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NASA NTRS2023

Gravity Degree-Depth Relationship Using Point Mass Spherical Harmonics

Relationships between the degree of a spherical harmonic model of the gravitational field of a body and the depth of a source expressed as a density contrast can be used to study the structure of features. Here, we show that the gravitational acceleration per spherical harmonic degree of a constant density source has an extremum that depends on the depth of the source. Using the spherical harmonics expansion for a point mass source, we use this to derive a degree-depth relationship. Our relationship resembles an earlier one derived by Bowin (1983), with substantial differences at the lower degrees. We also find that a recent relationship derived by Deng et al. (2022) over-estimates the source depth. The relationship that we derive relates spherical harmonic degree n to depth d for a planet of radius R according to d = (1 - e -1/n+1 )R, which simplifies to d = R/(n + 1) for high degrees. We support our new relationship with synthetic models of a density contrast in a planet. We also show how the differences between our relationship and that of Bowin (1983) affect band-filtered gravity, for example when inspecting the upper 100 km of the Moon. Using point masses in our modeling results in an approximate relationship where in reality sources can be deeper than estimated, since any source contributes to all spherical harmonic degrees. The use of the contribution per individual degree however provides an intuitive relationship between spherical harmonic degree and depth that can be used to place relative bounds on source depths or to determine the bounds on spherical harmonic expansions when band-filtering gravity field models.

Geopotential theory↗
NASA NTRS2003

Global Time-Variable Gravity and its Geophysical/Climatic Connections

Any large mass transport in the Earth system produces changes in the gravity field. Low harmonic degree components of such variations have been observed by the satellite-laser-ranging (SLR) technique, particularly in 52, the Earth's dynamic oblateness. 52 has long been observed to undergo a slight decrease due to the post-glacial rebound of the mantle -- until around 1998, when it switched quite suddenly to an increase trend which continued to 2001 before sharply turning back to normal , signifying a large change in global mass distribution whose 52 effect overshadows that of the post-glacial rebound over interannual timescales. Intriguing evidences have been found in the Ocean water distribution, especially related to the Pacific Decadal Oscillation in the extratropical Pacific basins, that may be responsible for this 52 anomaly. Besides the lowest-degree 52, recent updates in the SLR-derived time series of the Earth's low-degree gravity components also show shorter wavelength zonal and other longitudinal signals. While the formal uncertainty of these terms is significantly higher than that for 52, some of these series have significant signal that appears to be climatic in origin. For example, there is a significant correlation of the sectoral S2,2 with the Tahiti-Darwin Southern Oscillation Index (SOI), but preceding SO1 by about 1 year. Similar cases demonstrate the utility of assessing the mass component of climate variations. We will present these intriguing results.

Chao, Benjamin F.↗
NASA NTRS2003

Low-Degree Time-Variable Gravity and Geophysical/Climatic Connections

Any large mass transport in the Earth system produces changes in the gravity field. Low harmonic degree components of such variations have been observed by the satellite-laser-ranging (SLR) technique, particularly in J2, the Earth's dynamic oblateness. J2 has long been observed to undergo a slight decrease due primarily to the post-glacial rebound of the mantle -- until around 1998, when it switched quite suddenly to an increase trend which continued to 2001 before turning back, signifymg a large, anomalous mass redistribution whose J2 effect overshadows that of the post-glacial rebound over interannual timescales. Intriguing evidences have been found in the extratropical Pacific basins, especially related to the Pacific Decadal Oscillation, and in land hydrology. We will examine the latest results based on ocean altimetry, sea-surface temperature, and ocean and hydrology model outputs. Besides 52, the SLR-derived time series of the Earth's low-degree gravity components also show shorter wavelength zonal and other longitudinal signals. While the formal uncertainty of these terms is significantly higher, some of these series have significant signal that show correlation to various climatic signals. For example, the SLR-observed S2,l tesseral (and 53 zonal) coefficients compare favorably with those computed from the NCEP atmospheric pressure field. There is a significant correlation of the sectoral S2,2 with the Southern Oscillation Index signifying the influence of El NinoLa Nina, but preceding SO1 by about 1 year. Cases such as these demonstrate the utility of assessing the mass component of climate variations.

Chao, Benjamin F.↗
NASA NTRS2016

Seasonal and static Gravity Field of Mars from MGS, Mars Odyssey and MRO Radio Science

We present a spherical harmonic solution of the static gravity field of Mars to degree and order 120, GMM-3, that has been calculated using the Deep Space Network tracking data of the NASA Mars missions, Mars Global Surveyor (MGS), Mars Odyssey (ODY), and the Mars Reconnaissance Orbiter (MRO). We have also jointly determined spherical harmonic solutions for the static and time-variable gravity field of Mars, and the Mars k(sub 2) Love numbers, exclusive of the gravity contribution of the atmosphere. Consequently, the retrieved time-varying gravity coefficients and the Love number k(sub 2) solely yield seasonal variations in the mass of the polar caps and the solid tides of Mars, respectively. We obtain a Mars Love number k(sub 2) of 0.1697 +/- 0.0027 (3- sigma). The inclusion of MRO tracking data results in improved seasonal gravity field coefficients C(sub 30) and, for the first time, C 50. Refinements of the atmospheric model in our orbit determination program have allowed us to monitor the odd zonal harmonic C(sub 30) for approximately 1.5 solar cycles (16 years). This gravity model shows improved correlations with MOLA topography up to 15% larger at higher harmonics ( l = 60-80) than previous solutions.

Genova, Antonio↗
NASA NTRS1972

Physical structure of the moon.

The moon has a much thicker lithosphere than the earth, as predicted by thermal models and as evidenced by the support of mascons, lack of surface folding, etc. More in question is whether the moon has a core (more properly, asthenosphere) of high temperature, as suggested by the volcanism 1.0-1.3 b.y. after origin and by the large low-degree harmonics in the gravity field. The moon is like the earth in having a large offset of center-of-mass from center-of-volume, apparently the residue of an early convective overturn associated with large-scale differentiation. The moon differs significantly from the earth in its lower iron content, gross homogeneity, much slower rate-of-change, and closer approach to isostatic equilibrium in the sense of stress-difference magnitudes.

Kaula, W. M.↗
NASA NTRS2007

Comparison of Polar Motion Excitation Series Derived from GRACE and from Analyses of Geophysical Fluids

Three sets of degree-2, order-1 harmonics of the gravity field, derived from the Gravity Recovery and Climate Experiment (GRACE) data processed at the Center for Space Research (CSR), Jet Propulsion Laboratory (JPL) and GeoforschungsZentrum (GFZ), are used to compute polar motion excitation functions X1 and X2. The GFZ and JPL excitations and the CSR X2, excitation compare generally well with geodetically observed excitation after removal of effects of oceanic currents and atmospheric winds. The agreement considerably exceeds that from previous GRACE data releases. For the JPL series, levels of correlation with the geodetic observations and the variance explained are comparable to, but still lower than, those obtained independently from available models and analyses of the atmosphere, ocean, and land hydrology. Improvements in data quality of gravity missions are still needed to deliver even tighter constraints on mass-related excitation of polar motion.

Nastula, J.↗
NASA NTRS2013

Covariance Analysis Tool (G-CAT) for Computing Ascent, Descent, and Landing Errors

G-CAT is a covariance analysis tool that enables fast and accurate computation of error ellipses for descent, landing, ascent, and rendezvous scenarios, and quantifies knowledge error contributions needed for error budgeting purposes. Because GCAT supports hardware/system trade studies in spacecraft and mission design, it is useful in both early and late mission/ proposal phases where Monte Carlo simulation capability is not mature, Monte Carlo simulation takes too long to run, and/or there is a need to perform multiple parametric system design trades that would require an unwieldy number of Monte Carlo runs. G-CAT is formulated as a variable-order square-root linearized Kalman filter (LKF), typically using over 120 filter states. An important property of G-CAT is that it is based on a 6-DOF (degrees of freedom) formulation that completely captures the combined effects of both attitude and translation errors on the propagated trajectories. This ensures its accuracy for guidance, navigation, and control (GN&C) analysis. G-CAT provides the desired fast turnaround analysis needed for error budgeting in support of mission concept formulations, design trade studies, and proposal development efforts. The main usefulness of a covariance analysis tool such as G-CAT is its ability to calculate the performance envelope directly from a single run. This is in sharp contrast to running thousands of simulations to obtain similar information using Monte Carlo methods. It does this by propagating the "statistics" of the overall design, rather than simulating individual trajectories. G-CAT supports applications to lunar, planetary, and small body missions. It characterizes onboard knowledge propagation errors associated with inertial measurement unit (IMU) errors (gyro and accelerometer), gravity errors/dispersions (spherical harmonics, masscons), and radar errors (multiple altimeter beams, multiple Doppler velocimeter beams). G-CAT is a standalone MATLAB- based tool intended to run on any engineer's desktop computer.

Boussalis, Dhemetrios↗
NASA NTRS1971

An Empirical Method for Determining the Lunar Gravity Field

A method has been devised to determine the spherical harmonic coefficients of the lunar gravity field. This method consists of a two-step data reduction and estimation process. In the first step, a weighted least-squares empirical orbit determination scheme is applied to Doppler tracking data from lunar orbits to estimate long-period Kepler elements and rates. Each of the Kepler elements is represented by an independent function of time. The long-period perturbing effects of the earth, sun, and solar radiation are explicitly modeled in this scheme. Kepler element variations estimated by this empirical processor are ascribed to the non-central lunar gravitation features. Doppler data are reduced in this manner for as many orbits as are available. In the second step, the Kepler element rates are used as input to a second least-squares processor that estimates lunar gravity coefficients using the long-period Lagrange perturbation equations.

Ferrari, A. J.↗
NASA NTRS1997

A 70th Degree Lunar Gravity Model (GLGM-2) from Clementine and other tracking data

A spherical harmonic model of the lunar gravity field complete to degree and order 70 has been developed from S band Doppler tracking data from the Clementine mission, as well as historical tracking data from Lunar Orbiters 1-5 and the Apollo 15 and 16 subsatellites. The model combines 361,000 Doppler observations from Clementine with 347,000 historical observations. The historical data consist of mostly 60-s Doppler with a noise of 0.25 to several mm/s. The Clementine data consist of mostly 10-s Doppler data, with a data noise of 0.25 mm/s for the observations from the Deep Space Network, and 2.5 mm/s for the data from a naval tracking station at Pomonkey, Maryland. Observations provided Clementine, provide the strongest satellite constraint on the Moon's low-degree field. In contrast the historical data, collected by spacecraft that had lower periapsis altitudes, provide distributed regions of high-resolution coverage within +/- 29 deg of the nearside lunar equator. To obtain the solution for a high-degree field in the absence of a uniform distribution of observations, we applied an a priori power law constraint of the form 15 x 10(exp -5)/sq l which had the effect of limiting the gravitational power and noise at short wavelengths. Coefficients through degree and order 18 are not significantly affected by the constraint, and so the model permits geophysical analysis of effects of the major basins at degrees 10-12. The GLGM-2 model confirms major features of the lunar gravity field shown in previous gravitational field models but also reveals significantly more detail, particularly at intermediate wavelengths (10(exp 3) km). Free-air gravity anomaly maps derived from the new model show the nearside and farside highlands to be gravitationally smooth, reflecting a state of isostatic compensation. Mascon basins (including Imbrium, Serenitatis, Crisium, Smythii, and Humorum) are denoted by gravity highs first recognized from Lunar Orbiter tracking. All of the major mascons are bounded by annuli of negative anomalies representing significant subsurface mass deficiencies. Mare Orientale appears as a minor mascon surrounded by a horseshoe-shaped gravity low centered on the Inner and Outer Rook rings that is evidence of significant subsurface structural heterogeneity. Although direct tracking is not available over a significant part of the lunar farside, GLGM-2 resolves negative anomalies that correlate with many farside basins, including South Pole-Aitken, Hertzsprung, Korolev, Moscoviense, Tsiolkovsky, and Freundlich-Sharonov.

Lemonie, Frank G. R.↗
NASA NTRS1976

Gravity field of Jupiter and its satellite from Pioneer 10 and Pioneer 11 tracking data

Accurate two-way Doppler tracking data obtained from Pioneers 10 and 11 during their Jupiter encounters are analyzed to yield significantly improved values for the masses of the Galilean satellites, the harmonic coefficients of Jupiter, and the mass of the planet. The spacecraft trajectories relative to Jupiter are discussed, and nongravitational spacecraft accelerations are taken into account. Gravity results are derived from a simultaneous iterative weighted least-squares solution for the orbital elements of seven bodies, the masses of Jupiter and the Galilean satellites, the right ascension and declination of Jupiter's instantaneous pole relative to the 1950.0 mean earth equator and equinox, the Jovian gravity harmonic coefficients, the mass of a hypothetical mascon at the Great Red Spot, and the nongravitational-acceleration parameters. Four separate solutions are determined, and the best numerical values are given for the ratios of the masses of the four Galilean satellites to the mass of Jupiter; the ratio of the sun's mass to that of the Jupiter system; the second, third, fourth, fifth, and sixth zonal harmonic coefficients of Jupiter; the sectoral harmonics; and the ratio of the hypothetical mascon's mass to that of Jupiter.

Null, G. W.↗
NASA NTRS2003

Time-Variable Gravity from Space: Quarter Century of Observations, Mysteries, and Prospects

Any large mass transport in the Earth system produces changes in the gravity field. Via the space geodetic technique of satellite-laser ranging in the last quarter century, the Earth's dynamic oblateness J2 (the lowest-degree harmonic component of the gravity field) has been observed to undergo a slight decrease -- until around 1998, when it switched quite suddenly to an increase trend which has continued to date. The secular decrease in J2 has long been attributed primarily to the post-glacial rebound in the mantle; the present increase signifies an even larger change in global mass distribution whose J2 effect overshadows that of the post-glacial rebound, at least over interannual timescales. Intriguing evidences have been found in the ocean water distribution, especially in the extratropical Pacific basins, that may be responsible for this J2 change. New techniques based on satellite-to-satellite tracking will yield greatly improved observations for time-variable gravity, with much higher precision and spatial resolution (i.e., much higher harmonic degrees). The most important example is the GRACE mission launched in March 2002, following the success of the CHAMP mission. In addition, although less precise than GRACE, the GPS/Meteorology constellation mission COSMIC, with 6 mini-satellites to be launched in late 2005, is expected to provide continued and complementary time-variable gravity observations. Such observations are becoming a new and powerful tool for remote sensing of geophysical fluid processes that involve larger-scale mass transports.

Chao, Benjamin F.↗
NASA NTRS1973

Mars gravity derived from the long-period motion of Mariner 9

The spherical harmonic coefficients in the Mars gravity field are determined using a two-stage filtering process. In the first stage, a weighted least-squares orbit determination processor is applied to Mariner 9 radio data to estimate the mean Kepler elements of each orbit. A finite difference method is then used to generate orbital element rates. In the second stage, the gravity coefficients are determined using another weighted least-squares processor which fits the long period Lagrange perturbation equations to the estimated rates. The resulting gravity potential and associated equipotential surface is presented and error sources discussed. Gravity field results are applied to various physical properties of Mars, such as moments of inertia.-

Ferrari, A. J.↗
NASA NTRS2003

Time-Variable Gravity from Space: Quarter Century of Observations, Mysteries, and Prospects

Any large mass transport in the Earth system produces changes in the gravity field. Via the space geodetic technique of satellite-laser ranging in the last quarter century, the Earth s dynamic oblateness J2 (the lowest-degree harmonic component of the gravity field) has been observed to undergo a slight decrease - until around 1998, when it switched quite suddenly to an increase trend which has continued to date. The secular decrease in J2 has long been attributed primarily to the post-glacial rebound in the mantle; the present increase signifies an even larger change in global mass distribution whose J2 effect overshadows that of the post-glacial rebound, at least over interannual timescales. Intriguing evidences have been found in the ocean water distribution, especially in the extratropical Pacific basins, that may be responsible for this 52 change. New techniques based on satellite-to-satellite tracking will yield greatly improved observations for time-variable gravity, with much higher precision and spatial resolution @e., much higher harmonic degrees). The most important example is the GRACE mission launched in March 2002, following the success of the CHAMP mission. Such observations are becoming a new and powerful tool for remote sensing of geophysical fluid processes that involve larger-scale mass transports.

Chao, Benjamin F.↗
NASA NTRS2003

Time-Variable Gravity from Space: Quarter Century of Observations, Mysteries, and Prospects

Any large mass transport in the Earth system produces changes in the gravity field. Via the space geodetic technique of satellite-laser ranging in the last quarter century, the Earth's dynamic oblateness J2 (the lowest-degree harmonic component of the gravity field) has been observed to undergo a slight decrease -- until around 1998, when it switched quite suddenly to an increase trend which has continued to 2001 before sharply turning back to the value which it is "supposed to be"!. The secular decrease in J2 has long been attributed primarily to the post-glacial rebound in the mantle; the present increase signifies an even larger change in global mass distribution whose J2 effect overshadows that of the post-glacial rebound, at least over interannual timescales. Intriguing evidences have been found in the ocean water distribution, especially in the extratropical Pacific basins, that may be responsible for this J2 change. New techniques based on satellite-to-satellite tracking will yield greatly improved observations for time-variable gravity, with much higher precision and spatial resolution (i.e., much higher harmonic degrees). The most important example is the GRACE mission launched in March 2002, following the success of the CHAMP mission. Such observations are becoming a new and powerful tool for remote sensing of geophysical fluid processes that involve larger-scale mass transports.

Chao, Benjamin F.↗
NASA NTRS1980

A low-order global gravity field of Venus and dynamical implications

An estimate of sixth-degree and sixth-order harmonic coefficients of the global gravity field of Venus is obtained by processing the long periodic variations of the mean orbital elements of the Pioneer Venus orbiter. Approximately 220 days of data are included in this reduction, which provides almost complete longitudinal coverage. Oblateness is estimated to be -5.97 + or - 3.2 x 10 to the -6. It is noted that the amplitudes of other coefficients are similar to the predicted coefficients using Kaula's rule under equal stress assumption. Atmospheric density values as a function of altitude are obtained to help model drag perturbation. A radial acceleration map at 100 km above the Venus surface is generated, and correlation between gravity anomalies and major topographic features is observed. Spectral analysis of the harmonic model suggests that the interior density anomalies are like those on earth. The orientation angles of the principal axes of the moments of inertia are computed, and deviation of the maximum moment of inertia axis from the spin axis is observed to be small (less than 5 deg). It is found that the minimum moment of inertia axis passes through the Aphrodite and Beta regions.

Ananda, M. P.↗
NASA NTRS1999

An Improved 360 Degree and Order Model of Venus Topography

We present an improved 360 degree and order spherical harmonic solution for Venus' topography. The new model uses the most recent set of Venus altimetry data with spacecraft positions derived from a recent high resolution gravity model. Geometric analysis indicates that the offset between the center of mass and center of figure of Venus is about 10 times smaller than that for the Earth, the Moon, or Mars. Statistical analyses confirm that the RMS topography follows a power law over the central part of the spectrum. Compared to the previous topography model, the new model is more highly correlated with Venus' harmonic gravity field.

Rappaport, Nicole J.↗
NASA NTRS2001

Radar Techniques for the Measurement of Mercury's Obliquity and Librations

Evidence for a global magnetic field at Mercury has raised perplexing questions regarding the existence and nature of the planet's core. The problems related to Mercury's core are of great interest because of their implications on how planets evolve thermally and on how they generate magnetic fields. Peale showed that the measurement of four quantities could place constraints on the size and state of Mercury's core. The required parameters in Peale's experiment are the C(sub 20) and C(sub 22) coefficients in the spherical harmonic expansion of the gravity field, the planet's obliquity theta, and the amplitude phi of the forced libration in longitude. While the gravitational harmonics are best determined from an orbiting spacecraft, Earth-based radar observations may provide refined estimates of the obliquity and amplitude of the libration. We describe several techniques and attempt to quantify their potential for the proposed measurements. Additional information is contained in the original extended abstract.

Margot, J. L.↗