Improving monocular SLAM with altimeter hints for fixed-wing aircraft navigation and emergency landing

This paper presents a visual SLAM method for temporary satellite dropout navigation, here applied on fixed- wing aircraft. It is designed for flight altitudes beyond typical stereo ranges, but within the range of distance measurement sensors. The proposed visual SLAM method consists of a common localization step with monocular camera resectioning, and a mapping step which incorporates radar altimeter data for absolute scale estimation. With that, there will be no scale drift of the map and the estimated flight path. The method does not require simplifications like known landmarks and it is thus suitable for unknown and nearly arbitrary terrain. The method is tested with sensor datasets from a manned Cessna 172 aircraft. With 5% absolute scale error from radar measurements causing approximately 2-6% accumulation error over the flown distance, stable positioning is achieved over several minutes of flight time. The main limitations are flight altitudes above the radar range of 750 m where the monocular method will suffer from scale drift, and, depending on the flight speed, flights below 50 m where image processing gets difficult with a downwards-looking camera due to the high optical flow rates and the low image overlap.

The variability of eddy kinetic energy in the South China Sea deduced from satellite altimeter data

We used fifteen years (1993-2007) of altimetric data, combined from different missions (ERS-1/2, TOPEX/Poseidon, Jason-1, and Envisat), to analyze the variability of the eddy kinetic energy (EKE) in the South China Sea (SCS). We found that the EKE ranged from 64 cm(2)/s(2) to 1 390 cm(2)/s(2) with a mean value of 314 cm(2)/s(2). The highest EKE center was observed to the east of Vietnam (with a mean value of 509 cm(2)/s(2)) and the second highest EKE region was located to the southwest of Taiwan Island (with a mean value of 319 cm(2)/s(2)). We also found that the EKE structure is the consequence of the superposition of different variability components. First, interannual variability is important in the SCS. Spectral analysis of the EKE interannual signal (IA-EKE) shows that the main periodicities of the IA-EKE to the east of Vietnam, to the southwest of Taiwan Island, and in the SCS are 3.75, 1.87, and 3.75 years, respectively. It is to the south of Taiwan Island that the IA-EKE signal has the most obvious impact on EKE variability. In addition, the IA-EKE exhibit different trends in different regions. An obvious positive trend is observed along the east coast of Vietnam, while a negative trend is found to the southwest of Taiwan Island and in the east basin of Vietnam. Correlation analysis shows that the IA-EKE has an obvious negative correlation with the SSTA in Nio3 (5A degrees S-5A degrees N, 90A degrees W-150A degrees W). El Nio-Southern Oscillation (ENSO) affects the IA-EKE variability in the SCS through an atmospheric bridge-wind stress curl over the SCS. Second, the seasonal cycle is the most obvious timescale affecting EKE variability. The locations of the most remarkable EKE seasonal variabilities in the SCS are to the east of Vietnam, to the southwest of Taiwan, and to the west of Philippines. To the east of Vietnam, the seasonal cycle is the dominant mechanism controlling EKE variability, which is attributed primarily to the annual cycle there of wind stress curl. In this area, the maximum EKE is observed in autumn. To the southwest of Taiwan Island, the EKE is enlarged by the stronger SCS circulation, which is caused by the intrusion branch from the Kuroshio in winter. Finally, intra-annual and mesoscale variability, although less important than the former, cannot be neglected. The most obvious intra-annual and mesoscale variability, which may be the result of baroclinic instability of the background flow, are observed to the southwest of Taiwan Island. Sporadic events can have an important effect on EKE variability.

Shallow water tidal constituents in the Bohai Sea and the Yellow Sea from a numerical adjoint model with TOPEX/POSEIDON altimeter data

A numerical adjoint model with TOPEX/POSEIDON (T/P) altimeter data was set up to investigate the shallow water tidal constituents in the Bohai Sea and the Yellow Sea. Shallow water tidal constituents W-4, MS4 and M-6) in the Bohai Sea and the Yellow Sea were first extracted from nearly 10 years of T/P data and then assimilated into a nonlinear barotropic tidal model by using adjoint method in order to fully describe the tides in this area. The general patterns of M-4 and MS4 solutions were in good agreement with those of Kang et al. (Cont. Shelf. Res. IS (1998) 739.) and Lefevre et al., (J. Geophys. Res. 105 (2000) 8707.). The RMS values for the principal constituents and coastal constituents were obviously less than those calculated by Kang et al. (1998) and Lefevre et al. (2000). It was shown that the calculated tidal constituents charts obtained in the present study were more accurate than those in other models. In the future the model will be applied to other coastal areas and some semi-enclosed seas. (C) 2004 Elsevier Ltd. All rights reserved.

Variability of surface circulation in the South China Sea from satellite altimeter data

11-year satellite altimeter sea surface height (SSH) anomaly data from January 1993 to December 2003 are used to present the dominant spatial patterns and temporal variations of the South China Sea (SCS) surface circulation through Empirical Orthogonal Function (EOF) analysis. The first three EOF modes show the obvious seasonal variations of SSH in the SCS. EOF mode one is generally characterized by a basin-wide circulation. Mode two describes the double-cell basin scale circulation structure. The two cells were located off west of the Luzon Island and southeast of Vietnam, respectively. EOF mode three presents the mesoscale eddy structure in the western SCS, which develops into a strong cyclonic eddy rapidly from July to September. EOF mode one and mode three are also embedded with interannual signals, indicating that the SCS surface circulation variation is influenced by El Nino events prominently. The strong El Nino of 1997/98 obviously changed the SCS circulation structure. This study also shows that there existed a series of mesoscale eddies in the western SCS, and their temporal variation indicates intra-seasonal and interannual signals.

Annual westward propagating anomalies near 26 degrees N and eddy generation south of the Canary Islands: remote sensing (altimeter/SeaWIFS) and in situ measurement

Seasonal changes in altimeter data are derived for the North Atlantic Ocean. Altimeter data are then used to examine annually propagating structure along 26 degree N. By averaging the altimeter data into monthly values or by Fourier analysis, a positive anomaly can be followed from 17 degree W to similar to 50 degree W along similar to 26 degree N. The methods give a westward travel speed of 1 degree of longitude a month and a half-life of one year for the average decaying structure. At similar to 50 degree W 26 degree N, the average structure is about 2.8 years old with an elevation signal of similar to 1 cm, having gravelled similar to 3300 km westward. The mean positive anomaly results from the formation of anticyclonic eddies which are generally formed annually south of the Canary Islands by late summer and which then travel westward near 26 degree N. Individual eddy structure along 26 degree N is examined and related to in situ measurements and anomalies in the annual seasonal concentration cycle of SeaWiFS chlorophyll-a.

Position and structure of the subtropical/Azores front region from combined Lagrangian and remote sensing (IR/altimeter/SeaWIFS) measurements

The position and structure of the North Atlantic Subtropical Front is studied using Lagrangian flow tracks and remote sensing (AVHRR imagery: TOPEX/POSEIDON altimetry: SeaWiFS) in a broad region ( similar to 31 degree to similar to 36 degree N) of marked gradient of dynamic height (Azores Current) that extends from the Mid-Atlantic Ridge (MAR), near similar to 40 degree W, to the Eastern Boundary ( similar to 10 degree W). Drogued Argos buoy and ALACE tracks are superposed on infrared satellite images in the Subtropical Front region. Cold (cyclonic) structures, called storms, and warm (anticyclonic) structures of 100-300 km in size can be found on the south side of the Subtropical Front outcrop, which has a temperature contrast of about 1 degree C that can be followed for similar to 2500 km near 35 degree N. Warmer water adjacent to the outcrop is flowing eastward (Azores Current) but some warm water is returned westward about 300 km to the south (southern Counterflow). Estimates of horizontal diffusion in a Storm (D=2.2t10 super(2) m super(2) s super(-1)) and in the Subtropical Front region near 200 m depth (D sub(x)=1.3t10 super(4) m super(2) s super(-1), D sub(y)=2.6t10 super(3) m super(2) s super(-1)) are made from the Lagrangian tracks. Altimeter and in situ measurements show that Storms track westwards. Storms are separated by about 510 km and move westward at 2.7 km d super(-1). Remote sensing reveals that some initial structures start evolving as far east as 23 degree W but are more organized near 29 degree W and therefore Storms are about 1 year old when they reach the MAR (having travelled a distance of 1000 km). Structure and seasonality in SeaWiFS data in the region is examined.

Seasonality and interannual variability of the European Slope Current from 20 years of altimeter data compared with in situ measurements

The European Slope Current (SC) is a major section of the warm poleward flow from the Atlantic to the Arctic, which also moderates the exchange of heat, salt, nutrients and carbon between the deep ocean and the European shelf seas. The mean structure of the geostrophic flow, seasonality, interannual variability and long-term trend of SC are appraised with an unprecedented continuous 20-year satellite altimeter dataset. Comparisons with long term in situ data showed a maximum correlation of r2=0.51 between altimeter and Acoustic Doppler Current Profilers (ADCP), with similar results for drogued buoy data. Mean geostrophic currents were appraised more comprehensively than previous attempts, and the paths of 4 branches of the North Atlantic Current (NAC) and positions of 5 eddies in the region were derived quantitatively. A consistent seasonal cycle in the flow of the SC was found at all 8 sections along the European shelf slope, with maximum poleward flow in the winter and minimum in the summer. The seasonal difference in the altimetry current speed amounted to ~8-10 cm s-1 at the northern sections, but only ~5 cm s-1 on the Bay of Biscay slopes. This extended altimeter dataset indicates significant regional and seasonal variations, and has revealed new insights into the interannual variability of the SC. It is shown that there is a peak poleward flow at most positions along a ~2000 km stretch of the continental slope from Portugal to Scotland during 1995-1997, but this did not clearly relate to the extreme negative North Atlantic Oscillation (NAO) in the winter of 1995-1996. The speed of the SC exhibited a long term decreasing trend of ~1% per year. By contrast the NAC showed no significant trend over the 20-year period. Major changes in the NAC occurred three times, and these changes followed decreases in the NAO index.

Surface Circulation in the Tropical Indian Ocean Using Multi-Mission Altimeter Data

In the present study the availability of satellite altimeter sea level data with good spatial and temporal resolution is explored to describe and understand circulation of the tropical Indian Ocean. The derived geostrophic circulations showed large variability in all scales. The seasonal cycle described using monthly climatology generated using 12 years SSH data from 1993 to 2004 revealed several new aspects of tropical Indian Ocean circulation. The interannual variability presented in this study using monthly means of SSH data for 12 years have shown large year-to-year variability. The EOF analysis has shown the influence of several periodic signals in the annual and interannual scales where the relative strengths of the signals also varied from year to year. Since one of the reasons for this kind of variability in circulation is the presence of planetary waves. This study discussed the influence of such waves on circulation by presenting two cases one in the Arabian Sea and other in the Bay of Bengal.

Retrievals of thick cloud optical depth from the Geoscience Laser Altimeter System (GLAS) by calibration of solar background signal

Laser beams emitted from the Geoscience Laser Altimeter System (GLAS), as well as other spaceborne laser instruments, can only penetrate clouds to a limit of a few optical depths. As a result, only optical depths of thinner clouds (< about 3 for GLAS) are retrieved from the reflected lidar signal. This paper presents a comprehensive study of possible retrievals of optical depth of thick clouds using solar background light and treating GLAS as a solar radiometer. To do so one must first calibrate the reflected solar radiation received by the photon-counting detectors of the GLAS 532-nm channel, the primary channel for atmospheric products. Solar background radiation is regarded as a noise to be subtracted in the retrieval process of the lidar products. However, once calibrated, it becomes a signal that can be used in studying the properties of optically thick clouds. In this paper, three calibration methods are presented: (i) calibration with coincident airborne and GLAS observations, (ii) calibration with coincident Geostationary Opera- tional Environmental Satellite (GOES) and GLAS observations of deep convective clouds, and (iii) cali- bration from first principles using optical depth of thin water clouds over ocean retrieved by GLAS active remote sensing. Results from the three methods agree well with each other. Cloud optical depth (COD) is retrieved from the calibrated solar background signal using a one-channel retrieval. Comparison with COD retrieved from GOES during GLAS overpasses shows that the average difference between the two retriev- als is 24%. As an example, the COD values retrieved from GLAS solar background are illustrated for a marine stratocumulus cloud field that is too thick to be penetrated by the GLAS laser. Based on this study, optical depths for thick clouds will be provided as a supplementary product to the existing operational GLAS cloud products in future GLAS data releases.

Assimilation of Geosat Altimeter Data for the Agulhas Current Using the Ensemble Kalman Filter with a Quasigeostrophic Model

The ring-shedding process in the Agulhas Current is studied using the ensemble Kalman filter to assimilate geosat altimeter data into a two-layer quasigeostrophic ocean model. The properties of the ensemble Kalman filter are further explored with focus on the analysis scheme and the use of gridded data. The Geosat data consist of 10 fields of gridded sea-surface height anomalies separated 10 days apart that are added to a climatic mean field. This corresponds to a huge number of data values, and a data reduction scheme must be applied to increase the efficiency of the analysis procedure. Further, it is illustrated how one can resolve the rank problem occurring when a too large dataset or a small ensemble is used.

Integrated marine gravity field in the Brazilian coast from altimeter-derived sea surface gradient and shipborne gravity

Sea surface gradients derived from the Geosat and ERS-1 satellite altimetry geodetic missions were integrated with marine gravity data from the National Geophysical Data Center and Brazilian national surveys. Using the least squares collocation method, models of free-air gravity anomaly and geoid height were calculated for the coast of Brazil with a resolution of 2` x 2`. The integration of satellite and shipborne data showed better statistical results in regions near the coast than using satellite data only, suggesting an improvement when compared to the state-of-the-art global gravity models. Furthermore, these results were obtained with considerably less input information than was used by those reference models. The least squares collocation presented a very low content of high-frequency noise in the predicted gravity anomalies. This may be considered essential to improve the high resolution representation of the gravity field in regions of ocean-continent transition. (C) 2010 Elsevier Ltd. All rights reserved.

Sea waves generated by extratropical cyclones in the South Atlantic Ocean: Hindcast and validation against altimeter data

This work presents analyses of the atmospheric conditions and the hindcast of the surface wave field when six extratropical cyclones formed and displaced over the South Atlantic Ocean (10degreesN, 60degreesS; 75degreesW, 15degreesE) between April and September 1999. These events caused high sea waves associated with hazardous conditions along the south and southeast coast of Brazil. The meteorological composite fields for these cyclones show a strong near-surface wind velocity (up to 14 m s(-1)) during its mature phase. The sea-state wave hindcast was obtained using a third-generation wave model forced by the 10-m above ground level wind field from the National Centers for Environmental Prediction-National Center for Atmospheric Research reanalysis dataset. Closer to the south and southeast Brazilian coast, the hindcast results showed significant wave heights of up to 5 m in some of the events. The wave hindcast results for the significant wave height were compared against satellite altimeter data at 6 h intervals. The statistical index showed a systematic underestimation of the significant wave height by 0.5 m. The correlation between wave hindcast and altimeter measurements was greater than 90%, showing a good phase reproduction by the wave model.