A method of evaluating the truncation error coefficients for geoidal height

Neglecting distant zones in the computation of geoidal height using Stokes' formula gives rise to some truncation error. This truncation error is expressible as a weighted summation of the zonal harmonic components of the gravity anomaly. Making use of the well-known properties of Legendre polynomials, a compact method of computing these theoretical coefficients has been developed in this paper.     

A recursive algorithm for evaluating Molodenskii-type truncation error coefficients at altitude

A recursive method is derived for computing the Molodenskii truncation error coefficients at altitude for the altitude-generalized Stokes integral. Furthermore, the Cook truncation error coefficients at altitude corresponding to the generalized Vening-Meinesz integral are derived in terms of the Molodenskii coefficients. Also, the gravity disturbance truncation error coefficients at altitude are related to the Molodenskii coefficients. By combining these results, it is shown how the truncation error for the complete gravity disturbance vector at altitude may be computed recursively.     

Some modifications of Stokes' formula that account for truncation and potential coefficient errors

 Stokes' formula from 1849 is still the basis for the gravimetric determination of the geoid. The modification of the formula, originating with Molodensky, aims at reducing the truncation error outside a spherical cap of integration. This goal is still prevalent among various modifications. In contrast to these approaches, some least-squares types of modification that aim at reducing the truncation error, as well as the error stemming from the potential coefficients, are demonstrated. The least-squares estimators are provided in the two cases that (1) Stokes' kernel is a priori modified (e.g. according to Molodensky's approach) and (2) Stokes' kernel is optimally modified to minimize the global mean square error. Meissl-type modifications are also studied. In addition, the use of a higher than second-degree reference field versus the original (Pizzetti-type) reference field is discussed, and it is concluded that the former choice of reference field implies increased computer labour to achieve the same result as with the original reference field. Received: 14 December 1998 / Accepted: 4 October 1999     

顾及系数矩阵误差的平面拟合新方法

针对整体最小二乘SVD解法在平面拟合中存在的复杂矩阵运算、无法考虑观测值的权值信息以及默认系数矩阵中所有元素均含有误差等问题,该文在原有误差方程的基础上,增加以系数矩阵中误差元素为观测向量的误差方程,并将误差元素作为参数进行求解。该方法利用最小二乘框架,解决平面拟合中系数矩阵含有随机误差的问题,简化了解算过程;不仅考虑了观测值的权值信息,而且只对系数矩阵中的误差元素进行改正。最后的算例证明了该方法在平面拟合中的可行性。     

Recurrence relations for the truncation error coefficients for the extended stokes function

Recurrence relations for the truncation error coefficients of the extended Stokes function required in the computation of gravimetric geoidal heights at any elevation above the earth's surface have been derived. The computation of these coefficients generally involves a small fixed number of terms except at altitudes of2700 km or more when one of the terms involved has to be computed from an infinite series. To confirm the accuracy of the coefficients a verification formula has been devised which uses a series expansion of a piece-wise continuous function such that it is equal to the extended Stokes function over a given range but vanishes elsewhere. Contribution of the Earth Physics Branch #1053.     

Improved convergence rates for the truncation error in gravimetric geoid determination

 When Stokes's integral is used over a spherical cap to compute a gravimetric estimate of the geoid, a truncation error results due to the neglect of gravity data over the remainder of the Earth. Associated with the truncation error is an error kernel defined over these two complementary regions. An important observation is that the rate of decay of the coefficients of the series expansion for the truncation error in terms of Legendre polynomials is determined by the smoothness properties of the error kernel. Previously published deterministic modifications of Stokes's integration kernel involve either a discontinuity in the error kernel or its first derivative at the spherical cap radius. These kernels are generalised and extended by constructing error kernels whose derivatives at the spherical cap radius are continuous up to an arbitrary order. This construction is achieved by smoothly continuing the error kernel function into the spherical cap using a suitable degree polynomial. Accordingly, an improved rate of convergence of the spectral series representation of the truncation error is obtained. Received: 21 April 1998 / Accepted: 4 October 1999     

A new method for computing the ellipsoidal correction for Stokes's formula

 This paper generalizes the Stokes formula from the spherical boundary surface to the ellipsoidal boundary surface. The resulting solution (ellipsoidal geoidal height), consisting of two parts, i.e. the spherical geoidal height N ₀ evaluated from Stokes's formula and the ellipsoidal correction N ₁, makes the relative geoidal height error decrease from O(e ²) to O(e ⁴), which can be neglected for most practical purposes. The ellipsoidal correction N ₁ is expressed as a sum of an integral about the spherical geoidal height N ₀ and a simple analytical function of N ₀ and the first three geopotential coefficients. The kernel function in the integral has the same degree of singularity at the origin as the original Stokes function. A brief comparison among this and other solutions shows that this solution is more effective than the solutions of Molodensky et al. and Moritz and, when the evaluation of the ellipsoidal correction N ₁ is done in an area where the spherical geoidal height N ₀ has already been evaluated, it is also more effective than the solution of Martinec and Grafarend. Received: 27 January 1999 / Accepted: 4 October 1999     

一种新的摄影测量误差分析方法

针对摄影测量误差分析中存在的问题,提出了一种新的误差分析方法,把计算机仿真技术用于摄影测 量误差分析中,对框幅式影像建立了误差仿真分析系统,并对卫星影像和航空影像进行了误差影响分析,得到了 许多有价值的结论。     

A new evil waveforms evaluating method for new BDS navigation signals

With the advent of new global navigation satellite systems (GNSSs) and new signals, GNSS users will rely more on them to obtain higher-accuracy positioning. Evil waveform monitoring and assessment are of great importance for GNSS to achieve its positioning, velocity, and timing service with high accuracy. However, the advent of new navigation signals introduces the necessity to extend the traditional analyzing techniques already accepted for binary phase-shift keying modulation to new techniques. First, the well-known second-order step thread model adopted by the International Civil Aviation Organization is introduced. Then the extended new general thread models are developed for the new binary offset carrier modulated signals. However, no research has been done on navigation signal waveform symmetry yet. Simulation results showed that, waveform asymmetry may also cause tracking errors, range biases, and position errors in GNSS receivers. It is thus imperative that the asymmetry be quantified to enable the design of appropriate error budgets and mitigation strategies for various application fields. A novel evil waveform analysis method, called waveform rising and falling edge symmetry (WRaFES) method, is proposed. Based on this WRaFES method, the correlation metrics are provided to detect asymmetric correlation peaks distorted by received signal asymmetry. Then the statistical properties of the proposed methods are analyzed, and a proper deformation detection threshold is calculated. Finally, both simulation results and experimentally measured results of Beidou navigation satellite system (BDS) M1-S B1Cd signal are given, which show the effectiveness and robustness of the proposed thread models.     

A new method for indentifying the model error of adjustment system

Some theory problems affecting parameter estimation are discussed in this paper. Influence and transformation between errors of stochastic and functional models is pointed out as well. For choosing the best adjustment model, a formula, which is different from the literatures existing methods, for estimating and identifying the model error, is proposed. On the basis of the proposed formula, an effective approach of selecting the best model of adjustment system is given.     

A new method for indentifying the model error of adjustment system

Some theory problems affecting parameter estimation are discussed in this paper. Influence and transformation between errors of stochastic and functional models is pointed out as well. For choosing the best adjustment model, a formula, which is different from the literatures existing methods, for estimating and identifying the model error, is proposed. On the basis of the proposed formula, an effective approach of selecting the best model of adjustment system is given. Project supported by the Open Research Fund Program of the Key Laboratory of Geospace Environment and Geodesy, Ministry of Education, Wuhan University (No. 905276031-04-10).     

重力异常阶方差模型精度及其截断误差分析

在评估重力场模型计算空间扰动引力精度时,对模型截断误差常采用阶方差方法。文中将6种经典的重力异常阶方差模型与现有超高阶重力场模型的阶方差进行比较,TSD模型与重力场模型的差值最小。根据重力异常阶方差模型TSD,文中分析不同高度、不同阶次利用重力场模型计算空中扰动引力时截断误差的影响。实验结果表明:36阶模型截断误差最大径向和水平方向分别为26.455 1mGal、25.946 3mGal;360阶模型截断误差最大径向和水平方向分别为9.969 0mGal、9.960 9 mGal;2160阶模型截断误差最大径向和水平方向分别为2.538 5 mGal、2.538 1mGal;2160阶模型计算空中扰动引力时,即使在低空附近,截断误差在2.5mGal以内,计算高度超过5km,截断误差可以忽略;超过400km的高度,都可以用36阶模型计算,截断误差在1mGal以内。     

惯导极区模拟测试船用IMU转换修正误差公式简化与分析EI北大核心CSCD

在中低纬度检验惯性导航极区性能的模拟测试系统中,基准误差造成的IMU转换修正误差是影响模拟测试精度的重要因素,本文讨论分析了其简化计算方法。采用转移前后地球球体模型下横向坐标系导航参数不变的基准轨迹转移原则,首先简述了模拟测试方法及IMU转换公式;其次,研究了IMU转换修正误差的计算方法,相比完整计算公式给出了适合船用的近似计算公式,并对其中的系数、各分量的量级及变化形式进行分析;最后,利用实测航次的导航参数,对比验证了公式计算的正确性。简化公式最大计算误差约为10%,可满足后续模拟测试中IMU误差的分析要求。     

基于超高阶重力场模型阶方差的截断误差分析

针对利用重力场模型方法计算地球外空间扰动引力的精度时,模型截断误差是主要的影响因素这一问题,该文利用重力场模型阶方差分析地球外部空间扰动引力截断误差,并与用重力异常阶方差Rapp模型进行比较。实验结果表明:在低阶低空部分,Rapp模型与实际重力异常阶方差相差最大,达到17.125 3mGal;重力场模型计算扰动引力与计算点高度有着密切联系,截断误差的大小随着高度的增加迅速衰减;当计算高度为0.2km时,使用36阶的模型计算扰动引力,截断误差达到25.957 8mGal;当计算高度超过400km时,即使用36阶模型,截断误差也可以控制在1.5mGal内。     

On the error introduced into Stokes' formula by applying the Honkasalo tidal gravity term

The error caused by using the Honkasalo tidal gravity term in geoid computations with Stokes' formula is discussed. It is pointed out that the relatively large value of the error to a great extent is generated by interaction between the Honkasalo term and the weight function in Stokes' formula.     

A strict formula for geoid-to-quasigeoid separation

The paper presented by Flury and Rummel (J Geod 83:829–847, 2009) discusses an important topographic correction to the traditional formula for the quasigeoid-to-geoid separation. Nevertheless, as their formula is approximate, the reader may ask for its relation to the strict one (defined as the one consistent with Bruns’s formula and the boundary condition of physical geodesy), which is now derived. Although the result formally differs from that of Flury and Rummel, we show that the two formulas agree to the centimetre level all over the Earth. We also discuss the practical computation of the topographic correction.     

A new method for specular and diffuse pseudorange multipath error extraction using wavelet analysis

Multipath remains one of the major challenges in Global Navigation Satellite System (GNSS) positioning because it is considered the dominant source of ranging errors, which can be classified into specular and diffuse types. We present a new method using wavelets to extract the pseudorange multipath in the time domain and breaking it down into the two components. The main idea is an analysis-reconstruction approach based on application of both continuous wavelet transform (CWT) and discrete wavelet transform (DWT). The proposed procedure involves the use of L1 code-minus-carrier (CMC) observable where higher-frequency terms are isolated as residuals. CMC residuals are analyzed by applying the CWT, and we propose the scalogram as a technique for discerning time–frequency variations of the multipath signal. Unlike Fourier transform, the potential of the CWT scalogram for examining the non-stationary and multifrequency nature of the multipath is confirmed as it simultaneously allows fine detection and time localization of the most representative frequencies of the signal. This interpretation of the CWT scalogram is relevant when choosing the levels of reconstruction with DWT, allowing accurate time domain extraction of both the specular and diffuse multipath. The performance and robustness of the method and its boundary applicability are assessed. The experiment was carried out using a receiver of Campania GNSS Network. The results are given in which specular multipath error is achieved using DWT level 7 approximation component and diffuse multipath error is achieved using DWT level 6 denoised detail component.     

A closed-form formula for GPS GDOP computation

Geometric dilution of precision (GDOP) is often used for selecting good satellites to meet the desired positioning precision. An efficient closed-form formula for GDOP has been developed when exactly four satellites are used. It has been proved that increasing the number of satellites for positioning will always reduce the GDOP. Since most GPS receivers today can receive signals from more than four satellites, it is desirable to compute GDOP efficiently for the general case. Previous studies have partially solved this problem with artificial neural network (ANN). Though ANN is a powerful function approximation technique, it needs costly training and the trained model may not be applicable to data deviating too much from the training data. Using Newton’s identities from the theory of symmetric polynomials, this paper presents a simple closed-form formula for computing GDOP with the inputs used in previous studies. These inputs include traces of the measurement matrix and its second and third powers, and the determinant of the matrix.