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The launch of gravity-dedicated satellite missions at the beginning of the new millennium led to an accuracy improvement of global Earth gravity field models (GGMs). One of these missions was the Gravity field and steady-state Ocean Circulation Explorer (GOCE) launched in 2009. As the first European Space Agency's Earth Explorer Mission, the satellite carried a novel instrument, a 3-D gradiometer, which allowed measurement of the second-order directional derivatives of the gravitational potential (gravitational gradients) with a uniform quality and a near-global coverage. The main mission goal was to determine the static Earth's gravity field with the ambitious precision of 1-2 cm in terms of geoid heights and 1 mGal in terms of gravity anomalies for spatial resolution of 100 km (half wavelength at the equator). More than three years of the outstanding measurements resulted in three levels of data products (Level 0, Level 1b and Level 2), six releases of GGMs, and several global grids of gravitational gradients. The grids, which represent a step between gravitational gradients measured directly along the GOCE orbit and those represented by GGMs, found their usage mainly in geophysical applications. In this contribution, we validate the official Level 2 product GRD_SPW_2 using height anomalies over two test areas located in central and northern Europe (Czechia/Slovakia and Norway). A mathematical model based on the least-squares spectral weighting is employed with corresponding spectral weights estimated for validation of gravitational gradient grids. This model continues gravitational gradients from the mean orbital altitude of GOCE down to the irregular Earth's surface (not to a sphere) and transforms them to height anomalies in one computational step. Analytical downward continuation errors of the model are estimated using a closed-loop test. Prior to the comparison of height anomalies estimated from gravitational gradients with their reference values derived from Global Navigation Satellite Systems (GNSS)/levelling over the two test areas, the gravitational gradients and reference data are corrected for all systematic effects such as the tide system conversion. Moreover, the high-frequency part of the gravitational signal is estimated and subtracted from reference data as it is attenuated in the gravitational gradients measured by GOCE. A relative improvement between the release 6 and release 2 gradient grids reaches 48 % in terms of height anomalies in Czechia/Slovakia. The relative improvement in Norway is even more significant and reaches 55 % . The release 6 of the official Level 2 product GRD_SPW_2 gained the absolute accuracy with the standard deviation of 8.7 cm over Czechia/Slovakia and 9.3 cm over Norway. Article Highlights: A mathematical model based on the least-squares spectral weighting for validation of the official Level 2 product GRD_SPW_2 is presented Possibilities of the spectral combination method for the downward continuation of gravitational gradients and their transformation into height anomalies are investigated A review of quality of the official Level 2 product GRD_SPW_2 with respect to GNSS/levelling points over two test areas (Czechia/Slovakia and Norway) is provided [ABSTRACT FROM AUTHOR]

In terrestrial studies, Bouguer gravity data is routinely computed by adopting various numerical schemes, starting from the most basic concept of approximating the actual topography by an infinite Bouguer plate, through adding a planar terrain correction to account for a local/regional terrain geometry, to more advanced schemes that involve the computation of the topographic gravity correction by taking into consideration a gravitational contribution of the whole topography while adopting a spherical (or ellipsoidal) approximation. Moreover, the topographic density information has significantly improved the gravity forward modeling and interpretations, especially in polar regions (by accounting for a density contrast of polar glaciers) and in regions characterized by a complex geological structure. Whereas in geodetic studies (such as a gravimetric geoid modeling) only the gravitational contribution of topographic masses above the geoid is computed and subsequently removed from observed (free-air) gravity data, geophysical studies focusing on interpreting the Earth's inner structure usually require the application of additional stripping gravity corrections that account for known anomalous density structures in order to reveal an unknown (and sought) density structure or density interface. In planetary studies, numerical schemes applied to compile Bouguer gravity maps might differ from terrestrial studies due to two reasons. While in terrestrial studies the topography is defined by physical heights above the geoid surface (i.e., the geoid-referenced topography), in planetary studies the topography is commonly described by geometric heights above the geometric reference surface (i.e., the geometric-referenced topography). Moreover, large parts of a planetary surface have negative heights. This obviously has implications on the computation of the topographic gravity correction and consequently Bouguer gravity data because in this case the application of this correction not only removes the gravitational contribution of a topographic mass surplus, but also compensates for a topographic mass deficit. In this study, we examine numerically possible options of computing the topographic gravity correction and consequently the Bouguer gravity data in planetary applications. In agreement with a theoretical definition of the Bouguer gravity correction, the Bouguer gravity maps compiled based on adopting the geoid-referenced topography are the most relevant. In this case, the application of the topographic gravity correction removes only the gravitational contribution of the topography. Alternative options based on using geometric heights, on the other hand, subtract an additional gravitational signal, spatially closely correlated with the geoidal undulations, that is often attributed to deep mantle density heterogeneities, mantle plumes or other phenomena that are not directly related to a topographic density distribution. [ABSTRACT FROM AUTHOR]

The static Earth’s gravitational field has traditionally been described in geodesy and geophysics by the gravitational potential (geopotential for short), a scalar function of 3-D position. Although not directly observable, geopotential functionals such as its first- and second-order gradients are routinely measured by ground, airborne and/or satellite sensors. In geodesy, these observables are often used for recovery of the static geopotential at some simple reference surface approximating the actual Earth’s surface. A generalized mathematical model is represented by a surface integral equation which originates in solving Dirichlet’s boundary-value problem of the potential theory defined for the harmonic geopotential, spheroidal boundary and globally distributed gradient data. The mathematical model can be used for combining various geopotential gradients without necessity of their re-sampling or prior continuation in space. The model extends the apparatus of integral equations which results from solving boundary-value problems of the potential theory to all geopotential gradients observed by current ground, airborne and satellite sensors. Differences between spherical and spheroidal formulations of integral kernel functions of Green’s kind are investigated. Estimated differences reach relative values at the level of 3% which demonstrates the significance of spheroidal approximation for flattened bodies such as the Earth. The observation model can be used for combined inversion of currently available geopotential gradients while exploring their spectral and stochastic characteristics. The model would be even more relevant to gravitational field modelling of other bodies in space with more pronounced spheroidal geometry than that of the Earth. [ABSTRACT FROM AUTHOR]

In this study we assume that a gravitational curvature tensor, i.e. a tensor of third-order directional derivatives of the Earth's gravitational potential, is observable at satellite altitudes. Such a tensor is composed of ten different components, i.e. gravitational curvatures, which may be combined into vertical-vertical-vertical, vertical-vertical-horizontal, vertical-horizontal-horizontal and horizontal-horizontal-horizontal gravitational curvatures. Firstly, we study spectral properties of the gravitational curvatures. Secondly, we derive new quadrature formulas for the spherical harmonic analysis of the four gravitational curvatures and provide their corresponding analytical error models. Thirdly, requirements for an instrument that would eventually observe gravitational curvatures by differential accelerometry are investigated. The results reveal that measuring third-order directional derivatives of the gravitational potential imposes very high requirements on the accuracy of deployed accelerometers which are beyond the limits of currently available sensors. For example, for orbital parameters and performance similar to those of the GOCE mission, observing third-order directional derivatives requires accelerometers with the noise level of $${\sim}10^{-17}\,\hbox {m}\,\hbox {s}^{-2}$$ Hz $$^{-1/2}$$ . [ABSTRACT FROM AUTHOR]

In geodesy, the geoid and the quasigeoid are used as a reference surface for heights. Despite some similarities between these two concepts, the differences between the geoid and the quasigeoid (i.e. the geoid-to-quasigeoid correction) have to be taken into consideration in some specific applications which require a high accuracy. Over the world's oceans and marginal seas, the quasigeoid and the geoid are identical. Over the continents, however, the geoid-to-quasigeoid correction could reach up to several metres especially in the mountainous, polar and geologically complex regions. Various methods have been developed and applied to compute this correction regionally in the spatial domain using detailed gravity, terrain and crustal density data. These methods utilize the gravimetric forward modelling of the topographic density structure and the direct/inverse solutions to the boundary-value problems in physical geodesy. In this article, we provide a brief summary of existing theoretical and numerical studies on the geoid-to-quasigeoid correction. We then compare these methods with the newly developed procedure and discuss some numerical and practical aspects of computing this correction. In global applications, the geoid-to-quasigeoid correction can conveniently be computed in the spectral domain. For this purpose, we derive and present also the spectral expressions for computing this correction based on applying methods for a spherical harmonic analysis and synthesis of global gravity, terrain and crustal structure models. We argue that the newly developed procedure for the regional gravity-to-potential conversion, applied for computing the geoid-to-quasigeoid correction in the spatial domain, is numerically more stable than the existing inverse models which utilize the gravity downward continuation. Moreover, compared to existing spectral expressions, our definition in the spectral domain takes not only the terrain geometry but also the mass density heterogeneities within the whole Earth into consideration. In this way, the geoid-to-quasigeoid correction and the respective geoid model could be determined more accurately. [ABSTRACT FROM AUTHOR]

Downward continuation of the potential data (gravity or magnetic) helps to interpret contributing sources by transforming the physical signal to their neighborhood. This paper applies three continuation approaches (Landweber's iteration, the direct method and the inverse-matrix approach with Tikhonov's regularization), based on the Poisson integral equation, and four integration schemes to the second vertical derivative of the anomalous potential $$T_{\rm zz}$$ obtained from GOCE data. In the experiments, $$T_{\rm zz}$$ was downward continued for 250 km in the area of Central Europe with special attention to edge effects. For the integration schemes, which use prior information outside the region of interest to reduce edge effects, the best agreement with TIM-r4 was achieved by the inverse-matrix approach with Tikhonov's regularization (RMS = 1.15 eotvos). On the contrary, without prior information the iterative approach performed with RMS = 1.17 eotvos. [ABSTRACT FROM AUTHOR]

The global crustal model CRUST1.0 (refined using additional global datasets of the solid topography, polar ice sheets and geoid) is used in this study to estimate the average densities of major crustal structures. We further use this refined model to compile the gravity field quantities generated by the Earth's crustal structures and to investigate their spatial and spectral characteristics and their correlation with the crustal geometry in context of the gravimetric Moho determination. The analysis shows that the average crustal density is 2,830 kg/m, while it decreases to 2,490 kg/m when including the seawater. The average density of the oceanic crust (without the seawater) is 2,860 kg/m, and the average continental crustal density (including the continental shelves) is 2,790 kg/m. The correlation analysis reveals that the gravity field corrected for major known anomalous crustal density structures has a maximum (absolute) correlation with the Moho geometry. The Moho signature in these gravity data is seen mainly at the long-to-medium wavelengths. At higher frequencies, the Moho signature is weakening due to a noise in gravity data, which is mainly attributed to crustal model uncertainties. The Moho determination thus requires a combination of gravity and seismic data. In global studies, gravimetric methods can help improving seismic results, because (1) large parts of the world are not yet sufficiently covered by seismic surveys and (2) global gravity models have a relatively high accuracy and resolution. In regional and local studies, the gravimetric Moho determination requires either a detailed crustal density model or seismic data (for a combined gravity and seismic data inversion). We also demonstrate that the Earth's long-wavelength gravity spectrum comprises not only the gravitational signal of deep mantle heterogeneities (including the core-mantle boundary zone), but also shallow crustal structures. Consequently, the application of spectral filtering in the gravimetric Moho determination will remove not only the gravitational signal of (unknown) mantle heterogeneities, but also the Moho signature at the long-wavelength gravity spectrum. [ABSTRACT FROM AUTHOR]

In the last few decades, satellites have acquired various potential data sets hundreds of kilometers above the Earth's surface. Conventionally, these global magnetic and gravitational data sets are approximated by using spherical harmonics that allow straightforward work with both fields outside the Earth's mass. In this article, we present an alternative approach for working with potential data in mass-free space given over a regular coordinate grid on a spherical surface. The algorithm is based on an iterative scheme and the Poisson integral equation for the sphere. With help from the Fourier transform, global potential (magnetic or gravitational) data can efficiently be continued from a mean orbital sphere down to a reference surface without using the spherical harmonics. This is illustrated both with simulated magnetic field data and with real data from the satellite gradiometry mission GOCE. In the case of simulated magnetic data and the downward continuation for 450 km, we have achieved a root mean square at the level of 0.05 nT, while it was <1 E (eotvos) for real GOCE data continued for 250 km. The crucial point is to apply the algorithm twice as a large part of noise can be removed from the input data. [ABSTRACT FROM AUTHOR]

Due to the ESA's satellite mission GOCE launched in March 2009, gravitational gradients sampled along the orbital trajectory approximately 250 km above the Earth's surface have become available. Since 2010, gravitational gradients have routinely been applied in geodesy for the derivation of global Earth's gravitational models provided in terms of fully normalized coefficients in a spherical harmonic series representation of the Earth's gravitational potential. However, in geophysics, gravitational gradients observed by spaceborne instruments have still been applied relatively seldom. This contribution describes their possible geophysical applications in structural studies where gravitational gradients observed at satellite altitudes are compared with those derived by a spectral forward modeling technique using available global models of selected Earth's mass components as input data. In particular, GOCE gravitational gradients are interpreted in terms of a superposition principle of gravitation as combined gravitational effects generated by a homogeneous reference ellipsoid of revolution, mean topographic and ice mass density distributions, depth-dependent mass density contrasts within bathymetry and lateral mass density anomalies with sediments and crustal layers. Respective gravitational effects are one by one removed from gravitational gradients observed at approximately 250 km elevation above ground. Removing respective gravitational gradients from observed gravitational gradients gradually reveals problematic geographic areas with model deficiencies. For the full interpretation of observed gravitational gradients, deficiencies of CRUST2.0 must be corrected and effects of deeper laying mass anomalies not included in the study considered. These findings are confirmed by parameters describing spectral properties of the gravitational gradients. The methodology can be applied for validating Earth's gravitational models and for constraining crustal models in the development phase. [ABSTRACT FROM AUTHOR]

We analyse spatial and spectral characteristics of various refined gravity data used for modelling and gravimetric interpretation of the crust-mantle interface and the mantle-lithosphere structure. Depending on the purpose of the study, refined gravity data have either a strong or weak correlation with the Moho depths (Moho geometry). The compilation of the refined gravity data is purely based on available information on the crustal density structure obtained from seismic surveys without adopting any isostatic hypothesis. We demonstrate that the crust-stripped relative-to-mantle gravity data have a weak correlation with the CRUST2.0 Moho depths of about 0.02. Since gravitational signals due to the crustal density structure and the Moho geometry are subtracted from gravity field, these refined gravity data comprise mainly the information on the mantle lithosphere and sub-lithospheric mantle. On the other hand, the consolidated crust-stripped gravity data, obtained from the gravity field after applying the crust density contrast stripping corrections, comprise mainly the gravitational signal of the Moho geometry, although they also contain the gravitational signal due to anomalous mass density structures within the mantle. In the absence of global models of the mantle structure, the best possible option of computing refined gravity data, suitable for the recovery/refinement of the Moho interface, is to subtract the complete crust-corrected gravity data from the consolidated crust-stripped gravity data. These refined gravity data, that is, the homogenous crust gravity data, have a strong absolute correlation of about 0.99 with the CRUST2.0 Moho depths due to removing a gravitational signal of inhomogeneous density structures within the crust and mantle. Results of the spectral signal decomposition and the subsequent correlation analysis reveal that the correlation of the homogenous crust gravity data with the Moho depths is larger than 0.9 over the investigated harmonic spectrum up to harmonic degree 90. The crust-stripped relative-to-mantle gravity data correlate substantially with the Moho depths above harmonic degree 50 where the correlation exceeds 0.5. [ABSTRACT FROM AUTHOR]