NETHERLANDS

GEODETIC

COMMISSION

PUBLICATIONS ON GEODESY

NEW SERIES
NUMBER 32

NAVGRAV
NAVIGATION AND GRAVIMETRIC EXPERIMENT
AT THE NORTH SEA

R. H. N. HAAGMANS
G. J. HUSTI
P. PLUGERS
J. H. M. SMIT
G. L. STRANG VAN HEES

1988
RIJKSCOMMISSIE VOOR GEODESIE, THIJSSEWEG 11, DELFT, THE NETHERLANDS

PRINTED BY W. D. MEINEMA B.V., DELFT, THE NETHERLANDS

ISBN 90 6132 237 5

PREFACE
Accurate g r a v i t y i n f o r m a t i o n a t sea can serve many important
purposes
only

i n geodesy,

since

the

pioneering

s o l i d e a r t h p h y s i c s and oceanography.

early

work

of

twenties

Vening

of

this

(1929)

Meinesz

measurements a t sea became p o s s i b l e .

whenever

measuring

whi l e

moving,

century,

The
is

or

through

(1948)

to

exist,

Meanwhi le

gravity.
see

e.g.

(Bell

the

sophi s t i c a t e d

and Watts,

the

gravity

inherent complication,
separation

d i s t u r b i n g e f f e c t s o f t h e motion from t h e v e r t i c a l
due

But

modern

1986)

that

of

the

acceleration

gravity

meters

largely eliminate

these disturbances. However t h e r e remains an e f f e c t t h a t cannot be

e l iminated instrumental ly,
determined a c c u r a t e l y

t h e Eotvos c o r r e c t i o n .

I t can on1 y be

very precise navigation

if

is

available.

With t h e e x c e p t i o n o f a few areas, where accurate r a d i o p o s i t i o n i n g

i s a v a i l a b l e , t h i s causes a problem. With t h e establishment o f t h e
Global P o s i t i o n i n g System (GPS) p r e c i s e n a v i g a t i o n anywhere a t any
time

became f e a s i b l e .

Hence around

investigate the potential

of

1984 t h e

GPS f o r

idea

was

t h i s purpose

born

to

i n the North

Sea, where several p r e c i s e r a d i o p o s i t i o n i n g systems a r e a v a i l a b l e

f o r compar ison.

Si nce such an exper i ment r e q u i r e d GPS as we1 l as

sea g r a v i m e t r y ,

i t was on1 y l o g i c a l

t o broaden t h e scope o f t h e

experiment b y addressing a t t h e same t i m e o t h e r i n t e r e s t i n g items

i n t h e f i e l d s o f n a v i g a t i o n and sea gravimetry.

The experiment was

named NAVGRAV.
On one hand t h e t e s t o f f e r e d t h e o p p o r t u n i t y t o t a k e a c l o s e r
look

at

the

gravimetry
gravity.

precision,

and

For

measuring

repeatability

its

trade-off

with

these

purposes

two

simultaneously.

experiment

in

Several

(Strang van

1979

and

resolution

sate1 l i t e

a1 t i m e t r y

modern

sea

ship

tracks

Hees,

1983)

of

sea

derived

gravimeters
of

were

an

were

earlier

repeated,

and

SEASAT a l t i m e t r y data were analysed. On t h e o t h e r hand v e r y l i t t l e

experience was

present

around 1984.

Thus,

many f u t u r e

potential

i n t h e area o f

GPS

in

the

Netherlands

t h e experiment gave o p p o r t u n i t y t o i n v o l v e as
users from p r i v a t e

companies,

government

agencies and u n i v e r s i t i e s , t o g a i n experience on t h e c a p a b i l i t i e s

of

GPS

at

sea

and

to

compare

it

with

the

e s t a b l ished

radio

p o s i t i o n i n g systems i n a v a r i e t y of experiments. A p r e p a r a t o r y GPS

exper iment was c a r r i e d o u t on board o f Hr. Ms. Tydeman i n December

1985 w i t h t h e support o f t h e Hydrographic Service.
The NAVGRAV experiment has been organized b y t h e F a c u l t y o f
Geodesy of

(DUT).

t h e D e l f t U n i v e r s i t y o f Technology

However t h e

experiment would n o t have been p o s s i b l e w i t h o u t t h e support o f a

l a r g e number o f

o r g a n i z a t i o n s and i n d i v i d u a l s .

The main support

came f r o m t h e Netherlands Council f o r Oceanic Research (NRZ). T h i s

Hr.Ms.

o r g a n i z a t i o n p r o v i d e d c r u i s e t i m e on board o f

Tydeman o f

t h e Hydrographic S e r v i c e o f t h e Royal Netherlands Navy as w e l l as

financial
of

support.

Hamburg

Additional

(U.H. )

and

U n i v e r s i t y .Munich (TUM),
from

the

Transport

Survey
and

support came f r o m t h e U n i v e r s i t i e s

Hannover

and

from t h e U n i v e r s i t y o f

Department

Public

(U.Han. )

Works,

the

Utrecht

R i jkswaterstaat,

of
from

the

Technical
(U.U. ) ,

Ministry

co-operative

effort

of
of

s e v e r a l p r i v a t e companies ( I n t e r s i t e Surveys, NESA, O s i r i s Seaway,

Netherlands Hydrographic Services,
Radio

Hol land)

and

from

Oretech,

Shel l

Nortech Surveys and

I n t e r n a t i o n a le

Petroleum

Maatschappi j. S i n c e r e thanks f o r t h e i r support go t o P r o f . Dr. R.

Sigl

(TUM),

(U.Han.),

Prof.

Prof.

K.

Dr.

J.

Dr.

Deichl

Makris

(TLIM),

(U.H.)

Prof.

and

Dr.

G.

J.G.

Ir.

Seeber

Riemersma

(Shel l ) .
The

actual

experiments

supervision o f Ir. G . J .

Husti.

have

been

I r . G.L.

carried

out

under

S t r a n g van Hees and P.G.

S l u i t e r . About t h i r t y s c i e n t i s t s and s t u d e n t s have p a r t i c i p a t e d :

P. van Es ( s t u d e n t ) , P. J. van Ess ( s t u d e n t ) ,
de Jong

(student),

Plugers,

I r . M.A.

G.M.

Lammerts van Bueren

Salzmann, J.H.M.

van Hees and J.L.M.

Visser

Delft

of

University

Ir. G. J. Hust i , C. D.
(student),

Technology

p a r t i c i p a n t s from t h e

(DUT),

Ir.

and Drs.

A.

( b o t h from Shel l ) ,

Lubbes ( I n t e r s i t e Surveys),

N.J.

Belgraver

ing.

F.

(U.H.).

Sluiter

(Radio H o l l a n d ) ,

Heimberg (U.Han. ) ,
Due t o

their

became a success.

Dipl.

Ing.
ing.

enthusiastic

H.
E.

M. M.
v.d.

L.M.

Murre

I r . J. L a r t h e de

( R i j k s w a t e r s t a a t ) , P.W. Hardie (Nortech Surveys),

Langladure and P.G.

P.

Ir. G.L. S t r a n g

Smit ( s t u d e n t ) ,

(student), a l l

Ing.

Ing.

A.M.

Jongsma

Mehta (N. H. S.
Meer

(U.U. ) ,

K i s t l e r (TUM),

participation

the

Many thanks f o r a1 l t h e i r e f f o r t .

l e a s t we g r a t e f u l l y acknowledge t h e a c t i v e support

T.

1, Ir.
Dipl.
Liebe

experiment

Last but not

of

the

Royal

Nether1 ands Navy, t h e commander o f Hr. Ms. Tydeman K 1 t z .

G. R.

van

Hengel and h i s o f f i c e r s and crew.

The experiments y i e l d e d an enormous amount o f n a v i g a t i o n and
g r a v i t y i n f o r m a t i o n and a l o t o f experience. T h i s r e p o r t g i v e s t h e
r e s u l t s o f t h e NAVGRAV p r o j e c t as t h e y a r e obtained u n t i l now.

It

i s our impression t h a t t h e a v a i l a b l e data c o u l d s t i l l be used f o r

f u t u r e i n v e s t i g a t i o n s and f o r student p r o j e c t s . The data and t h e
r e q u i r e d documentation can be made a v a i l a b l e

t o any

interested

group .

D e l f t . December 1988
Re iner Rumme l

References
Be1 l , R. E., A. B. Watts (1986): E v a l u a t i o n o f t h e BGM-3 sea g r a v i t y
meter system on board R/V Conrad. Geophysi CS,
Strang van Hees,

G.L.

(1983):

G r a v i t y Survey o f

v o l . 51, no. 7.
t h e North Sea.

Marine Geodesy, v o l . 6, no. 2.

Vening

Meinesz,

(1929):

F.A.

Observat ions

at

Sea.

Theory

and

Nether lands

Practice
Geodet ic

of

Pendulum

Commi s s i on,

Technische Boekhandel Waltman, D e l f t .

Vening Meinesz, F.A.

(1948): G r a v i t y Expeditions a t Sea 1923-1938.

D e l f t s e U i t g e v e r s Maatschappij, D e l f t .

Contents

Preface

R. Rummel

Acknowledgements

NAVGRAV

Navigation and gravimetric experiment

at the North Sea

G. L. Strang van Hees

GPS and terrestrial radiopositioning s y s t e m

G.J. Husti and P. Plugers

Gravity measurements at the North Sea

G.L. Strang van Hees and P. Plugers

Using GPS ship velocity estimates
for ~ o t v o scorrection

J. H. M. Smit
Altimetry derived gravity compared
with NAVGRAV observed gravity

R. H. N. Haagmans
Appendix A

SUMMARY
In April 1986 extented test measurements were executed with
GPS instruments on board of the Dutch Navy vessel Hr.Ms. Tydeman.
The

GPS

positions

were

compared

with

the

best

available

terrestrial radio navigation systems, under variable conditions.

The precision of GPS turned out to be 10 to 15 m in absolute
position, and better than 3 m in differential mode.
Gravity

measurements

were

carried

out

with

two

sea

gravimeters. The differences between the instruments were less

than 1 mgal for random errors. However systematic errors occured
on some lines up to a few mgal, probably due to errors in the
cross-coupling corrections. Also

a comparison was made

with

results of a similar project in 1979. Only minor differences are

present. Remarkable is the rather irregular shape of the gravity
field, although the sea bottom is very flat. A significant gravity
anomaly appears at latitude 55'13',

longitude 5'38'

. This anomaly

is caused by a mass disturbance due to mantle material intruded

into the crust.
In sea gravimetry the realizable accuracy is limited by

EO tvos correction errors. To determine EO tvos corrections bet ter

than 0.5 mgal, ship velocity estimation with an accuracy of 5 cm/s
or 0.1 knot is necessary. The possibilities of obtaining ship
velocity estimates with high accuracy by using GPS pseudorange
code measurements and carrier phase measurements are investigated.
The comparison of Eotvos corrections computed with ship velocity
estimates from GPS pseudoranges, Doppler smoothed pseudoranges,
carrier phase measurements and Syledis and Hyperfix positions
shows no discrepancies. Best results are obtained from the GPS
Doppler smoothed pseudorange method. This justifies the conclusion
that the effect of Eotvos correction errors in sea gravimetry can
be reduced significantly.
Gravity anomalies as derived from ship measurements were
compared with gravity anomalies computed from SEASAT altimetry.
Altimetry provides,

after correction for various disturbances,

accurate sea surface heights. With good approximation one can

identify the latter with geoid heights (neglecting those parts of

the sea surface topography for which no models are available). Two
alternative methods were applied for the estimation of point
gravity anomalies from the altimeter derived geoid heights. One
method
but

was

least squares collocation, the other a very fast

theoretically

less

sound

technique

based

on

Fourier

transformation. In both cases the long wavelength part was dealt

with using the GEMlOB set of potential coefficients. Collocation
yielded better results. The agreement with shipborne point gravity
anomalies is on the 7 mgal level with no significant bias. This
proves

that altimeter derived gravity is well suited for

preliminary inspection of the gravity field structure of an area

of interest.

Acknowledgements
The a u t h o r s wish t o thank M r .

M.G.G.J.

maps and making t h e headers o f t h e a r t i c l e s ,

photographical
and Mrs. W.

reproduction o f

a1 l graphs,

J u t t e f o r drawing some
Mr.

Mrs.

A. B. Smi t s f o r t h e
W.G.

Coops-Luyten

van Lingen f o r t y p i n g p a r t s o f t h e manuscript.

NAVGRAV
NAVIGATION A N D GRAVIMETRIC EXPERIMENT
AT THE NORTH SEA
G.L. Strang van Hees
Delft University of Technology
Faculty of Geodesy

l. Introduction
The NAVGRAV p r o j e c t was a combi ned NAVi g a t ion and GRAVi metr i c
experiment

at

vessel H. M.

the

North

Sea.

For

this

project

the

oceanographic

Tydeman o f t h e Royal Dutch Navy was made a v a i l a b l e .

e x p e d i t i o n t o o k p l a c e f r o m A p r i l 23 t o May 13,
was d i v i d e d i n t o two p a r t s .

The

1986. The experiment

The f i r s t week f r o m Apr i l 23 t o 30 was

d e v o t e d t o a t e s t o f t h e p e r s p e c t i v e s o f modern n a v i g a t i o n systems.
D u r i n g t h e second p e r i o d f r o m A p r i l

30 t o May 13 t h e p r i m a r y goal

was t h e e v a l u a t i o n o f t h e p e r s p e c t i v e s o f modern sea g r a v i m e t r y .

2. Navigation
The

f o l lowing

available:

t e r r e s t r i a1

radio

H i f i x and H y p e r f i x .

Syledis,

positioning

systems

were

On t h e o t h e r hand s i x GPS

r e c e i v e r s were on o u r d i s p o s a l : t h r e e Texas I n s t r u m e n t s , two S e r c e l

and one T r i m b l e .

Four

i n s t r u m e n t s were p l a c e d on b o a r d and two on

l a n d as r e f e r e n c e s t a t i o n s . To compare t h e p r e c i s i o n o f t h e GPS w i t h
t h e t e r r e s t r i a1 systems a scheme o f

l ines were steamed,

t h e a r e a c o v e r e d b y Syl e d i S ( s e e f i g u r e 1 )
be t h e most a c c u r a t e t e r r e s t r i a l system.

mai n l y

in

Syl e d i S was assumed t o

I n t h e same a r e a H i f i x was

a v a i l a b l e t o o , which gave a good i n s i g h t i n t o t h e r e l i a b i l i t y of t h e

terrestrial

systems.

The

third

system,

Hyperfix,

was

used

as

r e f e r e n c e system i n t h e n o r t h e r n p a r t o f t h e measuring a r e a ( f i g u r e
1)

However t h e l a t t e r system was on1 y r e c e n t ly i n s t a l l e d and s t i l l

i n a t e s t i n g phase. T h i s caused sometimes l a n e s l i p s , and a complete

one day gap when t h e system was o u t o f o r d e r .
Some

special

tests

were

c a r r i e d out

in

order

r e l i a b i l i t y o f t h e systems under s p e c i a l c o n d i t i o n s .

to

test

the

- steaming around oil platforms in circles with radii of loom, SOOm

and 1500m, to check the influence of reflections;

- suddenly increasing and decreasing of the ships velocity, and

sudden changes of the ships direction;
- precision of the radio systems in case of a long landpath of the

radi o waves.
However all these experiments caused no measurable deviations.

Gravity survey NAVGRAV

G.P.S. survey NAVGRAV

23 29 April 1986
2'

3'

4"

5"

'
6

'
7

8'

2
5 7 - +

23 April
2

13 May l986
5'

6
'

7'

8'

-.m

Deln unlvcrs~tyof Technology

Figure l:

Figure 2:

Navigation experiment NAVGRAV

Gravity survey NAVGRAV

The GPS tests were aimed at:

absolute precision compared with terrestrial systems;

relative precision between ship and land receivers;
relative precision between different receivers on board;
relative precision between ship and launch, and
velocity determination with GPS.

All data were registrated at 3 seconds intervals.

9
'

D e ~ a n m e n tof Geodesy

3. Gravity
D u r i n g t h e second p e r i o d a r e c t a n g u l a r p a t t e r n o f

l i n e s was

steamed (see f i g u r e 2 ) . As t h e a v a i l a b l e n a v i g a t i o n systems were out

of range i n t h e n o r t h e r n North Sea, another r a d i o p o s i t i o n i n g system
was chosen, Pulse 8. The p r e c i s i o n o f t h i s system was 20 m, which i s
s u f f i c i e n t f o r g r a v i t y survey needs.
The purpose o f t h e sea g r a v i t y measurements was t o determine
t h e p r e c i s i o n o f modern sea gravimeters. Two gravimeter systems were
i n s t a l l e d n e x t t o each o t h e r , t h e sea g r a v i meters Bodensee Kss 5 o f
t h e D e l f t U n i v e r s i t y o f Technology and t h e Bodensee Kss 30 o f t h e
U n i v e r s i t y o f Hamburg. The d i f f e r e n c e between t h e measured g r a v i t y
o f both instruments g i v e s an i n s i g h t i n t o t h e i n t e r n a l p r e c i s i o n and
b i a s o f t h e g r a v i meters. External e r r o r s l i ke n a v i g a t i o n e r r o r s and
t h e Eotvos c o r r e c t i o n were e l i m i n a t e d .
P a r t o f t h e r e g i o n has a l r e a d y been surveyed i n 1979 (Strang
van Hees,

1983). Some o f these

l ines were remeasured i n order t o

determine t h e e x t e r n a l p r e c i s i o n o f g r a v i t y measurements. A d d i t i o n a l

l ines were p u t i n between t h e previous measured l ines.

Thi S g i v e s

the p o s s i b l i t y t o investigate the precision o f the interpolation o f

g r a v i t y anomalies i n cross l i n e d i r e c t i o n .
km a p a r t ,

which

is

chosen

in

The l i n e s a r e about 25

correspondence

with

the

estimated

under

excel l e n t

roughness o f t h e g r a v i t y f i e l d .
Nearly
weather

a1 l

measurements

conditions.

were

carried

out

Therefore t h e q u a l i t y o f

t h e measurements

is

v e r y good.
The good cooperation on board between t h e s c i e n t i s t s and t h e
Royal
G.R.

Netherlands Navy i s v e r y much appreciated.

van Hengel of

Commander K l t z .

t h e H.M. Tydeman and h i s o f f i c e r s and crew gave

a l l support t o make t h i s e x p e d i t i o n succesful.

4. List of participating institutes and firms

D e l f t U n i v e r s i t y o f Technology, F a c u l t y o f Geodesy

U n i v e r s i t y o f Hannover, I n s t i t u t e o f Geodesy

Technical

University

Munich,

Institute

of

Physical Geodesy

U n i v e r s i t y o f Hamburg, I n s t i t u t e o f Geophysics

Astronomical

and

U n i v e r s i t y o f U t r e c h t , F a c u l t y o f Geophysics

Nortech Surveys

Hydrographic S e r v i c e o f t h e Royal Netherlands Navy

Survey Department o f R i j k s w a t e r s t a a t
She1 l I n t e r n a t i o n a l e P r e t r o l e u m Maatschappij
O s i r i s Seaway
I n t e r s i t e Surveys
Radio H o l l a n d
NESA
Netherlands Hydrographic S e r v i c e s
Oretech

5. References
Rummel,

R.,

G.L.

S t r a n g van Hees and H.

Verslui j s

F i e l d I n v e s t i g a t i o n i n t h e N o r t h Sea.
Sensing (ed. T.D. A l l e n ) ,
Salzrnann,

G. J.

M.A.,

( 1987 l :

Husti,

NAVGRAV,

In:

(1983):

Gravity

S a t e l l i t e Microwave

John W i l e y 8 Sons, New York.

G.L.

S t r a n g van Hees,

comprehens ive

comb ined

P. J . G .

Teunissen

n a v i g a t i on

and

g r a v i m e t r y experiment on t h e N o r t h Sea;

o b j e c t i v e s and f i r s t

experiences.

Symposium

Proceedings

International

P o s i t i o n i n g , Reston, October 14-17,

S t r a n g van

Hees,

G.L.

(1983):

Gravity

Mar ine Geodesy, vo l . 6, no. 2.

on

Marine

1986.
Survey

of

the

North

Sea.

GPS AND TERRESTRIAL RADIOPOSITIONING SYSTEMS

G.J. Husti
P. Plugers
Delft University of Technology
Faculty of Geodesy
l. Introduction
One

of

investigate

the

objectives

of

the

NAVGRAV

an

future,

was

to

t h e s u i t a b i l i t y o f t h e Global P o s i t i o n i n g System f o r

p o s i t i o n and v e l o c i t y d e t e r m i n a t i o n a t
play

project

important

role

in

gravimetric

sea.

GPS w i l l

surveying

in

obviously
the

near

where t h e d e s i r e d accuracy i s about 20 meter i n p o s i t i o n

and 5 cm/sec
w i t h GPS,

i n velocity.

Such an accuracy i s now q u i t e p o s s i b l e

b u t c o u l d n o t be achieved d u r i n g t h e 24 hour non-stop

g r a v imetr ic survey,

because o f t h e

l im i t e d number o f

s a t e l l it e s

a v a i l a b l e i n 1986. Each day two o b s e r v a t i o n windows were a v a i l a b l e

(figure 1):

Date
:24Clpr1986 Station :Northsea
Latitude: 54'00'00" Longitude: 4'00'00"

Height

: 50M

T i w of day
Figure 1. GPS windows in April 24, 1986 ( 4 = 54O, h = )
'
4

f i r s t period

2: 00

second p e r i o d

13: 00

8: 00 hours
18: 00 hours

For t h i s reason GPS was used d u r i n g t h e NAVGRAV p r o j e c t on1 y

for

various

experimental

purposes.

For

the

g r a v i metr ic

survey

t r a d i t i o n a l r a d i o p o s i t i o n i n g systems were deployed.

2. Equipment
Several p o s i t i o n i n g systems were on board d u r i n g both periods
o f surveying, as shown below:

1st period: April 23 - 29

2nd period: April 30 - May 13

GPS receivers

GPS receivers

Trimble 4000A (Radio Holland)

Trimble 4000A (Radio H o l l a n d )

Sercel TR5S ( R i j k s w a t e r s t a a t )

Rubidium c l o c k (T.U. Munich)

TI-4100

( U n i v e r s i t y o f Hannover)

TI-4100

(Technical U n i v e r s i t y Munich)

Cesium c l o c k (Nortech Surveys)

Rubidium c l o c k (Technical U n i v e r s i t y Munich)

Radio positioning systems

Radio posi tioning systems

S y l e d i s ( O s i r i s Seaway)

Pulse 8

H i f i x (Hr.Ms. Tydeman)

Hyperf iX (Hr. Ms. Tydeman )

Hyperf iX ( Hr. Ms. Tydeman)

Ocean log (Hr. Ms. Tydeman )

Loran C ( R i j k s w a t e r s t a a t

Oceanlog (Hr.Ms. Tydeman)

Survey Department o f the Ministry o f Transport and Public Works

During

the

(Nortech Surveys)
Haarlem ( A p r i l 21
i n order
i.e.

first

period

an

additional

was s e t up a t an on-shore

receiver

station.

First at

251, and a f t e r t h a t a t D e l f t [ A p r i l 25

t o be a b l e t o post-process

differential,

TI-4100

t h e data

mode. For t h i s reason,

- 281,

i n translocation,

a l l GPS r e c e i v e r s were

scheduled t o operate i n t h e same mode [P o r S code) and t o t r a c k

t h e same s a t e l l i t e s .
In

addition,

GPS

measurements

carried

out

at

second

s t a t ion ( Stavanger , Norway) were k in d l y p r o v i ded b y t h e

on-shore

Norwegian Hydrographic Service,

greater

distance.

f o r t r a n s l o c a t i o n purposes over a

Unfortunate1y,

these d a t a c o u l d n o t

be used,

because o f a d i f f e r e n t s a t e l l i t e o b s e r v a t i o n scheme a t Stavanger.

A complete overview o f t h e equipment i s shown i n appendices 1
and 2.

The instruments were s e t up on board a t two l o c a t i o n s :

t h e chartroom and i n l a b - l ,
telephone.

In

the

in

where t h e observers k e p t c o n t a c t b y

chartroom

the

INTERPLOT-200

I n t e r s i t e Surveys was r u n n i n g on a HP9920

software

of

computer f o r r e a l - t i m e

n a v i g a t i o n . A v e r y important s u b j e c t was t h e t i m e s y n c h r o n i s a t i o n
of

all

the

positioning

systems.

This

problem

was

solved

by

s y n c h r o n i z i n g t h e c l o c k o f t h e Hewlett Packard computer w i t h GPS

time

using the

one

p u l s e per

second

output

from

the

TI-4100

receivers.
D u r i n g t h e second p e r i o d o f t h e p r o j e c t from A p r i l 30 t o May
13 o n l y one Trimble GPS r e c e i v e r remained on board and t h e Pulse 8
p o s i t i o n i n g system was used as p r i m a r y p o s i t i o n i n g system f o r t h e
g r a v i m e t r i c survey. Both p o s i t i o n i n g systems y i e l d e d s a t i s f a c t o r y
r e s u l t s during t h e e n t i r e period.

3. Antenna o f f s e t
The i n t e r s e c t i o n p o i n t o f t h e main mast and t h e h o r i z o n t a l
beam was

adopted

as

the

reference

systems. The antenna o f f s e t s ,

point

for

a1 l

positioning

as determined i n a t h r e e dimensional

c o o r d i n a t e system, a r e g i v e n i n t a b l e 1.
GPS r e c e i v e r

X(m)

Y(m)

-0.25

+38.8

-5.0

u n t i l Apr.27,

15h

T I -4 100 ( Hannover 1

-3.0

+ 0.1

+0.5

u n t i l Apr.27,

15h

TI-4100

-0.25

+38.8

-5.0

from

Apr. 27,

15h

T r i m b l e 4000A

+2.6

+0.1

+0.8

u n t i l Apr.27,

12h

T r i m b l e 4000A

+O. 4

2.3

+3.8

from

12h

Serce l

+0.25

+38.8

-5.0

TI-4100

(Munich)

(Hannover)

Y = heading d i r e c t i o n
X = starboard d i r e c t i o n
AH = v e r t i c a l h e i g h t d i f f e r e n c e

AH(m)

(up = p o s i t i v e )

Table l. Antenna offsets

17

remark

Apr.27,

The antenna o f f s e t t o t h e reference p o i n t was computed as f o l l o w s :

A ~ O=

( X sin a

Y cos a

R cos cp

where:
0

p = 180 /n

R = 6378388 metre
a = s h i p course

4.

Real-time n a v i g a t i o n
The real-time

navigation data was handled by t h e HP9920

computer using t h e INTERPLOT-200 software,

by which t h e Syl edi S,

Hi f iX and Hyperf i x p o s i t ions were recorded. The raw data and t h e

computed p o s i t i o n s were simultaneously s t o r e d on 3.5"
The

c u r r e n t ly

most

re1 iabl e

t e r r e s t r ia1

radio

diskettes.

position

was

selected as primary p o s i t i o n and used f o r t h e g r a v i m e t r i c survey.

This

primary

position

was

also

monitored

on

the

bridge

for

c o n t r o l l i n g t h e desired s a i l i n g r o u t e f o r t h e g r a v i m e t r i c survey.
Moreover,

the

following

GPS

positions

were

computed

in

real-time and recorded on 3.5" d i s k e t t e s or 4 t r a c k tape:

1. TI-4100

(Munich), a f t e r A p r i l

27

the

using t h e Nortech r e a l - t i m e navigation

TI-4100

(Hannover)

software

2. Trimble, using t h e receiver software

3. Sercel, using t h e receiver software ( n o t involved here)

5. GPSFIX program
I n order t o post-process t h e TI-4100

raw data new software

was developed a t t h e F a c u l t y o f Geodesy on t h e VAX 750 computer.

Various subroutines, which had been developed before ( c f . de Jong,
1985

and

Visser,

1988)

were

u t i lized

here.

However,

these

subroutines had t o be converted from HP Basic 3.0 t o F o r t r a n 77.

Th iS convers ion was necessary, because t h e HP computer coul d n o t

handle such l a r g e amounts o f data w i t h i n a reasonable p e r i o d o f

time.
Since t h e s t r u c t u r e o f such a n a v i g a t i o n program i s g e n e r a l l y
known, o n l y some main f e a t u r e s a r e presented here. The n a v i g a t i o n
program GPSFIX has t h e f o l l o w i n g steps:

1. r e a d TI-4100 raw

data

(8 b i t

numbers)

in

"Hannover"

or

"She1 l " format

2. decode t h e datablocks ("ephemeris" o r "measurements")
3. compute s a t e l l i t e c o o r d i n a t e s from Broadcast Ephemeris
4. compute pseudoranges o r
either P or S

code

and

Doppler
apply

aided

pseudoranges,

ionospheric

using

correction

and

t r o p o s p h e r i c c o r r e c t i o n f o r a standard atmosphere

5. compute p o s i t i o n and v e l o c i t y ( e i t h e r from

from 3 s a t e l l i t e s w i t h f i x e d h e i g h t o r

from

satellites
two

or

satellites

w i t h f i x e d h e i g h t and f i x e d c l o c k o f f s e t )

The menu o p t i o n s o f

t h e GPSFIX program a r e

presented below

t a b l e 2.

$RUN GPSFI X
enter receiver type ( t i or t r i m b l e )
she1 l o r hannover data ( 1 o r 2 )
e n t e r i n p u t d a t a s e t name
e n t e r o u t p u t d a t a s e t name
unformatted o u t p u t
( y or n)
store usersolution ( y or n)
e n t e r i t e s t [notest=O,
level=1,2,3,4)
enter l a t i t u d e
( dd,mm,ss)
e n t e r l o n g i t u d e (ddd,mm,ss)
e n t e r h e i g h t (m)
e n t e r a p r i o r i s.d. o f l a t i t u d e (m)
e n t e r a p r i o r i s.d. o f l o n g i t u d e (m)
e n t e r a p r i o r i s.d. o f h e i g h t
(m)
e n t e r a p r i o r i s.d. o f b i a s
(m)
e n t e r a p r i o r i S. d. o f pseudoranges (m)
e n t e r minimum e l e v a t i o n (degr)
e n t e r d r y temperature ( c )
e n t e r wet temperature ( c )
e n t e r pressure ( mbar )
d o p p l e r a i d o r normal (doppler o r normal)
S. d. o f phase measurements ( c y c l e s )

ti 1

21

[
[

n1
n1
01

1000.001
1000.00]
5.001
[ 100000000.00 l
[
4.001
5.001
15.001
12.001
1012.001
[
dopp le r ]
0.021

Table 2. Menu of the GPSFIX program

in

The unknowns a r e e s t i m a t e d f r o m t h e f o l l o w i n g equation:

where:
AA

Ah

AT IT

dX

= v e c t o r of c o r r e c t i o n s ( Ap

dL

= v e c t o r o f observed minus computed pseudoranges

= design m a t r i x

= weight m a t r i x o f t h e o b s e r v a t i o n s

Px = weight m a t r i x o f t h e unknowns ( f o r f i x i n g t h e h e i g h t
o r f i x i n g t h e h e i g h t and t h e c l o c k o f f s e t )

The c l o c k d r i f t A? can be determined f r o m t h e p r e v i o u s c l o c k

o f f s e t s AT b y means o f a r e g r e s s i o n l i n e . T h i s c l o c k d r i f t i s used
for

the prediction o f

the

"fixed"

clock

offset,

when o n l y two

s a t e l l i t e s are available f o r positioning.

The v e l o c i t y can be e s t i m a t e d i n a s i m i l a r way u s i n g t h e same
d e s i g n m a t r i x ( c f . Smit, t h i s i s s u e ) .
An example o f t h e o u t p u t d a t a i s shown i n appendix 3.

Each

r e c o r d o f p o s i t i o n f i x c o n t a i n s t h e f o l l o w i n g data:

-date

[yymmdd] and t i m e [ S ]

- l a t i t u d e [deg],

l o n g i t u d e [ d e g l , h e i g h t [ m l , c l o c k o f f s e t [m]

- c l o c k d r i f t w i t h i t s s t a n d a r d d e v i a t i o n [m/sl
-speed [m/sl

and heading [ d e g l

-number o f s a t e l l i t e s used f o r t h e p o s i t i o n f i x
- e s t i m a t e d s t a n d a r d d e v i a t i o n s o f t h e unknowns [m]
- t r a c k e d s a t e l l i t e s ( s a t e l l i t e PRN numbers) and GDOP

6. T r a n s f o r m a t i o n between WGS72 and ED50

Transformat i o n between WGS72 and ED50 was c a r r i e d o u t

in a

l o c a l system u s i n g seven t r a n s f o r m a t i o n parameters a c c o r d i n g t o :

where:
XWCS72

= v e c t o r o f GPS coordinates i n WGS72 (X

ZIT

= v e c t o r o f t e r r e s t r ia1 ED50 c o o r d i n a t e s (X'

X.
XT

Y'

ZplT

= c e n t r e o f t h e s h i f t e d l o c a l system
= v e c t o r o f t r a n s l a t i o n parameters (X

YT

= scale factor

= d i f f e r e n t i a l r o t a t i o n m a t r i x as f o l l o w s :

The f o l l o w i n g values o b t a i n e d from t h e NEDOC-project

(Husti,

1983)

a r e used f o r t h e t r a n s f o r m a t i o n parameters:

The c e n t r e o f t h e l o c a l system i s g i v e n b y t h e mean values o f t h e

Doppler c o o r d i n a t e s o f t h e NEDOC s t a t i o n s
Herikerberg,

(Leeuwarden,

Kootwijk,

Tongeren, D e l f t , Axel, Herstmonceau and Kessingland),

which were used f o r t h e determi n a t ion o f t h e above t r a n s f ormat ion

parameters:

The i n v e r s e t r a n s f o r m a t i o n can be d e r i v e d from e q u a t i o n ( 3 ) and

i s g i v e n by:

The p r e c i s i o n o f

t h i s transformation

i s estimated t o be b e t t e r

than 1 metre. The smal l d i f f e r e n c e s between T r a n s i t WGS72 and GPS

WGS72 a r e neglected.

The post-processing
Faculty o f

Geodesy.

was c a r r i e d out on t h e VAX 750 a t t h e

The f o l l o w i n g p r e p a r a t i o n s had t o be done

first:
a. t h e 3 . 5 " d i s k e t t e s c o n t a i n i n g

real-time

positions

and

raw

data were t r a n s f e r r e d from HP217 t o VAX u s i n g a HP conversion

program
b. t h e GPS raw data (data b l o c k s w i t h 8 b i t numbers) were copied
t o 9 t r a c k tape b y S h e l l and t h e Hannover U n i v e r s i t y
c. development o f

various

software,

in

order

to

carry

out

t r a n s f o r m a t i o n s , f i l e s e l e c t i o n , t r a n s l o c a t i o n and comparison
o f d i f f e r e n t types o f p o s i t i o n i n g systems.

The f o l l o w i n g software was developed i n F o r t r a n 77:

GPSFIX

GPS n a v i g a t i o n program

TRANS

t r a n s f o r m a t i o n between WGS72 and ED50 i n t h r e e steps

SELECT

X,Y,Z

(WGS72)

(WGS72)

->
->

X,Y,Z

(ED50)

(ED50)

->

v,A,(h)

1. v,A,h

(WGS72)

2. X,Y,Z
3. X,Y,Z
reads

various

position

(ED50)

f i l e s , checks, s e l e c t s and

writes t o a binary position

file

(BPF),

which can

be r e a d b y a l l t h e f o l l o w i n g programs
READBF

reads t h e b i n a r y p o s i t i o n f i l e s (BPF)

and

converts

them t o ASCII f i l e s
TRANSLOC:

prepares d i f f e r e n t i a l GPS computation:

1. reads two simultaneous b i n a r y p o s i t i o n f i l e s

for

t h e reference and t h e moving s t a t i o n

2. f i n d s t h e corresponding records and checks whether
for

instance t h e observed s a t e l l i t e s and t h e used

ephemeris data a r e i d e n t i c a l
3. computes a p o s i t i o n

correction

r e f e r e n c e s t a t i o n and a p p l i e s
t h e moving s t a t i o n

per

fix

at

t h i s correction

the
to

4. output: corrected

binary

position

file

of

the

moving s t a t i o n
COMPARE :

1. reads two b i n a r y p o s i t i o n f i l e s (BPF) which are t o

be compared, and f i n d s the corresponding p o s i t i o n s
( i f necessary by i n t e r p o l a t i o n )
2. c o r r e c t s t h e GPS p o s i t i o n f o r antenna

offset

and

transforms from WGS72 t o ED50

3. computes t h e

position

differences

and

standard

devi a t ions
4. output: a. p r e c i s i on/accuracy anal y s i S
b. p l o t f i l e

A f l o w c h a r t o f t h e post-processing i s presented i n appendix

4.

The l e f t hand s i d e shows t h e processing o f t h e r e a l -time

positions
Syledis,

and the
Hifix

various

radio

and Hyperfix.

positioning

'The

right

systems,

hand s i d e

such
shows

GPS
as
the

post-processing using t h e program GPSFIX.

The p o s i t i o n f i les obtained f o r the various systems can be
compared and analysed by the program COMPARE. The subjects below
w i l l be t r e a t e d i n the sequel:

zero base l i n e t e s t i n Haarlem

comparison o f real-time p o s i t i o n s from Trimble and Syledis

reference s t a t i o n s Haarlem/Delft
comparison o f p o s i t i o n s from H i f i x and Syledis

comparison

of

positions

from TI-4100

t o Syledis ( i n c l u d i n g

t r a n s l o c a t i on)

t r a n s l o c a t i o n between two GPS r e c e i v e r s

on

board

of

Hr.Ms.

Tydeman .

launch experiment ( i n c l u d i n g t r a n s l o c a t i o n )

Some p a r t s o f t h e navigation data have already been i n v e s t i g a t e d

( c f . Smit, 1988 or Visser,

1988).

8. Zero base l i n e t e s t i n Haarlem

On A p r i l 21 two TI-4100 receivers o f the Munich U n i v e r s i t y o f

Technology

and

Nortech

Surveys

were

set

up

at

Haarlem

and

connected

to

the

same

antenna

using

beam

splitter.

The

o b s e r v a t i o n s were recorded from 14:OO t o 18:15 UTC.

The p o s i t i o n d i f f e r e n c e s between two r e c e i v e r s , o b t a i n e d from
separate computations

u s i n g t h e program GPSFIX w i t h P code non

smoothed pseudoranges a r e presented

f i r s t hour,
used f o r

i n appendix

5.

During t h e

where exact ly t h e same sate1 l it e s and ephemer iS were

b o t h computations,

there

i s good agreement:

l e v e l i s approximately 1.2 meter. I n t h e n e x t p a r t ,

t h e noise

when o n l y two

s a t e l l i t e s were a v a i l a b l e and no atomic c l o c k was used, t h e r e i s a

remarkable c l o c k d r i f t e f f e c t .

Since each r e c e i v e r uses i t s own

i n t e r n a l q u a r t z c l o c k , such a c l o c k d r i f t can be expected.

9. Reference s t a t i o n s Haarlem and D e l f t

D u r i n g t h e f i r s t week o f t h e NAVGRAV p r o j e c t one on-shore

TI-4100

receiver

(Nortech Surveys) was observing s i m u l t a n e o u s l y

w i t h t h e GPS r e c e i v e r s on board o f t h e Hr. Ms.

Tydeman,

Haarlem ( A p r i l 21-25) and then a t D e l f t ( A p r i l 25-28),

f i r s t at

i n order t o

be a b l e t o process i n t r a n s l o c a t i o n mode. The s i n g l e p o i n t r e s u l t s

are

discussed here separate1 y,

whi l e t h e

translocat ion r e s u l t s

u s i n g these r e f e r e n c e p o s i t i o n s w i l l be discussed i n s e c t i o n 12.

The known t e r r e s t r i a l c o o r d i n a t e s and t h e computed mean value
o f t h e GPS p o s i t i o n s

a r e shown i n t a b l e 3. The transformed WGS72

c o o r d i n a t e s a r e o b t a i n e d from ED50 c o o r d i n a t e s ( c f . equation ( 3 ) ) .

Haar lem

station:

ED50
(terrestrial)

h
h

52"23 13.226
4 37 05.666
17.00 m
S

WGS72
(transformed)

h
h
p

WGS72
( b y GPS)

h
h

Delft

I,

52'23 10.44
43700.13
66.59 m

I,

52'23 10.36
43700.61
66.78 m

I1

51'59 10.00
4 23 14.33
77.75 m
I

I,

51 59'09.67
4 23 14.16
67.45 m

Table 3. Coordinates of the reference stations

D i f f e r e n c e s between s t a t i o n a i r y 3-D p o s i t i o n s and t h e i r mean

v a l u e s a r e p l o t t e d f o r t h e s t a t i o n s Haarlem and D e l f t :

Appendix 6: S t a t i o n Haarlem: P code / non-smoothed pseudorange

Appendix 7: S t a t i o n D e l f t

: P code / non-smoothed pseudorange

Appendix 8: S t a t i o n D e l f t

: P code / Doppler-aided pseudorange

Appendix 9: S t a t i o n D e l f t

: S code / non-smoothed pseudorange

The s i n g l e p o i n t p o s i t i o n i n g w i t h P code y i e l d s g e n e r a l l y
excel l e n t r e s u l t s . The o b t a i n e d d i f f e r e n c e s w i t h t h e known v a l u e s
are within

10 m

(appendices 6 and 7). Computation w i t h Doppler

a i d e d pseudorange g i v e s a lower n o i s e l e v e l , b u t no improvement i n

accuracy (appendix 8). The p o s i t i o n i n g u s i n g S code g i v e s a much
higher

noise

level

and

in

this

case

small

systematic

errors

(appendix 9 ) .

10. Comparison o f p o s i t i o n s f r o m H i f i x and S y l e d i s

The

precision

of

Hifi x

and

Syledis

distance

d i f f e r e n c e measurements i s e s t i m a t e d t o be 1

or

distance

2 metres. However,

b o t h systems may have much l a r g e r s y s t e m a t i c p o s i t i o n e r r o r s due

different

r e f e r e n c e systems,

to

c a l ib r a t i o n e r r o r s

in f luence o f t h e geometri c in t e r s e c t ion.

practice t o carry out a local
corrections,

i n order

to

Therefore

"re-calibration"

remove

the

and t o

it

the

iS common

by applying local

systematic

errors

and

to

improve t h e e x t e r n a l accuracy.

comparison

" r e - c a l ib r a t ion",

between

the

two

systems,

without

measured in an area o f good coverage,

any

iS shown

i n appendix 10. Obvious1 y t h e r e always e x i s t s a c e r t a i n s y s t e m a t i c

e r r o r between t h e two p o s i t i o n i n g systems,
average o f 6.6

i n t h i s s p e c i a l case an

m i n l a t i t u d e and 3 . 8 m i n l o n g i t u d e .

distribution i n figure 2

The e r r o r

shows t h e same s y s t e m a t i c e r r o r s .

The

s t a n d a r d d e v i a t i o n s o f t h e d i f f e r e n c e s a f t e r e l im i n a t ion o f t h e s e
systematic e r r o r s are:

I n these standard d e v i a t i o n s t h e
H i f i x p o s i t i o n errors are

influence o f

involved.

b o t h S y l e d i s and

Thus t h e p r e c i s i o n o f

each

system may be about 2 metre ( i n p o s i t i o n ) , which seems reasonable.

ml

,number

of observations

of observations

,number

Figure 2. Latitude and longitude differences. Hifix

However, t h e systematic p o s i t i o n e r r o r s ,
a t a 3-5

metres

Syledis (m)

which a r e expected t o be

l e v e l a r e d i f f i c u l t t o determine.

I t s h o u l d be

p o i n t e d o u t t h a t t h i s p o s i t i o n accuracy does n o t a1 low t o e v a l u a t e

GPS p o s i t i o n s b e t t e r than t h i s l e v e l .

11. Comparison of positions from Trimble and Syledis

The T r i m b l e 4000A r e c e i v e r y i e l d e d v e r y s a t i s f a c t o r y r e s u l t s
throughout t h e whole p e r i o d and p r o v i d e d r e l i a b l e p o s i t i o n s a t 15
seconds

intervals.

An

example

of

these

real-time

positions

compared t o S y l e d i s i s shown i n appendix 11. From t h e d i f f e r e n c e s

( i n c l u d i n g systematic

errors)

t h e f o l l o w i n g standard d e v i a t i o n s

a r e o b t a i ned:

This r e s u l t ,
seconds,

o b t a i n e d from 911 p o s i t i o n f i x e s a t i n t e r v a l s o f 15

i s q u i t e good f o r a s i n g l e frequency r e c e i v e r .

d i s t r i b u t i o n s o f these d i f f e r e n c e s a r e shown i n f i g u r e 3.

The e r r o r

,,nwnber

of observat~ons

,,number

of observations

l
l

F i g u r e 3. L a t i t u d e and l o n g i t u d e d i f f e r e n c e s . Trimble-Syledis (m)

12. Comparison o f p o s i t i o n s f r o m two TI-4100 r e c e i v e r s and S y l e d i s

A number o f TI-4100 p o s i t i o n s obtained on board o f t h e Hr.Ms.
Tydeman were post-processed

w i t h t h e GPSFIX program.

The s i n g l e

posi t ions obtained by t h e Munich and Hannover r e c e i v e r s on Apr i l

25,

i n t h e same observation p e r i o d ( u s i n g P code) are compared t o

Syledis, a f t e r r e d u c t i o n o f both GPS antenna p o s i t i o n s t o t h e same

r e f e r e n c e p o i n t . The d i f f e r e n c e s a r e p l o t t e d i n appendices 12 and
13 r e s p e c t i v e l y , showing a p r e c i s i o n o f about 10 metres.
we

If

compare

the

position

differences

of

the

two

GPS

r e c e i v e r s on board ( c f . appendix 14) we may conclude t h a t t h e r e i s

no s i g n i f i c a n t discrepancy.
addi t ion,

In
receiver

on

pseudoranges,

the

Apri l

25

observat ions
are

also

c o l lected
processed

by
as

the

Hannover

Doppler

aided

compared w i t h Syl edi S and p1o t t e d in appendi X

Thi S gives some improvement i n p r e c i s i o n and accuracy.

i n appendix 8,

w i t h t h e s t a t i o n a r y measurement shown

15.

Compared

i t has a

higher n o i s e l e v e l p o s s i b l y caused b y Syledis.

The Hannover

receiver

observations

of

Apri l 25 were

also

processed i n t r a n s l o c a t i o n mode r e l a t i v e t o t h e s t a t i o n D e l f t . The

d i f f e r e n c e s w i t h t h e S y l e d i s p o s i t i o n s a r e p l o t t e d i n appendix 16.
If

these

appears

results

that

some

are

compared w i t h

improvement

of

those

the

of

accuracy

13,

it

i s obtained

in

appendix

t r a n s l o c a t i o n mode since the slopes are removed. The noise level

i s now below 3 m.

( i n c l u d i n g Syledis)
appendix

16 are

caused by the

fact

The gaps i n the p l o t

that

not

always t h e

in

same

s a t e l l i t e c o n f i g u r a t i o n was observed by both receivers. I n case of

d i f f e r e n t sate1 l i t e configurations or ephemeris o f d i f f e r e n t ages,
the p o s i t i o n f i x e s are ignored by program TRANSLOC.

13. Launch experiment

On Apr i l 24 a launch experi ment was c a r r i e d out.

A TI-4100

receiver and a H i f i x receiver were i n s t a l l e d i n the launch, which

was s a i l i n g near the Hr.Ms. Tydeman a t distances o f up t o 4 km. It
was

intended

to

investigate

the

accuracy

of

differential

GPS

between two moving vessels a t short distance. Thus, we have a GPS

posi t ion d i f f erence and a corresponding Hi f iX p o s i t ion d i f f e r e n c e
between t h e Hr.Ms. Tydeman and the launch, which can be compared.
Th iS exper iment was, however, not successf U l , because the T I -41 00
receiver

on

board

of

the

Hr. Ms.

Tydeman

was

set

to

code

(operator mistake), while the TI-4100 receiver on the launch set

t o P code. The r e s u l t s o f the computations were very poor.
The

launch p o s i t i o n s obtained from the

TI-4100

data

were

compared i n the f o l l o w i n g way:

a. The

single

positions,

GPS
both

r e s u l t s shown i n

positions

are

compared

board

of

to

the

Hifix

measured

on

the launch. The

appendix

17 are very s a t i s f a c t o r y since

a p r e c i s i o n i n l a t i t u d e and longitude o f about 2 metre and

systematic e r r o r s o f 4.1 m

and

13.6

achieved. These systematic e r r o r s are

r e s p e c t i v e l y are

o f course caused by

both H i f iX and GPS.

b. Next the

GPS

positions

r e l a t i v e t o the s t a t i o n

are

improved

Haarlem

and

by

translocation

compared

p o s i t i o n s . The r e s u l t s presented i n appendix

18

to

Hifix

show

no

s i g n i f i c a n t improvement.

14. Conclusions
The

Syledis

and

Hifix

reference during the p r o j e c t ,

positioning

systems,

used

as

y i e l d a p r e c i s i o n of about 2 m i n

l a t i t u d e and longitude. However, the systematic e r r o r may be 3

metres. Thus t h e GPS p o s i t i o n s can o n l y be evaluated w i t h t h e same

accuracy l e v e l .
Tr imbl e

The

4000A

internal

software

provided

r e 1 i a b l e p o s i t i o n s w i t h a standard d e v i a t i o n o f

r e a l -time

10

20 m b y S

code ( c o n t r i b u t i o n o f H y f i x / S y l e d i s i s i n c l u d e d ) .
The

TI-4100

post-processing.
translocation

receivers

provided

good

The standard d e v i a t i o n f o r

results

p o s i t i o n without

i s estimated t o 10 m u s i n g P code,

u s i n g S code

(contribution of

translocation

mode

yields

Hyfix/Syledis

standard

after

and 10

is

20 m

included).

deviation

of

about

The
3

i n c l u d i n g S y l e d i s noise.

15. L i t e r a t u r e
Hatch,

R. R.

(1986):

level.

Dynamic d i f f e r e n t i a l

Proceedings

of

the

GPS a t

Fourth

t h e centimeter

International

Geodetic

Symposium on S a t e l l i t e P o s i t i o n i n g , Austin, Texas.

Jong,

C.D.

de

(1985):

Practical

D e l f t University o f
Lachapelle,

G.

and

N.

Positioning a t

Work

Technology,
Beck

Lachapel l e , G.,

W.

Falkenberg, M.

Trainee

Report,

NAVSTAR / GPS S i n g l e P o i n t

Canada

Canadian Surveyor, v o l . 36, no.

GPS.

F a c u l t y o f Geodesy.

(1982):

Sheltech

on

Preliminary

Results.

The

1.

Casey (1987): Use o f Phase Data

f o r Accurate D i f f e r e n t i a l GPS Kinematic P o s i t i o n i n g . B u l l e t i n

Gbodesi que, vo l
Sluiter,

P.G.

61 , no. 4.

and G.J.

Husti

(1987):

Evaluation o f

s o l u t i o n i n dynamic mode. Marine Geodesy, v o l .

Smit,

J.H.M.

(1988):

Graduate t h e s i s ,

Sea

gravimetry

and

t h e TI-user

11, no. 1.

Eotvos

correction.

D e l f t U n i v e r s i t y o f Technology,

F a c u l t y of

Geodesy.
V i s s e r , J.L.M.

(1988): GPS p l a a t s b e p a l i n g op zee. Graduate t h e s i s ,

Del f t U n i v e r s i t y o f Technology, F a c u l t y o f Geodesy.

1 Equipment i n t h e p e r i o d A p r i l 23-29
2 Equipment i n t h e p e r i o d May 1-13
3 Output d a t a o f t h e GPSFIX program
4 Flow diagram of t h e post-processing
5 Zero b a s e l i n e t e s t i n Haarlem ( A p r i l 211
6 Reference s a t i o n Haarlem ( A p r i l 24)
7 Reference s t a t i o n D e l f t ( A p r i l 25)
8 Reference s t a t i o n D e l f t ["Doppler a i d e d " ] ( A p r i l 25)
9 Reference s t a t i o n D e l f t [ " S code"]

( A p r i l 26)

10 Comparison H i f i x t o S y l e d i s ( A p r i l 241
11 Comparison T r i m b l e t o S y l e d i s ( A p r i l 24)
12 Tydeman: GPS (TI/M)
13 Tydeman: GPS (TI/H)
14 Tydeman: GPS (TI/M)

S y l e d i s ( A p r i l 25)
S y l e d i s ( A p r i l 25)
GPS(TI/H)

15 Tydeman: GPS (TI/H/Doppler

aided)

16 Tydeman: GPS t T I / H / t r a n s l o c )
17 Launch: GPS tTI/H)

( A p r i l 25)

S y l e d i s ( A p r i l 25)

Hifix

18 Launch: GPS ( T I / H / t r a n s l o c )

S y l e d i s ( A p r i l 251

Hifix

SYSteQ
fra Tydenan

Hyperfix

Syledis 616
positioning

satellite

Hannover

GPS c n p u t e r
HP9816

Navigation
cnputer
INTERPLOT
200 HP9920

Position, Time
Nortech s o l u t i o n

Intersite

GPS canputer
HP9920

C H A R T R O O M

raw data

disc drive
Raw GPS data

Video display1
for
navigation
on the bridge

information

3.5" floppy
disc drive
Position

disc drive
GPS and Pos.
logging

Digidata
tape recorde
Raw data and
Nortech s o l .

3.5" floppy
disc drive
NOT f o r data
logging

( data

Appendix l
Equipment in the period April 23-29

mast

main
mst

Cesium
frequen.
standard

GPS c n p u t e r
Nortech Nav.
software
HP9816

ROOM

TH-Geodery

Gravity mete

G R A V I T Y

posi <ion rnersage

RS232~multi-

111 I

standard

Nortech
solution
and pulse
per second

GPS c a p u t e r

L A B 1

1
internal
tape drives
f o r gravity
data logging

[T;";loppy
disc d r i v e
data logging
RWS

p r i n t e r for
q p r ion cf oe~sm a t i o n

data logging

CONFlGURlTION during N4VIGATION experiment

of WAVGRAV on board Hr.Ms.Tydeman a p r i l '86

changes o f
program

speed and course o f

has

the

advantage

the

ship.

it

that

The smoothing s p l i n e

computes

automatically

the

d e r i v a t i v e o f a f u n c t i o n which i s i n t h i s case t h e r e q u i r e d speed

o f t h e s h i p i n n o r t h and east d i r e c t i o n .
The gravimeter has a s t r o n g magnetic and e l e c t r o n i c a l damping
i n order t o reduce t h e i n f l u e n c e o f t h e v e r t i c a l a c c e l e r a t i o n s o f
the ship.

However,

t h i s damping causes a slow r e a c t i o n on course

and speed changes. A f t e r a change i t takes about 15 minutes b e f o r e

t h e g r a v i meter i S s t a b i l ized again.

The course and speed changes

A1 l p e r i o d s w i t h

a r e o b t a i n e d from t h e smoothed p o s i t i o n dataset.

changes a r e removed from t h e dataset,

r e s u l t i n g i n a clean dataset

with o n l y s t r a i g h t l i n e tracks.

It should

be

dataset

position

emphasized
was

i r r e g u l a r i t i e s were
the

time

consuming

and

inspected and analyzed

important

most

f i lt e r i n g

that

part

of

the

and

cleaning

precise

All

job.

I t was

individually.
computat ion,

who1 e

the

because

undetected i r r e g u l a r movements o f t h e s h i p r e s u l t i n l a r g e e r r o r s
in

the

gravity

geophysical

anomalies,

which

can

possibly

lead

to

false

interpretations.

3. Gravimeter r e g i s t r a t i o n
The gravimeter

output

of

the

recorded on a HP9845 computer,

time.

Kss-5

together

gravimeter

(Delftl

was

w i t h t h e p o s i t i o n s and

Every 10 seconds t h e gravimeter observation was r e a d b y t h e

computer

and t h e

recorded

on

mean value

magnetic

immediately d e t e c t

over

tape.

one

This

and e l i m i n a t e

minute

gave

gross

the

errors

(6

readings)

was

possibility

to

i n the

readings,

s i n c e t h e 6 readings should be c l o s e t o g e t h e r . The same technique

was used f o r t h e p o s i t i o n s and time. The t i m e as r e c e i v e d from t h e
main c l o c k on board was compared w i t h t h e i n t e r n a l computer clock.

I f t h e d i f f e r e n c e was t o o b i g t h e e r r o r was u s u a l l y caused b y t h e

data transmission and c o u l d be c o r r e c t e d f o r .
The

gravity

readings

smoothing s p l ine program.

errors

in

the

gravity

were

also

slightly

smoothed

by

the

The program i s used m a i n l y t o t e s t on

registration.

This

way

errors

could

be

corrected f o r .
The

Hamburg

g r a v i meter

Kss-30

data

was

processed

independent ly.

The o u t p u t was recorded on magnetic tape,

w i t h t h e s h i p ' s g y r o and log.

together

The p r e l i m i n a r y g r a v i t y anomalies

were computed a t once.

4. Computation of the gravity anomalies

The g r a v i t y values ( i n mgal 1 a r e computed w i t h t h e f o l l o w i n g
formula:

aR
g = S-(R + a
--r)
t
+ dgE

~ .+ tC

where:
g

=gravity

= c a l i b r a t i o n constant o f t h e gravimeter = 1.060

= r e a d i n g o f t h e gravimeter

aR

= change o f r e a d i n g per

time

unit,

computed

f rom

the

s p l i n e program

= time-constant o f t h e gravimeter, 200 seconds

AgE = Eotvos c o r r e c t i o n
D

= drift

of

the

gravimeter

computed

from

a harbour

connection b e f o r e and a f t e r t h e measurements

= time since beginning o f the c r u i s e

= cross-coupling

correction

computed

from

measured

h o r i z o n t a l a c c e l e r a t i o n s and beam motion

H

is

= harbour connection.

computed

gravimeter
between t h e

from

reading
harbour

the

in

the

gravity
harbour

value

in

and

the

the

harbour,

height

g r a v i t y s t a t i o n and t h e water

the

difference
level.

This

c o r r e c t i o n reduces t h e computed g r a v i t y values t o t h e h e i g h t o f

t h e water l e v e l .
S t r i c t ly speaking t h e g r a v i t y values s h o u l d a1so be reduced
f o r t i d e s , however t h i s c o r r e c t i o n i s u s u a l l y s m a l l e r t h a n 1 mgal
and i s neglected.
The harbour connection i n Den Helder can be computed w i t h equation
( 2 ) u s i n g t h e go and R. values a s presented i n t a b l e 1.

Date and time

23 A p r i l 1986, 11.00 h.

G r a v i t y value on t h e j e t t y :

981323.93 mgal

C o r r e c t i o n s t o waterlevel :
Grav it y on water leve l

0.86 mgal
981324.79 mgal = g

Gravimeter reading

4328.5 = R.

Table l.

H = go

= 981324.79 - 1.060

S-R.

4328.5 = 976736.58 mgal

On r e t u r n a f t e r t h e f i r s t p e r i o d on 29 Apri l 1986,

. .
g r a v i meter

..
r e a a i ng

.---4 3 ~U.~

was

The d r i f t i s 4329.0

(2)

12.00 h.

the

4328.5 = 0.5 mgal i n 6 days. Before s t a r t o f

t h e second period, 30 Apr i l , 17.00 h.

, t h e reading was 4329.0

a f t e r r e t u r n on 13 May, 11.00 h . : 4328.8,

and

thus a d r i f t o f 0.2 mgal

i n 14 days. For both periods t h e d r i f t may be neglected,

so D was

s e t t o zero d u r i n g t h e whole period.

The Eotvos c o r r e c t i o n i s computed by:

AgE = 2

W V

2
v
s i n a cosfp + - = 2
R

east

v
cosfp + -

where:
AgE = Eotvos c o r r e c t i o n
W

= e a r t h ' s angular v e l o c i t y

= ship v e l o c i t y

= s h i p course

fp

= latitude

= earth radius

The v e l o c i t y v

east

i s obtained d i r e c t l y from t h e s p l i n e program.

The free-air anomalies Ag

FA

were computed b y s u b t r a c t i n g t h e

norma l grav it y from t h e computed g r a v i t y .

System 1967 i s used f o r t h e reduction,

The Geodet ic Reference

i n which t h e normal g r a v i t y

X iS def ined as:

X = 978 031.85 + 5185.88 s i n 2

fp

5.74 s i n

2fp mgal

( 4)

and a f r e e a i r g r a v i t y anomaly as:

The Bouguer anomalies a r e computed b y t h e simple Bouguer p l a t e

reduction.

The Bouguer p l a t e i s an

infinite flat

plate with a

t h i c k n e s s o f t h e l o c a l depth and a d e n s i t y equal t o t h e d i f f e r e n c e

i n d e n s i t y between
[ 1030 kg/m3

1, so

the

p = 1640 kg/m

= ASFA

(2670 kg/m3)

crust
3

and

the

seawater

The Bouguer anoma l ies are:

+ 2nGpd = AgFA + 0.0687 d mga l

where d i s t h e depth i n meters.

As t h e bottom o f t h e North Sea i s v e r y smooth and t h e depth
v a r i e s between about 30 m and 60 m,

i t i s n o t necessary t o compute

topographic c o r r e c t i o n s .

5. Computation o f t h e cross-over p o i n t s
An independent check on t h e p r e c i s i o n o f t h e measurements i s
o b t a i n e d a t t h e cross-over

p o i n t s and on some repeated l i n e s . The

NAVGRAV p r o j e c t contained 350 cross-over

p o i n t s . A problem was t o

develop an e f f i c i e n t method t o f i n d t h e cross-over

points. This i s

s o l v e d as f o l l o w s .
The whole area was devided i n t o 1

1 km

b l o c k s and each

b l o c k was u n i q u e l y numbered. F i r s t , t h e whole area i s d i v i d e d i n t o

9 blocks, numbered 1 t o 9 [see f i g u r e 11. Each b l o c k i s s u b d i v i d e d
again i n t o 9 b l o c k s and so on.

The s m a l l e s t b l o c k i s 1

1 km

The advantage o f t h i s method i s t h a t t h e same numbering can be

used t o compute mean b l o c k anomalies f o r
s i d e lengths,

blocks w i t h d i f f e r e n t

i n c r e a s i n g w i t h a f a c t o r 3 each time, so 1 km, 3 km,

9 km, 27 km, 81 km and 243 km.

The b l o c k numbers c o n s i s t o f
of 1

number.

d i g i t s , e.g.

254268 i s a

1 km. The f i r s t 5 d i g i t s : 25426 i s t h e 3

2542 i s t h e 9
Every

six

gravity

block

3 km b l o c k and

9 km b l o c k i n which t h e p o i n t i s s i t u a t e d .
observation

is

labelled

with

specific

block

F i g u r e l . Block numbering

With a v e r y f a s t s o r t i n g r o u t i n e a1 l measurements ( t o g e t h e r w i t h
t h e i r l i n e numbers) a r e s o r t e d i n sequence o f t h e blocknumber. The
blocks

containing

measurements

considered as cross-over

from

different

lines

were

p o i n t s . The observation i n t e r v a l a l o n g a

l i n e i s about 300 m,

so u s u a l l y 3 p o i n t s o f a l i n e a r e s i t u a t e d

i n s i d e one b l o c k o f 1

1 km.

The mean value o f these t h r e e p o i n t s was compared w i t h t h e

mean value o f t h e t h r e e p o i n t s o f t h e o t h e r l ine. The d i f f e r e n c e
i s t h e cross-over

p o i n t d i f f e r e n c e and g i v e s an impression o f t h e

p r e c i s i o n o f t h e measurements.
The NAVGRAV p r o j e c t contained 350 cross-over p o i n t s . The r o o t
mean

square

of

the

differences

was

1.08

mgal

which

is

very

s a t i s f y i n g . A histogram o f these d i f f e r e n c e s i s given i n f i g u r e 2.

59% o f t h e observed d i f f e r e n c e s i s l e s s than 1 m i l l i g a l which

i s b e t t e r than expected on beforehand.

o f a difference i s

fi

As t h e standard d e v i a t i o n

times t h e standard d e v i a t i o n o f t h e g r a v i t y

measurements t h e standard d e v i a t i o n o f a s i n g l e g r a v i t y cross-over

p o i n t i s 1.08/fi

= 0.76 mgal.

As these cross-over

it

p o i n t d i f f e r e n c e s a r e caused b y random n o i s e

i s n o t necessary t o c o r r e c t t h e g r a v i t y values between t h e

cross-over

points.

The

same

method

is

used

to

compute

the

p o i n t s f o r t h e measurements from a s i m i la r p r o j e c t i n

cross-over
1979.

The cross-over

differences of

h i s t o g r a m o f f i g u r e 3.

1979 a r e presented i n t h e

It c o n t a i n s 188 cross-over

points with a

s t a n d a r d d e v i a t i o n o f 1.57 mgal.
Next t h e NAVGRAV measurements a r e compared w i t h t h e g r a v i t y
measurements observed i n 1979 i n t h e same area.

One o b j e c t i v e o f

t h e whole p r o j e c t was t o s t u d y t h e r e p e a t a b i l i t y and t h e e x t e r n a l

accuracy o f t h e g r a v i t y measurements. Therefore some l ines, which
were measured i n 1979,

have been repeated i n 1986 r e s u l t i n g i n

1453 check p o i n t s b o t h along t r a c k and cross-over

points.

F i g u r e 4 shows t h e histogram o f a l l cross-over

p o i n t s o f 1979

and 1986. 54% o f t h e measurements show d i f f e r e n c e s o f l e s s than 1

mgal and t h e standard d e v i a t i o n i s 1.47 mgal. T h i s value can s t i l l
be reduced if

systemat ic e r r o r s in some l ines a r e removed.

r e m a i n i n g standard d e v i a t i o n becomes 1.20 mgal

The

As t h i s value i s

t h e r e s u l t o f t h e d i f f e r e n c e i n two observations, each o b s e r v a t i o n

1
1.20 = 0.85 mgal.
has a r.m.s. o f -

6. Comparison o f t h e two gravimeters Kss-5 and Kss-30

I n o r d e r t o check t h e p r e c i s i o n o f t h e gravimeters,
from e x t e r n a l
course o f
other.

i n f l u e n c e s as e r r o r s

the ship,

One

Bodensee

i n the position,

b o t h gravimeters were s e t
Kss-5

gravimeter,

apart

speed and

up n e x t t o each

belonging

to

the

Delft

U n i v e r s i t y o f Technology and one Bodensee Kss-30 o f t h e U n i v e r s i t y

of

Hamburg.

The

comparison

is

made

on

8908

measured g r a v i t y

p o i n t s . F i g u r e 5 shows a histogram o f t h e d i f f e r e n c e s .
Cur iousl y t h e r e iS a systemat ic d i f f erence o f 1 mgal between
both

instruments,

probably

caused

connection t o t h e harbour p o i n t .

by

difference

in

the

The standard d e v i a t i o n o f

all

d i f f e r e n c e s i s 1.12 mgal.
Apart from t h i s some l i n e s show a systematic d i f f e r e n c e , caused by
inaccuracy o f t h e cross-coupling e f f e c t as a r e s u l t o f bad weather
conditions.

If

these systematic

errors

are

corrected

for,

the

remaining standard d e v i a t i o n o f t h e d i f f e r e n c e s i s o n l y 0.61 mgal.

This

means

that

both

gravimeters

correspond

F i g u r e 6 shows t h e d i f f e r e n c e s a f t e r
errors.

incredibly

correcting f o r

well.

systematic

7. The g r a v i t y anomalies
The

free

air

in t e r n a t ional
drawn

of

gravity

anomalies

g r a v i t y formula

the

measurements

1979

1967.

measurements

(figure 8).

are

computed

with

the

Iso-anomal y maps have been

(figure

7)

and

the

1986

As these maps are based on complete1y

independent data they g i v e a good impression o f t h e r e l i a b i l i t y o f

the results.
Comparison o f t h e two maps shows t h a t a1 l main features o f
the

gravity

field

are

the

same

in

both

maps.

Only

minor

d i f f e r e n c e s are present. Remarkable i s t h e r a t h e r i r r e g u l a r shape

of t h e g r a v i t y f i e l d , although t h e bottom o f t h e North Sea i s very
f l a t . The i r r e g u l a r i t i e s are caused by s t r u c t u r e s i n s i d e t h e e a r t h
c r u s t beneath t h e sediment

layer.

The North Sea Graben running

from North-West t o South-East can c l e a r l y be i d e n t i f i e d .

The

gravity

It

picture.

interpretation,

map o f

provides
for

the

North

valuable

oil

Sea

shows

information

very

for

detailed

geophysical

and gas e x p l o r a t i o n and f o r

scientific

research.
The most remarkable g r a v i t y anomaly iS s i t u a t e d a t l a t i t u d e
55'13',

longitude 5'38'

(figure

9 ) . This anomaly i s very sharp.

G r a v i t y changes 50 m i l l i g a l w i t h i n 20 km distance. The t o t a l mass

disturbance corresponding t o t h i s anomaly i s equivalent w i t h a
cube w i t h s i d e length o f
kg/m

place.

On geological

10 km and an anomalous d e n s i t y o f 500

maps a mass i n t r u s i o n i s i n d i c a t e d on t h i s

Mantle material has ascended i n t o t h e c r u s t up t o a depth

o f 10 t o 15 km. However t h e s i z e o f the i n t r u s i o n i s , according t o

t h e measurements, probably bigger than i n d i c a t e d i n t h e map.
Besides t h e contour representation g r a v i t y p r o f i l e s have been
p l o t t e d showing t h e f r e e a i r and Bouguer anomal ies.

The p r o f i l e s

r e f l e c t t h e d e t a i l e d s t r u c t u r e o f t h e g r a v i t y f i e l d and are s u i t e d
f o r smal l scal e s t u d i es ( c f . appendi X A).

7.1.

Mean b l o c k anomalies
I n t h e dataset a1 l p o i n t anomal i e s are s t o r e d together w i t h

t h e coordinates and block numbers, which are described i n s e c t i o n

5. I f t h e dataset i s s o r t e d , f o r
d i g i t s of

the blocknumbers,

instance on t h e f i r s t

of

we get a1 l t h e measurements i n s i d e

each 9

9 km

block.

The mean v a l u e o f t h e measurement i n s l d e

each b l o c k i s t h e mean b l o c k anomaly.

I n t h e same way l t i s easy

to

block

obtain

mean

block

anomalies

of

sizes,

which

are

m u l t i p l e o f 3 t i m e s t h e u n f t b l o c k s i z e . For o t h e r b l o c k s i z e s t h e
b l o c k numbers s h o u l d be recomputed which i s an easy j o b w i t h t h e
e x i s t i n g computer programs.

navgrav 1 9 8 6
gravity differences on cross points

milligal
EZGB 3 5 0

points

l .OS

st.dev

Figure 2

56

gravity 1 9 7 9
gravity differences on cross points
,,number of points

Figure 3

milligal
E B B 188

1.57

points
st.dev

navgrav 1 9 8 6 + 1 9 7 9
gravity differences on cross points
number o f points
'

Figure 4

milligal
EZZl 1 4 5 3 points

1.47

st.dev

NAVGRAV: D e l f t
Hamburg
gravity differences

,,,,number

of points

Figure 5

milligal
EZZ2 8 9 0 8 points

1.l2

st.dev

NAVGRAV: D e l f t
Hamburg
smoothed gravity differences

,,,, number

of points

Figure 6

milligal
EZB 8 9 3 0 points

0.6 1

st.dev

Figure 7. Free air gravity anomalies in mgal, measured in 1979

Figure 8. Free air gravity anomalies in mgal, measured in 1986

60

NORTH SER:

G R R V I T Y RNOMRLY

L55 1 3

DISTANCE I N KM

LINE:
ORlE:
llWE
U.1.W.

L5513
WRY 8

F U L L L I N E : F R E E A I R RNOMRLY
OPEN L INE : BOUGUER RNUMRL'f
l986

COOROINRTES

H.w.S.:
X:
?c

CEOGRRPHICRL COOROINRTES P H I :
LRWBOR:

NORTH SER:

SIRRI
15 4 45
788444
6128730
55.219
7.535

DEPTH

FINISH
29 '45
U27775
61 19785
55.218
1.865

L5513

OISTANCE I N KM

Figure 9. The largest gravity anomaly

61

8. Literature

Col lette, B. J. (1960): The gravity field of the North Sea. Gravity
expedi t i ons 1948-1 958, v01

V, part I I , Nether lands Geodet i c

Commission.
Fleischer, U. (1974): Seegravimetrie. Journal of Geophysics, vol.
40, no. 1.
Strang van Hees, G.L. (1983): Gravity survey of the North Sea.
Marine Geodesy, vol. 6, no. 2.
Vening Meinesz, F.A. (1932, 1934, 1941, 1948): Gravity expeditions
at sea. Vol. I , 1 1 , 1 1 1 , IV, Netherlands Geodetic Commission.

USING GPS SHIP VELOCITY ESTIMATES

FOR EOTVOS CORRECTION
J.H.M. Smit
Delft University of Technology
Faculty of Geodesy
l. Introduction
I n sea g r a v i m e t r y t h e nowadays r e a l i z a b l e accuracy i s l i m i t e d
b y Eotvos c o r r e c t i o n e r r o r s .
motion o f

The Eotvos e f f e c t i s caused b y t h e

the ship r e l a t i v e t o the r o t a t i n g earth.

T h i s motion

r e s u l t s i n a c o r i o l i s a c c e l e r a t i o n which must be c o r r e c t e d f o r . To
determine

the

Eotvos c o r r e c t i o n t o

better

than

0.5

mgal

ship

v e l o c i t y e s t i m a t i o n w i t h an accuracy o f 0.1 k n o t (approximate1 y 5

cm/s)

i s necessary. High p r e c i s i o n HF o r MF t e r r e s t r i a l n a v i g a t i o n

systems

offer

such

accuracy,

but

on1 y

near

shore.

For

ocean

g r a v i t y surveys t h e Global P o s i t i o n i n g System i s almost t h e o n l y

p o s s i b i l i t y t o o b t a i n h i g h p r e c i s i o n s h i p v e l o c i t y estimates.
The

NAVGRAV

navigation

data

was

used

to

compare

Eotvos

c o r r e c t i o n s computed from S y l e d i s and H y p e r f i x v e l o c i t y estimates

w i t h those from GPS v e l o c i t y estimates (Smit,

1988).

2. ~ o t v o scorrect ion
The Eotvos c o r r e c t i o n can be w r i t t e n :
2

v
AgE = 2wv Ecosp + r
i n which w i s t h e e a r t h ' s r o t a t i o n angular v e l o c i t y ,

the ship

v e l o c i t y e a s t component, p t h e l a t i t u d e , v t h e s h i p v e l o c i t y and r
the earth radius.

When t h e s h i p v e l o c i t y i s given i n knots,

the

Eotvos c o r r e c t i o n i n mgal i s :
AgE = 7.503-v cosp + 0.00415-v2

(2)

Formula

(2)

measurements.

gives

the

correction

For

the

ship

to

heading

be

added

east

the

to

the

gravity

gravity

reading

becomes t o o smal l and t h e Eotvos c o r r e c t i o n iS p o s i t i v e . When t h e

e a s t v e l o c i t y component

i s e x a c t l y zero,

i.e.

when t h e s h i p

is

headi ng n o r t h o r south, t h e Eotvos c o r r e c t i o n iS p r a c t ic a l ly zero.

The Eotvos c o r r e c t i o n standard d e v i a t i o n iS,

when n e g l e c t i n g

t h e second term on t h e r i g h t hand s i d e o f formula ( 2 ) :

i n which a
v
Taking

i s t h e standard d e v i a t i o n o f t h e s h i p e a s t v e l o c i t y .
E

52'

and

d e v i a t i o n a = 0.5
E
standard deviation:

the

mgal

yields

Eotvos

for

correction

standard

t h e r e q u i r e d east

velocity

= 0.1 k n o t r 0.05 ms-l

required

Because o f t h e v e l o c i t y accuracy r e q u i r e d t h e Eotvos c o r r e c t i o n iS

a r e s t r i c t i v e f a c t o r i n sea gravimetry.
The
offer

Global

high

Therefore,

Positioning

velocity

System,

accuracy

when

fully

worldwide,

24

will

deployed,
hours

per

day.

GPS i s a p r o m i s i n g development f o r sea g r a v i m e t r y .

3. S h i p v e l o c i t y e s t i m a t i o n w i t h GPS
Ship v e l o c i t y can be estimated w i t h t h e Global
System

using

measurements

pseudorange

or

code

combination

measurements,

of

these

Positioning

carrier

measurement

phase

types.

The

pseudorange method and t h e combination method y i e l d s h i p p o s i t i o n s

at

every

(receiver

dependent)

epoch.

The

converted t o s h i p v e l o c i t i e s b y numerical

positions

can

be

differentiation.

The

c a r r i e r phase method y i e l d s s h i p v e l o c i t i e s a t every epoch.

3.1.

GPS pseudoranging
Pseudorange p o s i t i o n i n g

i s r e a l i z e d by the

measurement

f o u r pseudoranges between t h e r e c e i v e r and f o u r s a t e l l i t e s .

ranges

are

determi ned

c r o s s - c o r r e l a t ing

by

the

coded

of

These

s i gnal

transmi t t e d b y (and unique f o r ) each sate1 l it e ,

w i t h an i d e n t i c a l

signal

unknowns

generated

receiver

in

coordinates

the
X,

receiver.
y,

(or

The

p,

h,

four
h)

and t h e

are
time

the
bias

between t h e r e c e i v e r c l o c k and t h e GPS t i m e frame.

The l i n e a r i z e d model f o r pseudorange s i n g l e p o i n t p o s i t i o n i n g
can be w r i t t e n :
d r = ATdx

64

where d r iS t h e v e c t o r o f observed minus computed pseudoranges,

the

design

matrix

containing

the

partial

derivatives

of

the

pseudoranges w i t h respect t o r e c e i v e r c a r t e s i a n coordinates and

clock

bias,

the

transformation

c a r t e s i a n coordinates,

matrix

from

and dx t h e v e c t o r o f

geographical

to

corrections t o the

geographical coordinates and c l o c k b i a s .

S o l u t i o n o f equation ( 5 ) b y a c o l l o c a t i o n model i s :

dx = (P

+ T ~ A AT)
~ P

-1 T T

T A P dr

which a l l o w s one o r more unknowns t o be h e l d f i x e d b y g i v i n g i t a

l a r g e weight f a c t o r i n t h e a p r i o r i weight m a t r i x o f unknowns P
X

T h i s way any number o f unknowns can be computed l e s s than o r equal

t o t h e number o f s a t e l l i t e s a v a i l a b l e .
The s a t e l l it e c a r t e s i an coordinates a r e computed from a s e t
of

orbit

parameters,

an

extension

of

the

six

Keplerian o r b i t

parameters. They a r e found i n t h e second and t h i r d subframe o f t h e

s a t e l l i t e n a v i g a t i o n message (Van Dierendonck e t a l .

1978).

The a l g o r i t h m described above y i e l d s p o s i t i o n estimates

h

i n a certain

r e f e r e n c e system a t

every

(receiver

Q,

A,

dependent)

epoch. The two systems used f o r GPS a r e t h e World Geodetic System

1972 and 1984. The p o s i t i o n s ,
3

seconds

for

v e l o c i t i e s , e.g.

TI-4100

i n WGS72 o r WGS84, given e. g. every

receiver,

must

order

estimates.

be

converted

to

every 60 seconds, which i s t h e observation p e r i o d

o f t h e g r a v i t y meter. T h i s can be done e.g.

second

now

polynomial

fit

of

the

w i t h a l e a s t squares

latitude

and

longitude

The second term o f t h e polynomial represents t h e n o r t h

v e l o c i t y and t h e east v e l o c i t y according t o :

The mean ~ o t v o sc o r r e c t i o n over 60 seconds iS computed from:

3.2.

GPS Doppler smoothed pseudoranging

A combination o f

phase

measurements

pseudoranging,

pseudorange code measurements and c a r r i e r

is

used

in

the

case

as described b y (Hatch,

(Lachapel l e e t a l ,

1987).

of

1982).

Doppler
(Hatch,

smoothed

19861, and

Suppose t h a t pseudorange measurements

a r e avai labl e on b o t h GPS c a r r i e r waves L1 and L2. The L1 c a r r i e r

w i t h a frequency o f

1575.42 MHz i s modulated w i t h t h e C/A

t h e P code and t h e sate1 l it e n a v i g a t i o n message.

code,

The L2 c a r r i e r

w i t h a frequency o f 1227.60 MHz i s modulated w i t h t h e P code and

the

satellite

measurements P

navigation

L1

message.

The

code

pseudorange

and PL2 on t h e L1 and L2 c a r r i e r s , r e s p e c t i v e l y ,

a r e combined i n t o a frequency weighted average measurement:

With a TI-4100 r e c e i v e r one f i n d s t h e pseudorange code measurement

centered i n t h e i n t e r v a l o f c a r r i e r phase measurement. The c a r r i e r
s t a r t phase measurement preceeds t h e code measurement which i t s e l f
i s f o l l o w e d b y t h e c a r r i e r end phase measurement. The i n t e r v a l o f
carrier

phases

carrier

start

is

constant

160

phase and c a r r i e r

m i l l iseconds.

Averaging

end phase y i e l d s

the

phases C

carrier

and CL2 on t h e L1 and L2 c a r r i e r respective1 y,

LI
a r e combined b y d i f f e r e n c i n g :

The d i f f e r e n c i n g r e s u l t s

in a

longer

wavelength

whose

of

which

initial

ambiguity i s e a s i e r t o r e s o l v e .
A

smoothed pseudorange

can

be

formed b y averaging

the

measured pseudorange P w i t h i t s p r e d i c t e d value P i n a r e c u r s i v e

filter:
A

P = F

n-l

+ ( C n

C n - l1 ) . ~

The second term on t h e r i g h t hand s i d e o f

formula

(12)

i s the

i n t e g r a t e d Doppler count over t h e time i n t e r v a l between epoch n - l

and n,

converted t o meters b y m u l t i p l y i n g w i t h t h e v e l o c i t y o f

l i g h t c d i v i d e d b y t h e d i f f e r e n c e o f t h e two c a r r i e r frequencies
fl and f 2

i n which

cr

The variance o f t h e p r e d i c t e d pseudorange i s g i v e n by:

2
C

i s the

variance o f

the

differenced c a r r i e r

phase

measurement C.
I f a c y c l e s l i p i s detected b y e v a l u a t i n g t h e absolute value

of

the

difference

prediction

b,

between

the

measured pseudorange
2

its

t h e f i l t e r i s r e s e t b y t a k i n g cr2
- = cr
P

P and

The smoothed pseudoranges a r e used i n t h e l i n e a r i z e d model o f

, again

formula ( 5 ) i n t h e same way as described i n chapter 3.1.

y i e l d i n g p o s i t i o n estimates cp,
(receiver

dependent)

velocities

every

polynomial

fit

epoch.

60
of

seconds
latitude

X,

h i n WGS72 o r WGS84 a t every

The
by

positions
a

and

least

are

converted

squares

longitude

second

estimates,

to

order

compare

formulae ( 7 ) and (8). The mean ~ o t v o sc o r r e c t i o n s per 60 seconds

can be computed w i t h ( 9 ) .

GPS c a r r i e r v e l o c i t i e s

3.3.

The l i n e a r model
can be w r i t t e n ,

in

which

Xc

carrier

frequency v e l o c i t y e s t i m a t i o n

see (Kleusberg e t a l ,

is

observed c a r r i e r

the

carrier

matrix

1985):

wavelength,

frequency s h i f t s ,

c a r t e s i a n coordinates,
design

for

Af

is

the

function

of

vector

sate1 l i t e

s a t e l l i t e v e l o c i t y and c l o c k d r i f t ,

containing

the

partial

derivatives

of

A the

of

the

pseudoranges w i t h respect t o r e c e i v e r c a r t e s i a n coordinates and

clock

bias,

the

transformat i o n

matrix

from

geographical

to

c a r t e s i a n c b o r d i n a t e s and
o f geographical

;t h e

v e c t o r o f unknown t i m e d e r i v a t i v e s

c o o r d i n a t e s and unknown r e c e i v e r c l o c k d r i f t

or

frequency o f f s e t :

Here v

v a r e t h e v e l o c i t y components i n n o r t h , e a s t and
E '
H
upward d i r e c t i o n r e s p e c t i v e l y . The east v e l o c i t y component v must
E
be c o r r e c t e d f o r t h e e a r t h r o t a t i o n e f f e c t (N+h)ocosv .
N '

S o l u t i o n o f equation (16) by a c o l l o c a t i o n model i s :

X

T T

= (P. + T A Ph AfAT)

-1

T T

T A Ph A f ( a o

h Af)
C

which a l l o w s one o r more unknowns t o be h e l d f i x e d b y g i v i n g i t a

l a r g e weight f a c t o r i n t h e a p r i o r i weight m a t r i x o f unknowns P.
X

T h i s way any number o f unknowns can be computed l e s s than o r equal

to

the

number

of

satellites

available.

When

estimating

ship

v e l o c i t i e s one can u s u a l l y c o n s t r a i n t h e h e i g h t component t o zero

b y s e l e c t i n g a proper weight.
With

TI-4100

measurement

centered

measurements.
carrier

receiver
in

The c a r r i e r

one

the
start

v e l o c i t y measurement

finds

interval

of

carrier
carrier

phase measurement

velocity
phase

preceeds t h e

( o r c a r r i e r phase t i m e d e r i v a t i v e )

which i t s e l f i s f o l l o w e d by t h e c a r r i e r end phase measurement. The

i n t e r v a l of c a r r i e r phases i s a constant 160 m i l l i s e c o n d s (compare
chapter 3.2.

1. D i f f e r e n c i n g o f c a r r i e r s t a r t phase and c a r r i e r end

phase and d i v i d i n g b y t h e t i m e i n t e r v a l o f 160 m i l l iseconds y i e l d s

c a r r i e r v e l o c i t i e s on L1 and L2 which a r e b o t h equal t o t h e d i r e c t
c a r r i e r v e l o c i t y readout:

,j =

['end

ftartILl

['end

'start

As t h e n o i s e l e v e l i s much h i g h e r i n t h e d i r e c t c a r r i e r v e l o c i t y
readout ( W e l l s e t a l ,

1985).

t h e L1 c a r r i e r s t a r t phase and end

phase

measurements

are

used t o

compute

the

carrier

frequency

shift:

The

satellite

differentiation

velocity

of

the

vector

formulae

can

for

be

found

computing

the

by

time

satellite

c a r t e s i a n coordinates.
The a l g o r i t h m described above y i e l d s v e l o c i t y e s t i m a t e s v
and v

i n WGS72 o r WGS84 a t every ( r e c e i v e r dependent) epoch.

mean values o f v

and v

The

over 60 seconds a r e computed and from

them t h e mean Eotvos c o r r e c t i o n s w i t h formula ( 9 ) .

4. Comparison o f ~otvi;s c o r r e c t i o n s
By comparing t h e a v a i l a b l e t e r r e s t r i a l

and GPS n a v i g a t i o n

d a t a f o r t h e avai labl e g r a v i t y l ines o f t h e NAVGRAV p r o j e c t t h e

following

be

selected

to

analyse

Eotvos

lines

could

the

line
id

start
time

end
time

date
1986

radio
navigation

L5430a

2:05

4:33

April24

Hyperfix

TI-4100

270'

L0330a

4:39

6:12

April24

Syledis

TI-4100

180'

L0430d

15:53

18:39

April25

Syledis

TI-4100

0O

L5415a

2:24

5:12

A p r i l 26

Hyperfix

TI-4100

L0600a

15:36

17:18

April26

Syledis

TI-4100

corrections:

GPS
ship
r e c e i v e r course

90'
0O

Table I . Gravity lines selected for analysis

The

main

selection

criterion

was

the

required

GPS

sate1 l it e

coverage o f a t l e a s t two s a t e l l i t e s , which was t h e case d u r i n g two

p e r i o d s per day, t h e f i r s t b e i n g from 1:35 h t o 8:50 h, t h e second
from 13:45 h t o 20:25 h ( p e r i o d s a r e g i v e n f o r A p r i l 24 i n GMT,
t h e p a t t e r n s h i f t s approximately 4 minutes per day). The s e l e c t e d

l i n e s can

be

found

in

figure

1 and

are

a1 l

from

the

( n a v i g a t i o n ) p a r t o f t h e NAVGRAV p r o j e c t , because t h e S y l e d i s

first
and

G.P.S. survey NAVGRAV

23 29 April 1986

Figure l.

The first period of NAVGRAV with five gravity lines

selected for analysis

H y p e r f i x n a v i g a t i o n systems, used as a reference, were p a r t o f t h e

n a v i g a t i o n experiment o n l y .
The a v a i l a b l e v e l o c i t y estimates are:

numerical d i f f e r e n t i a t i o n o f S y l e d i s p o s i t i o n

numerical d i f f e r e n t i a t i o n o f H y p e r f i x p o s i t i o n

numerical d i f f e r e n t i a t i o n o f GPS pseudoranging p o s i t i o n

(chapter 3.1. )

numerical d i f f e r e n t i a t i o n o f GPS Doppler smoothed pseudor a n g i n g p o s i t i o n (chapter 3 . 2 . )

averaging o f GPS c a r r i e r frequency v e l o c i t y (chapter 3 . 3 . )

The numer ic a l d i f f e r e n t ia t ion o f Syl edi S and Hyperf iX posi t ion iS

analogous t o t h e numerical

differentiation of

w i l l t h e r e f o r e n o t be d e a l t w i t h here.
v e l o c i t y estimates,

used as reference,

and a r e c o r r e c t e d f o r

outliers

GPS p o s i t i o n and

The S y l e d i s and Hyperf i x

a r e given every 60 seconds

and f i l t e r e d .

The GPS v e l o c i t y

estimates were computed every 60 seconds as described i n chapter

3.

O u t l i e r detection o f

pseudoranging
estimated

velocity

standard

GPS pseudoranging and Doppler

estimates

deviation

of

was
the

done
Eotvos

by

smoothed

means

of

correction,

the
which

should be l e s s than 1 mgal . The out1 ie r d e t e c t i o n o f GPS c a r r i e r

frequency v e l o c i t y estimates i s achieved b y means o f t h e absolute
value o f t h e d i f f e r e n c e o f each v e l o c i t y estimate per 3 seconds
w i t h t h e averaged v e l o c i t y per 60 seconds.
be w i t h i n
standard
derived

a 99.9

percent

deviation
velocity

of

the

estimates

The d i f f e r e n c e should

confidence r e g i o n o f
single
were

velocity
left

3.29

estimate.

u n f i lt e r e d

in

times

the

All

GPS

order

to

e s t a b l i s h t h e achievable r e s o l u t i o n and accuracy.

F i g u r e s 2, 3, 4, 5 and 6 show Eotvos c o r r e c t i o n s f o r g r a v i t y
l ines L5430a,

L0330a,

L0430d,

L5415a and L0600a.

respect iv e l y,

computed from GPS and S y l e d i s o r H y p e r f i x n a v i g a t i o n data.

All

Eotvos c o r r e c t i o n s a r e given i n mgal.

The comparison o f t h e t h r e e GPS d e r i v e d Eotvos c o r r e c t i o n s
with

the

Syl edi S o r

Hyperf iX

d e r i v e d Eotvos c o r r e c t i o n s shows

sometimes poor performance o f GPS. The i n t e r v a l s meant here a r e o f

l i n e L5430a, f i g u r e 2 between 12000 and 14000, l i n e L0430d. f i g u r e
4 between 64000 and 67000, and l i n e L5415a, f i g u r e 5 between 12000
and 14000. The reason can be found i n t h e s a t e l l i t e c o n f i g u r a t i o n .

-55.00koo

s ~ os ~ o9

78100

oio4oo

ioboo

iiioo

tadoo 1 2 ~ 0 0 1 s ~ o o isioo i4:oo

is~oo 15;OO

2 4 a p r i l 1986 t l m e i n seconds

Figure

Eotvos

2.

corrections

for

line

L5430a

from

GPS

pseudoranging, Doppler smoothed pseudoranging, carrier velocity,

and Hyperfix
5.001

'

'

'

syledis

-- pseudoranging
4.00-

d o p p l e r smooth
carrier velocity

42

E -3.00-

-4.00-

-5.00

'

i7ioo

' isAoo

iskoo ' isloo ' i d o o '

20:oo

'

2idoo

'

2ik00

'

22A00

'

22800

24 a p r i l 1986 t i m e i n seconds

Figure

3.

Eotvos

corrections

for

line

L0330a

from

GPS

pseudoranging, Doppler smoothed pseudoranging, carrier velocity,

and Syledis

I --- r useudorang~ng
d o p o l e r smooth

4 00

carrier veloclty

5.00

57600

58800

,60000

61200

62400

63600

64800

66000

i
67200

25 a p r l l 1986 t l r n e i n seconds

Figure

4.

~ o t v o s corrections

for

line

L0430d

from

GPS

pseudoranging, Doppler smoothed pseudoranging, carrier velocity,

and Syledis
-

59.00
d o p p l e r smooth
carrier velocity

58.00r

-I

3-I
I
l
I

9600

10800

12000

13;OO

14100-

15AOO

26 a p r i l 1986 t l m e I n s e c o n d s

Figure

5.

~ o t v o s corrections

for

line

L5415a

from

GPS

pseudoranging, Doppler smoothed pseudoranging, carrier velocity,

and Hyperf ix

- syledis

pseudoranging
---- d o p p l e r smooth
carrler velocity

-3.00-

-4.00

-5.00'

5dOO

Figure

6.

57;OO

67c!.OO

5dOO ' 5dOO

5dOO
6 - 0 4
26 a p r i l 1986 t l m e in s e c o n d s

~ o t v o s corrections

for

line

L0600a

from

GPS

pseudorangi ng, Doppl er smoothed pseudorangi ng, carrier vel oci t y,

and Syledis
r a d i o nav GPS pseudorange GPS Doppler psr GPS c a r r i e r vel

line
L5430a

Hyperfix

n= 54

n= 70

n= 58

m= 0.130 mgal

m=-0.002 mgal

m=-0.057 mgal

L0330a

L0430d

Syledis

Syledi S

L0600a

Hyperf i X

Syl edi s

0.712 mgal

IF

0.543 mgal

n= 66

n= 57

n= 59

m=-0.531 mgal

m=0.159 mgal

m= 0.322 mgal

~2.267mgal

~0.292mgal

~0.439mgal

n= 92

n= 90

n= 84

m=-0.320 mgal

m=O.l20mgal

m=0.181 mgal

L5415a

0.737 mgal

1.086 mgal

IF

0.807 mgal

0.681 mgal

n= 92

n= 91

n= 93

m=-0.244 mga l

m=-0.239 mga l

m= 0.026 mga l

~ 0 . 8 9 1mgal

-0.827

~ 0 . 8 7 3
mgal

n= 26

n= 30

n= 47

m=O.l42mgal

m=O.O33mgal

m=O.l98mgal

1.515mgal

~ 0 . 6 2 1mgal

~ 0 . 5 5 6
mgal

mgal

Table 2. Comparison of GPS derived ~ o t v o scorrect ions

74

D u r i n g these

i n t e r v a l s t h e d i l u t i o n o f p r e c i s i o n appears t o be

c o n s i d e r a b l y worse than 10 and t h e r e f o r e n o t r e p r e s e n t a t i v e .

the future,

when more s a t e l l i t e s a r e a v a i l a b l e ,

the

In

choice o f

another s e t o f s a t e l l i t e s w i t h a b e t t e r d i l u t i o n o f p r e c i s i o n w i l l
a v o i d t h e problem encountered here.
Comparison o f

t h e t h r e e GPS d e r i v e d Eotvos c o r r e c t i o n s

figures 2 t o 6 yields the

in

impression t h a t t h e Doppler smoothed

pseudoranging v e l o c i t y estimates a r e best.

I n order

t o further

compare t h e t h r e e GPS d e r i v e d Eotvos c o r r e c t i o n s t o t h e S y l e d i s o r

Hyperf iX der ived Eotvos c o r r e c t ions t h e mean d i f f e r e n c e s and t h e
standard d e v i a t i o n s
g ~ a v i t yl i n e .

of

the

differences

are

computed

for

each

A1 l data was used unless marked as out1 i e r .

'The

r e s u l t s can be found i n t a b l e 2. I n t h e t a b l e a r e g i v e n t h e number

o f Eotvos d i f f e r e n c e s ,

t h e mean Eotvos d i f f e r e n c e m i n mgal,

n,

and t h e standard dev-iation o f t h e d i f f e r e n c e s , IT, i n mgal.

The mean d i f f e r e n c e s a r e smal l e s t f o r Eotvos c o r r e c t i o n s as
a l itt le larger f o r

der ived from Doppl e r smoothed pseudorangi ng,

those

based

on

pseudoranging,

carrier
but

all

velocity
mean

and

largest

differences

are

for

those

small

from

enough

to

j u s t i f y t h e conclusion t h a t no systematic e f f e c t s a r e present. The

standard

deviations

are

best

when

using

Doppler

smoothed

pseudoranging and c a r r i e r v e l o c i t y as compared t o pseudoranging.

F i g u r e s 7,

8 and 9 show d i s t r i b u t i o n s o f absolute values o f

d i f f erences between Eotvos c o r r e c t ions as d e r i v e d from Hyperf iX

and

GPS

pseudoranging,

those

from

GPS

Doppler

smoothed

pseudoranging and those from GPS c a r r i e r v e l o c i t y f o r g r a v i t y l i n e

L5430a.

Figures

10,

11 and

12 show

distributions

of

absolute

d i f f erences between Sy ledi S and GPS der ived Eotvos c o r r e c t ions f o r

l ine L0330a.

The h i stograms j u s t i f y a conclusion o f t h e maxi mum

values o f t h e Eotvos c o r r e c t i o n d i f f e r e n c e s as given i n t a b l e 3.

GPS Doppler smoothed pseudoranging

1.0 mgal

GPS c a r r i e r v e l o c i t y

1.5 mgal

GPS pseudoranging

2.0 mgal

Table

3.

Maximum

differences

derived EO tvos correct ions

of

CPS

and

Syledis/Hyperfix

24 april 1986, absolute delta eotvos in mgal

Figure 7. Distribution of absolute values of ~ o t v o s correction

differences for line L5430a from GPS pseudoranging and Hyperfix

24 april 1986, absolute delta eotvos in mgal

Figure 8. Distribution of absolute values of ~ o t v o s correction

differences

for

line

pseudoranging and Hyperfix

L5430a

from

GPS

Doppler

smoothed

2 4 a ~ r i l1986, a b s o l u t e d e l t a e o t v o s i n mgal

Figure 9. Distribution of absolute values of Eotvos correction

differences for line L5430a from GPS carrier velocity and Hyperfix

2 4 a p r i l 1986, a b s o l u t e d e l t a e o t v o s i n mgal

Figure 10. Distribution of absolute values of Eotvos correction

differences for line L0330a from GPS pseudoranging and Syledis

24 a p r i l 1986, a b s o l u t e d e l t a e o t v o s i n mgal

Figure 11.
differences

Distribution of absolute values of Eotvos correction

for

line

L0330a

from

GPS

Doppler

smoothed

pseudoranging and Syledis

24 a p r i l 1986, a b s o l u t e d e l t a e o t v o s i n mgal

Figure 12. Distribution of absolute values of Eotvos correction

differences for line L0330a from GPS carrier velocity and Syledis

S. Conclusions
The a n a l y s i s o f the Eotvos corrections f o r the f i v e g r a v i t y
l ines shows t h a t the G1 obal

P o s i t i o n i n g System y i e l d s excel l e n t

It s h a l l

be c l e a r t h a t no p e r f e c t reference

v e l o c i t y estimates.

e x i s t s and t h a t t h e comparison o f Eotvos c o r r e c t i o n s derived from

GPS

and

radio

navigation

velocities

is

affected

by

the

imperfection o f both systems. Comparison which v e l o c i t y estimation

method a c t u a l l y y i e l d s best r e s u l t s can be done by c o r r e c t i n g the
gravi t y

measurements f o r

cross-over

d i f f erences.

the

Eotvos

However,

effect

s i nce

the

and

f ive

anal y s i ng
gravi t y

the

l ines

a v a i l a b l e f o r t h i s analysis do not i n t e r s e c t a cross-over analysis

was n o t poss ib le.
Although the analysis was c a r r i e d out w i t h measurements under
ideal and c o n t r o l l e d c i rcumstances (no heavy w i nd and excel lent
r a d i o p o s i t i o n i n g ) , the conclusions about the p o s s i b i l i t i e s o f the
Global

Positioning

conditions.
available,
worldwide,

In

System

near

remain

future,

valid

when

for

more

less

favourable

sate1 l i t e s

will

be

GPS w i l l provide high accuracy ship v e l o c i t y estimates

also

in

open

oceans

where

terrestrial

systems

are not avai lable.

Hence we expect

Eotvos

correction

in

significantly.

errors

sea

that

gravimetry

navigation

the e f f e c t

can

be

of

reduced

6. References

Hatch,

(1982):

R. R.

measurements.

The

synergism

Proceedings

of

of

GPS

the

code

and

Third

Symposium on S a t e l l i t e Doppler P o s i t i o n i n g .

carrier

International
Las Cruces,

New

Mexi CO.
Hatch,

(1986) :

R. R.

level.

Dynamic d i f f e r e n t i a l

Proceedings

of

the

GPS a t

Fourth

t h e centimeter

International

Geodetic

Symposium on S a t e l l i t e P o s i t i o n i n g , Austin, Texas.

Kleusberg,

A.,

S.H.

Comparison

of

Quek,
INS

D.E.

and

GPS

Wells,
ship

J.

Hagglund

velocity

(1985):

determination.

Proceedings o f t h e T h i r d I n t e r n a t i o n a l Symposi um on I n e r t ia1

Technology f o r Surveying and Geodesy, B a n f f , Canada.
Lachapel le, G.

, W. Fa1kenberg, M. Casey

( 1987) : Use o f phase d a t a

f o r a c c u r a t e d i f f e r e n t i a l GPS k i n e m a t i c p o s i t i o n i n g . B u l l e t i n
G6odesique. v o l . 61, no. 4.
Smit,

J.H.M.

(1988):

Graduate t h e s i S,

Sea

gravimetry

and

~ o t v o s correction.

Del f t U n i v e r s i t y o f Technology,

Faculty o f

Geodesy.
Van Dierendonck,

(1978):

A.J.,

S.S.

Russell,

E.R.

The GPS N a v i g a t i o n Message.

Kopitzke,

M.

Navigation,

Birnbaum
vol.

25,

no. 2.
Wells, D.E.,

S.H.

Quek, J. McCullough, J. Hagglund (1985): P r e c i s e

S h i p ' s V e l o c i t y from GPS:

Some Test Results.

Proceedings o f

t h e F i r s t I n t e r n a t i o n a l Symposium on P r e c i s e P o s i t i o n i n g w i t h
t h e Global P o s i t i o n i n g System, Rockvi l l e , Maryland.

ALTIMETRY DERIVED GRAVITY COMPARED

WITH NAVGRAV OBSERVED GRAVITY
R.H.N. Haagmans
Delft University of Technology
Faculty of Geodesy

l. Introduction
The

only

way

to

era

was

to

satellite

obtain

information

collect

at

shipborne

sea

before

measurements

the

during

expensive and t i m e consuming expeditions. Think o f Vening Meinesz'

p i o n e e r i n g work,
small

(19411 o r

(19481.

areas c o u l d be covered,

As a r e s u l t o n l y r e l a t i v e l y

with

different

accuracies,

while

l a r g e p a r t s o f t h e oceans remained unexplored.

Nowadays t h e c h a r a c t e r i s t i c s o f t h e "wet p a r t " o f
are better

known due t o t h e

satellites.

One o f

launch o f

our

globe

v a r i o u s e a r t h observing

t h e e a r t h observing techniques

i s satellite

a l t i m e t r y which provides us w i t h sea surface h e i g h t s o f u n i f o r m

q u a l i t y c o v e r i n g l a r g e ocean areas on a global scale. The a n a l y s i s
o f a lt imeter data y ie lds wor ldwi de oceanograph ic and geophys ica l
i n f o r m a t i o n , such as c u r r e n t s ,

eddies,

sea s u r f a c e v a r i a b i l i t i e s ,

geoid h e i g h t s and g r a v i t y anomalies.

In

this

observed

study

sea

paradoxical

gravity

surface
because

anomalies

At

heights.
one

of

the

are

first
main

computed

sight

the

objectives

geodesy i s j u s t t h e opposite, t h e determination o f

from g r a v i t y anomalies.
think

of

an

on

idea
of

the
looks

physical

geoid

heights

I n t h i s respect one would r a t h e r p r e f e r t o

altimetric-gravimetric

combining g r a v i t y

from

land w i t h

boundary

altimetry

value

i n ocean

Sacerdote and Sansb, 1983 o r Sansb and Stock,

19851.

problem

areas

(cf.

However

for

many purposes one s t i l l wants t o d e r i v e g r a v i t y from a l t i m e t r y ,

either

for

geophysical

g r a v i t y t o one g l o b a l

purposes
data s e t .

or

for

I n our

merging

it

with

land

case t h e purpose i s t o

compare a l t i m e t r y d e r i v e d w i t h measured g r a v i t y .
For t h e computation o f g r a v i t y anomalies two d i f f e r e n t methods a r e
considered here,

c o l l o c a t i o n known from geodetic

practice

(cf.

Tscherning,

1974 o r M o r i t z , 1980) and a method u s i n g t h e r e l a t i o n s

between t h e F o u r i e r spectra o f t h e geoid h e i g h t s and t h e g r a v i t y

anomalies developed b y geophysicists ( c f . Roest, 1987).
The r e s u l t s can be compared w i t h v e r y accurate shipborne f r e e
a i r g r a v i t y anomalies
ship

i n t h e North Sea which a r e computed from

gravimetry during the

Hees,

this

issue).

This

judgement

on

the

anomalies

as

obtained

NAVGRAV experiment

accurate

accuracy

of

from

reference

the

both

(cf.

data

altimetry

Strang

set

a1 lows a

derived

approximation

van

gravity

methods

(cf.

Haagmans, 1988).

2. The SEASAT a l t i m e t e r
The

altimeter

on

board o f

SEASAT

the

sate1 l i t e

observed

ranges t o t h e sea s u r f a c e d u r i n g i t s t h r e e months o p e r a t i o n a l time

in

1978.

These

raw

observations

need

to

d i s t u r b i n g e f f e c t s caused b y t h e ionosphere,
the

instrument.

be

corrected

for

t h e troposphere and

Combining t h e c o r r e c t e d ranges w i t h

information

about t h e s a t e l l i t e p o s i t i o n r e s u l t s i n sea s u r f a c e h e i g h t s above

a chosen r e f e r e n c e e l l i p s o i d ( f o r example t h e GRS80).
The

instantaneous sea s t a t e

variable effects.
tides,

surface

and

provided t o

Records (Lore1 l e t a l ,
surface height.

influenced by various

For several o f these,

pressure

corrections are

is

such as ocean and e a r t h

significant
the

user

time

on

wave
the

heights

model

Geophysical

Data

1980) and can be appl i e d t o t h e raw sea

The p r i n c i p l e o f s a t e l l i t e a l t i m e t r y i s shown i n

f i g u r e 1.
Two o t h e r e f f e c t s remai n and need t o be e l iminated i n order
t o achieve meaningful geoid h e i g h t s . The f i r s t i s t h e r e s i d u a l sea
s u r f a c e topography which, again, can be d i v i d e d i n t o a
and a t i m e v a r i a b l e p a r t . For t h e s t a t i o n a r y p a r t
degree and order 20 o f a s p h e r i c a l harmonic

stationary

estimates up t o

expansion

result

in

g r a v i t y anomaly c o r r e c t i o n s smaller than 0.5 mgal

f o r the North

Sea

part

region

(cf.

Rapp,

1985).

The

time

variable

is

even

s m a l l e r b u t more d i f f i c u l t t o model. Both e f f e c t s a r e n e g l e c t e d i n

our

computations

which

implies

that

they

constitute

an

error

source i n t h e f i n a l g r a v i t y anomaly s o l u t i o n .
Secondly t h e r a d i a l o r b i t e r r o r needs t o be e l i m i n a t e d from

ELLIPSOID

Figure l. The Principle of an altimeter measurement.

the

s a t e l li t e p o s i t i o n s .

Although

heights

are

position

(to

b e t t e r t h a n 10 cm) an u n c e r t a i n t y i n t h e a b s o l u t e p o s i t i o n o f

the

r a t h e r we1 l determined r e l a t i v e

s a t e l l i t e remains as l a r g e as
radial

orbit error

conditions

of

the

the

to

sea

the

surface

satel l i t e

f 1.5 m r.m.s..

This rather large

i s a r e s u l t o f uncertainties i n the

initial

satellite

in

orbit

and,

predominately,

u n c e r t a i n t i e s o f t h e g r a v i t y f i e l d parameters ( c f .

Colombo,

the
1984

o r Rumme l , 1986 1.
The problem o f t h e o r b i t e r r o r s i s t r e a t e d i n d i f f e r e n t ways
f o r t h e two g r a v i t y f i e l d approximation methods considered here.
For t h e case o f

t h e geophysical

removal

than

orbit

segment

an

linear

error

trend

method i t

removal.

For

i s more o f
each

a trend

individual

i s removed which models t h e

arc

difference

between t h e a r c and a r e f e r e n c e g e o i d based upon t h e GEMlOB s e t

o f p o t e n t i a l c o e f f i c i e n t s ( c f . Roest, 1987 o r Haagmans, 1988). The
result

is

reference

rather

arbitrary

independent

from

fit

of

other

each

arc

arcs

to

within

the

GEMlOB

larger

conf ig u r a t ion.
For

the

case

of

the

collocation

method t h e

orbit

errors

are

t r e a t e d in a more s o p h i s t i c a t e d way.

condi t ions

Using cross-over

t h e e r r o r s a r e minimized i n an adjustment i n two steps.

The f i r s t s t e p c o n s i s t s o f a cross-over

mini m i z a t i o n o f t h e o r b i t

error

descending

fitting

to

each

ascending

and

arc

li n e a r

f u n c t i o n i n a l a r g e diamond shaped area i n t h e Northern A t l a n t i c .

The r e s u l t i s a r e l a t i v e s o l u t i o n
s t e p an o p t imal

(Haagmans,

1988).

I n a second

f i t connects t h e r e l a t i v e s o l u t i o n t o a GEM1OB

r e f e r e n c e geoi d (Schrama, 1988).

Both approaches a r e considered t o r e s u l t

i n geoid heights,

which can be expressed as:

where N(P)

i s t h e g e o i d h e i g h t a t p o i n t P,

i s the

sate1 1 i t e

position, r

i s t h e p o s i t i o n o f t h e p r o j e c t i o n o f P ( c f . f i g u r e 1)
e
o n t o t h e r e f e r e n c e e l li p s o i d , E i s a li n e a r t r e n d o r o r b i t e r r o r
S

correction,

"cor

is

the

corrected

range

(i.e.

corrected

ionosphere, troposphere, t h e instrumental e f f e c t , ocean and

earth

tides,

barotropic

effects

and

significant

for

solid

waveheight

e f f e c t s ) and H i s t h e modelled sea s u r f a c e topography.

Once these g e o i d h e i g h t s a r e determined t h e g r a v i t y anomalies can
be computed.

3. G r a v i t y anomalies
The g e o i d h e i g h t o f t h e e a r t h ' s g r a v i t y f i e l d a t a p o i n t P
can be l i n k e d t o t h e g r a v i t y anomal y a t t h e same p o i n t b y t h e
fundamental equation o f geodesy combined

w i t h Bruns' f o r m u l a ( c f .

Heiskanen and M o r i t z , 1967) y i e l d i n g i n s p h e r i c a l approximation:

where Ag i s t h e g r a v i t y anomaly,

R i s t h e mean e a r t h ' s r a d i u s and

7 i s t h e mean g r a v i t y over t h e e a r t h .

Two d i s c r e t e approximation methods w i l l be used i n t h e sequel

o r d e r t o compute t h e l o c a l g r a v i t y anomal y f i e l d .

in

A problem may

arise

observed geoid heights are used as

if

transform

from

geoid

heights

to

input,

gravity

since the

anomalies

d i f f e r e n t i a t i n g operation or a k i n d o f high-pass

filter.

is
Or

a
if

there iS noise i n t h e observations i t w i l l be amp1 i f ied together

w i t h the higher frequency content o f the geoid height signal which
may

result

in

unstable

or

even

meaningless

gravity

anomaly

estimates.
This problem i s handled i n both methods by c a r e f u l ly s e l e c t i n g the
sample p o i n t d i s t r i b u t i o n and by noise modelling and f i l t e r i n g
( c f . Haagmans, 19881.

3 . 1 Least squares c o l l o c a t i o n

The f i r s t

method i s least squares col l o c a t i o n which

i s a space

domain technique where ( s i g n a l ) covariance f u n c t i o n s p l a y a very

It i s a

important r o l e i n f i e l d representation and f i l t e r design.

soph is t icated and r a t h e r compl ex approach wh ich der ives from the
measurements

any

desired

linear

functional

of

the

earth's

d i s t u r b i n g p o t e n t i a l i n the l e a s t squares, minimum norm sense.

Under

the

assumption

homogeneous

(independent

(independent

of

gravity

the

that
of

the

azimuth)

f i e l d quantities

as

the

data

can

position)

model

is

stochastic

be

considered

and

isotropic

introduced

signals.

The

treating
estimated

g r a v i t y anomaly i s computed from ( c f . Rapp, 1977):

..
where Ag r e f e r s t o the chosen e l l ipsoidal

normal

column vector o f a l t i m e t e r implied geoid heights,

vector

of

approximate

geoid heights and Ag

ref

anomaly both implied by a GEMlOB reference

field,

N is a

i s a column

ref

a point

gravity

f i e l d up t o degree and

order 36 o f a spherical harmonic expansion ( r e f e r i n g t o the same

e l l i p s o i d a l f i e l d ) , D i s a diagonal a p r i o r i noise variance-covar i a n c e matrix

whose elements correspond t o

standard d e v i a t i o n (f 7.5
is

covariances
vector

square

the

square

of

the

10 cm) o f the a l t i m e t e r geoid heights,

symmetric

between the

containing

the

matrix

containing

the

given geoid heights and C

(signal)

covariance

between

gN

(signal
i s a row

the

gravity

anomaly being p r e d i c t e d a t p o i n t P and the given geoid heights.

I n equation ( 3 ) t h e s o l u t i o n o f the problem i s s p l i t i n t o a
trend contribution

impl ied by the GEM1OB reference f i e l d and a

c o l l o c a t i o n s o l u t i o n coming from the remaining signal and assumed

t o have zero expectation.
For the c o l l o c a t i o n s o l u t i o n

( s i g n a l ) covariance

functions

are used f o r t h e def in it ion o f the approx imat ion f unct ion space.
A local

autocovariance f u n c t i o n f o r g r a v i t y anomalies i s

f o r t h e North Sea area from a global

Tscherning and Rapp, 1974). Error

Tscherning/Rapp

derived

model ( c f .

degree variances f o r the GEMlOB

c o e f f i c i e n t s e t were n o t a t our disposal, so the f i r s t 36 terms o f

the l o c a l f u n c t i o n

are

s e t t o zero.

Hence t h e l o c a l covariance

f u n c t i o n f o r g r a v i t y anomalies can be expressed as:

where P ( cos @

are the Legendre polynomials, and S i s the r a t i o

between a Bjerhammar r a d i u s and the e a r t h radius, where S i s :

and where one o f the empirical degree variance models i s used ( c f .

Tschern ing and Rapp, 1974 :

A (n-l)
cg

w i t h A = 161.3 mgal
mgal

for n

37

(n-2)(n+24)
2

corresponding t o a signal

variance o f 420

( c f . Haagmans, 1988).
Once t h i s covariance f u n c t i o n i s

functions

of

other

gravity

field

chosen t h e autocovariance
quantities

or

their

cross-covar iance f unct ions can eas i ly be der ived by covar iance
propagation using t h e f u n c t i o n a l r e l a t i o n s ( c f . Moritz, 1980).
The actual

c o l l o c a t i o n computations are performed w i t h the

GEOCOL program which was o r i g i n a l l y developed b y C.C.

Tscherning

a t t h e Department o f Geodetic Science and Surveying o f t h e Ohio

S t a t e U n i v e r s i t y . Meanwhile t h e o r i g i n a l program has been m o d i f i e d
and extended w i t h new o p t i o n s a t t h e Danish Geodetic I n s t i t u t e and
Tschern ing,

t h e l a t e s t update has been p r o v i d e d t o us ( c f .

1974

and Tscherning and Knudsen, 1986).

3.2 The geophysical approach

Th iS second method o f

d i s c r e t e grav i t y f ie ld approx imat ion

d e s c r i b e s and r e l a t e s t h e frequencies which a r e present

i n the

geoid

domain

height

and

gravity

anomaly

signal.

The

space

f i l t e r i n g as we know i t from c o l l o c a t i o n i s r e p l a c e d b y frequency

domain f i l t e r i n g .
geoid

height

The r e l a t i o n between t h e amplitude s p e c t r a o f

and

gravity

anomaly

is

derived

procedure described i n (Chapman, 1979) and (Roest,

following

the

1987).

I n case o f s a t e l l i t e a l t i m e t r y g e o i d h e i g h t s a r e p r o v i d e d a t

in t e r v a lS

regul ar

a long

observed

p r o f i les.

Assumi ng

two

dimensional w o r l d f o r each p r o f i l e , t h e g r a v i t y f i e l d depends o n l y

on t h e a l o n g t r a c k

x-coordinate

and t h e h e i g h t

z and Laplace'

e q u a t i o n becomes:

where

T represents t h e

disturbing

potential

which

i s harmonic

o u t s i d e t h e geoid.
I f our main s u b j e c t o f i n t e r e s t i s t h e h i g h frequency p a r t o f

t h e g r a v i t y anomaly s i g n a l ,

a p l a n a r approximation o f t h e g r a v i t y

f i e l d can be appl ied s u b t r a c t i n g f i r s t t h e GEM1OB r e f e r e n c e f i e l d

up

to

degree

expansion.

and order

36

i n terms

of

spherical

The remaining g r a v i t y anomaly s i g n a l

in

harmonic

( 2 ) may be

approximated b y t h e g r a v i t y d i s t u r b a n c e and r e f l e c t s t h e mentioned

h i g h f requenc ies. Hence:

Using Bruns' e q u a t i o n and i n s e r t i n g ( 8 ) i n t o ( 7 ) r e s u l t s i n :

The q u a n t i t i e s N and Ag

in

(9)

can be expressed b y a F o u r i e r

s e r i e s i n a p l a n a r approximation (Haagmans, 1988). Combining b o t h

s e r i e s w i t h e q u a t i o n ( 9 ) y i e l d s i d e n t i c a l phase s p e c t r a f o r g e o i d
h e i g h t and g r a v i t y anomaly b u t d i f f e r e n t
spectra.

amplitude

(or Fourier)

. . ,-K 2- l

(10)

It i s :

F[Ag] = rkwo F [ N l

where F [

l denotes

gravity,

the

with

k = 1,2,3,.

Fourier

transform,

t h e fundamental

frequency

;r t h e mean e a r t h ' s

t h e p r o f i l e and K t h e

of

number o f d i s c r e t e observations i n a p r o f i l e .
A B u t t e r w o r t h f i l t e r i s implemented i n t h e t r a n s f o r m i n o r d e r

t o c o n t r o l t h e e f f e c t o f p o s s i b l e i n s t a b i l i t i e s caused b y noise.

It i s a

low-pass

(magnitude )

f i l t e r which approximates v e r y w e l l

f i lt e r

c h a r a c t e r is t i CS

(Lynn,

1973

the

and

ideal

can

be

expressed as:

where B(w) r e p r e s e n t s t h e magnitude o f t h e f i l t e r , b t h e o r d e r o f

t h e f i l t e r and w t h e band frequency (0.25 cps c f . Roest, 1987).
B
The B u t t e r w o r t h f i l t e r a p p l i e d t o t h e t r a n s f o r m o f eq. (10)
gives:
F [ A g l = IB(w)

I n (12)

rkwo F [ N l

I ~ ( w ) l i s t h e amplitude f i l t e r

v e r s i o n o f (11)

(12)

( n o t t h e power spectrum

1.

The t r a n s f o r m s o f eq.

(10) and ( 1 1 ) a r e i l l u s t r a t e d i n f i g u r e 2.

Geoid spectrum - Gravity spectrum relation and

Figure 2.

effect of amplitude filtering. o

0.5 cps

NY

).

the

is the Nyquist frequency (here

and gk are the geoid resp. gravity amplitudes per

degree k.
By t a k i n g t h e inverse F o u r i e r transform one can subsequently
obtain

the

desired

gravity

anomaly

signal

along

an

altimeter

p r o f il e .

A1 timetry

4.

derived

results

compared

with

NAVGRAV

gravity

anomal ies
The r e s u l t s from a l t i m e t r y computed w i t h t h e methods from
chapters 3.1 and 3.2 can be compared w i t h t h e 1986 NAVGRAV r e s u l t s
( c f . Strang van Hees, t h i s issue). For t h i s purpose a l l t h r e e s e t s
of

gravity

anomalies

are

finally

computed

p o i n t s . Each s e t r e s u l t s i n a #,h-grid

in

identical

grid

( 0 . 1 2 5 ~ ~ 0 . 2 5w~i )t h g r a v i t y

anomal i e s w i t h i n t h e f o l lowing bounds:

54

56

and 2.125

7.125

The 357 g r i dded NAVGRAV anomal ies a r e computed from t h e f r e e

air

anomal i e s

along

(introduction),

prof iles

the

this

issue).

of

An

figure

interpolation

i r r e g u l a r l y spaced data using d i f f e r e n c e

curvature

(Swain,

1976)

produces

the

in

program

equations

gridded

(NAVGRAV

for

values

for

minimum
with

an

estimated accuracy o f b e t t e r than 1.75 mgal ( c f . Haagmans, 1988).

4.1 The c o l l o c a t i o n r e s u l t s
As

input f o r

the c o l l o c a t i o n a q u i t e r e g u l a r p a t t e r n w i t h

a l t i m e t e r geoid heights was selected as represented i n f i g u r e 3.

Two other attemps w i t h d i f f e r e n t patterns were less s a t i s f a c t o r y ,
one due t o two almost c o i n c i d i n g a1 t i m e t e r t r a c k s which d i s t u r b e
the numerical s t a b i l i t y o f the s o l u t i o n o f t h e normal equations
(cf.

Tscherning.

solution.

The

1985)

yielding

poorly

determined

second gave problems due t o a

gridded

large cross-over

discrepancy ( 2 25 cm) which caused a k i n d o f c l o v e r l e a f p a t t e r n

I t i s a very t r i c k y s o l u t i o n

w i t h useless g r a v i t y anomaly values.

which may lead t o m i s i n t e r p r e t a t i o n s o f

After

comparison

s o l u t i o n and the

of

contour

maps

of

the altimeter
this

NAVGRAV r e s u l t s t h e a t

s t a t i s t i c s appeared t o be useless.

latter

first

sight

results!

altimetric
promising

The descending t r a c k on which

the cross-over was s i t u a t e d was replaced by another descending arc

which was b e t t e r connected t o t h e c o n f i g u r a t i o n o f f i g u r e 3.

The

longitude in deg

Figure 3. Selected geoid heights from altimetry which serve as

input for collocation.

p,.-...-.
-,--

r-7

40

--

---r

---F

.
p

m
21

-10

.A
U

-20
-30
L
~
,
-

Longitude a l o n g t r a c k L5501

Longitude a l o n g t r a c k L5513

Figure 4. Two predicted solutions from altimetry. The continuous

line represents the NAVGRAV free air gravity anomalies in GRS67,
the stars the predicted free air anomalies in GRS80 based on the
SEASAT data and

the dashed line the anomaly contribution in

GRS80 implied by the GEMIOB reference field (all in mgal).

gridded r e s u l t s are t e s t e d against the NAVGRAV s o l u t i o n i n chapter

4.3.

The advantage o f the c o l l o c a t i o n p r e d i c t i o n

i s that a result

can be provided a t any desired p o i n t . Using t h i s property

gravity

anomalies are p r e d i c t e d along some sat l e d NAVGRAV p r o f i l e s .

'

The

r e s u l t s are presented i n f i g u r e 4 where NAVGRAV and a l t i m e t e r

anoma l ies

show

good

resembl ance

except

for

the

h i ghest

f requenc t es.

4.2 The r e s u l t s o f the geophysical method

Different

from

the

collocation

procedure

where

the

transformation i n t o g r a v i t y anomalies and the g r i d d i n g i s done a t

once, t h e geophysical method requires two steps.
During t h e f i r s t step the transformation o f , eq.

(121,

i s applied

t o t h e geoid hei g h t 2 ' = l ong 16 selected SEASAT p r o f t les, each f 630

km long ( c f . f i g u r e 51. A descending arc,
arc counted from the East side,

f o r exampl e t h e second

i s transformed

into a gravity

"i

52

1
l

-I

50011--i--.-L-.-1~.~-.1
l

L o n g i t u d e in d e g

Figure 5.

SEASAT

geophysical method.

1 l ,.--L
L- .L-5
6
7
B
9
(SEASAT d a t a d i s t r i b u t i o n ]
1
.
.

tracks in the North Sea selected

for- the

'

p r o f i l e u s i n g a t e n t h order B u t t e r w o r t h f i l t e r
The g e o i d h e i g h t
f i g u r e 6.

and t h e

(equation

g r a v i t y anomaly s i g n a l

The g r a v i t y s i g n a l

i s r e f l e c t i n g the

frequencies from t h e geoid h e i g h t

signal

(11)).

a r e shown

in

amplified high

as a r e s u l t

of

the

d i f f e r e n t i a t i n g operation.

Latitude

(Longitude:

3 . 2 t o 8 . 4 deg)

Figure 6. Along track geoid height-gravity anomaly relation using

the

spectral

operator

of

equation

(12)

with

tenth

order

Butterworth filter.
Once a l l i n d i v i d u a l a r c s a r e transformed i n t o g r a v i t y
s e r i o u s disadvantage o f t h e method,
becomes c l e a r .

Every cross over

f i g u r e 5 ) should have
descending
cross-over

as

well

identical

as

the

profiles a

as appl i e d b y Roest (19871,

point

(cf.

83 c r o s s overs

g r a v i t y anomaly values

ascending

arc.

However

for
the

in
the

mean

d i f f e r e n c e between ascending and descending values i s

2.43

mgal

with

standard

deviation

of

8.28

mgal.

This

is

obvious1 y a r e s u l t o f t h e a r b i t r a r i n e s s i n t h e t r e n d removal as
discussed i n chapter 2.

A g r i d d e d s o l u t i o n i s computed i n a second s t e p u s i n g t h e same

method as a p p l i e d f o r t h e NAVGRAV g r i d d i n g .

4.3 Statistics, comparison and conclusion

Some s t a t i s t i c s a r e o b t a i n e d from b o t h a l t i m e t r i c
NAVGRAV g r i d d e d s o l u t i o n s .
results

and t h e

The s i m i l a r i t y between b o t h a l t i m e t r i c

i n GRS80 and t h e NAVGRAV g r i d i n GRS67

i s examined b y

comparing contour p l o t s o b t a i n e d w i t h GSPP (Sunkel

, 1980) and b y

computing t h e c o r r e l a t i o n c o e f f i c i e n t between t h e g r i d s (Haagmans,

1988).

Furthermore each s e t o f

represented

by

g r i d d e d values

a mean and a r.m.s.

g r a v i t y anoma ly d i s t r ib u t ion. The

in

figure

7.

areanalysed

Also

in

the

the
same

between t h e b e s t s o l u t i o n

value t o g e t h e r

with

its

la t t e r a r e shown as h i stograms

differences
way.

i s statistically

between

histogram

of

the
the

solutions
differences

( c o l l o c a t i o n ) and t h e NAVGRAV g r i d d e d

anomalies i s shown i n f i g u r e 8.
I n f a c t t h e r e s u l t s o f NAVGRAV should be converted t o GRS80 b y
a p p l y i n g (13) ( c f . M o r i t z , 1980b):

Ag1967

Ag1980

+ 0.8316 + 0.0782 sin2(p - 0.0007 sin4(p [mgal 1 (13)

y i e l d i n g w i t h i n t h e N o r t h Sea area:
(p
(p

= 51'

->

= 58'

->

Ag1967

Ag1967

Ag1980

Ag1980

The e f f e c t w i t h i n t h e r e l a t i v e small

+ 0.8785

[mgal]

+ 0.8874

[mgal]

area can be regarded as a

b i a s i n t h e mean o f t h e anomaly d i f f e r e n c e s o f about 0.88 mgal ,

w h i l e t h e standard d e v i a t i o n remains t h e same.

A l l s t a t i s t i c a l r e s u l t s a r e presented i n t a b l e 1. The c o n t r i b u t i o n
of

the

GEMlOB r e f e r e n c e f i e l d i s l e f t o u t o f c o n s i d e r a t i o n i n

t h e s t a t i s t i c s because

i t s contribution

i s equal

to

a1 l t h r e e

g r ids.
From t h e r e s u l t s o f t a b l e 1 as w e l l as from t h e d i s t r i b u t i o n s
of

figure

i t appears

that

s o l u t i o n show most resemblance.

the

col location

and

the

NAVGRAV

Not o n l y t h e s t a t i s t l c s b u t a l s o

t h e contour p l o t s o f both s o l u t i o n s ( c f . f i g u r e 9 and 10) j u s t i f y

t h e conclusion t h a t t h e c o l l o c a t i o n s o l u t i o n can be denoted as
acceptable.
The FFT s o l u t i o n contains a c l e a r systematic d i f f e r e n c e and a
r a t h e r small s i g n a l variance compared t o both o t h e r s o l u t i o n s . The
smaller variance may p a r t l y r e s u l t from smoothing e f f e c t s from t h e
Butterworth f i l t e r
signal

and o f

the

i n t e r p o l a t i o n and p a r t l y o f

the

i n f o r m a t i o n l o s s d u r i n g t h e t r e n d removal where probably

some p h y s i c a l l y c o r r e c t s i g n a l i s
technique

presented

in

eliminated. For t h e case o f t h e

(Roest,

1987)

which

led

to

more

d i s a p p o i n t i n g r e s u l t s some minor m o d i f i c a t i o n s may lead t o b e t t e r

ones.

The

differences

with

the

NAVGRAV

results

gridded solutions without GEMlOB contribution

which

are

mean

r.m.s.

(wall

(wall

3 5 7 F F T g r a v i t y a n o m a l i e s * ( 1 o t h o r d e r f i l t e r ) -0.28

7.32

-6.67

13.15

-5.76

11.88

357 c o l l o c a t i o n g r a v i t y anomalies

357 NAVGRAV g r a v i t y anoma l ies+

mean
differences between SEASAT and NAVGRAV

(wall

(wall

5.48

8.11

357 c o l locat ion* m i nus NAVGRAV+ anomal ies

-0.91

7.10

357 c o l locat ion* m i nus NAVGRAV* anoma l ies

-0.03

7.10

357 FFT* minus NAVGRAV+ anomal ies

an

similarity between both SEASAT and the NAVGRAV solution

c o r r e l a t ion coef f ic i ent (FFT* and NAVGRAV+ 1

0.74

c o r r e l a t ion c o e f f i c i e n t ( c o l locat ion* and NAVGRAV+ )

0.83

Computed

Computed

In GRS8O
In GRS67

Table 1 . Statistics of three gridded gravity anomaly solutions.

The solution of the geophysical method is denoted as FFT, i.e.
Fast Fourier Technique.

seasat-cal.

grav.anom

lmgall

seasat-fft

NAVGRAV g r a v .anom

grav.anam

(mgall

(mgall

Figure 7 . Distributions of the gravity anomaly signal in mgal,

each computed from 357
the

collocation

grid points. They represent respectively

solution,

the geophysical

solution

(both

in

G R S 8 0 ) and the NAVGRAV solution (in G R S 6 7 ) .

COL-NAVGRAV a n o m . d i f f . ( m g a l l

Figure 8 . Distribution of the differences between the collocation

solution (in GRSBO) and the NAVGRAV solution (in G R S 6 7 ) in mgal.

accumulated

effect

of

the

cross-over

differences

and

of

the

t r e n d removal can be reduced b y u s i n g t h e same o r b i t e r r o r removal

process

as

used

description

of

could r e s u l t
more

for

noise

collocation.
and

signal

i n an optimal

realistic

Furthermore

in

filter

higher

and thus

g r a v i t y anomaly s i g n a l .

an

frequency
a

ranges

l e s s smooth

these

If

adequate

and

drawbacks

are

e l i m i n a t e d t h e advantages o f t h e geophysical method c o u l d be f u l l y

e x p l o i t e d . The method i s easy t o handle and extremely f a s t .
Considering

the

collocation

results

(with

b e t t e r than 7 . 4 mgal f o r g r i d d e d anomalies)

well

feasible

altimeter
e.g.

that

gravity

anomalies

data a r e employed f o r

f o r o i l compagnies i n order

These

areas

can

subsequently

the

area

e.g.

of

i t seems t o be v e r y
from

SEASAT

l a r g e s c a l e e x p l o r a t i o n surveys
to

be

detect

areas

examined

b y seismic

p r e c i s i o n g r a v i t y surveys.

precision

obtained

e x p e d i t i o n s i n order t o o b t a i n a d d i t i o n a l
within

with

of

dedicated

geophysical

surveys

and/or

However one has t o

interest.
ship

information

detailed

high

be c a r e f u l

when

a p p l y i n g t h e c o l l o c a t i o n and t h e geophysical method i n areas where

t h e g r a v i t y f i e l d i s h i g h l y a n i s o t r o p i c because b o t h methods imply
a rather

isotropic gravity field.

Also t h e

collocation results

can be improved b y u s i n g a more complete data s e l e c t i o n o f SEASAT

data

within

an

area,

by

applying

better

local

covariance

f u n c t i o n and b y c a r e f u l l y modelling t h e sea surface topography so

t h a t even b e t t e r r e s u l t s may be expected i n t h e near f u t u r e .

5. Acknowledgements
We g r a t e f u l l y acknowledge t h e support o f C . C .

Tscherning o f

t h e Danish Geodetic I n s t i t u t e f o r p r o v i d i n g t h e Danish c o l l o c a t i o n

softwar e and f o r h i s valuable advice d u r i n g t h e
t h e software on our computer.
performing the
data.

local

instal lation of

Many thanks t o E.J.O.

cross-over

adjustment

of

Schrama f o r

SEASAT a l t i m e t e r

2.25

2.50

3.00

3.25

3.50

3.75

4.00

4.25

4.50

4.75

LONGITUOE I N OEG.

5.00

9.25

5.50

5.75

6.00

free air gravity anomalies (in GRS67).

Figure 9. Contour plot in mgal obtained from a gridded set NAVGRAV

2.75

FREE AIR SHIP-BORNE GRAVITY ANOMALIES AS MEASURE0 OURING THE

1986 NAVGRAV EXPEDITION. THE GRIOOED POINTS ARE COMPUTE0 USING
A MINUMUM CURVATURE SURFACE METHDD FROM APP. 14000 OATA POINTS.
NORTH SEA AREA. R.H.Y. HAAGMANS APRIL 1988.

6.25

6.50

6.75

7.00

55.25

54.88

54.75

F-

>

55.00

ss. 13

tr.

0
3

ss. 50

SS. 63

s s . 75

LONGITUOE I N OEG

with collocation from the data of figure 3.

free air gravity anomalies (in GRS80). The anomalies are computed

Figure 10. Contour plot in mgal obtained from a gridded set SEASAT

FREE AIR GRAVITY ANOMALIES OERIVEO FROM SEASAT ALTIMETER

OATA 1646 POINTS l . THE GRIOOEO ANOMALIES l I N MGAL 1 ARE
COMPUTE0 U l T H A COLLOCATION TECHNIOUE USING A GLOBAL
TSCHERNING/RAPP COVARIANCE MOOEL.
NORTH SEA AREA. 9.U.N. HAAGMANST

6. References

Chapman,

M. E.

( 1979) :

Techniques

for

interpretation of

geoid

anomalies. Journal o f Geophysical Research 84, B8, 3793-3801.

Colombo,

O.L.

(1984):

Altimetry.

orbits

and

tides.

TM86180,

Goddard Space F l i g h t Center, NASA, Greenbeld, Maryland.

Haagmans, R.H.N.
SEASAT

(1988):

altimeter

approaches:
FFT) .

data

(A

comparison

of

two

alternative

l e a s t squares c o l l o c a t i o n and a method based on

Graduate

Facul t y

D e t a i l e d g r a v i t y anomalies d e r i v e d from

thesis,

Del f t

University

of

Technology,

o f Geodesy.

Hei skanen, W. A.

and H. M o r i t z ( 1967) : Physical Geodesy. Freem. and

Company. San Franci sco.

Lore1 l , J.

Parke and J. S c o t t ( 1980) : SEASAT geophysical d a t a

M.

record

(GDR)

users

handbook.

Doc.

622-97,

Jet

Propul s i on

Laboratory, Pasadena, C a l i f o r n i a .
Lynn, P.A.

(1973): An i n t r o d u c t i o n t o t h e a n a l y s i s and processing

o f s i g n a l s . MacMillan, London.
(1980): Advanced p h y s i c a l geodesy. H. Wichmann Verlag,

M o r i t z , H.

Kar lsruhe.
Moritz,

H.

(1980b):

Geodetic

Reference

System

1980.

Bulletin

GCodCsi que, vo l . 54, no. 3, Par iS.

Rapp,

R.H.,
gravity

R.

Rummel,

anomalies

collocation.
and
Rapp,

L.

Sjoberg

from

(1977):

geoid heights

Reports o f

The d e t e r m i n a t i o n o f
using

t h e Department o f

least

squares

Geodetic Science

Surveying, no. 269. OSU, Columbus, Ohio.

R.H.

(1985):

D e t a i l e d g r a v i t y anomalies and sea

surface

h e i g h t s d e r i v e d from GEOS-3/SEASAT a l t i m e t e r data. Reports o f

t h e Department o f Geodetic Science and Surveying,

no.

365,

OSU, Columbus, Ohio.

Roest, W.

(1987): Seafloor spreading p a t t e r n o f t h e N o r t h A t l a n t i c

between

10'

and

40'

N.

Geologica

ultraiectina,

no.

48,

E l inkwi j k BV, U t r e c h t .
Rummel,

R.

mode l .

(1986):

S a t e l l i t e a l t i m e t r y as a p a r t o f a geodetic

Proceedi ngs

1S

mathemat ic a l geodesy, 757-786,

Hotine-Marussi

symposium

on

Rome 3-6 June 1985.

Sacerdote, F. and F. Sansb (1983): A c o n t r i b u t i o n t o t h e a n a l y s i s

of

the

a1t imetry-gravi metry

p r o b l em.

Bul le t in

GCodCsi que,

v o l . 57, no. 3, P a r i s .
Sansb,

F and B.

(1985):

Stock

numerical

experiment

in

the

a l t i m e t r y - g r a v i m e t r y problem 11. Manuscripta Geodaetica, v o l .

10, no. 1, Springer Verlag, B e r l i n .
Schrama,

E. J. 0.

regional

( 1988) :

Documentat ion

adjustment

of

on

a1 t imeter

SEASAT

Report, Del f t U n i v e r s i t y o f Technology,

Swain,

C.J.

(1976):

ir r e g u l a r ly

Fortran

spaced

data

software

IV

for

d i f f erence

Computer 8 Geosciences,

minimum curvature.

data.

Internal

F a c u l t y o f Geodesy.

program

using

hand1 ing

interpolating
equat ions

vol.

for

1, 231-240,

Pergamon Press.
Sunkel

H.

(1980) :

general

designed f o r geodesy.
Science

surface

representat ion

module

Reports o f t h e Department o f Geodetic

and Surveying, no 292, OSU, Columbus, Ohio.

Tscherning,

C.C.

(1974):

Fortran

IV

program

for

the

d e t e r m i n a t i o n o f t h e anomalous p o t e n t i a l u s i n g stepwise l e a s t
squares c o l l o c a t i o n .

Reports o f

t h e Department o f

Geodetic

Science and Surveying, no. 212, OSU, Columbus, Ohio.

Tscherning,

and

C.C.

R.H.

expressions

for

gravity

deflections

of

the

variance

models.

Rapp

(1974):

anomalies,

vertical

Reports

of

Closed

geoid

implied
the

by

covariance

undulations
anomaly

Department

of

and

degree
Geodetic

Science and Surveying, no. 208, OSU, Columbus, Ohio.

Tscherning,

C.C.

(1985):

Local

approximation

p o t e n t ia1 b y least squares c o l l o c a t i o n .

gravity
Tscherning,

the

gravity

Proceedings

"Local

f i e l d approximation", B e i j i n g , 277-362.

C.C.

parameters
CO l 1 ocat

on

of

ion.

and P.
for
In

Knudsen

satellite

(1986):

altimetry

Proceedi ngs

mathematical geodesy, 833-852,

Vening Meinesz, F.A.

Determination o f
by

least

bias

squares

Hot ine-Maruss i syinpos iurn

Rome 3-6 June 1985.

(1941): G r a v i t y e x p e d i t i o n s a t sea 1934-1939.

Volume 111, Waltman, D e l f t .

Vening Meinesz, F.A.

(1948): G r a v i t y e x p e d i t i o n s a t sea 1923-1938.

Volume I V , DUM, D e l f t .

APPENDIX A
Gravity profiles
The f o l l o w i n g g r a v i t y p r o f i l e s show d e t a i l e d g r a v i t y f i e l d
v a r i a t ions a1ong t h e s a i l e d NAVGRAV t r a c k s o f f igure 2 (NAVGRAV
( introduction),

t h iS

issue) .

Bouguer

and

free

air

gravity

anomalies have been computed and a r e represented i n t h e upper p a r t

o f t h e graphs.

Underneath,

t h e corresponding depth p r o f i l e s a r e

shown.
The l i n e numbers a r e expressed i n degrees and seconds e.g.
L5513 means an East-West

l i n e along t h e p a r a l l e l 55'13'

o r L0630

means a North-South l i n e along t h e meridian 6 30'.

The software f o r t e s t i n g ,
w r i t t e n b y R.P.E.

f i l t e r i n g and p l o t t i n g t h e data i s

van Rossem ( s t u d e n t o f t h e F a c u l t y o f Geodesy).

INORTHSER:

GRRVITY L I N E S

Gravity line numbering

1986

NORTH SEA:

1986

COOROIYRTES

L0200
MRl
11

OISTRNCE I N K M

LINE:
ORTE.
TIME
U.T.M.

SllRl
I 1 5 9 UU
U35857
5963395
53.811
2.026

L0200

FINISH
6 29 52
U38331
625UIOU
56.426
2.000

G R A V I T Y ANOMALY

H.m.5.:
X:
1:

DEPTH

GEOGRRPHICRL COOROIYRTES
PHI.
LRMEOR:

NORTH SEA:

OISTRNCE I N KM

F R E E A I R ANOMALY
BOUGUER RNOMRLY

L0200

FULL LINE:
OPEN L I N E :

R N O M R L T I N MGRL
m
,
,
,
,
#
S " " N W . . . .

,
8

"

0 m C , m - ' " 0 ' " 0 ' " n ' " 0 ' " 0 ' " n

T.U.OELF1.

R.P.E.

V l Y ROSSER

l.U.DELF1.

R.P.E.

V l N R055E)I

DEPTH I N M

l.U.OELF1.

R.P.E.

R N O M R L Y I N MGRL

VAN ROSSEM

-4

"s;:

1.U.OELFT.

, N

R.P.L.

VAN RD55EH

Wm-m
m
W"CnNL3
w n w o m -

RNOHALT I N MCAL

DEPTH IN M
-

a
c
"

'"

,
u
m

,
Y
n

,
W
m

,
,
w a m

,
- I
~ '

"

"

- - . , . , w w c
" m O m o m

,I

I-.
="
0 1

.=. -..-..X ... .

T.U.OELF1.

R.P.E.

VAN ROSSFM

RNOMRLY I N MGRL

DEPTH I N M

-O

m
O

m
O

4
O

m
O

m
O

C
O

W
O

W
O

>
O

0
U)

2 z
Z

:
z

1 ,

",
O

l.U.OELF1.

T.U.OELF1.

G . L . S l R R N G VAN HEES

R.P.E.

<
U

VAN AOSSE*

--I

<

RNOMRLY

DEPTH I N M
-

O
0

.
0

m
O

C
D

u
O

W
O

. c U U N N - o " D m O m o

#
m

I N MGRL

--

'

"

U U C
0 m 0

Z
Q

a
--I

cn

m
D

a
D

<
+-.

--I

+
D

a
3
D

r
0
W

U
0

N
N

.-

W
O

l
I

l.U.OELF1.

A.P.E.

VAN ROSSEM

l.U.OELF1.

A.P.E.

V I N ROSSEfl

LOUOO
9PRIL 2 8
1986

NORTH SER:

LINE;
ORlE:

TIME
'd. 1 . 8 . COOROI*RTE5

5TRRT
1 1 S9 U0
563585
511913U
55.213
3.999

L0400

FINISH
5
39 U2
551506
58U8136
52.118
U.001

G R R V I T Y RNOMRLY

X:

H.tl.5..

1:

DEPTH

CEOCRRPHICRL COOROINRTES
PHI:
LRHBOR:

NORTH SER:

L0400

FULL LINE:
OPEN L I N E :

F R E E R I R RNOMRLY
BOUGUER RNOMRLY

R N O M A L Y l N MGRL

DEPTH I N M
-

I.U.OELF1.

<

R.P.E.

VBY ROSSEn

1.U.OCLFl.

R.P.E.

VRY R O S S E l

,'

U0
30

35
25

15

20

'0

-10

-60

-50

-U0

-30

-20

I0

-U0

3 5

3 0

-25

-20

-15

-I0

E
:
=

0
W

-80
-90
-100

10

LOU2S
?R1 S

20

30

1986

U0

NORTH SEA:

LINE:
ORTE:
TIME

10

20

30

U0

NORTH SEA:

60

i 9

70

80

80

rz

STRRY

70

90

100

100

110

110

L0425

FIN15H
21 i u s

90

G R A V I T Y ANOMALY

SO

n.a.s.:

60

DEPTH

50

I20

IUO

IUO

IS0

160

l60

110

170

I80

180

190

190

FREE R I R RNOMRLY
BOUGUER RNOMRLY

150

Lot425

130

130

FULL L I N E :
OPEN L I N E :

I20

200

200

210

210

220

220

230

230

290

2UO

250

250

260

260

270

270

280

280

290

290

c
U

NORTH SEA:

DJSTRNCE I N K M

LINE.
OTiiE.

COORDINATES

~ 0 4 3 0
4PRIL 25
1986

TIBE
U I M.

NORTH SER:

DJSTRNCE I N K M

I.

X:

STRRT
19 2 9 3 8
S98903
80131811

FINISH

L0430

16 3 8 U 9
600338
59U3U92

G R R V I T T RNOMRLT

tI.H.5:

DEPTH

L0430

FULL LINE:
OPEN L I N E :

F R E E R I R RNOHRLY
BOUGUER RNOMRLT

2
S, "
Z

30

35

U0

25
20

10
5

-20

5 0
5 - 5
2 -10
= -15
-25
-30
3 5
U 0
10

30

~0500
HRI U

20

1986

U0

NORTH SEA:

LINE:
ORTE.

60

70

80

100

110

L0500

FINISH
5 1 11
631509
5916235
53.911
5.002

90

G R A V I T Y RNBMALY

50

STRRT
16 9
38
622861
6213955
56.592
5.001

DEPTH

TIME
H.M.5..
U . 1 . I . COOROINRTE5
X.
7.
CEOCRRPHICRL COOROINRTES
PHI:
LRHBOR:

NORTH SEA:

D I S T A N C E I N KM

I20

IUO

160

170

l80

190

F R E E A I R RNOMRLY
BRUGUER ANOMALY

150

L0500

130

FULL LINE:
OPEN L I N E :

200

210

220

230

210

250

260

270

280

290

U0

30

35

25

10

15

20

2
L

L3

-,S

E
0l",

-20
2 5
-30
-35
U0

NORTH SEA:

~0520
3

"631

1986

D I S T R N C E I N KM

LINEORILFINISH

G R A V I T Y ANOMALY

STIR1

56.625
5.333

L0520

53.998
5.333

DEPTH

GEDGRRPHICIL C O D R O I N I I E S P H I :
~1M801:

NORTH SEA:

L0520

FULL LINE:
OPEN L I N E :

l70

l80

190

F R E E R I R RNOMRLY
BOUGUER RNOMRLY

200

2l0

220

230

2VO

25

m
0

L
a
W

0
-10

-30

2 0

-U0
-50
-60
7 0
8 0
-90
-100

NORTH SEA:

~0538
3

MA1

1986

OISTRNCE I N KM

LINE.
ORlE.
TIME

20

30

U0

N O R T H SEA:

10

DISTANCE I N KM

STRRT
20 uu

70

80

90

100

110

L0538

FlHlSM
21 us us

GRAVITY ANOMALY

n.n.s.:

60

DEPTH

50

1UO

160

110

180

190

F R E E R I R RNOMRLY
BOUGUER RNOMRLY

150

L0538

130

FULL LINE:
OPEN L I N E :

120

200

210

220

230

2UO

250

260

270

280

290

300

310

U,
>

NORTH SEA:

L0550
RPRIL 21
1986

DISTANCE I N K M

LINE.
ORTE.

L0550

GRAVITY ANOMALY

DEPTH

TIME
H.1.5.:
U.T.H. COOROIN~TES
X:
l.
GEOGRlPHlClL COOROlNITES PHI:
LOHBOII:

NORTH SEA:

DISTRNCE I N K M

L0550

FULL L I N E :
OPEN L I N E :

F R E E R I R RNOMRLY
BOUGUER RNOMRLY

NORTH SEA:

L0550
HR1 3

1986

DISTRNCE I N K M

LINE:
OOTE:

TIME

NORTH SEA:

DISTANCE I N K M

5llRl
31 v0

L0550

FINISH
3 9 US

G R A V I T Y AN'UMALY

n.n.5.:

OEPTH

m
m

F R E E A I R RNOMRLY
BOUGUER RNOMRLY

L0550

FULL LINE:
OPEN L I N E :

Ln

DEPTH I N M

-0

l.U.DELF1.

R.P.E.

V l N ROSSEM

R N O M R L Y I N MGR1

,
0

T.U.OELFT.

R.P.E.

VRN ROSSEM

R N O M R L Y I N MGRL

, u, u, w, w, - , - ,

T.U.DELF1.

R.P.E.

VRN R O S S E l

T.U.OELF1.

"

R.P.L.

"

VRN R O S S E l

w
m

w
0

w
m

w s
o m

~ 0 6 3 0
*AT
2
1986

NORTH SER:

TIRE

LINE:
ORIE:

NORTH SER:

33 U6

TlRRl

L0630

FINISH
1 7 UU L15

G R R V I T Y QNBMRLY

H.M.5.:

DEPTH

F R E E R I R RNOMRLY
BOUGUER RNOMRLY

L0630

FULL LINE:
OPEN L I N E :

UD
35
30

UE

2
10

15

20

25

0
-5

-20

-15

-10

5
p

g
-25

- 30
-35
-U0
20

30

U0

NORTH SEA:

10

DISTRNCE I N K M

L0

m
0

L0630

G R A V I T Y ANOMALY

50

DEPTH

LINE:
10630
OATE:
9PRIL 2 8
1986
STRRT
TIME
n.m.5.:
G 51 U )
U . I . M . COOROlllRTE5
X.
126260
I. 6 0 5 I O ? O
GEOGRRPHICRL COOROIHRTE5
Pnl.
5U 5 5 5
LRHBOR.
G.U99

NORTH SER:

F R E E R J R RNOMRLY
BOUGUER RNOMRLY

L0630

FULL L I N E :
OPEN L I N E :

L0700
MRI 1

1986

NORTH SEA:

LINE:
ORlE:

L0700

FINISH
3
UU 3 8
762199
5981392
53.913
0.997

G R A V I T Y RNOMALY

STRRl
17 9
3U
7U0706
622305U
56.09U
7.000

DEPTH

TIME
H.M.S.:
U.l.*. COOROINRTES
X:
1:
GEOGRRPHICAL COOROINRTE5
PHILRI8OR;

NORTH SEA:

U I S T R N C E I N KM

F R E E R I R RNOMRLY
BOUGUER RNOMRLY

L0700

FULL LINE:
OPEN L I N E :

NORTH SEA:

DISTRNCE I N K M

20

30

q0

60

STRRT
6
1 9 U3
793500
6019UOO
59.192
7.500

70

80

90

100

110

L0730

FINISH
1 5 3 9 U2
773766
6231599
56. IU9
7.400

G R A V I T Y ANOMALY

SO

DEPTH

TIRE
H.H.5.:
U.1.R.
COOROINRTE5
X.
T:
CEDCRRPHICRL COOROINRTES P H I :
LRIIBOR:

10

NORTH SEA:

IUO

150

160

l70

190

190

F R E E R I R RNOMRLY
BOUGUER ANOMALY

L0730

130

FULL L I N E :
OPEN L I N E :

120

200

210

-0

a
0

m
0

R N O M R L Y I N MGR1

DEPTH I N M

4
0

#
0

;.z
Z

," %

::
X

0
m

a
4

T.U.DELF1.

R.P.E.

1.U.DFLFT.

VllN ROSSEM

R.P.E.

V I M ROSSEN

-0
0

,m
0

DEPTH I N M
#

4
0

'

"
0

C
0

RNOMRLY I N MGRL
,

W
0

W
0

>

' U Y N N 0 ' " 0 ' " 0 '

2 5 2 ggr
-= +z

--I

2
2
n

- ,
" 0 '

"

'

"

- - N
0 ' " 0

21""
I

cn
m

..

1.U.DELFT.

R.P.E.

VAN ROSSEH

-g
n

::
E l "
Z

m r

- m
U

='"'
;
m

l.U.DELF1.

R.P.E.

VAN R O 5 5 E I

N
m

U Y '
0 m 0

NORTH SEA:

OISTRNCE I N KM

~5U00
*AI
1
1986

LINE:
OITE:
STRRT
0 UU 3 8
6770112
5987117
5U.001

L5400

FINISH
5
19 37
792776
5992718
53.999

G R A V I T Y ANOMALY

m.m.5.:
X:
7:

PHI:

COOROINRTES

GEOGRRPHICRL COOAOINRTES

DEPTH

TIME
U.1.m.

NORTH SER:

F R E E R I R RNOMRLY
BOUGUER RNOMRLY

L5400

FULL LINE:
OPEN L I N E :

NORTH SER:

LINE:
OITE:

COOROINITES

L5400
RPRlL 2 1

L986
TIME
U.1.n.

X:

STIRT
U
11 v 3
671871
5987068
5V.002
5.619

L5400

FINISH
8 36 v2
566169
598U270
5U.001
U.009

G R A V I T Y RNOMRLY

n.m.5.
7.

DEPTH

GEOGRRPHICRL COOROINATES P H I :
LRIIBOI:

NORTH SER:

OISTRNCE I N KM

L5400

FULL L I N E :
OPEN L I N E :

F R E E R I R RNOMRLY
BOUGUER RNOMRLY

(U

NORTH SER:

1966

COOAOINRTES

L5400
*R1
11

OISTRNCE I N K M

LINE:
ORTE:
TIME
U.T.M.

SIRRT
6 59 52
U296U3
596Ulll
53.999
1.927

L5400

FIN15H
l 0 20 45
514501
5963696
5U. 0 0 0
3.221

G R R V I T Y RNOMRLY

H.M.s..
X:

I:

DEPTH

GEOGARPHICRL CBOAOINRTES P H I :
LIMBOR:

NORTH SER:

FREE A I R ANOMRLT
BOUGUER ANOMRLY

L5400

FULL LINE:
OPEN L I N E :

NORTH SER:

LINE:
ORTE:

CBBADINRTES

LSUIS
RPAlL 25

1986
TIME
U.T.M.

NORTH SER:

X:
1:

STRAT
2 0 l 4 52
6069112
6012975

L5415

FlNlSH
SU U6
60SUIO
6021672
U

G R R V I T Y RNOMRLY

H.M.5.:

DEPTH

F R E E A I R ANOMALY
BOUGUER ANOMALY

L5415

FULL L I N E :
OPEN L I N E :

nl

RNOURLY I N UGRL

DEPTH I N H
-

O
O

"
O

m
O

"

c
O

w
O

w
O

, , , , , , ,

c w w m w - 8
- - w w w w c
O m O m 0 m O L " O L " O m O ' " O L " O

l.U.OELF1.

R.P.E.

l.U.OELF1.

Y I N ROSSCH

DEPTH I N U

R P.E.

R N O M R L Y I N HGRL

# , , , , , ,m

C Ym Y ON m
O
N .0 . m
. . O

L"

l.U.DELF1.

R.P.E.

WRY ROSSEH

V R N ROSSEM

IO

'

"

O- m
-

o
w Lw " wO w
m s
O

I l l l j ! l l l l l l l l ]

l.U.OELF1.

R.P.E.

V R N ROSSCH

NORTH SER:

L5U29
111 1 0
1986

DISTRNCE I N K M

LINE,
ORlE:

L5429

FINIS^
22 3 2 V2
5U03911
60316119
5V.VBU
3.623

G R R V I T Y RNBMRLY

STOAT
l B l 9 VV
113UU09
60371173
5U.U79
1.988

DEPTH

TIME
H.M.S.:
U.T.M.
COOROINIITES
X:
1:
GEOGRRPHlCRi COOROINRTES
PHI:
LAMBOR:

NURTH SER:

DISTRNCE I N K M

L5q29

FULL L I N E :
OPEN L I N E :

F R E E A I R RNOMRLY
BOUGUER RNOMRLY

NORTH SER:

DISTRNCE I N K M

LINE:
ORTE:

COOROIMRTES

L5V30
RPRlL 2 6

1986
TIME
U.1.H.

NURTH SER:

1.

K:

STRRT
9 V3
BD2797
SOU9197

L5430

FINISH
1 2 3 9 YU
700531
ROU36R7

G R R V I T Y RNUMRLY

H.1.5.:

DEPTH

F R E E R I R RNDMRLY
BOUGUER RNOMRLY

L5430

FULL L I N E :
OPEN L I N E :

R N D M R L Y I N MGRL

DEPTH I N M

- -

-O
O

'

,
n

,
O

,'

"
O

"

, N ,n

U)

;G

N
n

"

cn
m

..

D
Z

O
m

;?

"

"

- - N N L o L o =

0 L " O L " O ' " O ' " O L " n L " O L " O L " -

-4
V)

Z Z
a' - ,

:rE =

2 5
;;
Z L "
=

gG
m

0
m

l.U.OELF1.

o
n

m
-

R.P.E.

V I M ROSSEM

DEPTH I N M

"

,
n

1.U.OELFT.

R.P.E.

l.U.DELF1.

R.P.E.

VI1N R 0 5 5 E M

,
O

"

'L"

E:
l.U.OELF1.

R.P.E.

V I W ROSSEM

a::?:.

=
Y I N R055EM

NORTH SEA:

1986

COOROINATES

LSUUU
MAT 10

DISTANCE I N KM

LINE:
ORTE:
TIME
U.T.M.
~~

L5444

FINISH
16 3 9 U8
U25U19
6~0 6 5-1 3~8~
51. 132

G R A V I T Y ANOMALY

~~

STAR1
0 U9 1 4
189186
60lUl08
54.135

DEPTH

H.M.5.:
X:
Ts
PHI:

GEOGRRPHICAL COOROINATES

NORTH SER:

F R E E A I R ANOMRLY
BOUGUER ANOMRLY

L5444

FULL LINE:
OPEN L I N E :

L5501
*R1
9
1986

NORTH SEA:

LIME.
ORIE:

NORTH SER:

L5501

FINISH

G R A V I T Y FlNOMFlLY

STIR1

DEPTH

L5501

FULL L I N E :
OPEN L I N E :

FREE R I R RNOMRLY
BOUGUER RNOMRLY

NORTH SER:

1986

COOROINRTEE

L5513
WRl
B

D l S T R N C E I N KM

LINE:
ORTE:
TIME
U.1.l.

NORTH SER:

SlRAl
I 5 U U5
188UUU

L55 13

FINISH
2 9 U5
U21115

G R R V I T Y RNOMRLY

H.H.S.:
X.

DEPTH

F R E E R I R RNOMRLY
BOUGUER RNOMRLY

L5513

FULL LINE:
OPEN L I N E :

NORTH SEA:

D I S T A N C E I N KH

LSSlO

FINISH
17 29 5 7
562329
61139V5
55. 167
3.978

G R A V I T Y ANOMALY

DEPTH

LINE:
L5510
ORTE;
RPRIL 28
1986
STRRT
TIHE
H.M.S.:
1 0 3V 5 2
U.T.M.
COOROINRTES
X:
125Vl7
l: 6 1 1 9 2 6 1
CEOCRRPHICRL COOROINAlE5 P H I :
25.167
LRWBOR:
6.539

NORTH SEA:

D I S T R N C E I N KM

F R E E A I R RNOMRLY
BOUGUER RNOMRLY

LSSl 0

FULL LINE:
OPEN L I N E :

II
0
Y

0
-10

-30

-20

-U0
-50
-60

-80

-70

-90
-100

NORTH SEA:

D I S T A N C E I N KH

L5530

FINISH
1 3 I U 52
7839711
6159858
55.501
?.V97

G R A V I T Y ANOMALY

DEPTH

LINE:
L5530
HA7 8
1986
ORTE:
START
H.fl.5..
2 59 U5
TIME
U.T.M. COOROINRTES
X:
535390
l: 6 1 5 0 8 0 5
GEOGRRPHICRL COOROINRTES PHI:
55.501
LRMBOR:
3.560

NORTH SEA:

D I S T R N C E I N KM

L5530

FULL LINE:
OPEN L I N E :

F R E E R I R RNOMRLY
BOUGUER ANOHRLY

30

U0

50

60

l 0

80

90

100

110

120

130

IUO

150

160

170

180

190

200

210

220

230

2UO

L5545

G R R V I T Y RNOMRLY

20

NORTH SER:

FREE R I R RNOMRLY
BOUGUER RNOMRLY

10

FULL L I N E :
OPEN L I N E :

1986

DISTRNCE IN KM

L55U5
MAT 7

L55Y5

FlN15H
1 9 U1
521672
6176582
55.133
3.3U5

LINE:
ORTE:
START
1 3 5 9 U2
781319
6187781
55.753
7.UBU

DEPTH

TIME
H.M.5.:
U.l.H.
CUUROINATES
X:
1:
GEOGRAPHICAL CUUROINRTES P H I ;
LRIIBOR:

NORTH SER:

DISTRNCE IN K M

250

C..

2
L;m
o
.
m

..

V)

z ;n
..

3:

a
a

-m

mm

on

m
+
0
Z

m
0

Z
X

' mm

I-.

?
"

- X
m-.-.

.. .. .. .. ..

DEPTH I N H

O
-

a
0

'

"
0

C
9

;&
Z
Z
Z
X

,
~

,
-

R.P.E.

Y R U R055Ell

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= m

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a = = m - -

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