This book (317 pages, 195 figures) started as a short series of labs with the objective of having students write a program to compute positions from raw GPS data in a way that is similar to what happens in anyone’s smartphone. This constitutes chapter 2 of the book. I then decided to use this initial effort as an excuse to rationalize the bits and pieces of space geodesy and active tectonic courses I had floating around.
In the end, the book contains a large - and ever growing - amount of material, targeting students interested in GNSS space geodesy, its application to active tectonics, or both. I update it on a haphazard basis as students notice mistakes and/or as I decide to add information, figures, sections, or even chapters. I try to provide practical assignment here and there.
This book obviously contains too much material for a single typical course. In my experience, chapters 1 and 2 can be taught as one class, with chapter 1 providing the basic theoretical concepts of space geodesy and using chapter 2 as a practical exercice. Chapters 3 and 4 are meant to provide additional details for advanced teaching. Chapters 5 and onward are a separate course altogether, as they move away from “pure” geodesy into geophysical applications to plate kinematics and strain analysis. But the boundary between geodesy and geophysics is thin and the intersections are numerous!
This book benefited from reviews and inputs from J. Haase, Professor of Geophysics at the University of California, San Diego. It keeps being improved, as a never–ending saga, thanks to the excellent questions and comments I get over the years from the students I have the luck to interact with.
Table of Contents
Preface
Chapter 1 - Geodesy, basic concepts
1.1 Terrestrial geodesy
1.2 The advent of space geodesy
1.3 The figure of the Earth
1.4 The Earth in space
1.5 Satellite orbits
Chapter 2 - From GPS pseudorange to positions
2.1 Manipulate precise GPS orbits
2.2 From broadcast ephemerides to satellite coordinates
2.3 Multipath and Quality Control
2.4 Position solution from GPS pseudorange data
2.5 Processing a 24-hour RINEX observation file
Chapter 3 - Let's add known corrections
3.1 Earth's rotation effect
3.2 Relativistic effects
3.3 Tropospheric delay
3.4 Ionospheric delay1
3.5 Transmitter group delay
3.6 Satellite phase center offsets
3.7 GPS receiver antennas
3.8 Geophysical corrections
Chapter 4 - Precise positioning
4.1 Complete carrier phase mode
4.2 Double-difference versus single-point positioning
4.3 Resolving carrier phase ambiguities
4.4 Interpolating precise orbits
4.5 GPS data processing for geophysics
4.6 The reference frame and its implementation
Chapter 5 - From positions to velocities
5.1 Modeling GPS position time series
5.2 Noise in GPS time series
5.3 Combined position-velocity solutions
5.4 Velocity confidence ellipses
Chapter 6 - From GPS velocities to plate motions
6.1 Basics of plate tectonics
6.2 Plate kinematics on a sphere
6.3 Estimating plate angular velocities, direct problem
6.4 Estimating plate angular velocities, inverse problem
6.5 An example in North America
6.6 Assignment
6.7 Current plate motion models
6.8 The no-net rotation condition
6.9 One plate, two plates? The F-test
6.10 How rigid are plates?
Chapter 7 - Strain analysis
7.1 Problem statement
7.2 The velocity gradient tensor
7.3 From velocity gradient to strain and rotation rates
7.4 From geodetic velocities to strain rates
7.5 From geodetic velocities to strain rates, a better way
7.6 Principal strain rates
7.7 Strain rate tensor invariants
7.8 Practical examples
Chapter 8 - Geodetic measurements of deformation across active faults
8.1 Problem statement
8.2 Early geodetic results
8.3 Screw dislocation modeling
8.4 Case study of the North Anatolian fault
8.5 Fault slip inversions from geodetic data
8.6 Subduction and the "backslip" approach
8.7 Viscoelastic models of the earthquake cycle (unfinished)
8.8 Geodetic evidence of fault creep (unfinished)
Chapter 9 - Block models
9.1 Problem statement
9.2 Kinematic block modeling
9.3 Forward and inverse models
9.4 Examples
9.5 Limitations of block models
Chapter 10 - Simple dynamic models of continental deformation
10.1 Problem statement
10.2 Force balance equations
10.3 Vertically averaged stress
10.4 Gravitational potentiel energy and geoid
10.5 Force balance in 2 dimensions
10.6 Solving the problem using finite differences
10.7 In 2.5 dimensions
10.8 Application to Asia
Chapter 11 - References