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## Publications

Publications (127)

A fundamental step of UAV photogrammetric processes is to collect Ground Control Points (GCPs) by means of geodetic-quality GNSS receivers or total stations, thus obtaining an absolutely oriented model with a centimetric accuracy. This procedure is usually time-consuming, expensive and potentially dangerous for operators who sometimes need to reach...

In this study the cupola of San Gaudenzio’s Basilica in Novara, Italy, has been monitored by using two low-cost GNSS receivers located on the East and West side of the spire. Time series of daily solutions for an observation period of about one year have been collected and interpolated by cubic splines. The minimum description length criterion has...

Gravimetric methods are expected to play a decisive role in geophysical modeling of the regional crustal structure applied to geoneutrino studies. GIGJ (GOCE Inversion for Geoneutrinos at JUNO) is a 3-D numerical model constituted by ~46 × 10 ³ voxels of 50 × 50 × 0.1 km, built by inverting GOCE (Gravity field and steady-state Ocean Circulation Exp...

Gravimetric methods are expected to play a decisive role in geophysical modeling of the regional crustal structure applied to geoneutrino studies. GIGJ (GOCE Inversion for Geoneutrinos at JUNO) is a 3D numerical model constituted by ~46 x 10$^{3}$ voxels of 50 x 50 x 0.1 km, built by inverting gravimetric data over the 6{\deg} x 4{\deg} area center...

Collocation is commonly used for gravimetric geoid estimation in the frame of a remore-restore procedure. After removing the long wavelength contribution of a global model and the short wavelength contribution of a terrain model from the gravity data, the collocation approach typically consists in two separate steps. Firstly, the residual gravity d...

The use of position-based devices is constantly increasing with a wide spectrum of applications, e.g. the continuous demand of mapping services based on user’s location. Depending on the specific application, a different level of accuracy could be requested, going from room level to few centimeters of error. The navigation problem is typically face...

A pure GNSS navigation is often unreliable in urban areas because of the presence of obstructions, thus preventing a correct reception of the satellite signal. The bridging between GNSS outages, as well as the vehicle attitude reconstruction, can be recovered by using complementary information, such as visual data acquired by RGB-D or RGB cameras....

In the last decades, low-cost GNSS receivers have been widely used for navigation purposes. Some of them deliver also raw data, allowing for a more sophisticated processing, such as the double-difference approach, and therefore a more accurate positioning, typically at the decimeter level. However, these accuracies can be generally achieved only wi...

Flight height is a fundamental parameter for correcting the gamma signal produced by terrestrial radionuclides measured during airborne surveys. The frontiers of radiometric measurements with UAV require light and accurate altimeters flying at some 10 m from the ground. We equipped an aircraft with seven altimetric sensors (three low-cost GNSS rece...

From 2001 to 2008, the National Geographic Institute of Spain (IGN) carried out the REDNAP project to the establishment of a National High Precision Levelling Network in the whole Spanish territory. Within REDNAP, spirit levelling and gravity observations were complemented by GNSS data. The levelling network of the continental area and those of the...

The International Gravity Field Service (IGFS) Central Bureau (CB) has recently been established at DGS/AUTH and one of its main activities has been the promotion of IAG gravity-field related services along with the development of a new, user-friendly website. One critical issue that needs to be incorporated by IGFS is to answer user needs in terms...

National geoid models are frequently used in engineering applications to transform GNSS derived ellipsoidal heights into orthometric heights. The establishment of a unique International Height Reference System (IHRS) among neighboring countries requires the verification of the consistency between national geoids. The choice of different reference t...

The Kermadec-Tonga subduction zone is studied, starting from the CRUST1.0 and the SLAB1.0 seismic models, and inverting the ESA-GOCE gravity gradients to improve our knowledge of the whole area. More specifically, the CRUST1.0 Moho discontinuity is refined, and the subducting plate is modelled for thickness and density contrast, since SLAB1.0 provi...

The fifth release of the space-wise approach, as well as the ones of the direct and time-wise approaches, is based on the processing of the whole GOCE dataset, from November 2009 to October 2013. It consists in global grids of gravity gradients at 0.2°x0.2° spatial resolution and in a spherical harmonic model derived from these grids by a discretiz...

Since its launch on the market, Microsoft Kinect sensor has represented a great revolution in the field of low cost navigation, especially for indoor robotic applications. In fact, this system is endowed with a depth camera, as well as a visual RGB camera, at a cost of about 200$. The characteristics and the potentiality of the Kinect sensor have b...

Since its launch on the market, Microsoft Kinect sensor has represented a great revolution in the field of low cost navigation, especially for indoor robotic applications. In fact, this system is endowed with a depth camera, as well as a visual RGB camera, at a cost of about 200$. The characteristics and the potentiality of the Kinect sensor have b...

Collocation has been widely applied in geodesy for estimating the gravity field of the Earth both locally and globally. Particularly, this is the standard geodetic method used to combine all the available data to get an integrated estimate of any functional of the anomalous potential T. The key point of the method is the definition of proper covari...

A statistical test has been set up to check whether the geostrophic velocities from the WiG MDT (also considering their variability) are consistent with those derived from other models (indicated with REF) in the Gulf Area. A chi-square test is defined as: where is a vector of velocities (both zonal and meridian components) evaluated in N points an...

The EGM2008 model is nowadays one of the description of the global gravitational field at the highest resolution. It is delivered with two, not fully consistent, sources of information on its error: spherical harmonic coefficient variances and a geographical map of error variances, e.g. in terms of geoid undulation. In the present work, the gravity...

The use of geodetic techniques and in particular of the Global Positioning System (GPS), or other Global Navigation Satellite Systems (GNSS), to monitor different kinds of deformations is a common practice. This is typically performed by setting a network of geodetic GPS/GNSS receivers, allowing accuracies in the order of millimeters. The use of lo...

TOPOGRAPHIC SIGNATURE OF THE MANTLE.

goGPS is a positioning software application designed to process single-frequency code and phase observations for absolute or relative positioning. Published under a free and open-source license, goGPS can process data collected by any receiver, but focuses on the treatment of observations by low-cost receivers. goGPS algorithms can produce epoch-by...

goGPS is a positioning software application designed to process single-frequency code and phase
observations for absolute or relative positioning. Published under a free and open-source license, goGPS
can process data collected by any receiver, but focuses on the treatment of observations by low-cost
receivers. goGPS algorithms can produce epoch-by...

I terremoti locali e regionali registrati dalla Rete Accelerometrica Nazionale della DPC e dalle reti OGS ed INGV dal 2008 al 2014 per M > 3 vengono utilizzati per migliorare le conoscenze sulla struttura crostale della Pianura Padana mediante l’analisi delle onde di super cie per periodi compresi tra 4 e 20 s. Il numero di misure di dispersione e...

Physical geodesy is by definition the science which studies and calculates the Earth’s gravity field and its physical form. Satellite physical geodesy exploits satellite techniques to solve the problems established in physical geodesy. During the second half of the twentieth century, satellite techniques allowed to make outstanding advances in the...

In order to properly localise earthquakes and define, especially in tectonically active areas, the seismic risk, there is the necessity to have reliable earth models. Unfortunately, conventional geophysical tomographic methods face the problem of irregular data coverage over the surface of the studied volume, which can produce irregular image resol...

Beside the traditional modelling of the Earth gravity field in terms of truncated spherical harmonic expansion, the final products of the GOCE mission include also grids of gravity gradients at satellite altitude, like for example the ones computed by the space-wise approach in the framework of the High-level Processing Facility (HPF). This is moti...

Collocation approach has been applied to get a global Moho model in spherical approximation based on a GOCE geopotential model. A simple single layer model, with known density contrast, has been considered and a linearized relationship between the spherical harmonic coefficients of the anomalous potential and those of the Moho depth has been derive...

Regional height systems are usually referred to the mean sea level at a reference tide gauge. As the mean sea level gravity potential changes from place to place, regional systems refer to different equipotential surfaces and the establishment of a unified datum requires the determination of one bias per region. This is what is referred to as the h...

It is well known that the inverse gravimetric problem is generally ill-posed and therefore its solution requires some restrictive hypotheses and strong numerical regularization. However, if these initial assumptions are improperly used, the final results could be theoretically and physically admissible but far from the actual mass density distribut...

Via Appia was built by the Romans around 312 BC to connect Rome with Capua during the Samnite wars. The road is an astonishing engineering masterpiece. In particular, the segment which runs from Collepardo to Terracina – 61 km long – is renowned for being virtually straight; however such a “straightness” was never investigated quantitatively. As a...

GOCE data covering the mission phase at nominal satellite altitude (about 250 km) have been processed by the space-wise approach according to the new strategy for the production of global grids of gravity gradient gradients at 0.2°x0.2° resolution. The crucial points of the method are the filtering along the orbit in order to reduce variance and co...

In the GEMMA project, funded by ESA-STSE and ASI, a new crustal model constrained by GOCE gravity field observations has been developed. This model has a resolution of 0.5°×0.5° and it is composed of seven layers describing geometry and density of oceans, ice sheets, upper, medium and lower sediments, crystalline crust and upper mantle. In the pres...

The boundary between Earth's crust and mantle is commonly modelled as a discontinuity surface, the so-called Moho. Although in some regions of the world this model may be too approximate or even unrealistic, globally speaking it can provide a key to read several long wavelength geophysical signals. Recent research activities have shown the possibil...

A better understanding of the physics of the Earth’s interior is one of the key objectives of the ESA Earth Explorer missions. This work is focused on the GOCE mission and presents a numerical experiment for the Moho estimation under the Tibet-Quinghai Plateau and the Himalayan range by exploiting the gravity data collected by this mission. The gra...

The boundary between Earth crust and mantle, the so called Moho, is commonly estimated by means of seismic or gravimetric methods. The former methods can be locally very accurate since seismic profiles give an almost direct observation of the actual crustal structure, but can be quite far from reality in large regions where no data are available.
T...

National geoids of neighbouring countries usually do not fit to each other along the borders. This problem is mainly due to inconsistencies between the national reference frames used to estimate local geoids: it is well known that a change in the height datum and in the reference ellipsoid causes systematic effects in terms of geoid undulation. The...

Via Appia, built around 312 BC, is an engineering masterpiece, its most striking feature being the segment between Colle Pardo and Terracina, which goes “straight” for about 61 km. We investigate this segment by GPS techniques: results lead to uncover that the original project of the road was based on a complex interplay between geometry and astron...

Different combinations of the EGM2008 global model and the GOCE space-wise solution are used to estimate the geodetic mean dynamic topography and the corresponding surface geostrophic circulation of the Mediterranean Sea. In order to assess the accuracy of the GOCE-derived products for oceanographic applications, the mean currents obtained from the...

Neighbouring countries often have national geoids that do not fit to each other, typically showing a discontinuity along the border. Among other effects, this discontinuity is mainly due to the different height datum, producing biased local geoids which can also have different accuracies and spatial resolutions. In some applications, for instance i...

The most advanced global gravity model, EGM2008, is nowadays competing with local models in terms of resolution and accuracy in the definition of the Earth gravity field. This global model, complete to spherical harmonic degree and order 2159, is however affected by several biases mainly due to datum inconsistencies and variability of the input obs...

goGPS is a free and open source satellite positioning software package aiming to provide a collaborative platform for research and teaching purposes. It was first published in 2009 and since then several related projects are on-going. Its objective is the investigation of strategies for enhancing the accuracy of low-cost single-frequency GPS receiv...

The discontinuity surface between Earth crust and mantle, the so-called Moho, is commonly estimated by means of seismic or gravimetric methods. Usually these methods do not yield the same result since they are based on different geological and geophysical hypotheses, as well as different data types, also in terms of quality and spatial distribution...

HELI-DEM: integrazione dei dati di altezza transalpini fra Italia e Svizzera
HELI-DEM è stato un intervento cofinanziato con risorse PO Italia-Svizzera 2007-2013 Fondo Europeo di Sviluppo Regionale, di natura scientifica, tecnologica ed applicativa di interesse nazionale ed internaziona- le. I suoi obiettivi principali erano di produrre un modello...

goGPS is a free and open source positioning software package written in MATLAB that processes single--‐frequency observations in either absolute or relative mode [1]. It can use both code and phase observations by geodetic or low--‐cost receivers. goGPS can compute single--‐epoch solutions by weighted least squares adjustment, or apply a Kalman fil...

Location-based collaborative platforms are proving to be an effective and widely adopted solution for geo-spatial data collection, update, and sharing. Popular collaborative projects like OpenStreetMap, Wikimapia, and other services that collect and publish user-generated geographic contents have been fostered by the increasing availability of loca...

goGPS is a free and open source software package designed to enhance the accuracy of single frequency low-cost GPS devices by employing an extended Kalman filter. This filter can be applied either in post-processing or in real-time and it is specifically tailored for addressing the issues related to low-cost GPS receivers. To further enhance the ac...

The GOCE satellite measures gravity gradients which are filtered and
transformed to gradients into an Earth-referenced frame by the GOCE High
Level processing Facility. More than 80000000 data with 6 components are
available from the period 2009-2011. IAG Arctic gravity was used north
of 83 deg., while data at the Antarctic was not used due to bure...

The new release of the ESA-GOCE data set, with improved calibration and
processing, has been attacked by the space-wise approach according to a
new strategy for the data gridding at satellite level. Two approaches
are possible: the first exploiting the creation of about 30 global grids
of 1,620,000 values, each corresponding to about 2 months of da...

The use of gravity data to globally estimate the depth of the separation
surface between Earth crust and mantle (Moho) is nowadays becoming more
and more important thanks to the availability of GOCE observations. In
particular in the GEMMA project (GOCE Exploitation for Moho Modeling and
Application), funded by ESA-STSE and ASI, a new crustal model...

Many ancient cultures planned and constructed long, straight roads, sometimes taking an uttermost care of their "going straight". In many cases, interesting geometrical and astronomical methods were applied to gain an astonishing accuracy. As it turns out, this "desire of going straight" was not always due to practical purposes but rather to symbol...

Riassunto L'obiettivo principale della missione satellitare GOCE dell'Agenzia Spaziale Europea (ESA) è la stima del campo gravitazionale terrestre con elevata accuratezza e risoluzione spaziale. Questa stima è solitamente espressa come una serie troncata di armoniche sferiche. Agli utenti vengono forniti i coefficienti della serie e la descrizione...

Discontinuity detection is of great relevance at different stages of the processing and analysis of geodetic time-series of data. This paper is essentially a review of two possible methods. The first method follows a stochastic approach and exploits the Bayesian theory to compute the posterior distributions of the discontinuity parameters. The epoc...

The modernization of the global positioning system and the advent of the European project Galileo will lead to a multifrequency global navigation satellite system (GNSS). The presence of new frequencies introduces more degrees of freedom in the GNSS data combination. We define linear combinations of GNSS observations with the aim to detect and corr...

The GOCE mission, exploiting for the first time the concept of satellite gradiometry, promises to estimate the Earth’s gravitational field from space with unprecedented accuracy and spatial resolution. Also inverse gravimetric problems can get benefit from GOCE observations. In this work the general problem of estimating the discontinuity surface b...

The issue of combining high-resolution gravity models, based on observations taken on the Earth surface, with those derived from satellite-only observations is of increasing importance, due to the new data provided by gravity satellite missions, CHAMP, GRACE and GOCE. The paper addresses this issue with a twofold purpose. On the one hand, it is an...

Providing enhanced satellite positioning as a web service can be an effective way to enable low-level GPS receivers to perform surveys with a good accuracy and to reduce hardware cost, by removing computation capability and embedded proprietary software. goGPS is an open source application for achieving sub-meter accuracy with low-cost GPS receiver...

The estimate of the Moho surface in the Italian area has been performed
to refine a global Moho model. In fact, at regional scale, the gravity
based Moho estimate can benefit from the availability of such a global
model. This information can be usefully exploited to remove low
frequencies from local gravity data allowing a better detection and
inve...

Neighbouring countries often have national geoids that do not fit to
each other, typically showing a discontinuity along the border. This
discontinuity is mainly due to the different height datum used,
producing biased local geoids which can also have different accuracies
and spatial resolutions. In addition, each local geoid has its own
border eff...

The global height datum problem, that is the determination of biases of
different height systems at global scale, is revised and two solutions
are proposed. As it is well known, biased heights enter into the
computation of terrestrial gravity anomalies, which in turn are used for
geoid determination. Hence, these biases enter as secondary or indire...

The main objective of the GOCE mission is to estimate the Earth gravity
field from satellite data with high accuracy and resolution. This
estimate is expressed by a truncated series of spherical harmonics,
providing users with the series coefficients and their full error
covariance matrix. This model, projecting the unknown potential on a
finite gl...