On the use of iterative re-weighting least-squares and outlier detection for empirically modelling rates of vertical displacement

The proper identification and removal of outliers in the combination of rates of vertical displacements derived from GPS, tide gauges/satellite altimetry, and GRACE observations is presented. Outlier detection is a necessary pre-screening procedure in order to ensure reliable estimates of stochastic properties of the observations in the combined least-squares adjustment (via rescaling of covariance matrices) and to ensure that the final vertical motion model is not corrupted and/or distorted by erroneous data. Results from this study indicate that typical data snooping methods are inadequate in dealing with these heterogeneous data sets and their stochastic properties. Using simulated vertical displacement rates, it is demonstrated that a large variety of outliers (random scattered and adjacent, as well as jointly influential) can be dealt with if an iterative re-weighting least-squares adjustment is combined with a robust median estimator. Moreover, robust estimators are efficient in areas weakly constrained by the data, where even high quality observations may appear to be erroneous if their estimates are largely influenced by outliers. Four combined models for the vertical motion in the region of the Great Lakes are presented. The computed vertical displacements vary between  − 2 mm/year (subsidence) along the southern shores and 3 mm/year (uplift) along the northern shores. The derived models provide reliable empirical constraints and error bounds for postglacial rebound models in the region.     

Phase center modeling for LEO GPS receiver antennas and its impact on precise orbit determination

Most satellites in a low-Earth orbit (LEO) with demanding requirements on precise orbit determination (POD) are equipped with on-board receivers to collect the observations from Global Navigation Satellite systems (GNSS), such as the Global Positioning System (GPS). Limiting factors for LEO POD are nowadays mainly encountered with the modeling of the carrier phase observations, where a precise knowledge of the phase center location of the GNSS antennas is a prerequisite for high-precision orbit analyses. Since 5 November 2006 (GPS week 1400), absolute instead of relative values for the phase center location of GNSS receiver and transmitter antennas are adopted in the processing standards of the International GNSS Service (IGS). The absolute phase center modeling is based on robot calibrations for a number of terrestrial receiver antennas, whereas compatible antenna models were subsequently derived for the remaining terrestrial receiver antennas by conversion (from relative corrections), and for the GNSS transmitter antennas by estimation. However, consistent receiver antenna models for space missions such as GRACE and TerraSAR-X, which are equipped with non-geodetic receiver antennas, are only available since a short time from robot calibrations. We use GPS data of the aforementioned LEOs of the year 2007 together with the absolute antenna modeling to assess the presently achieved accuracy from state-of-the-art reduced-dynamic LEO POD strategies for absolute and relative navigation. Near-field multipath and cross-talk with active GPS occultation antennas turn out to be important and significant sources for systematic carrier phase measurement errors that are encountered in the actual spacecraft environments. We assess different methodologies for the in-flight determination of empirical phase pattern corrections for LEO receiver antennas and discuss their impact on POD. By means of independent K-band measurements, we show that zero-difference GRACE orbits can be significantly improved from about 10 to 6 mm K-band standard deviation when taking empirical phase corrections into account, and assess the impact of the corrections on precise baseline estimates and further applications such as gravity field recovery from kinematic LEO positions.     

On the topographic bias in geoid determination by the external gravity field

The topographic bias is defined as the error/bias committed by continuing the external gravity field inside the topographic masses by a harmonic function. We study the topographic bias given by a digital terrain model defined by a spherical template, and we show that the topographic bias is given only by the potential of an inner-zone cap, and it equals the bias of the Bouguer shell, independent of the size of the cap. Then we study the effect on the real Earth by decomposing its topography into a template, and we show also in this case that the topographic bias is that of the Bouguer shell, independent of the shape of the terrain. Finally, we show that the topographic potential of the terrain at the geoid can be determined to any precision by a Taylor expansion outside the Earth’s surface. The last statement is demonstrated by a Taylor expansion to fourth order.     

Changes in timber haul emissions in the context of shifting forest management and infrastructure

Background  

Although significant amounts of carbon may be stored in harvested wood products, the extraction of that carbon from the forest generally entails combustion of fossil fuels. The transport of timber from the forest to primary milling facilities may in particular create emissions that reduce the net sequestration value of product carbon storage. However, attempts to quantify the effects of transport on the net effects of forest management typically use relatively sparse survey data to determine transportation emission factors. We developed an approach for systematically determining transport emissions using: 1) -remotely sensed maps to estimate the spatial distribution of harvests, and 2) - industry data to determine landscape-level harvest volumes as well as the location and processing totals of individual mills. These data support spatial network analysis that can produce estimates of fossil carbon released in timber transport.     

Mapping of aggregated floodplain plant communities using image fusion of CASI and LiDAR data

Combined optical and laser altimeter data offer the potential to map and monitor plant communities based on their spectral and structural characteristics. A problem unresolved is, however, that narrowly defined plant communities, i.e. plant communities at a low hierarchical level of classification in the Braun-Blanquet system, often cannot be linked directly to remote sensing data for vegetation mapping. We studied whether and how a floristic dataset can be aggregated into a few major discrete, mappable classes without substantial loss of ecological meaning. Multi-source airborne data (CASI and LiDAR) and floristic field data were collected for a floodplain along the river Waal in the Netherlands. Mapping results based on floristic similarity alone did not achieve highest levels of accuracy. Ordination of floristic data showed that terrain elevation and soil moisture were the main underlying environmental drivers shaping the floodplain vegetation, but grouping of plant communities based on their position in the ordination space is not always obvious. Combined ordination-based grouping with floristic similarity clustering led to syntaxonomically relevant aggregated plant assemblages and yielded highest mapping accuracies.     

Seasonal variation of carbon fluxes in a sparse savanna in semi arid Sudan

Background

Large spatial, seasonal and annual variability of major drivers of the carbon cycle (precipitation, temperature, fire regime and nutrient availability) are common in the Sahel region. This causes large variability in net ecosystem exchange and in vegetation productivity, the subsistence basis for a major part of the rural population in Sahel. This study compares the 2005 dry and wet season fluxes of CO₂ for a grass land/sparse savanna site in semi arid Sudan and relates these fluxes to water availability and incoming photosynthetic photon flux density (PPFD). Data from this site could complement the current sparse observation network in Africa, a continent where climatic change could significantly impact the future and which constitute a weak link in our understanding of the global carbon cycle.

Results

The dry season (represented by Julian day 35–46, February 2005) was characterized by low soil moisture availability, low evapotranspiration and a high vapor pressure deficit. The mean daily NEE (net ecosystem exchange, Eq. 1) was -14.7 mmol d^-1 for the 12 day period (negative numbers denote sinks, i.e. flux from the atmosphere to the biosphere). The water use efficiency (WUE) was 1.6 mmol CO₂ mol H₂O^-1 and the light use efficiency (LUE) was 0.95 mmol CO₂ mol PPFD^-1. Photosynthesis is a weak, but linear function of PPFD. The wet season (represented by Julian day 266–273, September 2005) was, compared to the dry season, characterized by slightly higher soil moisture availability, higher evapotranspiration and a slightly lower vapor pressure deficit. The mean daily NEE was -152 mmol d^-1 for the 8 day period. The WUE was lower, 0.97 mmol CO₂ mol H₂O^-1 and the LUE was higher, 7.2 μmol CO₂ mmol PPFD^-1 during the wet season compared to the dry season. During the wet season photosynthesis increases with PPFD to about 1600 μmol m^-2s^-1 and then levels off.

Conclusion

Based on data collected during two short periods, the studied ecosystem was a sink of carbon both during the dry and wet season 2005. The small sink during the dry season is surprising and similar dry season sinks have not to our knowledge been reported from other similar savanna ecosystems and could have potential management implications for agroforestry. A strong response of NEE versus small changes in plant available soil water content was found. Collection and analysis of flux data for several consecutive years including variations in precipitation, available soil moisture and labile soil carbon are needed for understanding the year to year variation of the carbon budget of this grass land/sparse savanna site in semi arid Sudan.     

Using spectral information from the NIR water absorption features for the retrieval of canopy water content

Canopy water content (CWC) is important for mapping and monitoring the condition of the terrestrial ecosystem. Spectral information related to the water absorption features at 970 nm and 1200 nm offers possibilities for deriving information on CWC. In this study, we compare the use of derivative spectra, spectral indices and continuum removal techniques for these regions. Hyperspectral reflectance data representing a range of canopies were simulated using the combined PROSPECT + SAILH model. Best results in estimating CWC were obtained by using spectral derivatives at the slopes of the 970 nm and 1200 nm water absorption features. Real data from two different test sites were analysed. Spectral information at both test sites was obtained with an ASD FieldSpec spectrometer, whereas at the second site HyMap airborne imaging spectrometer data were also acquired. Best results were obtained for the derivative spectra. In order to avoid the potential influence of atmospheric water vapour absorption bands the derivative of the reflectance on the right slope of the canopy water absorption feature at 970 nm can best be used for estimating CWC.     

Consideration of time-correlated errors in a Kalman filter applicable to GNSS

An algorithm for considering time-correlated errors in a Kalman filter is presented. The algorithm differs from previous implementations in that it does not suffer from numerical problems; does not contain inherent time latency or require reinterpretation of Kalman filter parameters, and gives full consideration to additive white noise that is often still present but ignored in previous implementations. Simulation results indicate that the application of the new algorithm yields more realistic and therefore useful state and covariance information than the standard implementation. Results from a field test of the algorithm applied to the problem of kinematic differential GPS demonstrate that the algorithm provides slightly pessimistic covariance estimates whereas the standard Kalman filter provides optimistic covariance estimates.