A methodology for the performance evaluation of low-cost accelerometer and magnetometer sensors in geomatics applications

This paper presents a methodology and its software implementation for the performance evaluation of low-cost accelerometer and magnetometer sensors for use in geomatics applications. A known mathematical calibration model has been adopted. The method was completed with statistical methodologies for adjusting observations and has been extended to calculate accuracies for the attitude, heading, and tilt angles estimation that are of interest to geomatics applications. The evaluation method consists of two stages. First, the evaluation method reviews the total magnitude of acceleration or the strength of the magnetic field. Second, the evaluation is more detailed and concerns the determination of mathematical parameters that describe both accelerometer and magnetometer working model. A software tool that implements the evaluation model has been developed and is applied both in accelerometer and magnetometer measurement data-sets acquired from a low-cost sensor system

Remote Sensing and Geographic Information Systems (GIS) Contribution to the Inventory of Infrastructure Susceptible to Earthquake and Flooding Hazards in North-Eastern Greece

For civil protection reasons there is a strong need to improve the inventory of areas that are more vulnerable to earthquake ground motions or to earthquake-related secondary effects, such as landslides, liquefaction or soil amplifications. The use of remote sensing and Geographic Information Systems (GIS) methods along with the related geo-databases can assist local and national authorities to be better prepared and organized. Remote sensing and GIS techniques are investigated in north-eastern Greece in order to contribute to the systematic, standardized inventory of those areas that are more susceptible to earthquake ground motions, to earthquake-related secondary effects and to tsunami-waves. Knowing areas with aggregated occurrence of causal (“negative”) factors influencing earthquake shock and, thus, the damage intensity, this knowledge can be integrated into disaster preparedness and mitigation measurements. The evaluation of satellite imageries, digital topographic data and open source geodata contributes to the acquisition of the specific tectonic, geologic and geomorphologic settings influencing local site conditions in an area and, thus, estimate possible damage to be suffered

A Fusion Method for Combining Low-Cost IMU/Magnetometer Outputs for Use in Applications on Mobile Devices

This paper presents a fusion method for combining outputs acquired by low-cost inertial measurement units and electronic magnetic compasses. Specifically, measurements of inertial accelerometer and gyroscope sensors are combined with no-inertial magnetometer sensor measurements to provide the optimal three-dimensional (3D) orientation of the sensors’ axis systems in real time. The method combines Euler–Cardan angles and rotation matrix for attitude and heading representation estimation and deals with the “gimbal lock” problem. The mathematical formulation of the method is based on Kalman filter and takes into account the computational cost required for operation on mobile devices as well as the characteristics of the low-cost microelectromechanical sensors. The method was implemented, debugged, and evaluated in a desktop software utility by using a low-cost sensor system, and it was tested in an augmented reality application on an Android mobile device, while its efficiency was evaluated experimentally

GOCE Downward Continuation to the Earth’s Surface and Improvements to Local Geoid Modeling by FFT and LSC

One of the main applications of the gravity field and steady-state Ocean Circulation Explorer (GOCE) satellite data is their combination with local gravity anomalies for geoid and gravity field modeling purposes. The aim of the present paper was the determination of an improved geoid model for the wider Hellenic area, using original GOCE SGG data filtered to retain only useful signals inside the measurement bandwidth (MBW) of the satellite. The filtered SGGs, originally at the satellite altitude, were projected to a mean orbit (MO) and then downward continued to the Earth’s surface (ES) in order to be combined with local gravity anomalies. For the projection to an MO, grids of disturbing gravity gradients from a global geopotential model (GGM) were used, computed per 1 km from the maximum satellite altitude to that of the MO. The downward continuation process was then undertaken using an iterative Monte Carlo (MC) simulated annealing method with GGM gravity anomalies on the ES used as ground truth data. The final geoid model over the wider Hellenic area was estimated, employing the remove–compute–restore method and both Fast Fourier Transform (FFT) and Least Squares Collocation (LSC). Gravity-only, GOCE-only and combined models using local gravity and GOCE data were determined and evaluation of the results was carried out against available GNSS/levelling data in the study area. From the results achieved, it was concluded that even when FFT is used, so that a combined grid of local gravity and GOCE data is used, improvements to the differences regarding GNSS/levelling data by 14.53% to 27.78% can be achieved. The geoid determination with LSC was focused on three different areas over Greece, with different characteristics in the topography and gravity variability. From these results, improvements from 14.73%, for the well-surveyed local data of Thessaly, to 32.88%, over the mountainous area of Pindos, and 57.10% for the island of Crete for 57.10% were found

FIR, IIR and Wavelet Algorithms for the Rigorous Filtering of GOCE SGG Data to the GOCE MBW

Gravity field and steady-state Ocean Circulation Explorer (GOCE) data are strongly affected by noise and long-wavelength errors outside the satellite measurement bandwidth (MBW). One of the main goals in utilizing GOCE data for gravity field modeling is the application of filtering techniques that can remove gross errors and reduce low-frequency errors and high-frequency noise while preserving the original signal. This paper aims to present and analyze three filtering strategies used to de-noise the GOCE Level 2 data from long-wavelength correlated errors and noise. These strategies are Finite Impulse Response (FIR), Infinite Impulse Response (IIR), and Wavelet Multi-resolution Analysis (WL), which have been applied to GOCE residual second order derivatives of the gravity potential. Several experiments were performed for each filtering scheme in order to identify the ideal filtering parameters. The outcomes indicate that all the suggested filtering strategies proved to be effective in removing low-frequency errors while preserving the signals in the GOCE MBW, with FIR filtering providing the overall best results

Altimetry, bathymetry and geoid variations at the Gavdos permanent Cal/Val facility

Summarization: The aim of this work has been to examine the relationship of steep bathymetry in the coastal areas around the permanent Cal/Val facility of Gavdos, and their influence on the produced calibration values for the Jason-2 satellite altimeter. The paper describes how changes in seafloor topography (from 200 to 3500 m depth over a distance of 10 km) are reflected on the determined altimeter parameters using different reference surfaces for satellite calibration. Finally, it describes the relation between these parameter trends and the region’s local characteristics. Using 3.5 years of Jason-2 calibration data and careful data analysis, certain features and variations, with permanent signatures at some locations south of Gavdos, have been found in the altimeter bias values. Causes of these variations have been interpreted. Some of these features, for example, at 12 km south of the Cal/Val site seem to be related to the general oceanographic circulation, but others of short wavelength (in the order of 1 km) are because of the insufficient geoid model resolution. Along Pass No. 109, the concealed effect of bathymetry on the geoid has produced a slope of 3.1 cm over 14–21 km from Gavdos. Along the other Pass No.18 and in the range 12–21 km, a slope in the geoid model, caused again by the sharp changes in the topography of seafloor (from 300 to 3200 m depth over a distance of 10 km), have been discovered. Those geoid model imperfections of short wavelength do not change the previously reported bias values. Finally, boat campaigns that took place for verifying the previous features, were also used to determine an altimeter bias of B = +19.6 ± 4.5 cm, for cycle = 80, at 15:14:58 UTC, on 7-Sept-2010, along Pass No. 109. Calibration took place at a distance of about 19 km south of Gavdos, in the open sea while Jason-2 was flying over.Presented on: Advances in Space Researc

Absolute Calibration of the European Sentinel-3A Surface Topography Mission over the Permanent Facility for Altimetry Calibration in west Crete, Greece

This work presents calibration results for the altimeter of Sentinel-3A Surface Topography Mission as determined at the Permanent Facility for Altimetry Calibration in west Crete, Greece. The facility has been providing calibration services for more than 15 years for all past (i.e., Envisat, Jason-1, Jason-2, SARAL/AltiKa, HY-2A) and current (i.e., Sentinel-3A, Sentinel-3B, Jason-3) satellite altimeters. The groundtrack of the Pass No.14 of Sentinel-3A ascends west of the Gavdos island and continues north to the transponder site on the mountains of west Crete. This pass has been calibrated using three independent techniques activated at various sites in the region: (1) the transponder approach for its range bias, (2) the sea-surface method for the estimation of altimeter bias for its sea-surface heights, and (c) the cross-over analysis for inspecting height observations with respect to Jason-3. The other Pass No.335 of Sentinel-3A descends from southwest of Crete to south and intersects the Gavdos calibration site. Additionally, calibration values for this descending pass are presented, applying sea-surface calibration and crossover analysis. An uncertainty analysis for the altimeter biases derived by the transponder and by sea-surface calibrations is also introduced following the new standard of Fiducial Reference Measurements

Fifteen Years of Cal/Val Service to Reference Altimetry Missions: Calibration of Satellite Altimetry at the Permanent Facilities in Gavdos and Crete, Greece

Satellite altimetry provides exceptional means for absolute and undisputable monitoring of changes in sea level and inland waters (rivers and lakes), over regional to global scales, with accuracy and with respect to the center of mass of the Earth. Altimetry system’s responses have to be continuously monitored for their quality, biases, errors, drifts, etc. with calibration. Absolute calibration of altimeters is achieved by external and independent to satellite facilities on the ground. This is the mainstay for a continuous, homogenous, and reliable monitoring of the earth and its oceans. This paper describes the development of the Permanent Facility for Altimetry Calibration in Gavdos/Crete, Greece, as of 2001 along with its infrastructure and instrumentation. Calibration results are presented for the reference missions of Jason-1, Jason-2, and Jason-3. Then, this work continues with the determination of relative calibrations with respect to reference missions for Sentinel-3A, HY-2A, and SARAL/AltiKa. Calibration results are also given for Jason-2 and Jason-3 altimeters using the transponder at the CDN1 Cal/Val site on the mountains of Crete, with simultaneous comparisons against sea-surface calibration and during their tandem mission. Finally, the paper presents procedures for estimating uncertainties for altimeter calibration to meet the Fiducial Reference Measurement standards