrestrial residual gravity anomalies are necessary to evaluate the medium and short wavelengths of the geoid, i.e. one has to solve the Geodetic Boundary Value Problem (GBVP). The theory of height unification by the GBVP approach is well developed, see e.g. Colombo (A World Vertical Network. Report 296, Department of Geodetic Science and Surveying, 1980) or Rummel and Teunissen (Bull Geod 62:477–498, 1988). Thereby, it must be considered that terrestrial gravity anomalies referring to different datum zones are biased due to the respective datum offsets. Consequently, the height reference surface of a specific datum zone deviates from the unbiased geoid not only due to its own datum offset (direct bias term) but is also indirectly affected by the integration of biased gravity anomalies. The latter effect is called the indirect bias term and it considerably complicates the adjustment model for global height unification. If no satellite based gravity model is employed, this error amounts to about the same size as the datum offsets, i.e. 1–2 m globally. We show that this value decreases if a satellite-only gravity model is used. Specifically for GOCE with n _max ≈ 200, the error can be expected not to exceed the level of 1 cm, allowing the effect to be neglected in practical height unification. The results are supported by recent findings by Gatti et al. (J Geod, 2012).     

La determination du rayon terrestre par J. PICARD en 1669–1671

The French astronomerJean PICARD (1620–1682) was certainly one of the leading scientists of his time. Friend of Huygens, of Hevelius, of Oldenburg, master of Römer, indefatigable traveller, he played a very important part in the development of positional astronomy and geodesy.

- He first, had the idea of comparing the length units to a reproductible physical quantity, namely the length of the one second pendulum at Paris, and measured that length.

- He conceived the first cross wire telescopes and adapted them on geodetic and astronomical instruments of his own, used throughout one century until 1780.

- He obtained the first really reliable value of the earth radius, in his famous measurement of the meridional arc PARIS-AMIENS, being the original cell of the French triangulations.

The following article is devoted to a recomputation and evaluation of the accuracy of that work, as compared with further operations, but independently concludes that this achievement gave the necessary impulse to the development of geodesy in France and probably abroad.     

Impacts of large-scale climatic disturbances on the terrestrial carbon cycle

Background

The amount of carbon dioxide in the atmosphere steadily increases as a consequence of anthropogenic emissions but with large interannual variability caused by the terrestrial biosphere. These variations in the CO₂ growth rate are caused by large-scale climate anomalies but the relative contributions of vegetation growth and soil decomposition is uncertain. We use a biogeochemical model of the terrestrial biosphere to differentiate the effects of temperature and precipitation on net primary production (NPP) and heterotrophic respiration (Rh) during the two largest anomalies in atmospheric CO₂ increase during the last 25 years. One of these, the smallest atmospheric year-to-year increase (largest land carbon uptake) in that period, was caused by global cooling in 1992/93 after the Pinatubo volcanic eruption. The other, the largest atmospheric increase on record (largest land carbon release), was caused by the strong El Niño event of 1997/98.

Results

We find that the LPJ model correctly simulates the magnitude of terrestrial modulation of atmospheric carbon anomalies for these two extreme disturbances. The response of soil respiration to changes in temperature and precipitation explains most of the modelled anomalous CO₂ flux.

Conclusion

Observed and modelled NEE anomalies are in good agreement, therefore we suggest that the temporal variability of heterotrophic respiration produced by our model is reasonably realistic. We therefore conclude that during the last 25 years the two largest disturbances of the global carbon cycle were strongly controlled by soil processes rather then the response of vegetation to these large-scale climatic events.     

On the use of heterogeneous noisy data in spectral gravity field modeling methods

Spectral methods have been a standard tool in physical geodesy applications over the past decade. Typically, they have been used for the efficient evaluation of convolution integrals, utilizing homogeneous, noise-free gridded data. This paper answers the following three questions:

1. Can data errors be propagated into the results?
2. Can heterogeneous data be used?
3. Is error propagation possible with heterogeneous data?

The answer to the above questions is yes and is illustrated for the case of two input data sets and one output. Firstly, a solution is obtained in the frequency domain using the theory of a two-input, single-output system. The assumption here is that both the input signals and their errors are stochastic variables with known PSDs. The solution depends on the ratios of the error PSD and the signal PSD, i.e., the noise-to-signal ratios of the two inputs. It is shown that, when the two inputs are partially correlated, this solution is equivalent to stepwise collocation. Secondly, a solution is derived in the frequency domain by a least-squares adjustment of the spectra of the input data. The assumption is that only the input errors are stochastic variables with known power spectral density functions (PSDs). It is shown that the solution depends on the ratio of the noise PSDs. In both cases, there exists the non-trivial problem of estimating the input noise PSDs, given that we only have available the error variances of the data. An effective but non-rigorous way of overcoming this problem in practice is to approximate the noise PSDs by simple stationary models.     

A technique for routinely updating the ITU-R database using radio occultation electron density profiles

Well credited and widely used ionospheric models, such as the International Reference Ionosphere or NeQuick, describe the variation of the electron density with height by means of a piecewise profile tied to the F2-peak parameters: the electron density, $N_m \mathrm{F2}$ N m F 2 , and the height, $h_m \mathrm{F2}$ h m F 2 . Accurate values of these parameters are crucial for retrieving reliable electron density estimations from those models. When direct measurements of these parameters are not available, the models compute the parameters using the so-called ITU-R database, which was established in the early 1960s. This paper presents a technique aimed at routinely updating the ITU-R database using radio occultation electron density profiles derived from GPS measurements gathered from low Earth orbit satellites. Before being used, these radio occultation profiles are validated by fitting to them an electron density model. A re-weighted Least Squares algorithm is used for down-weighting unreliable measurements (occasionally, entire profiles) and to retrieve $N_m \mathrm{F2}$ N m F 2 and $h_m \mathrm{F2}$ h m F 2 values—together with their error estimates—from the profiles. These values are used to monthly update the database, which consists of two sets of ITU-R-like coefficients that could easily be implemented in the IRI or NeQuick models. The technique was tested with radio occultation electron density profiles that are delivered to the community by the COSMIC/FORMOSAT-3 mission team. Tests were performed for solstices and equinoxes seasons in high and low-solar activity conditions. The global mean error of the resulting maps—estimated by the Least Squares technique—is between $0.5\times 10^{10}$ 0.5 × 10 10 and $3.6\times 10^{10}$ 3.6 × 10 10 elec/m $^{-3}$ ? 3 for the F2-peak electron density (which is equivalent to 7 % of the value of the estimated parameter) and from 2.0 to 5.6 km for the height ( $\sim $ ～ 2 %).     

Slope correction for ocean radar altimetry

We develop a slope correction model to improve the accuracy of mean sea surface topography models as well as marine gravity models. The correction is greatest above ocean trenches and large seamounts where the slope of the geoid exceeds 100  \(\upmu \) rad. In extreme cases, the correction to the mean sea surface height is 40 mm and the correction to the along-track altimeter slope is 1–2  \(\upmu \) rad which maps into a 1–2 mGal gravity error. Both corrections are easily applied using existing grids of sea surface slope from satellite altimetry.     

A complete VLBI delay model for deforming radio telescopes: the Effelsberg case

Deformations of radio telescopes used in geodetic and astrometric very long baseline interferometry (VLBI) observations belong to the class of systematic error sources which require correction in data analysis. In this paper we present a model for all path length variations in the geometrical optics of radio telescopes which are due to gravitational deformation. The Effelsberg 100 m radio telescope of the Max Planck Institute for Radio Astronomy, Bonn, Germany, has been surveyed by various terrestrial methods. Thus, all necessary information that is needed to model the path length variations is available. Additionally, a ray tracing program has been developed which uses as input the parameters of the measured deformations to produce an independent check of the theoretical model. In this program as well as in the theoretical model, the illumination function plays an important role because it serves as the weighting function for the individual path lengths depending on the distance from the optical axis. For the Effelsberg telescope, the biggest contribution to the total path length variations is the bending of the main beam located along the elevation axis which partly carries the weight of the paraboloid at its vertex. The difference in total path length is almost \(-\) 100 mm when comparing observations at 90 \(^\circ \) and at 0 \(^\circ \) elevation angle. The impact of the path length corrections is validated in a global VLBI analysis. The application of the correction model leads to a change in the vertical position of \(+120\)  mm. This is more than the maximum path length, but the effect can be explained by the shape of the correction function.     

Observable quantities in satellite gradiometry

Deriving the observables for satellite gravity gradiometry, several workers have identified the invariants under spatial rotation of the gravitation gradient tensor for obtaining quantities insensitive to the precise (unrecoverable) attitude of the satellite. Extending this work we show:

1. Considering that an approximate (not precise) attitude recovery for these, three-axes-stabilised, satellites is to be expected, one can identifythree independent invariants instead of two.
2. Besides studying gradient tensor invariants for one observation time, one should also study (as withGPS observables) first and seconddifferences between successive tensor component values in time. Bias and trend patterns in the measured tensor components caused by satellite rotation uncertainty, and by attitude uncertainty in some cross components, are shown to cancel. Information thus obtained is exclusively high-frequency, however.

Observation equations for gradiometry are derived taking three satellite attitude angles into account. Various alternatives for the satellite’s nominalattitude law are discussed.     

Determination of geoidal heights and deflections of the vertical for the hellenic area using heterogeneous data

Mean gravity anomalies, deflections of the vertical, and a geopotential model complete to degree and order180 are combined in order to determine geoidal heights in the area bounded by [34°≦ϕ≤42°, 18°≦λ≦28°]. Moreover, employing point gravity anomalies simultaneously with the above data, an attempt is made to predict deflections of the vertical in the same area. The method used in the computations is least squares collocation. Using empirical covariance functions for the data, the suitable errors for the different sources of observations, and the optimum cap radius around each point of evaluation, an accuracy better than±0.60m for geoidal heights and±1″.5 for deflections of the vertical is obtained taking into account existing systematic effects. This accuracy refers to the comparison between observed and predicted values.     

Homogeneous reprocessing of GPS,GLONASS and SLR observations

The International GNSS Service (IGS) provides operational products for the GPS and GLONASS constellation. Homogeneously processed time series of parameters from the IGS are only available for GPS. Reprocessed GLONASS series are provided only by individual Analysis Centers (i. e. CODE and ESA), making it difficult to fully include the GLONASS system into a rigorous GNSS analysis. In view of the increasing number of active GLONASS satellites and a steadily growing number of GPS+GLONASS-tracking stations available over the past few years, Technische Universität Dresden, Technische Universität München, Universität Bern and Eidgenössische Technische Hochschule Zürich performed a combined reprocessing of GPS and GLONASS observations. Also, SLR observations to GPS and GLONASS are included in this reprocessing effort. Here, we show only SLR results from a GNSS orbit validation. In total, 18 years of data (1994–2011) have been processed from altogether 340 GNSS and 70 SLR stations. The use of GLONASS observations in addition to GPS has no impact on the estimated linear terrestrial reference frame parameters. However, daily station positions show an RMS reduction of 0.3 mm on average for the height component when additional GLONASS observations can be used for the time series determination. Analyzing satellite orbit overlaps, the rigorous combination of GPS and GLONASS neither improves nor degrades the GPS orbit precision. For GLONASS, however, the quality of the microwave-derived GLONASS orbits improves due to the combination. These findings are confirmed using independent SLR observations for a GNSS orbit validation. In comparison to previous studies, mean SLR biases for satellites GPS-35 and GPS-36 could be reduced in magnitude from \(-35\) and \(-38\)  mm to \(-12\) and \(-13\)  mm, respectively. Our results show that remaining SLR biases depend on the satellite type and the use of coated or uncoated retro-reflectors. For Earth rotation parameters, the increasing number of GLONASS satellites and tracking stations over the past few years leads to differences between GPS-only and GPS+GLONASS combined solutions which are most pronounced in the pole rate estimates with maximum 0.2 mas/day in magnitude. At the same time, the difference between GLONASS-only and combined solutions decreases. Derived GNSS orbits are used to estimate combined GPS+GLONASS satellite clocks, with first results presented in this paper. Phase observation residuals from a precise point positioning are at the level of 2 mm and particularly reveal poorly modeled yaw maneuver periods.     

Canadian gravimetric geoid model 2010

A new gravimetric geoid model, Canadian Gravimetric Geoid 2010 (CGG2010), has been developed to upgrade the previous geoid model CGG2005. CGG2010 represents the separation between the reference ellipsoid of GRS80 and the Earth’s equipotential surface of $W_0=62{,}636{,}855.69~\mathrm{m}^2\mathrm{s}^{-2}$ W 0 = 62 , 636 , 855.69 m 2 s ? 2 . The Stokes–Helmert method has been re-formulated for the determination of CGG2010 by a new Stokes kernel modification. It reduces the effect of the systematic error in the Canadian terrestrial gravity data on the geoid to the level below 2 cm from about 20 cm using other existing modification techniques, and renders a smooth spectral combination of the satellite and terrestrial gravity data. The long wavelength components of CGG2010 include the GOCE contribution contained in a combined GRACE and GOCE geopotential model: GOCO01S, which ranges from $-20.1$ ? 20.1 to 16.7 cm with an RMS of 2.9 cm. Improvement has been also achieved through the refinement of geoid modelling procedure and the use of new data. (1) The downward continuation effect has been accounted accurately ranging from $-22.1$ ? 22.1 to 16.5 cm with an RMS of 0.9 cm. (2) The geoid residual from the Stokes integral is reduced to 4 cm in RMS by the use of an ultra-high degree spherical harmonic representation of global elevation model for deriving the reference Helmert field in conjunction with a derived global geopotential model. (3) The Canadian gravimetric geoid model is published for the first time with associated error estimates. In addition, CGG2010 includes the new marine gravity data, ArcGP gravity grids, and the new Canadian Digital Elevation Data (CDED) 1:50K. CGG2010 is compared to GPS-levelling data in Canada. The standard deviations are estimated to vary from 2 to 10 cm with the largest error in the mountainous areas of western Canada. We demonstrate its improvement over the previous models CGG2005 and EGM2008.     

Combining consecutive short arcs into long arcs for precise and efficient GPS Orbit Determination

The final products of theCODE Analysis Center (Center for Orbit Determination in Europe) of theInternational GPS Service for Geodynamics (IGS) stem fromoverlapping 3-day-arcs. Until 31 December, 1994 these long arcs were computedfrom scratch, i.e. by processing three days of observations of about 40 stations (by mid 1995 about 60 stations were used) of the IGS Global Network in our parameter estimation program GPSEST. Becauseone-day-arcs have to be produced first (for the purpose of error detection etc.) the actual procedure was rather time-consuming. In the present article we develop the mathematical tools necessary to form long arcs based on the normal equation systems of consecutive short arcs (one-day-solutions in the case of CODE). The procedure in its simplest version is as follows:

• Each short arc is described bysix initial conditions and a number of dynamical orbit parameters (e.g. radiation pressure parameters). The resulting long arc in turn shall be based onn consecutive short arcs and described bysix initial conditions and again the same number of dynamical parameters as in the short arcs..
• By asking position and velocity to be continuous at the boundaries of the short arcs we obtain a long arc which is actually defined by one set of initial conditions andn sets of dynamical parameters (ifn short arcs are combined)..
• By asking the dynamical parameters to be identical in consecutive short arcs, the resulting long arc is characterized by exactly the same number of orbit parameters as each of the short arcs.
• This procedure isnot yet optimized becauseformally all n sets of orbit parameters have to be set up and solved for in the long arc solution (although they are not independent). In order to allow for an optimized solution we derive all necessary relations to eliminate the unnecessary parameters in the combination. Each long arc is characterized by the actual number of independent orbit parameters. The resulting procedure isvery efficient.

From the point of view of the result the new procedure iscompletely equivalent to an actual re-evaluation of all observations pertaining to the long arc. It is much more efficient and flexible, however because it allows us to construct 2-day-arcs, 3-day-arcs, etc. based on the previously stored daily normal equation systems without requiring much additional CPU time. The theory is developed in the first four sections. Technical aspects are dealt with in appendices A and B. The actual implementation into the Bernese GPS Software system and test results are given in section 5.     

Self-consistent treatment of tidal variations in the geocenter for precise orbit determination

We show that the current levels of accuracy being achieved for the precise orbit determination (POD) of low-Earth orbiters demonstrate the need for the self-consistent treatment of tidal variations in the geocenter. Our study uses as an example the POD of the OSTM/Jason-2 satellite altimeter mission based upon Global Positioning System (GPS) tracking data. Current GPS-based POD solutions are demonstrating root-mean-square (RMS) radial orbit accuracy and precision of \({<}1\)  cm and 1 mm, respectively. Meanwhile, we show that the RMS of three-dimensional tidal geocenter variations is \({<}6\)  mm, but can be as large as 15 mm, with the largest component along the Earth’s spin axis. Our results demonstrate that GPS-based POD of Earth orbiters is best performed using GPS satellite orbit positions that are defined in a reference frame whose origin is at the center of mass of the entire Earth system, including the ocean tides. Errors in the GPS-based POD solutions for OSTM/Jason-2 of \({<}4\)  mm (3D RMS) and \({<}2\)  mm (radial RMS) are introduced when tidal geocenter variations are not treated consistently. Nevertheless, inconsistent treatment is measurable in the OSTM/Jason-2 POD solutions and manifests through degraded post-fit tracking data residuals, orbit precision, and relative orbit accuracy. For the latter metric, sea surface height crossover variance is higher by \(6~\hbox {mm}^{2}\) when tidal geocenter variations are treated inconsistently.