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.. _global_iloc:
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####
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iLoc
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####
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Locator in SeisComP implemented by the plugin lociloc.
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Description
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===========
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iLoc is a locator developed by István Bondár which has been integrated into
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|scname| by :cite:t:`gempa`. It is invoked by the wrapper plugin *lociloc* - the
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interface between |scname| and iLoc.
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Read the sections :ref:`iloc-setup` and :ref:`iloc-application` for
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configuring and using iLoc in |scname|.
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Background
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----------
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iLoc is a locator tool for locating seismic, hydroacoustic and
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infrasound sources
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based on :term:`phase picks <pick>`. iLoc is based on the location
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algorithm developed by :cite:t:`bondár-2009a` and implemented at the
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International Seismological Center, (:cite:t:`isc`, :cite:t:`bondár-2018`)
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with numerous new features added (:cite:t:`bondár-2018`).
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The stand-alone iLoc code can be downloaded from the :cite:t:`iloc-iris`
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software repository.
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Among the major advantages of using iLoc is that it can
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* Use any phases with valid travel-time predictions;
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* Use seismic, hydroacoustic and infrasound arrival time, slowness and azimuth
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observations in location;
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* Use travel-time predictions from a global 3D upper mantle velocity model;
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* Use a local 1D velocity model;
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* Account for the correlated travel-time prediction error structure due to
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unmodeled 3D velocity heterogeneities;
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* Check if the data has sufficient resolution to determine the
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hypocenter depth;
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* Identify ground truth (GT5) candidate events.
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History
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-------
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* Originally developed for U.S. Air Force Research Laboratory, today the standard
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at the International Seismological Centre (ISC) replacing previous routines
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* Open source, download website: :cite:t:`iloc-iris`
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* Integrated first in SeisComP3 in 2019
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* Basis of the EMSC crowd-source locator, CsLoc since 2019
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* EMSC standard as of 2022
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iLoc in a nutshell
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------------------
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* Accounts for correlated travel-time prediction errors
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* Initial hypocenter guess from Neighborhood Algorithm search
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* Linearised inversion using a priori estimate of the full data covariance matrix
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Attempts for free-depth solution only if there is depth resolution
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* Default depth is derived from historical seismicity
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* Seismic, hydroacoustic and infrasound observations
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* Arrival time, slowness and azimuth measurements
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* Uses most ak135 or iasp91 Earth model phases in locating
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* Integrated RSTT travel-time predictions
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* RSTT is default for Pn/Sn and Pg/Lg
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* Local velocity model and local phase TT predictions for Pg/Sg/Lg, Pb/Sb, Pn/Sn.
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Algorithms
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----------
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This section describes some of the principles. The full description of the applied
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algorithms can be found in the iLoc documentation provided along with the package
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on the :cite:t:`iloc-iris` website.
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Neighbourhood algorithm
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~~~~~~~~~~~~~~~~~~~~~~~
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Linearized inversion algorithms are quite sensitive to the initial guess. In order
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to find an initial hypocenter guess for the linearized inversion the Neigbourhood
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Algorithm (:cite:t:`sambridge-1999`; :cite:t:`sambridge-2001`) is performed
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around the starting hypocentre if :confval:`iLoc.profile.$name.DoGridSearch` is active.
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During the NA search, we identify the phases with respect to each trial hypocenter
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and calculate the misfit of the trial hypocenter. The misfit is defined as the sum
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of the :confval:`iLoc.profile.$name.NAlpNorm` residual and a penalty factor that
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penalizes against freakish local minima provided by just a few phases. In the first
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iteration :confval:`iLoc.profile.$name.NAinitialSample` hypocenter hypotheses are tested,
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while the subsequent iterations consider the best :confval:`iLoc.profile.$name.NAcells`
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solutions and resample the search space around them with
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:confval:`iLoc.profile.$name.NAnextSample` hypocenter hypotheses. The solution with
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the lowest misfit after :confval:`iLoc.profile.$name.NAiterMax` iteration is taken
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as the initial hypocenter for the linearized least squares inversion.
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A grid search can be performed to obtain a better initial hypocenter
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guess. The search is performed around the starting hypocenter.
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For a very exhaustive search one can increase :confval:`iLoc.profile.$name.NAinitialSample`,
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:confval:`iLoc.profile.$name.NAnextSample` and :confval:`iLoc.profile.$name.NAcells`
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values. Note that the maximum value for :confval:`iLoc.profile.$name.NAinitialSample`
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is around 3500 before hitting memory limits.
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An exhaustive search will
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considerably slow iLoc down, especially when RSTT predictions are
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enabled (:confval:`iLoc.profile.$name.UseRSTT`, :confval:`iLoc.profile.$name.UseRSTTPnSn`,
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:confval:`iLoc.profile.$name.UseRSTTPgLg`).
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Depth resolution
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~~~~~~~~~~~~~~~~
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Depth resolution can be provided by a local network, depth phases, core reflections
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and to a lesser extent near-regional secondary phases. iLoc attempts for a free-depth
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solution if the set of :term:arrivals meets at least one of the following conditions:
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* Number of pairs of defining P and depth phases
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:math:`\le` :confval:`iLoc.profile.$name.MinDepthPhases`
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* Number of pairs of defining P and core phases
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:math:`\le` :confval:`iLoc.profile.$name.MinCorePhases`
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* Number of pairs of defining P and S phases
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:math:`\le` :confval:`iLoc.profile.$name.MinSPpairs`
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within a regional distance of :confval:`iLoc.profile.$name.MaxLocalDistDeg`
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degree
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* Number of defining P phases
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:math:`\le` :confval:`iLoc.profile.$name.MinLocalStations`
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within a local distance of :confval:`iLoc.profile.$name.MinLocalStations`
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degree.
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If there is insufficient depth resolution provided by the data, or the depth uncertainty
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for a free-depth solution exceeds a threshold, the hypocentre depth is set to the depth
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from the default depth grid if a grid point for the epicentre location exists; otherwise
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it is set to a depth :cite:t:`bolton-2006` assigned to
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the corresponding Flinn-Engdahl geographic
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region (:cite:t:`young-1996`). The default depth grid (:cite:t:`bondár-2011`)
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is defined on a 0.5º x 0.5º grid as the median of all depths in the cell, provided
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that there were at least five events in the cell, and the 75–25 percent quartile
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range was less than 100 km. The latter constraint is imposed to avoid regions with
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both shallow and deep seismicity. Anthropogenic events are fixed to the surface.
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Finally, the user can fix the depth to the initial depth.
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iLoc reports back how the depth was determined in the FixedDepthType parameter:
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* 0 - free depth solution
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* 1 - airquake/deepquake, depth fixed to surface/MaxHypocenterDepth
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* 2 - depth fixed to depth reported by an agency (not used in |scname|)
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* 3 - depth fixed to depth-phase depth
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* 4 - anthropogenic event, depth fixed to surface
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* 5 - depth fixed to default depth grid depth
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* 6 - no default depth grid point exists, fixed to median reported depth
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* 7 - no default depth grid point exists, fixed to GRN-dependent depth
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* 8 - depth fixed by user provided value
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Linearized inversion
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~~~~~~~~~~~~~~~~~~~~
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Once the Neighbourhood search get close to the global optimum, iloc switches
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to an iterative linearized least-squares inversion of travel-time, azimuth and
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slowness observations (:cite:t:`bondár-2009b`; :cite:t:`bondár-2011`) to obtain the final solution
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for the hypocenter.
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The convergence test after (:cite:t:`paige-1982`) is
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applied after every iteration. Once a convergent solution is obtained, the location
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uncertainty is defined by the a posteriori model covariance matrix. The model
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covariance matrix yields the four-dimensional error ellipsoid whose projections
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provide the two-dimensional error ellipse and one-dimensional errors for depth
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and origin time. These uncertainties are scaled to the 90% confidence level
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(:cite:t:`jordan-1981`).
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The final hypocentre is tested against the
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ground truth selection criteria (:cite:t:`bondár-2009a`),
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and it is reported as
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a GT5candidate if the solution meets the GT5 criteria.
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Some important parameters are:
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* :confval:`iLoc.profile.$name.SigmaThreshold`: Residuals that exceed
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:math:`abs(Sigmathreshold * PriorMeasError)` are made non-defining.
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* :confval:`iLoc.profile.$name.MinNdefPhases`: Minimum number of observations
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required to attempt for a solution.
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If the number of defining arrival times exceed
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:confval:`iLoc.profile.$name.MinNdefPhases`, then slowness observations will not
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be used in the location.
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Integration into |scname|
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-------------------------
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* Integration of iLoc into |scname| is provided by an external library of
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routines (:cite:t:`iloc-iris`).
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* |scname| modules call iLoc routines by passing the objects via the plugin
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*lociloc* installed in :file:`@DATADIR@/plugins/lociloc.so`.
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* iLoc returns objects to |scname| for integration.
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* The iLoc implementation in |scname| retains all original iLoc functionalities.
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Read the section :ref:`iloc-setup` for the installation of the iLoc library and
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the configuration in |scname|.
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Velocity models
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---------------
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iLoc ships with the global models *iasp91* and *ak135* as well as with regional
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seismic travel-time tables, RSTT, which, if activated by configuration, replaces
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the global models in areas where they are defined.
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.. _iloc-velocity_global:
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Global models
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~~~~~~~~~~~~~
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The global models *iasp91* and *ak135* and RSTT are available by default without
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further configuration.
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.. _iloc-velocity_rstt:
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RSTT
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~~~~
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RSTT are available in :file:`@DATADIR@/iloc/RSTTmodels/pdu202009Du.geotess`.
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Custom RSTT can be integrated into iLoc and provided to |scname|.
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For adding custom RSTT to iLoc read the original iLoc documentation from the
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:cite:t:`iloc-iris` software repository.
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The usage of RSTT is controlled per iLoc profile by global configuration
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parameters
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* :confval:`iLoc.profile.$name.UseRSTT`
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* :confval:`iLoc.profile.$name.UseRSTTPnSn`
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* :confval:`iLoc.profile.$name.UseRSTTPgLg`
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.. _iloc-velocity_local:
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Local velocity models
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~~~~~~~~~~~~~~~~~~~~~
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Custom local velocity models can be provided by a file in
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:file:`@DATADIR@/iloc/localmodels`. Example file
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:file:`@DATADIR@/iloc/localmodels/test.localmodel.dat`: ::
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#
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# test
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#
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# number of layers
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4
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0.000 5.8000 3.4600 x
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20.000 6.5000 3.8500 CONRAD
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45.000 8.0400 4.4800 MOHO
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77.500 8.0400 4.4800 x
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Once added, the velocity can be configured in |scname| as set out in section
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:ref:`iloc-setup`.
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Station elevation
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-----------------
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iLoc considers station elevation. It calculates the elevation correction,
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*elevationCorrection*, for a station as
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.. math::
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elevationCorrection = \frac{\sqrt{1 - (surfVel * p)^2} * elev}{surfVel}
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where
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* *elev*: elevation of the station
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* *p*: the ray parameter (horizontal slowness)
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* *surfVel*: layer P or S velocity of at the surface depending on the last lag
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of the phase name.
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.. note ::
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iLoc does not allow airquakes or source locations above datum (0 km). If the
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depth of an origin becomes negative, iLoc
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fixes the depth to 0 km and the depth type of the origin will be "operator
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assigned".
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.. _sec-iloc-references:
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Resources
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---------
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iLoc has taken advantage of many publications or has been cited therein.
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Read the section :ref:`sec-references` for a list.
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.. _iloc-setup:
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Setup in |scname|
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=================
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#. Add the plugin *lociloc* to the global configuration, e.g. in
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:file:`@SYSTEMCONFIGDIR@/global.cfg`: ::
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plugins = ${plugins}, lociloc
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#. Download iLoc from the iLoc website, extract the travel-time tables and model
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files. Then, install the required files and directories in
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:file:`@DATADIR@/iloc`, e.g.: ::
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|
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mkdir $SEISCOMP_ROOT/share/iloc
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|
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wget -O /tmp/iLocAuxDir.tgz "http://iloc.geochem.hu/data/iLocAuxDir.tgz"
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|
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tar xvf /tmp/iLocAuxDir.tgz -C /tmp/
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cp -r /tmp/iLocAuxDir $SEISCOMP_ROOT/share/iloc/auxdata
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.. note ::
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* Check the :cite:t:`iloc-iris` website for updates before downloading.
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* Instead of copying the :file:`auxdata` directory, you can also create a
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|
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symbolic link and maintain always the same iLoc version in |scname| and
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externally.
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#. Add and configure iLoc profiles for the velocity models. The global models
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*iasp91* and *ak135* are considered by default with default configuration
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parameters even without setting up *iasp91*/*ak135* profiles. You may,
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however, create these profiles for their customization.
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Create new profiles or consider existing ones for adjusting their
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configuration:
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* :confval:`iLoc.profile.$name.globalModel`: The name of the
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:ref:`global model <iloc-velocity_global>`, e.g. *iasp91* or *ak135*.
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* Consider the :ref:`RSTT parameters <iloc-velocity_rstt>`.
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* :confval:`iLoc.profile.$name.LocalVmodel`: The name of the file containing
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the :ref:`local velocity model <iloc-velocity_local>`.
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* :confval:`iLoc.profile.$name.DoNotRenamePhases`: Renaming seismic phases
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automatically
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impacts the usability of the origins with other locators and locator profiles.
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Activate the parameter to avoid phase renaming.
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* Consider the remaining parameters.
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.. note ::
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Creating the profiles allows using the same global velocity model along
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with different local models or RSTT settings in separate profiles.
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#. Test the locator using :ref:`scolv` or configure with :ref:`screloc` or other
|
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locator modules.
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.. _iloc-application:
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Application in |scname|
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=======================
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Once the *lociloc* plugin is configured, the iLoc locator can be applied
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* Automatically e.g. in :ref:`screloc` or
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* Interactively in :ref:`scolv`.
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For using iLoc in :ref:`scolv` select it in the locator menu of the Location tab
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|
.. figure:: media/scolv-iloc-locator.png
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:align: center
|
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Select iLoc locator
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along with a profile:
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.. figure:: media/scolv-iloc-profile.png
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:align: center
|
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|
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Select iLoc profile
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The parameters for iLoc can be adjusted by pressing the wrench button next to the
|
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|
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locator selection combo box
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|
.. figure:: media/scolv-iloc-change.png
|
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:align: center
|
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Start the settings dialog
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|
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which opens the iLoc settings dialog:
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|
.. figure:: media/scolv-iloc-settings.png
|
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|
|
:align: center
|
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|
|
Adjust the settings and click OK to confirm
|
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|
.. warning ::
|
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|
|
By default, automatic phase renaming by iLoc is active. The renaming may
|
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|
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change the phase names, e.g. from P to Pn.
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|
|
Renaming seismic phases automatically will later impact the usability of
|
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|
|
the new origins with other locators and locator
|
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|
|
profiles. Deactivate *DoNotRenamePhases* to avoid phase renaming.
|
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However,
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|
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when deactivating, iLoc may not provide results if the initial phases do not
|
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|
|
exist in the phase table for the given source depth and epicentral distance.
|
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|
|
Example: For great source depth and small epicentral distance, the first arrival
|
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|
|
phase is p or Pn and not P but |scname| provides P.
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|
|
After relocating, the iLoc locator and the selected profile are shown in the
|
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|
|
:ref:`scolv` Location tab as Method and Earth model, respectively:
|
|
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|
|
.. figure:: media/scolv-iloc-info.png
|
|
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|
|
:align: center
|
|
|
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|
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|
|
Information in scolv Locator tab
|
|
|
|
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|
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|
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|
|
.. _global_iloc_configuration:
|
|
|
|
|
|
|
|
|
|
|
|
Module Configuration
|
|
|
|
|
|
====================
|
|
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|
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|
|
.. note::
|
|
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|
|
**iLoc.\***
|
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|
|
*Locator parameters: iLoc*
|
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.. confval:: iLoc.profiles
|
|
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|
|
Default: ``iasp91,ak135``
|
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|
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Type: *list:string*
|
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|
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iLoc profile name.
|
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|
|
Multiples names may be set separated by comma.
|
|
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|
|
Each profile can have different velocity or parameters.
|
|
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|
|
.. note::
|
|
|
|
|
|
**iLoc.profile.\***
|
|
|
|
|
|
*Profiles containing the specific locator parameters. For*
|
|
|
|
|
|
*the global models, iasp91 and ak135, profiles are*
|
|
|
|
|
|
*automatically considered with defaults.*
|
|
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|
|
*To adjust the profile parameters the corresponding profile*
|
|
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|
|
*must be created.*
|
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|
.. note::
|
|
|
|
|
|
|
|
|
|
|
|
**iLoc.profile.$name.\***
|
|
|
|
|
|
$name is a placeholder for the name to be used and needs to be added to :confval:`iLoc.profiles` to become active.
|
|
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|
|
.. code-block:: sh
|
|
|
|
|
|
|
|
|
|
|
|
iLoc.profiles = a,b
|
|
|
|
|
|
iLoc.profile.a.value1 = ...
|
|
|
|
|
|
iLoc.profile.b.value1 = ...
|
|
|
|
|
|
# c is not active because it has not been added
|
|
|
|
|
|
# to the list of iLoc.profiles
|
|
|
|
|
|
iLoc.profile.c.value1 = ...
|
|
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|
|
.. confval:: iLoc.profile.$name.Verbose
|
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|
|
Default: ``true``
|
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|
|
Type: *boolean*
|
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|
|
.. confval:: iLoc.profile.$name.globalModel
|
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|
|
Type: *string*
|
|
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|
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|
|
Name of globally applied velocity model
|
|
|
|
|
|
into which RSTT or the local model is integrated. If
|
|
|
|
|
|
unset, the name of the profile is considered instead.
|
|
|
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|
|
.. confval:: iLoc.profile.$name.UseRSTT
|
|
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|
|
Default: ``false``
|
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|
|
Type: *boolean*
|
|
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|
|
Use regional seismic travel\-time tables
|
|
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|
|
.. confval:: iLoc.profile.$name.UseRSTTPnSn
|
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|
|
Default: ``true``
|
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|
|
Type: *boolean*
|
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|
|
Use regional seismic travel\-time tables for Pn and Sn
|
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|
|
.. confval:: iLoc.profile.$name.UseRSTTPgLg
|
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|
|
Default: ``true``
|
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|
|
Type: *boolean*
|
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|
|
Use regional seismic travel\-time tables for Pg and Lg
|
|
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|
|
.. confval:: iLoc.profile.$name.LocalVmodel
|
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|
|
Type: *string*
|
|
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|
|
|
|
|
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|
|
Full path to a file containing the local velocity model.
|
|
|
|
|
|
Requires: UseLocalTT \= true. Empty string or unset
|
|
|
|
|
|
disables using a local model in this profile.
|
|
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|
|
|
|
|
|
|
|
|
Example:
|
|
|
|
|
|
|
|
|
|
|
|
\@DATADIR\@\/iloc\/localmodels\/model.localmodel.dat.
|
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|
|
|
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|
|
.. confval:: iLoc.profile.$name.DoGridSearch
|
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|
|
Default: ``true``
|
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|
|
Type: *boolean*
|
|
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|
|
Perform neighbourhood algorithm
|
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|
|
.. confval:: iLoc.profile.$name.NAsearchRadius
|
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|
|
Default: ``5``
|
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|
|
Type: *float*
|
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|
|
Unit: *deg*
|
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|
|
Neighbourhood Algorithm: Search radius around initial
|
|
|
|
|
|
epicentre
|
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|
|
.. confval:: iLoc.profile.$name.NAsearchDepth
|
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|
|
|
Default: ``300``
|
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|
|
Type: *float*
|
|
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|
|
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|
|
Unit: *km*
|
|
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|
|
|
|
|
|
|
|
|
Neighbourhood Algorithm: Search radius around initial
|
|
|
|
|
|
depth
|
|
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|
|
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|
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|
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|
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|
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|
|
.. confval:: iLoc.profile.$name.NAsearchOT
|
|
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|
|
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|
|
|
|
|
|
Default: ``30``
|
|
|
|
|
|
|
|
|
|
|
|
Type: *float*
|
|
|
|
|
|
|
|
|
|
|
|
Unit: *s*
|
|
|
|
|
|
|
|
|
|
|
|
Neighbourhood Algorithm: Search radius around initial
|
|
|
|
|
|
origin time
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.. confval:: iLoc.profile.$name.NAlpNorm
|
|
|
|
|
|
|
|
|
|
|
|
Default: ``1``
|
|
|
|
|
|
|
|
|
|
|
|
Type: *float*
|
|
|
|
|
|
|
|
|
|
|
|
Neighbourhood Algorithm: p\-value for norm to compute
|
|
|
|
|
|
misfit [1,2]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.. confval:: iLoc.profile.$name.NAiterMax
|
|
|
|
|
|
|
|
|
|
|
|
Default: ``5``
|
|
|
|
|
|
|
|
|
|
|
|
Type: *integer*
|
|
|
|
|
|
|
|
|
|
|
|
Neighbourhood Algorithm: Maximum number of iterations
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.. confval:: iLoc.profile.$name.NAcells
|
|
|
|
|
|
|
|
|
|
|
|
Default: ``25``
|
|
|
|
|
|
|
|
|
|
|
|
Type: *integer*
|
|
|
|
|
|
|
|
|
|
|
|
Neighbourhood Algorithm: Number of cells to be resampled
|
|
|
|
|
|
at each iteration
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.. confval:: iLoc.profile.$name.NAinitialSample
|
|
|
|
|
|
|
|
|
|
|
|
Default: ``1000``
|
|
|
|
|
|
|
|
|
|
|
|
Type: *integer*
|
|
|
|
|
|
|
|
|
|
|
|
Neighbourhood Algorithm: Size of initial sample
|
|
|
|
|
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|
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|
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|
|
|
.. confval:: iLoc.profile.$name.NAnextSample
|
|
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|
|
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|
|
|
|
|
|
Default: ``100``
|
|
|
|
|
|
|
|
|
|
|
|
Type: *integer*
|
|
|
|
|
|
|
|
|
|
|
|
Neighbourhood Algorithm: Size of subsequent samples
|
|
|
|
|
|
|
|
|
|
|
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.. confval:: iLoc.profile.$name.MinDepthPhases
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Default: ``3``
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Type: *integer*
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Depth resolution: Minimum number of depth phases for depdp
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.. confval:: iLoc.profile.$name.MaxLocalDistDeg
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Default: ``0.2``
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Type: *float*
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Unit: *deg*
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Depth resolution: Maximum local distance
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.. confval:: iLoc.profile.$name.MinLocalStations
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Default: ``1``
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Type: *integer*
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Depth resolution: Minimum number of local defining stations
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.. confval:: iLoc.profile.$name.MaxSPDistDeg
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Default: ``2.0``
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Type: *float*
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Unit: *deg*
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Depth resolution: Maximum distance for using S\-P travel\-time differences.
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.. confval:: iLoc.profile.$name.MinSPpairs
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Default: ``3``
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Type: *integer*
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Depth resolution: Minimum number of defining S\-P phase pairs
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.. confval:: iLoc.profile.$name.MinCorePhases
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Default: ``3``
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Type: *integer*
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Depth resolution: Minimum number of defining core reflection phases
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.. confval:: iLoc.profile.$name.MaxShallowDepthError
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Default: ``30.0``
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Type: *float*
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Unit: *km*
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Depth resolution: Maximum depth error for crustal free\-depth
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.. confval:: iLoc.profile.$name.MaxDeepDepthError
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Default: ``60.0``
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Type: *float*
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Unit: *km*
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Depth resolution: Maximum depth error for deep free\-depth
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.. confval:: iLoc.profile.$name.DoCorrelatedErrors
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Default: ``true``
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Type: *boolean*
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Linearized inversion: Account for correlated errors
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.. confval:: iLoc.profile.$name.SigmaThreshold
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Default: ``6.0``
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Type: *float*
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Unit: *s*
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Linearized inversion: Used to exclude big residuals from solution
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.. confval:: iLoc.profile.$name.AllowDamping
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Default: ``true``
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Type: *boolean*
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Linearized inversion: Allow damping of model vector
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.. confval:: iLoc.profile.$name.MinIterations
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Default: ``4``
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Type: *integer*
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Linearized inversion: Minimum number of iterations
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.. confval:: iLoc.profile.$name.MaxIterations
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Default: ``20``
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Type: *integer*
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Linearized inversion: Maximum number of iterations
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.. confval:: iLoc.profile.$name.MinNdefPhases
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Default: ``4``
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Type: *integer*
|
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Linearized inversion: Minimum number of defining phases
|
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.. confval:: iLoc.profile.$name.DoNotRenamePhases
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Default: ``false``
|
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Type: *boolean*
|
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Linearized inversion: Do not rename phases. Deactivating
|
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|
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allows to rename the phases automatically for this
|
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|
|
profile.
|
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