Prediction of vertical deflections from high-degree spherical harmonic synthesis and residual terrain model data

This study demonstrates that in mountainous areas the use of residual terrain model (RTM) data significantly improves the accuracy of vertical deflections obtained from high-degree spherical harmonic synthesis. The new Earth gravitational model EGM2008 is used to compute vertical deflections up to a spherical harmonic degree of 2,160. RTM data can be constructed as difference between high-resolution Shuttle Radar Topography Mission (SRTM) elevation data and the terrain model DTM2006.0 (a spherical harmonic terrain model that complements EGM2008) providing the long-wavelength reference surface. Because these RTM elevations imply most of the gravity field signal beyond spherical harmonic degree of 2,160, they can be used to augment EGM2008 vertical deflection predictions in the very high spherical harmonic degrees. In two mountainous test areas—the German and the Swiss Alps—the combined use of EGM2008 and RTM data was successfully tested at 223 stations with high-precision astrogeodetic vertical deflections from recent zenith camera observations (accuracy of about 0.1 arc seconds) available. The comparison of EGM2008 vertical deflections with the ground-truth astrogeodetic observations shows root mean square (RMS) values (from differences) of 3.5 arc seconds for ξ and 3.2 arc seconds for η, respectively. Using a combination of EGM2008 and RTM data for the prediction of vertical deflections considerably reduces the RMS values to the level of 0.8 arc seconds for both vertical deflection components, which is a significant improvement of about 75%. Density anomalies of the real topography with respect to the residual model topography are one factor limiting the accuracy of the approach. The proposed technique for vertical deflection predictions is based on three publicly available data sets: (1) EGM2008, (2) DTM2006.0 and (3) SRTM elevation data. This allows replication of the approach for improving the accuracy of EGM2008 vertical deflection predictions in regions with a rough topography or for improved validation of EGM2008 and future high-degree spherical harmonic models by means of independent ground truth data.     

The US Gravimetric Geoid of 2009 (USGG2009): model development and evaluation

A new gravimetric geoid model, USGG2009 (see Abbreviations), has been developed for the United States and its territories including the Conterminous US (CONUS), Alaska, Hawaii, Guam, the Commonwealth of the Northern Mariana Islands, American Samoa, Puerto Rico and the US Virgin Islands. USGG2009 is based on a 1′ × 1′ gravity grid derived from the NGS surface gravity data and the DNSC08 altimetry-derived anomalies, the SRTM-DTED1 3′′ DEM for its topographic reductions, and the global geopotential model EGM08 as a reference model. USGG2009 geoid heights are compared with control values determined at 18,398 Bench Marks over CONUS, where both the ellipsoidal height above NAD 83 and the Helmert orthometric height above NAVD 88 are known. Correcting for the ellipsoidal datum difference, this permits a comparison of the geoid heights to independent data. The standard deviation of the differences is 6.3 cm in contrast to 8.4 cm for its immediate predecessor— USGG2003. To minimize the effect of long-wavelength errors that are known to exist in NAVD88, these comparisons were made on a state-by-state basis. The standard deviations of the differences range from 3–5 cm in eastern states to about 6–9 cm in the more mountainous western states. If the GPS/Bench Marks-derived geoid heights are corrected by removing a GRACE-derived estimate of the long-wavelength NAVD88 errors before the comparison, the standard deviation of their differences from USGG2009 drops to 4.3 cm nationally and 2–4 cm in eastern states and 4–8 in states with a maximum error of 26.4 cm in California and minimum of −32.1 cm in Washington. USGG2009 is also compared with geoid heights derived from 40 tide-gauges and a physical dynamic ocean topography model in the Gulf of Mexico; the mean of the differences is 3.3 cm and their standard deviation is 5.0 cm. When USGG2009-derived deflections of the vertical are compared with 3,415 observed surface astro-geodetic deflections, the standard deviation of the differences in the N–S and E–W components are 0.87′′ and 0.94′′, respectively.     

Inverse Vening Meinesz formula and deflection-geoid formula: applications to the predictions of gravity and geoid over the South China Sea

Using the spherical harmonic representations of the earth's disturbing potential and its functionals, we derive the inverse Vening Meinesz formula, which converts deflection of the vertical to gravity anomaly using the gradient of the H function. The deflection-geoid formula is also derived that converts deflection to geoidal undulation using the gradient of the C function. The two formulae are implemented by the 1D FFT and the 2D FFT methods. The innermost zone effect is derived. The inverse Vening Meinesz formula is employed to compute gravity anomalies and geoidal undulations over the South China Sea using deflections from Seasat, Geosat, ERS-1 and TOPEX//POSEIDON satellite altimetry. The 1D FFT yields the best result of 9.9-mgal rms difference with the shipborne gravity anomalies. Using the simulated deflections from EGM96, the deflection-geoid formula yields a 4-cm rms difference with the EGM96-generated geoid. The predicted gravity anomalies and geoidal undulations can be used to study the tectonic structure and the ocean circulations of the South China Sea. Received: 7 April 1997 / Accepted: 7 January 1998     

Determination of Geoid over South China Sea and Philippine Sea from Multi-satellite Altimetry Data

A new computational procedure for derivation of marine geoid on a 2.5′×2.5′grid in a non-tidal system over the South China Sea and the Philippine Sea from multi-satellite altimeter sea surface heights is discussed. Single-and dual-satellite crossovers were performed, and components of deflections of the vertical were determined at the crossover positions using Sand-well's computational theory, and gridded onto a 2.5′×2.5′resolution grid by employing the Shepard's interpolation procedure. 2.5′×2.5′grid of EGM96-derived components of deflections of the vertical and geoid heights were then used as reference global geopotential model quantities in a remove-restore procedure to implement the Molodensky-like formula via 1D-FFT technique to predict the geoid heights over the South China Sea and the Philippine Sea from the gridded altimeter-derived components of deflec-tions of the vertical. Statistical comparisons between the altimeter-and the EGM96- derived geoid heights showed that there was a root-mean-square agreement of ±0.35 m between them in a region of less tectonically active geological structures. However, over areas of tectonically active structures such as the Philippine trench, differences of about -19.9 m were obtained.     

Evaluation of the first GOCE static gravity field models using terrestrial gravity,vertical deflections and EGM2008 quasigeoid heights

Recently, four global geopotential models (GGMs) were computed and released based on the first 2 months of data collected by the Gravity field and steady-state Ocean Circulation Explorer (GOCE) dedicated satellite gravity field mission. Given that GOCE is a technologically complex mission and different processing strategies were applied to real space-collected GOCE data for the first time, evaluation of the new models is an important aspect. As a first assessment strategy, we use terrestrial gravity data over Switzerland and Australia and astrogeodetic vertical deflections over Europe and Australia as ground-truth data sets for GOCE model evaluation. We apply a spectral enhancement method (SEM) to the truncated GOCE GGMs to make their spectral content more comparable with the terrestrial data. The SEM utilises the high-degree bands of EGM2008 and residual terrain model data as a data source to widely bridge the spectral gap between the satellite and terrestrial data. Analysis of root mean square (RMS) errors is carried out as a function of (i) the GOCE GGM expansion degree and (ii) the four different GOCE GGMs. The RMS curves are also compared against those from EGM2008 and GRACE-based GGMs. As a second assessment strategy, we compare global grids of GOCE GGM and EGM2008 quasigeoid heights. In connection with EGM2008 error estimates, this allows location of regions where GOCE is likely to deliver improved knowledge on the Earth’s gravity field. Our ground truth data sets, together with the EGM2008 quasigeoid comparisons, signal clear improvements in the spectral band ~160–165 to ~180–185 in terms of spherical harmonic degrees for the GOCE-based GGMs, fairly independently of the individual GOCE model used. The results from both assessments together provide strong evidence that the first 2 months of GOCE observations improve the knowledge of the Earth’s static gravity field at spatial scales between ~125 and ~110 km, particularly over parts of Asia, Africa, South America and Antarctica, in comparison with the pre-GOCE-era.     

The ellipsoidal correction to the Stokes kernel for precise geoid determination

Solving the geodetic boundary-value problem (GBVP) for the precise determination of the geoid requires proper use of the fundamental equation of physical geodesy as the boundary condition given on the geoid. The Stokes formula and kernel are the result of spherical approximation of this fundamental equation, which is a violation of the proper relation between the observed quantity (gravity anomaly) and the sought function (geoid). The violation is interpreted here as the improper formulation of the boundary condition, which implies the spherical Stokes kernel to be in error compared with the proper kernel of integral transformation. To remedy this error, two correction kernels to the Stokes kernel were derived: the first in both closed and spectral forms and the second only in spectral form. Contributions from the first correction kernel to the geoid across the globe were [−0.867 m, +1.002 m] in the low-frequency domain implied by the GRIM4-S4 purely satellite-derived geopotential model. It is a few centimeters, on average, in the high-frequency domain with some exceptions of a few meters in places of high topographical relief and sizable geological features in accordance with the EGM96 combined geopotential model. The contributions from the second correction kernel to the geoid are [−0.259 m, +0.217 m] and [−0.024 m, +0.023 m] in the low- and high-frequency domains, respectively.     

Triangulated spherical splines for geopotential reconstruction

We present an alternate mathematical technique than contemporary spherical harmonics to approximate the geopotential based on triangulated spherical spline functions, which are smooth piecewise spherical harmonic polynomials over spherical triangulations. The new method is capable of multi-spatial resolution modeling and could thus enhance spatial resolutions for regional gravity field inversion using data from space gravimetry missions such as CHAMP, GRACE or GOCE. First, we propose to use the minimal energy spherical spline interpolation to find a good approximation of the geopotential at the orbital altitude of the satellite. Then we explain how to solve Laplace’s equation on the Earth’s exterior to compute a spherical spline to approximate the geopotential at the Earth’s surface. We propose a domain decomposition technique, which can compute an approximation of the minimal energy spherical spline interpolation on the orbital altitude and a multiple star technique to compute the spherical spline approximation by the collocation method. We prove that the spherical spline constructed by means of the domain decomposition technique converges to the minimal energy spline interpolation. We also prove that the modeled spline geopotential is continuous from the satellite altitude down to the Earth’s surface. We have implemented the two computational algorithms and applied them in a numerical experiment using simulated CHAMP geopotential observations computed at satellite altitude (450 km) assuming EGM96 (n _max = 90) is the truth model. We then validate our approach by comparing the computed geopotential values using the resulting spherical spline model down to the Earth’s surface, with the truth EGM96 values over several study regions. Our numerical evidence demonstrates that the algorithms produce a viable alternative of regional gravity field solution potentially exploiting the full accuracy of data from space gravimetry missions. The major advantage of our method is that it allows us to compute the geopotential over the regions of interest as well as enhancing the spatial resolution commensurable with the characteristics of satellite coverage, which could not be done using a global spherical harmonic representation. The results in this paper are based on the research supported by the National Science Foundation under the grant no. 0327577.     

Evaluation of deflections of the vertical using topographic-isostatic and astrogeodetic data for the area of Greece

The evaluation of deflections of the vertical for the area of Greece is attempted using a combination of topographic and astrogeodetic data. Tests carried out in the area bounded by 35°≤ϕ≤42°, 19°≤λ≤27° indicate that an accuracy of ±3″.3 can be obtained in this area for the meridian and prime vertical deflection components when high resolution topographic data in the immediate vicinity of computation points are used, combined with high degree spherical harmonic expansions of the geopotential and isostatic reduction potential. This accuracy is about 25% better than the corresponding topographic-Moho deflection components which are evaluated using topographic and Moho data up to 120 km around each station, without any combination with the spherical harmonic expansion of the geopotential or isostatic reduction potential. The accuracy in both cases is increased to about 2″.6 when the astrogeodetic data available in the area mentioned above are used for the prediction of remaining values. Furthermore the estimation of datum-shift parameters is attempted using least squares collocation.     

A comparison of recent Earth gravitational models with emphasis on their contribution in refining the gravity and geoid at continental or regional scale

Since the publication of the Earth gravitational model (EGM)96 considerable improvements in the observation techniques resulted in the development of new improved models. The improvements are due to the availability of data from dedicated gravity mapping missions (CHAMP, GRACE) and to the use of 5′ × 5′ terrestrial and altimetry derived gravity anomalies. It is expected that the use of new EGMs will further contribute to the improvement of the resolution and accuracy of the gravity and geoid modeling in continental and regional scale. To prove this numerically, three representative Earth gravitational models are used for the reduction of several kinds of data related to the gravity field in different places of the Earth. The results of the reduction are discussed regarding the corresponding covariance functions which might be used for modeling using the least squares collocation method. The contribution of the EIGEN-GL04C model in most cases is comparable to that of EGM96. However, the big difference is shown in the case of EGM2008, due not only to its quality but obviously to its high degree of expansion. Almost in all cases the variance and the correlation length of the covariance functions of data reduced to this model up to its maximum degree are only a few percentages of corresponding quantities of the same data reduced up to degree 360. Furthermore, the mean value and the standard deviation of the reduced gravity anomalies in extended areas of the Earth such as Australia, Arctic region, Scandinavia or the Canadian plains, vary between −1 and +1 and between 5 and 10 × 10⁻⁵ ms⁻², respectively, reflecting the homogenization of the gravity field on a regional scale. This is very important in using least squares collocation for regional applications. However, the distance to the first zero-value was in several cases much longer than warranted by the high degree of the expansion. This is attributed to errors of medium wavelengths stemming from the lack of, e.g., high-quality data in some area.     

ON THE EVALUATION OF DEFLECTIONS OF THE VERTICAL USING FFT TECHNIQUE

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Computation of spherical harmonic coefficients and their error estimates using least-squares collocation

 Equations expressing the covariances between spherical harmonic coefficients and linear functionals applied on the anomalous gravity potential, T, are derived. The functionals are the evaluation functionals, and those associated with first- and second-order derivatives of T. These equations form the basis for the prediction of spherical harmonic coefficients using least-squares collocation (LSC). The equations were implemented in the GRAVSOFT program GEOCOL. Initially, tests using EGM96 were performed using global and regional sets of geoid heights, gravity anomalies and second-order vertical gravity gradients at ground level and at altitude. The global tests confirm that coefficients may be estimated consistently using LSC while the error estimates are much too large for the lower-order coefficients. The validity of an error estimate calculated using LSC with an isotropic covariance function is based on a hypothesis that the coefficients of a specific degree all belong to the same normal distribution. However, the coefficients of lower degree do not fulfil this, and this seems to be the reason for the too-pessimistic error estimates. In order to test this the coefficients of EGM96 were perturbed, so that the pertubations for a specific degree all belonged to a normal distribution with the variance equal to the mean error variance of the coefficients. The pertubations were used to generate residual geoid heights, gravity anomalies and second-order vertical gravity gradients. These data were then used to calculate estimates of the perturbed coefficients as well as error estimates of the quantities, which now have a very good agreement with the errors computed from the simulated observed minus calculated coefficients. Tests with regionally distributed data showed that long-wavelength information is lost, but also that it seems to be recovered for specific coefficients depending on where the data are located. Received: 3 February 2000 / Accepted: 23 October 2000     

Accounting for topography in the calculation of quasigeoidal heights and plumb-line deflections from gravity anomalies

A calculation of quasigeoidal heights and plumb-line deflections according to Molodensky formulae was carried out under elimination of the effect of topography from gravity anomalies. After the masses of topography had been removed a smoothed-out surface passing through astronomical and gravity stations was considered as representing the physical surface of the Earth. Thus it has been practically rendered possible to use the first-approximation formulae of Molodensky, and, in many cases, also the “zero-approximation” formulae analogous to the formulae of Stokes and Vening-Meinesz. The effect of the restored masses of topography was then added to the quantities found; the said effect was expressed as the effect of topography condensed on the normal equipotential surface passing through the point under investigation, plus a correction for condensation. Following some transformations, the resulting formulae (13) and (18) were obtained which formulae differ in their “zero-approximation” (15) and (20) from traditional formulas in that they contain terrait reductions added to free-air anomalies. Moreover, in the calculation of plumb-line deflections directly in mountain regions a correction for differing effects of topography before and after its condensation is to be introduced. A tentative expansion of terrain reduction in terms of spherical harmonics up to the third order is given; it can be seen therefrom that the Stokes series in its usual form is subject to a mean arror about 15–20%. It is also shown that the expansion of free-air anomalies in terms of spherical functions contains a first-order harmonic with a mean values about ±0.3 mgl. The said harmonic practically disappears in the expansion of the sum of free-air anomalies and terrain reductions.     

Ellipsoidal geoid computation

Modern geoid computation uses a global gravity model, such as EGM96, as a third component in a remove–restore process. The classical approach uses only two: the reference ellipsoid and a geometrical model representing the topography. The rationale for all three components is reviewed, drawing attention to the much smaller precision now needed when transforming residual gravity anomalies. It is shown that all ellipsoidal effects needed for geoid computation with millimetric accuracy are automatically included provided that the free air anomaly and geoid are calculated correctly from the global model. Both must be consistent with an ellipsoidal Earth and with the treatment of observed gravity data. Further ellipsoidal corrections are then negligible. Precise formulae are developed for the geoid height and the free air anomaly using a global gravity model, given as spherical harmonic coefficients. Although only linear in the anomalous potential, these formulae are otherwise exact for an ellipsoidal reference Earth—they involve closed analytical functions of the eccentricity (and the Earths spin rate), rather than a truncated power series in e². They are evaluated using EGM96 and give ellipsoidal corrections to the conventional free air anomaly ranging from –0.84 to +1.14 mGal, both extremes occurring in Tibet. The geoid error corresponding to these differences is dominated by longer wavelengths, so extrema occur elsewhere, rising to +766 mm south of India and falling to –594 mm over New Guinea. At short wavelengths, the difference between ellipsoidal corrections based only on EGM96 and those derived from detailed local gravity data for the North Sea geoid GEONZ97 has a standard deviation of only 3.3 mm. However, the long-wavelength components missed by the local computation reach 300 mm and have a significant slope. In Australia, for example, such a slope would amount to a 600-mm rise from Perth to Cairns.     

Combining EGM2008 and SRTM/DTM2006.0 residual terrain model data to improve quasigeoid computations in mountainous areas devoid of gravity data

A global geopotential model, like EGM2008, is not capable of representing the high-frequency components of Earth’s gravity field. This is known as the omission error. In mountainous terrain, omission errors in EGM2008, even when expanded to degree 2,190, may reach amplitudes of 10 cm and more for height anomalies. The present paper proposes the utilisation of high-resolution residual terrain model (RTM) data for computing estimates of the omission error in rugged terrain. RTM elevations may be constructed as the difference between the SRTM (Shuttle Radar Topography Mission) elevation model and the DTM2006.0 spherical harmonic topographic expansion. Numerical tests, carried out in the German Alps with a precise gravimetric quasigeoid model (GCG05) and GPS/levelling data as references, demonstrate that RTM-based omission error estimates improve EGM2008 height anomaly differences by 10 cm in many cases. The comparisons of EGM2008-only height anomalies and the GCG05 model showed 3.7 cm standard deviation after a bias-fit. Applying RTM omission error estimates to EGM2008 reduces the standard deviation to 1.9 cm which equates to a significant improvement rate of 47%. Using GPS/levelling data strongly corroborates these findings with an improvement rate of 49%. The proposed RTM approach may be of practical value to improve quasigeoid determination in mountainous areas without sufficient regional gravity data coverage, e.g., in parts of Asia, South America or Africa. As a further application, RTM omission error estimates will allow refined validation of global gravity field models like EGM2008 from GPS/levelling data.     

由CHAMP星载GPS相位双差数据解算地球引力场模型

利用7d的CHAMP星载GPS相位观测数据和48个IGS跟踪站的观测数据，构造星地双差相位观测量，进行GPS数据预处理；利用Cowell Ⅱ数值法进行轨道积分和分块Bayes最小二乘参数估计，解算了地球引力场位系数。该模型与EGM96相比（70阶次），大地水准面起伏差异最大为2．872m，差弄精度为0．522m，平均差异为-0．003m，这说明本文解算的地球重力场模型与EGM96没有系统性差异。     

Fast integration of low orbiter's trajectory perturbed by the earth's non-sphericity

A fast algorithm is proposed to integrate the trajectory of a low obiter perturbed by the earth's non-sphericity. The algorithm uses a separation degree to define the low-degree and the high-degree acceleration components, the former computed rigorously, and the latter interpolated from gridded accelerations. An FFT method is used to grid the accelerations. An optimal grid type for the algorithm depends on the trajectory's permissible error, speed, and memory capacity. Using the non-spherical accelerations computed from EGM96 to harmonic degree 360, orbit integrations were performed for a low orbiter at an altitude of 170 km. For a separation degree of 50, the new algorithm, together with the predict-pseudo correct method, speeds up the integration by 145 times compared to the conventional algorithm while keeping the errors in position and velocity below 10⁻⁴ m and 10⁻⁷ m/s for a 3-day arc. Received: 28 July 1997 / Accepted: 1 April 1998     

改进的能量守恒方法及其在CHAMP重力场恢复中的应用

An efficient method for gravity field determination from CHAMP orbits and accelerometer data is referred to as the energy balance approach. A new CHAMP gravity field recovery strategy based on the improved energy balance approach IS developed in this paper. The method simultaneously solves the spherical harmonic coefficients, daily Integration constant, scale and bias parameters. Two 60 degree and order gravitational potential models, XISM-CHAMPO1S from the classical energy balance approach, and XISM-CHAMPO2S from the improved energy balance, are determined using about one year＇s worth of CHAMP kinematic orbits from TUM and accelerometer data from GFZ. Comparisons among XISM-CHAMPO1S, XISM-CHAMPO2S, EIGEN-CGO3C, EIGEN-CHAMPO3S, EIGEN2, ENIGNIS and EGM96 are made. The results show that the XISM-CHAMPO2S model is more accurate than EGM96, EIGENIS, EIGEN2 and XISM-CHAMPO1S at the same degree and order, and has almost the same accuracy as EIGEN-CHAMPO3S.     

Evolution of the Earth's principal axes and moments of inertia: the canonical form of solution

 Harmonic coefficients of the 2nd degree are separated into the invariant quantitative (the 2nd-degree variance) and the qualitative (the standardized harmonic coefficients) characteristics of the behavior of the potential V ₂(t). On this basis the evolution of the Earth's dynamical figure is described as a solution of the time-dependent eigenvalues–eigenvectors problem in the canonical form. Such a canonical quadratic form is defined only by temporal variations of the harmonic coefficients and always remains finite, even within an infinite time interval. An additional condition for the correction or the determination of temporal variations of the 2nd degree is obtained. Temporal variations of the fully normalized sectorial harmonic coefficients are estimated in addition to ˙Cˉ ₂₀, ˙Cˉ ₂₁, and ˙Sˉ ₂₁ of the EGM96 gravity model. In addition, a non-linear hyperbolic model for Cˉ _2m (t), Sˉ _2m (t) is constructed. The trigonometric form of the hyperbolic model leads to the consideration of the potential V ₂(ψ) instead of V ₂(t) within the closed interval −π/2≤ψ≤+π/2. Thus, it is possible to evaluate the global trend of V ₂(t), the Earth's principal axes and the differences of the moments of inertia within the whole infinite time interval. Received: 25 September 1998 / Accepted: 28 June 2000     

Improvements in height datum transfer expected from the GOCE mission

 One of the aims of the Earth Explorer Gravity Field and Steady-State Ocean Circulation (GOCE) mission is to provide global and regional models of the Earth's gravity field and of the geoid with high spatial resolution and accuracy. Using the GOCE error model, simulation studies were performed in order to estimate the accuracy of datum transfer in different areas of the Earth. The results showed that with the GOCE error model, the standard deviation of the height anomaly differences is about one order of magnitude better than the corresponding value with the EGM96 error model. As an example, the accuracy of the vertical datum transfer from the tide gauge of Amsterdam to New York was estimated equal to 57 cm when the EGM96 error model was used, while in the case of GOCE error model this accuracy was increased to 6 cm. The geoid undulation difference between the two places is about 76.5 m. Scaling the GOCE errors to the local gravity variance, the estimated accuracy varied between 3 and 7 cm, depending on the scaling model. Received: 1 March 2000 / Accepted: 21 February 2001     

GPS-GRAVIMETRIC GEOID DETERMINATION IN EGYPT

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