Precise CHAMP orbit determination with GPS tracking
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In this paper we present results for CHAMP POD using the precise GPS measurements collected by the BlackJack receiver through the up-looking antenna. We will describe the quality of the tracking data, the tuning of the reduced-dynamic model for the 400-km orbit, and the various methods of evaluating the orbit accuracy.
The CHAMP (Challenging Minisatellite Payload) mission's unique combination of sensors and orbit configuration will enable unprecedented improvements in modeling and understanding the Earth's static gravity field and its temporal variations. CHAMP is the first of two missions (GRACE (Gravity Recovery and Climate Experiment) to be launched in the later part of '01) that combine a new generation of GPS (Global Positioning System) receivers, a high precision three axis accelerometer, and star cameras for the precision attitude determination. In order to isolate the gravity signal for science investigations, it is necessary to perform a detailed reduction and analysis of the GPS and SLR tracking data in conjunction with the accelerometer and attitude data. Precision orbit determination based on the GPS and SLR (Satellite Laser Ranging) tracking data will isolate the orbit perturbations, while the accelerometer data will be used to distinguish the surface forces from those due to the geopotential (static, and time varying). In preparation for the CHAMP and GRACE missions, extensive modifications have been made to NASA/GSFC's GEODYN orbit determination software to enable the simultaneous reduction of spacecraft tracking (e.g. GPS and SLR), three axis accelerometer and precise attitude data. Several weeks of CHAMP tracking and accelerometer data have been analyzed and the results will be presented. Precision orbit determination analysis based on tracking data alone in addition to results based on the simultaneous reduction of tracking and accelerometer data will be discussed. Results from a calibration of the accelerometer will be presented along with the results from various orbit determination strategies. Gravity field modeling status and plans will be discussed.
The CHAMP mission's unique combination of sensors and orbit configuration will enable unprecedented improvements in modeling and understanding the Earth's static gravity field and its temporal variations. CHAMP is the first of two missions (GRACE to be launched in the early part of 02') that combine a new generation of Global Positioning System (GPS) receivers, a high precision three-axis accelerometer, and star cameras for the precision attitude determination. In order to isolate the gravity signal for science investigations, it is necessary to perform a detailed reduction and analysis of the GPS and Satellite Laser Ranging (SLR) tracking data in conjunction with the accelerometer and attitude data. Precision orbit determination based on the GPS and SLR tracking data will isolate the orbit perturbations, while the accelerometer data will be used to distinguish the non-gravitational forces from those due to the geopotential (static, and time varying). In preparation for the CHAMP and GRACE missions, extensive modifications have been made to NASA/GSFC's GEODYN orbit determination software to enable the simultaneous reduction of spacecraft tracking (e.g. GPS and SLR), three-axis accelerometer and precise attitude data. Several weeks of CHAMP tracking and accelerometer data have been analyzed and the results will be presented. Precision orbit determination analysis based on tracking data alone in addition to results based on the simultaneous reduction of tracking and accelerometer data will be discussed. Results from a calibration of the accelerometer will be presented along with the results from various orbit determination strategies.
Currently two gravity field satellite missions, CHAMP and GRACE, are equipped with high sensitivity electrostatic accelerometers, measuring the non-conservative forces acting on the spacecraft in three orthogonal directions. During the gravity field recovery these measurements help to separate gravitational and non-gravitational contributions in the observed orbit perturbations. For precise orbit determination purposes all these missions have a dual-frequency GPS receiver on board. The reduced dynamic technique combines the dense and accurate GPS observations with physical models of the forces acting on the spacecraft, complemented by empirical accelerations, which are stochastic parameters adjusted in the orbit determination process. When the spacecraft carries an accelerometer, these measured accelerations can be used to replace the models of the non-conservative forces, such as air drag and solar radiation pressure. This approach is implemented in a batch least-squares estimator of the GPS High Precision Orbit Determination Software Tools (GHOST), developed at DLR/GSOC and DEOS. It is extensively tested with data of the CHAMP and GRACE satellites. As accelerometer observations typically can be affected by an unknown scale factor and bias in each measurement direction, they require calibration during processing. Therefore the estimated state vector is augmented with six parameters: a scale and bias factor for the three axes. In order to converge efficiently to a good solution, reasonable a priori values for the bias factor are necessary. These are calculated by combining the mean value of the accelerometer observations with the mean value of the non-conservative force models and empirical accelerations, estimated when using these models. When replacing the non-conservative force models with accelerometer observations and still estimating empirical accelerations, a good orbit precision is achieved. 100 days of GRACE B data processing results in a mean orbit fit of a few centimeters with respect to high-quality JPL reference orbits. This shows a slightly better consistency compared to the case when using force models. A purely dynamic orbit, without estimating empirical accelerations thus only adjusting six state parameters and the bias and scale factors, gives an orbit fit for the GRACE B test case below the decimeter level. The in orbit calibrated accelerometer observations can be used to validate the modelled accelerations and estimated empirical accelerations computed with the GHOST tools. In along track direction they show the best resemblance, with a mean correlation coefficient of 93% for the same period. In radial and normal direction the correlation is smaller. During days of high solar activity the benefit of using accelerometer observations is clearly visible. The observations during these days show fluctuations which the modelled and empirical accelerations can not follow.
The IAI/MBT Precise Orbit Determination system for Low Earth Orbit satellites is presented. The system is based on GPS pesudorange and carrier phase measurements and implements the Reduced Dynamics method. The GPS measurements model, the dynamic model, and the least squares orbit determination are discussed. Results are shown for data from the CHAMP satellite and for simulated data from the ROKAR GPS receiver. In both cases the one sigma 3D position and velocity accuracy is about 0.2 m and 0.5 mm/sec respectively.
With the launch of CHAMP and GRACE, we have entered a new phase in the history of satellite geodesy. For the first time, geopotential models are now available based almost exclusively on satellite-satellite tracking either with GPS in the case of the CHAMP-based geopotential models, or co-orbital intersatellite ultra-precise ranging in the case of GRACE. Different groups have analyzed these data, and produced a series of geopotential models (e.g., EIGENlS, EIGEN2, GGM0lS, GGMOlC) that incorporate the new data. We will compare the performance of these "newer" geopotential models with the standard models now used for computations, (e.g., JGM-3, BGM-96, PGS7727, and GRIMS-C1) for TOPEX, JASON, Geosat-Follow-On (GFO), and Envisat using standard metrics such as SLR RMS of fit, altimeter crossovers, and orbit overlaps. Where covariances are available we can evaluate the predicted geographically correlated orbit error. These predicted results can be compared with the Earth-fixed differences between dynamic and reduced-dynamic orbits to test the predictive accuracy of the covariances, as well as to calibrate the error of the solutions.
The CHAMP mission, launched in July 2000, is the first in the series of mapping missions for the Earth's geopotential scheduled for the first decade of the new millenium. Its unique contributions compared to all the previous generation of satellites whose data have been included in Earth geopotential models are the precision global tracking with GPS data, and the availability of precision accelerometry data to model the nonconservative forces. Over the past year we have implemented extensive modifications to our GEODYN orbit determination processing code and ancillary data preprocessors to process the GPS and accelerometry data from missions such as CHAMP and GRACE. We report on the analysis of up to 60 days of CHAMP data and how these data contribute to Earth geopotential solutions where the base model is a derivative of EGM96. Preliminary results with only 12.5 days of data processed clearly show the ability of the CHAMP data to improve the modeling of the zonals (1=10 to 40), the m-dailies, the primary resonance terms, and the sectoral harmonics. We will detail the results of our calibrations of the CHAMP accelerometry and assess the quality of test solutions that include these CHAMP data.
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The interplanetary shock/electric field event of 5-6 November 2001 is analyzed using ACE interplanetary data. The consequential ionospheric effects are studied using GPS receiver data from the CHAMP and SAC-C satellites and altimeter data from the TOPEX/ Poseidon satellite. Data from ~100 ground-based GPS receivers as well as Brazilian Digisonde and Pacific sector magnetometer data are also used. The dawn-to-dusk interplanetary electric field was initially ~33 mV/m just after the forward shock (IMF BZ = -48 nT) and later reached a peak value of ~54 mV/m 1 hour and 40 min later (BZ = -78 nT). The electric field was ~45 mV/m (BZ = -65 nT) 2 hours after the shock. This electric field generated a magnetic storm of intensity DST = -275 nT. The dayside satellite GPS receiver data plus ground-based GPS data indicate that the entire equatorial and midlatitude (up to +/-50(deg) magnetic latitude (MLAT)) dayside ionosphere was uplifted, significantly increasing the electron content (and densities) at altitudes greater than 430 km (CHAMP orbital altitude). This uplift peaked ~2 1/2 hours after the shock passage. The effect of the uplift on the ionospheric total electron content (TEC) lasted for 4 to 5 hours. Our hypothesis is that the interplanetary electric field ''promptly penetrated'' to the ionosphere, and the dayside plasma was convected (by E x B) to higher altitudes. Plasma upward transport/convergence led to a ~55-60% increase in equatorial ionospheric TEC to values above ~430 km (at 1930 LT). This transport/convergence plus photoionization of atmospheric neutrals at lower altitudes caused a 21% TEC increase in equatorial ionospheric TEC at ~1400 LT (from ground-based measurements). During the intense electric field interval, there was a sharp plasma ''shoulder'' detected at midlatitudes by the GPS receiver and altimeter satellites. This shoulder moves equatorward from -54(deg) to -37(deg) MLAT during the development of the main phase of the magnetic storm. We presume this to be an ionospheric signature of the plasmapause and its motion. The total TEC increase of this shoulder is ~80%. Part of this increase may be due to a "superfountain effect." The dayside ionospheric TEC above ~430 km decreased to values ~45% lower than quiet day values 7 to 9 hours after the beginning of the electric field event. The total equatorial ionospheric TEC decrease was ~16%. This decrease occurred both at midlatitudes and at the equator. We presume that thermospheric winds and neutral composition changes produced by the storm-time Joule heating, disturbance dynamo electric fields, and electric fields at auroral and subauroral latitudes are responsible for these decreases.