Combining InSAR, Levelling and GNSS for the Estimation of 3D Surface Displacements

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1 Combining InSAR, Levelling and GNSS for the Estimation of 3D Surface Displacements Thomas Fuhrmann (1), Miguel Caro Cuenca (2), Freek van Leijen (3), Malte Westerhaus (1), Ramon Hanssen (3), Bernhard Heck (1) (1) Karlsruhe Institute of Technology, (2) Netherlands Organisation for Applied Scientific Research (TNO), (3) Delft University of Technology 0 Introduction Database Combination Results KIT University of the State of Baden-Wuerttemberg and National T. Fuhrmann Research Center et al. of thecombining Helmholtz Association InSAR, Levelling and GNSS Fringe Workshop 2015, Frascati March 24, 2015

2 Motivation Major drawbacks of SAR-Interferometry 1-dimensional measurements along the LOS direction Decomposition into horizontal and vertical components not possible Accuracy of estimated displacement/rate not easily accessible (filtering) Results relative to a reference point/area 1 Introduction Database Combination Results

3 Motivation Major drawbacks of SAR-Interferometry 1-dimensional measurements along the LOS direction Decomposition into horizontal and vertical components not possible Accuracy of estimated displacement/rate not easily accessible (filtering) Results relative to a reference point/area 3D velocity field Realistic accuracy information Reference frame 1 Introduction Database Combination Results

4 Research objectives GNSS Levelling InSAR 3D velocity field Derivation of horizontal and vertical surface displacements Robust combination of InSAR, levelling and GNSS Focus on linear movements (displacement rates) Realistic information on the accuracies of the estimates Area of interest: Upper Rhine Graben 2 Introduction Database Combination Results

5 Upper Rhine Graben Most prominent segment of the Cenozoic rift system Significant probability for large earthquakes 3 Introduction Database Combination Results

6 Upper Rhine Graben Most prominent segment of the Cenozoic rift system Significant probability for large earthquakes Basel 1356: M W = (Fäh et al., 2009) 3 Introduction Database Combination Results

7 Upper Rhine Graben Most prominent segment of the Cenozoic rift system Significant probability for large earthquakes Mahlberg 1728: M W = 5.3 (Meidow, 1998) Basel 1356: M W = (Fäh et al., 2009) 3 Introduction Database Combination Results

8 Upper Rhine Graben Most prominent segment of the Cenozoic rift system Significant probability for large earthquakes Mahlberg 1728: M W = 5.3 (Meidow, 1998) Waldkirch 2004: M W = 4.6 (Häge et al., 2009) Basel 1356: M W = (Fäh et al., 2009) 3 Introduction Database Combination Results

9 Upper Rhine Graben Most prominent segment of the Cenozoic rift system Significant probability for large earthquakes Tectonic motion: Small (< 1mm/a), but still not well constrained from Geodesy Mahlberg 1728: M W = 5.3 (Meidow, 1998) Waldkirch 2004: M W = 4.6 (Häge et al., 2009) Basel 1356: M W = (Fäh et al., 2009) 3 Introduction Database Combination Results

10 Database 3 Introduction Database Combination Results

11 Database 3 Introduction Database Combination Results

12 Database 3 Introduction Database Combination Results

13 Database 3 Introduction Database Combination Results

14 Properties of the techniques Spatial distribution: InSAR: high in urban areas Levelling: high along lines GNSS: low (30 40 km) Temporal distribution: InSAR: 35 days Levelling: campaigns ( 20a) GNSS: permanent (daily) 4 Introduction Database Combination Results

15 Properties of the techniques Spatial distribution: InSAR: high in urban areas Levelling: high along lines GNSS: low (30 40 km) Temporal distribution: InSAR: 35 days Levelling: campaigns ( 20a) GNSS: permanent (daily) InSAR desc. InSAR asc. Temporal coverage, representative example GPS Levelling Year 4 Introduction Database Combination Results

16 Single technique analysis InSAR: PS analysis using StaMPS (Hooper et al., JGR 2007) Data: 2 ascending, 1 descending track; ERS-1/2, Envisat Result: LOS displacement w.r.t. a master scene and a reference area Levelling: Kinematic adjustment of repeatedly measured levelling data Data: height differences at levelling benchmarks Result: Linear displacement rates (vertical) w.r.t. a reference point GNSS: Differential processing using Bernese GPS software (Dach et al., 2007) Data: GPS observations, daily coordinates at 76 sites Result: Linear displacement rates (horizontal) w.r.t. ITRF05 (block mean subtracted) 5 Introduction Database Combination Results

17 Single technique analysis InSAR: PS analysis using StaMPS (Hooper et al., JGR 2007) Data: 2 ascending, 1 descending track; ERS-1/2, Envisat Result: LOS displacement w.r.t. a master scene and a reference area Levelling: Kinematic adjustment of repeatedly measured levelling data Data: height differences at levelling benchmarks Result: Linear displacement rates (vertical) w.r.t. a reference point GNSS: Differential processing using Bernese GPS software (Dach et al., 2007) Data: GPS observations, daily coordinates at 76 sites Result: Linear displacement rates (horizontal) w.r.t. ITRF05 (block mean subtracted) 5 Introduction Database Combination Results

18 Single technique analysis InSAR: PS analysis using StaMPS (Hooper et al., JGR 2007) Data: 2 ascending, 1 descending track; ERS-1/2, Envisat Result: LOS displacement w.r.t. a master scene and a reference area Levelling: Kinematic adjustment of repeatedly measured levelling data Data: height differences at levelling benchmarks Result: Linear displacement rates (vertical) w.r.t. a reference point GNSS: Differential processing using Bernese GPS software (Dach et al., 2007) Data: GPS observations, daily coordinates at 76 sites Result: Linear displacement rates (horizontal) w.r.t. ITRF05 (block mean subtracted) 5 Introduction Database Combination Results

19 Combination approach PS levelling / GNSS locations Interferograms 1,2,...,n ERS ascending ERS descending Envisat ascending Envisat descending PS PS grid Estimation of linear velocities Using time series of ERS/Envisat ascending descending Estimation of linear velocities Interpolation of levelling PS grid Interpolation of GNSS PS grid Calculation of Up / East component Step 1 Step 2 Estimation of offset and trend (Up / East) Estimation of East, North and Up components 6 Introduction Database Combination Results

20 Combination approach PS levelling / GNSS locations Estimation of linear velocities Interferograms 1,2,...,n ERS ascending ERS descending Envisat ascending Envisat descending Using time series of ERS/Envisat ascending descending PS PS grid Joint ERS/Envisat Interpolation displacement Interpolation Estimation of levelling of time linear series (Caro Cuenca et al., 2010) of GNSS velocities velocities PS PS grid Calculation of Up / East component Step 1 Step 2 Estimation of offset and trend (Up / East) Estimation of East, North and Up components 6 Introduction Database Combination Results

21 Combination approach PS levelling / GNSS locations Estimation of linear velocities Interferograms 1,2,...,n ERS ascending ERS descending Envisat ascending Envisat descending Using time series of ERS/Envisat ascending descending PS PS grid Joint ERS/Envisat Interpolation displacement Interpolation Estimation of levelling of time linear series (Caro Cuenca et al., 2010) of GNSS velocities velocities PS PS grid Calculation of Up / East component Step 1 Step 2 Estimation of offset and trend (Up / East) Estimation of Different reference East, North frames Residual atmospheric/orbit and Up effects Validation ofcomponents InSAR results 6 Introduction Database Combination Results

22 Combination approach PS levelling / GNSS locations Interferograms 1,2,...,n ERS ascending ERS descending Envisat ascending Envisat descending PS PS grid Estimation of linear velocities Using time series of ERS/Envisat ascending descending Estimation of linear velocities Interpolation of levelling PS grid Interpolation of GNSS PS grid Calculation of Up / East component Step 1 Step 2 Estimation of offset and trend (Up / East) Estimation of East, North and Up components 6 Introduction Database Combination Results

23 Interpolation of PS points (using Kriging) Step 1: At location of levelling/gnss points Step 2: At a 200 m grid (only in vicinity of PS points) 7 Introduction Database Combination Results

24 Interpolation of PS points (using Kriging) Step 1: At location of levelling/gnss points Step 2: At a 200 m grid (only in vicinity of PS points) for every Ifg 7 Introduction Database Combination Results

25 Interpolation of PS points (using Kriging) Step 1: At location of levelling/gnss points Step 2: At a 200 m grid (only in vicinity of PS points) for every Ifg 7 Introduction Database Combination Results

26 Linear velocities from PS time series y A,1 ta,1 3 t 2 A,1 t A, x 3 y A,NA ta,n 3 t y B,1 = A A,N 2 t A,NA 1 0 A x 2 t B,1 3 tb,1 2 t B,1 1 1 x 1 + x. 0 e x..... y B,NB tb,n 3 t 2 B B,N t B,NB 1 1 B y A,i : Displacement in interferogram i, sensor A (ERS) y B,i : Displacement in interferogram i, sensor B (Envisat) N A : Number of interferograms of sensor A N B : Number of interferograms of sensor B t A : Acquisition time of sensor A t B : Acquisition time of sensor B x 0, x 1, x 2, x 3 : Parameters of a polynomial function x : Offset between sensor A and sensor B s 8 Introduction Database Combination Results

27 Linear velocities from PS time series y A,1 ta,1 3 t 2 A,1 t A, x 3 y A,NA ta,n 3 t y B,1 = A A,N 2 t A,NA 1 0 A x 2 t B,1 3 tb,1 2 t B,1 1 1 x 1 + x. 0 e x..... y B,NB tb,n 3 t 2 B B,N t B,NB 1 1 B mm mm Year 20 Envisat 10 0 ERS y A,i : Displacement in interferogram i, sensor A (ERS) y B,i : Displacement in interferogram i, sensor B (Envisat) N A : Number of interferograms of sensor A N B : Number of interferograms of sensor B t A : Acquisition time of sensor A t B : Acquisition time of sensor B x 0, x 1, x 2, x 3 : Parameters of a polynomial function s x : Offset between sensor A and sensor B 8 Introduction Database Combination Results Year

28 Linear velocities from PS time series y A,1 ta,1 3 t 2 A,1 t A, x 10 3 y A,NA ta,n 3 t y B,1 = A A,N 2 t A,NA 1 0 A x 2 20 t B,1 3 tb,1 2 t B,1 1 1 x 1 + x. 0 e Year 20 Envisat x y B,NB tb,n 3 t 2 B B,N t B,NB 1 1 B mm mm ERS 10 0 ERS Envisat Year mm 10 s 20 1st order (linear) Year 8 Introduction Database Combination Results

29 Linear velocities from PS time series mm s y A,1 ta,1 3 t 2 A,1 t A, x 10 3 y A,NA ta,n 3 t y B,1 = A A,N 2 t A,NA 1 0 A x 2 20 t B,1 3 tb,1 2 t B,1 1 1 x 1 + x. 0 e Year 20 Envisat x y B,NB tb,n 3 t 2 B B,N t B,NB 1 1 B st order (linear) 20 2nd order 3rd order Year 8 Introduction Database Combination Results mm mm ERS Envisat ERS Year Statistical test on linearity

30 Linear velocities from PS time series Temporal covariance matrix for the estimation: [mm 2 ] 54 ERS Interferograms 17 Envisat Interferograms Introduction Database Combination Results s

31 Linear velocities from PS time series Temporal covariance matrix for the estimation: [mm 2 ] 54 ERS Interferograms 17 Envisat Interferograms Introduction Database Combination Results Correlation length from atmospheric filtering Variances q ii scaled w.r.t. relative Ifg and PS accuracy s

32 Linear velocities from PS time series mm mm Year ERS/Envisat combination: Accurate estimates for linear rates asc desc 9 Introduction Database Combination Results ERS Envisat ERS Envisat Year

33 Linear velocities from PS time series mm mm Year Separation of non-linear movements asc desc 9 Introduction Database Combination Results ERS Envisat ERS Envisat Year

34 Linear velocities from PS time series LOS velocities (desc) 9 Introduction Database Combination Results

35 Linear velocities from PS time series LOS velocities (desc) + non-linear grid points 9 Introduction Database Combination Results

36 Interpolation of levelling and GPS velocities 10 Introduction Database Combination Results

37 Interpolation of levelling and GPS velocities Standard dev. 10 Introduction Database Combination Results

38 Interpolation of levelling and GPS velocities Standard dev. High weight close to the data points Low weight in between 10 Introduction Database Combination Results

39 Mathematical fusion Using least squares adjustment: y = Ax + e y : Velocities from InSAR (asc and desc), GPS (East and North comp.) and levelling x : Velocities in East, North, Up V asc S asc,1 S asc,2 S asc,3 V desc V GPS,E = S desc,1 S desc,2 S desc,3 v E v N + e V GPS,N v U V lev sin θ asc cos α asc S asc = sin θ asc sin α asc cos θ asc sin θ desc cos α desc S desc = sin θ desc sin α desc cos θ desc 11 Introduction Database Combination Results

40 Mathematical fusion Using least squares adjustment: y = Ax + e y : Velocities from InSAR (asc and desc), GPS (East and North comp.) and levelling x : Velocities in East, North, Up V asc S asc,1 S asc,2 S asc,3 V desc V GPS,E = S desc,1 S desc,2 S desc,3 v E v N + e V GPS,N v U V lev σ 2 V asc σv desc Q yy = 0 0 σv 2 σ VGPS,E,N 0 GPS,E 0 0 σ VGPS,E,N σv 2 0 GPS,N σ 2 V lev sin θ asc cos α asc S asc = sin θ asc sin α asc cos θ asc sin θ desc cos α desc S desc = sin θ desc sin α desc cos θ desc Covariance matrix using standard deviations of single technique estimates 11 Introduction Database Combination Results

41 Results Two test areas: Northern part, Southern part 3D velocity field Standard deviations 12 Introduction Database Combination Results

42 Results Northern Upper Rhine Graben 13 Introduction Database Combination Results

43 Results Northern Upper Rhine Graben 13 Introduction Database Combination Results

44 Results Northern Upper Rhine Graben Mean standard deviation Up: 0.10 mm/a 13 Introduction Database Combination Results

45 Results Northern Upper Rhine Graben 13 Introduction Database Combination Results

46 Results Northern Upper Rhine Graben Mean standard deviation East: 0.20 mm/a North: 0.24 mm/a 13 Introduction Database Combination Results

47 Results Northern Upper Rhine Graben Mean standard deviation East: 0.20 mm/a North: 0.24 mm/a 13 Introduction Database Combination Results

48 Results Southern Upper Rhine Graben 14 Introduction Database Combination Results

49 Results Southern Upper Rhine Graben 14 Introduction Database Combination Results

50 Results Southern Upper Rhine Graben Mean standard deviation Up: 0.12 mm/a 14 Introduction Database Combination Results

51 Results Southern Upper Rhine Graben 14 Introduction Database Combination Results

52 Results Southern Upper Rhine Graben Mean standard deviation East: 0.30 mm/a North: 0.36 mm/a 14 Introduction Database Combination Results

53 Results Southern Upper Rhine Graben Mean standard deviation East: 0.30 mm/a North: 0.36 mm/a 14 Introduction Database Combination Results

54 Conclusions Consistent approach to combine velocities from Different SAR sensors (ERS, Envisat) Different SAR tracks (asc, desc) Permanent GNSS sites Repeated levelling measurements Consideration of realistic covariance information Results for two test areas in the URG: Tectonic movements are well below 1.0 mm/a Standard deviations: 0.3 mm/a (horizontal) / 0.1 mm/a (vertical) Next steps: Combined velocity solution for the whole URG area (300 km SAR stripes) Special cases: Overlapping SAR tracks, only ascending/descending 15 Introduction Database Combination Results

55 Conclusions Consistent approach to combine velocities from Different SAR sensors (ERS, Envisat) Different SAR tracks (asc, desc) Permanent GNSS sites Repeated levelling measurements Consideration of realistic covariance information Results for two test areas in the URG: Tectonic movements are well below 1.0 mm/a Standard deviations: 0.3 mm/a (horizontal) / 0.1 mm/a (vertical) Next steps: Combined velocity solution for the whole URG area (300 km SAR stripes) Special cases: Overlapping SAR tracks, only ascending/descending 15 Introduction Database Combination Results

56 Conclusions Consistent approach to combine velocities from Different SAR sensors (ERS, Envisat) Different SAR tracks (asc, desc) Permanent GNSS sites Repeated levelling measurements Consideration of realistic covariance information Results for two test areas in the URG: Tectonic movements are well below 1.0 mm/a Standard deviations: 0.3 mm/a (horizontal) / 0.1 mm/a (vertical) Next steps: Combined velocity solution for the whole URG area (300 km SAR stripes) Special cases: Overlapping SAR tracks, only ascending/descending 15 Introduction Database Combination Results

57 Conclusions Consistent approach to combine velocities from Different SAR sensors (ERS, Envisat) Different SAR tracks (asc, desc) Permanent GNSS sites Repeated levelling measurements Consideration of realistic covariance information Results for two test areas in the URG: Tectonic movements are well below 1.0 mm/a Standard deviations: 0.3 mm/a (horizontal) / 0.1 mm/a (vertical) Next steps: Combined velocity solution for the whole URG area (300 km SAR stripes) Special cases: Overlapping SAR tracks, only ascending/descending 15 Introduction Database Combination Results

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