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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.

The origin of the Earth's lowest geoid, the Indian Ocean geoid low (IOGL) has been controversial. The geoid predicted from present‐day tomography models has shown that mid to upper mantle hot anomalies are integral in generating the IOGL. Here we assimilate plate reconstruction in global mantle convection models starting from 140 Ma and show that sinking Tethyan slabs perturbed the African Large Low Shear Velocity province and generated plumes beneath the Indian Ocean, which led to the formation of this negative geoid anomaly. We also show that this low can be reproduced by surrounding mantle density anomalies, without having them present directly beneath the geoid low. We tune the density and viscosity of thermochemical piles at core‐mantle boundary, Clapeyron slope and density jump at 660 km discontinuity, and the strength of slabs, to control the rise of plumes, which in turn determine the shape and amplitude of the geoid low. Plain Language Summary The origin of the deepest geoid on Earth, the Indian Ocean geoid low (IOGL), is debated. Several competing hypotheses exist, amongst which, a recent study employing tomography models suggested that hot anomalies at mid to upper mantle depths are crucial in generating this elusive feature. Assimilating plate motion in global mantle convection models from the Mesozoic till the present day, we attempt to trace the formation of this geoid low. We show that flow induced by downwelling Tethys slabs perturbs the African Large Low Shear Velocity province and gives rise to plumes that reach the upper mantle. These plumes, along with the mantle structure in the vicinity of the geoid low, are responsible for the formation of this negative geoid anomaly. Exploring a wide model parameter space, such as the density and intrinsic viscosity of the thermochemical piles, Clapeyron slope and density jump at 660 km depth, strength of slabs, we show that plumes are integral in generating the IOGL. The contribution of lower mantle Tethys slabs is secondary but also necessary in generating this geoid low. Key Points Employing time dependent global mantle convection models since the Cretaceous we simulate the origin of the enigmatic Indian Ocean geoid low Plumes forming along the edges of the African Large Low Shear Velocity province (LLSVP) control the regional geoid in the Indian Ocean These plumes, in turn are generated by lower mantle Tethyan slabs that perturb the African LLSVP

The harmonic correction (HC) is one of the key quantities when using residual terrain modelling (RTM) for high-frequency gravity field modelling. In the RTM technique, high-frequency topographic gravitational signals are obtained through removing gravitational effects of a long-wavelength reference surface, e.g., MERIT2160. There might be points located below the reference surface. In such cases, the RTM gravity field is calculated in the non-harmonic condition, HC is therefore required. Over past decades, though various methods have been proposed to handle the HC issue for the RTM technique, most of them were focused on the HC for RTM gravity anomaly rather than for other gravity functionals, such as RTM geoid height. In practice, the HC for RTM geoid height was generally assumed to be negligible, but a detailed quantification was missing for present-day RTM computations. This might cause large errors in the regional geoid determination over rugged areas. In this study, we derive HC expressions for the RTM geoid height in the framework of the classical condensation method. The HC terms are derived under four different assumptions separately: residual masses approximated by an unlimited Bouguer plate, residual masses approximated by a limited Bouguer plate which overcomes the mass inconsistency effect, residual masses approximated by a Bouguer shell which overcomes the effect of planar approximation, and residual masses approximated by a limited Bouguer shell which overcomes the errors induced by both planar approximation and mass-inconsistency. The errors due to various approximations in HC terms are investigated through comparison among various terms. Besides, HC terms are computed using an expansion up to degree and order 2159. Our results show that HC for RTM geoid height is less 1 mm and could be ignored over ∼99% of continental areas, but be of great significance for regional geoid determination over mountain areas, e.g., more than 10 cm effect over very rugged areas. The validation through comparison with terrestrial measurements and a baseline solution of the RTM technique proves that the HC terms provided in this study can improve the accuracy of RTM geoid heights and are expected to be useful for applications of the RTM technique in regional and global gravity field modelling.

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.

In the summer of 2017, the National Geodetic Survey (NGS) conducted its third and final Geoid Slope Validation Survey in the rugged terrain of southern Colorado, USA. As in previous surveys, the intent is to acquire the most accurate and precise field observations to determine geoid slopes. In turn, these data can be used to quantify the accuracy of various geoid models as NGS looks ahead to creating a highly accurate gravimetric geoid model for use as a national vertical datum. Long period GPS sessions, spirit leveling, absolute gravity, and deflection of the vertical (DoV) observations were acquired along a 360 km line, ranging from 1900 to 3300 m in elevation, with a station spacing of approximately 1.6 km. Our absolute gravity and DoV datasets are unique in that they were collected at 222 field stations in highly mountainous terrain at an unprecedented observational accuracy of 10 µGal and 0.04″, respectively. Further, by employing tailored refraction corrections to the spirit leveling data, we improved the agreement between heights derived from the DoV and spirit leveling from ± 1.9 to ± 1.3 cm RMS, or by more than 30%, across the line. At all length scales, from 1.6 to 360 km, the agreement is better than 2 cm. Finally, as a description of the validation process, we compare the observations with recent NGS experimental geoid models. We find that typical agreement is at about 3–5 cm, with no single model being best at all length scales. The data from this project are freely available to the community and should serve as test beds for not only geoid modeling comparisons, but also the refinement of numerous field techniques.

Numerical methods, like the finite element method (FEM) or finite volume method (FVM), are widely used to provide solutions in many boundary value problems. In previous studies, these numerical methods have also been applied in geodesy but demanded extensive computations because the upper boundary condition was usually set up at the satellite orbit level, hundreds of kilometers above the Earth. The relatively large distances between the lower boundary of the Earth's surface and the upper boundary exacerbate the computation loads because of the required discretization in between. Considering that many areas, such as the US, have uniformly distributed airborne gravity data just a few kilometers above the topography, we adapt the upper boundary from the satellite orbit level to the mean flight level of the airborne gravimetry. The significant decrease in the domain of solution dramatically reduces the large computation demand for FEM or FVM. This paper demonstrates the advantages of using FVM in the decreased domain in simulated and actual field cases in study areas of interest. In the simulated case, the FVM numerical results show that precision improvement of about an order of magnitude can be obtained when moving the upper boundary from 250 to 10 km, the upper altitude of the GRAV-D flights. A 2–3 cm level of accurate quasi-geoid model can be obtained for the actual datasets depending on different schemes used to model the topographic mass. In flat areas, the FVM solution can reach to about 1 cm precision, which is comparable with the counterparts from classical methods. The paper also demonstrates how to find the upper boundary if no airborne data are available. Finally, the numerical method provides a 3D discrete representation of the entire local gravity field instead of a surface solution, a (quasi) geoid model.

The geoid and quasi-geoid serve as the reference surfaces of the orthometric and normal height systems, respectively. In order to improve the accuracy of the (quasi-) geoid determined by the Stokes integral with use of the Remove-Compute-Restore (RCR) technique, various modification methods for the spherical Stokes’ kernels, including the spheroidal, cosine-, power-, and Molodensky-modified kernels, are studied in this paper. In addition to the traditional Molodensky-modified Stokes’ kernel, a more effective Molodensky-modified Stokes’ kernel is put forward. A general formula for spectral decomposition of the Stokes integral in the RCR mode is derived, followed by the spectral analysis to reveal the transfer principles of gravity data when using different Stokes’ kernels. The spheroidal and modified Stokes integrals can cause spectral leakage phenomenon, and a method to eliminate spectral leakage is presented based on spectral analysis. The research indicates the low truncation degree of the spheroidal Stokes’ kernel and the low modification degrees of the modified Stokes’ kernel affect the accuracy of the (quasi-) geoid significantly. Quantitative methods for estimating the empirical values of the parameters of the low-degree spheroidal and modified Stokes’ kernels are proposed and the effectiveness of the methods is validated through numerical tests.

The geoid, according to the classical Gauss–Listing definition, is, among infinite equipotential surfaces of the Earth’s gravity field, the equipotential surface that in a least squares sense best fits the undisturbed mean sea level. This equipotential surface, except for its zero-degree harmonic, can be characterized using the Earth’s global gravity models (GGM). Although, nowadays, satellite altimetry technique provides the absolute geoid height over oceans that can be used to calibrate the unknown zero-degree harmonic of the gravimetric geoid models, this technique cannot be utilized to estimate the geometric parameters of the mean Earth ellipsoid (MEE). The main objective of this study is to perform a joint estimation of W0, which defines the zero datum of vertical coordinates, and the MEE parameters relying on a new approach and on the newest gravity field, mean sea surface and mean dynamic topography models. As our approach utilizes both satellite altimetry observations and a GGM model, we consider different aspects of the input data to evaluate the sensitivity of our estimations to the input data. Unlike previous studies, our results show that it is not sufficient to use only the satellite-component of a quasi-stationary GGM to estimate W0. In addition, our results confirm a high sensitivity of the applied approach to the altimetry-based geoid heights, i.e., mean sea surface and mean dynamic topography models. Moreover, as W0 should be considered a quasi-stationary parameter, we quantify the effect of time-dependent Earth’s gravity field changes as well as the time-dependent sea level changes on the estimation of W0. Our computations resulted in the geoid potential W0 = 62636848.102 ± 0.004 m2 s−2 and the semi-major and minor axes of the MEE, a = 6378137.678 ± 0.0003 m and b = 6356752.964 ± 0.0005 m, which are 0.678 and 0.650 m larger than those axes of GRS80 reference ellipsoid, respectively. Moreover, a new estimation for the geocentric gravitational constant was obtained as GM = (398600460.55 ± 0.03) × 106 m3 s−2.

In traditional airborne gravimetry, the vertical component of the gravity vector is used as an approximation of the measured magnitude of the gravity vector, which enters the determination of the local geoid. In this study, a comprehensive computational scheme for determining the local geoid using three components of the airborne gravity vector is presented. Our approach extends the existing one-step method for local geoid modeling by incorporating the full gravity vector measured by airborne sensors as boundary values in the gravimetric boundary-value problem. We derive integral kernel functions along with far-zone contributions for the three components of the airborne gravity vector and apply deterministic modifications to them. To validate our derivations, we use a global geopotential model (GGM)-based airborne gravity vectors burdened with realistic colored noise at one of the most challenging test sites for geoid determination, the 1-cm geoid test area in Colorado (USA). Results of closed-loop tests confirm that applying all three components of the GGM-based airborne gravity vector improves the internal accuracy of the geoid by 50% compared to using only the vertical component. We further use real airborne gravity vectors observed at a test site in the same region and show that the STD of the estimated geoid heights evaluated against the reference geoidal heights along the Geoid Slope Validation Survey of 2017 (GSVS17) Line is 2.3 cm using the “traditional approach” and 1.3 cm including the horizontal components. This indicates a significant improvement in the external accuracy (~ 46%) of the geoid when the full gravity vector is used, without using other heterogeneous observations. Graphical Abstract

This paper represents a milestone in the UNB effort to formulate an accurate and self-consistent theory for regional geoid determination. To get the geoid to a sub-centimetre accuracy, we had to formulate the theory in a spherical rather than linear approximation, advance the modelling of the effect of topographic mass density, formulate the solid spherical Bouguer anomaly, develop the probabilistic downward continuation approach, incorporate improved satellite determined global gravitational models and introduce a whole host of smaller improvements. Having adopted Auvergne, an area in France as our testing ground, where the mean standard deviation of observed gravity values is 0.5 mGal, according to the Institute Geographique Nationale (Duquenne in Proceedings of the 1st international symposium of the international gravity field service “gravity field of the earth”, International gravity field service meeting, Istanbul, Turkey, 2006), we obtained the standard deviation of the gravity anomalies continued downward to the geoid, as estimated by minimizing the L2 norm of their residuals, to be in average 3 times larger than those on the surface with large spikes underneath the highest topographic points. The standard deviations of resulting geoidal heights range from a few millimetres to just over 6 cm for the highest topographic points in the Alpine region (just short of 2000 m). The mean standard deviations of the geoidal heights for the whole region are only 0.6 cm, which should be considered quite reasonable even if one acknowledges that the area of Auvergne is mostly flat. As one should expect, the main contributing factors to these uncertainties are the Poisson probabilistic downward continuation process, with the maximum standard deviation just short of 6 cm (the average value of 2.5 mm) and the topographic density uncertainties, with the maximum value of 5.6 cm (the average value of 3.0 mm). The comparison of our geoidal heights with the testing geoidal heights, obtained for a set of 75 control points (regularly spaced throughout the region), shows the mean shift of 13 cm which is believed to reflect the displacement of the French vertical datum from the geoid due to sea surface topography. The mean root square error of the misfit is 3.3 cm. This misfit, when we consider the estimated accuracy of our geoid, indicates that the mean standard deviation of the “test geoid” is about 3 cm, which makes it about 5 times less accurate than the Stokes–Helmert computed geoid.