Comparison of global geopotential models from the champ and grace missions for regional geoid modelling in Turkey

The continuous efforts on establishment and modernization of the geodetic control in Turkey include a number of regional geoid models that have been determined since 1976. The recently released gravimetric Geoid of Turkey, TG03, is used in geodetic applications where GPS-heights need to be converted to the local vertical datum. To reach a regional geoid model with improved accuracy, the selection of the appropriate global geopotential model is of primary importance. This study assesses the performance of a number of recent satellite-only and combined global geopotential models (GGMs) derived from CHAMP and GRACE missions’ data in comparison to the older EGM96 model, which is the underlying reference model for TG03. In this respect, gravity anomalies and geoid heights from the global geopotential models were compared with terrestrial gravity data and low-pass filtered GPS/levelling data, respectively. Also, five new gravimetric geoid models, computed by the Fast Fourier Transform technique using terrestrial gravity data and the geopotential models, were validated at the GPS/levelling benchmarks. The findings were also compared with the validation results of the TG03 model. The tests showed that as it was expected any of the high-degree combined models (EIGEN-CG03C, EIGEN-GL04C, EGM96) can be employed for determining the gravity anomalies over Turkey. In the west of Turkey, EGM96 and EIGEN-CHAMP03S fit the GPS/levelling surface better. However, all the tested GGMs revealed equal performance when they were employed in gravimetric geoid modelling after de-trending the gravimetric geoid model with corrector surface fitting. The new geoid models have improved accuracy (after fit) compared to TG03.     

The new quasi-geoid model IRQG09 for Iran

Iran is a mountainous country with large lateral density variations of its crust. Constant density value is commonly used to determine the geoid models as well as topographic corrections. The effect of lateral density variation in the geoid can reach up to 14 cm in Iran which is not negligible in a precise geoid modelling. Also, the current height datum of Iran is based on the orthometric system but the effect of gravity variation was not applied in height parameter. Furthermore, the height systems of most neighbouring countries are defined as normal height. Connection of networks can be useful for the unification of height datum, geodynamics researches and optimal adjustment of levelling network. The new quasi-geoid model based on a recent EGM2008 global geo-potential model was created to solve the mentioned problem. The main purpose of the present study is to discuss the results of a research project in which a gravimetric quasi-geoid model for Iran was computed based on the least-squares modification of Stokes' formula. The evaluation is made using 475 GPS/levelling height anomalies covering the major parts of the country except the mountainous areas to the North and West. After a 7-parameter fit, the most promising attempt achieved a RMS value of 19 cm for the residuals based on the GPS/levelling data.     

An estimation of the height system bias parameter <Emphasis Type="Italic">N</Emphasis><Subscript>0</Subscript> using least squares collocation from observed gravity and GPS-levelling data

This paper deals with the analysis of gravity anomaly and precise levelling in conjunction with GPS-Levelling data for the computation of a gravimetric geoid and an estimate of the height system bias parameter N_o for the vertical datum in Pakistan by means of least squares collocation technique. The long term objective is to obtain a regional geoid (or quasi-geoid) modeling using a combination of local data with a high degree and order Earth gravity model (EGM) and to determine a bias (if there is one) with respect to a global mean sea surface. An application of collocation with the optimal covariance parameters has facilitated to achieve gravimetric height anomalies in a global geocentric datum. Residual terrain modeling (RTM) technique has been used in combination with the EGM96 for the reduction and smoothing of the gravity data. A value for the bias parameter N_o has been estimated with reference to the local GPS-Levelling datum that appears to be 0.705 m with 0.07 m mean square error. The gravimetric height anomalies were compared with height anomalies obtained from GPS-Levelling stations using least square collocation with and without bias adjustment. The bias adjustment minimizes the difference between the gravimetric height anomalies with respect to residual GPS-Levelling data and the standard deviation of the differences drops from 35 cm to 2.6 cm. The results of this study suggest that N_o adjustment may be a good alternative for the fitting of the final gravimetric geoid as is generally done when using FFT methods.     

Investigation of topographic reductions and aliasing effects on gravity and the geoid over Greece based on various digital terrain models

The reduction of gravity-field related quantities (e.g., gravity anomalies, geoid heights) due to the topography plays a crucial role in both geodetic and geophysical applications, since in the former it is an intermediate step towards geoid prediction and in the latter it reveals lateral as well as radial density contrasts and infers the geology of the area under study. The computations are usually carried out by employing a DTM and/or a DBM, which describe the topography and bathymetry, respectively. Errors in these DTMs/DBMs will introduce errors in the computed topographic effects, while poor spatial resolution of the topography and bathymetry models will result in aliasing effects to both gravity anomalies and geoid heights, both influencing the accuracy of the estimated solutions. The scope of this work is twofold. First, a validation and accuracy assessment of the SRTM 3″ (90 m) DTM over Greece is performed through comparisons with existing global models as well as with the Greek 450 m national DTMs. Whenever a misrepresentation of the topography is identified in the SRTM data, it is “corrected” using the local 450 m DTM. This process resulted in an improved SRTM DTM called SRTMGr, which was then used to determine terrain effects to gravity field quantities. From the fine-resolution SRTMGr DTMs, coarser models of 15″, 30″, 1′, 2′ and 5′ have been determined in order to investigate aliasing effects on both gravity anomalies and geoid heights by computing terrain effects at variable spatial resolutions. From the results acquired in two test areas, it was concluded that SRTMGr provides similar results to the local DTM making the use of other older global DTMs obsolete. The study for terrain aliasing effects proved that when high-resolution and accuracy gravity and geoid models are needed, then the highest possible resolution DTM should be employed to compute the respective terrain effects. Based on the results acquired from two the test areas a corrected SRTMGr DTM has been compiled for the entire Greek territory towards the development of a new gravimetric geoid model. Results from that analysis are presented based on the well-known remove-compute-restore method, employing land and marine gravity data, EGM08 as a reference geopotential model and the SRTMGr DTM for the computation of the RTM effects.     

Error sources and data limitations for the prediction of surface gravity: a case study using benchmarks

Gravity-based heights require gravity values at levelled benchmarks (BMs), which sometimes have to be predicted from surrounding observations. We use the Earth Gravitational Model 2008 (EGM2008) and the Australian National Gravity Database (ANGD) as examples of model and terrestrial observed data respectively to predict gravity at Australian National Levelling Network (ANLN) BMs. The aim is to quantify errors that may propagate into the predicted BM gravity values and then into gravimetric height corrections (HCs). Our results indicate that an approximate ±1 arc-min horizontal position error of the BMs causes maximum errors in EGM2008 BM gravity of ~22 mGal (~55 mm in the HC at ~2200 m elevation) and ~18 mGal for ANGD BM gravity because the values are not computed at the true location of the BM. We use RTM (residual terrain modelling) techniques to show that ~50% of EGM2008 BM gravity error in a moderately mountainous region can be accounted for by signal omission. Non-representative sampling of ANGD gravity in this region may cause errors of up to 50 mGals (~120 mm for the Helmert orthometric correction at ~2200 m elevation). For modelled gravity at BMs to be viable, levelling networks need horizontal BM positions accurate to a few metres, while RTM techniques can be used to reduce signal omission error. Unrepresentative gravity sampling in mountains can be remedied by denser and more representative re-surveys, and/or gravity can be forward modelled into regions of sparser gravity.     

基于泊松小波径向基函数融合多源数据的局部重力场建模

融合多源数据的高精度、高分辨率的局部重力场建模是物理大地测量学的前沿和热点问题.本文研究了基于径向基函数融合多源数据的局部重力场建模方法,利用Monte-Carlo方差分量估计实现了不同类型的观测数据的合理定权,引入了最小标准差法确定基函数的适宜网络,分析了地形因素对于基函数网络确定及局部重力场建模精度的影响.以泊松小波基函数为构造基函数,结合残差地形模型,融合实测的陆地重力异常、船载重力异常及航空重力扰动数据构建了局部区域陆海统一的似大地水准面模型.研究结果表明:引入残差地形模型平滑了地形质量引入的高频扰动信号,简化了基函数的网络设计;并提高了重力似大地水准面的精度,平原地区其精度提高了4mm,地形起伏较大的山区其精度提高了约5cm.总体而言,基于"三步法"构建的局部重力似大地水准面在荷兰、比利时及德国相关区域,其精度分别达到1.12cm、2.80cm以及2.92cm.     

珠峰地区似大地水准面精化与珠峰顶正高的确定

本文使用珠峰及其周边地区的重力数据与SRTM3、1∶50000 DEM、GTOPO30地形数据,以该地区的44个GPS水准点为控制,选择国内外的EGM96、WDM94、IGG05B、DQM2000D和CG03C作为参考重力场模型,采用移去-恢复技术,首次完成了珠峰地区分辨率为2.5′×2.5′高精度似大地水准面,其精度达到±9 cm,并据此推算了珠峰顶高程异常值. 再利用登山线路上的新测重力点与珠峰地形数据,依据严格的重力归算理论及移去-恢复技术,完成了珠峰顶似大地水准面与大地水准面差值计算,即珠峰正常高与正高的换算.     

Improved determination of heights using a conversion surface by combining gravimetric quasi-geoid/geoid and GPS-levelling height differences

The quasi-geoid/geoid can be determined from the Global Positioning System (GPS) ellipsoidal height and the normal/orthometric heights derived from levelling (GPS-levelling). In this study a gravimetric quasigeoid and GPS-levelling height differences are combined to develop a new surface, suitable for “levelling” by GPS. This new surface provides better conversion of GPS ellipsoidal heights to the national normal heights. Different combining procedures, a four-parameter solution, linear and cubic splines interpolations, as well as the least-squares collocation method were investigated and compared over entire Norway. More than 1700 GPS-levelling stations were used in this study. The combined surface provides significant accuracy improvement for the normal height transformation of GPS height data, as demonstrated by the post-fitting residuals. The best solution, based on the least-squares collocation, provided a conversion surface for the transformation of GPS heights into normal height in Norway with an accuracy of about 5 cm.     

Use of EGM08 model and shuttle radar topography mission data for geoid computation in the State of Rio de Janeiro,Brazil: A case study with Voronoi/Delaunay discretisations

The EGM08 geopotential model complete to degree and order 2159 was used in a remove-compute-restore (RCR) method for the geoid computation in the State of Rio de Janeiro, Brazil. Terrain and indirect effect corrections were computed using a 6-arcsec resolution DTE, derived from the TOPODATA Project (Shuttle Radar Topography Mission data) raised by the National Institute for Space Research. INPE, Brazil. We applied Voronoi/Delaunay discretisations for discrete Stokes integration. In these schemes, target area is partitioned into polygons/triangles, respectively, and the computation is carried out by point-wise numerical integration and no gridding is mandatory. For both procedures, the cells were produced using either observed gravity data combined with gridded Bouguer derived information. Particularly in Delaunay scheme, as the gravity anomalies are interpolated into the triangular cells, and geoid undulations are computed for their vertices, Stokes function singularity was gone. Externally estimated errors resulting from a comparison with GPS/leveling data were presented for both the schemes and classical ones, as well as for the EGM08 undulations. They yielded RMS differences equal to 0.105 m, 0.110 m, 0.110 m, 0.115 m and 0.228 m, respectively, for Voronoi, Delaunay, Voronoi/Delaunay with gridded-data alone and EGM08, computed between 32 GPS/leveling points.     

Geostatistical prediction of a local geometric geoid - kriging and cokriging with the use of EGM2008 geopotential model

We investigate prediction abilities of different variants of kriging and different combinations of data in a local geometric (GNSS/leveling based) geoid modeling. In order to generate local geoid models, we have used GNSS/leveling data and EGM2008 geopotential model. EGM2008 has been used twofold. Firstly, it was used as a basic long wave-length trend to be removed from geoid undulation data to generate a residual field of geoid heights modeled later by kriging (remove-restore technique). Secondly, EGM2008-based undulations were used as a secondary variable in a cokriging prediction procedure (as pseudo-observations). Besides the use of EGM2008, the kriging-based local geometric geoid models were generated only on the basis of raw undulations data. Kriging itself was used in two variants, i.e. ordinary kriging and universal kriging for univariate and bivariate cases (cokriging). The quality of kriging-based prediction for all its variants and all data combinations have been investigated on one fixed validation dataset consisting of 86 points and three training data sets characterized by a different density of sampling. Results of this study indicate that incorporation of EGM08 as a long wave-length trend in kriging prediction procedure outperforms cokriging strategy based on incorporation of EGM08 as a secondary spatially correlated variable.     

A Gravimetric Geoid Computation and Comparison with GPS Results in Northern Andalusia (Spain)

Two new GPS surveys have been carried out to check the accuracy of an existing gravimetric geoid in a test area located in northern Andalusia (Spain). The fast collocation method and the remove-restore procedure have been used for the computation of the quasigeoid model. The Spanish height system is based on orthometric heights, so the gravimetrically determined quasigeoid has been transformed to a geoid model and then compared to geoid undulations provided by GPS and levelling at benchmarks belonging to the Spanish first-order levelling network. The discrepancies between the gravimetric solution and GPS/levelling undulations amount to ±2 cm for one survey and ±5 cm for another after fitting a plane to the geoid model.     

ANDALUSGeoid2002: The New Gravimetric Geoid Model of Andalusia (Southern Spain)

In 1991 the first determination of a gravimetric geoid in a test area in central Spain was computed by using least square collocation. In 1995 a gravimetric geoid in the Iberian Peninsula, Ibergeo95, was calculated by FFT. Nowadays an improved geoid of Andalusia, ANDALUSGeoid2002, has been computed by fast collocation procedure and remove-restore technique in the GRS80 Reference System. The computations have been done from 16562 free-air gravity anomaly data set, obtained from IGN (Instituto Geográfico Nacional) and BGI (International Gravity Bureau), the Earth Gravity Model EGM96 and detailed (100 m × 100 m), coarse (5 km × 5 km) and reference (20 km × 20 km) digital terrain models. Relative carrier-phase GPS measurements at 69 benchmarks of the Spanish Levelling Network in Andalusia have been done. The standard deviations of differences between ANDALUSGeoid2002 and GPS/levelling undulations after fitting the tilt have been ± 11 cm, ± 39 cm and ± 38 cm in western, eastern and whole Andalusia, respectively. The ANDALUSGeoid2002 shows an improvement of Ibergeo95 in this territory.     

Discussion of Mean Gravity Along the Plumbline

According to the definition of the orthometric height, the mean value of gravity along the plumbline between the Earth's surface and the geoid is defined in an integral sense. In Helmert's (1890) definition of the orthometric height, a linear change of the gravity with depth is assumed. The mean gravity is determined so that the observed gravity at the Earth's surface is reduced to the approximate mid-point of the plumbline using Poincaré-Prey's gravity gradient. Niethammer (1932) and later Mader (1954) took into account the mean value of the gravimetric terrain correction within the topography considering the constant topographical density distribution along the plumbline (for more details see Heiskanen and Moritz, 1967). Vaníek et al. (1995) included the effect of the lateral variation of the topographical density into the definition of Helmert's orthometric height. Recently, Hwang and Hsiao (2003) discussed the influence of the vertical gradient of disturbing gravity on the orthometric heights. In this paper, the mean integral value of gravity along the plumbline within the topography is defined so that the actual topographical density distribution and the change of the disturbing gravity with depth are taken into account. Based on the definition of the mean gravity, the relation between the orthometric and normal heights is discussed.     

Transformation between gravimetric and GPS/levelling-derived geoids using additional gravity information

The transformation from the gravimetric to the GPS/levelling-derived geoid using additional gravity information for the covariance function of geoid height differences has been investigated in a test area in south-western Canada. A “corrector surface” model, which accounts for datum inconsistencies, long-wavelength geoid errors, vertical network distortions and GPS errors, has been constructed using least-squares collocation. The local covariance function of geoid height differences is usually obtained from residual values between the GPS/levelling and gravimetric geoid heights after the elimination of all known systematic distortions. If additional gravity data (in the form of gravity anomalies) are available, the covariance function of geoid height differences can be determined by the following steps: (1) transforming the GPS/levelling-derived geoid heights into gravity anomalies; (2) forming differences between the computed in step 1 and given gravity anomalies; (3) determining the parameters of the local covariance function of the gravity anomaly differences; (4) constructing an analytical covariance model for the geoid height differences from the covariance function of the gravity anomaly differences using the parameters derived in step 3. The advantage of the proposed method stems from the great number of gravity data used to derive the empirical covariance function. A comparison with the least-squares adjustment shows that the standard deviation of the residuals of the predicted geoid height differences with respect to the control point values decreases by 2.4 cm.     

A study of regional gravity field recovery from GOCE vertical gravity gradient data in the Auvergne test area using collocation

Gravity field and steady-state Ocean Circulation Explorer (GOCE) is the first satellite mission that observes gravity gradients from the space, to be primarily used for the determination of high precision global gravity field models. However, the GOCE gradients, having a dense data distribution, may potentially provide better predictions of the regional gravity field than those obtained using a spherical harmonic Earth Geopotential Model (EGM). This is investigated in Auvergne test area using Least Squares Collocation (LSC) with GOCE vertical gravity gradient anomalies (T_zz), removing the long wavelength part from EGM2008 and the short wavelength part by residual terrain modelling (RTM). The results show that terrain effects on the vertical gravity gradient are significant at satellite altitude, reaching a level of 0.11 E?tv?s unit (E.U.) in the mountainous areas. Removing the RTM effects from GOCE T_zz leads to significant improvements on the LSC predictions of surface gravity anomalies and quasigeoid heights. Comparison with ground truth data shows that using LSC surface free air gravity anomalies and quasi-geoid heights are recovered from GOCE T_zz with standard deviations of 11 mGal and 18 cm, which is better than those obtained by using GOCE EGMs, demonstrating that information beyond the maximal degree of the GOCE EGMs is present. Investigation of using covariance functions created separately from GOCE T_zz and terrestrial free air gravity anomalies, suggests that both covariance functions give almost identical predictions. However, using covariance function obtained from GOCE T_zz has the effect that the predicted formal average error estimates are considerably larger than the standard deviations of predicted minus observed gravity anomalies. Therefore, GOCE T_zz should be used with caution to determine the covariance functions in areas where surface gravity anomalies are not available, if error estimates are needed.     

Local geoid determination based on airborne gravity data

A mathematical model used for determination of a local geoid model by combining airborne gravity disturbances and the Earth Gravitational Model 2008 (EGM08) is shortly reviewed. The precision of the estimated local geoid model of Taiwan is tested by its comparison with the “real” geoid at Global Satellite Navigation Systems (GNSS)/levelling points. The same comparison at GNSS/levelling points is done for the geoid evaluated only by using EGM08. Conclusions concerning a rate of improvement of the “global” geoid from EGM08 using the “local” geoid from airborne gravity data are presented.     

Comparison of the qualities of recent global and local gravimetric geoid models in Iran

A number of regional gravimetric geoid models have recently been determined for the Iran area, and a common problem is to select the best model, e.g. for engineering applications. A related problem is that in order to improve the local geoid models, the selection of the best Global Geopotential Model (GGM) model for the region is essential, to be used in a combined solution from GGM and local gravimetric data. We discuss these problems by taking advantage of 260 GPS/levelling points as an external tool for validation of different global and local geoid models in the absolute and relative senses. By using relative comparisons of the height differences between precise levelling and GPS/geoid models we avoid possible unknown systematic effects between the different types of observables.The study shows that the combination of the newly released GRACE model (GGM02C) with EGM96 geoid model fits the GPS/levelling data in Iran with the best absolute and relative accuracy among the GGMs. Among the local geoid models, the newly gravimetric geoid model IRG04 agrees considerably better with GPS/levelling than any of the other recent local geoid models. Its rms fit with GPS/levelling is 55 cm. Hence, we strongly recommend the use of this new model in any surveying engineering or GPS/levelling projects in the area.     

Update of the precision geoid determination in Korea

From the late 1990s, many studies on local geoid construction have been made in South Korea. However, the precision of the previous geoid has remained about 15 cm due to distribution and quality problems of gravity and GPS/levelling data. Since 2007, new land gravity data and GPS/levelling data have been obtained through many projects such as the Korean Land Spatilaization, Unified Control Point and Gravity survey on the Benchmark. The newly obtained data are regularly distributed to a certain degree and show much better improvement in their quality. In addition, an airborne gravity survey was conducted in 2008 to cover the Korean peninsula (South Korea only). Therefore, it is expected that the precision of the geoid could be improved. In this study, the new South Korean gravimetric geoid and hybrid geoid are presented based on land, airborne, ship‐borne, altimeter gravity data, geopotential model and topographic data. As for the methodology, the general remove‐restore approach was applied with the best chosen parameters in order to produce a precise local geoid. The global geopotential model EGM08 was used to remove the low‐frequency components using degree and order up to 360 and the short wavelength part of the gravity signal was dealt with by using the Shuttle Radar Topography Mission data. The parameters determined empirically in this study include for Stokes’ integral 0.5° and for Wong‐Gore kernel 110–120°, respectively and 10 km for both the Bjerhammar sphere depth and attenuation factor. The final gravimetric geoid in South Korea ranges from 20–31 m with a precision of 5.45 cm overall compared to 1096 GPS/levelling data. In addition, the South Korean hybrid geoid produces 3.46 cm and 3.92 cm for degrees of fitness and precision, respectively and a better statistic of 2.37 cm for plain and urban areas was achieved. The gravimetric and hybrid geoids are expected to improve further when the refined land gravity data are included in the near future.     

A precise gravimetric geoid model in a mountainous area with scarce gravity data: a case study in central Turkey

In mountainous regions with scarce gravity data, gravimetric geoid determination is a difficult task that needs special attention to obtain reliable results satisfying the demands, e.g., of engineering applications. The present study investigates a procedure for combining a suitable global geopotential model and available terrestrial data in order to obtain a precise regional geoid model for Konya Closed Basin (KCB). The KCB is located in the central part of Turkey, where a very limited amount of terrestrial gravity data is available. Various data sources, such as the Turkish digital elevation model with 3 ?? × 3?? resolution, a recently published satellite-only global geopotential model from the Gravity Recovery and Climate Experiment satellite (GRACE) and the ground gravity observations, are combined in the least-squares sense by the modified Stokes?? formula. The new gravimetric geoid model is compared with Global Positioning System (GPS)/levelling at the control points, resulting in the Root Mean Square Error (RMS) differences of ±6.4 cm and 1.7 ppm in the absolute and relative senses, respectively. This regional geoid model appears to be more accurate than the Earth Gravitational Model 2008, which is the best global model over the target area, with the RMS differences of ±8.6 cm and 1.8 ppm in the absolute and relative senses, respectively. These results show that the accuracy of a regional gravimetric model can be augmented by the combination of a global geopotential model and local terrestrial data in mountainous areas even though the quality and resolution of the primary terrestrial data are not satisfactory to the geoid modelling procedure.     

Validation of recent geopotential models in Tierra Del Fuego

This work presents a validation study of global geopotential models (GGM) in the region of Fagnano Lake, located in the southern Andes. This is an excellent area for this type of validation because it is surrounded by the Andes Mountains, and there is no terrestrial gravity or GNSS/levelling data. However, there are mean lake level (MLL) observations, and its surface is assumed to be almost equipotential. Furthermore, in this article, we propose improved geoid solutions through the Residual Terrain Modelling (RTM) approach. Using a global geopotential model, the results achieved allow us to conclude that it is possible to use this technique to extend an existing geoid model to those regions that lack any information (neither gravimetric nor GNSS/levelling observations). As GGMs have evolved, our results have improved progressively. While the validation of EGM2008 with MLL data shows a standard deviation of 35 cm, GOCO05C shows a deviation of 13 cm, similar to the results obtained on land.