Tailored accelerometer calibration by POD for thermospheric density retrieval with GRACE and GRACE-FO

The density of the upper atmosphere can be determined by orbit and accelerometer data from low Earth orbit satellites as insitu measurements along the orbit. One main challenge therein is the estimation of physical accelerometer calibration parameters, meaning that these parameters should not absorb other effects and model deficiencies in the Precise Orbit Determination (POD) process. The accelerometers of all geodetic satellites like GRACE and GRACE-FO are affected by time dependent bias and scale factors. Therefore a calibration of the data is indispensable. A dynamic POD based physical accelerometer calibration is developed for the complete GRACE and GRACE-FO missions. We investigate different parametrization strategies and utilize different observation data, as the accurate inter-satellite ranging additionally to GPS orbit data. For the estimation parameters we distinguish between offset and scale, furthermore, cross-track and radial directions are significantly less sensitive than along-track and require a different evaluation. For the offset, constant and time dependent parameters are investigated. Furthermore, a continuous offset calibration over arc boundaries is implemented and tested. The sensitivity of the scale factor is lower, although, in contrast to the offset, it increases with higher total accelerations. This means that it needs to be estimated over longer time periods. We investigate periods between three hours and one month as well as results from Gravity Field Recovery (GFR). Monthly scale factors give valuable results, at least for x-axis and when the Solar activity is not very low. Nevertheless, we also estimate weighted constant scale factors from the monthly results and use these in a subsequent POD, giving more realistic offset results for most periods and cross-track and radial directions. From the used background models in the POD, Earth’s gravitational model has a noticeable influence on the estimated calibration parameters, especially the scale factors. We utilized several different models. Results with monthly ITSG solutions are distinctly better than the ones with the time dependent GOCO06s model. We show that the validation with usual metrics, like post-fit POD residuals, is not able to reflect the quality of the different estimated calibration parameters. For a quantitative validation we introduce an approach based on the modeled non-gravitational accelerations. Therefore, the uncertainty of the models is evaluated first. The influence of main error sources in the models is assessed and propagated to the results. We compare our scale parameters to available references and the complete calibration to TU Delft’s latest results. Finally we show the effect of different calibration options on the retrieved density. The estimated calibration parameters and non-gravitational accelerations for the whole GRACE and GRACE-FO missions are available on our data server www.zarm.uni-bremen.de/zarm_daten.