VII: CLOSING SESSION: GOCE: ESA's First Earth Explorer Core Mission

This paper introduces the first ESA Core Earth Explorer mission, GOCE, in the context of ESA's Living Planet programme. GOCE will measure highly accurate, high spatial resolution differential accelerations in three dimensions along a well characterised orbit: the mission is planned for launch in early 2006. The mission objectives are to obtain gravity gradient data such that new global and regional models of the static Earth's gravity field and of the geoid can be deduced at length scales down to 100 km. These products will have broad application in the fields of geodesy, oceanography, solid-earth physics and glaciology. This revised version was published online in August 2006 with corrections to the Cover Date.     

How Operational Oceanography Can Benefit from Dynamic Topography Estimates as Derived from Altimetry and Improved Geoid

With a precise geoid, GOCE will allow an estimation of absolute dynamic topography from altimetry. The projected benefits to operational oceanography and its applications are analyzed herein. After a brief overview of operational oceanography, we explain how the new geoids will be used in the future to improve real time altimeter products and to better constrain modelling and data assimilation systems. A significant impact is expected both for mesoscale (e.g. better estimations and forecasts of currents for pollution monitoring, marine safety, offshore industry) and climate (better initialization of coupled ocean/atmosphere models) applications. This revised version was published online in August 2006 with corrections to the Cover Date.     

Geodetic Methods for Calibration of GRACE and GOCE

It is beyond doubt that calibration and validation are essential tools in the process of reaching the goals of gravity missions like GRACE and GOCE and to obtain results of the highest possible quality. Both tools, although general and obvious instruments for any mission, have specific features for gravity missions. Therefore, it is necessary to define exactly what is expected (and what cannot be expected) from calibration and what from validation and how these tools should work in our case. The general calibration and validation schemes for GRACE and GOCE are outlined. Calibration will be linked directly to the instrument and the measurements whereas validation will be linked to data derived from the original measurements. Calibration includes on-ground, internal, and external calibration as well as error assessment. The calibration phase results in corrected measurements along with an a posteriori error model. Validation of e.g. calibrated measurements or geoid heights means checking against independent data to assess whether there are no systematic errors left and/or whether the error model describes the true error reasonably well. Geodetic methods for calibration typically refer to external calibration and error assessment, and will be illustrated with an example. This revised version was published online in August 2006 with corrections to the Cover Date.     

Resolution Needed for an Adequate Determination of the Mean Ocean Circulation from Altimetry and an Improved Geoid

The sea surface topography observed by satellite altimetry is a combination of the geoid and of the ocean dynamic topography. Satellite altimetry has thus the potential to supply quasi-global maps of mean sea surface heights from which the mean geostrophic surface ocean currents can be derived, provided that the geoid is known with a sufficient absolute accuracy. At present, however, given the limited accuracy of the best available geoid, altimetric mean sea surface topographies have been derived only up to degree 15 or so, i.e. for wavelengths of approximately 2000 km and larger. CHAMP, GRACE, and the future GOCE missions are dedicated to the improvement of the Earth's gravity field from space. Several studies have recently investigated the impact of these improvements for oceanography, concluding to reductions of uncertainties on the oceanic flux estimates as large as a factor of 2 in the regions of intense an narrow currents. The aim of this paper is to focus on what are the typical horizontal scales of the mean dynamic topography of the ocean, and to compare their characteristics to the error estimates expected from altimetry and these future geoids. It gives also an illustration of the oceanic features that will be resolved by the combination of altimetry and the GRACE and GOCE geoids. It further reassesses the very demanding requirements in term of accuracy and resolution agreed in the design of these new gravity missions for ocean science applications. The present study relies on recent very high-resolution numerical Ocean General Circulation Model simulations. This revised version was published online in August 2006 with corrections to the Cover Date.     

Space-Wise,Time-Wise,Torus and Rosborough Representations in Gravity Field Modelling

The decade of the geopotentials started July 2000 with the launch of the German high-low SST mission CHAMP. Together with the joint NASA-DLR low-low SST mission GRACE and the ESA gradiometry mission GOCE an unprecedented wealth of geopotential data becomes available over the next few years. Due to the sheer number of unknown gravity field parameters (up to 100 000) and of observations (millions), especially the latter two missions are highly demanding in terms of computational requirements. In this paper several modelling strategies are presented that are based on a semi-analytical approach. In this approach the set of normal equations becomes block-diagonal with maximum block-sizes smaller than the spherical harmonic degree of resolution. The block-diagonality leads to a rapid and powerful gravity field analysis tool. Beyond the more-or-less conventional space-wise and time-wise formulations, the torus approach and Rosborough's representation are discussed. A trade-off between pros and cons of each of the modelling strategies will be given. This revised version was published online in August 2006 with corrections to the Cover Date.     

Estimating the High-Resolution Mean Sea-Surface Velocity Field by Combined Use of Altimeter and Drifter Data for Geoid Model Improvement

The mean sea-surface height obtained from satellite altimeters is different from the geoid by the amount of mean sea-surface dynamic topography associated with ocean currents. Assuming geostrophy at the sea surface, the mean sea-surface dynamic topography can be obtained from the mean sea-surface velocity field. This field is derived by combining anomalies (i.e., deviations from the mean) of sea-surface velocity obtained from altimeter data and in situ surface velocities estimated from trajectories of surface drifting-buoys (hereafter, drifters). Where a drifter measured the surface velocity, the temporal mean velocity can be estimated by subtracting the altimeter-derived velocity anomaly at that time from the drifter-measured surface velocity. The method is applied to the surface flow field of the North Pacific, using TOPEX/POSEIDON and ERS-1/2 altimeter data, and WOCE-TOGA surface drifter data obtained from October 1992 through December 2000. The temporal mean velocity field is estimated with a resolution of quarter degrees in both latitude and longitude. The obtained mean velocity field clearly shows the Kuroshio and Kuroshio Extension, which are narrower and stronger than the climatological mean features derived from historical hydrographic data averaged over several decades. Instantaneous velocities are estimated by summing up these temporal mean velocities and anomalies, every ten days during the eight years. They compare well with in situ velocities measured by the surface drifters. The instantaneous velocity field shows energetic fluctuation of the Kuroshio Extension vividly. This revised version was published online in August 2006 with corrections to the Cover Date.     

V: SEA LEVEL: Benefits of GRACE and GOCE to sea level studies

The recently published Third Assessment Reports of the Intergovernmental Panel on Climate Change have underlined the scientific interest in, and practical importance of past and potential future sea level changes. Space gravity missions will provide major benefits to the understanding of the past, and, thereby, in the prediction of future, sea level changes in many ways. The proposal for the GOCE mission described well the improvements to be expected from improved gravity field and geoid models in oceanography (for example, in the measurement of the time-averaged, or ‘steady state’, ocean surface circulation and better estimation of ocean transports), in geophysics (in the improvement of geodynamic models for vertical land movements), in geodesy (in positioning of tide gauge data into the same reference frame as altimeter data, and in improvement of altimeter satellite orbits), and possibly in glaciology (in improved knowledge of bedrock topography and ice sheet mass fluxes). GRACE will make many important steps towards these ‘steady state’ aims. However, its main purpose is the provision of oceanographic (and hydrological and meteorological) temporally-varying gravity information, and should in effect function as a global ‘bottom pressure recorder’, providing further insight into the 3-D temporal variation of the ocean circulation, and of the global water budget in general. This paper summaries several of these issues, pointing the way towards improved accuracy of prediction of future sea level change. This revised version was published online in August 2006 with corrections to the Cover Date.     

Error Characteristics Estimated from Champ,GRACE and GOCE Derived Geoids and from Satellite Altimetry Derived Mean Dynamic Topography

This paper presents a review of geoid error characteristics of three satellite gravity missions in view of the general problem of separating scientifically interesting signals from various noise sources. The problem is reviewed from the point of view of two proposed applications of gravity missions, one is the observation of the mean oceanic circulation whereby an improved geoid model is used as a reference surface against the long term mean sea level observed by altimetry. In this case we consider the presence of mesoscale variability during assimilation of derived surface currents in inverse models. The other experiment deals with temporal changes in the gravity field observed by GRACE in which case a proposed experiment is to monitor changes in the geoid in order to detect geophysical interesting signals such as variations in the continental hydrology and non-steric ocean processes. For this experiment we will address the problem of geophysical signal contamination and the way it potentially affects monthly geoid solutions of GRACE. This revised version was published online in August 2006 with corrections to the Cover Date.     

Impact of Geoid Improvement on Ocean Mass and Heat Transport Estimates

One long-standing difficulty in estimating the large-scale ocean circulation is the inability to observe absolute current velocities. Both conventional hydrographic measurements and altimetric measurements provide observations of currents relative to an unknown velocity at a reference depth in the case of hydrographic data, and relative to mean currents calculated over some averaging period in the case of altimetric data. Space gravity missions together with altimetric observations have the potential to overcome this difficulty by providing absolute estimates of the velocity of surface oceanic currents. The absolute surface velocity estimates will in turn provide the reference level velocities that are necessary to compute absolute velocities at any depth level from hydrographic data. Several studies have been carried out to quantify the improvements expected from ongoing and future space gravity missions. The results of these studies in terms of volume flux estimates (transport of water masses) and heat flux estimates (transport of heat by the ocean) are reviewed in this paper. The studies are based on ocean inverse modeling techniques that derive impact estimates solely from the geoid error budgets of forthcoming space gravity missions. Despite some differences in the assumptions made, the inverse modeling calculations all point to significant improvements in estimates of oceanic fluxes. These improvements, measured in terms of reductions of uncertainties, are expected to be as large as a factor of 2. New developments in autonomous ocean observing systems will complement the developments expected from space gravity missions. The synergies of in situ and satellite observing systems are considered in the conclusion of this paper. This revised version was published online in August 2006 with corrections to the Cover Date.     

Global Gravity Field Recovery Using Solely GPS Tracking and Accelerometer Data from Champ

A new long-wavelength global gravity field model, called EIGEN-1, has been derived in a joint German-French effort from orbit perturbations of the CHAMP satellite, exploiting CHAMP-GPS satellite-to-satellite tracking and on-board accelerometer data over a three months time span. For the first time it becomes possible to recover the gravity field from one satellite only. Thanks to CHAMP'S tailored orbit characteristics and dedicated instrumentation, providing continuous tracking and on-orbit measurements of non-gravitational satellite accelerations, the three months CHAMP-only solution provides the geoid and gravity with an accuracy of 20 cm and 1 mgal, respectively, at a half wavelength resolution of 550 km, which is already an improvement by a factor of two compared to any pre-CHAMP satellite-only gravity field model. This revised version was published online in August 2006 with corrections to the Cover Date.     

A geopause satellite system concept

The forthcoming 10 cm range tracking accuracy capability holds much promise in connection with a number of Earth and ocean dynamics investigations. These include a set of earthquake-related studies of fault motions and the Earth's tidal, polar and rotational motions, as well as studies of the gravity field and the sea surface topography which should furnish basic information about mass and heat flow in the oceans. The state of the orbit analysis art is presently at about the 10 m level, or about two orders of magnitude away from the 10 cm range accuracy capability expected in the next couple of years or so. The realization of a 10 cm orbit analysis capability awaits the solution of four kinds of problems, namely, those involving orbit determination and the lack of sufficient knowledge of tracking system biases, the gravity field, and tracking station locations. The Geopause satellite system concept offers promising approaches in connection with all of these areas. A typical Geopause satellite orbit has a 14 hour period, a mean height of about 4.6 Earth radii, and is nearly circular, polar, and normal to the ecliptic. At this height only a relatively few gravity terms have uncertainties corresponding to orbital perturbations above the decimeter level. The orbit s, in this sense, at the geopotential boundary, i.e., the geopause. The few remaining environmental quantities which may be significant can be determined by means of orbit analyses and accelerometers. The Geopause satellite system also provides the tracking geometery and coverage needed for determining the orbit, the tracking system biases and the station locations. Studies indicate that the Geopause satellite, tracked with a 2 cm ranging system from nine NASA affiliated sites, can yield decimeter station location accuracies. Five or more fundamental stations well distributed in longitude can view Geopause over the North Pole. This means not only that redundant data are available for determining tracking system biases, but also that both components of the polar motion can be observed frequently. When tracking Geopause, the NASA sites become a two-hemisphere configuration which is ideal for a number of Earth physics applications such as the observation of the polar motion with a time resolution of a fraction of a day. Geopause also provides the basic capability for satellite-to-satellite tracking of drag-free satellites for mapping the gravity field and altimeter satellites for surveying the sea surface topography. Geopause tracking a coplanar, drag-free satellite for two months to 0.03 mm per second accuracy can yield the geoid over the entire Earth to decimeter accuracy with 2.5° spatial resolution. Two Geopause satellites tracking a coplanar altimeter satellite can then yield ocean surface heights above the geoid with 7° spatial resolution every two weeks. These data will furnish basic boundary condition information about mass and heat flows in the oceans which are important in shaping weather and climate.     

Virtis: An Imaging Spectrometer for the Rosetta Mission

The VIRTIS (Visual IR Thermal Imaging Spectrometer) experiment has been one of the most successful experiments built in Europe for Planetary Exploration. VIRTIS, developed in cooperation among Italy, France and Germany, has been already selected as a key experiment for 3 planetary missions: the ESA-Rosetta and Venus Express and NASA-Dawn. VIRTIS on board Rosetta and Venus Express are already producing high quality data: as far as Rosetta is concerned, the Earth-Moon system has been successfully observed during the Earth Swing-By manouver (March 2005) and furthermore, VIRTIS will collect data when Rosetta flies by Mars in February 2007 at a distance of about 200 kilometres from the planet. Data from the Rosetta mission will result in a comparison – using the same combination of sophisticated experiments – of targets that are poorly differentiated and are representative of the composition of different environment of the primordial solar system. Comets and asteroids, in fact, are in close relationship with the planetesimals, which formed from the solar nebula 4.6 billion years ago. The Rosetta mission payload is designed to obtain this information combining in situ analysis of comet material, obtained by the small lander Philae, and by a long lasting and detailed remote sensing of the comet, obtained by instrument on board the orbiting Spacecraft. The combination of remote sensing and in situ measurements will increase the scientific return of the mission. In fact, the “in situ” measurements will provide “ground-truth” for the remote sensing information, and, in turn, the locally collected data will be interpreted in the appropriate context provided by the remote sensing investigation. VIRTIS is part of the scientific payload of the Rosetta Orbiter and will detect and characterise the evolution of specific signatures – such as the typical spectral bands of minerals and molecules – arising from surface components and from materials dispersed in the coma. The identification of spectral features is a primary goal of the Rosetta mission as it will allow identification of the nature of the main constituent of the comets. Moreover, the surface thermal evolution during comet approach to sun will be also studied.     

III: OCEAN CIRCULATION: Global Ocean Data Assimilation and Geoid Measurements

Parts of geodesy and physical oceanography are about to mature into a single modeling problem involving the simultaneous estimation of the marine geoid and the general circulation. Both fields will benefit. To this end, we present an ocean state estimation (data assimilation) framework which is designed to obtain a dynamically consistent picture of the changing ocean circulation by combining global ocean data sets of arbitrary type with a general circulation model (GCM). The impact of geoid measurements on such estimates of the ocean circulation are numerous. For the mean circulation, a precise geoid describes the reference frame for dynamical signals in altimetric sea surface height observations. For the time-varying ocean signal, changing geoid information might be a valuable new information about correcting the changing flow field on time scales from a few month to a year, but the quantitative utility of such information has not yet been demonstrated. For a consistent estimate, some knowledge of the prior error covariances of all data fields is required. The final result must be consistent with prior error estimates for the data. State estimation is thus one of the few quantitative consistency checks for new geoid measurements anticipated from forthcoming space missions. Practical quantitative methods will yield a best possible estimate of the dynamical sea surface which, when combined with satellite altimetric surfaces, will produce a best-estimate marine geoid. The anticipated accuracy and precision of such estimates raises some novel modeling error issues which have not conventionally been of concern (the Boussinesq approximation, self-attraction and loading). Model skill at very high frequencies is a major concern because of the need to de-alias the data obtained by the inevitable oceanic temporal undersampling dictated by realistic satellite orbit configurations. This revised version was published online in August 2006 with corrections to the Cover Date.     

Tidal Models in a New Era of Satellite Gravimetry

The high precision gravity measurements to be made by recently launched (and recently approved) satellites place new demands on models of Earth, atmospheric, and oceanic tides. The latter is the most problematic. The ocean tides induce variations in the Earth's geoid by amounts that far exceed the new satellite sensitivities, and tidal models must be used to correct for this. Two methods are used here to determine the standard errors in current ocean tide models. At long wavelengths these errors exceed the sensitivity of the GRACE mission. Tidal errors will not prevent the new satellite missions from improving our knowledge of the geopotential by orders of magnitude, but the errors may well contaminate GRACE estimates of temporal variations in gravity. Solar tides are especially problematic because of their long alias periods. The satellite data may be used to improve tidal models once a sufficiently long time series is obtained. Improvements in the long-wavelength components of lunar tides are especially promising. This revised version was published online in August 2006 with corrections to the Cover Date.     

Deep and Shallow Solid-Earth Structures Reconstructed with Sequential Integrated Inversion (SII) of Seismic and Gravity Data

In this paper, the possibility of using simultaneously seismic and gravity data, for the reconstruction of solid-Earth structures, has been investigated through the use of an algorithm which allows joint efficient and reliable optimisation of compressional velocity and mass density parameters. We view the measured data as a realisation of a stochastic process generated by the physical parameters to be sought and we construct a “probability density function” which includes three kinds of information: information derived from gravity measurements; information derived from seismic travel time inversion and information on the physical correlation among density and velocity parameters. We show that combining data has a beneficial effect on the inversion since: it makes the problem more stable and as a consequence, providing that the quality of data is sufficiently high, enables more accurate and reliable reconstruction of the unknown parameters. In this context, we look forward the GOCE mission, which promises high spatial resolution (100–200 km) and accurate (1–2 mGals) gravity data. We show results obtained from data sets calculated for a lateral inhomogeneous earth synthetic model and from seismic and gravity field data analysed: — in the framework of TOMOVES (TOMOgraphy of Mt. VESuvius) experiment, an European project aiming at reconstructing the 3-D image of Mt. Vesuvius volcano and the crust underneath. using high resolution seismic tomography techniques and other geophysical methods; — for a profile inserted in a project aiming at reconstructing the crustal structure between Corsica and the Northern Appennines which crosses the Ligurian Sea and cuts the Ligurian Appennines W of La Spezia, extending up to Parma. This revised version was published online in August 2006 with corrections to the Cover Date.     

Three-Dimensional Solar Wind Modeling Using Remote-Sensing Data

We have developed a computer-assisted tomography (CAT) technique that iteratively modifies a kinematic solar wind model to least-squares fit heliospheric remote sensing observations (interplanetary scintillation and Thomson-scattering observations). These remote sensing data cover a large range of solar elongations, and access high-latitude regions over the solar poles. The technique can be applied to a time-independent solar wind model, assuming strict co-rotation, or, when sufficient remote sensing observations are available, to a time-dependent model. For the time-dependent case the technique depends primarily on outward motion of structures in the solar wind to provide the perspective views required for a tomographic reconstruction. We show results of corotating tomographic reconstructions primarily using IPS velocity observations from the Solar-Terrestrial Environment Laboratory (STELab, Nagoya, Japan), and include comparisons with in situ velocity data out of the ecliptic (Ulysses) and in the ecliptic (ACE). This revised version was published online in August 2006 with corrections to the Cover Date.     

Composition of the Martian atmosphere

Data on the composition of the Martian atmosphere obtained by instruments aboard the Viking spacecraft are not of sufficient accuracy to address important questions regarding the composition and history of Mars. Laboratory analyses of gases trapped in glassy phases of shergottite meteorite EETA 79001 yield precise data, but it remains to be ascertained that these gases constitute unfractionated Martian atmosphere. Return from Mars of a gas sample for laboratory analysis appears preferable to another in situ measurement, especially if rocks of documented origin will become available for gas analysis as well.     

10. The surface and interior of venus

Present ideas about the surface and interior of Venus are based on data obtained from (1) Earth-based radio and radar: temperature, rotation, shape, and topography; (2) fly-by and orbiting spacecraft: gravity and magnetic fields; and (3) landers: winds, local structure, gamma radiation. Surface features, including large basins, crater-like depressions, and a linear valley, have been recognized from recent ground-based radar images. Pictures of the surface acquired by the USSR's Venera 9 and 10 show abundant boulders and apparent wind erosion.On the Pioneer Venus 1978 Orbiter mission, the radar mapper experiment will determine surface heights, dielectric constant values and small-scale slope values along the sub-orbital track between 50°S and 75°N. This experiment will also estimate the global shape and provide coarse radar images (40–80 km identification resolution) of part of the surface. Gravity data will be obtained by radio tracking. Maps combining radar altimetry with spacecraft and ground-based images will be made. A fluxgate magnetometer will measure the magnetic fields around Venus.The radar and gravity data will provide clues to the level of crustal differentiation and tectonic activity. The magnetometer will determine the field variations accurately. Data from the combined experiments may constrain the dynamo mechanism; if so, a deeper understanding of both Venus and Earth will be gained.     

Gravitation and celestial mechanics investigations with Galileo

The gravitation and celestial mechanics investigations during the cruise phase and Orbiter phase of the Galileo mission depend on Doppler and ranging measurements generated by the Deep Space Network (DSN) at its three spacecraft tracking sites in California, Australia, and Spain. Other investigations which also rely on DSN data, and which like ours fall under the general discipline of spacecraft radio science, are described in a companion paper by Howard et al. (1992). We group our investigations into four broad categories as follows: (1) the determination of the gravity fields of Jupiter and its four major satellites during the orbital tour, (2) a search for gravitational radiation as evidenced by perturbations to the coherent Doppler link between the spacecraft and Earth, (3) the mathematical modeling, and by implication tests, of general relativistic effects on the Doppler and ranging data during both cruise and orbiter phases, and (4) an improvement in the ephemeris of Jupiter by means of spacecraft ranging during the Orbiter phase. The gravity fields are accessible because of their effects on the spacecraft motion, determined primarily from the Doppler data. For the Galilean satellites we will determine second degree and order gravity harmonics that will yield new information on the central condensation and likely composition of material within these giant satellites (Hubbard and Anderson, 1978). The search for gravitational radiation is being conducted in cruise for periods of 40 days centered around solar opposition. During these times the radio link is least affected by scintillations introduced by solar plasma. Our sensitivity to the amplitude of sinusoidal signals approaches 10^-15 in a band of gravitational frequencies between 10^-4 and 10^-3 Hz, by far the best sensitivity obtained in this band to date. In addition to the primary objectives of our investigations, we discuss two secondary objectives: the determination of a range fix on Venus during the flyby on 10 February, 1990, and the determination of the Earth's mass (GM) from the two Earth gravity assists, EGA1 in December 1990 and EGA2 in December 1992.     

Cosmic-ray intensity variations in the 3-dimensional heliosphere

The study of cosmic-ray intensity variations have been carried out with data registered by ground-based and balloon-borne equipment for the past 50 years or more. The International Geophysical Year (IGY) from July 1957 to December 1958 gave an impetus to global collaborations. A world-wide network of concerted measurements became available with the advent of the space age.In situ measurements by satellite-borne detectors led to deep-space exploration. The spacecraft Pioneers and Voyagers, during the past 15 years, traversing farther out into the heliosphere at increasing radial distances from the sun have changed the study of time variations into one of time and spatial variations.Furthermore, with the Voyager 1, proceeding asymptotically towards heliolatitudes of 35° north since its encounter with Saturn and the anticipated direction of Voyager 2 after its encounter with Neptune in late-1989 towards 48° south heliolatitude, is converting the study into a truly three-dimensional exploration of the heliosphere. Thus, the investigation of galactic cosmic-ray intensity variations fromin situ measurements deep in the heliosphere in distance, latitude, and over solar cycles is indeed a remarkable achievement.The various cosmic-ray intensity variations over different time-scales, the modulation of the intensity by the evolving solar activity and the role of the electromagnetic state of the interplanetary medium (otherwise called heliosphere) can now be investigated as never before; these studies contribute immensely to our knowledge of the solar neighbourhood. This article essentially deals with the studies of time and spatial variations of cosmic-ray intensity that have been conducted especially over the past two decades.