Sandra PreauxMay 2016

7701 Greenbelt Rd., Suite 400Greenbelt, MD 20770SPreaux@sgt-inc.com

Newton Demo:Newton Demo:Processing Airborne Processing Airborne

Gravity DataGravity Data

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…

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.

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

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

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

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

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

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

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

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

• 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

• 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

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 .