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Nowadays one of the major objectives in geosciences is the determination of the gravitational field of our planet, the Earth. A precise knowledge of this quantity is not just interesting on its own but it is indeed a key point for a vast number of applications. The important question is how to obtain a good model for the gravitational field on a global scale. The only applicable solution - both in costs and data coverage - is the usage of satellite data. We concentrate on highly precise measurements which will be obtained by GOCE (Gravity Field and Steady State Ocean Circulation Explorer, launch expected 2006). This satellite has a gradiometer onboard which returns the second derivatives of the gravitational potential. Mathematically seen we have to deal with several obstacles. The first one is that the noise in the different components of these second derivatives differs over several orders of magnitude, i.e. a straightforward solution of this outer boundary value problem will not work properly. Furthermore we are not interested in the data at satellite height but we want to know the field at the Earth's surface, thus we need a regularization (downward-continuation) of the data. These two problems are tackled in the thesis and are now described briefly. Split Operators: We have to solve an outer boundary value problem at the height of the satellite track. Classically one can handle first order side conditions which are not tangential to the surface and second derivatives pointing in the radial direction employing integral and pseudo differential equation methods. We present a different approach: We classify all first and purely second order operators which fulfill that a harmonic function stays harmonic under their application. This task is done by using modern algebraic methods for solving systems of partial differential equations symbolically. Now we can look at the problem with oblique side conditions as if we had ordinary i.e. non-derived side conditions. The only additional work which has to be done is an inversion of the differential operator, i.e. integration. In particular we are capable to deal with derivatives which are tangential to the boundary. Auto-Regularization: The second obstacle is finding a proper regularization procedure. This is complicated by the fact that we are facing stochastic rather than deterministic noise. The main question is how to find an optimal regularization parameter which is impossible without any additional knowledge. However we could show that with a very limited number of additional information, which are obtainable also in practice, we can regularize in an asymptotically optimal way. In particular we showed that the knowledge of two input data sets allows an order optimal regularization procedure even under the hard conditions of Gaussian white noise and an exponentially ill-posed problem. A last but rather simple task is combining data from different derivatives which can be done by a weighted least squares approach using the information we obtained out of the regularization procedure. A practical application to the downward-continuation problem for simulated gravitational data is shown.
The following two papers present recent developments in multiscale ocean circulation modeling and multiscale gravitational field modeling that have been presented at the 2nd International GOCE User Workshop 2004 in Frascati. Part A - Multiscale Modeling of Ocean Circulation In this paper the applicability of multiscale methods to oceanography is demonstrated. More precisely, we use convolutions with certain locally supported kernels to approximate the dynamic topography and the geostrophic flow. As data sets the French CLS01 data are used for the mean sea surface topography and are compared to the EGM96 geoid. Since those two data sets have very different levels of spatial resolutions the necessity of an interpolating or approximating tool is evident. Compared to the standard spherical harmonics approach, the strongly space localizing kernels improve the possibilities of local data analysis here. Part B - Multiscale Modeling from EIGEN-1S, EIGEN-2, EIGEN-GRACE01S, GGM01, UCPH2002_0.5, EGM96 Spherical wavelets have been developed by the Geomathematics Group Kaiserslautern for several years and have been successfully applied to georelevant problems. Wavelets can be considered as consecutive band-pass filters and allow local approximations. The wavelet transform can also be applied to spherical harmonic models of the Earth's gravitational field like the most up-to-date EIGEN-1S, EIGEN-2, EIGEN-GRACE01S, GGM01, UCPH2002_0.5, and the well-known EGM96. Thereby, wavelet coefficients arise. In this paper it is the aim of the Geomathematics Group to make these data available to other interested groups. These wavelet coefficients allow not only the reconstruction of the wavelet approximations of the gravitational potential but also of the geoid, of the gravity anomalies and other important functionals of the gravitational field. Different types of wavelets are considered: bandlimited wavelets (here: Shannon and Cubic Polynomial (CuP)) as well as non-bandlimited ones (in our case: Abel-Poisson). For these types wavelet coefficients are computed and wavelet variances are given. The data format of the wavelet coefficients is also included.
Die Grundgleichungen der Physikalischen Geodäsie (in der klassischen Formulierung) werden einer Multiskalenformulierung mittels (sphärisch harmonischer) Wavelets unterzogen. Die Energieverteilung des Störpotentials wird in Auflösung nach Skala und Ort durch Verwendung von Waveletvarianzen beschrieben. Schließlich werden zur Modellierung der zeitlichen Variationen des Schwerefeldes zeit- und ortsgebundene Energiespektren zur Detektion lokaler sowie periodischer/saisonaler Strukturen eingeführt.
The following three papers present recent developments in multiscale gravitational field modeling by the use of CHAMP or CHAMP-related data. Part A - The Model SWITCH-03: Observed orbit perturbations of the near-Earth orbiting satellite CHAMP are analyzed to recover the long-wavelength features of the Earth's gravitational potential. More precisely, by tracking the low-flying satellite CHAMP by the high-flying satellites of the Global Positioning System (GPS) a kinematic orbit of CHAMP is obtainable from GPS tracking observations, i.e. the ephemeris in cartesian coordinates in an Earth-fixed coordinate frame (WGS84) becomes available. In this study we are concerned with two tasks: First we present new methods for preprocessing, modelling and analyzing the emerging tracking data. Then, in a first step we demonstrate the strength of our approach by applying it to simulated CHAMP orbit data. In a second step we present results obtained by operating on a data set derived from real CHAMP data. The modelling is mainly based on a connection between non-bandlimited spherical splines and least square adjustment techniques to take into account the non-sphericity of the trajectory. Furthermore, harmonic regularization wavelets for solving the underlying Satellite-to-Satellite Tracking (SST) problem are used within the framework of multiscale recovery of the Earth's gravitational potential leading to SWITCH-03 (Spline and Wavelet Inverse Tikhonov regularized CHamp data). Further it is shown how regularization parameters can be adapted adequately to a specific region improving a globally resolved model. Finally we give a comparison of the developed model to the EGM96 model, the model UCPH2002_02_0.5 from the University of Copenhagen and the GFZ models EIGEN-1s and EIGEN-2. Part B - Multiscale Solutions from CHAMP: CHAMP orbits and accelerometer data are used to recover the long- to medium- wavelength features of the Earth's gravitational potential. In this study we are concerned with analyzing preprocessed data in a framework of multiscale recovery of the Earth's gravitational potential, allowing both global and regional solutions. The energy conservation approach has been used to convert orbits and accelerometer data into in-situ potential. Our modelling is spacewise, based on (1) non-bandlimited least square adjustment splines to take into account the true (non-spherical) shape of the trajectory (2) harmonic regularization wavelets for solving the underlying inverse problem of downward continuation. Furthermore we can show that by adapting regularization parameters to specific regions local solutions can improve considerably on global ones. We apply this concept to kinematic CHAMP orbits, and, for test purposes, to dynamic orbits. Finally we compare our recovered model to the EGM96 model, and the GFZ models EIGEN-2 and EIGEN-GRACE01s. Part C - Multiscale Modeling from EIGEN-1S, EIGEN-2, EIGEN-GRACE01S, UCPH2002_0.5, EGM96: Spherical wavelets have been developed by the Geomathematics Group Kaiserslautern for several years and have been successfully applied to georelevant problems. Wavelets can be considered as consecutive band-pass filters and allow local approximations. The wavelet transform can also be applied to spherical harmonic models of the Earth's gravitational field like the most up-to-date EIGEN-1S, EIGEN-2, EIGEN-GRACE01S, UCPH2002_0.5, and the well-known EGM96. Thereby, wavelet coefficients arise and these shall be made available to other interested groups. These wavelet coefficients allow the reconstruction of the wavelet approximations. Different types of wavelets are considered: bandlimited wavelets (here: Shannon and Cubic Polynomial (CP)) as well as non-bandlimited ones (in our case: Abel-Poisson). For these types wavelet coefficients are computed and wavelet variances are given. The data format of the wavelet coefficients is also included.
SST (satellite-to-satellite tracking) and SGG (satellite gravity gradiometry) provide data that allows the determination of the first and second order radial derivative of the earth's gravitational potential on the satellite orbit, respectively. The modeling of the gravitational potential from such data is an exponentially ill-posed problem that demands regularization. In this paper, we present the numerical studies of an approach, investigated in [24] and [25], that reconstructs the potential with spline smoothing. In this case, spline smoothing is not just an approximation procedure but it solves the underlying compact operator equation of the SST-problem and the SGG-problem. The numerical studies in this paper are performed for a simplified geometrical scenario with simulated data, but the approach is designed to handle first or second order radial derivative data on a real satellite orbit.
This work is dedicated to the wavelet modelling of regional and temporal variations of the Earth's gravitational potential observed by GRACE. In the first part, all required mathematical tools and methods involving spherical wavelets are introduced. Then we apply our method to monthly GRACE gravity fields. A strong seasonal signal can be identified, which is restricted to areas, where large-scale redistributions of continental water mass are expected. This assumption is analyzed and verified by comparing the time series of regionally obtained wavelet coefficients of the gravitational signal originated from hydrology models and the gravitational potential observed by GRACE. The results are in good agreement to previous studies and illustrate that wavelets are an appropriate tool to investigate regional time-variable effects in the gravitational field.