satellite observation systems and reference systems (ae4-e01)
DESCRIPTION
Satellite observation systems and reference systems (ae4-e01). Applications E. Schrama. Contents. Preprocessing of observations - example 1: dual frequency ionospheric effect - example 2: tropospheric range delay effect - example 3: normal point compression technique - PowerPoint PPT PresentationTRANSCRIPT
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Satellite observation systems and reference systems (ae4-e01)
Applications
E. Schrama
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ContentsPreprocessing of observations
- example 1: dual frequency ionospheric effect
- example 2: tropospheric range delay effect
- example 3: normal point compression technique
Global Positioning System - Precise point positioning services
- Detection of plate tectonics
- Estimation of wet tropospheric delay
International Earth Rotation Service (IERS)- Earth rotation parameters + LOD
- Interpretation of these Earth rotation variables (AAM)
Satellite altimetry- Technique, Role of POD, Results
Gravity missions- GRACE, GOCE and CHAMP
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Satellite laser ranging
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VLBI
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GPS
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Preprocessing of observations
• Oftentimes raw observations are NOT suitable for direct
application in parameter estimation algorithms
• Raw observations typically contain non Gaussian errors
like outliers greater than 3 sigma
• Often there are very good reasons to inspect and clean up
the data before you put it into an estimation procedure
• This topic is much depending on the observation
technique, we will just show some well known examples.
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Preprocessing example 1
The problem is: how do you eliminate the ionospheric delay from dual frequency range data?
22
21
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22
212
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Preprocessing example 2
The air pressure is 1000 mbar, the air temperature is 20 degrees centigrade, the relative humidity is 50%, what is the dry+wet tropospheric delay of a radio signal as a function of the elevation angle for a station at MSL and 50 degrees latitude. The answer is:
• Use the Hopfield model (see Seeber p 45 - 49) to calculate the refractive index
• Use the integral over (n-1) ds to compute the path delay
• For the latter integral various mapping functions exist
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Dry tropospheric delay example
0 10 20 30 40 50 60 70 80 900
5
10
15
20
25
Elevation angle
Dry
tro
posp
heric
del
ay
Modified Hopfield model This result is entirely depending on the air pressure P, 1% air pressure change (=10 mbar) gives 1% range change. Since air pressure is usually known to within a mbar the dry tropospheric delay error is small. For low elevation angles the delay error increases due to the mapping function uncertainties. Hence elevation cut-off angles are used (typically 10 degrees).
m
a
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Wet tropospheric delay example
0 10 20 30 40 50 60 70 80 900
0.2
0.4
0.6
0.8
1
1.2
1.4
Elevation angle
Wet
tro
posp
heric
del
ay
Modified Hopfield model The wet tropospheric range depends on the relative humidity which varies more rapidly in time and place compared to air pressure. Variations of the order of 50% are possible. As a result the vertical path delay can vary between 5 and 30 cm. The alternative is the use of a multifrequency radiometer system, see Seeber p 49.
m
a
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Normal point compression
0 200 400 600 800 1000 1200-0.5
0
0.5
1
1.5
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2.5
3x 10
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Method: Use a compression technique (splines, polynomials, etc) that fit the crosses. Evaluation of the model results in the compression points (the circles). This procedure filters out the noise. Horizontal: time, vertical: range
Case: red crosses is SLR data, there are too many of them and there are clear blunders that we don’t accept in the parameter estimation procedure.
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GPS: precise point positioning
• Concept of differencing– Single differencing– Double differencing– Triple differencing
• Software– Bernse software– GIPSY JPL– Other software
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Concept of differencing• In the GPS system, many observations are made at the “same” time by
difference receivers.
• All receivers collect pseudo range data, carrier phase data and navigation messages
• The Pseudo range navigation allows you to get a approximate solution for receiver coordinates (approx 3 m)
• More importantly is that the pseudo range navigation solution allows to synchronize all receiver clocks to the (approx 10 nano seconds, nsec).
• The pseudo-range solution requires orbit information
• The dual frequency concept results in ionospheric free ranges and carrier phase estimates
• From this point on we start to work with “differencing techniques”,
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Broadcast Ephemeris GPS
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Broadcast ephemeris GPS (2)
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Single differences
SAT(1) SAT(2)
RCV(a)
r1a r2
a
Single Difference = r1a - r2
a
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Double differences
SAT(1) SAT(2)
RCV(a)
r1a
r2a
Double Difference = (r1a - r2
a) - (r1b-r2
b)
r2b
r1b RCV(b)
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Difference data processing
• Single differences (as shown two sheets before this one) are insensitive to receiver clock errors
• Double differences are insensitieve to all receiver and satellite clock errors
• Triple differences (= differences of double differences at consequetive epochs) reveal jumps in carrier phase data.
• Differencing techniques as described above result in observation equations that allow one to solve for coordinate delta’s (improvements)
• Available software to do this: GIPSY (JPL) + Bernese SW
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GPS to observe deformation around a vulcano on Hawaii
Ref: http://www.unavco.org/research_science/science_highlights/kilauea/kilauea.html
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Plate Tectonics
Source: Unavco Brochure
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SE Asia deformations due to 26/12/04 Earthquake
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GPS: Wet troposphere (cm)
http://www.gst.ucar.edu/gpsrg/realtime.html
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Ionosphere from GPS (TEC)
http://www.gst.ucar.edu/gpsrg/realtime.html
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Polar motion
• Lectures on reference systems explained what it is (Your vocabulary contains : precession, nutation, polar motion)
• Typically observed by all space techniques• It is observable because of a differences between
reference systems • Satellite and quasars “live” in an inertial system• We stand with both feet on the ground
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IERS Earth rotation parameters
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X-pole solution
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Y-pole solution
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IERS: Length of day variations
The atmosphere (left) and the ocean tides (right) correlate with space geodetic observations of the length of day (LOD) source: NASA
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Satellite Altimetry
By means of a nadir looking radar we measure the reflection of short pulse in the footprint. This footprint is about 4 to 8 kilometer in diameter.
Source: JPL
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Pulse reflection
time
power
time
power
Sent
Received
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Radar footprint simulation
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Significant wave height (JPL)
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Scalar wind speed (JPL)
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Ionospheric delay (JPL)
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Radiometric water vapor (JPL)
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Technical evolution• SKYLAB 1972 NASA 20 m
• GEOS-3 1975-1978 NASA 3 m
• SEASAT 1978 NASA 2 m
• GEOSAT 1985-1990 US Navy 30 cm
• ERS-1 1991-1996 ESA 4-10 cm
• ERS-2 1995- ESA 4 cm
• T/P 1992- NASA/CNES 2 - 3 cm
• GFO 2000- US Navy
• JASON 2001- NASA/CNES 2 - 3 cm
• ENVISAT 2002- ESA
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Geosat (1985-1990)
ERS-1 1991-1996ERS-2
1995-
Recent and operational systems
Topex/Poseidon 1992 -
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Doris tracking network
Source: CNES
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ERS-1/2 tracking + cal/val
Source: DEOS
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T/P sampling
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Topex/Poseidon groundtrack
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Mesoscale Variability
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Gulf stream (altimeter)
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Thermal image Gulf stream
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Permanent currents
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Schematic overview ocean currents
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Ship observations (1)
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To show how difficult it sometimes is at sea (2)
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More Detail in Gulf Steam
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Four Seasons from Altimetry
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El Niño Southern Oscillation
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Speed Kelvin/Rossby waves
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Kelvin and Rossby wavesEquator: 2.8 m/s 20 N: 8.5 cm/s
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Pacific decadal oscillation
1977-1999 Since 1999
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Examples of ocean tides
This shows a 7 meter tidal height difference in Brittany France (Pentrez Plage)
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M2 tide observed by altimeter
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Tides in the South China Sea
M2 wave
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K1 tidal component (23h 56m)
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Tide constants along the shores
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Tidal energy dissipation
-3 0 -2 0 -10 0 1 0 2 0 3 0 m W / m2
R R a y, G S F C
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Gravity from satellite altimetry
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January 98 August 98
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Quickscat
You can also observe wind speed AND direction from space with a so-called scatterometer. (A different instrument that looks and works much like a radar altimeter.)
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Tutorial quickscat
under the radarSide lobes
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Global windfield patterns
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Extreme wind conditions (Hurricane DORA)
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ICE/wind
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Decade of the Geopotentials
• CHAMP: – Single satellite with accelerometers (why?) and
a space-borne version of GPS (2000->)
• GRACE: – Two CHAMP flying after one another (2002->)
• GOCE: – Four “champs” inside a satellite (2007?)
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Geoid (=ocean surface without currents)Geoid (=ocean surface without currents)
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Gravity field of the MoonGravity field of the Moon
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CHAMP 1
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CHAMP 2
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CHAMP launch
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CHAMP 4
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CHAMP 5
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Principe GRACE
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GOCE gradiometry mission
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Concept Gradiometer
Proofmass
Spring
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Gravity field improvement
0 50 100 150 200 250 30010
-5
10-4
10-3
10-2
10-1
100
degree l
met
ercumulative geoid error