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The geoid can be computed from the quasigeoid by applying the geoid-to-quasigeoid separation. The geoid-to-quasigeoid separation is also needed for a vertical datum unification. Information about the actual topographic density distribution is required to determine accurately the geoid and orthometric heights. In this study, we estimate the effect of (lateral) anomalous topographic density on the geoid-to-quasigeoid separation. This became possible after releasing the first global lateral topographic density model UNB_TopoDens. This model provides also information about topographic density uncertainties. According to our estimates by using the UNB_TopoDens model, the effect of anomalous topographic density on the geoid-to-quasigeoid separation globally varies mostly within ±0.02 m. In mountainous regions (particularly in the Himalayas and Tibet), this effect could reach (or even exceed) ±0.1 m. The analysis also reveals that the errors in computed values of the geoid-to-quasigeoid separation attributed to the UNB_TopoDens density uncertainties (provided in terms of standard deviations for representative lithologies) are globally mostly within a few centimeters. In parts of mountainous regions with large topographic density uncertainties, however, these errors might exceed ±0.1 m. There is another crucial aspect we address here. According to the UNB_TopoDens model, the average topographic density for the whole landmass (except for polar glaciers) is 2247 kg m −3 . This average density is considerably smaller than the value of 2670 kg m −3 that is typically used in geodetic and geophysical applications. This new estimate, if confirmed independently, might have implications on Helmert orthometric heights (adopted in many countries for a vertical datum realization). Changes in Helmert orthometric heights due to adopting this new estimate of the average topographic density are systematic and reach several decimeters. We, therefore, propose to use a gravimetric geoid model for a practical realization of vertical datums that incorporates the topographic density information in countries where Helmert orthometric heights are adopted. This recommendation is fully compatible with modern concepts for a vertical datum realization based on using a gravimetric geoid model and geodetic (ellipsoidal) heights. We also address inconsistencies in computations of Helmert orthometric heights and gravimetric geoid models, and propose to use only accurately computed orthometric heights (including variable topographic density term) to combine (or fit) a gravimetric geoid model with geometric geoid heights at GPS-leveling benchmarks.

Integral formulas represent a methodological basis for the determination of gravitational fields generated by planetary bodies. In particular, spherical integral transformations are preferred for their symmetrical properties with the integration domain being the entire surface of the sphere. However, global coverage of boundary values is rarely guaranteed. In practical calculations, we therefore split the spherical surface into a near zone and a far zone, for convenience, by a spherical cap. While the gravitational effect in the near zone can be evaluated by numerical integration over available boundary values, the contribution of the far zone has to be precisely quantified by other means. Far-zone effects for the isotropic integral transformations and those depending on the direct azimuth have adequately been discussed. On the other hand, this subject has only marginally been addressed for the spherical integral formulas that are, except for other variables, also functions of the backward azimuth. In this article, we significantly advance the existing geodetic methodology by deriving the far-zone effects for the two classes of spherical integral transformations: (1) the analytical solutions of the horizontal, horizontal–horizontal, and horizontal–horizontal–horizontal BVPs including their generalisations with arbitrary-order vertical derivative of respective boundary conditions and (2) spatial (vertical, horizontal, or mixed) derivatives of these generalised analytical solutions up to the third order. The integral and spectral forms of the far-zone effects are implemented in MATLAB software package, and their consistency is tested in closed-loop simulations. The presented methodology can be employed in upward/downward continuation of potential field observables or for a quantification of error propagation through spherical integral transformations.

Physical geodesy applies potential theory to study the Earth’s gravitational field in space outside and up to a few km inside the Earth’s mass. Among various tools offered by this theory, boundary-value problems are particularly popular for the transformation or continuation of gravitational field parameters across space. Traditional problems, formulated and solved as early as in the nineteenth century, have been gradually supplemented with new problems, as new observational methods and data are available. In most cases, the emphasis is on formulating a functional relationship involving two functions in 3-D space; the values of one function are searched but unobservable; the values of the other function are observable but with errors. Such mathematical models (observation equations) are referred to as deterministic. Since observed data burdened with observational errors are used for their solutions, the relevant stochastic models must be formulated to provide uncertainties of the estimated parameters against which their quality can be evaluated. This article discusses the boundary-value problems of potential theory formulated for gravitational data currently or in the foreseeable future used by physical geodesy. Their solutions in the form of integral formulas and integral equations are reviewed, practical estimators applicable to numerical solutions of the deterministic models are formulated, and their related stochastic models are introduced. Deterministic and stochastic models represent a complete solution to problems in physical geodesy providing estimates of unknown parameters and their error variances (mean squared errors). On the other hand, analyses of error covariances can reveal problems related to the observed data and/or the design of the mathematical models. Numerical experiments demonstrate the applicability of stochastic models in practice.

Since marine seismic studies are relatively sparse and unevenly distributed, detailed tomographic images of the Moho geometry under large parts of the world’s oceans and marginal seas are not yet available. Marine gravity data is, therefore, often used to detect the Moho depth in these regions. Alternatively, Airy’s isostatic theory can be applied for this purpose. In this study, we compare different isostatic and gravimetric methods for a Moho recovery under the oceanic crust and continental margins, particularly focusing on a numerical performance of Airy, Vening Meinesz–Moritz (VMM), direct gravity inversion, and generalized (for the Earth’s spherical approximation) Parker–Oldenburg methods. Numerical experiments are conducted to estimate the Moho depth beneath the Indian Ocean. Results reveal that, among these investigated methods, the VMM model is probably the most suitable for a gravimetric Moho recovery beneath the oceanic crust and continental margins, when taking into consideration the lithospheric mantle density information. This method could to some extent model realistically a Moho geometry beneath mid-oceanic spreading ridges, oceanic subductions, most of oceanic volcanic formations, and marine sediment deposits. Nonetheless, this model still cannot fully reproduce a gradual Moho deepening caused by a conductive cooling and a subsequent isostatic rebalance of the oceanic lithosphere, which can functionally be described by a Moho deepening with the increasing ocean-floor age. Results also indicate that the Airy method typically overestimates the Moho depth under oceanic volcanic formations, while the direct gravity inversion and generalized Parker–Oldenburg methods could not reproduce more detailed features in the Moho geometry. Since Pratt’s theory better describes a large-scale isostatic mechanism of the oceanic lithosphere by means of compensation density variations, but does not account for additional changes in compensation depth (i.e., Moho depth) that are caused by these density changes, we tested a possibility of combining Pratt and Airy’s isostatic theories in order to estimate the Moho depth under the oceanic crust. Even this combined model cannot fully reproduce a gradual Moho deepening with the increasing ocean-floor age.

This paper studies the contribution of airborne gravity data to improvement of gravimetric geoid modelling across the mountainous area in Colorado, USA. First, airborne gravity data was processed, filtered, and downward-continued. Then, three gravity anomaly grids were prepared; the first grid only from the terrestrial gravity data, the second grid only from the downward-continued airborne gravity data, and the third grid from combined downward-continued airborne and terrestrial gravity data. Gravimetric geoid models with the three gravity anomaly grids were determined using the least-squares modification of Stokes’ formula with additive corrections (LSMSA) method. The absolute and relative accuracy of the computed gravimetric geoid models was estimated on GNSS/levelling points. Results exhibit the accuracy improved by 1.1 cm or 20% in terms of standard deviation when airborne and terrestrial gravity data was used for geoid computation, compared to the geoid model computed only from terrestrial gravity data. Finally, the spectral analysis of surface gravity anomaly grids and geoid models was performed, which provided insights into specific wavelength bands in which airborne gravity data contributed and improved the power spectrum.

Integral transformations represent an important mathematical tool for gravitational field modelling. A basic assumption of integral transformations is the global data coverage, but availability of high-resolution and accurate gravitational data may be restricted. Therefore, we decompose the global integration into two parts: (1) the effect of the near zone calculated by the numerical integration of data within a spherical cap and (2) the effect of the far zone due to data beyond the spherical cap synthesised by harmonic expansions. Theoretical and numerical aspects of this decomposition have frequently been studied for isotropic integral transformations on the sphere, such as Hotine’s, Poisson’s, and Stokes’s integral formulas. In this article, we systematically review the mathematical theory of the far-zone effects for the spherical integral formulas, which transform the disturbing gravitational potential or its purely radial derivatives into observable quantities of the gravitational field, i.e. the disturbing gravitational potential and its radial, horizontal, or mixed derivatives of the first, second, or third order. These formulas are implemented in a MATLAB software and validated in a closed-loop simulation. Selected properties of the harmonic expansions are investigated by examining the behaviour of the truncation error coefficients. The mathematical formulations presented here are indispensable for practical solutions of direct or inverse problems in an accurate gravitational field modelling or when studying statistical properties of integral transformations.

The primary objective of the 1-cm geoid experiment in Colorado (USA) is to compare the numerous geoid computation methods used by different groups around the world. This is intended to lay the foundations for tuning computation methods to achieve the sought after 1-cm accuracy, and also evaluate how this accuracy may be robustly assessed. In this experiment, (quasi)geoid models were computed using the same input data provided by the US National Geodetic Survey (NGS), but using different methodologies. The rugged mountainous study area (730 km × 560 km) in Colorado was chosen so as to accentuate any differences between the methodologies, and to take advantage of newly collected GPS/leveling data of the Geoid Slope Validation Survey 2017 (GSVS17) which are now available to be used as an accurate and independent test dataset. Fourteen groups from fourteen countries submitted a gravimetric geoid and a quasigeoid model in a 1′ × 1′ grid for the study area, as well as geoid heights, height anomalies, and geopotential values at the 223 GSVS17 marks. This paper concentrates on the quasigeoid model comparison and evaluation, while the geopotential value investigations are presented as a separate paper (Sánchez et al. in J Geodesy 95(3):1. https://doi.org/10.1007/s00190-021-01481-0 , 2021). Three comparisons are performed: the area comparison to show the model precision, the comparison with the GSVS17 data to estimate the relative accuracy of the models, and the differential quasigeoid (slope) comparison with GSVS17 to assess the relative accuracy of the height anomalies at different baseline lengths. The results show that the precision of the 1′ × 1′ models over the complete area is about 2 cm, while the accuracy estimates along the GSVS17 profile range from 1.2 cm to 3.4 cm. Considering that the GSVS17 does not pass the roughest terrain, we estimate that the quasigeoid can be computed with an accuracy of ~ 2 cm in Colorado. The slope comparisons show that RMS values of the differences vary from 2 to 8 cm in all baseline lengths. Although the 2-cm precision and 2-cm relative accuracy have been estimated in such a rugged region, the experiment has not reached the 1-cm accuracy goal. At this point, the different accuracy estimates are not a proof of the superiority of one methodology over another because the model precision and accuracy of the GSVS17-derived height anomalies are at a similar level. It appears that the differences are not primarily caused by differences in theory, but that they originate mostly from numerical computations and/or data processing techniques. Consequently, recommendations to improve the model precision toward the 1-cm accuracy are also given in this paper.

Elastic thickness (Te) is a parameter representing the lithospheric strength with respect to the loading. Those places, having large values of elastic thickness, flexes less. In this paper, the on-orbit measured gravitational gradients of the Gravity field and steady-state Ocean Circulation Explorer (GOCE) mission are used for determining the elastic thickness over Africa. A forward computational method is developed based on the Vening Meinesz-Moritz (VMM) and flexural theories of isostasy to find a mathematical relation between the second-order derivative of the Earth’s gravity field measured by the GOCE satellite and mechanical properties of the lithosphere. The loading of topography and bathymetry, sediments and crystalline masses are computed from CRUST1.0, in addition to estimates of laterally-variable density of the upper mantle, Young’s modulus and Poisson’s ratio. The second-order radial derivatives of the gravitational potential are synthesised from the crustal model and different a priori values of elastic thickness to find which one matches the GOCE on-orbit gradient. This method is developed in terms of spherical harmonics and performed at any point along the GOCE orbit without using any planar approximation. Our map of Te over Africa shows that the intra-continental hotspots and volcanoes, such as Ahaggar, Tibesti, Darfur, Cameroon volcanic line and Libya are connected by corridors of low Te. The high values of Te are mainly associated with the cratonic areas of Congo, Chad and the Western African basin.

This paper deals with Barkhausen noise in Trip steel RAK 40/70+Z1000MBO subjected to uniaxial plastic straining under variable strain rates. Barkhausen noise is investigated especially with respect to microstructure alterations expressed in terms of phase composition and dislocation density. The effects of sample heating and the corresponding Taylor–Quinney coefficient are considered as well. Barkhausen noise of the tensile test is measured in situ as well as after unloading of the samples. In this way, the contribution of external and residual stresses on Barkhausen noise can be distinguished in the direction of tensile loading, as well as in the transversal direction. It was found that the in situ-measured Barkhausen noise grows in both directions as a result of tensile stresses and the realignment of domain walls. The post situ-measured Barkhausen noise drops down in the direction of tensile load due to the high opposition of dislocation density at the expense of the growing transversal direction due to the prevailing effect of the realignment of domain walls. The temperature of the sample remarkably grows along with the increasing strain rate which corresponds with the increasing Taylor–Quinney coefficient. However, this effect plays only a minor role, and the density of the lattice imperfection expressed especially in terms of dislocation density prevails.

Orthometric heights are practically determined from levelling and gravity measurements by applying orthometric corrections to levelled height differences. Currently, Helmert’s definition of orthometric heights is mostly used, with the mean gravity computed only approximately from observed surface gravity by applying the Poincaré–Prey gravity reduction. In this study, we apply the state-of-the-art method for the orthometric height determination and demonstrate its practical applicability. The method utilizes advanced numerical procedures to account for the topographic relief and mass density variations, while adopting the Earth’s spherical approximation. The non-topographic contribution of masses inside the geoid is evaluated by solving geodetic boundary-values problems. We apply this method for the first time to practically determine the orthometric heights of levelling benchmarks from levelling and gravity measurements and digital terrain and rock density models. The results obtained after the readjustment of newly determined orthometric heights at the levelling network covering Hong Kong territories are compared with Helmert’s orthometric heights. This comparison revealed that errors in Helmert’s orthometric heights vary between −3.13 and 0.95 cm. Such errors are very significant when compared to accurate values of the cumulative orthometric correction between −1.88 and 0.84 cm. Moreover, large errors (up to 1 cm) already occur at levelling benchmarks at very low elevations (<100 m). These findings demonstrate that the accurate determination of orthometric heights is crucial, even for regions with moderately elevated topography.