On the combined adjustment of a gravimetrically determined geoid and GPS levelling stations

Summary A new basic geodetic network using the GPS technique is now being set up in France. There will be altogether 1000 benchmarks connected to the French levelling network. Obviously, the GPS levelling points are not dense enough to produce a national levelling reference surface. A gravimetrically determined geoid has therefore been proposed to be used for the interpolation between the GPS levelling points. However, because of long-wavelength errors, we consider that a gravimetric geoid does not have sufficient accuracy. A regression by fitting the gravimetrically determined geoid to the GPS levelling points is generally proposed. Unfortunately, this country-wide geoid fitting work cannot eliminate local deformations in the geoid, which happen in areas where there are errors or shortages of gravity or DTM data. This paper proposes and discusses a combined adjustment method. The principle is to divide up the geoid into small pieces and then to adjust them to the GPS levelling points locally with constraint conditions for the common points of the adjacent pieces. In order to benefit from the advantages of the high resolution and high relative accuracy of the gravimetric geoid, as well as the high absolute accuracy of the GPS levelling points, we establish respectively a relative observation equation for the difference of the gravimetric geoid undulation and an absolute observation equation for the GPS levelling points. Finally, we adjust the observation equations as a whole. Several global and local systematic errors are also taken into account and some special cases, such as adjustment in groups and blunder detection, are also discussed.     

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     

A strategy for determining the regional geoid by combining limited ground data with satellite-based global geopotential and topographical models: a case study of Iran

The computation of regional gravimetric geoid models with reasonable accuracy, in developing countries, with sparse data is a difficult task that needs great care. Here we investigate the procedure for gathering, evaluating and combining different data for the determination of a gravimetric geoid model for Iran, where limited ground gravity data are available. Heterogeneous data, including gravity anomalies, the high-resolution Shuttle Radar Topography Mission global digital terrain model and different global geopotential models including recently published Gravity Recovery and Climate Experiment models, are combined through least-squares modification of the Stokes formula. The new gravimetric geoid model, IRG04, agrees considerably better with GPS/levelling than any of the other recent local geoid model in the area. Its RMS fit with GPS/levelling is 0.27 m and 3.8 ppm in the absolute and relative view, respectively. The relative accuracy of IRG04 is four times better than the most recently published global and regional geoid models available in this area. This progress shows the practical potential of the method of least-squares modification of Stokes’s formula in combination with heterogeneous data for regional geoid determination     

我国大地测量学的进展和展望

回顾了我国大地测量工作的进展。面向 2 1世纪前期的我国经济和国防建设及科技和社会发展 ,展望了我国新世纪的大地测量 ,提出应逐步进入精确、动态、实时的现代化体系 ,即完善国家三维空间大地网 ;建立 GPS综合服务体系 ;提供导航和定位服务 ;测定地壳运动、电离层参数、大气中可降水份等信息 ;精化中国地区重力场参数 ;建立新的国家重力基准网 ;完成分米级精度的中国似大地水准面的推算 ;积极开展海洋和空间大地测量 ,为资源、环境的管理以及防灾监测做出应有的贡献。     

面向数字中国建设中国的现代大地测量基准

在回顾我国大地测量基准建设历史的基础上,分析了在当前建设信息化社会,创建数字中国,对现代地理空间基础框架中测绘基准的需求。提出了在我国建设现代大地测量基准的建议。在平面基准方面,建议在国家GPS2000网(三网)的基础上,进一步加密国家GPS网点和永久性追踪站,构建有足够分布密度的三维高精度动态大地坐标框架,为我国今后建立新的大地坐标系统创造条件。在高程基准方面,建议在仪器设备和规范细则方面作好准备工作,依法定期对国家高程控制网进行复测。在重力基准方面,在国家2000重力基准网和国家2000(似)大地水准面的基础上,有步骤的按省或地区推算具有厘米级精度,10km级栅格分辨率的似大地水准面。在条件成熟时,我国应考虑采用三维地心坐标系统。     

Modelling local GPS/levelling geoid undulations using artificial neural networks

The use of GPS for establishing height control in an area where levelling data are available can involve the so-called GPS/levelling technique. Modelling of the GPS/levelling geoid undulations has usually been carried out using polynomial surface fitting, least-squares collocation (LSC) and finite-element methods. Artificial neural networks (ANNs) have recently been used for many investigations, and proven to be effective in solving complex problems represented by noisy and missing data. In this study, a feed-forward ANN structure, learning the characteristics of the training data through the back-propagation algorithm, is employed to model the local GPS/levelling geoid surface. The GPS/levelling geoid undulations for Istanbul, Turkey, were estimated from GPS and precise levelling measurements obtained during a field study in the period 1998–99. The results are compared to those produced by two well-known conventional methods, namely polynomial fitting and LSC, in terms of root mean square error (RMSE) that ranged from 3.97 to 5.73 cm. The results show that ANNs can produce results that are comparable to polynomial fitting and LSC. The main advantage of the ANN-based surfaces seems to be the low deviations from the GPS/levelling data surface, which is particularly important for distorted levelling networks.     

On the adjustment of combined GPS/levelling/geoid networks

A detailed treatment of adjustment problems in combined global positioning system (GPS)/levelling/geoid networks is given. The two main types of `unknowns' in this kind of multi-data 1D networks are usually the gravimetric geoid accuracy and a 2D spatial field that describes all the datum/systematic distortions among the available height data sets. An accurate knowledge of the latter becomes especially important when we consider employing GPS techniques for levelling purposes with respect to a local vertical datum. Two modelling alternatives for the correction field are presented, namely a pure deterministic parametric model, and a hybrid deterministic and stochastic model. The concept of variance component estimation is also proposed as an important statistical tool for assessing the actual gravimetric geoid noise level and/or testing a priori determined geoid error models. Finally, conclusions are drawn and recommendations for further study are suggested. Received: 9 September 1998 / Accepted: 8 June 1999     

Effect of the SRTM global DEM on the determination of a high-resolution geoid model: a case study in Iran

Any errors in digital elevation models (DEMs) will introduce errors directly in gravity anomalies and geoid models when used in interpolating Bouguer gravity anomalies. Errors are also propagated into the geoid model by the topographic and downward continuation (DWC) corrections in the application of Stokes’s formula. The effects of these errors are assessed by the evaluation of the absolute accuracy of nine independent DEMs for the Iran region. It is shown that the improvement in using the high-resolution Shuttle Radar Topography Mission (SRTM) data versus previously available DEMs in gridding of gravity anomalies, terrain corrections and DWC effects for the geoid model are significant. Based on the Iranian GPS/levelling network data, we estimate the absolute vertical accuracy of the SRTM in Iran to be 6.5 m, which is much better than the estimated global accuracy of the SRTM (say 16 m). Hence, this DEM has a comparable accuracy to a current photogrammetric high-resolution DEM of Iran under development. We also found very large differences between the GLOBE and SRTM models on the range of −750 to 550 m. This difference causes an error in the range of −160 to 140 mGal in interpolating surface gravity anomalies and −60 to 60 mGal in simple Bouguer anomaly correction terms. In the view of geoid heights, we found large differences between the use of GLOBE and SRTM DEMs, in the range of −1.1 to 1 m for the study area. The terrain correction of the geoid model at selected GPS/levelling points only differs by 3 cm for these two DEMs.     

高精度局域大地水准面对布测GPS水准和重力的要求

给定局域（似）大地水准面所要求的精度后，对该局域中应该布测GPS水准网的密度和精度进行了研究，并对不同地形类型的载我中，重力扰动对该局域（似）大地水准面精度的影响进行了讨论，并提出了相应布测量密度的要求。     

Models for Fitting Gravimetric Geoids and GPS Results

The aim of this investigation is to study how to use a gravimetric(quasi) geoid for levelling by GPS data in an optimal way.The advent of precise geodetic GPS has made the use of a technique possible,which might be called GPS- gravimetric geoid determination.In this approach,GPS heights above the reference ellipsoid are determined for points whose levelled (orthometric) height H is above sea level people have already surveyed;for these points,we thus have the values of the geoid undulation N.These values are then used to constrain the geoid undulations N‘ obtained from the gravimetric solution.     

一种有效的区域似大地水准面精度检测方法

利用大地水准面逼近严密理论Molodenskii级数解,结合GPS、水准、重力和地形资料精化区域似大地水准面,其精度已从分米级向厘米级、高分辨率方向发展。如何客观、高效地评价区域似大地水准面精度是本文研究的主要目的。作者以广西似大地水准面精度检测为例子,给出了一种综合考虑GPS/水准检测点GPS大地高和水准测量误差的区域似大地水准面精度检测方法。利用覆盖广西境内的446个C级GPS控制网和航控GPS控制网GPS/水准检测点,点间距约25km,采用加权平均法计算广西似大地水准面外符合检测精度为±0.041m。     

Geoid undulation modelling and interpretation at Ladak, NW Himalaya using GPS and levelling data

Fast and accurate relative positioning for baselines less than 20 km in length is possible using dual-frequency Global Positioning System (GPS) receivers. By measuring orthometric heights of a few GPS stations by differential levelling techniques, the geoid undulation can be modelled, which enables GPS to be used for orthometric height determination in a much faster and more economical way than terrestrial methods. The geoid undulation anomaly can be very useful for studying tectonic structure. GPS, levelling and gravity measurements were carried out along a 200-km-long highly undulating profile, at an average elevation of 4000 m, in the Ladak region of NW Himalaya, India. The geoid undulation and gravity anomaly were measured at 28 common GPS-levelling and 67 GPS-gravity stations. A regional geoid low of nearly −4 m coincident with a steep negative gravity gradient is compatible with very recent findings from other geophysical studies of a low-velocity layer 20–30 km thick to the north of the India–Tibet plate boundary, within the Tibetan plate. Topographic, gravity and geoid data possibly indicate that the actual plate boundary is situated further north of what is geologically known as the Indus Tsangpo Suture Zone, the traditionally supposed location of the plate boundary. Comparison of the measured geoid with that computed from OSU91 and EGM96 gravity models indicates that GPS alone can be used for orthometric height determination over the Higher Himalaya with 1–2 m accuracy. Received: 10 April 1997 / Accepted: 9 October 1998     

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     

GPS水准、天文重力水准与重力大地水准面多种数据联合处理的研究

针对我国大地水准面的研究状况，提出了在国家ＧＰＳＢ级网完成之后，利用ＧＰＳ水准、天文重力水准与重力大地水准面３类数据确定我国高精度大地水准面的理论和方法。分析了３类数据的误差传播规律，给出了联合平差模型，并用一模拟网进行了试算     

Minimization and estimation of geoid undulation errors

The objective of this paper is to minimize the geoid undulation errors by focusing on the contribution of the global geopotential model and regional gravity anomalies, and to estimate the accuracy of the predicted gravimetric geoid.The geopotential model's contribution is improved by (a) tailoring it using the regional gravity anomalies and (b) introducing a weighting function to the geopotential coefficients. The tailoring and the weighting function reduced the difference (1) between the geopotential model and the GPS/levelling-derived geoid undulations in British Columbia by about 55% and more than 10%, respectively.Geoid undulations computed in an area of 40° by 120° by Stokes' integral with different kernel functions are analyzed. The use of the approximated kernels results in about 25 cm () and 190 cm (maximum) geoid errors. As compared with the geoid derived by GPS/levelling, the gravimetric geoid gives relative differences of about 0.3 to 1.4 ppm in flat areas, and 1 to 2.5 ppm in mountainous areas for distances of 30 to 200 km, while the absolute difference (1) is about 5 cm and 20 cm, respectively.A optimal Wiener filter is introduced for filtering of the gravity anomaly noise, and the performance is investigated by numerical examples. The internal accuracy of the gravimetric geoid is studied by propagating the errors of the gravity anomalies and the geopotential coefficients into the geoid undulations. Numerical computations indicate that the propagated geoid errors can reasonably reflect the differences between the gravimetric and GPS/levelling-derived geoid undulations in flat areas, such as Alberta, and is over optimistic in the Rocky Mountains of British Columbia.Paper presented at the IAG General Meeting, Beijing, China, August 8–13, 1993.     

全国及部分省市地区高精度、高分辨率大地水准面的研究及其实施

结合我国重力和地形资料及国内外较优的重力场模型，研制了适合我国重力场特征的360阶重力场模型WDM94，建立了中国新一代包括全部陆海国土的dm级（似）大地水准面CQG2000，建立了中国以GPS／水准为基础的高程异常控制网，利用海洋卫星测高数据进行我国海洋大地水准面的计算、我国陆地重力（似）大地水准面的研制厦我国陆海（似）大地水准面的拼接；研制了江苏省、海南省、深圳市、大连市、南京市及南水北调西线工程具有cm级精度的省市地区（似）大地水准面模型；结合GPS技术和高精度（似）大地水准面模型，研制了GPS测图软硬件一体化系统。     

2005珠峰高程测定

2005年我国对珠穆朗玛峰高程进行了新的测定,为此在珠峰及其邻近地区开展了大规模的大地测量数据获取和数据处理工作。相对于1975年珠峰测高,2005年在珠峰以北地区的地面控制和珠峰高程测定中采用了GPS技术,采用了雷达探测技术测定珠峰峰顶冰雪覆盖层的深度,利用地球重力场模型、重力和数字地形数据、以及GPS水准等资料,精化珠峰地区的大地水准面,提高了测量珠峰高程和探测峰顶冰雪覆盖层深度的精度和可靠性。由此测得珠峰峰顶雪面正常高为8 846.67 M,珠峰峰顶雪面正高(海拔高)为8 847.93 M,珠峰峰顶岩面正高为8 844.43 M,珠峰峰顶相应点的冰雪层厚度为3.50 M。     

利用重力场模型和局部重力资料计算GPS水准高的精度探讨

利用大地水准面高，结合GPS测量的高程信息,直接计算GPS水准高，是一种全新诱人的解决方案。本文就这种方案，根据其核心技术－大地水面高的性质：长波长－全球重力场；中波长－局部重力资料，短波长－数据地形，对它的具体实现，适用范围以及精度分析作了详尽的探讨，在此基础上，提出一些GPS水准应用规范和要求，并利用实验数据对其进行验证。     

Geoid models around Sognefjord using depth data

Bathymetry data from Sognefjord, Norway, have been included in a terrain model, and their influence on the geoid has been calculated. The test area, located in the western part of Norway, was chosen due to its deep fjords and high mountains. Inclusion of bathymetry data in the terrain model altered the computed gravimetric geoid by as much as a few decimeters. The effect was detectable to a distance of more than 100 km. All calculated geoids, both with and without bathymetry data in the terrain model, fit the geoidal heights determined by available Global Positioning System (GPS) and levelling heights at the sub-decimetre level. Contrary to expectations, the accuracy in geoid prediction was reduced when using bathymetric data. The geoid changes were largest over the fjord where no GPS points were located. Different methods on the same area [isostatic and Residual Terrain Model (RTM)-terrain reductions] showed differences of approximately 1 m. Rigorous distinction between quasigeoid and geoid was found to be essential in this kind of area. Received: 12 May 1997 / Accepted 7 May 1998