The Pan-and-Tilt Hyperspectral Radiometer System (PANTHYR) for Autonomous Satellite Validation Measurements—Prototype Design and Testing

Evaluation of eight band SuperDove imagery for aquatic applications

Planet's SuperDove constellation is evaluated for remote sensing of water targets. SuperDoves are small satellites with on board eight band PlanetScope imagers that add four new bands compared to the previous generations of Doves. The Yellow (612 nm) and Red Edge (707 nm) bands are of particular interest to aquatic applications, for example in aiding the retrieval of pigment absorption. The dark spectrum fitting (DSF) algorithm is implemented in ACOLITE for processing of SuperDove data, and its outputs are compared to matchup data collected using an autonomous pan-and-tilt hyperspectral radiometer (PANTHYR) installed in the turbid waters of the Belgian Coastal Zone (BCZ). Results for 35 matchups from 32 unique SuperDove satellites indicate on average low differences with PANTHYR observations for the first seven bands (443-707 nm), with mean absolute relative differences (MARD) 15-20%. The mean average differences (MAD) are between -0.01 and 0 for the 492-666 nm bands, i.e. DSF results show a negative bias, while the Coastal Blue (444 nm) and Red Edge (707 nm) show a small positive bias (MAD 0.004 and 0.002). The NIR band (866 nm) shows a larger positive bias (MAD 0.01), and larger relative differences (MARD 60%). Root mean squared differences (RMSD) are rather flat at around 0.01 with peaks in the bands with highest water reflectance of around 0.015. The surface reflectance products as provided by Planet (PSR) show a similar average performance to DSF, with slightly larger and mostly positive biases, except in both Green bands, where the MAD is close to 0. MARD in the two Green bands is a bit lower for PSR (9.5-10.6%) compared to DSF (9.9-13.0%). Higher scatter is found for the PSR (RMSD 0.015-0.020), with some matchups showing large, spectrally mostly flat differences, likely due to the external aerosol optical depth (τ_a) inputs not being representative for these particular images. Chlorophyll a absorption (a_Chl) is retrieved from PANTHYR measurements, and the PANTHYR data are used to calibrate a_Chl retrieval algorithms for SuperDove in the BCZ. Various Red band indices (RBI) and two neural networks are evaluated for a_Chl estimation. The best performing RBI algorithm, i.e. the Red band difference (RBD), showed a MARD of 34% for DSF and 25% for PSR with positive biases of 0.11 and 0.03 m^-1 respectively for 24 PANTHYR a_Chl matchups. The difference in RBD performance between DSF and PSR can be largely explained by their respective average biases in the Red and Red Edge bands, which are opposite signs for DSF (negative bias in the red), and positive for both bands for PSR. Mapping of turbid water a_Chl and hence chlorophyll a concentration (C) using SuperDove is demonstrated for coastal bloom imagery, showing how SuperDove data can supplement monitoring programmes.

Improving the standard protocol for above-water reflectance measurements: 1. Estimating effective wind speed from angular variation of sunglint

The standard above-water protocol for measurement of water reflectance uses a measurement of wind speed to estimate the air-water interface reflectance factor and, thus, remove reflected skylight from upwelling radiance. This aerodynamic wind speed measurement may be a poor proxy for the local wave slope distribution in cases such as fetch-limited coastal and inland waters and/or where there are spatial or temporal differences between the wind speed measurement and the location of reflectance measurements. Here, an improved method is proposed, with a focus on sensors mounted on autonomous pan-tilt units and deployed on fixed platforms, replacing the aerodynamic wind speed measurement by optical measurements of angular variation of upwelling radiance. Using radiative transfer simulations, it is shown that the difference between two upwelling (i.e., water plus air-water interface) reflectances acquired at least 10° apart from each other in the solar principal plane is strongly and monotonically related to effective wind speed. The approach shows good performance in twin experiments using radiative transfer simulations. Limitations of the approach are identified, including difficulties for a very high Sun zenith angle (>60^∘), very low wind speed (<2m s ^-1), and, potentially, cases in which nadir-pointing angles are limited by optical perturbations from the viewing platform.

Continuous Monitoring of Suspended Particulate Matter in Tropical Inland Waters by High-Frequency, Above-Water Radiometry

Water and sediment discharges can change rapidly, and low-frequency measurement devices might not be sufficient to elucidate existing dynamics. As such, above-water radiometry might enhance monitoring of suspended particulate matter (SPM) dynamics in inland waters. However, it has been barely applied for continuous monitoring, especially under partially cloudy sky conditions. In this study, an in situ, high-frequency (30 s timestep), above-water radiometric dataset, collected over 18 days in a tropical reservoir, is analyzed for the purpose of continuous monitoring of SPM concentration. Different modalities to retrieve reflectance spectra, as well as SPM inversion algorithms, were applied and evaluated. We propose a sequence of processing that achieved an average unsigned percent difference (UPD) of 10.4% during cloudy conditions and 4.6% during clear-sky conditions for Rrs (665 nm), compared to the respective UPD values of 88.23% and 13.17% when using a simple calculation approach. SPM retrieval methods were also evaluated and, depending on the methods used, we show that the coefficient of variation (CV) of the SPM concentration varied from 69.5% down to 2.7% when using a semi-analytical approach. As such, the proposed processing approach is effective at reducing unwanted variability in the resulting SPM concentration assessed from above-water radiometry, and our work paves the way towards the use of this noninvasive technique for high-frequency monitoring of SPM concentrations in streams and lakes.

Sensitivity analysis of the dark spectrum fitting atmospheric correction for metre- and decametre-scale satellite imagery using autonomous hyperspectral radiometry

The performance of the dark spectrum fitting (DSF) atmospheric correction algorithm is evaluated using matchups between metre- and decametre-scale satellite imagery as processed with ACOLITE and measurements from autonomous PANTHYR hyperspectral radiometer systems deployed in the Adriatic and North Sea. Imagery from the operational land imager (OLI) on Landsat 8, the multispectral instrument (MSI) on Sentinel-2 A and B, and the PlanetScope CubeSat constellation was processed for both sites using a fixed atmospheric path reflectance in a small region of interest around the system's deployment location, using a number of processing settings, including a new sky reflectance correction. The mean absolute relative differences (MARD) between in situ and satellite measured reflectances reach <20% in the Blue and 11% in the Green bands around 490 and 560 nm for the best performing configuration for MSI and OLI. Higher relative errors are found for the shortest Blue bands around 440 nm (30-100% MARD), and in the Red-Edge and near-infrared bands (35-100% MARD), largely influenced by the lower absolute data range in the observations. Root mean squared differences (RMSD) increase from 0.005 in the NIR to about 0.015-0.020 in the Blue band, consistent with increasing atmospheric path reflectance. Validation of the Red-Edge and NIR bands on Sentinel-2 is presented, as well as for the first time, the Panchromatic band (17-26% MARD) on Landsat 8, and the derived Orange contra-band (8-33% MARD for waters in the algorithm domain, and around 40-80% MARD overall). For Sentinel-2, excluding the SWIR bands from the DSF gave better performances, likely due to calibration issues of MSI at longer wavelengths. Excluding the SWIR on Landsat 8 gave good performance as well, indicating robustness of the DSF to the available band set. The DSF performance was found to be rather insensitive to (1) the wavelength spacing in the lookup tables used for the atmospheric correction, (2) the use of default or ancillary information on gas concentration and atmospheric pressure, and (3) the size of the ROI over which the path reflectance is estimated. The performance of the PlanetScope constellation is found to be similar to previously published results, with the standard DSF giving the best results in the visible bands in terms of MARD (24-40% overall, and 18-29% for the turbid site). The new sky reflectance correction gave mixed results, although it reduced the mean biases for certain configurations and improved results for the processing excluding the SWIR bands, giving lower RMSD and MARD especially at longer wavelengths (>600 nm). The results presented in this article should serve as guidelines for general use of ACOLITE and the DSF.

First Evaluation of PRISMA Level 1 Data for Water Applications

This study presents a first assessment of the Top-Of-Atmosphere (TOA) radiances measured in the visible and near-infrared (VNIR) wavelengths from PRISMA (PRecursore IperSpettrale della Missione Applicativa), the new hyperspectral satellite sensor of the Italian Space Agency in orbit since March 2019. In particular, the radiometrically calibrated PRISMA Level 1 TOA radiances were compared to the TOA radiances simulated with a radiative transfer code, starting from in situ measurements of water reflectance. In situ data were obtained from a set of fixed position autonomous radiometers covering a wide range of water types, encompassing coastal and inland waters. A total of nine match-ups between PRISMA and in situ measurements distributed from July 2019 to June 2020 were analysed. Recognising the role of Sentinel-2 for inland and coastal waters applications, the TOA radiances measured from concurrent Sentinel-2 observations were added to the comparison. The results overall demonstrated that PRISMA VNIR sensor is providing TOA radiances with the same magnitude and shape of those in situ simulated (spectral angle difference, SA, between 0.80 and 3.39; root mean square difference, RMSD, between 0.98 and 4.76 [mW m-2 sr-1 nm-1]), with slightly larger differences at shorter wavelengths. The PRISMA TOA radiances were also found very similar to Sentinel-2 data (RMSD < 3.78 [mW m-2 sr-1 nm-1]), and encourage a synergic use of both sensors for aquatic applications. Further analyses with a higher number of match-ups between PRISMA, in situ and Sentinel-2 data are however recommended to fully characterize the on-orbit calibration of PRISMA for its exploitation in aquatic ecosystem mapping.

Field Intercomparison of Radiometer Measurements for Ocean Colour Validation

A field intercomparison was conducted at the Acqua Alta Oceanographic Tower (AAOT) in the northern Adriatic Sea, from 9 to 19 July 2018 to assess differences in the accuracy of in- and above-water radiometer measurements used for the validation of ocean colour products. Ten measurement systems were compared. Prior to the intercomparison, the absolute radiometric calibration of all sensors was carried out using the same standards and methods at the same reference laboratory. Measurements were performed under clear sky conditions, relatively low sun zenith angles, moderately low sea state and on the same deployment platform and frame (except in-water systems). The weighted average of five above-water measurements was used as baseline reference for comparisons. For downwelling irradiance ( E d ), there was generally good agreement between sensors with differences of <6% for most of the sensors over the spectral range 400 nm–665 nm. One sensor exhibited a systematic bias, of up to 11%, due to poor cosine response. For sky radiance ( L s k y ) the spectrally averaged difference between optical systems was <2.5% with a root mean square error (RMS) <0.01 mWm−2 nm−1 sr−1. For total above-water upwelling radiance ( L t ), the difference was <3.5% with an RMS <0.009 mWm−2 nm−1 sr−1. For remote-sensing reflectance ( R r s ), the differences between above-water TriOS RAMSES were <3.5% and <2.5% at 443 and 560 nm, respectively, and were <7.5% for some systems at 665 nm. Seabird-Hyperspectral Surface Acquisition System (HyperSAS) sensors were on average within 3.5% at 443 nm, 1% at 560 nm, and 3% at 665 nm. The differences between the weighted mean of the above-water and in-water systems was <15.8% across visible bands. A sensitivity analysis showed that E d accounted for the largest fraction of the variance in R r s , which suggests that minimizing the errors arising from this measurement is the most important variable in reducing the inter-group differences in R r s . The differences may also be due, in part, to using five of the above-water systems as a reference. To avoid this, in situ normalized water-leaving radiance ( L w n ) was therefore compared to AERONET-OC SeaPRiSM L w n as an alternative reference measurement. For the TriOS-RAMSES and Seabird-HyperSAS sensors the differences were similar across the visible spectra with 4.7% and 4.9%, respectively. The difference between SeaPRiSM L w n and two in-water systems at blue, green and red bands was 11.8%. This was partly due to temporal and spatial differences in sampling between the in-water and above-water systems and possibly due to uncertainties in instrument self-shading for one of the in-water measurements.

A Virtual Geostationary Ocean Color Sensor to Analyze the Coastal Optical Variability

In the coastal environment the optical properties can vary on temporal scales that are shorter than the near-polar orbiting satellite temporal resolution (~1 image per day), which does not allow capturing most of the coastal optical variability. The objective of this work is to fill the gap between the near-polar orbiting and geostationary sensor temporal resolutions, as the latter sensors provide multiple images of the same basin during the same day. To do that, a Level 3 hyper-temporal analysis-ready Ocean Color (OC) dataset, named Virtual Geostationary Ocean Color Sensor (VGOCS), has been created. This dataset contains the observations acquired over the North Adriatic Sea by the currently functioning near-polar orbiting sensors, allowing approaching the geostationary sensor temporal resolution. The problem in using data from different sensors is that they are characterized by different uncertainty sources that can introduce artifacts between different satellite images. Hence, the sensors have different spatial and spectral resolutions, their calibration procedures can have different accuracies, and their Level 2 data can be retrieved using different processing chains. Such differences were reduced here by adjusting the satellite data with a multi-linear regression algorithm that exploits the Fiducial Reference Measurements data stream of the AERONET-OC water-leaving radiance acquired at the Acqua Alta Oceanographic Tower, located in the Gulf of Venice. This work aims to prove the suitability of VGOCS in analyzing the coastal optical variability, presenting the improvement brought by the adjustment on the quality of the satellite data, the VGOCS spatial and temporal coverage, and the inter-sensor differences. Hence, the adjustment will strongly increase the agreement between the satellite and in situ data and between data from different near-polar orbiting OC imagers; moreover, the adjustment will make available data traditionally masked in the standard processing chains, increasing the VGOCS spatial and temporal coverage, fundamental to analyze the coastal optical variability. Finally, the fulfillment by VGOCS of the three conditions for a hyper-temporal dataset will be demonstrated in this work.

A Review of Protocols for Fiducial Reference Measurements of WaterLeaving Radiance for Validation of Satellite Remote-Sensing Data over Water

This paper reviews the state of the art of protocols for measurement of waterleaving radiance in the context of fiducial reference measurements (FRM) of water reflectance for satellite validation. Measurement of water reflectance requires the measurement of waterleaving radiance and downwelling irradiance just above water. For the former there are four generic families of method, based on: 1) underwater radiometry at fixed depths; or 2) underwater radiometry with vertical profiling; or 3) abovewater radiometry with skyglint correction; or 4) onwater radiometry with skylight blocked. Each method is described generically in the FRM context with reference to the measurement equation, documented implementations and the intramethod diversity of deployment platform and practice. Ideal measurement conditions are stated, practical recommendations are provided on best practice and guidelines for estimating the measurement uncertainty are provided for each protocolrelated component of the measurement uncertainty budget. The state of the art for measurement of waterleaving radiance is summarized, future perspectives are outlined, and the question of which method is best adapted to various circumstances (water type, wavelength) is discussed. This review is based on practice and papers of the aquatic optics community for the validation of water reflectance estimated from satellite data but can be relevant also for other applications such as the development or validation of algorithms for remote-sensing estimation of water constituents including chlorophyll a concentration, inherent optical properties and related products.

A Review of Protocols for Fiducial Reference Measurements of Downwelling Irradiance for the Validation of Satellite Remote Sensing Data over Water

This paper reviews the state of the art of protocols for the measurement of downwelling irradiance in the context of Fiducial Reference Measurements (FRM) of water reflectance for satellite validation. The measurement of water reflectance requires the measurement of water-leaving radiance and downwelling irradiance just above water. For the latter, there are four generic families of method, using: (1) an above-water upward-pointing irradiance sensor; (2) an above-water downward-pointing radiance sensor and a reflective plaque; (3) a Sun-pointing radiance sensor (sunphotometer); or (4) an underwater upward-pointing irradiance sensor deployed at different depths. Each method—except for the fourth, which is considered obsolete for the measurement of above-water downwelling irradiance—is described generically in the FRM context with reference to the measurement equation, documented implementations, and the intra-method diversity of deployment platform and practice. Ideal measurement conditions are stated, practical recommendations are provided on best practice, and guidelines for estimating the measurement uncertainty are provided for each protocol-related component of the measurement uncertainty budget. The state of the art for the measurement of downwelling irradiance is summarized, future perspectives are outlined, and key debates such as the use of reflectance plaques with calibrated or uncalibrated radiometers are presented. This review is based on the practice and studies of the aquatic optics community and the validation of water reflectance, but is also relevant to land radiation monitoring and the validation of satellite-derived land surface reflectance.