Data assimilation: From photon counts to Earth System forecasts

Data assimilation – the set of techniques whereby information from observing systems and models is combined optimally – is rapidly becoming prominent in endeavours to exploit Earth Observation for Earth sciences, including climate prediction. This paper explains the broad principles of data assimilation, outlining different approaches (optimal interpolation, three-dimensional and four-dimensional variational methods, the Kalman Filter), together with the approximations that are often necessary to make them practicable. After pointing out a variety of benefits of data assimilation, the paper then outlines some practical applications of the exploitation of Earth Observation by data assimilation in the areas of operational oceanography, chemical weather forecasting and carbon cycle modelling. Finally, some challenges for the future are noted.

Correlated observation errors in data assimilation

Data assimilation provides techniques for combining observations and prior model forecasts to create initial conditions for numerical weather prediction (NWP). The relative weighting assigned to each observation in the analysis is determined by its associated error. Remote sensing data usually has correlated errors, but the correlations are typically ignored in NWP. Here, we describe three approaches to the treatment of observation error correlations. For an idealized data set, the information content under each simplified assumption is compared with that under correct correlation specification. Treating the errors as uncorrelated results in a significant loss of information. However, retention of an approximated correlation gives clear benefits.

Calibration of uncertain flood inundation models using remotely sensed water levels

A traditional method of validating the performance of a flood model when remotely sensed data of the flood extent are available is to compare the predicted flood extent to that observed. The performance measure employed often uses areal pattern-matching to assess the degree to which the two extents overlap. Recently, remote sensing of flood extents using synthetic aperture radar (SAR) and airborne scanning laser altimetry (LIDAR) has made more straightforward the synoptic measurement of water surface elevations along flood waterlines, and this has emphasised the possibility of using alternative performance measures based on height. This paper considers the advantages that can accrue from using a performance measure based on waterline elevations rather than one based on areal patterns of wet and dry pixels. The two measures were compared for their ability to estimate flood inundation uncertainty maps from a set of model runs carried out to span the acceptable model parameter range in a GLUE-based analysis. A 1 in 5-year flood on the Thames in 1992 was used as a test event. As is typical for UK floods, only a single SAR image of observed flood extent was available for model calibration and validation. A simple implementation of a two-dimensional flood model (LISFLOOD-FP) was used to generate model flood extents for comparison with that observed. The performance measure based on height differences of corresponding points along the observed and modelled waterlines was found to be significantly more sensitive to the channel friction parameter than the measure based on areal patterns of flood extent. The former was able to restrict the parameter range of acceptable model runs and hence reduce the number of runs necessary to generate an inundation uncertainty map. A result of this was that there was less uncertainty in the final flood risk map. The uncertainty analysis included the effects of uncertainties in the observed flood extent as well as in model parameters. The height-based measure was found to be more sensitive when increased heighting accuracy was achieved by requiring that observed waterline heights varied slowly along the reach. The technique allows for the decomposition of the reach into sections, with different effective channel friction parameters used in different sections, which in this case resulted in lower r.m.s. height differences between observed and modelled waterlines than those achieved by runs using a single friction parameter for the whole reach. However, a validation of the modelled inundation uncertainty using the calibration event showed a significant difference between the uncertainty map and the observed flood extent. While this was true for both measures, the difference was especially significant for the height-based one. This is likely to be due to the conceptually simple flood inundation model and the coarse application resolution employed in this case. The increased sensitivity of the height-based measure may lead to an increased onus being placed on the model developer in the production of a valid model

Flood detection in urban areas using TerraSAR-X

Flooding is a major hazard in both rural and urban areas worldwide, but it is in urban areas that the impacts are most severe. An investigation of the ability of high resolution TerraSAR-X Synthetic Aperture Radar (SAR) data to detect flooded regions in urban areas is described. The study uses a TerraSAR-X image of a 1 in 150 year flood near Tewkesbury, UK, in 2007, for which contemporaneous aerial photography exists for validation. The DLR SAR End-To-End simulator (SETES) was used in conjunction with airborne scanning laser altimetry (LiDAR) data to estimate regions of the image in which water would not be visible due to shadow or layover caused by buildings and taller vegetation. A semi-automatic algorithm for the detection of floodwater in urban areas is described, together with its validation using the aerial photographs. 76% of the urban water pixels visible to TerraSAR-X were correctly detected, with an associated false positive rate of 25%. If all urban water pixels were considered, including those in shadow and layover regions, these figures fell to 58% and 19% respectively. The algorithm is aimed at producing urban flood extents with which to calibrate and validate urban flood inundation models, and these findings indicate that TerraSAR-X is capable of providing useful data for this purpose.

A calibrated, non-invasive method for measuring the internal interface height field at high resolution in the rotating, two-layer annulus

We describe a remote sensing method for measuring the internal interface height field in a rotating, two-layer annulus laboratory experiment. The method is non-invasive, avoiding the possibility of an interaction between the flow and the measurement device. The height fields retrieved are accurate and highly resolved in both space and time. The technique is based on a flow visualization method developed by previous workers, and relies upon the optical rotation properties of the working liquids. The previous methods returned only qualitative interface maps, however. In the present study, a technique is developed for deriving quantitative maps by calibrating height against the colour fields registered by a camera which views the flow from above. We use a layer-wise torque balance analysis to determine the equilibrium interface height field analytically, in order to derive the calibration curves. With the current system, viewing an annulus of outer radius 125 mm and depth 250 mm from a distance of 2 m, the inferred height fields have horizontal, vertical and temporal resolutions of up to 0.2 mm, 1 mm and 0.04 s, respectively.

Serving GODAE Data and Products to the Ocean Community

The Global Ocean Data Assimilation Experiment (GODAE [http:// www.godae.org]) has spanned a decade of rapid technological development. The ever-increasing volume and diversity of oceanographic data produced by in situ instruments, remote-sensing platforms, and computer simulations have driven the development of a number of innovative technologies that are essential for connecting scientists with the data that they need. This paper gives an overview of the technologies that have been developed and applied in the course of GODAE, which now provide users of oceanographic data with the capability to discover, evaluate, visualize, download, and analyze data from all over the world. The key to this capability is the ability to reduce the inherent complexity of oceanographic data by providing a consistent, harmonized view of the various data products. The challenges of data serving have been addressed over the last 10 years through the cooperative skills and energies of many individuals.

Spectral properties, iron oxide content and provenance of Namib dune sands

This paper applies multispectral remote sensing techniques to map the Fe-oxide content over the entire Namib sand sea. Spectrometric analysis is applied to field samples to identify the reflectance properties of the dune sands which enable remotely sensed Fe-oxide mapping. The results indicate that the pattern of dune colour in the Namib sand sea arises from the mixing of at least two distinct sources of sand; a red component of high Fe-oxide content (present as a coating on the sand grains) which derives from the inland regions, particularly from major embayments into the Southern African escarpment; and a yellow coastal component of low Fe-oxide content which is brought into the area by northward-moving aeolian transport processes. These major provenances are separated by a mixing zone between 20 kin and 90 kin from the coast throughout the entire length of the sand sea. Previous workers have also recognised a third, fluvial, provenance, but the methodology applied here is not able to map this source as a distinct spectral component. (c) 2006 Elsevier B.V. All rights reserved.

Spatial and temporal scale issues in determining biomass burning regimes in Bolivia and Peru

ATSR-2 active fire data from 1996 to 2000, TRMM VIRS fire counts from 1998 to 2000 and burn scars derived from SPOT VEGETATION ( the Global Burnt Area 2000 product) were mapped for Peru and Bolivia to analyse the spatial distribution of burning and its intra- and inter-annual variability. The fire season in the region mainly occurs between May and October; though some variation was found between the six broad habitat types analysed: desert, grassland, savanna, dry forest, moist forest and yungas (the forested valleys on the eastern slope of the Andes). Increased levels of burning were generally recorded in ATSR-2 and TRMM VIRS fire data in response to the 1997/1998 El Nino, but in some areas the El Nino effect was masked by the more marked influences of socio-economic change on land use and land cover. There were differences between the three global datasets: ATSR-2 under-recorded fires in ecosystems with low net primary productivities. This was because fires are set during the day in this region and, when fuel loads are low, burn out before the ATSR-2 overpass in the region which is between 02.45 h and 03.30 h. TRMM VIRS was able to detect these fires because its overpasses cover the entire diurnal range on a monthly basis. The GBA2000 product has significant errors of commission (particularly areas of shadow in the well-dissected eastern Andes) and omission (in the agricultural zone around Santa Cruz, Bolivia and in north-west Peru). Particular attention was paid to biomass burning in high-altitude grasslands, where fire is an important pastoral management technique. Fires and burn scars from Landsat Thematic Mapper (TM) and Enhanced Thematic Mapper (ETM) data for a range of years between 1987 and 2000 were mapped for areas around Parque Nacional Rio Abiseo (Peru) and Parque Nacional Carrasco (Bolivia). Burn scars mapped in the grasslands of these two areas indicate far more burning had taken place than either the fires or the burn scars derived from global datasets. Mean scar sizes are smaller and have a smaller range in size between years the in the study area in Peru (6.6-7.1 ha) than Bolivia (16.9-162.5 ha). Trends in biomass burning in the two highland areas can be explained in terms of the changing socio-economic environments and impacts of conservation. The mismatch between the spatial scale of biomass burning in the high-altitude grasslands and the sensors used to derive global fire products means that an entire component of the fire regime in the region studied is omitted, despite its importance in the farming systems on the Andes.

Effects of sub-pixel heterogeneity on the retrieval of soil moisture from passive microwave radiometry

A simple formulation relating the L-band microwave brightness temperature detected by a passive microwave radiometer to the near surface soil moisture was developed using MICRO-SWEAT, a coupled microwave emission model and soil-vegetation-atmosphere-transfer (SVAT) scheme. This simple model provides an ideal tool with which to explore the impact of sub-pixel heterogeneity on the retrieval of soil moisture from microwave brightness temperatures. In the case of a bare soil pixel, the relationship between apparent emissivity and surface soil moisture is approximately linear, with the clay content of the soil influencing just the intercept of this relationship. It is shown that there are no errors in the retrieved soil moisture from a bare soil pixel that is heterogeneous in soil moisture and texture. However, in the case of a vegetated pixel, the slope of the relationship between apparent emissivity and surface soil moisture decreases with increasing vegetation. Therefore for a pixel that is heterogeneous in vegetation and soil moisture, errors can be introduced into the retrieved soil moisture. Generally, under moderate conditions, the retrieved soil moisture is within 3% of the actual soil moisture. Examples illustrating this discussion use data collected during the Southern Great Plains '97 Experiment (SGP97).

Sensitivity of radar backscatter to desert surface roughness

Synthetic aperture radar (SAR) data have proved useful in remote sensing studies of deserts, enabling different surfaces to be discriminated by differences in roughness properties. Roughness is characterized in SAR backscatter models using the standard deviation of surface heights (sigma), correlation length (L) and autocorrelation function (rho(xi)). Previous research has suggested that these parameters are of limited use for characterizing surface roughness, and are often unreliable due to the collection of too few roughness profiles, or under-sampling in terms of resolution or profile length (L-p). This paper reports on work aimed at establishing the effects of L-p and sampling resolution on SAR backscatter estimations and site discrimination. Results indicate significant relationships between the average roughness parameters and L-p, but large variability in roughness parameters prevents any clear understanding of these relationships. Integral equation model simulations demonstrate limited change with L-p and under-estimate backscatter relative to SAR observations. However, modelled and observed backscatter conform in pattern and magnitude for C-band systems but not for L-band data. Variation in surface roughness alone does not explain variability in site discrimination. Other factors (possibly sub-surface scattering) appear to play a significant role in controlling backscatter characteristics at lower frequencies.

The use of earth observation techniques to improve catchment-scale pollution predictions

Remote sensing can potentially provide information useful in improving pollution transport modelling in agricultural catchments. Realisation of this potential will depend on the availability of the raw data, development of information extraction techniques, and the impact of the assimilation of the derived information into models. High spatial resolution hyperspectral imagery of a farm near Hereford, UK is analysed. A technique is described to automatically identify the soil and vegetation endmembers within a field, enabling vegetation fractional cover estimation. The aerially-acquired laser altimetry is used to produce digital elevation models of the site. At the subfield scale the hypothesis that higher resolution topography will make a substantial difference to contaminant transport is tested using the AGricultural Non-Point Source (AGNPS) model. Slope aspect and direction information are extracted from the topography at different resolutions to study the effects on soil erosion, deposition, runoff and nutrient losses. Field-scale models are often used to model drainage water, nitrate and runoff/sediment loss, but the demanding input data requirements make scaling up to catchment level difficult. By determining the input range of spatial variables gathered from EO data, and comparing the response of models to the range of variation measured, the critical model inputs can be identified. Response surfaces to variation in these inputs constrain uncertainty in model predictions and are presented. Although optical earth observation analysis can provide fractional vegetation cover, cloud cover and semi-random weather patterns can hinder data acquisition in Northern Europe. A Spring and Autumn cloud cover analysis is carried out over seven UK sites close to agricultural districts, using historic satellite image metadata, climate modelling and historic ground weather observations. Results are assessed in terms of probability of acquisition probability and implications for future earth observation missions. (C) 2003 Elsevier Ltd. All rights reserved.

Causes of the apparent scale independence of fractal indices associated with forest fragmentation in Bolivia

In a recent investigation, Landsat TM and ETM+ data were used to simulate different resolutions of remotely-sensed images (from 30 to 1100 m) and to analyze the effect of resolution on a range of landscape metrics associated with spatial patterns of forest fragmentation in Chapare, Bolivia since the mid-1980s. Whereas most metrics were found to be highly dependent on pixel size, several fractal metrics (DLFD, MPFD, and AWMPFD) were apparently independent of image resolution, in contradiction with a sizeable body of literature indicating that fractal dimensions of natural objects depend strongly on image characteristics. The present re-analysis of the Chapare images, using two alternative algorithms routinely used for the evaluation of fractal dimensions, shows that the values of the box-counting and information fractal dimensions are systematically larger, sometimes by as much as 85%, than the "fractal" indices DLFD, MPFD, and AWMFD for the same images. In addition, the geometrical fractal features of the forest and non-forest patches in the Chapare region strongly depend on the resolution of images used in the analysis. The largest dependency on resolution occurs for the box-counting fractal dimension in the case of the non-forest patches in 1993, where the difference between the 30 and I 100 m-resolution images corresponds to 24% of the full theoretical range (1.0 to 2.0) of the mass fractal dimension. The observation that the indices DLFD, MPFD, and AWMPFD, unlike the classical fractal dimensions, appear relatively unaffected by resolution in the case of the Chapare images seems due essentially to the fact that these indices are based on a heuristic, "non-geometric" approach to fractals. Because of their lack of a foundation in fractal geometry, nothing guarantees that these indices will be resolution-independent in general. (C) 2006 International Society for Photogrammetry and Remote Sensing, Inc. (ISPRS). Published by Elsevier B.V. All rights reserved.

Changes in the extent of glaciers in the Eastern Terskey Alatoo, the Central Tien-Shan, in response to climatic fluctuations in between the end of the 19th and the beginning of the 21st century

Changes in the extent of glaciers and rates of glacier termini retreat in the eastern Terskey-Alatoo Range, the Tien Shan Mountains, Central Asia have been evaluated using the remote sensing techniques. Changes in the extent of 335 glaciers between the end of the Little Ice Age (LIA; mid-19th century), 1990 and 2003 have been estimated through the delineation of glacier outlines and the LIA moraine positions on the Landsat TM and ASTER imagery for 1990 and 2003 respectively. By 2003, the glacier surface area had decreased by 19% of the LIA value, which constitutes a 76 km(2) reduction in glacier surface area. Mapping of 109 glaciers using the 1965 1:25,000 maps revealed that glacier surface area decreased by 12.6% of the 1965 value between 1965 and 2003. Detailed mapping of 10 glaciers using historical maps and aerial photographs from the 1943-1977 period, has enabled glacier extent variations over the 20th century to be identified with a higher temporal resolution. Glacial retreat was slow in the early 20th century but increased considerably between 1943 and 1956 and then again after 1977. The post-1990 period has been marked by the most rapid glacier retreat since the end of the LIA. The observed changes in the extent of glaciers are in line with the observed climatic warming. The regional weather stations have revealed a strong climatic warming during the ablation season since the 1950s at a rate of 0.02-0.03 degrees Ca-1. At the higher elevations in the study area represented by the Tien Shan meteorological station, the summer warming was accompanied by negative anomalies in annual precipitation in the 1990s enhancing glacier retreat. However, trends in precipitation in the post-1997 period cannot be evaluated due to the change in observational practices at this station. Neither station in the study area exhibits significant long-term trends in precipitation. Crown Copyright (C) 2009 Published by Elsevier B.V. All rights reserved.

Using the variogram to explore imagery of two different spatial resolutions

The resolution of remotely sensed data is becoming increasingly fine, and there are now many sources of data with a pixel size of 1 m x 1 m. This produces huge amounts of data that have to be stored, processed and transmitted. For environmental applications this resolution possibly provides far more data than are needed: data overload. This poses the question: how much is too much? We have explored two resolutions of data-20 in pixel SPOT data and I in pixel Computerized Airborne Multispectral Imaging System (CAMIS) data from Fort A. P. Hill (Virginia, USA), using the variogram of geostatistics. For both we used the normalized difference vegetation index (NDVI). Three scales of spatial variation were identified in both the SPOT and 1 in data: there was some overlap at the intermediate spatial scales of about 150 in and of 500 m-600 in. We subsampled the I in data and scales of variation of about 30 in and of 300 in were identified consistently until the separation between pixel centroids was 15 in (or 1 in 225pixels). At this stage, spatial scales of about 100m and 600m were described, which suggested that only now was there a real difference in the amount of spatial information available from an environmental perspective. These latter were similar spatial scales to those identified from the SPOT image. We have also analysed I in CAMIS data from Fort Story (Virginia, USA) for comparison and the outcome is similar.:From these analyses it seems that a pixel size of 20m is adequate for many environmental applications, and that if more detail is required the higher resolution data could be sub-sampled to a 10m separation between pixel centroids without any serious loss of information. This reduces significantly the amount of data that needs to be stored, transmitted and analysed and has important implications for data compression.