S. M. Klosko

The Development of the NASA GSFC and NIMA Joint Geopotential Model

The NASA Goddard Space Flight Center, the National Imagery and Mapping Agency (NIMA; formerly the Defense Mapping Agency or DMA) and The Ohio State University have collaborated to produce EGM96, an improved degree 360 spherical harmonic model representing the Earth’s gravitational potential. This model was developed using: (1) satellite tracking data from more than 20 satellites, including new data from GPS and TDRSS, as well as altimeter data from TOPEX, GEOSAT and ERS-1. (2) 30’ x 30’ terrestrial gravity data from NIMA’s comprehensive archives, including new measurements from areas such as the former Soviet Union, South America, Africa, Greenland, and elsewhere. (3) 30’ x 30’ gravity anomalies derived from the GEOSAT Geodetic Mission altimeter data, as well as altimeter derived anomalies derived from ERS-1 by KMS (Kort and Matrikelstyrelsen, Denmark) in regions outside the GEOSAT coverage. The high degree solutions were developed using two different model estimation techniques: quadrature, and block diagonal. The final model is a composite solution consisting a combination solution to degree 70, a block diagonal solution to degree 359, and the quadrature model at degree 360. This new model will be used to define an undulation model that will be the basis for an update of the WGS-84 geoid. In addition, the model will contribute to oceanographic studies by improving the modeling of the ocean geoid and to geodetic positioning using the Global Positioning System (GPS).

The Joint Gravity Model 3

An improved Earth geopotential model, complete to spherical harmonic degree and order 70, has been determined by combining the Joint Gravity Model 1 (JGM 1) geopotential coefficients, and their associated error covariance, with new information from SLR, DORIS, and GPS tracking of TOPEX/Poseidon, laser tracking of LAGEOS 1, LAGEOS 2, and Stella, and additional DORIS tracking of SPOT 2. The resulting field, JGM 3, which has been adopted for the TOPEX/Poseidon altimeter data rerelease, yields improved orbit accuracies as demonstrated by better fits to withheld tracking data and substantially reduced geographically correlated orbit error. Methods for analyzing the performance of the gravity field using high-precision tracking station positioning were applied. Geodetic results, including station coordinates and Earth orientation parameters, are significantly improved with the JGM 3 model. Sea surface topography solutions from TOPEX/Poseidon altimetry indicate that the ocean geoid has been improved. Subset solutions performed by withholding either the GPS data or the SLR/DORIS data were computed to demonstrate the effect of these particular data sets on the gravity model used for TOPEX/Poseidon orbit determination.

Precision orbit determination for TOPEX/POSEIDON

The TOPEX/POSEIDON mission objective requires that the radial position of the spacecraft be determined with an accuracy better than 13 cm RMS (root mean square). This stringent requirement is an order of magnitude below the accuracy achieved for any altimeter mission prior to the definition of the TOPEX/POSEIDON mission. To satisfy this objective, the TOPEX Precision Orbit Determination (POD) Team was established as a joint effort between the NASA Goddard Space Flight Center and the University of Texas at Austin, with collaboration from the University of Colorado and the Jet Propulsion Laboratory. During the prelaunch development and the postlaunch verification phases, the POD team improved, calibrated, and validated the precision orbit determination computer software systems. The accomplishments include (1) increased accuracy of the gravity and surface force models and (2) improved performance of both the laser ranging and Doppler tracking systems. The result of these efforts led to orbit accuracies for TOPEX/POSEIDON which are significantly better than the original mission requirement. Tests based on data fits, covariance analysis, and orbit comparisons indicate that the radial component of the TOPEX/POSEIDON spacecraft is determined, relative to the Earths mass center, with an RMS error in the range of 3 to 4 cm RMS. This orbit accuracy, together with the near continuous dual-frequency altimetry from this mission, provides the means to determine the oceans dynamic topography with an unprecedented accuracy.

Temporal variations of the earth's gravitational field from satellite laser ranging to LAGEOS

We have estimated monthly values of the J2 and J3 Earth gravitational coefficients using LAGEOS satellite laser ranging (SLR) data collected between 1980 and 1989. For the same time period, we have also computed corresponding estimates of the variations in these coefficients caused by atmospheric mass redistribution using surface atmospheric pressure estimates from the European Center for Medium Range Weather Forecasts (ECMWF). These data were processed both with and without a correction for the “inverted barometer effect,” the oceans isostatic response to atmospheric loading. While the estimated zonal harmonics in the orbit analysis accommodate gravitational changes at a reduced level arising from all other higher degree zonal effects, the LAGEOS and atmospheric time series for J2 compare quite well and it appears that the non-secular variation in J2 can be largely attributed to the redistribution of the atmospheric mass. While the observed changes in the “effective” J3 parameters are not well predicted by the third degree zonal harmonic changes in the atmosphere, both odd zonal time series display strong seasonality. The LAGEOS J3 estimates are very sensitive to as yet unmodeled forces acting on the satellite and these effects must be better understood before determining the dominant geophysical signals contributing to the estimate of this time series.

An improved error assessment for the GEM‐T1 Gravitational Model

Several tests have been designed to estimate the correct error variances for the GEM-T1 gravitational solution that was derived exclusively from satellite tracking data. The basic method uses both independent and dependent subset data solutions and produces a coefficient by coefficient estimate of the model uncertainties. The GEM-T1 errors have been further analyzed using a method based on eigenvalue-eigenvector analysis, which calibrates the entire covariance matrix. Dependent satellite data sets and independent altimetric, resonant satellite, and surface gravity data sets all confirm essentially the same error assessment The calibration test results yield very stable calibration factors, which vary only by approximately 10% over the range of tests performed. Based on these calibrated error estimates, GEM-T1 is a significantly improved solution, which to degree and order 8 is twice as accurate as earlier satellite derived models like GEM-L2. Also, by being complete to degree and order 36, GEM-T1 is more complete and has significantly reduced aliasing effects that were present in previous models.

NEW ERROR CALIBRATION TESTS FOR GRAVITY MODELS USING SUBSET SOLUTIONS AND INDEPENDENT DATA : APPLIED TO GEM-T3

Orbit error projections based on the error covariance estimates of Goddard Earth Model (GEM)-T3 have been shown to be reliable through their projection on observation residuals within independent data sets. Special geopotential solutions were developed based upon the same data set and weighting used in the GEM-T3 gravity model, but with a significant satellite data set eliminated from the solution. These subset gravity models are then used to compute the observation residuals within orbital solutions for the omitted satellite and the results are compared to their predicted values based on the error covariance of these models. To ensure meaningful results, the tests were designed so that the observation residuals are dominated by geopotential modeling errors. This yields a reliable test of the error estimates of the subset solutions and hence tests the data weighting used in the construction of these models (GEM-T3 and subset solutions alike). The error estimates for GEM-T3 are based upon an optimal data weighting method and have been obtained in a separate calibration process. The test results shown here indicate that the GEM-T3 error estimates for the gravity parameters are calibrated and that the predicted orbit errors correspond well with actual orbit accuracies. Test results of the complete GEM-T3 model with totally independent high precision DORIS Doppler tracking data acquired on the French SPOT-2 satellite confirms these conclusions.