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Class Notes

John Wahr

Department of Physics

University of Colorado

Boulder, CO 80309

Samizdat

Press

Published by the Samizdat Press

Center for Wave Phenomena

Department of Geophysics

Colorado School of Mines

Golden, Colorado 80401

and

New England Research

76 Olcott Drive

White River Junction, Vermont 05001

c Samizdat Press, 1996

Release 1.1, July 1996

Samizdat Press publications are available via FTP

from landau.mines.edu or 138.67.12.78.

Or via the WWW from http://landau.mines.edu/˜ samizdat

Permission is given to freely copy these documents.

Contents

1 Introduction 1

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1.2 Geodesy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.3 Course Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2 Observational Techniques 5

2.1 Instruments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2.1.1 Gravity meters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2.1.2 Pendulums . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2.1.3 Springs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.1.4 LaCoste-Romberg Meter . . . . . . . . . . . . . . . . . . . . . . . 11

2.1.5 Superconducting Gravimeter . . . . . . . . . . . . . . . . . . . . . 13

2.2 Relative Gravity at Sea and on Planes . . . . . . . . . . . . . . . . . . . 14

2.3 Free Fall Meters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.3.1 Launch Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2.3.1.1 Advantages over free-fall-only instruments . . . . . . . . 19

2.3.1.2 Disadvantages . . . . . . . . . . . . . . . . . . . . . . . . 20

2.4 Free-Fall-only Meters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

2.4.1 Uncertainty in λ . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

2.4.2 Electronic counting and timing errors . . . . . . . . . . . . . . . . 22

2.4.3 Ground Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . 22

2.4.4 Non-gravitational forces . . . . . . . . . . . . . . . . . . . . . . . 23

i

ii CONTENTS

2.4.5 Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2.4.6 Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2.5 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2.5.1 Ground Based Techniques . . . . . . . . . . . . . . . . . . . . . . 25

2.5.1.1 Horizontal Angles . . . . . . . . . . . . . . . . . . . . . . 25

2.5.1.2 Elevation . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2.5.1.2.1 Leveling Errors . . . . . . . . . . . . . . . . . . 29

2.5.1.2.1.1 Rod calibration errors . . . . . . . . . . 29

2.5.1.2.1.2 Refraction . . . . . . . . . . . . . . . . . 29

2.5.1.2.2 Fluid Tiltmeters . . . . . . . . . . . . . . . . . 29

2.5.1.3 Latitude and Longitude . . . . . . . . . . . . . . . . . . 31

2.5.1.3.1 Latitude . . . . . . . . . . . . . . . . . . . . . . 31

2.5.1.3.2 Longitude . . . . . . . . . . . . . . . . . . . . . 33

2.5.1.4 Distances . . . . . . . . . . . . . . . . . . . . . . . . . . 33

2.5.1.4.1 White light . . . . . . . . . . . . . . . . . . . . 35

2.5.1.4.2 Radio signals . . . . . . . . . . . . . . . . . . . 37

2.5.1.4.3 Lasers . . . . . . . . . . . . . . . . . . . . . . . 37

2.5.1.4.3.1 Two-color meters . . . . . . . . . . . . . 38

2.5.1.4.3.2 Three-color meter . . . . . . . . . . . . . 40

2.5.1.4.4 Strainmeters . . . . . . . . . . . . . . . . . . . 41

2.5.2 Space Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

2.5.2.1 Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . 43

2.5.2.1.1 Radio Ranging Satellites . . . . . . . . . . . . . 45

2.5.2.1.1.1 Doppler Satellites . . . . . . . . . . . . . 45

2.5.2.1.1.2 GPS (Global Positioning System) . . . . 48

2.5.2.1.2 Laser ranging satellites . . . . . . . . . . . . . . 53

2.5.2.1.2.1 LAGEOS . . . . . . . . . . . . . . . . . 53

2.5.2.1.3 Lunar Laser Ranging (LLR) . . . . . . . . . . . 55

2.5.2.1.4 VLBI (very-long-baseline-interferometry) . . . . 56

CONTENTS iii

2.5.2.1.4.1 Problems . . . . . . . . . . . . . . . . . . 58

2.5.2.1.4.2 Accuracy . . . . . . . . . . . . . . . . . . 58

2.5.2.2 Advantages of one space positioning technique over another 59

2.5.2.3 Some Results . . . . . . . . . . . . . . . . . . . . . . . . 59

2.5.2.4 Altimeters . . . . . . . . . . . . . . . . . . . . . . . . . . 61

2.5.2.5 Dedicated Gravity Mission . . . . . . . . . . . . . . . . . 64

3 Potential Theory 67

3.1 Introductory remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

3.2 Finding the gravitational ﬁeld from knowledge of the density . . . . . . . 69

3.2.1 V (x) for a uniform sphere . . . . . . . . . . . . . . . . . . . . . . 69

3.2.2 V (x) for a thin disc . . . . . . . . . . . . . . . . . . . . . . . . . . 71

3.2.3 V (x) for a line mass . . . . . . . . . . . . . . . . . . . . . . . . . 72

3.2.4 A numerical method for arbitrary mass anomalies . . . . . . . . . 73

3.3 Poisson’s equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

3.3.1 Derivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

3.3.1.1 Gauss’ Law . . . . . . . . . . . . . . . . . . . . . . . . . 77

3.3.1.2 Continuity conditions . . . . . . . . . . . . . . . . . . . 78

3.3.2 Laplace’s equation . . . . . . . . . . . . . . . . . . . . . . . . . . 80

3.3.2.1 Green’s Theorems . . . . . . . . . . . . . . . . . . . . . 81

3.3.3 Solutions to Laplace’s equation. . . . . . . . . . . . . . . . . . . . 83

3.3.3.1 Planar boundaries . . . . . . . . . . . . . . . . . . . . . 84

3.3.3.2 Cylindrical coordinates . . . . . . . . . . . . . . . . . . . 87

3.3.3.3 Spherical boundaries . . . . . . . . . . . . . . . . . . . . 87

3.3.4 Properties of the Y

m

l

’s and P

m

l

’s . . . . . . . . . . . . . . . . . . . 91

3.3.4.1 Parity . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

3.3.4.2 Recursion Relations . . . . . . . . . . . . . . . . . . . . 92

3.3.4.3 Speciﬁc Results . . . . . . . . . . . . . . . . . . . . . . . 92

3.3.4.4 Orthogonality . . . . . . . . . . . . . . . . . . . . . . . . 92

iv CONTENTS

3.3.4.5 Completeness . . . . . . . . . . . . . . . . . . . . . . . . 92

3.3.4.6 The wavelengths of the Y

m

l

’s . . . . . . . . . . . . . . . 93

3.3.4.7 The Addition Theorem . . . . . . . . . . . . . . . . . . . 93

3.3.5 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

3.3.5.1 Example 1. . . . . . . . . . . . . . . . . . . . . . . . . . 94

3.3.5.2 Example 2. . . . . . . . . . . . . . . . . . . . . . . . . . 95

3.3.5.3 Radial dependence as a function of l . . . . . . . . . . . 96

3.3.6 The use of Y

m

l

’s in direct integration . . . . . . . . . . . . . . . . 96

3.3.6.1 Finding V outside a surface . . . . . . . . . . . . . . . . 97

3.3.6.2 Finding V inside a surface . . . . . . . . . . . . . . . . . 98

3.3.6.3 A slightly non-spherical surface . . . . . . . . . . . . . . 99

4 Physical Geodesy Problems 103

4.1 The Figure of the Earth: The Geoid . . . . . . . . . . . . . . . . . . . . 103

4.1.1 Spherically Symmetric, Non-rotating Earth . . . . . . . . . . . . . 104

4.1.2 Spherically Symmetric, Rotating Earth . . . . . . . . . . . . . . . 104

4.1.3 Rotating, Elliptically Symmetric Earth . . . . . . . . . . . . . . . 108

4.1.4 The ellipsoid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

4.2 Clairaut’s Diﬀerential Equation . . . . . . . . . . . . . . . . . . . . . . . 112

4.2.1 Example: A uniform (homogeneous) earth . . . . . . . . . . . . . 119

4.3 A More Realistic Earth . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

4.3.1 The Geoid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

4.3.2 Stoke’s Formula . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

4.4 Satellite Geoids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

5 Stress/Strain Relations 137

5.1 Stress tensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

5.2 Stress-Induced Deformation . . . . . . . . . . . . . . . . . . . . . . . . . 142

5.3 Response to τ

ij

for i ,= j . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

5.3.1 Strain Tensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

CONTENTS v

5.3.2 Relation between stress and strain . . . . . . . . . . . . . . . . . . 154

5.4 Relation between stress/strain and the displacement ﬁeld . . . . . . . . . 155

5.5 Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

5.6 Putting

↔

τ into F = ma . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

5.6.1 Example: Waves in a homogeneous, isotropic, ∞ medium . . . . . 160

5.6.2 p-waves: longitudinal or sound waves . . . . . . . . . . . . . . . . 161

5.6.3 s-waves: transverse waves . . . . . . . . . . . . . . . . . . . . . . 162

5.6.4 The general case . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

5.7 Anelasticity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

5.7.1 The general linear model . . . . . . . . . . . . . . . . . . . . . . 164

5.7.2 The Frequency regime . . . . . . . . . . . . . . . . . . . . . . . . 166

5.7.3 Short-period behavior . . . . . . . . . . . . . . . . . . . . . . . . 167

5.7.4 Long-Period behavior . . . . . . . . . . . . . . . . . . . . . . . . . 169

5.7.4.1 Maxwell solid . . . . . . . . . . . . . . . . . . . . . . . . 169

5.7.4.2 Kelvin-Voigt solid . . . . . . . . . . . . . . . . . . . . . 172

5.7.4.3 Standard Linear solid . . . . . . . . . . . . . . . . . . . 173

5.7.4.4 Three-dimensional Maxwell solid rheology . . . . . . . . 173

6 Interpretation of Observed Gravity Anomalies 177

6.1 Surface Gravity Anomalies . . . . . . . . . . . . . . . . . . . . . . . . . . 177

6.2 Isostasy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

6.2.1 Airy compensation . . . . . . . . . . . . . . . . . . . . . . . . . . 183

6.2.2 Pratt compensation . . . . . . . . . . . . . . . . . . . . . . . . . . 185

6.2.3 Airy versus Pratt . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

6.3 A Better Model for Airy Compensation Eﬀects on Gravity . . . . . . . . 187

6.4 A Better Model for Pratt Compensation Eﬀects on Gravity . . . . . . . . 190

6.4.1 Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

6.5 Geoid anomalies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

6.5.1 One Final Remark . . . . . . . . . . . . . . . . . . . . . . . . . . 195

vi CONTENTS

6.6 Lithospheric Bending . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

6.6.1 Lithosphere . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

6.6.2 Theory of Flexure . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

6.6.3 Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

6.6.3.1 Limiting cases . . . . . . . . . . . . . . . . . . . . . . . 208

6.6.3.2 Example: Flexure from an island chain . . . . . . . . . . 210

6.6.4 Gravity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

6.6.5 Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

6.6.6 Examples of Pratt compensation . . . . . . . . . . . . . . . . . . 215

6.6.6.1 Basin and Range . . . . . . . . . . . . . . . . . . . . . . 215

6.6.6.2 Hot Spots . . . . . . . . . . . . . . . . . . . . . . . . . . 220

6.6.6.3 Mid-Ocean Ridges . . . . . . . . . . . . . . . . . . . . . 221

6.6.6.3.1 Thermal Isostasy . . . . . . . . . . . . . . . . . 222

6.7 Convergence Zones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

6.8 The Long-Wavelength Geoid . . . . . . . . . . . . . . . . . . . . . . . . . 232

7 Postglacial Rebound 235

7.1 Theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236

7.2 Elastic Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236

7.3 Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243

7.4 Interpretation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243

7.5 The Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

7.6 The Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247

8 Earth Tides 249

8.1 A Qualitative Description of the Tidal Force . . . . . . . . . . . . . . . . 249

8.2 Tidal Potential . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254

8.3 Tidal Response of the Earth . . . . . . . . . . . . . . . . . . . . . . . . . 258

8.3.1 An Example: Surface Gravity Tides . . . . . . . . . . . . . . . . . 263

8.3.2 Numerical Results . . . . . . . . . . . . . . . . . . . . . . . . . . 265

CONTENTS vii

8.3.3 What the simple model ignores. . . . . . . . . . . . . . . . . . . . 266

8.3.3.1 The Oceans . . . . . . . . . . . . . . . . . . . . . . . . . 266

8.3.3.2 Local Eﬀects . . . . . . . . . . . . . . . . . . . . . . . . 268

8.3.3.3 Eﬀects of rotation and ellipticity . . . . . . . . . . . . . 268

9 Earth Rotation 271

9.1 Variable Rotation Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

9.2 Motion of the Rotation Axis . . . . . . . . . . . . . . . . . . . . . . . . . 273

9.3 Changes in the lod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

9.3.1 Linear change in the lod . . . . . . . . . . . . . . . . . . . . . . . 276

9.3.2 Decadal Fluctuations in the lod . . . . . . . . . . . . . . . . . . . 280

9.3.3 Short period lod ﬂuctuations . . . . . . . . . . . . . . . . . . . . . 281

9.4 Wobble . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284

9.4.1 Annual Wobble . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

9.4.2 Chandler wobble . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

9.5 Nutations and Precession . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

Acknowledgments 291

viii CONTENTS

Chapter 1

Introduction

1.1 Introduction

There are three required geophysics courses in the University of Colorado geophysics

program:

1. Seismology: seismic waves, earthquakes, earth structure.

2. Geodesy and gravity. (This course.)

3. Heat ﬂow, mantle convection, ﬂuid dynamics, the earth’s magnetic ﬁeld.

Plate tectonics is the unifying theory for most of modern-day geophysics and, to a

large extent, geology. According to this theory, the earth’s surface is composed of about

twenty disjoint plates which move with respect to each other. This motion is responsible,

directly or indirectly, for most surface features (e.g. ocean basins, mountains, etc.) and

for earthquakes and volcanos.

The driving force for plate tectonics is mantle convection of some sort: the plates are

thermal boundary layers of convective cells in the mantle (over long time periods, the

mantle behaves as a viscous ﬂuid). But the details are not yet well understood. People

have deduced the rate of motion averaged over millions of years by looking at magnetic

anomalies in material on the sea ﬂoor. The motion of the plates on a year-to-year time

1

2 CHAPTER 1. INTRODUCTION

scale is just now beginning to be observed. In fact, one of the goals of modern geodesy

is to actually detect the year-to-year motion. Is it the same as the long-term mean? Do

the plates move rigidly? Etc.

1.2 Geodesy

Geodesy has a reasonable claim to being the oldest branch of geophysics. Originally it

was solely concerned with global surveying. Its primary goal was, and probably still is, to

tie local survey nets together by doing careful surveying over long distances. Geodesists

tell local surveyors where their lines are with respect to the rest of the world. That

includes telling them their elevation above sea level. This is still the major function of

most geodesists, most of whom are not geophysicists.

To measure long baselines and to determine global positions you need:

1. more accurate observing instruments than in surveying — although frequently sur-

veyors and geodesists use the same instruments.

2. complicated mathematical techniques to take into account things like the earth’s

curvature and, especially, the gravity ﬁeld.

3. measurements of the gravity ﬁeld.

The eﬀects of the gravity ﬁeld are especially diﬃcult to deal with. Why should gravity

enter in? It’s because many geodetic instruments use gravity as a reference. For example,

when geodesists or surveyors say a surface is horizontal, what they really mean is that

it is a surface of constant gravitational potential (think of the way a carpenter’s level

works, for example). So, geodesists have always had to measure gravity — in addition

to relative positions, which is why gravity has historically come under the heading of

geodesy.

Out of these gravity observations came the ﬁrst useful, modern, geophysical interpre-

tations of any sort. This was the development of the idea of isostasy around 1840. We’ll

get into this, later.

1.3. COURSE ORGANIZATION 3

Nowadays, what can gravity and point positioning observations do for geophysicists?

Brieﬂy, static gravity observations (that is, observations of the time-independent ﬁeld)

give information on strength within the earth (the earth’s surface bends under loads, with

resulting eﬀects on gravity), on composition near the earth’s surface (mineral prospectors

use gravity), and on long term dynamical processes within the earth (density contrasts

associated with mantle convection/plate tectonics, and postglacial rebound).

Static (time-independent values) of positions have not given much useful information.

Recently, though, new geodetic techniques have begun to give useful observations of

time-dependent gravity variations and positions of surface points. This turns out to be

really exciting to geophysicists, because it allows people to be able to see the plates move

and deform in real time.

1.3 Course Organization

Chapter 2 Observational techniques

Chapter 3 Potential theory (mathematical theory of gravity)

Chapter 4 Physical geodesy problems (for example, how do you determine the earth’s

shape)

Chapter 5 Stress/strain laws. Viscosity (for use in later interpretation)

Chapter 6 Interpretation of observed gravity anomalies

Chapter 7 Postglacial rebound

Chapter 8 Earth tides

Chapter 9 Earth rotation

4 CHAPTER 1. INTRODUCTION

Chapter 2

Observational Techniques

2.1 Instruments

2.1.1 Gravity meters

These measure g, the acceleration due to gravity. At the earth’s surface,

g ≈ 980 cm/sec

2

≡ 980 gal.

(So, g ≈ 10

3

gal.)

Surveying and static gravity observations require accuracies of approximately 1 mgal

(10

−6

accuracy). To measure changes in gravity you’d like 1 µgal (∼ 10

−9

) accuracies.

For example, if you move radially outward by 3 mm, gravity decreases (because you are

moving further from the center of the earth) by about 1 µgal.

There are two types of gravimeters:

Absolute meters Where g can be directly determined by measuring a length and/or a

time.

Relative meters Where g depends on things like spring constants, which cannot be so

readily determined. Relative instruments can only tell you the relative diﬀerence

in g between two points or between two times.

5

6 CHAPTER 2. OBSERVATIONAL TECHNIQUES

2.1.2 Pendulums

These are the oldest gravimeters. They can be either absolute or relative instruments.

e

θ l

θ

m

mg

Pivot

Figure 2.1:

First, consider a point mass, m, on a massless string, conﬁned to move in a plane

(i.e. a simple pendulum). See Figure 2.1. The acceleration in the ˆ e

θ

direction is l

¨

θ. The

gravitational force in the ˆ e

θ

direction is −mg sin θ. So

l

¨

θ = −g sin θ.

For small motion sin θ ≈ θ, and so

¨

θ

∼

= −(g/l)θ.

The solution is θ

∼

= Acos(ωt +φ) where

ω =

_

g

l

(2.1)

is the angular frequency of the motion. Or:

g = lω

2

= l

(2π)

2

T

2

where T = period. Note that by measuring l and T, you get g. So this is an absolute

instrument.

2.1. INSTRUMENTS 7

Probably the biggest problem, here, is that there is no massless string. The result of

Equation 2.1 is, thus, only approximate at best. (The approximation sin θ ≈ θ can be

removed by using elliptic integrals.)

Instead, a real pendulum is a solid object — preferably a rod of some sort — swung

about a ﬁxed point in the rod (a physical pendulum), and constrained to move in a plane.

See Figure 2.2. Let l = distance between pivot and the center of mass, CM. If N =

θ

pivot

center of

mass (CM)

l

Figure 2.2:

torque about the pivot due to gravity, and I = moment of inertia about the axis passing

through the pivot (and perpendicular to the plane of motion), then

N = I

¨

θ

N = −(mg)(l) sin θ

where mg is the force, and l sin θ is the moment arm. So,

¨

θ = −

_

mgl

I

_

sin θ.

For small motion (again, this assumption can be removed) sin θ ≈ θ and

θ = Acos(ωt +φ)

8 CHAPTER 2. OBSERVATIONAL TECHNIQUES

where

ω

2

=

_

mgl

I

_

or

g =

Iω

2

ml

=

I

ml

(2π)

2

T

2

. (2.2)

Thus, g depends on I and m — which are not directly measurable.

So in this mode a physical pendulum (that is, any real pendulum) is not an absolute

instrument. It is, though, a relative instrument. I, m and l will presumably not change if

you move the instrument to a new place, so that any change in g causes a corresponding

change in T. So, if g

1

and g

2

are values of g at two points, and T

1

and T

2

are the observed

values of T at those points, then:

g

1

g

2

=

_

T

2

T

1

_

2

.

Thus you can determine g

1

/g

2

by simply measuring times. In this way, relative gravity

can be determined with accuracies of about 0.5 mgal — and pendulums were used until

WWII in this way.

It is also possible to use a trick to turn a physical pendulum into an absolute meter.

You can, in general, swing the pendulum about two diﬀerent pivot points on opposite

sides of the center of mass and get the same frequency. To see this, note that by the

parallel-axis theorem, I = I

CM

+ml

2

where I

CM

= moment about the center of mass. So,

ω

2

= mgl/ (I

CM

+ml

2

), and thus the two pivot points must have the same l/(I

CM

+ml

2

).

If l

1

and l

2

denote the l’s for the two points, then:

l

1

I

CM

+ml

2

1

=

l

2

I

CM

+ml

2

2

or

l

2

2

(ml

1

) −l

2

_

I

CM

+ml

2

1

_

+ [I

CM

l

1

] = 0.

Solving for l

2

using the quadratic formula, gives:

l

2

=

_

¸

¸

_

¸

¸

_

l

1

I

CM

ml

1

2.1. INSTRUMENTS 9

The non-trivial result is l

2

= (I

CM

/ml

1

). Solving for I

CM

in terms of l

2

, and using the

result in Equation 2.2 gives:

g =

_

I

CM

+ml

2

1

ml

1

_

(2π)

2

T

2

=

_

l

2

ml

1

+ml

2

1

ml

1

_

(2π)

2

T

2

or

g =

L(2π)

2

T

2

(2.3)

where L = l

1

+l

2

= distance between the two pivots (since the two points are on opposite

sides of the center of mass).

Run in this manner, the pendulum is an absolute meter. First you choose a pivot and

measure T. Then you ﬁnd another pivot point that gives the same T, making sure that

this second point is on the opposite side of the center of mass from the ﬁrst point and

is along the line that includes the ﬁrst point and the center of mass, You measure the

distance between pivots, L, and use Equation 2.3. Note that you ﬁnd g by measuring only

a distance and a time. Typically accuracies in this absolute mode are about 0.5 mgal,

the same as for a pendulum used as a relative instrument.

Obviously, an absolute pendulum can be a lot of work to run — since you must search

for the second pivot point. Still, until very recently pendulums were used as absolute

instruments, long after they were abandoned as relative meters. People would maintain

absolute pendulums at a few sites around the world (or else periodically revisit those

sites with an absolute pendulum), and then people using relative meters out in the ﬁeld

would occasionally visit those sites to recalibrate their relative instruments.

The pendulum results can be corrected for air density (that is, for friction), for tem-

perature, and for the fact that sin θ ,= θ.

The principal problems for these instruments are:

1. the fact that the pivot is not a knife edge — the pivot point moves around a little

in an unknown way;

2. the base of the pendulum moves around as the pendulum oscillates.

10 CHAPTER 2. OBSERVATIONAL TECHNIQUES

2.1.3 Springs

These replaced pendulums as relative instruments after WWII. They cannot be modiﬁed

to give absolute g.

k

m

Figure 2.3: Simple Spring.

Consider a mass on a massless spring; see Figure 2.3. The period of oscillation of

the spring is independent of g, so it can’t be used for anything

_

T = 2π

_

m/k

_

. But at

equilibrium the amount the spring has stretched is l = mg/k. So, g = lk/m. You cannot

measure k/m, so a spring is not an absolute meter. But if you change g you change l.

Note:

g

1

g

2

=

l

1

l

2

.

So if you change g

2

to g

1

= g

2

+ ∆g, then you change l

2

to l

2

+ ∆l, where

∆l

l

2

=

∆g

g

2

.

This lets you measure changes in g, by measuring changes in l.

But this simple mass on a spring is an impractical gravity meter. The departure from

equilibrium, l

2

, might be 1 m at most. So to measure changes in g at the 0.5 mgal level

(the accuracy of a pendulum), you would have to measure changes in length to better

2.1. INSTRUMENTS 11

than

∆l = l

2

∆g

g

2

≈ 10

2

5 10

−4

10

3

cm = 5 10

−5

cm

which is awfully small. So a simple mass on a spring is not too useful.

The best way to make a spring work is to modify it somehow so that it has a very

long natural period. Note that for our mass on a spring

g =

lk

m

=

l(2π)

2

T

2

.

So, another way to say ∆l/l = ∆g/g would be:

∆g = ∆l

(2π)

2

T

2

.

If you can increase the natural period, T, then a small change in g might produce a

reasonably large, and so measurable, change in l. Increasing T would be equivalent to

making a spring which had a larger l. But there are better ways to make a spring-type

instrument with a much longer period than to simply lengthen the spring.

2.1.4 LaCoste-Romberg Meter

The relative meter now used almost exclusively is the LaCoste-Romberg meter. This

meter has a design which gives almost an inﬁnite period.

Here’s the setup. (See Figure 2.4.) The spring in Figure 2.4 is called a “zero length

spring.” It is designed so that F = kL, where L = total length of the spring. There

are several ways to make such a spring. The wire can, for example, be twisted as it is

wound. The beam of length b — with the mass on it — is free to pivot about the lower

left hand point. That beam is assumed here to be massless.

This system has an inﬁnite period: if the beam is at equilibrium for one value of

θ, then it is at equilibrium for every value of θ. What happens qualitatively is that if

you decrease θ (move m upward), the counter-clockwise spring torque lessens because L

decreases; but the clockwise torque from gravity also lessens, because the angle between

mˆ g and the moment arm

ˆ

b decreases. These two eﬀects cancel, and there is still no net

torque.

12 CHAPTER 2. OBSERVATIONAL TECHNIQUES

This side is vertical.

y

L

β

θ

α

mg

90 + α

m

λ

b

Figure 2.4: Set up for the LaCoste-Romberg Meter.

To see this more quantitatively, the counterclockwise torque on m from the spring

is (kL)(b) sin λ. The angle λ is: λ = β + θ. The clockwise torque from gravity is

(mg)b sin(90 +α). Note that the angle 90 +α = 90 + (90 −θ) = 180 −θ.

Equating these two torques gives the equilibrium condition:

kLb sin(β +θ) = mgb sin θ. (2.4)

To remove L, note that from the law of sines:

L

sin θ

=

y

sin(180 −θ −β)

=

y

sin(θ +β)

.

So Lsin(θ +β) = y sin θ, and Equation 2.4 becomes

ky = mg.

So the equilibrium condition is independent of θ: any θ will do, so long as

y =

mg

k

. (2.5)

If y = mg/k does not hold, then the beam b swings all the way clockwise or counter-

clockwise until it hits the stops.

2.1. INSTRUMENTS 13

So the idea is to set the thing up, and then adjust y until the meter is at equilibrium.

Then you know that

g =

_

k

m

_

y.

If you measure a change in y, you can then infer a change in g. Note that this is a

relative meter because of (k/m) in the expression for g. Actually, if the meter were built

as described above, it would be too sensitive. You could never ﬁnd a y which agreed

exactly with Equation 2.5, so you could never ﬁnd the equilibrium point. Instead, what’s

done is to tip the side y, slightly, from vertical. This gives a large but ﬁnite, natural

period, and it results in a usable but still highly sensitive meter.

The accuracies of this relative meter are approximately 10–20 µgal (0.01–0.02 mgal),

which is much better than pendulums. Fancy LaCoste-Romberg tide meters can do even

better if kept running continuously at the same place.

There are two sorts of errors. One is in measuring y. y is changed by turning a screw,

but the relation between the number of turns and the change in y is not always precisely

known. These errors can be as large as 50 µgal for large changes in y. The second is

spring hysteresis. As the spring is stretched, or even as it ages while doing nothing, the

spring constant k can change, and F = kL becomes F = kL +d, where d is some small

constant. This causes drifts in measured gravity that can be as large as several hundred

µgal per month. This means that, in practice, the meter must be frequently brought

back to a base station and recalibrated.

2.1.5 Superconducting Gravimeter

This is a relative instrument developed by people at the University of California at San

Diego. They are now produced commercially.

The idea is to levitate a superconducting ball in a magnetic ﬁeld. If gravity changes,

an electrostatic force is applied to the ball to keep it level. The instrument output is

voltage. (So it’s a relative meter.) Essentially it’s an electro-magnetic spring.

The instrument is designed to stay ﬁxed at one spot and measure changes in gravity

with time. It is deﬁnitely not portable. Furthermore, interruptions (such as reﬁlling

14 CHAPTER 2. OBSERVATIONAL TECHNIQUES

liquid helium) can reset the calibration factor (the relation between voltage and g). The

standard method of determining the calibration is to roll a heavy ball of known mass

underneath the meter, and to measure the resulting signal. Though other calibration

methods are now in use, as well.

This instrument is very accurate, with sub µgal accuracies (as good or slightly better

than the best LaCoste-Romberg tide meters). Making the instrument superconducting

keeps currents in the ball stable. In fact, the meter is exceptionally stable, which is its

main advantage over good LaCoste-Romberg meters. The big disadvantage is that it is

not portable.

2.2 Relative Gravity at Sea and on Planes

The instruments described above are primarily land instruments. Trying to measure g

from ships or planes leads to all sorts of additional problems. But, you certainly need

to know g over the oceans. And sometimes measurements from planes or helicopters are

desirable to get to inaccessible regions; or to speed up a survey.

The extra problems are associated with the fact that ships and planes are moving

objects. The errors from the motion can be severe, and can easily swamp instrumental

noise. Thus, it can be more important to use meters that minimize the motion errors, than

to use meters designed simply to measure g extremely precisely. For example, pendulums

were used in ships until recently, since the additional accuracy of a LaCoste-Romberg is

not always needed.

One problem is knowing where you are making your measurements from. Nowadays,

you can ﬁgure that out very well using the space positioning measurements that we’ll

discuss later. In the past, though, people had to use astronomy (e.g. observing the stars

and the sun) to determine their latitude and longitude, and then had to somehow ﬁnd

the height of the meter above mean sea level.

A second, more serious problem nowadays, is knowing what your velocity is. The

problem is that since the earth is rotating, any moving object experiences Coriolis forces

2.2. RELATIVE GRAVITY AT SEA AND ON PLANES 15

which can be confused as gravitational forces.

To understand the biggest eﬀect, suppose you’re in a ship moving east or west — the

same direction as the motion due to rotation. Let’s think of the resulting force as an

increased (or decreased) centrifugal force, rather than as a Coriolis force. Suppose you

attach a coordinate system to the earth and ship so that it rotates about the North Pole

with the angular velocity of the ship: Ω = Ω

0

+ v/(a sin θ) where Ω

0

= rotation rate of

the earth, v = eastwards velocity of the ship, a = earth’s radius, and θ = colatitude of

the ship. There is no Coriolis force, because the ship doesn’t move with respect to the

coordinate system. The centrifugal acceleration on the ship and every object in it is

Ω

_

Ω r

_

= ΩΩ r −rΩ

2

. (2.6)

The radial component of the right hand side will look exactly like gravity to the meter:

ˆ r

_

Ω

_

Ω r

__

=

_

(r Ω)

2

−r

2

Ω

2

r

_

= −aΩ

2

sin

2

θ

where r = a at the earth’s surface, and r Ω = aΩcos θ. So, the “gravitational” accelera-

tion shown on the meter will really be g−aΩ

2

sin

2

θ, instead of g. People on land routinely

subtract oﬀ the aΩ

2

sin

2

θ term, assuming Ω = Ω

0

. But, from a ship (or a plane), Ω also

depends on v. To lowest order in v, the measured acceleration is approximately

g −aΩ

2

0

sin

2

θ −sin

2

θa

_

2Ω

0

v

a sin θ

_

. (2.7)

So, the lowest order correction due to east–west velocity is:

∆g = −2Ω

0

v sin θ.

This is the “Eotvos correction.” It works out to be (7.5 sinθ) mgal/knot. (1 knot =

1.15 mile/hour = 50 cm/sec.)

For ships, the Eotvos correction is typically 50 mgal. For planes, which move faster,

it is typically 1000 mgal. So it is important to make this correction — and thus to know

your velocity accurately. Nowadays, the space positioning measurements described below

can be used to determine your velocity well enough.

16 CHAPTER 2. OBSERVATIONAL TECHNIQUES

There is also a contribution from north–south motion, but it’s only about 1 mgal in

planes and is negligible in ships. It’s small because the Coriolis force it induces is mostly

horizontal, not radial, and so it is not confused with g as easily.

But, the biggest problems come from unknown accelerations of the ship or plane. For

example, if the meter support accelerates, the meter can confuse that acceleration with

gravity.

Horizontal accelerations and tilting of the ship or plane are less of a problem than

vertical accelerations. There are two ways to remove the eﬀects of tilting and horizontal

accelerations, both of them instrumental (see Figure 2.5):

meter

θ

Figure 2.5:

1. Swing the entire meter about a pivot point. A horizontal acceleration starts it

swinging. You measure θ and can thereby remove the swinging motion from the

meter reading.

2. Put the meter on a stabilized platform with gyroscopes to keep it level and hori-

zontal accelerometers to determine the horizontal acceleration.

Vertical accelerations are the biggest problem. A vertical acceleration is indistin-

guishable from the gravitational acceleration. Typically, vertical accelerations in ships

are equivalent to 10

4

–10

5

mgal in gravity. So, they can be huge.

2.3. FREE FALL METERS 17

The only way to get rid of the eﬀects of vertical accelerations is to average over time.

Some instruments do the averaging, partially, for you — by including damping to ﬁlter

out high frequencies. For example, sea-going LaCoste-Romberg meters do it that way.

But even in that case, at least some additional averaging of the data is needed.

For example, the instrument measures g + ¨ x, where ¨ x = vertical acceleration. The

averaged output over time T is:

g

avg

≡

1

T

_

T

0

(g + ¨ x) dt = g +

˙ x(T) − ˙ x(0)

T

.

So, the longer the averaging time (T), the smaller the error. But, long term accelerations

can’t be removed.

Planes are smoother than ships, but you can’t average for as long in planes because

they don’t stay in one place very long.

Typically, errors in g from ships are approximately 1 mgal. Errors in g from helicopters

are approximately 2 mgal. Errors in g from planes are worse.

These numbers are large enough that sometimes other meters besides LaCoste-

Rombergs are used in ships and planes. Maybe the most common of these is a “vi-

brating string” meter, which can achieve accuracies of only 1 mgal on land. This meter

has a mass on the end of a thin metal ribbon. The ribbon is shaken and the mass

and ribbon vibrate at a characteristic frequency, which depends on g. The frequency is

measured to ﬁnd g. The frequency is not particularly dependent on accelerations.

2.3 Free Fall Meters

These are absolute instruments. They replaced pendulums maybe 20 years or so ago.

The idea is to watch an object fall and thereby determine its acceleration. If v

0

is the

initial velocity, and x

1

is the vertical distance fallen after time t

1

, then: x

1

= v

0

t

1

+gt

2

1

/2.

If x

2

is the distance fallen after time t

2

, then x

2

= v

0

t

2

+gt

2

2

/2. Eliminating v

0

gives:

g =

2

t

1

−t

2

_

x

1

t

1

−

x

2

t

2

_

.

18 CHAPTER 2. OBSERVATIONAL TECHNIQUES

So, if you measure (x

1

, t

1

) and (x

2

, t

2

) you can ﬁnd g. Since x is a distance and t is a

time, this is an absolute meter. No calibration is necessary (except of your measuring

tape and your clock). In practice, you probably want to measure lots of x’s and t’s, and

then determine g by least squares ﬁtting it to x = v

0

t +gt

2

/2.

The earliest free fall meter was simply a meter bar which was dropped alongside a

ﬁxed pointer. A strobe light was ﬂashed at a known frequency and a number was read

oﬀ the meter stick at each ﬂash as it fell. See Figure 2.6.

Figure 2.6:

Nowadays, free fall meters are much fancier. They involve laser interferometers.

2.3.1 Launch Type

You throw a mass, m, upwards — and measure two time intervals (see Figure 2.7):

1. t

A

= time between upward and downward crossing of A;

2. t

B

= time between upward and downward crossing of B.

Then, t

A

/2 = time to get from A to the top of the trajectory. Since at the top the

velocity is 0, then:

0 = v

A

−g

t

A

2

2.3. FREE FALL METERS 19

B

A

h

m

Figure 2.7:

where v

A

= upward velocity at A. So,

v

A

= g

t

A

2

(2.8)

Also, (t

A

−t

B

)/2 = time to go from A to B. So, if h is the height of B above A, then:

h = v

A

_

t

A

−t

B

2

_

−

g

2

_

t

A

−t

B

2

_

2

.

Using Equation 2.8 for v

A

gives h in terms of t

A

, t

B

and g. Or inverting to ﬁnd g:

g =

8h

(t

A

)

2

−(t

B

)

2

So, measuring a distance (h) and two time intervals gives g.

The best launch instruments are very good. They have been developed by people in

Japan.

2.3.1.1 Advantages over free-fall-only instruments

1. Air resistance cancels to 1st order. That’s because the drag force is downwards on

the way up, and upwards on the way down. The instrument is run in a vacuum,

anyway. But, the eﬀects of the remaining air in the vacuum are small.

20 CHAPTER 2. OBSERVATIONAL TECHNIQUES

2. Timing biases are not as important as in a free-fall-only meter. (A timing bias refers

to the time it takes, after the passage of the mass, for the instrument to register

the time of passage.) That’s because, here, it’s time intervals that are measured.

2.3.1.2 Disadvantages

Launching the mass deforms and shakes the entire instrument in an unmodelable way,

and that produces errors in g.

2.4 Free-Fall-only Meters

These involve masses which are dropped instead of launched. Jim Faller’s group at

the Joint Institute for Laboratory Astrophysics (JILA) has played an important role in

developing this type of meter. Only a very few places in the world make them. I’ll

describe the JILA meter in some detail.

See Figure 2.8. The laser emits light with wavelength λ. The path length from the

beam splitter to the ﬁxed cube and back is 2L

1

. The path length from the beam splitter

to the falling cube and back is 2L

2

(t). L

2

(t) depends on time as the cube falls. L

1

is

independent of time.

The detector sees a mixture of light from each corner cube. The phase diﬀerence

of the two beams is the wave number, k = 2π/λ, multiplied by the diﬀerence in the

distances the two beams have traveled (2L

2

(t) − 2L

1

). So, ∆φ = phase diﬀerence =

4π (L

2

(t) −L

1

) /λ. Thus, if 2(L

2

(t) −L

1

) is an integer times λ, then the two beams are

in phase and you get a large signal. If 2(L

2

(t) − L

1

) is a half integer times λ, the two

beams are 180

◦

out of phase and you get a small signal.

So, you drop the cube and look at the detected signal as a function of time. You

use a zero-crossing discriminator to give a pulse at every zero crossing (that is, when

the two beams are out of phase by 180

◦

). Every 3000 pulses, or so, you record the

time. So, you know the times corresponding to distance intervals of (3000) λ/2 ≈

(310

3

) (310

−5

) cm ≈ 1 mm. For a drop of approximately 20 cm you get 200 values

2.4. FREE-FALL-ONLY METERS 21

fixed

to

earth

falling corner cube

beam splitter

detector

laser

L

2

1

L

Figure 2.8:

of x and t which you ﬁt to x = v

0

t +gt

2

/2 to get g. It takes about 0.2 seconds to make a

drop, and the whole process of dropping, computing g, and raising back to the top takes

about 4 seconds. So, there are about 15 drops/minute.

There are four sources of error:

1. uncertainty in λ

2. electronic counting and timing errors

3. ground acceleration

4. non-gravitational forces: for example, electro-magnetic forces (EM) and air resis-

tance

22 CHAPTER 2. OBSERVATIONAL TECHNIQUES

The objective is to obtain accuracies of about 1 µgal (1 part in 10

−9

), which corre-

sponds to 3 mm of vertical motion.

2.4.1 Uncertainty in λ

This is no problem nowadays. There are lasers with frequencies that are stable to 10

−11

.

You either use one of those directly, or you periodically calibrate your laser against one.

2.4.2 Electronic counting and timing errors

This is ok, nowadays. You need to know the timing to

(1 10

−9

)

. ¸¸ .

accuracy

in

gravity

(0.2)

. ¸¸ .

time of

the

drop

sec ≈ 2 nsec.

You can live with errors larger than this if they are constant during the drop. And, any

errors larger than this are probably due to the time delay between fringe crossings and

timer response, which would be nearly constant.

2.4.3 Ground Acceleration

This can be a problem. The typical ground acceleration (called “microseisms”) due to

the interaction of the oceans with the sea ﬂoor is on the order of 10

−6

g and has energy

peaked at periods of around 6 seconds. This acceleration aﬀects the ﬁxed corner cube and

can map into errors in g. Its eﬀects on the laser and detector don’t matter, because both

beams travel through the laser and detector in the same way — and it’s the diﬀerence

in the beam paths that you measure. Because 6 sec > 0.2 sec (the time duration of a

drop), the acceleration is not averaged out during a drop.

One way to get rid of the problem is to average over lots of drops. But to obtain

1 10

−9

accuracy with 10

−6

random errors, you’d need to make (1/(1 10

−3

))

2

≈ 10

6

drops. This would take approximately 1000 hours.

2.4. FREE-FALL-ONLY METERS 23

To reduce this averaging time, they use a very long spring. They suspend the ﬁxed

cube from the spring. The spring has about a 60 sec period. Since 60 sec ¸ 6 sec,

the cube at the end of the spring doesn’t move much due to the microseisms. To get a

spring with a 60 sec period, note that kl = mg and T = 2π

_

m/k ⇒ l = gT

2

/(2π)

2

≈

10

3

(60)

2

/6

2

cm ≈ 1 km, where l = amount the spring is stretched at equilibrium. So,

the spring, itself, would have to be substantially longer than 1 km.

Instead, they use what they call a “super spring” — a device that electronically

mimics a 1 km spring. The idea is that in a real spring, points on the spring near the

bottom move almost — but not quite — like points at the bottom. They use a sensor

to detect diﬀerences between the bottom and the top of a short spring, and they move

the top as though it and the bottom were, instead, part of a 1 km spring.

The super spring reduces number of drops needed by a factor of about 400.

2.4.4 Non-gravitational forces

Electro-magnetic forces used to be a problem because the falling cube was dropped by

shutting oﬀ a magnetic ﬁeld. That caused eddy currents in the cube which interacted

with other electro-magnetic ﬁelds and perturbed the fall. Now the cube is dropped

mechanically, instead.

Air resistance is a potential problem. To get it down to an acceptable level (1 µgal

errors in g), some instruments use a very high vacuum (about 10

−7

mm of mercury, which

is approximately 10

−10

of atmospheric pressure). This low pressure causes mechanical

problems (more friction, more equipment). Instead, the JILA instrument pumps down

only to 10

−5

–10

−6

mm of mercury, and then uses a falling chamber that moves with the

cube during its drop.

As the cube is dropped, it is tracked by the laser interferometer through a hole in the

bottom of the chamber. The position of the cube relative to the chamber is also optically

sensed as the cube falls. The chamber is then driven downward mechanically at the right

speed so that the position of the cube doesn’t change relative to the chamber. Thus, the

chamber pushes the remaining air out of the way.

24 CHAPTER 2. OBSERVATIONAL TECHNIQUES

This also provides the mechanical dropping mechanism: Initially the cube rests on

the chamber. The motion is started by suddenly driving the chamber downward, which

causes the cube to come free and to start to fall.

2.4.5 Accuracy

The JILA instruments and their derivatives are believed to be accurate to the 1 µgal

level, for averaging times of a few days to a couple weeks.

2.4.6 Satellites

Another way to measure gravity, and certainly the best way to obtain gravity at global

scales, is to use satellites. We’ll talk about this later, when we discuss space geodesy.

2.5 Positioning

The other broad goal of observational geodesy is to determine the locations of points on

the earth’s surface. Geophysicists are interested in this type of observation, because it

allows them to look for displacements of the earth’s crust. What level of accuracy do you

need to begin to detect crustal motion? To measure continental drift you’d like to be able

to determine the relative positions of two points to roughly 1 cm over baseline lengths (the

“baseline” is the vector between the two points) of at least a few thousand km, which is

the typical width of a plate. The relative motion between plates is generally on the order

of a few cm/yr, so that this level of accuracy would let you determine plate motions with

relatively small errors after a very few years. Note that 1 cm accuracy over a baseline of

a few thousand km requires an accuracy of 1 cm/a few 10

8

cm = a few 10

−9

.

The detection of local and regional tectonic deformation near plate boundaries does

not require such high accuracies, because the deformation occurs over shorter baselines.

For example, strain rates (the strain = the change in baseline length divided by the

baseline length) over baselines of tens to hundreds of km are typically 10

−7

per year in

2.5. POSITIONING 25

California, a tectonically active region. And a conventional geodesist — who only wants

to tie local survey nets together — can settle for much worse accuracies.

2.5.1 Ground Based Techniques

To ﬁnd positions, people use combinations of four sorts of measurements:

1. measurements of horizontal angles between points

2. measurements of elevation diﬀerences between points

3. measurements of distances between points

4. measurements of a point’s coordinates with respect to the stars or to some other

special astronomical coordinate system. (Or, what is equivalent, measurements of

a point’s latitude and longitude.)

You need to measure latitude and longitude because measurements of horizontal an-

gles, elevation diﬀerences, and distances, just tell you the position of one point relative to

another. Latitudes and longitudes tell you something about one point relative to inertial

space.

How do you measure these things using ground-based techniques?

(Note: space techniques, that we’ll talk about later, determine all coordinates of a

point or a baseline at once. There is no natural separation into four categories.)

2.5.1.1 Horizontal Angles

Horizontal angles can be used to help ﬁnd where points are on the earth’s surface relative

to one another. (Vertical angles, incidentally, tell you about the shape of that surface.)

You can’t determine relative locations, though, without also measuring distances between

points.

A typical instrument that measures horizontal angles consists of two telescopes that

pivot about a common, vertical axis, and some sort of level used to make sure that axis

is vertical. You want to measure the horizontal angle θ between lines AB and AC. See

26 CHAPTER 2. OBSERVATIONAL TECHNIQUES

θ

C B

A

Figure 2.9:

Figure 2.9. You put the instrument at A, sight one telescope towards B and one towards

C. You level the two telescopes so that they are both horizontal, and then measure the

angle, θ, between the telescopes.

Suppose your goal is to ﬁnd out where C is with respect to A. Suppose you have

determined the absolute direction of the line AB. Maybe you’ve done this with astro-

nomical techniques. Or maybe you’ve arbitrarily deﬁned your coordinate system so that

AB has a speciﬁc direction (that is, you’ve tied your system to that line somehow). Then

to ﬁnd the position of C, you measure θ — and you measure the distance between A

and C. Until the 1960’s, distance measuring was tedious: you’d just roll a tape along

the ground. So, you’d rather measure angles than distances. In that case, what you’d do

was to measure θ. Then, you’d also measure the angle between BA and BC. And, you’d

measure the distance BA with the tape. That would give C. The advantage of this was

that if you then wanted to ﬁnd the position of some other point, D, you would measure

the angle between AD and AB, and the angle between BA and BD, and then use the

distance AB that you’ve already measured. So, you could do lots of points by measuring

no distance except AB.

This technique is called “triangulation.” It is not used much anymore for geode-

tic/geophysical applications. Its accuracy is approximately 10

−5

, which is not good

2.5. POSITIONING 27

enough for most geophysical studies. Its advantage was that it minimized tiresome dis-

tance measurements.

Nowadays, geophysical geodesists don’t often measure horizontal angles at all. In-

stead, they use only distance measurements, which are now easy to make and are very

accurate. The techniques involve laser interferometers and I’ll wait a little to describe

them.

Meantime, how does this new method work? Suppose you know the locations of two

points, A and B. See Figure 2.10. You want to know the location of C. You measure

AC and BC, which then tells you that C lies on the intersection of two known circles.

C

A

B

Figure 2.10:

That determines C uniquely.

There is, sometimes (not often used), a slight twist to this. You can measure the

diﬀerence between AC and AB, and then the diﬀerence between BC and BA. By

comparing those two distance diﬀerences, C can be found. There can be advantages to

measuring distance diﬀerences, rather than absolute distances.

Whichever method you use is called trilateration. It is much more accurate than tri-

angulation. I’ll describe the accuracies when I describe distance measuring instruments,

below.

28 CHAPTER 2. OBSERVATIONAL TECHNIQUES

2.5.1.2 Elevation

The basic methods of measuring elevations haven’t changed, as far as I know, for hundreds

of years. You want to measure the elevation diﬀerence between A and B. See Figure 2.11.

A

B

Figure 2.11:

You put two vertical rods with meter (and cm, mm, etc.) markings on them, at A and

B. You put the leveling instrument — consisting of a telescope and a level — in between

A and B. You use the level to keep the telescope horizontal, and sight ﬁrst on the A rod,

and then on the B rod. You read oﬀ the numbers you sight on from the two rods, and

the diﬀerence between those numbers is the diﬀerence in elevation. Here you can see the

importance of gravity for determining elevation: the orientation of a horizontal surface

depends on the direction of gravity.

One obvious limitation of this technique is the ﬁnite rod height. The standard height

is 2.5 m, so you can’t measure over a baseline with elevation changes of more than this.

Surveying this way in rough topography is tedious. An alternative is to measure vertical

angles, by training a telescope at the end of the baseline, and determining the angle

between the telescope and the horizontal plane.

The errors in leveling are, traditionally, assumed to be 10

−5

; that is, 1 cm over a 1 km

diﬀerence in elevation. But, leveling hasn’t always been done that well in the past. There

2.5. POSITIONING 29

are two sources of systematic error that can cause topographic-related errors larger than

this, if not properly accounted for:

2.5.1.2.1 Leveling Errors

2.5.1.2.1.1 Rod calibration errors If meter marks on the rods aren’t in quite the

right places, you’ll get topographic-related errors. If you switch rods from one survey to

the next, these errors will make you think the ground has moved. You get a similar eﬀect

if you change the lengths of the individual baselines you sight over. In that case you will

be sighting on diﬀerent sets of meter marks which will have diﬀerent errors.

2.5.1.2.1.2 Refraction This is a hard problem. The light going from the rod to the

telescope is bent due to temperature gradients along the ground. So the number you read

oﬀ the rod, and the telescope, are not quite on the same horizontal surface. People do

know how to correct for this eﬀect given the temperature on the ground. But temperature

measurements were not always made in past surveys. The corrections are dependent on

the variation in topography along the line. If you do not make these corrections, or if

they are not made properly, there can be topographic-related errors as large as 10

−4

;

This eﬀect can be particularly severe if you change the baseline lengths you level over,

since the size of the correction varies with baseline length in a non-linear fashion.

2.5.1.2.2 Fluid Tiltmeters One other method is occasionally used to measure ele-

vation diﬀerences between points. This method involves ﬂuid tiltmeters. There are two

versions:

1. You measure the height of the ﬂuid column in each of the two vertical segments

of the container shown in Figure 2.12. The diﬀerence in heights = the elevation

diﬀerence.

2. You measure the ﬂuid pressure at each end of the pipe in Figure 2.13.

30 CHAPTER 2. OBSERVATIONAL TECHNIQUES

fluid

Figure 2.12:

fluid

Figure 2.13:

These instruments can measure 10 m elevation diﬀerences — and so can be useful

when there is a lot of topography. They are usually used, though, as ﬁxed instruments to

look for time dependent tilts at one place. The results can be aﬀected by temperature,

so the instruments must be thermally insulated. Instruments have even been built which

have two ﬂuids with diﬀerent thermal expansion coeﬃcients, so the thermal eﬀect can be

removed.

2.5. POSITIONING 31

There are related, short baseline instruments called “tiltmeters.” These are designed

to measure time dependent changes in the normal to the surface at a ﬁxed point. Tilt-

meters can be ﬂuid tubes, as described above, but here they are only a few cm long. Or,

they can be horizontal pendulums.

2.5.1.3 Latitude and Longitude

Latitude and longitude measurements used to be made at certain points along a survey

to ﬁx those points with respect to the stars, and to reduce cumulative errors which can

build up over a survey. There were also ﬁxed stations around the globe which measured

their latitude and longitude on a routine basis. Results from the ﬁxed stations were used

to ﬁx the terrestrial coordinate system to the stars, and thereby to look for variations

in the earth’s rotation. These stations were all closed down about a decade or so ago.

But, they provided information about the earth’s rotation going back into the the 19th

century that is still being used today to study long period rotation ﬂuctuations.

How did people measure their latitude and longitude relative to the stars?

2.5.1.3.1 Latitude You align a rod along the local vertical. You watch a star with

a telescope as the star moves from east to west across the sky. The star is at its highest

point as it passes the north–south meridian running through the observer. At that point

you measure the angle z (the “zenith distance” of the star) between the telescope and

the vertical rod. Then θ = co-latitude = δ − z, where δ = known stellar co-declination

= angle between the star and the earth’s rotation axis, Ω. See Figure 2.14.

Refraction of the starlight as it passes through the atmosphere causes the light to

bend, and results in errors in θ. These can be partially modeled, but remaining errors

are approximately 1 second of arc, which corresponds to a position error of the point on

the earth’s surface of about 30 m.

To reduce this error, people often looked at a pair of stars on two sides of the local

vertical. See Figure 2.15. You measure z

1

and z

2

. Then θ = δ

1

+z

1

and θ = δ

2

−z

2

. So,

θ =

1

2

[δ

1

+δ

2

+z

1

−z

2

] .

32 CHAPTER 2. OBSERVATIONAL TECHNIQUES

Ω

earth star

pole

δ

θ

z

Figure 2.14:

Ω

z

1

z

2

s

s

2

1

Figure 2.15:

2.5. POSITIONING 33

So, you can determine θ by measuring z

1

− z

2

: the diﬀerence in angles. For z

1

and z

2

about equal and very small, the refraction errors mostly cancel in z

1

−z

2

. Accuracies are

approximately 0.1 arc seconds, which maps into roughly 3 m of surface position error.

This is still pretty large, but if lots of stars are observed, you can reduce the error further.

For example, the big international services which routinely measured latitude at ﬁxed

stations, could determine θ to approximately 0.01 arc seconds when averaged over a

month or so (about 30 cm at the surface), although they still got errors of 1–3 meters at

the surface at the annual frequency, due to annual variability in the atmosphere which

can’t be averaged out.

2.5.1.3.2 Longitude The method was similar to that used for latitude observations.

You watch a star with a telescope until it passes the local meridian. Then you record

the time using an accurate clock. You know from a table the time the star passed the

Greenwich meridian. Let this time be t

G

. Then φ, the angle west of Greenwich, is

φ = (t −t

G

)Ω

where Ω = rotation rate of earth. Individual determinations of east–west position through

the mid-1960’s were accurate to 10–30 m, due to refraction and, especially, to clock errors.

You can average the errors down assuming random clock errors.

Again, gravity aﬀects both the latitude and longitude measurements: stellar positions

are recorded relative to the local vertical, and the vertical depends on local gravity.

2.5.1.4 Distances

There have been rapid developments in distance-measuring instruments over the last

few decades. Tape measures have been replaced by instruments which send and receive

electro-magnetic radiation — usually light. The method is to shine a continuous beam

of mono-chromatic radiation on a distant target. The beam is usually then reﬂected

back to the source, where the phase diﬀerence between the emitted and received waves is

measured. This phase diﬀerence tells you something about the distance between the two

34 CHAPTER 2. OBSERVATIONAL TECHNIQUES

points. For example, suppose the two phases diﬀer by δ. Then, you could deduce that

the round trip distance between the two points was an integer number of wavelengths

plus

_

δ

2π

_

wavelengths. If D is the source-target distance, so that 2D is the round-trip

distance, and if λ = wavelength, then 2D = lλ + λ

_

δ

2π

_

, where l is an integer. You

wouldn’t, of course, know l. This problem (ﬁnding l) is called the “2π ambiguity.” To

ﬁnd l you must either:

1. already know the distance to within one wavelength through some other means; or

2. change λ slightly, do the experiment over again, and combine the results from both

experiments. This allows you to reduce the 2π ambiguity considerably, as we will

see.

In either case, using un-modulated light doesn’t work well. The wavelength of light

is approximately 510

−7

m, which is simply too small. For this wavelength, the 2π

ambiguity would require you to already know distances to 510

−7

m. By using method 2,

above, you could reduce the 2π problem, but this would be hard to implement eﬀectively

in such an extreme case.

Instead, you use light as a carrier, but you modulate it at low frequencies and compare

phases of the modulation. The modulation can be in amplitude, frequency, phase or

polarization. For amplitude modulation, the signal looks like Figure 2.16. For typical

Figure 2.16:

modulations — usually radio frequencies — λ can be tens of cm’s to a few m’s. So the

2.5. POSITIONING 35

2π problem is manageable, in the sense that you can readily overcome it by changing λ

slightly and re-doing the experiment.

Why not use radio waves directly (no carrier)? The answer is that light waves are

easier to use, particularly if you can use lasers.

Why not use a modulation wavelength of much larger than tens of cm’s to a few

m’s, so as to further minimize the 2π problem? The answer is that the use of longer

wavelengths tends to reduce accuracies. For example, if you are able to measure phase

diﬀerences to an accuracy of ∆ radians, then you will have an accuracy in your distance

measurements of λ∆/2π, which is proportional to λ. So, the smaller the wavelength, λ,

the smaller the error.

These distance measuring devices are called Geodimeters. Here’s a short history of

their development.

2.5.1.4.1 White light These were the ﬁrst geodimeters. They predated lasers. They

worked sort of like this:

A light signal is modulated by shining it through a revolving wheel with a slit. When

the slit points, say, directly downward, the slit is in front of a light source. In that case

light gets through and travels toward a mirror several km away. Thus, an observer at the

mirror sees what looks to be a strobe light blinking on and oﬀ. The light from the source

has had its amplitude modulated by the wheel. The modulation is a series of square

waves: equal to 1 when the slit is in front of the source, and equal to zero when the slit

is not in front of the source.

The light hits the mirror and returns to the wheel. If the returning light hits the

wheel when the slit is pointing directly downward again, the light passes through and is

recorded by a detector located next to the original light source. If the slit is not pointed

directly downward, the returning light doesn’t get through. (This is basically the way

Michelson and Morley measured the speed of light.)

Let τ = the time it takes the wheel to revolve once = the period of the modulation.

Let 2D be the round trip distance traveled by the light (between the wheel and the mirror

36 CHAPTER 2. OBSERVATIONAL TECHNIQUES

and back again) so that the round trip travel time of the light is 2D/c, where c is the

velocity of light. Thus, the light gets through to the detector if 2D/c = τk where k is an

integer. So, light is detected if

2D = kcτ. (2.9)

The product cτ is the wavelength of the modulation. To determine the distance D, you

adjust the rotation period, τ, until light does get back through to the detector. In that

case you know that D satisﬁes Equation 2.9. The unknown integer k represents the 2π

ambiguity.

Why not slow the wheel down — increase τ — to reduce the 2π problem? For

example, if you know the distance is around, say, 10 km, why not make τ so large that

cτ/2 ≈ 10 km, and then vary τ around this value so that light gets back through? Then,

you’d know k = 1. The problem with this is that your estimate of the time that the light

takes to arrive back at the receiver, has an uncertainty that depends on the width of the

slit and on how long the slit is in front of the detector. In other words, the uncertainty

in D is

width of slit

circumference of wheel

cτ

2

which increases with τ. Another way to say this is that the phase diﬀerence between the

transmitted and returning signals can be determined only to within

width of slit

circumference of wheel

2π radians. (2.10)

The corresponding error in distance is one-half the wavelength over 2π (that is,

cτ

2

1

2π

)

times Equation 2.10. So, you don’t want to pick τ large.

So how do you deal with the 2π problem? Suppose you pick, say, cτ = 10 cm. To

ﬁnd k you would have to already know D to 5 cm, which is unlikely. However, suppose

you change τ a little and make the measurement again. You ﬁnd τ

1

and τ

2

that both

work. So:

D = k

_

cτ

1

2

_

and

D = l

_

cτ

2

2

_

2.5. POSITIONING 37

where τ

1

, τ

2

are known, and k and l are unknown integers. So,

k

l

=

τ

2

τ

1

Suppose τ

2

and τ

1

are very close: maybe, say

τ

2

τ

1

= 1.0001.

Then, since k and l are integers, you know that k/l = 10001/10000, or 20002/20000, or

j(10001/10000) where j = integer. So, now you know that l = 10000, or 20000, or 30000,

etc., and so

D = j 10000

_

cτ

2

2

_

where j = 1, 2, . . . . So, you’ve reduced the 2π uncertainty down to 1000010 cm = 1 km,

and you’d only have to know the distance beforehand to 1 km. This is the general

approach used by all geodimeters to reduce the 2π problem.

The conventional white light instrument described above became obsolete when lasers

became available. Its modulation was somewhat diﬀerent than I have described it, but the

idea was similar. The accuracies were a little worse than 10

−6

over 5–50 km baselines.

So, it could do horizontal positions about one order of magnitude better than could

triangulation. But, it only worked at night.

2.5.1.4.2 Radio signals To get something that worked during the day, people in-

vented the Tellurometer. It used un-modulated radio waves with no carrier. Its accuracy

was about 3 10

−6

over baselines of up to 70 km.

2.5.1.4.3 Lasers All geodimeters now use lasers for the carrier signal. Lasers can

be aimed better than white light or radio waves, and they work in the daytime. They

are modulated electronically, not mechanically. Typical modulation frequencies are ap-

proximately 50 MHz, which gives a modulation wavelength of around 5 m. So, the 2π

ambiguity is around 2–3 meters. You reduce the ambiguity by changing λ slightly and

repeating the phase measurement, as described above.

38 CHAPTER 2. OBSERVATIONAL TECHNIQUES

There are various ways to detect the phase shift of the returning signal. One way is to

mix it with the transmitted signal. Then you adjust the modulation frequency slightly

until the combined modulation signals are in phase. You achieve this by maximizing

the combined modulated signal. Then you know that at that frequency the round trip

distance is exactly an integral number of modulation wavelengths.

The accuracies with the laser instruments are about the same as with white light:

about 10

−6

. The biggest error source comes from the atmosphere the wave propagates

through. To ﬁnd the distance traveled by the wave, you need to know the wavelength

of the modulation. Instead, what you do know is the angular frequency, ω, of the

modulation. To deduce λ from ω you need to know the velocity of light, and that

depends on the index of refraction n:

λ =

c2π

nω

.

And, n depends on the amount of air the wave travels through, and on the water vapor

content of that air. The dependence on water vapor is relatively weak at optical frequen-

cies (it is the index of refraction at the frequency of the carrier wave that is pertinent),

though it is non-negligible.

So, to improve the accuracies, you must determine the densities of the air and of

water vapor integrated along the path of the signal. The usual way to do that is to ﬂy

an airplane along the path while you make the measurement, and to monitor pressure,

temperature, and humidity from the plane. The densities can then be estimated from

these measurements. The accuracies people obtain using this method are approximately

3 10

−7

over baselines of 30 km or less.

Airplanes are expensive and hard to schedule. An alternative is to use a multi-

color instrument. Larry Slater (formerly of CIRES) has designed and built two-color

instruments, which he has used in California and in New Mexico. Judah Levine in JILA

has built a three-color instrument. I will brieﬂy describe both of these.

2.5.1.4.3.1 Two-color meters The idea is to use the known dispersive properties

of air: make measurements at two carrier frequencies — red and blue, say — and then

2.5. POSITIONING 39

compare to deduce the index of refraction at either frequency.

Speciﬁcally, n − 1 (= 0 for a vacuum) depends on the carrier frequency ω. You can

write n −1 = αρ

air

+βρ

vapor

where ρ

air

and ρ

vapor

are the densities of dry air and water

vapor, and α and β depend on ω in a known way. The βρ

vapor

term is much smaller than

the αρ

air

term at optical frequencies. The two-color meter just tries to deduce the αρ

air

term. The βρ

vapor

term is inferred by making meteorological measurements at both ends

of the baseline.

So you know α but not ρ

air

. If n(ω

c

1

) and n(ω

c

2

) are the values of n at the two carrier

frequencies, then you know

1 −n(ω

c

1

)

1 −n(ω

c

2

)

≡ ∆ (2.11)

without making any measurements (assuming you ignore the βρ

vapor

term).

You then measure the distance D at the two frequencies. Suppose you ﬁnd that

D = Aλ

1

and D = Bλ

2

where A and B are your measured results, and λ

1

and λ

2

are the

wavelengths of the modulation. (For both carrier frequencies, you have presumably gone

through the usual trick of adjusting the modulation frequency slightly to resolve the 2π

problem when determining A and B.) But, what are λ

1

and λ

2

? If, in each case, the

modulated frequency is ω, then

λ

1

=

c2π

n(ω

c

1

)ω

(2.12)

λ

2

=

c2π

n(ω

c

2

)ω

.

So, equating the two results for D gives:

A

c2π

n(ω

c

1

)ω

= B

c2π

n(ω

c

2

)ω

.

Or

n(ω

c

2

) =

B

A

n(ω

c

1

). (2.13)

Then, using Equation 2.13 in Equation 2.11 gives

n(ω

c

1

)

_

B

A

∆−1

_

= ∆−1.

40 CHAPTER 2. OBSERVATIONAL TECHNIQUES

So, your measurements of B and A give n(ω

c

1

), which then goes in Equation 2.12 to ﬁnd

λ

1

and then in D = Aλ

1

to give D.

In his two-color meter, Larry Slater modulates his carrier waves with a rotating

polarizing crystal. He de-modulates by having the wave pass back through the crystal

when it returns. (So, it’s like the white light passing through the rotating cog wheel.)

The returning signal will be maximum if the crystal has exactly the same orientation

when the wave returns as when it was sent. He adjusts the modulation frequency slightly

until that maximum is obtained. (Actually, he tries to minimize the signal rather then

to maximize it — so the round-trip distance works out to be an odd number of half

wavelengths.) His modulation works out to λ ≈ 10 cm. So, the 2π ambiguity in one way

distance is approximately 5 cm.

His accuracy is approximately 1 10

−7

, which is slightly better than can be obtained

using a one color geodimeter with a plane. But his meter is much cheaper to run and

easier to operate. It has a somewhat shorter range, about 10–15 km. And, it’s not very

portable. The accuracy is limited by the uncertainty in the water vapor along the path.

2.5.1.4.3.2 Three-color meter All of these problems are reduced in Judah Levine’s

three-color meter. This instrument uses red and blue to get ρ

air

, and an un-modulated

microwave signal (λ ≈ 4 cm) to infer ρ

vapor

. You’ve got to use a microwave signal, instead

of a third optical carrier, because the eﬀects of water vapor are not notably dispersive at

optical frequencies. That is, β is about the same at all optical frequencies.

The range is increased, too, to 30–50 km. The reason is that the optical portion of

Judah’s meter is one way instead of round trip, and less of the laser beam is lost if it

travels a shorter total distance. (Though the microwave signal used to infer the water

vapor is two way.) The meter is also portable. It ﬁts into a four-wheel-drive vehicle or a

helicopter.

In this instrument, red and blue, modulated in polarization, are sent from one end to

the other, where they are received and the phase diﬀerence is measured. This gives ρ

air

.

(In fact, in this conﬁguration the instrument could be used with conventional one-color

2.5. POSITIONING 41

geodimeters to replace the plane.) Then, only red is sent back to the starting end. When

this second red signal is sent, the phase of its modulation is locked to the modulation

phase of the ﬁrst red beam, so it’s just like a reﬂection. The red is received at the starting

end, the modulations of the returning signal and the outgoing signal are compared to

determine the phase shift, and the distance is inferred.

The overall accuracies for this instrument are about 2–3 10

−8

, which are substan-

tially better than those of any other geodimeter. One error source is that red and blue

are bent by the air along slightly diﬀerent paths, and so sample diﬀerent n’s.

2.5.1.4.4 Strainmeters These are another sort of distance-measuring instruments,

but they have a diﬀerent purpose. They are designed to sit at a ﬁxed location and

measure the change in distance with time between two closely separated points. They

are not survey instruments.

They are very accurate. The most accurate of them can measure a change in a ﬁxed

baseline to one part in 10

10

. The baselines, though, are less than 1 km: usually tens of

meters.

The earliest strainmeters were two piers, ﬁxed in the ground, with a horizontal quartz

rod attached to one pier and almost touching the other. See Figure 2.17.

rod

Figure 2.17:

The distance between the rod end and the second pier was continually monitored.

The typical baseline, here, would be less than 100 m. Many of these are still used.

The newer and more accurate strainmeters are laser interferometers. There aren’t

42 CHAPTER 2. OBSERVATIONAL TECHNIQUES

many of these. Judah Levine built a strainmeter with a 30 m baseline that he operated

for a while in the Poor Man mine, west of Boulder, Colorado. It has been shut oﬀ now

for a number of years.

Judah’s instrument used two lasers. One was kept running at a stable frequency (it

had to be continually calibrated). The other sent light from one point in the tunnel, to

a point 30 m away, and then back again. The path was evacuated of air to eliminate

refraction. The frequency of this second laser was continually tuned so that the returning

wave was in phase with the transmitted wave; thus, the round trip travel time was an

integral number of wavelengths. The wavelength was then determined by beating the

output from that laser against the output from the stable laser and looking at the beat

frequency. A change in the beat frequency meant a change in the path length. Note

that the strainmeter does not modulate the light; it works with the phases at the optical

frequencies. This does not work well for geodimeters, because the 2π problem would

be too severe. But for strainmeters, the 2π problem is not an issue. For strainmeters

you are not trying to determine the absolute distance between the points. Instead, you

are interested in time-dependent changes in the distance. And, since you monitor the

baseline continuously, changes in the baseline can be determined without knowing the

integral number of whole wavelengths traveled by the wave.

2.5.2 Space Techniques

There are two types of space positioning techniques:

1. those that involve measuring distances to objects in space, usually artiﬁcial satellites

(using either lasers or radio waves), though laser ranging measurements to the moon

have also provided useful geophysical information.

2. a method that compares radio signals from quasars received at two widely separated

radio antennas (called very-long-baseline-interferometry — VLBI).

The satellite techniques can also provide information about the earth’s gravity ﬁeld.

The lunar ranging technique tells you about the moon. And the VLBI technique tells

2.5. POSITIONING 43

you about the structure of quasars.

2.5.2.1 Satellites

These have been used for geodetic purposes for 30 years or more. The ﬁrst satellites were

“passive,” and were used to tie local or regional survey lines together. This was done

by observing the satellite and determining its coordinates from each line, simultaneously.

This was particularly useful for tying surveys together across large bodies of water. Before

satellites people used ﬂares for this purpose, although those weren’t good over as long

a distance. For this application, you don’t care about the satellite’s precise position, so

long as you can see it.

Nowadays, all satellites which give scientiﬁcally useful results are “active.” You track

the satellite from the ground, to determine its distance away from you. If you know where

the satellite is in some terrestrial or inertial space coordinate system, you can then ﬁgure

out where you are in that same coordinate system. To know where the satellite is, you

must have information about the earth’s gravitational ﬁeld, since that ﬁeld determines

the satellite’s orbit. Conversely, you can use the observed orbit to better constrain the

gravity ﬁeld.

Actually, the ﬁrst useful information from these satellites was better information

about the gravity ﬁeld. That’s because, initially, satellite orbits could be modelled much

less accurately than could the positions of the ground stations. As the gravity ﬁeld im-

proved, the orbit errors became small enough that people could begin to use the satellite

results to determine variations in the earth’s rotation better than could be obtained using

traditional astrometric methods. And now, and for the last 5–10 years or so, people have

been able to see the tectonic motion of individual ground points. During all this time, of

course, the gravity ﬁeld results have continued to improve.

To maximize the gravitational and positioning applications from a geodetic satellite,

the orbit should have a high inclination (the angle between the orbital plane and the

equator) so that the satellite ground track covers as much of the earth as possible. To

solve eﬀectively for the orbit, and to use the orbital results to learn more about the

44 CHAPTER 2. OBSERVATIONAL TECHNIQUES

earth’s gravity ﬁeld, a geodesist must deal with certain non-gravitational orbital eﬀects.

These include:

Atmospheric drag

You can reduce this by going to a high orbit where there’s not much atmosphere.

This also tends to reduce the eﬀects of uncertainties in the gravity ﬁeld, since those

die away rapidly with altitude. On the other hand, if your goal is partly to learn

about the gravity ﬁeld, then you want to be closer to the surface.

Solar and terrestrial radiation pressure

This is hard to deal with. You either model it empirically, or try to average or ﬁlter

it out.

Diﬀerential gravity acting across a satellite

A a satellite is not a point mass, and gravity is not uniform across it. This can

cause motion of the satellite which might aﬀect the geophysical observations, but

which tells you nothing about the earth. The best solution is to make the satellite

spherically symmetric, though this cannot always be done.

The earliest active satellites had ﬂashing lights. You tracked them against the stellar

background using cameras, and so learned something about the orbit. These methods

are no longer used.

Now there are two methods used to range to a satellite. You can use radio waves,

which originate from the satellite and are recorded on the ground. Or, you can use lasers,

which sit on the ground and reﬂect a light beam oﬀ of the satellite.

The laser satellites have all been designed primarily to do geophysics. They are used

to ﬁnd the positions of the lasers, while also providing information about the gravity

ﬁeld. There have been several of these: GEOS1, GEOS2, Starlette, GEOS3, PAGEOS,

LAGEOS I and II, and more recent satellites launched by Japan and by the Soviet Union.

So far, the LAGEOS satellites have proven to be the most useful of these.

Most of the radio-ranging satellites are designed primarily for navigation, and are

funded by the US Department of Defense. Geodesists have usually been able to use these

2.5. POSITIONING 45

satellites for scientiﬁc purposes. I will describe the radio-ranging satellites ﬁrst.

2.5.2.1.1 Radio Ranging Satellites The navigation system used today by the De-

partment of Defense is the Global Positioning System (GPS). This system measures phase

shifts/time delays of radio signals transmitted from a constellation of GPS satellites.

Prior to GPS, Department of Defense navigation was done using Doppler measurements

of satellite-based radio transmissions. Both these techniques will be discussed here.

2.5.2.1.1.1 Doppler Satellites When this navigation system was operable, there

were six Doppler satellites orbiting the globe at any one time. In this technique, each

satellite transmits radio waves of known frequency, f

S

. The satellite oscillators are stable,

so that f

S

is known very well. The signal is recorded at a receiver on the ground, and

the frequency, f

R

, is measured. f

R

,= f

S

, because the satellite is moving with respect to

the ground. Speciﬁcally:

f

R

= f

S

_

1 +

(v

S

−v

R

) ˆ r

c

_

where v

S

, v

R

= source and receiver velocities, and ˆ r = unit vector from source to receiver.

If ρ = the range between the source and receiver, then

(v

S

−v

R

) ˆ r = −∂

t

ρ = − range rate.

So,

f

R

−f

S

f

S

= −

∂

t

ρ

c

. (2.14)

So you can ﬁnd ∂

t

ρ by measuring f

R

. Because you know the satellite orbit (supplied by

the Department of Defense, as determined from about a dozen ﬁxed tracking stations),

you can use the results for ∂

t

ρ to determine your position. The results from the ﬁxed

tracking stations could also be averaged together to give earth’s rotation results that

were considerably better than those obtained by observing stars with telescopes. The

positions of the ﬁxed stations could be determined to a few tens of cm — close to 1 m.

So it was not good enough to measure continental drift eﬀectively, for which you’d like

accuracies closer to 1 cm.

46 CHAPTER 2. OBSERVATIONAL TECHNIQUES

The accuracy limitations for this technique were mostly instrumental. But there were

external systematic eﬀects active here which aﬀect all radio transmission-type satellites,

and so I’ll describe them here.

The problem is, as for all space-geodetic experiments, you must know the velocity of

the radio wave. That means, you must know the index of refraction, n. For example, the

c in Equation 2.14 should really be c/n.

We saw, earlier, that at optical frequencies n depends on the dry air density and on

the density of water vapor along the path. The same is true for radio waves, except that

in the radio band the atmosphere is not dispersive. That is, n is approximately frequency

independent and so, unlike with the two-color geodimeters, it does not help to use two

radio frequencies. Another diﬃculty that is not an issue at optical frequencies, is that at

radio frequencies n depends on the number of charged particles (ions) along the path. So,

n is perturbed relatively strongly in the ionosphere (the region from 100 km to several

hundred km altitudes above the earth).

Of these eﬀects on the index of refraction, the ionospheric eﬀect is the largest at

radio frequencies. It can cause tens of meters of position error if uncorrected. Luckily,

the ionospheric eﬀect is dispersive at radio frequencies. So the way to get around this

problem is to range at two radio frequencies. n has the form n = 1 + γρ

ion

, where γ

depends on frequency and is known, but where ρ

ion

, the ion density along the path, is

unknown. By combining the ranging results for the two frequencies you can infer ρ

ion

,

which allows you to deduce n. The result for n can then be used with either one of the

range measurements, to compute the receiver-satellite distance (or to give the range rate,

in the case of the Doppler satellites).

The second largest eﬀect is from the dry air. If uncorrected, it can perturb the inferred

receiver-satellite distance by approximately 2 meters. For all radio satellite techniques,

people usually model this eﬀect by using surface pressure and temperature observations in

some semi-empirical atmospheric model. This seems to work well, as long as the satellite

isn’t too low in the sky. (It is harder to model the horizontal variations in pressure and

temperature, than it is to model the vertical variations.)

2.5. POSITIONING 47

One of the most important advantages that space geodetic techniques have over

geodimeters, is that people don’t have to worry as much about the dry air using the

space techniques as they do when reducing geodimeter data; at least not over long base-

lines. For example, if you measure a 1000 km baseline with geodimeters, you must range

through 1000 km of atmosphere — and all near the ground where the atmosphere is dens-

est. But with satellites (either radio or laser ranging) you’re looking upwards through

only a few tens of kms of atmosphere at each point. And, much of that atmosphere is

thin. So, the total eﬀects of atmospheric refraction are greatly reduced using the space

techniques. On the other hand, the atmosphere can make satellite techniques less useful

at very short baselines, since those measurements always involve ranging through a few

tens of km of atmosphere, no matter how short the baseline is. Still, there are techniques

designed to measure the two ends of a baseline simultaneously (such as GPS and VLBI,

described below). And in those cases, atmospheric errors at the two endpoints tend to

cancel, making the the atmosphere less of a problem. In general, the dry air error can

be reduced to the 1–2 mm level.

The third largest eﬀect is the water vapor density. It’s not important enough to aﬀect

the Doppler data, given the relatively large error bars of the Doppler data. But, it is a

limiting error source for GPS and VLBI (see below). The eﬀect of water vapor on n gives

position errors that can vary widely, from 5 to 30 cm. Because vapor density is highly

variable spatially, it is hard to model. One procedure is to make surface atmospheric

observations and to use them in an empirical formula. A related, and very eﬀective

alternative, is to solve for both the dry air and water vapor eﬀects using the ranging

data, right along with station positions and clock errors. This is possible because as

the satellite moves across the sky, the total amount of atmosphere along the range path

varies as the cosecant of the satellite’s elevation angle. The amplitude of the cosecant

term is proportional to the average density along the path, and can be included in the

set of solution parameters.

People are also experimenting with water vapor radiometers, which are instruments

that point at the sky and detect microwaves emitted by water vapor. The instruments

48 CHAPTER 2. OBSERVATIONAL TECHNIQUES

measure microwave amplitudes at two frequencies. The results are ﬁt to an empirically-

determined microwave emission curve for water vapor, and this allows the total vapor

content along the path to be determined.

The goal of all these methods, at least for GPS and VLBI, is to model the eﬀects of

water vapor to the sub-cm level, even during moderately stormy weather.

2.5.2.1.1.2 GPS (Global Positioning System) The Department of Defense’s pri-

mary navigation system consists of 24, radio-transmitting, GPS satellites. Although the

system was designed solely for navigation purposes, geodesists and geophysicists have

found that it can also be used for high-precision geodetic positioning. In fact, it is proba-

bly fair to characterize the scientiﬁc GPS eﬀort as one of the most promising and visible

programs of any sort in geophysics.

The GPS satellites are at about 20,000 km altitude, and have about 12-hour orbits.

Because the altitude is so high, the satellites experience little atmospheric drag. On the

other hand, this high orbit means that the GPS satellites can not provide any information

about the earth’s gravity ﬁeld that is not given much better from the lower-orbiting laser

ranging satellites described below. The satellite orbits are chosen so that at least six

satellites are visible at any time from any point on the earth’s surface.

Here is a description of how the system operates for navigational applications: Each

satellite emits a radio signal — the carrier. The signal is modulated by inserting abrupt

180

◦

phase shifts. The phase shifts are inserted at irregular times, according to a secret

code. If you record the signal and have a code book you can ﬁgure out the times at which

certain bits of the signal left the satellite. You have an accurate clock at your receiver.

By comparing the transmission and arrival times, and correcting for atmospheric, etc.,

eﬀects on n, you can deduce the distance to the satellite. The transmitted signal also

includes information about the satellite orbit, so that you know the location of the source

of the transmission. From simultaneous results to four satellites, you can then solve for

the three components of your position and for the oﬀset of your clock with respect to

the satellite clocks (the satellite clocks are controlled from a central command point

2.5. POSITIONING 49

on earth, and are kept synchronous). In this way, you can instantaneously determine

your position to a few meters. There’s a non-secret, “civilian” code that allows you to

determine positions to about 15 m, though the Department of Defense now routinely

degrades the satellite transmissions (using what they call “selective availability”) so that

civilian accuracies are usually closer to 100 m.

Because GPS is a radio technique, it is sensitive to the sort of atmospheric problems

described above for the Doppler satellites. The ionospheric eﬀects are removed by trans-

mitting at two frequencies from each satellite. The dry air and water vapor eﬀects are

not important at the level of accuracy needed for navigation.

There are two problems that must be overcome in order to use the GPS satellites to

do geodesy. First, it is hard to gain access to the secret code. Second, a few meters is,

of course, not accurate enough for modern geophysical-geodetic applications.

As it happens, the code is not a useful part of the signal to geophysicists. The

frequencies of the code are near 10 MHz, which corresponds to modulation wavelengths

near 30 m. To do 1 cm geodesy, you’d have to determine the phase accurately to

1 cm

3 10

3

cm

≈ 3 10

−4

,

which would not be easy.

Instead, what geodesists want to do is to remove the code and just work with the

carrier. The carrier wavelength is about 20 cm, so is more manageable. There are about

a half-dozen commercial receivers being used now to do geodesy. They are all portable,

ranging from about 20–100 lbs. Diﬀerent receivers use diﬀerent techniques for removing

the code. One method, for example, involves squaring the signal. The 180

◦

phase shifts,

which just reverse the sign of the carrier, then disappear. Alternatively, some instruments

require the code which is removed directly from the recorded signal.

The general strategy is to receive a satellite’s signal at each end of a baseline. The

code is removed from both signals, and the phase at some speciﬁed time is recorded

at each end (the receiver must include an accurate clock). The two phase results are

brought to some central processing site and compared. The phase diﬀerence, together

50 CHAPTER 2. OBSERVATIONAL TECHNIQUES

with information about n in the atmosphere, gives the diﬀerence in distances between

the satellite and the two endpoints. See Figure 2.18.

A B

satellite

D

Figure 2.18:

There is still the 2π ambiguity problem. For example, you use the observed phase

shifts to deduce that the distance D is D = lλ + (known remainder), but you don’t

know the integer l. To ﬁnd l, you observe over an hour or two. The satellite moves

around during this time in a known way (you know the orbit), and with enough data you

can remove the 2π problem and ﬁnd D. This is equivalent to changing the wavelength

slightly in geodimeters. Here, instead, you keep the wavelength the same but change the

distance in a known way. With four satellites (though you don’t need this many if you

wait a suﬃciently long time) you can ﬁnd all three components of the baseline, including

its length.

Orbit errors are a potential problem. The Department of Defense determines orbits

only to about 20 m accuracy, using a set of ﬁxed ground stations. This is not accurate

enough for geophysical applications. So geodetic users have pooled resources and es-

tablished centers for determining and distributing more accurate satellite orbits. These

centers now routinely determine the orbits to 20 cm, or better. One of the main reasons

2.5. POSITIONING 51

that these orbits are so much better than the Department of Defense’s orbits, is that the

DOD orbits are predicted orbits: they must be predicted beforehand, so that they can be

transmitted down to the user. On the other hand, the geodetic orbits use tracking data

from stations around the globe to ﬁt the orbital parameters. They are typically made

available to the geodetic community several weeks after the signals have been recorded.

A 20 cm orbit error maps into a smaller than 20 cm error in the baseline. Speciﬁ-

cally, the errors in the baseline components corresponding to a δ meter orbit error are

approximately

δ meter

2 10

7

meter

L, (2.15)

where 2 10

7

meter is the satellite altitude, L is the baseline length, and δ is the orbit

error in meters.

To see an example of this, suppose the satellite is directly above the midpoint of the

baseline. See Figure 2.19. Then you would measure no phase diﬀerence between the

L

δ satellite

Figure 2.19:

signals received at the two endpoints. Instead, though, suppose you think the satellite

is at a position a horizontal distance δ from where it really is (so δ is the orbit error).

Since you measure no phase diﬀerence, you conclude that the baseline is rotated through

the angle θ from its actual orientation. See Figure 2.20. Roughly, θ ≈ δ/H, where H is

the satellite altitude. And so the error in the vertical component is Lθ ≈ Lδ/H, which

is the same as Equation 2.15.

52 CHAPTER 2. OBSERVATIONAL TECHNIQUES

real orientation

your deduced

orientation

error

θ

L

Figure 2.20:

So a 20 cm error in the orbit would give baseline accuracies of 10

−8

, which is not bad

for short and medium length baselines. It turns out that you can sometimes do even

better than this by using your GPS data to estimate your own orbital corrections to the

geodetic orbits, at the same time that you estimate station positions.

Another important error source is the water vapor density along the path. This

aﬀects mostly the vertical components of baselines. The eﬀects are reduced by either

(1) using ground-based meteorological measurements; (2) using radiometers; (3) ﬁtting

the atmospheric eﬀects using the GPS data themselves.

Present accuracies seem to depend on baseline length, though not necessarily in a

linear way. Baselines of less than about 1000 km have accuracies of a few mm in the

horizontal and less than about 1 cm in the vertical, for averaging time of a few days. For

baselines greater than about 1000 km, the orbit error dominates and relative accuracies

are about 10

−8

, with 10

−9

sometimes obtained. That (10

−9

) works out to 1 cm accuracy

over 10,000 km.

GPS has had a large impact on conventional surveying, as well — even where they

don’t need these high accuracies. One problem with conventional methods (leveling,

geodimeters) is that they are line-of-sight. To range from A to B, you’ve got to see from

2.5. POSITIONING 53

A to B. Often, trees and hills, etc., get in the way. Then the geodesist must build towers

that stick up above the projections, and range between the towers. With GPS that’s not

necessary, since you’ve only got to see the sky. The initial equipment investment is high

for GPS (tens of thousands of dollars for one receiver), but the operating costs are only

about 5% of conventional operating costs.

One other potential application of GPS is to put the receivers in other scientiﬁc

satellites to monitor the positions of those satellites. In many cases, this may give

accuracies signiﬁcantly better than can be obtained with other methods. Probably its

main advantage is that it allows the satellite to be tracked continuously, so that the orbit

determination process requires far less dynamic modeling than is required for other forms

of tracking. For other tracking techniques the satellite is out of view most of the time,

and so dynamic force models must be used to estimate the satellite’s position over the

entire orbit.

2.5.2.1.2 Laser ranging satellites The most useful laser ranging satellites have

been the NASA satellite LAGEOS, launched in 1976, and a nearly identical satellite,

LAGEOS II, launched in 1993. Other NASA LAGEOS-type satellites are being proposed.

And, there have been similar satellites launched over the past few years by other countries,

including Japan and the Soviet Union.

2.5.2.1.2.1 LAGEOS (LAser GEOdetic Satellite) LAGEOS is a small (60 cm di-

ameter), heavy (about 400 kg) sphere covered with reﬂecting corner cubes. A laser on

the ground sends a pulse of light up to the satellite. The light is reﬂected and returns

to the laser, where it is detected. The round trip travel time is measured, which gives

the range between the satellite and the laser. (Using a continuous laser and measuring

phase diﬀerences would require too much power.) The orbit altitude is about 6000 km.

That’s high enough to get the satellite out of most of the atmosphere, but low enough to

keep it within reach of moderately powerful lasers. LAGEOS is more sensitive to lateral

variations in the earth’s gravity ﬁeld than are the GPS satellites (20,000 km elevation),

and that’s both a disadvantage and an advantage. It’s a disadvantage because it means

54 CHAPTER 2. OBSERVATIONAL TECHNIQUES

that uncertainties in the gravity ﬁeld can make it more diﬃcult to model the orbit ac-

curately. But it’s an advantage in that it means that LAGEOS is able to provide useful

information about the earth’s gravity ﬁeld, in addition to its role in point positioning.

LAGEOS is tracked by about 20–30 ﬁxed stations. Results from these stations are

used to give the orbit, which then provides information about the earth’s gravity ﬁeld.

The results are also routinely combined to determine variations in the earth’s rotation,

and to give the the tectonic motion at the stations.

There are also about half a dozen mobile layers. The smallest of these are housed in

small trucks and ﬁt easily into a plane. They can be taken to a point to determine the

position, and then brought back again later to see if the point has moved. It may take

several weeks at a spot to ﬁx its position, and ranging must be done in clear weather. Note

that this technique gives the position of a single point: it does not require simultaneous

observations from two ends of a baseline.

The laser systems vary in accuracy. The ﬁxed stations have more powerful lasers,

and so are more accurate. The best lasers are able to range with precisions of better

than 1 cm for a single pulse, and of about 1–3 mm for a normal point (an average of the

individual pulses over a few minutes). Not all the ﬁxed lasers are this good. Some of

them are probably at least an order-of-magnitude worse.

There are two sources of systematic errors that make the ﬁnal positioning accuracies

worse than might be inferred from the laser precisions alone. One is atmospheric refrac-

tion. Refraction problems are less severe at optical frequencies than at radio frequencies.

The ionosphere has virtually no eﬀect, and the eﬀects of the dry and wet air components

are smaller. Still, uncertainties due to the dry air density can often be important at

almost the 1 cm level. One way of reducing that error in the future might be to lase

at two optical frequencies, and then to use the known dispersive properties of dry air at

optical frequencies to solve for the index of refraction. This, of course, is the approach

used in multi-color geodimeters.

The other important systematic error comes from uncertainties in modeling the satel-

lite orbit: uncertainties both in the gravity ﬁeld and in the non-gravitational forcing. At

2.5. POSITIONING 55

present, radial orbit errors are probably 1–2 cm, which probably translates to about a

1 cm error in position measurements. Note the diﬀerence from GPS, where a 1–2 cm

orbit error would likely translate into a much smaller position error. That’s because GPS

observes from both ends of a baseline simultaneously, whereas LAGEOS does not. Thus,

the orbit errors tend to cancel in GPS.

A related instrument in NASA’s future plans, is the GLRS (Geoscience Laser Ranging

System), that may be part of NASA’s EOS (Earth Observing System) program. GLRS

is proposed as a laser orbiting in space, measuring distances to retro-reﬂectors scattered

over the earth’s surface.

2.5.2.1.3 Lunar Laser Ranging (LLR) This technique is similar to satellite laser

ranging. You measure the round trip travel time of laser pulses reﬂected oﬀ of corner

cubes left on the moon’s surface by Apollo astronauts and by unmanned Soviet spacecraft.

LLR was initiated in the 1960’s, so it’s an older experiment than LAGEOS. There are

three U.S. and two Soviet reﬂectors on the moon. Most of the existing lunar ranging

data come from two laser stations, one in Texas and one in France. The Texas station

has been operative, in one form or another, since the inception of the experiment some

25 years ago.

You need much more powerful lasers, here, than for LAGEOS. Depending on the

pulse duration, between 10

14

and 10

20

photons leave the laser and head towards the

moon. But, on average, less than 1 photon is in the returning beam. At present, the

earth–moon distance can be determined to 1 cm when averaged over a few minutes.

These are the objectives of LLR, as originally stated in the 1960’s:

1. determine the lunar orbit

2. determine the positions of the retroﬂectors — to give control for lunar geodesy and

mapping

3. determine the “librations” of the moon (rigid body rotations of the moon about its

principal axes)

56 CHAPTER 2. OBSERVATIONAL TECHNIQUES

4. determine the positions of the lasers

5. determine the rotation of the earth

6. test general relativity

The orbital motion has been determined extremely well — maybe three orders of

magnitude improvement over earlier results. This has helped constrain our knowledge

of tidal energy dissipation on earth (the relevance of one to the other will be discussed

later in the course). Also, the orbit has been used to look for the Nordvedt eﬀect.

This is a diﬀerence between the gravitational and inertial masses of the moon, due to

gravitational self-energy of the moon. It is predicted by some gravitational theories, but

not by relativity. LLR has shown the eﬀect is 0 to within an observational error.

The observed lunar librations give the lunar moments of inertia, and some other

gravity harmonics. People have noticed large phase shifts between the librational motion

and external torques These results have been tentatively interpreted as possible evidence

of energy dissipation within a ﬂuid lunar core.

LLR gives information on variations in the earth’s rotation, particularly on the rate

of rotation, and has proven useful for constraining the longest period terms of the earth’s

nutational motion. In general, though, rotational motion can now be obtained more

accurately using other techniques. LLR has not given much useful tectonic information,

because there have been so few stations lasing to the moon.

2.5.2.1.4 VLBI (very-long-baseline-interferometry) VLBI is similar in spirit to

GPS, but for VLBI the radio signal comes from a quasar instead of from a satellite.

VLBI was developed to do radio astronomy. You have two radio antennas a long

distance apart (up to several thousand km). You observe the same radio source from

each end, simultaneously, and compare results. This sort of emulates one enormous

antenna, and so is useful for studying the very long wavelength radio waves emitted

by quasars. The results are used to investigate the positions and structures of quasars

(believed to be extremely distant galaxies in formation).

2.5. POSITIONING 57

People realized, early on, that you could use VLBI to do geodesy, too. If you measure

the time delay between the signals, you can solve for a component (‘d’ in Figure 2.21) of

the baseline between the two points.

d

radio waves

Baseline

Figure 2.21:

If you measure time delays for four diﬀerent quasars, you can solve for all three

components of the baseline, plus the clock diﬀerence between the two sites. Usually,

people look at about twelve sources per day.

Here is how VLBI works as a geophysical experiment: You receive the radio signal,

which has content across a wide band of frequencies. You ﬁlter the signal to get a

reasonably pure frequency, and record the signal on tape. You then take the tape to a

central site and compare it with a similar tape from the other antenna. Both tapes have

accurate time marks on them. You use the time marks to deduce the phase shift between

the two signals, by cross-correlating the two tapes.

The wavelength of the signal is about 3 cm. So the 2π ambiguity is about 3 cm. With

geodimeters, you reduce the problem by changing the wavelength slightly and ranging

again. You do the same sort of thing with VLBI. That is, you keep reasonably broad

sidebands when you ﬁlter. So on your tape you’ve really got a band of frequencies, and

you cross-correlate the whole band. This reduces the 2π problem to about 30 m. Often

you already know the baseline to 30 m. If not, looking at twelve sources instead of just

58 CHAPTER 2. OBSERVATIONAL TECHNIQUES

four can resolve the problem.

Incidentally, why not choose an even a wider band of frequencies, to reduce the 2π

problem further? One reason is that this would require too much data storage and

handling. Also, without extra eﬀort, it’s harder to get accurate phase delays when cross-

correlating signals with lots of frequency content.

2.5.2.1.4.1 Problems

ionospheric eﬀects on n

As with GPS and Doppler, you remove the ionospheric eﬀects by recording data at

two radio frequencies, and using the known dispersion to pull out the ion content.

dry air

As in GPS and Doppler: radio waves are non-dispersive to the dry air eﬀect on n.

Typically, the eﬀect on baselines is about 2 m. It can be corrected to about 2 mm

(0.1%) by using surface data and by estimating the eﬀect directly from the data as

the quasars move across the sky.

water vapor

This is probably the limiting error source for VLBI. Again, as in GPS, the un-

corrected eﬀect is typically 10 cm, but can be as large as 30 cm. The signal is

non-dispersive to the eﬀects of water vapor. You use surface measurements or

radiometers or estimate the eﬀect directly from the VLBI results.

2.5.2.1.4.2 Accuracy For the best determined VLBI baselines, the horizontal base-

line components can probably be determined to 1–3 mm and the vertical components

to maybe 7–12 mm, or so. Some (most?) baselines can not do this well. The vertical

is worse than the horizontal, because the vertical is aﬀected more by tropospheric (i.e.

water vapor) errors.

2.5. POSITIONING 59

2.5.2.2 Advantages of one space positioning technique over another

The three space positioning techniques are VLBI, SLR (satellite laser ranging), and GPS.

(LLR doesn’t provide positions of enough points to make it competitive.)

1. VLBI results are not aﬀected by satellite orbit errors, but SLR and GPS are.

(Conversely, VLBI can’t give the gravity ﬁeld, whereas SLR can.)

2. VLBI and GPS are all-weather. SLR needs clear skies.

3. GPS ﬁts in a jeep easily; in fact, it can be carried around by hand. Mobile SLR

instruments ﬁt in a small truck. Mobile VLBI requires a tractor trailer.

4. VLBI and GPS can do short baselines better than SLR. (VLBI and GPS may not

be as good as the very best geodimeters over very short baselines.) That’s because

VLBI and GPS are diﬀerencing techniques, so that the errors tend to cancel over

short baselines. SLR is usually used as a single-point technique, so that the errors

don’t cancel as eﬀectively.

5. VLBI and SLR do long baselines better than GPS, at least at the moment. Orbit

problems limit GPS at long baselines, though the orbits are continually improving.

6. SLR can probably determine vertical positions better than GPS and VLBI, because

of its relative insensitivity to tropospheric errors.

2.5.2.3 Some Results

It is hard to determine the accuracies of these various techniques. Inter-comparisons be-

tween diﬀerent techniques are valuable, but are not often done. (When inter-comparisons

have been done in the past, people have often found discrepancies between techniques

of 2–3 cm, which is larger than would be inferred from the usually accepted accuracy

estimates for each technique individually.) Instead, the usual approach is to look at re-

peatability: you measure the same baseline over and over again, and compare the results.

The resulting scatter gives an estimate for the accuracy. This estimate, though, is only

60 CHAPTER 2. OBSERVATIONAL TECHNIQUES

a lower bound for the total error, since there is usually no guarantee that you don’t have

systematic errors that are constant over the entire observing period.

People are now obtaining results from all of these techniques (GPS, SLR, VLBI) that

agree pretty well with geological models of plate motion on a global scale. The rates

of motion obtained by ﬁtting linear trends to baseline measurements over several years,

are usually in line with the geologic rates predicted by paleomagnetism. It suggests that

plate motion is probably reasonably steady in time: that the plates move about the same

over a few years as they do over millions of years.

Not surprisingly, geodetic rates do not always agree with geological rates near plate

boundaries. Plate boundaries are often areas with substantial local and regional defor-

mation, due to the stresses caused by the plates moving past one another. California,

where the Paciﬁc and North American plates are sliding past one another, is perhaps the

most intensely studied of these boundary regions. The state and the surrounding region

is crossed by numerous leveling and geodimeter lines, and is extensively monitored with

GPS, VLBI, and SLR instruments. To get an idea of the amount of regional deformation,

note that the NUVEL-1 geological plate motion model predicts about 46 mm/yr relative

motion between the Paciﬁc and North American plates. Of this amount, about 12 mm/yr

occurs across the San Andreas fault. There are numerous faults associated with the plate

boundary, however, which are often collectively referred to as the San Andreas Fault Sys-

tem. The total slip across this entire system is closer to 35 mm/yr, which is still less

than the total plate motion rate. Most of the diﬀerence comes from the spreading of the

Basin and Range region (i.e. Nevada and portions of surrounding states), which has been

detected, using space geodetic techniques, to be between 5 and 7 mm/yr. Most of the

remaining discrepancy is apparently due to motion on faults outside of the San Andreas

Fault System, as it is usually deﬁned. When the geodetic rates over this entire region of

western North America are added up, the disagreement with the NUVEL-1 plate motion

model is only at the 1–2 mm level, which is probably insigniﬁcant.

2.5. POSITIONING 61

2.5.2.4 Altimeters

This is another sort of satellite ranging technique. It’s not really a point positioning

technique, but it has geophysical, geodetic, and, most of all, oceanographic applications.

The goal is to map the shape of the sea surface as a function of time. It works like

this: A radar pulse is emitted by the satellite and reﬂected oﬀ the ocean surface, from

which it returns to the satellite. The round trip travel time of the pulse is measured,

and so the distance between the satellite and the ocean surface can be determined. The

satellite is also tracked from the ground, using either lasers or radio signals (or both), to

obtain the satellite orbit in a geocentric coordinate system. By combining these results,

you can determine the geocentric locations of the sub-satellite points on the ocean surface

(the points from which the radar pulses are reﬂected), and so determine the shape of the

sea surface. The area of the sea surface sampled by the radar pulse is about 20 km

2

. So,

the eﬀects of waves and other local disturbances tend to average out. The cancellation is

not perfect, and some eﬀects of sea surface roughness do aﬀect the data. But, even these

can be largely removed, because the roughness also aﬀects the shape of the returning

pulse and so can be determined. In fact, one of the indirect goals of altimeters is to

relate the observed roughness to local wind speed.

Altimeters can also range to land and ice, in principle. But land and ice topography

can vary considerably over 20 km

2

, and so the topographic eﬀects tend not to average out

eﬀectively in the returning pulse. In fact, altimetry is not a generally useful technique

for determining the shape of the land surface. It has, however, proven useful in mapping

large ice sheets.

Why do you want to know the shape of the sea surface? One reason is that the sea

surface should be nearly a surface of constant gravitational potential. Thus, the shape

of the surface provides information about the gravity ﬁeld over the oceans. The short

wavelength features (tens to a few hundreds of km) in the gravity ﬁeld are due, mostly,

to the mass of the underlying sea ﬂoor topography. So, the data let you deduce accurate

maps of ocean bathymetry. The longer wavelength features can tell you about the earth’s

interior, though the longest wavelength features (wavelengths longer than about 800 km)

62 CHAPTER 2. OBSERVATIONAL TECHNIQUES

can also be determined using other means (i.e. from SLR).

By determining the sea surface, you can also learn about ocean currents. In fact,

oceanographic applications are the primary justiﬁcation for modern satellite altimeter

missions. The sea surface will not exactly coincide with a surface of constant potential

(that surface is called the “geoid”), because of vertical displacements associated with

horizontal currents. What happens is that the Coriolis force due to the currents is

balanced by pressure forces caused by the departure of the surface from the geoid. The

excess height above or below the geoid can be as large as a meter or so, though it is

usually much less than that. So if you know the height above the equipotential surface,

you can then learn about the currents. To learn about the time-averaged mean currents,

you must know the geoid by some independent means. To learn about time dependent

variations in currents, however, you don’t need the gravity ﬁeld. You only need to assume

that the geoid doesn’t change with time.

Outside of early testing, the useful altimeter satellites have been SEASAT, GEOSAT,

ERS and TOPEX/Poseidon. All of these satellites have had to deal with atmospheric

propagation errors, just like any radio technique. The ionosphere is removed by looking

at two radar pulses which have diﬀerent frequencies. The dry air is removed by using

surface meteorological observations (usually in the form of gridded, global models gen-

erated by meteorological centers). The wet air is sometimes removed by using those

same meteorological data. Better, though, is to use downward-pointing water vapor

radiometers.

SEASAT:

SEASAT was launched in 1978 by NASA. It was tracked from the ground using

lasers. It gave excellent results for the geoid, and then short-circuited after about

three months. The precision of the on-board altimeter was about 5 cm. The main

limitation on the accuracy was uncertainties in the radial component of the satellite

orbit. The orbit accuracies achieved at the time were on the order of 1 m for global-

scale wavelengths, which maps directly into a 1 m error in sea surface. Accuracies

were much better (about 10 cm) for time-dependent, short wavelength variability.

2.5. POSITIONING 63

The earth’s gravity ﬁeld is known much better today than it was during the time

of SEASAT. These new gravity ﬁeld models have recently been used to re-ﬁt the

SEASAT orbits, to obtain global-scale accuracies of about 20 cm.

GEOSAT:

GEOSAT was launched in 1985 by the U.S. Navy. Data from the ﬁrst 18 months

were classiﬁed up until 1995, when they were released to the general public. During

that initial phase of the mission, the satellite had very dense ground tracks, so

bathymetry could be estimated in considerable detail. After that, the satellite

orbit was changed, so that the ground tracks were less dense (several tens to about

100 km spacing), but so the satellite would repeat the same track every 17 days.

The data from this part of the mission were released to the public as they were

obtained. GEOSAT was turned oﬀ in early 1990. Orbit accuracies at the time

were on the order of 50 cm at long wavelengths, which translates to about the

same accuracies in the sea surface. The accuracies were much better at shorter

wavelengths. Recent re-analysis of the data using improved gravity ﬁeld models

has resulted in orbits that are accurate to 10 cm at even the longest wavelengths.

TOPEX/Poseidon:

TOPEX/Poseidon was launched in 1992. It is a joint NASA/French mission. It is

still functioning normally, and is expected to continue to return data for at least

several more years. TOPEX/Poseidon is tracked with lasers and with radio signals;

and there is also an on-board GPS receiver. Before launch, it was expected to be

accurate to about 14 cm, with the limitation coming primarily from uncertainties in

the orbit. But because of impressive and unanticipated improvements in knowledge

of the gravity ﬁeld, people have found that the orbital errors are probably closer

to 3–4 cm, and that the total TOPEX/Poseidon sea surface error budget from all

sources and for all wavelengths, is probably about 5 cm.

ERS:

ERS-1 was launched in 1991 by the European Space Agency. I don’t know how

64 CHAPTER 2. OBSERVATIONAL TECHNIQUES

accurate it is, though I do know that its orbit solution is less accurate than

TOPEX/Poseidon’s.

2.5.2.5 Dedicated Gravity Mission

The best models of the earth’s global gravity ﬁeld come from satellite laser ranging.

Tracking of LAGEOS, in particular, has provided most of the high-quality, long wave-

length data used in recent gravity solutions. In the most complete models, the SLR data

are supplemented with satellite altimetry data to provide short wavelength information

over the oceans, and with surface gravity data to improve the short wavelengths over the

continents.

Characteristics of the individual gravity models depend on the scientiﬁc objectives.

The best models for satellite orbit solutions are spherical harmonic expansions of the

ﬁeld, complete through degree and order of about 70 (corresponding to half-wavelengths

of about 300 km at the earth’s surface). The highest resolution models intended for

surface gravity studies are complete to degree and order 360, which corresponds to a

half-wavelength of about 50 km.

The accuracies of these models are somewhat uncertain. Diﬀerences between geoid

heights deduced from the surface gravity and the satellite gravity models, are typically on

the order of 1/2 m rms when averaged over all half-wavelengths longer than 400 km, with

diﬀerences as large as several meters in certain regions of the globe. These diﬀerences

are much larger than those predicted from formal error estimates, and they are probably

largely due to the complications of incorporating hundreds of diﬀerent ground-based

gravity proﬁles into the global solution.

There has long been interest within the geophysical community, in improving the

gravity ﬁeld down to very short wavelengths through the use of a dedicated satellite

gravity mission. Results from such a mission would be useful to oceanographers, as

well. To determine the time-averaged mean currents from satellite altimetry data, an

oceanographer needs to know the geoid. Given the estimated accuracies of existing geoid

models, it is not possible to obtain reliable results for the time averaged mean currents

2.5. POSITIONING 65

at wavelengths below 2000–3000 km.

Dedicated gravity missions have been proposed, in various forms, several times over

the past few decades. Such missions are always near the top of NASA’s, or ESA’s (the

European Space Agency’s) priority list, but so far they have never made it to launch.

At the moment, several proposed missions are being considered. All of them involve

low altitude satellites, with altitudes of, typically, several hundred km. LAGEOS, and

other existing laser ranging satellites, can’t give good results at shorter wavelengths

because their altitudes are too high: short wavelength anomalies die out quickly with

altitude. All of the newly proposed missions would lead to gravity ﬁeld improvement of

several orders of magnitude at all wavelengths, and would determine gravity accurately

down to spatial scales as short as 100 km.

These proposed missions involve diﬀerent satellite designs. One idea is to use two

satellites. They are ranged both from the earth and from each other. This allows you

to accurately determine the eﬀects of the gravity diﬀerence between the two satellite

positions. You can ‘tune’ the orbit to get high sensitivity at certain desired wavelengths.

For example, you couldn’t easily detect 300 km wavelengths if 300 km were the satellite

separation distance, because those wavelengths would cause the two spacecraft to move in

phase with no change in the satellite-to-satellite range. You’d get maximum out-of-phase

motion for separation distances equal to an odd number of half wavelengths.

Another proposed idea is to use a single satellite with an on-board superconducting

gravity gradiometer to measure spatial derivatives of gravity. The gradiometer detects

relative motion of 6 closely-spaced proof masses. The entire instrument is only a few tens

of cm on a side. The gradiometer is superconducting to reduce Brownian motion of the

proof masses which might otherwise be mis-interpreted as gravity signals.

66 CHAPTER 2. OBSERVATIONAL TECHNIQUES

Chapter 3

Potential Theory

This chapter describes the mathematical theory of gravity. It pretty much reduces to a

study of Poisson’s equation. Much of the material may look familiar, because it is similar

to what you see in a course in electrostatics. Later in this course, we will apply these

results to learn about the earth.

3.1 Introductory remarks

The problem Newton posed was: given a density distribution, can you ﬁnd the gravita-

tional ﬁeld? He solved that problem by formulating Newton’s Law of Gravity. Another

type of problem that often comes up when dealing with the earth’s gravity ﬁeld, is: given

a volume 1 bounded by a surface o, and given some information about gravity on o, can

you ﬁnd gravity inside 1? In this case, 1 may or may not contain a mass distribution.

Both these types of problems are best solved using the gravitational potential, rather

than g. The potential is a scalar, and scalars are easier to work with than vectors. (g is

the gradient of the potential.) The boundary value problem is then: given information

about the potential on o, what is the potential in 1? The solution to this problem exists

and is unique, as long as the right sort of boundary conditions are speciﬁed on o. The

‘right’ boundary conditions are that the potential is speciﬁed everywhere, or that the

normal gradient of the potential is speciﬁed everywhere, or that one is speciﬁed over part

67

68 CHAPTER 3. POTENTIAL THEORY

of o and the other over the rest of o. But they can’t both be speciﬁed at the same places

— that’s too much information and, in general, a solution won’t exist. (Though for a

real situation, of course, the potential on o and the normal gradient of the potential on

o will both be consistent with a solution in 1.)

Consider the earth, where o is the earth’s surface and 1 could be the volume either

outside or inside the earth. What sort of gravity information is available on o? Well,

people measure the gravitational acceleration on o. And there are also leveling data,

which give the direction of the gravity vector with respect to the surface normal. Thus

you know the magnitude and direction of g, which means you know all three components

of g on the surface. In terms of the potential, this means you know both the potential

and the normal component of the gradient of the potential on the surface o. Only, you

don’t know o.

Finding o from these boundary conditions is one of the fundamental mathematical

problems in physical geodesy. It’s called “Molodensky’s problem.” What you’re after

is the shape of the earth. There is no known closed-form mathematical solution to this

problem. It is usually solved iteratively, as we will discuss later. In practice, the problem

is further complicated by observational errors and incomplete data. We will not give a

rigorous treatment of Molodensky’s problem here. Instead, we will concentrate on the

more familiar and more tractable problems:

1. given the density distribution, ﬁnd the potential;

2. given information about the potential over a known surface, ﬁnd the potential in

the volume bounded by that surface.

First, let’s deal with 1.

3.2. FINDING THE GRAVITATIONAL FIELD FROM KNOWLEDGE OF THE DENSITY 69

3.2 Finding the gravitational ﬁeld from knowledge

of the density

For a point mass M at x

**, the gravitational acceleration at x is:
**

g(x) = −

GM(x −x

)

[x −x

[

3

(3.1)

where G = 6.67210

−8

cm

3

/gm s

2

. If a mass m is placed at x, then the gravitational force

on m is F = mg(x). For a continuous mass density ρ(x

**), you replace M in Equation 3.1
**

with ρ(x

) d

3

x

, and sum (i.e. integrate) over x

to get:

g(x) =

_

all

space

Gρ(x

)(x

−x)

[x −x

[

3

d

3

x

.

You can deﬁne the gravitational potential scalar V (x) as

∇V (x) = g(x). (3.2)

V is the negative potential energy per unit mass. Note the word negative — that’s

the usual geophysical convention for V , and it means that there are sign diﬀerences

between the results here and many of the corresponding results you may have seen in

electrostatics. You can show, without much trouble, that

V (x) =

_

Gρ(x

)

[x −x

[

d

3

x

. (3.3)

Note that because of Equation 3.2, you can add a spatial constant to Equation 3.3 without

aﬀecting the physical signiﬁcance of V (x).

Thus, given ρ(x

**) everywhere, you can ﬁnd V (x) and so you can infer g(x). So if you
**

are given an anomalous density distribution in the earth, you can estimate its eﬀects on

gravity. As you might expect, problems like this arise often in geophysics.

3.2.1 V (x) for a uniform sphere

Let’s ﬁnd V (x) for certain simple density distributions. First, consider a uniform sphere.

In this case ρ = constant = ρ

0

for r

< R (R = the radius of the sphere), where r

is the

70 CHAPTER 3. POTENTIAL THEORY

radial spherical coordinate using the center of the sphere as the origin. So:

V (x) = Gρ

0

_

R

0

(r

)

2

dr

_

π

0

sin θ

dθ

_

2π

0

dφ

[x −x

[

. (3.4)

We deﬁne our coordinate system so that x is on the ˆ z axis, a distance d from the origin.

See Figure 3.1. Then,

x

θ

’

d

r’

Figure 3.1:

[x −x

[ =

_

d

2

+ (r

)

2

−2r

d cos θ

_

1/2

which is independent of φ

. So the dφ

**integral in Equation 3.4 gives 2π, and thus
**

V (x) = 2πGρ

0

_

R

0

(r

)

2

dr

_

π

0

sin θ

dθ

[d

2

+r

2

−2r

d cos θ

]

1/2

.

The dθ

integral is relatively easy because sin θ

dθ

= −d(cos θ

**). That integral works out
**

to be 2/d. So:

V (x) =

4πGρ

0

d

_

R

0

(r

)

2

dr

=

4

3

R

3

πρ

0

G

d

=

MG

d

, (3.5)

where M is the total mass of the sphere. So, the gravitational ﬁeld depends on how much

mass is in the sphere and on where the sphere is, but it is independent of the size of the

sphere. The ﬁeld is the same whether the sphere has a large radius and a small density,

or has a small radius and a large density. In fact, the sphere could have a radius of zero

with an inﬁnite density (i.e. a point mass). This illustrates a fundamental limitation for

3.2. FINDING THE GRAVITATIONAL FIELD FROM KNOWLEDGE OF THE DENSITY 71

using observed gravity to learn about the earth’s interior: diﬀerent density distributions

can give the same gravitational ﬁeld. So, knowledge of the ﬁeld can constrain the density,

but can not determine it uniquely.

The result in Equation 3.5 can be extended to any spherically symmetric density

distribution. If ρ(x

) = ρ(r

) where ρ(r

**) is not necessarily constant, then the potential
**

at a distance d from the origin is

V (x) =

MG

d

(3.6)

where M is the total mass inside the sphere of radius d. Equation 3.6 is, in fact, the

lowest order approximation to the earth’s gravitational ﬁeld, since the earth is close to

being spherically symmetric.

3.2.2 V (x) for a thin disc

A second useful example is the ﬁeld due to a thin disc, where the ﬁeld point is on the

axis of the disc. See Figure 3.2. In this case, using cylindrical coordinates:

V (x) = G

_

R

0

r

dr

_

2π

0

dφ

_

h

0

ρ dz

[x −x

[

where R and h are the disc radius and thickness.

z

h

x

R

Figure 3.2:

For a thin disc, 1/[x−x

[ is approximately independent of z

. Let σ =

_

h

0

ρdz

, which

can be interpreted as an apparent surface mass density. Then

V (x) = Gσ

_

R

0

r

dr

_

2π

0

dφ

[x −x

[

= Gσ

_

R

0

r

dr

_

2π

0

dφ

_

z

2

+ (r

)

2

72 CHAPTER 3. POTENTIAL THEORY

= 2πGσ

_

_

z

2

+R

2

_

1/2

−z

_

. (3.7)

To ﬁnd the gravitational potential due to an inﬁnite plane sheet of mass, it seems

logical to use Equation 3.7 to ﬁnd the limit of V as R → ∞. But that limit is ∞.

The problem is that V is determined only to within a spatial constant. And we need

to choose that constant more carefully before taking the limit. Speciﬁcally, we add a

constant, −2πGσR, to Equation 3.7 so that V (z = 0) = 0. Then, V becomes:

V (x) = 2πGσ

_

(z

2

+R

2

)

1/2

−(z +R)

_

. (3.8)

For an inﬁnite plane, we take the limit of Equation 3.8 as R →∞, keeping leading terms

in z. For example, for z ¸R: (z

2

+ R

2

)

1/2

≈ R(1 +

1

2

z

2

R

2

), so that

V ≈ lim

R→∞

2πGσ

_

R +

1

2

z

2

R

−z −R

_

= −2πGσz.

So, for an inﬁnite plane, g = ∇V = −2πGσˆ z, which is independent of z. The explanation

for this is that for an inﬁnite plane there is no scale length. You look down at the plane,

and no matter how far away you are, it looks the same to you.

3.2.3 V (x) for a line mass

Finally, let’s ﬁnd the potential due to a thin line mass, where the ﬁeld point is above the

midpoint of the line. See Figure 3.3. Then:

R

l’

d

x

Figure 3.3:

3.2. FINDING THE GRAVITATIONAL FIELD FROM KNOWLEDGE OF THE DENSITY 73

V (x) =

_

R/2

−R/2

dl

_

cross-

sectional

area

Gρ dA

[x −x

[

where dA is a diﬀerential element of the line’s cross-sectional area. For a line with negli-

gible cross-sectional area, 1/[x−x

**[ is essentially independent of the angular coordinates
**

that describe the area.

Deﬁne the mass/length as

λ =

_

cross-

sectional

area

ρ dA.

Then

V (x) =

_

R/2

−R/2

Gλ dl

_

d

2

+ (l

)

2

= 2Gλ ln

_

R +

√

R

2

+ 4d

2

2d

_

. (3.9)

For an inﬁnite line, let R → ∞. Then, V (x) from Equation 3.9 → ∞. Again, the

problem here is that we need to add a constant to Equation 3.9 before we take the limit.

We choose the constant to be −2Gλ ln R, so that Equation 3.9 becomes:

V = 2Gλ ln

_

R +

√

R

2

+ 4d

2

2d

_

−2Gλ ln R

= 2Gλ ln

_

R +

√

R

2

+ 4d

2

2dR

_

.

Then, for an inﬁnite line:

V

R→∞

= 2Gλ ln

_

2R

2dR

_

= −2Gλ ln(d).

so that

g = ∇V = −

2Gλ

d

.

3.2.4 A numerical method for arbitrary mass anomalies

Prospectors and, sometimes, geophysicists have a standard method for solving the for-

ward gravity problem (i.e. for ﬁnding g from an assumed density distribution, or from

74 CHAPTER 3. POTENTIAL THEORY

an hypothesized mass inclusion of arbitrary shape). They divide the underlying mass

into many thin discs. They then approximate the contribution of each disc to [g[ in the

following way. See Figure 3.4. The contribution from the disc to the vertical component

z

θ

r

disc

P

Figure 3.4:

of g at P (only the vertical component will aﬀect the amplitude of g to ﬁrst order) is

∆g = −G

_

disc

ρ sin θ

r

2

d1

where ρ = disc density, and sin θ is included to give the vertical component of g. For a

thin enough disc, θ and r

2

do not depend on the z coordinate of the point within the disc

(that is, the entire disc has about the same z coordinate). If

_

ρ dz ≡ σ is the mass/area

of the disc, then:

∆g ≈ −Gσ

_

disc

sin θ

r

2

dA

where dA = element of surface area. Note that dAsin θ/r

2

= solid angle subtended at

P by the inﬁnitesimal area dA. ((dAsin θ) is the area, dA, projected onto a sphere of

radius r centered about P; and that projected area is r

2

dΩ, where dΩ is the inﬁnitesimal

solid angle.) So:

∆g = −Gσ

_

disc

dΩ = −GσΩ

where Ω = total solid angle subtended by the disc. The prospector computes Ω for each

disc, and then adds up all the discs. Discs are used because it’s easy to ﬁnd Ω for them.

To include all the mass that is present in the anomaly, you’ve got to let the discs overlap

somehow. All this is done on a computer. The only thing you’ve got to worry about is:

are the discs thin enough? Programs that do this sort of thing are available commercially.

Incidentally, to see that this gives the right answer for an inﬁnite plane, note that in

that case Ω = 2π (= half of the spherical result Ω = 4π). So ∆g = −Gσ2π, which is the

3.3. POISSON’S EQUATION 75

inﬁnite plane result we obtained earlier.

3.3 Poisson’s equation

3.3.1 Derivation

There is another way to write Newton’s Law of Gravity. You can represent it as a

diﬀerential equation (Poisson’s equation) instead of as an integral. Here, we will derive

the diﬀerential equation from the integral.

Consider the Laplacian operator, ∇

2

, deﬁned as

∇

2

V (x) ≡ ∂

x

2

V +∂

y

2

V +∂

z

2

V.

From Newton’s integral for V , (Equation 3.3):

∇

2

V = G

_

ρ(x

)∇

2

_

1

[x −x

[

_

d

3

x

**where the Laplacian is with respect to x. But
**

∇

2

x

1

[x −x

[

= ∇

2

x

1

[x −x

[

where ∇

2

x

is with respect to x

. So:

∇

2

V = G

_

ρ(x

)∇

2

x

_

1

[x −x

[

_

d

3

x

.

Divide the integration volume (all space) into D +, where = a sphere of radius R

centered about x, and D is the rest of space. We’ll let R → 0, later. For simplicity, we

temporarily deﬁne our coordinate system so that x = 0. Then (dropping the prime’s in

the integrand)

∇

2

V (x = 0) = G

_

D

ρ(x)∇

2

_

1

[x[

_

d

3

x +G

_

ρ(x)∇

2

_

1

[x[

_

d

3

x. (3.10)

We will use spherical coordinates to do these integrals, so that

∇

2

1

[x[

= ∇

2

_

1

r

_

.

76 CHAPTER 3. POTENTIAL THEORY

In spherical coordinates, and if r ,= 0, the Laplacian operator has the form:

∇

2

=

1

r

2

∂

r

(r

2

∂

r

) +

1

r

2

sin

2

θ

∂

θ

(sin θ∂

θ

) +

1

r

2

sin

2

θ

∂

2

φ

. (3.11)

Thus,

∇

2

_

1

r

_

=

1

r

2

∂

r

(r

2

∂

r

1

r

) = 0

and so the integral over D in Equation 3.10 is 0. The integral over is not zero, because

Equation 3.11 is not valid at r = 0 (the center of ).

To reduce the integral, note that

∇

_

ρ∇

1

r

_

= ∇ρ ∇

1

r

+ρ∇

2

1

r

.

So,

∇

2

V (0) = G

_

∇

_

ρ∇

1

r

_

d

3

x −G

_

∇ρ

_

∇

1

r

_

d

3

x. (3.12)

Consider the second integral on the right hand side of Equation 3.12. Note that

∇

_

1

r

_

= −ˆ e

r

1

r

2

where ˆ e

r

is the unit vector in the r direction. And, d

3

x is proportional to r

2

. So, if

ρ is continuous at r=0 so that ∇ρ is bounded inside for small enough, then the

integrand is bounded. In that case, we know the integral must be less than the bound

of the integrand, multiplied by the volume of . So, if we take the limit as R → 0 (that

is we let → 0), this second integral vanishes. Note, though, that this argument does

not work if ρ is discontinuous at r=0. This means that Poisson’s equation may not be

valid at discontinuities. We will have to come back later and deal with this, by deriving

continuity equations on V across discontinuities.

To reduce the ﬁrst integral on the right hand side of Equation 3.12, we use the

divergence theorem:

_

∇ T =

_

S

ˆ n T

where o is the surface bounding , and ˆ n is the outward normal to o. In our integral

is a sphere, so that ˆ n = ˆ r. Thus:

∇

2

V (0) = lim

R→0

_

G

_

S

ˆ e

r

_

ρ∇

1

r

_

d

2

x

_

3.3. POISSON’S EQUATION 77

= lim

R→0

_

G

_

S

ρ∂

r

_

1

r

_¸

¸

¸

¸

r=R

R

2

sin θ dθ dφ

_

= −G4π lim

R→0

[ρ(R)]

= −G4πρ(0).

If we now change back to our original coordinate system, so that the ﬁeld point is at

x instead of at 0, we have the ﬁnal form of Poisson’s equation:

∇

2

V (x) = −4πGρ(x).

We have shown that Newton’s Law of Gravity implies Poisson’s equation. You can

also go backwards and show that Poisson’s equation implies Newton’s Law of Gravity,

but we won’t do that here. That proof involves the use of Green’s functions (GM/[x−x

[

is the Green’s function for Poisson’s equation).

So, we have another way to ﬁnd the gravity ﬁeld: solve Poisson’s equation. If you

are given ρ(x) everywhere in space, it’s probably easiest to ﬁnd V using Newton’s Law

of Gravity. But if you don’t know ρ everywhere, but you do have information about

V or about g over some bounding surface, then Poisson’s equation is apt to be more

useful. Diﬀerential equations are better suited for the use of boundary values. There is

no obvious place to put them into Newton’s Law of Gravity.

3.3.1.1 Gauss’ Law

Poisson’s equation has an integral form called Gauss’ Law. Consider any volume 1 with

surface o and normal ˆ n. Integrating Poisson’s equation over 1, and using the divergence

theorem, gives:

_

V

∇

2

V d1 =

_

S

ˆ n ∇V do

=

_

S

ˆ n gso

= −4πG

_

V

ρ d1

78 CHAPTER 3. POTENTIAL THEORY

where the last equality follows from Poisson’s equation. So, Gauss’ Law is

_

S

ˆ n gdo = −4πG

_

V

ρd1 (3.13)

In words: the integral over a surface of the normal component of g is proportional to the

total mass inside the surface.

3.3.1.2 Continuity conditions

The derivation given above for Poisson’s equation is not valid at points where the density

is discontinuous. So, what do you do if you have discontinuities. For example, suppose

you have two regions, labeled as 1

1

and 1

2

in Figure 3.5, separated by the surface o.

2

V

1

V

n

0

n

0

n

0

n

0

n

S

pillbox

Figure 3.5:

And, suppose the density is discontinuous across o. In fact, let’s make it worse than

that. Let’s suppose there might even be a surface mass density, σ, on o. Surface mass

densities do not exist in the real world, but they are often used to approximate thin mass

layers to simplify the mathematics. You can think of a surface mass density this way: you

start with a mass anomaly distributed across a thin, but non-zero layer. You compress

the layer down to zero-thickness, keeping the total mass in the layer the same. You end

up with a layer of zero thickness but with non-zero mass, so that the volumetric density,

ρ, is inﬁnite in the layer. σ is the density multiplied by the layer thickness (so it has

units of mass/area), and so it is a ﬁnite quantity. So, in our example, we are assuming

not only that ρ is discontinuous across o, but that it might even be inﬁnite on o.

The surface o causes no particular diﬃculties if you are using Newton’s integral,

Equation 3.3, to ﬁnd V . But, how do you incorporate o into Poisson’s equation?

3.3. POISSON’S EQUATION 79

What you do is to solve Poisson’s equation in volumes 1

1

and 1

2

separately, and then

match the solutions across o using continuity conditions. Here we derive those continuity

conditions. There are two of them.

The ﬁrst condition is that V

1

= V

2

on o, where V

1

and V

2

are the solutions just inside

1

1

and 1

2

, respectively. This can be seen directly from Newton’s integral (Equation 3.3),

noting that x in the integrand is continuous across o.

The second continuity condition is that

ˆ n ∇V

2

− ˆ n ∇V

1

= −4πGσ, (3.14)

where ˆ n is the unit normal to o pointing from 1

1

into 1

2

. Let’s derive Equation 3.14

using Gauss’ Law applied to the pillbox shown in Figure 3.5. The pillbox is inﬁnitesimally

small.

Gauss’ Law says that

_

pillbox

surface

ˆ n

0

∇V do = −4πG

_

pillbox

volume

ρd1

where ˆ n

0

is the outward normal to the pillbox. For a very small pillbox, ∇V on the right

hand surface of the pillbox is approximately equal to ∇V on the left hand surface. But

ˆ n

0

has opposite signs on the two sides. Thus, the contributions to

_

pillbox

surface

ˆ n

0

∇V from

the vertical sides vanish. So, Gauss’ Law reduces to

_

top

ˆ n

0

∇V do +

_

bottom

ˆ n

0

∇V do = −4πG

_

pillbox

volume

ρ d1.

Or, noting that ˆ n

0

= ˆ n in 1

2

, and ˆ n

0

= −ˆ n in 1

1

, then

_

top

ˆ n ∇V

2

do −

_

bottom

ˆ n ∇V

1

do = −4πG

_

pillbox

volume

ρ d1.

If A is the area of o inside the pillbox, then A is also the area of the top and of the

bottom of the pillbox, and Gauss’ Law reduces to

A

_

ˆ n ∇V

2

− ˆ n ∇V

1

_

= −4πGσA.

Dividing by A gives the continuity condition, (Equation 3.14). By using this continuity

condition and the condition that V is continuous across o, you can use Poisson’s equation

80 CHAPTER 3. POTENTIAL THEORY

to uniquely determine the gravitational potential in the presence of a discontinuity and/or

a surface density.

It is possible to also show that the tangential derivative of V is continuous across any

discontinuity, even one with a surface mass. This additional continuity condition follows

directly from the continuity of V across o, and it provides no new information about the

solution. Nevertheless, I will derive it here.

Consider the two volumes 1

1

and 1

2

, separated by the surface o, as shown below. o

is a surface of discontinuity in density, and o could even possess a surface density, σ.

1

2

1 2

1

1

3 4

o

Let the points 1 and 2 approach one another, and let 3 and 4 do the same. The

tangential derivative in 1

2

is then

lim

1→2

_

V (1) −V (2)

1 −2

_

, (3.15)

and that in 1

1

is

lim

3→4

_

V (3) −V (4)

3 −4

_

. (3.16)

But before we take the limits above, suppose we let the points 1 and 3 approach each

other, as well as the points 2 and 4. As 1 → 3 and 2 → 4, the denominators in

Equations 3.15 and 3.16 converge to the same value. And the numerators do too, because

V is continuous across o. So, the tangential derivatives are continuous.

3.3.2 Laplace’s equation

If you are in a region of space where there is no mass density, then Poisson’s equation

reduces to ∇

2

V (x) = 0, which is called Laplace’s equation. Not surprisingly, Laplace’s

equation is easier to solve than Poisson’s equation. It turns out that you never actually

need to solve Poisson’s equation. Instead, you can always get by with a combination of

Laplace’s equation and Newton’s Law of Gravity (Equation 3.3).

For example, the most general problem you might come up against is: given the

volume 1 with boundary values speciﬁed on the bounding surface o, and given some

3.3. POISSON’S EQUATION 81

density distribution inside 1, what is the potential inside 1? In general, you might start

oﬀ by trying to solve Poisson’s equation. Instead, you can do the problem in two steps,

as follows.

First, you ignore the boundary, take ρ as given inside 1 and 0 outside 1, and use

Newton’s Law to ﬁnd V everywhere in space. Let this solution be V = V

1

. V

1

will

probably not satisfy the boundary conditions on o. So, you write the actual solution

in 1 as V = V

1

+ V

2

, and try to ﬁnd V

2

. Note that ∇

2

V = −4πGρ. And, you have

constructed V

1

so that ∇

2

V

1

= −4πGρ inside 1. So, ∇

2

V

2

= 0 inside 1, which is

Laplace’s equation for V

2

. You solve this for V

2

using the boundary conditions. Only, the

boundary conditions for V

2

are diﬀerent than for V . Suppose, for example, the boundary

conditions are: V = V

0

(= some known function) on o. Then, the conditions on V

2

are:

V

2

= V

0

−V

1

on o.

For the remainder of this chapter, we will only consider Laplace’s equation. Suppose

the volume 1 is bounded by the surface o. Consider the following problem: ∇

2

V = 0,

with either V or ∂

n

V speciﬁed on o. A solution to this problem exists and is unique (to

within, possibly, a constant). I’ll just ask you to believe the statement that a solution

does exist. But, I will show the uniqueness of the solution. To do this, we need:

3.3.2.1 Green’s Theorems

These are useful in many geodetic and seismic applications. They are general relations

between functions, and do not require that the functions satisfy Laplace’s equation.

Start with the divergence theorem:

_

V

(∇ F) d1 =

_

S

ˆ n F do (3.17)

where ˆ n is the outward normal to o. We choose F to have the form F = U∇T, where U

and T are scalars. Then:

∇ F = ∇U ∇T +U∇

2

T.

And:

ˆ n F = Uˆ n ∇T.

82 CHAPTER 3. POTENTIAL THEORY

So, Equation 3.17 is:

_

V

∇U ∇T +

_

V

U∇

2

T =

_

S

Uˆ n ∇T. (3.18)

This is Green’s ﬁrst identity. Now, interchange U and T in Equation 3.18 and subtract

the results from (Equation 3.18). You get:

_

V

_

T∇

2

U −U∇

2

T

_

=

_

S

_

T ˆ n ∇U −Uˆ n ∇T

_

This is Green’s theorem.

We can use the ﬁrst identity to prove the uniqueness of solutions to Laplace’s equation

in the case where either V or ˆ n ∇V is given on o. To do that, we show that if both V

1

and V

2

are solutions, then they can diﬀer by at most a constant.

Suppose V

1

and V

2

satisfy Laplace’s equation and satisfy the same boundary condi-

tions: either V or ˆ n ∇V ≡ ∂

n

V speciﬁed on o. Construct V ≡ V

1

−V

2

. I will show that

V is constant everywhere in 1, so that V

1

= V

2

+ constant.

First, ∇

2

V = 0 (since ∇

2

V

1

= ∇

2

V

2

= 0), and either V = 0 or ∂

n

V = 0 on o. Then,

letting U = T = V in Equation 3.18 gives

_

V

[∇V [

2

+

_

V

V ∇

2

V

. ¸¸ .

=0

=

_

S

V ∂

n

V

. ¸¸ .

=0

.

Or

_

V

[∇V [

2

= 0.

Since [∇V [

2

≥ 0 everywhere in 1, then ∇V = 0 everywhere (otherwise

_

[∇V [

2

> 0).

So, V = constant in 1. Note that if the boundary condition is that V is speciﬁed on o,

then the constant would have to be 0.

As a corollary, if V is a solution to Laplace’s equation and is constant on o, then V

is constant throughout 1. This is because V = constant is a solution to the problem,

and we now know that the solution is unique.

Another property of harmonic functions is that if two harmonic functions, which are

deﬁned in all of space, agree everywhere in some volume, then they agree everywhere.

The trick to proving this is to consider some closed surface, o, in that volume. The

3.3. POISSON’S EQUATION 83

two functions agree on o and in the volume inside of o, by assumption. Since o is the

only boundary, they must also agree in the volume outside of o due to the uniqueness

theorem. So they agree everywhere.

Incidentally, ∞ is considered a boundary point for volumes that extend to inﬁnity.

The usual boundary condition applied at ∞ is that V must go to 0 with increasing r

at least as fast as 1/r, except for a possible additive constant. This boundary condition

is necessary to ensure uniqueness for external volumes. It is not hard to show that this

boundary condition must hold if the mass distribution that causes V is ﬁnite. If the ﬁeld

did not go to 0 this quickly, then the left hand side of Equation 3.13 (Gauss’ Law) would

go to ∞as the surface o goes to inﬁnity. But, the right hand side of Equation 3.13 must

remain bounded for ﬁnite total mass. So this is impossible.

Another interesting property of solutions to Laplace’s equation is that those solutions

cannot have a local maximum or minimum within any volume 1, except at a boundary

point of 1. As a consequence, the gravitational potential can’t have either a minimum

or a maximum in free space.

A crude way to see this is: Suppose T is a point in 1 away from the boundary.

Suppose V is a solution to Laplace’s equation and has a local maximum at T. The T

is surrounded by points with smaller V . That is, you can enclose T with a surface, o,

where ˆ n ∇V < 0 everywhere on o, where ˆ n points away from T. (ˆ n ∇V < 0 implies

that V is decreasing as you move away from T.) But, from Laplace’s equation and from

the divergence theorem

0 =

_

V inside S

∇

2

V =

_

S

ˆ n ∇V < 0,

since the last integrand is < 0. This is a contradiction. Thus, T can not be a local

maximum (similarly, it can’t be a local minimum).

3.3.3 Solutions to Laplace’s equation.

How do you solve ∇

2

V = 0, if you are given information about V or about ∂

n

V on the

boundary? A general method is to ﬁnd a set of solutions which satisfy ∇

2

V = 0, but

84 CHAPTER 3. POTENTIAL THEORY

which (probably) do not satisfy the boundary conditions. You then add these solutions

together to satisfy the boundary conditions. The sum of solutions should still satisfy

∇

2

V = 0, because ∇

2

is linear. The trick is to ﬁnd a set of solutions which can easily be

summed to satisfy the boundary conditions. The solutions you choose will depend on the

shape of the boundary. You can only usefully apply this technique to simple boundary

shapes. For the earth, the useful boundaries are planes and spheres. For planes, the

appropriate solutions are usually trigonometric functions. For spheres, they are spherical

harmonics.

3.3.3.1 Planar boundaries

If you are interested in gravity variations that have wavelengths ¸ earth’s radius, then

you can pretend the earth’s surface is a plane. In that case, you are often faced with the

following sort of problem:

V on the plane z = 0 is speciﬁed to be V (x, y, 0) = V

0

(x, y). V satisﬁes Laplace’s

equation in the half-space z > 0. Find V for all z > 0 (V must also be ﬁnite at z →∞).

The method, as described above, is to ﬁnd a complete set of solutions to ∇

2

V = 0. Try

solutions of the form V (x, y, z) = X(x)Y (y)Z(z). These are called separable solutions in

x, y, z. Using V (x, y, z) in ∇

2

V = 0 gives

_

∂

2

x

X

_

Y Z +

_

∂

2

y

Y

_

XZ +

_

∂

2

z

Z

_

XY = 0.

Or, dividing by XY Z:

∂

2

x

X

X

+

∂

2

y

Y

Y

+

∂

2

z

Z

Z

= 0.

∂

2

x

X/X is a function of x, ∂

2

y

Y/Y of y, and ∂

2

z

Z/Z of z. The only way these three terms

can sum to 0 is if all three are constants. That is, if

∂

2

x

X = aX

∂

2

y

Y = bY

∂

2

z

Z = cZ,

where a, b, and c are arbitrary constants and a + b +c = 0. But, we are not necessarily

trying to ﬁnd all possible solutions to Laplace’s equations, or even all separable solutions.

3.3. POISSON’S EQUATION 85

We are just trying to ﬁnd enough solutions so that we can satisfy the boundary values.

It turns out that to do this we only need to consider solutions where a and b are negative

real numbers, and where c is a positive real number. So, we choose a = −k

2

1

, b = −k

2

2

,

and c = k

2

3

, where k

1

, k

2

, and k

3

are, for the moment, arbitrary real numbers. Then, the

diﬀerential equations for X, Y , and Z have the form:

∂

2

x

X = −k

2

1

X

∂

2

y

Y = −k

2

2

Y

∂

2

z

Z = k

2

3

Z

where k

2

1

+k

2

2

−k

2

3

= 0. We will see later that these are all the solutions we need.

The solutions to these equations are

X = Be

ik

1

x

Y = Ce

ik

2

y

Z = De

k

3

z

where B, C, and D are arbitrary constants. (Alternatively, you could write the solutions

as cosines and sines, if you prefer those to complex exponential functions.) Note that

X = e

−ik

1

x

is another solution to the diﬀerential equation for X, but that it has not been

included in the list above. The reason is that X = e

−ik

1

x

is equivalent to X = e

ik

1

x

, since

k

1

can be either positive or negative. The situation is similar for Y and Z.

The total separable solution is then:

V (x, y, z) = Ae

ik

1

x

e

ik

2

y

e

k

3

z

(3.19)

where A is an arbitrary complex constant, and where k

2

3

= k

2

1

+ k

2

2

. To satisfy the

condition that V be ﬁnite at z = ∞, we require that k

3

be negative. Because of this, a

slightly more convenient way to represent the separable solutions is to switch the sign on

k

3

, and to require that k

3

be positive. So, our separable solutions have the form

V (x, y, z) = Ae

ik

1

x

e

ik

2

y

e

−k

3

z

(3.20)

86 CHAPTER 3. POTENTIAL THEORY

where k

3

=

_

k

2

1

+k

2

2

, and where k

1

and k

2

can be any real numbers.

A sum of these solutions for diﬀerent k

1

and k

2

must also be a solution. Since k

1

and

k

2

can be any real numbers, then a sum over k

1

and k

2

becomes an integral. So,

V (x, y, z) =

_

∞

−∞

dk

1

_

∞

−∞

dk

2

A(k

1

, k

2

)e

ik

1

x

e

ik

2

y

e

−k

3

z

(3.21)

satisﬁes ∇

2

V = 0 for any complex function A(k

1

, k

2

) for which the integral exists. To

verify this, simply take the Laplacian of Equation 3.21, and note that the derivatives

move through the integral sign and act directly on the product of exponentials. (Note:

there is no integral over k

3

in Equation 3.21, because k

3

is a function of k

1

and k

2

.)

We now have our general solution to Laplace’s equation. We need to see if it is general

enough. That is, by restricting ourselves to separable solutions and to the speciﬁc choices

for the separation constants a, b, and c used above, can we satisfy the boundary values?

The answer is: yes. Letting z = 0 in Equation 3.21 for V , and setting the result equal

to V

0

, gives:

V

0

(x, y) = V (x, y, z = 0) =

_

∞

−∞

dk

1

_

∞

−∞

dk

2

A(k

1

, k

2

)e

ik

1

x

e

ik

2

y

. (3.22)

For any non-pathological V

0

, we can always ﬁnd a function A(k

1

, k

2

) that solves Equa-

tion 3.22. A is the two-dimensional Fourier transform of V

0

, and is given by:

A(k

1

, k

2

) =

1

(2π)

2

_

∞

−∞

dx

_

∞

−∞

dy V

0

(x, y)e

−ik

1

x

e

−ik

2

y

. (3.23)

If A satisﬁes Equation 3.23, then V satisﬁes Equation 3.22. So, V is a solution. In

this way you can solve Laplace’s equation for any V

0

on z = 0. (Again, if you don’t

like complex exponentials you can use sines and cosines instead.) You do the integrals

in Equation 3.23 to ﬁnd A(k

1

, k

2

). And then you use the result in Equation 3.21, and

integrate to ﬁnd V for z > 0. This method can be easily modiﬁed to solve problems

where ∂

z

V (z = 0) is given, rather than V (z = 0).

A common situation we’ll run into is one where V

0

= V

0

(x) is independent of y. That

occurs when the surface values are dominated by long, linear features. In that case, the

results become a little simpler.

3.3. POISSON’S EQUATION 87

One approach to this special case, is to note that if V

0

is independent of y, then the

result in Equation 3.23 for A(k

1

, k

2

) gives a Dirac delta function for k

2

when integrated

over y. That’s the right answer, but I don’t want to work with Dirac delta functions in

this course.

Instead, to ﬁnd V (x, y, z) when V

0

= V

0

(x), let’s go back to ﬁnding separable solutions,

under the assumption that V doesn’t depend on y either. In that case, the separable

solutions will have the form

V (x, z) = Ae

ik

1

x

e

−k

3

z

where k

3

= [k

1

[, and where k

1

can be any real number. We add these solutions together

to get the general solution:

V (x, z) =

_

∞

−∞

A(k

1

)e

ik

1

x

e

−|k

1

|z

dk

1

. (3.24)

This V (x, z) satisﬁes Laplace’s equation. To ﬁnd A(k

1

), V must satisfy

V

0

(x) = V (x, 0) =

_

∞

−∞

A(k

1

)e

ik

1

x

dk

1

.

This can be inverted, for any V

0

(provided V

0

is integrable, etc.), to give

A(k

1

) =

1

2π

_

∞

−∞

dxV

0

(x)e

−ik

1

x

.

3.3.3.2 Cylindrical coordinates

Another way to solve plane boundary problems is to use cylindrical coordinates. These

are useful if the boundary values on the plane z = 0 are circularly symmetric about the

origin. The separable solutions in that case include Bessel functions, instead of e

ik

1

x

or

e

ik

2

y

. I won’t go into this. In this course, rectangular coordinates will work just ﬁne for

all planar problems we consider.

3.3.3.3 Spherical boundaries

In global problems you’re interested in ﬁnding V outside the earth, given information

about V on what is approximately a spherical surface. In this case, a spherical coordinate

88 CHAPTER 3. POTENTIAL THEORY

system (r, θ, φ) is appropriate. In spherical coordinates:

∇

2

V =

1

r

2

∂

r

(r

2

∂

r

V ) +

1

r

2

sin θ

∂

θ

(sin θ ∂

θ

V ) +

1

r

2

sin

2

θ

∂

2

φ

V.

We ﬁrst try to ﬁnd a complete set of solutions to ∇

2

V = 0 in spherical coordinates,

without trying to satisfy the boundary conditions. Let’s look for separable solutions of

the form:

V (r, θ, φ) = T(θ)L(φ)R(r).

Then, T, L and R must satisfy (using V (r, θ, φ) in ∇

2

V = 0, and dividing by V ):

_

1

R

∂

r

_

r

2

∂

r

R

_

_

= −

_

1

T sin θ

∂

θ

(sin θ ∂

θ

T) +

1

Lsin

2

θ

∂

2

φ

L

_

.

The 1/ sin

2

θ in the ∂

2

φ

L term prevents a complete separation of these terms into r, θ,

and φ at this stage, but at least r is separated from θ and φ. That is, the left hand side

depends only on r, while the right hand side depends only on θ and φ. This equation

can be satisﬁed only if the two sides are equal to a constant. Let’s write the constant as

l(l +1). (l will turn out to be an integer, but so far we don’t know that. At the moment,

l could be any complex number.) Then:

∂

r

(r

2

∂

r

R) = Rl(l + 1) (3.25)

1

T sin θ

∂

θ

(sin θ ∂

θ

T) +

1

Lsin

2

θ

∂

2

φ

L = −l(l + 1). (3.26)

Equation 3.25 is:

∂

2

r

R +

2

r

∂

r

R −

R

r

2

l(l + 1) = 0.

There are two solutions:

R =

_

¸

_

¸

_

r

l

r

−(l+1)

.

To ﬁnd T and L, we multiply Equation 3.26 by sin

2

θ to give:

1

T

sin θ ∂

θ

(sin θ ∂

θ

T) +l(l + 1) sin

2

θ = −

1

L

∂

2

φ

L.

The left hand side depends only on θ, and the right hand side depends only on φ. So

both sides equal a constant. Call the constant m

2

. (m will turn out to be an integer, but

3.3. POISSON’S EQUATION 89

we don’t know that yet, either.) So:

∂

2

φ

L = −m

2

L (3.27)

sin θ ∂

θ

(sin θ ∂

θ

T) = (m

2

−l(l + 1) sin

2

θ)T. (3.28)

The solutions to Equation 3.27 are

L =

_

¸

_

¸

_

e

imφ

e

−imφ

.

Continuity of L requires that L(φ = 2π) must equal L(φ = 0), and this will occur only

if m is an integer. So the solution for L is

L = e

imφ

where m can be any integer: positive, negative, or 0.

The hard part is now to solve Equation 3.28 for T. Deﬁne x ≡ cos θ. Then,

dT

dθ

=

dx

dθ

dT

dx

= −sin θ

dT

dx

,

and

sin θ =

√

1 −x

2

.

Using these results in Equation 3.28, gives a diﬀerential equation for T in terms of x:

∂

x

__

1 −x

2

_

∂

x

T

_

+

_

l (l + 1) −

m

2

1 −x

2

_

T = 0. (3.29)

This equation can be solved by expanding T using a power series in x:

T =

_

1 −x

2

_

m/2

∞

n=0

a

n

x

n

.

We are interested in solutions for T which are ﬁnite on [−1, 1], which is why we include

no negative exponents in the sum over n. To ﬁnd the a

n

’s, we use this power series in

Equation 3.29 to ﬁnd recursion relations for the a

n

’s. We ﬁnd that the series diverges at

x = ±1 unless l is a non-negative integer, and unless l ≥ [m[. In fact, what we ﬁnd is

that in that case, the power series truncates to a ﬁnite-order polynomial in x: powers of

90 CHAPTER 3. POTENTIAL THEORY

x

n

with n > l −[m[ have coeﬃcients a

n

= 0. From this point on we require that l and m

be integers, and that l ≥ [m[.

When m = 0, these polynomial solutions are written as T(x) = P

l

(x), and are called

“Legendre polynomials.” These polynomials reduce to the form

P

l

(x) =

1

2

l

1

l!

d

l

dx

l

(x

2

−1)

l

.

Note that Equation 3.29 determines T only to within a multiplicative constant: the

function P

l

could be multiplied by any additional constant, and it would still be a solution.

The leading factor of

_

1

2

l

1

l!

_

in the deﬁnition of P

l

is simply the conventional normalization

factor.

For m ,= 0, the solutions are written as T(x) = P

m

l

(x), and are called “associated

Legendre functions.” They have the form

P

m

l

(x) = (−1)

m

(1 −x

2

)

m/2

d

m

dx

m

P

l

(x) (3.30)

for m ≥ 0. What about for m < 0? Note that the diﬀerential equation for T has an m

2

dependence. So, solutions for negative m should be the same as for positive m. It is not

usual to deﬁne P

m

l

for m < 0. But, you could if you wanted — by changing all the m’s

on the right hand side of Equation 3.30 into [m[’s. Note, also, that P

0

l

= P

l

.

The condition that [m[ ≤ l, which is required in order for T to be ﬁnite on [−1, 1],

is automatically guaranteed by the expressions for P

m

l

and P

l

. The highest power of x

in P

l

(x) is x

l

. That’s because (x

2

−1)

l

has highest power x

2l

, and after you have taken

l derivatives, you are left with x

l

. Then, to ﬁnd P

m

l

you take [m[ more derivatives. If

[m[ > l, that will give 0.

So, we’ve found separable solutions. They are of the form:

V =

_

¸

¸

¸

¸

¸

_

¸

¸

¸

¸

¸

_

r

l

or

r

−(l+1)

_

¸

¸

¸

¸

¸

_

¸

¸

¸

¸

¸

_

P

m

l

(cos θ)e

imφ

(using x = cos θ as the argument of P

m

l

). It is common to lump the θ and φ dependence

3.3. POISSON’S EQUATION 91

together into a single set of functions called spherical harmonics, and deﬁned as:

Y

m

l

(θ, φ) =

¸

¸

¸

_

2l + 1

4π

(l −m)!

(l +m)!

P

m

l

(cos θ)e

imφ

(3.31)

for m ≥ 0. For negative m, the spherical harmonics are deﬁned using Y

m

l

≡ (−1)

m

Y

(−m)∗

l

,

where Y

m∗

l

indicates complex conjugation. With the use of these functions, the separable

solutions to ∇

2

V = 0 have the form:

V =

_

¸

_

¸

_

r

l

r

−(l+1)

_

¸

_

¸

_

Y

m

l

(θ, φ) (3.32)

where l (≥ 0) and m ([m[ ≤ l) are integers.

The leading square root factor in the deﬁnition of Y

m

l

is used so that we have the

convenient normalization:

_

2π

0

dφ

_

π

0

sin θ dθ [Y

m

l

(θ, φ)Y

m∗

l

(θ, φ)] = 1

Note that it doesn’t matter how the Y

m

l

’s are normalized, in the sense that if the Y

m

l

’s are

multiplied by any additional constant, Equation 3.32 will still satisfy Laplace’s equation.

Sometimes in geophysics other normalizations are used — so be careful.

3.3.4 Properties of the Y

m

l

’s and P

m

l

’s

I’ll give, without proof, some of the more useful properties. There are lots of good

references for these.

3.3.4.1 Parity

P

m

l

(cos(π −θ)) = P

m

l

(−cos θ) = (−1)

l+m

P

m

l

(cos θ)

e

im(φ+π)

= (−1)

m

e

imφ

.

So:

Y

m

l

(π −θ, φ +π) = (−1)

l

Y

m

l

(θ, φ).

This tells you what happens to Y

m

l

due to an inversion of the coordinate system through

the origin.

92 CHAPTER 3. POTENTIAL THEORY

3.3.4.2 Recursion Relations

(2l + 1)xP

m

l

(x) = (l + 1 −m)P

m

l+1

(x) + (l +m)P

m

l−1

(x)

(1 −x

2

)∂

x

P

m

l

= −lxP

m

l

+ (l +m)P

m

l−1

.

There are lots of other recursion relations, but these two are probably the most useful.

3.3.4.3 Speciﬁc Results

I’ll only give two, both of which will be useful later in the course.

Y

0

0

=

1

√

4π

Y

0

2

=

¸

5

16π

(3 cos

2

θ −1).

3.3.4.4 Orthogonality

_

2π

0

dφ

_

π

0

sin θ dθ Y

m

l

(θ, φ)Y

m

∗

l

(θ, φ) = δ

ll

δ

mm

**where δ is the Kronecker delta (i.e. δ
**

ll

= 1 if l = l

, and = 0 otherwise).

3.3.4.5 Completeness

If V

0

(θ, φ) is any suﬃciently smooth, complex function over the unit sphere (that is, on

0 ≤ θ ≤ π and 0 ≤ φ ≤ 2π), with V

0

(φ = 0) = V

0

(φ = 2π), then you can always ﬁnd

complex numbers A

m

l

such that

V

0

(θ, φ) =

∞

l=0

l

m=−l

A

m

l

Y

m

l

(θ, φ). (3.33)

To ﬁnd the A

m

l

, multiply Equation 3.33 by Y

m

∗

l

and integrate over the sphere. Using

the orthogonality property gives:

A

m

l

=

_

2π

0

dφ

_

π

0

sin θ dθ V

0

(θ, φ)Y

m∗

l

(θ, φ).

3.3. POISSON’S EQUATION 93

3.3.4.6 The wavelengths of the Y

m

l

’s

The values of l and m tell you something about the spatial wavelengths of the Y

m

l

. Since

P

0

l

= P

l

is a polynomial of degree l in cos θ, then P

m

l

is (1 −x

2

)

m/2

= sin

m

(θ) times a

polynomial of degree (l − m). (The “l − m” is from the ∂

m

x

P

l

in Equation 3.30.) So,

P

m

l

(x) has l −m zeros between the North and South Poles, plus additional zeros at the

poles (for m ,= 0) due to the sin

m

(θ) factor.

The φ dependence of Y

m

l

is e

imφ

. So, the real and imaginary parts of Y

m

l

each have

2m zeros for φ ∈ [0, 2π).

Since a function has two zeros per wavelength, then the north–south wavelength over

the earth’s surface is roughly

π 6371

1

2

(l −m)

km ≈

40000

l −m

km

(where 6371 km = earth’s radius). And the east–west wavelength at the equator is

2π 6371

m

km ≈

40000

m

km.

Another way to think of this is that Y

m

l

has a wavelength, independent of direction, that

is roughly 40,000/l; and that the value of m tells you about the orientation of the spatial

pattern. For example, for m = 0 the wavelengths are

40,000

m

km and are oriented north–

south, while for m = l they are oriented east–west. (Actually, there are north–south

variations even when l = m, because of the sin

m

(θ) factor.)

3.3.4.7 The Addition Theorem

Let x(= (r, θ, φ)) and x

(= (r

, θ

, φ

**)) be two vectors separated by the angle γ. Then
**

P

l

(cos γ) =

4π

2l + 1

l

m=−l

Y

m∗

l

(φ

, φ

)Y

m

l

(θ, φ)

(where cos γ = cos(θ) cos(θ

) + sin(θ) sin(θ

) cos(φ − φ

**)). This is the addition theorem,
**

which has been given here without proof.

Here’s one way to interpret the addition theorem. Consider θ

and φ

as ﬁxed, so that

the Y

m∗

l

(θ

, φ

**) are just numbers. Then, the theorem tells us how to use those numbers
**

94 CHAPTER 3. POTENTIAL THEORY

to construct a linear combination of the Y

m

l

(θ, φ) which, for all θ, φ, reduces to an m = 0

spherical harmonic. Think of the Y

m∗

l

(θ

, φ

**)’s as rotation coeﬃcients, due to rotating the
**

coordinate system from a coordinate system where the z-axis points towards x

, to a new

system where the z-axis is along ˆ e

z

. This rotation changes the φ-independent P

l

(cos γ) to

a sum of φ-dependent Y

m

l

. But note that it doesn’t change the value of l. This theorem

further supports the suggestion above, that l characterizes the shape of a Y

m

l

while m

describes its orientation.

3.3.5 Applications

The most common application is something like the following. We are given V on a

spherical surface (r = R) about the origin: V (r = R, θ, φ) = V

0

(θ, φ). We assume that

V (r = ∞) = 0. Find the solution to ∇

2

V = 0 outside the sphere (r > R).

To do this, we add together the separable solutions. Keep the r

−(l+1)

term in Equa-

tion 3.32, but discard the r

l

term since r

l

→∞ as r →∞. So, try:

V (r, θ, φ) =

∞

l=0

l

m=−l

A

m

l

r

−(l+1)

Y

m

l

(θ, φ). (3.34)

To ﬁnd the complex coeﬃcients A

m

l

, use r = R in Equation 3.34, and set the result

equal to V

0

. Then, from the completeness property of the Y

m

l

’s,

A

m

l

= R

l+1

_

sin θ dθ dφV

0

(θ, φ)Y

m∗

l

(θ, φ).

(If the problem were, instead, to ﬁnd V inside r = R, then we’d keep the r

l

term in

Equation 3.32 instead of the r

−(l+1)

term.)

This approach can be changed slightly to solve problems where you are given ∂

r

V ,

instead of V , on r = R.

3.3.5.1 Example 1.

Suppose V

0

= constant on the sphere r = R. Then,

A

m

l

= R

l+1

V

0

_

sin θ Y

m∗

l

dθ dφ (3.35)

3.3. POISSON’S EQUATION 95

Note that 1 =

√

4π Y

0

0

. So Equation 3.35 can be written as:

A

m

l

= R

l+1

V

0

√

4π

_

sin θ (Y

0

0

Y

m∗

l

) dθ dφ

= R

l+1

V

0

√

4π δ

l0

δ

m0

.

where the last equality follows from the orthogonality of the Y

m

l

’s. So: A

0

0

= RV

0

√

4π,

and all other A

m

l

= 0. Putting these results for A

m

l

back into V (r, θ, φ) gives:

V (r, θ, φ) =

A

0

0

r

Y

0

0

=

RV

0

√

4π

r

1

√

4π

=

RV

0

r

which is the result we obtained earlier for a sphere using direct integration.

3.3.5.2 Example 2.

For the real earth, V is not quite constant over the surface, and the earth’s surface is

not quite a sphere. A better approximation for V on r = R, than that described by

Example 1, is:

V (r = R, θ, φ) = V

0

[1 −J

2

P

2

(cos θ)]

where J

2

and V

0

are constants. (Note that we are still assuming that the surface is a

sphere.) What is V in this case for r > R? (We’ll see, later, why the biggest perturbation

to V

0

is a P

2

term. It has to do with the earth’s rotation.) From the results above, we

conclude that

A

m

l

= V

0

R

l+1

_

sin θ dθ dφY

m∗

l

[1 −J

2

P

2

(cos θ)] .

To write the integrand as products of Y

m

l

’s, we use:

1 =

√

4πY

0

0

P

2

= P

0

2

=

¸

4π

5

Y

0

2

.

So:

A

m

l

= V

0

R

l+1

_

sin θ dθ dφ

√

4π

_

Y

m∗

l

Y

0

0

−J

2

Y

m∗

l

Y

0

2

1

√

5

_

= V

0

√

4πR

l+1

_

δ

l0

δ

m0

−

J

2

√

5

δ

l2

δ

m0

_

96 CHAPTER 3. POTENTIAL THEORY

where the last equality follows from the orthogonality of the Y

m

l

’s. So:

A

0

0

= V

0

R

√

4π

A

0

2

= −V

0

R

3

J

2

¸

4π

5

which gives

V (r, θ, φ) =

V

0

R

√

4π

r

Y

0

0

−

V

0

R

3

J

2

_

4π

5

r

3

Y

0

2

=

V

0

R

r

−

V

0

R

3

J

2

r

3

P

2

(cos θ)

= V

0

_

_

R

r

_

−J

2

_

R

r

_

3

P

2

(cos θ)

_

.

3.3.5.3 Radial dependence as a function of l

One general comment: Note that if you’re outside the earth, an individual Y

m

l

term in V

will decrease with increasing radius as r

−(l+1)

(see Equation 3.32). So, components with

larger l decrease more rapidly. Since large l corresponds to short horizontal wavelengths,

this implies that the shorter wavelength signals die away more rapidly as you proceed

away from the earth. This is why a satellite must be in a relatively low orbit if it is to

be useful for determining short wavelength terms in the earth’s gravity ﬁeld.

3.3.6 The use of Y

m

l

’s in direct integration

Spherical harmonics can also be useful in direct integrations problems: where you are

trying to ﬁnd V for a given density distribution inside the earth. Note that this is an

application which doesn’t involve solving a boundary value problem.

Suppose you know ρ(x

**). You can always expand ρ into spherical harmonics, to
**

obtain:

ρ(x

) =

l

,m

ρ

m

l

(r

)Y

m

l

(θ

, φ

). (3.36)

You can do this, because, as stated above, the spherical harmonics are a complete set of

functions on every sphere r

= constant. In fact,

ρ

m

l

(r

) =

_

2π

0

dφ

_

π

0

sin θ dθ ρ(r

, θ, φ)Y

m

∗

l

(θ, φ). (3.37)

3.3. POISSON’S EQUATION 97

It is not obvious, but it turns out that you can also expand 1/[x −x

[ into spherical

harmonics as:

1

[x −x

[

= 4π

∞

l=0

l

m=−l

1

2l + 1

r

l

<

r

l+1

>

Y

m∗

l

(θ

, φ

) Y

m

l

(θ, φ)

where

r

<

= r

r

>

= r

_

¸

_

¸

_

if r

< r

r

<

= r

r

>

= r

_

¸

_

¸

_

if r

> r.

3.3.6.1 Finding V outside a surface

These expansions of ρ(x

) and of 1/ [x −x

**[, can be used in Equation 3.3 to ﬁnd V outside
**

the earth. In that case r > r

for all r

**inside the earth, and so Equation 3.3 becomes
**

V (x) = G

_

ρ(x

)

[x −x

[

d

3

x

= 4πG

l,m

l

,m

_

1

2l + 1

_

(r

)

l

r

l+1

ρ

m

l

(r

) Y

m

l

(θ

, φ

) Y

m∗

l

(θ

, φ

) Y

m

l

(θ, φ)(r

)

2

dr

sin θ

dθ

dφ

_

.

The integral over dθ

dφ

**is easy, due to the orthogonality of the Y
**

m

l

’s. We get 0 from the

integral unless l = l

and m = m

. So, the sum over l

, m

**goes away, and we can replace
**

ρ

m

l

with ρ

m

l

, to obtain:

V (x) = 4πG

l,m

Y

m

l

(θ, φ)

2l + 1

1

r

l+1

__

(r

)

l+2

ρ

m

l

(r

) dr

_

. (3.38)

So, to ﬁnd V , you ﬁnd the ρ

m

l

(r

) using Equation 3.37, and then you integrate over r

**and sum over l and m in Equation 3.38.
**

We will use this result later in these notes. We will also occasionally want to compute

V when there is a surface density, σ, concentrated on the spherical surface r = R. In

that case, the radial integral in Equation 3.38, reduces to R

l+2

σ

m

l

, and so:

V = 4πGR

l,m

σ

m

l

2l + 1

Y

m

l

(θ, φ)

_

R

r

_

l+1

. (3.39)

98 CHAPTER 3. POTENTIAL THEORY

Note: suppose you know V , and you want to learn about ρ(r). The best you can do is to

use Equation 3.38. This equation doesn’t give you ρ as a function of r; but at least it does

give you a weighted average of ρ

m

l

(r) for each l and m. Note that the weighting factor,

r

l+2

, is largest near the surface, especially for large l (short horizontal wavelengths).

As an application of Equation 3.38, suppose we have a spherically symmetric earth,

so that ρ(x

) = ρ(r

**). Then, from Equation 3.37,
**

ρ

m

l

(r

) =

_

2π

0

dφ

_

π

0

sin θ dθ ρ(r

)Y

m

∗

l

(θ, φ)

=

_

2π

0

dφ

_

π

0

sin θ dθ ρ(r

)

√

4πY

0

0

Y

m

∗

l

(θ, φ)

=

_

¸

_

¸

_

√

4πρ(r

) if l

= m

= 0

0 otherwise

So ρ

0

0

(r

) =

√

4πρ(r

**), and all other ρ
**

m

l

(r

**) = 0. Using this result in Equation 3.38, gives:
**

V (x) = 4πG

Y

0

0

(θ, φ)

r

_

(r

)

2

ρ

0

0

(r

) dr

=

GM

r

where M is the total mass of the earth, given by

M =

_

ρ(x

) (r

)

2

sin θ

dr

dθ

dφ

= 4π

_

(r

)

2

ρ(r

) dr

=

√

4π

_

(r

)

2

ρ

0

0

(r

) dr

.

This result for V agrees with the result that we obtained in Section 3.2.1 without using

spherical harmonics.

3.3.6.2 Finding V inside a surface

Here’s another result we’ll need later. Consider a point, x, inside a hollow object which

has a mass density of

ρ(r

, θ

, φ

) =

l,m

ρ

m

l

(r

) Y

m

l

(θ

, φ

).

What is V at x?

The answer is obtained as in the case where you are outside the sphere, except that

here r

<

= r and r

>

= r

. (Assume r < r

, for all r

**in the massive object.) The result is:
**

V (x) = 4πG

l,m

Y

m

l

(θ, φ)

2l + 1

r

l

_

ρ

m

l

(r

)

(r

)

l−1

dr

.

3.3. POISSON’S EQUATION 99

As a special case, suppose the hollow object is a sphere, and that all of the mass is

described with a surface mass density, σ, on the spherical surface r = R. Then

V (x) = r4πG

l,m

Y

m

l

(θ, φ)

2l + 1

_

r

R

_

l−1

σ

m

l

, (3.40)

where

σ =

l,m

σ

m

l

Y

m

l

(θ, φ).

Note that if x is inside an object that is not hollow, so that there is some mass inside

of x and some outside, then V would be obtained by adding together the solutions for

external and internal mass distributions described above.

3.3.6.3 A slightly non-spherical surface

Finally, here is another example that will prove useful later. Suppose we model the

earth as having a homogeneous mass density (ρ = ρ

0

= constant), and an outer surface

that is almost, but not quite, spherical. Suppose the outer surface consists of the points

(r

, θ

, φ

) that satisfy:

r

= r

0

_

_

1 +

l

,m

m

l

Y

m

l

(θ

, φ

)

_

_

where

m

l

¸1

and where r

0

(= constant) is the mean spherical radius of the surface. What is V inside

and outside this earth?

We could do this exactly by integrating over dr

, dθ

, dφ

**as described above, after
**

expanding ρ(x

) in terms of Y

m

l

. But there is an easier way to obtain an approximate

result, that uses the assumption that

m

l

¸1.

If all of the

m

l

’s were zero, our earth would be a sphere and the solution would be

easy (described in several places above). Because the

m

l

’s are small, you can think of

their eﬀects on V as, to lowest order, the eﬀects of a surface mass. You think of this

earth as the sum of a sphere of radius r

0

, and a thin shell at r = r

0

, with thickness

l

,m

m

l

Y

m

l

(θ

, φ

).

100 CHAPTER 3. POTENTIAL THEORY

This thickness can be negative for some (θ

, φ

**), but that’s OK. It just means that at
**

those (θ

, φ

**) we must remove mass from the r
**

0

sphere to obtain the shape of the object.

(See Figure 3.6.)

positive thickness

sphere

negative thickness

0

ρ

0

r

"earth"

Figure 3.6:

We can easily ﬁnd V due to the sphere. The diﬃcult part is to ﬁnd V due to the thin

shell. To lowest order, we assume that the mass distribution of the shell can be described

with a surface density at r = r

0

, given by

σ(θ

, φ

) = r

0

ρ

0

l

,m

m

l

Y

m

l

(θ

, φ

).

The expansion of σ into spherical harmonics is:

σ(θ

, φ

) =

l

,m

σ

m

l

Y

m

l

(θ

, φ

)

where

σ

m

l

= r

0

ρ

0

m

l

. (3.41)

Outside. Suppose x is outside our earth, so that r ≥ r

, for all r

**in the earth. Then, V
**

due to the r = r

0

sphere is

GM

r

=

4

3

πr

3

0

ρ

0

G

r

.

3.3. POISSON’S EQUATION 101

And we can use Equation 3.39 to ﬁnd the eﬀects of the surface mass at a point

outside the sphere. Using Equation 3.41 for σ

m

l

in Equation 3.39, and adding the

spherical component, gives a total V of

V (x) =

4

3

π

r

3

0

ρ

0

G

r

+ 4πGr

2

0

ρ

0

l,m

_

m

l

2l + 1

_

Y

m

l

(θ, φ)

_

r

0

r

_

l+1

.

Inside. Suppose r < r

, for all r

**on the surface of the object.
**

The potential at r due to the sphere (r = r

0

) is

V =

2

3

πρ

0

G

_

3r

2

0

−r

2

_

.

I haven’t derived this in these notes, but it’s easy to do that on your own. The

3r

2

0

term is a constant, added to V so that V is continuous at r = r

0

. To ﬁnd the

eﬀects of the thin shell, we use the Equation 3.41 for σ

m

l

in the result for V from

Equation 3.40. The solution for the total contribution to V is:

V =

2

3

πρ

0

G(3r

2

0

−r

2

) + 4πGρ

0

r

2

l,m

m

l

2l + 1

Y

m

l

(θ, φ)

_

r

r

0

_

l−2

.

102 CHAPTER 3. POTENTIAL THEORY

Chapter 4

Physical Geodesy Problems

4.1 The Figure of the Earth: The Geoid

The geoid is the surface of constant potential energy that coincides with mean sea level

over the oceans. (“Potential energy,” here, refers to the gravitational plus centrifugal

potential energy.) This is the standard deﬁnition of the geoid, but it’s a sloppy deﬁni-

tion. For one thing, mean sea level is not quite a surface of constant potential, due to

dynamic processes within the ocean. You can imagine, though, turning oﬀ the dynamic

processes so that sea level does become a constant potential surface. (We’ll show later

that the surface of an equilibrium ﬂuid is a constant potential surface.) For another

thing, wherever there are continents, the geoid lies beneath the earth’s surface. As a

result, the actual equal potential surface under continents is warped by the gravitational

attraction of the overlying mass. But geodesists deﬁne the geoid as though that mass

were underneath the geoid instead of above it. In other words, their geoid is not truly

an equipotential surface. We’ll worry about a more precise deﬁnition, later.

Probably the main function of the geoid in physical geodesy is to serve as a reference

surface for leveling. To see the connection, suppose the earth’s surface was covered with

a layer of water. The geoid would then coincide with the surface of that water layer. If

you leveled over this surface, your results would show that the entire surface was at the

same elevation: the ﬂuid level in the instrument would always indicate “horizontal” as

103

104 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

being parallel to the water surface.

So what you really measure when you level, are the elevations above (or below) the

geoid. Thus, to ﬁnd the actual shape of the earth you need to determine the shape of

the geoid. And, for that, you need gravity observations.

Let’s consider the shape of the geoid and its relation to measured gravity for some

simple, but progressively more complicated, earth models.

4.1.1 Spherically Symmetric, Non-rotating Earth

In this case, the surface of the earth is r = a, the potential outside the earth is V = GM/r

where M = earth’s mass, and gravity at the earth’s surface is g = GM/a

2

. The potential

V , is constant for constant r. If, for example, we want the geoid to have a mean radius

equal to the radius of the earth, then we choose that constant value of r to equal “a,”

so that r = a is the geoid. So, in this case, the geoid is the outer surface. Note that

g = constant on the geoid. This will not be true, in general, for a more realistic earth.

4.1.2 Spherically Symmetric, Rotating Earth

If you take a spherical earth and start it rotating, it will not remain spherical. Centrifugal

forces deform the earth into an ellipse. The ellipticity has as big an eﬀect on the geoid as

does the rotation. But, let’s look at the two eﬀects separately. In this section we assume

the earth is rotating but that it remains spherical.

In this case the outer surface is r = a. The gravitational potential outside is V =

GM/r. The gravitational acceleration outside is GM/r

2

, and is directed radially inwards.

The geoid is a surface of constant gravitational plus centrifugal potential. The cen-

trifugal force per unit mass is

−Ω (Ω r) = −ΩΩ r +rΩ

2

(4.1)

= ∇

_

1

2

_

r

2

Ω

2

−

_

Ω r

_

2

__

. ¸¸ .

centrifugal potential

(4.2)

4.1. THE FIGURE OF THE EARTH: THE GEOID 105

where Ω = the earth’s rotation vector. So, the sum of the gravitational and centrifugal

potentials is

V

T

=

GM

r

+

1

2

_

r

2

Ω

2

−

_

Ω r

_

2

_

.

If we deﬁne the coordinate system so that Ω is along ˆ e

z

, then

Ω r = Ωz = Ωr cos θ.

So:

V =

GM

r

+

1

2

Ω

2

r

2

sin

2

θ.

Using Legendre polynomials:

sin

2

θ =

2

3

−

2

3

_

1

2

_

3 cos

2

θ −1

_

_

. ¸¸ .

P

2

=

2

3

−

2

3

P

2

(cos θ).

So

V

T

=

_

GM

r

+

1

3

Ω

2

r

2

_

−

1

3

Ω

2

r

2

P

2

(cos θ). (4.3)

So rotation modiﬁes the θ-independent term in V

T

, and introduces a P

2

term. (We

are using P

2

, here, instead of Y

0

2

simply to follow convention.)

The rotational terms are small. For example:

1

3

Ω

2

r

2

GM/r

≈

1

870

(at earth’s surface).

P

2

(cos θ) varies from 1 to −

1

2

over the surface, so the P

2

term is approximately (1 −

(−

1

2

))

_

1

870

_

=

1

580

of the gravitational term.

Rotation also aﬀects the observed acceleration. A gravimeter records the sum of the

gravitational acceleration and the centrifugal acceleration. That sum is best found by

taking the gradient of V

T

:

g

T

= ∇V

T

(4.4)

= ˆ e

r

∂

r

V

T

+

1

r

ˆ e

θ

∂

θ

V

T

= ˆ e

r

_

−

GM

r

2

+

2

3

Ω

2

r −

2

3

Ω

2

rP

2

(cos θ)

_

+ ˆ e

θ

_

−

1

3

Ω

2

r∂

θ

P

2

(cos θ)

_

. (4.5)

106 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

So, Ω modiﬁes the radial component of g

T

, and introduces a θ-component.

Note that neither the amplitude nor the direction of g

T

is constant over the surface

r = a.

What is the shape of the geoid for this example? In other words, V

T

in Equation 4.3

is a function of r and θ: V

T

= V

T

(r, θ). Find r as a function of θ (r = r(θ)), so that

V

T

(r(θ), θ) is independent of θ. The surface described by r(θ) is then a surface of constant

V

T

, and so is a candidate for the geoid.

To ﬁnd r(θ), we assume that r(θ) ≈ a, so that the eﬀects of rotation on the geoid are

small. This is probably a pretty good approximation, since the eﬀects of rotation on V

T

are less than 1/500. We write r(θ) ≈ a + δr(θ), where δr/a ¸ 1, and we try to ﬁnd a

ﬁrst-order approximation for δr.

V

T

in Equation 4.3 has a GM/r term and two r

2

Ω

2

terms. The r

2

Ω

2

terms are ﬁrst

order already, so we can use the approximation r = a in r

2

Ω

2

. The GM/r term is zero

order, so we use r = a + δr in that term, along with the approximation (a +δr)

−1

≈

1

a

[1 −

δr

a

]. Then:

V

T

(r = a +δr, θ) ≈

GM

a

_

1 −

δr(θ)

a

_

+

1

3

Ω

2

a

2

−

1

3

Ω

2

a

2

P

2

(cos θ). (4.6)

For Equation 4.6 to be independent of θ, δr(θ) must satisfy:

_

GM

a

2

_

δr(θ) = −

1

3

Ω

2

a

2

P

2

(cos θ) + constant.

where the constant can be any number, so long as it is independent of θ. Or, since

GM/a

2 ∼

= g

T

at r = a (g

T

≡ [g

T

[) to zero order in Ω

2

, then:

δr(θ) = −

1

3

Ω

2

a

2

g

T

P

2

(cos θ) + constant.

The constant in these expressions does nothing interesting. It is not uniquely deter-

mined by the requirement that V

T

= constant on this surface. It just tells you which

of the V

T

=constant surfaces you are on. If you want the geoid to be the V

T

=constant

surface that has its mean radius = a, then the constant in the above equations is zero

(the average of P

2

(cos θ) is 0), and the geoid is described by:

r = a −

1

3

Ω

2

a

2

g

T

P

2

(cos θ). (4.7)

4.1. THE FIGURE OF THE EARTH: THE GEOID 107

Equation 4.7, then, would be the shape of the mean sea surface. The second term on

the right-hand-side of Equation 4.7 varies with θ (as θ varies between 0 and 2π) by

approximately (1/580) a ≈ 11 km. So, sea level has large departures from a spherical

surface. Note that if you leveled over the earth’s surface, assumed here to be r = a, you

would conclude that there were 11 km diﬀerences in elevation over that surface.

Incidentally, suppose we write the geoid in the form: r = a + δr(θ, φ), where δr

is the departure of the geoid from a sphere. Write V

T

at (r, θ, φ) (Equation 4.3) as

V

T

= V

0

T

+ δV (r, θ, φ) where V

0

T

is independent of both θ and φ (V

0

T

=

GM

r

+

1

3

Ω

2

r

2

)

and δV ( = −

1

3

Ω

2

r

2

P

2

(cos θ) in this example) represents the angular dependence of V

T

.

Then, note that:

δr ≡

δV (r = a)

g

T

.

This result will also hold in all later examples, as we increase the complexity of the model

earth.

Finally, suppose we could measure [g

T

[ on the geoid. How would the result vary

with position on the earth’s surface (i.e. with θ)? That is, construct the vector ﬁeld

g

g

= g

T

(r = a + δr, θ, φ) to represent g on the geoid. What is g

g

(≡ [g

g

[) as a function

of θ?

g

g

= [g

g

r

ˆ e

r

+g

g

θ

ˆ e

θ

[

≈ [g

g

r

[ (to 1st order in small quantities)

≈ [g

T

(r = a) +δr∂

r

g

T

(r = a)[.

Then from Equation 4.5 above, ignoring terms in ∂

r

g

T

of the order of Ω

2

, since those

terms are second order after being multiplied by δr, we obtain:

g

g

≈

¸

¸

¸

¸

¸

¸

¸

¸

¸

¸

¸

¸

¸

¸

−

GM

a

2

. ¸¸ .

dominant

term

+

2

3

Ω

2

a −

2

3

Ω

2

aP

2

(cos θ)−

. ¸¸ .

∂rδV

_

¸

¸

_

1

3

Ω

2

a

2

(

GM

a

2

)

_

¸

¸

_

P

2

(cos θ)

. ¸¸ .

δr=δV/g

T

2GM

a

3

¸

¸

¸

¸

¸

¸

¸

¸

¸

¸

¸

¸

¸

¸

=

GM

a

2

−

2

3

Ω

2

a +

4

3

Ω

2

aP

2

(cos θ)

108 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

=

GM

a

2

−

2

3

Ω

2

a +δg, (4.8)

where all the angular dependence in this ﬁnal result is included in:

δg ≡

4

3

Ω

2

aP

2

(cos θ) = −∂

r

δV (r = a) −

2δV (r = a)

a

(4.9)

This result, Equation 4.9, relating the angular dependent component of g

g

to the angular

dependent component of V

T

, is another result that will hold for the more complicated

earth models described below.

Given that (δg =

−2δV

a

− ∂

r

δV ) and (δr = δV/g

T

) will hold for an arbitrarily com-

plicated earth model (we have yet to demonstrate that), we can anticipate now how

geodesists determine the earth’s shape.

First, they level the earth. This tells them how the earth’s surface diﬀers from the

geoid. To determine the geoid, they measure gravity over the surface. They then use

those results to deduce gravity on the geoid. They do that using the leveling data. Those

data give them the radial distance between the surface and the geoid. Call that distance

H. Note that H/a ¸ 1. If g

s

= g as measured on the surface, then g

g

( = the value of

g on the geoid) is approximately:

g

g

≈ g

s

−H∂

r

g

s

≈ (ignoring terms that are 2nd order in the departure from spherical symmetry)

g

s

−H∂

r

_

GM

r

2

_

r=a

≈ g

s

_

1 +

2

a

H

_

.

So, now they have g on the geoid. They then ﬁnd δg (the angular-dependent component

of g

g

), and solve ∂

r

δV +

2

a

δV = −δg to ﬁnd δV . (We’ll talk about how you solve for δV

later.) And δr = δV/g gives the geoid shape.

4.1.3 Rotating, Elliptically Symmetric Earth

The earth is not a sphere. The biggest contribution to V

T

from the non-spherical density

components is the addition of a P

2

(cos θ) term to the P

2

(cos θ) term that is already

4.1. THE FIGURE OF THE EARTH: THE GEOID 109

present due to the rotation. This new P

2

term is caused by a P

2

deformation of each

constant density surface inside the earth which, in turn, is caused by the centrifugal force

associated with the earth’s rotation. We’ll model this P

2

deformation, later. Meanwhile,

just take my word that the P

2

contribution to V

T

is by far the largest non-spherical

contribution.

Let J

2

be a dimensionless parameter which describes the size of the P

2

contribution

to V

T

. Deﬁne J

2

so that outside the earth:

V

T

=

GM

r

+

1

3

Ω

2

r

2

−

1

3

Ω

2

r

2

P

2

(cos θ) −

MG

r

3

a

2

J

2

P

2

(cos θ)

. ¸¸ .

new term

. (4.10)

The radial dependence of a spherical harmonic of order l is r

−(l+1)

, which is why the

term proportional to P

2

, above, has a radial dependence of r

−3

(P

2

is proportional to

Y

0

2

). The amplitude of the total acceleration (gravitational + centrifugal) outside the

earth is then:

g

T

≡ [g

T

[

≡ [∇V

T

[

≈ [∂

r

V

T

[ (to 1st order in small quantities)

=

¸

¸

¸

¸

−

GM

r

2

+

2

3

Ω

2

r −

2

3

Ω

2

rP

2

+

3MG

r

4

a

2

J

2

P

2

¸

¸

¸

¸

=

GM

r

2

−

2

3

Ω

2

r +

_

2

3

Ω

2

r −

3MG

r

4

a

2

J

2

_

P

2

.

To ﬁnd the shape of the geoid, we write the geoid as r = a +δr(θ, φ), and try to ﬁnd

the function δr for which V

T

(r = a+δr, θ, φ) is independent of θ and φ. As we saw above,

the Ω

2

r terms are small at r = a. And it turns out that J

2

¸1, as well. (After all, the

P

2

density perturbation is due to the Ω

2

r terms in the potential — as we will see later

— and those terms are small.) So we can assume δr/a ¸ 1. Then, putting r = a + δr

into Equation 4.10, and keeping terms 1st order in small quantities, gives the following

approximation for V

T

on the geoid:

V

T

on geoid =

GM

a

_

1 −

δr

a

_

+

1

3

Ω

2

a

2

−

1

3

Ω

2

a

2

P

2

−

MG

a

J

2

P

2

.

110 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

This expression is independent of θ (it is obviously independent of φ), if:

−

GM

a

2

δr −

_

1

3

Ω

2

a

2

+

MG

a

J

2

_

P

2

= constant.

Or, if:

δr

∼

= −

_

1

3

Ω

2

a

2

g

T

+aJ

2

_

P

2

+ constant. (4.11)

with g

T

≈ GM/a

2

. As in Section 4.1.2, the constant determines which constant poten-

tial surface we are on. If we want ‘a’ to equal the mean radius, then the constant in

Equation 4.11 must equal 0. As in Section 4.1.2, note that

δr

∼

=

δV (a)

g

T

(4.12)

where δV is the angular-dependent part of V

T

:

δV (r) = −

_

1

3

Ω

2

r

2

+

MGa

2

r

3

J

2

_

P

2

. (4.13)

Also, we can estimate g

T

on the geoid, as:

g

g

≡ g

T

(r = a +δr, θ, φ)

≈ g

T

(a, θ, φ) +δr∂

r

g

T

(4.14)

≈

GM

a

2

−

2

3

Ω

2

a +

_

2

3

Ω

2

a −

3GM

a

2

J

2

_

P

2

−2

GM

a

3

δr.

where the last equality follows using Equation 4.11 for g

T

, and keeping only the lowest

order term (in g

T

) where it multiplies the ﬁrst-order quantity: δr. If δg is the angular-

dependent part of g

g

, then using the result for δr gives:

δg

∼

=

_

2

3

Ω

2

a −3g

T

J

2

_

P

2

. ¸¸ .

−∂rδV

+2

g

T

a

_

1

3

Ω

2

a

2

g

T

+aJ

2

_

P

2

. ¸¸ .

−δr=−δV/g

T

=

_

4

3

Ω

2

a −g

T

J

2

_

P

2

= −

_

∂

r

δV +

2

a

δV

_

r=a

. (4.15)

Equation 4.15 was also valid in Section 4.1.2.

So, to ﬁnd the shape of the geoid, you solve Equation 4.15 for δV , given observations

of δg (actually, as described in Section 4.1.2 above, you obtain δg by extending surface

4.1. THE FIGURE OF THE EARTH: THE GEOID 111

gravity data to the geoid using observed leveling elevations). Then, you use δV in

Equation 4.12 to get δr. Note that once you have δV , you can determine J

2

from

Equation 4.13. And, a value for J

2

is potentially interesting since it tells you something

about the earth’s density distribution.

The notation J

2

comes from satellite geodesy. Other subdisciplines use diﬀerent

parameters to describe the P

2

distribution.

For example, the “ﬂattening” is deﬁned as

f =

3

2

J

2

+

aΩ

2

2g

T

.

The signiﬁcance of f is that for the simple elliptical earth model discussed here, the geoid

height is

δr = −af

2

3

P

2

= af

_

1

3

−cos

2

θ

_

.

So, the diﬀerence in geoid height between the equator and the poles is

af

__

1

3

−cos

2

90

◦

_

−

_

1

3

−cos

2

0

◦

__

= af.

Another parameter, sometimes written as B

2

, is deﬁned as

B

2

=

5

2

aΩ

2

g

T

−f.

The signiﬁcance of B

2

is that the gravitational acceleration observed on the geoid is (for

our simple elliptical model)

g

g

∼

=

GM

a

2

−

2

3

Ω

2

a +g

T

2

3

B

2

P

2

(cos θ).

So, the diﬀerence between equatorial and polar gravity on the geoid is

g

T

B

2

.

4.1.4 The ellipsoid

The real earth is, of course, more complicated than a simple ellipse. There are contribu-

tions to V

T

from all the Y

m

l

, not just from P

2

. But, the P

2

term is by far the largest.

112 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

It is convenient (and usual) to remove the P

2

term from all observations. We will then

deﬁne “gravity anomalies” and “geoid anomalies” as the diﬀerences from the constant

plus P

2

terms.

The P

2

term is well determined from satellite observations. The accepted values for

J

2

, B

2

, and f are:

J

2

= 1.0826 10

−3

f =

1

298.26

B

2

= 5.28 10

−3

.

(4.16)

These numbers (look, particularly at f) predict a diﬀerence in the geoid radius between

the poles and the equator of about 21 km. This is much bigger than typical elevation

diﬀerences associated with surface topography, and is about twice as large as the contri-

bution from rotation alone.

The mathematical surface described by r = a+δr, where δr is a P

2

(cos θ) term chosen

to be consistent with the numerical values listed in Equation 4.16 (in other words, the

geoid for the simpliﬁed earth in Section 4.1.3) is called the ellipsoid. The ellipsoid is a

pretty good approximation to the geoid for the real earth — better than a sphere, for

example. Later, when we talk about geoid heights for the real earth, we will mean the

diﬀerence between the geoid and the ellipsoid.

4.2 Clairaut’s Diﬀerential Equation

Before we go ahead and consider a more realistic earth, with more Y

m

l

contributions to

V

T

, let’s see if we can’t understand the P

2

term a little better. Why does rotation cause

such a term, and why are the results for J

2

, B

2

, and f equal to the numbers shown above?

What do those numerical values tell us about the earth?

It turns out that the numerical results are consistent with the assumption that the

earth responds to the centrifugal force of rotation as though it were a ﬂuid. To understand

this result, let’s suppose we have a spherically symmetric ﬂuid sphere (density = constant

on spherical surfaces). We spin the ﬂuid about the ˆ e

z

axis with an angular velocity of

4.2. CLAIRAUT’S DIFFERENTIAL EQUATION 113

rotation = Ω. After the ﬂuid has come to equilibrium, what does the internal density

distribution look like? We will assume that the centrifugal force is ¸ the gravitational

force, so that surfaces of constant density are almost spheres — as they were before spin

up.

In other words, we assume that a surface of constant density which was r = r

0

before

spin up, is now

r = r

0

_

1 −

2

3

∞

l=0

l

(r

0

)P

l

(cos θ)

_

where

l

(r

0

) ¸ 1. Why just include Y

0

l

, instead of Y

m

l

(P

l

is proportional to Y

0

l

)?

Because the centrifugal force, which causes the aspherical shape, is symmetric about the

ˆ e

z

axis, so that we expect surfaces of constant density to be independent of φ. The use

of P

l

instead of Y

0

l

, and the inclusion of the factor −2/3, are consistent with convention.

Note that with this convention,

2

(a) = f (the ﬂattening deﬁned above). Our objective

here is to ﬁnd the

l

(r

0

) for all l and r

0

.

Let V

T

(x) = total potential (gravitational plus centrifugal). I claim that for a ﬂuid

at equilibrium, surfaces of constant density are also surfaces of constant V

T

(x). To see

this, note that at equilibrium there is no motion, and that the only forces are those due

to pressure, gravity, and the centrifugal force. If P = pressure, then the equilibrium

condition is

∇P = ρ∇V

T

where ρ = density. Take ∇ each side of this equation. Then, since the curl of a gradient

is zero:

0 = ∇

_

ρ∇V

T

_

⇒

0 = ∇ρ ∇V

T

.

So, the normals to constant ρ and constant V

T

surfaces are everywhere parallel (∇ρ is

along the normal to the constant ρ surface, for example). So, the two surfaces coincide.

It is possible to derive integral/diﬀerential equations for the

l

. We will do that here,

but only for

2

. You can show from the integral/diﬀerential equations for arbitrary l,

114 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

that

l

= 0 for l ,= 2. We’ll skip that here, but physically it is because the centrifugal

potential includes only l = 2 aspherical terms.

So, we assume the constant density/V

T

surfaces have a shape described by:

r = r

0

_

1 −

2

3

(r

0

)P

2

(cos θ)

_

where ¸1. We need to ﬁnd an equation for (r

0

).

To do this, we need to ﬁnd V

T

at an arbitrary point (r, θ, φ) inside the earth. The cen-

trifugal potential is

1

3

Ω

2

r

2

−

1

3

Ω

2

r

2

P

2

(cos θ), as we saw in Equation 4.2. The gravitational

potential is harder.

To ﬁnd the gravitational potential, note that we can describe the density of the de-

formed earth by using a radially-dependent function: ρ(r

0

). The real density is dependent

on θ, as well, and it can be determined from ρ(r

0

). Here’s how we do that. We choose a

point (r, θ, φ) in the earth. This point is on the constant density surface described by r

0

,

where r

0

satisﬁes:

r = r

0

_

1 −

2

3

(r

0

)P

2

(cos θ)

_

.

(To ﬁrst order in , r

0

(r

0

) = r(r). So r

0

is given, to ﬁrst order, by r

0

∼

= r[1 +

2

3

(r)P

2

(cos θ)].) Deﬁne ρ(r

0

) as the density on the surface described by the parame-

ter r

0

. So the density at (r, θ, φ) is ρ(r

0

= r[1 +

2

3

(r)P

2

(cos θ)]), to ﬁrst order in .

Now, break the earth up into thin, constant-density shells. Suppose the lower bound-

ary of a shell is the surface described by r

0

. The upper boundary is the surface described

by r

0

+dr

0

where dr

0

is inﬁnitesimal. So, the upper boundary of the shell is

r = (r

0

+dr

0

)

_

1 −

2

3

(r

0

+dr

0

)P

2

(cos θ)

_

.

The lower boundary is

r = r

0

_

1 −

2

3

(r

0

)P

2

_

.

Let’s ﬁnd V due to the shell, both above the shell (i.e. outside the shell’s outer surface)

and below the shell (i.e. inside the shell’s inner surface). First, we consider a point outside

the outer surface. That is, we ﬁnd V at (r, θ, φ), where r is larger than any r in the shell.

To do this, we write down the expression for V caused by a uniform object that has

4.2. CLAIRAUT’S DIFFERENTIAL EQUATION 115

density ρ

0

= ρ(r

0

), and an outer surface equal to the (r

0

+dr

0

) surface (the outer surface

of the shell); and we subtract from it the expression for V caused by a uniform object

with ρ

0

= ρ(r

0

) and an outer surface equal to the r

0

surface (the inner surface of the

shell).

From Chapter 3 we know that for small the potential due to a homogeneous object

with outer surface r = r

0

[1 +Y

m

l

] (where ¸1) is

V (r, θ, φ)

. ¸¸ .

outside the object

=

4

3

π

(r

0

)

3

ρ

0

G

r

+ 4πG(r

0

)

2

ρ

0

2l + 1

_

r

0

r

_

l+1

Y

m

l

(θ, φ).

In our case, l = 2 and m = 0. And we can replace Y

0

2

with −

2

3

P

2

, since that’s just a

matter of re-deﬁning in these Chapter 3 results.

So, for the r

0

+dr

0

surface:

V

r

0

+dr

0

=

4

3

π

(r

0

+dr

0

)

3

ρ

0

G

r

+4πG(r

0

+dr

0

)

2

ρ

0

_

−

2

3

(r

0

+dr

0

)

_

1

5

_

r

0

+dr

0

r

_

3

P

2

≈ (to ﬁrst order in dr

0

)

4

3

π

ρ

0

G

r

r

3

0

_

1 + 3

dr

0

r

0

_

−

8

15

πG

P

2

(cos θ)

r

3

r

5

0

_

(r

0

) +dr

0

_

5

(r

0

)

r

0

+∂

r

0

(r

0

)

__

ρ

0

.

For the r

0

surface:

V

r

0

=

4

3

π

r

3

0

ρ

0

G

r

−

8

15

πGρ

0

r

5

0

(r

0

)

r

3

P

2

(cos θ).

So, the contribution to V from the shell alone is the diﬀerence of these V ’s.

V

shell

. ¸¸ .

outside

= V

r

0

+dr

0

−V

r

0

= dr

0

4πρ

0

G

_

r

2

0

r

−

2

15

r

4

0

r

3

[5(r

0

) +r

0

∂

r

0

(r

0

)] P

2

(cos θ)

_

where ρ

0

≡ ρ(r

0

).

Now, let’s ﬁnd V

shell

inside the inner surface of the shell. From the results of Chapter 3,

if you are inside a homogeneous body with density ρ

0

and outer surface r = r

0

[1 +Y

m

l

],

116 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

then

V

.¸¸.

inside

= 2πρ

0

G

_

r

2

0

−

r

2

3

_

+ 4πGρ

0

r

l

2l + 1

r

(2−l)

0

Y

m

l

.

In our case l = 2, m = 0, and we again replace Y

m

l

with −

2

3

P

2

. The eﬀect on V from an

object with surface described by r

0

+dr

0

is

V

r

0

+dr

0

= 2πρ

0

G

_

(r

0

+dr

0

)

2

−

r

2

3

_

−

8πGρ

0

15

r

2

(r

0

+dr

0

)

≈ (to 1st order in dr

0

)

2πρ

0

G

_

r

2

0

+ 2r

0

dr

0

−

r

2

3

_

−

8πGρ

0

15

r

2

[(r

0

) +dr

0

∂

r

0

] P

2

.

The contribution from a homogeneous object with an r

0

surface is

V

r

0

= 2πρ

0

G

_

r

2

0

−

r

2

3

_

−

8πGρ

0

15

r

2

P

2

.

So, the contribution from the shell is the diﬀerence:

V

dr

0

.¸¸.

inside

= V

r

0

+dr

0

−V

r

0

=

_

4πρ

0

Gr

0

−

8πGρ

0

15

r

2

∂

r

0

(r

0

)P

2

(cos θ)

_

dr

0

.

Incidentally, you might wonder: why not estimate the eﬀects of the shell by ﬁnding

the mass in a radial column of the shell (that mass would equal the density times the

thickness) and then pretend the mass is a surface density at r = r

0

. After all, that’s

what we did to ﬁnd the potential from a homogeneous object with a slightly non-spherical

surface. But, that doesn’t work here. That will give an answer correct to 1st order in

the shell thickness. So, for the homogeneous body that means correct to order . But

our shell diﬀers from a spherical surface mass by terms of order dr

0

and . If we were to

pretend it was a spherical surface mass we would be throwing away (dr

0

)

2

and

2

terms

— which is ok — but also the (dr

0

) terms — which are important. So, that method

doesn’t work.

So, we now have V from a shell. To ﬁnd V

T

(r, θ, φ) from the entire object, we sum over

shells. That means we integrate V

dr

0

over r

0

. We use the outer solution for 0 ≤ r

0

≤ r.

4.2. CLAIRAUT’S DIFFERENTIAL EQUATION 117

And the inner solution for r ≤ r

0

≤ a, where a = earth’s radius. And, we include the

centrifugal potential. The result is:

V

T

(r, θ, φ) =

_

r

0

4πGρ(r

0

)

_

r

2

0

r

−

2

15

r

4

0

r

3

[5(r

0

) +r

0

∂

r

0

(r

0

)] P

2

(cos θ)

_

dr

0

+

_

a

r

4πρ(r

0

)G

_

r

0

−

2

15

r

2

∂

r

0

(r

0

)P

2

(cos θ)

_

dr

0

(4.17)

+

1

3

Ω

2

r

2

−

1

3

Ω

2

r

2

P

2

(cos θ)

Incidentally, there’s another thing you might worry about. Our result for V inside a

shell was really only valid at points (r, θ, φ), where r was less than every r in the shell.

And, our result for V outside was only good when r was larger than every r in the shell.

So, the integrals in Equation 4.17 should really have the limits

_

r−∆r

1

0

and

_

a

r+∆r

2

where

∆r

1

and ∆r

2

are of order . And then there should be a 3rd integral between r − ∆r

1

and r + ∆r

2

, where the integrand is some more complicated expression for V

dr

0

which is

valid when r is “in” the shell. In fact, you can see that something is amiss by looking at

the shell potentials V

dr

0

inside and outside the shell. The two are not continuous when

r = r

0

, but V should be continuous. What happens is that V

dr

0

should be modiﬁed

slightly at r, within or so of r

0

.

But, this all gives a 2nd order (in ) eﬀect on V

T

(r). Comparing V

dr

0

inside and

outside at r = r

0

, shows that the discontinuity is of order . So the true V

dr

0

near r = r

0

diﬀers from the V

dr

0

used here, by terms of order . And, the size of the region you

integrate over is order . So, the result is a 2nd order eﬀect in , and thus the result

above for V

T

is ok to 1st order in .

We still must ﬁnd an equation for . By assumption, a constant density surface is

described by

r = r

1

_

1 −

2

3

(r

1

)P

2

(cos θ)

_

.

(Use r

1

instead of r

0

to distinguish between the ﬁeld (r

1

) point and the mass (r

0

) point.)

For this to also be a constant potential surface, V

T

(r = r

1

_

1 −

2

3

P

2

_

, θ, φ) must be

independent of θ and φ. To 1st order in ,

V

T

_

r = r

1

_

1 −

2

3

P

2

_

, θ, φ

_

= V

T

(r

1

, θ, φ) −

2

3

r

1

(r

1

)P

2

∂

r

V

T

(r

1

, θ, φ). (4.18)

118 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

If we only require Equation 4.18 to be accurate to ﬁrst order in , then we can approximate

∂

r

V

T

by setting = 0 in V

T

before diﬀerentiating (since ∂

r

V

T

is already multiplied by

in Equation 4.18). We get (ignoring the Ω

2

terms in ∂

r

V

T

as well, since those terms are

the same size as the terms that are ﬁrst-order in ):

∂

r

V

T

∼

= 4πG∂

r

_

_

r

0

ρ(r

0

)

r

2

0

r

dr

0

+

_

a

r

ρ(r

0

)r

0

dr

0

_

(4.19)

= 4πG

_

ρ(r)

r

2

r

−

_

r

0

ρ(r

0

)

r

2

0

r

2

dr

0

−ρ(r)r

_

(4.20)

= −

4πG

r

2

_

r

0

ρ(r

0

)r

2

0

dr

0

. (4.21)

So V

T

on this constant-density surface, from Equation 4.18, and using Equations 4.17

and 4.21, is:

V

S

≡ V

T

_

r = r

1

_

1 −

2

3

P

2

_

, θ, φ

_

= 4πG

_

r

1

0

ρ(r

0

)

_

r

2

0

r

1

−

2

15

r

4

0

r

3

1

[5(r

0

) +r

0

∂

r

0

(r

0

)] P

2

(cos θ)

_

dr

0

+ 4πG

_

a

r

1

ρ(r

0

)

_

r

0

−

2

15

r

2

1

∂

r

0

(r

0

)P

2

(cos θ)

_

dr

0

+

1

3

Ω

2

r

2

1

−

1

3

Ω

2

r

2

1

P

2

(cos θ)

+

2

3

r

1

(r

1

)P

2

4πG

r

2

1

_

r

1

0

ρ(r

0

)r

2

0

dr

0

.

We want V

S

to be independent of θ. So, we set the sum of the P

2

(cos θ) coeﬃcients equal

to zero, which results in the condition:

4πG

_

r

1

0

ρ(r

0

)

_

−

2

15

_

r

4

0

r

3

1

[5(r

0

) +r

0

∂

r

0

(r

0

)] dr

0

+ 4πG

_

a

r

1

ρ(r

0

)

_

−

2

15

_

r

2

1

∂

r

0

(r

0

) dr

0

−

1

3

Ω

2

r

2

1

+

8

3

(r

1

)πG

r

1

_

r

1

0

ρ(r

0

)r

2

0

dr

0

= 0.

4.2. CLAIRAUT’S DIFFERENTIAL EQUATION 119

A slight re-organization gives:

−

8

5

πG

_

1

r

3

1

_

r

1

0

ρ(r

0

)r

4

0

[5(r

0

) +r

0

∂

r

0

(r

0

)] dr

0

+r

2

1

_

a

r

1

ρ(r

0

)∂

r

0

(r

0

) dr

0

−5

(r

1

)

r

1

_

r

1

0

ρ(r

0

)r

2

0

dr

0

_

= Ω

2

r

2

1

. (4.22)

Equation 4.22 is an integral equation for . We can transform it into a diﬀerential equation

by:

1. multiplying by r

3

1

and taking ∂

r

1

of the result; and then

2. multiplying by r

−4

1

and taking ∂

r

1

again.

The result is Clairaut’s diﬀerential equation for (r), which, after changing r

1

to r, has

the form:

ρ(r)

_

∂

2

r

(r) −

6

r

2

(r)

_

+

6ρ(r)

r

_

∂

r

(r) +

(r)

r

_

= 0 (4.23)

where

ρ(r) =

3

r

3

_

r

0

ρ(r

0

)r

2

0

dr

0

.

Note that all Ω

2

terms are missing in Equation 4.23. That means that Clairaut’s

equation doesn’t have enough information to uniquely determine (r). Instead, to ﬁnd

you ﬁnd a general solution to Clairaut’s equation. (There will be two independent

solutions since the equation is 2nd order.) Then you ﬁnd the coeﬃcients in the general

solution, by requiring that the result satisﬁes the integral equation for , Equation 4.22

above.

4.2.1 Example: A uniform (homogeneous) earth

Assume ρ = ρ

0

= constant. Then:

ρ(r) =

3

r

3

ρ

0

_

r

0

r

2

0

dr

0

= ρ

0

.

120 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

In this case, Clairaut’s equation reduces to:

∂

2

r

+

6

r

∂

r

= 0.

We try a solution of the form = r

n

, and ﬁnd that

n(n −1) + 6n = 0.

Or

n(n + 5) = 0 ⇒ n =

_

¸

_

¸

_

0

−5.

So, the general solution is:

= b +

c

r

5

.

Now, we ﬁnd b and c. We note right away that c = 0. Otherwise, → ∞ near the

earth’s center. This would mean that the radii of constant density/potential surfaces →

∞ near the center, which we know cannot be true.

So c = 0, and the general solution is: = b = constant. To ﬁnd b in terms of Ω

2

, we

put = b into the integral equation Equation 4.22. Then ∂

r

0

= 0, and Equation 4.22

reduces to:

−

8

15

πG

_

1

r

3

1

5bρ

0

_

r

1

0

r

4

0

dr

0

−5

b

r

1

ρ

0

_

r

1

0

r

2

0

dr

0

_

=

1

3

Ω

2

r

2

1

or:

−

8

15

πG

_

5bρ

0

r

3

1

r

5

1

5

−5

b

r

1

ρ

0

r

3

1

3

_

=

1

3

Ω

2

r

2

1

or:

b =

15

16

_

Ω

2

πρ

0

G

_

. (4.24)

So, ellipticity = constant = Equation 4.24.

The real density inside the earth is not constant, but increases with depth. It turns

out that then Clairaut’s equation implies that increases with radius. So the outer

portions of our ﬂuid earth are more aspherical than the inner portions.

also always turns out to be positive, which implies that the surfaces are squashed

down at the poles. To see this, note that (remembering that P

2

=

1

2

(3 cos

2

θ −1)):

r(θ = 90

◦

) −r(θ = 0

◦

) = −

2

3

r

0

[P

2

(90

◦

) −P

2

(0

◦

)]

4.2. CLAIRAUT’S DIFFERENTIAL EQUATION 121

= −

2

3

r

0

_

−

1

2

−1

_

= r

0

.

So, > 0 ⇒r(90

◦

) > r(0

◦

).

If you use the best seismic results for the density function ρ(r

0

) and solve Clairaut’s

equation, you ﬁnd:

(a) = f(= ﬂattening ) =

1

299.7

.

The observed f, using satellite data for J

2

, is

f

obs

=

1

298.257

.

The diﬀerence is 1/2% (i.e. a relative accuracy of 5 10

−3

).

This agreement is good, but the observational errors for J

2

are better than 10

−6

. So,

why is there this discrepancy?

One possibility is that the 1st order theory is not good enough, so that you should

go to 2nd order. People have constructed a 2nd order theory, but the 2nd order terms

aﬀect the solution at only the 5 10

−4

level (.05%), which is not large enough.

Another possibility is that the seismic density model is not quite right. You can

modify the density slightly so that it is still reasonably consistent with seismic data and

predicts the correct f. But, you still have trouble. That’s because of the following:

We’ll see, later, that the earth precesses due to the gravitational attraction of the

sun and moon, in the same way a top nutates due to the gravitational attraction of the

earth. The period of the precession is well known from observations — it is roughly

26,000 years. The period depends on the “dynamical ellipticity” of the earth:

H =

C −A

C

where C and A are principal moments of inertia of the earth. We’ll see all this, later.

It turns out (you can get this by appropriate integration of the internal density)

that H is proportional to the coeﬃcient of the P

2

(cos θ) term in the density, integrated

through the earth. In other words, H is proportional to the radial integral (through the

122 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

entire earth) of (r). f (or J

2

), on the other hand, is proportional to (r) at the outer

surface r = a.

To ﬁrst order in you can relate H to f from Clairaut’s equation. It turns out that:

H =

f −

1

2

m

1 −

2

5

¸

5

2

m

f

−1

where m = Ω

2

a/g

T

.

So, once f is known — H follows directly. And, note that the relation between H

and f is independent of the density.

Well, the observed H and f don’t satisfy this relation (m is known). So, no matter

what the density is, you can’t satisfy the observations of H and f from Clairaut’s equa-

tion. Using the best seismic density results in Clairaut’s equation gives a predicted H

of 1/308.0. The observed H is 1/304.437. The discrepancy is approximately 1%. If you

adjust the density so that f is right, then H is still wrong by 0.5%. If you adjust the

density so H is right, then f is wrong by approximately 0.7%. Or, you can adjust the

density so that both are right to approximately 0.4%.

The only conclusion possible is that the earth is not exactly in hydrostatic equilibrium

with the centrifugal potential. Note that a 0.5% error in f is approximately 0.00521 km

≈ 100 m error in the pole-equator elevation diﬀerence in the ellipsoid, and that’s about

the same order as the geoid anomalies for other Y

m

l

terms. (Actually, this term is still

somewhat larger than the other Y

m

l

terms.)

So, what can cause the ellipticity to be diﬀerent from the expected value? One unlikely

explanation is that the earth has some ﬁnite strength. That is, it can support some shear

stress over long time periods, and so is not a perfect ﬂuid. Most geophysicists don’t

believe that. It is true that the earth’s crust and lithosphere can support shear stresses

for long times. After all, there is topography on the surface, and if the crust behaved as

a ﬂuid that topography would presumably ‘ﬂow’ laterally until it had disappeared. But,

in order to have a signiﬁcant non-ﬂuid response to the centrifugal force, there’d have to

be ﬁnite strength over a much thicker region than the thin crust/lithosphere. And, most

4.3. A MORE REALISTIC EARTH 123

geophysicists are reluctant to believe that.

A related possibility is that the mantle is a very viscous ﬂuid. That is, the viscosity

is large and so it takes a reasonably long time for the mantle ﬂuid to reach equilibrium.

The relevance of this is that the earth’s rotation is decreasing approximately linearly

with time (we’ll get into this later). And so the centrifugal force is decreasing. If the

viscosity is high enough that the mantle response time is longer than the time it takes for

the centrifugal force to decrease signiﬁcantly, then the present shape of the earth might

be reﬂecting the older, faster rotation. This would lead to ellipticities larger than those

predicted from Clairaut’s equation. Most geophysicists don’t believe this explanation,

either. There are estimates of the mantle viscosity from postglacial rebound (we’ll talk

about that, later), and they suggest the viscosity is not large enough.

The most likely explanation is that the earth is approximately ﬂuid over long time

periods, but that there are other factors besides rotation that cause lateral variations in

density. That is certainly the case: thermal anomalies must exist within the earth if there

is to be on-going mantle convection. Those thermal anomalies must be associated with

density anomalies (it is buoyancy forces caused by the density anomalies that directly

drive the convection). So, presumably the discrepancy from Clairaut’s equation is due

to the Y

0

2

component of those thermal/density anomalies. The non-Y

0

2

part of the geoid

is also presumably due to this eﬀect.

4.3 A More Realistic Earth

In Section 4.1, we described the geoid for an elliptical earth. Here, we extend that

description to include non-elliptical contributions.

First, let’s discuss the deﬁnition of the geoid a little more. The deﬁnition we have

used so far is: the surface of constant potential which coincides with mean sea level over

the oceans. If you cut thin canals across the continents joining the oceans, the water in

the canals would be on that constant potential surface.

But, this is not really the geoid. The real geoid is a surface which is deﬁned in some

124 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

sense by the leveling process: it is the reference surface for leveling. For example, you

level and ﬁnd that Boulder, Colorado is approximately 5000 ft above some reference

surface — that surface is the geoid.

Suppose you make leveling measurements everywhere over the earth’s surface. Over

the oceans, the leveling results would indicate no change in elevation (except for the

eﬀects on sea level from dynamical oceanographic processes — like currents). So, over

the oceans the geoid does coincide with a constant potential surface. What about under

land?

There certainly is a constant potential surface under the land connecting the ocean

surfaces. But, it is not exactly coincident with the geoid (although it’s pretty close).

The horizontal surface that the leveling instrument uses as a reference is, indeed, an

equipotential surface. But it is the equipotential surface that runs through the position

of the instrument, which at Boulder is about 5000 ft above the reference surface you are

trying to deﬁne. And the equipotential surface down at that depth is not necessarily

parallel to the one that runs through Boulder.

For example, consider the possible situation pictured in Figure 4.1. The leveling

at instrument

topography

instrument

equipotential surface coinciding

through levelling instrument

equipotential surface

equipotential surface passing

with sea level

A

B

Figure 4.1:

4.3. A MORE REALISTIC EARTH 125

instrument would show that the two endpoints, A and B, of line AB, were at the same

elevation because they lie on the same equipotential surface. So, we would want to deﬁne

the geoid so that A and B were the same distance above it. But in this example, the

two endpoints are not equal distances above the lower equipotential surface, because the

equipotential surfaces above and below the topographic feature are not parallel to one

another.

Incidentally, there is another type of problem that sometimes comes up when trying

to use leveling observations to determine elevations. It turns out that for particularly un-

favorable geometries, the apparent elevation diﬀerence between two locations can depend

on the leveling route you use. For example, consider the mountain shown in Figure 4.2,

where there is more mass on one side than the other. You want to level from A to B.

large mass

A

B

equipotential

surfaces

Figure 4.2:

One leveling route you can take is around the mountain: out of the page and around to

B, where the equipotential surfaces are presumably all ﬂat and parallel to the surface.

Using this route, you would conclude that A and B were at the same elevation. Another

route you could take would be over the mountain. As you go up the left hand side, the

equipotential surfaces are tipped so that they are more parallel to the mountain surface

than are the equipotential surfaces on the right hand side. So, leveling would not register

as much elevation gain going up the left hand side as the measured elevation loss going

down the right hand side. You would then conclude that B was lower than A.

126 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

These sorts of errors are usually negligible. They are only important when you’ve got

large elevation changes along the leveling route. Geodesists have developed methods to

reduce them (usually involving gravity measurements) although you can’t eliminate them

entirely. What this problem shows, though, is that the idea of a well-deﬁned surface (the

geoid) acting as a reference surface for leveling is not really valid. With the geoid, we

are simply trying to ﬁnd a surface which comes as close to a useful reference surface as

possible.

So, how do we ﬁnd such a surface? We want to try to relate it to gravity somehow,

so that we can determine it from gravity observations. Over the ocean the geoid will

be an equipotential surface. Under continents, we want the geoid to be parallel to the

equipotential surface at the leveling instrument overhead. External equipotential surfaces

are approximately parallel to one another, so long as they are not separated by too great

a distance. But, an equipotential surface inside the earth is apt to be distinctly tilted

with respect to an external equipotential surface.

For example, consider the topography in Figure 4.3. The land mass warps the internal

land

ocean ocean

equipotential surface

equipotential surface

geoid

Figure 4.3:

and external equipotential surfaces in diﬀerent directions. The geoid should be deﬁned

so that it is parallel to the external surface. Thus the geoid in this example will not

4.3. A MORE REALISTIC EARTH 127

coincide with an equipotential surface.

So, what do we do? We use the fact that external equipotential surfaces are reasonably

parallel. For example, a concise way to deﬁne a reference surface for leveling would be to

choose the equipotential surface that lies just above Mt. Everest. That surface, since it

is everywhere external to the earth, is nearly parallel to the local equipotential surfaces.

And, it is a physically meaningful surface (i.e. it is an equipotential surface). But, it

obviously does not coincide with sea level over the oceans. In fact, if we used this as a

reference surface, we would end up assigning all elevations to be negative, determined by

the number of feet below Mt. Everest.

In a sense, this is what people do. Only they (sort of) add the height of Mt. Everest to

every such elevation. More precisely, they expand the potential just outside Mt. Everest

as a sum of spherical harmonics. They then continue this expansion down to mean

sea level by assuming that the radial dependence of each Y

m

l

term is r

−(l+1)

, which is

the radial dependence for an external ﬁeld. This results in a sort of quasi-potential at

sea level. They then deﬁne the geoid as the surface over which this quasi-potential is

constant. Note that this does not give the true potential down at sea level, because the

actual radial dependence is much more complicated when you continue down through

continental mass. Instead, it is nearly equivalent to compressing all the continental mass

down into a thin layer lying just below sea level, and then ﬁnding the equipotential surface

for this re-organized earth. The resulting surface (the geoid) will thus not really be an

equipotential surface under continents, but it will be nearly parallel to the equipotential

surfaces up where the leveling observations are made. It is a more useful reference surface

than the Mt. Everest surface, because most of the earth’s surface is at or near sea level.

Incidentally, you need to know the geoid not just for conventional geodetic applica-

tions (that is, for global surveying), but also to interpret long wavelength surface gravity

observations. Suppose you measure gravity on the surface. You get some anomalous

results. You want to use the results to learn about the earth’s density. But, are the

results anomalous because of anomalous density inside the earth, or because there is

topography on the earth’s surface. Speciﬁcally, if you observe a gravity high, is it due

128 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

to excess underlying density, or to a depression in the surface at that point — causing

the gravimeter to be closer to the earth’s center where the gravitational acceleration is

larger? The only way to know is to determine the shape of the earth — and that requires

knowledge of the geoid.

4.3.1 The Geoid

Let’s ﬁnd a relation between the geoid and the earth’s external potential, for an earth

with an arbitrary aspherical shape. The external potential for a realistic earth (including

rotation) has the form

V

T

=

_

GM

r

+

1

3

Ω

2

r

2

_

. ¸¸ .

Y

0

0

−

_

1

3

Ω

2

r

2

+

GM

r

3

a

2

J

2

_

. ¸¸ .

Y

0

2

P

2

(cos θ)

−

GM

r

∞

l=2

l

m=−l

(l,m)=(2,0)

V

m

l

Y

m

l

(θ, φ)

_

a

r

_

l

(4.25)

where the V

m

l

are constants. Here we have separated the Y

0

0

and Y

0

2

terms from the sum

over l and m, only because we have already considered their eﬀects on the geoid.

There is no l = 1 term in the sum over l because we are assuming the origin of

the coordinate system is the earth’s center of mass. What’s the connection? Back in

Chapter 3, I showed that if you have a density distribution ρ(x

) =

l,m

ρ

m

l

(r

)Y

m

l

(θ

, φ

),

then the gravitational potential outside the object would be

V (x) = 4πG

l,m

Y

m

l

(θ, φ)

2l + 1

1

r

l+1

__

(r

)

l+2

ρ

m

l

(r

) dr

_

.

So, the Y

m

1

coeﬃcient in V is proportional to

_

(r

)

3

ρ

m

1

(r

) dr

. (4.26)

where

ρ

m

1

(r) =

_

2π

0

dφ

_

π

0

sin θ dθ ρ(r, θ, φ)Y

m∗

1

(θ, φ).

So Equation 4.26 becomes (dropping the primes on r):

_

earth

ρ(x)rY

m∗

1

(θ, φ) d

3

x (4.27)

4.3. A MORE REALISTIC EARTH 129

where d

3

x = r

2

dr sin θ dθ dφ. In terms of rectangular coordinates, the Y

m

1

are:

rY

0∗

1

=

¸

3

4π

z

rY

1∗

1

= −

¸

3

8π

(x −iy)

rY

−1∗

1

=

¸

3

8π

(x +iy).

So, the integral in Equation 4.26 is proportional to [

_

earth

ρz], [

_

ρ(x − iy)], [

_

ρ(x + iy)]

depending on the value of m. But, if the origin is chosen to be the center of mass, then

_

ρz =

_

ρx =

_

ρy = 0, so that the integrals for l = 1 vanish for all m. Thus, there are

no l = 1 terms in the expansion of V

T

.

By collecting all the angular-dependent terms of V

T

— including the P

2

term — into

δV (r, θ, φ), we can write:

V

T

=

_

GM

r

+

1

3

Ω

2

r

2

_

+δV (r, θ, φ) (4.28)

Note that δV is much smaller then GM/r.

Equation 4.28 is only valid outside the earth. But let’s now just consider it as a

mathematical expression and extend the expression, as written, down into the earth far

enough that it coincides with mean sea level over the oceans. We then deﬁne the geoid

as the surface

r = a +δr(θ, φ),

where the mean of δr is zero, and where V

T

(r = a + δr, θ, φ) is independent of θ and φ.

So, V

T

is constant on the geoid. Thus, the geoid won’t really be an equipotential surface

— since our expression for V

T

does not really equal the potential inside the earth — but

it will be nearly parallel to the equipotential surface at the earth’s outer surface. So, by

assuming that δr/a ¸1, and that δV/(GM/r) ¸1 and

1

3

Ω

2

r

2

/(GM/r) ¸1 near r = a,

we obtain:

V

T

(r = a +δr) ≈

GM

a +δr

+

1

3

Ω

2

a

2

+δV (a, θ, φ).

In other words, to lowest order we only need to include δr in the leading GM/r term.

130 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

Expanding GM/(a +δr) to 1st order gives the geoid condition

GM

a

_

1 −

δr

a

_

+

1

3

Ω

2

a

2

+δV (a, θ, φ) = independent of θ, φ.

So, since GM/a and

1

3

Ω

2

a

2

are already independent of θ and φ, we get:

δr

_

GM

a

2

_

= δV (a, θ, φ) + constant.

The constant = 0 if the average of δr is to be 0 (since the average of each Y

m

l

, and so of

δV , is zero). To lowest order: GM/a

2

∼

= g

T

(r = a) = the acceleration at the surface. So:

δr

∼

=

_

δV

g

T

_¸

¸

¸

¸

¸

r=a

.

That’s the result we derived for the simpler earth models above. Evidently it is always

true.

4.3.2 Stoke’s Formula

You can ﬁnd δV either from surface gravity observations or from satellite ranging data.

Stoke’s formula is a method for ﬁnding the geoid from surface gravity. Here’s how it

works.

The total acceleration vector (gravitational + centrifugal) that aﬀects a gravimeter

is g

T

= ∇V

T

. The amplitude of g

T

(the quantity actually observed) is, to ﬁrst order in

δV , equal to the negative of the radial component of g

T

(it’s the negative of the radial

component because the acceleration is downward, and the positive radial direction is

upward). So

g

T

= −∂

r

V

T

=

_

GM

r

2

−

2

3

Ω

2

r

_

−∂

r

δV. (4.29)

In practice, you measure g

T

on the earth’s surface. That surface is

r = a +δr(θ, φ) +H(θ, φ)

where H(θ, φ) is the surface elevation as determined by leveling. (Leveling gives the

elevation above the geoid.) So, from gravity and leveling, you can determine g on the

4.3. A MORE REALISTIC EARTH 131

geoid: g

g

. What you measure with gravimeters is g

T

(r = a +δr +H). And g

g

≡ g

T

(r =

a +δr). To 1st order in H/a:

g

g

= g

T

(r = (a +δr +H) −H)

= g

T

(r = a +δr +H) −H ∂

r

g

T

[

r=a+δr+H

.

And, to zero order in H/a and δr/a,

∂

r

g

T

[

r=a+δr+H

∼

= −

2GM

r

3

¸

¸

¸

¸

r=a+δr+H

≈ −

2GM

a

3

∼

= −

2

a

g

T

¸

¸

¸

¸

a

.

So:

g

g

≈ g

T

(r = a +δr +H)

. ¸¸ .

g

obs

+

2

a

g

T

¸

¸

¸

¸

r=a

H.

You measure g

obs

with gravimeters, and H by leveling. Thus, you can deduce g

g

from

your observations.

Now, how does g

g

depend on δV ?

g

g

= g

T

(r = a +δr)

∼

= g

T

(r = a) +δr∂

r

g

T

(r = a).

To zero order in small quantities:

∂

r

g

T

[

r=a

= −

2GM

a

3

= −

2

a

g

T

¸

¸

¸

¸

a

.

So, to ﬁrst order, and using Equation 4.29:

g

g

∼

=

_

GM

a

2

−

2

3

Ω

2

a

_

− ∂

r

δV [

r=a

−

2

a

g

T

¸

¸

¸

¸

a

δr.

But, δr ≈ (δV/g

T

) [

r=a

. So:

g

g

≈

_

GM

a

2

−

2

3

Ω

2

a

_

−

_

∂

r

δV +

2

a

δV

_¸

¸

¸

¸

r=a

.

So:

g

g

−

_

GM

a

2

−

2

3

Ω

2

a

_

= −

_

∂

r

δV +

2

a

δV

_¸

¸

¸

¸

r=a

. (4.30)

This (Equation 4.30) is another result that I had claimed, earlier in this section, was

always true. (For the simpler earth models considered earlier, I had deﬁned the left hand

side of Equation 4.30 as δg.)

132 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

Both g

g

−[

GM

a

2

−

2

3

Ω

2

a] and δr are dominated by the P

2

terms. It is usual to remove

those terms from g

g

and δr. δr minus the P

2

terms is usually written as N. The

interpretation of N is that it is the height of the geoid above the ellipsoid (δr = height

of geoid above the surface r = a). So:

N =

∆V

g

T

¸

¸

¸

¸

¸

r=a

where ∆V = δV after subtracting all P

2

terms.

The relation between g

g

and ∆V is

g

g

−

_

GM

a

2

−

2

3

Ω

2

a

_

+

_

∂

r

δV

m=0

l=2

+

2

a

δV

m=0

l=2

_¸

¸

¸

¸

r=a

= −

_

∂

r

∆V +

2

a

∆V

_¸

¸

¸

¸

r=a

.

The left hand side is:

_

g

obs

+

2

a

Hg

T

¸

¸

¸

¸

a

_

. ¸¸ .

g

g

−

__

GM

a

2

−

2

3

Ω

2

a

_

−

_

∂

r

δV

m=0

l=2

+

2

a

δV

m=0

l=2

_¸

¸

¸

¸

r=a

_

. ¸¸ .

≈γ

0

.

The large second bracketed term is approximated by “the international gravity formula”:

γ

0

= 978.03185

_

1 + 0.005278895 cos

2

θ + 0.000023462 cos

4

θ

_

. (4.31)

These numbers come from satellite observations of GM and J

2

. I’ve talked as though we

only want to remove the constant and P

2

terms from g

g

— but note the cos

4

θ term in

γ

0

(Equation 4.31). That term represents second order eﬀects of J

2

and Ω

2

on g

g

. It’s a

small term, and it is often not necessary to include it when reducing data.

So, deﬁning ∆g = g

obs

−γ

0

+

2

a

Hg

T

[

a

, we obtain

∆g = −

_

∂

r

∆V +

2

a

∆V

_¸

¸

¸

¸

r=a

. (4.32)

You know the left hand side from gravity and leveling observations. You then solve

Equation 4.32 for ∆V [

r=a

. You use the result in N = (∆V/g

T

)[

a

to get the geoid

anomaly, N.

So, given δg, how do you solve Equation 4.32 for ∆V ? You start by noting that ∆g

is a function of θ and φ, and so can be expanded as:

∆g =

l,m

g

m

l

Y

m

l

(θ, φ) (4.33)

4.3. A MORE REALISTIC EARTH 133

where the g

m

l

are constants. ∆V is a function of r, θ, and φ, and so has the expansion

(see Equation 4.25):

∆V = −

GM

r

l,m

V

m

l

_

a

r

_

l

Y

m

l

(θ, φ). (4.34)

In both expansions (Equations 4.33 and 4.34), the sum over l starts at l = 2, and the

l = 2, m = 0 terms are missing. Then, using these expansions in Equation 4.32 gives:

g

m

l

Y

m

l

=

GM

a

l,m

V

m

l

Y

m

l

_

−

l + 1

a

+

2

a

_

=

GM

a

2

l,m

V

m

l

(1 −l)Y

m

l

.

So, equating coeﬃcients gives:

g

m

l

=

GM

a

2

. ¸¸ .

g

T

|a

(1 −l)V

m

l

(4.35)

Or:

V

m

l

=

g

m

l

(1 −l)g

T

[

a

. (4.36)

We can relate g

m

l

directly to the geoid, by expanding

N =

l,m

N

m

l

Y

m

l

(θ, φ)

with N

m

l

= constants. Then

N =

∆V

g

T

¸

¸

¸

¸

¸

r=a

⇒ N

m

l

=

−GM

a

V

m

l

g

T

= −aV

m

l

. (4.37)

So:

N

m

l

= −

_

a

g

T

[

r=a

_

_

g

m

l

1 −l

_

.

So if we had the g

m

l

coeﬃcients from surface observations, we could easily ﬁnd the N

m

l

,

and so ﬁnd N.

Note, incidentally, that short wavelength features are less prominent in the geoid than

they are in gravity. You can deduce this from the (1 −l) in the denominator of N

m

l

. For

short horizontal wavelengths, l is large, and so N

m

l

is proportionally smaller than g

m

l

.

134 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

One consequence of this result (i.e. that the geoid is “smoother” than gravity) is

that surface gravity observations are not as useful for ﬁnding the geoid as are satellite

observations. Surface gravity gives good short wavelength gravity results, but poor long

wavelength components. And, the geoid is more sensitive to the long wavelength (small

l) terms. Satellites, on the other hand, are best at providing the longer wavelength terms

in V

T

.

Nevertheless, let’s continue this discussion of how you obtain N from surface gravity

observations. That’s all people could do before satellites. And, in some situations, people

still do it that way. Only, they don’t do it by ﬁnding the g

m

l

coeﬃcients. Instead, they

use Stoke’s formula. I’ll just outline the derivation.

We have seen that

N = −

a

g

T

[

a

l,m

g

m

l

1 −l

Y

m

l

(θ, φ). (4.38)

The g

m

l

, deﬁned in Equation 4.33, are given by:

g

m

l

=

_

∆g(θ

, φ

)Y

m∗

l

(θ

, φ

) sin θ

dθ

dφ

.

We substitute this integral into Equation 4.38, to obtain:

N = −

a

g

T

[

a

_

∆g(θ

, φ

)

_

l

_

1

1 −l

_

m

[Y

m

l

(θ, φ)Y

m∗

l

(θ

, φ

)]

_

sin θ

dθ

dφ

. (4.39)

The addition theorem says that the sum over m in Equation 4.39 is

m

[Y

m

l

(θ, φ)Y

m∗

l

(θ

, φ

)] =

2l + 1

4π

P

l

(cos γ)

where γ = angle between (θ, φ) and (θ

, φ

). So:

N = −

a

4πg

T

[

a

_

∆g(θ

, φ

)

_

l

_

2l + 1

1 −l

_

P

l

(cos γ)

_

sin θ

dθ

dφ

.

You can do the sum over l. Deﬁne this sum as f(γ), so that:

f(γ) =

1

2

l

_

2l + 1

1 −l

_

P

l

(cos γ).

It turns out [see Garland, “Introduction to Geophysics,” W.B. Saunders Co., 1979, p161]

f(γ) =

_

1

2

csc

γ

2

−1 −cos γ

_

+ 3

_

1 −cos γ −2 sin

γ

2

−cos γ ln

_

sin

γ

2

+ sin

2

γ

2

__

.

4.4. SATELLITE GEOIDS 135

So:

N = −

a

2πg

T

[

a

_

∆g(θ

, φ

)f(γ) sin θ

dθ

dφ

. (4.40)

Equation 4.40 is Stoke’s formula. You determine δg from observations. You then

integrate Equation 4.40 to get N. This doesn’t really get around the problem of not

knowing the long wavelength g

m

l

very well from surface observations. The reason you

don’t know them well is because there are many areas of the globe where you don’t have

good surface gravity observations: over the oceans, for example. It turns out that f(γ)

doesn’t go to 0 very quickly as γ →π. That is, there will be signiﬁcant contributions to

the integral in Equation 4.40 from δg all over the globe. So, areas of sparse data are still

a problem when using Stoke’s formula.

4.4 Satellite Geoids

It is much easier nowadays to determine the global geoid from satellite observations than

from gravity measurements on the ground. From Equation 4.37 we know that the geoid

is

N = −a

l,m

V

m

l

Y

m

l

, (4.41)

where the V

m

l

are the potential coeﬃcients deﬁned in Equation 4.34 (and in Equa-

tion 4.25). Satellite ranging gives the V

m

l

, by ﬁtting to the satellite’s orbital motion.

And the V

m

l

give N directly, using Equation 4.41. (Actually, satellite geodesists usu-

ally use a diﬀerent normalization for their spherical harmonics, so that their coeﬃcients,

written as C

lm

and S

lm

, are proportional to our V

m

l

’s.)

We’ll discuss the observed geoid and its geophysical interpretation, later. But as a pre-

view: people have now demonstrated pretty convincingly that the long wavelength geoid

(l from 2 to about 10) is caused by density anomalies associated with convection, and by

convection-driven perturbations of surfaces that have density discontinuities across them

(e.g. the outer surface; the core-mantle-boundary).

136 CHAPTER 4. PHYSICAL GEODESY PROBLEMS

Chapter 5

Stress/Strain Relations

Observational results for surface gravity and for the shape of the geoid tell geophysicists

about the internal density of the earth. Sometimes that density is what the geophysicist is

after. But often the geophysicist wants to learn about the mechanism causing the density

anomaly. For that sort of application you need to know something about how the earth

responds to external and internal forcing. That means you have to know something

about stress and strain inside a solid and how to incorporate stress and strain into the

equations of motion for the earth. That’s what this chapter is about.

First, we’ll talk about stress and strain inside a solid and how they are related. Here

is a very crude qualitative description:

Suppose you have a block of solid material. You deform it somehow. There are

internal forces in the block which resist the deformation, so that when you let go of the

block it tries to spring back to its original shape (unless you’ve deformed it too much).

Think of the deformation as the strain. Think of the restoring forces as the stress.

Somehow we must relate stress to strain. That is, can we infer the restoring forces if we

know the deformation? (Alternatively, if we know the “restoring” forces, can we model

the deformation?) For the earth (and for most materials), as long as the deformation is

small, the stress will be nearly linearly proportional to the strain. That’s a generalization

of Hooke’s Law for a one-dimensional spring: F = kx. Only the stress/strain relation

looks a lot more complicated than this. That’s because:

137

138 CHAPTER 5. STRESS/STRAIN RELATIONS

1. You can’t describe deformation or internal forces with simple scalars like F and x.

Both stress and strain turn out to be tensors.

2. A solid cannot be easily modeled as a set of discrete objects, like springs. It is better

modeled as a continuum. That means we must deal with continuum mechanics —

rather than with the sort of discrete mechanics you learn about in most physics

mechanics courses. To develop the equations of continuum mechanics you break

the medium up into small, discrete blocks and look at the forces on each block, but

then you let the block size go to zero.

Now, let’s get into the details. First, I’ll deﬁne the stress tensor, and show how a

solid deforms under certain stresses. Then, I’ll deﬁne the strain tensor, and write down

the general relationship between stress and strain.

After that, I’ll describe: incorporating stress and strain into the equations of motion;

waves in a solid; anelasticity.

5.1 Stress tensor

A stress tensor describes internal forces in an object. Consider a small volume from the

interior of a solid body, as in Figure 5.1. What external forces act on this block? There

Figure 5.1:

are “body forces” — that is, forces that originate from an object outside the block and

which act on every molecule within the block. For the earth, the most pertinent of these

would be gravity. But, electro-magnetic (EM) forces also fall into this category.

5.1. STRESS TENSOR 139

There are also “surface forces,” which are the forces that act on the surfaces of the

block from the surrounding molecules — through atomic and molecular bonding. (In a

ﬂuid, the surface force is pressure.) Those forces are primarily between neighbors and

next-nearest neighbors. The surface force per unit area of the surface is called the stress.

Stresses are really internal atomic and molecular forces (EM bonding) — but it is easiest

to model them as acting between and across surfaces, even though there are probably

not well deﬁned surfaces inside the solid.

Pick, say, the y = constant face of the block. See Figure 5.2. The net force acting

z

x

y

e

e

e

y = constant face

Figure 5.2:

on that face from the atoms just outside the block is a vector, and so has ˆ e

x

, ˆ e

y

, ˆ e

z

components: F

x

, F

y

, F

z

. The stress tensor, τ, is deﬁned so that its elements are the net

force components divided by the area of the face. At least, they are deﬁned that way

when the area of the face is inﬁnitesimal. So:

τ

yx

=

ˆ e

x

component of force on y = constant face

area of y = constant face

τ

yy

=

ˆ e

y

component of force on y = constant face

area of y = constant face

τ

yz

=

ˆ e

z

component of force on y = constant face

area of y = constant face

Similarly, you can deﬁne τ

xx

, τ

xy

, τ

xz

, τ

zx

, τ

zy

, and τ

zz

. The ﬁrst index describes the

orientation of the face, and the second describes the component of the force. Since the

block is inﬁnitesimal, the nine numbers really represent surface forces at a point, T, in

the medium.

140 CHAPTER 5. STRESS/STRAIN RELATIONS

You organize these nine numbers into a tensor:

↔

τ =

_

_

_

_

_

_

_

τ

xx

τ

xy

τ

xz

τ

yx

τ

yy

τ

yz

τ

zx

τ

zy

τ

zz

_

_

_

_

_

_

_

Don’t worry about what a tensor is. Just think of it as a matrix. It has the nice property

that if we pick any inﬁnitesimal surface passing through the point T, and if ˆ n is the normal

to that surface, then the (force/area) acting across the surface is: (F/area) = ˆ n

↔

τ , where

this dot product represents vector/matrix multiplication:

ˆ n

↔

τ = ˆ e

i

3

j=1

n

j

τ

ji

where ˆ e

1

= ˆ e

x

, ˆ e

2

= ˆ e

y

, and ˆ e

3

= ˆ e

z

. (We need to be more careful about the signs. If one

side of the surface is 1 and the other side 2, and if ˆ n goes from 1 into 2, then ˆ n

↔

τ is the

force/area on 1 from 2.) The nice thing is that this result for the force doesn’t require

the surface to be parallel to the xy, xz, or yz planes.

It turns out that the stress tensor is symmetric. That is: τ

ij

= τ

ji

. To show this,

consider the very small internal block in Figure 5.3, where dx, dy, and dz are inﬁnitesimal.

dx

dy

dz

Figure 5.3:

Newton’s Second Law for the block as a whole is:

ma = F

surface

+F

body

(5.1)

where m and a are the mass and acceleration of the block, F

surface

is the sum of all surface

forces acting on the block, and F

body

is the sum of all body forces acting on the cube.

F

body

= (body force density) volume

5.1. STRESS TENSOR 141

m = (mass density) volume

F

surface

= (surface stress) area (5.2)

The volume is proportional to (dxdy dz). The area is proportional to (dxdy) or (dxdz)

or (dy dz), depending on which face we are considering. So, for inﬁnitesimal dx, dy,

and dz, the volume ¸ area. So, for a small block, Equations 5.1 and 5.2 imply that

F

surface

= 0 to lowest order in dx, dy and dz. You can go through the same reasoning to

conclude that the total torque on the inﬁnitesimal cube due to surface forces (stresses)

is zero, to lowest order.

These results imply that

↔

τ is symmetric (actually you only need the zero torque

result). Consider, for simplicity, a two-dimensional stress ﬁeld, where τ

yi

= τ

iy

= 0 for

all i. See Figure 5.4.

z

e

x

e

y

e

dy

dx

dz

F

F

F

F

F

F

F

F

xz

xx

zz

zx

xz

xx

zx

zz

Figure 5.4:

The F

ij

represent the force on a face. For example:

F

xx

= τ

xx

dy dz F

zz

= τ

zz

dxdy

F

xz

= τ

xz

dy dz F

zx

= τ

zx

dxdy

(5.3)

Note that I have labeled these forces so that the forces on opposite faces are equal.

In other words, F

xx

on the right hand face = F

xx

on the left hand face, and similarly

for F

xz

, F

zz

, and F

zx

. Why can I do that? Well, really F

xx

on the left hand face should

be τ

xx

(x) dy dz and F

xx

on the right hand face should be τ

xx

(x + dx) dy dz. That is, the

142 CHAPTER 5. STRESS/STRAIN RELATIONS

forces are diﬀerent because τ

xx

is a function of x. But: τ

xx

(x +dx) ≈ τ

xx

(x) + dx∂

x

τ

xx

.

And, to zeroth order in dx (remember — “no surface torques” is only valid to zeroth

order), dx∂

x

τ

xx

is negligible. So τ

xx

(x +dx) ≈ τ

xx

(x), to zeroth order. Thus, F

xx

is the

same on both faces. Similarly for the other F

ij

’s. This means that the requirement that

there be no net force on the cube is automatically satisﬁed. The condition of no net

torque means:

dz

2

2F

zx

(= clockwise torque) =

dx

2

2F

xz

(= counterclockwise torque).

Thus, dz F

zx

= F

xz

dx. Combining this result with Equation 5.3 gives τ

zx

= τ

xz

. You

can go through a similar argument in the full three-dimensional case to conclude that

τ

ij

= τ

ji

for all i, j.

So, there are really only six independent stress components. I’ll label them as

τ

11

, τ

12

, . . . , instead of τ

xx

, τ

xy

, . . . , so that:

↔

τ =

_

_

_

_

_

_

_

τ

11

τ

12

τ

13

τ

12

τ

22

τ

23

τ

13

τ

23

τ

33

_

_

_

_

_

_

_

5.2 Stress-Induced Deformation

So, now we know something about stresses and how they relate to forces. How do stresses

deform material? For the moment we’ll only worry about the deformation induced by

the diagonal terms in τ: τ

11

, τ

22

, τ

33

.

Assume, ﬁrst, that τ

11

is the only component not equal to zero. Start with the

inﬁnitesimal block shown in Figure 5.5, which has sides of length dx, dy, dz. We apply

the forces F

11

, as shown, where F

11

= τ

11

dy dz. The block deforms. One thing that

happens is that the width of the block lengthens by ∆x. It is like stretching a spring.

Hooke’s Law says that the restoring force on a spring is linearly proportional to the

amount the spring has stretched. It works well, so long as the spring is elastic and is not

stretched too much.

5.2. STRESS-INDUCED DEFORMATION 143

∆x

F

11

F

11

dx

Figure 5.5:

Let’s assume the solid in Figure 5.5 is elastic and is not deformed too much. This

assumption means that the block returns to its initial state immediately after the forces

are removed. The elastic assumption is pretty good for the earth at short time periods

(for example, at seismic periods of minutes or less). It is not as good at very long time

periods (thousands to millions of years). We’ll extend our results to include anelasticity

later.

For an elastic, slightly deformed solid, we might expect to ﬁnd a generalization of

Hooke’s Law:

F

11

= k∆x. (5.4)

It turns out that this generalization works pretty well for small ∆x. The constant k

depends on the material and on the size and shape of the block. Let’s try to ﬁnd the

dependence on the size and shape.

First, how does k depend on the unstretched length, dx? Imagine cutting the block

in half, as in Figure 5.6. Consider, say, the left half. The right half exerts the force F

11

F

11

dx/2 dx/2

F

11

Figure 5.6:

on the left half (see Figure 5.7). We know this must be true, because the net force on the

144 CHAPTER 5. STRESS/STRAIN RELATIONS

inﬁnitesimal half-block vanishes (to lowest order in the size of the block). By symmetry,

11

x/2 ∆

F

11

F

dx/2

Figure 5.7:

the left half must absorb half the increase in length. So, the left half stretches by the

amount ∆x/2. So, for this half block:

F

11

= k1

2

_

∆x

2

_

where, k

1/2

represents the value of k for the half-block. By equating the F

11

equations

for the full block and the half block, we note that k

1/2

= 2k. So, when we divide the

block by 2 we double k. We can obviously extend this result by dividing the original

block into smaller blocks of any size. We conclude that k is inversely proportional to the

length. That is, k is proportional to 1/dx. Deﬁne k

so that k = k

/dx. Using this in

Equation 5.4 gives

F

11

= k

∆x

dx

(5.5)

Next, how does k

**depend on the cross-sectional area: dy dz in this case? Go back to
**

the original block and cut it in half lengthwise. See Figure 5.8. The cross-sectional area

∆x

F

11

/2

F

11

/2 F

11

/2

F

11

/2

dx

Figure 5.8:

on one face of the half-block is now (1/2) dy dz, instead of dy dz. By symmetry, the force

on a half-block face should be F

11

/2, as shown.

5.2. STRESS-INDUCED DEFORMATION 145

The stretching of each-block is still ∆x, and the unstretched length is dx. Hooke’s

Law (Equation 5.5) applied to a half-block is now

1

2

F

11

= k

1

2

∆x

dx

(5.6)

where k

1/2

= k

for the half-block. Comparing Equations 5.5 and 5.6 gives: k

1/2

= k

/2.

So, reducing the area by 1/2, reduces k

by 1/2, implying that k

must be proportional to

dy dz. Deﬁne E ≡ Young’s modulus, so that k

**= E dy dz. Then Equation 5.5 becomes:
**

F

11

= E dy dz

∆x

dx

.

Or:

τ

11

=

F

11

dy dz

= E

∆x

dx

.

Deﬁne

11

≡ ∆x/dx = (change in length)/(length). The reason for the two subscripts on

will be clear later. Then:

τ

11

= E

11

. (5.7)

Equation 5.7 is a generalized Hooke’s Law for solids. E ≥ 0 for reasonable materials.

Otherwise, when you pull on an object it would contract.

The forces F

11

will change the other dimensions, as well. For example, (see Figure 5.9)

F

11

F

11

∆z

dz

Figure 5.9:

assume the height before deformation is dz, and that when you apply F

11

on each side,

the height increases by ∆z (∆z will probably be negative). You can go through an

argument similar to the one above for ∆x — using, again, a generalization of Hooke’s

Law — to get a relation similar to Equation 5.7:

τ

11

= −

_

E

ν

_

∆z

dz

= −

_

E

ν

_

33

146 CHAPTER 5. STRESS/STRAIN RELATIONS

where

33

≡ ∆z/dz = (change in height)/(height). We write the proportionality constant

here as (−E/ν), instead of using a single variable, to conform with convention. ν is called

Poisson’s ratio and is dimensionless. (E, here, is the same Young’s modulus that appears

in Equation 5.7.) The minus sign is present because for most materials ν ≥ 0. (If you

pull on the block, its height decreases.) Note that this result for

33

can be combined

with Equation 5.7 to give:

33

= −ν

11

You can do something similar for ∆y/dy ≡

22

to ﬁnd

τ

11

= −(E/ν)

22

and

22

= −ν

11

.

For isotropic materials — and we will always assume isotropic materials here (isotropic

means that the material properties are independent of the orientation of the applied

stresses) — the ν’s in the

22

and

33

equations are the same.

It turns out that for “reasonable” materials, ν ≤ 1/2. To see this, suppose we apply

stresses τ

11

= τ

22

= τ

33

= −P, and that τ

ij

= 0 for i ,= j. The symbol P is appropriate,

because if the τ

ii

’s are equal, and τ

ij

= 0 for i ,= j, then the τ

ii

’s are the negative of the

pressure (a positive τ

ii

means an outward force on an object — but pressure is inward).

Each of the τ

ii

perturb the three sides dx, dy, dz — increasing them by ∆x, ∆y, ∆z.

From the results above we conclude that for an isotropic material:

∆x = τ

11

1

E

dx −τ

22

ν

E

dx −τ

33

ν

E

dx

∆y = −τ

11

ν

E

dy +τ

22

1

E

dy −τ

33

ν

E

dy

∆z = −τ

11

ν

E

dz −τ

22

ν

E

dz +τ

33

1

E

dz.

(Without the isotropic assumption, the ν’s and E’s above might all be diﬀerent.) So:

∆x = (τ

11

−ντ

22

−ντ

33

)

dx

E

= −P(1 −2ν)

dx

E

∆y = (τ

22

−ντ

11

−ντ

33

)

dy

E

= −P(1 −2ν)

dy

E

∆z = (τ

33

−ντ

11

−ντ

22

)

dz

E

= −P(1 −2ν)

dz

E

.

5.3. RESPONSE TO τ

IJ

FOR I = J 147

So, the new volume of the solid is:

(dx + ∆x)(dy + ∆y)(dz + ∆z) = dxdy dz

_

_

1 +

∆x

dx

_

_

1 +

∆y

dy

_

_

1 +

∆z

dz

_

_

.

To lowest order in the deformation (∆x/dx, ∆y/dy, ∆z/dz are small), this new volume

is:

dxdy dz

_

1 +

∆x

dx

+

∆y

dy

+

∆z

dz

_

= dxdy dz

_

1 −3(1 −2ν)

P

E

_

(5.8)

The original volume was dxdy dz. So, the change in volume is Equation 5.8 minus

dxdy dz. Thus, the change in volume (≡ ∆V ), divided by the original volume (≡ dV ) is:

∆V

dV

= −

_

3(1 −2ν)

E

_

P.

If / ≡ bulk modulus ≡ E/3(1 −2ν) then

P = −/

∆V

dV

(5.9)

Since E > 0, then ν > 1/2 would imply that / < 0. That would mean that if

you squeezed the block (P > 0), the volume would increase. That’s unphysical, and so

0 < ν ≤ 1/2.

5.3 Response to τ

ij

for i = j

The section above shows that we can describe the response of a solid, isotropic block to

τ

11

, τ

22

, and τ

33

, using two independent constants: either (E and ν) or (/ and ν) (or (E

and /), but that combination is rarely used).

I claim that we can describe the response to the other τ

ij

(i ,= j) with the same two

elastic constants. The reason for this is that for any stress ﬁeld you can come up with,

there is a coordinate system in which τ

ij

= 0 for i ,= j. Another way to put that is that

because

↔

τ is symmetric, we can always ﬁnd a coordinate system where

↔

τ is diagonal:

i.e. where only τ

11

, τ

22

, and τ

33

,= 0. And, the response to the τ

ii

’s can be described with

just those two constants.

Let’s try to see, physically, why any stress ﬁeld looks like a normal stress ﬁeld in

some coordinate system. Suppose, for example, that we choose an inﬁnitesimal cube

148 CHAPTER 5. STRESS/STRAIN RELATIONS

with sides along the ˆ e

x

, ˆ e

y

, and ˆ e

z

axes, as shown in Figure 5.10, and we ﬁnd that the

diagonal elements of the stress tensor are zero (i.e. τ

ii

= 0 for every i). In fact, suppose,

zx

F

F

zx

F

zx

F

zx

Figure 5.10:

for simplicity, that all stress components with a y-index are 0, so that the only surface

forces acting on the cube are those shown in Figure 5.10. Each of the four force arrows

in Figure 5.10 has the same length (F

zx

), because the stress tensor is symmetric and

because each face is assumed to have the same area. We bisect this cube along the

upper left-lower right diagonal, so that the volume above the diagonal is as shown in

Figure 5.11.

45

zx

F

zx

F

zx

F =

F

2

Figure 5.11:

The arrow pointing away from the diagonal in Figure 5.11 is the force on the diagonal

face of the half-cube, and it is normal to this face (with length

√

2F

zx

). That’s because

the sum of all the surface forces acting on an inﬁnitesimal object must vanish, to lowest

5.3. RESPONSE TO τ

IJ

FOR I = J 149

order in the dimensions of the object (we saw that, earlier). Similarly, if we bisect the

Figure 5.10 cube between the upper right and lower left corners, we ﬁnd that the force

on that diagonal face is normal to the face. See Figure 5.12.

F 2

zx

F

zx

zx

F

F =

Figure 5.12:

So, we have found two mutually perpendicular planes where the surface forces are

normal to the surfaces. That means, we didn’t cut our inﬁnitesimal cube in a clever way.

We should have cut out a cube oriented as in Figure 5.13. Then, the surface forces would

new cube

original cube

Figure 5.13:

be normal to the new cube. And, if our local ˆ e

x

, ˆ e

y

, ˆ e

z

axes are re-deﬁned to be parallel

to the faces of the new cube,

↔

τ would be diagonal in the new system.

The above argument can be extended to a more general three-dimensional case, where

the τ

ii

are not zero, only it’s harder. It is easier to simply trust in the result from linear

algebra, that says that any symmetric matrix can be diagonalized.

150 CHAPTER 5. STRESS/STRAIN RELATIONS

In the diagonal system:

↔

τ =

_

_

_

_

_

_

_

τ

11

0 0

0 τ

22

0

0 0 τ

33

_

_

_

_

_

_

_

.

The τ

ii

may not be equal. If they were equal, then the internal stress ﬁeld would be

equivalent to a hydrostatic pressure ﬁeld: i.e. τ would have the form

↔

τ = −P

↔

I

where

τ

11

= τ

22

= τ

33

= −P, and

↔

I

is the identity matrix (tensor). But, the identity tensor is

unaﬀected by rotations into new coordinate systems. So,

↔

τ = P

↔

I

in every system.

If the τ

ii

are not equal in the diagonal system, then there will be shear stresses (τ

ij

,= 0

for i ,= j) in other systems. But, no matter what the system, [τ

11

+ τ

22

+ τ

33

] is always

the same — this is a property of matrices (the sum of the diagonal components is the

same in every system). So, for any stress tensor we deﬁne the pressure as

P = −

1

3

[τ

11

+τ

22

+τ

33

] .

Then, we think of

↔

τ as consisting of pressure (−P

↔

I

) plus a remainder. The remainder

is called the deviatoric stress, and is written as

←→

δτ :

←→

δτ =

↔

τ +P

↔

I

.

All shear stresses are described by

←→

δτ . For a ﬂuid,

←→

δτ = 0.

To ﬁnd the deformation produced by an arbitrary stress tensor

↔

τ we can proceed in

three steps:

The Procedure:

1. Transform the stress tensor to the diagonal (“principal-axis”) system.

2. Find the deformation (∆x, ∆y, ∆z) in that diagonal system, using (E, ν) or (/, ν),

and the results of the preceding section.

3. Transform the deformation ﬁeld back into the original system.

Of course, we don’t want to have to go through this procedure every time we are

given a new stress tensor. Instead, we want to work the method through just once for

5.3. RESPONSE TO τ

IJ

FOR I = J 151

an arbitrary stress tensor, to obtain a general relation between stress and deformation

that can be easily applied to any situation. The algebra is messy. It involves ﬁnding the

diagonalizing rotation matrix for an arbitrary stress tensor, taking its inverse, multiplying

the matrices together, etc. I’m not going to go through it all here, but will simply write

down the answer. But, I can’t do that quite yet, because I haven’t deﬁned enough

quantities to describe deformation in an arbitrary system. All I’ve done, so far, is to

describe the quantities ∆x/dx, ∆y/dy, and ∆z/dz, which describe what happens to line

elements when they are stretched outward or inward, along their lengths.

To describe deformation in the more general case, I need to deﬁne a matrix, called

the strain tensor. The three numbers ∆x/dx, ∆y/dy, and ∆z/dz, turn out to be the

diagonal elements of that tensor.

5.3.1 Strain Tensor

It turns out that you need nine numbers to describe an arbitrary displacement of the

material in a small block. Suppose you have two points in a solid, initially both on the

ˆ e

x

axis a small distance dx apart, as shown in Figure 5.14. The solid is then deformed,

dx

1 2

Figure 5.14:

so that the right hand point moves up along the ˆ e

z

axis and out along the ˆ e

x

axis, as

shown in Figure 5.15. We can describe this deformation with two numbers: ∆z and ∆x.

∆ x dx

∆ z

Figure 5.15:

If there is also a displacement in the ˆ e

y

direction, then we need a third number: ∆y. In

152 CHAPTER 5. STRESS/STRAIN RELATIONS

Section 5.2, this dx line element only stretched in the ˆ e

z

direction, so we only needed to

introduce the quantity ∆x to describe it. Here, we need three quantities. Only, let’s use

ratios with respect to dx for our three numbers:

∆x

dx

,

∆y

dx

,

∆z

dx

.

Similarly, if two points separated along the ˆ e

z

direction are displaced by ∆x, ∆y, ∆z, we

need the numbers:

∆x

dz

,

∆y

dz

,

∆z

dz

to describe the deformation of the line between those two points. (dz = unperturbed line

length.) And:

∆x

dy

,

∆y

dy

,

∆z

dy

are needed to describe the deformation of a line along the ˆ e

y

axis. (Note: ∆x, for example,

is diﬀerent for each of the three lines.)

So, it looks like we need nine numbers to describe deformation: we must specify what

happens to the original ˆ e

x

, ˆ e

y

, and ˆ e

z

axes at any point — and it takes three numbers

to describe the deformation of each of these three axes. This suggests that a reasonable

deﬁnition of the strain tensor ought to be the matrix with elements ∆x/dz, etc. For

example, the (ij)th element would be ∆r

i

/dr

j

(where dr

1

= dx, dr

2

= dy, etc.).

Well, we could certainly construct a 33 matrix this way, but it turns out it wouldn’t

be the “right” matrix. What happens is that when we go through “The Procedure” de-

scribed above, we ﬁnd that only six independent, linear combinations of the nine numbers

appear in the ﬁnal result. Three independent, linear combinations do not appear. The

three combinations that do not appear represent rotations of inﬁnitesimal blocks.

Here’s how these linear combinations are deﬁned: The quantities ∆x/dz, etc., can be

aﬀected either by deformation of the inﬁnitesimal block, or by rotation. By “deformation”

I mean displacements which can be caused by stress on the block. We have seen that

you can always ﬁnd a coordinate frame where the stress tensor is diagonal. And, in

that frame, the displacements represent pure stretching. That is, ∆x/dx, ∆y/dy, and

∆z/dz are, in general, non-zero, but all other ∆r

i

/dr

j

= 0. So, by “deformation,” I

5.3. RESPONSE TO τ

IJ

FOR I = J 153

mean values of ∆x/dx, ∆x/dy, etc., which when transformed to some coordinate system,

represent pure stretching. I claim that means that deformational displacements must

satisfy ∆z/dx = ∆x/dz, ∆z/dy = ∆y/dz, and ∆y/dx = ∆x/dy.

There are two ways to see this. One is that for deformation, the matrix of ∆x/dx,

∆y/dx, etc., can be diagonalized by a rotation (a unitary transformation). That means

the matrix must be symmetric.

The other way is to deﬁne two matrices

ij

and ω

ij

so that

13

=

1

2

_

∆x

dz

+

∆z

dx

_

, ω

13

=

1

2

_

∆x

dz

−

∆z

dx

_

etc., for the other

ij

, ω

ij

(note: ω

ii

= 0). Then, think of the elements ∆x/dx, ∆x/dy,

etc., as linear combinations of the ’s and ω’s. For example:

∆x

dz

=

13

+ω

13

∆z

dx

=

13

−ω

13

.

I claim that the ω

ij

describe rotations — not deformation. For example, suppose ω

13

,= 0,

but — for simplicity — suppose

13

= 0. Then

∆x

dz

= ω

13

= −

∆z

dx

. (5.10)

Consider the central point, O, of a cube, as shown in Figure 5.16. Consider the four

line segments connected to O with endpoints at dx, −dx, dz, and −dz. The arrows in

∆ z

∆ x

x −∆

z −∆ dx -dx

-dz

dz

O

Figure 5.16:

Figure 5.16 represent the displacements corresponding to Equation 5.10. They describe

154 CHAPTER 5. STRESS/STRAIN RELATIONS

a rotation, not a deformation. They look like a rotation in every frame — never a

“stretching.”

So, for deformation ω

13

= 0 ⇒∆x/dz = ∆z/dx. Similarly for ∆x/dy, etc.

The result of all this is that the

ij

describe the deformational contributions to ∆x/dx,

∆x/dy, etc. So, we deﬁne the strain tensor,

↔

, so that its elements are

ij

=

1

2

[∆r

i

/dr

j

+ ∆r

j

/dr

i

] . (5.11)

It turns out that this is a perfectly good tensor. In fact, it is symmetric, and the diagonal

elements are

11

= ∆x/dx,

22

= ∆y/dy,

33

= ∆z/dz.

5.3.2 Relation between stress and strain

We are now ready to write down the results of applying “The Procedure” described

above, to ﬁnd the deformation caused by an arbitrary, non-diagonal stress tensor. We

ﬁnd that in the original system the stress and strain are related to each other linearly,

according to:

τ

ij

=

k,l

Λ

ijkl

kl

(5.12)

where Λ is a 4th rank tensor. Think of Λ as the product of rotation matrices, with the

principal-axis stress-strain relation stuck in the middle.

For an isotropic material, such as we’re considering here, it just takes two parameters

to characterize Λ. Those parameters could be (ν, E) or (ν, /). Instead, at this point, it’s

more convenient to deﬁne two new independent parameters — called Lam´e parameters:

µ =

E

2(1 +ν)

λ = 2µ

ν

1 −2ν

.

In terms of these parameters, it turns out that

Λ

ijkl

= 2µδ

ik

δ

jl

+λ δ

ij

δ

kl

(5.13)

where the δ’s are Kronecker delta’s. Putting Equation 5.13 into Equation 5.12 gives:

τ

ij

= 2µ

ij

+λδ

ij

3

k=1

kk

. (5.14)

5.4. RELATION BETWEEN STRESS/STRAIN AND THE DISPLACEMENT FIELD 155

5.4 Relation between stress/strain and the

displacement ﬁeld

The problem with the strain tensor as deﬁned in Equation 5.11, is that it involves dis-

placements of line elements, which don’t have a lot of physical signiﬁcance. When solving

a geophysical problem, you are usually interested in knowing the displacements of indi-

vidual points inside the earth. Here we deﬁne the displacement ﬁeld, and show how to

represent the strain tensor in terms of the displacement components.

Suppose we have a solid object. We deform the object so that the displacement of any

point originally at x is s(x). So, the point is now at x +s(x). What is the strain tensor

at that point, in terms of s? Our result above for strain is in terms of displacements

of inﬁnitesimal line elements. So, how do those displacements relate to s? Suppose,

for example, that all displacements are in the ˆ e

x

direction. So, before the deformation

we have Figure 5.17. After the deformation (if s has only a ˆ e

x

component) we have

undeformed line element

x = (x, y, z) (x + dx, y, z)

Figure 5.17:

Figure 5.18. So:

x s x + ( ) = (x + s

x

(x), y, z) s

x

(x+dx), y, z) (x + dx +

deformed line element

Figure 5.18:

∆x = [[x +dx +s

x

(x +dx)] −(x +s

x

(x))] −dx

= [deformed length] −undeformed length

= s

x

(x +dx) −s

x

(x).

156 CHAPTER 5. STRESS/STRAIN RELATIONS

So in the limit as dx →0:

∆x

dx

→∂

x

s

x

.

Similarly: ∆z/dx →∂

x

s

z

, ∆y/dx →∂

x

s

y

, ∆x/dz →∂

z

s

x

, etc. So:

ij

=

1

2

[∂

i

s

j

+∂

j

s

i

] . (5.15)

Equation 5.15 is the strain tensor in terms of the displacement ﬁeld, s(x).

Now, suppose we take this result (Equation 5.15) for

ij

, and use it in the stress/strain

equation (Equation 5.11). We obtain:

↔

τ = µ

_

∇s + (∇s)

T

_

+λ∇ s

↔

I

(5.16)

where

↔

I

= identity tensor (matrix), and ∇s, (∇s)

T

are tensors:

(∇s)

ij

= ∂

i

s

j

(∇s)

T

ij

= ∂

j

s

i

where T means transpose.

5.5 Remarks

1. µ is called the rigidity. If µ = 0, then τ

ij

= 0 if i ,= j, and τ

ii

is the same for all

i. In other words,

↔

τ is diagonal with equal diagonal elements. So,

↔

τ represents a

hydrostatic pressure — with no shear stresses. In this case, the material is a ﬂuid:

it cannot support shear.

2. Suppose µ ,= 0. Then, there are shear stresses, in general. We still can deﬁne the

hydrostatic pressure as:

P = −

1

3

i

τ

ii

= −

1

3

i

_

_

2µ

ii

+λ δ

ii

.¸¸.

=1

k

kk

_

_

= −

2µ + 3λ

3

k

kk

.

5.5. REMARKS 157

For an inﬁnitesimal block:

k

kk

=

∆x

dx

+

∆y

dy

+

∆z

dz

=

∆V

dV

where dV = the unperturbed volume of the block, and ∆V = the change in volume.

So:

P = −

2µ + 3λ

3

∆V

dV

.

Thus, by comparing with Equation 5.9, we would expect that (2µ + 3λ)/3 = / =

bulk modulus, and this is indeed what we ﬁnd.

3. For an incompressible material, we can apply any pressure we want and ∆V should

be 0. That’s the deﬁnition of incompressible: you can’t change the volume of

any small interior cube. That means, / = ∞ characterizes “incompressible.” So,

2µ + 3λ = ∞ for an incompressible solid. But, µ is ﬁnite (at least, for a non-rigid

material). So, λ = ∞ for an incompressible material. But, you don’t want ∞’s in

your equations.

So, what happens to Equation 5.16 for an incompressible material? If λ = ∞ and

↔

τ = ﬁnite in that equation, then

∇ s = 0 (5.17)

must hold. (Another way to obtain this result is to note that ∇ s =

kk

=

∆V /dV = 0 for an incompressible material.) Equation 5.17 is the condition for

incompressibility. But, what do we do about the term

λ(∇ s) = ∞ 0 = indeterminate (5.18)

in Equation 5.16? Well, it turns out that this term equals −P. That’s because

P = −

2µ

3

kk

(= 0) − λ

kk

= −λ

kk

= −λ(∇ s). So, for an incompressible

material Equation 5.16 reduces to:

↔

τ = µ

_

∇s + (∇s)

T

_

−P

↔

I

∇ s = 0. (5.19)

158 CHAPTER 5. STRESS/STRAIN RELATIONS

Note that we have had to introduce the extra unknown, P, and that we have an

extra equation (∇ s = 0). Equation 5.19.

People often use the incompressible assumption for the earth because: (1) it’s

not too bad an assumption for many applications; and (2) it usually simpliﬁes

the mathematics, despite the fact that it requires an extra equation and an extra

unknown.

5.6 Putting

↔

τ into F = ma

We now know how to ﬁnd

↔

τ from s. The equation we use for this, Equation 5.16, is the

continuum mechanics analogue of Hooke’s Law, F = kx, for a spring. The stresses, in

turn, act across internal surfaces to cause the displacement ﬁeld s. To describe the latter

process, we need to derive the continuum mechanics analogue of F = ma.

To obtain this equation we divide the material into blocks, and write down F = ma

for each block. The internal stresses enter into the F = ma equation for a block, because

they represent surface forces acting across the faces of the block. But the separation into

individual blocks is purely artiﬁcial: it is unlikely that there are well-deﬁned surfaces

inside the material. Ultimately, we want to somehow come up with a body force repre-

sentation for the stresses, that we can then use in our continuum mechanics version of

F = ma.

Suppose we start with a block of material from inside the object, as in Figure 5.19.

The block need not be inﬁnitesimal. Let the block have volume 1 and surface o. Let ρ

Figure 5.19:

5.6. PUTTING

↔

τ INTO F = MA 159

be the density inside the block. We apply forces to the block: F

body

and F

surface

where

F

body

is the net body force (gravity, etc.) and F

surface

is the surface force (stress area).

So:

F

body

=

_

V

f d1

where f = body force per unit volume (for gravity, f = ρg), and

F

surface

=

_

S

ˆ n

↔

τ do

where ˆ n = normal to o, pointing outward from the block. These forces cause the block

to accelerate. The acceleration is

a = ∂

2

t

x

CM

=

∂

2

t

_

V

ρs d1

m

=

_

V

ρ

¨

s d1

m

where x

CM

is the position of the block’s center of mass, s is the displacement ﬁeld within

the block, and m is the mass of the block. Then, F = ma for the block becomes:

_

V

ρ

¨

s d1 =

_

V

f d1 +

_

S

ˆ n

↔

τ do.

By the divergence theorem:

_

S

ˆ n

↔

τ do =

_

V

∇

↔

τ d1 (5.20)

where ∇

↔

τ is a vector with ith component:

_

∇

↔

τ

_

i

=

3

j=1

∂

j

τ

ji

.

(You may not be familiar with the tensor divergence theorem. But you can obtain this

result by separating

↔

τ into column vectors, and using the vector divergence theorem on

each of those vectors.) So, F = ma for the block reduces to:

_

V

_

ρ

¨

s −f −∇

↔

τ

_

d1 = 0 (5.21)

160 CHAPTER 5. STRESS/STRAIN RELATIONS

Since Equation 5.21 is true for arbitrary 1, the integrand must vanish everywhere:

ρ

¨

s = f +∇

↔

τ (5.22)

We identify ∇

↔

τ as the body force due to stress.

Equation 5.22 plus the relation Equation 5.16 between

↔

τ and ∇s, etc., is a complete

set of diﬀerential equations for s. These equations tell us how the earth responds to

internal and external forcing.

5.6.1 Example: Waves in a homogeneous, isotropic, ∞

medium

Suppose there are no body forces. Then ρ

¨

s = ∇

↔

τ . Or, in component form:

ρ¨ s

i

=

j

∂

j

τ

ji

for i = 1, 2, 3. (5.23)

And for an isotropic material:

τ

ij

= µ[∂

i

s

j

+∂

j

s

i

] +λδ

ij

k

∂

k

s

k

. (5.24)

Put Equation 5.24 for τ

ij

into Equation 5.23, and we have an equation for s. Most of

seismology involves solving this equation for speciﬁed functions of position µ(x) and λ(x),

and for speciﬁed external boundaries of the material. (We haven’t talked about what

happens at an external boundary of the object. If there are no applied external surface

forces on the object, then there are homogeneous boundary conditions on

↔

τ . Speciﬁcally:

ˆ n

↔

τ = surface force = 0 on the boundary. If there is an applied, external surface force,

f

s

, then the boundary condition is ˆ n

↔

τ = f

s

.)

For a homogeneous material µ and λ are constants, and so:

j

∂

j

τ

ji

=

j

_

µ

_

∂

i

∂

j

s

j

+∂

2

j

s

i

__

+λ

j

∂

j

_

δ

ij

k

∂

k

s

k

_

= µ∂

i

_

∇ s

_

+µ∇

2

s

i

+λ∂

i

_

∇ s

_

.

Or:

∇

↔

τ = µ∇

2

s + (µ +λ) ∇

_

∇ s

_

.

5.6. PUTTING

↔

τ INTO F = MA 161

Using this in Equation 5.23 gives:

ρ

¨

s = µ∇

2

s + (µ +λ) ∇

_

∇ s

_

(5.25)

This is the partial diﬀerential equation for s in a homogeneous solid.

There are two types of solutions to this equation:

5.6.2 p-waves: longitudinal or sound waves

Take ∇ Equation 5.25. Then, since ∇ commutes with ∇

2

and with ∂

2

t

:

ρ∂

2

t

(∇ s) = µ∇

2

∇ s + (µ +λ)∇

2

(∇ s).

Or, deﬁning ∆ ≡ ∇ s ≡ dilatation:

ρ

¨

∆ = (2µ +λ)∇

2

∆. (5.26)

This is a wave equation for the scalar ∆. Solutions have the form:

∆ = e

i(k·r−ωt)

(5.27)

where k = wave vector (k/[k[ is the direction of wave propagation, and k = [k[ =

2π/wavelength), and ω = angular frequency. Putting Equation 5.27 into Equation 5.26

gives: ρω

2

= (2µ +λ)k

2

. So:

ω

k

=

¸

2µ +λ

ρ

.

And, ω/k = wave velocity = v

p

. The subscript ‘p’ stands for primus. This letter was orig-

inally assigned to these waves, because they are the ﬁrst waves to arrive at a seismometer

following an earthquake. Typically, within the earth:

v

p

≈

_

¸

_

¸

_

6

km

sec

near the surface

13

km

sec

in the lower mantle.

These “p-waves” are compressive, or sound, waves. They involve a change in volume

of the material the wave passes through. That’s because

∆ = ∇ s =

k

kk

=

∆V

V

162 CHAPTER 5. STRESS/STRAIN RELATIONS

for a small block. (Note: for an incompressible material which cannot undergo volume

changes, λ = ∞, so that v

p

= ∞.)

These waves also involve displacements along the direction of motion. To see this,

suppose

s = Ae

i(k·r−ωt)

. (5.28)

Then:

∆ = ∇ s = i(k A)e

i(k·r−ωt)

.

If ∆ ,= 0 (as it must if there is a p-wave), then k A ,= 0, so the direction of motion (k/k)

and the direction of displacement (A/A) are not perpendicular. This is why p-waves are

sometimes called longitudinal waves.

5.6.3 s-waves: transverse waves

Take ∇ Equation 5.25. Then, since ∇(∇f) = 0 for any scalar f, we get:

ρ∂

2

t

(∇s) = µ∇

2

(∇s). (5.29)

Equation 5.29 is a wave equation for the vector ∇s. Solutions have the form:

∇s = Ae

i(k·r−ωt)

. (5.30)

Equation 5.30 is a traveling wave with wave vector k and frequency ω. It satisﬁes the

diﬀerential equation if ω/k = wave velocity =

_

µ/ρ. This wave velocity is usually

written as v

s

. The ‘s’ stands for secondus. These waves arrive at a seismometer after

p-waves (they are called s-waves). Note that v

s

< v

p

(because µ < 2µ + λ). Typically,

within the earth:

v

s

≈

_

¸

_

¸

_

3.5

km

sec

near the surface

7

km

sec

in the lower mantle.

There are no s-waves in the ﬂuid core, since µ = 0 in a ﬂuid. The absence of s-waves

traveling through the core is why we know there is a ﬂuid core.

S-waves involve no displacements along the direction of motion, which is why they

are called transverse waves. That’s hard to show using this method for deriving s-waves,

so I’ll skip it.

5.7. ANELASTICITY 163

5.6.4 The general case

After an earthquake, the real earth has all sorts of waves traveling through it. The

earthquake generates p- and s-waves, which travel through the earth until they hit a

discontinuity — a place where the material properties change abruptly. There, they gen-

erate transmitted and reﬂected waves. A p-wave hitting a boundary can cause reﬂected

and transmitted p- and s-waves. The situation is similar for an incident s-wave. And,

there are lots of boundaries.

As a further complication, the earth’s free outer surface gives rise to another sort of

wave: a “surface wave.” (The p- and s-waves are called “body waves.”) A surface wave

is a solution to Equation 5.25 which varies periodically with distance along the surface,

but decays exponentially with depth into the earth. These waves can’t exist in an inﬁnite

medium, because they would grow exponentially with radius, and so be unbounded.

5.7 Anelasticity

Real materials do not deform elastically. If you apply a stress to a material it does not

immediately deform to its ﬁnal state. There will probably be an instantaneous response

followed by some sort of slow deformation.

People have come up with all sorts of mathematical models to describe anelasticity.

In all cases, the stress is modeled as dependent on strain in some way. Except that for

an anelastic material, the dependence is not simple multiplication by a constant.

The most mathematically complicated models are those where the stress is not a

linear function of strain. Laboratory materials often behave in a non-linear manner,

particularly when subjected to large stress. A familiar model is one where the strain rate

(the time derivative of strain) is proportional to stress raised to the nth power, where n

is greater than 1 (typically, n ≈ 3 or so). For small stresses, though, people often ﬁnd

they can get away with a linear stress-strain relation. That’s certainly true for seismic

applications. And it is usually valid for studies of the response of the earth to surface

loading, which we will consider later. Linear models are convenient because they are

164 CHAPTER 5. STRESS/STRAIN RELATIONS

relatively easy to implement.

It should not be surprising that linear models tend to work reasonably well for small

stress perturbations. You obtain a linear model by expanding a non-linear model to ﬁrst-

order in the stress perturbation. For example, if σ

0

is the background stress level, and δσ

is the perturbation in stress caused by whatever geophysical process you are considering,

then the ﬁrst-order Taylor series expansion of σ

n

= (σ

0

+δσ)

n

is σ

n

0

+nσ

n−1

0

δσ, which is

linear in δσ.

The consequence is that geophysicists usually assume the rheology for an anelastic

material is linear (consistent with the standard scientiﬁc procedure of using the simplest

model which can explain the observations). Except that here the “linear relation” is not

simply multiplication by a constant (if it were, the material would be elastic). It involves,

also, taking time derivatives or integrating over time.

A simple example of anelastic behavior in the real world is air resistance. In that

case, the anelastic force is proportional to the velocity — which is the time derivative

of the displacement (F = b ˙ x). This is analogous to the stress being proportional to the

strain rate. Because the time derivative is a linear operator, the stress-strain relation in

this case is linear.

5.7.1 The general linear model

The most general, linear relation for an anelastic material is of the form

k,l

W

ijkl

τ

kl

=

k,l

X

ijkl

kl

for all i, j (5.31)

where W and X may involve multiplication by constants, time derivatives of any order,

and time integrals of any order. (For example: a second order integration term in X

would look like

_

t

0

(

_

t

0

kl

(t

) dt

) dt

.)

People have used all sorts of diﬀerent W’s and X’s to model geophysical processes.

They ﬁnd they need diﬀerent W’s and X’s for diﬀerent processes. For example, diﬀerent

models are required at the short periods (seconds to minutes) and small stresses appro-

priate to seismic waves, than at the long periods (thousands to millions of years) and

5.7. ANELASTICITY 165

relatively large stresses appropriate for tectonics and much of geodesy. It is not yet clear

what happens at intermediate periods. Earth tides and earth rotation can maybe help

with that in the future.

Evidently, diﬀerent mechanisms are dominant in these diﬀerent regimes. For seismic

waves, the anelastic mechanism may have something to do with the opening and closing

of pre-existing cracks in the medium, as the wave passes through. Or, it may involve the

two sides of a crack sliding past one another (equivalent to simple friction).

In the tectonic regime the important mechanisms probably involve either diﬀusion

(at high temperatures, molecular bonds are weak and so molecules diﬀuse over time) or

dislocation creep (a dislocation, such as in Figure 5.20, that moves through a crystal over

time).

dislocation

Figure 5.20:

Since people don’t really understand the mechanisms very well, the usual mathe-

matical approach used for modeling in-situ geophysical observations is to try to ﬁnd

the simplest W and X which explain those observations, and then to see what those

mathematical results might tell you, if anything, about the mechanisms.

166 CHAPTER 5. STRESS/STRAIN RELATIONS

5.7.2 The Frequency regime

People usually work in the frequency regime. That is, they Fourier transform Equa-

tion 5.31 from the time domain to the frequency domain. They also transform the

equation for conservation of momentum, Equation 5.21, into the frequency regime (for

example, replacing

¨

s with −ω

2

s). They then solve all these equations for the Fourier

transform of s, and take the inverse Fourier transform to get s in the time domain.

Why go to the frequency domain? Because then ∂

t

→ iω and

_

dt → 1/iω. So, in

the frequency domain, W and X get replaced by simple multiplication operators — only

where the multiplicative factors are functions of frequency (ω). You can, of course, solve

elastic problems in the frequency domain, too. Only there’s not much point in it, since

in that case W and X are already simple multiplication operators in the time domain

(W

ijkl

= δ

ik

δ

jl

and X

ijkl

= Λ

ijkl

), and so are unaﬀected by the Fourier transform.

So in the Fourier transform domain for a linear, anelastic material, where

W and

X

are multiplication tensors (the ¯ denotes Fourier transform), you can invert

W to obtain

a relation of the form:

¯ τ

ij

=

k,l

¯

Λ

ijkl

¯

kl

, (5.32)

where ¯ τ

ij

and ¯

kl

are the Fourier transforms of stress and strain, and

¯

Λ =

W

−1

X depends

on ω and is, in general, complex.

Equation 5.32 looks like the elastic stress/strain relation. In fact, for isotropic mate-

rials, you can write:

¯

Λ

ijkl

= 2¯ µδ

ik

δ

jl

+

¯

λδ

ij

δ

kl

just as in the elastic case, but where ¯ µ and

¯

λ are now complex functions of ω.

The result of all this is that the formalism used to solve elastic problems can also be

applied to anelastic problems. We just replace µ and λ by functions of ω, and invert the

solution from the frequency domain where the equations are solved, to the time domain.

We can make some general remarks about the functions ¯ µ(ω) and

¯

λ(ω). For example,

one issue is whether there is dissipation of shear energy or of compressional energy. In

the ﬁrst case (shear dissipation), we want the relation between P and ∆V /dV to be

5.7. ANELASTICITY 167

unaﬀected by anelasticity. In other words, no dissipation of compressional energy implies

that the volume responds instantaneously to any applied pressure. That means, we want

¯

/ = bulk modulus =

3

¯

λ + 2¯ µ

3

(5.33)

to be independent of ω. This must hold, even though both ¯ µ and

¯

λ are likely to be

complex functions of ω.

In the second case (compressive dissipation),

¯

/ is frequency dependent, but ¯ µ is not.

That’s because ¯ µ describes shear — after all, ¯ µ is responsible for the oﬀ-diagonal terms

in the stress tensor. So,

¯

λ depends on frequency while ¯ µ does not.

For the earth, compressional dissipation is believed to be much less important than

shear dissipation — although there is some evidence from free oscillation observations

that suggests there may be a small amount of compressional dissipation. Here, we will

only consider shear dissipation.

So, what do people use for ¯ µ and

¯

λ in the shear dissipation case? It depends on

whether they are interested in short-period or long-period behavior. We’ll be more in-

terested in long-period phenomena, but ﬁrst we brieﬂy consider:

5.7.3 Short-period behavior

This is relevant to seismic waves. In the seismic regime, the eﬀects of anelasticity are rel-

atively weak. So, ¯ µ and

¯

λ depend only slightly on frequency. In this case, the frequency-

dependent parts of ¯ µ and

¯

λ are described with a parameter Q. Q is deﬁned in seismology

much as it is deﬁned in electrical engineering. If you have a wave propagating through

the medium, then

2π

Q

≡

energy lost per cycle of the wave

peak energy in the wave

. (5.34)

Q may depend on the frequency of the wave. For an elastic material, Q = ∞ (a “high

quality” material).

Seismologists start by trying to ﬁnd Q from observations, without worrying about

the relationship between ¯ µ and Q, or between

¯

λ and Q. They do this by observing the

attenuation of body or surface waves as those waves travel through the earth. They

168 CHAPTER 5. STRESS/STRAIN RELATIONS

can also ﬁnd Q by observing free oscillations, since the same parameter, Q, can also be

related to the free oscillation decay times. (A free oscillation — or normal mode of the

earth — is a standing wave, and as such can be envisioned as the sum of traveling waves,

each of which loses energy according to Equation 5.34.)

By ﬁnding Q(ω), seismologists are learning about the imaginary parts of ¯ µ and

¯

λ,

because it is the imaginary part of a modulus that is responsible for energy dissipation.

Once they know the imaginary part, they can infer information about the real part using

what’s called the “Kramers-Kronig relation,” which follows from the simple and obvious

requirement that a seismic wave can’t arrive at a point until after the wave has been

generated. The general form of the real part depends on what the functional form for

Q(ω) is. For example, most seismic data are reasonably consistent with a frequency-

independent Q. In that case, ¯ µ turns out to be:

¯ µ(ω) = µ

0

_

1 +

_

2

π

ln

_

ω

ω

m

_

+i

_

1

Q

_

(5.35)

where ¯ µ

0

, ω

m

and Q are all constants. (Equation 5.35 is actually only an approximation

valid for large Q. There are an inﬁnite number of possible functions ¯ µ(ω) which give a

frequency independent Q. But they all reduce to Equation 5.35 for large Q.)

There are, however, theoretical reasons for believing that there might be a slight

variation of Q with frequency, usually parameterized as

Q(ω) = Q

0

_

ω

ω

m

_

α

(5.36)

where Q

0

, ω

m

, and α are constants. In that case (again, an approximation for large Q):

¯ µ(ω) = µ

0

_

1 +

_

cot

_

απ

2

__

1 −

_

ω

m

ω

_

α

_

+i

_

ω

m

ω

_

α

_

1

Q

0

_

. (5.37)

More complicated functional forms for Q(ω) lead to more complicated relations be-

tween ¯ µ(ω) and Q.

People rarely use anything more complicated than Equation 5.36 in the seismic regime.

It has even been used successfully in explaining variations in the earth’s rotation at

periods longer than one year (speciﬁcally, the 14 month Chandler wobble, that we’ll

5.7. ANELASTICITY 169

talk about later). The best estimates for α that can reconcile the rotation and seismic

observations seem to be on the order of 0.1, with a large uncertainty.

Note that ¯ µ(ω) has both real and imaginary parts in Equations (5.35) and (5.37).

The imaginary part represents energy dissipation (it causes the stress to be out-of-phase

with the strain). The ω-dependent real part represents dispersion. That is, waves with

diﬀerent frequencies travel at diﬀerent speeds. This causes a seismic pulse to spread out

as it travels.

5.7.4 Long-Period behavior

At periods of hundreds of years and longer, people have been reasonably successful at

explaining observations using a “Maxwell solid” model.

5.7.4.1 Maxwell solid

The best way to think of a Maxwell solid is in terms of a spring and a dashpot in series

as in Figure 5.21. The spring is elastic with spring constant 2µ (the “2” is used here so

T

2

µ

η

T 2

Figure 5.21:

that this µ will end up corresponding to the Lam´e parameter, µ), and the dashpot has

viscosity 2η.

Suppose that at time t = 0 you apply the outward force T to each side, as shown. The

conﬁguration immediately responds elastically — through stretching of the spring. You

continue to hold the two ends apart so that the total stretched length doesn’t change.

Gradually the dashpot pulls apart and the spring closes, thus relieving the stress. In the

170 CHAPTER 5. STRESS/STRAIN RELATIONS

limit t → ∞ there is no stress (you no longer have to pull to keep the thing stretched)

and the spring is closed.

That’s a Maxwell solid. The idea, when generalized to a three-dimensional solid, is

that the solid initially responds “elastically” to the sudden application of an external

force. Shear stresses are initially set up in the material. But, gradually, the material

inside the solid ﬂows until the shear stresses are relieved. At t = ∞, the only stress

remaining is hydrostatic pressure (this assumes we are talking about shear anelasticity,

rather than compressional anelasticity).

Let’s construct a mathematical model for this behavior. We start with the spring and

dashpot shown in Figure 5.21. Deﬁne:

E

S

= amount the spring has stretched

E

D

= amount the dashpot has stretched

E = E

S

+E

D

= amount the total conﬁguration has stretched.

Let T be the force applied to each end, as shown. In general, T and the E’s are functions

of time. How are they related? Across the spring:

T = (2µ)E

S

. (2µ = spring constant)

Taking d/dt of this gives:

˙

T = 2µ

˙

E

S

. (5.38)

Across the dashpot: (where the force = viscosity d/dt (stretching)):

T = 2η

˙

E

D

. (5.39)

Add Equations 5.38 and 5.39 to get:

˙

T

2µ

+

T

2η

=

˙

E

S

+

˙

E

D

=

˙

E.

Or:

2µ

˙

E =

˙

T +

1

τ

0

T (5.40)

5.7. ANELASTICITY 171

where τ

0

= η/µ is called the “relaxation time.”

Note that if there is no dashpot, then η = viscosity = ∞ (inﬁnite viscosity ⇔ elastic

material), so 1/τ

0

= 0 and 2µ

˙

E =

˙

T. Or, integrating: 2µE = T, which is the spring

equation. So, Equation 5.40 has the right elastic limit.

Why is τ

0

called the relaxation time? Suppose we suddenly stretch the conﬁguration

by an amount E

0

at time t = 0, and we continue to hold the conﬁguration apart so that

it remains stretched by E

0

at all later times. A plot of E versus time is a step function,

as shown in Figure 5.22. Let’s solve Equation 5.40 to ﬁnd the force T as a function of

E

t

0

E

Figure 5.22:

time.

We know that T must be 0 at times t < 0. What is T right at t = 0, immediately

after we apply the displacement E

0

? To ﬁnd the answer, we note that Equation 5.40 at

t = 0 implies that

2µ lim

dt→0

E(t = 0) −E(t = −dt)

dt

= lim

dt→0

T(t = 0) −T(t = −dt)

dt

+

1

τ

0

T(t = 0).

Or, since T(t = −dt) = E(t = −dt) = 0, and E(t = 0) = E

0

:

2µ lim

dt→0

E

0

dt

= lim

dt→0

T(t = 0)

dt

+

1

τ

0

T(t = 0)

T must always be ﬁnite. Therefore,

lim

dt→0

2µE

0

−T(t = 0)

dt

=

1

τ

0

T(t = 0)

172 CHAPTER 5. STRESS/STRAIN RELATIONS

must be ﬁnite. That means that

T(t = 0) = 2µE

0

.

Physically, what happens is that at inﬁnitely short times you see the spring but not the

dashpot. And, for the spring alone, T(0) = 2µE

0

.

So, for our example:

T = 2µE

0

for t = 0

˙

T +

1

τ

0

T = 0 for t > 0

(since

˙

E = 0 for t > 0). The solution is

T = (2µE

0

)e

−t/τ

0

.

So, the force decays exponentially to 0 as t →∞, with time constant τ

0

.

A Maxwell solid is a special case of a visco-elastic solid. Visco-elastic solids can all be

represented by springs and dashpots in series and/or in parallel. Because of the presence

of dashpots, visco-elastic solids are described by a viscosity parameter (possibly more

than one, if there are two or more dashpots with diﬀerent viscosities). Two examples

besides a Maxwell solid which are sometimes used in geophysics:

5.7.4.2 Kelvin-Voigt solid

A Kelvin-Voigt solid is a spring and dashpot in parallel, as shown in Figure 5.23. If you

T T

Figure 5.23:

turn on the force T at t = 0, and leave it on, the response is

5.7. ANELASTICITY 173

1. initially, no stretching;

2. gradually the dashpot opens and the force gets transferred to the spring.

At t →∞, the behavior is controlled only by the spring, and the relation between T and

the amount of stretching is given by the elastic relation for the spring.

5.7.4.3 Standard Linear solid

T T

Figure 5.24:

A standard linear solid is a spring in series with a Kelvin-Voigt element, as shown

in Figure 5.24. This is a combination of a Maxwell solid and a Kelvin-Voigt solid. The

initial response is elastic, and is controlled by the spring on the left in Figure 5.24. The

conﬁguration relaxes because of the dashpot. The t = ∞ response is controlled by both

springs.

5.7.4.4 Three-dimensional Maxwell solid rheology

Consider, again, a Maxwell solid. How do we extend the result Equation 5.40, that we

derived for a spring and dashpot, to a three-dimensional solid? We assume there is no

dissipation of compressional energy, so that the elastic result

−

1

3

k

τ

kk

= −

_

2µ + 3λ

3

_

k

kk

(5.41)

holds, where µ and λ are the elastic Lam´e parameters. (Note that we are working in the

time domain at the moment, not the frequency domain.) We assume that the Maxwell

174 CHAPTER 5. STRESS/STRAIN RELATIONS

rheology applies only to the dissipation of shear energy. The shear stress is described by

the deviatoric stress, which is

↔

τ minus the pressure terms:

δτ

ij

= τ

ij

−

1

3

k

τ

kk

δ

ij

. (5.42)

The shear strain is similarly deﬁned as

↔

minus the volume terms:

δ

ij

=

ij

−

1

3

k

kk

δ

ij

. (5.43)

To describe a Maxwell solid rheology, we replace T and E in Equation 5.40 with δτ

ij

and δ

ij

, respectively, to obtain:

2µ

_

˙

ij

−

1

3

k

˙

kk

δ

ij

_

= ˙ τ

ij

−

1

3

k

˙ τ

kk

δ

ij

+

µ

η

_

τ

ij

−

1

3

k

τ

kk

δ

ij

_

. (5.44)

I claim that µ in Equation 5.44 is the elastic Lam´e parameter, which is why I called it

‘µ’ originally. To see that, suppose we have an elastic material, where η = ∞. Then,

Equation 5.44 relates ˙ to ˙ τ (no τ terms). Integrating over time gives:

2µ

_

ij

−

1

3

k

kk

δ

ij

_

= τ

ij

−

1

3

k

τ

kk

δ

ij

which is the result for an elastic solid so long as µ = elastic Lam´e parameter.

Now, go back to Equation 5.44, for η ,= ∞. Use Equation 5.41 to remove the τ

kk

term

in Equation 5.44, and use the derivative with respect to time (d/dt) of Equation 5.41 to

remove the ˙ τ

kk

term. We ﬁnd:

˙ τ

ij

+

µ

η

τ

ij

= 2µ˙

ij

+λ

k

˙

kk

δ

ij

−

µ

η

_

2µ + 3λ

3

_

k

kk

δ

ij

. (5.45)

Except for the last term on each side, this equation is the time derivative of the elastic

stress/strain relation.

Equation 5.45 is the anelastic stress/strain relation in the time domain. It is of the

form

k,l

W

ijkl

τ

kl

=

kl

X

ijkl

kl

where W and X include time derivatives. What happens in the frequency domain?

Suppose we replace d/dt with iω. The left hand side is then (iω + µ/η)¯ τ

ij

. We divide

5.7. ANELASTICITY 175

each side by (iω +µ/η), to obtain:

¯ τ

ij

= 2¯ µ¯

ij

+

¯

λ

k

¯

kk

δ

ij

(5.46)

where

¯ µ = µ

_

_

_

_

iω

iω +

µ

η

_

_

_

_

¯

λ = λ

_

¸

¸

¸

_

iω +

µ

η

_

2µ

3λ

+ 1

_

iω +

µ

η

_

¸

¸

¸

_

.

So, in the frequency domain the stress/strain relation looks like the elastic result, except

that ¯ µ and

¯

λ are functions of ω, and are complex. Note that in the elastic limit (where

η →∞), ¯ µ →µ and

¯

λ →λ. Also: at high frequencies (ω ¸(µ/η) = (1/τ

0

)), ¯ µ →µ and

¯

λ → λ, which is the elastic limit. And at low frequencies (ω ¸ (µ/η) = (1/τ

0

), ¯ µ → 0

and

¯

λ →(2µ + 3λ)/3 = /. So, at long periods the material behaves as a ﬂuid.

The Maxwell rheology has been especially useful for modeling postglacial rebound,

as we shall see. To model the response of a Maxwell earth to any externally applied

force, you work in the frequency domain (so you must transform the applied force to the

frequency domain). You solve the equations, which are:

1. the stress/strain relation Equation 5.46 ; and

2. the conservation of momentum equation (−ρω

2

s = ∇

↔

τ +f) and the equation

relating

↔

to derivatives of s, Equation 5.15, both of which are unaﬀected by

anelasticity.

Once you obtain a solution for s, you transform it to the time domain.

It turns out that for many applications, including for postglacial rebound, you work

in the Laplace transform domain rather than the frequency domain. That means in all

the above equations, you replace (iω) with s, the Laplace transform variable. But, the

frequency domain is always ok. It’s just that sometimes the Laplace transform simpliﬁes

the algebra.

176 CHAPTER 5. STRESS/STRAIN RELATIONS

Chapter 6

Interpretation of Observed Gravity

Anomalies

6.1 Surface Gravity Anomalies

As discussed in Chapter 4, a plot of the geoid provides a good representation of the long

wavelength features in the earth’s gravity ﬁeld. But, it’s usually not the best way to

represent short wavelength features, since short wavelengths are less prominent in the

geoid. Instead, short wavelength features are more clearly evident in maps of gravitational

acceleration. Although the gravitational acceleration, as a function of position, can be

inferred from satellite ranging data (see Equation 4.35 and the discussion in Section 4.4),

those data do not resolve short wavelengths well. The short wavelength terms are best

determined from surface gravity observations.

But, there’s a complication. The reason geophysicists are interested in gravity, is

because it allows them to learn about the earth’s internal density distribution. But

observed gravity also depends on the radial coordinate of the instrument. For example,

if the gravimeter is further from the center of the earth, such as on top of a mountain, g

is smaller.

So, to use observed gravity to learn about the earth’s interior, you must ﬁrst remove

the eﬀects of the earth’s non-spherical surface. In principle, this means you should

177

178 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

correct observed gravity for the topography (the elevation above the geoid) and for the

geoid shape (the diﬀerence between the geoid and the mean spherical surface). But,

at short wavelengths — say less than 1000 km — you don’t need to correct for the

geoid. That’s because the geoid is smooth, with little power at those wavelengths. So

if you only care about interpreting gravity over regions of a thousand km and smaller

(and for regions much larger than that you would probably be representing gravity using

geoid anomalies instead of surface gravity), then geoid anomalies are roughly the same

over the entire region, and so by ignoring the geoid corrections you are not introducing

any important relative errors across the region. And, it’s only the relative errors which

are apt to aﬀect your interpretation. Except that people usually do correct for the P

2

component of the geoid: the ellipsoidal component. It’s true that this component has a

very long wavelength. But, it also has an enormous amplitude. So, if you don’t remove

it, your surface gravity observations could well show a linear decrease from North to

South. You remove this component by subtracting the International Gravity Formula

(see Equation 4.31) from your data. This is equivalent to removing the eﬀects of the

centrifugal force and of the P

2

internal density distribution.

The data should be corrected for topography, however, because topography can have

signiﬁcant power at short wavelengths. Let h(θ, φ) be the elevation of the surface at

(θ, φ). To remove the eﬀects of h you construct what are called Free Air anomalies:

g

FA

= (g

obs

−γ

0

) −h∂

r

g

= (g

obs

−γ

0

) +h

_

2

a

g

obs

_

≈ (g

obs

−γ

0

) +h[in m] [0.3086 mgal/m] (6.1)

where γ

0

is the International Gravity Formula. Equation 6.1 reduces the observed surface

gravity to a common spherical surface (except, as described above, for the eﬀects of the

height of the geoid above the ellipsoid). This g

FA

I denoted as ∆g back in Section 4.3.2.

The free air anomaly, g

FA

, can be interpreted in terms of the earth’s density distribu-

tion. Think of g

FA

as the acceleration you would observe at a surface of constant elevation

outside the earth: the surface in Figure 6.1, for example. That’s not really quite what it

6.1. SURFACE GRAVITY ANOMALIES 179

geoid

constant elevation surface outside the earth

Figure 6.1:

is. It’s really the acceleration you would observe on the geoid (except for the eﬀects of

subtracting γ

0

in Equation 6.1); except that, because the geoid is likely to be below the

earth’s surface, when we extrapolate from the surface down to the geoid we are ignoring

the mass that we are extrapolating through (i.e. we are assuming that ∂

r

g = −2g/a).

This is the same sort of conceptual problem we had to deal with when we deﬁned the

geoid. In fact, g

FA

does turn out to equal g on an external level surface, plus a constant.

So, think of it this way, if you prefer.

g

FA

is aﬀected by the direct attraction of topographic mass. For example, g

FA

will

be large where there is a mountain, because the mountain has mass. You would have to

classify this as an eﬀect due to the earth’s internal density (as opposed to the free air

correction, (2g/a)h, which is an eﬀect due to the position of the instrument), but it’s not

an interesting eﬀect. There are better ways to learn about the topography than by using

gravity: leveling, for example. Gravity is most useful because it can provide information

about density inside the earth.

So, to learn about the interior of the earth, it is useful to subtract oﬀ the direct

attraction of the underlying topography. There’s a crude way of doing this that almost all

geophysicists and most geodesists use. Assume the topography is smooth, in some sense.

See Figure 6.2. Then, if you are at elevation h when you make your measurement, you

180 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

approximate all the mass above the geoid as an inﬁnite slab of thickness h. You compute

h

slab of

thickness

instrument topography

h

geoid

Figure 6.2:

g due to this imaginary slab. Earlier, in Section 3.2.2, we found that the downward

gravitational acceleration caused by a homogeneous, inﬁnitesimally thin, inﬁnite plane

with surface density σ, is 2πGσ. This result does not depend on how far you are from

the plane. So, g from our slab is:

_

h

0

2πG(ρ dz) = 2πGρh

where ρ is the density of the slab. (Think of the slab as composed of lots of thin planes,

each with σ = ρ dz, and sum over the planes.) This is the extra downward attraction

due to the topographic mass, assuming the inﬁnite slab approximation is ok. To learn

about the earth’s interior, you want to subtract this slab contribution from g

FA

. In this

way you construct Bouguer anomalies:

g

B

= g

FA

−2πGρh

= (g

obs

−γ

0

) +

_

2

a

g

obs

−2πGρ

_

h.

For typical crustal rocks, ρ is often taken to be ρ = 2.67 gm/cm

3

. Then, 2πGρ =

0.1118 mgal/m, which is about 1/3 of the free air (2g

obs

/a) correction.

So, by using g

obs

, together with h from leveling, we have a result, g

B

, that can be

used to learn about the earth’s interior. Sometimes geodesists use a better method of

subtracting the eﬀects of topographic density than simply using an inﬁnite slab. They

break up the surrounding region into “templates.” See Figure 6.3. They ﬁnd the mean

6.1. SURFACE GRAVITY ANOMALIES 181

a template

instrument

Figure 6.3:

elevation (and density) of each template, compute the gravitational eﬀect from the mass

in each template, and sum over all templates. There are standard tables they use to

look up the gravitational eﬀect from a template — given the density and elevation.

Geophysicists, though, almost always use the cruder Bouguer anomalies.

I’ve described what to do about topography when you’re measuring g over the con-

tinents. The Bouguer anomaly essentially shaves oﬀ all mass down to the geoid. But,

what do you do when you’re observing g over the oceans? You must remove the eﬀects of

sea ﬂoor topography, and the eﬀects of having low density water beneath you instead of

higher density rocks. If these latter eﬀects are not removed, then gravity anomalies across

an ocean-continent boundary have a discontinuity at the the shoreline, as illustrated in

Figure 6.4.

To construct Bouguer anomalies over the oceans, you imagine replacing the water

with crustal rock. Suppose you observe g at sea level, where the ocean has depth H.

You approximate the underlying ocean as an inﬁnite water slab of thickness H. The

gravitational acceleration toward the slab is 2πGρ

w

H where ρ

w

= density of sea water. If

182 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

land ocean

plot of

g

FA

water is less dense than

decrease due to fact that

rocks

Figure 6.4:

you replace the slab with crustal rocks of density ρ, the new slab produces a gravitational

acceleration of 2πGρH. So, to construct Bouguer anomalies over the ocean, you add

2πG(ρ −ρ

w

)H to g

FA

to obtain:

g

B

= g

FA

+ 2πG(ρ −ρ

w

) H.

Note that over the oceans: g

FA

= g

obs

− γ

0

. No free air correction is required, because,

except for dynamic topography (which is small), the oceans have zero elevation.

6.2 Isostasy

Suppose you measure g over the earth’s surface, and construct Bouguer anomalies. You

are now ready to learn about the earth’s interior. But, you ﬁnd a strange thing. At

short horizontal wavelengths — say a few 10’s of km or shorter — everything looks

like you’d expect it. That is, there is little correlation between your g

B

results and the

topography. The Bouguer anomalies do a pretty good job of removing the topography.

But, at wavelengths of 100 km and longer, the Bouguer anomalies look like the inverse of

the topography. In fact, at these wavelengths the free air anomalies show little correlation

with the topography.

This result was ﬁrst discovered around 1850 by geodesists surveying in the Himalayas.

Only they ﬁrst noticed it in observations of the direction of gravity, rather than the

6.2. ISOSTASY 183

amplitude. The direction is measured by ﬁnding the angle between a plumb bob and

vectors to stars. The geodesists expected the plumb bob to be attracted by the Himalayas.

But, they found the observed angle didn’t change as they moved closer to the mountains.

6.2.1 Airy compensation

These results don’t, of course, mean that the topographic mass doesn’t aﬀect gravity

Instead, they demonstrate that there is material with anomalously low density beneath

topography, with gravitational eﬀects that tend to cancel the eﬀects of the topography

at long wavelengths. This is the theory of isostasy. It was proposed soon after the

Himalayan results were found.

One version of this idea is that mountains have roots. See Figure 6.5. The crust is

mountain

crust

mantle

Figure 6.5:

lighter than the mantle. A mountain has excess mass above the geoid. This is balanced

by the light crust extending down further into the mantle, so that the total mass in a

vertical column is the same, whether the column is beneath the mountain or not. The

result is that the gravitational eﬀect from the root will nearly cancel the eﬀect from

the mountain in g

FA

. For example, suppose we approximate the root as an inﬁnite slab

with negative density = (ρ

crust

− ρ

mantle

). Because of the compensation, the mass/area

in the root is the negative of the mass/area in the inﬁnite slab used to approximate the

184 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

topography. So, since g from an inﬁnite slab is independent of the distance to the slab,

the eﬀects of the two slabs cancel.

To ﬁnd the size of a root, note from Figure 6.6 that equal masses in vertical columns

implies that:

c

ρ

h

D

ρ

m

Figure 6.6:

hρ

c

= D(ρ

m

−ρ

c

).

Or:

D = h

_

ρ

c

ρ

m

−ρ

c

_

.

(Note: crustal thicknesses are usually much larger than both h and D, contrary to what

is shown in Figure 6.6.) Typical crustal densities are 2–3 gm/cm

3

. The density contrast

between crust and mantle is typically: ρ

m

−ρ

c

∼

= 0.4–0.7 gm/cm

3

. Using these numbers,

we can infer that D is 3–8 times h. So, the roots are large.

This model of isostasy is called Airy compensation, after a mathematician names Airy,

who proposed it. The idea, physically, is that

1. the mantle is ﬂuid over long time periods

2. the crust breaks up under long wavelength topographic loading, and the resulting

blocks ﬂoat on the mantle like icebergs ﬂoat on water.

As we’ll see, number 2 is an over-simpliﬁed idea.

If this idea of isostasy is valid (that is, if there is equal mass in all vertical columns),

then there should be a small correlation between g

FA

and topography. The root and

6.2. ISOSTASY 185

the mountain have opposite masses, but they are not really inﬁnite slabs, and so their

gravitational eﬀects depend on how far away they are. Thus, the contributions will not

exactly cancel. By doing the calculations more exactly, and comparing the results with

observations, people have been able to estimate the thickness of the crust.

6.2.2 Pratt compensation

Another type of isostasy, Pratt compensation, was proposed by Pratt — the person who

had noticed the discrepancy in the Himalayan data — a couple years after Airy came

up with his explanation. Pratt agreed that there was equal mass in equal columns. But,

he argued that this was achieved by changing the density in a column, rather than by

extending or contracting the bottom of the column. In this theory, mountains would be

supported by a lower density crust, rather than by a thickened crust. See Figure 6.7. If h

h

ρ

c c

ρ ρ

H

h

mantle

crust

Figure 6.7:

= topography, H = crustal thickness in the absence of topography, ρ

c

= normal crustal

density, and ρ

h

= crustal density beneath topography, then equal mass in equal columns

gives: Hρ

c

= (H +h)ρ

h

. So

ρ

h

=

_

H

H +h

_

ρ

c

.

Again, this model predicts little correlation between g

FA

and topography, since to lowest

order you approximate the underlying column as an inﬁnite slab with mass/area equal to

the total mass/area of the column. And each column has the same mass/area no matter

what h is, so that there is no spatial variation of g

FA

. Of course the underlying column

186 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

is not an inﬁnite slab, and so there will be some correlation between h and g

FA

. Again,

this can be used to ﬁnd the depth to the crust/mantle boundary.

A more general version of Pratt compensation would not require ρ to be constant

in a vertical column. All you need specify is the total mass in a vertical column. How

you distribute the mass vertically is up to you. Then ρ

h

and ρ

c

in ρ

h

= (

H

H+h

)ρ

c

are the

average densities beneath the mountain and the non-mountainous surface.

6.2.3 Airy versus Pratt

Which of these models (Airy or Pratt) is correct? Pratt compensation might be valid if

the topography were the result of thermal expansion or contraction in the crust or upper

mantle. The Airy model is probably valid if the topography can be viewed as an applied

load on the earth.

People have used both models to estimate the thickness of the crust (by correlating

the observed g with topography). They ﬁnd, for both models, crustal thicknesses of about

50 km under land and of about 10 km under oceans. These results are consistent with

seismic observations of the crustal thickness. The crust/mantle boundary is a chemical

boundary (diﬀerent materials on diﬀerent sides of the boundary) and so represents a

discontinuity in material properties. Seismic waves are reﬂected from the boundary. (The

boundary is known to seismologists as the Moho, short for the Mohoroviˇci´c discontinuity.)

By comparing the arrival times of waves reﬂected from the boundary with the time of

the earthquake, seismologists can infer the boundary depth. They obtain depths of 30–

60 km under the continents, and 5–15 km under the oceans. Furthermore, the Moho

depths generally show that the crust is thicker under mountainous regions, which tends

to support Airy over Pratt in those regions.

Why, then, don’t you see the eﬀects of isostasy at short wavelengths (10’s of km and

shorter)? At those wavelengths the topographic signal is present in g

FA

, but not in g

B

.

Is it because isostasy is not operative at short wavelengths? Perhaps short wavelength

loads don’t break up the crust? The answer is: “yes.” In fact, we’ll see later that even

long wavelength loads don’t actually break up the crust. But, there’s more to the story

6.3. A BETTER MODEL FOR AIRY COMPENSATION EFFECTS ON GRAVITY 187

than this. Even if the crust did break up under short wavelength loads, there would still

be topographic eﬀects evident in g

FA

. To understand why, let’s try to do a better job of

ﬁnding the eﬀects of topography and its compensation on g

FA

than simply using inﬁnite

slabs.

6.3 A Better Model for Airy Compensation Eﬀects

on Gravity

Consider, ﬁrst, Airy compensation. Suppose, for simplicity, that the earth is ﬂat and

symmetric in the ˆ e

y

-direction, so that the topography is a function only of x: h = h(x).

Suppose h(x) = h

0

e

ikx

where h

0

and k are constants (k = 2π/wavelength). (Topography

is not a complex-valued function, of course. But, imagine we have expanded h(x) into

a complex Fourier series, and that here we are considering just one term in that series.)

Assume k ≥ 0. For perfect compensation, h(x) is supported by a root of thickness

D(x) =

_

ρ

c

ρ

m

−ρ

c

_

h(x) =

_

ρ

c

ρ

m

−ρ

c

_

h

0

e

ikx

.

Let H = crustal thickness. Assume that [h[ ¸ H and [D[ ¸ H. See Figure 6.8. Then,

z

x

c

m

ρ

ρ

e

e

D

h

H

root

Figure 6.8:

we approximate the topography with a surface mass σ = ρ

c

h(x) at z = 0. And, we

approximate the root as a surface mass σ = (ρ

c

− ρ

m

)D(x) = −ρ

c

h(x) at z = −H.

188 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

Let’s ﬁnd a better approximation to g from these surface masses, than the inﬁnite slab

approximation.

Suppose we are trying to ﬁnd g at the point P shown in Figure 6.9, due to the surface

mass σ(x

**). Suppose P is located at (x, z = a), and that the surface mass is on the plane
**

z = 0 (so the surface mass is a distance a below P). Break the surface into thin strips of

P

z

x

e

e

x x’ - x

a

d

O dx’

θ

σ(x’)

Figure 6.9:

width dx

**, as shown. Each strip looks like an inﬁnite line extending in the ˆ e
**

y

direction,

with constant mass/length = λ = σ(x

) dx

**. The distance between P and the line is
**

d =

_

a

2

+ (x

−x)

2

. From Section 3.2.3, we know that g due to the line has magnitude

g

line

=

2Gλ

d

=

2Gσ(x

) dx

_

a

2

+ (x

−x)

2

,

and is directed from P towards dx

**. We only want the component of acceleration in
**

the −ˆ e

z

direction (this direction is downwards) since, to ﬁrst order, only this component

aﬀects [g[. So, the −ˆ e

z

contribution to g from the line is

2Gσ(x

) dx

_

a

2

+ (x

−x)

2

cos θ =

2Gσ(x

) dx

a

a

2

+ (x

−x)

2

where cos θ = a/d.

We add up (i.e. integrate) over all lines to get the total contribution from the plane:

g(x, a) =

_

∞

−∞

2Gaσ(x

) dx

a

2

+ (x

−x)

2

(6.2)

6.3. A BETTER MODEL FOR AIRY COMPENSATION EFFECTS ON GRAVITY 189

where g(x, a) is the −ˆ e

z

component of g at the point P. Suppose σ(x

) = σ

0

e

ikx

. Then

we can do the integral in Equation 6.2 to get

g(x, a) = 2Gπσ

0

e

−ka

e

ikx

(6.3)

(for k < 0 we get the same result, except that −ka is replaced with −[k[a).

Return, now, to our original problem of ﬁnding g from the topography and its com-

pensation. Suppose we want to ﬁnd g at any elevation, z, above the earth’s outer surface

(z = 0). (Gravity observations are made only at z = 0, but we want to keep z ≥ 0

arbitrary at this time, because it will be useful when we compute the geoid, later.) We

use Equation 6.3 for each of the two planes. One plane has σ

0

= ρ

c

h

0

and a = z. The

other has σ

0

= −ρ

c

h

0

and a = H +z. Using Equation 6.3 for each plane, and adding to

get the total g, gives:

g(x, z) = 2Gπρ

c

h

0

e

ikx

_

1 −e

−kH

_

e

−kz

. (6.4)

g(x, z = 0) from Equation 6.4 is our prediction for g

FA

.

Suppose the horizontal wavelength of the topography is large, so that k is small.

Speciﬁcally, suppose that kH ¸ 1, so that the wavelength ¸ crustal thickness. Then

e

−kH

≈ 1, and so g(x, z = 0) = 0. But, suppose kH ¸ 1, so that the wavelength is ¸

crustal thickness. Then e

−kH

→0, so that g(x, z = 0) →2πGρ

c

h(x), which is the inﬁnite

slab result for the topography alone.

So for long wavelengths there is little correlation between g

FA

and topography. And

for short wavelengths there is little correlation between the Bouguer anomalies and to-

pography. “Short” and “long” mean compared with the crustal thickness. In fact, the

way geophysicists learn about the crustal thickness is by comparing Equation 6.4 for

g

z

(x, z = 0) (or its two-dimensional equivalent g

z

(x, y, z = 0)) with observations of g

FA

.

What’s happening here is that short wavelength gravity variations on a plane die

away rapidly with distance from the plane. The decay distance is about equal to a

horizontal wavelength. So, if the crustal thickness is larger than a horizontal wavelength,

the gravitational signal from the root will not be seen at the surface. But, if the crustal

190 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

thickness is much less than a wavelength, the signal from the root will not have decayed

much, and so will cancel the signal from the topography.

6.4 A Better Model for Pratt Compensation

Eﬀects on Gravity

Let’s go through a similar derivation for Pratt compensation to see how it diﬀers from

Airy compensation.

Suppose the surface topography is h = h(x) = h

0

e

ikx

, where k ≥ 0. Then, g at (x, z)

due to the surface topography is

2πGρ

c

h

0

e

ikx

e

−kz

(6.5)

as in the Airy case.

The Pratt model proposes that the topography is supported by density variations in

the crust. Suppose the crust ﬁlls the region −H < z

< 0 (see Figure 6.10). Let ∆ρ(x

, z

)

ρ = ρ + ∆ ρ

c

H

Figure 6.10:

be the crustal density anomaly at the location (x

, z

**), so that the total density inside
**

the crust is ρ(x

, z

) = ρ

c

+∆ρ(x

, z

). (We used ρ

c

in Equation 6.5, instead of ρ, because

h

0

∆ρ is 2nd order in small quantities.) We assume that there is no density anomaly

below the crust (z

< −H).

When we introduced Pratt compensation above, we assumed that ∆ρ(x

, z

) was inde-

pendent of z

**. That is, we assumed that the entire crustal column beneath a topographic
**

6.4. A BETTER MODEL FOR PRATT COMPENSATION EFFECTS ON GRAVITY 191

feature has a uniform density anomaly. We deﬁned ρ

c

+ ∆ρ(x

, z

) ≡ ρ

h

, and then con-

cluded that

ρ

h

=

_

H

H +h

_

ρ

c

≈ ρ

c

−

h

H

ρ

c

⇒

∆ρ = −

h

0

H

ρ

c

. (6.6)

I mentioned that you could generalize Pratt compensation to cases where the density

anomaly depends on z

**, with the result that
**

ρ

h

≈ ρ

c

−

h

H

ρ

c

(6.7)

is valid in an average sense. I want to consider that more general case here. We don’t

really need to do that to address the topic of this section: ﬁnding something better than

an inﬁnite slab to approximate the gravity anomaly from Pratt compensation. But, the

results of the more general case will be useful, later, in applications.

To have equal masses in all columns, ∆ρ must satisfy:

_

h(x)

−H

(ρ

c

+ ∆ρ(x, z

)) dz

. ¸¸ .

mass in a column

= Hρ

c

. ¸¸ .

mass in a

column with

no topography

for all x (the value of x deﬁnes the column). Or:

_

0

−H

∆ρ(x, z

) dz

= −ρ

c

h

0

e

ikx

(6.8)

for all x. (For the upper limit of the integral we have used 0 instead of h, because ∆ρ

and h are both 1st order, implying that the diﬀerence between using 0 and using h as

the limit, is 2nd order.) Since Equation 6.8 must hold for all x, we expect ∆ρ(x, z

) to

be proportional to e

ikx

, so that:

∆ρ(x, z

) = δρ(z

)e

ikx

.

With this deﬁnition of δρ, Equation 6.8 implies that:

_

0

−H

δρ(z

) dz

= −ρ

c

h

0

. (6.9)

192 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

Note that for δρ(z

**) = δρ = constant, Equation 6.9 reduces to δρ = −
**

h

0

H

ρ

c

, as in Equa-

tion 6.6.

So, Equation 6.9 is a more general version of Pratt compensation, valid for depth-

dependent density anomalies. What eﬀect does the anomalous density ∆ρ(x, z

) =

δρ(z

)e

ikx

have on g? Think of δρ(z

)e

ikx

as spread over a lot of thin horizontal planes

of thickness dz

, each with surface density σ(x

, z

) = δρ(z

)e

ikx

dz

. The plane at z

is a

distance z −z

from the ﬁeld point (note that z

**< 0). From Equation 6.3, we know that
**

g(x, z) caused by the surface density on that plane is:

2Gπe

kz

e

ikx

δρ(z

) dz

e

−kz

.

We add up the contributions from all planes, from z

= −H to z

**= 0. We also add the
**

eﬀect, Equation 6.5, from the surface topography. We ﬁnd that the total g is:

g(x, z) = 2πG

_

ρ

c

h

0

+

_

0

−H

δρ(z

)e

kz

dz

_

e

ikx

e

−kz

.

This is the result for generalized Pratt compensation.

6.4.1 Remarks

• Suppose the wavelength ¸ crustal thickness. Then kH ¸1, so that [kz

[ ¸1 for

z

**between −H and 0. Then, crudely, e
**

kz

→1. So

g →2πG

_

ρ

c

h

0

+

_

0

−H

δρ(z

) dz

_

e

ikx

e

−kz

= 0

since the integral here is equal to −ρ

c

h

0

for perfect compensation (see Equation 6.9).

So, there is no correlation between g

FA

and topography in this long wavelength limit.

• Suppose the wavelength is ¸ crustal thickness. Then kH ¸ 1, so that e

kz

≈ 0

except for z

close to 0. So, as long as δρ(z

**) is not all concentrated right near the
**

surface (z

= 0), the integral

_

0

−H

δρ(z

)e

kz

dz

is small. So, g(z = 0) → 2πGρ

c

h

0

,

which is the inﬁnite slab result = the Bouguer correction. So, short wavelength

topography is not correlated with g

B

.

6.5. GEOID ANOMALIES 193

• Consider the usual Pratt compensation, where δρ = constant = −

h

0

H

ρ

c

. Then

_

0

−H

δρ(z

)e

kz

dz

= −

h

0

H

ρ

c

_

1 −e

−kH

k

_

.

So:

g(x, z) = 2πGρ

c

h

0

_

1 −

1 −e

−kH

kH

_

e

ikx

e

−kz

. (6.10)

At long wavelengths (kH ¸ 1), let’s expand Equation 6.10 to 1st order in kH,

rather than to 0th order (it vanishes to 0th order, as we’ve seen).

1 −e

−kH

kH

∼

=

1 −

_

1 −kH +

(kH)

2

2

_

kH

= 1 −

kH

2

.

Thus, we obtain the ﬁrst order Pratt result:

g(z = 0) ≈ 2πGρ

c

h

_

kH

2

_

. (6.11)

How does the ﬁrst order Pratt result (Equation 6.11) diﬀer from the 1st order Airy

result?

First Order Airy:

g(z = 0) = 2πGρ

c

h

_

1 −e

−kH

_

≈ 2πGρ

c

h(kH).

So, to ﬁrst order at long wavelengths, the Pratt g is half the Airy g. That does make

some sense. It sort of implies that the compensation is in the middle of the crust for

the Pratt case, rather than at the bottom. And, after all, the Pratt compensation is

distributed uniformly throughout the entire crust, so that the average compensation

is in the middle.

6.5 Geoid anomalies

Isostasy should show up somehow in the geoid, too. After all, the geoid is just another

way to represent the gravity ﬁeld. If we knew how the diﬀerent isostasy models aﬀected

194 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

the geoid, we could maybe compare the geoid with topography and so learn about crustal

thicknesses, etc. But, why bother? Useful information on isostasy will only appear at

wavelengths of less than a few thousand km. At longer wavelengths you start to see

eﬀects of density anomalies deep inside the earth, that tend to mask any near-surface

isostatic signal. And, I’ve been telling you that shorter wavelength features are more

clearly evident in gravitational acceleration maps than in the geoid.

Nevertheless, people do sometimes look at isostatic eﬀects on the geoid, particularly

over the oceans. There aren’t many surface gravity observations over the oceans. But,

satellite altimeter data do give good results for the geoid, even at very short wavelengths.

Of course, you could always transform the geoid results to obtain gravitational acceler-

ation maps, and thus amplify the shorter wavelength terms. But there can be reasons

to work, instead, with the geoid results, given that they are the direct output of the

altimeter analysis.

What are the eﬀects of Airy and Pratt compensation on the geoid? The reason I kept

the e

−kz

terms in the results above for g (rather than setting z = 0) is so that we can

answer this question. Remember that

geoid anomaly =

∆V

g

¸

¸

¸

¸

¸

surface

where ∆V is the perturbation in the potential due to the underlying topography and its

compensation. And:

∆V (z) = −

_

z

g(z

) dz

(6.12)

where g is the eﬀect of the topography plus compensation on the vertical acceleration.

(The minus sign in Equation 6.12 is because we have deﬁned g to be positive downwards:

in the negative ˆ e

z

-direction.) (Back in Chapter 4 we showed that (∂

r

∆V +

2

a

∆V )[

surface

=

∆g (Equation 4.32). But, the ∆g in this equation is g on the geoid; whereas the g in

Equation 6.12 is g in space, as a function of z.)

We just ﬁnished ﬁnding g(z) for diﬀerent types of compensation. In all cases the z

6.5. GEOID ANOMALIES 195

dependence was e

−kz

. So, the integral over z is −

1

k

e

−kz

. So:

Airy

N(x) =

2πGρ

c

h(x)H

g

_

1 −e

−kH

kH

_

(6.13)

Generalized Pratt

N(x) =

2πG

gk

_

ρ

c

h(x) +

__

0

−H

δρ(z

)e

kz

dz

_

e

ikx

_

(6.14)

Constant density Pratt

N(x) =

2πGρ

c

h(x)H

gk

2

H

2

_

−1 +kH +e

−kH

_

(6.15)

6.5.1 One Final Remark

Suppose we are considering long wavelengths, where kH ¸ 1. Let’s expand all three

results, above, to zero order in kH. So, use e

−kH

≈ 1−kH in Equation 6.13, e

kz

≈ 1+kz

**in Equation 6.14, and −1 + kH +e
**

−kH

≈ −1 + kH + 1 − kH +

(kH)

2

2

in Equation 6.15.

Then,

Airy

N(x) ≈

2πGρ

c

Hh(x)

g

Generalized Pratt

N(x) ≈

2πG

kg

_

¸

¸

¸

_

ρ

c

h(x) +

_

0

−H

δρ(z

) dz

e

ikx

. ¸¸ .

These terms cancel

+k

_

0

−H

δρ(z

)z

dz

e

ikx

_

¸

¸

¸

_

=

2πG

g

__

0

−H

δρ(z

)z

dz

_

e

ikx

Constant density Pratt

N(x) ≈

πGρ

c

Hh(x)

g

All three of these results for N(x) have the same x-dependence as h(x): e

ikx

. And, all

three are independent of k (except for the k in e

ikx

). That has an important implication.

196 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

It means that if you have a complicated topography — not a simple e

ikx

— and if you

transform the topography to a sum or integral of e

ikx

terms, the contribution to N(x)

from each term is independent of k. Or, to be more accurate, it depends on k in exactly

the same way as h

0

does. So, when you add up all the contributions to N from the

diﬀerent e

ikx

terms, you ﬁnd that the resulting sum has exactly the same x-dependence

as the total topography. In other words, N = constant times topography, no matter how

complicated the topography is (so long as we only include long wavelength topography).

This result does not hold for gravity. The gravity contributions from e

ikx

depend

linearly on k (for kH ¸ 1), so adding up the e

ikx

contributions to g does not give

(constant) (topography).

6.6 Lithospheric Bending

There are cases where topography is caused by thermal anomalies in the crust and upper

mantle. In these cases, some sort of Pratt isostasy is probably operable.

But, most topography is due to other causes. For example: ongoing collisions of

plates, or relics of past collisions. Or volcanic activity. Or erosion. In these cases, you

might expect Airy compensation to be at work. But, Airy compensation is too simple a

picture of what really happens. It assumes that when you put a load on the crust, the

crust breaks up. Actually, the crust bends. And, it’s not only the crust that bends. It’s

the entire lithosphere. It turns out that for loads with long wavelengths, the lithosphere

bends easily, and you get what look like roots “supporting” the topography. At short

wavelengths the lithosphere does not bend much, and so you get smaller roots. Thus, at

short wavelengths, the eﬀects of topography on g are not fully compensated. And it’s

not just because the roots are far below the surface compared with the wavelength. But,

it’s also because the roots are small.

6.6.1 Lithosphere

Before modeling this bending, I need to deﬁne and describe the lithosphere.

6.6. LITHOSPHERIC BENDING 197

There are two ways you can subdivide the upper few hundred km or so of the earth.

You can separate it into the crust and mantle. As I’ve said, the crust/mantle boundary is

a chemical boundary, with signiﬁcant density contrasts across it. The crust is less dense

than the mantle.

You can also divide the region into a lithosphere overlying an asthenosphere. See

Figure 6.11. The idea is that the lithosphere is the top layer of convection in the mantle. It

has cooled by radiating away heat into the atmosphere, and has become brittle. It behaves

like a solid even at extremely long time periods. The region beneath the lithosphere is the

asthenosphere. It is still pretty hot, and so behaves like a ﬂuid over long time periods. The

crust is perhaps the top one-quarter to one-half of the lithosphere. Typical lithospheric

mantle

asthenosphere

lithosphere

crust

Figure 6.11:

thicknesses are maybe 50 km or greater under the continents, and probably somewhat

less than 50 km under the oceans. The density contrast between the asthenosphere and

the overlying lithosphere is not nearly as pronounced as between the crust and mantle.

But, neither is it entirely negligible. The lithosphere is denser than the asthenosphere

(the lithosphere is cooler). How can you have a denser material on top and still have

a stable conﬁguration? You can’t. In fact, one of the most important forces driving

continental drift (maybe the most important) is the downward gravitational pull on the

198 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

lithosphere at subduction zones.

What evidence is there of the lithosphere/asthenosphere boundary and its depth?

Well, we expect to ﬁnd a boundary (or, at least a region of transition between solid and

ﬂuid) somewhere down there. We know the earth’s outer surface is brittle — otherwise

all topography would ﬂow away. And, we know the interior must be ﬂuid at long time

periods. Otherwise there would be no convection. So, there must be a boundary — or

at least a transition region. Why not at the crust/mantle boundary, as assumed by Airy

compensation?

Well, seismic travel time observations show a layer of material with low shear velocity

at 100–200 km depth. Low shear velocity means µ is low, and so the region is more like

a ﬂuid. Presumably, this depth (the 100–200 km mentioned above) is a dividing line

between brittle and less brittle material. This depth is below the Moho. In fact, the

shear velocity actually increases below the Moho. But, seismic observations sample the

earth at periods from seconds to minutes. Over thousands to millions of years, material

above this dividing line might ﬂow. So, the lithosphere/asthenosphere boundary region

is apt to be above the 100–200 km depth.

In fact, the best way to determine the depth to the lithosphere/asthenosphere bound-

ary — or at least the depth appropriate for the time scales of mantle convection — is

with gravity and leveling observations. That’s what this section is all about.

The idea is to assume there is a brittle lithosphere over a ﬂuid asthenosphere. Assume

the crust/mantle boundary, with its signiﬁcant density contrast, is inside the lithosphere

somewhere. Maybe it is coincident with the lithosphere/asthenosphere boundary. That’s

one of the things you’d like to ﬁnd out. Suppose you put a mass load on the crust.

The lithosphere bends, supported below by buoyancy forces from the asthenosphere.

You can see the bending in two ways. First, the surface around the load might show

the eﬀects. So, by mapping the surface you might learn something about the bending.

And, when the lithosphere bends, so does the crust/mantle boundary embedded in it.

Since there is a density contrast at that boundary (the smaller density contrast at the

lithosphere/asthenosphere boundary can usually be ignored), the bending shows up in

6.6. LITHOSPHERIC BENDING 199

gravity (remember, it’s this mechanism which is replacing Airy compensation). So, by

looking at topography and gravity, you can learn about the lithospheric plate and its

thickness.

All of this is really only useful — with a few exceptions — for ﬁnding the thickness

beneath the oceans. For the continents, erosion quickly smooths out the slight topography

caused by the bending. And there can easily be signiﬁcant lateral variations in density

in continental areas (due to chemical diﬀerences) which can obliterate the small part of

the gravity signal needed to ﬁnd the thickness.

6.6.2 Theory of Flexure

To model the bending process described above, we need to ﬁnd equations describing the

bending of thin plates under a surface load.

Suppose we have an initially horizontal plate of thickness H. The plate’s surface is

perpendicular to the ˆ e

z

axis, and the plate extends to inﬁnity in the ˆ e

x

and ˆ e

y

directions.

The undeformed upper surface is at z = H/2, and the lower surface is at z = −H/2. The

plate is homogeneous (uniform thickness and material properties). See Figure 6.12.

z = - H / 2

z = 0

z = H / 2

x

z

H

Figure 6.12:

Suppose we apply pressure loads on the upper and lower surfaces of the plate: Q

1

(x)

above and Q

2

(x) below, see Figure 6.13.

We assume Q

1

and Q

2

are independent of y, so that Q

1

(x) for a ﬁxed x really repre-

sents an inﬁnite line load in the ˆ e

y

-direction. In our applications, Q

1

will be due to the

weight of some topographic feature, and Q

2

will represent upward buoyancy forces from

the asthenosphere. How does the plate deform? Speciﬁcally, what is the shape of the

deformed surface?

We will make two assumptions:

200 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

upper

surface

original

Q

1

(x)

Q (x)

2

Figure 6.13:

1. The plate does not deform much. Speciﬁcally, the displacements are ¸H.

2. The horizontal wavelengths of Q

1

and Q

2

are much larger than the plate thickness,

H. In other words, the plate is “thin.”

Let ω(x) = distance between the deformed upper surface and the original upper

surface, see Figure 6.14. w(x) is positive if the surface at x has been displaced downward

upper

surface

original

w(x)

x

z

Figure 6.14:

from its undeformed position. I want to ﬁnd a diﬀerential equation for ω(x) in terms of

Q

1

(x) and Q

2

(x).

First, by symmetry, there can be no displacements in the ˆ e

y

direction, and no variable

can depend on y. Among the consequences are that the derivative of any variable with

respect to y must vanish; and that the strain components

xy

=

yy

=

zy

= 0 (this

last conclusion follows from the relation, Equation 5.15, between the strain tensor and

the displacement ﬁeld). And, using these results for in Equation 5.14, shows that

6.6. LITHOSPHERIC BENDING 201

τ

xy

= τ

zy

= 0,

Second, we assume the plate is at equilibrium, so that there is no motion. And, we

ignore all body forces on the plate, including gravity. Then ∇

↔

τ = 0 throughout the

plate. This implies that:

∂

x

τ

xx

+∂

z

τ

xz

= 0 (6.16)

∂

x

τ

xz

+∂

z

τ

zz

= 0. (6.17)

Suppose we integrate Equation 6.17 vertically through the plate. Then:

_

H/2

−H/2

∂

x

τ

xz

dz +τ

zz

(z = H/2) −τ

zz

(z = −H/2) = 0.

(Here we can use upper and lower limits on z of ±H/2, instead of using the z-coordinates

of the deformed surface. The diﬀerence is only second order in the deformation, because

τ is already ﬁrst order.)

But

τ

zz

(z =

H

2

) = −Q

1

(x)

τ

zz

(z = −

H

2

) = −Q

2

(x).

So:

_

H/2

−H/2

∂

x

τ

xz

dz = Q

1

(x) −Q

2

(x). (6.18)

Next, suppose we multiply Equation 6.16 by z and integrate vertically. Then:

∂

x

_

_

H/2

−H/2

zτ

xx

dz

_

+

_

H/2

−H/2

z∂

z

τ

xz

dz = 0. (6.19)

Integrating the right-hand integral in Equation 6.19 by parts gives:

_

H/2

−H/2

z∂

z

τ

xz

dz =

_

H/2

−H/2

∂

z

(zτ

xz

) dz −

_

H/2

−H/2

τ

xz

dz

= (zτ

xz

) [

z=H/2

−(zτ

xz

) [

z=−H/2

−

_

H/2

−H/2

τ

xz

dz.

But, τ

xz

[

z=H/2

= τ

xz

[

z=−H/2

= 0, since there are no applied shear tractions at the

outer surfaces. So, Equation 6.19 reduces to

∂

x

_

_

H/2

−H/2

zτ

xx

dz

_

=

_

_

H/2

−H/2

τ

xz

dz

_

. (6.20)

202 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

(You can derive these another way. Take an inﬁnitesimally thin (dx) cross-section of the

plate, see Figure 6.15. Then, Equation 6.18 is the condition that the net vertical force

H

dx

Figure 6.15:

on the cross-section vanishes, and Equation 6.20 is the condition that the net torque

vanishes.)

Now, take ∂

x

of Equation 6.20, and add to Equation 6.18. You get:

∂

2

x

_

_

H/2

−H/2

zτ

xx

dz

_

= Q

1

−Q

2

. (6.21)

The integral in Equation 6.21 is sometimes called bending moment, and written as M.

We now try to relate τ

xx

to ω(x). First, we relate τ

xx

to the strain

xx

. Since

yy

= 0,

we know that

τ

xx

= (2µ +λ)

xx

+λ

zz

τ

zz

= (2µ +λ)

zz

+λ

xx

.

We can use these equations to ﬁnd

xx

in terms of τ

xx

and τ

zz

:

xx

=

1

4µ(µ +λ)

[(2µ +λ)τ

xx

−λτ

zz

] . (6.22)

Now, I claim that for a thin plate, τ

zz

¸ τ

xx

. The reason is that for a thin plate,

∂

x

(of anything) is ¸ ∂

z

(of anything). That is, things vary much more slowly in the

horizontal direction than they do in the vertical direction, because the plate is thin. So,

since ∂

x

τ

xz

= −∂

z

τ

zz

then τ

zz

¸ τ

xz

. And, since ∂

x

τ

xx

= −∂

z

τ

xz

then τ

xz

¸ τ

xx

. So:

τ

zz

¸τ

xx

. So, we ignore the τ

zz

term in Equation 6.22, to obtain

xx

=

_

2µ +λ

4µ(µ +λ)

_

τ

xx

=

_

E

1 −ν

2

_

−1

τ

xx

6.6. LITHOSPHERIC BENDING 203

if you prefer to work with E and ν. So:

τ

xx

=

E

1 −ν

2

xx

.

And:

_

E

1 −ν

2

_

∂

2

x

_

_

H/2

−H/2

z

xx

dz

_

= Q

1

−Q

2

. (6.23)

The last step is to relate

xx

to ω (note that ω = −s

z

). By deﬁnition of

ij

:

xx

= ∂

x

s

x

.

For a thin plate, we can expand s

x

(x, z) in a Taylor series in z, and just keep the linear

term:

s

x

≈ a(x)z

(note: no constant term is included in this expansion, which is equivalent to assuming

that the mid-plane of the thin plate is not displaced horizontally, to ﬁrst order). So

_

H/2

−H/2

z

xx

dz =

H

3

12

∂

x

a(x). (6.24)

Now, a(x)

∼

= ∂

z

s

x

. I claim that ∂

z

s

x

= ∂

x

ω, for small deformation. To see this,

consider the undeformed plate in Figure 6.16. After deformation, the upper-right-hand

Figure 6.16:

corner of the shaded region looks like Figure 6.17. Looking at the angles in Figure 6.17,

gives −∂

x

ω = −∂

z

s

x

. So:

_

H/2

−H/2

z

xx

dz =

H

3

12

∂

2

x

ω (6.25)

and Equation 6.23 becomes:

Q

1

−Q

2

=

EH

3

12(1 −ν

2

)

∂

4

x

ω.

Or, deﬁning

D ≡

EH

3

12(1 −ν

2

)

≡ “ﬂexural rigidity,”

204 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

-dw/dx angle =

angle approximately 90

for small deformation

angle = - s / z

x

deformed boundary

of shaded region

w

Figure 6.17:

D∂

4

x

ω = Q

1

−Q

2

. (6.26)

Given loads Q

1

and Q

2

on a thin plate, we can solve Equation 6.26 to ﬁnd the “deﬂection,”

ω. This is the result I was after.

6.6.3 Application

The principal application of all this is: suppose the lithosphere is a thin plate, ﬂoating

on a ﬂuid asthenosphere. Suppose the crust/mantle boundary is inside the lithosphere,

a distance d below the top. See Figure 6.18. Assume the asthenosphere and lower

ρ

m

ρ

m

ρ

c

lithosphere

fluid asthenosphere

crust d

Figure 6.18:

lithosphere have the same density, ρ

m

(the actual density contrast is non-zero, but is

very small). The crustal density is ρ

c

.

6.6. LITHOSPHERIC BENDING 205

We load the lithosphere by placing crustal material (density ρ

c

) with height h

(x) on

the surface, as shown in Figure 6.19. The outer surface and crust/mantle interface get

ρ

c

ρ

m

ρ

m

ρ

c

h’

w

asthenosphere

load

Figure 6.19:

displaced downward a distance ω. The depression at the outer surface might show up in

the surface topography (especially if the surface is the sea ﬂoor, so there’s no erosion).

And the depression at the crust/mantle boundary might aﬀect surface gravity.

To ﬁnd the diﬀerential equation for ω, we need to relate Q

1

and Q

2

to h

and ω. The

pressure load on the upper surface is Q

1

= ρ

c

gh

(x). It is harder to ﬁnd Q

2

(= pressure on

lower surface of lithosphere). This pressure is due to buoyancy: the ﬂuid asthenosphere

holds up the lithosphere.

Since the asthenosphere is ﬂuid, the only possible horizontal internal force is the

horizontal gradient of the pressure (gravity, the other force in the system, is vertical). If

there is no motion in the ﬂuid, then all forces inside the ﬂuid must cancel, and so there

can be no horizontal pressure gradients. Thus, the pressure is constant over horizontal

surfaces.

A ﬂuid asthenosphere also implies that the vertical derivative of the pressure inside

the asthenosphere is the negative of the local gravitational force: ∂

z

P = −ρ

m

g. In other

words, the pressure diﬀerence between two horizontal surfaces in the ﬂuid separated by

a distance z, see Figure 6.20, is

P

1

= P

2

+ρ

m

gz.

206 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

m

ρ

2 surfaces

P

P

1

2

fluid

z

Figure 6.20:

Now, consider the deformed lithosphere sticking a distance ω down into the ﬂuid, as

in Figure 6.21. The pressure on the base of the lithosphere is Q

2

(x) = P

0

+ ρ

m

gω(x),

ρ

m

P = P

0

ρ

m

P = P

0

+ g w

fluid

lithosphere

w

Figure 6.21:

where P

0

= ﬂuid pressure on the base of the lithosphere at places where ω = 0.

P

0

is needed to keep the lithosphere from sinking when the load is added. The net

downward force on the lithosphere is

_

lithosphere

(Q

1

(x) − Q

2

(x)) dx, which must vanish.

If P

0

is not included in Q

2

, this requirement of no net vertical force would imply that

the lithosphere sinks. The lithosphere will sink a little: the asthenosphere is compress-

ible, and so may change its volume slightly in response to the additional weight of the

lithosphere from the topographic mass. But, not only is that change in volume apt to be

small, but any uniform displacement of the lithosphere has no observable consequences.

Thus, to determine P

0

uniquely, we introduce the additional requirement that when av-

6.6. LITHOSPHERIC BENDING 207

eraged over the entire lithosphere, the vertical displacement is zero (in other words, that

_

lithosphere

ω(x)dx = 0).

In fact, the whole business of dealing with P

0

makes the algebra a little more awkward.

So, for the time being, we will go further and assume that

_

lithosphere

h

(x) is also 0, which

means we will subtract the mean of h

(x) from h

(x) (so that the new h

(x) will be

negative in places). In this case, there is no net vertical force from either h

or ω, and so

P

0

is not needed. Thus, we have:

Q

2

(x) = ρ

m

gω(x).

So, putting Q

1

and Q

2

into Equation 6.26, gives:

D∂

4

x

ω +gρ

m

ω = gρ

c

h

(x). (6.27)

The best way to solve Equation 6.27 for arbitrary h

(x), is to expand h

into a Fourier

series or Fourier integral, solve Equation 6.27 for ω for each term in the series, and then

add the ω terms together.

What does the solution look like for one of these terms? Suppose, for example, that

h

= h

0

cos(kx). (6.28)

What is ω? This example is useful, also, because it tells us what happens at short and

long wavelengths. In Equation 6.28, the only restriction we need make on k is that

2π/k ¸ lithospheric thickness (2π/k = horizontal wavelength of the load), since we

assumed the horizontal wavelength ¸ lithospheric thickness to get our ﬂexure equation,

Equation 6.26.

We try a solution of the form ω = ω

0

cos kx. This solution will work if:

(Dk

4

+ρ

m

g)ω

0

= gρ

c

h

0

.

Or:

ω

0

=

_

gρ

c

Dk

4

+ρ

m

g

_

h

0

. (6.29)

208 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

In practice, you might not know h

0

or h

, particularly over continents. h

(x) describes

the thickness of the load — or how much the load sticks up above the lithosphere. But,

you might not know where the top of the lithosphere is.

Instead, what you might know are surface elevations, as determined from leveling. In

that case, you know the distance above the geoid. You assume that before deformation

the lithospheric surface was parallel to the geoid. So, if h(x) = measured elevation, then

h

**(x) = h(x) + ω(x) (that is, the lithosphere is now ω(x) below the constant potential
**

surface, and the load is h(x) above that surface).

In that case, the diﬀerential equation for ω is

D∂

4

x

ω +gρ

m

ω = gρ

c

(h +ω)

or:

D∂

4

x

ω +g(ρ

m

−ρ

c

)ω = gρ

c

h.

If h = h

0

cos kx, and if we assume that ω = ω

0

cos kx, then

ω

0

=

_

gρ

c

Dk

4

+ (ρ

m

−ρ

c

)g

_

h

0

. (6.30)

6.6.3.1 Limiting cases

Let’s see what happens to ω

0

at short and long wavelengths. Consider Equation 6.29,

that relates ω

0

to h

0

.

Short wavelengths

Suppose k is large enough that k

4

D ¸ ρ

m

g > ρ

c

g. (Though we must also as-

sume that the wavelengths are ¸ lithospheric thickness, so that the derivation of

Equation 6.26 remains valid.) Then

gρ

c

Dk

4

+ρ

m

g

¸1,

so that:

ω

0

¸h

0

.

6.6. LITHOSPHERIC BENDING 209

In other words, there is very little deﬂection. This is part of the reason why

topography does not show up in Bouguer anomalies at short wavelengths: the

compensation is small. It’s not only that the compensation is deep.

Long wavelengths

Suppose k

4

D ¸ρ

m

g. Then, Equation 6.29 is

ω

0

≈

_

ρ

c

ρ

m

_

h

0

=

ρ

c

ρ

m

(h

0

+ω

0

) .

Or:

ω

0

=

_

ρ

c

ρ

m

−ρ

c

_

h

0

which is the familiar Airy compensation result. (ω

0

= root thickness.) This is why

Airy compensation works so well at long wavelengths. The lithosphere is easy to

bend — it mirrors the topography — at long wavelengths. Shear stresses within the

lithosphere are not strong enough to support the load at long wavelengths. Instead,

the load must be fully supported by buoyancy forces in the ﬂuid asthenosphere —

which is the Airy compensation hypothesis.

We need to be more quantitative for what is meant by “long” and “short” wavelengths.

The wavelength is λ = 2π/k. The separation between short and long corresponds to

k

4

D = ρ

m

g. Or: λ = 2π(D/ρ

m

g)

1/4

. For typical oceanic values of E, ν, and H (H ≈

30 km): D ≈ 2 10

30

dyne-cm. So, for typical ρ

m

and g: λ ≈ 300 km is the dividing

line between short and long wavelengths. So, for the ocean

λ ¸300 km =⇒ compensation is small

λ ¸300 km =⇒ Airy compensation.

The values are not much diﬀerent than this for continents. Note, also, that in order for

our results to be valid, λ must also be ¸H ≈ 30 km for the ocean. More general results,

without the the thin plate assumption, show the lithosphere doesn’t bend at short λ,

even if λ ¸H doesn’t hold.

210 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

Go back to Equations 6.29 and 6.30. These results relating ω

0

to h

0

and to h

0

can

be inverted from the Fourier transform (k) domain back to the x-domain, to give a

relation between ω(x) and h

**(x) or h(x). In some oceanic areas, the deﬂection ω(x) can
**

be measured. Then, you can ﬁt the theory to the observations and solve for D. Using

estimates for E and ν, your results for D can be used to infer H: the thickness of the

thermal boundary layer for mantle convection beneath the oceans.

6.6.3.2 Example: Flexure from an island chain

We model an island chain as an inﬁnite line load concentrated at x = 0, with mass/length

= M. (If you are familiar with Dirac delta functions: ρ

c

h

(x) = Mδ(x).) What is ω(x) in

this case? (We assumed the load is independent of y to derive Equations 6.29 and 6.30.)

We can use Equation 6.29 if we can expand h

**(x) in terms of cosines. We are assuming
**

the island chain is inﬁnitely-thin, so that h

(x) = 0 for all x except x = 0 — where h

(x =

0) is inﬁnite. To ﬁnd the expansion coeﬃcients, we ﬁrst approximate this inﬁnitely-thin

load as a block of width ‘a’ (so that the height of the block is M/ρ

c

a) centered at x = 0,

as shown in Figure 6.22. When this block is expanded as a Fourier integral of sines and

ρ

c

a

a

M

Figure 6.22:

cosines (I won’t derive it here) we obtain:

h

(x) =

M

ρ

c

2π

_

∞

−∞

sin (ak/2)

(ak/2)

cos(kx) dk.

If we now take the limit as a → 0 (so the height → ∞) we obtain (noting that

lim

y→0

(sin y/y) = 1):

h

(x) =

M

ρ

c

2π

_

∞

−∞

cos(kx) dk. (6.31)

6.6. LITHOSPHERIC BENDING 211

We take the integral in Equation 6.31 as our inﬁnitely-thin load. Note that this

integral, though, is meaningless: the integral is not well-deﬁned. We should, really, ﬁnd

ω(x) caused by the block of non-zero width a, and then set a → 0 in ω(x). But, using

Equation 6.31 as the load, without worrying about its convergence, is easier and gives

the same answer.

Equation 6.31 implies that if we separate h

**(x) into cosine terms, the amplitude,
**

h

0

(k), of each cosine is M/(2πρ

c

) — independent of k. The response, ω

0

, to each cosine

term is then: (from Equation 6.29)

ω

0

=

_

gρ

c

Dk

4

+ρ

m

g

_

M

2πρ

c

.

(We use Equation 6.29 instead of Equation 6.30 because in this case the island mass you

observe sticking up above the sea ﬂoor is h

**(x). The lithosphere does not bend at short
**

wavelengths, and so ω directly under the load is approximately ω just outside the edges

of the load — so you do know where the surface of the lithosphere under the load is —

it is at the depth of the surrounding sea ﬂoor.)

To ﬁnd ω(x), invert ω

0

back to the x-domain:

ω(x) =

_

∞

−∞

ω

0

(k) cos(kx) dk =

gM

2π

_

∞

−∞

_

cos kx

Dk

4

+ρ

m

g

_

dk.

We can ﬁnd this integral in integral tables. Deﬁne α ≡ (4D/ρ

m

g)

1/4

≡ “Flexural param-

eter.” Then, we ﬁnd that

ω(x) =

_

gM

8D

_

α

3

e

−|x|/α

_

cos

_

[x[

α

_

+ sin

_

[x[

α

__

. (6.32)

This result is obviously symmetric about x = 0 (it ought to be). A plot of −ω(x) for

x ≥ 0 looks something like Figure 6.23. Note that the ocean ﬂoor depresses under and

near to the island, but that there is a region of uplift away from the island. Let x

b

be

the distance between the island chain and the point of maximum uplift. Then:

dw

dx

¸

¸

¸

¸

¸

x=x

b

= 0.

This derivative is easy to ﬁnd, and the resulting equation is sin(x

b

/α)e

−x

b

/α

= 0. Or (for

x

b

,= ∞): x

b

= nπα. The point of maximum uplift closest to the load corresponds to

212 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

x

b

-w(x)

profile of sea floor

Figure 6.23:

n = 1, where

x

b

= πα.

Here’s how these results can be used. Probably the most successful application has

been to the Hawaiian-Emperor seamount chain.

1. Determine the mass/length of the seamount chain, using bathymetry data.

2. Pretend the mass is all located at x = 0 — so that the chain is approximated as

an inﬁnitely-thin line mass. This, of course, is not correct. The Hawaiian Islands

are about 150 km wide. This means that our inﬁnitely-thin approximation causes

errors at wavelengths of less than 150 km. But, at those wavelengths the lithosphere

doesn’t bend much, anyway. So there should only be a small short wavelength error

in ω(x). (Incidentally, this suggests a way out of another problem. Equation 6.29

was derived assuming the horizontal wavelengths were ¸H. That’s not true for a

line load. But, by using Equation 6.29 even at short wavelengths we are including

no signiﬁcant short wavelength terms in ω(x). And, as mentioned above, the exact

solution without the thin plate assumption predicts no signiﬁcant short wavelength

terms in ω(x). So, our answer is pretty good.)

3. Use the result for ω(x), Equation 6.32, to compare with the observed bathymetry.

Speciﬁcally, ﬁnd the maximum uplift point using the observations, and determine

α = x

b

/π. Once you have α, you infer H = lithosphere thickness. (Note that you

6.6. LITHOSPHERIC BENDING 213

don’t need the mass/length, M, to do this.) One omission in the results above,

is that I neglected to include the weight of the ocean water. The water ﬁlls in

depressed regions and makes ω(x) larger. I won’t go through the re-derivation, but

will just give the result: by including the weight of the water, all results for ω(x)

are the same, except that

α →

_

4D

(ρ

m

−ρ

w

)g

_1

4

where ρ

w

= water density.

For Hawaii, x

b

is found to be approximately 250 km, and the solution for H is H ≈

30 km.

6.6.4 Gravity

The deﬂection ω(x) also shows up in gravity. Surface gravity is aﬀected by:

A. The mass load σ(x) = ρ

c

h

**(x) at the upper surface.
**

B. The (negative) mass load σ(x) = −ρ

c

ω(x) at the upper surface.

C. The (negative) mass load σ(x) = (ρ

c

− ρ

m

)ω(x) at the crust/mantle boundary.

(The eﬀective density here is ρ

c

− ρ

m

because we are replacing mantle with crust,

when ω(x) > 0.)

If you observe h(x) = h

(x) −ω(x) instead of h

**(x), then you replace A. and B. with
**

“AB: The mass load σ(x) = ρ

c

h(x) at the upper surface.”

Let’s assume that you measure h

**instead of h (it just makes the algebra a little
**

simpler). Then, you approximate the ρ

c

(h

**(x) − ω(x)) upper surface load as a surface
**

mass at z = 0. And, you approximate the (ρ

c

−ρ

m

)ω(x) load as a surface mass at z = −d

(d = crust/mantle depth).

Suppose h

(x) = h

0

cos kx, so that Equation 6.29 is valid. Back in Section 6.3 we

found that g

z

at z = 0 due to a surface mass σ

0

cos(kx) a distance ‘a’ beneath z = 0, is

214 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

2πGσ

0

e

−ka

cos kx. So, for our two surface masses:

g

z

(x, z = 0) = 2πG

_

ρ

c

(h

0

−ω

0

) + (ρ

c

−ρ

m

)ω

0

e

−kd

_

cos kx

= 2πGρ

c

h

0

cos kx

_

1 −

gρ

c

Dk

4

+ρ

m

g

+

g(ρ

c

−ρ

m

)

Dk

4

+ρ

m

g

e

−kd

_

(6.33)

where the last equality follows from Equation 6.29.

For small wavelengths, where Dk

4

¸ ρ

m

g, g

z

→ 2πGρ

c

h

(x) ≈ 2πGρ

c

h(x) (h

≈ h

since ω ≈ 0) which is the Bouguer correction. And, for large wavelengths (where Dk

4

¸

ρ

m

g, and kd ¸1):

g

z

→2πGρ

c

h

(x)

_

1 −

ρ

c

ρ

m

+

ρ

c

−ρ

m

ρ

m

_

= 0 (6.34)

which is the Airy result.

More generally, given observations of h

(x) (or of h(x)) you expand h

(x) (or h(x))

in terms of cosines and sines, ﬁnd g

z

for each term in the expansion, and then add the

g

z

’s for the diﬀerent cosines and sines together. You compare with observations to ﬁnd

D (which gives H) and d (= the crustal thickness). For long wavelength loads, you’ll

end up with about the same estimate for d as you would if you had started with Airy

compensation. That’s because Equation 6.34 equals the Airy result.

6.6.5 Remarks

These gravity equations, which can be used to estimate H from observations of g

z

, are

best applied in oceanic areas. They have, for example, been used to conﬁrm the 30 km

estimate of H beneath Hawaii, as determined from the bathymetry. They are not as

useful for ﬁnding H in continental areas, because there are often substantial horizontal

chemical- and structural-related variations in g

z

over continents, which mask the eﬀects

of deﬂection on the crust/mantle boundary. There are, though some things which have

been successfully tried beneath continents. For example, people have looked at the gravity

signal related to loading from sedimentary basins. They use seismic techniques to ﬁnd

the basement rock beneath the sediments. They then know the sediment thickness, which

allows them to treat the sediments as a known load, estimate g

z

, and compare with data.

6.6. LITHOSPHERIC BENDING 215

Another thing that’s been done is to collect lots of gravity data over a single continent,

compare with the measured elevation h, and try to ﬁt H to the data. When this is

done for the United States, for example, the Bouguer anomalies are found to → 0 as

the wavelength → 0. That implies that there is little gravity compensation at short

wavelengths. At the other extreme, the free air anomalies → 0 at large wavelengths,

implying that long wavelengths are compensated.

So, the picture is qualitatively what one would expect. But, if you ﬁt the result

Equation 6.33 to the U.S. g

z

data, and solve for H, you ﬁnd that H ≈ 5 km. That’s way

too small. This is undoubtedly partly due to the diﬃculties of interpreting continental

data. But, it’s also because the most useful Bouguer anomaly results come from places

with high topography. And, most of the high U.S. topography is in the west. It turns out

that the western U.S. is sitting on anomalously hot material in the upper mantle. The

heat has melted the lower lithosphere, and so the lithosphere is thinner there than you

would normally expect. But, more fundamentally, thermal expansion has uplifted the

entire region — so that interpreting long wavelength gravity from the west in terms of

lithospheric loading may not make sense. Pratt isostasy is likely to be more appropriate.

6.6.6 Examples of Pratt compensation

6.6.6.1 Basin and Range

Let’s consider the western U.S. in more detail. Speciﬁcally, we consider the Basin and

Range geological province, which includes all of Nevada, plus some of California, Arizona,

Idaho, and Utah. Broad-scale free air anomalies from this region are close to zero, so that

Bouguer anomalies are the mirror image of the topography. This implies the region is

compensated at long wavelengths. The region has high overall elevation. So, if it is Airy

compensation that is at work here, you’d expect the crust to be thick underneath the

region. The hypothesis that regions of high topography are underlain by anomalously

thick crust, is found to hold in most places around the world. This is conﬁrmed not

only by the sort of gravity-ﬂexure theory studies described in the previous sections.

216 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

But it’s also supported by seismic results for the depth to the Moho (the crust/mantle

discontinuity). Those observed depths are obviously independent of any assumptions

about the compensation mechanism, and they are generally large for high elevations.

But, not for the Basin and Range. There, the Moho depth is about the same as

elsewhere — in low elevation regions — beneath the U.S. So, Airy compensation is

not supporting the Basin and Range topography. (Which means, also, that ﬂexure is

not operative, since the eﬀects of ﬂexure would cause a deeper crust/mantle boundary,

just as in Airy compensation.) Instead, the conclusion is that there must be some sort

of Pratt compensation at work here. In other words, there is material of anomalously

low density beneath the Basin and Range. This is further supported by high heat ﬂow

observed at the surface: when material is heated, its density decreases.

Is this hot material in the crust or in the upper mantle? Seismic observations show

nothing particularly anomalous about seismic p-wave speeds in the Basin and Range

crust. But, they do show that p-wave speeds in the upper mantle beneath the Basin and

Range are slower than they are at similar depths in other regions of the globe. There

is laboratory evidence of an approximately linear relationship between density and v

p

,

when the temperature of the material is changed: a decrease in v

p

implies a decrease in ρ.

This relation might appear to be the opposite of that implied by the density dependence

of v

p

: v

p

=

_

(2µ +λ)/ρ, which suggests that a decrease in v

p

⇒ increase in ρ. But,

it turns out that although an increase in temperature reduces ρ, it reduces 2µ + λ even

more. So, the observed p-wave velocities suggest that the anomalously light material

beneath the Basin and Range is in the upper mantle.

What is going on in this region? The Basin and Range is so-named because it is

marked with long mountain ranges trending from the northeast to the southwest, sepa-

rated by wide basins. The ranges are spaced roughly 20–30 km apart. Geologists have

found that at the edge of each range there is a normal fault, see Figure 6.24. Normal

faults occur when material is being pulled apart — or extended. In fact, that is appar-

ently what’s happening to the Basin and Range. As the region extends, normal faulting

occurs. The crust and, probably, the lithosphere break up into blocks separated by the

6.6. LITHOSPHERIC BENDING 217

direction of relative slip

mountain

normal fault

Figure 6.24:

normal faults, and the blocks tip — causing mountain ranges. See Figure 6.25. Erosion

faults

Figure 6.25:

ﬁlls in the depressions, producing sedimentary basins. In this sort of geological structure,

the high points (the mountains) are called horsts, and the low points (basins) are called

grabens.

Further evidence of Basin and Range extension comes from geodetic (e.g. VLBI)

measurements of the on-going extension. Those measurements suggest an extension rate

of about 5–7 mm/yr, which is consistent with the geologically-inferred rate over millions

of years.

218 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

So, what’s causing the Basin and Range to extend? Presumably it is the same mech-

anism that is causing the high temperatures in the upper mantle. Nobody knows for

sure, but there are a number of theories. One of the more extreme is that North America

is about to split apart into two plates, with an ocean opening between them. The hot

material would then be a rising plume of material from deep within the mantle. Not

many people believe this, though.

One of the more generally accepted hypotheses (though by no means the only hypoth-

esis) runs approximately as follows. Tens of millions of years ago there was an oceanic

plate between the North American and Paciﬁc plates, called the Farallon Plate. The

Farallon and Paciﬁc plates joined at a spreading center — where Paciﬁc sea ﬂoor was

created. The eastern edge of the Farallon plate subducted beneath the western edge of

the North American plate. See Figure 6.26.

North

America

Farallon

Plate

Pacific Plate California

spreading center

Figure 6.26:

See Figure 6.27 for a cross-section view.

The material in the North American plate just above the subducting Farallon plate

could well be hot, due to frictional heating as the Farallon plate descends into the mantle.

Frictional heating could be at least partly responsible for the ‘back-arc’ volcanism that

often occurs above subducting slabs.

6.6. LITHOSPHERIC BENDING 219

hot

material

North

America

Pacific

Farallon

California

Figure 6.27:

The North American plate was moving westward faster than the Farallon plate was

moving eastward. So, about 30 million years ago, the spreading center began to be

subducted beneath the North American plate. All that remains of the Farallon plate at

the present time is the Cocos plate just oﬀ Latin America, and the Juan de Fuca plate

just west of Washington. Eventually these will be subducted, too.

It is not clear, but it seems probable that the upwelling at a mid-ocean ridge turns oﬀ

when the ridge is subducted. This conclusion might be hard to accept if you believe in a

picture of upper mantle convection where the plates mirror the shape of the underlying

upper mantle convection cells, such as illustrated in Figure 6.28.

plate

(Pacific)

plate

(Farallon)

plate

(N. America)

Figure 6.28:

But it is easier to understand if, instead, plate boundaries simply correspond to places

where the original lithosphere was weak. For example, convection causes stresses on the

lithosphere. The lithosphere could well split apart where it is weakest — not necessarily

at the convection cell boundaries. Mantle material would come to the surface at the

rupture to replace the separating lithospheric material, and the result is a spreading

220 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

center. So, if the spreading center eventually gets subducted, the original lithospheric

rupture is essentially healed, and the spreading stops.

In any case, the subduction of the Paciﬁc/Farallon boundary is likely to have been

the event that initiated Basin and Range extension. There are several ways this could

have happened. As one hypothesis, when the the spreading center was subducted and

the upwelling of mantle material ceased, the Farallon plate no longer pushed eastward on

the North American plate. But, there is still likely to be hot material beneath western

North America which pushes out in all directions (high internal pressure). Since the

restraining force from the Farallon plate is now greatly reduced, the region is better able

to expand, leading to extension of the surface.

6.6.6.2 Hot Spots

Hot spots are another example of Pratt compensation.

I’ve mentioned the application of ﬂexure theory to lithospheric loading by island

chains. You get subsidence beneath the chain, and a region of slight uplift a couple

hundred km away. People also ﬁnd longer wavelength swells in the bathymetry around

some islands such as Hawaii and Bermuda. These swells are maybe 1000–2000 km in

horizontal extent. All the shorter wavelength wiggles due to the ﬂexure are super-imposed

on the swell. There is a corresponding swell across the island axes in free-air gravity.

The free-air anomalies are small — maybe 20 mgal or so. The swell in the bathymetry

can be over 1 km in elevation. So, the Bouguer correction would be approximately

(0.1118 mgal/m)10

3

m

∼

= 100 mgal. So, the swell must be reasonably well compensated.

The crust isn’t thicker under swells than elsewhere. So, the compensation is likely to be

Pratt compensation of some sort. The observed free-air anomaly can be used to learn

about the underlying density anomaly, by assuming a compensation depth (the depth

level above which all columns have the same mass); or to learn about the compensation

depth, by assuming a known density anomaly.

The free-air anomalies are far enough from zero over the swell, to imply that the

underlying density anomaly is well below the crust mantle boundary — further down

6.6. LITHOSPHERIC BENDING 221

into the upper mantle. If, instead, the compensation were at shallower depths, there

would likely be more cancellation between the gravitational eﬀects of the compensation

and those of the topography.

Presumably both the low density and the swell itself are caused by thermal expansion.

This suggestion is supported by the observed high heat ﬂow in these regions. In fact,

in the most notable example of one of these regions — Hawaii — there is even volcanic

activity.

These sorts of island arcs are believed to be caused by hot plumes of material rising

up out of the lower mantle. The surface expressions of the plumes are called hot spots.

It’s not clear what causes the plumes or where they come from; they could well originate

from near the crust/mantle boundary.

Several dozen tentative hot spots have been identiﬁed around the globe. They occur

on continents as well as on oceans. They appear to remain ﬁxed with respect to each

other over tens to hundreds of millions of years or longer. The plates move over the hot

spots, and so a hot spot leaves a track behind it. For example, the Hawaiian islands are

the end of a long chain of islands and seamounts. The seamounts — at the other end of

the Hawaiian island chain — used to be islands when they lay over the hot spot. When

they moved oﬀ the hot spot, the entire region subsided again and the islands ended up

as under-water seamounts. Because hot spots do not appear to undergo relative motion,

they have been useful in determining an absolute reference frame to describe plate motion.

6.6.6.3 Mid-Ocean Ridges

Here’s another example of Pratt compensation. Plates are pulling apart at mid-ocean

ridges. The bathymetry at these ridges shows under-water mountains and other short

wavelength features caused by the upwelling mantle material. But, all this is super-

imposed on a very long wavelength swell, several thousand km wide — essentially across

the entire ocean basin, or at least over much of it.

The free-air gravity anomalies show that the swell is mostly compensated — although

the compensation is not perfect. The departure from perfect compensation can be used

222 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

to learn about the density, the compensation depth, etc. The anomalies are large-scale

enough that they must ﬁrst be corrected for the horizontal variation of the geoid. Re-

member: the free air correction only corrects for the variation of gravity due to the

elevation of the gravimeter above the geoid. It does not correct for the variations in the

radius of the geoid. The geoid variations usually have much longer wavelengths than the

interesting gravity signal. But not in this case. In fact this swell is so broad that people

often work with it by looking at its eﬀect on the geoid, rather than on surface gravity.

People have been able to explain the swell in the bathymetry, and the observed geoid

anomalies, as the result of thermal subsidence as the lithosphere moves away from the

ridge where it was created, and then cools and thickens. See Figure 6.29. It thickens,

thickening

lithosphere

ridge

Figure 6.29:

because material from the underlying asthenosphere cools and becomes solid — and so

becomes part of what we call the lithosphere. It subsides because as it cools its density

increases — it takes up less volume. The amount of subsidence is, presumably, consistent

with the isostatic assumption of equal mass in all vertical columns.

People observe that the ocean depth (which reﬂects the subsidence) varies as the

square root of the distance from the ridge. For constant spreading rates, the distance

from the ridge is proportional to the age of the lithosphere. So, the ocean depth varies

as

√

age.

People observed this

√

age dependence back before the theory of continental drift.

6.6. LITHOSPHERIC BENDING 223

Nowadays, people can explain it using simple heat ﬂow models. This is one of the major

triumphs of the theory of continental drift, and I will derive it here. The phenomenon is

referred to as Thermal Isostasy.

6.6.6.3.1 Thermal Isostasy The model is simple. We take a sample two-dimen-

sional cross-section, and follow it as it moves away from the ridge axis. See Figure 6.30.

We ﬁnd the temperature proﬁle as a function of time. We do this by solving the equations

ridge

cross section

Figure 6.30:

for heat conduction inside the cross-section, assuming all heat conduction is vertical, so

that the column does not interact thermally with its neighbors. This assumption is prob-

ably pretty good since the temperature gradient in the lithosphere will be predominately

vertical: the outer surface is much cooler than the interior of the mantle.

So, the problem reduces to a one-dimensional conduction problem. See Figure 6.31.

Let z be positive downwards. Let z = 0 be the top of the column (the surface of the

z

0

Figure 6.31:

224 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

earth). Assume the column extends to z = ∞. The one-dimensional equation for heat

conduction in the ˆ e

z

direction is:

∂

t

T = κ∂

2

z

T (6.35)

where T = temperature and κ = thermal diﬀusivity. Equation 6.35 assumes there are no

internal heat sources or sinks. We must solve this equation for given initial conditions

and boundary conditions:

Initial condition:

T = T

m

= constant at t = 0. (Except we assume that T(z = 0, t = 0) = T

s

— see

Equation 6.36 below.) Here, T

m

= temperature of the mantle, where the column

originated. We assume the vertical gradient of the initial temperature is zero (i.e.

T = constant) because convection in the earth is much faster than conduction: the

column rises to the surface much faster than it can lose heat through the outer

(z = 0) surface.

Boundary conditions:

For all t > 0:

T(z = 0) = T

s

= surface temperature (6.36)

T(z = ∞) = T

m

.

I claim the solution to the partial diﬀerential equation with these initial and boundary

conditions is unique, and is given by:

T(z, t) = T

m

+ (T

s

−T

m

)

_

1 −erf

_

z

2

√

κt

__

(6.37)

where

erf(η)(≡ error function) =

2

√

π

_

η

0

e

−η

2

0

dη

0

.

To verify that Equation 6.37 solves the initial and boundary conditions, note that erf(∞) =

6.6. LITHOSPHERIC BENDING 225

1 (since

_

∞

0

e

−η

2

0

dη

0

=

√

π/2) and erf(0) = 0. So,

T(z, 0) = T

m

+ (T

s

−T

m

) [1 −erf(∞)]

. ¸¸ .

=0

= T

m

T(0, t) = T

m

+ (T

s

−T

m

) [1 −erf(0)]

. ¸¸ .

=1

= T

s

T(∞, t) = T

m

+ (T

s

−T

m

) [1 −erf(∞)]

. ¸¸ .

=0

= T

m

.

To verify that Equation 6.37 solves the diﬀerential equation, we use the results:

∂

t

T = −(T

s

−T

m

)

_

∂

η

erf(η)[

η=z/2

√

κt

_

z

2

√

κ

_

−

1

2t

3/2

_

∂

z

T = −(T

s

−T

m

)

_

∂

η

erf(η)[

η=z/2

√

κt

_

1

2

√

κt

∂

2

z

T = −(T

s

−T

m

)

_

∂

2

η

erf(η)

¸

¸

¸

η=z/2

√

κt

_

1

4κt

.

And:

∂

η

erf(η) =

2

√

π

e

−η

2

.

So:

∂

2

η

erf(η) = −

4

√

π

ηe

−η

2

= −

2

√

π

z

√

κt

e

−η

2

.

So:

−∂

t

T +κ∂

2

z

T =

−(T

s

−T

m

)

2

√

π

e

−η

2

¸

¸

¸

¸

¸

η=z/2

√

κt

z

4

√

κt t

+κ(T

s

−T

m

)

2

√

π

z

√

κt

e

−η

2

¸

¸

¸

η=z/2

√

κt

1

4κt

= 0

So, Equation 6.37 does, indeed, solve the diﬀerential equation.

We now have an expression for the temperature T(z, t). What is the density? For

small temperature variations, (T −T

m

):

ρ ≈ ρ

m

[1 +α(T

m

−T)]

226 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

where ρ

m

= density at the mantle temperature T

m

, and α = volumetric coeﬃcient of

thermal expansion. So, if ∆ρ ≡ [ρ(z, t) −ρ

m

] is the increase in density, then:

∆ρ = ρ

m

α(T

m

−T

s

)

_

1 −erf

_

z

2

√

κt

__

. (6.38)

Note that T

m

> T

s

, α > 0 (a decrease in T causes an increase in ρ), and erf(η) ≤ 1

(with erf(η) = 1 only if η = ∞). So, ∆ρ ≥ 0, implying an increase in density throughout

the column. In fact, since erf(η) decreases with decreasing η, we can conclude that ∆ρ

increases with time. That suggests that the column should subside with time, due to

isostasy. To estimate that subsidence, we impose the isostatic condition of equal masses

in vertical columns.

In Figure 6.32, the column on the right has subsided by h. Since all this is under

water

ρ

m

ρ

w

ρ

m

+

∆ ρ

column

later on

h

ridge axis

column at the

Figure 6.32:

water, the height h is ﬁlled up with water of density ρ

w

. There should be equal masses in

these two columns. That’s nonsense, because each column has inﬁnite mass. But that’s

just an artifact of our inﬁnite column model.

Instead, just consider the diﬀerence in mass between the two columns. The left hand

solid column has a uniform density of ρ

m

between z = 0 and z = ∞. The right hand solid

column has density ρ

m

+ ∆ρ between z = 0 and z = ∞ (the reference level z = 0 goes

up and down with the top of the column). So, the diﬀerence in density is ∆ρ between

z = 0 and z = ∞. Except, the right hand solid column is a length h shorter than the left

6.6. LITHOSPHERIC BENDING 227

hand column. That is, it is missing the mass ρ

m

h. It has replaced the solid mass with

water, so now has added the mass ρ

w

h.

So, the extra mass in the right hand column is

_

∞

0

∆ρ(z, t) dz −ρ

m

h +ρ

w

h = 0

(the extra mass is set to zero, here, because of our isostatic assumption). Or:

(ρ

m

−ρ

w

)h =

_

∞

0

ρ

m

α(T

m

−T

s

)

_

1 −erf

_

z

2

√

κt

__

dz.

It turns out that

_

∞

0

[1 −erf(x)] dx =

1

√

π

(6.39)

Using Equation 6.39 gives h(t) = depth of ocean at time t:

h(t) = α(T

m

−T

s

)2

¸

κt

π

_

ρ

m

ρ

m

−ρ

w

_

. (6.40)

Typically, h(t) ≈ 3–4 km depth a long way from the ridge. The important result is that

h is proportional to

√

t, as is observed. (Alternatively, because the distance from the

ridge = (plate velocity) t, then h is proportional to the square root of that distance.)

People ﬁnd that the

√

t dependence of h tends to disappear a few thousand km from

the ridge. There, the ocean ﬂoor ﬂattens out. Probably the background heat ﬂow through

the entire ocean ﬂoor counteracts the cooling described here, and keeps the ocean ﬂoor

elevated to some minimal level.

So, we now have a model of the bathymetry. What about the geoid? Speciﬁcally,

what eﬀect does δρ have on the geoid height N?

The situation here is an example of what was referred to as “Generalized Pratt com-

pensation” in Section 6.3. There, we considered the case of topography with an x-

dependence of e

ikx

. If δρ(z

)e

ikx

is the density anomaly that supports the topography,

and if the compensation is perfect (as it is here), then the “Generalized Pratt” result in

Section 6.5.1 is:

N(x) =

2πG

g

__

0

−H

δρ(z

)z

dz

_

e

ikx

(6.41)

228 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

where H is the compensation depth (that is, where δρ(z

)e

ikx

= 0 below z

= −H).

Equation 6.41 is valid so long as the horizontal wavelength is much larger than the

compensation depth: kH ¸1.

Since the amplitude of N(x) is independent of k, we can generalize Equation 6.41 to

arbitrary x dependence in δρ (so long as it is long wavelength) to obtain:

N(x) =

2πG

g

_

0

−H

δρ(x, z

)z

dz

. (6.42)

How do we modify this result so that it is appropriate for our thermal isostasy prob-

lem? First, the δρ in Equation 6.42 is diﬀerent from our ∆ρ: δρ also includes the mass

deﬁciency (ρ

w

− ρ

m

) in the depth h(x), due to replacing rock with water. Second, our

depth of compensation is at ∞, and our z-axis is positive downwards. So:

N(x) =

2πG

g

_

_

0

h(x)

(ρ

w

−ρ

m

)z dz +

_

0

∞

∆ρz dz

_

. (6.43)

But, the second integral in Equation 6.43 needs some more justiﬁcation. We needed to

assume [kH[ ¸1 to derive Equation 6.43, but for [H[ = ∞ this is obviously wrong. On

the other hand, for the thermal isostasy case, ∆ρ goes to 0 pretty rapidly as z gets large.

Most of the density anomaly is near the surface. So, all we really need to assume to get

a pretty reliable answer, is that the horizontal wavelength is ¸the thickness of this near

surface layer. And, that’s a pretty good approximation in our case since the wavelength

of the swell is several thousand km. So, Equation 6.43 is probably pretty good.

Using our result (Equation 6.38) for ∆ρ, we get:

N =

2πG

g

_

−

(ρ

w

−ρ

m

)h

2

2

+ρ

m

α(T

m

−T

s

)

_

0

∞

_

1 −erf

_

z

2

√

κt

_

z dz

__

. (6.44)

From integral tables, we ﬁnd that:

_

∞

0

η[1 −erf(η)] dη =

1

4

. So, simplifying the integral in

Equation 6.44 and using Equation 6.40, for h in terms of t, gives N as a function of age:

N(t) = −

_

2πGρ

m

α(T

m

−T

s

)κ

g

_ _

1 +

2ρ

m

α(T

m

−T

s

)

π(ρ

m

−ρ

w

)

_

t. (6.45)

Note that N(t) is linearly proportional to the age, t (or, equivalently, to the distance

from the ridge). This linear dependence agrees well with what is observed. Note, also,

that N(t) is < 0, so N decreases away from the ridge axis.

6.6. LITHOSPHERIC BENDING 229

The eﬀects of the

√

t bathymetry have been noticed in another way, near transform

faults along mid-ocean ridges. Mid-ocean ridges are not strictly linear — but consist of

linear segments separated by transform faults, as in Figure 6.33. Along a transform fault,

transform fault

mid-ocean ridge

Figure 6.33:

the direction of motion is parallel to the fault. Along the continuation of a transform

fault, material on diﬀerent sides will be of diﬀerent ages. See Figure 6.34. Because of the

time-dependent subsidence, the younger material will have greater elevation. So, if we

younger

older

x

x

A

Figure 6.34:

look at Figure 6.34 in cross-section from along the x-axis, we’d see Figure 6.35. At least,

older younger

transform fault axis

Figure 6.35:

230 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

this is what we’d see for a cross-section right next to the upper arm of the spreading

ridge (at x

A

in Figure 6.34). At this point the younger lithosphere has just been created

and has just come in contact with the older lithosphere on the other side of the fault

axis. The elevation diﬀerence is determined by the age of the older lithosphere at this

time.

As the cross-section moves away from the ridge, both sides cool and subside. But,

the subsidence is not linear in time — it varies as

√

t. This implies that the elevation

diﬀerence between the two sides should decrease with time.

People ﬁrst noticed and explained this sort of feature using bathymetry results in-

ferred from satellite altimeter data. Oﬀsets in elevation across the fault axis can be as

large as 2 km. The results conﬁrm the

√

t age dependence of the subsidence. But, the

results also show something else. As a cross-section moves away from the ridge, the ele-

vation diﬀerence between material on the two sides does decrease, consistent with the

√

t

subsidence. But not right across the transform fault axis. There, the elevation diﬀerence

remains ﬁxed — determined by the initial elevation diﬀerence when the two sides ﬁrst

came in contact. The pattern across the fault looks like that shown in Figure 6.36. The

older younger

Figure 6.36:

size of the discontinuity between the older and younger rocks shown in Figure 6.36 is the

initial oﬀset.

This shows that the lithosphere can support shear stress over many tens of millions

of years (you see this feature in cross-sections many tens of millions of years old). The

slopes in Figure 6.36 in the bathymetry near the fault are determined by how thick the

lithosphere is. For example, thin lithosphere is easier to bend and so the slopes are larger

6.7. CONVERGENCE ZONES 231

than for thick lithosphere. In fact, people have used thin plate ﬂexure theory to try

and reproduce the observed slopes by varying the ﬂexural rigidity parameter D. (In this

application, the plate surface is required to have the observed discontinuity in elevation

right at the fault, and also to have the observed elevation diﬀerence between x = ∞ and

x = −∞.) From this they infer the thickness of the lithosphere.

One more observation of the

√

t result comes from observations of island arc loading

from the Hawaii-Emperor Seamount chain, and other island arcs. I described how you

can infer the lithospheric thickness from observations of bathymetry and gravity around

island arcs. For example, you measure the distance between the arc axis and the point

of maximum uplift that usually occurs a couple hundred km away. When people do

this for diﬀerent islands in the Hawaii-Emperor chain, they infer diﬀerent lithospheric

thicknesses. The apparent thickness is correlated with the age of the sea ﬂoor at the

time the island was formed (as determined by geological dating). In fact, the observed

thickness appears to be proportional to

√

that age.

This says two things:

1. The results are consistent with the thermal isostasy model, which predicts litho-

sphere thicknesses which depend on age as

√

t. The idea is that the lithosphere/as-

thenosphere boundary is presumably determined by temperature. It is an isotherm,

so that its depth z satisﬁes: T(z) = constant ⇒z/2

√

κt = constant.

2. The lithospheric thickness which determines the ﬂexural response is evidently the

thickness at the time of loading, not the thickness at the present time (since the

present thicknesses are larger than the original thicknesses).

6.7 Convergence Zones

We’ve described the interpretation of gravity anomalies and bathymetry using ﬂexure

models (essentially Airy compensation) and Pratt models (such as thermal isostasy).

Now, as a ﬁnal example, I want to consider a situation that involves both sorts of models

— and includes some uncompensated loading.

232 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

People long ago observed large (100–150 mgal, or more) negative free-air anomalies

over oceanic trenches, with somewhat smaller but still large (20–80 mgal) positive anoma-

lies on either side of the trench. The negative anomaly over a trench is much larger than

you’d expect if the gravity signal came only from the mass that had to be removed to

form the trench. In other words, the Bouguer anomaly is still large and negative. Before

the theory of plate tectonics, this result was a mystery. Now, plate tectonics explains it.

At a trench, one plate is diving down beneath the other. See Figure 6.37.

sediments trench

Figure 6.37:

The right-hand plate scrapes sediments oﬀ the left-hand plate, which mostly ﬁll the

trench. Sediments have low density, and this further reduces the gravity ﬁeld above the

trench. The amplitude of the free-air anomaly over a trench tells you how deep the

sediment wedge is (typically, tens of km).

The positive anomaly on the right hand side is usually pretty large: 50–75 mgal. It

is presumably due to the descending slab. That slab is cool and so is denser than the as-

thenosphere it is passing through (that density diﬀerence is pulling the slab downwards).

The slab is not compensated by lower elevations at the surface, because the region is un-

der compression, keeping the topography high. So, gravity above the slab is anomalously

large.

The positive anomaly on the left is somewhat smaller: maybe 20 mgal. It is caused

by buckling of the left hand plate, in response to the resistant pressure force at the

trench from the other plate. The buckling increases the topography there, and it is

6.8. THE LONG-WAVELENGTH GEOID 233

uncompensated: it is not supported from below. So, there is excess mass in the vertical

column beneath that point. So, gravity is large. This buckling has been modeled with

thin plate ﬂexure theory, to learn about the thickness of the lithosphere and the resistant

pressure force at the trench.

6.8 The Long-Wavelength Geoid

Most of the discussion so far in this chapter has involved the interpretation of gravity at

wavelengths ¸ radius of earth. What about at longer wavelengths (many thousands to

tens of thousands of km)? Those are best studied by using the geoid, rather than gravity

anomalies, because longer wavelengths are more prominent in the geoid.

At these very long wavelengths, the relation between topography and the geoid can

be quite complicated. Some of the global-scale topography is undoubtedly supported by

near-surface compensation. For example, the mean ocean-continent elevation diﬀerence

is largely compensated by a corresponding diﬀerence in ocean-continent crustal thick-

nesses. If long wavelength topography is compensated at depths of a few tens of km,

the gravitational signal from the compensation should almost exactly cancel the signal

from the root: a signal with a wavelength of many thousands of km will decrease only

slightly over a vertical distance of tens of km. In that case, there would be virtually no

correlation between topography and the geoid.

But, some of the longest-wavelength topography is supported by density anomalies at

greater depths in the mantle — such as those caused by the thermal anomalies associated

with mantle convection. The geoid is sensitive to the earth’s deep structure at global-scale

wavelengths, because a long-wavelength gravitational signal decreases only slowly with

distance. But the relation between a deep internal density anomaly and the topography

it causes is not straightforward.

Beginning in the mid-1980’s, when three-dimensional, global seismic velocity results

started to appear, people began to successfully model and interpret the observed global-

scale geoid. The idea, goes like this:

234 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

There are density anomalies throughout the mantle, caused by thermal anomalies

(e.g., colder material is denser). These density anomalies drive mantle convection,

through the buoyancy forces that act on them. The density anomalies aﬀect the geoid

to an extent that depends on how deep they are.

At the same time, the density anomalies tend to be compensated. For example, a

positive density anomaly will push down the material underneath it, and pull down the

material above it. So it will cause depressions at the outer surface, at the core/mantle

boundary, and at every other internal boundary. These depressions act like negative mass

anomalies, and their eﬀects on the geoid tend to oﬀset the direct eﬀects of the density

anomaly. The situation is thus similar to that for the near-surface compensation that we

have been considering throughout this chapter. The degree to which the two eﬀects cancel

in the geoid, depends on which boundaries are perturbed and by how much. The answer

to that problem depends on where the density anomaly is, and on how eﬀectively stresses

can be supported by the material that lies between the anomaly and the boundary. That,

in turn, depends on the earth’s viscosity as a function of depth.

What people do, is to infer the internal density anomalies from the three-dimensional

seismic velocity maps. They convert seismic velocity anomalies to density anomalies by,

usually, multiplying the velocity anomalies by a constant. The constant is sometimes

chosen to be be depth-dependent. They then estimate the vertical displacement of the

earth’s surface and of all internal boundaries, by solving diﬀerential equations that de-

scribe the earth’s viscous response to internal loads. The boundary displacement depends

on the viscosity proﬁle. The viscosity proﬁle is adjusted until the geoid prediction (com-

ing from the combined eﬀects of density anomalies and boundary displacements) best

matches the observed geoid.

People have obtained good agreement with the observed long-wavelength geoid. 70–

80% variance reductions are not uncommon for spherical harmonics of degree and order

of, say, less than 8 (corresponding to wavelengths of 5000 km and longer). And, al-

though not everyone agrees, most people have concluded that to obtain a good ﬁt, a

large increase in viscosity is needed between the upper and lower mantles (lower mantle

6.8. THE LONG-WAVELENGTH GEOID 235

viscosity approximately 1 to 2 orders of magnitude larger than upper mantle viscosity,

with upper/lower mantle dividing line at approximately 660 km depth).

236 CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

Chapter 7

Postglacial Rebound

During the last ice age, enormous volumes of ice accumulated over Canada and Scandi-

navia, with thicknesses as large as 3–4 km. These loads depressed the underlying earth.

The ice began to melt about 22,000 years ago, and had disappeared about 13,000 years

later (i.e. 9000 years ago).

As the ice melted, the earth initially rebounded elastically, and then continued to

uplift due to the viscous relaxation of the shear stresses inside the earth. (Before melting,

the ice had presumably been in place long enough that the shear stresses below the elastic

lithosphere had almost entirely disappeared due to viscous ﬂow. So, the removal of the

load caused shear stresses.) In fact, the land is still uplifting. For example, Hudson Bay

— a depression left by the ice — still exists. By constructing models of the rebound,

and comparing the model predictions against observations of such things as the uplift

rates, people have been able to infer the viscosity of the earth, and to place constraints

on models of the ice load (i.e. on the volume and horizontal extent of the ice, and on the

time history of the melting). This has resulted in what are probably the best estimates

for the earth’s viscosity.

237

238 CHAPTER 7. POSTGLACIAL REBOUND

7.1 Theory

Suppose the earth has a Maxwell solid rheology. Suppose we add or remove a load from

the earth’s surface. How do we compute the uplift of the surface as a function of time?

To address this question, we will consider a simple earth model. Our earth is a homo-

geneous, incompressible, half space. Furthermore, we assume the surface load depends

only on one horizontal coordinate, so that we have a two-dimensional problem (with hor-

izontal and vertical coordinates x and z, respectively). We are assuming that the earth

is homogeneous, so that the entire earth is a Maxwell solid. Consequently, there is no

elastic lithosphere.

This is the simple model people used when they ﬁrst considered the problem about

30 years ago. It provides a pretty good qualitative picture of visco-elastic rebound. And,

it even gives an analytical relation between the relaxation time and the viscosity, that is

reasonably consistent with the numerical results obtained from more recent, complicated

models. Later, I’ll describe how the newer models have extended the simple model used

here.

We will work in the Fourier-transformed frequency domain, where the independent

variable is the frequency, ω, rather than the time, t. The advantage of doing this is that

then we can use the correspondence principle. That is, we can solve the problem for

an elastic earth, and then let µ → µ(ω) and λ → λ(ω) and transform back to the time

domain.

7.2 Elastic Problem

Suppose a pressure P

0

(x) is applied to the earth’s surface (z = 0). See Figure 7.1.

Assume the earth is a homogeneous, incompressible, elastic half space. We try to ﬁnd

the surface displacement, s(x, z = 0). Later, we will use the correspondence principle to

obtain the visco-elastic solution.

Note that we are assuming that P

0

(x) is independent of y. By symmetry, this implies

that s

y

(x, z) = 0, and that no variable can depend on y (so that ∂

y

(anything) = 0).

7.2. ELASTIC PROBLEM 239

earth

(µ, λ)

z

P

0

(x)

z = 0 x

Figure 7.1:

The stress-strain relation is

τ

ij

= −Pδ

ij

+µ[∂

i

s

j

+∂

j

s

i

] (7.1)

where P = pressure. Normally, P = −λ∇ s. But for an incompressible solid, λ = ∞

and

∇ s = 0, (7.2)

and so P cannot be determined from s. So, we have an extra equation (Equation 7.2)

and an extra unknown (P).

The momentum equation (F = ma) in the time domain is ρ∂

2

t

s = ∇ τ. We are in the

frequency domain, where ∂

2

t

→−ω

2

. We are only interested in the long period response

(long compared to seismic wave periods of seconds to minutes). In that case ω is small,

so that there is negligible acceleration, and the ρ∂

2

t

s term can be ignored. So:

∇

↔

τ ≈ 0. (7.3)

By using Equation 7.1 in Equation 7.3 to eliminate the tensor

↔

τ from the equations,

and noting that µ = constant from the homogeneous earth assumption, we obtain:

−∇P+µ

_

∇

2

s +∇∇ s

_

= 0.

Or, using Equation 7.2 to eliminate ∇ s

∇P = µ∇

2

s. (7.4)

240 CHAPTER 7. POSTGLACIAL REBOUND

Equations 7.4 and 7.2 are our diﬀerential equations, and P and s are our unknown

variables.

We also have boundary conditions at z = 0: τ

zz

(z = 0) = −P

0

. Or, using Equa-

tion 7.1:

P(x, z = 0) −2µ∂

z

s

z

(x, z = 0) = P

0

(x). (7.5)

Also, τ

13

(x, z = 0) = 0, since there is no shear traction at the upper surface. This implies,

using Equation 7.1 for τ

13

that:

∂

x

s

z

(z = 0) +∂

z

s

x

(z = 0) = 0. (7.6)

Also, all variables must remain ﬁnite as z →−∞.

The diﬀerential equations are easier to solve if we ﬁrst transform them by taking their

derivatives. First, we take ∇ (Equation 7.4) and use Equation 7.2, to obtain:

∇

2

P = 0. (7.7)

Second, we take ∇ (Equation 7.4), to get:

∇

2

_

∇s

_

= 0. (7.8)

Since ∇ s = 0, and since ∂

y

(anything) = 0, then there is some scalar, f = f(x, z), for

which

s

x

= ∂

z

f (7.9)

s

z

= −∂

x

f. (7.10)

(Equations 7.9 and 7.10 follow because ∇ s = 0 ⇒s = ∇φ for some vector φ. Then,

we use the fact that ∂

y

φ

i

= 0 for all i, and deﬁne f = −φ

y

.)

Equation 7.8 is a vector equation. But ∇s has ˆ e

x

and ˆ e

z

components that vanish,

because s

y

= 0 and ∂

y

= 0. So, the only non-zero component of Equation 7.8 is the

ˆ e

y

-component, which reduces to:

_

∂

4

z

+ 2∂

2

x

∂

2

z

+∂

4

x

_

f = 0. (7.11)

7.2. ELASTIC PROBLEM 241

Equations 7.11 and 7.7 are now our diﬀerential equations, and P and f are our

unknowns. The boundary conditions, Equations 7.5 and 7.6, become:

P(x, z = 0) + 2µ∂

2

xz

f(x, z = 0) = P

0

(7.12)

∂

2

z

f(x, z = 0) = ∂

2

x

f(x, z = 0). (7.13)

We’ve lost some of the original information in deriving these equations for P and f,

because we obtained them by taking derivatives of the original equations. We will ﬁnd,

as a consequence, that the general solution for s will include an arbitrary multiplicative

constant. To ﬁnd the constant we will have to substitute our solution into one of the

original equations: Equation 7.4.

Let’s see how this works. First, we solve the partial diﬀerential equations, Equa-

tions 7.11 and 7.7, making sure we satisfy the boundary conditions Equations 7.12 and

7.13. We do this in the wave number domain. That is, we assume

P

0

(x) = P

0

e

ikx

(7.14)

where P

0

is a constant. The rationale for this is that any P

0

(x) can be expanded as a

Fourier integral of e

ikx

terms. So if we can solve our equations for a single e

ikx

term, we

can add together (i.e. integrate) the results to obtain the solution for an arbitrary P

0

(x).

To be deﬁnite, and to avoid having to use absolute values in what follows, we will assume

that k ≥ 0.

We look for solutions of the form

P(x, z) = P(z)e

ikx

f(x, z) = f(z)e

ikx

Then ∂

x

→ik, and Equations 7.11 and 7.7 become:

∂

2

z

P = = k

2

P

(∂

4

z

−2k

2

∂

2

z

+k

4

)f = 0.

242 CHAPTER 7. POSTGLACIAL REBOUND

The boundary conditions are

P(z = 0) + 2µik∂

z

f(z = 0) = P

0

∂

2

z

f(z = 0) = −k

2

f(z = 0).

The most general solution is

P(z) = P

0

e

kz

f(z) = A(1 −kz)e

kz

where we have not included the e

−kz

solutions to the diﬀerential equations, since they

→∞ as z →−∞; and where A is an arbitrary constant, at this stage. So

P(x, z) = P

0

e

kz

e

ikx

s

x

(x, z) = −Ak

2

ze

kz

e

ikx

s

z

(x, z) = −Aik(1 −kz)e

kz

e

ikx

.

To ﬁnd A, we use these results in ∇P = µ∇

2

s (Equation 7.4), and obtain:

A =

−i

2µk

2

P

0

.

Thus, the vertical displacement at the surface (z = 0) — which is the quantity that can

be observed — is:

s

z

(x, z = 0) =

−P

0

2µk

e

ikx

=

−P

0

(x)

2µk

. (7.15)

If we were to take this result (Equation 7.15) directly over to the Maxwell solid case

by replacing µ by µ(ω), we’d ﬁnd a distressing thing: If you put a mass on the surface

and wait, the mass sinks out of sight as t →∞. You can see this from Equation 7.15, by

noting that for a Maxwell solid at long periods, µ →0 and so s

z

(z = 0) →∞.

The problem is, we have ignored the eﬀects of gravity acting on the deformed earth.

Instead of the equation ∇ τ = 0, we should have used ∇ τ + ρg = 0. Luckily, we can

include these eﬀects as sort of an afterthought, as follows.

Suppose we load the earth with a surface mass per unit area = M(x). The earth’s

surface rises by the amount s

z

(x, z = 0) (s

z

(x, z = 0) will be negative for a positive

7.2. ELASTIC PROBLEM 243

surface mass load — note the negative sign on the right-hand-side of Equation 7.15).

The total pressure at z = 0 is the pressure due to M(x), plus the pressure due to gravity

pulling down on the extra mass above z = 0. This extra mass per area is ρs

z

(x, z = 0),

where ρ = density of the earth. So, Equation 7.15 for s

z

(x, z = 0) is ok, as long as we

use

P

0

(x) = gM(x) +ρgs

z

(x, z = 0).

Using this result for P

0

in Equation 7.15 gives:

s

z

(x, z = 0) =

−gM(x)

2µk

_

¸

¸

_

1

1 +

ρg

2µk

_

¸

¸

_

=

−gM(x)

2µk +ρg

. (7.16)

Because the additional pressure from the deformed surface has the opposite sign of the

pressure from the applied load, the eﬀects tend to oﬀset one another. What happens is

that the earth depresses under an applied load until perfect compensation is obtained.

At that point, the pressures from the deformed surface and from the applied load exactly

cancel, and the displacement stops.

We now transform our earth into a Maxwell solid. We are in the frequency domain,

so we can do this by modifying Equation 7.16 so that:

µ →µ(ω) = µ

_

_

_

_

_

iω

iω +

1

τ

0

_

_

_

_

_

(7.17)

where τ

0

= η/µ and η is the viscosity. By using Equation 7.17 in Equation 7.16, we

obtain:

_

¸

¸

¸

_

2µk

iω

iω +

1

τ

0

+ρg

_

¸

¸

¸

_

s

z

(x, z = 0) = −gM(x).

Or:

_

(2µk +ρg)iω +

ρg

τ

0

_

s

z

(x, z = 0) = −g

_

iω +

1

τ

0

_

M(x) (7.18)

Equation 7.18 is valid in the frequency (ω) and wave number (k) domains. We can

transform back to the time domain by replacing iω with ∂

t

:

244 CHAPTER 7. POSTGLACIAL REBOUND

_

(2µk +gρ)∂

t

+

ρg

τ

0

_

s

z

(x, z = 0, t) = −g

_

∂

t

+

1

τ

0

_

M(x, t). (7.19)

Although we could also transform back to the x-domain, we choose, instead, to leave

Equation 7.19 as it is.

Let’s solve this diﬀerential equation, Equation 7.19, in the time domain for the case

where the load M

0

e

ikx

is removed instantaneously at t = 0:

M(x, t) =

_

¸

_

¸

_

M

0

e

ikx

t < 0

0 t ≥ 0.

What is s

z

(x, z = 0, t)?

First, for t < 0 we’ll assume the load has been in place long enough that all motion

has stopped. Then: ∂

t

s

z

= 0. So, from Equation 7.19

s

z

(x, z = 0, t) =

_

¸

¸

_

−

g

τ

0

ρg

τ

0

_

¸

¸

_

M

0

e

ikx

= −

M

0

e

ikx

ρ

t < 0. (7.20)

That’s the result we’d get for a mass ﬂoating on a ﬂuid.

Next, at t = 0 all ∂

t

→ ∞ (∂

t

M = Dirac delta function). So, since ρg/τ

0

and 1/τ

0

are ﬁnite, the equation for s

z

at t = 0 reads:

(2µk +ρg)∂

t

s

z

= −g∂

t

M.

Writing ∂

t

s

z

= ∆s

z

/∆t, ∂

t

M = ∆M/∆t, and cancelling ∆t’s, gives:

∆s

z

=

−g∆M

2µk +ρg

.

Here, ∆M is the change in M(t) in going from t < 0 to t > 0, and similarly for ∆s

z

.

Since ∆M = −M

0

e

ikx

, then:

∆s

z

=

gM

0

e

ikx

2µk +ρg

(7.21)

By adding Equation 7.21 to Equation 7.20, we obtain s

z

immediately after the removal

of the load:

s

z

=

_

g

2kµ +ρg

−

1

ρ

_

M

0

e

ikx

t = 0. (7.22)

7.3. NUMBERS 245

Note that there is, as yet, no dependence on τ

0

. So, the initial response doesn’t

depend on the viscosity.

Now, let’s consider t > 0. For t > 0, M = 0. So, the equation for s

z

is:

∂

t

s

z

(x, 0, t) =

_

−gρ

τ

0

(2µk +gρ)

_

s

z

(x, 0, t).

And, the initial condition is: s

z

(x, 0, 0) = s

z

given by Equation 7.22. The solution is:

s

z

(x, 0, t) =

_

g

2kµ +ρg

−

1

ρ

_

M

0

e

ikx

exp

_

−gρt

τ

0

(2kµ +gρ)

_

. (7.23)

7.3 Numbers

For the earth, ρ ≈ 5 gm/cm

3

, g ≈ 10

3

cm/s

2

, and µ ≈ 10

12

dyne/cm

2

. So: ρg/µ ≈

5 10

−9

cm

−1

. For wavelengths much smaller than the radius of the earth — which is a

reasonable approximation for the ice load — k ¸ 2π/6.4 10

8

cm

−1

≈ 10

−8

cm

−1

. So:

µk ¸ρg. So, for our case, Equation 7.23 reduces to

s

z

(x, 0, t) ≈

_

g

2kµ

−

1

ρ

_

M

0

e

ikx

exp

_

−gρ

2kµ

t

τ

0

_

≈ −

_

1

ρ

_

M

0

e

ikx

exp

_

−gρ

2kµ

t

τ

0

_

.

7.4 Interpretation

The original depression is −(1/ρ)M

0

e

ikx

. The elastic rebound at t = 0 is

gM

0

e

ikx

2kµ +ρg

≈

gM

0

e

ikx

2kµ

¸

M

0

e

ikx

ρ

.

So, the initial elastic uplift is much smaller than the original depression.

Most of the uplift occurs through the later visco-elastic relaxation. As t →∞, s

z

→0,

and so the surface is ﬂat again. The decay time for the uplift is τ

0

(2kµ/gρ) which is ¸τ

0

.

Thus, the decay time ¸ relaxation time for the solid. Note, also, that the decay time

depends on k. Consequently, for a more realistic ice load distribution, where there are

contributions from lots of k’s, the depression changes shape as the ground uplifts, with

246 CHAPTER 7. POSTGLACIAL REBOUND

longer wavelengths uplifting more quickly. The result that the long wavelengths decay

more quickly can be understood as follows. There is a balance between the buoyancy

force acting on the deformed outer surface, and the viscous shearing stresses within

the earth. The buoyancy force depends on the amplitude of the displacement ﬁeld.

The shear stresses depend on the strain rate; which, in turn, depends not only on the

displacement amplitude, but also on the spatial wavelength and the rate of motion.

A larger wavelength implies a smaller stress (the strain is proportional to the spatial

derivative of the displacement). And, a larger rate of motion implies a larger strain

rate. So, large wavelength terms must have larger rates of decay in order to balance the

buoyancy force.

Before I describe how people have used these sorts of results to learn about mantle

viscosity, I want to describe the more recent, complete models of postglacial rebound.

These models extend our relatively simple model to include:

1. the spherical shape of the earth.

2. compressibility and self-gravitation.

3. radially-dependent values for the earth’s material properties. Seismic results for

ρ, λ, and µ are used. And a layered proﬁle is adopted for the viscosity, usually

consisting of an elastic lithosphere and core, and a 2-layer viscosity model: one

layer above the seismic 660 km discontinuity (the upper mantle), and the other

layer below that discontinuity (the lower mantle), with both layers assumed to

have uniform viscosities. Data can then be inverted to ﬁnd the upper and lower

mantle viscosities, and the lithospheric thickness. Some people are now beginning

to include more viscous layers in their models.

4. people sometimes also consider the eﬀects of the melting ice on global sea level,

and then use the change in sea level as an additional load on the earth.

5. a more realistic model of the surface ice distribution.

7.5. THE DATA 247

The best ice sheet models are reasonably complicated. Their ice boundaries are largely

determined from end moraine positions. The total ice volume comes from geological data

for changes in sea level. The idea is that if you are far away from the ice, the uplift is

not aﬀected much by the viscous rebound, but mostly only by changes in the ocean

volume caused by the melting ice. Thus, by geologically determining the sea level change

during the melting, you can infer the total ice mass as a function of time. To estimate

the more detailed temporal and spatial distribution of the ice, people use parameterized

time- and space-dependent functions, and then ﬁt the parameters in those functions to

the postglacial rebound observations, in addition to ﬁtting the viscosity.

7.5 The Data

People have ﬁt their model results to various types of data, to infer mantle viscosity, etc.

Many of these data types are ambiguous, in that they may at least partially reﬂect the

eﬀects of other geophysical phenomena.

1. geological mapping of ancient raised beaches, both from areas under the ice sheets

and from areas around the edges of the ice sheets. This is probably the most

unambiguous type of data, and is particularly useful for constraining lithospheric

thickness and the viscosity proﬁle within, say, the upper 1000 km of the earth.

2. the geoid and long wavelength free-air anomalies in the regions surrounding the

ice loads. For example, there are large negative g

FA

and geoid anomalies over

Hudson Bay, with the g

FA

anomaly reaching about −50 mgal. These anomalies

have sometimes been interpreted as the eﬀects of postglacial rebound: the earth

has still not fully adjusted to the removal of the ice loads, and so there is a mass

deﬁciency under those regions. When interpreted in this manner, the observed

anomalies have been found to provide tight constraints on the deep mantle viscosity.

However, it has been argued that a signiﬁcant fraction — maybe most — of the

observed gravity anomalies in these regions may be due to causes not related to

postglacial rebound (mantle convection, for example). In fact, people have recently

248 CHAPTER 7. POSTGLACIAL REBOUND

become nervous enough about this possibility, that they have pretty much stopped

using these types of observations in their postglacial rebound inversions.

3. LAGEOS orbit solutions have allowed for the determination of the secular (i.e.

linear in time) change in J

2

, commonly denoted as

˙

J

2

. The observed

˙

J

2

is approxi-

mately −210

−11

yr

−1

to −310

−11

yr

−1

(for comparison, J

2

≈ 10

−3

). This result

has been interpreted as due to the on-going re-distribution of mass associated with

postglacial rebound, and has provided a strong constraint on lower mantle viscosity.

However, there are other possible causes of

˙

J

2

. For example, present-day changes

in the ice volumes of Greenland or Antarctica are not at all well known, and their

eﬀects on

˙

J

2

could well be as large or larger than the eﬀects of postglacial rebound.

So, people who interpret the observed

˙

J

2

as due to postglacial rebound, do so at

their peril.

4. secular changes in the earth’s rotation rate (as inferred from ancient eclipse data)

and in the pole position (as observed with telescopes over the last 100 years or so).

Both of these motions will be discussed in more detail in Section 9 below. There

are probably important contributions to this secular variability due to changes

in the earth’s inertia tensor caused by postglacial rebound. When interpreted

in this manner, the observations have provided tight constraints on lower mantle

viscosity. Except that, as with

˙

J

2

, there could also be large contributions from

other mechanisms that involve mass re-distribution, including changes in polar ice

volumes.

5. on-going vertical and, to a lesser extent, horizontal displacements of the earth’s

surface; and, similarly, on-going changes in surface gravity. People are just now

beginning to set out to observe these changes using GPS, VLBI, and absolute

gravimeters. They should eventually provide reasonably unambiguous constraints

on viscosity in the upper 1000 km, or so, of the mantle. Understanding the on-going

vertical motion along coastlines is also important in trying to interpret observed

changes in sea level as recorded by tide gauges. Tide gauge data have been used to

7.6. THE CONCLUSIONS 249

infer the global rise in sea level over the past century (probably 1.5–2.0 mm/yr).

But, those studies require that ﬁrst the eﬀects of postglacial rebound be removed

from the data, so that the remainder can be interpreted in terms of sea level. For

example, if a tide gauge indicates a rise in sea level, it may be because sea level

did rise; or it may be because the land under the tide gauge subsided. Vertical

motion along the North American and Northern European coastlines (where a

disproportionally large percentage of the world’s tide gauges are located) caused

by postglacial rebound is likely to be as large as several mm/yr in places. Thus,

errors in the postglacial rebound estimates could well corrupt the global sea level

rise results.

7.6 The Conclusions

There is still disagreement as to what the postglacial rebound studies imply for the

earth’s viscosity proﬁle. Diﬀerent studies have reached diﬀerent conclusions. Estimates

of upper mantle viscosity (above 670 km depth) seem to have converged to values of

about η ≈ 10

21

Pascal-second (1 Pascal-second = 1 Newton–sec/m

2

): possibly a little

smaller. (A 10

21

Pascal-second viscosity corresponds to a Maxwell relaxation time of a

few centuries, and to decay times that are much longer than that.)

As for the jump in viscosity in going from the upper to the lower mantle (from above

670 km depth, to below that depth), estimates range from maybe only a factor of 4–5

jump in viscosity, to a lower mantle η that is one to two orders of magnitude greater

than the upper mantle η.

250 CHAPTER 7. POSTGLACIAL REBOUND

Chapter 8

Earth Tides

The gravitational attraction of the sun and moon causes tides both in the ocean and in

the solid earth. The tides in the ocean are, of course, familiar to anyone who has visited

the sea shore. The solid earth tides are not as well known to most people. This is not

because the earth tides are small. In fact, peak-to-peak vertical tidal displacements are

typically many tens of centimeters. Instead, the diﬃculty is that when you try to observe

the solid earth tides, you are standing on the earth and moving right along with it. As

a result the motion is not readily apparent and cannot be detected without sensitive

instruments. Analogously, you are not aware of ocean tides if you are in the middle of

the ocean — you must be able to observe both the ocean and the land. In fact, the ocean

tides you observe are really the diﬀerence between the tidal displacements of the ocean

and the solid earth.

8.1 A Qualitative Description of the Tidal Force

The gravitational force from the sun and moon causes orbital motion of the earth. This

is by far the largest eﬀect of that force on the earth. But this gravitational force also

acts to deform the earth and oceans, and those deformations are the tides. In fact, it is

usual to separate the luni-solar gravitational force into a part that is constant over the

earth and which causes the orbital motion, and a small remainder which causes the tides.

251

252 CHAPTER 8. EARTH TIDES

That remainder is called the tidal force.

For example, the total force from, say, the moon is represented by the arrows in

Figure 8.1 (the following description works equally well for the force from the sun). Ω

Ω

Moon

Figure 8.1:

represents the earth’s rotation. Note that the total force at every point is directed toward

the moon, and that the arrows closest to the moon are the largest (the diﬀerence in arrow

length is greatly exaggerated in the ﬁgure).

The orbital force on the earth is the average of all the arrows. To a high degree of

approximation, the average force equals the force acting at the center of the earth. If we

subtract the arrow at the center of the earth from all the other arrows, we are left with

the tidal force, which is the force that tends to deform the earth (see Figure 8.2). The

tidal force, by its deﬁnition, causes no net force on the earth and so does not aﬀect the

earth’s orbital motion.

Note from Figure 8.2, that the force is radially outward on the sides toward and away

from the moon, and is radially inward on the other sides. Looking down from above the

North Pole we get the force pattern shown in Figure 8.3. This pattern remains ﬁxed with

respect to the moon, and the earth rotates relative to it. This causes the tidal force at a

ﬁxed point on the earth to be variable with time. For example, suppose the moon were

8.1. A QUALITATIVE DESCRIPTION OF THE TIDAL FORCE 253

Ω

Moon

Figure 8.2:

Moon

Ω

Figure 8.3:

on the equator, as in Figure 8.4. Every point in the earth would then travel through

two outward bulges and two inward depressions during one day (see Figure 8.5). So,

the frequency of the tidal force as seen from the earth would be Ω/2 = 2 cycles/day,

corresponding to a 12 hour (semi-diurnal) period.

As another example, suppose the moon were above the North Pole, as in Figure 8.6.

Then any point on the earth remains always in the same bulge or depression as the earth

rotates. So, the period in this case would be ∞: there is no time dependence.

As a ﬁnal example, suppose the moon were inclined at 45

◦

to the equator as in

254 CHAPTER 8. EARTH TIDES

Ω

Moon

Figure 8.4:

Moon

Ω

Figure 8.5:

Figure 8.7. Consider point A, initially in an outward bulge. After 12 hours that point

has moved to an inward depression (point A’), and after 24 hours it is back where it

started. So the period that this point (or any point in the earth) sees in this case is

1 day, and the frequency = Ω = 1 cycle/day. The tide, in this case, is diurnal. (This

description is a little oversimpliﬁed. There is some 12 hour and ∞-period power even at

45

◦

.)

In reality, the moon is not ﬁxed at any one of these three spots. Instead, it orbits

the earth. So at any given time, depending on where the moon is, you get a linear

8.1. A QUALITATIVE DESCRIPTION OF THE TIDAL FORCE 255

Moon

Ω

Figure 8.6:

Moon

Ω

A’

A

Figure 8.7:

combination of all three frequencies (12 hour, 24 hour, ∞). The moon moves between

±23.5

◦

of the equator (with a monthly period), so most of its time is spent at low latitudes

where the 12 hour term is most important. So, the semi-diurnal tides are the largest tides

at most points. The next biggest are the diurnal tides (the moon gets closer to 45

◦

than

256 CHAPTER 8. EARTH TIDES

to 90

◦

). The ∞-period terms are the smallest.

Furthermore, because the moon moves in its orbit, these three frequencies are actually

split into three bands of frequencies centered about 0, 1, and 2 cycles per day. These bands

are referred to as the long period, diurnal, and semi-diurnal tidal bands, respectively. The

modulating frequencies vary between 1 cycle/18.6 years and 1 cycle/10 days, and are all

frequencies of the orbital motions of the moon about the earth and of the earth about

the sun. So the long period tides have frequencies between 1 cycle/18.6 years and about

1 cycle/10 days; the diurnal tides between about (1+

1

10

) cycle/day and (1−

1

10

) cycle/day;

and the semi-diurnal tides between about (2 +

1

10

) cycle/day and (2 −

1

10

) cycle/day.

The most important (largest) modulating frequencies are 1 cycle/year, 2 cycle/year,

1 cycle/month, 2 cycle/month, and 1 cycle/18.6 years.

8.2 Tidal Potential

The tidal force causes displacements in the earth and ocean. These are the earth and

ocean tides. The deformation will, of course, occur at the same frequencies as the tidal

force. But, before discussing the deformation, I want to provide a more qualitative

description of the tidal force. I will do this by deﬁning what is called the tidal potential.

First, we note that the total gravitational potential at a point x in the earth, due to

the moon is:

V (x) =

GM

[x −R[

where R is the position vector of the moon (assumed to be a point mass), and where

M = lunar mass (V = negative of the potential energy, as usual). Assume the origin of

our coordinate system is located at the center of the earth. Let (θ, φ) and (θ

, φ

) be the

spherical angles of x and R, respectively. We can expand 1/[x − R[ in terms of Y

m

l

, as

discussed back in Section 3.3.6, to obtain:

V (r, θ, φ) =

GM4π

R

∞

l=0

_

1

2l + 1

_

l

m=−l

_

r

R

_

l

Y

m∗

l

(θ

, φ

)Y

m

l

(θ, φ) (8.1)

8.2. TIDAL POTENTIAL 257

where r and R are the radial coordinates of x and R, and where I have used R > r (so

that r

>

= R, r

<

= r in the appropriate Section 3.3.6 equation).

The l = 0 term in Equation 8.1 is a constant, independent of (r, θ, φ), and so has no

physical signiﬁcance (i.e. the gravitational force is the gradient of V , and the gradient of

a constant is zero). This term can be ignored.

The l = 1 terms are proportional to rY

m

1

(θ, φ); and this is proportional to z for

m = 0, and to (x ± iy) for m = ±1. (Y

0

1

≈ cos θ, Y

±1

1

≈ sin θe

±iφ

.) The force is the

gradient of V (r, θ, φ). So, for the l = 1 terms the corresponding force is a constant in the

ˆ e

z

direction for m = 0, and a constant in the ˆ e

x

± iˆ e

y

“directions” for m = ±1. So, the

l = 1 terms give constant forces throughout the earth. These cause orbital motion but

do not deform the earth.

Furthermore, you can show that for a spherically symmetric earth, the l > 1 terms

in Equation 8.1 cause no net force on the earth, and so do not aﬀect the earth’s orbital

motion. You can infer this by using Equation 8.1 to ﬁnd

_

earth

ρ∇V d

3

x = (net force on

the earth), and showing that only the l = 1 terms contribute to the result. I won’t do

that here.

So, we now deﬁne the tidal potential, V

T

, so that its gradient is the tidal force =

(gravitational force) – (net force on earth). Then V

T

will be given by Equation 8.1,

except that the sum over l starts at l = 2 instead of at l = 0.

R = mean earth/moon distance ≈ 3.84 10

5

km. And, r ≤ earth’s radius = 6.371

10

3

km. So, (r/R) ≈ 1/60. So, every time you increase l by 1 in Equation 8.1, you

decrease the corresponding contribution to V by 60. So, to an accuracy of 1 part in

60, we need only consider the l = 2 term (the leading term) in our spherical harmonic

expansion of V

T

:

V

T

≈

GM4π

5R

_

r

R

_

2

2

m=−2

Y

m∗

2

(θ

, φ

)Y

m

2

(θ, φ). (8.2)

Occasionally, and depending on the application, people also include the l = 3 terms in

V

T

. We will not.

258 CHAPTER 8. EARTH TIDES

It is also usual to eliminate the negative m contributions by noting that:

Y

0

2

= real

Y

m∗

2

(θ

, φ

)Y

m

2

(θ, φ) +Y

−m∗

2

(θ

, φ

)Y

−m

2

(θ, φ) = 2Re [Y

m∗

2

(θ

, φ

)Y

m

2

(θ, φ)]

where ‘Re’ = real part, and where we have used Y

−m

2

= (−1)

m

Y

m∗

2

. Then Equation 8.2

reduces to:

V

T

≡ Re

_

r

2

a

2

2

m=0

c

m

Y

m∗

2

(θ

, φ

)Y

m

2

(θ, φ)

_

where a = earth’s mean radius, and

c

m

=

GMa

2

5R

3

4π

_

¸

_

¸

_

1 if m = 0

2 if m = 1, 2.

The quantity c

m

is a measure of the strength of the tidal potential at the earth’s surface

(where r = a).

There is a similar description for the solar tides. The only approximation we used

here was that r/R ¸ 1, which is an even better approximation for the sun than for

the moon. To get a feeling for whether solar or lunar tides are larger, we note that

M

sun

/R

3

sun

≈ 0.46(M

moon

/R

3

moon

). So, c

m

for the moon is roughly twice as large as c

m

for

the sun. So, lunar tides are about twice as large as solar tides.

The quantities R, θ

, and φ

**all depend on time, due to the motion of the moon about
**

the earth (or of the earth about the sun, for the solar tides). The point x is also moving

in space due to the earth’s rotation. This motion all gets mixed together to produce

the characteristic semi-diurnal, diurnal, and long period tidal bands. Let’s see how this

works.

First, we need to be more precise about our coordinate system. We use a system

that’s ﬁxed to the earth, so that it is rotating with the earth. Then (r, θ, φ), which are

the coordinates of the point x, are ﬁxed, time-independent numbers. Let the ˆ e

z

axis of

the coordinate system be along the rotation axis. Then R and θ

**depend on the lunar
**

orbit, and φ

**depends on the lunar orbit and on the earth’s rotation. See Figure 8.8.
**

The angle φ

**(the “mean lunar longitude”) changes both because the moon is moving
**

8.2. TIDAL POTENTIAL 259

Moon

Ω

ϕ

’

e

e

x

y

Figure 8.8:

in space, and because the ˆ e

x

axis is rotating in space:

φ

= −Ωt +α(t) (8.3)

where α(t) = “moon’s right ascension” is the contribution to φ

**from the lunar motion
**

in space. (To be technically correct, φ

**in Equation 8.3 should also include a constant,
**

which depends on our choice for t = 0. That is, the contribution from the earth’s rotation

should really be −Ω(t −t

0

), where t

0

is determined by the angular position of the earth

at t = 0. Here, though, we are absorbing the Ωt

0

term into α(t).) Note:

Y

m∗

2

(θ

, φ

) = Y

m∗

2

(θ

, α)e

imΩt

.

So:

V

T

= Re

_

r

2

a

2

2

m=0

c

m

Y

m∗

2

(θ

, α)e

imΩt

Y

m

2

(θ, φ)

_

. (8.4)

Here, c

m

(through R), θ

**, and α all depend on time because of the lunar orbital
**

motion. The periods of each of these three variables are long compared to 1 day.

So, V

T

separates into three frequency bands, each characterized by a diﬀerent value

of m:

m = 2: The dominant time dependence is e

i2Ωt

, so these terms are semi-diurnal (fre-

quencies ≈ 2Ω).

260 CHAPTER 8. EARTH TIDES

m = 1: The dominant time dependence is e

iΩt

, so these terms are diurnal (frequencies

≈ Ω).

m = 0: The e

imΩt

term = 1, so the time dependence in this case comes entirely from

the c

0

Y

0

2

(θ

**, α) term. These tides are long period.
**

The factor c

m

Y

m∗

2

(θ

**, α) in Equation 8.4 can be expanded as a discrete Fourier series
**

in time:

c

m

Y

m∗

2

(θ

, α) =

f

H

m

(f)e

i(ft+φ

f

)

(8.5)

where the sum over f is over all frequencies which contribute to the time dependence,

the H

m

(f) are real constants, and the φ

f

are phases. The frequencies, f, are linear

combinations of the frequencies used to describe R, θ

**, and α. I won’t bother to ﬁnd
**

those frequencies, or the H

m

(f). Those are all determined by the orbital motion of the

moon and earth. The frequencies, f, range from 1/18.6 cycles/year to 1/10 cycles/day,

and are all ¸Ω. So:

V

T

= Re

_

_

r

2

a

2

2

m=0

_

_

f

H

m

(f)e

i(ωt+φ

f

)

_

_

Y

m

2

(θ, φ)

_

_

(8.6)

where ω = f +mΩ is close to mΩ. So, there are three disjoint frequency bands, each with

frequencies close to mΩ, and each with a spatial dependence proportional to r

2

Y

m

2

(θ, φ).

8.3 Tidal Response of the Earth

V

T

consists of a sum of terms of the form

V

T

=

r

2

a

2

Y

m

2

(θ, φ)e

iωt

(8.7)

where ω ≈ mΩ. Each of these terms causes the earth to deform. If we can model the

earth’s response to each one of these terms individually, then by adding together our

results for the diﬀerent m’s and ω’s, we can ﬁnd the response to the total V

T

. That

follows because the diﬀerential equation that describes the deformation is linear.

To ﬁnd the deformation caused by one of these V

T

terms, we start by labeling each

particle inside the earth using the position vector, x, the particle would occupy if there

8.3. TIDAL RESPONSE OF THE EARTH 261

were no tides. Let s(x, t) denote the time-dependent displacement of the point at x.

The diﬀerential equation for s(x, t) comes from Newton’s Second Law of Motion (F =

ma), and has the form: ρ∂

2

t

s = (internally-generated forces) +ρ∇V

T

where “(internally-

generated forces)” includes the eﬀects of internal stresses (∇

↔

τ ) and of gravitational

self-interaction. The details of the diﬀerential equation are complicated and so I won’t

show them here. But, in the frequency domain (where ∂

t

→−ω

2

), the equation has the

form:

−ρω

2

s = H s +ρ∇V

T

(8.8)

where H is a complicated diﬀerential operator. The solution must also satisfy traction-

free boundary conditions at the outer surface:

ˆ n

↔

τ

¸

¸

¸

surface

= 0. (8.9)

Note that

↔

τ must be written in terms of s, to obtain boundary conditions on s. (There

are other boundary conditions that must be satisﬁed, but that are not given here, that

involve the continuity of the gravitational potential and of its radial derivative across

the outer surface.) Remember that ω and V

T

are the tidal frequency and tidal potential,

respectively, and are known quantities in this problem.

Incidentally, the diﬀerential equation (Equation 8.8) and the boundary condition

(Equation 8.9) are also used to ﬁnd the earth’s seismic free oscillations, except that for

the free oscillations V

T

= 0. In that case the diﬀerential equation is homogeneous, and

so will have non-zero solutions for s only for certain values of ω: values where ω

2

is an

eigenvalue of the operator −H/ρ. In that case, ω is the free oscillation eigenfrequency

and s is the eigenfunction. Seismologists are usually more interested in ω than in s.

For the tidal case V

T

,= 0, and the resulting inhomogeneous equation has a unique,

non-zero solution for any ω. Actually, that’s not quite true. Problems would arise if

ω = free oscillation eigenfrequency, since then the sun and moon would be forcing at

a resonance period of the earth. Luckily, the tidal frequencies ω do not coincide with

any free oscillation frequencies. The shortest tidal periods we are considering here are

close to 12 hours (though there are l = 3 and l = 4 terms at 8-hour and 6-hour periods,

262 CHAPTER 8. EARTH TIDES

respectively), whereas the longest free oscillation periods are less than one hour.

The easiest way to solve the diﬀerential equation is to expand s as a sum of spherical

harmonics, Y

m

l

. Except that because s is a vector, not a scalar, it must be expanded in

terms of vector spherical harmonics:

ˆ rY

m

l

(θ, φ), ∇Y

m

l

(θ, φ), ˆ r ∇Y

m

l

(θ, φ).

(8.10)

There are three vector spherical harmonics for each (l, m) because a vector has three

components. It turns out that any vector ﬁeld can be expanded in terms of these functions

(just as any scalar ﬁeld can be expanded in terms of the scalar Y

m

l

(θ, φ)’s), where the

expansion coeﬃcients are functions of r. So:

s =

l,m

_

s

1

lm

(r)ˆ rY

m

l

(θ, φ) +s

2

lm

(r)∇Y

m

l

(θ, φ) +s

3

lm

(r)ˆ r ∇Y

m

l

(θ, φ)

_

.

The idea is to put this expansion for s into the diﬀerential equation and the boundary

conditions, and then to solve for the s

i

lm

(r). The resulting diﬀerential equations for s

i

lm

(r)

will be ordinary diﬀerential equations with r as the independent variable. (This method

is also used to ﬁnd free oscillations.)

The reason that a spherical harmonic expansion is useful for this problem, is that to

a ﬁrst approximation the earth is spherically symmetric and non-rotating. Earth tides

(and free oscillations) computed for a spherical, non-rotating earth model turn out to be

pretty accurate (I’ll mention, later, what happens when rotation and ellipticity — the

most important departure from spherical symmetry — are included in the tidal model.)

And for a spherical, non-rotating earth model, vector spherical harmonics separate the

diﬀerential equation and boundary conditions. That is, H acting on any one of the three

harmonics in Equation 8.10, gives a result that has an angular dependence that can be

described by harmonics with the same (l, m) values.

More speciﬁcally, H acting on s

1

lm

ˆ rY

m

l

gives a result that can be written as a linear

combination of ˆ rY

m

l

and ∇Y

m

l

, where the coeﬃcients depend on r and are related to

s

1

lm

(r) (they are either radial derivatives of s

1

lm

(r), or simple multiplication). The result

has no Y

m

l

dependence for l

,= l or m

,= m, and, in fact, no ˆ r ∇Y

m

l

dependence.

8.3. TIDAL RESPONSE OF THE EARTH 263

Similarly, H acting on s

2

lm

(r)∇Y

m

l

gives ˆ rY

m

l

and ∇Y

m

l

terms. And, H acting on

s

3

lm

(r)ˆ r ∇Y

m

l

gives only a ˆ r ∇Y

m

l

term.

This separation should not be surprising. You undoubtedly encountered situations

when studying electricity/magnetism or quantum mechanics, where you found that Y

m

l

’s

separated spherically symmetric, scalar diﬀerential equations. Vector problems are no

diﬀerent.

The implication of this separation for tides is useful. Note that V

T

is proportional to

r

2

Y

m

2

, so that:

∇V

T

∝

2

r

ˆ rY

m

2

+r

2

∇Y

m

2

.

So, the forcing term in the diﬀerential equation can be written as a sum of two vector

spherical harmonics, both with l = 2. If you trace back through the discussion of what H

does to vector spherical harmonics, you will see that the only coeﬃcients in the expansion

for the tidal solution s which are non-zero, are s

1

2m

(r) and s

2

2m

(r), so that:

s = s

1

2m

(r)ˆ rY

m

2

(θ, φ) +s

2

2m

(r)∇Y

m

2

(θ, φ).

So, it takes only two radially-dependent functions to describe tides for a spherically

symmetric earth.

Incidentally, the fact that spherical harmonics separate the equations, is also im-

portant for seismic free oscillations. It implies that a free oscillation eigenfunction is

described by harmonics with a single (l, m). There may, of course, be lots of diﬀer-

ent eigenfunctions for that single (l, m). This result is analogous to the result for the

hydrogen atom eigenfunctions in quantum mechanics: each eigenfunction has a single

(l, m), but you need a third index, n, to label the diﬀerent eigenfunctions corresponding

to a given (l, m). For seismic free oscillations you get a further separation between the

ˆ rY

m

l

, ∇Y

m

l

solutions, and the ˆ r ∇Y

m

l

solution. A free oscillation eigenfunction is either

described by a ˆ r ∇Y

m

l

term, in which case it is called a toroidal free oscillation; or it’s

described by ˆ rY

m

l

and ∇Y

m

l

terms, in which case it is called a spheroidal free oscillation.

But, to get back to the tidal solution, note that s

1

2m

(r) represents radial displacements,

and s

2

2m

(r) represents horizontal displacements (∇Y

m

l

is in the ˆ e

θ

and ˆ e

φ

directions). You

264 CHAPTER 8. EARTH TIDES

can only observe displacements at the earth’s outer surface: r = a. So, you only observe

s

1

2m

(a) and s

2

2m

(a). And that implies that for a given m and ω, you need only model

and/or measure two numbers to describe displacements: s

1

2m

(a) and s

2

2m

(a). It is usual

to deﬁne two Love numbers, h and l, which are non-dimensional normalizations of s

1

2m

(a)

and s

2

2m

(a). Speciﬁcally, suppose V

T

= (r/a)

2

Y

m

2

(θ, φ)e

iωt

. Then, h and l are deﬁned so

that at the outer surface (where r = a):

radial displacement: s

r

(a) =

h

g

Y

m

2

(θ, φ)e

iωt

=

h

g

V

T

(r = a)

southward: s

θ

(a) =

l

g

∂

θ

Y

m

2

(θ, φ)e

iωt

=

l

g

∂

θ

V

T

(r = a)

eastward: s

φ

(a) =

l

g sin θ

∂

φ

Y

m

2

e

iωt

=

l

g sin θ

∂

φ

V

T

(r = a)

where g is the gravitational acceleration at the earth’s surface.

It turns out you need to deﬁne a third Love number, k, to describe gravity ob-

servations. Once you know s(x, t) everywhere inside the earth, you can compute the

perturbation in the earth’s gravity ﬁeld caused by s (s represents deformation — and

so can be used to ﬁnd the perturbation in the earth’s density distribution). We deﬁne

φ(x, t) as the perturbation in the earth’s gravitational potential. φ is a scalar, so it can

be expanded in terms of scalar Y

m

l

(θ, φ)’s. It turns out that whenever s can be written

as a sum of ˆ rY

m

2

and ∇Y

m

2

for a ﬁxed value of m, then φ is proportional to Y

m

2

, with the

same value of m:

φ(x, t) = φ(r)Y

m

2

(θ, φ)e

iωt

.

We thus deﬁne a third dimensionless Love number k, so that when V

T

= (r/a)

2

Y

m

2

(θ, φ):

φ(r = a, t) = kY

m

2

(θ, φ)e

iωt

= kV

T

(r = a). (8.11)

All tidal observations can be described with linear combinations of the three numbers

h, l and k. (As an example, I will describe the tidal signal in surface gravity in the follow-

ing section.) You might expect that the Love numbers would depend on m and ω. But it

turns out that for a spherical, non-rotating earth, the numbers are totally independent of

8.3. TIDAL RESPONSE OF THE EARTH 265

m (analogous to the result for the hydrogen atom that the radial eigenfunctions are in-

dependent of m) and are nearly the same at all tidal frequencies. So, you can completely

describe the earth tides with just three numbers — valid (approximately) for all m and

ω. You can determine these numbers from observations, and then compare with results

obtained by solving the diﬀerential equation, to try to constrain, for example, models of

the material properties (ρ, µ, λ) in the earth’s interior.

Although people have used tidal observations to learn about the earth’s interior (see

the discussion below), tides have not turned out to be as useful as people had originally

hoped — at least for learning about the earth’s material properties. There are a number

of reasons for this. The most obvious is that tidal observations can provide, at most, only

three observational constraints: h, k and l. By comparison, over 1000 degenerate free

oscillation frequencies have been cataloged, along with countless body- and surface-wave

observations, and these have proven far more useful than tides for learning about the

earth’s material properties.

On the other hand, tides occur at longer periods than do seismic disturbances. Anelas-

ticity in the mantle is apt to cause the apparent µ and λ to depend on frequency. Thus,

tides oﬀer the possibility of constraining that frequency dependence, and thus learning

about anelasticity. So far, ocean loading uncertainties (see below) and other errors have

limited what tidal observations have been able to say about anelasticity. But, recent

improvements in ocean tide models, that use, for example, satellite altimeter data, may

eventually overcome this problem.

It is useful to be able to understand and model earth tides for another reason. Namely,

tidal signals in such things as tilt, strain, surface displacements, and surface and satellite

gravity, can be very large, and, if not removed, can easily obscure other signals that

people might be interested in.

8.3.1 An Example: Surface Gravity Tides

I claimed above that every tidal observation can be written as a linear combination of

Love numbers. As an example, consider the tidal eﬀect on gravitational acceleration as

266 CHAPTER 8. EARTH TIDES

measured by a gravimeter placed on the earth’s surface. The meter records a change in

gravity if:

1. there is a change in the gravitational potential; or

2. the surface is displaced vertically through the earth’s original gravitational ﬁeld.

Let’s consider these two contributions separately.

1. The gravitational acceleration at any ﬁxed point in space is g (positive downwards)

= −∂

r

V

where V

= the gravitational potential. We are interested in the tidal

contributions to V

. There are two such contributions. One, V

T

, comes from the

direct attraction of the sun and moon. The other, φ, is caused by tidal perturbations

of the earth’s internal mass distribution.

We consider the contribution from V

T

, ﬁrst. Since we are only including the l = 2

terms in our spherical harmonic expansion of V

T

, the radial dependence of V

T

is r

2

— see, for example, Equation 8.6. Thus, the eﬀect on g at the outer surface (where

r = a), is:

∆g = − ∂

r

V

T

[

r=a

= −

2

a

V

T

¸

¸

¸

¸

r=a

Next, we include the contribution from φ. Consider any one of the

_

r

a

_

2

Y

m

2

(θ, φ)e

iωt

terms in V

T

(see Equation 8.6). These terms cause tidal displacements in the earth,

which lead to changes in the earth’s internal mass distribution. The gravitational

potential at the surface of the earth caused by this mass redistribution, is:

φ[

r=a

= kY

m

2

(θ, φ)e

iωt

. (8.12)

(see Equation 8.11). To ﬁnd the radial derivative of this potential, we need to

know φ(r) for r ≥ a. (The gravimeter sits outside the earth, where r ≥ a.) That’s

a boundary value problem: solve ∇

2

φ = 0 for r > a, where φ[

r=a

is given by

Equation 8.12. The solution that is bounded at r = ∞ is:

φ = k

_

a

r

_

3

Y

m

2

(θ, φ)e

iωt

for r ≥ a

8.3. TIDAL RESPONSE OF THE EARTH 267

where we have used the result that the radial dependence of a Y

m

l

solution to

Laplace’s equation, is r

−(l+1)

. So, outside the earth:

−∂

r

φ =

3

r

φ.

So, at r = a:

∆g = −∂

r

φ[

r=a

=

3

a

φ

¸

¸

¸

¸

r=a

=

3

a

kV

T

¸

¸

¸

¸

r=a

So, the total contribution to ∆g caused by V

T

and φ, is:

∆g =

_

−

2

a

+

3

a

k

_

V

T

[

r=a

.

2. The unperturbed gravitational acceleration outside the earth is g(r) = GM/r

2

.

The tidal force causes the outer surface to be displaced vertically by the distance

(h/g) V

T

[

r=a

. So, the perturbation in g as observed by the gravimeter, is:

∆g =

h

g

V

T

¸

¸

¸

¸

¸

r=a

∂

r

g

0

[

r=a

= (

h

g

V

T

[

r=a

)(−

2

a

g) = −

2

a

h V

T

[

r=a

.

So, adding the contributions from 1 and 2 gives the total tidal gravity signal recorded at

the gravimeter:

∆g = −

2

a

_

1 −

3

2

k +h

_

V

T

[

r=a

.

The factor 1 −

3

2

k +h is called the gravimetric factor, and is written as:

δ ≡ 1 −

3

2

k +h.

Then:

∆g = −δ

2

a

V

T

[

r=a

.

268 CHAPTER 8. EARTH TIDES

8.3.2 Numerical Results

Typical results (models and observations agree pretty well) are:

h ≈ 0.6

l ≈ 0.085

k ≈ 0.3

δ ≈ 1.16.

Notice:

• h > l, implying that there is more vertical motion than horizontal motion at most

locations;

• δ is close to 1, which is the value of δ you would obtain for a rigid earth. This

implies that the gravitational eﬀects of the vertical displacement nearly cancel the

eﬀects of the perturbation in the earth’s gravity ﬁeld.

You can go through a similar exercise relating tilt and strain to the Love numbers. I

won’t do that. Typical eﬀects of tides on various measurement types are:

gravity ≈ 60 µgal

strain ≈ 10

−8

_

strain =

change in length

length

_

tilt ≈ 40 msec of arc

surface displacements ≤ 1 meter.

8.3.3 What the simple model ignores.

What are the other reasons (besides “only three constraints”) that have made it hard to

learn about the earth’s deep interior from tidal observations? Or, in other words, what

have we ignored in the simple model above that can aﬀect tidal observations? Here is a

partial list:

8.3. TIDAL RESPONSE OF THE EARTH 269

8.3.3.1 The Oceans

The tidal force, of course, also causes ocean tides. The ocean tides act on the underlying

solid earth and deform it. They force the solid earth in two ways:

1. They cause pressure at the surface of the earth: positive pressure at high tide,

negative pressure at low tide.

2. The excess water mass at high tide (and the decreased water mass at low tide) acts

gravitationally on the earth.

The induced deformation of the solid earth is called the ocean load tide. It occurs

at the same frequencies as does the solid earth tide, since they are both caused by the

same tidal forcing from the sun and moon. The eﬀects of the load tide on gravity and on

surface motion are typically 5%, or so, of the eﬀects of the solid earth tide. The eﬀects on

tilt and strain, though, can be 100% or more of the body tide eﬀects if the instruments

are near the coast.

Thus, to learn about the solid earth from observations of the body tide, you must

ﬁrst somehow model and remove the eﬀects of the ocean load tide. This is a two step

process.

First, you must have a model for the global ocean tide. The ocean tide models based

on TOPEX/POSEIDON are likely to prove very useful for these sorts of applications.

Prior to satellite altimetry, all ocean tide models were constructed by solving diﬀerential

equations for the ocean, sometimes using tide gauge data as constraints.

Second, you must construct a geophysical model to predict the earth’s response to

surface loading. This is done by solving diﬀerential equations for the earth which are

identical to the body tide diﬀerential equations described above. Except that in this case

ˆ n

↔

τ ,= 0 at the outer surface, because there is a non-zero surface traction caused by the

load. These models allow you to compute load Green’s functions, which describe the

deformation of the earth caused by a point load on the surface. The Green’s functions

can then be convolved with an ocean tide model to predict the total oceanic loading.

270 CHAPTER 8. EARTH TIDES

Most of the uncertainty in this process comes from uncertainties in the ocean tide

model. Previous to the TOPEX/POSEIDON ocean tide models becoming available,

people could probably model the load tide on any observable to approximately 10%.

That corresponds to a ≈0.5% error in the gravity body tide observations, which is pretty

large compared with uncertainties in the properties of the earth’s deep interior. The

TOPEX/POSEIDON models are not accurate enough that the ocean loading problem

will disappear. But, they should result in enough of an improvement in the ocean load

corrections to allow earth tide observations to give much better determinations of several

quantities, including the shape of the ﬂuid core, frictional processes in the solid mantle,

and dissipative coupling between the ﬂuid core and solid mantle.

8.3.3.2 Local Eﬀects

Tilt and strain tidal amplitudes can be very sensitive to local things, like topography,

geology, and even the shape of the hole in the ground that you put your meter in.

(You often place strainmeters and tiltmeters underground to get them away from even

more serious surface environmental eﬀects: such as ﬂuctuations in atmospheric pressure,

temperature, ground water, etc.) To learn about the earth’s deep interior you must

model all these local eﬀects, and that can be diﬃcult. On the other hand, if you can

remove the eﬀects of the global body tide on your observations by using global models,

then you might be able to use the residuals to learn about the local eﬀects; speciﬁcally,

to learn about the local geological structure. This is one application where tides have

proven useful.

8.3.3.3 Eﬀects of rotation and ellipticity

For a rotating, elliptical earth the Y

m

l

do not exactly separate the diﬀerential equations.

For example, a Y

m

2

term in the tidal potential causes a displacement ﬁeld, s, that has

contributions from Y

m

l

with l ,= 2. This eﬀect on tidal observations is relatively small.

It aﬀects things at about the 1/300 level, which is the size of the earth’s ellipticity, and

of the ratio of the centrifugal force to the gravitational force.

8.3. TIDAL RESPONSE OF THE EARTH 271

Instead, the most important eﬀect of rotation and ellipticity is to introduce signiﬁcant

frequency dependence into the Love numbers h, k and l. It causes the Love numbers to

be resonant in the diurnal band. The resonance is caused by a normal mode of the

earth with a period of 1 − 1/n days. This mode involves a relative rotation between

the core and mantle, and “n” depends on the shape of the core/mantle boundary. For a

hydrostatic shape, n ≈ 460. People have looked for this resonance eﬀect in the amplitudes

of diurnal earth tides (the resonance also shows up in earth rotation observations — see

Section 9.5, below), and have concluded that n is probably closer to 430. This has been

used to constrain the non-hydrostatic core/mantle boundary shape.

There is also an observed phase lag between the earth tides and the tidal potential

that is associated with the core-mantle rotational resonance in the tides. The size of this

phase lag has implications for core-mantle dissipative processes.

272 CHAPTER 8. EARTH TIDES

Chapter 9

Earth Rotation

The earth does not rotate at a constant rate about a ﬁxed axis. Instead:

• The rotation rate is variable.

• The rotation axis moves.

Consider the observational consequences of these two things, one at a time.

9.1 Variable Rotation Rate

A variable rotation rate is often referred to in terms of its eﬀect on the length of a day

(lod). For example, an increase in the rotation rate causes a decrease in the lod. Back

in Chapter 2, I described how ∆lod (the change in the lod) is observed. Until 20 years

or so ago, the method was to record the transit times of stars. Today, people use VLBI,

LLR, LAGEOS, and GPS observations, instead.

Until the advent of atomic clocks, people kept time by watching the stars. For exam-

ple, every time star A was overhead, you might say it was 1:00 AM. The time determined

this way is called Universal Time (UT). Or, to be more precise, UT is the time at Green-

wich, England, determined in this manner.

When atomic clocks were developed in the 1950’s, people found that UT didn’t agree

with atomic clock time (AT). You expect AT to be regular, in the sense that AT should

273

274 CHAPTER 9. EARTH ROTATION

be equal to the quantity t that enters into the classical dynamical equations of physics.

The inference, then, is that UT is not constant. Or, in other words, that the earth’s

rotation rate varies with time. As an alternative to using ∆lod, people often refer to

variations in rotation rate in terms of the accompanying eﬀects on UT: deﬁned as δUT.

I want to ﬁnd the relations between δUT, ∆lod, and the change in the earth’s rotation

rate. UT can be determined from the transit times of objects in space; including stars,

quasars, and artiﬁcial satellites. Because UT is observed to vary with respect to AT, we

write UT = UT(t), where t is atomic time. Let Ω(t) be the angular velocity of rotation

for the earth, so that Ω has units of rad/sec. We choose some arbitrary orientation of

the earth as the initial epoch of UT. Suppose we are trying to determine UT by using a

telescope to observe the locations of stars. We deﬁne φ(t) as the angle swept out by the

telescope after time t. This angle is illustrated in Figure 9.1, where we are looking down

on the earth from above the North Pole.

Ω

ϕ

telescope at t=0

telescope

Figure 9.1:

The rotation rate is the time derivative of φ:

dφ

dt

= Ω(t)

or:

φ(t) =

_

t

0

Ω(t

) dt

.

UT is deﬁned by assuming (erroneously) that the earth is rotating at a constant rate of

1 revolution per 24 hours, so that Ω

0

UT = φ, where Ω

0

is the average value of Ω(t) (Ω

0

9.2. MOTION OF THE ROTATION AXIS 275

= constant). So:

UT(t) =

1

Ω

0

_

t

0

Ω(t

) dt

.

Write Ω(t) = Ω

0

+ δΩ(t), where δΩ(t) represents the variability in rotation rate. Then

the variability in UT is:

δUT(t) =

1

Ω

0

_

t

0

δΩ(t

) dt

.

So if you observe δUT(t), then you can determine

δΩ(t) = Ω

0

d

dt

δUT(t).

Once you know δΩ(t), you can determine ∆lod. The rotation rate, Ω = Ω

0

+ δΩ, is

the number of radians per second subtended by the earth. The number of seconds per

radian is then 1/(Ω

0

+δΩ). The number of seconds per revolution is deﬁned as the lod.

So:

lod ≈

2π

Ω

0

+δΩ

≈

2π

Ω

0

_

1 −

δΩ

Ω

0

_

assuming δΩ/Ω

0

¸1. So, the change in the lod is:

∆lod(t) = −

_

2π

Ω

0

_

_

δΩ(t)

Ω

0

_

where 2π/Ω

0

= lod

0

= number of seconds per day if there were no variation in rotation

rate. So:

∆lod

lod

0

= −

δΩ(t)

Ω

0

. (9.1)

9.2 Motion of the Rotation Axis

The rotation axis can undergo two types of motion.

1. The axis can move with respect to inertial space (as determined by the apparent

positions of stars). This sort of motion is called precession and nutation.

2. The axis can move with respect to the earth. Imagine going to the North Pole and

putting a stake in the ground. If you then stand back and watch the rotation axis,

you discover that it moves with respect to the stake. You call this sort of motion

276 CHAPTER 9. EARTH ROTATION

polar motion. It looks as though the rotation axis is moving, but actually that axis

does not move much in inertial space. Instead, it is the earth (i.e. the stake) that

moves. The earth can be described as wobbling about the rotation axis. For this

reason, polar motion is sometimes also referred to as wobble.

Whenever there is nutation there is also wobble, and vice versa. For example, if the

rotation axis moves in inertial space (i.e. if there is nutation), then the earth-ﬁxed axis

must also move in inertial space, since the rotation axis is the rotation axis of the earth.

But, the earth-ﬁxed axis won’t move in quite the same way as the rotation axis, so there

is relative motion between the two axes. This is wobble.

Still, it is useful to diﬀerentiate, conceptually, between nutation and wobble. Neither

of them is directly measured with any technique. Instead, what is observed (by watching

stars or satellites or the moon or quasars) is the inertial space motion of the earth-ﬁxed

axis. You never directly observe the rotation axis — and both wobble and nutation

refer to motion of the rotation axis. Nevertheless, once you determine the motion of the

earth-ﬁxed axis, you can calculate the motion of the rotation axis.

What you ﬁnd when you do all this is that you can characterize the motion as either

mainly nutation or mainly wobble, depending on the frequency of the motion. If the

earth-ﬁxed axis moves at periods long compared to 1 day as seen from inertial space,

then the motion is mainly a nutation: the rotation axis moves in inertial space but

remains nearly coincident with the earth-ﬁxed axis. If the earth-ﬁxed axis moves around

approximately diurnally, as seen from inertial space, then the motion is mainly wobble:

the rotation axis doesn’t move much in inertial space, but the earth-ﬁxed axis does. I

will not show this here.

If the motion occurs at some other period, you can’t usefully identify it as either

wobble or nutation. It will be a combination of the two. As it happens, though, little

signiﬁcant motion has been observed at other periods. That’s evidently because there are

few processes which can eﬃciently excite motion at other periods. Long-period inertial

space motion (nutation) is excited by the gravitational attraction of the sun and moon.

(The motion of the sun and moon in inertial space is long period.) And, diurnal inertial

9.3. CHANGES IN THE LOD 277

space motion is excited by processes that occur on and within the earth (changes in

winds, or atmospheric pressure, or ocean currents, or ﬂuid ﬂow in the core, etc.). These

processes involve slow changes with respect to the earth. Thus, since the earth is rotating,

these processes appear to vary diurnally as seen from inertial space.

This leads to another point. Motion which is long period as seen from inertial space

is approximately diurnal as seen from earth. And, motion that is diurnal as seen from

space is long period as seen from the earth (at least it is if the motion as seen from space

is prograde: in the same direction as the earth’s rotation; and wobble is prograde). For

example, during wobble the earth-ﬁxed axis moves around diurnally in inertial space —

and it moves in the same sense as the earth’s rotation. So, the axis moves slowly with

respect to points ﬁxed in the earth, and thus the motion is long period as seen from the

earth.

It is the period with respect to the earth that you should remember:

wobble = long period

nutation = diurnal.

Let’s discuss these things (∆lod, precession/nutation, wobble) in more detail.

9.3 Changes in the lod

There are variations in the lod at many diﬀerent time scales.

• First, there is a linear increase in the lod of 1–2 msec/century (1 day = 86,400 sec,

so 1 msec

∼

= one part in 10

8

).

• Second, there are irregular “decadal ﬂuctuations” of 4–5 msec over 20–30 years.

• Third, there are variations of 2–3 msec at periods of less than 5 years. Most of this

short-period variability occurs at distinct periods: 2 weeks, 1 month, 6 months,

1 year.

278 CHAPTER 9. EARTH ROTATION

9.3.1 Linear change in the lod

You can’t separate the linear change from the decadal ﬂuctuations unless you have a

data span that is signiﬁcantly longer than a century. The way to obtain such a long data

record is to use ancient Greek, Babylonian, etc., eclipse data. You note the recorded

time of day when the eclipse occurred. You then compare with what you predict, given

the present positions of the sun and moon together with the present-day rotation rate.

The discrepancy is a measure of the integrated change in rotation rate since the time the

eclipse occurred. Speciﬁcally, you ﬁnd the change in UT between the time of the eclipse

(t = t

1

) and the present-day (t = t

2

):

δUT =

1

Ω

0

_

t

2

t

1

δΩ(t

) dt

.

For a linear change in rotation rate: δΩ = −δ

˙

Ωt, where δ

˙

Ω = constant. (I have inserted

a negative sign into this equation for δΩ, because then δ

˙

Ω > 0: i.e. a linear increase in

the lod implies that δΩ < 0.) So:

δUT = −

δ

˙

Ω

Ω

0

t

2

2

−t

2

1

2

.

Equation 9.1 implies that:

−

δ

˙

Ω

Ω

0

=

∂

t

(∆lod)

lod

0

≈

2 msec/century

86, 400 sec

= 2 10

−8

/century.

So, after one century:

δUT =

_

2 10

−8

century

_

1

2

century

2

= 10

−8

century ≈ 30 seconds.

After 2000 years:

δUT =

_

2 10

−8

century

_

400

2

century

2

≈ 3.3 hours.

This means that an eclipse 2000 years ago would have occurred 3.3 hours earlier (as

measured by looking at, for example, the sun or moon) than would be predicted using

9.3. CHANGES IN THE LOD 279

today’s rotation rate to extrapolate backward in time. A discrepancy this large would

be clearly evident in the ancient eclipse data.

People also have used planetary occultation data (for example, when a planet dis-

appears behind the sun) from the 1600’s and later, to look for lod ﬂuctuations. There

the record is more precise, but the secular change in UT is not as large. For example,

after 400 years: δUT ≈ 8 minutes. The ancient data is thus more useful for inferring the

secular increase in the lod.

Most of the secular change in the lod is due to tidal friction in the earth and oceans.

The moon (for example) causes a tidal bulge in the earth and oceans, which is oriented

towards the moon. If there was no energy dissipation, the bulge would be oriented exactly

towards the moon. But, because there is dissipation, the earth and oceans take a short

time to fully respond to the tidal force. The maximum uplift of the surface occurs a short

time after the moon is overhead, and so the tidal bulge leads the earth-moon vector by

the angle λ (shown greatly exaggerated in Figure 9.2). The angle λ is about 0.4 degrees,

corresponding to about a 10 minute lag time in the earth. The moon’s gravitational force

Moon

Ω

λ

tidal bulge

torque on earth

Figure 9.2:

can then act on this bulge to torque the earth in a direction opposite to the rotation.

Thus the earth slows down, and so the lod increases. If you break the tidal force into its

individual tidal constituents (i.e. the e

iωt

terms in Equation 8.6), you ﬁnd that all the

280 CHAPTER 9. EARTH ROTATION

diurnal and semi-diurnal terms contribute to the torque, but that the lunar semi-diurnal

terms contribute the most. About 80% of the dissipation comes from the lunar tides; the

remaining 20% is from the solar tides.

Incidentally, a similar process presumably occurred on the moon in the past. Dissi-

pation of tidal energy in the moon (the tides in that case are caused primarily by the

earth) slowed the moon’s rotation, so that now the moon always keeps the same side to

the earth.

But, returning to the earth: Most of the energy dissipation in the earth occurs in

the oceans, rather than in the solid earth. That is, it is mostly the tidal bulge in the

oceans that leads the earth-moon vector. This is because frictional eﬀects are simply

more important in the oceans than in the earth. Ocean tide models now do a pretty

good job of reproducing the dissipation required by the lod observations.

You can independently determine the lag angle, λ, using satellite ranging data, since

the tidal bulge aﬀects satellite orbits. Once you know λ you can predict the decrease in

rotation rate. What you ﬁnd is that the earth should be slowing down by about 25%

more than the value inferred from the ancient eclipse data.

And there’s still another, and even better, way to obtain an estimate of the eﬀects

of tidal friction. The earth’s tidal bulge acts gravitationally on the moon and causes

it to accelerate in the direction of the earth’s rotation (counter-clockwise in Figure 9.2,

above). This can also be understood in terms of the conservation of angular momentum.

If the earth loses angular momentum due to its decreasing rotation, the moon must gain

an equal amount of angular momentum, through changes in its orbit. What you ﬁnd is

that the moon moves further away from the earth and increases its orbital period about

the earth.

People have determined the increase in orbital period using LLR data. It’s easier

to detect that than to detect the increase in the orbital radius, because an oﬀset in the

orbital period builds up over many orbits to give a large change in the lunar position.

The results are then used to estimate the decrease in the earth’s rotation rate. The result

obtained in this manner is consistent with the satellite estimates of λ: the eﬀect of tidal

9.3. CHANGES IN THE LOD 281

friction is about 25% larger than the secular change inferred using the ancient eclipse

data.

Incidentally, if you use the LLR and satellite results — or even the eclipse results —

to extrapolate backwards in time, you conclude that the moon was so close to the earth

1.5 billion years ago that it would have been torn apart by gravitational tidal forces from

the earth. Yet the moon is known to be at least 4 billion years old. The explanation is

that the current oceanic dissipation rates are apparently anomalously large. The oceanic

dissipation depends, among other things, on the shape of the ocean basins. And the

basins have changed with time due to continental drift.

Anyway, although the 25% discrepancy could simply be the result of noisy ancient

eclipse data, it is generally believed to be real. It implies that there is some other

mechanism causing the earth’s rotation rate to increase secularly with time. It is likely

that this increase in rotation rate is caused by a decrease in the earth’s moment of inertia.

The situation is similar to a spinning ﬁgure skater raising her hands over her head. This

decreases her moment of inertia, and so she spins faster to conserve angular momentum.

The reason people believe that the 25% discrepancy is real and is due to a decrease

in the moment of inertia, is that this interpretation is consistent with the LAGEOS

˙

J

2

results. The geoid coeﬃcient J

2

is related to the earth’s polar moment of inertia. So

the LAGEOS

˙

J

2

observations can be used to directly infer the secular change in the lod,

due to the re-distribution of mass in or on the earth. And the results predict an increase

in the lod that is consistent with the 25% discrepancy between the eclipse data and the

eﬀects of tidal friction.

What is causing this secular change in the moment of inertia? Or, equivalently, what

is causing the observed change in J

2

? As described in Section 7.5, the result has been

interpreted as due to postglacial rebound. But it may also partially reﬂect on-going

changes in the mass of the polar ice caps (Antarctica and Greenland). In fact, it is likely

that there are signiﬁcant contributions from both these (and other) mechanisms.

282 CHAPTER 9. EARTH ROTATION

9.3.2 Decadal Fluctuations in the lod

The decadal ﬂuctuations are believed to be due to the transfer of angular momentum

between the core and the mantle. If, for example, the core loses angular momentum,

then the mantle must gain angular momentum in order to conserve the total angular

momentum of the earth. This would cause the rotation rate of the mantle to increase,

so that the observed lod decreases.

This suggests that there might be a correlation between the decadal lod ﬂuctuations

and decadal variations in the magnetic ﬁeld. The situation, though, is complicated by the

fact that magnetic ﬁeld variations generated in the core will be attenuated and delayed

as they pass up through the conducting mantle. So, the time dependence of the magnetic

ﬁeld at the outer surface may not look too much like the time dependence of the magnetic

ﬁeld at the top of the core. And, it is the ﬁeld in the core that ought to be correlated

with the ﬂuid velocity.

On the other hand, suppose you assume the lod time dependence does look like

the time dependence of the magnetic ﬁeld at the top of the core. And suppose you can

somehow identify the corresponding time-dependent signal in the magnetic ﬁeld observed

at the outer surface. You are then in a position to compare the time signature of the

magnetic ﬁeld at the outer surface, with that of the magnetic ﬁeld at the top of the

core (as inferred from the lod data), and this tells you something about the conductivity

of the intervening mantle. People have used this approach to place bounds on mantle

conductivity.

This, though, tells you nothing about the change in angular momentum of the core,

and whether it could be large enough to explain the lod ﬂuctuations. Recently there has

been some signiﬁcant progress on that problem. Estimates of ﬂuid ﬂow at the top of

the core can be made from surface magnetic ﬁeld data. Those estimates have been used,

together with assumptions about how the ﬂuid ﬂow inside the core might be organized, to

obtain estimates for the change of core angular momentum. The agreement with the lod

data is remarkably good. At the very least, the results suggest that the core is, indeed,

the likely source of excitation for the decade-scale ﬂuctuations.

9.3. CHANGES IN THE LOD 283

As for the core-mantle coupling mechanism responsible for this exchange of angular

momentum, there is as yet no consensus. One possible source of the coupling is ﬂuid

pressure acting against topography on the core-mantle boundary. Another possibility is

electro-magnetic forcing. The idea there is that the earth’s magnetic ﬁeld is caused by

currents in the core. If the currents change with time, the ﬁeld will change. The mantle

is an electrical conductor, so the changes in the magnetic ﬁeld induce currents in the

mantle. These currents interact with the original magnetic ﬁeld from the core, through

the Lorentz Force, and the result can be a rotation of the mantle. It may be that both

topographic and electro-magnetic coupling are important.

9.3.3 Short period lod ﬂuctuations

There are a variety of lod ﬂuctuations at periods of a few years and shorter, that are due

to: earth and ocean tides; the atmosphere; and, to a lesser extent, wind-driven oceanic

circulation.

First, there are variations in the lod at monthly and fortnightly periods. The ampli-

tudes at these periods are approximately 0.2 to 0.3 msec. These are caused by the long

period tides. The l = 2, m = 0 tidal deformation leads to a change in the earth’s polar

moment of inertia. But there is no net torque on the earth about the polar axis, and

so there can be no change in polar angular momentum. Thus, the change in moment of

inertia must be accompanied by a change in rotation rate.

It is not hard to understand why this variability occurs only at long periods, and not

at diurnal or semi-diurnal periods. The polar moment of inertia varies as mass moves

toward or away from the poles. So, it is sensitive to the orientation of the tidal bulge with

respect to the equator. See Figure 9.3. That orientation is determined by the position of

the moon (and sun) with respect to the equator. And so it varies only with the moon’s

orbital motion. It does not vary with the earth’s rotational period. Thus, it is only the

long period tides which can aﬀect the rotation rate.

To model these variations in rotation, you must compute the tidal variations in the

earth’s moment of inertia. This means that you must model the long period earth tides.

284 CHAPTER 9. EARTH ROTATION

Ω

Ω

Moon

tidal bulge tidal bulge

large polar moment

smaller polar moment

Figure 9.3:

You must also model the long period — monthly and fortnightly — ocean tides, since they,

also, will contribute to the moment of inertia. The ocean tide eﬀects are approximately

10% of the earth tide eﬀects.

People have obtained good agreement between theory and observations of these lod

terms. They have used the results to estimate the eﬀects of mantle anelasticity at the

fortnightly and monthly periods.

9.3. CHANGES IN THE LOD 285

Long period tidal variations in lod occur at all long period tidal frequencies — not

just at the monthly and fortnightly frequencies. But there are only four frequencies

where the eﬀects are large enough to be observable: fortnightly, monthly, 6 months,

12 months. (There is also a reasonably large eﬀect at 18.6 years, but it is overwhelmed

by the decadal ﬂuctuation signal.) The problem at 6 months and 1 year is that there

are even larger eﬀects at those periods due to atmospheric and oceanic perturbations.

The tidal deformation mechanism accounts for only 10% of the annual and 30% of the

semi-annual variability. About 5% of the annual and semi-annual variability comes from

seasonal variations in ocean currents — most of that from variations in the circum-polar

current around Antarctica. When that current weakens, for example, it loses angular

momentum to the earth, and that lost angular momentum shows up as a change in the

earth’s rotation rate.

But, most of the 6 month and 1 year variability is caused by seasonal atmospheric

forcing: particularly, the exchange of angular momentum between the solid earth and

atmospheric winds at seasonal periods. For example, when the winds increase in strength

from west to east, the earth slows down. This exchange of angular momentum is caused

by a combination of surface friction torques (due to viscous drag as the winds blow over

the surface) and mountain torques (caused by higher pressure on one side of a topographic

feature than on the other — although you can also think of it as the force caused by

winds blowing against mountains). The friction and mountain torques contribute about

equally to the seasonal coupling.

Variations in atmospheric pressure contribute about 10% of the 6 month and 1 year

lod amplitudes, so they contribute maybe 1/6 to 1/7 of the eﬀects of winds. Here’s a way

to understand how changes in atmospheric pressure are related to changes in the lod:

A change in pressure means there is a change in the total atmospheric mass above

that point. So, with enough pressure data, it is possible to determine variations in

the atmosphere’s moment of inertia. Because of conservation of angular momentum of

the combined earth + atmosphere ( + oceans), seasonal variations in the atmosphere’s

moment of inertia cause variations in the lod. (Incidentally, why don’t variations in the

286 CHAPTER 9. EARTH ROTATION

atmosphere’s moment of inertia cause variations in the atmosphere’s rotation, instead

of in the rotation of the solid earth? Well, they might. In that case, you would have

added an eﬀect to the predicted lod which isn’t really there. But, presumably, you would

take that eﬀect out again when you ﬁnd the eﬀects of winds, since the wind data would

include this extra atmospheric rotation.)

People have used wind and pressure (and ocean current) data to estimate the eﬀects of

the atmosphere and oceans on the seasonal lod variations. The agreement is remarkable

(after ﬁrst removing the 6 month and 1 year tidal eﬀects). In fact, the atmosphere (and,

to a far lesser extent, the oceans) appear to cause essentially all of the observed short-

period (less than 5 years), non-tidal lod variations. These include a 2 year term, a 50

day term, and irregular ﬂuctuations associated with the El Ni˜ no event in the Southern

Paciﬁc.

9.4 Wobble

The observed wobble spectrum is much simpler than the lod spectrum. There is some

evidence of a linear drift of the rotation pole with respect to the earth’s surface (maybe

3 or 4 milli-arc-seconds/year). This has been interpreted as due to post-glacial rebound.

The idea is that as material ﬂows into the region beneath Hudson Bay, the earth’s inertia

tensor changes, and that causes the pole to move. Interpreted in this way, the linear drift

provides a good constraint on the lower mantle viscosity. On the other hand, present-day

melting of ice in Greenland or Antarctica could also have important contributions to the

observed polar drift, as could tectonic eﬀects (i.e. mantle convection).

There is also evidence of a long period wobble, with about a 30 year period. The

amplitude is on the order of 30 milli-arc-seconds. Nobody knows what is causing this

motion.

9.4. WOBBLE 287

9.4.1 Annual Wobble

Otherwise, there are just two features in the wobble spectrum that are obviously signiﬁ-

cant: a 12 month term and a 14 month term. The 12 month “annual wobble” is mostly

caused by an annual variation in the inertia tensor of the atmosphere. To conserve an-

gular momentum of the earth/atmosphere system, the rotation axis shifts in response to

the inertia tensor perturbation. The amplitude of the annual wobble is approximately

0.1 arc-seconds of motion of the pole with respect to the earth. That translates to about

3 meters of displacement at the earth’s surface.

You can estimate this eﬀect from atmospheric pressure data. You ﬁnd that most of

the contributions come from the pressure variations associated with the Asian monsoon:

high pressure (more mass) over Asia in winter, low pressure (less mass) in summer.

This pressure-related eﬀect is responsible for most, but not all, of the annual wobble.

An additional 25% of the observed amplitude is evidently due to seasonal variations in

the distribution of water: in snow and ice, in the water table, in rivers and lakes, and

in the ocean. These variations in water storage can cause perturbations in the inertia

tensor at seasonal periods. Their contributions are hard to evaluate, so the estimate of

25% is only approximate.

The eﬀects of winds and ocean currents on wobble are apparently negligible. Why are

the eﬀects of pressure dominant for the annual wobble, while being relatively unimportant

for the annual variation in the lod? To explain the answer, we need to to consider the

possible coupling mechanisms that can act between between the atmosphere and the

solid earth. The only way the atmosphere can cause either wobble or ﬂuctuations in the

lod, is through friction or mountain torques. Mountain torques can act on any surface

topographic feature, including on the earth’s enormous elliptical bulge (remember that

the earth’s equatorial radius is approximately 20 km larger than its polar radius). There

can thus be pressure torques acting against this bulge. But, the axis of symmetry for

the ellipse is the earth’s mean rotation axis. Thus, the pressure torque in Figure 9.4 can

cause wobble, but not variations in the lod. It turns out that the eﬀects of this pressure

torque are exactly equivalent to the eﬀects of a change in the atmospheric inertia tensor.

288 CHAPTER 9. EARTH ROTATION

Ω

large P

small P

Figure 9.4:

Or, perhaps more clearly, you can think of the atmospheric eﬀects on wobble as either:

_

change in inertia tensor

(inferred from pressure data)

_

+

_

change in angular

momentum of winds

_

or

(elliptical bulge torque) +

_

_

other mountain torques

+

friction torque

_

_

.

The inertia tensor and elliptical bulge contributions are equivalent; and the wind and

“other mountain torques and friction torque” contributions are equivalent. The elliptical

bulge torque dominates, and so the pressure eﬀects are much larger than the wind eﬀects.

Because there is no elliptical bulge torque along the polar axis, the pressure eﬀects on

the lod are much less important.

9.4.2 Chandler wobble

The 14 month term is called the Chandler wobble, after the man who discovered it

around 1890. It is a normal mode of the earth. It is analogous to the free nutation of a

top. And, just as for a top, the period depends on the earth’s rotation rate (Ω), and on

how non-spherical the earth is. The relevant parameter describing the earth’s aspherical

9.5. NUTATIONS AND PRECESSION 289

shape is (C − A)/A, where C and A are the polar and equatorial moments of inertia,

respectively. For the earth, (C − A)/A ≈ 1/300, and so the expected period would be

about 300 days (frequency = Ω(C −A)/A ≈ 10 months).

Instead, Chandler found a 14 month (about 430 day) period. The four-month dis-

crepancy is due to deformation inside the earth caused by the change in the centrifugal

force associated with the wobble. There are also eﬀects from the ﬂuid core and from the

oceans which tend to cancel: the oceans increase the period by 1 month, and the core

decreases it by 1 month.

The Chandler wobble period, and the observed Chandler wobble damping time of

approximately several decades, are now well modeled. In fact, the observations have

been used to estimate the eﬀects of mantle anelasticity at a period of 14 months.

But people don’t yet know what excites the Chandler wobble. Atmospheric and

oceanic eﬀects appear to provide no more than about 25% of the necessary power.

Earthquakes (which perturb the inertia tensor) provide less than 10%. People have

hypothesized that pressure torques on the mantle due to the ﬂuid core might be a viable

excitation mechanism, though it is very diﬃcult to assess this idea quantitatively. Other

mechanisms for core/mantle torques (such as electro-magnetic coupling) don’t appear to

be important.

9.5 Nutations and Precession

These are caused by the gravitational attraction of the sun and moon. The sun and

moon torque the earth, as shown in Figure 9.5, through their gravitational force on the

earth’s elliptical bulge. Because the earth is rotating, it responds to that torque as a top

would: it moves out of the page. In fact, the rotation axis precesses about the earth-moon

vector. But the earth-moon vector changes its orientation as the moon orbits the earth.

So the precession occurs about a moving axis. You can think of the resulting motion

of the rotation axis as a precession about the normal to the ecliptic (the ecliptic is the

plane of the moon’s orbit) plus a series of higher frequency wiggles due to the motion

290 CHAPTER 9. EARTH ROTATION

Ω

elliptical bulge

Moon

torque

ecliptic normal

Figure 9.5:

of the moon (and sun). The precession is called the precession of the equinoxes. It has

an angular amplitude of 23.5

◦

, and a period of 26,000 years as seen from inertial space.

The wiggles are called nutations. They have inertial space periods equal to the orbital

periods of the sun and moon: 13.7 days, 27.6 days, 6 months, 1 year, 18.6 years, etc. The

18.6 year motion is the largest: about 20 arc-seconds (or 1/2 km) motion of the rotation

axis. The other nutation terms have much smaller amplitudes. For example, the 6 month

term has an amplitude of about 1 arc-second, which is equivalent to ≈ 30 m of motion

at the earth’s surface.

This motion is long period as seen from space, but it is diurnal as seen from points

ﬁxed on the earth. For example, the annual nutation appears from the earth to have

periods of (1 +(1/365)) cycles/day and (1 −(1/365)) cycles/day (an annual modulation

of 1 cycle/day gives two frequencies).

What makes the nutations interesting from a geophysical perspective, is that the earth

has a normal mode, called the free core nutation, with a nearly diurnal eigenfrequency. I

brieﬂy described this mode when discussing earth tides on a rotating, elliptical earth (see

Section 8.3.3.3). The situation for nutations is similar to that for earth tides. Namely,

the nutation amplitudes are resonant at the free core nutation eigenfrequency. The eigen-

9.5. NUTATIONS AND PRECESSION 291

frequency depends on the ellipticity of the core-mantle boundary. If the earth was hydro-

statically pre-stressed, so that the boundary ellipticity was equal to the value predicted

by solving Clairaut’s equation, then the nutations would be resonant at (1+(1/460)) cy-

cles/day (the free core nutation eigenfrequency for the hydrostatic case). However, the

nutation observations show that the resonance actually occurs at a frequency closer to

(1 +(1/430)) cycles/day, a result consistent with the conclusions from earth tide studies.

The diﬀerence between the observed resonance and the hydrostatic prediction, suggests

that the core-mantle boundary ellipticity is about 10% larger than the hydrostatic value.

This corresponds to about 1/2 km of non-hydrostatic Y

0

2

boundary topography.

292 CHAPTER 9. EARTH ROTATION

Acknowledgments

Samizdat Press gratefully acknowledges the generous support of the Institute for Resource

and Environmental Geosciences at the Colorado School of Mines, Unocal, Amerada Hess,

the Society of Exploration Geophysicists (SEG) and Dr. J. Bee Bednar.

293

294 ACKNOWLEDGMENTS

Published by the Samizdat Press Center for Wave Phenomena Department of Geophysics Colorado School of Mines Golden, Colorado 80401

and New England Research 76 Olcott Drive White River Junction, Vermont 05001

c Samizdat Press, 1996

Release 1.1, July 1996

Samizdat Press publications are available via FTP from landau.mines.edu or 138.67.12.78. Or via the WWW from http://landau.mines.edu/˜ samizdat Permission is given to freely copy these documents.

Contents

1 Introduction 1.1 1.2 1.3 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Geodesy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Course Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1 2 3 5 5 5 6 10 11 13 14 17 18 19 20 20 22 22 22 23

2 Observational Techniques 2.1 Instruments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.1 2.1.2 2.1.3 2.1.4 2.1.5 2.2 2.3 Gravity meters . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pendulums . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Springs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . LaCoste-Romberg Meter . . . . . . . . . . . . . . . . . . . . . . . Superconducting Gravimeter . . . . . . . . . . . . . . . . . . . . .

Relative Gravity at Sea and on Planes . . . . . . . . . . . . . . . . . . . Free Fall Meters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.1 Launch Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.1.1 2.3.1.2 Advantages over free-fall-only instruments . . . . . . . . Disadvantages . . . . . . . . . . . . . . . . . . . . . . . .

2.4

Free-Fall-only Meters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4.1 2.4.2 2.4.3 2.4.4 Uncertainty in λ . . . . . . . . . . . . . . . . . . . . . . . . . . . Electronic counting and timing errors . . . . . . . . . . . . . . . . Ground Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . Non-gravitational forces . . . . . . . . . . . . . . . . . . . . . . . i

ii

CONTENTS

2.4.5 2.4.6 2.5

Accuracy

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24 24 24 25 25 28 29 29 29 29 31 31 33 33 35 37 37 38 40 41 42 43 45 45 48 53 53 55 56

Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning 2.5.1

Ground Based Techniques . . . . . . . . . . . . . . . . . . . . . . 2.5.1.1 2.5.1.2 Horizontal Angles . . . . . . . . . . . . . . . . . . . . . . Elevation . . . . . . . . . . . . . . . . . . . . . . . . . . 2.5.1.2.1 Leveling Errors . . . . . . . . . . . . . . . . . . Rod calibration errors . . . . . . . . . . Refraction . . . . . . . . . . . . . . . . .

2.5.1.2.1.1 2.5.1.2.1.2 2.5.1.2.2 2.5.1.3

Fluid Tiltmeters . . . . . . . . . . . . . . . . .

Latitude and Longitude . . . . . . . . . . . . . . . . . . 2.5.1.3.1 2.5.1.3.2 Latitude . . . . . . . . . . . . . . . . . . . . . . Longitude . . . . . . . . . . . . . . . . . . . . .

2.5.1.4

Distances . . . . . . . . . . . . . . . . . . . . . . . . . . 2.5.1.4.1 2.5.1.4.2 2.5.1.4.3 White light . . . . . . . . . . . . . . . . . . . . Radio signals . . . . . . . . . . . . . . . . . . . Lasers . . . . . . . . . . . . . . . . . . . . . . . Two-color meters . . . . . . . . . . . . . Three-color meter . . . . . . . . . . . . .

2.5.1.4.3.1 2.5.1.4.3.2 2.5.1.4.4 2.5.2

Strainmeters . . . . . . . . . . . . . . . . . . .

Space Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.5.2.1 Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . 2.5.2.1.1 Radio Ranging Satellites . . . . . . . . . . . . . Doppler Satellites . . . . . . . . . . . . . GPS (Global Positioning System) . . . .

2.5.2.1.1.1 2.5.2.1.1.2 2.5.2.1.2

Laser ranging satellites . . . . . . . . . . . . . . LAGEOS . . . . . . . . . . . . . . . . .

2.5.2.1.2.1 2.5.2.1.3 2.5.2.1.4

Lunar Laser Ranging (LLR) . . . . . . . . . . . VLBI (very-long-baseline-interferometry) . . . .

CONTENTS

iii

2.5.2.1.4.1 2.5.2.1.4.2 2.5.2.2 2.5.2.3 2.5.2.4 2.5.2.5 3 Potential Theory 3.1 3.2

Problems . . . . . . . . . . . . . . . . . . Accuracy . . . . . . . . . . . . . . . . . .

58 58

Advantages of one space positioning technique over another 59 Some Results . . . . . . . . . . . . . . . . . . . . . . . . Altimeters . . . . . . . . . . . . . . . . . . . . . . . . . . Dedicated Gravity Mission . . . . . . . . . . . . . . . . . 59 61 64 67 67 69 69 71 72 73 75 75 77 78 80 81 83 84 87 87 91 91 92 92 92

Introductory remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Finding the gravitational ﬁeld from knowledge of the density . . . . . . . 3.2.1 3.2.2 3.2.3 3.2.4 V (x) for a uniform sphere . . . . . . . . . . . . . . . . . . . . . . V (x) for a thin disc . . . . . . . . . . . . . . . . . . . . . . . . . . V (x) for a line mass . . . . . . . . . . . . . . . . . . . . . . . . . A numerical method for arbitrary mass anomalies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3

Poisson’s equation 3.3.1

Derivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.1.1 3.3.1.2 Gauss’ Law . . . . . . . . . . . . . . . . . . . . . . . . . Continuity conditions . . . . . . . . . . . . . . . . . . .

3.3.2

Laplace’s equation . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.2.1 Green’s Theorems . . . . . . . . . . . . . . . . . . . . .

3.3.3

Solutions to Laplace’s equation. . . . . . . . . . . . . . . . . . . . 3.3.3.1 3.3.3.2 3.3.3.3 Planar boundaries . . . . . . . . . . . . . . . . . . . . . Cylindrical coordinates . . . . . . . . . . . . . . . . . . . Spherical boundaries . . . . . . . . . . . . . . . . . . . .

3.3.4

Properties of the Ylm ’s and Plm ’s . . . . . . . . . . . . . . . . . . . 3.3.4.1 3.3.4.2 3.3.4.3 3.3.4.4 Parity . . . . . . . . . . . . . . . . . . . . . . . . . . . . Recursion Relations . . . . . . . . . . . . . . . . . . . . Speciﬁc Results . . . . . . . . . . . . . . . . . . . . . . . Orthogonality . . . . . . . . . . . . . . . . . . . . . . . .

iv

CONTENTS

3.3.4.5 3.3.4.6 3.3.4.7 3.3.5

Completeness . . . . . . . . . . . . . . . . . . . . . . . . The wavelengths of the Ylm ’s . . . . . . . . . . . . . . . The Addition Theorem . . . . . . . . . . . . . . . . . . .

92 93 93 94 94 95 96 96 97 98 99 103

Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.5.1 3.3.5.2 3.3.5.3 Example 1. . . . . . . . . . . . . . . . . . . . . . . . . . Example 2. . . . . . . . . . . . . . . . . . . . . . . . . . Radial dependence as a function of l . . . . . . . . . . .

3.3.6

The use of Ylm ’s in direct integration . . . . . . . . . . . . . . . . 3.3.6.1 3.3.6.2 3.3.6.3 Finding V outside a surface . . . . . . . . . . . . . . . . Finding V inside a surface . . . . . . . . . . . . . . . . . A slightly non-spherical surface . . . . . . . . . . . . . .

4 Physical Geodesy Problems 4.1 The Figure of the Earth: The Geoid 4.1.1 4.1.2 4.1.3 4.1.4 4.2

. . . . . . . . . . . . . . . . . . . . 103

Spherically Symmetric, Non-rotating Earth . . . . . . . . . . . . . 104 Spherically Symmetric, Rotating Earth . . . . . . . . . . . . . . . 104 Rotating, Elliptically Symmetric Earth . . . . . . . . . . . . . . . 108 The ellipsoid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Clairaut’s Diﬀerential Equation . . . . . . . . . . . . . . . . . . . . . . . 112 4.2.1 Example: A uniform (homogeneous) earth . . . . . . . . . . . . . 119

4.3

A More Realistic Earth . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 4.3.1 4.3.2 The Geoid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 Stoke’s Formula . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

4.4

Satellite Geoids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 137

5 Stress/Strain Relations 5.1 5.2 5.3

Stress tensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 Stress-Induced Deformation . . . . . . . . . . . . . . . . . . . . . . . . . 142 Response to τij for i = j . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 5.3.1 Strain Tensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

. . . . . .2 5. .2 Surface Gravity Anomalies . . . . . .2 5. . .3 5. . . 154 Relation between stress/strain and the displacement ﬁeld . . . . . . . . . 163 ↔ 5. . . . . . .1 6. . . . . . . . . . .3 6. . . . . . . . . . . . . . . .2. . . 193 6. .4 Maxwell solid . . . . . . . . . . . 169 5. . . . . . . . . . . . . . . . . .1 5. . . . . . . . . . . . . . . . . . . . . . . 173 177 6 Interpretation of Observed Gravity Anomalies 6. . . . . . . . . . . . . 173 Three-dimensional Maxwell solid rheology . . isotropic. . 185 Airy versus Pratt .4 The general linear model . . .4 Example: Waves in a homogeneous. . . . . . . .4 A Better Model for Airy Compensation Eﬀects on Gravity .2.5 Geoid anomalies . 195 . . . .6. . . . . . . . . . . . . . . . .1 5. . . . . . . 169 Kelvin-Voigt solid . . .7 Anelasticity . .1 Remarks . . . . . . . . . . . .7. 160 p-waves: longitudinal or sound waves . . . . . . . . . . . . .2.5 5. . . .2 6. . 164 The Frequency regime . . . . 163 5. . .4. . . . . . . . . . . . . . . 158 5. . . . . . 166 Short-period behavior . . . . . . . . . . . . .3 5. . . . . . . . . . . . . . . . . . . . .3. . . . . . . . . . . 162 The general case . . . . . .4. . . . . 167 Long-Period behavior . . . . . . . 187 A Better Model for Pratt Compensation Eﬀects on Gravity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .CONTENTS v 5. . . . . . . .6. . . . . ∞ medium . . . . . . . . . . . . . . . . 155 Remarks . . . 192 6. . . . . . . . . . . . .3 5. . . . . . . . . .7. . . . . . . . . . . . . . . . . . . .1 6.7. . . . 177 Isostasy . . . . . 186 6.6. . . .5. . . . . . . . . . . . . . . .7. . . . . . . . . .6 Relation between stress and strain .4. . . . . . . . . . . . . 182 6.7. . . . . . . . . . . . . . . . . . . . . . . . . . .3 Airy compensation . . . . . . . . .7. . . . . . . . . .6. . . . .2 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 Pratt compensation . . . . . . . . . . . . . . . . . . . 190 6. . . . . . . . . . . 156 Putting τ into F = ma . . . . . .4. . . . . 172 Standard Linear solid . . .7.1 5. . . . . . . . . . . . . . . . .4. . . . . . . . . .1 One Final Remark .2 5. . . . . . . . . . . . . . . . . . . . .7. . . . . 161 s-waves: transverse waves . . . .4 5. . . .

. . . . . . . . . . . .5 7. . . . . . . . . . . . . . . . . . . . . . . 236 Numbers . . . . . . .6. . . . . 222 6. .6. 254 Tidal Response of the Earth .6 Theory . . . . . . .7 6.2 6. . . . . . . . . . .6. . . . . . 265 . . . . . . . . . . . . . . . . . . . . 247 249 8 Earth Tides 8. . . . . . . . .4 6. . . . . . . . . . . 204 6. . 199 Application . . .4 7. . . . . . . . . . 213 Remarks . . . . .vi CONTENTS 6. . . . . 232 235 7 Postglacial Rebound 7. . . . . . . . . . . . . . . . . . . .1 7. . . . . . . . . . . . . . .6. .1 Thermal Isostasy . . .6 Lithospheric Bending . . . . 196 Theory of Flexure . . . . .3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 6. . . . . .3. 243 The Data . . 245 The Conclusions . . . . .3. . . . . . 231 The Long-Wavelength Geoid . . . . . . . . . . . . .6. . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 Basin and Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 7. . . . . . .5 6. . 208 Example: Flexure from an island chain . . . . . 221 6. . . . 258 8. . . . . . . . . . . . . .6. . . . . . . . . . . . . . . . . . . . . . 236 Elastic Problem . . . . . .1 6. . . . . . . . 243 Interpretation . . . . . . . . 220 Mid-Ocean Ridges . . . . . . . . . . . . .6. 214 Examples of Pratt compensation . . . . . . . . . . . . . . . . . . . . . . . . . .3. . . . . . . . . . . . . 196 6. . 263 Numerical Results .6. . . . . .2 An Example: Surface Gravity Tides . . . . . .3 7. . . . .3 Lithosphere . . . . . . . . . . . . . . .6.6. . . .2 6. . . . . . . . . . . . . . . . . . . . . 210 Gravity . . . . .6. . . .6. . . . . . . . . . . . . .1 6. . . . . . . . . . . . . . . . . .6 Limiting cases . . . . . . . . . .1 8. . . . .8 Convergence Zones . . . . . . . . . . . . . . . . . . . . . .1 8. . .6. . . . . . . . . . . . . . . . 215 Hot Spots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 6. . . . . . . . . . . . . . . . . .3 A Qualitative Description of the Tidal Force . . . . . . . . . . . . . . . .6.6. .2 6. . . . . . . . . . . 249 Tidal Potential . .6. . . . . . . . . . . . . . . . . . . . . . . . . . .3. . . . .2 8. . . . . . . . . . . .

. . . . .3 What the simple model ignores. . . . . . . . .3. . . .3 Variable Rotation Rate . . . . . . 266 Local Eﬀects . . . . . . . . . . . . . . . . . . . 275 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271 Motion of the Rotation Axis . . . . . . . . . . . . . . . . . . . . . . . .4. . . .3. . . . . . . . . . . . . . . .2 8. 268 271 9 Earth Rotation 9. . .2 Annual Wobble . . 266 8. . .3. . . . . . . 280 Short period lod ﬂuctuations . . . . . . .3 The Oceans . . . . . . 273 Changes in the lod . . . . . . . . . . . . . . . . . . .1 9. . . . . . . . . . .3 Linear change in the lod . . . . . . 276 Decadal Fluctuations in the lod . .5 Nutations and Precession . . .4. 287 291 Acknowledgments . . . . . . . . . . . . . . . . . . . . .3. . . . . . . .2 9. . . . . 268 Eﬀects of rotation and ellipticity . 285 Chandler wobble . .1 9. . . . .4 Wobble . . . . . . . . . . . . . . . . . . . . . 284 9. . .3. . . . . 286 9. . . . . .3. . . . . .1 9. . . . . . . . . . . . . . . . 281 9. . . . . . . . . . . . . . . . . . . . . . . . . .3. . . .2 9. . .3. . .3. . . . . . . . . . . . . . . . . . . . . . . . . .1 8. . . .3. . .CONTENTS vii 8. . . . . . . .

viii CONTENTS .

Heat ﬂow. for most surface features (e. the earth’s surface is composed of about twenty disjoint plates which move with respect to each other. mantle convection. to a large extent. ﬂuid dynamics. geology.) and for earthquakes and volcanos. (This course.g. the earth’s magnetic ﬁeld. earthquakes. Seismology: seismic waves. But the details are not yet well understood. The motion of the plates on a year-to-year time 1 . earth structure. This motion is responsible. etc.) 3. The driving force for plate tectonics is mantle convection of some sort: the plates are thermal boundary layers of convective cells in the mantle (over long time periods. directly or indirectly.Chapter 1 Introduction 1. the mantle behaves as a viscous ﬂuid).1 Introduction There are three required geophysics courses in the University of Colorado geophysics program: 1. ocean basins. People have deduced the rate of motion averaged over millions of years by looking at magnetic anomalies in material on the sea ﬂoor. Geodesy and gravity. 2. mountains. According to this theory. Plate tectonics is the unifying theory for most of modern-day geophysics and.

geophysical interpretations of any sort. Why should gravity enter in? It’s because many geodetic instruments use gravity as a reference. most of whom are not geophysicists. to tie local survey nets together by doing careful surveying over long distances. complicated mathematical techniques to take into account things like the earth’s curvature and. This is still the major function of most geodesists. . Out of these gravity observations came the ﬁrst useful. Its primary goal was.2 CHAPTER 1. 1. for example). Geodesists tell local surveyors where their lines are with respect to the rest of the world. The eﬀects of the gravity ﬁeld are especially diﬃcult to deal with. what they really mean is that it is a surface of constant gravitational potential (think of the way a carpenter’s level works. later. This was the development of the idea of isostasy around 1840. We’ll get into this.2 Geodesy Geodesy has a reasonable claim to being the oldest branch of geophysics. Originally it was solely concerned with global surveying. especially. In fact. modern. So. measurements of the gravity ﬁeld. when geodesists or surveyors say a surface is horizontal. 3. one of the goals of modern geodesy is to actually detect the year-to-year motion. To measure long baselines and to determine global positions you need: 1. INTRODUCTION scale is just now beginning to be observed. Is it the same as the long-term mean? Do the plates move rigidly? Etc. For example. which is why gravity has historically come under the heading of geodesy. the gravity ﬁeld. That includes telling them their elevation above sea level. 2. more accurate observing instruments than in surveying — although frequently surveyors and geodesists use the same instruments. and probably still is. geodesists have always had to measure gravity — in addition to relative positions.

with resulting eﬀects on gravity). and on long term dynamical processes within the earth (density contrasts associated with mantle convection/plate tectonics. and postglacial rebound). Static (time-independent values) of positions have not given much useful information.3. This turns out to be really exciting to geophysicists.3 Course Organization Chapter 2 Observational techniques Chapter 3 Potential theory (mathematical theory of gravity) Chapter 4 Physical geodesy problems (for example. because it allows people to be able to see the plates move and deform in real time. though. on composition near the earth’s surface (mineral prospectors use gravity). observations of the time-independent ﬁeld) give information on strength within the earth (the earth’s surface bends under loads. Recently. what can gravity and point positioning observations do for geophysicists? Brieﬂy.1. static gravity observations (that is. 1. COURSE ORGANIZATION 3 Nowadays. how do you determine the earth’s shape) Chapter 5 Stress/strain laws. Viscosity (for use in later interpretation) Chapter 6 Interpretation of observed gravity anomalies Chapter 7 Postglacial rebound Chapter 8 Earth tides Chapter 9 Earth rotation . new geodetic techniques have begun to give useful observations of time-dependent gravity variations and positions of surface points.

4 CHAPTER 1. INTRODUCTION .

To measure changes in gravity you’d like 1 µgal (∼ 10−9 ) accuracies.) Surveying and static gravity observations require accuracies of approximately 1 mgal (10−6 accuracy).1 2. if you move radially outward by 3 mm. There are two types of gravimeters: Absolute meters Where g can be directly determined by measuring a length and/or a time. Relative meters Where g depends on things like spring constants.Chapter 2 Observational Techniques 2. At the earth’s surface. gravity decreases (because you are moving further from the center of the earth) by about 1 µgal. which cannot be so readily determined. For example. Relative instruments can only tell you the relative diﬀerence in g between two points or between two times. (So.1 Instruments Gravity meters These measure g. g ≈ 980 cm/sec2 ≡ 980 gal. the acceleration due to gravity.1. 5 . g ≈ 103 gal.

See Figure 2. OBSERVATIONAL TECHNIQUES 2.1) where T = period. So this is an absolute instrument. Note that by measuring l and T . a simple pendulum).1: First. Or: g = lω 2 = l (2π)2 T2 g l (2. m. ¨= For small motion sin θ ≈ θ. . Pivot l θ eθ m mg Figure 2.1. and so θ ∼ −(g/l)θ. you get g.e. So ˆ ¨ lθ = −g sin θ. The solution is θ ∼ A cos(ωt + φ) where = ω= is the angular frequency of the motion. on a massless string.2 Pendulums These are the oldest gravimeters. consider a point mass.1. The ˆ gravitational force in the eθ direction is −mg sin θ.6 CHAPTER 2. The acceleration in the eθ direction is lθ. They can be either absolute or relative instruments. conﬁned to move in a plane ¨ (i.

2: torque about the pivot due to gravity. and I = moment of inertia about the axis passing through the pivot (and perpendicular to the plane of motion). and l sin θ is the moment arm.2. INSTRUMENTS 7 Probably the biggest problem. So. is that there is no massless string. a real pendulum is a solid object — preferably a rod of some sort — swung about a ﬁxed point in the rod (a physical pendulum). See Figure 2. and constrained to move in a plane. mgl ¨ θ=− sin θ.1 is. then ¨ N = Iθ N = −(mg)(l) sin θ where mg is the force. CM. thus. (The approximation sin θ ≈ θ can be removed by using elliptic integrals. The result of Equation 2. here. this assumption can be removed) sin θ ≈ θ and θ = A cos(ωt + φ) .1.2. If N = pivot l θ center of mass (CM) Figure 2. only approximate at best.) Instead. Let l = distance between pivot and the center of mass. I For small motion (again.

if g1 and g2 are values of g at two points. then: T2 g1 = g2 T1 2 .5 mgal — and pendulums were used until WWII in this way. It is also possible to use a trick to turn a physical pendulum into an absolute meter. and thus the two pivot points must have the same l/(ICM + ml2 ). in general. In this way. and T1 and T2 are the observed values of T at those points. To see this. I. gives: l1 l2 = ICM ml1 . Thus you can determine g1 /g2 by simply measuring times. So. So in this mode a physical pendulum (that is. Solving for l2 using the quadratic formula. g depends on I and m — which are not directly measurable. So. swing the pendulum about two diﬀerent pivot points on opposite sides of the center of mass and get the same frequency. ω 2 = mgl/ (ICM + ml2 ). If l1 and l2 denote the l’s for the two points. then: l1 l2 = 2 2 ICM + ml1 ICM + ml2 or 2 2 l2 (ml1 ) − l2 ICM + ml1 + [ICM l1 ] = 0. I = ICM + ml2 where ICM = moment about the center of mass. any real pendulum) is not an absolute instrument. note that by the parallel-axis theorem. m and l will presumably not change if you move the instrument to a new place. though.8 CHAPTER 2. You can. It is. a relative instrument. so that any change in g causes a corresponding change in T . relative gravity can be determined with accuracies of about 0. ml ml T 2 (2. OBSERVATIONAL TECHNIQUES where ω2 = or g= Iω 2 I (2π)2 = .2) mgl I Thus.

Then you ﬁnd another pivot point that gives the same T . and use Equation 2. Obviously. and for the fact that sin θ = θ. the base of the pendulum moves around as the pendulum oscillates. Typically accuracies in this absolute mode are about 0.2 gives: g= or g= L(2π)2 T2 (2.2. making sure that this second point is on the opposite side of the center of mass from the ﬁrst point and is along the line that includes the ﬁrst point and the center of mass.3. the pendulum is an absolute meter. The pendulum results can be corrected for air density (that is. for friction). the same as for a pendulum used as a relative instrument. Run in this manner. You measure the distance between pivots. 2. the fact that the pivot is not a knife edge — the pivot point moves around a little in an unknown way. People would maintain absolute pendulums at a few sites around the world (or else periodically revisit those sites with an absolute pendulum). Note that you ﬁnd g by measuring only a distance and a time.3) 2 ICM + ml1 ml1 (2π)2 = T2 2 l2 ml1 + ml1 ml1 (2π)2 T2 where L = l1 + l2 = distance between the two pivots (since the two points are on opposite sides of the center of mass). The principal problems for these instruments are: 1. Solving for ICM in terms of l2 . and using the result in Equation 2. long after they were abandoned as relative meters.1. until very recently pendulums were used as absolute instruments. Still. an absolute pendulum can be a lot of work to run — since you must search for the second pivot point. . First you choose a pivot and measure T . and then people using relative meters out in the ﬁeld would occasionally visit those sites to recalibrate their relative instruments. INSTRUMENTS 9 The non-trivial result is l2 = (ICM /ml1 ). for temperature. L.5 mgal.

k m Figure 2. by measuring changes in l. You cannot measure k/m. l2 g2 This lets you measure changes in g. where ∆g ∆l = .3: Simple Spring. might be 1 m at most.5 mgal level (the accuracy of a pendulum). so it can’t be used for anything T = 2π m/k .10 CHAPTER 2. g2 l2 So if you change g2 to g1 = g2 + ∆g. The departure from equilibrium. Note: g1 l1 = . see Figure 2. then you change l2 to l2 + ∆l. But this simple mass on a spring is an impractical gravity meter. OBSERVATIONAL TECHNIQUES 2. so a spring is not an absolute meter. So. The period of oscillation of the spring is independent of g. But at equilibrium the amount the spring has stretched is l = mg/k. Consider a mass on a massless spring. But if you change g you change l.3 Springs These replaced pendulums as relative instruments after WWII. g = lk/m. So to measure changes in g at the 0. They cannot be modiﬁed to give absolute g. l2 .1. you would have to measure changes in length to better .3.

for example. because the angle between mˆ and the moment arm ˆ decreases. So a simple mass on a spring is not too useful.4. change in l. be twisted as it is wound. This system has an inﬁnite period: if the beam is at equilibrium for one value of θ. These two eﬀects cancel.” It is designed so that F = kL. The beam of length b — with the mass on it — is free to pivot about the lower left hand point. The wire can.1. That beam is assumed here to be massless.2. . But there are better ways to make a spring-type instrument with a much longer period than to simply lengthen the spring. Here’s the setup. another way to say ∆l/l = ∆g/g would be: ∆g = ∆l (2π)2 . (See Figure 2. T . INSTRUMENTS 11 than ∆l = l2 ∆g 5 × 10−4 ≈ 102 cm = 5 × 10−5 cm g2 103 which is awfully small. Increasing T would be equivalent to making a spring which had a larger l. but the clockwise torque from gravity also lessens. What happens qualitatively is that if you decrease θ (move m upward). the counter-clockwise spring torque lessens because L decreases. The best way to make a spring work is to modify it somehow so that it has a very long natural period. then it is at equilibrium for every value of θ.) The spring in Figure 2.4 LaCoste-Romberg Meter The relative meter now used almost exclusively is the LaCoste-Romberg meter.4 is called a “zero length spring. g= m T2 So. and so measurable. where L = total length of the spring. T2 If you can increase the natural period. then a small change in g might produce a reasonably large. Note that for our mass on a spring l(2π)2 lk = . 2.1. This meter has a design which gives almost an inﬁnite period. and there is still no net g b torque. There are several ways to make such a spring.

and Equation 2.4) If y = mg/k does not hold. sin θ sin(180 − θ − β) sin(θ + β) So L sin(θ + β) = y sin θ. Note that the angle 90 + α = 90 + (90 − θ) = 180 − θ. k (2. The clockwise torque from gravity is (mg)b sin(90 + α). Equating these two torques gives the equilibrium condition: kLb sin(β + θ) = mgb sin θ. .4: Set up for the LaCoste-Romberg Meter. So the equilibrium condition is independent of θ: any θ will do. note that from the law of sines: L y y = = .12 CHAPTER 2. then the beam b swings all the way clockwise or counterclockwise until it hits the stops.4 becomes ky = mg. so long as y= mg . The angle λ is: λ = β + θ. To see this more quantitatively.5) (2. OBSERVATIONAL TECHNIQUES L β y λ θ b α This side is vertical. the counterclockwise torque on m from the spring is (kL)(b) sin λ. To remove L. mg m 90 + α Figure 2.

it would be too sensitive.5 Superconducting Gravimeter This is a relative instrument developed by people at the University of California at San Diego. m If you measure a change in y. and F = kL becomes F = kL + d.1.02 mgal). Instead. Actually. Then you know that k y. 2. The instrument is designed to stay ﬁxed at one spot and measure changes in gravity with time. natural period. interruptions (such as reﬁlling . You could never ﬁnd a y which agreed exactly with Equation 2. so you could never ﬁnd the equilibrium point. This means that. The instrument output is voltage. The idea is to levitate a superconducting ball in a magnetic ﬁeld.5. if the meter were built as described above. If gravity changes. The second is spring hysteresis. you can then infer a change in g. the spring constant k can change. which is much better than pendulums.2. and then adjust y until the meter is at equilibrium.01–0. but the relation between the number of turns and the change in y is not always precisely known. in practice. As the spring is stretched. (So it’s a relative meter. slightly. There are two sorts of errors. These errors can be as large as 50 µgal for large changes in y. from vertical. Note that this is a g= relative meter because of (k/m) in the expression for g. the meter must be frequently brought back to a base station and recalibrated. One is in measuring y. and it results in a usable but still highly sensitive meter. where d is some small constant.1. They are now produced commercially. Furthermore. It is deﬁnitely not portable. an electrostatic force is applied to the ball to keep it level. y is changed by turning a screw. INSTRUMENTS 13 So the idea is to set the thing up.) Essentially it’s an electro-magnetic spring. or even as it ages while doing nothing. what’s done is to tip the side y. The accuracies of this relative meter are approximately 10–20 µgal (0. This causes drifts in measured gravity that can be as large as several hundred µgal per month. This gives a large but ﬁnite. Fancy LaCoste-Romberg tide meters can do even better if kept running continuously at the same place.

2. Though other calibration methods are now in use. In fact. and to measure the resulting signal. people had to use astronomy (e. One problem is knowing where you are making your measurements from. Trying to measure g from ships or planes leads to all sorts of additional problems. or to speed up a survey. and then had to somehow ﬁnd the height of the meter above mean sea level.2 Relative Gravity at Sea and on Planes The instruments described above are primarily land instruments. This instrument is very accurate. For example. And sometimes measurements from planes or helicopters are desirable to get to inaccessible regions. as well. Nowadays.g. The extra problems are associated with the fact that ships and planes are moving objects. it can be more important to use meters that minimize the motion errors. But. pendulums were used in ships until recently. than to use meters designed simply to measure g extremely precisely. since the additional accuracy of a LaCoste-Romberg is not always needed. any moving object experiences Coriolis forces .14 CHAPTER 2. The problem is that since the earth is rotating. OBSERVATIONAL TECHNIQUES liquid helium) can reset the calibration factor (the relation between voltage and g). Making the instrument superconducting keeps currents in the ball stable. The errors from the motion can be severe. The big disadvantage is that it is not portable. you certainly need to know g over the oceans. the meter is exceptionally stable. with sub µgal accuracies (as good or slightly better than the best LaCoste-Romberg tide meters). A second. you can ﬁgure that out very well using the space positioning measurements that we’ll discuss later. observing the stars and the sun) to determine their latitude and longitude. though. and can easily swamp instrumental noise. which is its main advantage over good LaCoste-Romberg meters. Thus. The standard method of determining the calibration is to roll a heavy ball of known mass underneath the meter. In the past. is knowing what your velocity is. more serious problem nowadays.

Nowadays. the lowest order correction due to east–west velocity is: ∆g = −2Ω0 v sin θ. which move faster. To understand the biggest eﬀect.2. the measured acceleration is approximately g − aΩ2 sin2 θ − sin2 θa 2Ω0 0 v . instead of g. Suppose you attach a coordinate system to the earth and ship so that it rotates about the North Pole with the angular velocity of the ship: Ω = Ω0 + v/(a sin θ) where Ω0 = rotation rate of the earth. The centrifugal acceleration on the ship and every object in it is Ω × Ω × r = ΩΩ · r − rΩ2 .2. . and r · Ω = aΩ cos θ. the space positioning measurements described below can be used to determine your velocity well enough. So. the “gravitational” accelera- tion shown on the meter will really be g−aΩ2 sin2 θ. suppose you’re in a ship moving east or west — the same direction as the motion due to rotation. So it is important to make this correction — and thus to know your velocity accurately. But. RELATIVE GRAVITY AT SEA AND ON PLANES 15 which can be confused as gravitational forces. This is the “Eotvos correction.) For ships.” It works out to be (7. To lowest order in v. a sin θ (2. (1 knot = 1. There is no Coriolis force. and θ = colatitude of the ship. Let’s think of the resulting force as an increased (or decreased) centrifugal force. People on land routinely subtract oﬀ the aΩ2 sin2 θ term. a = earth’s radius.15 mile/hour = 50 cm/sec.7) So.5 sin θ) mgal/knot. because the ship doesn’t move with respect to the coordinate system. v = eastwards velocity of the ship. the Eotvos correction is typically 50 mgal. For planes. Ω also depends on v. it is typically 1000 mgal. from a ship (or a plane). assuming Ω = Ω0 . (2.6) The radial component of the right hand side will look exactly like gravity to the meter: r· Ω× Ω×r ˆ (r · Ω)2 − r 2 Ω2 r 2 = −aΩ sin2 θ = where r = a at the earth’s surface. rather than as a Coriolis force.

the biggest problems come from unknown accelerations of the ship or plane. both of them instrumental (see Figure 2. But. Vertical accelerations are the biggest problem. For example. the meter can confuse that acceleration with gravity. Horizontal accelerations and tilting of the ship or plane are less of a problem than vertical accelerations. There are two ways to remove the eﬀects of tilting and horizontal accelerations.5): θ meter Figure 2. not radial. Put the meter on a stabilized platform with gyroscopes to keep it level and horizontal accelerometers to determine the horizontal acceleration. A horizontal acceleration starts it swinging.16 CHAPTER 2. So. It’s small because the Coriolis force it induces is mostly horizontal. they can be huge. Swing the entire meter about a pivot point. and so it is not confused with g as easily. but it’s only about 1 mgal in planes and is negligible in ships. vertical accelerations in ships are equivalent to 104 –105 mgal in gravity. if the meter support accelerates. You measure θ and can thereby remove the swinging motion from the meter reading.5: 1. OBSERVATIONAL TECHNIQUES There is also a contribution from north–south motion. Typically. A vertical acceleration is indistinguishable from the gravitational acceleration. 2. .

2.3 Free Fall Meters These are absolute instruments. t1 t2 . the longer the averaging time (T ). the smaller the error. for you — by including damping to ﬁlter out high frequencies. But even in that case. The frequency is measured to ﬁnd g. long term accelerations can’t be removed. Maybe the most common of these is a “vibrating string” meter. But. The idea is to watch an object fall and thereby determine its acceleration. For example. the instrument measures g + x. Eliminating v0 gives: 2 g= 2 t1 − t 2 x1 x2 − . Errors in g from planes are worse. then: x1 = v0 t1 + gt2 /2. 1 If x2 is the distance fallen after time t2 . which can achieve accuracies of only 1 mgal on land. If v0 is the initial velocity. where x = vertical acceleration. Typically. and x1 is the vertical distance fallen after time t1 . The ¨ ¨ averaged output over time T is: gavg ≡ 1 T T 0 (g + x) dt = g + ¨ x(T ) − x(0) ˙ ˙ . partially. These numbers are large enough that sometimes other meters besides LaCosteRombergs are used in ships and planes. The frequency is not particularly dependent on accelerations.2. but you can’t average for as long in planes because they don’t stay in one place very long.3. For example. sea-going LaCoste-Romberg meters do it that way. at least some additional averaging of the data is needed. Planes are smoother than ships. then x2 = v0 t2 + gt2 /2. FREE FALL METERS 17 The only way to get rid of the eﬀects of vertical accelerations is to average over time. Errors in g from helicopters are approximately 2 mgal. This meter has a mass on the end of a thin metal ribbon. errors in g from ships are approximately 1 mgal. which depends on g. They replaced pendulums maybe 20 years or so ago. The ribbon is shaken and the mass and ribbon vibrate at a characteristic frequency. Some instruments do the averaging. T So.

tA = time between upward and downward crossing of A.6. See Figure 2. then: 0 = vA − g tA 2 . No calibration is necessary (except of your measuring tape and your clock). Since at the top the velocity is 0. The earliest free fall meter was simply a meter bar which was dropped alongside a ﬁxed pointer. 2.7): 1. tB = time between upward and downward crossing of B.18 CHAPTER 2. you probably want to measure lots of x’s and t’s. 2. upwards — and measure two time intervals (see Figure 2. free fall meters are much fancier.6: Nowadays. t1 ) and (x2 . Since x is a distance and t is a time. Figure 2. In practice. m. t2 ) you can ﬁnd g. A strobe light was ﬂashed at a known frequency and a number was read oﬀ the meter stick at each ﬂash as it fell. this is an absolute meter. if you measure (x1 .1 Launch Type You throw a mass. OBSERVATIONAL TECHNIQUES So. and then determine g by least squares ﬁtting it to x = v0 t + gt2 /2. tA /2 = time to get from A to the top of the trajectory.3. They involve laser interferometers. Then.

The best launch instruments are very good.3. if h is the height of B above A. Or inverting to ﬁnd g: g= 8h − (tB )2 (tA )2 So. measuring a distance (h) and two time intervals gives g. vA = g tA 2 (2. FREE FALL METERS 19 B m h A Figure 2. tB and g. So. then: h = vA tA − t B 2 − g 2 tA − t B 2 2 .2. Air resistance cancels to 1st order.8) Also.3. That’s because the drag force is downwards on the way up.1 Advantages over free-fall-only instruments 1. 2.8 for vA gives h in terms of tA .7: where vA = upward velocity at A. . The instrument is run in a vacuum. They have been developed by people in Japan. Using Equation 2. But.1. (tA − tB )/2 = time to go from A to B. anyway. and upwards on the way down. So. the eﬀects of the remaining air in the vacuum are small.

Jim Faller’s group at the Joint Institute for Laboratory Astrophysics (JILA) has played an important role in developing this type of meter. k = 2π/λ. Thus. you record the time. if 2(L2 (t) − L1 ) is an integer times λ. and that produces errors in g. here. Timing biases are not as important as in a free-fall-only meter. For a drop of approximately 20 cm you get 200 values . If 2(L2 (t) − L1 ) is a half integer times λ. You use a zero-crossing discriminator to give a pulse at every zero crossing (that is. or so. when the two beams are out of phase by 180◦ ). for the instrument to register the time of passage. multiplied by the diﬀerence in the distances the two beams have traveled (2L2 (t) − 2L1 ).4 Free-Fall-only Meters These involve masses which are dropped instead of launched. then the two beams are in phase and you get a large signal. (A timing bias refers to the time it takes. after the passage of the mass.) That’s because.1.20 CHAPTER 2. L1 is independent of time. you know the times corresponding to distance intervals of (3000) × λ/2 ≈ (3 × 103 ) × (3 × 10−5 ) cm ≈ 1 mm. Only a very few places in the world make them. 2. The phase diﬀerence of the two beams is the wave number. 2. you drop the cube and look at the detected signal as a function of time.3. The laser emits light with wavelength λ. The path length from the beam splitter to the ﬁxed cube and back is 2L1 .8. Every 3000 pulses. See Figure 2. I’ll describe the JILA meter in some detail. L2 (t) depends on time as the cube falls. So. OBSERVATIONAL TECHNIQUES 2. So. The detector sees a mixture of light from each corner cube. The path length from the beam splitter to the falling cube and back is 2L2 (t). it’s time intervals that are measured.2 Disadvantages Launching the mass deforms and shakes the entire instrument in an unmodelable way. the two beams are 180◦ out of phase and you get a small signal. ∆φ = phase diﬀerence = 4π (L2 (t) − L1 ) /λ. So.

and raising back to the top takes about 4 seconds. It takes about 0.2 seconds to make a drop. There are four sources of error: 1. FREE-FALL-ONLY METERS 21 falling corner cube fixed to earth L2 detector L1 beam splitter laser Figure 2. there are about 15 drops/minute. ground acceleration 4. So.2. computing g.4.8: of x and t which you ﬁt to x = v0 t + gt2 /2 to get g. electro-magnetic forces (EM) and air resistance . non-gravitational forces: for example. electronic counting and timing errors 3. uncertainty in λ 2. and the whole process of dropping.

2 sec (the time duration of a drop). You either use one of those directly. And. Because 6 sec > 0.4. Its eﬀects on the laser and detector don’t matter. or you periodically calibrate your laser against one. . nowadays. One way to get rid of the problem is to average over lots of drops.4. The typical ground acceleration (called “microseisms”) due to the interaction of the oceans with the sea ﬂoor is on the order of 10−6 g and has energy peaked at periods of around 6 seconds.22 CHAPTER 2.2) time of the drop sec ≈ 2 nsec. the acceleration is not averaged out during a drop. 2.1 Uncertainty in λ This is no problem nowadays. 2.4. You can live with errors larger than this if they are constant during the drop. You need to know the timing to (1 × 10−9 ) × accuracy in gravity (0. any errors larger than this are probably due to the time delay between fringe crossings and timer response. because both beams travel through the laser and detector in the same way — and it’s the diﬀerence in the beam paths that you measure. OBSERVATIONAL TECHNIQUES The objective is to obtain accuracies of about 1 µgal (1 part in 10−9 ). There are lasers with frequencies that are stable to 10 −11 . which corresponds to 3 mm of vertical motion.3 Ground Acceleration This can be a problem. 2. you’d need to make (1/(1 × 10−3 ))2 ≈ 106 drops. But to obtain 1 × 10−9 accuracy with 10−6 random errors. This acceleration aﬀects the ﬁxed corner cube and can map into errors in g. which would be nearly constant. This would take approximately 1000 hours.2 Electronic counting and timing errors This is ok.

the JILA instrument pumps down only to 10−5 –10−6 mm of mercury. instead. The spring has about a 60 sec period. .4 Non-gravitational forces Electro-magnetic forces used to be a problem because the falling cube was dropped by shutting oﬀ a magnetic ﬁeld. Now the cube is dropped mechanically.2. The idea is that in a real spring. Air resistance is a potential problem.4. Since 60 sec 6 sec. itself. more equipment). and they move the top as though it and the bottom were. part of a 1 km spring. The chamber is then driven downward mechanically at the right speed so that the position of the cube doesn’t change relative to the chamber. it is tracked by the laser interferometer through a hole in the bottom of the chamber. So. They use a sensor to detect diﬀerences between the bottom and the top of a short spring. points on the spring near the bottom move almost — but not quite — like points at the bottom. The super spring reduces number of drops needed by a factor of about 400. That caused eddy currents in the cube which interacted with other electro-magnetic ﬁelds and perturbed the fall. where l = amount the spring is stretched at equilibrium. They suspend the ﬁxed cube from the spring. 2. As the cube is dropped. To get it down to an acceptable level (1 µgal errors in g). The position of the cube relative to the chamber is also optically sensed as the cube falls. Instead. Instead. This low pressure causes mechanical problems (more friction. Thus.4. instead. which is approximately 10−10 of atmospheric pressure). the chamber pushes the remaining air out of the way. note that kl = mg and T = 2π m/k ⇒ l = gT 2 /(2π)2 ≈ 103 · (60)2 /62 cm ≈ 1 km. some instruments use a very high vacuum (about 10−7 mm of mercury. FREE-FALL-ONLY METERS 23 To reduce this averaging time. and then uses a falling chamber that moves with the cube during its drop. the spring. would have to be substantially longer than 1 km. the cube at the end of the spring doesn’t move much due to the microseisms. To get a spring with a 60 sec period. they use what they call a “super spring” — a device that electronically mimics a 1 km spring. they use a very long spring.

OBSERVATIONAL TECHNIQUES This also provides the mechanical dropping mechanism: Initially the cube rests on the chamber. for averaging times of a few days to a couple weeks. which causes the cube to come free and to start to fall. 2. The detection of local and regional tectonic deformation near plate boundaries does not require such high accuracies. because the deformation occurs over shorter baselines. so that this level of accuracy would let you determine plate motions with relatively small errors after a very few years.24 CHAPTER 2. The relative motion between plates is generally on the order of a few cm/yr.4.5 Accuracy The JILA instruments and their derivatives are believed to be accurate to the 1 µgal level. strain rates (the strain = the change in baseline length divided by the baseline length) over baselines of tens to hundreds of km are typically 10−7 per year in . Note that 1 cm accuracy over a baseline of a few thousand km requires an accuracy of 1 cm/a few × 108 cm = a few × 10−9 . The motion is started by suddenly driving the chamber downward. 2.5 Positioning The other broad goal of observational geodesy is to determine the locations of points on the earth’s surface. Geophysicists are interested in this type of observation. when we discuss space geodesy. and certainly the best way to obtain gravity at global scales. because it allows them to look for displacements of the earth’s crust.6 Satellites Another way to measure gravity. We’ll talk about this later. What level of accuracy do you need to begin to detect crustal motion? To measure continental drift you’d like to be able to determine the relative positions of two points to roughly 1 cm over baseline lengths (the “baseline” is the vector between the two points) of at least a few thousand km.4. For example. is to use satellites. which is the typical width of a plate. 2.

measurements of distances between points 4. 2. You want to measure the horizontal angle θ between lines AB and AC. incidentally. a tectonically active region. and some sort of level used to make sure that axis is vertical. (Or. that we’ll talk about later. POSITIONING 25 California. (Vertical angles.) You can’t determine relative locations. without also measuring distances between points. measurements of horizontal angles between points 2.1. measurements of a point’s latitude and longitude. See . people use combinations of four sorts of measurements: 1. A typical instrument that measures horizontal angles consists of two telescopes that pivot about a common. measurements of elevation diﬀerences between points 3.5. and distances. measurements of a point’s coordinates with respect to the stars or to some other special astronomical coordinate system. tell you about the shape of that surface. How do you measure these things using ground-based techniques? (Note: space techniques.1 Horizontal Angles Horizontal angles can be used to help ﬁnd where points are on the earth’s surface relative to one another. vertical axis.) 2. determine all coordinates of a point or a baseline at once. There is no natural separation into four categories. though.2. Latitudes and longitudes tell you something about one point relative to inertial space. elevation diﬀerences. just tell you the position of one point relative to another.1 Ground Based Techniques To ﬁnd positions.5. And a conventional geodesist — who only wants to tie local survey nets together — can settle for much worse accuracies. what is equivalent.5.) You need to measure latitude and longitude because measurements of horizontal angles.

You put the instrument at A. between the telescopes. So. Then to ﬁnd the position of C. sight one telescope towards B and one towards C. You level the two telescopes so that they are both horizontal. θ. you’d also measure the angle between BA and BC. you would measure the angle between AD and AB.9: Figure 2. D. OBSERVATIONAL TECHNIQUES C B θ A Figure 2. you measure θ — and you measure the distance between A and C. Until the 1960’s. The advantage of this was that if you then wanted to ﬁnd the position of some other point. Suppose your goal is to ﬁnd out where C is with respect to A. Or maybe you’ve arbitrarily deﬁned your coordinate system so that AB has a speciﬁc direction (that is. and then use the distance AB that you’ve already measured. So. distance measuring was tedious: you’d just roll a tape along the ground. Then. This technique is called “triangulation.26 CHAPTER 2. you’d measure the distance BA with the tape. you’d rather measure angles than distances. and the angle between BA and BD. And. you could do lots of points by measuring no distance except AB. In that case. what you’d do was to measure θ. you’ve tied your system to that line somehow). Maybe you’ve done this with astronomical techniques. and then measure the angle.9. That would give C. which is not good . Its accuracy is approximately 10−5 .” It is not used much anymore for geodetic/geophysical applications. Suppose you have determined the absolute direction of the line AB.

B C A Figure 2. A and B. I’ll describe the accuracies when I describe distance measuring instruments. a slight twist to this. Whichever method you use is called trilateration. You can measure the diﬀerence between AC and AB. It is much more accurate than triangulation. which are now easy to make and are very accurate.2. rather than absolute distances. POSITIONING 27 enough for most geophysical studies. Its advantage was that it minimized tiresome distance measurements. they use only distance measurements.10. There is. and then the diﬀerence between BC and BA. Meantime. . You want to know the location of C.5. geophysical geodesists don’t often measure horizontal angles at all. By comparing those two distance diﬀerences. how does this new method work? Suppose you know the locations of two points. below.10: That determines C uniquely. The techniques involve laser interferometers and I’ll wait a little to describe them. Instead. which then tells you that C lies on the intersection of two known circles. There can be advantages to measuring distance diﬀerences. sometimes (not often used). C can be found. See Figure 2. You measure AC and BC. Nowadays.

for hundreds of years. One obvious limitation of this technique is the ﬁnite rod height.) markings on them. so you can’t measure over a baseline with elevation changes of more than this. An alternative is to measure vertical angles. mm. You want to measure the elevation diﬀerence between A and B. as far as I know. You put the leveling instrument — consisting of a telescope and a level — in between A and B. 1 cm over a 1 km diﬀerence in elevation. OBSERVATIONAL TECHNIQUES 2. etc. But. and the diﬀerence between those numbers is the diﬀerence in elevation. Here you can see the importance of gravity for determining elevation: the orientation of a horizontal surface depends on the direction of gravity. Surveying this way in rough topography is tedious. The standard height is 2. B A Figure 2. You use the level to keep the telescope horizontal. and then on the B rod. assumed to be 10−5 .28 CHAPTER 2. You read oﬀ the numbers you sight on from the two rods.1. The errors in leveling are.5 m. traditionally. leveling hasn’t always been done that well in the past. There .11. and sight ﬁrst on the A rod.2 Elevation The basic methods of measuring elevations haven’t changed. that is. See Figure 2. and determining the angle between the telescope and the horizontal plane. at A and B.5. by training a telescope at the end of the baseline.11: You put two vertical rods with meter (and cm.

You get a similar eﬀect if you change the lengths of the individual baselines you sight over. you’ll get topographic-related errors.2.5. 2.1.2. since the size of the correction varies with baseline length in a non-linear fashion. If you switch rods from one survey to the next.1.2. if not properly accounted for: 2. The light going from the rod to the telescope is bent due to temperature gradients along the ground. So the number you read oﬀ the rod.5.1.2 Refraction This is a hard problem. You measure the height of the ﬂuid column in each of the two vertical segments of the container shown in Figure 2.2.5.1 Rod calibration errors If meter marks on the rods aren’t in quite the right places.5. If you do not make these corrections.1. In that case you will be sighting on diﬀerent sets of meter marks which will have diﬀerent errors. or if they are not made properly. There are two versions: 1. But temperature measurements were not always made in past surveys. 2. The diﬀerence in heights = the elevation diﬀerence. POSITIONING 29 are two sources of systematic error that can cause topographic-related errors larger than this.1.2. The corrections are dependent on the variation in topography along the line.2 Fluid Tiltmeters One other method is occasionally used to measure ele- vation diﬀerences between points.1. This eﬀect can be particularly severe if you change the baseline lengths you level over. People do know how to correct for this eﬀect given the temperature on the ground.1 Leveling Errors 2. You measure the ﬂuid pressure at each end of the pipe in Figure 2.5. there can be topographic-related errors as large as 10 −4 . . and the telescope. This method involves ﬂuid tiltmeters. 2.12. are not quite on the same horizontal surface. these errors will make you think the ground has moved.13.

as ﬁxed instruments to look for time dependent tilts at one place. . OBSERVATIONAL TECHNIQUES fluid Figure 2.13: These instruments can measure 10 m elevation diﬀerences — and so can be useful when there is a lot of topography. so the thermal eﬀect can be removed.12: fluid Figure 2. though.30 CHAPTER 2. The results can be aﬀected by temperature. Instruments have even been built which have two ﬂuids with diﬀerent thermal expansion coeﬃcients. They are usually used. so the instruments must be thermally insulated.

How did people measure their latitude and longitude relative to the stars? 2. You measure z1 and z2 . Then θ = co-latitude = δ − z.5. Ω. θ= 1 [δ1 + δ2 + z1 − z2 ] .15. but remaining errors are approximately 1 second of arc. To reduce this error. 2 . as described above. The star is at its highest point as it passes the north–south meridian running through the observer. At that point you measure the angle z (the “zenith distance” of the star) between the telescope and the vertical rod.2. So. they provided information about the earth’s rotation going back into the the 19th century that is still being used today to study long period rotation ﬂuctuations. but here they are only a few cm long.3 Latitude and Longitude Latitude and longitude measurements used to be made at certain points along a survey to ﬁx those points with respect to the stars.1 Latitude You align a rod along the local vertical. and results in errors in θ.1. 2. Refraction of the starlight as it passes through the atmosphere causes the light to bend. Results from the ﬁxed stations were used to ﬁx the terrestrial coordinate system to the stars. and thereby to look for variations in the earth’s rotation. See Figure 2. they can be horizontal pendulums. people often looked at a pair of stars on two sides of the local vertical.1. Or. which corresponds to a position error of the point on the earth’s surface of about 30 m. But. POSITIONING 31 There are related. short baseline instruments called “tiltmeters. Then θ = δ1 + z1 and θ = δ2 − z2 . There were also ﬁxed stations around the globe which measured their latitude and longitude on a routine basis. Tiltmeters can be ﬂuid tubes.3.5.” These are designed to measure time dependent changes in the normal to the surface at a ﬁxed point. where δ = known stellar co-declination = angle between the star and the earth’s rotation axis. You watch a star with a telescope as the star moves from east to west across the sky. and to reduce cumulative errors which can build up over a survey. See Figure 2.5. These stations were all closed down about a decade or so ago. These can be partially modeled.14.

32 CHAPTER 2. OBSERVATIONAL TECHNIQUES δ earth Ω θ z star pole Figure 2.14: s1 Ω z1 z2 s2 Figure 2.15: .

Again.01 arc seconds when averaged over a month or so (about 30 cm at the surface).1 arc seconds. is φ = (t − tG )Ω where Ω = rotation rate of earth. due to annual variability in the atmosphere which can’t be averaged out.5.2. gravity aﬀects both the latitude and longitude measurements: stellar positions are recorded relative to the local vertical. This phase diﬀerence tells you something about the distance between the two . to clock errors. although they still got errors of 1–3 meters at the surface at the annual frequency. 2. you can determine θ by measuring z1 − z2 : the diﬀerence in angles. This is still pretty large. especially. Then φ. 2. POSITIONING 33 So. Individual determinations of east–west position through the mid-1960’s were accurate to 10–30 m. due to refraction and. You can average the errors down assuming random clock errors. where the phase diﬀerence between the emitted and received waves is measured. You know from a table the time the star passed the Greenwich meridian. the refraction errors mostly cancel in z1 − z2 .3. but if lots of stars are observed. Tape measures have been replaced by instruments which send and receive electro-magnetic radiation — usually light. The method is to shine a continuous beam of mono-chromatic radiation on a distant target.1. For example. The beam is usually then reﬂected back to the source.4 Distances There have been rapid developments in distance-measuring instruments over the last few decades.5. and the vertical depends on local gravity. the big international services which routinely measured latitude at ﬁxed stations. For z1 and z2 about equal and very small. the angle west of Greenwich. You watch a star with a telescope until it passes the local meridian. Accuracies are approximately 0.5.1. you can reduce the error further. Then you record the time using an accurate clock. could determine θ to approximately 0. which maps into roughly 3 m of surface position error. Let this time be tG .2 Longitude The method was similar to that used for latitude observations.

and if λ = wavelength. For this wavelength.16: modulations — usually radio frequencies — λ can be tens of cm’s to a few m’s. the signal looks like Figure 2. For typical Figure 2. which is simply too small. do the experiment over again. but this would be hard to implement eﬀectively in such an extreme case. The modulation can be in amplitude. or 2. where l is an integer. Instead. and combine the results from both experiments. so that 2D is the round-trip δ 2π distance. OBSERVATIONAL TECHNIQUES points. For example. This problem (ﬁnding l) is called the “2π ambiguity.” To ﬁnd l you must either: 1. you use light as a carrier. By using method 2. then 2D = lλ + λ .34 CHAPTER 2. So the . suppose the two phases diﬀer by δ. For amplitude modulation. In either case. This allows you to reduce the 2π ambiguity considerably. You wouldn’t. already know the distance to within one wavelength through some other means. you could deduce that the round trip distance between the two points was an integer number of wavelengths plus δ 2π wavelengths. as we will see. frequency. you could reduce the 2π problem. but you modulate it at low frequencies and compare phases of the modulation. above. If D is the source-target distance. of course. know l. The wavelength of light is approximately 5 × 10−7 m. change λ slightly. Then.16. phase or polarization. using un-modulated light doesn’t work well. the 2π ambiguity would require you to already know distances to 5×10−7 m.

1. which is proportional to λ. λ. directly downward. (This is basically the way Michelson and Morley measured the speed of light. then you will have an accuracy in your distance measurements of λ∆/2π. if you are able to measure phase diﬀerences to an accuracy of ∆ radians.5. When the slit points. They worked sort of like this: A light signal is modulated by shining it through a revolving wheel with a slit. Here’s a short history of their development. The modulation is a series of square waves: equal to 1 when the slit is in front of the source.5. particularly if you can use lasers. If the returning light hits the wheel when the slit is pointing directly downward again. so as to further minimize the 2π problem? The answer is that the use of longer wavelengths tends to reduce accuracies. an observer at the mirror sees what looks to be a strobe light blinking on and oﬀ. the light passes through and is recorded by a detector located next to the original light source.) Let τ = the time it takes the wheel to revolve once = the period of the modulation. say.2. They predated lasers. If the slit is not pointed directly downward. POSITIONING 35 2π problem is manageable.4. Why not use a modulation wavelength of much larger than tens of cm’s to a few m’s. These distance measuring devices are called Geodimeters. the smaller the wavelength. So. For example. the returning light doesn’t get through. the smaller the error. Why not use radio waves directly (no carrier)? The answer is that light waves are easier to use. and equal to zero when the slit is not in front of the source. In that case light gets through and travels toward a mirror several km away. Let 2D be the round trip distance traveled by the light (between the wheel and the mirror . the slit is in front of a light source. Thus.1 White light These were the ﬁrst geodimeters. 2. The light hits the mirror and returns to the wheel. in the sense that you can readily overcome it by changing λ slightly and re-doing the experiment. The light from the source has had its amplitude modulated by the wheel.

In that case you know that D satisﬁes Equation 2. which is unlikely. However. You ﬁnd τ1 and τ2 that both work. To determine the distance D. τ . if you know the distance is around. Thus. the uncertainty in D is width of slit cτ × circumference of wheel 2 which increases with τ . The unknown integer k represents the 2π ambiguity. light is detected if 2D = kcτ . Why not slow the wheel down — increase τ — to reduce the 2π problem? For example. the light gets through to the detector if 2D/c = τ k where k is an integer. until light does get back through to the detector.10) cτ 2 1 · 2π ) . has an uncertainty that depends on the width of the slit and on how long the slit is in front of the detector. why not make τ so large that cτ /2 ≈ 10 km. (2. circumference of wheel The corresponding error in distance is one-half the wavelength over 2π (that is.10. say.9. you adjust the rotation period. So how do you deal with the 2π problem? Suppose you pick. where c is the velocity of light. you’d know k = 1.9) The product cτ is the wavelength of the modulation.36 CHAPTER 2. cτ = 10 cm. The problem with this is that your estimate of the time that the light takes to arrive back at the receiver. Another way to say this is that the phase diﬀerence between the transmitted and returning signals can be determined only to within width of slit × 2π radians. In other words. So. To ﬁnd k you would have to already know D to 5 cm. you don’t want to pick τ large. and then vary τ around this value so that light gets back through? Then. suppose you change τ a little and make the measurement again. times Equation 2. So: D=k and D=l cτ2 2 cτ1 2 (2. 10 km. So. say. OBSERVATIONAL TECHNIQUES and back again) so that the round trip travel time of the light is 2D/c.

1. say τ2 = 1. τ2 k = l τ1 Suppose τ2 and τ1 are very close: maybe. or j(10001/10000) where j = integer. etc. and you’d only have to know the distance beforehand to 1 km. . You reduce the ambiguity by changing λ slightly and repeating the phase measurement. τ1 Then. which gives a modulation wavelength of around 5 m. So. . . 2. or 20002/20000. 2. The accuracies were a little worse than 10−6 over 5–50 km baselines. . and k and l are unknown integers. but the idea was similar. But.5.5. people in- vented the Tellurometer. you’ve reduced the 2π uncertainty down to 10000×10 cm = 1 km.3 Lasers All geodimeters now use lasers for the carrier signal. and so D = j 10000 cτ2 2 where j = 1.2. and they work in the daytime. it could do horizontal positions about one order of magnitude better than could triangulation. So. now you know that l = 10000. Its modulation was somewhat diﬀerent than I have described it.1. Typical modulation frequencies are approximately 50 MHz. .. They are modulated electronically.4. It used un-modulated radio waves with no carrier. the 2π ambiguity is around 2–3 meters. τ2 are known. The conventional white light instrument described above became obsolete when lasers became available. you know that k/l = 10001/10000.0001. POSITIONING 37 where τ1 . it only worked at night.2 Radio signals To get something that worked during the day. not mechanically. or 30000. 2.5. So. So. as described above. since k and l are integers. Lasers can be aimed better than white light or radio waves. This is the general approach used by all geodimeters to reduce the 2π problem. So. Its accuracy was about 3 × 10−6 over baselines of up to 70 km. or 20000.4.

To deduce λ from ω you need to know the velocity of light. what you do know is the angular frequency. The usual way to do that is to ﬂy an airplane along the path while you make the measurement. The accuracies people obtain using this method are approximately 3 × 10−7 over baselines of 30 km or less. nω And. Instead.38 CHAPTER 2.1 Two-color meters The idea is to use the known dispersive properties of air: make measurements at two carrier frequencies — red and blue. and on the water vapor content of that air. 2.3.5. An alternative is to use a multicolor instrument. OBSERVATIONAL TECHNIQUES There are various ways to detect the phase shift of the returning signal. and to monitor pressure. The dependence on water vapor is relatively weak at optical frequencies (it is the index of refraction at the frequency of the carrier wave that is pertinent). Then you know that at that frequency the round trip distance is exactly an integral number of modulation wavelengths. n depends on the amount of air the wave travels through. To ﬁnd the distance traveled by the wave. of the modulation.4. you must determine the densities of the air and of water vapor integrated along the path of the signal. to improve the accuracies. One way is to mix it with the transmitted signal. and that depends on the index of refraction n: λ= c2π . The accuracies with the laser instruments are about the same as with white light: about 10−6 . temperature. Airplanes are expensive and hard to schedule. say — and then . The biggest error source comes from the atmosphere the wave propagates through.1. and humidity from the plane. ω. Then you adjust the modulation frequency slightly until the combined modulation signals are in phase. I will brieﬂy describe both of these. So. which he has used in California and in New Mexico. You achieve this by maximizing the combined modulated signal. The densities can then be estimated from these measurements. you need to know the wavelength of the modulation. Larry Slater (formerly of CIRES) has designed and built two-color instruments. Judah Levine in JILA has built a three-color instrument. though it is non-negligible.

11) without making any measurements (assuming you ignore the βρvapor term). then you know c 1 − n (ω1 ) ≡∆ c 1 − n (ω2 ) (2. The two-color meter just tries to deduce the αρair term. n − 1 (= 0 for a vacuum) depends on the carrier frequency ω. You then measure the distance D at the two frequencies. A (2. equating the two results for D gives: A Or c n(ω2 ) = c2π c n(ω1 )ω c2π . Suppose you ﬁnd that D = Aλ1 and D = Bλ2 where A and B are your measured results. A . and α and β depend on ω in a known way. you have presumably gone through the usual trick of adjusting the modulation frequency slightly to resolve the 2π problem when determining A and B. what are λ1 and λ2 ? If. (For both carrier frequencies. c n(ω2 )ω (2. If n(ω1 ) and n(ω2 ) are the values of n at the two carrier frequencies.) But. c c So you know α but not ρair . POSITIONING 39 compare to deduce the index of refraction at either frequency.11 gives c n(ω1 ) B ∆ − 1 = ∆ − 1.13 in Equation 2.13) Then. You can write n − 1 = αρair + βρvapor where ρair and ρvapor are the densities of dry air and water vapor. Speciﬁcally.2.5. and λ1 and λ2 are the wavelengths of the modulation. The βρvapor term is inferred by making meteorological measurements at both ends of the baseline.12) c2π c2π =B . using Equation 2. c c n(ω1 )ω n(ω2 )ω B c n(ω1 ). the modulated frequency is ω. The βρvapor term is much smaller than the αρair term at optical frequencies. in each case. then λ1 = λ2 = So.

your measurements of B and A give n(ω1 ). The accuracy is limited by the uncertainty in the water vapor along the path. which is slightly better than can be obtained using a one color geodimeter with a plane. red and blue. But his meter is much cheaper to run and easier to operate.4.12 to ﬁnd λ1 and then in D = Aλ1 to give D. This instrument uses red and blue to get ρair . and an un-modulated microwave signal (λ ≈ 4 cm) to infer ρvapor . are sent from one end to the other. (Though the microwave signal used to infer the water vapor is two way. OBSERVATIONAL TECHNIQUES c So. (In fact. about 10–15 km. too. He adjusts the modulation frequency slightly until that maximum is obtained. instead of a third optical carrier. His accuracy is approximately 1 × 10−7 . β is about the same at all optical frequencies. It has a somewhat shorter range. the 2π ambiguity in one way distance is approximately 5 cm.3.) The returning signal will be maximum if the crystal has exactly the same orientation when the wave returns as when it was sent.1. He de-modulates by having the wave pass back through the crystal when it returns. it’s not very portable. to 30–50 km. Larry Slater modulates his carrier waves with a rotating polarizing crystal.2 Three-color meter All of these problems are reduced in Judah Levine’s three-color meter. And. (So. because the eﬀects of water vapor are not notably dispersive at optical frequencies. That is. it’s like the white light passing through the rotating cog wheel. You’ve got to use a microwave signal.40 CHAPTER 2. The reason is that the optical portion of Judah’s meter is one way instead of round trip. The range is increased. which then goes in Equation 2. (Actually. So. It ﬁts into a four-wheel-drive vehicle or a helicopter. in this conﬁguration the instrument could be used with conventional one-color .) His modulation works out to λ ≈ 10 cm. he tries to minimize the signal rather then to maximize it — so the round-trip distance works out to be an odd number of half wavelengths.5. modulated in polarization. This gives ρair . where they are received and the phase diﬀerence is measured.) The meter is also portable. In this instrument. and less of the laser beam is lost if it travels a shorter total distance. 2. In his two-color meter.

2. and the distance is inferred.2. See Figure 2. which are substantially better than those of any other geodimeter. rod Figure 2. They are not survey instruments. One error source is that red and blue are bent by the air along slightly diﬀerent paths. only red is sent back to the starting end.17.1. ﬁxed in the ground. Many of these are still used.17: The distance between the rod end and the second pier was continually monitored. here. so it’s just like a reﬂection.4 Strainmeters These are another sort of distance-measuring instruments. The overall accuracies for this instrument are about 2–3 ×10−8 . The earliest strainmeters were two piers. the phase of its modulation is locked to the modulation phase of the ﬁrst red beam. though. would be less than 100 m. When this second red signal is sent. The newer and more accurate strainmeters are laser interferometers.4. are less than 1 km: usually tens of meters. The most accurate of them can measure a change in a ﬁxed baseline to one part in 1010 . They are designed to sit at a ﬁxed location and measure the change in distance with time between two closely separated points. The baselines. They are very accurate. the modulations of the returning signal and the outgoing signal are compared to determine the phase shift. The typical baseline. but they have a diﬀerent purpose.5.) Then.5. POSITIONING 41 geodimeters to replace the plane. and so sample diﬀerent n’s. with a horizontal quartz rod attached to one pier and almost touching the other. The red is received at the starting end. There aren’t .

it works with the phases at the optical frequencies. The other sent light from one point in the tunnel. usually artiﬁcial satellites (using either lasers or radio waves). you are interested in time-dependent changes in the distance.2 Space Techniques There are two types of space positioning techniques: 1. OBSERVATIONAL TECHNIQUES many of these. changes in the baseline can be determined without knowing the integral number of whole wavelengths traveled by the wave. because the 2π problem would be too severe. a method that compares radio signals from quasars received at two widely separated radio antennas (called very-long-baseline-interferometry — VLBI). One was kept running at a stable frequency (it had to be continually calibrated). Colorado. And. Judah’s instrument used two lasers. The frequency of this second laser was continually tuned so that the returning wave was in phase with the transmitted wave.5. since you monitor the baseline continuously. Instead. The path was evacuated of air to eliminate refraction. The satellite techniques can also provide information about the earth’s gravity ﬁeld. the 2π problem is not an issue. A change in the beat frequency meant a change in the path length. For strainmeters you are not trying to determine the absolute distance between the points. This does not work well for geodimeters. Judah Levine built a strainmeter with a 30 m baseline that he operated for a while in the Poor Man mine. 2. But for strainmeters. those that involve measuring distances to objects in space. west of Boulder. 2.42 CHAPTER 2. the round trip travel time was an integral number of wavelengths. The wavelength was then determined by beating the output from that laser against the output from the stable laser and looking at the beat frequency. The lunar ranging technique tells you about the moon. It has been shut oﬀ now for a number of years. thus. though laser ranging measurements to the moon have also provided useful geophysical information. to a point 30 m away. And the VLBI technique tells . and then back again. Note that the strainmeter does not modulate the light.

you must have information about the earth’s gravitational ﬁeld. That’s because. satellite orbits could be modelled much less accurately than could the positions of the ground stations.2. This was particularly useful for tying surveys together across large bodies of water. and to use the orbital results to learn more about the . initially. POSITIONING 43 you about the structure of quasars. although those weren’t good over as long a distance.2. and for the last 5–10 years or so. For this application. so long as you can see it. During all this time. Actually. you can then ﬁgure out where you are in that same coordinate system. people have been able to see the tectonic motion of individual ground points. all satellites which give scientiﬁcally useful results are “active. the orbit should have a high inclination (the angle between the orbital plane and the equator) so that the satellite ground track covers as much of the earth as possible. to determine its distance away from you. you can use the observed orbit to better constrain the gravity ﬁeld. Conversely. The ﬁrst satellites were “passive.1 Satellites These have been used for geodetic purposes for 30 years or more. simultaneously. of course. As the gravity ﬁeld improved. 2. This was done by observing the satellite and determining its coordinates from each line. To solve eﬀectively for the orbit.5. the gravity ﬁeld results have continued to improve. To know where the satellite is. you don’t care about the satellite’s precise position. the ﬁrst useful information from these satellites was better information about the gravity ﬁeld.” You track the satellite from the ground. since that ﬁeld determines the satellite’s orbit. If you know where the satellite is in some terrestrial or inertial space coordinate system. And now. the orbit errors became small enough that people could begin to use the satellite results to determine variations in the earth’s rotation better than could be obtained using traditional astrometric methods.” and were used to tie local or regional survey lines together.5. To maximize the gravitational and positioning applications from a geodetic satellite. Nowadays. Before satellites people used ﬂares for this purpose.

This also tends to reduce the eﬀects of uncertainties in the gravity ﬁeld. you can use lasers. or try to average or ﬁlter it out. These methods are no longer used. and are funded by the US Department of Defense. This can cause motion of the satellite which might aﬀect the geophysical observations. On the other hand. the LAGEOS satellites have proven to be the most useful of these. OBSERVATIONAL TECHNIQUES earth’s gravity ﬁeld. a geodesist must deal with certain non-gravitational orbital eﬀects.44 CHAPTER 2. Or. Solar and terrestrial radiation pressure This is hard to deal with. You tracked them against the stellar background using cameras. Starlette. These include: Atmospheric drag You can reduce this by going to a high orbit where there’s not much atmosphere. which originate from the satellite and are recorded on the ground. The best solution is to make the satellite spherically symmetric. which sit on the ground and reﬂect a light beam oﬀ of the satellite. though this cannot always be done. then you want to be closer to the surface. The earliest active satellites had ﬂashing lights. while also providing information about the gravity ﬁeld. GEOS2. Now there are two methods used to range to a satellite. Most of the radio-ranging satellites are designed primarily for navigation. PAGEOS. if your goal is partly to learn about the gravity ﬁeld. You can use radio waves. and gravity is not uniform across it. Diﬀerential gravity acting across a satellite A a satellite is not a point mass. They are used to ﬁnd the positions of the lasers. So far. You either model it empirically. and so learned something about the orbit. The laser satellites have all been designed primarily to do geophysics. since those die away rapidly with altitude. Geodesists have usually been able to use these . LAGEOS I and II. and more recent satellites launched by Japan and by the Soviet Union. GEOS3. but which tells you nothing about the earth. There have been several of these: GEOS1.

and the frequency.2. for which you’d like accuracies closer to 1 cm. I will describe the radio-ranging satellites ﬁrst. Prior to GPS. The positions of the ﬁxed stations could be determined to a few tens of cm — close to 1 m.5.1. Both these techniques will be discussed here.1 Radio Ranging Satellites The navigation system used today by the De- partment of Defense is the Global Positioning System (GPS). fR − f S ∂t ρ =− . The satellite oscillators are stable. fR . So it was not good enough to measure continental drift eﬀectively. The signal is recorded at a receiver on the ground. ˆ If ρ = the range between the source and receiver. 2.2.2. as determined from about a dozen ﬁxed tracking stations). In this technique. because the satellite is moving with respect to the ground.1. POSITIONING 45 satellites for scientiﬁc purposes. then (v S − v R ) · r = −∂t ρ = − range rate.5. fS . v R = source and receiver velocities. so that fS is known very well. This system measures phase shifts/time delays of radio signals transmitted from a constellation of GPS satellites. fS c (2. Department of Defense navigation was done using Doppler measurements of satellite-based radio transmissions. and r = unit vector from source to receiver. Because you know the satellite orbit (supplied by the Department of Defense. is measured. there were six Doppler satellites orbiting the globe at any one time.5.1 Doppler Satellites When this navigation system was operable. The results from the ﬁxed tracking stations could also be averaged together to give earth’s rotation results that were considerably better than those obtained by observing stars with telescopes. each satellite transmits radio waves of known frequency. Speciﬁcally: fR = f S 1 + (v S − v R ) · r ˆ c where v S . ˆ So. you can use the results for ∂t ρ to determine your position. .14) So you can ﬁnd ∂t ρ by measuring fR . 2.1. fR = fS .

The second largest eﬀect is from the dry air. and so I’ll describe them here. (It is harder to model the horizontal variations in pressure and temperature. but where ρion . you must know the velocity of the radio wave. But there were external systematic eﬀects active here which aﬀect all radio transmission-type satellites. people usually model this eﬀect by using surface pressure and temperature observations in some semi-empirical atmospheric model. The same is true for radio waves. the ionospheric eﬀect is the largest at radio frequencies. OBSERVATIONAL TECHNIQUES The accuracy limitations for this technique were mostly instrumental. as long as the satellite isn’t too low in the sky. to compute the receiver-satellite distance (or to give the range rate. Luckily. The problem is. n has the form n = 1 + γρion . than it is to model the vertical variations. n is approximately frequency independent and so. That means. that at optical frequencies n depends on the dry air density and on the density of water vapor along the path. except that in the radio band the atmosphere is not dispersive.) . It can cause tens of meters of position error if uncorrected. Another diﬃculty that is not an issue at optical frequencies. is that at radio frequencies n depends on the number of charged particles (ions) along the path. where γ depends on frequency and is known. it does not help to use two radio frequencies. If uncorrected. unlike with the two-color geodimeters. For example.46 CHAPTER 2. is unknown. n is perturbed relatively strongly in the ionosphere (the region from 100 km to several hundred km altitudes above the earth).14 should really be c/n. This seems to work well. as for all space-geodetic experiments. For all radio satellite techniques. you must know the index of refraction. We saw. the c in Equation 2. Of these eﬀects on the index of refraction. The result for n can then be used with either one of the range measurements. That is. earlier. in the case of the Doppler satellites). which allows you to deduce n. n. the ionospheric eﬀect is dispersive at radio frequencies. So. it can perturb the inferred receiver-satellite distance by approximately 2 meters. By combining the ranging results for the two frequencies you can infer ρion . the ion density along the path. So the way to get around this problem is to range at two radio frequencies.

it is hard to model. is that people don’t have to worry as much about the dry air using the space techniques as they do when reducing geodimeter data. The eﬀect of water vapor on n gives position errors that can vary widely. if you measure a 1000 km baseline with geodimeters. This is possible because as the satellite moves across the sky. The instruments . But. much of that atmosphere is thin.2. at least not over long baselines. no matter how short the baseline is. the dry air error can be reduced to the 1–2 mm level. But with satellites (either radio or laser ranging) you’re looking upwards through only a few tens of kms of atmosphere at each point. The third largest eﬀect is the water vapor density. which are instruments that point at the sky and detect microwaves emitted by water vapor. from 5 to 30 cm. there are techniques designed to measure the two ends of a baseline simultaneously (such as GPS and VLBI. So. It’s not important enough to aﬀect the Doppler data. right along with station positions and clock errors. In general. and very eﬀective alternative. it is a limiting error source for GPS and VLBI (see below). you must range through 1000 km of atmosphere — and all near the ground where the atmosphere is densest. and can be included in the set of solution parameters. One procedure is to make surface atmospheric observations and to use them in an empirical formula. Still. And. given the relatively large error bars of the Doppler data. Because vapor density is highly variable spatially. is to solve for both the dry air and water vapor eﬀects using the ranging data. making the the atmosphere less of a problem. the atmosphere can make satellite techniques less useful at very short baselines.5. The amplitude of the cosecant term is proportional to the average density along the path. atmospheric errors at the two endpoints tend to cancel. POSITIONING 47 One of the most important advantages that space geodetic techniques have over geodimeters. the total amount of atmosphere along the range path varies as the cosecant of the satellite’s elevation angle. since those measurements always involve ranging through a few tens of km of atmosphere. described below). And in those cases. the total eﬀects of atmospheric refraction are greatly reduced using the space techniques. A related. People are also experimenting with water vapor radiometers. On the other hand. For example.

so that you know the location of the source of the transmission. is to model the eﬀects of water vapor to the sub-cm level.5. you can deduce the distance to the satellite. Because the altitude is so high. If you record the signal and have a code book you can ﬁgure out the times at which certain bits of the signal left the satellite. The phase shifts are inserted at irregular times. and this allows the total vapor content along the path to be determined. From simultaneous results to four satellites. etc. You have an accurate clock at your receiver. the satellites experience little atmospheric drag. it is probably fair to characterize the scientiﬁc GPS eﬀort as one of the most promising and visible programs of any sort in geophysics.1.48 CHAPTER 2.. The signal is modulated by inserting abrupt 180◦ phase shifts. even during moderately stormy weather. Here is a description of how the system operates for navigational applications: Each satellite emits a radio signal — the carrier. Although the system was designed solely for navigation purposes. The transmitted signal also includes information about the satellite orbit.000 km altitude. OBSERVATIONAL TECHNIQUES measure microwave amplitudes at two frequencies. The GPS satellites are at about 20. By comparing the transmission and arrival times. this high orbit means that the GPS satellites can not provide any information about the earth’s gravity ﬁeld that is not given much better from the lower-orbiting laser ranging satellites described below. you can then solve for the three components of your position and for the oﬀset of your clock with respect to the satellite clocks (the satellite clocks are controlled from a central command point . On the other hand. geodesists and geophysicists have found that it can also be used for high-precision geodetic positioning. The results are ﬁt to an empiricallydetermined microwave emission curve for water vapor. at least for GPS and VLBI.1.2 GPS (Global Positioning System) The Department of Defense’s pri- mary navigation system consists of 24. and correcting for atmospheric. radio-transmitting. GPS satellites. eﬀects on n. The goal of all these methods. and have about 12-hour orbits.2. 2. The satellite orbits are chosen so that at least six satellites are visible at any time from any point on the earth’s surface. In fact. according to a secret code.

so is more manageable. The frequencies of the code are near 10 MHz. There are about a half-dozen commercial receivers being used now to do geodesy. Because GPS is a radio technique. for example. There’s a non-secret. of course. what geodesists want to do is to remove the code and just work with the carrier. They are all portable. together . some instruments require the code which is removed directly from the recorded signal. “civilian” code that allows you to determine positions to about 15 m. ranging from about 20–100 lbs. POSITIONING 49 on earth. One method. To do 1 cm geodesy. though the Department of Defense now routinely degrades the satellite transmissions (using what they call “selective availability”) so that civilian accuracies are usually closer to 100 m. it is hard to gain access to the secret code. As it happens. involves squaring the signal.5. The carrier wavelength is about 20 cm. In this way. The 180◦ phase shifts. Diﬀerent receivers use diﬀerent techniques for removing the code. the code is not a useful part of the signal to geophysicists. you can instantaneously determine your position to a few meters. 3 × 103 cm which would not be easy. The general strategy is to receive a satellite’s signal at each end of a baseline. The code is removed from both signals. it is sensitive to the sort of atmospheric problems described above for the Doppler satellites. which corresponds to modulation wavelengths near 30 m. Alternatively. and the phase at some speciﬁed time is recorded at each end (the receiver must include an accurate clock). and are kept synchronous). There are two problems that must be overcome in order to use the GPS satellites to do geodesy. then disappear. The phase diﬀerence. The dry air and water vapor eﬀects are not important at the level of accuracy needed for navigation. a few meters is. not accurate enough for modern geophysical-geodetic applications. The ionospheric eﬀects are removed by transmitting at two frequencies from each satellite. Instead. The two phase results are brought to some central processing site and compared. you’d have to determine the phase accurately to 1 cm ≈ 3 × 10−4 .2. which just reverse the sign of the carrier. First. Second.

The Department of Defense determines orbits only to about 20 m accuracy. you use the observed phase shifts to deduce that the distance D is D = lλ + (known remainder).50 CHAPTER 2. including its length. you keep the wavelength the same but change the distance in a known way. but you don’t know the integer l. This is not accurate enough for geophysical applications. you observe over an hour or two. Here. So geodetic users have pooled resources and established centers for determining and distributing more accurate satellite orbits. gives the diﬀerence in distances between the satellite and the two endpoints. satellite D A B Figure 2. One of the main reasons . and with enough data you can remove the 2π problem and ﬁnd D. or better. For example. See Figure 2. Orbit errors are a potential problem. With four satellites (though you don’t need this many if you wait a suﬃciently long time) you can ﬁnd all three components of the baseline. instead. OBSERVATIONAL TECHNIQUES with information about n in the atmosphere. These centers now routinely determine the orbits to 20 cm. This is equivalent to changing the wavelength slightly in geodimeters. To ﬁnd l.18. using a set of ﬁxed ground stations. The satellite moves around during this time in a known way (you know the orbit).18: There is still the 2π ambiguity problem.

They are typically made available to the geodetic community several weeks after the signals have been recorded. And so the error in the vertical component is Lθ ≈ Lδ/H. Speciﬁcally. and δ is the orbit error in meters. θ ≈ δ/H.15. which is the same as Equation 2. POSITIONING 51 that these orbits are so much better than the Department of Defense’s orbits. the errors in the baseline components corresponding to a δ meter orbit error are approximately δ meter × L. See Figure 2. See Figure 2. suppose you think the satellite is at a position a horizontal distance δ from where it really is (so δ is the orbit error). Instead. where H is the satellite altitude.19: signals received at the two endpoints.2. though.20. Roughly. On the other hand. To see an example of this. Since you measure no phase diﬀerence. so that they can be transmitted down to the user. Then you would measure no phase diﬀerence between the satellite δ L Figure 2. is that the DOD orbits are predicted orbits: they must be predicted beforehand. L is the baseline length. you conclude that the baseline is rotated through the angle θ from its actual orientation.19. A 20 cm orbit error maps into a smaller than 20 cm error in the baseline.5. the geodetic orbits use tracking data from stations around the globe to ﬁt the orbital parameters. .15) where 2 × 107 meter is the satellite altitude. suppose the satellite is directly above the midpoint of the baseline. 2 × 107 meter (2.

52 CHAPTER 2. This aﬀects mostly the vertical components of baselines. for averaging time of a few days.20: So a 20 cm error in the orbit would give baseline accuracies of 10−8 . For baselines greater than about 1000 km. though not necessarily in a linear way. That (10−9 ) works out to 1 cm accuracy over 10. (2) using radiometers. which is not bad for short and medium length baselines. geodimeters) is that they are line-of-sight. with 10−9 sometimes obtained. The eﬀects are reduced by either (1) using ground-based meteorological measurements. GPS has had a large impact on conventional surveying. Another important error source is the water vapor density along the path. Baselines of less than about 1000 km have accuracies of a few mm in the horizontal and less than about 1 cm in the vertical. the orbit error dominates and relative accuracies are about 10−8 . It turns out that you can sometimes do even better than this by using your GPS data to estimate your own orbital corrections to the geodetic orbits. at the same time that you estimate station positions. as well — even where they don’t need these high accuracies. (3) ﬁtting the atmospheric eﬀects using the GPS data themselves. OBSERVATIONAL TECHNIQUES your deduced orientation error θ L real orientation Figure 2.000 km. To range from A to B. One problem with conventional methods (leveling. Present accuracies seem to depend on baseline length. you’ve got to see from .

For other tracking techniques the satellite is out of view most of the time. With GPS that’s not necessary. launched in 1993. there have been similar satellites launched over the past few years by other countries. The light is reﬂected and returns to the laser. and a nearly identical satellite.1 LAGEOS (LAser GEOdetic Satellite) LAGEOS is a small (60 cm di- ameter). which gives the range between the satellite and the laser. The initial equipment investment is high for GPS (tens of thousands of dollars for one receiver). so that the orbit determination process requires far less dynamic modeling than is required for other forms of tracking. One other potential application of GPS is to put the receivers in other scientiﬁc satellites to monitor the positions of those satellites.2. since you’ve only got to see the sky. this may give accuracies signiﬁcantly better than can be obtained with other methods. And. Other NASA LAGEOS-type satellites are being proposed. but the operating costs are only about 5% of conventional operating costs. trees and hills.) The orbit altitude is about 6000 km.5.5.2. A laser on the ground sends a pulse of light up to the satellite. That’s high enough to get the satellite out of most of the atmosphere.2. launched in 1976. heavy (about 400 kg) sphere covered with reﬂecting corner cubes. 2. but low enough to keep it within reach of moderately powerful lasers. and that’s both a disadvantage and an advantage. etc. POSITIONING 53 A to B. (Using a continuous laser and measuring phase diﬀerences would require too much power.2..1.1. 2. Often. get in the way. It’s a disadvantage because it means . including Japan and the Soviet Union. and range between the towers. The round trip travel time is measured.000 km elevation). In many cases. Then the geodesist must build towers that stick up above the projections. and so dynamic force models must be used to estimate the satellite’s position over the entire orbit.2 Laser ranging satellites The most useful laser ranging satellites have been the NASA satellite LAGEOS. LAGEOS is more sensitive to lateral variations in the earth’s gravity ﬁeld than are the GPS satellites (20.5. Probably its main advantage is that it allows the satellite to be tracked continuously. LAGEOS II. where it is detected.

At . LAGEOS is tracked by about 20–30 ﬁxed stations. and then brought back again later to see if the point has moved. The laser systems vary in accuracy. Note that this technique gives the position of a single point: it does not require simultaneous observations from two ends of a baseline. is the approach used in multi-color geodimeters. Results from these stations are used to give the orbit. This. and of about 1–3 mm for a normal point (an average of the individual pulses over a few minutes). and the eﬀects of the dry and wet air components are smaller. Still. OBSERVATIONAL TECHNIQUES that uncertainties in the gravity ﬁeld can make it more diﬃcult to model the orbit accurately. One way of reducing that error in the future might be to lase at two optical frequencies. of course. which then provides information about the earth’s gravity ﬁeld. The results are also routinely combined to determine variations in the earth’s rotation. and so are more accurate. uncertainties due to the dry air density can often be important at almost the 1 cm level. The smallest of these are housed in small trucks and ﬁt easily into a plane. and to give the the tectonic motion at the stations. The other important systematic error comes from uncertainties in modeling the satellite orbit: uncertainties both in the gravity ﬁeld and in the non-gravitational forcing.54 CHAPTER 2. and then to use the known dispersive properties of dry air at optical frequencies to solve for the index of refraction. Refraction problems are less severe at optical frequencies than at radio frequencies. They can be taken to a point to determine the position. in addition to its role in point positioning. But it’s an advantage in that it means that LAGEOS is able to provide useful information about the earth’s gravity ﬁeld. and ranging must be done in clear weather. One is atmospheric refraction. The ﬁxed stations have more powerful lasers. Some of them are probably at least an order-of-magnitude worse. The ionosphere has virtually no eﬀect. Not all the ﬁxed lasers are this good. It may take several weeks at a spot to ﬁx its position. The best lasers are able to range with precisions of better than 1 cm for a single pulse. There are also about half a dozen mobile layers. There are two sources of systematic errors that make the ﬁnal positioning accuracies worse than might be inferred from the laser precisions alone.

5. that may be part of NASA’s EOS (Earth Observing System) program. The Texas station has been operative.1.5. which probably translates to about a 1 cm error in position measurements. since the inception of the experiment some 25 years ago. than for LAGEOS.2. But. determine the positions of the retroﬂectors — to give control for lunar geodesy and mapping 3. That’s because GPS observes from both ends of a baseline simultaneously. These are the objectives of LLR. so it’s an older experiment than LAGEOS. whereas LAGEOS does not. Depending on the pulse duration. You need much more powerful lasers. LLR was initiated in the 1960’s. in one form or another. as originally stated in the 1960’s: 1. 2. on average. measuring distances to retro-reﬂectors scattered over the earth’s surface. radial orbit errors are probably 1–2 cm. There are three U. Thus. is the GLRS (Geoscience Laser Ranging System). A related instrument in NASA’s future plans. Most of the existing lunar ranging data come from two laser stations.3 Lunar Laser Ranging (LLR) This technique is similar to satellite laser ranging. where a 1–2 cm orbit error would likely translate into a much smaller position error. Note the diﬀerence from GPS. the orbit errors tend to cancel in GPS. less than 1 photon is in the returning beam.2. determine the “librations” of the moon (rigid body rotations of the moon about its principal axes) . determine the lunar orbit 2. here. You measure the round trip travel time of laser pulses reﬂected oﬀ of corner cubes left on the moon’s surface by Apollo astronauts and by unmanned Soviet spacecraft. At present. and two Soviet reﬂectors on the moon.S. one in Texas and one in France. between 1014 and 1020 photons leave the laser and head towards the moon. the earth–moon distance can be determined to 1 cm when averaged over a few minutes. GLRS is proposed as a laser orbiting in space. POSITIONING 55 present.

and has proven useful for constraining the longest period terms of the earth’s nutational motion. and some other gravity harmonics. LLR has not given much useful tectonic information. This is a diﬀerence between the gravitational and inertial masses of the moon. Also. This sort of emulates one enormous antenna. You have two radio antennas a long distance apart (up to several thousand km). test general relativity The orbital motion has been determined extremely well — maybe three orders of magnitude improvement over earlier results. People have noticed large phase shifts between the librational motion and external torques These results have been tentatively interpreted as possible evidence of energy dissipation within a ﬂuid lunar core. due to gravitational self-energy of the moon. VLBI was developed to do radio astronomy. rotational motion can now be obtained more accurately using other techniques.2. the orbit has been used to look for the Nordvedt eﬀect. determine the positions of the lasers 5. because there have been so few stations lasing to the moon. It is predicted by some gravitational theories. You observe the same radio source from each end. and compare results.4 VLBI (very-long-baseline-interferometry) VLBI is similar in spirit to GPS. 2. . but not by relativity. and so is useful for studying the very long wavelength radio waves emitted by quasars. simultaneously. particularly on the rate of rotation. The observed lunar librations give the lunar moments of inertia. The results are used to investigate the positions and structures of quasars (believed to be extremely distant galaxies in formation). This has helped constrain our knowledge of tidal energy dissipation on earth (the relevance of one to the other will be discussed later in the course).56 CHAPTER 2.5. but for VLBI the radio signal comes from a quasar instead of from a satellite. OBSERVATIONAL TECHNIQUES 4. LLR has shown the eﬀect is 0 to within an observational error.1. LLR gives information on variations in the earth’s rotation. In general. determine the rotation of the earth 6. though.

plus the clock diﬀerence between the two sites. You use the time marks to deduce the phase shift between the two signals. POSITIONING 57 People realized. by cross-correlating the two tapes.5. you reduce the problem by changing the wavelength slightly and ranging again. which has content across a wide band of frequencies. Both tapes have accurate time marks on them. So on your tape you’ve really got a band of frequencies. The wavelength of the signal is about 3 cm. With geodimeters.21) of the baseline between the two points. d radio waves Baseline Figure 2.21: If you measure time delays for four diﬀerent quasars. Often you already know the baseline to 30 m. Here is how VLBI works as a geophysical experiment: You receive the radio signal. you can solve for all three components of the baseline. and you cross-correlate the whole band. and record the signal on tape. looking at twelve sources instead of just . If you measure the time delay between the signals. you can solve for a component (‘d’ in Figure 2. You do the same sort of thing with VLBI. That is. This reduces the 2π problem to about 30 m. You then take the tape to a central site and compare it with a similar tape from the other antenna. people look at about twelve sources per day.2. that you could use VLBI to do geodesy. You ﬁlter the signal to get a reasonably pure frequency. you keep reasonably broad sidebands when you ﬁlter. early on. If not. too. So the 2π ambiguity is about 3 cm. Usually.

Again. why not choose an even a wider band of frequencies.1.4. water vapor This is probably the limiting error source for VLBI.4.2. because the vertical is aﬀected more by tropospheric (i. the horizontal base- line components can probably be determined to 1–3 mm and the vertical components to maybe 7–12 mm. The vertical is worse than the horizontal.1. the eﬀect on baselines is about 2 m. It can be corrected to about 2 mm (0. as in GPS.1%) by using surface data and by estimating the eﬀect directly from the data as the quasars move across the sky. . Some (most?) baselines can not do this well. OBSERVATIONAL TECHNIQUES four can resolve the problem. Typically.2 Accuracy For the best determined VLBI baselines. but can be as large as 30 cm. Incidentally. The signal is non-dispersive to the eﬀects of water vapor. to reduce the 2π problem further? One reason is that this would require too much data storage and handling. and using the known dispersion to pull out the ion content.5. 2. without extra eﬀort.5. or so. you remove the ionospheric eﬀects by recording data at two radio frequencies. it’s harder to get accurate phase delays when crosscorrelating signals with lots of frequency content.e. water vapor) errors. 2.1 Problems ionospheric eﬀects on n As with GPS and Doppler. the uncorrected eﬀect is typically 10 cm. dry air As in GPS and Doppler: radio waves are non-dispersive to the dry air eﬀect on n. Also.58 CHAPTER 2. You use surface measurements or radiometers or estimate the eﬀect directly from the VLBI results.2.

) 2. (LLR doesn’t provide positions of enough points to make it competitive. it can be carried around by hand. VLBI and GPS can do short baselines better than SLR. so that the errors don’t cancel as eﬀectively. VLBI and GPS are all-weather.2.5.) 1. people have often found discrepancies between techniques of 2–3 cm. VLBI and SLR do long baselines better than GPS. 3. 4. because of its relative insensitivity to tropospheric errors. Inter-comparisons between diﬀerent techniques are valuable. though.5. at least at the moment. This estimate. POSITIONING 59 2. whereas SLR can. though the orbits are continually improving. and compare the results. Mobile VLBI requires a tractor trailer.) That’s because VLBI and GPS are diﬀerencing techniques.3 Some Results It is hard to determine the accuracies of these various techniques.2 Advantages of one space positioning technique over another The three space positioning techniques are VLBI.2. and GPS. SLR (satellite laser ranging). which is larger than would be inferred from the usually accepted accuracy estimates for each technique individually. (Conversely. SLR can probably determine vertical positions better than GPS and VLBI. The resulting scatter gives an estimate for the accuracy. SLR needs clear skies. VLBI can’t give the gravity ﬁeld. in fact.5. 2. Orbit problems limit GPS at long baselines. GPS ﬁts in a jeep easily. VLBI results are not aﬀected by satellite orbit errors. but SLR and GPS are. but are not often done. Mobile SLR instruments ﬁt in a small truck.2. so that the errors tend to cancel over short baselines. (When inter-comparisons have been done in the past. SLR is usually used as a single-point technique. 5. the usual approach is to look at repeatability: you measure the same baseline over and over again. (VLBI and GPS may not be as good as the very best geodimeters over very short baselines. is only . 6.) Instead.

There are numerous faults associated with the plate boundary. The total slip across this entire system is closer to 35 mm/yr. California. Nevada and portions of surrounding states). To get an idea of the amount of regional deformation. VLBI) that agree pretty well with geological models of plate motion on a global scale. When the geodetic rates over this entire region of western North America are added up. and is extensively monitored with GPS. as it is usually deﬁned. Of this amount. SLR. The rates of motion obtained by ﬁtting linear trends to baseline measurements over several years. People are now obtaining results from all of these techniques (GPS. which has been detected. Not surprisingly. which is still less than the total plate motion rate. The state and the surrounding region is crossed by numerous leveling and geodimeter lines. .e. VLBI. about 12 mm/yr occurs across the San Andreas fault. to be between 5 and 7 mm/yr. which is probably insigniﬁcant. where the Paciﬁc and North American plates are sliding past one another. Most of the remaining discrepancy is apparently due to motion on faults outside of the San Andreas Fault System. and SLR instruments. Plate boundaries are often areas with substantial local and regional deformation. the disagreement with the NUVEL-1 plate motion model is only at the 1–2 mm level. are usually in line with the geologic rates predicted by paleomagnetism.60 CHAPTER 2. due to the stresses caused by the plates moving past one another. geodetic rates do not always agree with geological rates near plate boundaries. since there is usually no guarantee that you don’t have systematic errors that are constant over the entire observing period. which are often collectively referred to as the San Andreas Fault System. It suggests that plate motion is probably reasonably steady in time: that the plates move about the same over a few years as they do over millions of years. note that the NUVEL-1 geological plate motion model predicts about 46 mm/yr relative motion between the Paciﬁc and North American plates. Most of the diﬀerence comes from the spreading of the Basin and Range region (i. is perhaps the most intensely studied of these boundary regions. using space geodetic techniques. however. OBSERVATIONAL TECHNIQUES a lower bound for the total error.

the eﬀects of waves and other local disturbances tend to average out.2. to obtain the satellite orbit in a geocentric coordinate system.5. The goal is to map the shape of the sea surface as a function of time. In fact. one of the indirect goals of altimeters is to relate the observed roughness to local wind speed. Why do you want to know the shape of the sea surface? One reason is that the sea surface should be nearly a surface of constant gravitational potential. It’s not really a point positioning technique. The short wavelength features (tens to a few hundreds of km) in the gravity ﬁeld are due. from which it returns to the satellite. It works like this: A radar pulse is emitted by the satellite and reﬂected oﬀ the ocean surface. and so the distance between the satellite and the ocean surface can be determined. It has. in principle. and some eﬀects of sea surface roughness do aﬀect the data. because the roughness also aﬀects the shape of the returning pulse and so can be determined. So. Altimeters can also range to land and ice. even these can be largely removed. In fact. The cancellation is not perfect. proven useful in mapping large ice sheets. oceanographic applications. to the mass of the underlying sea ﬂoor topography. mostly. and. geodetic. The satellite is also tracked from the ground.5. using either lasers or radio signals (or both). But land and ice topography can vary considerably over 20 km2 . So. most of all.4 Altimeters This is another sort of satellite ranging technique. the data let you deduce accurate maps of ocean bathymetry. altimetry is not a generally useful technique for determining the shape of the land surface. the shape of the surface provides information about the gravity ﬁeld over the oceans. The round trip travel time of the pulse is measured. By combining these results. but it has geophysical. and so the topographic eﬀects tend not to average out eﬀectively in the returning pulse. and so determine the shape of the sea surface. The longer wavelength features can tell you about the earth’s interior.2. however. though the longest wavelength features (wavelengths longer than about 800 km) . POSITIONING 61 2. you can determine the geocentric locations of the sub-satellite points on the ocean surface (the points from which the radar pulses are reﬂected). Thus. But. The area of the sea surface sampled by the radar pulse is about 20 km 2 .

and then short-circuited after about three months. is to use downward-pointing water vapor radiometers. By determining the sea surface. Accuracies were much better (about 10 cm) for time-dependent. however. To learn about time dependent variations in currents. you don’t need the gravity ﬁeld. The ionosphere is removed by looking at two radar pulses which have diﬀerent frequencies. the useful altimeter satellites have been SEASAT. though it is usually much less than that. What happens is that the Coriolis force due to the currents is balanced by pressure forces caused by the departure of the surface from the geoid. Outside of early testing. short wavelength variability.62 CHAPTER 2. The orbit accuracies achieved at the time were on the order of 1 m for globalscale wavelengths. The excess height above or below the geoid can be as large as a meter or so. OBSERVATIONAL TECHNIQUES can also be determined using other means (i. The precision of the on-board altimeter was about 5 cm. All of these satellites have had to deal with atmospheric propagation errors. just like any radio technique. oceanographic applications are the primary justiﬁcation for modern satellite altimeter missions. So if you know the height above the equipotential surface. Better. In fact. It gave excellent results for the geoid. The main limitation on the accuracy was uncertainties in the radial component of the satellite orbit. you can also learn about ocean currents. . SEASAT: SEASAT was launched in 1978 by NASA. from SLR). The sea surface will not exactly coincide with a surface of constant potential (that surface is called the “geoid”).e. The dry air is removed by using surface meteorological observations (usually in the form of gridded. The wet air is sometimes removed by using those same meteorological data. you can then learn about the currents. It was tracked from the ground using lasers. which maps directly into a 1 m error in sea surface. GEOSAT. To learn about the time-averaged mean currents. you must know the geoid by some independent means. ERS and TOPEX/Poseidon. You only need to assume that the geoid doesn’t change with time. because of vertical displacements associated with horizontal currents. global models generated by meteorological centers). though.

S. is probably about 5 cm. which translates to about the same accuracies in the sea surface. GEOSAT was turned oﬀ in early 1990. to obtain global-scale accuracies of about 20 cm. so that the ground tracks were less dense (several tens to about 100 km spacing). and is expected to continue to return data for at least several more years. Recent re-analysis of the data using improved gravity ﬁeld models has resulted in orbits that are accurate to 10 cm at even the longest wavelengths. and there is also an on-board GPS receiver. Navy. It is still functioning normally.2. POSITIONING 63 The earth’s gravity ﬁeld is known much better today than it was during the time of SEASAT. These new gravity ﬁeld models have recently been used to re-ﬁt the SEASAT orbits. the satellite had very dense ground tracks. The accuracies were much better at shorter wavelengths. GEOSAT: GEOSAT was launched in 1985 by the U. But because of impressive and unanticipated improvements in knowledge of the gravity ﬁeld. It is a joint NASA/French mission. TOPEX/Poseidon is tracked with lasers and with radio signals. when they were released to the general public. Data from the ﬁrst 18 months were classiﬁed up until 1995. During that initial phase of the mission. with the limitation coming primarily from uncertainties in the orbit. After that. The data from this part of the mission were released to the public as they were obtained. I don’t know how . it was expected to be accurate to about 14 cm. the satellite orbit was changed. and that the total TOPEX/Poseidon sea surface error budget from all sources and for all wavelengths. TOPEX/Poseidon: TOPEX/Poseidon was launched in 1992. ERS: ERS-1 was launched in 1991 by the European Space Agency. Before launch.5. but so the satellite would repeat the same track every 17 days. people have found that the orbital errors are probably closer to 3–4 cm. Orbit accuracies at the time were on the order of 50 cm at long wavelengths. so bathymetry could be estimated in considerable detail.

There has long been interest within the geophysical community. with diﬀerences as large as several meters in certain regions of the globe. has provided most of the high-quality.2. in improving the gravity ﬁeld down to very short wavelengths through the use of a dedicated satellite gravity mission. an oceanographer needs to know the geoid. To determine the time-averaged mean currents from satellite altimetry data. it is not possible to obtain reliable results for the time averaged mean currents . Characteristics of the individual gravity models depend on the scientiﬁc objectives. complete through degree and order of about 70 (corresponding to half-wavelengths of about 300 km at the earth’s surface). OBSERVATIONAL TECHNIQUES accurate it is. in particular. long wavelength data used in recent gravity solutions. the SLR data are supplemented with satellite altimetry data to provide short wavelength information over the oceans. as well.64 CHAPTER 2.5 Dedicated Gravity Mission The best models of the earth’s global gravity ﬁeld come from satellite laser ranging. In the most complete models. The accuracies of these models are somewhat uncertain. are typically on the order of 1/2 m rms when averaged over all half-wavelengths longer than 400 km. 2. These diﬀerences are much larger than those predicted from formal error estimates. Given the estimated accuracies of existing geoid models.5. The highest resolution models intended for surface gravity studies are complete to degree and order 360. which corresponds to a half-wavelength of about 50 km. Tracking of LAGEOS. and with surface gravity data to improve the short wavelengths over the continents. Results from such a mission would be useful to oceanographers. and they are probably largely due to the complications of incorporating hundreds of diﬀerent ground-based gravity proﬁles into the global solution. The best models for satellite orbit solutions are spherical harmonic expansions of the ﬁeld. though I do know that its orbit solution is less accurate than TOPEX/Poseidon’s. Diﬀerences between geoid heights deduced from the surface gravity and the satellite gravity models.

You can ‘tune’ the orbit to get high sensitivity at certain desired wavelengths. with altitudes of. Another proposed idea is to use a single satellite with an on-board superconducting gravity gradiometer to measure spatial derivatives of gravity. POSITIONING 65 at wavelengths below 2000–3000 km. and other existing laser ranging satellites. The entire instrument is only a few tens of cm on a side. At the moment. several proposed missions are being considered. For example. you couldn’t easily detect 300 km wavelengths if 300 km were the satellite separation distance. These proposed missions involve diﬀerent satellite designs. can’t give good results at shorter wavelengths because their altitudes are too high: short wavelength anomalies die out quickly with altitude. in various forms. All of the newly proposed missions would lead to gravity ﬁeld improvement of several orders of magnitude at all wavelengths. Dedicated gravity missions have been proposed.5. . LAGEOS. typically. You’d get maximum out-of-phase motion for separation distances equal to an odd number of half wavelengths.2. One idea is to use two satellites. but so far they have never made it to launch. They are ranged both from the earth and from each other. several hundred km. several times over the past few decades. Such missions are always near the top of NASA’s. The gradiometer is superconducting to reduce Brownian motion of the proof masses which might otherwise be mis-interpreted as gravity signals. or ESA’s (the European Space Agency’s) priority list. because those wavelengths would cause the two spacecraft to move in phase with no change in the satellite-to-satellite range. All of them involve low altitude satellites. The gradiometer detects relative motion of 6 closely-spaced proof masses. and would determine gravity accurately down to spatial scales as short as 100 km. This allows you to accurately determine the eﬀects of the gravity diﬀerence between the two satellite positions.

66 CHAPTER 2. OBSERVATIONAL TECHNIQUES .

and scalars are easier to work with than vectors. Both these types of problems are best solved using the gravitational potential. because it is similar to what you see in a course in electrostatics. Later in this course. or that one is speciﬁed over part 67 .) The boundary value problem is then: given information about the potential on S. The ‘right’ boundary conditions are that the potential is speciﬁed everywhere. 3. what is the potential in V? The solution to this problem exists and is unique. (g is the gradient of the potential. can you ﬁnd the gravitational ﬁeld? He solved that problem by formulating Newton’s Law of Gravity.Chapter 3 Potential Theory This chapter describes the mathematical theory of gravity. is: given a volume V bounded by a surface S. rather than g. V may or may not contain a mass distribution. and given some information about gravity on S. as long as the right sort of boundary conditions are speciﬁed on S.1 Introductory remarks The problem Newton posed was: given a density distribution. we will apply these results to learn about the earth. or that the normal gradient of the potential is speciﬁed everywhere. Another type of problem that often comes up when dealing with the earth’s gravity ﬁeld. The potential is a scalar. Much of the material may look familiar. It pretty much reduces to a study of Poisson’s equation. can you ﬁnd gravity inside V? In this case.

. Thus you know the magnitude and direction of g. ﬁnd the potential. given the density distribution.68 CHAPTER 3. let’s deal with 1. the potential on S and the normal gradient of the potential on S will both be consistent with a solution in V. given information about the potential over a known surface. There is no known closed-form mathematical solution to this problem. Only. a solution won’t exist. POTENTIAL THEORY of S and the other over the rest of S. you don’t know S. people measure the gravitational acceleration on S. In practice. this means you know both the potential and the normal component of the gradient of the potential on the surface S. which give the direction of the gravity vector with respect to the surface normal. of course. we will concentrate on the more familiar and more tractable problems: 1. as we will discuss later. Instead. And there are also leveling data. (Though for a real situation. where S is the earth’s surface and V could be the volume either outside or inside the earth. Finding S from these boundary conditions is one of the fundamental mathematical problems in physical geodesy. First. in general. It’s called “Molodensky’s problem. But they can’t both be speciﬁed at the same places — that’s too much information and. In terms of the potential. ﬁnd the potential in the volume bounded by that surface. the problem is further complicated by observational errors and incomplete data.” What you’re after is the shape of the earth.) Consider the earth. We will not give a rigorous treatment of Molodensky’s problem here. which means you know all three components of g on the surface. What sort of gravity information is available on S? Well. 2. It is usually solved iteratively.

So if you are given an anomalous density distribution in the earth. For a continuous mass density ρ(x ). you can estimate its eﬀects on gravity. 3. you can ﬁnd V (x) and so you can infer g(x). problems like this arise often in geophysics.2. you can add a spatial constant to Equation 3. then the gravitational force on m is F = mg(x). Thus.2. you replace M in Equation 3.2) V is the negative potential energy per unit mass.1 with ρ(x ) d3 x . where r is the . integrate) over x to get: g(x) = all space Gρ(x )(x − x) 3 d x.e.1) where G = 6. without much trouble.672×10−8 cm3 /gm s2 . You can show. As you might expect. If a mass m is placed at x.3) Note that because of Equation 3.1 V (x) for a uniform sphere Let’s ﬁnd V (x) for certain simple density distributions. |x − x | (3. Note the word negative — that’s the usual geophysical convention for V . and it means that there are sign diﬀerences between the results here and many of the corresponding results you may have seen in electrostatics.3 without aﬀecting the physical signiﬁcance of V (x). consider a uniform sphere.3. the gravitational acceleration at x is: g(x) = − GM (x − x ) |x − x |3 (3.2. |x − x |3 You can deﬁne the gravitational potential scalar V (x) as V (x) = g(x). that V (x) = Gρ(x ) 3 d x. and sum (i. (3. given ρ(x ) everywhere. First.2 Finding the gravitational ﬁeld from knowledge of the density For a point mass M at x . In this case ρ = constant = ρ0 for r < R (R = the radius of the sphere). FINDING THE GRAVITATIONAL FIELD FROM KNOWLEDGE OF THE DENSITY 69 3.

POTENTIAL THEORY radial spherical coordinate using the center of the sphere as the origin. That integral works out to be 2/d. So: V (x) = Gρ0 R 0 (r )2 dr π 0 sin θ dθ 2π 0 dφ . but it is independent of the size of the sphere. a distance d from the origin. and thus V (x) = 2πGρ0 R 0 (r )2 dr π 0 sin θ dθ [d2 + r 2 − 2r d cos θ ]1/2 . In fact.4) We deﬁne our coordinate system so that x is on the z axis. So: V (x) = 4πGρ0 d R 0 (r )2 dr = 4 R3 πρ0 G MG = .e. |x − x | (3. So the dφ integral in Equation 3.5) where M is the total mass of the sphere. or has a small radius and a large density. Then.4 gives 2π. The dθ integral is relatively easy because sin θ dθ = −d(cos θ ). a point mass). the gravitational ﬁeld depends on how much mass is in the sphere and on where the sphere is.70 CHAPTER 3. 3 d d (3. the sphere could have a radius of zero with an inﬁnite density (i. This illustrates a fundamental limitation for .1: 1/2 |x − x | = d2 + (r )2 − 2r d cos θ which is independent of φ . ˆ See Figure 3. x d θ’ r’ Figure 3. So. The ﬁeld is the same whether the sphere has a large radius and a small density.1.

2. knowledge of the ﬁeld can constrain the density. since the earth is close to being spherically symmetric. where the ﬁeld point is on the axis of the disc. See Figure 3. then the potential at a distance d from the origin is V (x) = MG d (3. using cylindrical coordinates: V (x) = G R 0 r dr 2π 0 dφ h 0 ρ dz |x − x | where R and h are the disc radius and thickness. FINDING THE GRAVITATIONAL FIELD FROM KNOWLEDGE OF THE DENSITY 71 using observed gravity to learn about the earth’s interior: diﬀerent density distributions can give the same gravitational ﬁeld.6) where M is the total mass inside the sphere of radius d. in fact. The result in Equation 3. In this case. Then V (x) = Gσ = Gσ R 0 R 0 2π 0 2π 0 h 0 ρdz . x z h R Figure 3.6 is. 3.3. If ρ(x ) = ρ(r ) where ρ(r ) is not necessarily constant. which r dr r dr dφ |x − x | dφ z 2 + (r )2 . but can not determine it uniquely.2. the lowest order approximation to the earth’s gravitational ﬁeld. Let σ = can be interpreted as an apparent surface mass density. 1/|x − x | is approximately independent of z .5 can be extended to any spherically symmetric density distribution. Equation 3. So.2: For a thin disc.2 V (x) for a thin disc A second useful example is the ﬁeld due to a thin disc.2.

The problem is that V is determined only to within a spatial constant. which is independent of z.72 1/2 CHAPTER 3. V becomes: V (x) = 2πGσ (z 2 + R2 )1/2 − (z + R) . For example. it seems logical to use Equation 3. Speciﬁcally. 2R So. g = V = −2πGσˆ. 2 R2 so that V ≈ lim 2πGσ R + R→∞ 1 z2 − z − R = −2πGσz. keeping leading terms in z.8) For an inﬁnite plane.3: .2. to Equation 3. See Figure 3. (3. You look down at the plane. POTENTIAL THEORY = 2πGσ z 2 + R2 −z .3. we add a constant. where the ﬁeld point is above the midpoint of the line. for an inﬁnite plane. The explanation z for this is that for an inﬁnite plane there is no scale length. 3. (3. But that limit is ∞. And we need to choose that constant more carefully before taking the limit. it looks the same to you.7 to ﬁnd the limit of V as R → ∞.3 V (x) for a line mass Finally. we take the limit of Equation 3. for z R: (z 2 + R2 )1/2 ≈ R(1 + 1 z2 ). and no matter how far away you are.7 so that V (z = 0) = 0.7) To ﬁnd the gravitational potential due to an inﬁnite plane sheet of mass. Then: x d l’ R Figure 3.8 as R → ∞. −2πGσR. Then. let’s ﬁnd the potential due to a thin line mass.

Again. = 2Gλ ln 2d (3. let R → ∞.9 becomes: √ R + R2 + 4d2 V = 2Gλ ln − 2Gλ ln R 2d √ R + R2 + 4d2 . = 2Gλ ln 2dR Then. d 2R 2dR = −2Gλ ln(d). Then. For a line with negligible cross-sectional area. for ﬁnding g from an assumed density distribution.9 before we take the limit.9) For an inﬁnite line. Gλ dl d2 + (l )2 √ R + R2 + 4d2 . We choose the constant to be −2Gλ ln R. sometimes.e. the problem here is that we need to add a constant to Equation 3. for an inﬁnite line: VR→∞ = 2Gλ ln so that g= V =− 2Gλ .3.4 A numerical method for arbitrary mass anomalies Prospectors and. Deﬁne the mass/length as λ= Then V (x) = R/2 −R/2 crosssectional area ρ dA.2.2. 1/|x − x | is essentially independent of the angular coordinates that describe the area. so that Equation 3. FINDING THE GRAVITATIONAL FIELD FROM KNOWLEDGE OF THE DENSITY R/2 −R/2 73 V (x) = dl crosssectional area Gρ dA |x − x | where dA is a diﬀerential element of the line’s cross-sectional area. geophysicists have a standard method for solving the forward gravity problem (i. or from . V (x) from Equation 3. 3.9 → ∞.

To include all the mass that is present in the anomaly. and sin θ is included to give the vertical component of g. They divide the underlying mass into many thin discs. The contribution from the disc to the vertical component P θ r disc z Figure 3. So ∆g = −Gσ2π. POTENTIAL THEORY an hypothesized mass inclusion of arbitrary shape). and then adds up all the discs. ((dA sin θ) is the area. All this is done on a computer. which is the . note that in that case Ω = 2π (= half of the spherical result Ω = 4π). and that projected area is r 2 dΩ. then: ∆g ≈ −Gσ disc ρ dz ≡ σ is the mass/area sin θ dA r2 where dA = element of surface area.4: of g at P (only the vertical component will aﬀect the amplitude of g to ﬁrst order) is ∆g = −G ρ sin θ dV r2 disc where ρ = disc density. projected onto a sphere of radius r centered about P . the entire disc has about the same z coordinate). where dΩ is the inﬁnitesimal solid angle. Note that dA sin θ/r 2 = solid angle subtended at P by the inﬁnitesimal area dA. The prospector computes Ω for each disc. θ and r 2 do not depend on the z coordinate of the point within the disc (that is.4. Incidentally. Discs are used because it’s easy to ﬁnd Ω for them. to see that this gives the right answer for an inﬁnite plane.) So: ∆g = −Gσ disc dΩ = −GσΩ where Ω = total solid angle subtended by the disc. If of the disc. you’ve got to let the discs overlap somehow.74 CHAPTER 3. They then approximate the contribution of each disc to |g| in the following way. For a thin enough disc. The only thing you’ve got to worry about is: are the discs thin enough? Programs that do this sort of thing are available commercially. See Figure 3. dA.

where centered about x. = a sphere of radius R Divide the integration volume (all space) into D + . later.3. 3. We’ll let R → 0.3 3. (Equation 3. we will derive the diﬀerential equation from the integral. POISSON’S EQUATION 75 inﬁnite plane result we obtained earlier.10) We will use spherical coordinates to do these integrals. (3. So: 2 V =G ρ(x ) 2 x d3 x . deﬁned as V (x) ≡ ∂x 2 V + ∂y 2 V + ∂z 2 V. For simplicity.1 Poisson’s equation Derivation There is another way to write Newton’s Law of Gravity. From Newton’s integral for V .3.3): 2 V =G ρ(x ) 2 1 d3 x |x − x | 1 |x − x | 1 |x − x | where the Laplacian is with respect to x.3. Consider the Laplacian operator. we temporarily deﬁne our coordinate system so that x = 0. r ρ(x) 2 1 |x| d3 x. and D is the rest of space. Here. Then (dropping the prime’s in the integrand) 2 V (x = 0) = G D ρ(x) 2 1 d3 x + G |x| 1 . so that 2 1 = |x| 2 . 2 2 . But 2 x 1 = |x − x | 2 x where 2 x is with respect to x . You can represent it as a diﬀerential equation (Poisson’s equation) instead of as an integral.

that this argument does not work if ρ is discontinuous at r=0. we use the divergence theorem: ·T = is a sphere.12.10 is 0. then the integrand is bounded. Note that 1 1 = −ˆr 2 e r r where er is the unit vector in the r direction. To reduce the ﬁrst integral on the right hand side of Equation 3. if we take the limit as R → 0 (that is we let → 0). d3 x is proportional to r 2 . (3. So. In that case. if ˆ ρ is continuous at r=0 so that ρ is bounded inside for small enough. the Laplacian operator has the form: 2 = 1 1 1 2 ∂ (r 2 ∂r ) + 2 2 ∂θ (sin θ∂θ ) + 2 2 ∂φ . This means that Poisson’s equation may not be valid at discontinuities. We will have to come back later and deal with this. because and so the integral over D in Equation 3. and if r = 0.12) Consider the second integral on the right hand side of Equation 3. this second integral vanishes. and n is the outward normal to S. 1 1 1 = 2 ∂r (r 2 ∂r ) = 0 r r r is not zero. by deriving continuity equations on V across discontinuities. we know the integral must be less than the bound of the integrand. 2 r r r sin θ r sin θ 2 (3. To reduce the integral. POTENTIAL THEORY In spherical coordinates. In our integral ˆ 1 r d2 x V (0) = lim G R→0 S er · ρ ˆ . V (0) = G · ρ d3 x − G ρ· 1 r d3 x. though.12. multiplied by the volume of . Note. so that n = r .76 CHAPTER 3.11 is not valid at r = 0 (the center of ).11) Thus. Thus: ˆ ˆ 2 S n·T ˆ where S is the surface bounding . note that · ρ So. And. The integral over Equation 3. So. 2 1 = r 1 r ρ· 1 +ρ r 21 r .

So. but we won’t do that here. Consider any volume V with surface S and normal n.3. But if you don’t know ρ everywhere. That proof involves the use of Green’s functions (GM/|x − x | is the Green’s function for Poisson’s equation). Diﬀerential equations are better suited for the use of boundary values.1 Gauss’ Law Poisson’s equation has an integral form called Gauss’ Law.1. and using the divergence ˆ theorem. If you are given ρ(x) everywhere in space. You can also go backwards and show that Poisson’s equation implies Newton’s Law of Gravity. Integrating Poisson’s equation over V. so that the ﬁeld point is at x instead of at 0. we have the ﬁnal form of Poisson’s equation: 2 V (x) = −4πGρ(x). 3. We have shown that Newton’s Law of Gravity implies Poisson’s equation. then Poisson’s equation is apt to be more useful. POISSON’S EQUATION 77 = lim G 1 R→0 r S = −G4π lim [ρ(R)] ρ∂r R→0 R2 sin θ dθ dφ r=R = −G4πρ(0). gives: 2 V V dV = = S S n· ˆ V dS n · gsS ˆ V = −4πG ρ dV . it’s probably easiest to ﬁnd V using Newton’s Law of Gravity. but you do have information about V or about g over some bounding surface. There is no obvious place to put them into Newton’s Law of Gravity.3. we have another way to ﬁnd the gravity ﬁeld: solve Poisson’s equation.3. If we now change back to our original coordinate system.

78

CHAPTER 3. POTENTIAL THEORY

where the last equality follows from Poisson’s equation. So, Gauss’ Law is n · gdS = −4πG ˆ ρdV (3.13)

S

V

In words: the integral over a surface of the normal component of g is proportional to the total mass inside the surface. 3.3.1.2 Continuity conditions

The derivation given above for Poisson’s equation is not valid at points where the density is discontinuous. So, what do you do if you have discontinuities. For example, suppose you have two regions, labeled as V1 and V2 in Figure 3.5, separated by the surface S.

V 2

n0 S

n0

n0

n

V 1

n0 pillbox

Figure 3.5: And, suppose the density is discontinuous across S. In fact, let’s make it worse than that. Let’s suppose there might even be a surface mass density, σ, on S. Surface mass densities do not exist in the real world, but they are often used to approximate thin mass layers to simplify the mathematics. You can think of a surface mass density this way: you start with a mass anomaly distributed across a thin, but non-zero layer. You compress the layer down to zero-thickness, keeping the total mass in the layer the same. You end up with a layer of zero thickness but with non-zero mass, so that the volumetric density, ρ, is inﬁnite in the layer. σ is the density multiplied by the layer thickness (so it has units of mass/area), and so it is a ﬁnite quantity. So, in our example, we are assuming not only that ρ is discontinuous across S, but that it might even be inﬁnite on S. The surface S causes no particular diﬃculties if you are using Newton’s integral, Equation 3.3, to ﬁnd V . But, how do you incorporate S into Poisson’s equation?

3.3. POISSON’S EQUATION

79

What you do is to solve Poisson’s equation in volumes V1 and V2 separately, and then match the solutions across S using continuity conditions. Here we derive those continuity conditions. There are two of them. The ﬁrst condition is that V1 = V2 on S, where V1 and V2 are the solutions just inside V1 and V2 , respectively. This can be seen directly from Newton’s integral (Equation 3.3), noting that x in the integrand is continuous across S. The second continuity condition is that n· ˆ V2 − n · ˆ V1 = −4πGσ, (3.14)

where n is the unit normal to S pointing from V1 into V2 . Let’s derive Equation 3.14 ˆ using Gauss’ Law applied to the pillbox shown in Figure 3.5. The pillbox is inﬁnitesimally small. Gauss’ Law says that

pillbox surface

n0 · ˆ

V dS = −4πG

pillbox volume

ρdV V on the right

where n0 is the outward normal to the pillbox. For a very small pillbox, ˆ hand surface of the pillbox is approximately equal to

**V on the left hand surface. But
**

pillbox surface

n0 has opposite signs on the two sides. Thus, the contributions to ˆ the vertical sides vanish. So, Gauss’ Law reduces to n0 · ˆ V dS + n0 · ˆ V dS = −4πG

pillbox volume

n0 · ˆ

V from

top

bottom

ρ dV.

**Or, noting that n0 = n in V2 , and n0 = −ˆ in V1 , then ˆ ˆ ˆ n
**

top

n· ˆ

V2 dS −

bottom

n· ˆ

V1 dS = −4πG

pillbox volume

ρ dV.

If A is the area of S inside the pillbox, then A is also the area of the top and of the bottom of the pillbox, and Gauss’ Law reduces to A n· ˆ V2 − n · ˆ V1 = −4πGσA.

Dividing by A gives the continuity condition, (Equation 3.14). By using this continuity condition and the condition that V is continuous across S, you can use Poisson’s equation

80

CHAPTER 3. POTENTIAL THEORY

to uniquely determine the gravitational potential in the presence of a discontinuity and/or a surface density. It is possible to also show that the tangential derivative of V is continuous across any discontinuity, even one with a surface mass. This additional continuity condition follows directly from the continuity of V across S, and it provides no new information about the solution. Nevertheless, I will derive it here. Consider the two volumes V1 and V2 , separated by the surface S, as shown below. S is a surface of discontinuity in density, and S could even possess a surface density, σ. V2 V1 tangential derivative in V2 is then

1→2

1 · 3 ·

·2 S ·4

Let the points 1 and 2 approach one another, and let 3 and 4 do the same. The

lim

V (1) − V (2) , 1−2 V (3) − V (4) . 3−4

(3.15)

and that in V1 is

3→4

lim

(3.16)

But before we take the limits above, suppose we let the points 1 and 3 approach each other, as well as the points 2 and 4. As 1 → 3 and 2 → 4, the denominators in Equations 3.15 and 3.16 converge to the same value. And the numerators do too, because V is continuous across S. So, the tangential derivatives are continuous.

3.3.2

Laplace’s equation

**If you are in a region of space where there is no mass density, then Poisson’s equation reduces to
**

2

V (x) = 0, which is called Laplace’s equation. Not surprisingly, Laplace’s

equation is easier to solve than Poisson’s equation. It turns out that you never actually need to solve Poisson’s equation. Instead, you can always get by with a combination of Laplace’s equation and Newton’s Law of Gravity (Equation 3.3). For example, the most general problem you might come up against is: given the volume V with boundary values speciﬁed on the bounding surface S, and given some

3.3. POISSON’S EQUATION

81

density distribution inside V, what is the potential inside V? In general, you might start oﬀ by trying to solve Poisson’s equation. Instead, you can do the problem in two steps, as follows. First, you ignore the boundary, take ρ as given inside V and 0 outside V, and use Newton’s Law to ﬁnd V everywhere in space. Let this solution be V = V1 . V1 will probably not satisfy the boundary conditions on S. So, you write the actual solution in V as V = V1 + V2 , and try to ﬁnd V2 . Note that constructed V1 so that

2 2

**V = −4πGρ. And, you have
**

2

V1 = −4πGρ inside V. So,

V2 = 0 inside V, which is

Laplace’s equation for V2 . You solve this for V2 using the boundary conditions. Only, the boundary conditions for V2 are diﬀerent than for V . Suppose, for example, the boundary conditions are: V = V0 (= some known function) on S. Then, the conditions on V2 are: V2 = V0 − V1 on S. For the remainder of this chapter, we will only consider Laplace’s equation. Suppose the volume V is bounded by the surface S. Consider the following problem:

2

V = 0,

with either V or ∂n V speciﬁed on S. A solution to this problem exists and is unique (to within, possibly, a constant). I’ll just ask you to believe the statement that a solution does exist. But, I will show the uniqueness of the solution. To do this, we need: 3.3.2.1 Green’s Theorems

These are useful in many geodetic and seismic applications. They are general relations between functions, and do not require that the functions satisfy Laplace’s equation. Start with the divergence theorem: ( · F ) dV = n · F dS ˆ (3.17)

V

S

where n is the outward normal to S. We choose F to have the form F = U T , where U ˆ and T are scalars. Then: ·F = And: n · F = Un · ˆ ˆ T. U· T +U

2

T.

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CHAPTER 3. POTENTIAL THEORY

So, Equation 3.17 is: U· T+ U

2

V

V

T =

S

Un · ˆ

T.

(3.18)

This is Green’s ﬁrst identity. Now, interchange U and T in Equation 3.18 and subtract the results from (Equation 3.18). You get: T

2

V

U −U

2

T =

S

Tn · ˆ

U − Un · ˆ

T

This is Green’s theorem. We can use the ﬁrst identity to prove the uniqueness of solutions to Laplace’s equation in the case where either V or n · ˆ V is given on S. To do that, we show that if both V1

and V2 are solutions, then they can diﬀer by at most a constant. Suppose V1 and V2 satisfy Laplace’s equation and satisfy the same boundary conditions: either V or n · V ≡ ∂n V speciﬁed on S. Construct V ≡ V1 − V2 . I will show that ˆ V is constant everywhere in V, so that V1 = V2 + constant. First,

2

V = 0 (since

2

V1 =

2

V2 = 0), and either V = 0 or ∂n V = 0 on S. Then,

**letting U = T = V in Equation 3.18 gives | V |2 + V
**

2 =0

V

V

V =

S

V ∂n V .

=0

Or

V

| V |2 = 0. V = 0 everywhere (otherwise | V |2 > 0).

Since | V |2 ≥ 0 everywhere in V, then then the constant would have to be 0.

So, V = constant in V. Note that if the boundary condition is that V is speciﬁed on S, As a corollary, if V is a solution to Laplace’s equation and is constant on S, then V is constant throughout V. This is because V = constant is a solution to the problem, and we now know that the solution is unique. Another property of harmonic functions is that if two harmonic functions, which are deﬁned in all of space, agree everywhere in some volume, then they agree everywhere. The trick to proving this is to consider some closed surface, S, in that volume. The

3.3. POISSON’S EQUATION

83

two functions agree on S and in the volume inside of S, by assumption. Since S is the only boundary, they must also agree in the volume outside of S due to the uniqueness theorem. So they agree everywhere. Incidentally, ∞ is considered a boundary point for volumes that extend to inﬁnity. The usual boundary condition applied at ∞ is that V must go to 0 with increasing r at least as fast as 1/r, except for a possible additive constant. This boundary condition is necessary to ensure uniqueness for external volumes. It is not hard to show that this boundary condition must hold if the mass distribution that causes V is ﬁnite. If the ﬁeld did not go to 0 this quickly, then the left hand side of Equation 3.13 (Gauss’ Law) would go to ∞ as the surface S goes to inﬁnity. But, the right hand side of Equation 3.13 must remain bounded for ﬁnite total mass. So this is impossible. Another interesting property of solutions to Laplace’s equation is that those solutions cannot have a local maximum or minimum within any volume V, except at a boundary point of V. As a consequence, the gravitational potential can’t have either a minimum or a maximum in free space. A crude way to see this is: Suppose P is a point in V away from the boundary. Suppose V is a solution to Laplace’s equation and has a local maximum at P. The P is surrounded by points with smaller V . That is, you can enclose P with a surface, S, where n · ˆ V < 0 everywhere on S, where n points away from P. (ˆ · ˆ n V < 0 implies that V is decreasing as you move away from P.) But, from Laplace’s equation and from the divergence theorem 0=

2 V inside S

V =

S

n· ˆ

V < 0,

since the last integrand is < 0. This is a contradiction. Thus, P can not be a local maximum (similarly, it can’t be a local minimum).

3.3.3

**Solutions to Laplace’s equation.
**

2

How do you solve

**V = 0, if you are given information about V or about ∂n V on the
**

2

boundary? A general method is to ﬁnd a set of solutions which satisfy

V = 0, but

dividing by XY Z: can sum to 0 is if all three are constants. Using V (x. Try solutions of the form V (x. For the earth. z. For spheres. 2 2 ∂2Z ∂x X ∂y Y + + z = 0. and ∂z Z/Z of z. For planes. You can only usefully apply this technique to simple boundary shapes. or even all separable solutions. In that case. then If you are interested in gravity variations that have wavelengths you can pretend the earth’s surface is a plane. b. The method. y. as described above. we are not necessarily trying to ﬁnd all possible solutions to Laplace’s equations. z) in 2 V = 0 gives 2 2 2 ∂x X Y Z + ∂y Y XZ + ∂z Z XY = 0. z) = X(x)Y (y)Z(z). the useful boundaries are planes and spheres. The sum of solutions should still satisfy 2 V = 0. is to ﬁnd a complete set of solutions to 2 V = 0. POTENTIAL THEORY which (probably) do not satisfy the boundary conditions. you are often faced with the following sort of problem: V on the plane z = 0 is speciﬁed to be V (x. and c are arbitrary constants and a + b + c = 0. because 2 is linear.3. y).1 Planar boundaries earth’s radius. . if 2 ∂x X = aX 2 ∂y Y = bY 2 ∂z Z = cZ.84 CHAPTER 3. That is. y. But. V satisﬁes Laplace’s equation in the half-space z > 0. The solutions you choose will depend on the shape of the boundary. The only way these three terms Or. where a. 3. X Y Z 2 2 2 ∂x X/X is a function of x. The trick is to ﬁnd a set of solutions which can easily be summed to satisfy the boundary conditions. ∂y Y /Y of y. y. the appropriate solutions are usually trigonometric functions. 0) = V0 (x. You then add these solutions together to satisfy the boundary conditions.3. These are called separable solutions in x. Find V for all z > 0 (V must also be ﬁnite at z → ∞). they are spherical harmonics. y.

2 and c = k3 . The solutions to these equations are X = Beik1 x Y = Ceik2 y Z = Dek3 z where B. z) = Aeik1 x eik2 y ek3 z (3. We will see later that these are all the solutions we need. It turns out that to do this we only need to consider solutions where a and b are negative 2 2 real numbers. k2 . we require that k3 be negative. the diﬀerential equations for X. you could write the solutions as cosines and sines. y. The total separable solution is then: V (x. Because of this. a slightly more convenient way to represent the separable solutions is to switch the sign on k3 .19) 2 2 2 where A is an arbitrary complex constant. and Z have the form: 2 2 ∂x X = −k1 X 2 ∂y Y 2 = −k2 Y 2 2 ∂z Z = k 3 Z 2 2 2 where k1 + k2 − k3 = 0. C. and D are arbitrary constants. we choose a = −k1 . for the moment. Y . our separable solutions have the form V (x.3. arbitrary real numbers. and to require that k3 be positive. So. where k1 . since k1 can be either positive or negative. b = −k2 . and where c is a positive real number.) Note that X = e−ik1 x is another solution to the diﬀerential equation for X. z) = Aeik1 x eik2 y e−k3 z (3. and where k3 = k1 + k2 . Then. The situation is similar for Y and Z. y.20) . and k3 are.3. The reason is that X = e−ik1 x is equivalent to X = eik1 x . (Alternatively. if you prefer those to complex exponential functions. POISSON’S EQUATION 85 We are just trying to ﬁnd enough solutions so that we can satisfy the boundary values. but that it has not been included in the list above. To satisfy the condition that V be ﬁnite at z = ∞. So.

k2 )eik1 x eik2 y . rather than V (z = 0).22. and c used above. . we can always ﬁnd a function A(k1 .21) V = 0 for any complex function A(k1 . k2 ). y)e−ik1 x e−ik2 y . To verify this. and note that the derivatives move through the integral sign and act directly on the product of exponentials. A is the two-dimensional Fourier transform of V0 .) You do the integrals in Equation 3. gives: V0 (x. Letting z = 0 in Equation 3. the results become a little simpler. y) = V (x. So.86 CHAPTER 3. and integrate to ﬁnd V for z > 0. simply take the Laplacian of Equation 3. linear features. if you don’t like complex exponentials you can use sines and cosines instead.22.22) For any non-pathological V0 . (Again. z) = satisﬁes 2 ∞ −∞ dk1 ∞ −∞ dk2 A(k1 . POTENTIAL THEORY where k3 = 2 2 k1 + k2 . y. and where k1 and k2 can be any real numbers. V is a solution.21. (Note: there is no integral over k3 in Equation 3. by restricting ourselves to separable solutions and to the speciﬁc choices for the separation constants a. In this way you can solve Laplace’s equation for any V0 on z = 0. V (x. k2 ) = 1 (2π)2 ∞ −∞ dx ∞ −∞ dy V0 (x. This method can be easily modiﬁed to solve problems where ∂z V (z = 0) is given. z = 0) = ∞ −∞ dk1 ∞ −∞ dk2 A(k1 . k2 ) for which the integral exists. then V satisﬁes Equation 3. then a sum over k1 and k2 becomes an integral. and setting the result equal to V0 .21. k2 )eik1 x eik2 y e−k3 z (3. y. Since k1 and k2 can be any real numbers.21. And then you use the result in Equation 3. k2 ) that solves Equation 3. b.23 to ﬁnd A(k1 . So. We need to see if it is general enough. and is given by: A(k1 . A sum of these solutions for diﬀerent k1 and k2 must also be a solution.) We now have our general solution to Laplace’s equation. because k3 is a function of k1 and k2 . That is.23) If A satisﬁes Equation 3. That occurs when the surface values are dominated by long. (3. can we satisfy the boundary values? The answer is: yes.23.21 for V . (3. In that case. A common situation we’ll run into is one where V0 = V0 (x) is independent of y.

24) This V (x. To ﬁnd A(k1 ). instead of eik1 x or eik2 y . In this course. then the result in Equation 3. This can be inverted. the separable solutions will have the form V (x. I won’t go into this. but I don’t want to work with Dirac delta functions in this course. rectangular coordinates will work just ﬁne for all planar problems we consider. The separable solutions in that case include Bessel functions.3 Spherical boundaries In global problems you’re interested in ﬁnding V outside the earth. to ﬁnd V (x. Another way to solve plane boundary problems is to use cylindrical coordinates. is to note that if V0 is independent of y. etc. 3.3. to give A(k1 ) = 3. a spherical coordinate .2 Cylindrical coordinates 1 2π ∞ −∞ dx V0 (x)e−ik1 x . (3.3. 0) = ∞ −∞ A(k1 )eik1 x dk1 . In that case. These are useful if the boundary values on the plane z = 0 are circularly symmetric about the origin. POISSON’S EQUATION 87 One approach to this special case. for any V0 (provided V0 is integrable. We add these solutions together to get the general solution: V (x.3. given information about V on what is approximately a spherical surface. z) = Aeik1 x e−k3 z where k3 = |k1 |. y.3. z) = ∞ −∞ A(k1 )eik1 x e−|k1 |z dk1 . That’s the right answer. V must satisfy V0 (x) = V (x. Instead.). z) satisﬁes Laplace’s equation. under the assumption that V doesn’t depend on y either. z) when V0 = V0 (x). k2 ) gives a Dirac delta function for k2 when integrated over y. In this case.3.23 for A(k1 . let’s go back to ﬁnding separable solutions.3. and where k1 can be any real number.

and the right hand side depends only on φ. but R= rl r −(l+1) . but at least r is separated from θ and φ.26 by sin2 θ to give: 1 2 1 sin θ ∂θ (sin θ ∂θ T ) + l(l + 1) sin2 θ = − ∂φ L. and dividing by V ): 1 1 ∂2L . That is. l could be any complex number. and φ at this stage. φ) is appropriate. At the moment. In spherical coordinates: 2 V = 1 1 1 2 ∂ (r 2 ∂r V ) + 2 ∂θ (sin θ ∂θ V ) + 2 2 ∂φ V. 2 r r r sin θ r sin θ 2 We ﬁrst try to ﬁnd a complete set of solutions to V = 0 in spherical coordinates.25 is: R 2 2 ∂r R + ∂r R − 2 l(l + 1) = 0.25) (3. θ. ∂θ (sin θ ∂θ T ) + T sin θ L sin2 θ φ 2 The 1/ sin2 θ in the ∂φ L term prevents a complete separation of these terms into r. but so far we don’t know that. we multiply Equation 3. φ) = T (θ)L(φ)R(r). So both sides equal a constant. without trying to satisfy the boundary conditions. Then. T L The left hand side depends only on θ. φ) in 1 ∂r r 2 ∂r R R =− 2 V = 0.26) To ﬁnd T and L. . POTENTIAL THEORY system (r. Let’s write the constant as l(l + 1).) Then: ∂r (r 2 ∂r R) = Rl(l + 1) 1 1 2 ∂θ (sin θ ∂θ T ) + 2 ∂φ L = −l(l + 1). while the right hand side depends only on θ and φ. θ. T sin θ L sin θ Equation 3. T . Let’s look for separable solutions of the form: V (r. Call the constant m2 . L and R must satisfy (using V (r. (l will turn out to be an integer. r r There are two solutions: (3. This equation can be satisﬁed only if the two sides are equal to a constant. (m will turn out to be an integer. θ. θ. the left hand side depends only on r.88 CHAPTER 3.

1 − x2 (3. POISSON’S EQUATION 89 we don’t know that yet. To ﬁnd the an ’s. Then.28) sin θ ∂θ (sin θ ∂θ T ) = (m2 − l(l + 1) sin2 θ)T. The hard part is now to solve Equation 3. we use this power series in Equation 3.29 to ﬁnd recursion relations for the an ’s.27 are L= eimφ e−imφ . Deﬁne x ≡ cos θ.3. negative. and unless l ≥ |m|.27) (3. gives a diﬀerential equation for T in terms of x: ∂x 1 − x2 ∂x T + l (l + 1) − m2 T = 0.28 for T .) So: 2 ∂φ L = −m2 L (3. the power series truncates to a ﬁnite-order polynomial in x: powers of .29) This equation can be solved by expanding T using a power series in x: T = 1−x 2 m/2 ∞ n=0 a n xn . what we ﬁnd is that in that case. So the solution for L is L = eimφ where m can be any integer: positive. 1]. dθ dθ dx dx and sin θ = √ 1 − x2 . or 0. In fact. which is why we include no negative exponents in the sum over n. Using these results in Equation 3. either. Continuity of L requires that L(φ = 2π) must equal L(φ = 0). The solutions to Equation 3.28. We are interested in solutions for T which are ﬁnite on [−1. and this will occur only if m is an integer.3. We ﬁnd that the series diverges at x = ±1 unless l is a non-negative integer. dx dT dT dT = = − sin θ .

Then. that will give 0. The highest power of x in Pl (x) is xl . you could if you wanted — by changing all the m’s on the right hand side of Equation 3. Note. the solutions are written as T (x) = Plm (x). So. POTENTIAL THEORY xn with n > l − |m| have coeﬃcients an = 0. and are called “Legendre polynomials. l derivatives. to ﬁnd Plm you take |m| more derivatives. you are left with xl . 1]. But.29 determines T only to within a multiplicative constant: the function Pl could be multiplied by any additional constant. we’ve found separable solutions. So. and that l ≥ |m|. l l! dxl 2 Note that Equation 3. The leading factor of factor.90 CHAPTER 3. It is not usual to deﬁne Plm for m < 0. If r l V = or × Plm (cos θ)eimφ r −(l+1) (using x = cos θ as the argument of Plm ). When m = 0. which is required in order for T to be ﬁnite on [−1.” They have the form Plm (x) = (−1) (1 − x ) m 2 m/2 1 1 2l l! in the deﬁnition of Pl is simply the conventional normalization dm Pl (x) dxm (3. and after you have taken |m| > l. What about for m < 0? Note that the diﬀerential equation for T has an m2 dependence. and are called “associated Legendre functions.30) for m ≥ 0.” These polynomials reduce to the form Pl (x) = 1 1 dl 2 (x − 1)l . From this point on we require that l and m be integers. For m = 0. It is common to lump the θ and φ dependence . that Pl0 = Pl . They are of the form: The condition that |m| ≤ l. also. these polynomial solutions are written as T (x) = Pl (x). is automatically guaranteed by the expressions for Plm and Pl . That’s because (x2 − 1)l has highest power x2l . and it would still be a solution.30 into |m|’s. solutions for negative m should be the same as for positive m.

32) where l (≥ 0) and m (|m| ≤ l) are integers. φ). . There are lots of good references for these. φ + π) = (−1)l Ylm (θ. the spherical harmonics are deﬁned using Ylm ≡ (−1)m Yl solutions to 2 .3. φ) (3. convenient normalization: 2π 0 The leading square root factor in the deﬁnition of Ylm is used so that we have the π 0 dφ sin θ dθ [Ylm (θ. So: Ylm (π − θ. This tells you what happens to Ylm due to an inversion of the coordinate system through the origin. 3.32 will still satisfy Laplace’s equation.3. φ)] = 1 Note that it doesn’t matter how the Ylm ’s are normalized. For negative m. some of the more useful properties. Sometimes in geophysics other normalizations are used — so be careful. where Ylm∗ indicates complex conjugation. without proof. in the sense that if the Ylm ’s are multiplied by any additional constant.3.4 Properties of the Ylm ’s and Plm ’s I’ll give.4.31) (−m)∗ for m ≥ 0. With the use of these functions. Equation 3. 3. the separable V = 0 have the form: V = l r r −(l+1) × Ylm (θ. POISSON’S EQUATION 91 together into a single set of functions called spherical harmonics. and deﬁned as: Ylm (θ. φ) = 2l + 1 (l − m)! m Pl (cos θ)eimφ 4π (l + m)! (3. φ)Ylm∗ (θ.3.1 Parity Plm (cos(π − θ)) = Plm (− cos θ) = (−1)l+m Plm (cos θ) eim(φ+π) = (−1)m eimφ .

. complex function over the unit sphere (that is. φ) = δll δmm where δ is the Kronecker delta (i.33 by Ylm ∗ and integrate over the sphere.4. POTENTIAL THEORY 3.3.3.3. Using l the orthogonality property gives: Am = l 2π 0 dφ π 0 sin θ dθ V0 (θ. multiply Equation 3. 3. with V0 (φ = 0) = V0 (φ = 2π). δll = 1 if l = l . and = 0 otherwise). but these two are probably the most useful.3.4. then you can always ﬁnd complex numbers Am such that l ∞ l V0 (θ. on 0 ≤ θ ≤ π and 0 ≤ φ ≤ 2π).4 Orthogonality 2π 0 π 0 dφ sin θ dθ Ylm (θ. φ) is any suﬃciently smooth. φ).2 Recursion Relations m m (2l + 1)xPlm (x) = (l + 1 − m)Pl+1 (x) + (l + m)Pl−1 (x) m (1 − x2 )∂x Plm = −lxPlm + (l + m)Pl−1 .3 Speciﬁc Results I’ll only give two.e. both of which will be useful later in the course. 3. 1 Y00 = √ 4π 5 Y20 = (3 cos2 θ − 1).4. φ)Ylm∗ (θ. l (3.4. φ).92 CHAPTER 3. φ)Ylm ∗ (θ. 16π 3. There are lots of other recursion relations. φ) = Am Ylm (θ.33) l=0 m=−l To ﬁnd the Am .5 Completeness If V0 (θ.

4.3.3.30. θ . 2π). φ )Ylm (θ. So. φ )) be two vectors separated by the angle γ. For example. that is roughly 40. (The “l − m” is from the ∂x Pl in Equation 3.) So. while for m = l they are oriented east–west. the real and imaginary parts of Ylm each have 2m zeros for φ ∈ [0. Here’s one way to interpret the addition theorem. φ) 2l + 1 m=−l l (where cos γ = cos(θ) cos(θ ) + sin(θ) sin(θ ) cos(φ − φ )). for m = 0 the wavelengths are 40. so that the Ylm∗ (θ . Consider θ and φ as ﬁxed. (Actually. then the north–south wavelength over the earth’s surface is roughly 1 (l 2 π 6371 40000 km km ≈ l−m − m) (where 6371 km = earth’s radius).6 The wavelengths of the Ylm ’s The values of l and m tell you something about the spatial wavelengths of the Ylm . there are north–south variations even when l = m.7 The Addition Theorem Let x(= (r. The φ dependence of Ylm is eimφ .000/l. m polynomial of degree (l − m). then Plm is (1 − x2 ) m/2 = sinm (θ) times a Plm (x) has l − m zeros between the North and South Poles.000 m km and are oriented north– south. Since a function has two zeros per wavelength.3. Since Pl0 = Pl is a polynomial of degree l in cos θ. m m Another way to think of this is that Ylm has a wavelength. independent of direction. Then.) 3. and that the value of m tells you about the orientation of the spatial pattern. plus additional zeros at the poles (for m = 0) due to the sinm (θ) factor. Then Pl (cos γ) = l 4π Y m∗ (φ . This is the addition theorem.4. POISSON’S EQUATION 93 3. φ ) are just numbers. θ. φ)) and x (= (r . the theorem tells us how to use those numbers . which has been given here without proof. because of the sinm (θ) factor.3. And the east–west wavelength at the equator is 2π 6371 40000 km ≈ km.

Find the solution to 2 V = 0 outside the sphere (r > R). Keep the r −(l+1) term in Equa- tion 3. θ. To do this.1 Example 1. φ). We are given V on a spherical surface (r = R) about the origin: V (r = R. This rotation changes the φ-independent Pl (cos γ) to ˆ a sum of φ-dependent Ylm .94 CHAPTER 3. φ). that l characterizes the shape of a Ylm while m describes its orientation. use r = R in Equation 3. But note that it doesn’t change the value of l. to ﬁnd V inside r = R. φ) = ∞ l Am r −(l+1) Ylm (θ. φ )’s as rotation coeﬃcients. φ). Suppose V0 = constant on the sphere r = R.5 Applications The most common application is something like the following. 3. φ) which. try: V (r. for all θ. then we’d keep the r l term in Equation 3. instead of V .34) l=0 m=−l To ﬁnd the complex coeﬃcients Am . (If the problem were. from the completeness property of the Ylm ’s. Then. we add together the separable solutions. but discard the r l term since r l → ∞ as r → ∞. due to rotating the coordinate system from a coordinate system where the z-axis points towards x . instead.35) . Think of the Ylm∗ (θ .32. 3.5. reduces to an m = 0 spherical harmonic.32 instead of the r −(l+1) term. Am = Rl+1 V0 l sin θ Ylm∗ dθ dφ (3. Am = Rl+1 l sin θ dθ dφ V0 (θ. φ)Ylm∗ (θ.3. Then. l (3. POTENTIAL THEORY to construct a linear combination of the Ylm (θ. to a new system where the z-axis is along ez .) This approach can be changed slightly to solve problems where you are given ∂r V . and set the result l equal to V0 . on r = R. θ.3. φ.34. So. φ) = V0 (θ. This theorem further supports the suggestion above. We assume that V (r = ∞) = 0.

For the real earth.3.2 Example 2. So: A0 = RV0 4π.3. To write the integrand as products of Ylm ’s. φ) gives: l l √ A0 0 RV0 4π 1 RV0 0 √ = Y0 = V (r. is: V (r = R. A better approximation for V on r = R. later. Putting these results for Am back into V (r.5. V is not quite constant over the surface. why the biggest perturbation to V0 is a P2 term. 5 2 . we conclude that Am = V0 Rl+1 l sin θ dθ dφYlm∗ [1 − J2 P2 (cos θ)] .35 can be written as: √ Am = Rl+1 V0 4π sin θ (Y00 Ylm∗ ) dθ dφ l √ = Rl+1 V0 4π δl0 δm0 .) From the results above. φ) = V0 [1 − J2 P2 (cos θ)] where J2 and V0 are constants. So Equation 3.) What is V in this case for r > R? (We’ll see. 0 and all other Am = 0. POISSON’S EQUATION 95 Note that 1 = √ 4π Y00 . φ) = r r r 4π which is the result we obtained earlier for a sphere using direct integration. θ. It has to do with the earth’s rotation. we use: 1= So: Am = V0 Rl+1 l √ 1 sin θ dθ dφ 4π Ylm∗ Y00 − J2 Ylm∗ Y20 √ 5 √ J2 = V0 4πRl+1 δl0 δm0 − √ δl2 δm0 5 √ 4πY00 0 P2 = P 2 = 4π 0 Y . √ where the last equality follows from the orthogonality of the Ylm ’s. θ. than that described by Example 1.3. (Note that we are still assuming that the surface is a sphere. and the earth’s surface is not quite a sphere. 3. θ.

to obtain: ρ(x ) = l . (3. φ)Ylm ∗ (θ. ρm (r ) = l 2π 0 dφ π 0 sin θ dθ ρ(r . because.37) .32). So: √ A0 = V0 R 4π 0 A0 = −V0 R3 J2 2 which gives √ 4π 3 V0 R 4π 0 V0 R J2 5 0 Y0 − Y2 V (r. components with larger l decrease more rapidly. 3. this implies that the shorter wavelength signals die away more rapidly as you proceed away from the earth. φ ).3. θ. θ. So. − J2 r r 3.6 The use of Ylm ’s in direct integration Spherical harmonics can also be useful in direct integrations problems: where you are trying to ﬁnd V for a given density distribution inside the earth. In fact. POTENTIAL THEORY where the last equality follows from the orthogonality of the Ylm ’s.3.96 CHAPTER 3.m ρm (r )Ylm (θ . l (3. You can always expand ρ into spherical harmonics. φ) = r r3 V 0 R V 0 R 3 J2 − P2 (cos θ) = r r3 R R 3 = V0 P2 (cos θ) .5.36) You can do this. the spherical harmonics are a complete set of functions on every sphere r = constant. as stated above. an individual Ylm term in V will decrease with increasing radius as r −(l+1) (see Equation 3. Note that this is an application which doesn’t involve solving a boundary value problem. φ). This is why a satellite must be in a relatively low orbit if it is to be useful for determining short wavelength terms in the earth’s gravity ﬁeld. Since large l corresponds to short horizontal wavelengths. Suppose you know ρ(x ).3 Radial dependence as a function of l 4π 5 One general comment: Note that if you’re outside the earth.

to obtain: l l V (x) = 4πG l. you ﬁnd the ρm (r ) using Equation 3. the sum over l .m l+1 R σlm Ylm (θ.39) .38. We will also occasionally want to compute V when there is a surface density.38. can be used in Equation 3.m Ylm (θ. φ) 2l + 1 r .6. the radial integral in Equation 3. φ ) Ylm (θ.m l .3. These expansions of ρ(x ) and of 1/ |x − x |. We will use this result later in these notes. So. (3. and then you integrate over r l and sum over l and m in Equation 3.3. due to the orthogonality of the Ylm ’s. reduces to R l+2 σlm .3 becomes V (x) = G ρ(x ) 3 dx |x − x | 1 = 4πG × 2l + 1 l. φ) l+1 l |x − x | 2l + 1 r> l=0 m=−l where r< = r r< = r r> = r 3. concentrated on the spherical surface r = R. φ ) Ylm (θ.m (r )l m ρ (r ) Ylm (θ . to ﬁnd V . and so Equation 3. but it turns out that you can also expand 1/|x − x | into spherical harmonics as: l ∞ l r< m∗ 1 1 = 4π Y (θ . φ ) Ylm∗ (θ . m goes away. In that case. POISSON’S EQUATION 97 It is not obvious. φ) 1 2l + 1 r l+1 (r )l+2 ρm (r ) dr .1 Finding V outside a surface r> = r if r < r if r > r. φ)(r )2 dr sin θ dθ dφ .3. l+1 l r The integral over dθ dφ is easy. In that case r > r for all r inside the earth. and we can replace ρm with ρm . σ.38) So.3 to ﬁnd V outside the earth. l (3. and so: V = 4πGR l.37. We get 0 from the integral unless l = l and m = m .

Note that the weighting factor. The best you can do is to use Equation 3. from Equation 3. φ) So ρ0 (r ) = 0 √ 4πρ(r ). φ ) = l. (Assume r < r . except that here r< = r and r> = r . θ . Using this result in Equation 3. is largest near the surface.6.3. As an application of Equation 3. especially for large l (short horizontal wavelengths). φ) l r 2l + 1 ρm (r ) l dr .38. Consider a point.37. φ) √ sin θ dθ ρ(r ) 4πY00 Ylm ∗ (θ. for all r in the massive object. x. ρm (r ) = l = 2π 0 2π 0 dφ dφ π 0 π 0 sin θ dθ ρ(r )Ylm ∗ (θ. given by M= ρ(x ) (r )2 sin θ dr dθ dφ = 4π (r )2 ρ(r ) dr = √ 4π (r )2 ρ0 (r ) dr .) The result is: V (x) = 4πG l. 0 This result for V agrees with the result that we obtained in Section 3. and all other ρm (r ) = 0.38. φ ).98 CHAPTER 3. and you want to learn about ρ(r). inside a hollow object which has a mass density of ρ(r . This equation doesn’t give you ρ as a function of r.2 Finding V inside a surface Here’s another result we’ll need later. (r )l−1 .m ρm (r ) Ylm (θ .1 without using spherical harmonics. but at least it does give you a weighted average of ρm (r) for each l and m. l What is V at x? The answer is obtained as in the case where you are outside the sphere. φ) r (r )2 ρ0 (r ) dr = 0 GM r = √ 4πρ(r ) if l = m = 0 0 otherwise where M is the total mass of the earth.38. Then. suppose we have a spherically symmetric earth. gives: l V (x) = 4πG Y00 (θ. so that ρ(x ) = ρ(r ). POTENTIAL THEORY Note: suppose you know V . l r l+2 .m Ylm (θ.2. 3.

40) where σ= l. with thickness l . and a thin shell at r = r0 .m Ylm (θ .3 A slightly non-spherical surface Finally. dφ as described above. dθ . so that there is some mass inside of x and some outside. Because the ’s are small.3. θ . our earth would be a sphere and the solution would be m l easy (described in several places above).3. φ ). Suppose we model the earth as having a homogeneous mass density (ρ = ρ0 = constant). φ ) m l 1 and where r0 (= constant) is the mean spherical radius of the surface. after expanding ρ(x ) in terms of Ylm . POISSON’S EQUATION 99 As a special case. then V would be obtained by adding together the solutions for external and internal mass distributions described above. σ. you can think of their eﬀects on V as.m σlm Ylm (θ. φ). ’s were zero. and that all of the mass is described with a surface mass density. Suppose the outer surface consists of the points (r . But there is an easier way to obtain an approximate result. and an outer surface that is almost. Then V (x) = r4πG l.m Ylm (θ. that uses the assumption that If all of the m l m l 1. but not quite. You think of this earth as the sum of a sphere of radius r0 . to lowest order. the eﬀects of a surface mass. Note that if x is inside an object that is not hollow. What is V inside and outside this earth? We could do this exactly by integrating over dr . on the spherical surface r = R. . φ ) that satisfy: where r = r0 1 + m l l . here is another example that will prove useful later. 3. (3.6. suppose the hollow object is a sphere.3. φ) r 2l + 1 R l−1 σlm . spherical.m m l Ylm (θ .

φ ) where σlm = r0 ρ0 m l .6: We can easily ﬁnd V due to the sphere. POTENTIAL THEORY This thickness can be negative for some (θ . Then. (3.41) Outside. V due to the r = r0 sphere is GM 4 3 G = πr0 ρ0 . φ ) we must remove mass from the r0 sphere to obtain the shape of the object. It just means that at those (θ . so that r ≥ r .100 CHAPTER 3. Suppose x is outside our earth. The expansion of σ into spherical harmonics is: σ(θ . (See Figure 3. φ ) = l . The diﬃcult part is to ﬁnd V due to the thin shell. To lowest order. but that’s OK. given by σ(θ .) sphere negative thickness r0 ρ0 positive thickness "earth" Figure 3.m m l Ylm (θ .m σlm Ylm (θ .6. φ ) = r0 ρ0 l . we assume that the mass distribution of the shell can be described with a surface density at r = r0 . r 3 r . φ ). φ ). for all r in the earth.

To ﬁnd the eﬀects of the thin shell.39 to ﬁnd the eﬀects of the surface mass at a point outside the sphere. The potential at r due to the sphere (r = r0 ) is 2 2 V = πρ0 G 3r0 − r 2 . but it’s easy to do that on your own. gives a total V of V (x) = 3 4 r0 ρ 0 G 2 π + 4πGr0 ρ0 3 r m l l. φ) 3 r0 l.41 for σlm in Equation 3.3. φ) r0 r l+1 .39. . for all r on the surface of the object.m 2l + 1 Ylm (θ. 3 I haven’t derived this in these notes.3. The solution for the total contribution to V is: m 2 r l 2 V = πρ0 G(3r0 − r 2 ) + 4πGρ0 r 2 Ylm (θ. Using Equation 3. POISSON’S EQUATION 101 And we can use Equation 3.41 for σlm in the result for V from Equation 3.40. and adding the spherical component. we use the Equation 3. Inside. Suppose r < r .m 2l + 1 l−2 . added to V so that V is continuous at r = r0 . The 2 3r0 term is a constant.

102 CHAPTER 3. POTENTIAL THEORY .

) This is the standard deﬁnition of the geoid. Probably the main function of the geoid in physical geodesy is to serve as a reference surface for leveling. You can imagine. In other words. suppose the earth’s surface was covered with a layer of water. If you leveled over this surface. We’ll worry about a more precise deﬁnition.1 The Figure of the Earth: The Geoid The geoid is the surface of constant potential energy that coincides with mean sea level over the oceans. To see the connection. due to dynamic processes within the ocean. the actual equal potential surface under continents is warped by the gravitational attraction of the overlying mass. mean sea level is not quite a surface of constant potential.” here. turning oﬀ the dynamic processes so that sea level does become a constant potential surface. but it’s a sloppy deﬁnition. their geoid is not truly an equipotential surface. The geoid would then coincide with the surface of that water layer. the geoid lies beneath the earth’s surface.) For another thing. wherever there are continents. later. As a result.Chapter 4 Physical Geodesy Problems 4. refers to the gravitational plus centrifugal potential energy. your results would show that the entire surface was at the same elevation: the ﬂuid level in the instrument would always indicate “horizontal” as 103 . though. (“Potential energy. (We’ll show later that the surface of an equilibrium ﬂuid is a constant potential surface. But geodesists deﬁne the geoid as though that mass were underneath the geoid instead of above it. For one thing.

But. The potential V . and is directed radially inwards.2 Spherically Symmetric. let’s look at the two eﬀects separately. but progressively more complicated. Thus. it will not remain spherical. And. for example. The ellipticity has as big an eﬀect on the geoid as does the rotation.1) 2 (4. 4. for that.1.2) . in this case. If. for a more realistic earth. in general. to ﬁnd the actual shape of the earth you need to determine the shape of the geoid. the geoid is the outer surface. The gravitational potential outside is V = GM/r. In this section we assume the earth is rotating but that it remains spherical. So what you really measure when you level.” so that r = a is the geoid. earth models.104 CHAPTER 4. Note that g = constant on the geoid. The geoid is a surface of constant gravitational plus centrifugal potential. 4. you need gravity observations. the potential outside the earth is V = GM/r where M = earth’s mass. Let’s consider the shape of the geoid and its relation to measured gravity for some simple. Non-rotating Earth In this case. In this case the outer surface is r = a.1. Centrifugal forces deform the earth into an ellipse. The gravitational acceleration outside is GM/r 2 . This will not be true. are the elevations above (or below) the geoid.1 Spherically Symmetric. then we choose that constant value of r to equal “a. PHYSICAL GEODESY PROBLEMS being parallel to the water surface. we want the geoid to have a mean radius equal to the radius of the earth. The centrifugal force per unit mass is −Ω × (Ω × r) = −Ω Ω · r + rΩ2 1 2 2 = r Ω − Ω·r 2 centrifugal potential (4. and gravity at the earth’s surface is g = GM/a2 . So. the surface of the earth is r = a. Rotating Earth If you take a spherical earth and start it rotating. is constant for constant r.

THE FIGURE OF THE EARTH: THE GEOID 105 where Ω = the earth’s rotation vector.3) So rotation modiﬁes the θ-independent term in VT . For example: 1 2 2 Ω r 1 3 ≈ (at earth’s surface).4. and introduces a P2 term. A gravimeter records the sum of the gravitational acceleration and the centrifugal acceleration. GM/r 870 P2 (cos θ) varies from 1 to − 1 over the surface. So.5) . r 2 2 2 − P2 (cos θ). so the P2 term is approximately (1 − 2 1 (− 2 )) 1 870 1 580 = of the gravitational term. (We are using P2 .1. Rotation also aﬀects the observed acceleration. So: V = Using Legendre polynomials: sin2 θ = 2 2 1 − 3 cos2 θ − 1 3 3 2 P2 1 GM + Ω2 r 2 sin2 θ. ˆ r 3 3 3 (4. here. then ˆ Ω · r = Ωz = Ωr cos θ. = 3 3 So VT = 1 1 GM + Ω2 r 2 − Ω2 r 2 P2 (cos θ). If we deﬁne the coordinate system so that Ω is along ez . the sum of the gravitational and centrifugal potentials is VT = GM 1 2 2 r Ω − Ω·r + r 2 2 . r 3 3 (4.4) 1 = e r ∂ r VT + e θ ∂ θ VT ˆ ˆ r 2 1 2 GM ˆ = er − 2 + Ω2 r − Ω2 rP2 (cos θ) + eθ − Ω2 r∂θ P2 (cos θ) . That sum is best found by taking the gradient of VT : gT = VT (4.) The rotational terms are small. instead of Y20 simply to follow convention.

Ω modiﬁes the radial component of g T . It is not uniquely determined by the requirement that VT = constant on this surface. This is probably a pretty good approximation. θ). so we use r = a + δr in that term. so that VT (r(θ).6 to be independent of θ. Or. 3 gT The constant in these expressions does nothing interesting.6) For Equation 4. we assume that r(θ) ≈ a.7) . then: = δr(θ) = − 1 Ω2 a 2 P2 (cos θ) + constant. What is the shape of the geoid for this example? In other words. Note that neither the amplitude nor the direction of g T is constant over the surface r = a. To ﬁnd r(θ). along with the approximation (a + δr)−1 ≈ 1 [1 a δr ]. then the constant in the above equations is zero (the average of P2 (cos θ) is 0). Find r as a function of θ (r = r(θ)). θ) ≈ δr(θ) 1 1 GM 1− + Ω2 a2 − Ω2 a2 P2 (cos θ).106 CHAPTER 4.3 is a function of r and θ: VT = VT (r. so we can use the approximation r = a in r 2 Ω2 . The r 2 Ω2 terms are ﬁrst order already. It just tells you which of the VT =constant surfaces you are on. PHYSICAL GEODESY PROBLEMS So. where δr/a ﬁrst-order approximation for δr. We write r(θ) ≈ a + δr(θ). a a 3 3 (4. so that the eﬀects of rotation on the geoid are small. δr(θ) must satisfy: 1 GM δr(θ) = − Ω2 a2 P2 (cos θ) + constant. 3 gT (4. since GM/a2 ∼ gT at r = a (gT ≡ |g T |) to zero order in Ω2 . a 1.3 has a GM/r term and two r 2 Ω2 terms. The GM/r term is zero order. The surface described by r(θ) is then a surface of constant VT . and we try to ﬁnd a − Then: VT (r = a + δr. and the geoid is described by: r =a− 1 Ω2 a 2 P2 (cos θ). so long as it is independent of θ. θ) is independent of θ. and introduces a θ-component. since the eﬀects of rotation on VT are less than 1/500. 2 a 3 where the constant can be any number. VT in Equation 4. If you want the geoid to be the VT =constant surface that has its mean radius = a. VT in Equation 4. and so is a candidate for the geoid.

Note that if you leveled over the earth’s surface. construct the vector ﬁeld g g = g T (r = a + δr. So. Incidentally. φ) to represent g on the geoid. φ) where VT0 is independent of both θ and φ (VT = GM r + 1 Ω2 r 2 ) 3 and δV ( = − 1 Ω2 r 2 P2 (cos θ) in this example) represents the angular dependence of VT . Then from Equation 4. φ). What is g g (≡ |g g |) as a function of θ? g g g g = |gr er + gθ eθ | ˆ ˆ g ≈ |gr | (to 1st order in small quantities) ≈ |gT (r = a) + δr∂r gT (r = a)|. we obtain: gg ≈ − 1 Ω a 2 GM 2GM 2 + Ω2 a − Ω2 aP2 (cos θ)− 3 GM P2 (cos θ) a3 2 a 3 3 ( 2 ) dominant ∂r δV a term δr=δV /gT 2 2 2 4 GM − Ω2 a + Ω2 aP2 (cos θ) = a2 3 3 . gT This result will also hold in all later examples. note that: δr ≡ δV (r = a) .3) as 0 0 VT = VT + δV (r. θ. suppose we could measure |g T | on the geoid. with θ)? That is.5 above. suppose we write the geoid in the form: r = a + δr(θ. 3 Then.7. θ. sea level has large departures from a spherical surface. where δr is the departure of the geoid from a sphere.1.4. Finally. The second term on the right-hand-side of Equation 4. How would the result vary with position on the earth’s surface (i. as we increase the complexity of the model earth. would be the shape of the mean sea surface. then.7 varies with θ (as θ varies between 0 and 2π) by approximately (1/580) × a ≈ 11 km.e. φ) (Equation 4. Write VT at (r. you would conclude that there were 11 km diﬀerences in elevation over that surface. assumed here to be r = a. θ. THE FIGURE OF THE EARTH: THE GEOID 107 Equation 4. since those terms are second order after being multiplied by δr. ignoring terms in ∂r gT of the order of Ω2 .

(We’ll talk about how you solve for δV later. First. They do that using the leveling data. Those data give them the radial distance between the surface and the geoid.9. Equation 4.3 Rotating. They then use those results to deduce gravity on the geoid. a So. a2 3 (4. If gs = g as measured on the surface.108 CHAPTER 4. To determine the geoid. They then ﬁnd δg (the angular-dependent component 2 of g g ). and solve ∂r δV + a δV = −δg to ﬁnd δV . Note that H/a 1. now they have g on the geoid. we can anticipate now how geodesists determine the earth’s shape.8) where all the angular dependence in this ﬁnal result is included in: 2δV (r = a) 4 δg ≡ Ω2 aP2 (cos θ) = −∂r δV (r = a) − 3 a (4. The biggest contribution to VT from the non-spherical density components is the addition of a P2 (cos θ) term to the P2 (cos θ) term that is already . then g g ( = the value of g on the geoid) is approximately: g g ≈ gs − H∂r gs ≈ (ignoring terms that are 2nd order in the departure from spherical symmetry) GM gs − H∂r r 2 r=a 2 ≈ gs 1 + H .9) This result. This tells them how the earth’s surface diﬀers from the geoid.) And δr = δV /g gives the geoid shape. they measure gravity over the surface.1. PHYSICAL GEODESY PROBLEMS = GM 2 − Ω2 a + δg. is another result that will hold for the more complicated earth models described below. Given that (δg = −2δV a − ∂r δV ) and (δr = δV /gT ) will hold for an arbitrarily com- plicated earth model (we have yet to demonstrate that). relating the angular dependent component of g g to the angular dependent component of VT . 4. Elliptically Symmetric Earth The earth is not a sphere. Call that distance H. they level the earth.

r 3 3 r new term (4. And it turns out that J2 1. As we saw above. The amplitude of the total acceleration (gravitational + centrifugal) outside the earth is then: gT ≡ |gT | ≡ | VT | ≈ |∂r VT | (to 1st order in small quantities) 2 3M G 2 2 GM a J2 P 2 = − 2 + Ω2 r − Ω2 rP2 + r 3 3 r4 2 2 3M G 2 GM − Ω2 r + Ω2 r − a J2 P 2 . the P2 density perturbation is due to the Ω2 r terms in the potential — as we will see later — and those terms are small. putting r = a + δr into Equation 4. in turn. Meanwhile. which is why the term proportional to P2 . = 2 r 3 3 r4 To ﬁnd the shape of the geoid. Deﬁne J2 so that outside the earth: VT = GM 1 1 MG + Ω2 r 2 − Ω2 r 2 P2 (cos θ) − 3 a2 J2 P2 (cos θ) . 1− + Ω 2 a 2 − Ω 2 a 2 P2 − a a 3 3 a . and keeping terms 1st order in small quantities. This new P2 term is caused by a P2 deformation of each constant density surface inside the earth which. later. Then. the Ω2 r terms are small at r = a. We’ll model this P2 deformation.1.10) The radial dependence of a spherical harmonic of order l is r −(l+1) . THE FIGURE OF THE EARTH: THE GEOID 109 present due to the rotation. is caused by the centrifugal force associated with the earth’s rotation. Let J2 be a dimensionless parameter which describes the size of the P2 contribution to VT .4. θ.10.) So we can assume δr/a 1. φ) is independent of θ and φ. as well. gives the following approximation for VT on the geoid: VT on geoid = GM 1 MG δr 1 J2 P 2 . φ). and try to ﬁnd the function δr for which VT (r = a + δr. just take my word that the P2 contribution to VT is by far the largest non-spherical contribution. above. (After all. we write the geoid as r = a + δr(θ. has a radial dependence of r −3 (P2 is proportional to Y20 ).

= 3 gT (4. given observations of δg (actually.2. then the constant in Equation 4. φ) + δr∂r gT 2 3GM GM 2 GM ≈ − Ω2 a + Ω2 a − J2 P2 − 2 3 δr.11 must equal 0. you obtain δg by extending surface . θ.15 was also valid in Section 4.1. the constant determines which constant potential surface we are on. If δg is the angulardependent part of g g . as described in Section 4. then using the result for δr gives: δg ∼ = gT 1 Ω2 a 2 2 2 + aJ2 P2 Ω a − 3gT J2 P2 +2 3 a 3 gT −∂r δV −δr=−δV /gT = 4 2 Ω a − g T J2 P 2 3 2 .2. φ) ≈ gT (a. If we want ‘a’ to equal the mean radius. As in Section 4. we can estimate gT on the geoid. and keeping only the lowest order term (in gT ) where it multiplies the ﬁrst-order quantity: δr.11) MG GM 1 δr − Ω2 a2 + J2 P2 = constant. 3 r3 (4. So.1. PHYSICAL GEODESY PROBLEMS This expression is independent of θ (it is obviously independent of φ). as: g g ≡ gT (r = a + δr.14) where the last equality follows using Equation 4.1.1.2 above. 2 a 3 a with gT ≈ GM/a2 . = − ∂r δV + δV a r=a (4. you solve Equation 4.11 for gT . note that δV (a) δr ∼ = gT where δV is the angular-dependent part of VT : δV (r) = − 1 2 2 M Ga2 Ω r + J2 P 2 . a2 3 3 a2 a (4. if: 1 Ω2 a 2 δr ∼ − + aJ2 P2 + constant. θ.2.12) Also. if: − Or.110 CHAPTER 4.13) (4.15) Equation 4. As in Section 4. to ﬁnd the shape of the geoid.15 for δV .

3 3 So. Other subdisciplines use diﬀerent parameters to describe the P2 distribution. is deﬁned as B2 = 5 aΩ2 − f. The notation J2 comes from satellite geodesy. a value for J2 is potentially interesting since it tells you something about the earth’s density distribution. THE FIGURE OF THE EARTH: THE GEOID 111 gravity data to the geoid using observed leveling elevations). you can determine J2 from Equation 4. Note that once you have δV . f = J2 + 2 2gT The signiﬁcance of f is that for the simple elliptical earth model discussed here.12 to get δr. . the geoid height is 2 1 δr = −af P2 = af − cos2 θ . Then.13. Another parameter. not just from P2 . sometimes written as B2 . of course. For example. = a 3 3 So. you use δV in Equation 4.4 The ellipsoid The real earth is. 2 gT The signiﬁcance of B2 is that the gravitational acceleration observed on the geoid is (for our simple elliptical model) GM 2 2 g g ∼ 2 − Ω2 a + gT B2 P2 (cos θ). 4.1. And. the diﬀerence between equatorial and polar gravity on the geoid is gT B2 . But.1. more complicated than a simple ellipse. There are contributions to VT from all the Ylm . the “ﬂattening” is deﬁned as aΩ2 3 . the P2 term is by far the largest.4. the diﬀerence in geoid height between the equator and the poles is af 1 1 − cos2 90◦ − − cos2 0◦ 3 3 = af.

The ellipsoid is a pretty good approximation to the geoid for the real earth — better than a sphere. where δr is a P2 (cos θ) term chosen to be consistent with the numerical values listed in Equation 4. let’s see if we can’t understand the P2 term a little better. the geoid for the simpliﬁed earth in Section 4. B2 .2 Clairaut’s Diﬀerential Equation Before we go ahead and consider a more realistic earth. The P2 term is well determined from satellite observations. with more Ylm contributions to VT . we will mean the diﬀerence between the geoid and the ellipsoid. 4.26 (4. for example. when we talk about geoid heights for the real earth. We will then deﬁne “gravity anomalies” and “geoid anomalies” as the diﬀerences from the constant plus P2 terms. particularly at f ) predict a diﬀerence in the geoid radius between the poles and the equator of about 21 km.28 × 10−3 . and why are the results for J2 . These numbers (look. We spin the ﬂuid about the ez axis with an angular velocity of ˆ . and f equal to the numbers shown above? What do those numerical values tell us about the earth? It turns out that the numerical results are consistent with the assumption that the earth responds to the centrifugal force of rotation as though it were a ﬂuid. To understand this result. B2 .16) B2 = 5. and is about twice as large as the contribution from rotation alone.1. let’s suppose we have a spherically symmetric ﬂuid sphere (density = constant on spherical surfaces).0826 × 10−3 f = 1 298.16 (in other words. Later. The mathematical surface described by r = a+δr. The accepted values for J2 . Why does rotation cause such a term. PHYSICAL GEODESY PROBLEMS It is convenient (and usual) to remove the P2 term from all observations.112 CHAPTER 4. This is much bigger than typical elevation diﬀerences associated with surface topography.3) is called the ellipsoid. and f are: J2 = 1.

After the ﬂuid has come to equilibrium. are consistent with convention. and that the only forces are those due to pressure. we assume that a surface of constant density which was r = r0 before spin up. It is possible to derive integral/diﬀerential equations for the l . Why just include Yl0 . 2 (a) = f (the ﬂattening deﬁned above). Take is zero: 0 = 0 = × ρ VT ⇒ ρ× VT . You can show from the integral/diﬀerential equations for arbitrary l. The use ˆ of Pl instead of Yl0 . note that at equilibrium there is no motion. since the curl of a gradient So. gravity. and the centrifugal force. the normals to constant ρ and constant VT surfaces are everywhere parallel ( ρ is along the normal to the constant ρ surface. then the equilibrium condition is P = ρ VT where ρ = density. Let VT (x) = total potential (gravitational plus centrifugal). So. so that we expect surfaces of constant density to be independent of φ. I claim that for a ﬂuid at equilibrium. × each side of this equation. is now r = r0 where l (r0 ) 2 1− 3 ∞ l=0 l (r0 )Pl (cos θ) 1. . but only for 2. Then. To see this. is symmetric about the ez axis. Note that with this convention. what does the internal density distribution look like? We will assume that the centrifugal force is the gravitational force. and the inclusion of the factor −2/3.4. so that surfaces of constant density are almost spheres — as they were before spin up. CLAIRAUT’S DIFFERENTIAL EQUATION 113 rotation = Ω. surfaces of constant density are also surfaces of constant VT (x). If P = pressure. which causes the aspherical shape. for example). In other words. Our objective here is to ﬁnd the l (r0 ) for all l and r0 . instead of Ylm (Pl is proportional to Yl0 )? Because the centrifugal force. We will do that here.2. the two surfaces coincide.

to ﬁrst order. Now.e. The gravitational potential is harder. 3 Let’s ﬁnd V due to the shell. we consider a point outside the outer surface.e. PHYSICAL GEODESY PROBLEMS that l = 0 for l = 2. the upper boundary of the shell is r = (r0 + dr0 ) 1 − The lower boundary is r = r0 1 − 2 (r0 )P2 . θ. To ﬁnd the gravitational potential. as well. The cen1 1 trifugal potential is 3 Ω2 r 2 − 3 Ω2 r 2 P2 (cos θ). φ) in the earth. and it can be determined from ρ(r0 ). to ﬁrst order in . The real density is dependent on θ. we assume the constant density/VT surfaces have a shape described by: r = r0 1 − where 2 (r0 )P2 (cos θ) 3 1. by r0 ∼ r[1 + = (r)P2 (cos θ)]. The upper boundary is the surface described by r0 + dr0 where dr0 is inﬁnitesimal. This point is on the constant density surface described by r0 . both above the shell (i. θ. φ) inside the earth.) Deﬁne ρ(r0 ) as the density on the surface described by the parame2 3 ter r0 . 3 (To ﬁrst order in . we need to ﬁnd VT at an arbitrary point (r. outside the shell’s outer surface) and below the shell (i. So the density at (r. inside the shell’s inner surface). as we saw in Equation 4. To do this. note that we can describe the density of the deformed earth by using a radially-dependent function: ρ(r0 ). So. we ﬁnd V at (r.2. Suppose the lower boundary of a shell is the surface described by r0 . 3 2 (r0 + dr0 )P2 (cos θ) . So r0 is given. where r is larger than any r in the shell. constant-density shells. φ). but physically it is because the centrifugal potential includes only l = 2 aspherical terms. We need to ﬁnd an equation for (r0 ). where r0 satisﬁes: r = r0 1 − 2 3 2 (r0 )P2 (cos θ) . We’ll skip that here. We choose a point (r. r0 (r0 ) = r (r). So.114 CHAPTER 4. we write down the expression for V caused by a uniform object that has . φ) is ρ(r0 = r[1 + (r)P2 (cos θ)]). First. Here’s how we do that. To do this. θ. θ. That is. break the earth up into thin.

2 4 2 r0 r0 − [5 (r0 ) + r0 ∂r0 (r0 )] P2 (cos θ) r 15 r 3 2 2 1 r0 + dr0 − (r0 + dr0 ) 3 5 r 3 P2 ρ0 .2. matter of re-deﬁning in these Chapter 3 results. outside . Vshell = Vr0 +dr0 − Vr0 = dr0 4πρ0 G where ρ0 ≡ ρ(r0 ). for the r0 + dr0 surface: Vr0 +dr0 = 4 (r0 + dr0 )3 ρ0 G π 3 r +4πG(r0 + dr0 ) ρ0 ≈ (to ﬁrst order in dr0 ) dr0 4 ρ0 G 3 π r0 1 + 3 3 r r0 P2 (cos θ) 5 (r0 ) 8 − πG r0 (r0 ) + dr0 5 + ∂r0 (r0 ) 15 r3 r0 For the r0 surface: 8 4 r 3 ρ0 G 5 (r0 ) − πGρ0 r0 3 P2 (cos θ). Vr 0 = π 0 3 r 15 r So. let’s ﬁnd Vshell inside the inner surface of the shell. CLAIRAUT’S DIFFERENTIAL EQUATION 115 density ρ0 = ρ(r0 ). if you are inside a homogeneous body with density ρ0 and outer surface r = r0 [1 + Ylm ]. the contribution to V from the shell alone is the diﬀerence of these V ’s. and an outer surface equal to the (r0 + dr0 ) surface (the outer surface of the shell). since that’s just a the potential due to a homogeneous object 1) is l+1 4 (r0 )3 ρ0 G r0 + 4πG(r0 )2 ρ0 = π 3 r 2l + 1 r Ylm (θ.4. l = 2 and m = 0. And we can replace Y20 with − 3 P2 . θ. φ) outside the object 2 In our case. Now. So. φ). and we subtract from it the expression for V caused by a uniform object with ρ0 = ρ(r0 ) and an outer surface equal to the r0 surface (the inner surface of the shell). From the results of Chapter 3. From Chapter 3 we know that for small with outer surface r = r0 [1 + Ylm ] (where V (r.

15 inside Incidentally.116 CHAPTER 4. After all. If we were to pretend it was a spherical surface mass we would be throwing away (dr0 )2 and 2 terms — which is ok — but also the (dr0 ) terms — which are important. − 3 15 The contribution from a homogeneous object with an r0 surface is 2 Vr0 = 2πρ0 G r0 − r2 3 − 8πGρ0 2 r P2 . So. That will give an answer correct to 1st order in the shell thickness. But our shell diﬀers from a spherical surface mass by terms of order dr0 and . m = 0. In our case l = 2. φ) from the entire object. the contribution from the shell is the diﬀerence: Vdr0 = Vr0 +dr0 − Vr0 = 4πρ0 Gr0 − 8πGρ0 2 r ∂r0 (r0 )P2 (cos θ) dr0 . we now have V from a shell. So. The eﬀect on V from an 3 object with surface described by r0 + dr0 is Vr0 +dr0 = 2πρ0 G (r0 + dr0 )2 − ≈ (to 1st order in dr0 ) 2 2πρ0 G r0 + 2r0 dr0 − r2 3 − 8πGρ0 2 r (r0 + dr0 ) 15 8πGρ0 2 r2 r [ (r0 ) + dr0 ∂r0 ] P2 . that doesn’t work here. But. and we again replace Ylm with − 2 P2 . θ. for the homogeneous body that means correct to order . that method doesn’t work. you might wonder: why not estimate the eﬀects of the shell by ﬁnding the mass in a radial column of the shell (that mass would equal the density times the thickness) and then pretend the mass is a surface density at r = r0 . So. 15 So. That means we integrate Vdr0 over r0 . that’s what we did to ﬁnd the potential from a homogeneous object with a slightly non-spherical surface. . To ﬁnd VT (r. PHYSICAL GEODESY PROBLEMS then inside 2 V = 2πρ0 G r0 − r2 3 + 4πGρ0 r l 2l + 1 r0 (2−l) Ylm . We use the outer solution for 0 ≤ r0 ≤ r. we sum over shells.

φ) − r1 (r1 )P2 ∂r VT (r1 .18) P2 . where the integrand is some more complicated expression for Vdr0 which is valid when r is “in” the shell. you can see that something is amiss by looking at the shell potentials Vdr0 inside and outside the shell. the integrals in Equation 4. φ). But.4. θ. To 1st order in . by terms of order . the result is a 2nd order eﬀect in . θ. θ.) For this to also be a constant potential surface. CLAIRAUT’S DIFFERENTIAL EQUATION 117 And the inner solution for r ≤ r0 ≤ a.17) + 4πρ(r0 )G r0 − r 2 ∂r0 (r0 )P2 (cos θ) dr0 15 r 1 1 + Ω2 r 2 − Ω2 r 2 P2 (cos θ) 3 3 4πGρ(r0 ) Incidentally. VT (r = r1 1 − independent of θ and φ. Comparing Vdr0 inside and outside at r = r0 . θ. And then there should be a 3rd integral between r − ∆r1 and r + ∆r2 . within or so of r0 . the size of the region you integrate over is order . θ. And. but V should be continuous. this all gives a 2nd order (in ) eﬀect on VT (r). What happens is that Vdr0 should be modiﬁed slightly at r. So the true Vdr0 near r = r0 diﬀers from the Vdr0 used here. shows that the discontinuity is of order . So. φ = VT (r1 . a constant density surface is described by r = r1 1 − 2 (r1 )P2 (cos θ) . and thus the result above for VT is ok to 1st order in . 3 3 (4. And. we include the centrifugal potential. Our result for V inside a shell was really only valid at points (r.2.17 should really have the limits r−∆r1 0 a r+∆r2 and where ∆r1 and ∆r2 are of order . So. The result is: VT (r. 3 2 3 (Use r1 instead of r0 to distinguish between the ﬁeld (r1 ) point and the mass (r0 ) point. And. φ) = r 0 4 2 2 r0 r0 − [5 (r0 ) + r0 ∂r0 (r0 )] P2 (cos θ) dr0 r 15 r 3 a 2 (4. where a = earth’s radius. where r was less than every r in the shell. We still must ﬁnd an equation for . The two are not continuous when r = r0 . φ) must be . θ. In fact. VT r = r 1 1 − 2 2 P2 . By assumption. there’s another thing you might worry about. φ). our result for V outside was only good when r was larger than every r in the shell.

which results in the condition: r1 0 4 2 r0 [5 (r0 ) + r0 ∂r0 (r0 )] dr0 3 15 r1 a r1 4πG ρ(r0 ) − + 4πG ρ(r0 ) − 2 r 2 ∂r (r0 ) dr0 15 1 0 r1 0 2 ρ(r0 )r0 dr0 = 0. since those terms are the same size as the terms that are ﬁrst-order in ): 2 a r0 dr0 + ρ(r0 )r0 dr0 r 0 r r r2 r2 = 4πG ρ(r) − ρ(r0 ) 0 dr0 − ρ(r)r r r2 0 4πG r 2 = − 2 ρ(r0 )r0 dr0 . So. is: 2 P2 . θ. we set the sum of the P2 (cos θ) coeﬃcients equal to zero.18. φ 3 VS ≡ V T r = r 1 1 − = 4πG r1 0 ρ(r0 ) a r1 2 4 r0 2 r0 − [5 (r0 ) + r0 ∂r0 (r0 )] P2 (cos θ) dr0 3 r1 15 r1 + 4πG ρ(r0 ) r0 − 2 2 r ∂r (r0 )P2 (cos θ) dr0 15 1 0 1 1 2 2 + Ω2 r1 − Ω2 r1 P2 (cos θ) 3 3 2 4πG r1 2 ρ(r0 )r0 dr0 . 8 (r1 )πG 1 2 − Ω2 r1 + 3 3 r1 . We get (ignoring the Ω2 terms in ∂r VT as well.17 and 4.18).19) (4. then we can approximate ∂r VT by setting = 0 in VT before diﬀerentiating (since ∂r VT is already multiplied by in Equation 4. from Equation 4. r 0 r ∂r VT ∼ 4πG∂r = ρ(r0 ) (4. PHYSICAL GEODESY PROBLEMS If we only require Equation 4.21) So VT on this constant-density surface.118 CHAPTER 4. and using Equations 4.21.18 to be accurate to ﬁrst order in . + r1 (r1 )P2 2 3 r1 0 We want VS to be independent of θ.20) (4.

multiplying by r1 and taking ∂r1 of the result.23) where ρ(r) = Note that all Ω2 terms are missing in Equation 4.) Then you ﬁnd the coeﬃcients in the general solution. has the form: 2 ρ(r) ∂r (r) − 6 (r) 6ρ(r) ∂r (r) + (r) + r2 r r 3 r3 r 0 2 ρ(r0 )r0 dr0 .2. =0 (4. . Then: ρ(r) = 3 ρ0 r3 r 0 2 r0 dr0 = ρ0 . Instead. (There will be two independent solutions since the equation is 2nd order. which. That means that Clairaut’s equation doesn’t have enough information to uniquely determine (r).4.22 above.23. Equation 4.1 Example: A uniform (homogeneous) earth Assume ρ = ρ0 = constant. −5 (r1 ) r1 (4. to ﬁnd you ﬁnd a general solution to Clairaut’s equation. after changing r1 to r. multiplying by r1 and taking ∂r1 again. by requiring that the result satisﬁes the integral equation for .22) Equation 4. We can transform it into a diﬀerential equation by: 3 1. and then −4 2.2. The result is Clairaut’s diﬀerential equation for (r). CLAIRAUT’S DIFFERENTIAL EQUATION 119 A slight re-organization gives: 8 1 − πG 3 5 r1 r1 0 4 ρ(r0 )r0 [5 (r0 ) + r0 ∂r0 (r0 )] dr0 a r1 2 + r1 ρ(r0 )∂r0 (r0 ) dr0 r1 0 2 2 ρ(r0 )r0 dr0 = Ω2 r1 . 4.22 is an integral equation for .

It turns out that then Clairaut’s equation implies that increases with radius.22. which implies that the surfaces are squashed 1 down at the poles. Otherwise.24. but increases with depth. and the general solution is: put = b = constant. πρ0 G (4. To see this. → ∞ near the earth’s center. Clairaut’s equation reduces to: 6 2 ∂r + ∂r = 0. and ﬁnd that n(n − 1) + 6n = 0. Or n(n + 5) = 0 So. also always turns out to be positive. This would mean that the radii of constant density/potential surfaces → ∞ near the center. and Equation 4. r5 ⇒ n= 0 −5. We note right away that c = 0. we = b into the integral equation Equation 4. So the outer portions of our ﬂuid earth are more aspherical than the inner portions.24) So. Now. we ﬁnd b and c.120 CHAPTER 4. PHYSICAL GEODESY PROBLEMS In this case. Then ∂r0 = 0. So c = 0. note that (remembering that P2 = 2 (3 cos2 θ − 1)): r(θ = 90◦ ) − r(θ = 0◦ ) = − 2 r0 [P2 (90◦ ) − P2 (0◦ )] 3 .22 − 1 8 πG 3 5bρ0 15 r1 − r1 0 4 r0 dr0 − 5 reduces to: b ρ0 r1 r1 0 1 2 2 r0 dr0 = Ω2 r1 3 or: 5 5bρ0 r1 b r3 8 1 2 πG − 5 ρ 0 1 = Ω2 r1 3 15 r1 5 r1 3 3 or: b= 15 16 Ω2 . The real density inside the earth is not constant. ellipticity = constant = Equation 4. which we know cannot be true. r We try a solution of the form = r n . the general solution is: =b+ c . To ﬁnd b in terms of Ω2 .

you ﬁnd: (a) = f (= ﬂattening ) = The observed f . later. H is proportional to the radial integral (through the . In other words. People have constructed a 2nd order theory.2. in the same way a top nutates due to the gravitational attraction of the earth. You can modify the density slightly so that it is still reasonably consistent with seismic data and predicts the correct f . It turns out (you can get this by appropriate integration of the internal density) that H is proportional to the coeﬃcient of the P2 (cos θ) term in the density. integrated through the earth. using satellite data for J2 . So. you still have trouble.e. > 0 ⇒ r(90◦ ) > r(0◦ ). is fobs = 1 . But. a relative accuracy of 5 × 10−3 ). later. That’s because of the following: We’ll see. Another possibility is that the seismic density model is not quite right. CLAIRAUT’S DIFFERENTIAL EQUATION 121 = − = So. We’ll see all this.05%).257 1 . that the earth precesses due to the gravitational attraction of the sun and moon. 2 1 r0 − − 1 3 2 r0 .000 years. which is not large enough. but the observational errors for J2 are better than 10−6 . The period depends on the “dynamical ellipticity” of the earth: H= C−A C where C and A are principal moments of inertia of the earth. 298. so that you should go to 2nd order. The period of the precession is well known from observations — it is roughly 26.4.7 The diﬀerence is 1/2% (i. why is there this discrepancy? This agreement is good. If you use the best seismic results for the density function ρ(r0 ) and solve Clairaut’s equation. 299. One possibility is that the 1st order theory is not good enough. but the 2nd order terms aﬀect the solution at only the 5 × 10−4 level (.

and that’s about somewhat larger than the other Ylm terms. PHYSICAL GEODESY PROBLEMS entire earth) of (r). That is.0. it can support some shear stress over long time periods. no matter what the density is. you can’t satisfy the observations of H and f from Clairaut’s equation. If you adjust the density so H is right.437. Well.) So. the observed H and f don’t satisfy this relation (m is known). Using the best seismic density results in Clairaut’s equation gives a predicted H of 1/308.4%.5%. And. most the same order as the geoid anomalies for other Ylm terms. once f is known — H follows directly. and so is not a perfect ﬂuid. The observed H is 1/304. It is true that the earth’s crust and lithosphere can support shear stresses for long times. this term is still . you can adjust the density so that both are right to approximately 0. on the other hand. what can cause the ellipticity to be diﬀerent from the expected value? One unlikely explanation is that the earth has some ﬁnite strength. So. It turns out that: 1 f− m 2 H= 2 5m −1 1− 5 2f where m = Ω2 a/gT . If you adjust the density so that f is right. there’d have to be ﬁnite strength over a much thicker region than the thin crust/lithosphere. After all. there is topography on the surface. So. and if the crust behaved as a ﬂuid that topography would presumably ‘ﬂow’ laterally until it had disappeared. Note that a 0. Or. To ﬁrst order in you can relate H to f from Clairaut’s equation. The only conclusion possible is that the earth is not exactly in hydrostatic equilibrium with the centrifugal potential. note that the relation between H and f is independent of the density. But. Most geophysicists don’t believe that. (Actually. And.7%. The discrepancy is approximately 1%. is proportional to (r) at the outer surface r = a.5% error in f is approximately 0. f (or J2 ). then f is wrong by approximately 0.122 CHAPTER 4. then H is still wrong by 0. in order to have a signiﬁcant non-ﬂuid response to the centrifugal force.005×21 km ≈ 100 m error in the pole-equator elevation diﬀerence in the ellipsoid.

A MORE REALISTIC EARTH 123 geophysicists are reluctant to believe that. we extend that description to include non-elliptical contributions. And so the centrifugal force is decreasing. let’s discuss the deﬁnition of the geoid a little more. 4. So. Most geophysicists don’t believe this explanation. That is. Here.1.3. either. The non-Y20 part of the geoid is also presumably due to this eﬀect.3 A More Realistic Earth In Section 4. The real geoid is a surface which is deﬁned in some . If you cut thin canals across the continents joining the oceans. The deﬁnition we have used so far is: the surface of constant potential which coincides with mean sea level over the oceans. The most likely explanation is that the earth is approximately ﬂuid over long time periods. If the viscosity is high enough that the mantle response time is longer than the time it takes for the centrifugal force to decrease signiﬁcantly. Those thermal anomalies must be associated with density anomalies (it is buoyancy forces caused by the density anomalies that directly drive the convection). then the present shape of the earth might be reﬂecting the older. but that there are other factors besides rotation that cause lateral variations in density. This would lead to ellipticities larger than those predicted from Clairaut’s equation. First. the viscosity is large and so it takes a reasonably long time for the mantle ﬂuid to reach equilibrium. this is not really the geoid. we described the geoid for an elliptical earth. A related possibility is that the mantle is a very viscous ﬂuid. The relevance of this is that the earth’s rotation is decreasing approximately linearly with time (we’ll get into this later). the water in the canals would be on that constant potential surface. faster rotation. There are estimates of the mantle viscosity from postglacial rebound (we’ll talk about that. presumably the discrepancy from Clairaut’s equation is due to the Y20 component of those thermal/density anomalies. That is certainly the case: thermal anomalies must exist within the earth if there is to be on-going mantle convection. But.4. and they suggest the viscosity is not large enough. later).

an equipotential surface. Suppose you make leveling measurements everywhere over the earth’s surface. For example. What about under land? There certainly is a constant potential surface under the land connecting the ocean surfaces. over the oceans the geoid does coincide with a constant potential surface. But. The horizontal surface that the leveling instrument uses as a reference is. it is not exactly coincident with the geoid (although it’s pretty close). consider the possible situation pictured in Figure 4. which at Boulder is about 5000 ft above the reference surface you are trying to deﬁne.1: . The leveling equipotential surface at instrument A B equipotential surface passing through levelling instrument topography instrument equipotential surface coinciding with sea level Figure 4.124 CHAPTER 4.1. the leveling results would indicate no change in elevation (except for the eﬀects on sea level from dynamical oceanographic processes — like currents). indeed. PHYSICAL GEODESY PROBLEMS sense by the leveling process: it is the reference surface for leveling. But it is the equipotential surface that runs through the position of the instrument. So. Colorado is approximately 5000 ft above some reference surface — that surface is the geoid. And the equipotential surface down at that depth is not necessarily parallel to the one that runs through Boulder. Over the oceans. For example. you level and ﬁnd that Boulder.

It turns out that for particularly unfavorable geometries. Incidentally. consider the mountain shown in Figure 4. You would then conclude that B was lower than A. equipotential surfaces A B large mass Figure 4. Using this route. we would want to deﬁne the geoid so that A and B were the same distance above it. there is another type of problem that sometimes comes up when trying to use leveling observations to determine elevations.3. where the equipotential surfaces are presumably all ﬂat and parallel to the surface. As you go up the left hand side. the apparent elevation diﬀerence between two locations can depend on the leveling route you use. But in this example. You want to level from A to B. the two endpoints are not equal distances above the lower equipotential surface. Another route you could take would be over the mountain. So. For example. . because the equipotential surfaces above and below the topographic feature are not parallel to one another. of line AB. leveling would not register as much elevation gain going up the left hand side as the measured elevation loss going down the right hand side. were at the same elevation because they lie on the same equipotential surface. where there is more mass on one side than the other. A and B. A MORE REALISTIC EARTH 125 instrument would show that the two endpoints.2: One leveling route you can take is around the mountain: out of the page and around to B. the equipotential surfaces are tipped so that they are more parallel to the mountain surface than are the equipotential surfaces on the right hand side.2.4. you would conclude that A and B were at the same elevation. So.

we are simply trying to ﬁnd a surface which comes as close to a useful reference surface as possible.126 CHAPTER 4. With the geoid. so long as they are not separated by too great a distance. For example. Thus the geoid in this example will not . Geodesists have developed methods to reduce them (usually involving gravity measurements) although you can’t eliminate them entirely. we want the geoid to be parallel to the equipotential surface at the leveling instrument overhead. is that the idea of a well-deﬁned surface (the geoid) acting as a reference surface for leveling is not really valid. External equipotential surfaces are approximately parallel to one another. so that we can determine it from gravity observations. Over the ocean the geoid will be an equipotential surface.3: and external equipotential surfaces in diﬀerent directions. The geoid should be deﬁned so that it is parallel to the external surface. Under continents. They are only important when you’ve got large elevation changes along the leveling route. The land mass warps the internal equipotential surface land geoid ocean ocean equipotential surface Figure 4. an equipotential surface inside the earth is apt to be distinctly tilted with respect to an external equipotential surface. though. What this problem shows. consider the topography in Figure 4. But. how do we ﬁnd such a surface? We want to try to relate it to gravity somehow. PHYSICAL GEODESY PROBLEMS These sorts of errors are usually negligible.3. So.

or because there is topography on the earth’s surface. if you observe a gravity high. So. and then ﬁnding the equipotential surface for this re-organized earth. it is a physically meaningful surface (i. Everest. are the results anomalous because of anomalous density inside the earth. it is nearly equivalent to compressing all the continental mass down into a thin layer lying just below sea level. a concise way to deﬁne a reference surface for leveling would be to choose the equipotential surface that lies just above Mt. The resulting surface (the geoid) will thus not really be an equipotential surface under continents. In a sense. which is the radial dependence for an external ﬁeld. In fact. It is a more useful reference surface than the Mt. it obviously does not coincide with sea level over the oceans. if we used this as a reference surface. Instead. Incidentally. what do we do? We use the fact that external equipotential surfaces are reasonably parallel. They then continue this expansion down to mean sea level by assuming that the radial dependence of each Ylm term is r −(l+1) . But. is it due . but it will be nearly parallel to the equipotential surfaces up where the leveling observations are made. but also to interpret long wavelength surface gravity observations. You want to use the results to learn about the earth’s density. Speciﬁcally. You get some anomalous results. Suppose you measure gravity on the surface. we would end up assigning all elevations to be negative. is nearly parallel to the local equipotential surfaces. it is an equipotential surface). this is what people do. since it is everywhere external to the earth. A MORE REALISTIC EARTH 127 coincide with an equipotential surface.e. because the actual radial dependence is much more complicated when you continue down through continental mass. because most of the earth’s surface is at or near sea level.4. And.3. determined by the number of feet below Mt. Only they (sort of) add the height of Mt. Everest. They then deﬁne the geoid as the surface over which this quasi-potential is constant. This results in a sort of quasi-potential at sea level. That surface. for global surveying). you need to know the geoid not just for conventional geodetic applications (that is. More precisely. But. Everest as a sum of spherical harmonics. they expand the potential just outside Mt. For example. Everest to every such elevation. Note that this does not give the true potential down at sea level. Everest surface.

m l. φ). l Ylm (θ.0) a r l (4.27) . φ ). So Equation 4. only because we have already considered their eﬀects on the geoid. I showed that if you have a density distribution ρ(x ) = then the gravitational potential outside the object would be V (x) = 4πG l. Here we have separated the Y00 and Y20 terms from the sum over l and m. the Y1m coeﬃcient in V is proportional to (r ) ρm (r ) dr . 1 where ρm (r) = 1 2π 0 3 (4. φ) l=2 m=−l (l. The external potential for a realistic earth (including rotation) has the form VT = 1 1 GM GM + Ω2 r 2 − Ω2 r 2 + 3 a2 J2 P2 (cos θ) r 3 3 r 0 Y0 0 Y2 − GM r ∞ l Vlm Ylm (θ.26 becomes (dropping the primes on r): earth ρ(x)rY1m∗ (θ. φ)Y1m∗ (θ.25) where the Vlm are constants.m)=(2. φ) d3 x (4.m ρm (r )Ylm (θ .3. What’s the connection? Back in Chapter 3. or to a depression in the surface at that point — causing the gravimeter to be closer to the earth’s center where the gravitational acceleration is larger? The only way to know is to determine the shape of the earth — and that requires knowledge of the geoid. for an earth with an arbitrary aspherical shape. 4.1 The Geoid Let’s ﬁnd a relation between the geoid and the earth’s external potential. PHYSICAL GEODESY PROBLEMS to excess underlying density.128 CHAPTER 4. So.26) dφ π 0 sin θ dθ ρ(r. θ. There is no l = 1 term in the sum over l because we are assuming the origin of the coordinate system is the earth’s center of mass. φ) 1 2l + 1 r l+1 (r ) l+2 m ρl (r ) dr .

A MORE REALISTIC EARTH 129 where d3 x = r 2 dr sin θ dθ dφ. down into the earth far enough that it coincides with mean sea level over the oceans.28 is only valid outside the earth. Equation 4. θ. φ). In terms of rectangular coordinates. [ ρ(x + iy)] depending on the value of m. Thus. But let’s now just consider it as a mathematical expression and extend the expression. By collecting all the angular-dependent terms of VT — including the P2 term — into δV (r. φ) is independent of θ and φ. where the mean of δr is zero. In other words. by assuming that δr/a we obtain: VT (r = a + δr) ≈ 1 GM + Ω2 a2 + δV (a. as written. the geoid won’t really be an equipotential surface — since our expression for VT does not really equal the potential inside the earth — but it will be nearly parallel to the equipotential surface at the earth’s outer surface.3. . But.28) Note that δV is much smaller then GM/r. then ρz = ρx = ρy = 0. we can write: VT = 1 GM + Ω2 r 2 + δV (r. φ). VT is constant on the geoid. Thus. So. φ). 8π earth ρz]. the integral in Equation 4. φ) r 3 (4. there are no l = 1 terms in the expansion of VT . We then deﬁne the geoid as the surface r = a + δr(θ. and that δV /(GM/r) 1 1 and 3 Ω2 r 2 /(GM/r) 1 near r = a. So. θ. and where VT (r = a + δr. to lowest order we only need to include δr in the leading GM/r term.26 is proportional to [ [ ρ(x − iy)]. So.4. the Y1m are: rY10∗ = rY11∗ = − rY1−1∗ = 3 z 4π 3 (x − iy) 8π 3 (x + iy). θ. so that the integrals for l = 1 vanish for all m. θ. a + δr 3 1. if the origin is chosen to be the center of mass.

The amplitude of g T (the quantity actually observed) is. a a 3 So. Here’s how it works. φ) where H(θ. and the positive radial direction is upward). To lowest order: GM/a2 ∼ gT (r = a) = the acceleration at the surface. from gravity and leveling. That surface is r = a + δr(θ. PHYSICAL GEODESY PROBLEMS Expanding GM/(a + δr) to 1st order gives the geoid condition δr 1 GM 1− + Ω2 a2 + δV (a. 2 r 3 (4.2 Stoke’s Formula You can ﬁnd δV either from surface gravity observations or from satellite ranging data.130 CHAPTER 4. The total acceleration vector (gravitational + centrifugal) that aﬀects a gravimeter is g T = VT . The constant = 0 if the average of δr is to be 0 (since the average of each Ylm . since GM/a and 1 Ω2 a2 are already independent of θ and φ. is zero). and so of δV . φ) + constant.) So. θ. φ) = independent of θ. we get: 3 δr GM a2 = δV (a. φ. equal to the negative of the radial component of g T (it’s the negative of the radial component because the acceleration is downward. So: = δr ∼ = δV gT . (Leveling gives the elevation above the geoid.29) In practice. φ) + H(θ. So gT = −∂r VT = GM 2 − Ω2 r − ∂r δV. θ. you measure gT on the earth’s surface. Evidently it is always true. to ﬁrst order in δV . you can determine g on the . Stoke’s formula is a method for ﬁnding the geoid from surface gravity. r=a That’s the result we derived for the simpler earth models above. 4. φ) is the surface elevation as determined by leveling.3.

= To zero order in small quantities: ∂r gT |r=a = − 2GM 2 = − gT . and using Equation 4. And. I had deﬁned the left hand side of Equation 4. Thus. to ﬁrst order. earlier in this section. 2GM ∂r gT |r=a+δr+H ∼ − 3 = r So: 2 g g ≈ gT (r = a + δr + H) + gT a gobs r=a+δr+H ≈− 2GM ∼ 2 = − gT a3 a . So: gg ≈ So: gg − 2 2 GM − Ω2 a = − ∂r δV + δV 2 a 3 a .) . a H. 3 a a a So. (For the simpler earth models considered earlier. r=a You measure gobs with gravimeters. Now.4. And g g ≡ gT (r = a + δr).30) is another result that I had claimed. and H by leveling. r=a (4.3. to zero order in H/a and δr/a. was always true. A MORE REALISTIC EARTH 131 geoid: g g . how does g g depend on δV ? g g = gT (r = a + δr) ∼ gT (r = a) + δr∂r gT (r = a).29: gg ∼ = But. 2 a 3 a a 2 2 GM − Ω2 a − ∂r δV + δV 2 a 3 a .30) This (Equation 4.30 as δg. What you measure with gravimeters is gT (r = a + δr + H). To 1st order in H/a: g g = gT (r = (a + δr + H) − H) = gT (r = a + δr + H) − H ∂r gT |r=a+δr+H . r=a GM 2 2 − Ω2 a − ∂r δV |r=a − gT δr. δr ≈ (δV /gT ) |r=a . you can deduce g g from your observations.

N . φ) (4. how do you solve Equation 4.31) These numbers come from satellite observations of GM and J2 . and so can be expanded as: ∆g = l. It is usual to remove a2 3 r=a where ∆V = δV after subtracting all P2 terms. It’s a small term.m glm Ylm (θ. δr minus the P2 terms is usually written as N .32 for ∆V |r=a . (4. r=a The large second bracketed term is approximated by “the international gravity formula”: γ0 = 978.000023462 cos4 θ . we obtain 2 ∆g = − ∂r ∆V + ∆V a . The relation between g g and ∆V is gg − GM 2 2 m=0 m=0 − Ω2 a + ∂r δVl=2 + δVl=2 2 a 3 a 2 = − ∂r ∆V + ∆V a . PHYSICAL GEODESY PROBLEMS those terms from g g and δr. You then solve Equation 4. deﬁning ∆g = gobs − γ0 + a HgT |a .005278895 cos2 θ + 0. So: N= ∆V gT Both g g − [ GM − 2 Ω2 a] and δr are dominated by the P2 terms.132 CHAPTER 4. I’ve talked as though we only want to remove the constant and P2 terms from g g — but note the cos4 θ term in γ0 (Equation 4. and it is often not necessary to include it when reducing data.33) . You use the result in N = (∆V /gT )|a to get the geoid anomaly.31). given δg. 2 So.32) You know the left hand side from gravity and leveling observations. So.03185 1 + 0.32 for ∆V ? You start by noting that ∆g is a function of θ and φ. That term represents second order eﬀects of J2 and Ω2 on g g . r=a (4. The interpretation of N is that it is the height of the geoid above the ellipsoid (δr = height of geoid above the surface r = a). r=a r=a The left hand side is: gobs + 2 HgT a gg a − GM 2 2 m=0 m=0 − Ω2 a − ∂r δVl=2 + δVl=2 2 a 3 a ≈γ0 .

∆V is a function of r.36) We can relate glm directly to the geoid. we could easily ﬁnd the Nlm . You can deduce this from the (1 − l) in the denominator of Nlm . GM (1 − l)Vlm a2 g T |a (4. m = 0 terms are missing.37) So if we had the glm coeﬃcients from surface observations.3. and so Nlm is proportionally smaller than glm .34).m Vlm (1 − l)Ylm . and the l = 2. equating coeﬃcients gives: glm = l.m GM = a2 So. incidentally. l is large. (4.4.34) In both expansions (Equations 4.32 gives: glm Ylm = GM a Vl m Ylm − l+1 2 + a a l. . 1−l ⇒ Nlm = −GM m Vl a r=a gT = −aVlm . and φ.m Nlm Ylm (θ. the sum over l starts at l = 2. by expanding N= l. Then ∆V N= gT So: Nlm = − a gT |r=a glm . Note.25): ∆V = − GM r Vlm l. using these expansions in Equation 4. φ). Then. (1 − l)gT |a (4. θ.m a l m Yl (θ. r (4. and so has the expansion (see Equation 4. and so ﬁnd N .35) Or: Vl m = glm . A MORE REALISTIC EARTH 133 where the glm are constants. For short horizontal wavelengths. φ) with Nlm = constants. that short wavelength features are less prominent in the geoid than they are in gravity.33 and 4.

e. That’s all people could do before satellites. p161] f (γ) = γ γ γ γ 1 csc − 1 − cos γ + 3 1 − cos γ − 2 sin − cos γ ln sin + sin2 2 2 2 2 2 .39) The addition theorem says that the sum over m in Equation 4. φ)Ylm∗ (θ .134 CHAPTER 4. are best at providing the longer wavelength terms in VT .” W. to obtain: N =− a g T |a ∆g(θ . φ )Ylm∗ (θ . I’ll just outline the derivation.38. φ). people still do it that way. φ ) l 1 1−l [Ylm (θ. they don’t do it by ﬁnding the glm coeﬃcients. . “Introduction to Geophysics. Deﬁne this sum as f (γ). φ)Ylm∗ (θ . but poor long wavelength components. the geoid is more sensitive to the long wavelength (small l) terms. We have seen that N =− a g T |a l. 1−l You can do the sum over l. 1−l l (4. φ )] sin θ dθ dφ . φ ) l 2l + 1 Pl (cos γ) sin θ dθ dφ . φ )] = m 2l + 1 Pl (cos γ) 4π where γ = angle between (θ. so that: f (γ) = 1 2 l It turns out [see Garland. 1−l 2l + 1 Pl (cos γ). that the geoid is “smoother” than gravity) is that surface gravity observations are not as useful for ﬁnding the geoid as are satellite observations.38) ∆g(θ . We substitute this integral into Equation 4. PHYSICAL GEODESY PROBLEMS One consequence of this result (i. Only. deﬁned in Equation 4. m (4.B. Satellites. 1979. φ ) sin θ dθ dφ . Surface gravity gives good short wavelength gravity results. in some situations.m The glm . φ) and (θ . Nevertheless.33. let’s continue this discussion of how you obtain N from surface gravity observations. on the other hand. φ ).39 is [Ylm (θ.. are given by: glm = glm m Y (θ. And. Saunders Co. And. So: N =− a 4πgT |a ∆g(θ . they use Stoke’s formula. Instead.

satellite geodesists usually use a diﬀerent normalization for their spherical harmonics. This doesn’t really get around the problem of not knowing the long wavelength glm very well from surface observations. the outer surface.40 to get N . the core-mantle-boundary). (4. by ﬁtting to the satellite’s orbital motion. The reason you don’t know them well is because there are many areas of the globe where you don’t have good surface gravity observations: over the oceans. It turns out that f (γ) doesn’t go to 0 very quickly as γ → π. later.4.m (4.4. You then integrate Equation 4. SATELLITE GEOIDS 135 So: N =− a 2πgT |a ∆g(θ .37 we know that the geoid is N = −a Vl m Yl m . But as a preview: people have now demonstrated pretty convincingly that the long wavelength geoid (l from 2 to about 10) is caused by density anomalies associated with convection.25).) We’ll discuss the observed geoid and its geophysical interpretation. You determine δg from observations. 4. And the Vlm give N directly.34 (and in Equation 4. using Equation 4. φ )f (γ) sin θ dθ dφ .4 Satellite Geoids It is much easier nowadays to determine the global geoid from satellite observations than from gravity measurements on the ground.40) Equation 4.40 from δg all over the globe. there will be signiﬁcant contributions to the integral in Equation 4. That is.40 is Stoke’s formula. so that their coeﬃcients. written as Clm and Slm . and by convection-driven perturbations of surfaces that have density discontinuities across them (e.41) where the Vlm are the potential coeﬃcients deﬁned in Equation 4.41. for example. areas of sparse data are still a problem when using Stoke’s formula. are proportional to our Vlm ’s. From Equation 4. Satellite ranging gives the Vlm . (Actually. l.g. So. .

136 CHAPTER 4. PHYSICAL GEODESY PROBLEMS .

if we know the “restoring” forces. That’s a generalization of Hooke’s Law for a one-dimensional spring: F = kx.Chapter 5 Stress/Strain Relations Observational results for surface gravity and for the shape of the geoid tell geophysicists about the internal density of the earth. can we infer the restoring forces if we know the deformation? (Alternatively. But often the geophysicist wants to learn about the mechanism causing the density anomaly. Think of the restoring forces as the stress. as long as the deformation is small. That is. That means you have to know something about stress and strain inside a solid and how to incorporate stress and strain into the equations of motion for the earth. That’s what this chapter is about. Only the stress/strain relation looks a lot more complicated than this. Somehow we must relate stress to strain. You deform it somehow. so that when you let go of the block it tries to spring back to its original shape (unless you’ve deformed it too much). Sometimes that density is what the geophysicist is after. There are internal forces in the block which resist the deformation. can we model the deformation?) For the earth (and for most materials). First. For that sort of application you need to know something about how the earth responds to external and internal forcing. the stress will be nearly linearly proportional to the strain. Here is a very crude qualitative description: Suppose you have a block of solid material. we’ll talk about stress and strain inside a solid and how they are related. That’s because: 137 . Think of the deformation as the strain.

forces that originate from an object outside the block and which act on every molecule within the block. Then. let’s get into the details.138 CHAPTER 5.1 Stress tensor A stress tensor describes internal forces in an object. but then you let the block size go to zero.1: are “body forces” — that is. After that. electro-magnetic (EM) forces also fall into this category. For the earth. and write down the general relationship between stress and strain.1. A solid cannot be easily modeled as a set of discrete objects. To develop the equations of continuum mechanics you break the medium up into small. the most pertinent of these would be gravity. . 5. anelasticity. Now. It is better modeled as a continuum. Both stress and strain turn out to be tensors. What external forces act on this block? There Figure 5. I’ll describe: incorporating stress and strain into the equations of motion. First. like springs. That means we must deal with continuum mechanics — rather than with the sort of discrete mechanics you learn about in most physics mechanics courses. as in Figure 5. You can’t describe deformation or internal forces with simple scalars like F and x. I’ll deﬁne the strain tensor. discrete blocks and look at the forces on each block. Consider a small volume from the interior of a solid body. 2. I’ll deﬁne the stress tensor. But. waves in a solid. and show how a solid deforms under certain stresses. STRESS/STRAIN RELATIONS 1.

Fy . in the medium. Fz . . ey .” which are the forces that act on the surfaces of the block from the surrounding molecules — through atomic and molecular bonding.1. So: τyx = τyy = τyz = ex component of force on y = constant face ˆ area of y = constant face ey component of force on y = constant face ˆ area of y = constant face ez component of force on y = constant face ˆ area of y = constant face Similarly. Stresses are really internal atomic and molecular forces (EM bonding) — but it is easiest to model them as acting between and across surfaces. STRESS TENSOR 139 There are also “surface forces. τ . say. you can deﬁne τxx . and the second describes the component of the force.2. τzy . See Figure 5. even though there are probably not well deﬁned surfaces inside the solid.) Those forces are primarily between neighbors and next-nearest neighbors. is deﬁned so that its elements are the net force components divided by the area of the face. (In a ﬂuid. and so has ex . The stress tensor. τxy . the y = constant face of the block. ez ˆ ˆ ˆ components: Fx . τxz . they are deﬁned that way when the area of the face is inﬁnitesimal. and τzz . The surface force per unit area of the surface is called the stress. Since the block is inﬁnitesimal. τzx .5. P. the nine numbers really represent surface forces at a point. At least. Pick. The ﬁrst index describes the orientation of the face.2: on that face from the atoms just outside the block is a vector. the surface force is pressure. The net force acting ez ey ex y = constant face Figure 5.

where dx.3. and F body is the sum of all body forces acting on the cube. consider the very small internal block in Figure 5. where this dot product represents vector/matrix multiplication: n· τ = ei ˆ ˆ ↔ 3 ↔ nj τji j=1 where e1 = ex . STRESS/STRAIN RELATIONS You organize these nine numbers into a tensor: ↔ τ= τxx τxy τxz τyx τyy τyz τzx τzy τzz Don’t worry about what a tensor is.) The nice thing is that this result for the force doesn’t require the surface to be parallel to the xy. then the (force/area) acting across the surface is: (F /area) = n· τ . That is: τij = τji . Just think of it as a matrix. (We need to be more careful about the signs. It has the nice property that if we pick any inﬁnitesimal surface passing through the point P. and if n goes from 1 into 2. To show this. It turns out that the stress tensor is symmetric.140 CHAPTER 5. and e3 = ez . ↔ dz dy dx Figure 5. F surface is the sum of all surface forces acting on the block. and dz are inﬁnitesimal. dy. F body = (body force density) × volume . and if n is the normal ˆ ˆ to that surface. e2 = ey . then n· τ is the ˆ ˆ force/area on 1 from 2. or yz planes. xz. If one ˆ ˆ ˆ ˆ ˆ ˆ side of the surface is 1 and the other side 2.3: Newton’s Second Law for the block as a whole is: ma = F surface + F body (5.1) where m and a are the mass and acceleration of the block.

where τyi = τiy = 0 for all i. Equations 5. a two-dimensional stress ﬁeld. These results imply that τ is symmetric (actually you only need the zero torque result).4: The Fij represent the force on a face.1 and 5. STRESS TENSOR 141 m = (mass density) × volume F surface = (surface stress) × area (5. See Figure 5. Why can I do that? Well. dy. You can go through the same reasoning to conclude that the total torque on the inﬁnitesimal cube due to surface forces (stresses) is zero. dy and dz. and Fzx . for a small block.5. So.1. for inﬁnitesimal dx. That is. Fxx on the right hand face = Fxx on the left hand face.4. So. really Fxx on the left hand face should be τxx (x) dy dz and Fxx on the right hand face should be τxx (x + dx) dy dz. and similarly for Fxz .2 imply that F surface = 0 to lowest order in dx. the . and dz. Fzz . for simplicity. depending on which face we are considering. For example: Fxx = τxx dy dz Fxz = τxz dy dz Fzz = τzz dx dy Fzx = τzx dx dy (5. In other words. The area is proportional to (dx dy) or (dx dz) or (dy dz).2) The volume is proportional to (dx dy dz). Fzz Fzx Fxz dz dx Fxx dy Fzz Fzx ez ey ex ↔ Fxx F xz Figure 5.3) Note that I have labeled these forces so that the forces on opposite faces are equal. to lowest order. Consider. the volume area.

.5. dy. It works well. dx ∂x τxx is negligible. . Assume. Similarly for the other Fij ’s. so long as the spring is elastic and is not stretched too much. . instead of τxx . Fxx is the same on both faces. . We apply the forces F11 . Start with the inﬁnitesimal block shown in Figure 5. now we know something about stresses and how they relate to forces. τ11 . And. One thing that happens is that the width of the block lengthens by ∆x. . STRESS/STRAIN RELATIONS forces are diﬀerent because τxx is a function of x. This means that the requirement that there be no net force on the cube is automatically satisﬁed. How do stresses deform material? For the moment we’ll only worry about the deformation induced by the diagonal terms in τ : τ11 . ﬁrst. 2 2 Thus. τxy . The block deforms. j. . to zeroth order. there are really only six independent stress components. which has sides of length dx. that τ11 is the only component not equal to zero. τ12 . where F11 = τ11 dy dz. Hooke’s Law says that the restoring force on a spring is linearly proportional to the amount the spring has stretched. So τxx (x + dx) ≈ τxx (x). dz Fzx = Fxz dx. dz. So. The condition of no net torque means: dx dz 2Fzx (= clockwise torque) = 2Fxz (= counterclockwise torque). so that: I’ll label them as ↔ τ = τ13 τ23 τ33 τ12 τ22 τ23 τ11 τ12 τ13 5. . τ22 . Combining this result with Equation 5. You can go through a similar argument in the full three-dimensional case to conclude that τij = τji for all i. . But: τxx (x + dx) ≈ τxx (x) + dx ∂x τxx . Thus. as shown. to zeroth order in dx (remember — “no surface torques” is only valid to zeroth order). τ33 .3 gives τzx = τxz .142 CHAPTER 5. It is like stretching a spring. .2 Stress-Induced Deformation So.

5 is elastic and is not deformed too much. The constant k depends on the material and on the size and shape of the block. Consider.6: on the left half (see Figure 5. It is not as good at very long time periods (thousands to millions of years). because the net force on the .6. (5. as in Figure 5. how does k depend on the unstretched length.2. First. the left half. The right half exerts the force F11 F11 F11 dx/2 dx/2 Figure 5. dx? Imagine cutting the block in half. at seismic periods of minutes or less). slightly deformed solid. STRESS-INDUCED DEFORMATION 143 F11 F11 dx ∆x Figure 5.5. We know this must be true. we might expect to ﬁnd a generalization of Hooke’s Law: F11 = k∆x.5: Let’s assume the solid in Figure 5.4) It turns out that this generalization works pretty well for small ∆x. The elastic assumption is pretty good for the earth at short time periods (for example. Let’s try to ﬁnd the dependence on the size and shape. say. For an elastic. This assumption means that the block returns to its initial state immediately after the forces are removed. We’ll extend our results to include anelasticity later.7).

By symmetry. .7: the left half must absorb half the increase in length.144 CHAPTER 5.8. STRESS/STRAIN RELATIONS inﬁnitesimal half-block vanishes (to lowest order in the size of the block).4 gives F11 = k ∆x dx (5. So. when we divide the block by 2 we double k.8: on one face of the half-block is now (1/2) dy dz. Deﬁne k so that k = k /dx. how does k depend on the cross-sectional area: dy dz in this case? Go back to the original block and cut it in half lengthwise. We conclude that k is inversely proportional to the length. F11 F11 dx/2 ∆ x/2 Figure 5. the left half stretches by the amount ∆x/2. as shown. k1/2 represents the value of k for the half-block. So. See Figure 5. By equating the F11 equations for the full block and the half block. k is proportional to 1/dx. we note that k1/2 = 2k. for this half block: F11 = k 1 2 ∆x 2 where. That is. So. instead of dy dz. The cross-sectional area F11/2 F11/2 F11/2 dx ∆x F11/2 Figure 5. By symmetry. the force on a half-block face should be F11 /2. We can obviously extend this result by dividing the original block into smaller blocks of any size.5) Next. Using this in Equation 5.

5 becomes: F11 = E dy dz Or: τ11 = Deﬁne 11 ∆x .6) where k1/2 = k for the half-block. will be clear later.7 is a generalized Hooke’s Law for solids. a generalization of Hooke’s Law — to get a relation similar to Equation 5. The forces F11 will change the other dimensions. STRESS-INDUCED DEFORMATION 145 The stretching of each-block is still ∆x.2. and that when you apply F11 on each side.9) ∆z F11 dz F11 Figure 5. So. Hooke’s Law (Equation 5.5. (see Figure 5. when you pull on an object it would contract.5 and 5.9: assume the height before deformation is dz. implying that k must be proportional to dy dz. the height increases by ∆z (∆z will probably be negative). reducing the area by 1/2. E ≥ 0 for reasonable materials. Comparing Equations 5.5) applied to a half-block is now 1 ∆x F11 = k 1 2 dx 2 (5. so that k = E dy dz. reduces k by 1/2. Otherwise. For example. Then: (5.7: τ11 = − E ν E ∆z =− dz ν 33 . You can go through an argument similar to the one above for ∆x — using. as well.7) Equation 5. dx ∆x F11 =E .6 gives: k1/2 = k /2. dy dz dx ≡ ∆x/dx = (change in length)/(length). again. The reason for the two subscripts on τ11 = E 11 . Then Equation 5. and the unstretched length is dx. Deﬁne E ≡ Young’s modulus.

(E. From the results above we conclude that for an isotropic material: ∆x = τ11 1 ν ν dx − τ22 dx − τ33 dx E E E 1 ν ν ∆y = −τ11 dy + τ22 dy − τ33 dy E E E ν ν 1 ∆z = −τ11 dz − τ22 dz + τ33 dz. We write the proportionality constant here as (−E/ν).) Note that this result for with Equation 5. dy.7 to give: 33 33 can be combined = −ν 11 You can do something similar for ∆y/dy ≡ τ11 = −(E/ν) 22 22 to ﬁnd 22 and = −ν 11 . the ν’s and E’s above might all be diﬀerent. ∆y. to conform with convention. The symbol P is appropriate. because if the τii ’s are equal.146 CHAPTER 5. To see this. suppose we apply stresses τ11 = τ22 = τ33 = −P. dz — increasing them by ∆x. its height decreases. STRESS/STRAIN RELATIONS where 33 ≡ ∆z/dz = (change in height)/(height). (If you pull on the block. For isotropic materials — and we will always assume isotropic materials here (isotropic means that the material properties are independent of the orientation of the applied stresses) — the ν’s in the 22 and 33 equations are the same. then the τii ’s are the negative of the pressure (a positive τii means an outward force on an object — but pressure is inward ).) The minus sign is present because for most materials ν ≥ 0. ∆z = (τ33 − ντ11 − ντ22 ) E E . here. ∆z. ν ≤ 1/2. Each of the τii perturb the three sides dx.7. is the same Young’s modulus that appears in Equation 5. and τij = 0 for i = j. instead of using a single variable. ν is called Poisson’s ratio and is dimensionless.) So: ∆x = (τ11 − ντ22 − ντ33 ) dx dx = −P (1 − 2ν) E E dy dy ∆y = (τ22 − ντ11 − ντ33 ) = −P (1 − 2ν) E E dz dz = −P (1 − 2ν) . and that τij = 0 for i = j. E E E (Without the isotropic assumption. It turns out that for “reasonable” materials.

Suppose. the response to the τii ’s can be described with just those two constants.3. The reason for this is that for any stress ﬁeld you can come up with. To lowest order in the deformation (∆x/dx. this new volume is: dx dy dz 1 + ∆x ∆y ∆z P + + = dx dy dz 1 − 3(1 − 2ν) dx dy dz E (5. that we choose an inﬁnitesimal cube ↔ ↔ . I claim that we can describe the response to the other τij (i = j) with the same two elastic constants. Another way to put that is that because τ is symmetric. ∆z/dz are small). τ22 . and τ33 . the new volume of the solid is: (dx + ∆x)(dy + ∆y)(dz + ∆z) = dx dy dz 1+ ∆x dx 1+ ∆y dy 1+ ∆z dz . for example.e. using two independent constants: either (E and ν) or (K and ν) (or (E and K). the volume would increase.8) The original volume was dx dy dz. =− dV E If K ≡ bulk modulus ≡ E/3(1 − 2ν) then P = −K ∆V dV (5. Let’s try to see.8 minus dx dy dz. then ν > 1/2 would imply that K < 0. That’s unphysical. and τ33 = 0. isotropic block to τ11 . So. the change in volume (≡ ∆V ). why any stress ﬁeld looks like a normal stress ﬁeld in some coordinate system. And.3 Response to τij for i = j The section above shows that we can describe the response of a solid. physically. Thus. ∆y/dy.5. there is a coordinate system in which τij = 0 for i = j. That would mean that if you squeezed the block (P > 0). but that combination is rarely used). and so 0 < ν ≤ 1/2. RESPONSE TO τIJ FOR I = J 147 So.9) Since E > 0. 5. where only τ11 . the change in volume is Equation 5. we can always ﬁnd a coordinate system where τ is diagonal: i. divided by the original volume (≡ dV ) is: ∆V 3(1 − 2ν) P. τ22 .

that all stress components with a y-index are 0. We bisect this cube along the upper left-lower right diagonal.10. τii = 0 for every i). ey . and it is normal to this face (with length 2Fzx ).148 CHAPTER 5. Fzx F zx Fzx Fzx Figure 5.11. so that the volume above the diagonal is as shown in Figure 5. because the stress tensor is symmetric and because each face is assumed to have the same area. In fact. STRESS/STRAIN RELATIONS with sides along the ex . Each of the four force arrows in Figure 5. so that the only surface forces acting on the cube are those shown in Figure 5. and we ﬁnd that the ˆ ˆ ˆ diagonal elements of the stress tensor are zero (i. and ez axes.10: for simplicity. Fzx 45 Fzx F = 2 Fzx Figure 5.11: The arrow pointing away from the diagonal in Figure 5.10. That’s because the sum of all the surface forces acting on an inﬁnitesimal object must vanish.11 is the force on the diagonal √ face of the half-cube. as shown in Figure 5.10 has the same length (Fzx ). suppose. to lowest .e.

we didn’t cut our inﬁnitesimal cube in a clever way. Then.5. The above argument can be extended to a more general three-dimensional case. Fzx Fzx F = 2 Fzx Figure 5. we ﬁnd that the force on that diagonal face is normal to the face.3. It is easier to simply trust in the result from linear algebra. And.12: So. We should have cut out a cube oriented as in Figure 5. Similarly. ez axes are re-deﬁned to be parallel ˆ ˆ ˆ to the faces of the new cube. ey . if our local ex .13: be normal to the new cube. we have found two mutually perpendicular planes where the surface forces are normal to the surfaces.10 cube between the upper right and lower left corners. ↔ . RESPONSE TO τIJ FOR I = J 149 order in the dimensions of the object (we saw that. the surface forces would original cube new cube Figure 5. That means.12. only it’s harder. earlier). that says that any symmetric matrix can be diagonalized. where the τii are not zero. See Figure 5. if we bisect the Figure 5.13. τ would be diagonal in the new system.

For a ﬂuid. ν). then there will be shear stresses (τij = 0 for i = j) in other systems.e. we want to work the method through just once for ↔ . ←→ ↔ All shear stresses are described by δτ . the identity tensor is unaﬀected by rotations into new coordinate systems. δτ = 0. If the τii are not equal in the diagonal system. for any stress tensor we deﬁne the pressure as 1 P = − [τ11 + τ22 + τ33 ] . τ would have the form τ = −P I where τ11 = τ22 = τ33 = −P. So. we don’t want to have to go through this procedure every time we are given a new stress tensor. using (E. Find the deformation (∆x. To ﬁnd the deformation produced by an arbitrary stress tensor τ we can proceed in three steps: The Procedure: 1. and is written as δτ : ←→ ←→ ←→ ↔ ↔ ↔ ↔ ↔ ↔ ↔ ↔ . τ = P I in every system. then the internal stress ﬁeld would be equivalent to a hydrostatic pressure ﬁeld: i. But. ∆z) in that diagonal system. 3 Then. 2. δτ = τ +P I . The remainder is called the deviatoric stress. Transform the deformation ﬁeld back into the original system. But. Transform the stress tensor to the diagonal (“principal-axis”) system. So. no matter what the system. ν) or (K. Instead. and the results of the preceding section. Of course. ∆y. [τ11 + τ22 + τ33 ] is always the same — this is a property of matrices (the sum of the diagonal components is the same in every system). If they were equal.150 CHAPTER 5. we think of τ as consisting of pressure (−P I ) plus a remainder. 3. STRESS/STRAIN RELATIONS In the diagonal system: ↔ τ= τ11 0 0 0 τ22 0 0 0 τ33 The τii may not be equal. and I is the identity matrix (tensor).

so far.15.14. but will simply write down the answer. The algebra is messy.14: so that the right hand point moves up along the ez axis and out along the ex axis. along their lengths. In ˆ . called the strain tensor. I need to deﬁne a matrix. Suppose you have two points in a solid. initially both on the ex axis a small distance dx apart. because I haven’t deﬁned enough quantities to describe deformation in an arbitrary system. But.3. We can describe this deformation with two numbers: ∆z and ∆x.1 Strain Tensor It turns out that you need nine numbers to describe an arbitrary displacement of the material in a small block. All I’ve done. is to describe the quantities ∆x/dx. 5. turn out to be the diagonal elements of that tensor.5. etc. I’m not going to go through it all here. ∆y/dy. The solid is then deformed. It involves ﬁnding the diagonalizing rotation matrix for an arbitrary stress tensor. ∆ z dx ∆x Figure 5. ˆ 1 dx 2 Figure 5. which describe what happens to line elements when they are stretched outward or inward. RESPONSE TO τIJ FOR I = J 151 an arbitrary stress tensor. and ∆z/dz. To describe deformation in the more general case. and ∆z/dz. as ˆ ˆ shown in Figure 5. then we need a third number: ∆y. I can’t do that quite yet.3. to obtain a general relation between stress and deformation that can be easily applied to any situation. multiplying the matrices together.15: If there is also a displacement in the ey direction. ∆y/dy. The three numbers ∆x/dx. taking its inverse. as shown in Figure 5.

And. Here’s how these linear combinations are deﬁned: The quantities ∆x/dz. STRESS/STRAIN RELATIONS Section 5. so we only needed to ˆ introduce the quantity ∆x to describe it. and ez axes at any point — and it takes three numbers ˆ ˆ ˆ to describe the deformation of each of these three axes. Here. dx Similarly. or by rotation. we ˆ need the numbers: ∆x . dz length. in general. can be aﬀected either by deformation of the inﬁnitesimal block. ∆z. by “deformation. So.) So. By “deformation” I mean displacements which can be caused by stress on the block. ∆x/dx. Only. we need three quantities. but all other ∆ri /drj = 0. We have seen that you can always ﬁnd a coordinate frame where the stress tensor is diagonal. but it turns out it wouldn’t be the “right” matrix. ∆y/dy. it looks like we need nine numbers to describe deformation: we must specify what happens to the original ex . This suggests that a reasonable deﬁnition of the strain tensor ought to be the matrix with elements ∆x/dz. dr2 = dy. for example. (Note: ∆x. dy is diﬀerent for each of the three lines. dy ∆z dy ∆y .. What happens is that when we go through “The Procedure” described above. dz ∆z dz to describe the deformation of the line between those two points. etc. if two points separated along the ez direction are displaced by ∆x.2. linear combinations do not appear. the (ij)th element would be ∆ri /drj (where dr1 = dx. (dz = unperturbed line are needed to describe the deformation of a line along the ey axis. ˆ . Well.) And: ∆x . That is. this dx line element only stretched in the ez direction. ∆y. non-zero.” I ∆y . the displacements represent pure stretching. and ∆z/dz are. For example. dx ∆y . we could certainly construct a 3 × 3 matrix this way. etc. linear combinations of the nine numbers appear in the ﬁnal result. etc. let’s use ratios with respect to dx for our three numbers: ∆x .). The three combinations that do not appear represent rotations of inﬁnitesimal blocks. in that frame.152 CHAPTER 5. we ﬁnd that only six independent. Three independent. ey . dx ∆z .

as shown in Figure 5. There are two ways to see this. and ∆y/dx = ∆x/dy.3. One is that for deformation. dz dx Consider the central point.. 2 dz dx etc. etc.. I claim that the ωij describe rotations — not deformation. Then. O.16: Figure 5. ωij (note: ωii = 0).16. −dx. Consider the four line segments connected to O with endpoints at dx. suppose ω13 = 0. The other way is to deﬁne two matrices 13 ij and ωij so that ω13 = 1 ∆x ∆z − 2 dz dx = 1 ∆x ∆z + .16 represent the displacements corresponding to Equation 5. I claim that means that deformational displacements must satisfy ∆z/dx = ∆x/dz. The arrows in ∆x dz ∆ z -dx -dz −∆ x O dx −∆ z Figure 5. of a cube.5.. ∆x/dy. think of the elements ∆x/dx. for the other ij . ∆y/dx. represent pure stretching.10) ∆z ∆x = ω13 = − . which when transformed to some coordinate system. and −dz.10. the matrix of ∆x/dx. For example: ∆x = dz 13 + ω13 ∆z = dx 13 − ω13 . Then (5. etc. etc. They describe . as linear combinations of the ’s and ω’s. can be diagonalized by a rotation (a unitary transformation). dz. but — for simplicity — suppose 13 = 0. ∆z/dy = ∆y/dz. RESPONSE TO τIJ FOR I = J 153 mean values of ∆x/dx. ∆x/dy. That means the matrix must be symmetric. For example..

it’s more convenient to deﬁne two new independent parameters — called Lam´ parameters: e µ = E 2(1 + ν) ν λ = 2µ . to ﬁnd the deformation caused by an arbitrary.2 Relation between stress and strain We are now ready to write down the results of applying “The Procedure” described above. etc. etc.11) = 1 [∆ri /drj + ∆rj /dri ] . Putting Equation 5. K). E) or (ν. such as we’re considering here.13) In terms of these parameters.154 CHAPTER 5. 33 5. not a deformation. 1 − 2ν (5. For an isotropic material. Instead. at this point. according to: τij = k. ij .13 into Equation 5.3.12) where Λ is a 4th rank tensor. They look like a rotation in every frame — never a “stretching. it just takes two parameters to characterize Λ. (5. so that its elements are (5. In fact. non-diagonal stress tensor.l Λijkl kl (5. with the principal-axis stress-strain relation stuck in the middle.12 gives: 3 τij = 2µ ij + λδij k=1 kk . Think of Λ as the product of rotation matrices. Similarly for ∆x/dy. Those parameters could be (ν.14) . So. ↔ ∆x/dy. it turns out that Λijkl = 2µ δik δjl + λ δij δkl where the δ’s are Kronecker delta’s. for deformation ω13 = 0 ⇒ ∆x/dz = ∆z/dx. STRESS/STRAIN RELATIONS a rotation. and the diagonal elements are 11 = ∆x/dx.” So. 22 = ∆y/dy. 2 = ∆z/dz. The result of all this is that the ij describe the deformational contributions to ∆x/dx. it is symmetric. We ﬁnd that in the original system the stress and strain are related to each other linearly. It turns out that this is a perfectly good tensor. we deﬁne the strain tensor.

So.18: ∆x = [[x + dx + sx (x + dx)] − (x + sx (x))] − dx = [deformed length] − undeformed length = sx (x + dx) − sx (x). which don’t have a lot of physical signiﬁcance. So: deformed line element x + s ( x ) = (x + s x (x). Here we deﬁne the displacement ﬁeld. . z) Figure 5. is that it involves displacements of line elements. for example.11. After the deformation (if s has only a ex component) we have ˆ undeformed line element x = (x. and show how to represent the strain tensor in terms of the displacement components. in terms of s? Our result above for strain is in terms of displacements of inﬁnitesimal line elements.4. So. y. how do those displacements relate to s? Suppose. z) Figure 5. RELATION BETWEEN STRESS/STRAIN AND THE DISPLACEMENT FIELD 155 5. So. that all displacements are in the ex direction. the point is now at x + s(x).18. We deform the object so that the displacement of any point originally at x is s(x). y. y. Suppose we have a solid object.5. z) (x + dx. z) (x + dx + s x (x+dx). What is the strain tensor at that point. When solving a geophysical problem. before the deformation ˆ we have Figure 5.17: Figure 5. y.17. you are usually interested in knowing the displacements of individual points inside the earth.4 Relation between stress/strain and the displacement ﬁeld The problem with the strain tensor as deﬁned in Equation 5.

τ is diagonal with equal diagonal elements. STRESS/STRAIN RELATIONS So in the limit as dx → 0: ∆x → ∂ x sx . So: ij = (5. τ represents a hydrostatic pressure — with no shear stresses. Suppose µ = 0. In other words. We obtain: ↔ ↔ ij .156 CHAPTER 5. k kk k . If µ = 0. T 5.5 Remarks i. ( s) are tensors: ( s)ij = ∂i sj ( s)ij = ∂j si where T means transpose. etc. ↔ ↔ 1.15) Equation 5. Now. and τii is the same for all 2.11). there are shear stresses. and use it in the stress/strain τ= µ s + ( s) T +λ T ·s I ↔ (5. Then. then τij = 0 if i = j. We still can deﬁne the hydrostatic pressure as: P = − 1 3 τii i 1 = − 3 = − i 2µ + 3λ 3 2µ ii + λ δii =1 kk . 2 Similarly: ∆z/dx → ∂x sz . in general. the material is a ﬂuid: it cannot support shear.15 is the strain tensor in terms of the displacement ﬁeld. In this case. ∆x/dz → ∂z sx . suppose we take this result (Equation 5. So. µ is called the rigidity.16) where I = identity tensor (matrix). and s. s(x).15) for equation (Equation 5. ∆y/dx → ∂x sy . dx 1 [∂i sj + ∂j si ] .

for a non-rigid material). it turns out that this term equals −P.) Equation 5. we would expect that (2µ + 3λ)/3 = K = bulk modulus.17 is the condition for incompressibility. But. for an incompressible ↔ material Equation 5.5.” So. That’s because P = − 2µ 3 kk (= 0) − λ kk = −λ kk = −λ( T · s). µ is ﬁnite (at least. 3 dV Thus. λ = ∞ for an incompressible material.16? Well. For an incompressible material. So. So.9. and ∆V = the change in volume. That means. then ·s = 0 (5. what do we do about the term λ( · s) = ∞ · 0 = indeterminate (5. by comparing with Equation 5.16 reduces to: ↔ τ = µ s + ( s) −P I · s = 0. But.5.18) in Equation 5. (Another way to obtain this result is to note that = ∆V /dV = 0 for an incompressible material. (5. what happens to Equation 5. we can apply any pressure we want and ∆V should be 0. and this is indeed what we ﬁnd. you don’t want ∞’s in your equations.19) . 2µ + 3λ = ∞ for an incompressible solid. That’s the deﬁnition of incompressible: you can’t change the volume of any small interior cube. So: P=− 2µ + 3λ ∆V .17) ·s = kk must hold. But. REMARKS 157 For an inﬁnitesimal block: kk k = ∆V ∆x ∆y ∆z + + = dx dy dz dV where dV = the unperturbed volume of the block.16 for an incompressible material? If λ = ∞ and ↔ τ = ﬁnite in that equation. K = ∞ characterizes “incompressible. 3. So.

Equation 5. despite the fact that it requires an extra equation and an extra unknown. Suppose we start with a block of material from inside the object. for a spring. To obtain this equation we divide the material into blocks. act across internal surfaces to cause the displacement ﬁeld s. Ultimately. and write down F = ma for each block.19. and that we have an extra equation ( · s = 0). The stresses. and (2) it usually simpliﬁes the mathematics. in turn. as in Figure 5. because they represent surface forces acting across the faces of the block. we need to derive the continuum mechanics analogue of F = ma. is the continuum mechanics analogue of Hooke’s Law.19: . The equation we use for this. 5.6 Putting τ into F = ma ↔ ↔ We now know how to ﬁnd τ from s. P. Let ρ Figure 5. Let the block have volume V and surface S.158 CHAPTER 5. that we can then use in our continuum mechanics version of F = ma. The block need not be inﬁnitesimal. F = kx. we want to somehow come up with a body force representation for the stresses. To describe the latter process.19. People often use the incompressible assumption for the earth because: (1) it’s not too bad an assumption for many applications. Equation 5. But the separation into individual blocks is purely artiﬁcial: it is unlikely that there are well-deﬁned surfaces inside the material.16. STRESS/STRAIN RELATIONS Note that we have had to introduce the extra unknown. The internal stresses enter into the F = ma equation for a block.

and F surface = n· τ dS ˆ ↔ S where n = normal to S.6. F = ma for the block reduces to: ρ¨ − f − s · τ dV = 0 ↔ ↔ V (5. F = ma for the block becomes: s ρ¨ dV = f dV + n· τ dS. etc. But you can obtain this result by separating τ into column vectors. pointing outward from the block.) and F surface is the surface force (stress × area). The acceleration is 2 a = ∂t xCM 2 ∂t V = = ρs dV m V ρ¨ dV s m where xCM is the position of the block’s center of mass.) So. (You may not be familiar with the tensor divergence theorem. PUTTING τ INTO F = M A ↔ 159 be the density inside the block.21) . So: F body = V f dV where f = body force per unit volume (for gravity. and m is the mass of the block. We apply forces to the block: F body and F surface where F body is the net body force (gravity. and using the vector divergence theorem on each of those vectors. These forces cause the block ˆ to accelerate.5. Then.20) where · τ is a vector with ith component: ·τ ↔ i 3 ↔ = j=1 ∂j τji . ˆ ↔ V V S By the divergence theorem: n· τ dS = ˆ ↔ S V · τ dV ↔ (5. s is the displacement ﬁeld within the block. f = ρg).

3.21 is true for arbitrary V. (5. These equations tell us how the earth responds to internal and external forcing. Most of seismology involves solving this equation for speciﬁed functions of position µ(x) and λ(x). 5. (We haven’t talked about what happens at an external boundary of the object. and we have an equation for s. δij k ∂k sk = µ∂i Or: ·s +µ ↔ 2 si + λ∂i · τ= µ 2 s + (µ + λ) ·s . (5. then there are homogeneous boundary conditions on τ .) ˆ For a homogeneous material µ and λ are constants. the integrand must vanish everywhere: ρ¨ = f + s We identify ↔ ·τ ↔ (5.22) · τ as the body force due to stress. external surface force.22 plus the relation Equation 5. then the boundary condition is n· τ = f s .23.24) Put Equation 5. and so: ∂j τji = j j 2 µ ∂i ∂j sj + ∂ j si ↔ ↔ ↔ +λ j ∂j ·s . . Speciﬁcally: n· τ = surface force = 0 on the boundary.24 for τij into Equation 5. STRESS/STRAIN RELATIONS Since Equation 5.. isotropic. Or. Equation 5.23) ↔ Suppose there are no body forces.16 between τ and ↔ s. If there are no applied external surface forces on the object.160 CHAPTER 5.1 Example: Waves in a homogeneous.6. ∞ medium · τ . in component form: for i = 1. 2. etc. and for speciﬁed external boundaries of the material. Then ρ¨ = s ρ¨i = s j ∂j τji And for an isotropic material: τij = µ [∂i sj + ∂j si ] + λδij k ∂k sk . is a complete set of diﬀerential equations for s. If there is an applied. ˆ f s .

ρ And.23 gives: ρ¨ = µ s 2 s + (µ + λ) ·s (5. These “p-waves” are compressive. because they are the ﬁrst waves to arrive at a seismometer following an earthquake. Typically. That’s because ∆= ·s= kk k = ∆V V .6. They involve a change in volume of the material the wave passes through.25. deﬁning ∆ ≡ · s ≡ dilatation: ¨ ρ∆ = (2µ + λ) 2 ∆. So: ω = k 2µ + λ . waves. PUTTING τ INTO F = M A ↔ 161 Using this in Equation 5.5. Putting Equation 5.6.27) where k = wave vector (k/|k| is the direction of wave propagation. There are two types of solutions to this equation: 5. Solutions have the form: ∆ = ei(k·r−ωt) (5.26) This is a wave equation for the scalar ∆. and k = |k| = 2π/wavelength).27 into Equation 5. This letter was originally assigned to these waves.25) This is the partial diﬀerential equation for s in a homogeneous solid.2 Take p-waves: longitudinal or sound waves · Equation 5. Then. within the earth: vp ≈ 6 km sec 13 km sec near the surface in the lower mantle. or sound. Or. The subscript ‘p’ stands for primus. ω/k = wave velocity = vp . and ω = angular frequency.26 gives: ρω 2 = (2µ + λ)k 2 . (5. since 2 ρ∂t ( commutes with 2 2 2 and with ∂t : · s) = µ · s + (µ + λ) 2 ( · s).

(Note: for an incompressible material which cannot undergo volume changes. then k · A = 0. These waves arrive at a seismometer after p-waves (they are called s-waves). λ = ∞. diﬀerential equation if ω/k = wave velocity = × s. since 2 ρ∂t ( × ( f ) = 0 for any scalar f . STRESS/STRAIN RELATIONS for a small block.3 Take s-waves: transverse waves × Equation 5. S-waves involve no displacements along the direction of motion. (5.5 km near the surface sec 7 km in the lower mantle. vs ≈ 3.6. This wave velocity is usually written as vs . 5.28) If ∆ = 0 (as it must if there is a p-wave). That’s hard to show using this method for deriving s-waves. It satisﬁes the µ/ρ. since µ = 0 in a ﬂuid. This is why p-waves are sometimes called longitudinal waves. so that vp = ∞. The absence of s-waves traveling through the core is why we know there is a ﬂuid core.30) Equation 5.) These waves also involve displacements along the direction of motion. which is why they are called transverse waves.25. Then: ∆= · s = i(k · A)ei(k·r−ωt) . Note that vs < vp (because µ < 2µ + λ). Typically.29) Equation 5. Solutions have the form: (5. sec . we get: × s) = µ 2 ( × s).29 is a wave equation for the vector × s = Aei(k·r−ωt) . Then. within the earth: There are no s-waves in the ﬂuid core.30 is a traveling wave with wave vector k and frequency ω. To see this. so the direction of motion (k/k) and the direction of displacement (A/A) are not perpendicular. suppose s = Aei(k·r−ωt) . so I’ll skip it. The ‘s’ stands for secondus.162 CHAPTER 5. (5.

For small stresses. The most mathematically complicated models are those where the stress is not a linear function of strain. The earthquake generates p. there are lots of boundaries.”) A surface wave is a solution to Equation 5. If you apply a stress to a material it does not immediately deform to its ﬁnal state.and s-waves are called “body waves.and s-waves. And. That’s certainly true for seismic applications. n ≈ 3 or so). And it is usually valid for studies of the response of the earth to surface loading. though. because they would grow exponentially with radius. which travel through the earth until they hit a discontinuity — a place where the material properties change abruptly. they generate transmitted and reﬂected waves.7 Anelasticity Real materials do not deform elastically.25 which varies periodically with distance along the surface. people often ﬁnd they can get away with a linear stress-strain relation.” (The p. ANELASTICITY 163 5. and so be unbounded. where n is greater than 1 (typically. the dependence is not simple multiplication by a constant.6. There. which we will consider later. As a further complication. the earth’s free outer surface gives rise to another sort of wave: a “surface wave. There will probably be an instantaneous response followed by some sort of slow deformation. but decays exponentially with depth into the earth. In all cases.4 The general case After an earthquake. the real earth has all sorts of waves traveling through it. People have come up with all sorts of mathematical models to describe anelasticity. Laboratory materials often behave in a non-linear manner. particularly when subjected to large stress.and s-waves. The situation is similar for an incident s-wave. Linear models are convenient because they are . Except that for an anelastic material. These waves can’t exist in an inﬁnite medium. the stress is modeled as dependent on strain in some way. A familiar model is one where the strain rate (the time derivative of strain) is proportional to stress raised to the nth power. A p-wave hitting a boundary can cause reﬂected and transmitted p.5.7. 5.

For example. taking time derivatives or integrating over time. the anelastic force is proportional to the velocity — which is the time derivative of the displacement (F = bx).7. Because the time derivative is a linear operator.l k. the stress-strain relation in this case is linear. You obtain a linear model by expanding a non-linear model to ﬁrstorder in the stress perturbation.31) where W and X may involve multiplication by constants. j (5. A simple example of anelastic behavior in the real world is air resistance. and time integrals of any order. Except that here the “linear relation” is not simply multiplication by a constant (if it were. which is linear in δσ. time derivatives of any order.1 The general linear model The most general.) People have used all sorts of diﬀerent W ’s and X’s to model geophysical processes. than at the long periods (thousands to millions of years) and . n−1 n then the ﬁrst-order Taylor series expansion of σ n = (σ0 + δσ)n is σ0 + nσ0 δσ.164 CHAPTER 5. diﬀerent models are required at the short periods (seconds to minutes) and small stresses appropriate to seismic waves. 5. It should not be surprising that linear models tend to work reasonably well for small stress perturbations. the material would be elastic). For example. and δσ is the perturbation in stress caused by whatever geophysical process you are considering. if σ0 is the background stress level.l Xijkl kl for all i. In that case. It involves. (For example: a second order integration term in X would look like t t 0( 0 kl (t ) dt ) dt . The consequence is that geophysicists usually assume the rheology for an anelastic material is linear (consistent with the standard scientiﬁc procedure of using the simplest model which can explain the observations). This is analogous to the stress being proportional to the ˙ strain rate. They ﬁnd they need diﬀerent W ’s and X’s for diﬀerent processes. linear relation for an anelastic material is of the form Wijkl τkl = k. STRESS/STRAIN RELATIONS relatively easy to implement. also.

Or.7. if anything.20. the usual mathematical approach used for modeling in-situ geophysical observations is to try to ﬁnd the simplest W and X which explain those observations.5. such as in Figure 5. . that moves through a crystal over time). and then to see what those mathematical results might tell you. ANELASTICITY 165 relatively large stresses appropriate for tectonics and much of geodesy. dislocation Figure 5. as the wave passes through. the anelastic mechanism may have something to do with the opening and closing of pre-existing cracks in the medium. about the mechanisms.20: Since people don’t really understand the mechanisms very well. it may involve the two sides of a crack sliding past one another (equivalent to simple friction). Earth tides and earth rotation can maybe help with that in the future. diﬀerent mechanisms are dominant in these diﬀerent regimes. molecular bonds are weak and so molecules diﬀuse over time) or dislocation creep (a dislocation. Evidently. For seismic waves. It is not yet clear what happens at intermediate periods. In the tectonic regime the important mechanisms probably involve either diﬀusion (at high temperatures.

Only there’s not much point in it. anelastic material. since in that case W and X are already simple multiplication operators in the time domain (Wijkl = δik δjl and Xijkl = Λijkl ).166 CHAPTER 5. of course. complex.2 The Frequency regime People usually work in the frequency regime. you can invert W to obtain a relation of the form: τij = k. for isotropic materials. too.31 from the time domain to the frequency domain. in the frequency domain. Equation 5.7. So. solve elastic problems in the frequency domain. and Λ = W −1 X depends on ω and is. where W and X are multiplication tensors (the denotes Fourier transform). replacing ¨ with −ω 2 s). We can make some general remarks about the functions µ(ω) and λ(ω). They then solve all these equations for the Fourier s transform of s. We just replace µ and λ by functions of ω. That is. Why go to the frequency domain? Because then ∂t → iω and dt → 1/iω. For example. In the ﬁrst case (shear dissipation). and so are unaﬀected by the Fourier transform. one issue is whether there is dissipation of shear energy or of compressional energy.l Λijkl kl .32 looks like the elastic stress/strain relation. you can write: Λijkl = 2µδik δjl + λδij δkl just as in the elastic case. So in the Fourier transform domain for a linear. they Fourier transform Equation 5. to the time domain. and invert the solution from the frequency domain where the equations are solved. They also transform the equation for conservation of momentum. STRESS/STRAIN RELATIONS 5. W and X get replaced by simple multiplication operators — only where the multiplicative factors are functions of frequency (ω). Equation 5.32) where τij and kl are the Fourier transforms of stress and strain. but where µ and λ are now complex functions of ω. (5. into the frequency regime (for example. In fact.21. You can. and take the inverse Fourier transform to get s in the time domain. The result of all this is that the formalism used to solve elastic problems can also be applied to anelastic problems. in general. we want the relation between P and ∆V /dV to be .

compressional dissipation is believed to be much less important than shear dissipation — although there is some evidence from free oscillation observations that suggests there may be a small amount of compressional dissipation. the eﬀects of anelasticity are relatively weak. the frequencydependent parts of µ and λ are described with a parameter Q. Here. That means. µ and λ depend only slightly on frequency. or between λ and Q. In other words. So. but ﬁrst we brieﬂy consider: 5. no dissipation of compressional energy implies that the volume responds instantaneously to any applied pressure.34) Q may depend on the frequency of the wave. without worrying about the relationship between µ and Q. In this case. So. In the second case (compressive dissipation).7. we will only consider shear dissipation. For the earth. For an elastic material. we want K = bulk modulus = 3λ + 2 µ 3 (5.7. λ depends on frequency while µ does not.33) to be independent of ω. That’s because µ describes shear — after all. but µ is not. Q = ∞ (a “high . K is frequency dependent. In the seismic regime. Q peak energy in the wave quality” material). If you have a wave propagating through the medium. We’ll be more interested in long-period phenomena. what do people use for µ and λ in the shear dissipation case? It depends on whether they are interested in short-period or long-period behavior. So. They (5.3 Short-period behavior This is relevant to seismic waves. µ is responsible for the oﬀ-diagonal terms in the stress tensor.5. Seismologists start by trying to ﬁnd Q from observations. then 2π energy lost per cycle of the wave ≡ . even though both µ and λ are likely to be complex functions of ω. They do this by observing the attenuation of body or surface waves as those waves travel through the earth. ANELASTICITY 167 unaﬀected by anelasticity. Q is deﬁned in seismology much as it is deﬁned in electrical engineering. This must hold.

STRESS/STRAIN RELATIONS can also ﬁnd Q by observing free oscillations.37) More complicated functional forms for Q(ω) lead to more complicated relations between µ(ω) and Q.” which follows from the simple and obvious requirement that a seismic wave can’t arrive at a point until after the wave has been generated. theoretical reasons for believing that there might be a slight variation of Q with frequency. however. But they all reduce to Equation 5. People rarely use anything more complicated than Equation 5. seismologists are learning about the imaginary parts of µ and λ. usually parameterized as Q(ω) = Q0 ω ωm α (5.35 is actually only an approximation valid for large Q. Q0 (5. each of which loses energy according to Equation 5. and α are constants.168 CHAPTER 5. the 14 month Chandler wobble. and as such can be envisioned as the sum of traveling waves. In that case (again. In that case. There are an inﬁnite number of possible functions µ(ω) which give a frequency independent Q. that we’ll .) There are. because it is the imaginary part of a modulus that is responsible for energy dissipation.) By ﬁnding Q(ω). ωm and Q are all constants. µ turns out to be: µ(ω) = µ0 1 + 2 ω 1 ln +i π ωm Q (5.36 in the seismic regime. The general form of the real part depends on what the functional form for Q(ω) is. an approximation for large Q): µ(ω) = µ0 1 + cot απ 2 1− ωm ω α +i ωm ω α 1 . ωm . For example. (Equation 5.34. they can infer information about the real part using what’s called the “Kramers-Kronig relation. can also be related to the free oscillation decay times.36) where Q0 . most seismic data are reasonably consistent with a frequencyindependent Q. (A free oscillation — or normal mode of the earth — is a standing wave. Q. It has even been used successfully in explaining variations in the earth’s rotation at periods longer than one year (speciﬁcally. since the same parameter.35 for large Q.35) where µ0 . Once they know the imaginary part.

with a large uncertainty.5.7.37).21. The conﬁguration immediately responds elastically — through stretching of the spring. µ).4 Long-Period behavior At periods of hundreds of years and longer. 5.7. The ω-dependent real part represents dispersion. This causes a seismic pulse to spread out as it travels. waves with diﬀerent frequencies travel at diﬀerent speeds. The spring is elastic with spring constant 2µ (the “2” is used here so 2η T 2µ T Figure 5. Note that µ(ω) has both real and imaginary parts in Equations (5.4.35) and (5. That is. and the dashpot has e viscosity 2η. In the . as shown. 5. The best estimates for α that can reconcile the rotation and seismic observations seem to be on the order of 0.1 Maxwell solid The best way to think of a Maxwell solid is in terms of a spring and a dashpot in series as in Figure 5.1. ANELASTICITY 169 talk about later). people have been reasonably successful at explaining observations using a “Maxwell solid” model. Gradually the dashpot pulls apart and the spring closes.21: that this µ will end up corresponding to the Lam´ parameter. The imaginary part represents energy dissipation (it causes the stress to be out-of-phase with the strain). You continue to hold the two ends apart so that the total stretched length doesn’t change. Suppose that at time t = 0 you apply the outward force T to each side.7. thus relieving the stress.

38) (2µ = spring constant) . the only stress remaining is hydrostatic pressure (this assumes we are talking about shear anelasticity. Let T be the force applied to each end. That’s a Maxwell solid. rather than compressional anelasticity). Shear stresses are initially set up in the material. Deﬁne: ES = amount the spring has stretched ED = amount the dashpot has stretched E = ES + ED = amount the total conﬁguration has stretched. At t = ∞. How are they related? Across the spring: T = (2µ)ES . But.40) (5.170 CHAPTER 5. 2µ 2η Or: 1 ˙ ˙ 2µE = T + T τ0 (5. the material inside the solid ﬂows until the shear stresses are relieved. gradually. STRESS/STRAIN RELATIONS limit t → ∞ there is no stress (you no longer have to pull to keep the thing stretched) and the spring is closed. The idea. Let’s construct a mathematical model for this behavior.38 and 5. as shown.21. T and the E’s are functions of time. is that the solid initially responds “elastically” to the sudden application of an external force. Taking d/dt of this gives: ˙ ˙ T = 2µES . when generalized to a three-dimensional solid.39 to get: ˙ T T ˙ ˙ ˙ + = ES + ED = E.39) (5. Across the dashpot: (where the force = viscosity × d/dt (stretching)): ˙ T = 2η ED . We start with the spring and dashpot shown in Figure 5. In general. Add Equations 5.

integrating: 2µE = T .40 has the right elastic limit. 2µE0 − T (t = 0) 1 = T (t = 0) dt→0 dt τ0 lim . and we continue to hold the conﬁguration apart so that it remains stretched by E0 at all later times. which is the spring equation. dt→0 dt→0 dt dt τ0 Or. Therefore.40 at t = 0 implies that 2µ lim T (t = 0) − T (t = −dt) E(t = 0) − E(t = −dt) 1 = lim + T (t = 0). then η = viscosity = ∞ (inﬁnite viscosity ⇔ elastic E0 t Figure 5. Let’s solve Equation 5. immediately after we apply the displacement E0 ? To ﬁnd the answer. so 1/τ0 = 0 and 2µE = T .40 to ﬁnd the force T as a function of E Note that if there is no dashpot. What is T right at t = 0. A plot of E versus time is a step function. since T (t = −dt) = E(t = −dt) = 0. So. Or. we note that Equation 5. Equation 5. and E(t = 0) = E0 : 2µ lim E0 1 T (t = 0) = lim + T (t = 0) dt→0 dt dt→0 dt τ0 T must always be ﬁnite. We know that T must be 0 at times t < 0. as shown in Figure 5.22.” ˙ ˙ material).5.22: time. Why is τ0 called the relaxation time? Suppose we suddenly stretch the conﬁguration by an amount E0 at time t = 0.7. ANELASTICITY 171 where τ0 = η/µ is called the “relaxation time.

and leave it on. the force decays exponentially to 0 as t → ∞. for the spring alone. And.4. So. If you T T Figure 5. A Maxwell solid is a special case of a visco-elastic solid. what happens is that at inﬁnitely short times you see the spring but not the dashpot. The solution is T = (2µE0 )e−t/τ0 .23: turn on the force T at t = 0. the response is . for our example: T = 2µE0 1 ˙ T+ T = 0 τ0 ˙ (since E = 0 for t > 0). Physically. Two examples besides a Maxwell solid which are sometimes used in geophysics: 5. with time constant τ0 . Because of the presence of dashpots. STRESS/STRAIN RELATIONS must be ﬁnite. Visco-elastic solids can all be represented by springs and dashpots in series and/or in parallel. So.7.172 CHAPTER 5. visco-elastic solids are described by a viscosity parameter (possibly more than one.23. T (0) = 2µE0 . That means that T (t = 0) = 2µE0 . as shown in Figure 5. if there are two or more dashpots with diﬀerent viscosities).2 Kelvin-Voigt solid for t = 0 for t > 0 A Kelvin-Voigt solid is a spring and dashpot in parallel.

The conﬁguration relaxes because of the dashpot. that we derived for a spring and dashpot. where µ and λ are the elastic Lam´ parameters. again. 2.4. no stretching. initially.41) k holds. so that the elastic result − 1 3 τkk = − 2µ + 3λ 3 kk k (5.7.4 Three-dimensional Maxwell solid rheology Consider. ANELASTICITY 173 1.40. (Note that we are working in the e time domain at the moment. and is controlled by the spring on the left in Figure 5. the behavior is controlled only by the spring. 5. 5.7. This is a combination of a Maxwell solid and a Kelvin-Voigt solid. and the relation between T and the amount of stretching is given by the elastic relation for the spring. The t = ∞ response is controlled by both springs. to a three-dimensional solid? We assume there is no dissipation of compressional energy.) We assume that the Maxwell .24. At t → ∞. How do we extend the result Equation 5.3 Standard Linear solid T T Figure 5. The initial response is elastic. gradually the dashpot opens and the force gets transferred to the spring.5.24: A standard linear solid is a spring in series with a Kelvin-Voigt element. a Maxwell solid.24. as shown in Figure 5.7.4. not the frequency domain.

44) I claim that µ in Equation 5. It is of the form Wijkl τkl = k. What happens in the frequency domain? Suppose we replace d/dt with iω. k = ij (5. for η = ∞. Use Equation 5.41 to remove the τkk term.44 is the elastic Lam´ parameter.41 to remove the τ kk term in Equation 5. We divide . this equation is the time derivative of the elastic stress/strain relation. suppose we have an elastic material.174 CHAPTER 5. k (5. e Now.44 relates ˙ to τ (no τ terms). Integrating over time gives: ˙ 2µ ij − 1 3 kk δij k = τij − 1 3 τkk δij k which is the result for an elastic solid so long as µ = elastic Lam´ parameter. go back to Equation 5.44. k (5. Then. Equation 5. respectively.43) To describe a Maxwell solid rheology. The shear stress is described by the deviatoric stress. where η = ∞. we replace T and E in Equation 5. and use the derivative with respect to time (d/dt) of Equation 5.l kl Xijkl kl where W and X include time derivatives. The left hand side is then (iω + µ/η)τij . k (5.44.45 is the anelastic stress/strain relation in the time domain. We ﬁnd: ˙ τij + ˙ µ τij = 2µ ˙ij + λ η ˙kk δij − µ η 2µ + 3λ 3 kk δij . Equation 5.40 with δτij and δ ij . which is why I called it e ‘µ’ originally. which is τ minus the pressure terms: δτij = τij − The shear strain is similarly deﬁned as δ ij ↔ ↔ 1 3 τkk δij .42) minus the volume terms: − 1 3 kk δij .45) k Except for the last term on each side. To see that. STRESS/STRAIN RELATIONS rheology applies only to the dissipation of shear energy. to obtain: 2µ ˙ij − 1 3 ˙kk δij = τij − ˙ 1 3 τkk δij + ˙ k k µ 1 τij − η 3 τkk δij .

you transform it to the time domain.46 . Equation 5.15. you work in the frequency domain (so you must transform the applied force to the frequency domain). It’s just that sometimes the Laplace transform simpliﬁes the algebra. the conservation of momentum equation (−ρω 2 s = relating ↔ · τ + f ) and the equation ↔ to derivatives of s. . And at low frequencies (ω and λ → (2µ + 3λ)/3 = K. The Maxwell rheology has been especially useful for modeling postglacial rebound. To model the response of a Maxwell earth to any externally applied force. as we shall see. Once you obtain a solution for s. which are: 1. to obtain: τij = 2µ where ij +λ k kk δij (5. It turns out that for many applications. including for postglacial rebound. iω + So. both of which are unaﬀected by anelasticity. at long periods the material behaves as a ﬂuid. which is the elastic limit.5. µ → 0 λ → λ. the frequency domain is always ok. You solve the equations. Note that in the elastic limit (where η → ∞). in the frequency domain the stress/strain relation looks like the elastic result. except that µ and λ are functions of ω. ANELASTICITY 175 each side by (iω + µ/η). Also: at high frequencies (ω (µ/η) = (1/τ0 )). µ → µ and (µ/η) = (1/τ0 ). µ → µ and λ → λ.7. So. and 2. you work in the Laplace transform domain rather than the frequency domain. and are complex.46) µ = µ λ = λ µ iω + η µ 2µ +1 η 3λ µ iω + η iω . That means in all the above equations. the stress/strain relation Equation 5. But. the Laplace transform variable. you replace (iω) with s.

176

CHAPTER 5. STRESS/STRAIN RELATIONS

**Chapter 6 Interpretation of Observed Gravity Anomalies
**

6.1 Surface Gravity Anomalies

As discussed in Chapter 4, a plot of the geoid provides a good representation of the long wavelength features in the earth’s gravity ﬁeld. But, it’s usually not the best way to represent short wavelength features, since short wavelengths are less prominent in the geoid. Instead, short wavelength features are more clearly evident in maps of gravitational acceleration. Although the gravitational acceleration, as a function of position, can be inferred from satellite ranging data (see Equation 4.35 and the discussion in Section 4.4), those data do not resolve short wavelengths well. The short wavelength terms are best determined from surface gravity observations. But, there’s a complication. The reason geophysicists are interested in gravity, is because it allows them to learn about the earth’s internal density distribution. But observed gravity also depends on the radial coordinate of the instrument. For example, if the gravimeter is further from the center of the earth, such as on top of a mountain, g is smaller. So, to use observed gravity to learn about the earth’s interior, you must ﬁrst remove the eﬀects of the earth’s non-spherical surface. In principle, this means you should 177

178

CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

correct observed gravity for the topography (the elevation above the geoid) and for the geoid shape (the diﬀerence between the geoid and the mean spherical surface). But, at short wavelengths — say less than 1000 km — you don’t need to correct for the geoid. That’s because the geoid is smooth, with little power at those wavelengths. So if you only care about interpreting gravity over regions of a thousand km and smaller (and for regions much larger than that you would probably be representing gravity using geoid anomalies instead of surface gravity), then geoid anomalies are roughly the same over the entire region, and so by ignoring the geoid corrections you are not introducing any important relative errors across the region. And, it’s only the relative errors which are apt to aﬀect your interpretation. Except that people usually do correct for the P 2 component of the geoid: the ellipsoidal component. It’s true that this component has a very long wavelength. But, it also has an enormous amplitude. So, if you don’t remove it, your surface gravity observations could well show a linear decrease from North to South. You remove this component by subtracting the International Gravity Formula (see Equation 4.31) from your data. This is equivalent to removing the eﬀects of the centrifugal force and of the P2 internal density distribution. The data should be corrected for topography, however, because topography can have signiﬁcant power at short wavelengths. Let h(θ, φ) be the elevation of the surface at (θ, φ). To remove the eﬀects of h you construct what are called Free Air anomalies: gFA = (gobs − γ0 ) − h∂r g 2 = (gobs − γ0 ) + h gobs a ≈ (gobs − γ0 ) + h[in m] × [0.3086 mgal/m]

(6.1)

where γ0 is the International Gravity Formula. Equation 6.1 reduces the observed surface gravity to a common spherical surface (except, as described above, for the eﬀects of the height of the geoid above the ellipsoid). This gFA I denoted as ∆g back in Section 4.3.2. The free air anomaly, gFA , can be interpreted in terms of the earth’s density distribution. Think of gFA as the acceleration you would observe at a surface of constant elevation outside the earth: the surface in Figure 6.1, for example. That’s not really quite what it

6.1. SURFACE GRAVITY ANOMALIES

179

constant elevation surface outside the earth

geoid

Figure 6.1: is. It’s really the acceleration you would observe on the geoid (except for the eﬀects of subtracting γ0 in Equation 6.1); except that, because the geoid is likely to be below the earth’s surface, when we extrapolate from the surface down to the geoid we are ignoring the mass that we are extrapolating through (i.e. we are assuming that ∂r g = −2g/a). This is the same sort of conceptual problem we had to deal with when we deﬁned the geoid. In fact, gFA does turn out to equal g on an external level surface, plus a constant. So, think of it this way, if you prefer. gFA is aﬀected by the direct attraction of topographic mass. For example, gFA will be large where there is a mountain, because the mountain has mass. You would have to classify this as an eﬀect due to the earth’s internal density (as opposed to the free air correction, (2g/a)h, which is an eﬀect due to the position of the instrument), but it’s not an interesting eﬀect. There are better ways to learn about the topography than by using gravity: leveling, for example. Gravity is most useful because it can provide information about density inside the earth. So, to learn about the interior of the earth, it is useful to subtract oﬀ the direct attraction of the underlying topography. There’s a crude way of doing this that almost all geophysicists and most geodesists use. Assume the topography is smooth, in some sense. See Figure 6.2. Then, if you are at elevation h when you make your measurement, you

180

CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

**approximate all the mass above the geoid as an inﬁnite slab of thickness h. You compute
**

topography instrument

h geoid

slab of thickness h

Figure 6.2: g due to this imaginary slab. Earlier, in Section 3.2.2, we found that the downward gravitational acceleration caused by a homogeneous, inﬁnitesimally thin, inﬁnite plane with surface density σ, is 2πGσ. This result does not depend on how far you are from the plane. So, g from our slab is:

h 0

2πG(ρ dz) = 2πGρh

where ρ is the density of the slab. (Think of the slab as composed of lots of thin planes, each with σ = ρ dz, and sum over the planes.) This is the extra downward attraction due to the topographic mass, assuming the inﬁnite slab approximation is ok. To learn about the earth’s interior, you want to subtract this slab contribution from gFA . In this way you construct Bouguer anomalies: gB = gFA − 2πGρh = (gobs − γ0 ) +

2 gobs − 2πGρ h. a

For typical crustal rocks, ρ is often taken to be ρ = 2.67 gm/cm3 . Then, 2πGρ = 0.1118 mgal/m, which is about 1/3 of the free air (2gobs /a) correction. So, by using gobs , together with h from leveling, we have a result, gB , that can be used to learn about the earth’s interior. Sometimes geodesists use a better method of subtracting the eﬀects of topographic density than simply using an inﬁnite slab. They break up the surrounding region into “templates.” See Figure 6.3. They ﬁnd the mean

6.1. SURFACE GRAVITY ANOMALIES

181

instrument

a template

Figure 6.3: elevation (and density) of each template, compute the gravitational eﬀect from the mass in each template, and sum over all templates. There are standard tables they use to look up the gravitational eﬀect from a template — given the density and elevation. Geophysicists, though, almost always use the cruder Bouguer anomalies. I’ve described what to do about topography when you’re measuring g over the continents. The Bouguer anomaly essentially shaves oﬀ all mass down to the geoid. But, what do you do when you’re observing g over the oceans? You must remove the eﬀects of sea ﬂoor topography, and the eﬀects of having low density water beneath you instead of higher density rocks. If these latter eﬀects are not removed, then gravity anomalies across an ocean-continent boundary have a discontinuity at the the shoreline, as illustrated in Figure 6.4. To construct Bouguer anomalies over the oceans, you imagine replacing the water with crustal rock. Suppose you observe g at sea level, where the ocean has depth H. You approximate the underlying ocean as an inﬁnite water slab of thickness H. The gravitational acceleration toward the slab is 2πGρw H where ρw = density of sea water. If

the new slab produces a gravitational acceleration of 2πGρH. So. At short horizontal wavelengths — say a few 10’s of km or shorter — everything looks like you’d expect it.4: you replace the slab with crustal rocks of density ρ. because. This result was ﬁrst discovered around 1850 by geodesists surveying in the Himalayas. But. at wavelengths of 100 km and longer. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES plot of gFA decrease due to fact that water is less dense than rocks land ocean Figure 6. the Bouguer anomalies look like the inverse of the topography. to construct Bouguer anomalies over the ocean. The Bouguer anomalies do a pretty good job of removing the topography. the oceans have zero elevation. But. You are now ready to learn about the earth’s interior. and construct Bouguer anomalies.2 Isostasy Suppose you measure g over the earth’s surface. That is. you add 2πG(ρ − ρw )H to gFA to obtain: gB = gFA + 2πG (ρ − ρw ) H. at these wavelengths the free air anomalies show little correlation with the topography. Note that over the oceans: gFA = gobs − γ0 . rather than the . there is little correlation between your gB results and the topography. Only they ﬁrst noticed it in observations of the direction of gravity. 6. No free air correction is required. In fact. except for dynamic topography (which is small).182 CHAPTER 6. you ﬁnd a strange thing.

mean that the topographic mass doesn’t aﬀect gravity Instead. The direction is measured by ﬁnding the angle between a plumb bob and vectors to stars. they found the observed angle didn’t change as they moved closer to the mountains.2. This is the theory of isostasy.1 Airy compensation These results don’t. so that the total mass in a vertical column is the same. ISOSTASY 183 amplitude. A mountain has excess mass above the geoid. 6.5: lighter than the mantle. The result is that the gravitational eﬀect from the root will nearly cancel the eﬀect from the mountain in gFA . It was proposed soon after the Himalayan results were found. with gravitational eﬀects that tend to cancel the eﬀects of the topography at long wavelengths. they demonstrate that there is material with anomalously low density beneath topography. suppose we approximate the root as an inﬁnite slab with negative density = (ρcrust − ρmantle ).2. whether the column is beneath the mountain or not. See Figure 6. of course. the mass/area in the root is the negative of the mass/area in the inﬁnite slab used to approximate the . The geodesists expected the plumb bob to be attracted by the Himalayas.6. For example. The crust is mountain crust mantle Figure 6. But. This is balanced by the light crust extending down further into the mantle. Because of the compensation.5. One version of this idea is that mountains have roots.

184 CHAPTER 6.) Typical crustal densities are 2–3 gm/cm3 . and the resulting blocks ﬂoat on the mantle like icebergs ﬂoat on water. the eﬀects of the two slabs cancel. since g from an inﬁnite slab is independent of the distance to the slab. the mantle is ﬂuid over long time periods 2. note from Figure 6. If this idea of isostasy is valid (that is.4–0.6. the crust breaks up under long wavelength topographic loading. = we can infer that D is 3–8 times h.7 gm/cm3 . Or: D=h ρc . INTERPRETATION OF OBSERVED GRAVITY ANOMALIES topography. This model of isostasy is called Airy compensation. So. The density contrast between crust and mantle is typically: ρm − ρc ∼ 0.6 that equal masses in vertical columns implies that: h ρc ρm D Figure 6. The idea. To ﬁnd the size of a root. contrary to what is shown in Figure 6.6: hρc = D(ρm − ρc ). who proposed it. The root and . physically. the roots are large. after a mathematician names Airy. ρm − ρ c (Note: crustal thicknesses are usually much larger than both h and D. number 2 is an over-simpliﬁed idea. So. Using these numbers. is that 1. As we’ll see. if there is equal mass in all vertical columns). then there should be a small correlation between gFA and topography.

and ρh = crustal density beneath topography.7: = topography. and so their gravitational eﬀects depend on how far away they are. H = crustal thickness in the absence of topography. the contributions will not exactly cancel. this model predicts little correlation between gFA and topography. was proposed by Pratt — the person who had noticed the discrepancy in the Himalayan data — a couple years after Airy came up with his explanation. so that there is no spatial variation of gFA .2. But. See Figure 6. 6. since to lowest order you approximate the underlying column as an inﬁnite slab with mass/area equal to the total mass/area of the column.2 Pratt compensation Another type of isostasy. Thus. ρc = normal crustal density. Pratt compensation.7. In this theory. but they are not really inﬁnite slabs. and comparing the results with observations. If h h H ρc ρh ρc crust mantle Figure 6. rather than by extending or contracting the bottom of the column.2.6. mountains would be supported by a lower density crust. ISOSTASY 185 the mountain have opposite masses. H +h Again. rather than by a thickened crust. By doing the calculations more exactly. people have been able to estimate the thickness of the crust. Pratt agreed that there was equal mass in equal columns. And each column has the same mass/area no matter what h is. he argued that this was achieved by changing the density in a column. So ρh = H ρc . then equal mass in equal columns gives: Hρc = (H + h)ρh . Of course the underlying column .

seismologists can infer the boundary depth. (The boundary is known to seismologists as the Moho. don’t you see the eﬀects of isostasy at short wavelengths (10’s of km and shorter)? At those wavelengths the topographic signal is present in gFA . 6. People have used both models to estimate the thickness of the crust (by correlating the observed g with topography). But. crustal thicknesses of about 50 km under land and of about 10 km under oceans. The crust/mantle boundary is a chemical boundary (diﬀerent materials on diﬀerent sides of the boundary) and so represents a discontinuity in material properties. The Airy model is probably valid if the topography can be viewed as an applied load on the earth. Is it because isostasy is not operative at short wavelengths? Perhaps short wavelength loads don’t break up the crust? The answer is: “yes. They obtain depths of 30– 60 km under the continents. Seismic waves are reﬂected from the boundary. How H you distribute the mass vertically is up to you.2. this can be used to ﬁnd the depth to the crust/mantle boundary. All you need specify is the total mass in a vertical column. and so there will be some correlation between h and gFA . then. Again.186 CHAPTER 6. there’s more to the story . Furthermore. for both models. They ﬁnd. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES is not an inﬁnite slab. A more general version of Pratt compensation would not require ρ to be constant in a vertical column. Then ρh and ρc in ρh = ( H+h )ρc are the average densities beneath the mountain and the non-mountainous surface.” In fact. short for the Mohoroviˇi´ discontinuity. which tends to support Airy over Pratt in those regions. but not in gB .3 Airy versus Pratt Which of these models (Airy or Pratt) is correct? Pratt compensation might be valid if the topography were the result of thermal expansion or contraction in the crust or upper mantle. and 5–15 km under the oceans. we’ll see later that even long wavelength loads don’t actually break up the crust. Why.) cc By comparing the arrival times of waves reﬂected from the boundary with the time of the earthquake. the Moho depths generally show that the crust is thicker under mountainous regions. These results are consistent with seismic observations of the crustal thickness.

6.3. A BETTER MODEL FOR AIRY COMPENSATION EFFECTS ON GRAVITY

187

than this. Even if the crust did break up under short wavelength loads, there would still be topographic eﬀects evident in gFA . To understand why, let’s try to do a better job of ﬁnding the eﬀects of topography and its compensation on gFA than simply using inﬁnite slabs.

6.3

A Better Model for Airy Compensation Eﬀects on Gravity

Consider, ﬁrst, Airy compensation. Suppose, for simplicity, that the earth is ﬂat and symmetric in the ey -direction, so that the topography is a function only of x: h = h(x). ˆ Suppose h(x) = h0 eikx where h0 and k are constants (k = 2π/wavelength). (Topography is not a complex-valued function, of course. But, imagine we have expanded h(x) into a complex Fourier series, and that here we are considering just one term in that series.) Assume k ≥ 0. For perfect compensation, h(x) is supported by a root of thickness D(x) = ρc h(x) = ρm − ρ c ρc h0 eikx . ρm − ρ c H. See Figure 6.8. Then,

ez h ex H ρc

Let H = crustal thickness. Assume that |h|

H and |D|

root ρm

D

Figure 6.8: we approximate the topography with a surface mass σ = ρc h(x) at z = 0. And, we approximate the root as a surface mass σ = (ρc − ρm )D(x) = −ρc h(x) at z = −H.

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CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

Let’s ﬁnd a better approximation to g from these surface masses, than the inﬁnite slab approximation. Suppose we are trying to ﬁnd g at the point P shown in Figure 6.9, due to the surface mass σ(x ). Suppose P is located at (x, z = a), and that the surface mass is on the plane z = 0 (so the surface mass is a distance a below P ). Break the surface into thin strips of

x’ - x P ez d θ a ex σ(x’) dx’ O x

Figure 6.9: width dx , as shown. Each strip looks like an inﬁnite line extending in the ey direction, ˆ with constant mass/length = λ = σ(x ) dx . The distance between P and the line is d= a2 + (x − x)2 . From Section 3.2.3, we know that g due to the line has magnitude gline = 2Gλ = d 2Gσ(x ) dx a2 + (x − x)2 ,

and is directed from P towards dx . We only want the component of acceleration in the −ˆz direction (this direction is downwards) since, to ﬁrst order, only this component e e aﬀects |g|. So, the −ˆz contribution to g from the line is 2Gσ(x ) dx a2 + (x − x)2 where cos θ = a/d. We add up (i.e. integrate) over all lines to get the total contribution from the plane: g(x, a) = 2Gaσ(x ) dx 2 −∞ a2 + (x − x)

∞

cos θ =

2Gσ(x ) dx a a2 + (x − x)2

(6.2)

6.3. A BETTER MODEL FOR AIRY COMPENSATION EFFECTS ON GRAVITY

189

where g(x, a) is the −ˆz component of g at the point P . Suppose σ(x ) = σ0 eikx . Then e we can do the integral in Equation 6.2 to get g(x, a) = 2Gπσ0 e−ka eikx (for k < 0 we get the same result, except that −ka is replaced with −|k|a). Return, now, to our original problem of ﬁnding g from the topography and its compensation. Suppose we want to ﬁnd g at any elevation, z, above the earth’s outer surface (z = 0). (Gravity observations are made only at z = 0, but we want to keep z ≥ 0 arbitrary at this time, because it will be useful when we compute the geoid, later.) We use Equation 6.3 for each of the two planes. One plane has σ0 = ρc h0 and a = z. The other has σ0 = −ρc h0 and a = H + z. Using Equation 6.3 for each plane, and adding to get the total g, gives: g(x, z) = 2Gπρc h0 eikx 1 − e−kH e−kz . g(x, z = 0) from Equation 6.4 is our prediction for gFA . Suppose the horizontal wavelength of the topography is large, so that k is small. Speciﬁcally, suppose that kH 1, so that the wavelength crustal thickness. Then e−kH ≈ 1, and so g(x, z = 0) = 0. But, suppose kH slab result for the topography alone. So for long wavelengths there is little correlation between gFA and topography. And for short wavelengths there is little correlation between the Bouguer anomalies and topography. “Short” and “long” mean compared with the crustal thickness. In fact, the way geophysicists learn about the crustal thickness is by comparing Equation 6.4 for gz (x, z = 0) (or its two-dimensional equivalent gz (x, y, z = 0)) with observations of gFA . What’s happening here is that short wavelength gravity variations on a plane die away rapidly with distance from the plane. The decay distance is about equal to a horizontal wavelength. So, if the crustal thickness is larger than a horizontal wavelength, the gravitational signal from the root will not be seen at the surface. But, if the crustal (6.4) (6.3)

1, so that the wavelength is

crustal thickness. Then e−kH → 0, so that g(x, z = 0) → 2πGρc h(x), which is the inﬁnite

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CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

thickness is much less than a wavelength, the signal from the root will not have decayed much, and so will cancel the signal from the topography.

6.4

A Better Model for Pratt Compensation Eﬀects on Gravity

Let’s go through a similar derivation for Pratt compensation to see how it diﬀers from Airy compensation. Suppose the surface topography is h = h(x) = h0 eikx , where k ≥ 0. Then, g at (x, z) due to the surface topography is 2πGρc h0 eikx e−kz as in the Airy case. The Pratt model proposes that the topography is supported by density variations in the crust. Suppose the crust ﬁlls the region −H < z < 0 (see Figure 6.10). Let ∆ρ(x , z ) (6.5)

H

ρ = ρc + ∆ ρ

Figure 6.10: be the crustal density anomaly at the location (x , z ), so that the total density inside the crust is ρ(x , z ) = ρc + ∆ρ(x , z ). (We used ρc in Equation 6.5, instead of ρ, because h0 ∆ρ is 2nd order in small quantities.) We assume that there is no density anomaly below the crust (z < −H). When we introduced Pratt compensation above, we assumed that ∆ρ(x , z ) was independent of z . That is, we assumed that the entire crustal column beneath a topographic

6.4. A BETTER MODEL FOR PRATT COMPENSATION EFFECTS ON GRAVITY

191

feature has a uniform density anomaly. We deﬁned ρc + ∆ρ(x , z ) ≡ ρh , and then concluded that ρh = H h ρc ≈ ρ c − ρc H +h H h0 ∆ρ = − ρc . H ⇒ (6.6)

I mentioned that you could generalize Pratt compensation to cases where the density anomaly depends on z , with the result that ρh ≈ ρ c − h ρc H (6.7)

is valid in an average sense. I want to consider that more general case here. We don’t really need to do that to address the topic of this section: ﬁnding something better than an inﬁnite slab to approximate the gravity anomaly from Pratt compensation. But, the results of the more general case will be useful, later, in applications. To have equal masses in all columns, ∆ρ must satisfy:

h(x) −H

(ρc + ∆ρ(x, z )) dz =

mass in a column

Hρc

mass in a column with no topography

**for all x (the value of x deﬁnes the column). Or:
**

0 −H

∆ρ(x, z ) dz = −ρc h0 eikx

(6.8)

for all x. (For the upper limit of the integral we have used 0 instead of h, because ∆ρ and h are both 1st order, implying that the diﬀerence between using 0 and using h as the limit, is 2nd order.) Since Equation 6.8 must hold for all x, we expect ∆ρ(x, z ) to be proportional to eikx , so that: ∆ρ(x, z ) = δρ(z )eikx . With this deﬁnition of δρ, Equation 6.8 implies that:

0 −H

δρ(z ) dz = −ρc h0 .

(6.9)

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CHAPTER 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES

Note that for δρ(z ) = δρ = constant, Equation 6.9 reduces to δρ = − h0 ρc , as in EquaH tion 6.6. So, Equation 6.9 is a more general version of Pratt compensation, valid for depthdependent density anomalies. What eﬀect does the anomalous density ∆ρ(x, z ) = δρ(z )eikx have on g? Think of δρ(z )eikx as spread over a lot of thin horizontal planes of thickness dz , each with surface density σ(x , z ) = δρ(z )eikx dz . The plane at z is a distance z − z from the ﬁeld point (note that z < 0). From Equation 6.3, we know that g(x, z) caused by the surface density on that plane is: 2Gπekz eikx δρ(z ) dz e−kz . We add up the contributions from all planes, from z = −H to z = 0. We also add the eﬀect, Equation 6.5, from the surface topography. We ﬁnd that the total g is: g(x, z) = 2πG ρc h0 +

0 −H

δρ(z )ekz dz eikx e−kz .

This is the result for generalized Pratt compensation.

6.4.1

Remarks

crustal thickness. Then kH 1, so that |kz | 1 for

• Suppose the wavelength

**z between −H and 0. Then, crudely, ekz → 1. So g → 2πG ρc h0 +
**

0 −H

δρ(z ) dz

eikx e−kz = 0

since the integral here is equal to −ρc h0 for perfect compensation (see Equation 6.9). So, there is no correlation between gFA and topography in this long wavelength limit. • Suppose the wavelength is surface (z = 0), the integral crustal thickness. Then kH

0 −H δρ(z

1, so that ekz ≈ 0

except for z close to 0. So, as long as δρ(z ) is not all concentrated right near the )ekz dz is small. So, g(z = 0) → 2πGρc h0 ,

which is the inﬁnite slab result = the Bouguer correction. So, short wavelength topography is not correlated with gB .

11) How does the ﬁrst order Pratt result (Equation 6.5. If we knew how the diﬀerent isostasy models aﬀected . Then H 0 −H δρ(z )ekz dz = − h0 1 − e−kH ρc H k . GEOID ANOMALIES 193 • Consider the usual Pratt compensation. 6.10 to 1st order in kH.6. So. after all. It sort of implies that the compensation is in the middle of the crust for the Pratt case. the Pratt compensation is distributed uniformly throughout the entire crust. we obtain the ﬁrst order Pratt result: g(z = 0) ≈ 2πGρc h kH 2 .11) diﬀer from the 1st order Airy result? First Order Airy: g(z = 0) = 2πGρc h 1 − e−kH ≈ 2πGρc h(kH). kH (6. That does make some sense. (6. too. After all. to ﬁrst order at long wavelengths. so that the average compensation is in the middle. 2 Thus. 1 − e−kH kH (kH)2 1 − 1 − kH + 2 ∼ = kH =1− kH . z) = 2πGρc h0 1 − At long wavelengths (kH 1 − e−kH ikx −kz e e . rather than to 0th order (it vanishes to 0th order. let’s expand Equation 6. the Pratt g is half the Airy g. as we’ve seen). So: g(x. where δρ = constant = − h0 ρc .5 Geoid anomalies Isostasy should show up somehow in the geoid.10) 1). the geoid is just another way to represent the gravity ﬁeld. And. rather than at the bottom.

(The minus sign in Equation 6.) (Back in Chapter 4 we showed that (∂r ∆V + a ∆V )|surface = ˆ ∆g (Equation 4. particularly over the oceans. But. Nevertheless. satellite altimeter data do give good results for the geoid.12 is g in space. and thus amplify the shorter wavelength terms. At longer wavelengths you start to see eﬀects of density anomalies deep inside the earth.) We just ﬁnished ﬁnding g(z) for diﬀerent types of compensation. In all cases the z . I’ve been telling you that shorter wavelength features are more clearly evident in gravitational acceleration maps than in the geoid.32). why bother? Useful information on isostasy will only appear at wavelengths of less than a few thousand km. you could always transform the geoid results to obtain gravitational acceleration maps.194 CHAPTER 6. the ∆g in this equation is g on the geoid. Of course.12) where g is the eﬀect of the topography plus compensation on the vertical acceleration. What are the eﬀects of Airy and Pratt compensation on the geoid? The reason I kept the e−kz terms in the results above for g (rather than setting z = 0) is so that we can answer this question. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES the geoid.12 is because we have deﬁned g to be positive downwards: 2 in the negative ez -direction. whereas the g in Equation 6. etc. Remember that ∆V g geoid anomaly = surface where ∆V is the perturbation in the potential due to the underlying topography and its compensation. But there can be reasons to work. with the geoid results. given that they are the direct output of the altimeter analysis. people do sometimes look at isostatic eﬀects on the geoid. There aren’t many surface gravity observations over the oceans. even at very short wavelengths. And. But. And: ∆V (z) = − z g(z ) dz (6. as a function of z. instead. But. we could maybe compare the geoid with topography and so learn about crustal thicknesses. that tend to mask any near-surface isostatic signal.

So: 195 Airy N (x) = Generalized Pratt N (x) = 2πG ρc h(x) + gk 0 −H 2πGρc h(x)H 1 − e−kH g kH (6. all three are independent of k (except for the k in eikx ).13.5. ekz ≈ 1+kz in Equation 6. So.13) δρ(z )ekz dz eikx (6. GEOID ANOMALIES 1 dependence was e−kz . . use e−kH ≈ 1−kH in Equation 6. Let’s expand all three (kH)2 2 Suppose we are considering long wavelengths. the integral over z is − k e−kz . Then.14.15. and −1 + kH + e−kH ≈ −1 + kH + 1 − kH + in Equation 6.14) Constant density Pratt 2πGρc h(x)H −1 + kH + e−kH N (x) = 2H 2 gk (6. Airy N (x) ≈ 2πGρc Hh(x) g Generalized Pratt N (x) ≈ 2πG = g 2πG ρc h(x) + kg 0 −H 0 −H δρ(z ) dz eikx +k 0 −H These terms cancel δρ(z )z dz eikx δρ(z )z dz eikx Constant density Pratt πGρc Hh(x) N (x) ≈ g All three of these results for N (x) have the same x-dependence as h(x): eikx .15) 6.6. above. So. where kH results. to zero order in kH. That has an important implication.5. And.1 One Final Remark 1.

to be more accurate. In other words. The gravity contributions from eikx depend linearly on k (for kH 1). But. But.196 CHAPTER 6. some sort of Pratt isostasy is probably operable. It’s the entire lithosphere. most topography is due to other causes. . no matter how complicated the topography is (so long as we only include long wavelength topography). And.6. Or. the eﬀects of topography on g are not fully compensated. This result does not hold for gravity. it’s not only the crust that bends. At short wavelengths the lithosphere does not bend much.6 Lithospheric Bending There are cases where topography is caused by thermal anomalies in the crust and upper mantle. So. It assumes that when you put a load on the crust. at short wavelengths. the lithosphere bends easily. But. you ﬁnd that the resulting sum has exactly the same x-dependence as the total topography. the contribution to N (x) from each term is independent of k. I need to deﬁne and describe the lithosphere. the crust breaks up. 6. Or volcanic activity. And it’s not just because the roots are far below the surface compared with the wavelength.1 Lithosphere Before modeling this bending. and so you get smaller roots. it’s also because the roots are small. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES It means that if you have a complicated topography — not a simple eikx — and if you transform the topography to a sum or integral of eikx terms. It turns out that for loads with long wavelengths. so adding up the eikx contributions to g does not give (constant) × (topography). In these cases. For example: ongoing collisions of plates. 6. Or erosion. you might expect Airy compensation to be at work. Airy compensation is too simple a picture of what really happens. In these cases. and you get what look like roots “supporting” the topography. N = constant times topography. Actually. when you add up all the contributions to N from the diﬀerent eikx terms. the crust bends. Thus. or relics of past collisions. it depends on k in exactly the same way as h0 does.

It has cooled by radiating away heat into the atmosphere. You can also divide the region into a lithosphere overlying an asthenosphere. and so behaves like a ﬂuid over long time periods. neither is it entirely negligible. the crust/mantle boundary is a chemical boundary. one of the most important forces driving continental drift (maybe the most important) is the downward gravitational pull on the . It is still pretty hot. with signiﬁcant density contrasts across it.6. The crust is perhaps the top one-quarter to one-half of the lithosphere. In fact.6. and probably somewhat less than 50 km under the oceans. The crust is less dense than the mantle.11: thicknesses are maybe 50 km or greater under the continents. and has become brittle. The idea is that the lithosphere is the top layer of convection in the mantle. LITHOSPHERIC BENDING 197 There are two ways you can subdivide the upper few hundred km or so of the earth. As I’ve said. It behaves like a solid even at extremely long time periods. See Figure 6.11. You can separate it into the crust and mantle. Typical lithospheric crust lithosphere mantle asthenosphere Figure 6. The density contrast between the asthenosphere and the overlying lithosphere is not nearly as pronounced as between the crust and mantle. But. The lithosphere is denser than the asthenosphere (the lithosphere is cooler). The region beneath the lithosphere is the asthenosphere. How can you have a denser material on top and still have a stable conﬁguration? You can’t.

this depth (the 100–200 km mentioned above) is a dividing line between brittle and less brittle material. we know the interior must be ﬂuid at long time periods. seismic travel time observations show a layer of material with low shear velocity at 100–200 km depth. Presumably. You can see the bending in two ways. so does the crust/mantle boundary embedded in it. First. The lithosphere bends. The idea is to assume there is a brittle lithosphere over a ﬂuid asthenosphere. Maybe it is coincident with the lithosphere/asthenosphere boundary. Low shear velocity means µ is low. with its signiﬁcant density contrast. the surface around the load might show the eﬀects. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES lithosphere at subduction zones. the best way to determine the depth to the lithosphere/asthenosphere boundary — or at least the depth appropriate for the time scales of mantle convection — is with gravity and leveling observations. by mapping the surface you might learn something about the bending. In fact. So. as assumed by Airy compensation? Well. material above this dividing line might ﬂow. And. is inside the lithosphere somewhere. We know the earth’s outer surface is brittle — otherwise all topography would ﬂow away. In fact. there must be a boundary — or at least a transition region. the shear velocity actually increases below the Moho. Over thousands to millions of years. the bending shows up in . So. This depth is below the Moho. at least a region of transition between solid and ﬂuid) somewhere down there. Why not at the crust/mantle boundary. What evidence is there of the lithosphere/asthenosphere boundary and its depth? Well. That’s what this section is all about. Since there is a density contrast at that boundary (the smaller density contrast at the lithosphere/asthenosphere boundary can usually be ignored). Suppose you put a mass load on the crust. Assume the crust/mantle boundary. the lithosphere/asthenosphere boundary region is apt to be above the 100–200 km depth. But. And. seismic observations sample the earth at periods from seconds to minutes.198 CHAPTER 6. So. Otherwise there would be no convection. That’s one of the things you’d like to ﬁnd out. and so the region is more like a ﬂuid. we expect to ﬁnd a boundary (or. when the lithosphere bends. supported below by buoyancy forces from the asthenosphere.

and Q2 will represent upward buoyancy forces from the asthenosphere. 6. The plate’s surface is perpendicular to the ez axis. ˆ ˆ ˆ The undeformed upper surface is at z = H/2. it’s this mechanism which is replacing Airy compensation). erosion quickly smooths out the slight topography caused by the bending.6.12. In our applications.13. we need to ﬁnd equations describing the bending of thin plates under a surface load. All of this is really only useful — with a few exceptions — for ﬁnding the thickness beneath the oceans. The plate is homogeneous (uniform thickness and material properties). you can learn about the lithospheric plate and its thickness. what is the shape of the deformed surface? We will make two assumptions: . z= H/2 z=0 z=-H/2 H z x Figure 6.2 Theory of Flexure To model the bending process described above. so that Q1 (x) for a ﬁxed x really represents an inﬁnite line load in the ey -direction. see Figure 6. and the lower surface is at z = −H/2. And there can easily be signiﬁcant lateral variations in density in continental areas (due to chemical diﬀerences) which can obliterate the small part of the gravity signal needed to ﬁnd the thickness. by looking at topography and gravity. See Figure 6.6. and the plate extends to inﬁnity in the ex and ey directions. For the continents. LITHOSPHERIC BENDING 199 gravity (remember. How does the plate deform? Speciﬁcally.12: Suppose we apply pressure loads on the upper and lower surfaces of the plate: Q1 (x) above and Q2 (x) below. We assume Q1 and Q2 are independent of y.6. Q1 will be due to the ˆ weight of some topographic feature. Suppose we have an initially horizontal plate of thickness H. So.

13: 1. I want to ﬁnd a diﬀerential equation for ω(x) in terms of Q1 (x) and Q2 (x).14.14. In other words. by symmetry. see Figure 6. Equation 5. First.14: from its undeformed position. And. Speciﬁcally. between the strain tensor and the displacement ﬁeld). the plate is “thin. using these results for in Equation 5.200 CHAPTER 6. and that the strain components xy = yy = zy = 0 (this last conclusion follows from the relation. The horizontal wavelengths of Q1 and Q2 are much larger than the plate thickness. the displacements are H. there can be no displacements in the ey direction.15. The plate does not deform much. and no variable ˆ can depend on y. w(x) is positive if the surface at x has been displaced downward original upper surface z x w(x) Figure 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES Q1 (x) original upper surface Q2 (x) Figure 6. H.” Let ω(x) = distance between the deformed upper surface and the original upper surface. shows that . 2. Among the consequences are that the derivative of any variable with respect to y must vanish.

Then plate.6. because τ is already ﬁrst order.19) Integrating the right-hand integral in Equation 6. instead of using the z-coordinates of the deformed surface. so that there is no motion. Then: H/2 −H/2 ↔ · τ = 0 throughout the (6. Second. But.19 reduces to ∂x H/2 −H/2 H/2 −H/2 zτxx dz = τxz dz .16 by z and integrate vertically. H/2 −H/2 (6.17) ∂x τxz dz + τzz (z = H/2) − τzz (z = −H/2) = 0. This implies that: ∂x τxx + ∂z τxz = 0 ∂x τxz + ∂z τzz = 0.17 vertically through the plate.16) (6. including gravity. we assume the plate is at equilibrium. And.6. (6. Equation 6.18) Next. (6. Suppose we integrate Equation 6.) But H ) = −Q1 (x) 2 H τzz (z = − ) = −Q2 (x). So. we ignore all body forces on the plate. Then: ∂x H/2 −H/2 zτxx dz + z∂z τxz dz = 0. The diﬀerence is only second order in the deformation. (Here we can use upper and lower limits on z of ±H/2. suppose we multiply Equation 6. τxz |z=H/2 = τxz |z=−H/2 = 0.20) . 2 τzz (z = So: H/2 −H/2 ∂x τxz dz = Q1 (x) − Q2 (x). LITHOSPHERIC BENDING 201 τxy = τzy = 0. since there are no applied shear tractions at the outer surfaces.19 by parts gives: H/2 −H/2 z∂z τxz dz = H/2 −H/2 ∂z (zτxz ) dz − H/2 −H/2 τxz dz H/2 −H/2 = (zτxz ) |z=H/2 − (zτxz ) |z=−H/2 − τxz dz.

22. and add to Equation 6. τzz ∂x (of anything) is τxx . and written as M . First. take ∂x of Equation 6.) Now. And. +λ +λ zz xx . since ∂x τxz = −∂z τzz then τzz τzz τxz . So: τxx . That is.20 is the condition that the net torque vanishes.202 CHAPTER 6. Equation 6.18 is the condition that the net vertical force H dx Figure 6. because the plate is thin.21 is sometimes called bending moment.15. see Figure 6. So.18.15: on the cross-section vanishes. Then. we ignore the τzz term in Equation 6. we relate τxx to the strain we know that τxx = (2µ + λ) τzz = (2µ + λ) We can use these equations to ﬁnd xx xx xx zz xx . (6. So. and Equation 6.22) = 1 [(2µ + λ)τxx − λτzz ] .20. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES (You can derive these another way. ∂z (of anything). to obtain xx = τxx . We now try to relate τxx to ω(x). You get: 2 ∂x H/2 −H/2 zτxx dz = Q1 − Q2 . I claim that for a thin plate. 4µ(µ + λ) Now. in terms of τxx and τzz : (6. things vary much more slowly in the horizontal direction than they do in the vertical direction.21) The integral in Equation 6. Take an inﬁnitesimally thin (dx) cross-section of the plate. Since yy = 0. since ∂x τxx = −∂z τxz then τxz 2µ + λ E τxx = 4µ(µ + λ) 1 − ν2 −1 τxx . The reason is that for a thin plate.

deﬁning D≡ EH 3 ≡ “ﬂexural rigidity. 12 (6. = consider the undeformed plate in Figure 6. ij : xx (6. After deformation. The last step is to relate to ω (note that ω = −sz ). the upper-right-hand Figure 6.6. z) in a Taylor series in z. LITHOSPHERIC BENDING 203 if you prefer to work with E and ν.23 becomes: EH 3 Q1 − Q 2 = ∂ 4 ω.6. So: τxx = And: E ∂2 1 − ν2 x xx H/2 −H/2 E 1 − ν2 z xx xx . I claim that ∂z sx = ∂x ω. which is equivalent to assuming that the mid-plane of the thin plate is not displaced horizontally. dz = Q1 − Q2 . 2) x 12(1 − ν Or.” 12(1 − ν 2 ) H/2 −H/2 z xx dz = H3 2 ∂ ω 12 x (6. we can expand sx (x.25) . and just keep the linear term: sx ≈ a(x)z (note: no constant term is included in this expansion. So H/2 −H/2 z xx dz = H3 ∂x a(x).16: corner of the shaded region looks like Figure 6. To see this.16. So: and Equation 6.24) Now. a(x) ∼ ∂z sx .17. By deﬁnition of For a thin plate. gives −∂x ω = −∂z sx .23) = ∂ x sx . to ﬁrst order). Looking at the angles in Figure 6. for small deformation.17.

6. 6.” ω.3 Application The principal application of all this is: suppose the lithosphere is a thin plate. but is very small).18.204 CHAPTER 6. Assume the asthenosphere and lower ρc lithosphere ρm d crust ρm fluid asthenosphere Figure 6. .26 to ﬁnd the “deﬂection.17: 4 D∂x ω = Q1 − Q2 . See Figure 6. we can solve Equation 6. This is the result I was after. The crustal density is ρc . a distance d below the top. ρm (the actual density contrast is non-zero. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES angle approximately 90 for small deformation deformed boundary of shaded region w angle = -dw/dx angle = - sx / z Figure 6.26) Given loads Q1 and Q2 on a thin plate. Suppose the crust/mantle boundary is inside the lithosphere. (6.18: lithosphere have the same density. ﬂoating on a ﬂuid asthenosphere.

the only possible horizontal internal force is the horizontal gradient of the pressure (gravity.20. is P1 = P2 + ρm gz. the pressure diﬀerence between two horizontal surfaces in the ﬂuid separated by a distance z. In other words.19: displaced downward a distance ω. LITHOSPHERIC BENDING 205 We load the lithosphere by placing crustal material (density ρc ) with height h (x) on the surface.6. And the depression at the crust/mantle boundary might aﬀect surface gravity. If there is no motion in the ﬂuid. To ﬁnd the diﬀerential equation for ω. A ﬂuid asthenosphere also implies that the vertical derivative of the pressure inside the asthenosphere is the negative of the local gravitational force: ∂z P = −ρm g. the pressure is constant over horizontal surfaces. and so there can be no horizontal pressure gradients. Since the asthenosphere is ﬂuid. This pressure is due to buoyancy: the ﬂuid asthenosphere holds up the lithosphere. The depression at the outer surface might show up in the surface topography (especially if the surface is the sea ﬂoor. The pressure load on the upper surface is Q1 = ρc gh (x). as shown in Figure 6. then all forces inside the ﬂuid must cancel. the other force in the system. so there’s no erosion). Thus. is vertical). . It is harder to ﬁnd Q2 (= pressure on lower surface of lithosphere). we need to relate Q1 and Q2 to h and ω.6.19. see Figure 6. The outer surface and crust/mantle interface get load w ρc ρm ρc h’ asthenosphere ρm Figure 6.

The net downward force on the lithosphere is lithosphere (Q1 (x) − Q2 (x)) dx. The pressure on the base of the lithosphere is Q2 (x) = P0 + ρm gω(x). to determine P0 uniquely. Thus. this requirement of no net vertical force would imply that the lithosphere sinks.20: Now. and so may change its volume slightly in response to the additional weight of the lithosphere from the topographic mass.206 CHAPTER 6.21. we introduce the additional requirement that when av- . P0 is needed to keep the lithosphere from sinking when the load is added.21: where P0 = ﬂuid pressure on the base of the lithosphere at places where ω = 0. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES P2 z P1 fluid ρm 2 surfaces Figure 6. which must vanish. If P0 is not included in Q2 . But. lithosphere fluid ρm w P = P0 P = P0 + ρm g w Figure 6. as in Figure 6. consider the deformed lithosphere sticking a distance ω down into the ﬂuid. not only is that change in volume apt to be small. but any uniform displacement of the lithosphere has no observable consequences. The lithosphere will sink a little: the asthenosphere is compressible.

since we lithospheric thickness to get our ﬂexure equation. So. and so P0 is not needed. LITHOSPHERIC BENDING 207 eraged over the entire lithosphere. (6. which means we will subtract the mean of h (x) from h (x) (so that the new h (x) will be negative in places).27 for arbitrary h (x). In Equation 6. and then add the ω terms together. also. for the time being. that h = h0 cos(kx). We try a solution of the form ω = ω0 cos kx. the only restriction we need make on k is that 2π/k lithospheric thickness (2π/k = horizontal wavelength of the load).27 for ω for each term in the series.26. we have: Q2 (x) = ρm gω(x). Thus.27) The best way to solve Equation 6. there is no net vertical force from either h or ω. putting Q1 and Q2 into Equation 6.29) . the vertical displacement is zero (in other words.26. In fact. that lithosphere ω(x)dx = 0). So. for example.6. This solution will work if: (Dk 4 + ρm g)ω0 = gρc h0 . Or: ω0 = gρc h . (6. we will go further and assume that lithosphere h (x) is also 0. Dk 4 + ρm g 0 (6. gives: 4 D∂x ω + gρm ω = gρc h (x). is to expand h into a Fourier series or Fourier integral.6.28. assumed the horizontal wavelength Equation 6. What does the solution look like for one of these terms? Suppose. the whole business of dealing with P0 makes the algebra a little more awkward. In this case.28) What is ω? This example is useful. solve Equation 6. because it tells us what happens at short and long wavelengths.

30) Let’s see what happens to ω0 at short and long wavelengths. then ω0 = 6. In that case. h (x) describes the thickness of the load — or how much the load sticks up above the lithosphere. if h(x) = measured elevation.6. You assume that before deformation the lithospheric surface was parallel to the geoid.1 Limiting cases Dk 4 gρc h0 . Instead. and if we assume that ω = ω0 cos kx. you know the distance above the geoid.26 remains valid. So. . (Though we must also as- lithospheric thickness. the diﬀerential equation for ω is 4 D∂x ω + gρm ω = gρc (h + ω) or: 4 D∂x ω + g(ρm − ρc )ω = gρc h. But. as determined from leveling. + (ρm − ρc )g (6. the lithosphere is now ω(x) below the constant potential surface. then h (x) = h(x) + ω(x) (that is.3.29. you might not know h0 or h . what you might know are surface elevations. you might not know where the top of the lithosphere is. particularly over continents. so that the derivation of Equation 6. that relates ω0 to h0 . and the load is h(x) above that surface). Short wavelengths Suppose k is large enough that k 4 D sume that the wavelengths are ρm g > ρc g.208 CHAPTER 6. If h = h0 cos kx. Dk 4 so that: ω0 h0 .) Then gρc + ρm g 1. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES In practice. Consider Equation 6. In that case.

It’s not only that the compensation is deep. there is very little deﬂection. So. Shear stresses within the lithosphere are not strong enough to support the load at long wavelengths. . The separation between short and long corresponds to k 4 D = ρm g. for the ocean λ λ 300 km 300 km =⇒ =⇒ compensation is small Airy compensation. This is part of the reason why topography does not show up in Bouguer anomalies at short wavelengths: the compensation is small. that in order for our results to be valid. without the the thin plate assumption. Or: λ = 2π(D/ρm g)1/4 .6. the load must be fully supported by buoyancy forces in the ﬂuid asthenosphere — which is the Airy compensation hypothesis. The wavelength is λ = 2π/k.6. show the lithosphere doesn’t bend at short λ. Long wavelengths Suppose k 4 D ρm g. also. Then. λ must also be H ≈ 30 km for the ocean. The values are not much diﬀerent than this for continents. We need to be more quantitative for what is meant by “long” and “short” wavelengths. for typical ρm and g: λ ≈ 300 km is the dividing line between short and long wavelengths. For typical oceanic values of E. Equation 6. even if λ H doesn’t hold. So. h0 = ρm ρm which is the familiar Airy compensation result.) This is why Airy compensation works so well at long wavelengths. Instead. More general results. and H (H ≈ 30 km): D ≈ 2 × 1030 dyne-cm. ν. (ω0 = root thickness.29 is ω0 ≈ Or: ω0 = ρc h0 ρm − ρ c ρc ρc (h0 + ω0 ) . The lithosphere is easy to bend — it mirrors the topography — at long wavelengths. Note. LITHOSPHERIC BENDING 209 In other words.

(6.30. In some oceanic areas.31) . to give a relation between ω(x) and h (x) or h(x). 6. you can ﬁt the theory to the observations and solve for D.210 CHAPTER 6.22: cosines (I won’t derive it here) we obtain: h (x) = M ρc 2π sin (ak/2) cos(kx) dk.2 Example: Flexure from an island chain We model an island chain as an inﬁnite line load concentrated at x = 0.3.6.) What is ω(x) in this case? (We assumed the load is independent of y to derive Equations 6. We are assuming the island chain is inﬁnitely-thin. −∞ (ak/2) ∞ If we now take the limit as a → 0 (so the height → ∞) we obtain (noting that limy→0 (sin y/y) = 1): h (x) = M ρc 2π ∞ −∞ cos(kx) dk. so that h (x) = 0 for all x except x = 0 — where h (x = 0) is inﬁnite. the deﬂection ω(x) can be measured. Using estimates for E and ν. we ﬁrst approximate this inﬁnitely-thin load as a block of width ‘a’ (so that the height of the block is M/ρc a) centered at x = 0. with mass/length = M . When this block is expanded as a Fourier integral of sines and M ρc a a Figure 6.22. (If you are familiar with Dirac delta functions: ρc h (x) = M δ(x). as shown in Figure 6. your results for D can be used to infer H: the thickness of the thermal boundary layer for mantle convection beneath the oceans.30. Then.29 and 6.29 if we can expand h (x) in terms of cosines.) We can use Equation 6.29 and 6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES Go back to Equations 6. To ﬁnd the expansion coeﬃcients. These results relating ω0 to h0 and to h0 can be inverted from the Fourier transform (k) domain back to the x-domain.

LITHOSPHERIC BENDING 211 We take the integral in Equation 6. is easier and gives the same answer.29) ω0 = Dk 4 gρc M .30 because in this case the island mass you observe sticking up above the sea ﬂoor is h (x).32) This result is obviously symmetric about x = 0 (it ought to be). without worrying about its convergence. But.” Then. The lithosphere does not bend at short wavelengths.29 instead of Equation 6. Then: dw dx = 0. Or (for xb = ∞): xb = nπα.31 implies that if we separate h (x) into cosine terms. We can ﬁnd this integral in integral tables. and so ω directly under the load is approximately ω just outside the edges of the load — so you do know where the surface of the lithosphere under the load is — it is at the depth of the surrounding sea ﬂoor.6. (6. using Equation 6. x=xb This derivative is easy to ﬁnd. is meaningless: the integral is not well-deﬁned. Deﬁne α ≡ (4D/ρm g)1/4 ≡ “Flexural parameter. ω0 . Equation 6. Note that the ocean ﬂoor depresses under and near to the island. A plot of −ω(x) for x ≥ 0 looks something like Figure 6. the amplitude.31 as our inﬁnitely-thin load. h0 (k). Let xb be the distance between the island chain and the point of maximum uplift.6. ﬁnd ω(x) caused by the block of non-zero width a. The point of maximum uplift closest to the load corresponds to . we ﬁnd that ω(x) = gM |x| |x| α3 e−|x|/α cos + sin 8D α α . invert ω0 back to the x-domain: ω(x) = ∞ −∞ ω0 (k) cos(kx) dk = gM 2π ∞ −∞ cos kx Dk 4 + ρm g dk.31 as the load.23.) To ﬁnd ω(x). though. but that there is a region of uplift away from the island. We should. and then set a → 0 in ω(x). and the resulting equation is sin(xb /α)e−xb /α = 0. + ρm g 2πρc (We use Equation 6. to each cosine term is then: (from Equation 6. The response. of each cosine is M/(2πρc ) — independent of k. Note that this integral. really.

The Hawaiian Islands are about 150 km wide. as mentioned above. Equation 6.29 even at short wavelengths we are including no signiﬁcant short wavelength terms in ω(x). you infer H = lithosphere thickness. Pretend the mass is all located at x = 0 — so that the chain is approximated as an inﬁnitely-thin line mass. That’s not true for a line load. ﬁnd the maximum uplift point using the observations. But.23: n = 1. Once you have α. 2. 1. But. at those wavelengths the lithosphere doesn’t bend much. Here’s how these results can be used. is not correct. anyway. Speciﬁcally.29 was derived assuming the horizontal wavelengths were H. this suggests a way out of another problem. (Note that you . where xb = πα. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES xb -w(x) profile of sea floor Figure 6.) 3. This means that our inﬁnitely-thin approximation causes errors at wavelengths of less than 150 km. Determine the mass/length of the seamount chain. the exact solution without the thin plate assumption predicts no signiﬁcant short wavelength terms in ω(x). to compare with the observed bathymetry. our answer is pretty good. and determine α = xb /π. This. Probably the most successful application has been to the Hawaiian-Emperor seamount chain. (Incidentally. of course. Use the result for ω(x). using bathymetry data. So. Equation 6.32. by using Equation 6. And.212 CHAPTER 6. So there should only be a small short wavelength error in ω(x).

The water ﬁlls in depressed regions and makes ω(x) larger. The (negative) mass load σ(x) = (ρc − ρm )ω(x) at the crust/mantle boundary. to do this.6. And. LITHOSPHERIC BENDING 213 don’t need the mass/length.) One omission in the results above.) If you observe h(x) = h (x) − ω(x) instead of h (x). then you replace A. except that 4D α→ (ρm − ρw )g where ρw = water density. you approximate the ρc (h (x) − ω(x)) upper surface load as a surface mass at z = 0. xb is found to be approximately 250 km. M . 1 4 6. but will just give the result: by including the weight of the water. and B. with “AB: The mass load σ(x) = ρc h(x) at the upper surface. The (negative) mass load σ(x) = −ρc ω(x) at the upper surface. (The eﬀective density here is ρc − ρm because we are replacing mantle with crust. C. when ω(x) > 0. Then.3 we found that gz at z = 0 due to a surface mass σ0 cos(kx) a distance ‘a’ beneath z = 0. and the solution for H is H ≈ 30 km. all results for ω(x) are the same. is that I neglected to include the weight of the ocean water. For Hawaii.29 is valid. you approximate the (ρc − ρm )ω(x) load as a surface mass at z = −d (d = crust/mantle depth). is . Back in Section 6.” Let’s assume that you measure h instead of h (it just makes the algebra a little simpler). I won’t go through the re-derivation.6.4 Gravity The deﬂection ω(x) also shows up in gravity. The mass load σ(x) = ρc h (x) at the upper surface. Surface gravity is aﬀected by: A. B.6. so that Equation 6. Suppose h (x) = h0 cos kx.

where Dk 4 g(ρc − ρm ) −kd gρc + e Dk 4 + ρm g Dk 4 + ρm g (6. and compare with data. And. are best applied in oceanic areas. ρm g.34 equals the Airy result. because there are often substantial horizontal chemical. ﬁnd gz for each term in the expansion. given observations of h (x) (or of h(x)) you expand h (x) (or h(x)) in terms of cosines and sines. For example. been used to conﬁrm the 30 km estimate of H beneath Hawaii. estimate gz .and structural-related variations in gz over continents. 6.214 CHAPTER 6. That’s because Equation 6. which can be used to estimate H from observations of gz . There are. and kd 1): gz → 2πGρc h (x) 1 − which is the Airy result. which allows them to treat the sediments as a known load. which mask the eﬀects of deﬂection on the crust/mantle boundary. z = 0) = 2πG ρc (h0 − ω0 ) + (ρc − ρm )ω0 e−kd cos kx = 2πGρc h0 cos kx 1 − For small wavelengths. you’ll end up with about the same estimate for d as you would if you had started with Airy compensation. though some things which have been successfully tried beneath continents. ρc − ρ m ρc + =0 ρm ρm (6. for large wavelengths (where Dk 4 ρm g. They have.6. INTERPRETATION OF OBSERVED GRAVITY ANOMALIES 2πGσ0 e−ka cos kx. So. . for example. They then know the sediment thickness. You compare with observations to ﬁnd D (which gives H) and d (= the crustal thickness).5 Remarks These gravity equations.29. as determined from the bathymetry. For long wavelength loads.34) More generally. people have looked at the gravity signal related to loading from sedimentary basins.33) where the last equality follows from Equation 6. gz → 2πGρc h (x) ≈ 2πGρc h(x) (h ≈ h since ω ≈ 0) which is the Bouguer correction. They use seismic techniques to ﬁnd the basement rock beneath the sediments. They are not as useful for ﬁnding H in continental areas. and then add the gz ’s for the diﬀerent cosines and sines together. for our two surface masses: gz (x.

if it is Airy compensation that is at work here.S. more fundamentally. you’d expect the crust to be thick underneath the region. The hypothesis that regions of high topography are underlain by anomalously thick crust. So. Broad-sc