J Geod (2006) 80: 117–127
DOI 10.1007/s00190-006-0031-2
O R I G I NA L A RT I C L E
M.S. Petrovskaya · A.N. Vershkov
Non-singular expressions for the gravity gradients in the local
north-oriented and orbital reference frames
Received: 31 May 2005 / Accepted: 14 December 2005 / Published online: 6 May 2006
© Springer-Verlag 2006
Abstract The conventional expansions of the gravity gra-
dients in the local north-oriented reference frame have a
complicated form, depending on the first- and second-order
derivatives of the associated Legendre functions of the colat-
itude and containing factors which tend to infinity when
approaching the poles. In the present paper, the general term
of each of these series is transformed to a product of a geopo-
tential coefficient C n,m and a sum of several adjacent Legen-
dre functions of the colatitude multiplied by a function of the
longitude. These transformations are performed on the basis
of relations between the Legendre functions and their deriva-
tives published by Ilk (1983). The second-order geopotential
derivatives corresponding to the local orbital reference frame
are presented as linear functions of the north-oriented gravity
gradients. The new expansions for the latter are substituted
into these functions. As a result, the orbital derivatives are
also presented as series depending on the geopotential coeffi-
cients C n,m multiplied by sums of the Legendre functions
whose coefficients depend on the longitude and the satellite
track azimuth at an observation point. The derived expan-
sions of the observables can be applied for constructing a
geopotential model from the GOCE mission data by the time-
wise and space-wise approaches. The numerical experiments
demonstrate the correctness of the analytical formulas.
Keywords Geopotential models · Gravity gradient
expansions · Associated Legendre functions ·
GOCE satellite gradiometry mission
1 Introduction
Two main approaches are developed for constructing a geo-
potential model on the basis of the data of satellite gradiom-
etry missions.
M.S. Petrovskaya (B) · A.N. Vershkov
Central (Pulkovo) Astronomical Observatory of the Russian Academy
of Sciences, Pulkovskoe Shosse 65/1, 196140, St. Petersburg, Russia
E-mail: petrovsk@gao.spb.ru
Tel.: +7-812-7234422
Fax: +7-812-3143360
The time-wise approach attracts the most attention of
researches in connection with the forthcoming GOCE gra-
diometry mission (ESA 1999). In this case the local orbi-
tal reference frame is applied and the disturbing potential T
is presented as a time series depending on the geopotential
coefficients C n,m and the orbital elements. Basic principles
of the time-wise method have been developed in Rummel et
al. (1993, pp 3.1–3.26) and Koop (1993, pp 35–37, 125–127,
130–132). Various forms of this approach have been success-
fully developed (Klees et al. 2000; Sneeuw 1992; Sneeuw
2000; Sneeuw et al. 2001).
In the space-wise approach the coefficients of the po-
tential T are determined from its second-order derivatives
relating to the local north-oriented reference frame. The main
concepts of this approach are thoroughly outlined in Rummel
et al. (1993, pp 2.1–2.53), Koop (1993, pp 122–125, 128–
130) and Albertella et al. (1995). Advanced least squares col-
location procedures are elaborated for solving the boundary
value problems on the basis of the gravimetry and gradiom-
etry data (Tscherning et al. 1990; Arabelos and Tscherning
1990, 1995, 1999).
When applying the space-wise approach the transfer is
performed by a tensor rotation from the orbital derivatives to
those in the north-oriented reference frame.
It is possible that in a gradiometry mission not all the
orbital derivatives will be measured or some of them mea-
sured with less accuracy than others. For the first case in
Rummel et al. (1993, pp 2.8–2.10) and in Albertella et al.
(1995, pp 351, 352) a procedure is proposed which allows to
exclude some observables in the processing of gradiometry
data. Special techniques may be also developed with respect
to observables which are measured with a low accuracy. How-
ever the above procedures have not been elaborated in detail
for the GOCE mission.
The most suitable for the GOCE mission case and other
gradiometry missions would be the series for the orbital and
north-oriented derivatives which directly depend on the geo-
potential coefficients C n,m and, at the same time, have simple
analytical structure. Just such series are derived in the present
paper.
118 M.S. Petrovskaya and A.N. Vershkov

At first the conventional expansions for the gravity gra- The truncated spherical harmonic series for T is considered
dients in the local north-oriented reference frame are trans-
µ    a n+1
N n
formed on the basis of relations given by Ilk (1983). The
T (r, θ, λ) = C n,m Y n,m (θ, λ). (2)
general term of a complicated initial series is converted into a r
n=2m=−n
a product of a geopotential coefficient C n,m and a linear func-
tion of three or two adjacent Legendre functions of the colat- Here Y n,m are the surface fully normalized spherical
itude multiplied by a function of the longitude. harmonics
The derived expansions for the north-oriented derivatives
Y n,m (θ, λ) = P n,|m| (cos θ )Q m (λ),
are substituted into the expression of each orbital derivative, 
representing a sum of three or two former derivatives. As a cos mλ, m
0,
Q m (λ) = (3)
result, each observable is presented in terms of a geopoten- sin |m|λ, m < 0.
tial coefficient C n,m multiplied by a sum of several Legen- In Eqs. (2) and (3) the quantity µ = G M is the gravita-
dre functions of the colatitude, factored by functions of the tional constant multiplied by the Earth’s mass, a is the semi-
longitude and of the satellite track azimuth at a moment of
major axis of the reference ellipsoid, C n,m and P n,|m| (cos θ )
observation.
represent the fully normalized geopotential coefficients and
A very simple analytical structure of the new expressions
the associated Legendre functions, respectively.
for observables is convenient for constructing a geopotential
The substitution of Eqs. (2) and (3) into the first equation
model from the GOCE mission data by the time-wise and
from Eqs. (1) gives the well-known expansion for the second
space-wise approaches.
radial derivative
Let us note that the expansions for the gravity gradients
derived in the present paper are non-orthogonal. Another µ  
N n  a n+3
approach to constructing series for the north-oriented deriv- Tzz = 3 (n + 1) (n + 2)
a r
atives was briefly outlined by the authors in the proceedings m=−n
n=2
of several symposia. In the last of these proceedings (Petro- ×C n,m Y n,m (θ, λ). (4)
vskaya and Vershkov 2004) corresponding references are
given to our earlier results. In all these publications orthog- After substituting the series from Eq. (2) into the right-hand
onal expansions were considered. Each of the above two sides of the other equations from Eq. (1) the conventional
approaches has its advantages and deficiencies. A detail com- expansions for the geopotential derivatives can be presented
parison of the orthogonal and non-orthogonal expansions of in the following form

µ    a n+3
the gravity gradients will be discussed after publishing a full N n
version of the orthogonal series approach. Tx x = C n,m −(n + 1)P n,|m| (cos θ )
a3 m=−n
r
n=2

d2 P n,|m| (cos θ )
+ Q m (λ), (5)
2 Statement of the problem dθ 2

We consider the Earth’s disturbing potential T = V –U where

µ    a n+3
N n
V represents the true gravitational potential and U is the nor-
Tyy = C n,m −(n + 1) P n,|m| (cos θ )
mal one. a3 r
m=−n
n=2
First, the second-order derivatives of the disturbing po-
tential T in the local north-oriented reference frame {x, y, cos θ dP n,|m| (cos θ )
+
z} are considered, where z has the geocentric radial direc- sin θ dθ
tion, x points to the north, and y is directed to the west m2
(a right-handed system). − 2 P n,|m| (cos θ ) Q m (λ), (6)
We proceed from the known relations (Reed 1973) sin θ

 µ    a n+3
N n
Tzz = Trr 1 dP n,|m| (cos θ )

 Tx y = 3 m C n,−m

 a r sin θ dθ
Tx x = r1 Tr + 1
T 

r2 θθ
m=−n


n=2

 cos θ
Tyy = r Tr + r 2 tan θ Tθ + r 2 sin2
1 1 1
θ
Tλλ − 2 P n,|m| (cos θ ) Q m (λ), m
= 0, (7)
θ , (1) sin θ
Tx y = 1
T − r 2cos T 

r 2 sin θ θ λ sin2 θ λ 



Tx z = 1
T − r Tr θ
1
  a n+3
r2 θ  µ 
N n


Tyz = 1
T − r sin1 Tx z = (n + 2) C n,m
r 2 sin θ λ θ Tr λ a3 r
m=−n
n=2

where r is the geocentric distance, θ is the colatitude and λ dP n,|m| (cos θ )

× Q m (λ), (8)
is the longitude. dθ
Non-singular expressions for the gravity gradients in the local north-oriented and orbital reference frames 119

µ 
N n  a n+3
3 New expansions of the gravity gradients in the local
Tyz = (n + 2) m
a3 m=−n
r north-oriented reference frame
n=2
P n,|m| (cos θ ) 3.1 Development of Tx x and T yy
×C n,−m Q m (λ), m
= 0. (9)
sin θ
The expansions in Eqs. (10)–(14) are derived by transforma-
Equations (5)–(8) depend not only on the associated tions of only the functions of the colatitude in the initial Eqs.
Legendre functions but also on their derivatives of the first- (5)–(9). Before these transformations, a transfer is performed
or second-order. The series from Eqs. (6), (7) and (9) contain to the non-normalized quantities.
factors which become infinite at the poles. We start from the derivative T yy presented by Eq. (6). The
In the present paper the series in Eqs. (5)–(9) will be expression in Eq. (5) for Tx x , depending on the second-order
converted into very simple expansions in terms of the spher- derivatives of the Legendre functions, is not applied. The cor-
ical coordinates which do not contain the derivatives of the responding new expansion for this derivative is derived with
Legendre functions and singular factors. They have the fol- the aid of the Laplace equation
lowing form
Tx x + Tyy + Tzz = 0. (15)
µ    a n+3
N n
Tx x = 3 C n,m Q m (λ) Equation (6) is rewritten in a non-normalized form
a m=−n
r
n=2
µ    a n+3
N n
× an,m P n,|m|−2 (cos θ ) 1
  Tyy = Cn,m Q m (λ)
+ bn,m − (n + 1) (n + 2) P n,|m| (cos θ ) a 3
n=2 m=−n
r sin2 θ

+cn,m P n,|m|+2 (cos θ ) , (10) d Pn,|m| (cos θ )
× sin θ cos θ
dθ

µ    a n+3 − m 2 Pn,|m| (cos θ ) − (n + 1)

N n
Tyy =− C n,m Q m (λ) 
a3 r
n=2 m=−n × sin2 θ Pn,|m| (cos θ ) . (16)

× an,m P n,|m|−2 (cos θ )
 Then the relation (unnumbered) derived by Ilk (1983,
+ bn,m P n,|m| (cos θ )+cn,m P n,|m|+2 (cos θ ) , (11) p 114) is applied:
d Pn,|m| (cos θ )
sin θ cos θ
µ    a n+3
N n
dθ
Tx y = 3 C n,m Q −m (λ)
a r = m Pn,|m| (cos θ ) + (n + 1) sin2 θ Pn,|m| (cos θ )
n=2 m=−n
 − sin θ Pn+1,|m|+1 (cos θ ). (17)
× dn,m P n−1,|m|−2 (cos θ )

+ gn,m P n−1,|m| (cos θ ) + h n,m P n−1,|m|+2 (cos θ ) , After substituting Eq. (17) into Eq. (16) we obtain
m
= 0, (12)
µ    a n+3
N n
Tyy =− 3 Cn,m Q m (λ)
a r
µ 
N 
n  a n+3 m=−n
n=2
Tx z = C n,m Q m (λ) 1 
a 3 r × 2 |m|(|m| − 1)Pn,|m| (cos θ )
n=2 m=−n sin θ 
 
× βn,m P n,|m|−1 (cos θ ) + γn,m P n,|m|+1 (cos θ ) , + sin θ Pn+1,|m|+1 (cos θ ) . (18)
(13)
We present Eq. (18) in the form

Tyy = Tyy(1) + Tyy(2) ,

µ    a n+3
N n (19)
Tyz = 3 C n,m Q −m (λ)
a r where
n=2 m=−n

× µn,m P n−1,|m|−1 (cos θ ) µ    a n+3
N 1
 Tyy(1) = − Cn,m Q m (λ)
+νn,m P n−1,|m|+1 (cos θ ) , m
= 0. (14) a3 r
n=2 m=−1
The coefficients of the Legendre functions are numerical Pn+1,|m|+1 (cos θ )
× (20)
constants given in the Appendix A. sin θ
120 M.S. Petrovskaya and A.N. Vershkov

1 µ    a n+3
and N n
Tyy(2) = − Cn,m Q m (λ)
4 a3 r
µ    a n+3
N n n=2 m=−n
 
Tyy(2) = − Cn,m Q m (λ) × n 2 − (|m| − 1)2 (n − |m| + 2) (n + |m|)
a3 m=−n
r
n=2
×Pn,|m|−2 (cos θ )
1 Pn,|m| (cos θ )
× |m|(|m| − 1) + 2 (n 2 + m 2 + 3n + 2) Pn,|m| (cos θ )
sin θ sin θ 
 +Pn,|m|+2 (cos θ ) , |m|
= 0, 1. (26)
+Pn+1,|m|+1 (cos θ ) , |m|
= 0, 1. (21)
(1) (2)
It can be seen that in Eqs. (23) and (26), for Tyy and Tyy
It will be seen below that in the transformed series for the the coefficients of the same Legendre functions are different
(1) (2) functions of n and m.
functions Tyy and Tyy the terms will be different functions
of the indices n and m. We transfer in the latter equations to the normalized quan-
The subsequent transformations are based on relations tities, substitute the resulting expansions in Eq. (19) and,
between the Legendre functions and their derivatives pub- finally, present the whole function T yy as a unique series
lished by Ilk (1983, p 121). given in Eq. (11).
The function of θ in Eq. (20) is transformed by applying The expansion in Eq. (10) for the derivative Tx x is derived
Eq. (Z.1.42) from (ibid., p 121) by applying Eqs. (4), (11) and (15).

2|m| 3.2 Development of Tx y

Pn,|m| = (n + |m|) (n + |m| − 1) Pn−1,|m|−1
sin θ
+ Pn−1,|m|+1 , m
= 0. (22) Let us consider the derivative Tx y presented by an initial
expansion in Eq. (7). As in the case of the derivative T yy ,
It gives we transform only the expression enclosed in the square
brackets.
After transferring to the non-normalized quantities,
1 µ    a n+3
N 1
Eq. (7) is written in the form:
Tyy(1) = − Cn,m Q m (λ)
2 a3
µ    a n+3
r N n
n=2 m=−1
 Tx y = 3 Cn,−m Q m (λ)
1 a r
× (n + |m| + 1) (n + |m| + 2) n=2 m=−n
(|m| + 1)
 m d Pn,|m| (cos θ )
×Pn,|m| (cos θ ) + Pn,|m|+2 (cos θ ) . (23) × sin θ
sin2 θ dθ
The first term from the square brackets in Eq. (21) is
transformed with the use of Eq. (Z.1.41) from (ibid., p 121) − cos θ Pn,|m| (cos θ ) , m
= 0. (27)
The first term in the square brackets of Eq. (27) is trans-
2|m| formed by applying Eq. (Z.1.43) from (ibid., p 121)
Pn,|m| = (n − |m| + 1) (n − |m| + 2)
sin θ d Pn,|m|
×Pn+1,|m|−1 + Pn+1,|m|+1 , m
= 0. (24) (2n + 1) sin θ = − (n + 1) (n + |m|)
dθ
×Pn−1,|m| + n (n − |m| + 1) Pn+1,|m| (28)
As a result, we obtain
and the second term by Eq. (Z.1.37) from (ibid., p 121)
(2n + 1) cos θ Pn,|m| = (n + |m|)Pn−1,|m|
1 µ    a n+3
N n
Tyy(2) = − Cn,m Q m (λ) +(n − |m| + 1) Pn+1,|m| . (29)
2 a3 r
n=2 m=−n It gives
µ    a n+3
N n
× (|m| − 1) (n − |m| + 1) (n − |m| + 2) Tx y = 3 Cn,−m Q m (λ)
a m=−n
r
n=2
Pn+1,|m|−1 (cos θ )
× m
sin θ × (n − 1) (n − |m| + 1)
Pn+1,|m|+1 (cos θ ) (2n + 1) sin θ
+ (|m| + 1) , |m|
= 0, 1. Pn+1,|m| (cos θ )
sin θ ×
(25) sin θ
Pn−1,|m| (cos θ )
−(n + 2) (n + |m|) , m
= 0.
By applying Eq. (22) with respect to each of the terms in sin θ
the square brackets, the following is derived (30)
Non-singular expressions for the gravity gradients in the local north-oriented and orbital reference frames 121

Equation (22) is applied for transforming the first term in This derivative is presented in the form
the square brackets and Eq. (24) for the second term. Tx z = Tx (0) (1)
z + Tx z , (36)
The result is
where
1 µ    a n+3
N n
µ   a n+3
N
Tx y = Cn,−m Q m (λ) (0) d Pn,0 (cos θ )
2 a3 r Tx z = 3 Cn,0 (n + 2) (37)
m=−n
n=2 a r dθ
n=2
m
× (|m| − 1) (n + |m|) (n − |m| + 1) and
|m|
µ    a n+3
N n
Pn,|m|−1 (cos θ ) Tx (1)
z = Cn,m Q m (λ) (n + 2)
× a3 r
sin θ m=−n
n=2
Pn,|m|+1 (cos θ ) d Pn,|m| (cos θ )
− (|m| + 1) , m
= 0. (31) × , m
= 0. (38)
sin θ dθ
According to the definition of the associated Legendre
Similar to the case of the derivative T yy , we divide Tx y
functions, Eq. (37) can be written as follows
into two parts
µ   a n+3
N
Tx y = Tx (1)
y + Tx y
(2)
(32) Tx (0) = − Cn,0 (n + 2) Pn,1 (cos θ ). (39)
z
where the first term on the right-hand side of Eq. (32) cor- a3 r
n=2
responds to | m| = 1 and the second one to | m| = 2, 3, . . ., The derivative of the Legendre function in Eq. (38) is
N. transformed by Eq. (Z.1.44) from (ibid., p 121)
By transforming each component of Tx y from Eq. (32) d Pn,|m|
on the basis of Eq. (22), the following is derived 2 = (n + |m|) (n − |m| + 1)Pn,|m|−1
dθ
1 µ    a n+3 −Pn,|m|+1 .
N 1 (40)
(1)
Tx y = − 3 Cn,−m Q m (λ) It gives
4a r
n=2 m=−1
 1 µ    a n+3
N n
× m (n + 2) (n + 1) Pn−1,1 (cos θ ) Tx (1) = Cn,m Q m (λ)
 z
2 a3 r
+Pn−1,3 (cos θ ) , m
= 0 (33) n=2 m=−n

and ×(n + 2) (n + |m|) (n − |m| + 1)

1 µ    a n+3 × Pn,|m|−1 (cos θ ) − Pn,|m|+1 (cos θ ) ,
N n
Tx (2)
y = Cn,−m Q m (λ) m
= 0. (41)
4 a3 r
n=2 m=−n
m   After substituting Eqs. (39) and (41) in Eq. (36) and trans-
× (n + |m|) n 2 − (|m| − 1)2 (n + |m| − 2) ferring to the normalized quantities, Eq. (13) for the deriva-
|m| tive Tx z is derived.
×Pn−1,|m|−2 (cos θ ) The initial expansion for the derivative T yz given in Eq.
− 2 |m|(n + |m|)Pn−1,|m| (cos θ ) (9) is transformed by applying Eq. (22). We obtain

−Pn−1,|m|+2 (cos θ ) , |m|
= 0, 1. 1 µ    a n+3
(34) N n
Tyz = Cn,−m Q m (λ)
Equations (33) and (34) demonstrate that the coefficients 2 a3 r
n=2 m=−n
of the same Legendre functions in the two components of 
m
Tx y from Eq. (32) have the coefficients which are different × (n + 2) (n + |m|) (n + |m| − 1)
functions of the indices n and m. |m|

From Eqs. (32)–(34), in a manner similar to the case of × Pn−1,|m|−1 (cos θ ) + Pn−1,|m|+1 (cos θ ) ,
the derivative T yy , we derive the new expansion for Tx y given m
= 0. (42)
in Eq. (12).
After transferring to the normalized quantities, the new
expansion for T yz presented by Eq. (14) is derived from
3.3 Development of Tx z and T yz Eq. (42).

Let us consider the derivative Tx z . Its initial expansion from

Eq. (8) is rewritten in terms of the non-normalized quantities 4 New expansions of the gravity gradients in the local
orbital reference frame
µ    a n+3
N n
Tx z = 3 Cn,m Q m (λ) (n + 2)
a r We consider the local orbital reference frame {u, v, w} where
n=2m=−n
the axis w coincides with z, v points toward the instanta-
d Pn,|m| (cos θ ) neous angular momentum vector and u complements the
× . (35)
dθ right-handed triad.
122 M.S. Petrovskaya and A.N. Vershkov

The relation between the local orbital and north-oriented is easily seen from Eq. (47). As a result, the least squares
triads is described by the matrix equation: solution of such a wrong system of equations with respect to
     the geopotential coefficients C n,m would be erroneous.
u x 

 v  = R3 (α) y , 
 As was mentioned in Sect. 1, some authors proposed a


w z  procedure for excluding from Eq. (47) some orbital deriva-
  (43) tives by means of certain transformations of the observational
cos α sin α 0   data. However this procedure has not been elaborated in detail

R3 (α) =  − sin α cos α 0   
 for the case of the GOCE mission.
0 0 1  Another approach is possible to solve the problem of the
where α is the satellite track azimuth, that is the angle be- non-measured observables. They can first be simulated on
tween the local meridian in the observation point and the the basis of a known geopotential model and then refined by
direction of the axis u. This angle is reckoned from the north an iteration procedure.
clockwise. The application of the new series for the local north-
In Rummel et al. (1993), the azimuth α is expressed in oriented derivatives given by Eqs. (10)–(14) allows us to es-
terms of the velocities of the Earth and the satellite. cape the above difficulties and solve not Eqs. (47), but directly
According to the basic rules of the tensor algebra and Eq. Eq. (45) with respect to the potential coefficients C n,m .
(43), the gravity tensor can be transformed from the reference Equation (45) is first transformed by applying Eq. (15).
frame {x, y, z} to {u, v, w} system by the equation We obtain

Tuu = −(cos2 α − sin2 α) Tyy − cos2 α Tzz  
Tuvw = R3 (α) Tx yz R3 (α)T . (44) +2 cos α sin α Tx y 




In detail the latter can be written as follows Tvv = (cos α − sin α) Tyy − sin α Tzz 
2 2 2


 

Tuu = cos2 α Tx x +sin2 α Tyy +2 cos α sin α Tx y  −2 cos α sin α Tx y 


Tvv = sin2 α Tx x +cos2 α Tyy −2 cos α sin α Tx y 
 Tuv = 2 cos α sin α Tyy + cos α sin α Tzz (48)

 

 +(cos2 α − sin2 α) Tx y 

Tuv = − cos α sin α(Tx x −Tyy )+(cos α−sin α)Tx y
2 2 

(45) Tuw = cos α Tx z + sin α Tyz 

Tuw = cos α Tx z + sin α Tyz 
 


 Tvw = − sin α Tx z + cos α Tyz 

Tvw = − sin α Tx z + cos α Tyz 
 

 Tww = Tzz .
Tww = Tzz .
It can be seen that the right-hand sides of Eq. (48) depend
The inverse of Eq. (44) is only on five derivatives while Eq. (45) depend on six .
Equation (4) and the new expressions for the north-ori-
Tx yz = R3 (α)T Tuvw R3 (α), (46)
ented derivatives given by Eqs. (10)–(14) are substituted into
which can be presented in the form the right-hand sides of Eq. (48).
 This gives:
Tx x = cos2 α Tuu + sin2 α Tvv − 2 sin α cos α Tuv 


Tyy = sin2 α Tuu + cos2 α Tvv + 2 sin α cos α Tuv 
 
N n  
 


 Tuu = µ a n+3
C n,m Q m (λ) cos 2α f n,m,1 (θ)  


Tx y = cos α sin α (Tuu −Tvv )+(cos α−sin α) Tuv
2 2 a3
n=2 m=−n
r
 


(47) − cos α (n + 1) (n + 2) P n,|m| (cos θ) 

Tx z = cos α Tuw − sin α Tvw 

2
 


 +Q −m (λ) sin 2α f n,m,2 (θ)


Tyz = sin α Tuw + cos α Tvw 
 



 

µ    a n+3  
N n
Tzz = Tww . Tvv = − a3 C n,m Q m (λ) cos 2α f n,m,1 (θ) 


r 

n=2 m=−n  

In the space-wise approach for constructing a geopo- + sin α (n + 1) (n + 2) P n,|m| (cos θ)
2 

 

tential model the observation equations are compiled in the +Q −m (λ) sin 2α f n,m,2 (θ) 



following manner. The values of the orbital derivatives are 

µ    a n+3  
N n
Tuv = − a3 C Q (λ) sin 2α f (θ) 

substituted into the right-hand sides of Eq. (47), while in r n,m m n,m,1 

n=2 m=−n  
the left-hand sides, the expansions in form of Eqs. (5)–(9), − cos α sin α (n + 1) (n + 2) P n,|m| (cos θ) (49)
depending on the geopotential coefficients C n,m , are inserted.  

−Q −m (λ) cos 2α f n,m,2 (θ) 

In a satellite gradiometry mission some of the observ- 


µ    a n+3  
N n
Tuw = (λ) α (θ) 

ables entering the right-hand sides of Eq. (47) can either be a3
C n,m Q m cos f n,m,3 

n=2 m=−n
r
 

not measured or measured with less accuracy than the oth- 

+ Q −m (λ) sin α f n,m,4 (θ) 

ers. For these cases, special procedures have to be elaborated, 

N n  
  

either for excluding an observable from the consideration or Tvw = − a3µ a n+3
C Q (λ) sin α f (θ) 

r n,m m n,m,3 

refining its values by an iteration procedure. n=2 m=−n  

− Q −m (λ) cos α f n,m,4 (θ) 



It is necessary to note that the problem of eliminating a
  

µ N 
n
a n+3 

non-measured observable (at a certain moment or in general) Tww = (n + 1) (n + 2) 

a 3 r 

cannot be solved simply by setting it to zero. In this case, n=2 m=−n 

×C n,m Q m (λ) P n,|m| (cos θ)
the correct equations would be changed for wrong ones, as
Non-singular expressions for the gravity gradients in the local north-oriented and orbital reference frames 123

where 5 Numerical results


f n,m,1 (θ ) = an,m P n,|m|−2 (cos θ )+bn,m P n,|m| (cos θ )


 We consider the disturbing potential T which represents


+cn,m P n,|m|+2 (cos θ ), 
 the difference between the EGM96 geopotential model



 (Lemoine et al. 1998) and the GRS80 normal field (Moritz
f n,m,2 (θ ) = dn,m P n−1,|m|−2 (cos θ ) 



1980).

 The new expressions for the second-order geopotential
+gn,m P n−1,|m| (cos θ ) 

 derivatives in the north-oriented reference frame, given
+h n,m P n−1,|m|+2 (cos θ ), (50) by Eqs. (10)–(14), are verified numerically. The values of



 these derivatives, obtained in a set of points on the mean orbi-
f n,m,3 (θ ) = βn,m P n,|m|−1 (cos θ ) 


 tal sphere, are compared with their values estimated


+γn,m P n,|m|+1 (cos θ ), 
 on the basis of the initial expansions defined by Eqs.




(5)–(9).
f n,m,4 (θ ) = µn,m P n−1,|m|−1 (cos θ ) 
 The new expressions for the local orbital derivatives pre-


 sented by Eq. (49) are also checked. First, these expressions
+νn,m P n−1,|m|+1 (cos θ ).
are evaluated from Eq. (49) in the same set of points which
In Eq. (50), the numerical constants are the same as in were applied for verifying Eqs. (10)–(14). These data are
Eqs. (10)–(14). They are given in the Appendix A. substituted in the right-hand sides of Eq. (47). The obtained
The right-hand sides of Eq. (49) depend on the geopoten- values of the north-oriented derivatives are compared with
tial coefficients C n,m , the spherical coordinates r, θ, λ, and those which are estimated on the basis of Eqs. (10)–(14).
the satellite track azimuth α. The results of both comparisons demonstrate the correct-
If one proceeds from a conventional assumption that the ness of the new expansions for the gravity gradients, defined
satellite orbit is circular (Rummel et al. 1993, pp 3.3, 3.4), by Eqs. (10)–(14) and (49).
then for this case the following relations are derived between The computations were performed on the basis of the
the angular variables geopotential model EGM96, which contains the coefficients
  up to a high degree (N = 360). The mean orbital sphere corre-
sin θ = 1 − sin2 ω0 sin2 I ,  sponds to the GOCE satellite orbit (at the altitude h = 250 km).
(51) The latitudes φ of testing points vary from zero to 89.5◦ in
cos θ = sin ω0 sin I 
both Hemispheres. The computations were carried out on PC
and Pentium IV 2.8 GHz with the mantissa of 32 digits. The coin-
 cidence of the values of the initial and new expressions for
sin α = √ cos I
,  the geopotential derivatives is established with the precision
1−sin ω0 sin I
2 2
(52) 10−30 E, where E is Eötvös unit.
cos α = ± √ cos ω20 sin I 2 . 
1−sin ω0 sin I These and other computations were carried out on the
basis of simple recurrent procedures elaborated by Holmes
Here I is the orbit inclination. The time variable ω0 has
and Featherstone (2002) for evaluating the associated
the form ω0 = ω + M where ω is the argument of the perigee
Legendre functions and their derivatives. In particular we
and M is the mean anomaly.
used the “modified forward column method” described by
Equations (51) and (52) can be applied for solving Eq.
formulas (34) and (35) from (ibid.). This algorithm provides
(49) with respect to C n,m by the least squares time-wise ap- a very high precision of the results for large values of n
proach. and |m|.
The set of Eq. (49) can be expressed in terms of only the Equations (4) and (10)–(14) allow to evaluate the grav-
spherical coordinates r, θ and λ with the aid of the relations ity gradients in the local north-oriented reference frame up

sin α = cos
sin θ ,
I
 to the poles. Digital contour maps for the diagonal deriva-
√ (53) tives in the polar areas, with 80◦ ≤ φ ≤ 90◦ , are constructed
2θ  and presented in Fig. 1, with the contour line interval δ =
cos α = ± sin sinI −cos
2
θ .
0.015 E. These maps demonstrate a non-singular behavior
In Eqs. (52) and (53) the ‘plus’ sign corresponds to the of the new expressions for the gravity gradients up to the
ascending satellite track and the ‘minus’ sign to the descend- poles.
ing one. From Fig. 1 one can observe what data in the polar areas
When Eq. (53) is applied, the angular variables in Eq. (49) will be disregarded when the geopotential coefficients are
become θ and λ. evaluated only from the GOCE mission.
The first relation in Eq. (53) was given by Vermeer (1990). Similar computations are also carried out on the basis of
Equations (51)–(53) are derived with elementary spheri- the new geopotential model EIGEN-CG01C (Reigber et al.
cal trigonometry applied with respect to the spherical trian- 2005) which is of the same maximal degree 360 as EGM96.
gle formed by the satellite orbit, the equator and the local The comparison of the maps corresponding to these models
meridian. reveals no noticeable difference between them.
124 M.S. Petrovskaya and A.N. Vershkov

Fig. 1 Maps of derivatives Tx x , T yy and Tzz for polar regions with contour interval δ = 0.015 E
Non-singular expressions for the gravity gradients in the local north-oriented and orbital reference frames
6 On applying the new expansions of the gravity
gradients for recovering the geopotential coefficients
from the GOCE mission data
Various procedures can be developed for applying the new
expressions for the gravity gradients in the two local refer-
ence frames for constructing a geopotential model from the
GOCE mission data. One of possible scenarios is very briefly
described below.
As a first step, from the set of Eq. (49) the geopotential
coefficients C n,m are evaluated on the basis of the orbital
observational data by the least squares time-wise approach.
Simultaneously the errors of C n,m are estimated.
If some of six orbital derivatives are not measured, for
instance Tuv or Tvw , then the corresponding equations are
excluded from the set of the observation equations.
The recovered adjustment coefficients C n,m do not rep-
resent a global geopotential model due to the absence of the
GOCE data in the polar gaps. However the derived solution
forms the basis for constructing such model by the following
procedure.
In the second step, the recovered set of C n,m is substituted
into the right-hand sides of Eqs. (4), (10)–(14), which refer
to the north-oriented reference frame. From these equations
a gridded set of the averaged GOCE data in this reference
frame is compiled on the mean orbital sphere, except the
polar gaps. Based on the same equations, the corresponding
errors of the data for the north-oriented gravity gradients are
also synthesized.
In the third step, the above set of the observation equa-
tions is supplemented by additional equations compiled in
the regions of the polar gaps by means of substituting into
the right-hand sides of Eqs. (4), (10)–(14) the geopotential
coefficients from another advanced geopotential model, in
particular EIGEN-CG01C (Reigber et al. 2005, in press).
The latter was constructed from the data of the GRACE and
CHAMP missions, as well as the altimetry and surface gra-
vimetry measurements. In this manner the observational data
for the polar gaps are synthesizes.
Thus, the synthesized observational data in the left-hand
sides of the obtained extended system of equations cover the
whole mean orbital sphere, including the polar gaps. The
coefficients C n,m entering the right-hand sides of the above
system are considered now as the new unknowns.
In the fourth step, from the extended system of equa-
tions a new global geopotential model is constructed by the
least squares space-wise approach. This model will imply the
GOCE gradiometry data and the data involved in the EIGEN-
CG01C geopotential model.
It should be noted that even more observation equations,
depending on C n,m , can be added to the above extended sys-
tem of equations which correspond to other surface, airborne
and satellite measurements.
An alternative approach for constructing a geopotential
model from the GOCE mission data would be to solve the new
Eq. (49) with respect to C n,m by the time-wise procedures
125
applied to the conventional observation equations in the local
orbital reference frame.
7 Concluding remarks
The derived new expressions for the gravity gradients have a
number of points in their favor, as compared to the conven-
tional expansions.
The expansions for the north-oriented derivatives pre-
sented by Eqs. (10)–(14) have the following advantages.
For synthesis of these derivatives on the basis of the
above equations only recurrent relations are needed between
the Legendre functions, while in the case of the conven-
tional Eqs. (5)–(9) recurrent relations have also to be ap-
plied for computing the first and second-order derivatives
of these functions. Consequently, the algorithm of compu-
tations based on the new expressions is more simple. As a
result, the speed of computations by Eqs. (10)–(14) will be
higher, especially in the case when the gravity gradients are
synthesized in a large number of points.
The coefficients of the Legendre functions and their deriv-
atives in Eqs. (5)–(9) contain singular factors depending on
the latitude. As a result, these expansions cannot be applied
in the polar areas without their preliminary transformations.
Such transformations are just performed in the present paper.
In the new Eqs. (10)–(14) the coefficients of the Legendre
functions are numerical constants.
An important consequence of the absence of the above
singular factors is a possibility of applying Eqs. (10)–(14)
for compiling additional observation equations in the polar
areas corresponding to alternative observational data.
For synthesis of the gravity gradients the conventional
Eqs. (5)–(9) can be utilized, excepting the polar areas. How-
ever, for solving a more difficult inverse problem of analysis,
that is constructing a geopotential model from the observa-
tional data, the procedure will be more complicated. In this
case the advantage of Eqs. (10)–(14) over Eqs. (5)–(9) is
evident.
An essential contribution of Eqs. (10)–(14) is that they
allow to derive very simple double series for the gravity
gradients in the local orbital reference frame presented by
Eqs. (49)–(50). The application of the conventional series,
defined by Eqs. (5)–(9), for the same purpose would result
in very complicated expressions for the orbital derivatives,
since each of these expressions would depend not only the
Legendre functions but also on their derivatives of the first
and second-orders and on singular factors.
Very simple new expressions for the orbital observables
are more convenient for processing the observational data
as compared to the conventional expansions, especially in
the case of a great number of measurements in the GOCE
mission.
As follows from Sect. 6, a combination of the observation
equations for the local orbital and north-oriented reference
frames allows to solve the problem of the polar gaps in the
126 M.S. Petrovskaya and A.N. Vershkov

 n+2  2n+1  √ 
GOCE mission by means of accounting for alternative obser- µn,m = − |m|
m
1 + δ n + |m| 

√ 2 2n−1 |m|,1 

vational data in the polar areas. 
At the same time the problem of excluding non-measured × n + |m| −1
  2n+1 √ √ 
(57)
observables is easily solved. νn,m = − |m|
m n+2
2n−1 n − |m| n − |m| − 1

For numerical implementation of the procedures men-
2 

n = 2, 3, . . . , N ;
tioned in Sect. 6 conventional approaches can be applied.

1, p = q.
Acknowledgements The authors highly appreciate critical remarks δ p,q = (58)
and valuable comments of Prof. W. E. Featherstone, Dr. N. Sneeuw, 0, p
= q.
Dr. J. A. Rod Blais and anonymous reviewers.

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