Quasi-stationary sea surface topography estimation by the multiple input/output method

 Multiple input/multiple output system theory (MIMOST) is briefly presented, and the application of the method to the quasi-stationary sea surface topography (QSST) estimation and the filtering of the input observations are discussed. The repeat character of satellite altimetry missions provides more than one sample of the measured sea surface height (SSH) field, and an approximation of the input signal and error power spectral densities can be determined using this successive information. A case study in the Labrador Sea is considered using SSHs from ERS1 phases C and G, ERS1-GM, ERS2 phase A and TOPEX/POSEIDON altimetric missions in combination with shipborne gravity anomalies. The time period of the observations in this study is from 1993 to 1998. Some comparisons between the techniques used for the power spectral density approximation are carried out and some remarks on the properties of the estimated QSST are presented. Received: 19 October 1999 / Accepted: 23 October 2000     

Global mean sea surface and marine gravity anomaly from multi-satellite altimetry: applications of deflection-geoid and inverse Vening Meinesz formulae

 Global mean sea surface heights (SSHs) and gravity anomalies on a 2^′×2^′ grid were determined from Seasat, Geosat (Exact Repeat Mission and Geodetic Mission), ERS-1 (1.5-year mean of 35-day, and GM), TOPEX/POSEIDON (T/P) (5.6-year mean) and ERS-2 (2-year mean) altimeter data over the region 0^∘–360^∘ longitude and –80^∘–80^∘ latitude. To reduce ocean variabilities and data noises, SSHs from non-repeat missions were filtered by Gaussian filters of various wavelengths. A Levitus oceanic dynamic topography was subtracted from the altimeter-derived SSHs, and the resulting heights were used to compute along-track deflection of the vertical (DOV). Geoidal heights and gravity anomalies were then computed from DOV using the deflection-geoid and inverse Vening Meinesz formulae. The Levitus oceanic dynamic topography was added back to the geoidal heights to obtain a preliminary sea surface grid. The difference between the T/P mean sea surface and the preliminary sea surface was computed on a grid by a minimum curvature method and then was added to the preliminary grid. The comparison of the NCTU01 mean sea surface height (MSSH) with the T/P and the ERS-1 MSSH result in overall root-mean-square (RMS) differences of 5.0 and 3.1 cm in SSH, respectively, and 7.1 and 3.2 μrad in SSH gradient, respectively. The RMS differences between the predicted and shipborne gravity anomalies range from 3.0 to 13.4 mGal in 12 areas of the world's oceans. Received: 26 September 2001 / Accepted: 3 April 2002 Correspondence to: C. Hwang Acknowledgements. This research is partly supported by the National Science Council of ROC, under grants NSC89-2611-M-009-003-OP2 and NSC89-2211-E-009-095. This is a contribution to the IAG Special Study Group 3.186. The Geosat and ERS1/2 data are from NOAA and CERSAT/France, respectively. The T/P data were provided by AVISO. The CLS and GSFC00 MSS models were kindly provided by NASA/GSFC and CLS, respectively. Drs. Levitus, Monterey, and Boyer are thanked for providing the SST model. Dr. T. Gruber and two anonymous reviewers provided very detailed reviews that improved the quality of this paper.     

Combined regional geoid determination for the ERS-1 radar altimeter calibration

Summary A local model of the geoid in NE Italy and its section along the Venice ground track of the ERS-1 satellite of the European Space Agency is presented. The observational data consist of geoid undulations determined with a network of 25 stations of known orthometric (by spirit leveling) and ellipsoidal (by GPS differential survey) and of 13 deflections of the vertical measured at sites of the network for which, besides the ellipsoidal (WGS84) coordinates, also astronomic coordinates were known. The network covers an area of 1×1 degrees and is tied to a vertical and horizontal datum: one vertex of the network is the tide gauge of Punta Salute, in Venice, providing a tie to a mean sea level; a second vertex is the site for mobile laser systems at Monte Venda, on the Euganei Hills, for which geocentric coordinates resulted from the analysis of several LAGEOS passes.The interpolation algorithm used to map sparse and heterogeneous data to a regular grid of geoid undulations is based on least squares collocation and the autocorrelation function of the geoid undulations is modeled by a third order Markov process on flat earth. The algorithm has been applied to the observed undulations and deflections of the vertical after subtraction of the corresponding predictions made on the basis of the OSU91A global geoid model of the Ohio State University, complete to degree and order 360. The locally improved geoid results by adding back, at the nodes of a regular grid, the predictions of the global field to the least squares interpolated values. Comparison of the model values with the raw data at the observing stations indicates that the mean discrepancy is virtually zero with a root mean square dispersion of 8 cm, assuming that the ellipsoidal heights and vertical deflections data are affected by a random error of 3 cm and 0.5 respectively. The corrections resulting from the local data and added to the background 360×360 global model are described by a smooth surface with excursions from the reference surface not larger than ±30 cm.     

Simulation of the Ku-band Radar altimeter sea ice effective scattering surface

A radiative transfer model is used to simulate the sea ice radar altimeter effective scattering surface variability as a function of snow depth and density. Under dry snow conditions without layering these are the primary snow parameters affecting the scattering surface variability. The model is initialized with in situ data collected during the May 2004 GreenIce ice camp in the Lincoln Sea (73/spl deg/W; 85/spl deg/N). Our results show that the snow cover is important for the effective scattering surface depth in sea ice and thus for the range measurement, ice freeboard, and ice thickness estimation.     

The impact of the dynamic sea surface topography on the quasi-geoid in shallow coastal waters

In this study, we examine the impact of instantaneous dynamic sea surface topography (DT) corrections to be applied to altimeter-derived sea surface slopes on the quasi-geoid in the shallow and coastal waters of the North Sea. In particular, we investigate the added value of DT corrections obtained from a shallow-water hydrodynamic model. These corrections comprise the contributions of ocean tides, wind- and pressure-driven (surge), and density-driven (baroclinic) water-level variations including the interactions between them. As a reference, we used tidal corrections derived from the global ocean tide model GOT4.7, surge corrections derived from the MOG2D model, and corrections for the time-averaged baroclinic contribution computed as differences between the DTU10 mean sea surface model and the EGG08 quasi-geoid. From a spectral analysis, we found that the baroclinic and surge parts of the DT mainly contribute to improvements in the signal-to-noise ratio (SNR) at longer wavelengths down to $100{-}200~\hbox {km}$ and that the improvements increase towards the southern North Sea. We also found that the shallow-water hydrodynamic model provides better tidal corrections compared to the GOT4.7 global ocean tide model, which are most pronounced in the southern North Sea and affect almost the entire spectrum. Very small differences (mostly below ${\pm } 2~\hbox {cm}$ ) are observed between the quasi-geoid solutions obtained using the different sets of DT corrections. We showed that the variance component estimation provides too optimistic variance factors for the shipboard data set relative to the altimeter-derived quasi-geoid slopes. Hence, the limited impact of DT corrections is due to the fact that altimeter-derived quasi-geoid slopes hardly contribute to the estimated quasi-geoid if shipboard gravity data are included. When computing quasi-geoid solutions without shipboard gravity data, we found that less accurate or incomplete DT corrections may cause errors in the quasi-geoid with systematic spatial patterns. These systematic patterns disappear or are reduced significantly when using the DT corrections provided by the shallow-water hydrodynamic model. The main contributor to this improvement is the better tidal correction provided by the shallow-water hydrodynamic model compared to the GOT4.7 global ocean tide model. Seen the improvements of the global ocean tide models over the last two decades, we expect that in the near future global ocean tide models perform as well as dedicated regional models such as DCSM. Critical issue is, however, access to high-quality local bathymetric data.     

A new,high-resolution geoid for Canada and part of the U.S. by the 1D-FFT method

A new, high-resolution and high-precision geoid has been computed for the whole of Canada and part of the U.S., ranging from 35°N to about 90°N in latitude and 210°E to 320°E in longitude. The OSU91A geopotential model complete to degree and order 360 was combined with a 5 × 5 mean gravity anomaly grid and 1km × 1km topographical information to generate the geoid file. The remove-restore technique was adopted for the computation of terrain effects by Helmert's condensation reduction. The contribution of the local gravity data to the geoid was computed strictly by the 1D-FFT technique, which allows for the evaluation of the discrete spherical Stokes integral without any approximation, parallel by parallel. The indirect effects of up to second order were considered. The internal precision of the geoid, i.e. the contribution of the gravity data and the model coefficients noise, was also evaluated through error propagation by FFT. In a relative sense, these errors seem to agree quite well with the external errors and show clearly the weak areas of the geoid which are mostly due to insufficient gravity data coverage. Comparison of the gravimetric geoid with the GPS/levelling-derived geoidal heights of eight local GPS networks with a total of about 900 stations shows that the absolute agreement with respect to the GPS/levelling datum is generally better than 10 cm RMS and the relative agreement ranges, in most cases, from 4 to 1 ppm over short distances of about 20 to 100km, 1 to 0.5 ppm over distances of about 100 to 200 km, and 0.5 to 0.1 ppm for baselines of 200 to over 1000 km. Other existing geoids, such as UNB90, GEOID90 and GSD91, were also included in the comparison, showing that the new geoid achieves the best agreement with the GPS/levelling data.Presented at theIAG General Meeting, Beijing, P.R. China, Aug. 6–13, 1993     

Harmonic maps

Harmonic maps are generated as a certain class of optimal map projections. For instance, if the distortion energy over a meridian strip of the International Reference Ellipsoid is minimized, we are led to the Laplace–Beltrami vector-valued partial differential equation. Harmonic functions x(L,B), y(L,B) given as functions of ellipsoidal surface parameters of Gauss ellipsoidal longitude L and Gauss ellipsoidal latitude B, as well as x(,q), y(,q) given as functions of relative isometric longitude =L–L₀ and relative isometric latitude q=Q–Q₀ gauged to a vector-valued boundary condition of special symmetry are constructed. The easting and northing {x(b,),y(b,)} of the new harmonic map is then given. Distortion energy analysis of the new harmonic map is presented, as well as case studies for (1) B[–40°,+40°], L[–31°,+49°], B₀= ±30°, L₀=9° and (2) B[46°,56°], L{[4.5°, 7.5°]; [7.5°, 10.5°]; [10.5°,13.5°]; [13.5°,16.5°]}, B₀= 51°, L₀ {6°,9°,12°,15°}.     

A test of GEM T2 from GEOSAT crossovers using latitude lumped coefficients

Summary New Latitude Lumped Coefficients (LLC) of a geopotential model are defined as representing the principal differences of the radial distance to a satellite due to the model at single-orbit crossovers in an Exact Repeat Mission. In contrast with previously defined orbital lumped coefficients, the LLC here are dependent only on the geopotential order (without degree distinction) and the latitude. We examine discrepancies in altimetrically determined sea surface heights at over 30000 crossover positions of GEOSAT during its ERM, 1986–1989, after removal of many variable media and surface effects (Cheney et al., 1991) as well as initial condition orbit error. The mean of these discrepancies along well represented latitude bands in the southern hemisphere are used to determine the LLC errors for Goddard Earth Model T2, which was the reference for the GEOSAT sea surface heights. GEM T2 was derived from satelliteonly tracking data with good representation of the GEOSAT orbit. Relating the measured LLC discrepancies to projections of commission error from the GEM T2 variance-covariance matrix, we find that — except for order 3 — GEM T2's performance is as expected. This test represents the first spectral calibration of a gravity model with independent, purely radial orbit data.     

Excitation of non-atmospheric polar motion by the migration of the Pacific Warm Pool

Changes in the annual variation of the Earths polar motion are found to be largely caused by the variation of the atmospheric angular momentum (AAM). Recent simulation results of oceanic general circulation models further suggest global oceanic effects on the annual polar motion in addition to the atmosphere. In comparison with previous model studies of global oceanic effects, this research particularly singles out a large-scale ocean anomaly and investigates its effect on the annual polar motion, determined from satellite observations of the movement of the Western Pacific Warm Pool (WPWP). Although the scale of the warm pool is much smaller than that of the solid Earth, analysis of the non-atmospheric polar motion excitation has shown that the WPWP contributes non-negligibly to the annual polar motion. The analysis consists of over 30 years of WPWP data (1970–2000) and shows values of polar motion excitation for the x-component of (2.5 mas, –79°) and for the y-component of (0.6 mas, 173°). Comparison of this result with the total geodetic non-atmospheric polar motion excitation of (10.3 mas, 59°) for the x-component and (10.6 mas, 62°) for the y-component shows the significance of the WPWP. Changes in the Earths polar motion have attracted significant attention, not only because it is an important geodetic issue, but also because it has significant value as a global measure of variations within the hydrosphere, atmosphere, cryosphere, and solid Earth, and hence global changes.Tel: 86–21–64386191 Fax: 86–21–64384618Acknowledgments. The authors are grateful to Dr. R. Gross (JPL) and two anonymous reviewers for providing invaluable comments. They also thank Dr. J.L. Chen (CSR) for helpful discussions. Y. Zhou, D. Zheng and X. Liao were supported by the National Natural Science Foundation of China (10273018, 10133010) and Key Project of Chinese Academy of Sciences (KJCX2-SW-T1). X-H. Yan was supported by the National Aeronautics and Space Administration (NASA) through Grant NAG5–12745, and by the National Science Foundation (NSF) through the Presidential Faculty Fellow award to X-H. Yan (OCE-9453499). W.T. Liu was supported by the NASA Physical Oceanography Program.     

Geoid determination in Turkey (TG-91)

It is considered that precise geoid determination is one of the main current geodetic problems in Turkey since GPS defined coordinates require geoidal heights in practice. In order to determine the geoid by least squares collocation (LSC) the area covering Turkey was divided into 114 blocks of size 1° × 1°. LSC approximation to the geoid based upon the tailored geopotential model GPM2-T1 is constructed within each block. The model GPM2-T1 complete to degree and order 200 has been developed by tailoring of the model GPM2 to mean free-air anomalies and mean heights of one degree blocks in Turkey. Terrain effect reduced point gravity data spaced 5 × 5 within each block which the sides extended 0°.5 were used in LSC. Residual terrain model (RTM) depends on point heights at 15×20 griding and 5×5 and 15×15 mean heights has been carried out in terrain effect reduction. Indirect effect of RTM on geoid is also taken into account. The geoid, called Turkish Geoid 1991 (TG-91), referenced to GRS-80 ellipsoid has been computed at 3 × 3 griding nodes within each block. The quality of the TG-91 is also evaluated by comparing computed and GPS derived geoidal height differences, and 2.1 – 2.6 ppm accuracy for average baseline lenght of 45 km is obtained.     

A study of gravity variations caused by polar motion using superconducting gravimeter data from the GGP network

Long-term continuous gravity observations, recorded at five superconducting gravimeter (SG) stations in the Global Geodynamic Project (GGP) network, as well as data on orientation variations in the Earths rotation axis (i.e. polar motion), have been used to investigate the characteristics of gravity variations on the Earths surface caused by polar motion. All the SG gravity data sets were pre-processed using identical techniques to remove the luni-solar gravity tides, the long-term trends of the instrumental drift, and the effects of atmospheric pressure. The analysis indicates that the spectral peaks, related to the Chandler and annual wobbles, were identified in both the power and product spectral density estimates. The magnitude of gravity variations, as well as the gravimetric amplitude factor associated with the Chandler wobble, changed significantly at different SG stations and during different observation periods. However, when all the SG observations at these five sites were combined, the gravimetric parameters of the Chandler wobble were retrieved accurately: 1.1613 ± 0.0737 for the amplitude factor and –1°.30 ± 1°.33 for the phase difference. The value of the estimated amplitude factor is in agreement with that predicted theoretically for the zonal tides of an elastic Earth model.     

Effect of the processing methodology on satellite altimetry-based global mean sea level rise over the Jason-1 operating period

Determining how the global mean sea level (GMSL) evolves with time is of primary importance to understand one of the main consequences of global warming and its potential impact on populations living near coasts or in low-lying islands. Five groups are routinely providing satellite altimetry-based estimates of the GMSL over the altimetry era (since late 1992). Because each group developed its own approach to compute the GMSL time series, this leads to some differences in the GMSL interannual variability and linear trend. While over the whole high-precision altimetry time span (1993–2012), good agreement is noticed for the computed GMSL linear trend (of $3.1\pm 0.4$  mm/year), on shorter time spans (e.g., ${<}10~\hbox {years}$ ), trend differences are significantly larger than the 0.4 mm/year uncertainty. Here we investigate the sources of the trend differences, focusing on the averaging methods used to generate the GMSL. For that purpose, we consider outputs from two different groups: the Colorado University (CU) and Archiving, Validation and Interpretation of Satellite Oceanographic Data (AVISO) because associated processing of each group is largely representative of all other groups. For this investigation, we use the high-resolution MERCATOR ocean circulation model with data assimilation (version Glorys2-v1) and compute synthetic sea surface height (SSH) data by interpolating the model grids at the time and location of “true” along-track satellite altimetry measurements, focusing on the Jason-1 operating period (i.e., 2002–2009). These synthetic SSH data are then treated as “real” altimetry measurements, allowing us to test the different averaging methods used by the two processing groups for computing the GMSL: (1) averaging along-track altimetry data (as done by CU) or (2) gridding the along-track data into $2^{\circ }\times 2^{\circ }$ meshes and then geographical averaging of the gridded data (as done by AVISO). We also investigate the effect of considering or not SSH data at shallow depths $({<}120~\hbox {m})$ as well as the editing procedure. We find that the main difference comes from the averaging method with significant differences depending on latitude. In the tropics, the $2^{\circ }\times 2^{\circ }$ gridding method used by AVISO overestimates by 11 % the GMSL trend. At high latitudes (above $60^{\circ }\hbox {N}/\hbox {S}$ ), both methods underestimate the GMSL trend. Our calculation shows that the CU method (along-track averaging) and AVISO gridding process underestimate the trend in high latitudes of the northern hemisphere by 0.9 and 1.2 mm/year, respectively. While we were able to attribute the AVISO trend overestimation in the tropics to grid cells with too few data, the cause of underestimation at high latitudes remains unclear and needs further investigation.     

A spectral optimally interpolated mean sea surface from satellite radar altimetry

 A technique is presented for the development of a high-precision and high-resolution mean sea surface model utilising radar altimetric sea surface heights extracted from the geodetic phase of the European Space Agency (ESA) ERS-1 mission. The methodology uses a cubic-spline fit of dual ERS-1 and TOPEX crossovers for the minimisation of radial orbit error. Fourier domain processing techniques are used for spectral optimal interpolation of the mean sea surface in order to reduce residual errors within the initial model. The EGM96 gravity field and sea surface topography models are used as reference fields as part of the determination of spectral components required for the optimal interpolation algorithm. A comparison between the final model and 10 cycles of TOPEX sea surface heights shows differences of between 12.3 and 13.8 cm root mean square (RMS). An un-optimally interpolated surface comparison with TOPEX data gave differences of between 15.7 and 16.2 cm RMS. The methodology results in an approximately 10-cm improvement in accuracy. Further improvement will be attained with the inclusion of stacked altimetry from both current and future missions. Received: 22 December 1999 / Accepted: 6 November 2000     

Geoid determination in central Spain from gravity and height data

Summary The least-squares collocation method has been used for the computation of a geoid solution in central Spain, combining a geopotential model complete to degree and order 360, gravity anomalies and topographic information. The area has been divided in two 1°× 1° blocks and predictions have been done in each block with gravity data spacing about 5 × 5 within each block, extended 1/2°. Topographic effects have been calculated from 6 × 9 heights using an RTM reduction with a reference terrain model of 30 × 30 mean heights.     

联合多种测高数据确定中国边缘海及全球海域的垂线偏差

On the basis of gravity field model （EIGEN_CG01C）, together with multi-altimeter data, the improved deflection of the vertical gridded in 2＇×2＇ in China marginal sea and gridded in 5＇×5＇ in the global sea was determined by using the weighted method of along-track least squares, and the accuracy is better than 1.2^# in China marginal sea. As for the quality of the deflection of the vertical, it meets the challenge for the gravity field of high resolution and accuracy, it shows that, compared with the shipboard gravimetry in the sea, the accuracy of the gravity anomalies computed with the marine deflection of the vertical by inverse Vening-Meinesz formula is 7.75 m.s ^-2.     

Scale factor calibration of a superconducting gravimeter at Esashi Station, Japan, using absolute gravity measurements

The scale factor of a superconducting gravimeter (SG) at the Esashi Earth Tides Station, Japan, was revised by repeating co-located absolute gravity measurements with an FG5 gravimeter. Although the calibration results from the absolute gravimeter (AG) show an apparent secular change in the scale factor of the SG (0.4% for the period 1993–2002), the relative scale factors, which are determined by tidal analysis with the response method, indicate that it has changed by no more than 0.01% during the above period. If the mean scale factor over the 10 years is adopted, a value of –56.082±0.029 Gal/V (1 Gal =10^–8 m s^–2) is obtained, which is about 0.4% smaller than that used in the global geodynamics project (GGP) database. Based on this newly determined scale factor, the tidal gravity factors at Esashi have been re-estimated. The observed tidal factors, corrected for the ocean tide effects with recent models, indicate that the theoretical gravity factors for an inelastic Earth model are more consistent with the observations than are those for an elastic model.     

Validation of ETOPO5U in the Hellenic area

Mean 5 × 5 heights and depths from ETOPO5U (Earth Topography at 5 spacing Updated) Digital Terrain Model (DTM) were compared with corresponding quantities of a local DTM in the test area [38° 40°, 21° 24°]. From this comparison a shift of ETOPO5U with respect to the local DTM in the longitudinal direction equal to 5 min was found after applying an efficient fast Fourier transform (FFT) technique. Furthermore, sparse mean height differences larger than 1,000 m were observed between ETOPO5U and the local DTM due rather to errors of ETOPO5U. The effect of these errors on gravity and height anomalies was computed in a subregion of the area under consideration.     

New analytical and numerical approaches for geopotential modeling

 The standard analytical approach which is applied for constructing geopotential models OSU86 and earlier ones, is based on reducing the boundary value equation to a sphere enveloping the Earth and then solving it directly with respect to the potential coefficients _n,m . In an alternative procedure, developed by Jekeli and used for constructing the models OSU91 and EGM96, at first an ellipsoidal harmonic series is developed for the geopotential and then its coefficients _n,m ^e are transformed to the unknown _n,m . The second solution is more exact, but much more complicated. The standard procedure is modified and a new simple integral formula is derived for evaluating the potential coefficients. The efficiency of the standard and new procedures is studied numerically. In these solutions the same input data are used as for constructing high-degree parts of the EGM96 models. From two sets of _n,m (n≤360,|m|≤n), derived by the standard and new approaches, different spectral characteristics of the gravity anomaly and the geoid undulation are estimated and then compared with similar characteristics evaluated by Jekeli's approach (`etalon' solution). The new solution appears to be very close to Jekeli's, as opposed to the standard solution. The discrepancies between all the characteristics of the new and `etalon' solutions are smaller than the corresponding discrepancies between two versions of the final geopotential model EGM96, one of them (HDM190) constructed by the block-diagonal least squares (LS) adjustment and the other one (V068) by using Jekeli's approach. On the basis of the derived analytical solution a new simple mathematical model is developed to apply the LS technique for evaluating geopotential coefficients. Received: 12 December 2000 / Accepted: 21 June 2001     

Global empirical model for mapping zenith wet delays onto precipitable water

We can map zenith wet delays onto precipitable water with a conversion factor, but in order to calculate the exact conversion factor, we must precisely calculate its key variable $T_\mathrm{m}$ . Yao et al. (J Geod 86:1125–1135, 2012. doi:10.1007/s00190-012-0568-1) established the first generation of global $T_\mathrm{m}$ model (GTm-I) with ground-based radiosonde data, but due to the lack of radiosonde data at sea, the model appears to be abnormal in some areas. Given that sea surface temperature varies less than that on land, and the GPT model and the Bevis $T_\mathrm{m}$ – $T_\mathrm{s}$ relationship are accurate enough to describe the surface temperature and $T_\mathrm{m}$ , this paper capitalizes on the GPT model and the Bevis $T_\mathrm{m}$ – $T_\mathrm{s}$ relationship to provide simulated $T_\mathrm{m}$ at sea, as a compensation for the lack of data. Combined with the $T_\mathrm{m}$ from radiosonde data, we recalculated the GTm model coefficients. The results show that this method not only improves the accuracy of the GTm model significantly at sea but also improves that on land, making the GTm model more stable and practically applicable.