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Variance of the Hellings-Downs Correlation

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Abstract

Gravitational waves (GWs) create correlations in the arrival times of pulses from different pulsars. The expected correlation μ(γ)μ(γ) as a function of the angle γγ between the directions to two pulsars was calculated by Hellings and Downs for an isotropic and unpolarized GW background, and several pulsar timing array (PTA) collaborations are working to observe these. We ask: given a set of noise-free observations, are they consistent with that expectation? To answer this, we calculate the expected variance σ2(γ)σ^2(γ) in the correlation for a single GW point source, as pulsar pairs with fixed separation angle γγ are swept around the sky. We then use this to derive simple analytic expressions for the variance produced by a set of discrete point sources uniformly scattered in space for two cases of interest: (1) point sources radiating GWs at the same frequency, generating confusion noise, and (2) point sources radiating GWs at distinct non-overlapping frequencies. By averaging over all pulsar sky positions at fixed separation angle γγ, we show how this variance may be cleanly split into cosmic variance and pulsar variance, also demonstrating that measurements of the variance can provide information about the nature of GW sources. In a series of technical appendices, we calculate the mean and variance of the Hellings-Downs correlation for an arbitrary (polarized) point source, quantify the impact of neglecting pulsar terms, and calculate the pulsar and cosmic variance for a Gaussian ensemble. The mean and variance of the Gaussian ensemble may also be obtained from the previous discrete-source confusion-noise model in the limit of a high density of weak sources.

Introduction

The idea of observing low-frequency gravitational waves (GWs) via their influence on radio pulsar arrival times first appears in work of Sazhin [1]. Subsequently Detweiler [2] described the improvements obtained by cross-correlating data from multiple pulsars. Such detectors, called “pulsar timing arrays” (PTAs), have been studied in detail by many authors [3, 4, 5]. Currently, a number of groups are working to detect gravitational waves in the nano-Hz regime with these techniques [6, 7, 8].

The basic idea is as follows. Select a pulsar which is a very stable clock, emitting pulses at uniform intervals in its rest frame. Determine the arrival times tt of the pulses at the solar system barycenter (SSB) (calculated based on the arrival times at Earth [9, 10]). In the absence of GWs, those pulses would have uniform time offsets from each other, whereas in the presence of a GW, the offsets Δτ\Delta\tau from regular arrival times are nonzero. These form a time series of timing residuals Δτ(t)\Delta\tau(t) that vary at the frequency of the GW, with an amplitude proportional to the strain amplitude of the GW.

In 1983, Hellings and Downs [11] predicted an important property of pulsar timing residuals, which is central to their detection with PTAs. The timing residuals from different pulsars are correlated, in a way that depends upon the angle γ\gamma between the lines of sight to the pulsars as viewed from Earth. This is “on the average” because the correlation depends upon the actual positions of the pulsars on the sky, even if the angle between them is fixed. A clear explanation of these effects may be found in [12]. To observe this, one averages the product of the timing residual time-series over years or decades to form a correlation

ρ=Δτ1(t)Δτ2(t)‾,(1)\rho= \overline{\Delta\tau_1(t)\Delta\tau_2(t)}, \tag*{(1)}

where the overbar denotes a time average, and 1 and 2 label the pulsars. The expected value of ρ\rho vanishes if the timing residuals are uncorrelated, and is nonzero if they are correlated.

The function which describes the behavior of the average or expected correlation ⟨ρ⟩\langle\rho\rangle as a function of the angle γ\gamma between the directions to the two pulsars is called the Hellings-Downs curve μu(γ)\mu_{\mathrm{u}}(\gamma), where the subscript means “unpolarized.” This function is given in Eq. (5) and illustrated in Figure 1. On the average, the expected correlation is largest when the two pulsars are along the same line of sight, and (for example) vanishes when the two pulsars are separated by about 50°. A convincing PTA detection of GWs is expected to show this pattern of correlation among the different possible pulsar pairs [13].

The Hellings-Downs correlation mean and standard deviation

Figure 1. The Hellings-Downs correlation mean ⟨ρ⟩=μu(γ)\langle\rho\rangle= \mu_u(\gamma) and standard deviation Δρ=σu(γ)\Delta\rho= \sigma_u(\gamma) for a single unpolarized point source with the pulsar term neglected, from Eqs. (5) and (7). The dashed lines show a ±1σu\pm1\sigma_u range about the mean.

Here, we ask: how close to this expectation would the observed correlations lie, in the absence of experimental noise or errors? Simulations have demonstrated that fluctuations away from the mean can be large [14, 15]. These fluctuations away from the mean have two contributions: a “pulsar variance” and a “cosmic variance.” The first, which can in principle be measured and removed, reflects the variations in correlation between pairs of pulsars at different sky locations, but separated by the same angle γ\gamma. The second cannot be directly observed but can be inferred. It arises because GW sources radiating at overlapping frequencies generate interference patterns, whose average over pulsar pairs differs from the Hellings-Downs curve.

Previous work on estimating the variance relies on “Gaussian ensemble” techniques which were developed for the detection of audio-frequency GW stochastic backgrounds with interferometric detectors [16, 17]. These methods were extended to PTAs in [18, 19], and used to estimate the variances in [20, 21, 22]. In contrast, our calculations use a finite collection of discrete sources and smoothly transition from one source to many. Similar models have been employed in the context of audio-frequency GW stochastic backgrounds [23]. If we let the density of sources approach infinity while keeping the mean-squared GW amplitude at Earth fixed, then our discrete source models reproduce the results of the Gaussian ensemble (see Appendix § 8 § 9.2).

One of the most important contributions of this paper is a straightforward method to separately identify the pulsar and the cosmic variance contributions to the total variance. The distinction is relevant, because observations with access to enough low-noise pulsars, uniformly distributed around the sky, could reduce the impact of pulsar variance as much as desired, by averaging the Hellings-Downs correlation over many pairs of pulsars separated by the same angle. However, the effects of cosmic variance cannot be removed. Our calculational technique to distinguish these effects corresponds closely to experimental practice. To compute the cosmic variance, we average the correlation over pulsar pairs separated by the same angle, before the first and second moments of the correlation are calculated with ensemble averages. The same technique can also be applied to the traditional Gaussian ensemble (see Appendix § 8 § 11).

Simulations modeling sources in the nearest few hundred Mpc to Earth suggest that these can cause significant deviations from isotropy [15, 24]. It has been argued that these will not lead to substantial variations from the Hellings-Downs curve [13, 25]. Our findings tend to support this conclusion for the mean of the correlation, but not for the variance, which is also an observable quantity. In this sense, the predicted variance of the Hellings-Downs curve contains additional information about the nature of the sources.

A brief outline of the paper is as follows. In Sec. II, we present and discuss pulsar variance for a single unpolarized point source, neglecting pulsar terms. In Sec. III, we show how those single-point results can be used to estimate the variance for a large collection of point sources, based on a simple model for the ensemble of sources, also including pulsar terms. As a simple example of the calculation technique (unrelated to PTAs) we calculate the expected value and variance of the GW energy density. In Sec. III A, we consider point sources which are all radiating at the same GW frequency, resulting in confusion noise, and in Sec. III B, we consider point sources radiating at distinct frequencies. Finally, in § 3, we show how these variances can be cleanly split into pulsar variance and cosmic variance. This is followed by a short Conclusion.

The paper relies on detailed calculations given in a series of technical appendices, which are referenced throughout. In Appendix § 2.1, we calculate the mean and variance of the Hellings-Downs correlation for a general GW point source and explicitly demonstrate that the “pulsar average” over three variables is equivalent to the “GW sky direction” average over two variables. As an example, including Earth terms only, we calculate the mean and variance for a binary inspiral GW source model (which is polarized if the orbit is not face-on or face-off) and its population average.

In Appendix § 2.2, we examine the effects of the pulsar terms on the mean and variance of the Hellings-Downs correlation. These do not affect the mean, but for sources with slow evolution they increase the variance by a factor of four. As an example, we calculate the mean and variance for a nonevolving (single frequency) binary inspiral GW source model, and its population average.

In Appendix § 8, we employ the standard Gaussian ensemble from [17]. We first estimate the importance of the pulsar terms in the Hellings-Downs correlation. We then compute the total variance (one pulsar pair) and the cosmic variance (many pulsar pairs) of the Hellings and Downs correlation for the Gaussian ensemble. We also compute the variance of the GW energy density. These Gaussian ensemble results are limits of our discrete-source confusion-noise ensemble results from Secs. III A and IV. Finally, we derive the cosmic variance as a harmonic sum.

Appendix D is the first of three in which we carry out the integrals needed to obtain the second moments of the Hellings-Downs correlation. Appendix D does the unpolarized case corresponding to the “I” term in the Stokes parameters. Appendix E does the polarized case corresponding to the “Q” Stokes parameter, and Appendix F does the cross term.

Appendix G calculates the Hellings-Downs two-point function μ(γ,β)\mu(\gamma,\beta) and its second moment μ~2(γ)\widetilde{\mu}^{2}(\gamma) with respect to β\beta.

Notes on terminology and notation:

(i) The term “Hellings-Downs correlation” refers to correlations among pulsar timing residuals, which might or might not follow the “Hellings-Downs curve” μu(γ)\mu_{u}(\gamma).

(ii) Correlations between pulsar timing residuals or redshifts are denoted by ρ\rho, and we use μ\mu and σ2\sigma^{2} for the mean and variance of ρ\rho. These symbols are used for general purposes, for specific models or systems, or for the Universe as a whole.

(iii) In contrast, the expressions μu(γ)\mu_{u}(\gamma), σu2(γ)\sigma_{u}^{2}(\gamma), σp2(γ)\sigma_{p}^{2}(\gamma), σc2(γ)\sigma_{c}^{2}(\gamma), μ(γ,β)\mu(\gamma,\beta) and μ~2(γ)\widetilde{\mu}^{2}(\gamma) are used for specific mean and variance functions which are calculated in the Appendix and given in Eqs. (203), (D37), (E8), (F2), (G5), and (G11).

(iv) Angle brackets ⟨Q⟩\langle Q\rangle indicate the average or expectation value of a function QQ, with respect to certain variables. This is always normalized so that ⟨1⟩=1\langle1\rangle=1. If unclear from context, we add a subscript after the right-hand bracket to indicate the type of averaging.

(v) Three-vectors are indicated in boldface x\mathbf{x}; spatial indices aa, bb, cc and dd denote vector or tensor components. For these indices, we adopt the Einstein summation convention.

(vi) Indices A,A′,…A,A',\ldots denote one of two orthogonal GW polarizations “+” and “×\times”. For these, repeated indices are not summed.

(vii) We use fixed Cartesian coordinates centered at the SSB with x^,y^,z^\hat{\mathbf{x}},\hat{\mathbf{y}},\hat{\mathbf{z}} constant unit-length vectors along three orthogonal directions. Time tt is that of a clock at rest at the SSB. Since the distance from Earth to the SSB (which is located near the Sun, about 500 seconds from Earth) is much less than the GW wavelengths or other distance of interest here (years to millenia), quantities evaluated at the SSB are called “Earth” terms.

(viii) Unit vectors on the two-sphere are written Ω\mathbf{\Omega}.

(ix) The angles θ∈[0,π]\theta\in[0,\pi] and ϕ∈[0,2π)\phi\in[0,2\pi) are conventional spherical-polar coordinates on the two-sphere, where θ\theta is the angle down from the zz-axis and ϕ\phi is the angle counterclockwise from the xx-axis after projection into the xx-yy plane.

(x) Indices jj, kk, ℓ\ell, and mm in the range 1,2,…,N1,2,\ldots,N label GW sources. For these, repeated indices are not summed.

(xi) The two pulsars with correlated pulse arrival times or redshifts are labeled “1” and “2” and are at distances L1L_{1} and L2L_{2} from Earth. Unit vectors pointing to them are p1\mathbf{p}_{1} and p2\mathbf{p}_{2}, and we use γ∈[0,π]\gamma\in[0,\pi] for the angle between them on the sky: cos⁡γ=p1⋅p2\cos\gamma=\mathbf{p}_{1}\cdot\mathbf{p}_{2}.

(xii) Some calculations incorporate a variable χ\chi which is set to unity to properly incorporate pulsar terms, or set to zero to neglect pulsar terms.

(xiii) Unless indicated, we use units in which the speed of light c=1c=1. We assume that GWs also propagate at this speed, since observations demonstrate that the fractional difference is at most a few parts in 101510^{15} [26, 27, 28].

Mean and variance of the Hellings-Downs correlation for one unpolarized GW point source

Here, we briefly describe the mean and variance of the Hellings-Downs correlation for a single unpolarized point source, which are computed in Appendix D and used throughout the paper. In this section, we neglect pulsar terms.

Hellings and Downs calculate the effect (on pulse redshift or timing residual) from a plane GW with unit amplitude traveling in direction Ω\mathbf{\Omega}. For a wave with polarization A=+A=+ or A=×A=\times, this effect is proportional to the antenna pattern function

FA(Ω)=12papb1+Ω⋅peabA(Ω),(2)F^{A}(\mathbf{\Omega})=\frac{1}{2}\frac{p^{a}p^{b}}{1+\mathbf{\Omega}\cdot\mathbf{p}}e^{A}_{ab}(\mathbf{\Omega}), \tag*{(2)}

where p\mathbf{p} is a unit-length spatial vector pointing from Earth to pulsar, and the eabA(Ω)e^{A}_{ab}(\mathbf{\Omega}) are a pair of normalized orthogonal spin-two polarization tensors, defined in Eq. (180). Clear derivations of these equations starting from first principles may be found in Appendices A and B of Ref. [18], noting the redshift sign correction in [29].

The correlation between two pulsars (subscripts 1 and 2) summed uniformly over both GW polarizations is

ρ=F1+(Ω)F2+(Ω)+F1×(Ω)F2×(Ω).(3)\rho=F_{1}^{+}(\mathbf{\Omega})F_{2}^{+}(\mathbf{\Omega})+F_{1}^{\times}(\mathbf{\Omega})F_{2}^{\times}(\mathbf{\Omega}). \tag*{(3)}

The Hellings-Downs curve [11], Eq. 5 is obtained by averaging this correlation over the directions of the GWs. We use angle brackets to denote this uniform average over directions: if Q(Ω)Q(\mathbf{\Omega}) is any function of direction, define

⟨Q⟩=14π∫dΩ Q(Ω)=14π∫0πsin⁡θ dθ∫02πdϕQ(θ,ϕ).(4)\begin{aligned} \langle Q\rangle=\frac{1}{4\pi}\int d\mathbf{\Omega}\,Q(\mathbf{\Omega}) \\ &=\frac{1}{4\pi}\int_{0}^{\pi}\sin\theta\,d\theta\int_{0}^{2\pi}d\phi Q(\theta,\phi). \tag*{(4)} \end{aligned}

If we average the correlation ρ\rho of Eq. (3) in this way, we obtain the Hellings-Downs curve

μu(γ)=⟨ρ⟩=14+112cos⁡γ+12(1−cos⁡γ)log⁡(1−cos⁡γ2),(5)\mu_u(\gamma)=\langle\rho\rangle =\frac{1}{4}+\frac{1}{12}\cos\gamma+\frac{1}{2}(1-\cos\gamma)\log\left(\frac{1-\cos\gamma}{2}\right), \tag*{(5)}

where γ\gamma is the angle between the lines of sight to the two pulsars cos⁡γ=p1⋅p2\cos\gamma=\mathbf{p}_1\cdot\mathbf{p}_2. A detailed calculation is given in Appendix § 13; this result is obtained in Eq. (203) and is plotted in Figure 1.

Note that we follow the Hellings-Downs normalization convention μu(0)=1/3\mu_u(0)=1/3. Some authors normalize this correlation function to 1/21/2 at γ=0\gamma=0, and some incorporate an additional delta-function term which only contributes if pulsar 1 is identical to pulsar 2 (same distance and direction) as shown in Eq. (136). This additional delta-function comes from the “pulsar terms,” and doubles the correlation for time-stationary GW sources. It arises from Eq. (48) for individual sources and from Eq. (145) for a Gaussian ensemble of sources.

Our interpretation of the function μu(γ)\mu_u(\gamma) is based on an important argument from [25]. Place an unpolarized point source of GWs at a fixed point on the sky. Then consider the correlation Eq. (3) as a function of the three variables that define the positions of the two pulsars on the sky, with fixed angle γ\gamma between them. As the pulsar pair is shifted around the sky, keeping the angle between them fixed, the correlation will vary. Map that function ρ\rho of three variables (a mountainous landscape) and add a flat level surface at the mean value μu(γ)=⟨ρ⟩\mu_u(\gamma)=\langle\rho\rangle, where the angle brackets now refer to that average over three variables. The deviations of ρ\rho from that level surface are the amount Δρ\Delta\rho by which the correlation for a particular configuration of pulsars at separation angle γ\gamma differs from the mean. The scale of those variations away from the mean (in the absence of any other sources of noise) is characterized by the (in this case “pulsar”) variance

σu2(γ)=⟨Δρ2⟩=⟨(ρ−⟨ρ⟩)2⟩=⟨ρ2⟩−⟨ρ⟩2,(6)\sigma_u^2(\gamma)=\langle\Delta\rho^2\rangle=\langle(\rho-\langle\rho\rangle)^2\rangle=\langle\rho^2\rangle-\langle\rho\rangle^2, \tag*{(6)}

where the subscript “u” means “unpolarized.” This variance cannot be determined from the Hellings-Downs curve itself, which is the first moment ⟨ρ⟩\langle\rho\rangle. A new integral needs to be evaluated, to obtain the second moment of the product of the antenna patterns: ⟨ρ2⟩\langle\rho^2\rangle.

There are two equivalent ways to calculate that second moment, which give exactly the same result. One can (a) fix the source position and average over the three variables that define the directions to the pulsars at fixed relative angle γ\gamma (we do this in Appendix § 2.1) or one can (b) fix the pulsar locations, with angle γ\gamma between them, and average over the two variables that define the direction to the source (we do this in Appendix § 13). Both approaches give the second moment of Eq. (210). From that second moment, one finds the variance from Eqs. (5) and (6), obtaining

σu2(γ)=9780+124cos⁡γ−839720cos⁡2γ+112(1−cos⁡γ)log⁡(1−cos⁡γ2)×(18−10cos⁡γ−3(1−cos⁡γ)log⁡(1−cos⁡γ2)).(7)\sigma_u^2(\gamma)=\frac{97}{80}+\frac{1}{24}\cos\gamma-\frac{839}{720}\cos^2\gamma +\frac{1}{12}(1-\cos\gamma)\log\left(\frac{1-\cos\gamma}{2}\right) \times\left(18-10\cos\gamma-3(1-\cos\gamma)\log\left(\frac{1-\cos\gamma}{2}\right)\right). \tag*{(7)}

A detailed calculation is given in Appendix § 13; this result is obtained in Eq. (211).

The square root of the variance is the standard deviation Δρ=σu\Delta\rho=\sigma_u. This is also plotted in Figure 1. The standard deviation indicates the approximate range in which, with the Hellings and Downs assumptions, the correlation for any particular pulsar pair should fall, if the Universe contains a single distant pointlike unpolarized GW source, and the pulsar terms can be neglected. To indicate this graphically, the dashed lines in Figure 1 show the ±1Δρ\pm1\Delta\rho range about ⟨ρ⟩\langle\rho\rangle. (Figure 3 shows a similar plot for a constant amplitude GW source, to which the pulsar terms necessarily contribute.)

Hellings-Downs correlation mean and standard deviation for a single unpolarized point source, including the pulsar terms

Figure 3. The Hellings-Downs correlation mean and standard deviation for a single unpolarized point source, including the pulsar terms. These are given by Eqs. (63) and (67) with χ=1\chi=1, H2=2\mathcal{H}_2=2 and H4=4\mathcal{H}_4=4, so that μ=μu(γ)\mu=\mu_u(\gamma) and σ2=σu2(γ)+3σc2(γ)/2\sigma^2=\sigma_u^2(\gamma)+3\sigma_c^2(\gamma)/2. The dashed lines show a ±1σ\pm1\sigma range about the mean. If there are many independent point sources, then σ\sigma has the same shape but smaller relative amplitude. Comparison with Figure 1 shows that including the pulsar term increases the variance by about a factor of four.

In Appendix § 2.1 we show that the mean correlation produced by a single (possibly polarized) point source is always described by the Hellings-Downs curve μu(γ)\mu_u(\gamma). However, the variance is a sum of two functions, if pulsar terms are neglected, or three functions, if pulsar terms are included.

Variance of the Hellings-Downs Correlation with Many Sources

The mean and variance of the correlation for a single point source are not directly applicable. We expect that our Universe contains large numbers of PTA point sources, probably in the form of supermassive black-hole binaries [30, 31] with the closest at 50–100 Mpc from Earth, and the most distant at the Hubble radius ≈4\approx4 Gpc. Here, we use the single point source results to predict the mean and variance for a large collection of such point sources.

We begin by constructing a model Universe containing NN point sources at sky locations −Ωj-\mathbf{\Omega}_j, where j=1,2,…,Nj=1,2,\ldots,N. The minus sign ensures that the GWs of relevance to us propagate in direction Ωj\mathbf{\Omega}_j, in agreement with our conventions elsewhere in this paper. (Nevertheless, we often call Ωj\mathbf{\Omega}_j the “source direction.”) Each source has its own GW waveforms hj+(t)h_j^+(t) and hj×(t)h_j^\times(t) for the two GW polarizations, as measured at Earth. We adopt simple but realistic statistical models for the locations and waveforms of these sources, and use them to compute the mean and variance of the Hellings-Downs correlation. For convenience, we describe the correlation in terms of pulse redshifts rather than timing residuals. At fixed GW frequency, these are proportional, see [18] for further discussion.

For this fixed set of GW sources, the pulse redshift of pulsar n=1,2n = 1, 2 at time tt is a sum over the individual sources

Zn(t)=∑jΔhj+(t,Lnpn)Fn+(Ωj)+Δhj×(t,Lnpn)Fn×(Ωj),(8)Z_n(t) = \sum_j \Delta h_j^+(t,L_n\mathbf{p}_n)F_n^+(\boldsymbol{\Omega}_j) + \Delta h_j^\times(t,L_n\mathbf{p}_n)F_n^\times(\boldsymbol{\Omega}_j), \tag*{(8)}

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