During its science phase from 2002–2017, the low-low satellite-to-satellite tracking mission Gravity Field Recovery And Climate Experiment (GRACE) provided an insight into Earth’s time-variable gravity (TVG). The unprecedented quality of gravity field solutions from GRACE sensor data improved the understanding of mass changes in Earth’s system considerably. Monthly gravity field solutions as the main products of the GRACE mission, published by several analysis centers (ACs) from Europe, USA and China, became indispensable products for quantifying terrestrial water storage, ice sheet mass balance and sea level change. The successor mission GRACE Follow-On (GRACE-FO) was launched in May 2018 and proceeds observing Earth’s TVG. The Institute of Geodesy (IfE) at Leibniz University Hannover (LUH) is one of the most recent ACs. The purpose of this article is to give a detailed insight into the gravity field recovery processing strategy applied at LUH; to compare the obtained gravity field results to the gravity field solutions of other established ACs; and to compare the GRACE-FO performance to that of the preceding GRACE mission in terms of post-fit residuals. We use the in-house-developed MATLAB-based GRACE-SIGMA software to compute unconstrained solutions based on the generalized orbit determination of 3 h arcs. K-band range-rates (KBRR) and kinematic orbits are used as (pseudo)-observations. A comparison of the obtained solutions to the results of the GRACE-FO Science Data System (SDS) and Combination Service for Time-variable Gravity Fields (COST-G) ACs, reveals a competitive quality of our solutions. While the spectral and spatial noise levels slightly differ, the signal content of the solutions is similar among all ACs. The carried out comparison of GRACE and GRACE-FO KBRR post-fit residuals highlights an improvement of the GRACE-FO K-band ranging system performance. The overall amplitude of GRACE-FO post-fit residuals is about three times smaller, compared to GRACE. GRACE-FO post-fit residuals show less systematics, compared to GRACE. Nevertheless, the power spectral density of GRACE-FO and GRACE post-fit residuals is dominated by similar spikes located at multiples of the orbital and daily frequencies. To our knowledge, the detailed origin of these spikes and their influence on the gravity field recovery quality were not addressed in any study so far and therefore deserve further attention in the future. Presented results are based on 29 monthly gravity field solutions from June 2018 until December 2020. The regularly updated LUH-GRACE-FO-2020 time series of monthly gravity field solutions can be found on the website of the International Centre for Global Earth Models (ICGEM) and in LUH’s research data repository. These operationally published products complement the time series of the already established ACs and allow for a continuous and independent assessment of mass changes in Earth’s system.

In this contribution, we present the LUH-GRACE2018 time series of monthly gravity field solutions covering the period January 2003–March 2016. The solutions are obtained from GRACE K-Band Range Rate (KBRR) measurements as main observations. The monthly solutions are computed using the in-house developed GRACE-SIGMA software. The processing is based on dynamic orbit and gravity field determination using variational equations and consists of two main steps. In the first step, 3-hourly orbital arcs of the two satellites and the state transition and sensitivity matrices are dynamically integrated using a modified Gauss-Jackson integrator. In this step, initial state vectors and 3D accelerometer bias parameters are adjusted using GRACE Level-1B reduced-dynamic positions as observations. In the second step, normal equations are accumulated and the normalized spherical harmonic coefficients up to degree and order 80 are estimated along with arc-wise initial states, accelerometer biases and empirical KBRR parameters. Here KBRR measurements are used as main observations and reduced-dynamic positions are introduced to solve for the low frequency coefficients. In terms of error degree standard deviations as well as Equivalent Water Heights (EWH), our gravity field solutions agree well with RL05 solutions of CSR, GFZ and JPL.

We analyze remaining ocean tide signal in K/Ka‐band range‐rate (RR) postfit residuals, obtained after estimation of monthly gravity field solutions from 21.5 years of Gravity Recovery and Climate Experiment (GRACE) and GRACE Follow‐On sensor data. Low‐pass filtered and numerically differentiated residuals are assigned to grids and a spectral analysis is performed using Lomb‐Scargle periodograms. We identified enhanced amplitudes at over 30 ocean tide periods. Spectral replicas revealed several tides from sub‐semidiurnal bands. Increased ocean tide amplitudes are located in expected regions, that is, in high‐latitude, coastal and shallow water regions, although some tides also show distinct patterns over the open ocean. While most identified tides are considered during processing, and therefore the amplitudes represent residual signal w.r.t. the ocean tide model, several unmodeled tides were found, including astronomical degree‐3 tides , , , , and radiational and/or compound tides , , , and . The astronomical degree‐3 tides were observed on a global level for the first time a few years ago in altimeter data. We are unaware of any global data‐constrained solutions for the other tides. The amplitude patterns of these tides exhibit similarities to purely hydrodynamic solutions, and altimeter observations (astronomical degree‐3 only). The sensitivity of the satellites to these rather small tidal effects demands their inclusion into the gravity field recovery processing to reduce orbit modeling errors and a possible aliasing. The conducted study shows enormous potential of RR postfit residuals analysis for validating ocean tide models and improving gravity field recovery processing strategies.

The S2 tidal aliasing is a known issue and demands special attention when working with monthly mass variation data from GRACE and GRACE Follow-On. As the temporal resolution of the gravity field time series improves, the likelihood of tidal aliasing also increases, provided that the amplitude of these signals is significant. The period at which aliasing occurs depends on the specific frequency of the ocean tide component and the sampling characteristics of the satellites. In this contribution, we compute the aliasing periods for a set of less-studied ocean tide constituents for which, to a certain extent, no ocean tide solutions exist. We compute equivalent water height maps for the daily solutions from TU Graz, daily swath mascon solutions over the oceans from CSR, and the 10-day solutions from CNES/GRGS. Subsequently, we conduct a harmonic analysis to uncover aliased ocean tide signals in these alternative submonthly gravity field models, and discuss implications of ocean tide model errors for NGGM/MAGIC.

Post-fit residuals of satellite-to-satellite tracking measurements of the GRACE and GRACE-FO missions obtained after a common estimation of orbit and gravity field parameters should ideally contain measurement noise with a behavior that meets expectations for the involved sensors. In reality, obtained GRACE and GRACE-FO post-fit range-rate residuals represent a complex superposition of different effects, e.g. of instrumental, environmental and geophysical nature. In this contribution, we focus on the geophysical signals in the post-fit residuals of the LUH GRACE and GRACE-FO time series. We apply band-pass filtering to extract the geophysical signal buried in the residuals and analyze the most distinctive signatures for their spatial and temporal behavior.