Use of two-line element data for thermosphere neutral density model calibration

Traditional empirical thermospheric density models are widely used in orbit determination and prediction of low-Earth satellites. Unfortunately, these models often exhibit large density errors of up to around 30% RMS. Density errors translate into orbit errors, adversely affecting applications such as re-entry operations, manoeuvre planning, collision avoidance and precise orbit determination for geodetic missions. The extensive database of two-line element (TLE) orbit data contains a wealth of information on satellite drag, at a sufficiently high spatial and temporal resolution to allow a calibration of existing neutral density models with a latency of one to two days. In our calibration software, new TLE data for selected objects is converted to satellite drag data on a daily basis. The resulting drag data is then used in a daily adjustment of density model calibration parameters, which modify the output of an existing empirical density model with the aim of increasing its accuracy. Two different calibration schemes have been tested using TLE data for about 50 objects during the year 2000. The schemes involve either height-dependent scale factors to the density or corrections to CIRA-72 model temperatures, which affect the density output based on a physical model. Both schemes have been applied with different spherical harmonic expansions of the parameters in latitude and local solar time. Five TLE objects, varying in perigee altitude between 280 and 530 km, were deliberately not used during calibration, in order to provide independent validation. Even with a single daily parameter, the RMS density model error along their tracks can already be reduced from the 30% to the 15% level. Adding additional parameters results in RMS errors lower than 12%.     

Properties of traveling atmospheric disturbances (TADs) inferred from CHAMP accelerometer observations

Densities derived from accelerometer measurements on the CHAMP satellite near 400 km are used to statistically establish characteristics of large-scale (>1000 km) traveling atmospheric disturbances (TADs). Only TADs that at least propagate from the auroral zone to the equator are analyzed here, and a total of 21 identifiable events are found over the years 2001–2007. The average speed of all TADs, regardless of local time, is 646 ± 122 ms⁻¹. The average speeds on the dayside and nightside are 595 ± 127 ms⁻¹ and 685 ± 106 ms⁻¹, respectively, i.e., the speed appears to be 10% higher on average on the nightside. On six occasions TADs were only detected on the night side; however, TADs on the dayside often appear more distinctly in the data. Moreover, contrary to some theoretical expectations, dayside TADs do not dissipate more readily than night side TADs, although much less are detected between 8–20 solar local time. No clear dependence of TAD amplitude or phase speed with respect to Kp, or rate of increase of Kp, is found.     

Limb Viewing Hyper Spectral Imager (LiVHySI) for airglow measurements onboard YOUTHSAT-1

The Limb Viewing Hyper Spectral Imager (LiVHySI) is one of the Indian payloads onboard YOUTHSAT (inclination 98.73°, apogee 817 km) launched in April, 2011. The Hyper-spectral imager has been operated in Earth’s limb viewing mode to measure airglow emissions in the spectral range 550–900 nm, from terrestrial upper atmosphere (i.e. 80 km altitude and above) with a line-of-sight range of about 3200 km. The altitude coverage is about 500 km with command selectable lowest altitude. This imaging spectrometer employs a Linearly Variable Filter (LVF) to generate the spectrum and an Active Pixel Sensor (APS) area array of 256 × 512 pixels, placed in close proximity of the LVF as detector. The spectral sampling is done at 1.06 nm interval. The optics used is an eight element f/2 telecentric lens system with 80 mm effective focal length. The detector is aligned with respect to the LVF such that its 512 pixel dimension covers the spectral range. The radiometric sensitivity of the imager is about 20 Rayleigh at noise floor through the signal integration for 10 s at wavelength 630 nm. The imager is being operated during the eclipsed portion of satellite orbits. The integration in the time/spatial domain could be chosen depending upon the season, solar and geomagnetic activity and/or specific target area. This paper primarily aims at describing LiVHySI, its in-orbit operations, quality, potential of the data and its first observations. The images reveal the thermospheric airglow at 630 nm to be the most prominent. These first LiVHySI observations carried out on the night of 21st April, 2011 are presented here, while the variability exhibited by the thermospheric nightglow at O(¹D) 630 nm has been described in detail.     

Impact of GPS antenna phase center variations on precise orbits of the GOCE satellite

The first European Space Agency Earth explorer core mission GOCE (Gravity field and steady-state Ocean Circulation Explorer) has been launched on March 17, 2009. The 12-channel dual-frequency Global Positioning System receiver delivers 1 Hz data and provides the basis for precise orbit determination (POD) on the few cm-level for such a very low orbiting satellite (254.9 km). As a member of the European GOCE Gravity Consortium, which is responsible for the GOCE High-level Processing Facility (HPF), the Astronomical Institute of the University of Bern (AIUB) provides the Precise Science Orbit (PSO) product for the GOCE satellite. The mission requirement for 1-dimensional POD accuracy is 2 cm. The use of in-flight determined antenna phase center variations (PCVs) is necessary to meet this requirement. The PCVs are determined from 154 days of data and the magnitude is up to 3-4 cm. The impact of the PCVs on the orbit determination is significant. The cross-track direction benefits most of the PCVs. The improvement is clearly seen in the orbit overlap analysis and in the validation with independent Satellite Laser Ranging (SLR) measurements. It is the first time that SLR could validate the cross-track component of a LEO orbit.     

High-fidelity geometry models for improving the consistency of CHAMP,GRACE, GOCE and Swarm thermospheric density data sets

During the last two decades, accelerometers on board of the CHAMP, GRACE, GOCE and Swarm satellites have provided high-resolution thermosphere density data to improve our knowledge on atmospheric dynamics and coupling processes in the thermosphere-ionosphere region. Most users of the data have focused on relative density variations. Scale differences between datasets and models have been largely neglected or removed using ad hoc scale factors. The origin of these scale differences arises from errors in the aerodynamic modelling, specifically in the modelling of the satellite outer surface geometry and of the gas-surface interactions. Therefore, the first step to remove the scale differences is to enhance the geometry modelling. This work forms the foundation for the future improvement of characterization of satellite aerodynamics and gas-surface interactions models at TU Delft, as well as for extending the use of sideways and angular accelerations in the aerodynamic analysis of accelerations and derivation of thermosphere datasets. Although work to improve geometry and aerodynamic force models by other authors has focused on CHAMP and GRACE, this paper includes the GOCE and Swarm satellites as well. In addition, it uses a density determination algorithm that is valid for arbitrary attitude orientations, enabling a validation making use of attitude manoeuvres. The results show an improvement in the consistency of density data between these four missions, and of data obtained before, during and after attitude manoeuvres of CHAMP and Swarm. The new models result in larger densities, compared to the previously used panel method. The largest average rescaling of density, by switching to the new geometry models is reached for Swarm at 32%, the smallest for GRACE at 5%. For CHAMP and GOCE, mean differences of 11% and 9% are obtained respectively. In this paper, an overview of the improvements and comparisons of data sets is provided together with an introduction to the next research phase on the gas-surface interactions.     

An alternative computation of a gravity field model from GOCE

GOCE is the first satellite with a gravitational gradiometer (SGG). This allows to determine a gravity field model with high spatial resolution and high accuracy. Four of the six independent components of the gravitational gradient tensors (GGT) are measured with high accuracy in the so-called measurement band (MB) from 5 to 100 mHz by the GOCE gradiometer. Based on more than 1 year of GOCE measurements, two gravity field models have been derived. Here, we introduce a strategy for spherical harmonic analysis (SHA) from GOCE measurements, with a bandpass filter applied to the SGG data, combined with orbit analysis based on the integral equation approach, and additional constraints (or stabilization) in the polar areas where no observation is available due to the orbit geometry. In addition, we combined the GOCE SGG part with a set of GRACE normal equations. This improves the accuracy of the gravity field in the long-wavelength parts, due to the complementarity of GOCE and GRACE. Comparison with other models and with external data shows that our results are rather close to the GPS-levelling data in well-selected test regions, with an uncertainty of 4–7 cm, for truncation at degree 200.     

Comparison of the observed and modeled low- to mid-latitude thermosphere response to magnetic activity: Effects of solar cycle and disturbance time delay

The performance of JB2008 and NRLMSISE-00 models, in describing the response of the thermosphere to magnetic activity are evaluated against total mass density retrieved from accelerometer measurements made onboard CHAMP satellite during 5 years. We show that the global low- to mid-latitude disturbance amplitude is correctly described by the JB2008 model for low solar activity conditions and by both the JB2008 and the NRLMSISE-00 models for high solar activity conditions. For low solar activity conditions, statistics based on almost 3 years of data confirm the large underestimation by the NRLMSISE-00 model quantified by Lathuillère et al. (2008) for the year 2004. We also found that the time delay between low- to mid-latitude global thermosphere disturbance and magnetic activity is statistically well estimated by the NRLMSISE-00 and JB2008 models for disturbed conditions. For moderately disturbed conditions however, the time delay estimated by the JB2008 model is too large by about 3 h. For very disturbed conditions, we found different time delays during day-time and night-time, using new geomagnetic proxies with a 30-min time resolution.     

A demonstration of the potential of Cryosat-2 to contribute to mesoscale observation

Cryosat-2 was designed for its primary scientific objectives, i.e. for cryosphere science. As far as oceanography is concerned, various mission design choices make it less accurate than missions designed to comply with ocean surface topography requirements such as Jason-2 or ENVISAT. Cryosat-2-specific errors are equivalent to more than 50% of the sea surface height variability over 40% of the oceans. Cryosat-2’s sampling pattern is also suboptimal for mesoscale observation because the satellite tracks from any consecutive period of 2 to 20 days (e.g. the most recent and most valuable data for near real time mesoscale observation) are aggregated in 500 km wide bands which are interleaved with 500 km wide observation gaps.     

Measuring atmospheric density using GPS–LEO tracking data

We present a method to estimate the total neutral atmospheric density from precise orbit determination of Low Earth Orbit (LEO) satellites. We derive the total atmospheric density by determining the drag force acting on the LEOs through centimeter-level reduced-dynamic precise orbit determination (POD) using onboard Global Positioning System (GPS) tracking data. The precision of the estimated drag accelerations is assessed using various metrics, including differences between estimated along-track accelerations from consecutive 30-h POD solutions which overlap by 6 h, comparison of the resulting accelerations with accelerometer measurements, and comparison against an existing atmospheric density model, DTM-2000. We apply the method to GPS tracking data from CHAMP, GRACE, SAC-C, Jason-2, TerraSAR-X and COSMIC satellites, spanning 12 years (2001–2012) and covering orbital heights from 400 km to 1300 km. Errors in the estimates, including those introduced by deficiencies in other modeled forces (such as solar radiation pressure and Earth radiation pressure), are evaluated and the signal and noise levels for each satellite are analyzed. The estimated density data from CHAMP, GRACE, SAC-C and TerraSAR-X are identified as having high signal and low noise levels. These data all have high correlations with anominal atmospheric density model and show common features in relative residuals with respect to the nominal model in related parameter space. On the contrary, the estimated density data from COSMIC and Jason-2 show errors larger than the actual signal at corresponding altitudes thus having little practical value for this study. The results demonstrate that this method is applicable to data from a variety of missions and can provide useful total neutral density measurements for atmospheric study up to altitude as high as 715 km, with precision and resolution between those derived from traditional special orbital perturbation analysis and those obtained from onboard accelerometers.     

An update global model of hmF2 from values estimated from ionosonde and COSMIC/FORMOSAT-3 radio occultation

In this paper, we present our recent work on developing an updated global model of the ionospheric F2 peak height hmF2 parameter by combining data from the Constellation Observing System for Meteorology, Ionosphere and Climate (COSMIC/FORMOSAT-3) radio occultation (RO) measurements and from the extended global ionosonde stations. In particular, 10 Chinese ionosonde stations’ data are newly introduced into this study. The modeling technique used is based on a two-layer empirical orthogonal function (EOF) expansion. Global distributions of hmF2 maps calculated using the newly constructed global model and the one provided by the International Reference Ionosphere model (IRI-ITU-R) are compared with the global distributions of hmF2 obtained by the COSMIC RO measurements and quantitative statistical analysis of the differences between the model results and those of the COSMIC RO measurements is made for the low (2008) and high (2012) solar activity years. The obtained average root-mean-square differences (RMSEs) for our model are 27.7 km (11.1%) and 31.0 km (9.8%), respectively for the years 2008 and 2012, whereas those for the IRI-ITU-R model are 39.9 km (16.9%) and 35.0 km (11.6%), respectively. Comparison of the results calculated both by our model and the IRI-ITU-R model with the digisonde observation is also made. The comparisons show that the newly constructed global hmF2 model can reproduce reasonably well the observations and perform better than IRI-ITU-R model.     

Electrostatic gravity gradiometer design for the future mission

Satellite gravity gradiometry has been applied in GOCE mission to obtain higher harmonics of the Earth’s gravity mapping. In-orbit results showed that the precision of GOCE gradiometry achieved a level of 10–20 mE/Hz^1/2 in the bandwidth of 38–100 mHz, and the major error source came from the intrinsic noise of the core sensor electrostatic accelerometer. Two schemes for improving sensitivity of such accelerometer are presented by optimizing the parameters to reduce the dynamic range and choosing the heavier proof mass to suppress the thermal noise limited by the discharging gold wire. As a result, an accelerometer with a better resolution of 6.6×$6.6\times$10⁻¹³ m/s²/Hz^1/2 could be developed, and then a precision of 3 mE/Hz^1/2, corresponding to a spatial resolution of about 78 km half wavelength, is achievable for the future satellite gradiometric mission.     

GPS-only gravity field recovery with GOCE,CHAMP, and GRACE

Gravity missions such as the Gravity field and steady-state Ocean Circulation Explorer (GOCE) are equipped with onboard Global Positioning System (GPS) receivers for precise orbit determination (POD), instrument time-tagging, and the extraction of the long wavelength part of the Earth’s gravity field. The very low orbital altitude of the GOCE satellite and the availability of dense 1 s GPS tracking data are ideal characteristics to exploit the contribution of GPS high-low Satellite-to-Satellite Tracking (hl-SST) to gravity field determination. We present gravity field solutions based on about 8 months of GOCE GPS hl-SST data from 2009 and compare the results with those obtained from the CHAllenging Minisatellite Payload (CHAMP) and Gravity Recovery And Climate Experiment (GRACE) missions. The very low orbital altitude of GOCE significantly improves gravity field recovery from GPS hl-SST data above degree 20, but not for the degrees below 20, where the quality of the spherical harmonic coefficients remains essentially unchanged. Despite the limited time span of GOCE data used, the gravity field of the Earth can be resolved up to about degree 115 using GPS data only. Empirically determined phase center variations (PCVs) of the GOCE onboard GPS helix antenna are, however, mandatory to achieve this performance.     

The contribution of local gravimetric geoid models to the calibration of satellite altimetry data and an outlook of the latest GOCE GGM performance in Gavdos

The use of geoid heights has been one of the available methodologies utilized for the independent calibration/validation of altimeters on-board satellites. This methodology has been employed for long in the Gavdos dedicated cal/val facility (Crete, Greece), where calibration results for the Jason satellites have been estimated, both for ascending and descending passes. The present work gives a detailed overview of the methodology followed in order to estimate a high-resolution and accuracy gravimetric geoid model for the wider Gavdos area, in support of the on-going calibration work. To estimate the geoid model, the well-known remove-compute-restore method is used while residual geoid heights are estimated through least-squares collocation so that associated errors are determined as well. It is found that the estimated formal geoid errors from LSC along passes 018 and 109 of Jason satellites, used for the bias estimation, range between ±0.8–1.6 cm. The so-derived geoid heights are employed in the determination of the Jason-2 altimeter bias for all available cycles (cycles 1-114, spanning the period from July 2008 to August 2011) together with the RioMed DOT model. From the results acquired the Jason-2 bias has been estimated to be +196.1 ± 3.2 mm for pass 109 and +161.9 ± 5.1 mm for pass 018. Within the same frame, the GOCE/GRACE-based geopotential model GOCO02s has been used to estimate the mean dynamic ocean topography and the steady-state circulation in the area around Gavdos. The so-derived DOT model was used to estimate the Jason-2 bias in an effort to evaluate the performance of satellite-only geoid models and investigate whether their spatial resolution and accuracy provides some improvement w.r.t. traditional local gravimetric geoids. From the results acquired with geoid heights from GOCO02s, the estimated Jason-2 bias deviates significantly from that of the local gravimetric model, which can be attributed to a possible mean offset and the low resolution of GOCE-based GGMs. On the other hand, when the newly estimated GOCE-based DOT was employed with geoid heights from the local gravimetric geoid model, the Jason-2 bias has been estimated to be +185.1 ± 3.2 mm for pass 109 and +130.2 ± 5.1 mm for pass 018.     

Variability of the ionospheric electron density at fixed heights and validation of IRI-2007 profile’s prediction at Ilorin

A study on the variability of the equatorial ionospheric electron density was carried out at fixed heights below the F2 peak using one month data for each of high and low solar activity periods. The data used for this study were obtained from ionograms recorded at Ilorin, Nigeria, and the study covers height range from 100 km to the peak of the F2 layer for the daytime hours and height range from 200 km to the peak of the F2 layer for the nighttime hours. The results showed that the deviation of the electron density variation from simple Chapman variation begins from an altitude of about 200 km for the two months investigated. Daytime minimum variability of between 2.7% and 9.0% was observed at the height range of about 160 and 200 km during low solar activity (January 2006) and between 3.7% and 7.8% at the height range of 210 and 260 km during high solar activity (January 2002). The nighttime maximum variability was observed at the height range of 210 and 240 km at low solar activity and at the height range of 200 and 240 km at high solar activity. A validation of IRI-2007 model electron density profile’s prediction was also carried out. The results showed that B0 option gives a better prediction around the noontime.     

Nitric oxide density enhancements due to solar flares

A differential emission measure technique is used to determine flare spectra using solar observations from the soft X-ray instruments aboard the Thermosphere Ionosphere Mesosphere Energetics Dynamics and Solar Radiation and Climate Experiment satellites. We examine the effect of the solar flare soft X-ray energy input on the nitric oxide (NO) density in the lower thermosphere. The retrieved spectrum of the 28 October 2003 X18 flare is input to a photochemical thermospheric NO model to calculate the predicted flare NO enhancements. Model results are compared to Student Nitric Oxide Explorer Ultraviolet Spectrometer observations of this flare. We present results of this comparison and show that the model and data are in agreement. In addition, the NO density enhancements due to several flares are studied. We present results that show large solar flares can deposit the same amount of 0.1–2 and 0.1–7 nm energy to the thermosphere during a relatively short time as the Sun normally deposits in one day. The NO column density nearly doubles when the daily integrated energy above 5 J m⁻² is doubled.     

Improved kHz-SLR tracking techniques and orbit quality analysis for LEO missions

Satellite gravity field missions such as CHAMP, GRACE and GOCE are designed as low Earth orbiting spacecraft (LEO) with orbit heights of about 250–500 km. The challenging mission objectives require a very precise knowledge of the satellite orbit position in space. For these missions precise orbit information is typically provided by GPS satellite-to-satellite tracking (SST) observations supported by satellite laser ranging (SLR).     

Variations of the O(D) and O(S) peak volume emission rates without direct solar effects

Airglow volume emission rates of the O(¹D) red line at 630.0 nm and the O(¹S) green line at 557.7 nm were measured by the Wind Imaging Interferometer (WINDII) on the Upper Atmospheric Research Satellite (UARS) during 1991–1997. Focus of this study is on the peak volume emission rates of the two airglows after removing the direct solar effect, which are referred to as the ‘dark’ peak emission rates. The main results are as follows. For the red line emission, at low and mid-latitudes the daytime variation does not have a clear pattern except an enhancement at dusk; during nighttime there is an enhancement in the equatorial region at 20–03 h, which has a semiannual variation with maxima at equinoxes; at solstices the daytime O(¹D) dark emission rate is stronger in winter than in summer. For both the green line E-and F-layers the distribution of the dark peak volume emission rate is symmetric about noon in all seasons, symmetric about the equator at equinoxes, and stronger in summer than in winter. The O(¹S) E-layer is profoundly affected by tides. For the first time the diurnal and semidiurnal amplitudes for the emission rates are derived using 24-h zero-sun data. The amplitude of the diurnal tide can be as large as 20% of the mean peak volume emission rate, and has maxima at the equator and about 40°N/S, and minima at about 20°N/S. The daily diurnal maximum is at noon at the equator but at midnight at 40°N/S. There is a clear semiannual variation of the diurnal amplitude in the equatorial region with maxima at equinoxes. The amplitude of the semidiurnal tide is mostly less than 10% of the mean peak volume emission rate with maximum amplitudes at noon and midnight. There is an annual variation of the semidiurnal amplitude at mid-latitudes peaking in summer. Aurorae appear in all three emission layers day and night. The green aurorae are brighter than the red aurorae, and the green E-layer aurorae are 2–3 times stronger than the F-layer aurorae. The green aurora has a clear midday gap in the F-layer and an afternoon gap in the E-layer. The red aurorae are particularly strong in the so-called cusp region at equinoxes.     

Response of the mid-latitude D-region ionosphere to the total solar eclipse of 22 July 2009 studied using VLF signals in South Korean peninsula

In this paper, we analyze VLF signals received at Busan to study the the D-region changes linked with the solar eclipse event of 22 July 2009 for very short (∼390 km) transmitter–receiver great circle path (TRGCP) during local noon time 00:36–03:13 UT (09:36–12:13 KST). The eclipse crossed south of Busan with a maximum obscuration of ∼84%. Observations clearly show a reduction of ∼6.2 dB in the VLF signal strength at the time of maximum solar obscuration (84% at 01:53 UT) as compared to those observed on the control days. Estimated values of change in Wait ionospheric parameters: reflection height (h′) in km and inverse scale height parameter (β) in km⁻¹ from Long Wave Propagation Capability (LWPC) model during the maximum eclipse phase as compared to unperturbed ionosphere are 7 km and 0.055 km⁻¹, respectively. Moreover, the D-region electron density estimated from model computation shows 95% depletion in electron density at the height of ∼71 km. The reflection height is found to increase by ∼7 km in the D-region during the eclipse as compared to those on the control days, implying a depletion in the Lyman-α flux by a factor of ∼7. The present observations are discussed in the light of current understanding on the solar eclipse induced D-region dynamics.     

Semi-stochastic modification of second-order radial derivative of Abel–Poisson’s formula for validating satellite gravity gradiometry data

The geoid can be used to validate the satellite gravity gradiometry data. Validation of such data is important prior to their downward continuation because of amplification of the data errors through this process. In this paper, the second-order radial derivative of Abel–Poisson’s formula is modified stochastically to reduce the effect of the far-zone geoid and generate the second-order radial derivative of geopotential at 250 km level. The numerical studies over Fennoscandia show that this method yields the gradients with an error of 10 mE and when the long wavelength of geoid is removed from the estimator and restored after the computations (remove–compute–restore) the error will be in 1 mE level. We name this method semi-stochastic modification. The best case scenario is found when the degree of modification of the integral formula is 200 and the long wavelength geoid to degree 100 is removed and restored. In this case the geoid should have a resolution of 15′ × 15′ and the integration should be performed over a cap size of 3°.     

High accuracy satellite drag model (HASDM)

The dominant error source in force models used to predict low-perigee satellite trajectories is atmospheric drag. Errors in operational thermospheric density models cause significant errors in predicted satellite positions, since these models do not account for dynamic changes in atmospheric drag for orbit predictions. The Air Force Space Battlelab’s High Accuracy Satellite Drag Model (HASDM) estimates and predicts (out three days) a dynamically varying global density field. HASDM includes the Dynamic Calibration Atmosphere (DCA) algorithm that solves for the phases and amplitudes of the diurnal and semidiurnal variations of thermospheric density near real-time from the observed drag effects on a set of Low Earth Orbit (LEO) calibration satellites. The density correction is expressed as a function of latitude, local solar time and altitude. In HASDM, a time series prediction filter relates the extreme ultraviolet (EUV) energy index E_10.7 and the geomagnetic storm index a_p, to the DCA density correction parameters. The E_10.7 index is generated by the SOLAR2000 model, the first full spectrum model of solar irradiance. The estimated and predicted density fields will be used operationally to significantly improve the accuracy of predicted trajectories for all low-perigee satellites.