March 14, 2013

Right deconvolution method for STS-2 seismometer signals

Robert Pillet(1), Christophe Maron(1), Fabrice Peix(1), Didier Brunel(1), Khaled Sghaier(2) et
Franck Perret(2).
(1)

-UMR GoAzur, 250 rue A. Einstein, Sophia-Antipolis, 06560 VALBONNE (France).

(2)

-LEAT, Laboratoire dElectronique, Antennes et Tlcommunications, BP 145, 930 route

des Colles, 06903 Sophia Antipolis Cedex (France).

Abstract
The seismic signals recorded by the Streckeisens STS-2 triaxial seismometer can be
deconvoluted (return of the ground velocity expressed in m/s) with, the same average function
for the three components of the sensor. Just take into account the 'generation' of the sensor
and implement the transfer function provided by the constructor.
On the other hand, Streckeisen GmbH provides calibration data sheet for each seismometer.
The calibration procedure can be only done on the real U, V, W components of the triaxial
seismometer. To perform a rigorous deconvolution from X, Y, Z, seismograms, one must
reconstitute by rotating the original components U, V, W, and then deconvoluted them with
transfer function inferred from the calibration data sheet, and then recombine them into
components X, Y, Z.
In the end, comparison of deconvoluted signals by both methods shows significant differences
for frequencies higher than 1 Hz.
Using STS-2 high-frequency signals must pass through a rigorous method of deconvolution as
presented in this paper.

Key Words : Triaxial STS-2 seismometer, deconvolution, rotation of components.

Right-Deconvolution STS-2, Pillet et al.

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1/ description of the triaxial STS-2 seismometer

Seismologists work from the vertical ground movement and two ground horizontal
movements that are North-South and East-West components. This configuration is well suited
to the different polarizations of observed seismic waves. To perform these measurements, one
must use two kinds of sensors: one vertical sensor and two identical horizontal sensors that
are installed at right angles to the other. The design of vertical seismometers is very different
from that of the horizontal one. The use of a spring that offsets the weight of the mass for the
vertical sensor involves very different constraints than the horizontal component of the
garden-gate (STS-1, Episensor) type or reverse (Gralp sensors) seismometers. It is necessary
to do two separate studies, then, to ensure that features such as mass, period, damping, and
especially bandwidth, etc., would be compatible for vertical and horizontal recordings.
This represents a lot of work that we can easily bypass. Indeed, the usual triad: Z, N-S, E-W
(which unfortunately is not a direct triad) can be advantageously replaced by a (direct) triad
represented by the edges of a cube placed on its tip. The three components U, V, W are so
three equivalent components, inclined at 54.7 (

and arranged at 120 from the other in the horizontal plane (Galperin 1955 and Galperin 1985
cited by Graizer 2009, Melton & Kirkpatrick 1970).

2/ purpose of this paper

The object of this work is to specify different protocols of the deconvolution of seismic
signals recorded with a triaxial apparatus of STS-2 type, and to quantify the resulting error.
Seismic data are induced to produce more accurate information. Note for example, the
multiplets method which reduces the error of the phases reading of a factor about 100 time
less (Got et al. 1994) compared to classical readings. In the same way, the knowledge of the
transfer function and therefore the deconvolution should not introduce error greater than 1%
in the packaging of the seismic signals for processing. This article about the rigorous
deconvolution of triaxial seismometer data is useful to meet demand for more accurate data.
Streckeisen proposed a model of seismometer in the 1990s called STS-2 (figure 1) which has
been and still a huge success, which is continued (copied) by almost all manufacturers of
seismometers since 2000 (Geodevice (China), seismometers (UK), Nanometrics (Canada),
Ref - Tek (USA), etc.).

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Figure 1. Arrangement of three axes of measure U, V and W versus the three usual axes,
vertical, North-South and East-West, noted X, Y, Z. Inclined U, V and W axes are of 54.7
from the vertical and 120 relative to the other, in the horizontal plane. This figure is taken
from the STS-2 manual of Streckeisen GmbH.

When one replays the seismograms, at the time of the deconvolution, they are three solutions:
- (i) the zero option which is to take into account only the long period pole that is to 120
seconds. This is the efficient solution used for the treatments of the long period waves;
- (ii) a simple solution that is to apply to the components Z, N-S and E-W the same theoretical
transfer function;
- (iii) a more complex but more rigorous solution which is to reconstruct the U, V and W
signals by applying a real reverse rotation. This rotation is opposite to direct electronic
rotation used in the seismometer before the acquisition of the data. Then apply deconvolution

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from the real transfer function calculated from calibration data sheet of components U, V and
W. Then the components Z, N-S and E-W are restored with the theoretical rotation matrix.
The organizational structure of the program that performs the two deconvolutions: theoretical
deconvolution (ii) and real deconvolution (iii), with comparison of the results obtained, is the
following:
First deconvolution (ii):
- reading the three data X, Y and Z files ;
- deconvolution of these three signals with the same theoretical transfer function provided by
Steckeisen GmbH. On the basis of serial numbers, the devices are stored in areas called
'generation'. There are three generations and therefore three different transfer functions ;
- writing and saving the results X', Y', Z'.
Second deconvolution (iii):
- reading the three data X, Y and Z files ;
- applying real reverse rotation from the angles provided by Streckeisen GmbH on the
calibration data sheet, to provide U, V and W files;
- deconvolution of each U, V, W component with its corresponding transfer function provided
by Streckeisen GmbH and calculated from the calibration sheet ;
- applying theoretical rotation to restore X', Y', Z'.
Then, we compare by different methods (temporal, spectral amplitude and phase) between the
X', Y', Z' and X', Y', Z'.
First see the time of the signal acquisition and its arrangement in the seismometer.

3/ direct electronic rotation of the components

After the recording of the movement of the ground on the U, V, W components, seismic
signals must be restored in the usual Z, N-S and E-W three axes. This is done in the
seismometer by electronic circuits that mimic the direct rotation matrix. The word 'direct' is
used for the transfer from U, V, W (recording) to X, Y, Z (output), and 'reverse' in the
opposite direction.
Calculates a component (for example, the X component) occurs electronically by multiplying
three times each component (U, V, W) by the factors appropriate (A11, A12 and A13,
corresponding to the first line of the rotation matrix) and then summing these three products.
(1)
(2)
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(3)

Figure 2 shows electronic diagram, provided by Streckeisen GmbH (STS-2 manual), which
describes the electronically transformation (direct rotation) of the U, V, W components to X,
Y, Z usable components.

Figure 3. Diagram of a multiplier circuit. The output voltage is proportional to the

resistances ratio and to the input voltage

. This installation inverts the polarity of

the output voltage which may be attenuated or amplified by resistance ratio.

Operational amplifier (OAP) is a system which continuously search equal tension on these
two noted entries '

' and ' '. To annihilate the current

the OAP must provide a current output

to the negative input ( ),

. The ratio of the resistances controls

the output voltage. The multiplication coefficient is given by the ratio of resistances:
(figure 3).
On the figure 2, RX1 is connected between the negative input and the output of OP87 and a
slightly different connection for RX2 around LF441N represent the two numerators. The sum
of the input resistances is RUX1 + RUX2 around OP87 then RUX3 + RUX4 around LF441N,
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to X track. In the same way, used differential assembly processes the seismic signal and its
symmetrical ground referenced to 0 Volt, where it employs two operational amplifiers that
have symmetric roles.
The coefficients of U, V, W channel (around OP87, at top, and NF441N) are obtained as
follows:
(4)
(5)
(6)
The zero value coefficient is ensured by the absence of participation of the U way summation
to obtain Y track.
(7)

The negative signs of the A11 and A32 coefficients are managed by the inversion of the
polarity of the U and V channels on the X and Y areas (left and middle) respectively.
The direct matrix calculated from the face values of the resistances is as follows:

(9)

Resistances are vitiated by an error that is 1% in the best cases. But the resistances ratio is
adjusted by Streckeisen GmbH with much better precision. The calibration sheet allows us
access to these electronic errors. They appear in another form that is through angles induced
by multiplicative factors.

4/ different aspects of rotation matrices

The rotation matrix comes in two forms: a direct matrix allowing the passage of U, V, W to
X, Y, Z and a reverse matrix allowing the passage of X, Y, Z to U, V, W. Each of these
matrices can be written in several forms:
-

a literal form involving the angles

Right-Deconvolution STS-2, Pillet et al.

and

(figure 4);

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direct matrix :

(10)

inverse matrix :

(11)

The theoretical values are:

(12),

and

(13).

Figure 4. Provision of three axes of measure U, V and W versus the three usual axes, vertical,
North-South and East-West, noted X, Y, Z. Inclined U, V and W axes are of 54.7 from the
vertical and 120 relative to the other, in the horizontal plane. This figure is taken from the
manual of the STS-2 Streckeisen GmbH.

The matrix can also be written in a compact, elegant form, mathematically speaking. It
is taking account of the theoretical values of angles, and then had expressed them in
the form of irrational values. The direct matrix appears in this form in the manual of
the STS-2, and in the course of sismometry of Wielandt (2002).

direct matrix :

(14)

inverse matrix :

(15)

The matrix can also be written in a theoretical numerical form with four digit for each
coefficient;

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direct matrix:

(16)

inverse matrix :

(17)

Verification of the validity of the matrices via a round trip signals X, Y, Z, turned a first time
in U, V, W with the inverse matrix. They were again directed by the direct matrix for new
signals X, Y, Z. The difference of the two ways provided a measure of the error induced by
the calculator. Figure 5 shows a window for 2 seconds the X component before and after the
above application. The difference is 106 times smaller than the signal and only corresponds to
the errors induced by the computer.

Figure 5. From top to bottom: original trace, trace computed by direct rotation and reverse
rotation and difference between the both in the order of 10-6.
This difference can be further reduced by a factor of 10 by using a matrix to the irrational
values, rather than the use of the theoretical angular values.

5/ return on the real, electronic and direct rotation matrix

Electronic rotation of components is built from the ratio of the resistances. Streckeisen adjusts
these ratios to have a reduced error. This rotation is accessible in the calibration sheet through
the expression of angles

and

. These angles have an error which is

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always lower at +/-1 (f. Egli, 2012).

Figure 6. Organization chart of the registration of the ground motions with a triaxial
seismometer of STS-2 type. The ground velocity records by U, V, W components is
transformed into X, Y, Z (vertical, North-South and East-West) by a direct, real, electronic
rotation matrix.

Taking as an example the calibration sheet of seismometer number 89316, the angles used in
the calculation of these two real matrices are:
component U

= 54.908

= 179.81

component V

= 54.830

= 59.777

component W

= 55.101

= 299.81

The same transformation with real matrix gives an error 104 times greater (figure 7). Indeed,
the used triads are no more strictly orthogonal which induces errors much greater than only
calculating errors illustrated in figure 5. More the triad is far from the orthogonality, more the
difference between the two signals increases.
This electronic rotation induces errors on signals. We could imagine direct recording with
unique U, V, W components, and then a posteriori computer rotation which induces very little
error would be used to the seismic signal viewing. The errors would be reduced but this way
prevents viewing of the usual seismic traces upon registration. For decades, seismologists
have looked at less seismic traces for the benefit of a large amount of data processing. If
more, recording is done on inexpressive traces (U, V, W), the wealth and elegance of the
seismic signal are likely to be completely forgotten.

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Figure 7. Same as figure 5 but for real matrices. From top to bottom, original signal, signal
after direct rotation and then reverse rotation and (bottom) difference between the two signals
which is about 10-2 times smaller than the original signal.

More the real angles are different from theoretical ones, more the simple test: direct rotation
and reverse rotation induces errors on the result.
Two real matrices (calibration data sheet 89316) are written :
(18)

and the inverse matrix :

(19)

6/ theoretical deconvolution ((ii) of chapter 2)

The mainly used method is to use an 'average' transfer function (which is called 'theoretical')
provided by the manufacturer which applies equality to the three X, Y, Z components. In the
case of the STS-2, there are three generations of sensors with three theoretical transfer
functions that are different only at high frequency. These three generations depend on roughly
the dates of manufacture, but many exceptions exist. Users should check the good generation

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using the numbers of the devices in the file 'STS-2-generation.pdf' supplied by Streckeisen
GmbH, or on the website Goazur (see chapter 9):
Brief summary of the generations:

from 04/1990 to 06/1995

= generation 1

from 06/1995 to 02/1998

= generation 2

from 02/1998 to the present = generation 3

Figure 8 shows the amplitudes and phases of the transfer functions of the three generations of
STS-2seismometers. Generation 1 is draw in red color, generation 2 in blue and generation 3
in green. Top figures are provided from the file 'STS2 - generation.pdf' by Streckeisen GmbH
then recalculate and draw at high-frequency by our care at bottom.

Figure 9. Organization chart of the theoretical deconvolution performed on STS - 2 data.

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The deconvolution of the three components of the seismic signal by the same transfer function
is very fast and very convenient. The three X, Y, Z components are treated together by an
only transfer function that can be used for other stations of the same generation.
What error was done on the seismic signal by taking this simplified procedure? Is the 1%
error generally recommended for the definition of the transfer function insured ?

7/ . description of the real deconvolution

To refine this deconvolution, we must go back to the information from the specifications of
calibration sheet of the U, V, W components supplied by the manufacturer.
(1) All first, we have to admit that the U, V, W triad is correctly oriented on the surface of the
Earth: azimuth and verticality are perfectly defined. The three components U, V, W fully
record the seismic signal. We argue that azimuth and verticality are error-free, that is far from
reality case, but this is another topic, too rarely treated (Laske, 1995, Grigola et al., 2012).
Fortunately some initiatives such as employing a gyrocompass for the installation of the
Geoscope network stations (S. Bonaim) are there to try to minimize the effect of these
problems. More generally, the difficult problems of the attachment to the ground and the
orientation of geophysical sensors are rarely addressed by seismologists.
(2) An electronic part inside the seismometer performs the rotation of the U, V, W to X, Y, Z
components. The error induced by the electronics is expressed through an angular error in the
calibration sheet. Our seismograms are therefore referenced in X, Y, Z, triad who has an error
when compared with the U, V, W triad.
(3) In order to restore, after registration, U, V, W from X, Y, Z (reverse operation (2) above),
we apply the real inverse matrix taking into account angular errors that are known through the
calibration sheet (figure 11). We compute the good U, V, W signal that has been properly
recorded as we argue at (1) above.
(4) The U, V, W components are then deconvoluted with the poles and zeros files from the
calibration sheet: PZ-U-refsismo, PZ-V-refsismo, PZ-W-refsismo.
(5) The components X'', Y'', Z'' are re-build by direct theoretical rotation. Indeed, we can now
apply to the data a rigorous rotation with a minimum of error as illustrated in figure 5.

Each U, V, W components is calibrated by the manufacturer that provides a calibration sheet

containing all the necessary information (figure 11):
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1 coefficient of amplification G/G0 close to unity

1 angle measured close to 54.7
1 measured angle close to 180, 60, 300
1 bandwidth described with :
some high frequency part with 4 zeros and 9 poles
and the low frequency period and damping of 120 seconds low past filter.

component

G/G0 = 0.98554

= 54.908

= 179.81

component

G/G0 = 0.99269

= 54.830

= 59.777

component

G/G0 = 0.98508

= 55.101

= 299.81

For the U component, the zeros and poles are the following:
4 Zeros

- 73.50 + j 68.29
- 73.50 - j 68.29
- 30.49
-2.44

11 Poles

- 1629.7 + j 433.7
- 1629.7 - j 433.7
- 1514.0 + j 1825.5
- 1514.0 - j 1825.5
- 13.38 + j 62.89
- 13.38

- j 62.89

- 2.464
- 72.34
- 74.36
and two poles related to 120 s and 0.707 of damping :
- 0.037062 - j 0.037062
- 0,036592 + j 0.036592
These information can be separated into two: (i) a transfer function that uses the poles and
zeros and G/G0 magnitude ratios and (ii) a rotation reverse matrix using only the angles.
Table 1 lists three P & Z files of U, V and W components for the seismometer number 89316.
Some poles or zeros are identical in all three files. The seismometer belongs to the third
generation and figure 12 shows the difference between the theoretical bandwidth of the three
generations and from bandwidths coming from the calibration sheet of the U, V and W
components.
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Figure 11. Calibration sheet of an instrument (number 89316) provided by the manufacturer,
corresponding to a seismometer of the third generation.

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Files

PZ-U-89316

Fichier PZ-V-89316

Fichier PZ-W-89316

ZEROS 6
ZEROS 6
ZEROS 6
-0.4618141E+03 -0.4290787E+03 -0.4618141E+03 -0.4290787E+03 -0.4618141E+03 -0.4290787E+03
-0.4618141E+03 0.4290787E+03 -0.4618141E+03 0.4290787E+03 -0.4618141E+03 0.4290787E+03
-0.1915743E+03 0.0000000E+00 -0.1942133E+03 0.0000000E+00 -0.1876788E+03 0.0000000E+00
-0.1514876E+02 0.0000000E+00 -0.1514876E+02 0.0000000E+00 -0.1514876E+02 0.0000000E+00
0.0000000E+00 0.0000000E+00
0.0000000E+00 0.0000000E+00
0.0000000E+00 0.0000000E+00
0.0000000E+00 0.0000000E+00
0.0000000E+00 0.0000000E+00
0.0000000E+00 0.0000000E+00
POLES 11
POLES 11
POLES 11
-0.1023971E+05 -0.2725018E+04 -0.1023971E+05 -0.2725018E+04 -0.1023971E+05 -0.2725018E+04
-0.1023971E+05 0.2725018E+04 -0.1023971E+05 0.2725018E+04 -0.1023971E+05 0.2725018E+04
-0.9512743E+04 -0.1146996E+05 -0.9512743E+04 -0.1146996E+05 -0.9512743E+04 -0.1146996E+05
-0.9512743E+04 0.1146996E+05 -0.9512743E+04 0.1146996E+05 -0.9512743E+04 0.1146996E+05
-0.4545256E+03 0.0000000E+00 -0.4545256E+03 0.0000000E+00 -0.4545256E+03 0.0000000E+00
-0.4672177E+03 0.0000000E+00 -0.4795956E+03 0.0000000E+00 -0.4789673E+03 0.0000000E+00
-0.8406902E+02 -0.3951495E+03 -0.8325220E+02 -0.3967203E+03 -0.9135751E+02 -0.3959035E+03
-0.8406902E+02 0.3951495E+03 -0.8325220E+02 0.3967203E+03 -0.9135751E+02 0.3959035E+03
-0.1548177E+02 0.0000000E+00 -0.1546920E+02 0.0000000E+00 -0.1550062E+02 0.0000000E+00
-0.3706163E-01 -0.3659210E-01 -0.3701867E-01 -0.3654968E-01 -0.3706861E-01 -0.3674499E-01
-0.3706163E-01 0.3659210E-01 -0.3701867E-01 0.3654968E-01 -0.3706861E-01 0.3674499E-01
CONSTANT 1.70854399 E+22
CONSTANT 1.75314595 E+22
CONSTANT 1.80941280 E+22

Table 1. U, V, W poles and zeros files calculated from the calibration sheet 89316. The
CONSTANT does not take into account 'gain stage 2' corresponding to the digital conversion.

Figure 12. High frequency comparison of amplitude and phase. Theoretical bandwidths of the
three generations are noted g1, g2 and g3. Bandwidths from the calibration of U, V and W
components of the seismometer number 89316 are drawing in black color and all are very
similar.

Figure 12 shows the differences between the bandwidth of the three generations of STS-2
seismometer with bandwidths of the U, V, W components of the seismometer number 89316,
which belongs to the third generation. The value of the 'gain stage 2' corresponding to analogto-digital conversion is taken equal to unity for this figure 12. The amplitude is expressed in
V/m/s and the flat part of the bandwidth is 1500.0 V/m/s. The notable difference between the
phases of transfer functions appears from 1 Hz to reach the value of /4 around 50 Hz.
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Note that the differences that exist between the U, V, W bandwidth and the theoretical
bandwidth of the third generation, in the case of figure 12, are of the same order of magnitude
as the differences, views on the figure 8, between the three generations. If we have taken the
wrong generation at the time of the deconvolution, damaging is not much more harmful that
not take into account the real deconvolution.

8/ application of the real deconvolution and results

The rigorous deconvolution is shown in figure 13. The X, Y, Z signals after the real reverse
matrix give U, V, W traces which are deconvoluted with a transfer function coming from the
calibration sheet. X'', Y'', Z'' components, expressed as ground velocity, are reconstructed by a
theoretical rotation.

Figure 13. Organization chart of the correct deconvolution of a STS-2 seismometer data. A
reverse rotation takes into account geometric imperfections (angular errors) and gives the U,
V, W components which are deconvoluted with real parameters from the calibration sheet. A
theoretical rotation is used to render the three X', Y', Z' components.

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To illustrate this application, we use a seismic signal of the Isola station (ISO) belonging to
TGRS network (Trs Grande Rsolution Sismique) of the University of Nice (France). This
station is equipped with a STS-2 seismometer number 89316. The earthquake recorded is
from East Corsica Island of about 200 km of epicentral distance, at the July 7, 2011 at 18h
30mn and of magnitude 4.0.

Comparison of the two methods of deconvolution

The deconvolution of a same seismogram, using seismometer generation and from the
calibration data sheet, allow us to estimate the amplitude and phase errors. These errors are
induced by the rotations and the transfer functions that contain errors or approximations.
Visualization of seismograms deconvoluted (figure 14) shows a difference between the two
time-domain signals about 15%. This simple difference gives a global error which combines
amplitude and phase.

Figure 14., Comparison of the two deconvolution methods. On X component and from top to
bottom, the results of the two methods of deconvolution and the difference that has amplitude
of the order of 15% of the amplitude of the signals origins.

The comparison of the spectra of trace in figure 14 shows a low error long period (figure 15)
that increases from 1 Hz to 100% to 10 Hz.
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Figure 15. Comparison of the spectral amplitutudes of the three X tracks of figure 14. In this
representation the two deconvoluted traces with the two methods describe above overlap
perfectly. At very low long period the spectrum of their difference is only about 1%, then
increases to 100% about 10 Hz and beyond.
The coherence between the two deconvoluted traces (X and X on figure 14) is also a
possibility to visualize the error (figure 16). The two traces lose their coherence about 30 Hz,
which suggests an error less damaging than the visualization of figures 14 and 15. The figure
of polarization of the two traces also allows to estimate a global error that appears in the ratio
of the two axes of the ellipse (figure 16, right), or about 10%.

In conclusion, the simple theoretical deconvolution is acceptable on a large bandwidth. It

becomes critical about 1 Hz where the error increases to reach 100% at 10 Hz. Recording
interpretations of STS-2 seismometer signal for short period work are dangerous when the
deconvolution is not properly performed.

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Figure 16. Example for the X component. Upper-left draw represents the two traces of the two
methods. Top right shows the equivalent particle motion ellipse between the two traces which
is a simple line when there is no difference. In this case, the width of the ellipse indicates an
error of about 10%. Downstairs, part high frequency (10-50 Hz) of the cross-correlation of
the two traces.

7/ transfer functions expressed in terms of Poles and Zeros

The Poles and Zeros of the three STS-2 generations files are provided by Streckeisen GmbH
(file 'generation-versus-numero.pdf'). These values are redistributed by agencies such as
PASCAL, for example.

The constant that appears in the Poles and Zeros files is defined by the product of :
-

A0, normalization factor of the transfer function;

gain stage number 1 equal to 1500 V/m/s;

gain stage number 2 relative to analogic-to-digital conversion;

2 to the power of poles number minus zeros number (nbpole-nbzero).

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This product gives a CONSTANT, equal to 1.416757961 E+30 for the Poles and Zeros of the
third generation file.
CONSTANT(gnration 3) = A0 x 1500 x (2 )^(nbpole-nbzero) x stage-2 = 1.416 E30 (20)
The 'pole mixer' that appears in the file ' STS-2-generation.pdf' from Steckeisen GmbH is a
pole created by an external electronic feedback filter, which explains its slightly different
treatment. It is, in general, the last line of the pole columns.
The factor of standardization A0 is used to norm the transfer function. Indeed, whenever a
Pole or a Zero is taken into account in the transfer function, these numerical values (real and
imaginary parts) that describe these characteristics also act on the amplitude of the bandwidth.
Standardization A0 factor reduce the bandwidth to the unit. This module is calculated at a
choose frequency that is outside the influence of the Pole or Zero of the transfer function.
The transfer function

is written (Scherbaum, 1996, p 40, 108, 171):

(21)

with a number of zeros (nbzero) noted Zi and a number of poles (nbpole) noted Pk.
The coefficient A0 is always written according Scherbaum (1996) :
(22)
with

selected at a period between 1 and 20 seconds which is a priori

unaffected by the Poles and Zeros influence.

The relationships between the real and imaginary values of a Pole (but also a Zero) and period
and damping of the filter are written :
(23),

(24).

When a Pole (or a Zero) has an imaginary nil value, the damping is 1.0 and the real part of the
Pole is equal to the angular frequency:

According to the number of nil Zeros, the bandwidth is expressed in displacement, velocity or
acceleration. The same file of Poles and Zeros providing velocity output provides with one
additional Zero a signal expressed in displacement, whereas with a less Zero the signal is
expressed in acceleration of the ground (figure 12). The time integration or the time derivation
of the seismogram is equivalent to a reduction or an addition of one nil Zero in the P&Z file.
Some databases provide their P&Z files related to the displacement of the ground, the other in
velocity or in acceleration. This lack of coordination may be source of misunderstandings.
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Figure 20. Example (at left) of a seismic signal expressed in digits and deconvoluted in
displacement (DISP in meter), velocity (VEL in m/s) and acceleration (ACC in m/s). At right,
different plotted transfer functions only differ of the number of nil Zeros used. The frequency
is the neutral element of these transformations. dACC expresses the
derivative of acceleration.

8/ conclusion
Deconvolution of STS-2 seismograms with the simple consideration of the 120 seconds Pole
(technique used by GEOSCOPE and justified by their very long period vision) is not
sufficient for short period applications.
Taking into account of three generations of STS-2 seismometers and the three corresponding
transfer functions allows refining the deconvolution especially at high frequency, showing
significant differences between these transfer functions.
Still further and taking into account records of calibration of each device provided by
Streckeisen GmbH. The calibration can be done only on the physical sensor component, thus
inclined components U, V and W. Vertical, North-South and East-West seismograms must be
converted to U, V and W, then deconvoluted with the parameters of the calibration sheet and
then reconstituted again in X, Y and Z.
Before beginning this work, we didnt think that errors will be so high at high frequencies.
Beyond 1 Hertz, the error between the two methods of deconvolution exceeds largely the
generally recommended value of 1%.
Using high-frequency seismograms of the STS-2 must pass through a rigorous deconvolution
as presented in this paper.
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9/ description of proposed tools

On the Goazur web site (https://geoazur.oca.eu/spip.php?rubrique393 , under the heading
'STS-2 right deconvolution'), you will find information and programs of SAC shell, fortran
and C program files for: deconvolution; A0 calculation; calibration sheet conversion into P&Z
files and rotation matrices. In the text below, are highlighted in green the data files, in red: the
code files and other SAC shells, in yellow: the syntax to run the programs and in blue: the
resulting files. You will find :
- this present paper (STS-2-deconvolution.pdf) ;
- the file 'read-me' that is the chapter 9 himself ;
- a file that connects the serial numbers of the STS-2 seismometers with one of the three
generations of these devices. Each generation comes with a theoretical transfer function that it
is suitable. This file is provided by Streckeisen GmbH (generation-versus-numero.pdf) ;
- a file that outlines and describes the transfer functions of the three generations of STS-2
seismometers. This file is provided by Streckeisen GmbH (STS-2-genration.pdf and STS-2generation-2.pdf with a slightly different layout).
- three text files formatted in Poles and Zeros corresponding to the three generations: (PZgunar1, PZ-gunar2, PZ-gunar3). The three X, Y, Z components of the seismogram of a given
generation, will be treated in the same way ;
- example of a calibration sheet scanned (scan-calibration-sheet-89316.jpg) provided by
Streckeisen GmbH, for the seismometer number 89316.
- formatted text file containing above calibration information noted 'sheet-89316'.
- subroutine program for A0 standardization factor calculation, noted 'analogtrans.c' extract
from the seedreader program ;
- fortran code (PZ-matrix.f) calculates and writes P&Z files and rotation matrices used during
the run of the SAC shell below. Example for the seismometer number 89316 :. /PZ-matrix
sheet-89316 89316: the program (./PZ-matrix) reads the information contained in the 'sheet89316' file and writes the results with the '89316' extension files. These results are the three
files from P & Z components U, V and W: PZ-U-89316, PZ-V-89316, PZ-W-89316 and
matrices of direct and reverse rotation in two forms: mat-dir-89316 and mat-inv-89316 and 6
files: fort.12... fort.17 (not copied on the website) that contain the lines of the two matrices.
- program for the calculation of the normalization factor (calculation-A0.f) from a P&Z file
and rewrite of this file with the constant newly calculated: ./calculation-A0 PZ-file extension.
The program reads 'PZ-file' and writes the results in 'PZ-extension'.
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-The SAC shell noted 'deconvolution.sac' computes the two different deconvolutions to the
three X, Y, Z input seismograms. A first deconvolution using theoretical generation of the
seismometer transfer function and a second deconvolution which takes into account rotation
and angular errors as well as the known characteristics calibration for each of the components
of triaxial U, V, W. This shell ends by drawing the comparison of two methods for the X
component.
SAC> macro deconvolution.sac sismoZ sismoNS sismoEW 3 89316
Parameters are the three seismograms in Vertical, North-South and East-West order. They
must be synchronized and have the same number of points. Then the number of the generation
of the seismometer: 1, 2, or 3, followed by the number of the seismometer: in this example it
is the seismometer 89316 (the SAC shell reads the P&Z files corresponding to the generation
of the seismometer: 3 in this example, namely PZ-gunar3, and also files: PZ-U-89316, PZ-V89316 and PZ-W-89316).
The results of simple deconvolution are written in files: xxdt, yydt and zzdt then the results of
rigorous deconvolution are written in files: Rxxdr, Ryydr and Rzzdr. The 'CONSTANT' of
P&Z files do not contain the 'gainstage2' corresponding to the characteristic of the digitization
of your data logger. Therefore, each user shall take into account this value and include it in
the various files. This value appears under the name of 'gainstage2' in the fortran code.
-check and design of different bandwidth are done with SAC shell: SAC> macro drawingbdpass PZ-U-89316 u89316. Parameters are the name of the P&Z file which you want to
draw the transfer function, and then a name for the result which will be of the form
u89316.am and u89316.ph. The amplitude is drawn by this shell, but the phase is between +/2 and must be smoothed before drawing.

Useful addresses:
Pascal

web

site:

(http://www.passcal.nmt.edu/content/instrumentation/sensors/sensor-

comparison-chart/poles-and-zeroes/ ).
Egli f. engineer at Streckeisen GmbH. franz.egli@streckeisen.biz .

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10/ bibliographie

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Scherbaum, F. (1996). Of Poles and Zeros, Fundamentals of Digital Seismology. Kluwer
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Wielandt, E. (2002). Seismic sensors and their calibration, in IASPEI New Manual of
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