顾及地形效应的重力向下延拓模型分析与检验

向下延拓是航空重力测量数据实际应用中必不可少的技术环节。向下延拓属于不适定反问题,其解算过程具有较大的不确定性,故该问题一直是大地测量领域国内外学者的研究热点。本文深入分析研究了当前国内外最具代表性的3种向下延拓计算模型的技术特点和适用条件,提出了应用超高阶位模型、局部地形改正和移去—恢复技术顾及地形效应,以及位场延拓结果球面化曲面的工程化方法,重点探讨了计算模型的稳定性及数据观测误差对延拓计算结果的影响。通过理论分析、数值仿真和实测数据计算等手段,定量评估了不同向下延拓模型的解算精度及其可靠性。其主要结论是:传统逆Poisson积分模型解严重受制于输入数据观测噪声的干扰,在现有作业条件下,该模型至多只能用于1km以下高度的延拓解算;频谱截断积分和位模型加地改两种延拓新模型具有良好的计算稳定性,完全适用于2′分辨率和5km飞行高度条件下的航空重力测量数据向下延拓解算,其延拓计算精度可达2×10~(-5) m/s~2,可满足各方面实际应用需求。     

海域航空重力测量数据向下延拓的实用方法

针对航空重力测量向下延拓过程固有的不确定性,根据海域重力场的变化特点和现有技术条件,分别提出了利用卫星测高重力向上延拓和超高阶位模型(EGM2008)直接计算延拓改正数,从而实现航空重力测量向下延拓归算的两种实用方法,联合使用卫星测高、海面船测和航空重力测量数据进行了实际数值计算和精度评估,验证了新方法的有效性。     

联合使用位模型和地形信息的陆区航空重力向下延拓方法

为了规避传统逆Poisson积分向下延拓解算过程的不适定性问题,借鉴导航定位中的"差分"概念,利用超高阶位模型直接计算海域航空重力测量向下延拓改正数的方法。本文在此基础上提出联合使用重力位模型和地形高数据,计算陆部航空重力向下延拓总改正数的改进方案,以飞行高度面与地面对应点的位模型差分信息表征总改正数的中长波分量,以相对应的局部地形改正差分修正量表征总改正数的中高频成分,从而实现航空重力数据点对点向地面的全频段延拓。在地形变化不同区域,联合使用EGM2008位模型、地面实测重力和高分辨率高程数据进行了实际数值计算和精度评估,验证了该方法的有效性。     

航空重力数据向下延拓的迭代Tikhonov正则化法

根据观测面和延拓面测量数据的Poisson积分平面近似关系,结合快速傅立叶变换算法,将向下延拓转换到频率域进行计算,并采用迭代Tikhonov正则化方法,克服计算的不稳定性,提高计算结果的精度,实现了航空重力测量数据的向下延拓。最后采用模拟航空重力测量数据验证了该算法的有效性,取得了较好的延拓结果。     

顾及地形效应的地面重力向上延拓模型分析与检验

重力向上延拓在外部重力场逼近和航空重力测量数据质量评估中具有重要应用。本文深入分析研究了6种向上延拓计算模型的技术特点和适用条件,提出了应用超高阶位模型加地形改正、点质量方法结合移去-恢复技术实现“先向下后向上延拓”计算的实施策略,探讨了计算过程特别是前端向下延拓过程的稳定性问题。通过实际数值计算,定量评估了地形质量对不同高度向上延拓结果的影响,对比分析了不同向上延拓模型顾及地形效应的实际效果,同时对向上延拓模型计算精度进行了估计。在地形变化比较激烈的山区,地形质量对向上延拓结果的影响最大可达几十个mGal（10-5m·s-2）,当计算高度为10 km时,该项影响超过3 mGal;向上延拓计算模型误差（不含数据误差影响）一般不超过1 mGal;基于超高阶位模型和地形改正信息实施向下延拓过渡的布阿桑（Poisson）积分向上延拓模型,具有计算过程简便、计算结果稳定可靠等优点。     

航空重力测量数据向下延拓的正则化算法及其谱分解

基于Poisson积分方程,提出了以地面重力观测值作为控制并顾及外区影响的向下解析延拓数学模型,推导了向下解析延拓的谱分解式,在频域内分析了造成向下延拓结果不稳定的原因,进而给出了向下延拓的正则化算法,并讨论了向下延拓中的地形影响.通过对我国首次航空重力测量试验数据的处理表明,提出的方法可获得稳定、精确的向下延拓结果.     

综合半参数核估计与正则化方法的航空重力向下延拓模型分析

在航空重力向下延拓过程中,将重力数据中的系统误差和离散化造成的模型误差用非参数分量表达。在无外部数据的情况下,建立基于半参数核估计方法的重力向下延拓模型,为了改善泊松积分离散后的设计矩阵的病态影响,引入正则化方法,提出了综合半参数核估计和正则化方法的逆泊松积分延拓方法。基于EGM2008(earth gravity model 2008)模型计算了某地空中重力异常,采用线性项和周期项系统误差进行仿真实验,以及美国某地实测重力异常数据,验证了本文方法在改善病态性和分离系统误差方面的有效性。结果表明,本文方法在无外部数据时,能有效地分离系统误差并具有较高的精度。     

局部重力异常向上延拓的实用算法

针对局部重力异常向上延拓计算复杂、耗时长的问题,该文基于泊松积分离散化的基本原理,提出一种快速的局部格网重力异常向上延拓的实用算法;并结合中国东北和青藏高原地区大地水准面的重力异常格网数据,采用该延拓方法分别计算了空中10、50、100km处的重力异常,将其与等高度的EIGEN-6C4模型结果对比分析。实验结果表明:在顾及边界效应影响的情况下,相对于EIGEN-6C4模型,中国东北和青藏高原地区重力异常向上延拓的最大均方根误差分别优于1.5和3.5mGal;在保证精度可用的前提下,计算效率可以有大幅度提高,证明了该方法解算局部重力异常向上延拓的适用性。     

航空重力向下延拓的最小二乘配置Tikhonov正则化法

基于最小二乘配置法向下延拓航空重力的过程中,由于协方差矩阵严重病态,影响延拓结果的稳定性和精度。针对这一问题,提出了航空重力向下延拓的最小二乘配置Tikhonov正则化法。基于全球协方差函数模型建立航空重力数据与地面重力数据的协方差关系,引入基于广义交叉验证法,选择正则化参数的Tikhonov正则化法改善协方差矩阵的病态性,抑制观测噪声对延拓结果的放大影响。基于EGM2008重力场模型,设计了山区、丘陵和海域3种不同地形区域的航空重力数据向下延拓的仿真实验,实验结果验证了该方法的有效性。     

球内Dirichlet问题解及其应用

本文基于球内调和函数的Ｄｉｒｉｃｈｌｅｔ问题的球谐解式,推导了球内调和空间的Ｐｏｉｓｓｏｎ积分,将其应用于航空重力测量数据的向下延拓时,积分边界面是空中面,边界值是空中重力异常或纯重力异常,推求地面重力异常可直接积分计算,而勿需像球外Ｐｏｉｓｓｏｎ积分那样迭代求解积分方程。     

A solution to the downward continuation effect on the geoid determined by Stokes' formula

 The analytical continuation of the surface gravity anomaly to sea level is a necessary correction in the application of Stokes' formula for geoid estimation. This process is frequently performed by the inversion of Poisson's integral formula for a sphere. Unfortunately, this integral equation corresponds to an improperly posed problem, and the solution is both numerically unstable, unless it is well smoothed, and tedious to compute. A solution that avoids the intermediate step of downward continuation of the gravity anomaly is presented. Instead the effect on the geoid as provided by Stokes' formula is studied directly. The practical solution is partly presented in terms of a truncated Taylor series and partly as a truncated series of spherical harmonics. Some simple numerical estimates show that the solution mostly meets the requests of a 1-cm geoid model, but the truncation error of the far zone must be studied more precisely for high altitudes of the computation point. In addition, it should be emphasized that the derived solution is more computer efficient than the detour by Poisson's integral. Received: 6 February 2002 / Accepted: 18 November 2002 Acknowledgements. Jonas ?gren carried out the numerical calculations and gave some critical and constructive remarks on a draft version of the paper. This support is cordially acknowledged. Also, the thorough work performed by one unknown reviewer is very much appreciated.     

Modeling errors in upward continuation for INS gravity compensation

Accurate upward continuation of gravity anomalies supports future precision, free-inertial navigation systems, since the latter cannot by themselves sense the gravitational field and thus require appropriate gravity compensation. This compensation is in the form of horizontal gravity components. An analysis of the model errors in upward continuation using derivatives of the standard Pizzetti integral solution (spherical approximation) shows that discretization of the data and truncation of the integral are the major sources of error in the predicted horizontal components of the gravity disturbance. The irregular shape of the data boundary, even the relatively rough topography of a simulated mountainous region, has only secondary effect, except when the data resolution is very high (small discretization error). Other errors due to spherical approximation are even less important. The analysis excluded all measurement errors in the gravity anomaly data in order to quantify just the model errors. Based on a consistent gravity field/topographic surface simulation, upward continuation errors in the derivatives of the Pizzetti integral to mean altitudes of about 3,000 and 1,500 m above the mean surface ranged from less than 1 mGal (standard deviation) to less than 2 mGal (standard deviation), respectively, in the case of 2 arcmin data resolution. Least-squares collocation performs better than this, but may require significantly greater computational resources.     

空中重力异常代表误差在空域和频域的比较分析

在空域,利用严密的向上延拓公式将地面重力数据上延至空中不同高度,而后与相应的地面重力数据比较从而得到不同高度的代表误差.在频域,构建了新的代表误差模型,计算了不同高度、不同分辨率下的代表误差.实际算例表明,在空域,对于地形平坦区域,在1 km高度以下,5'空中重力数据直接代表地面重力数据的误差小于1×10-5 m/s2...     

Upward continuation of Markov type anomalous gravity potential models

Linear gravity field state space models are still a useful tool to model the anomalous gravity field in vector gravimetry, airborne gravimetry, inertial geodesy and navigation. This paper deals with an idea ofJordan and Heller (1978) to solve analytically the upward continuation problem of Markov gravity models.In contrary to the standard Markov shaping filter approach the height dependency of the covariance function, i.e. variance factor and correlation length as function of height, is strictly introduced in state space and not neglected. Using some basic integral transforms, a general upward continuation integral is derived for the n-th order Markov process. The upward continuation integral is solved for the special and practically important case of 2nd order Markov process in very detail. This leads to the introduction of the special sine and cosine integral functions into the the mathematical covariance model. The features of the covariance model are analyzed analytically and the height dependency is discussed numerically.     

解析延拓高阶解的推导方法与比较分析

利用迭代求导法、直接求导法推导了解析延拓高阶解公式,并与经典递推方法进行了比较分析。利用迭代求导法得到了重力异常径向导数在球近似下的通用递推公式,该公式表明,解析延拓的经典递推求解方法实际上是忽略小项的近似,在忽略小项后,迭代求导法与递推法的形式是一样的。虽然直接求导法可以提高计算速度,但利用5°×5°实验区的重力数据进行解析延拓实验的结果表明,直接求导法获得的犵2项数值较其他方法偏小0.1～0.4mGal,这种差异的产生主要由于计算误差引起的。     

Stability investigations of a discrete downward continuation problem for geoid determination in the Canadian Rocky Mountains

We investigate the stability of a discrete downward continuation problem for geoid determination when the surface gravity observations are harmonically continued from the Earth's surface to the geoid. The discrete form of Poisson's integral is used to set up the system of linear algebraic equations describing the problem. The posedness of the downward continuation problem is then expressed by means of the conditionality of the matrix of a system of linear equations. The eigenvalue analysis of this matrix for a particularly rugged region of the Canadian Rocky Mountains shows that the discrete downward continuation problem is stable once the topographical heights are discretized with a grid step of size 5 arcmin or larger. We derive two simplified criteria for analysing the conditionality of the discrete downward continuation problem. A comparison with the proper eigenvalue analysis shows that these criteria provide a fairly reliable view into the conditionality of the problem.The compensation of topographical masses is a possible way how to stabilize the problem as the spectral contents of the gravity anomalies of compensated topographical masses may significantly differ from those of the original free-air gravity anomalies. Using surface gravity data from the Canadian Rocky Mountains, we investigate the efficiency of highly idealized compensation models, namely the Airy-Heiskanen model, the Pratt-Hayford model, and Helmert's 2nd condensation technique, to dampen high-frequency oscillations of the free-air gravity anomalies. We show that the Airy-Heiskanen model reduces high-frequencies of the data in the most efficient way, whereas Helmert's 2nd condensation technique in the least efficient way. We have found areas where a high-frequency part of the surface gravity data has been completely removed by adopting the Airy-Heiskanen model which is in contrast to the nearly negligible dampening effect of Helmert's 2nd condensation technique. Hence, for computation of the geoid over the Canadian Rocky Mountains, we recommend the use of the Airy-Heiskanen compensation model to reduce the gravitational effect of topographical masses.In addition, we propose to solve the discrete downward continuation problem by means of a simple Jacobi's iterative scheme which finds the solution without determining and storing the matrix of a system of equations. By computing the spectral norm of the matrix of a system of equations for the topographical 5 × 5 heights from a region of the Canadian Rocky Mountains, we rigorously show that Jacobi's iterations converge to the solution; that the problem was well posed then ensures that the solution is not contaminated by large roundoff errors. On the other hand, we demonstrate that for a rugged mountainous region of the Rocky Mountains the discrete downward continuation problem becomes ill-conditioned once the grid step size of both the surface observations and the solution is smaller than 1 arcmin. In this case, Jacobi's iterations converge very slowly which prevents their use for searching the solution due to accumulating roundoff errors.     

Downward continuation of Helmert's gravity

. The aim of this contribution is to show that mean Helmert's gravity anomalies obtained at the earth surface on a grid of a `reasonable' step can be transferred to corresponding mean Helmert's anomalies on the geoid. To demonstrate this, we take the by mean Helmert's anomalies from a very rugged region, the south-western corner of Canada which contains the two main chains of the Canadian Rocky Mountains, and formulate the problem of downward continuation of Helmert's anomalies for this region. This can be done exactly because Helmert's disturbing potential is harmonic everywhere outside the geoid, therefore even within the topography. Then we solve the problem numerically by transforming the Poisson integral to a system of 53,856 linear algebraic equations. Since the matrix of this system is well conditioned, there is no theoretical obstacle to the solution. The correctness of the solution is then checked by back substitution and by evaluating the contribution of the downward continuation term to Helmert's co-geoid. This contribution comes out positive for all the points. We thus claim that the determination of the downward continuation of mean Helmert's gravity anomalies on a grid of a `reasonable' step is a well posed problem with a unique solution and can be done routinely to any accuracy desired in the geoid computaion. Received 27 October 1995; Accepted 9 July 1996     

Downward continuation and geoid determination based on band-limited airborne gravity data

 The downward continuation of the harmonic disturbing gravity potential, derived at flight level from discrete observations of airborne gravity by the spherical Hotine integral, to the geoid is discussed. The initial-boundary-value approach, based on both the direct and inverse solution to Dirichlet's problem of potential theory, is used. Evaluation of the discretized Fredholm integral equation of the first kind and its inverse is numerically tested using synthetic airborne gravity data. Characteristics of the synthetic gravity data correspond to typical airborne data used for geoid determination today and in the foreseeable future: discrete gravity observations at a mean flight height of 2 to 6 km above mean sea level with minimum spatial resolution of 2.5 arcmin and a noise level of 1.5 mGal. Numerical results for both approaches are presented and discussed. The direct approach can successfully be used for the downward continuation of airborne potential without any numerical instabilities associated with the inverse approach. In addition to these two-step approaches, a one-step procedure is also discussed. This procedure is based on a direct relationship between gravity disturbances at flight level and the disturbing gravity potential at sea level. This procedure provided the best results in terms of accuracy, stability and numerical efficiency. As a general result, numerically stable downward continuation of airborne gravity data can be seen as another advantage of airborne gravimetry in the field of geoid determination. Received: 6 June 2001 / Accepted: 3 January 2002