Processing Airborne Gravity Data · 2 month 3 day 4 hour 5 minute 6 second 7 day of year 8 Meter...
Transcript of Processing Airborne Gravity Data · 2 month 3 day 4 hour 5 minute 6 second 7 day of year 8 Meter...
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Sandra PreauxMay 2016
7701 Greenbelt Rd., Suite 400Greenbelt, MD [email protected]
Newton Demo:Newton Demo:Processing Airborne Processing Airborne
Gravity DataGravity Data
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Newton: getting started
• What do I need?– You need to install Matlab Runtime for Matlab
version 2016a• Go here
http://www.mathworks.com/products/compiler/mcr/• Choose the one from the table that matches your
operating system
– Install the Newton package on your computer– Yes that’s all…
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Newton: FAQ Part 1 of 3
• Why name this Newton as opposed to AirGrav, GravAir or some other aero-gravity combination?– I’m easily confused and can’t remember which one I’m
talking about when they all sound so similar. – I love the cookies!
• Which Gravimeters will Newton work with?– The executable Newton v1.3 will work for the TAGS
instruments only.– The source code is modular though, so modifying it for any
gravimeter is as easy as changing the function that reads the data file and the one that re-computes raw gravity.
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Basic Steps• Organize data into the proper file structure• Run Newton– Provide Meta Data–Make process selections– Choose flights to process– Process to unfiltered gravity– Filter & trim tracks
• Post processing– Examine plots and statistics– Create and examine QA Grid
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File StructureData
Survey1GPS
TAGS_f01.txtTAGS_f02.txt…
Gravity_Rawf01_23May2016.DATf01_23May2016.ENVf02_24May2016.DATf02_24May2016.ENV…
Metameta_f01.txtmeta_f01.txt…
Survey2GPSGravity_proc
filt120unfiltered
Gravity_rawGravity_ref
EGM08f01_EGM08.txtf02_EGM08.txt…
Meta
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Position File Format
• This is the standard format that NGS has set up for output from Inertial Explorer
• Exact number of decimals is not important
1760.00000 472105.00 39.7109609088 -77.7355136992 162.262 197.358 0.000 0.001 0.007 8 4.171760.00000 472106.00 39.7109609165 -77.7355137100 162.268 197.364 0.002 0.004 0.007 8 4.171760.00000 472107.00 39.7109609253 -77.7355137127 162.273 197.369 -0.002 0.002 0.006 8 4.171760.00000 472108.00 39.7109609274 -77.7355137205 162.279 197.374 -0.000 0.002 0.004 8 4.171760.00000 472109.00 39.7109609328 -77.7355137225 162.284 197.379 0.000 -0.000 0.005 8 4.171760.00000 472110.00 39.7109609359 -77.7355137300 162.288 197.384 -0.002 0.002 0.004 8 4.171760.00000 472111.00 39.7109609416 -77.7355137366 162.292 197.388 -0.002 -0.000 0.003 8 4.171760.00000 472112.00 39.7109609467 -77.7355137403 162.296 197.392 0.001 0.004 0.003 8 4.171760.00000 472113.00 39.7109609494 -77.7355137488 162.300 197.395 -0.002 0.001 0.004 8 4.17…
GPS week
GPS secs Latitude Longitude
EllipsoidalHeight
OrthometricHeight
EVelocity
NVelocity
UVelocity
# of Sats
PDOP
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Gravity *.DAT File Format1 Month2 Day 3 Hour4 Minute5 Second6 Day of Year7 QC Gravity (CU)8 Spring Tension (CU)
9 Beam Position (volts*750000)
10 VCC11 AL12 AX13 VE14 AX215 XACC216 LACC2
17 Cross Acceleration (Gal)18 Long Acceleration (Gal)
19 Eötvös Correction (mGal)20 Longitude (degrees)21 Latitude (degrees)22 Speed (knots)23 Heading (degrees)24 Meter Status (-128 = startup, -123=on line, -104=takeoff, -64=landing)
$DAT,2013/10/ 4,10:43:18.00,277, 0.00,11812.38, 1931.227, -0.07, 0.04, -0.00, 0.00, 0.00, 0.39, 110.50, -0.25, -10.43, 0.00, 0.00000000, 0.00000000, 0.000, 0.000,-126,$DAT,2013/10/ 4,10:43:19.00,277, 0.00,11934.76, 1868.321, -0.07, 0.02, 0.00, 0.00, 0.00, 0.28, 109.32, -0.25, -10.41, 0.00, 0.00000000, 0.00000000, 0.000, 0.000,-126,$DAT,2013/10/ 4,10:43:20.00,277, 0.02,12055.93, 1619.620, -0.06, -0.02, -0.00, 0.00, 0.00, 0.17, 109.45, -0.26, -10.44, 0.00, -77.73551167, 39.71097500, 0.000, 272.400,-126,$DAT,2013/10/ 4,10:43:21.00,277, 0.04,12055.93, 1320.835, -0.05, -0.01, -0.00, 0.00, 0.00, 0.16, 110.66, -0.28, -10.49, 0.00, -77.73551000, 39.71097500, 0.000, 272.400,-126,$DAT,2013/10/ 4,10:43:22.00,277, 0.07,12055.93, 1537.118, -0.05, 0.01, -0.00, 0.01, 0.00, 0.16, 112.39, -0.23, -10.55, 0.00, -77.73551000, 39.71097500, 0.000, 272.400,-126,$DAT,2013/10/ 4,10:43:23.00,277, 0.11,12055.93, 1610.662, -0.06, 0.00, -0.01, 0.01, 0.00, 0.27, 113.28, -0.28, -10.59, 0.00, -77.73551000, 39.71097500, 0.000, 272.400,-126,$DAT,2013/10/ 4,10:43:24.00,277, 0.16,12055.93, 1563.472, -0.05, 0.01, -0.00, 0.00, 0.00, 0.27, 111.27, -0.28, -10.50, 0.00, -77.73551000, 39.71097500, 0.000, 272.400,-126,$DAT,2013/10/ 4,10:43:25.00,277, 0.24,12055.93, 1581.647, -0.06, 0.01, 0.00, 0.00, 0.00, 0.18, 110.74, -0.22, -10.48, 0.00, -77.73551000, 39.71097500, 0.000, 272.400,-126,$DAT,2013/10/ 4,10:43:26.00,277, 0.33,12055.93, 1558.409, -0.05, -0.00, -0.00, 0.00, 0.00, 0.16, 110.36, -0.24, -10.48, 0.00, -77.73551000, 39.71097500, 0.000, 272.400,-126,$DAT,2013/10/ 4,10:43:27.00,277, 0.44,12055.93, 1609.559, -0.06, -0.00, -0.00, 0.00, 0.00, 0.16, 110.10, -0.24, -10.46, 0.00, -77.73551000, 39.71097500, 0.000, 272.400,-126,$DAT,2013/10/ 4,10:43:28.00,277, 0.58,12055.93, 1612.610, -0.06, 0.00, -0.00, 0.00, 0.00, 0.15, 112.77, -0.27, -10.57, 0.00, -77.73551000, 39.71097500, 0.000, 272.400,-126,$DAT,2013/10/ 4,10:43:29.00,277, 0.76,12055.93, 1600.601, -0.06, 0.00, -0.00, 0.00, 0.00, 0.18, 112.01, -0.22, -10.48, 0.00, -77.73551000, 39.71097500, 0.000, 272.400,-126,$DAT,2013/10/ 4,10:43:30.00,277, 0.97,12055.93, -5970.086, 0.19, -0.73, -0.05, 0.08, 0.00, 0.26, 109.66, -0.23, -10.29, 0.00, -77.73551000, 39.71097500, 0.000, 272.400, 5,$DAT,2013/10/ 4,10:43:31.00,277, 1.23,12055.93, -39485.265, 1.35, -0.72, -0.05, 0.08, 0.00, 0.25, 109.37, -0.26, -10.29, 0.00, -77.73551000, 39.71097500, 0.000, 272.400, 5,$DAT,2013/10/ 4,10:43:32.00,277, 1.55,12055.93, -66394.009, 2.28, -0.04, -0.00, 0.01, 0.00, 0.20, 108.89, -0.22, -10.31, 0.00, -77.73551000, 39.71097500, 0.000, 272.400, 5,$DAT,2013/10/ 4,10:43:33.00,277, 1.93,12055.93, -66198.108, 2.25, 0.01, -0.00, 0.01, 0.00, 0.51, 107.09, -0.23, -10.21, 0.00, -77.73551000, 39.71097500, 0.000, 272.400, 5,
1st 10 characters are ignored
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Gravity *.ENV File Format1 year 2 month3 day 4 hour5 minute6 second7 day of year8 Meter Pressure (in Hg)9 Meter Temperature (C)10 Ambient Temperature (C)
11 K-factor (relate beam position volts to CU)12 vcc coefficient13 al coefficient14 ax coefficient15 ve coefficient16 ax2 coefficient17 serial filter length (seconds)18 QC filter length (seconds)19 Calibration Scale (mGal/CU)
%ENV,2013/10/ 4,10:43:16.00,277,S-160/Fg1.2, 0.00, 0.00, 0.00,2.339062E-1,-0.02926, 1.00870,-0.59277,-1.09050, 6.60120, 1, 120,0.987110%ENV,2013/10/ 4,10:44:16.00,277,S-160/Fg1.2, 29.35, 51.35, 17.91,2.339062E-1,-0.02926, 1.00870,-0.59277,-1.09050, 6.60120, 1, 120,0.987110%ENV,2013/10/ 4,10:45:16.00,277,S-160/Fg1.2, 29.34, 51.34, 17.97,2.339062E-1,-0.02926, 1.00870,-0.59277,-1.09050, 6.60120, 1, 120,0.987110%ENV,2013/10/ 4,10:46:16.00,277,S-160/Fg1.2, 29.34, 51.31, 17.98,2.339062E-1,-0.02926, 1.00870,-0.59277,-1.09050, 6.60120, 1, 120,0.987110%ENV,2013/10/ 4,10:47:16.00,277,S-160/Fg1.2, 29.34, 51.29, 17.85,2.339062E-1,-0.02926, 1.00870,-0.59277,-1.09050, 6.60120, 1, 120,0.987110%ENV,2013/10/ 4,10:48:16.00,277,S-160/Fg1.2, 29.34, 51.27, 17.66,2.339062E-1,-0.02926, 1.00870,-0.59277,-1.09050, 6.60120, 1, 120,0.987110%ENV,2013/10/ 4,10:49:16.00,277,S-160/Fg1.2, 29.34, 51.26, 17.46,2.339062E-1,-0.02926, 1.00870,-0.59277,-1.09050, 6.60120, 1, 120,0.987110%ENV,2013/10/ 4,10:50:16.00,277,S-160/Fg1.2, 29.34, 51.26, 17.38,2.339062E-1,-0.02926, 1.00870,-0.59277,-1.09050, 6.60120, 1, 120,0.987110%ENV,2013/10/ 4,10:51:16.00,277,S-160/Fg1.2, 29.34, 51.24, 17.40,2.339062E-1,-0.02926, 1.00870,-0.59277,-1.09050, 6.60120, 1, 120,0.987110%ENV,2013/10/ 4,10:52:16.00,277,S-160/Fg1.2, 29.33, 51.23, 17.40,2.339062E-1,-0.02926, 1.00870,-0.59277,-1.09050, 6.60120, 1, 120,0.987110%ENV,2013/10/ 4,10:53:16.00,277,S-160/Fg1.2, 29.33, 51.24, 17.42,2.339062E-1,-0.02926, 1.00870,-0.59277,-1.09050, 6.60120, 1, 120,0.987110
1st 4 characters and this string are ignored
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Meta Data File Format
• Flight Meta Data– Pre-Flight Still Reading Time & Value– Post-Flight Still Reading Time & Value– Track 1 Name Start Time End Time– Track 2 Name Start Time End Time
11:23:06 11900.716:16:33 11900.7ES03136 12:44:41 13:33:07ES03593 14:06:10 15:05:46
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Meta Data File Format• Survey Meta Data
– Tie (mGal)– X Y Z Lever Arms from Center of Gravity of Aircraft to Gravimeter (m)– X Y Z Lever Arms from IMU to Gravimeter (m)– X Y Z Lever Arms from GPS Antenna to Gravimeter (m)– Flights to which these apply– Repeat as needed for additional locations or installations
981905.60480.853 0.0 0.4 CoG0.15 -0.10 -0.41 IMU2.87 -0.15 -0.91 GPSf01 f02 f03 f04 f05 f06 f07 f08 f09 f10 f11 f12 f13 f14 f15 f16 f17 f18 f19 f20 f21 f22 f23 f24
981903.35480 0 -0.56 CoG0.025 0 -0.495 IMU0.16 0.13 -1.25 GPSf43
If your position solution is already translated to the sensor position these can be set to 0.0
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Grav_ref File Format• Model gravity computed at the points in the
corresponding Position File• These files are optional– If they are not present, an interpolated value of
EGM 2008 will be generated for comparison. – These interpolated values are within 1 mGal of the
fully modeled values. 1 39.710960 282.264490 162.262 980034.748 1 39.710960 282.264490 162.268 980034.746 1 39.710960 282.264490 162.273 980034.744 1 39.710960 282.264490 162.279 980034.742 1 39.710960 282.264490 162.284 980034.741 1 39.710960 282.264490 162.288 980034.740 1 39.710960 282.264490 162.292 980034.738 1 39.710960 282.264490 162.296 980034.737 1 39.710960 282.264490 162.300 980034.736 1 39.710960 282.264490 162.303 980034.735
Flag Latitude LongitudeEllipsoidal Height Full field gravity
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• Do I really need my files in this structure?– Yes, this minimizes user input– The standard structure was adopted to simplify
reprocessing of large amounts of data for GRAV-D
• Can I use a different position file format?– There are two formats that are supported by the
Newton v1.3 executable: the text file presented here and a binary *.sbet file format.
– Also, the source code is modular so all you would have to do to support a different position file format is write a function to read it.
Newton: FAQ Part 2 of 3
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• Can I change what filter is used?– Yes & No– Changing the filter length is easy. Changing the
window type is easy as the source code is modular. Changing to a frequency domain or geographic filter would require trimming the tracks before filtering.
• Can I get the source code?– That is up to NGS, contact the GRAV-D group
Newton: FAQ Part 3 of 3
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Accurate and minute measurement seems to the non-scientific imagination, a less lofty and dignified work than looking for something new. But nearly all the grandest discoveries of science have been but the rewards of accurate measurement and patient long-continued labour in the minute sifting of numerical results. — Baron William Thomson KelvinPresidential inaugural address, to the General Meeting of the British Association, Edinburgh (2 Aug 1871). In Report of the Forty-First Meeting of the British Association for the Advancement of Science (1872), xci .