The spherical horizontal and spherical vertical boundary value problem – vertical deflections and geoidal undulations – the completed Meissl diagram

 In a comparison of the solution of the spherical horizontal and vertical boundary value problems of physical geodesy it is aimed to construct downward continuation operators for vertical deflections (surface gradient of the incremental gravitational potential) and for gravity disturbances (vertical derivative of the incremental gravitational potential) from points on the Earth's topographic surface or of the three-dimensional (3-D) Euclidean space nearby down to the international reference sphere (IRS). First the horizontal and vertical components of the gravity vector, namely spherical vertical deflections and spherical gravity disturbances, are set up. Second, the horizontal and vertical boundary value problem in spherical gravity and geometry space is considered. The incremental gravity vector is represented in terms of vector spherical harmonics. The solution of horizontal spherical boundary problem in terms of the horizontal vector-valued Green function converts vertical deflections given on the IRS to the incremental gravitational potential external in the 3-D Euclidean space. The horizontal Green functions specialized to evaluation and source points on the IRS coincide with the Stokes kernel for vertical deflections. Third, the vertical spherical boundary value problem is solved in terms of the vertical scalar-valued Green function. Fourth, the operators for upward continuation of vertical deflections given on the IRS to vertical deflections in its external 3-D Euclidean space are constructed. Fifth, the operators for upward continuation of incremental gravity given on the IRS to incremental gravity to the external 3-D Euclidean space are generated. Finally, Meissl-type diagrams for upward continuation and regularized downward continuation of horizontal and vertical gravity data, namely vertical deflection and incremental gravity, are produced. Received: 10 May 2000 / Accepted: 26 February 2001     

Integral transformations of gradiometric data onto a GRACE type of observable

Integral transformations of gravitational gradients onto a Gravity Recovery And Climate Experiment (GRACE) type of observable are derived in this article. The gravitational gradients represent components of the gravitational tensor in the local north-oriented frame. The GRACE type of observable corresponds to a difference between two gravitational vectors as projected onto the line of sight between the two GRACE satellites. In total, three integral transformations relating vertical–vertical, vertical–horizontal and horizontal–horizontal gravitational gradients with the GRACE type of observable are provided. Spectral and closed forms of corresponding isotropic kernels are derived for each transformation. Special cases show that the integral transformations are general and relate gravitational gradients to many other quantities of the gravitational field, such as the gravitational vector, and its radial and tangential components. Correctness of the mathematical derivations is validated in a closed-loop simulation using synthetic data.     

W0: an estimate in the Finnish Height Datum N60, epoch 1993.4, from twenty-five GPS points of the Baltic Sea Level Project

Based upon a data set of 25 points of the Baltic Sea Level Project, second campaign 1993.4, which are close to mareographic stations, described by (1) GPS derived Cartesian coordinates in the World Geodetic Reference System 1984 and (2) orthometric heights in the Finnish Height Datum N60, epoch 1993.4, we have computed the primary geodetic parameter W ₀(1993.4) for the epoch 1993.4 according to the following model. The Cartesian coordinates of the GPS stations have been converted into spheroidal coordinates. The gravity potential as the additive decomposition of the gravitational potential and the centrifugal potential has been computed for any GPS station in spheroidal coordinates, namely for a global spheroidal model of the gravitational potential field. For a global set of spheroidal harmonic coefficients a transformation of spherical harmonic coefficients into spheroidal harmonic coefficients has been implemented and applied to the global spherical model OSU 91A up to degree/order 360/360. The gravity potential with respect to a global spheroidal model of degree/order 360/360 has been finally transformed by means of the orthometric heights of the GPS stations with respect to the Finnish Height Datum N60, epoch 1993.4, in terms of the spheroidal “free-air” potential reduction in order to produce the spheroidal W ₀(1993.4) value. As a mean of those 25 W ₀(1993.4) data as well as a root mean square error estimation we computed W ₀(1993.4)=(6 263 685.58 ± 0.36) kgal × m. Finally a comparison of different W ₀ data with respect to a spherical harmonic global model and spheroidal harmonic global model of Somigliana-Pizetti type (level ellipsoid as a reference, degree/order 2/0) according to The Geodesist's Handbook 1992 has been made. Received: 7 November 1996 / Accepted: 27 March 1997     

Topological vector spaces of harmonic functions and the trace operator

Many problems in physical geodesy can be formulated in terms of boundary-value problems (BVPs) for the gravitational potential; many of them can be ultimately formulated as a Dirichlet problem. For this reason, there is a flourishing literature of geodetic contributions to potential theory. In this paper, the authors pick up some classical arguments from the mathematical analysis of BVPs and show, by using only Hilbert spaces of harmonic functions, how they can be systematically cast into a functional scheme clarifying the role of duality when dealing with the harmonic subspaces of classical Sobolev spaces, of any real order. The analysis is here restricted to the case of functions harmonic in spherical domains to make the results transparent and more readable by geodesists. A further step is then taken showing how to generalize the Dirichlet problem for the space of all the functions that are harmonic outside a sphere, which exploits the more general theory of Fréchet topological spaces. Basically, the result is that any functions harmonic in the exterior of a sphere can be uniquely identified by a suitably defined trace on the sphere. The paper concludes with comments and discussion of future work.     

On the spherical and spheroidal harmonic expansion of the gravitational potential of the topographic masses

This paper is devoted to the spherical and spheroidal harmonic expansion of the gravitational potential of the topographic masses in the most rigorous way. Such an expansion can be used to compute gravimetric topographic effects for geodetic and geophysical applications. It can also be used to augment a global gravity model to a much higher resolution of the gravitational potential of the topography. A formulation for a spherical harmonic expansion is developed without the spherical approximation. Then, formulas for the spheroidal harmonic expansion are derived. For the latter, Legendre’s functions of the first and second kinds with imaginary variable are expanded in Laurent series. They are then scaled into two real power series of the second eccentricity of the reference ellipsoid. Using these series, formulas for computing the spheroidal harmonic coefficients are reduced to surface harmonic analysis. Two numerical examples are presented. The first is a spherical harmonic expansion to degree and order 2700 by taking advantage of existing software. It demonstrates that rigorous spherical harmonic expansion is possible, but the computed potential on the geoid shows noticeable error pattern at Polar Regions due to the downward continuation from the bounding sphere to the geoid. The second numerical example is the spheroidal expansion to degree and order 180 for the exterior space. The power series of the second eccentricity of the reference ellipsoid is truncated at the eighth order leading to omission errors of 25 nm (RMS) for land areas, with extreme values around 0.5 mm to geoid height. The results show that the ellipsoidal correction is 1.65 m (RMS) over land areas, with maximum value of 13.19 m in the Andes. It shows also that the correction resembles the topography closely, implying that the ellipsoidal correction is rich in all frequencies of the gravity field and not only long wavelength as it is commonly assumed.     

Spherical integral transforms of second-order gravitational tensor components onto third-order gravitational tensor components

New spherical integral formulas between components of the second- and third-order gravitational tensors are formulated in this article. First, we review the nomenclature and basic properties of the second- and third-order gravitational tensors. Initial points of mathematical derivations, i.e., the second- and third-order differential operators defined in the spherical local North-oriented reference frame and the analytical solutions of the gradiometric boundary-value problem, are also summarized. Secondly, we apply the third-order differential operators to the analytical solutions of the gradiometric boundary-value problem which gives 30 new integral formulas transforming (1) vertical-vertical, (2) vertical-horizontal and (3) horizontal-horizontal second-order gravitational tensor components onto their third-order counterparts. Using spherical polar coordinates related sub-integral kernels can efficiently be decomposed into azimuthal and isotropic parts. Both spectral and closed forms of the isotropic kernels are provided and their limits are investigated. Thirdly, numerical experiments are performed to test the consistency of the new integral transforms and to investigate properties of the sub-integral kernels. The new mathematical apparatus is valid for any harmonic potential field and may be exploited, e.g., when gravitational/magnetic second- and third-order tensor components become available in the future. The new integral formulas also extend the well-known Meissl diagram and enrich the theoretical apparatus of geodesy.     

Spherical integral formulas for upward/downward continuation of gravitational gradients onto gravitational gradients

New integral formulas for upward/downward continuation of gravitational gradients onto gravitational gradients are derived in this article. They provide more options for continuation of gravitational gradient combinations and extend available mathematical apparatus formulated for this purpose up to now. The starting point represents the analytical solution of the spherical gradiometric boundary value problem in the spatial domain. Applying corresponding differential operators on the analytical solution of the spherical gradiometric boundary value problem, a total of 18 integral formulas are provided. Spatial and spectral forms of isotropic kernels are given and their behaviour for parameters of a GOCE-like satellite is investigated. Correctness of the new integral formulas and the isotropic kernels is tested in a closed-loop simulation. The derived integral formulas and the isotropic kernels form a theoretical basis for validation purposes and geophysical applications of satellite gradiometric data as provided currently by the GOCE mission. They also extend the well-known Meissl scheme.     

Effects of topographic–isostatic masses on gravitational functionals at the Earth’s surface and at airborne and satellite altitudes

Topographic–isostatic masses represent an important source of gravity field information, especially in the high-frequency band, even if the detailed mass-density distribution inside the topographic masses is unknown. If this information is used within a remove-restore procedure, then the instability problems in downward continuation of gravity observations from aircraft or satellite altitudes can be reduced. In this article, integral formulae are derived for determination of gravitational effects of topographic–isostatic masses on the first- and second-order derivatives of the gravitational potential for three topographic–isostatic models. The application of these formulas is useful for airborne gravimetry/gradiometry and satellite gravity gradiometry. The formulas are presented in spherical approximation by separating the 3D integration in an analytical integration in the radial direction and 2D integration over the mean sphere. Therefore, spherical volume elements can be considered as being approximated by mass-lines located at the centre of the discretization compartments (the mass of the tesseroid is condensed mathematically along its vertical axis). The errors of this approximation are investigated for the second-order derivatives of the topographic–isostatic gravitational potential in the vicinity of the Earth’s surface. The formulas are then applied to various scenarios of airborne gravimetry/gradiometry and satellite gradiometry. The components of the gravitational vector at aircraft altitudes of 4 and 10 km have been determined, as well as the gravitational tensor components at a satellite altitude of 250 km envisaged for the forthcoming GOCE (gravity field and steady-state ocean-circulation explorer) mission. The numerical computations are based on digital elevation models with a 5-arc-minute resolution for satellite gravity gradiometry and 1-arc-minute resolution for airborne gravity/gradiometry.     

大气引力负荷格林函数

主要研究大气引力变化对地表位移的影响，在经典的负荷理论基础上，从运动方程着手，定义了大气引力勒夫数，并推导了高阶引力勒夫数的渐近表达式、大气引力造成的地球变形的地表位移、重力、地倾斜、应变等格林函数；编写程序计算了引力勒夫数和地球形变格林函数的理论值。     

Second-order derivatives in a local frame developed in spheroidal and spherical coordinates

Second-order derivatives of a general scalar function of position (F) with respect to the length elements along a family of local Cartesian axes are developed in the spheroidal and spherical coordinate systems. A link between the two kinds of formulations is established when the results in spherical coordinates are confirmed also indirectly, through a transformation from spheroidal coordinates. IfF becomesW (earth's potential) the six distinct second-order derivatives—which include one vertical and two horizontal gradients of gravity—relate the symmetric Marussi tensor to the curvature parameters of the field. The general formulas for the second-order derivatives ofF are specialized to yield the second-order derivatives ofU (standard potential) and ofT (disturbing potential), which allows the latter to be modeled by a suitable set of parameters. The second-order derivatives ofT in which the property ΔT=0 is explicitly incorporated are also given. According to the required precision, the spherical approximation may or may not be desirable; both kinds of results are presented. The derived formulas can be used for modeling of the second-order derivatives ofW orT at the ground level as well as at higher altitudes. They can be further applied in a rotating or a nonrotating field. The development in this paper is based on the tensor approach to theoretical geodesy, introduced by Marussi [1951] and further elaborated by Hotine [1969], which can lead to significantly shorter demonstrations when compared to conventional approaches.     

Harmonic analysis of the Earth's gravitational field by means of semi-continuous ephemerides of a low Earth orbiting GPS-tracked satellite. Case study: CHAMP

An algorithm for the determination of the spherical harmonic coefficients of the terrestrial gravitational field representation from the analysis of a kinematic orbit solution of a low earth orbiting GPS-tracked satellite is presented and examined. A gain in accuracy is expected since the kinematic orbit of a LEO satellite can nowadays be determined with very high precision, in the range of a few centimeters. In particular, advantage is taken of Newton's Law of Motion, which balances the acceleration vector with respect to an inertial frame of reference (IRF) and the gradient of the gravitational potential. By means of triple differences, and in particular higher-order differences (seven-point scheme, nine-point scheme), based upon Newton's interpolation formula, the local acceleration vector is estimated from relative GPS position time series. The gradient of the gravitational potential is conventionally given in a body-fixed frame of reference (BRF) where it is nearly time independent or stationary. Accordingly, the gradient of the gravitational potential has to be transformed from spherical BRF to Cartesian IRF. Such a transformation is possible by differentiating the gravitational potential, given as a spherical harmonics series expansion, with respect to Cartesian coordinates by means of the chain rule, and expressing zero- and first-order Ferrer's associated Legendre functions in terms of Cartesian coordinates. Subsequently, the BRF Cartesian coordinates are transformed into IRF Cartesian coordinates by means of the polar motion matrix, the precession–nutation matrices and the Greenwich sidereal time angle (GAST). In such a way a spherical harmonic representation of the terrestrial gravitational field intensity with respect to an IRF is achieved. Numerical tests of a resulting Gauss–Markov model document not only the quality and the high resolution of such a space gravity spectroscopy, but also the problems resulting from noise amplification in the acceleration determination process.     

Using NHDPlus as the Land Base for the Noah-distributed Model

The National Elevation, Hydrography and Land Cover datasets of the United States have been synthesized into a geospatial dataset called NHDPlus which is referenced to a spheroidal Earth, provides geospatial data layers for topography on 30 m rasters, and has vector coverages for catchments and river reaches. In this article, we examine the integration of NHDPlus with the Noah-distributed model. In order to retain compatibility with atmospheric models, Noah-distributed utilizes surface domain fields referenced to a spherical rather than spheroidal Earth in its computation of vertical land surface/atmosphere water and energy budgets (at coarse resolution) as well as horizontal cell-to-cell water routing across the land surface and through the shallow subsurface (at fine resolution). Two data-centric issues affecting the linkage between Noah-distributed and NHDPlus are examined: (1) the shape of the Earth; and (2) the linking of gridded landscape with a vector representation of the stream and river network. At mid-latitudes the errors due to projections between spherical and spheroidal representations of the Earth are significant. A catchment-based "pour point" technique is developed to link the raster and vector data to provide lateral inflow from the landscape to a one-dimensional river model. We conclude that, when Noah-distributed is run uncoupled to an atmospheric model, it is advantageous to implement Noah-distributed at the native spatial scale of the digital elevation data and the spheroidal Earth of the NHDPlus dataset rather than transforming the NHDPlus dataset to fit the coarser resolution and spherical Earth shape of the Noah-distributed model.     

Deriving time-series three-dimensional displacements of mining areas from a single-geometry InSAR dataset

This paper presents a method for deriving time-series three-dimensional (3-D) displacements of mining areas from a single-geometry interferometric synthetic aperture radar (InSAR) dataset (hereafter referred to as the SGI-based method). This is mainly aimed at overcoming the limitation of the traditional multi-temporal InSAR techniques that require SAR data from at least three significantly different imaging geometries to fully retrieve time-series 3-D displacements of mining areas. The SGI-based method first generates the multi-temporal observations of the mining-induced vertical subsidence from the single-geometry InSAR data, using a previously developed method for retrieving 3-D mining-related displacements from a single InSAR pair (SIP). The weighted least-squares solutions of the time series of vertical subsidence are estimated from these generated multi-temporal observations of vertical subsidence. Finally, the time series of horizontal motions in the east and north directions are estimated using the proportional relationship between the horizontal motion and the subsidence gradient of the mining area, on the basis of the SGI-derived time series of vertical subsidence. Seven ascending ALOS PALSAR images from the Datong mining area of China were used to test the proposed SGI-based method. The results suggest that the SGI-based method is effective. The SGI-based method not only extends the SIP-based method to time-series 3-D displacement retrieval from a single-geometry InSAR dataset, but also limits the uncertainty propagation from InSAR-derived deformation to the estimated 3-D displacements.     

Accurate computation of gravitational field of a tesseroid

We developed an accurate method to compute the gravitational field of a tesseroid. The method numerically integrates a surface integral representation of the gravitational potential of the tesseroid by conditionally splitting its line integration intervals and by using the double exponential quadrature rule. Then, it evaluates the gravitational acceleration vector and the gravity gradient tensor by numerically differentiating the numerically integrated potential. The numerical differentiation is conducted by appropriately switching the central and the single-sided second-order difference formulas with a suitable choice of the test argument displacement. If necessary, the new method is extended to the case of a general tesseroid with the variable density profile, the variable surface height functions, and/or the variable intervals in longitude or in latitude. The new method is capable of computing the gravitational field of the tesseroid independently on the location of the evaluation point, namely whether outside, near the surface of, on the surface of, or inside the tesseroid. The achievable precision is 14–15 digits for the potential, 9–11 digits for the acceleration vector, and 6–8 digits for the gradient tensor in the double precision environment. The correct digits are roughly doubled if employing the quadruple precision computation. The new method provides a reliable procedure to compute the topographic gravitational field, especially that near, on, and below the surface. Also, it could potentially serve as a sure reference to complement and elaborate the existing approaches using the Gauss–Legendre quadrature or other standard methods of numerical integration.     

Use of potential coefficient models for geoid undulation determinations using a spherical harmonic representation of the height anomaly/geoid undulation difference

 This paper suggests that potential coefficient models of the Earth's gravitational potential be used to calculate height anomalies which are then reduced to geoid undulations where such quantities are needed for orthometric height determination and vertical datum definition through a potential coefficient realization of the geoid. The process of the conversion of the height anomaly into a geoid undulation is represented by a height anomaly gradient term and the usual N–ζ term that is dependent on elevation and the Bouguer anomaly. Using a degree 360 expansion of 30′ elevations and the OSU91A potential coefficient model, a degree 360 representation of the correction terms was computed. The magnitude of N–ζ reached –3.4 m in the Himalaya Mountains with smaller, but still significant, magnitudes in other mountainous regions. Received: 6 May 1996; Accepted: 30 October 1996     

The optimum expression for the gravitational potential of polyhedral bodies having a linearly varying density distribution

When topography is represented by a simple regular grid digital elevation model, the analytical rectangular prism approach is often used for a precise gravity field modelling at the vicinity of the computation point. However, when the topographical surface is represented more realistically, for instance by a triangular irregular network (TIN) model, the analytical integration using arbitrary polyhedral bodies (the analytical line integral approach) can be implemented directly without additional data pre-processing (gridding or interpolation). The analytical line integral approach can also facilitate 3-D density models created for complex geometrical bodies. For the forward modelling of the gravitational field generated by the geological structures with variable densities, the analytical integration can be carried out using polyhedral bodies with a varying density. The optimal expression for the gravitational attraction vector generated by an arbitrary polyhedral body having a linearly varying density is known. In this article, the corresponding optimal expression for the gravitational potential is derived by means of line integrals after applying the Gauss divergence theorem.     

地下目标体重力张量数据的边界识别与增强算法的研究

边界增强与识别在重力数据处理中占据重要地位,与传统重力异常数据相比,重力张量及其高阶分量对于直接反映异常体的边界具有更高的精度。当异常数据中的所有网格点的值均较低时,通过Sigmoid变换,可以实现高异常值网格数据的拉升,同时压缩低灰度级像素,从而凸显地质体边界,提高边界增强后图像的识别效果。文中利用张量及其分量构建常用的边界识别算法,通过组合体模型进行多种边界识别算法的试算,以比较分析各自的效果,并对结果进行Sigmoid变换。结果表明:对于张量高阶分量组合形式,水平梯度模、解析信号能基本反映浅异常体的边界,gzz水平梯度模能较好反映浅异常体边界,但三者均不能识别深异常体边界;Tilt梯度、Theta和ITA3效果不理想;ITA2能在有效均衡不同强度异常信号的同时,清晰地识别不同深度异常体的边界;采用Sigmoid变换,可以明显提高边界识别的识别效果。     

Relation between geoidal undulation, deflection of the vertical and vertical gravity gradient revisited

The vertical gradients of gravity anomaly and gravity disturbance can be related to horizontal first derivatives of deflection of the vertical or second derivatives of geoidal undulations. These are simplified relations of which different variations have found application in satellite altimetry with the implicit assumption that the neglected terms—using remove-restore—are sufficiently small. In this paper, the different simplified relations are rigorously connected and the neglected terms are made explicit. The main neglected terms are a curvilinear term that accounts for the difference between second derivatives in a Cartesian system and on a spherical surface, and a small circle term that stems from the difference between second derivatives on a great and small circle. The neglected terms were compared with the dynamic ocean topography (DOT) and the requirements on the GOCE gravity gradients. In addition, the signal root-mean-square (RMS) of the neglected terms and vertical gravity gradient were compared, and the effect of a remove-restore procedure was studied. These analyses show that both neglected terms have the same order of magnitude as the DOT gradient signal and may be above the GOCE requirements, and should be accounted for when combining altimetry derived and GOCE measured gradients. The signal RMS of both neglected terms is in general small when compared with the signal RMS of the vertical gravity gradient, but they may introduce gradient errors above the spherical approximation error. Remove-restore with gravity field models reduces the errors in the vertical gravity gradient, but it appears that errors above the spherical approximation error cannot be avoided at individual locations. When computing the vertical gradient of gravity anomaly from satellite altimeter data using deflections of the vertical, the small circle term is readily available and can be included. The direct computation of the vertical gradient of gravity disturbance from satellite altimeter data is more difficult than the computation of the vertical gradient of gravity anomaly because in the former case the curvilinear term is needed, which is not readily available.     

Initial results of precise orbit and clock determination for COMPASS navigation satellite system

The development of the COMPASS satellite system is introduced, and the regional tracking network and data availability are described. The precise orbit determination strategy of COMPASS satellites is presented. Data of June 2012 are processed. The obtained orbits are evaluated by analysis of post-fit residuals, orbit overlap comparison and SLR (satellite laser ranging) validation. The RMS (root mean square) values of post-fit residuals for one month’s data are smaller than 2.0 cm for ionosphere-free phase measurements and 2.6 m for ionosphere-free code observations. The 48-h orbit overlap comparison shows that the RMS values of differences in the radial component are much smaller than 10 cm and those of the cross-track component are smaller than 20 cm. The SLR validation shows that the overall RMS of observed minus computed residuals is 68.5 cm for G01 and 10.8 cm for I03. The static and kinematic PPP solutions are produced to further evaluate the accuracy of COMPASS orbit and clock products. The static daily COMPASS PPP solutions achieve an accuracy of better than 1 cm in horizontal and 3 cm in vertical. The accuracy of the COMPASS kinematic PPP solutions is within 1–2 cm in the horizontal and 4–7 cm in the vertical. In addition, we find that the COMPASS kinematic solutions are generally better than the GPS ones for the selected location. Furthermore, the COMPASS/GPS combinations significantly improve the accuracy of GPS only PPP solutions. The RMS values are basically smaller than 1 cm in the horizontal components and 3–4 cm in the vertical component.     

Finite element method for solving geodetic boundary value problems

The goal of this paper is to present the finite element scheme for solving the Earth potential problems in 3D domains above the Earth surface. To that goal we formulate the boundary-value problem (BVP) consisting of the Laplace equation outside the Earth accompanied by the Neumann as well as the Dirichlet boundary conditions (BC). The 3D computational domain consists of the bottom boundary in the form of a spherical approximation or real triangulation of the Earth’s surface on which surface gravity disturbances are given. We introduce additional upper (spherical) and side (planar and conical) boundaries where the Dirichlet BC is given. Solution of such elliptic BVP is understood in a weak sense, it always exists and is unique and can be efficiently found by the finite element method (FEM). We briefly present derivation of FEM for such type of problems including main discretization ideas. This method leads to a solution of the sparse symmetric linear systems which give the Earth’s potential solution in every discrete node of the 3D computational domain. In this point our method differs from other numerical approaches, e.g. boundary element method (BEM) where the potential is sought on a hypersurface only. We apply and test FEM in various situations. First, we compare the FEM solution with the known exact solution in case of homogeneous sphere. Then, we solve the geodetic BVP in continental scale using the DNSC08 data. We compare the results with the EGM2008 geopotential model. Finally, we study the precision of our solution by the GPS/levelling test in Slovakia where we use terrestrial gravimetric measurements as input data. All tests show qualitative and quantitative agreement with the given solutions.