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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 55 records · Page 3

Agricultural Breadbaskets Shift Poleward Given Adaptive Farmer Behavior Under Climate Change

Modern food production is spatially concentrated in global “breadbaskets”. A major unresolved question is whether these peak production regions will shift poleward as the climate warms, allowing some recovery of potential climaterelated losses. While agricultural impacts studies to date have focused on currently cultivated land, the Global Gridded Crop Model Intercomparison Project (GGCMI) Phase 2 experiment allows us to assess changes in both yields and the location of peak productivity regions under warming. We examine crop responses under projected end-of-century warming using 7 process-based models simulating 5 major crops (maize, rice, soybeans, and spring and winter wheat) with a variety of adaptation strategies. We find that in no-adaptation cases, when planting date and cultivar choices are held fixed, regions of peak production remain stationary and yield losses can be severe, since growing seasons contract strongly with warming. When adaptations in management practices are allowed (cultivars that retain growing season length under warming and modified planting dates), peak productivity zones shift poleward and yield losses are largely recovered. While most growing-zone shifts are ultimately limited by geography, breadbaskets studied here move poleward over 600 km on average by end of the century under RCP8.5. These results suggest that agricultural impacts assessments can be strongly biased if restricted in spatial area or in the scope of adaptive behavior considered. Accurate evaluation of food security under climate change requires global modeling and careful treatment of adaptation strategies.

adaptation↗

In Situ Validation of the Soil Moisture Active Passive (SMAP) Satellite Mission

SMAP is a new NASA mission proposed for 2014 that would provide a number of soil moisture and freeze/thaw products. The soil moisture products span spatial resolutions from 3 to 40 km. In situ soil moisture observations will be one of the key elements of the validation program for SMAP. Data from the currently available set of soil moisture observing sites and networks need improvement if they are to be useful. Problems include a lack of standardization of instrumentation and installation and the disparity in spatial scale between the point-scale in situ data (a few centimeters) and the coarser satellite products. SMAP has initiated activities to resolve these issues for some of the existing resources. The other challenge to soil moisture validation is the need to expand the number of sites and their geographic distribution. SMAP is attempting to increase the number of sites and their value in validation through collaboration. The issues and solutions involving in situ validation being investigated will be described along with recent results from SMAP validation projects.

validation↗

Assimilation of SMAP Products for Improving Streamflow Simulations over Tropical Climate Region—Is Spatial Information More Important Than Temporal Information?

Streamflow is one of the key variables in the hydrological cycle. Simulation and forecasting of streamflow are challenging tasks for hydrologists, especially in sparsely gauged areas. Coarse spatial resolution remote sensing soil moisture products (equal to or larger than 9 km) are often assimilated into hydrological models to improve streamflow simulation in large catchments. This study uses the Ensemble Kalman Filter (EnKF) technique to assimilate SMAP soil moisture products at the coarse spatial resolution of 9 km (SMAP 9 km), and downscaled SMAP soil moisture product at the higher spatial resolution of 1 km (SMAP 1 km), into the Soil and Water Assessment Tool (SWAT) to investigate the usefulness of different spatial and temporal resolutions of remotely sensed soil moisture products in streamflow simulation and forecasting. The experiment was set up for eight catchments across the tropical climate of Vietnam, with varying catchment areas from 267 to 6430 km^2 during the period 2017–2019. We comprehensively evaluated the EnKF-based SWAT model in simulating streamflow at low, average, and high flow. Our results indicated that high-spatial resolution of downscaled SMAP 1 km is more beneficial in the data assimilation framework in aiding the accuracy of streamflow simulation, as compared to that of SMAP 9 km, especially for the small catchments. Our analysis on the impact of observation resolution also indicates that the improvement in the streamflow simulation with data assimilation is more significant at catchments where downscaled SMAP 1 km has fewer missing observations. This study is helpful for adding more understanding of performances of soil moisture data assimilation based hydrological modelling over the tropical climate region, and exhibits the potential use of remote sensing data assimilation in hydrology.

soil moisture↗

A Global Assessment of Long-Term Greening and Browning Trends in Pasture Lands Using the GIMMS LAI3g Dataset

Pasture ecosystems may be particularly vulnerable to land degradation due to the high risk of human disturbance (e.g., overgrazing, burning, etc.), especially when compared with natural ecosystems (non-pasture, non-cultivated) where direct human impacts are minimal. Using maximum annual leaf area index (LAImax) as a proxy for standing biomass and peak annual aboveground productivity, we analyze greening and browning trends in pasture areas from 1982-2008. Inter-annual variability in pasture productivity is strongly controlled by precipitation (positive correlation) and, to a lesser extent, temperature (negative correlation). Linear temporal trends are significant in 23% of pasture cells, with the vast majority of these areas showing positive LAImax trends. Spatially extensive productivity declines are only found in a few regions, most notably central Asia, southwest North America, and southeast Australia. Statistically removing the influence of precipitation reduces LAImax trends by only 13%, suggesting that precipitation trends are only a minor contributor to long-term greening and browning of pasture lands. No significant global relationship was found between LAImax and pasture intensity, although the magnitude of trends did vary between cells classified as natural versus pasture. In the tropics and Southern Hemisphere, the median rate of greening in pasture cells is significantly higher than for cells dominated by natural vegetation. In the Northern Hemisphere extra-tropics, conversely, greening of natural areas is 2-4 times the magnitude of greening in pasture areas. This analysis presents one of the first global assessments of greening and browning trends in global pasture lands, including a comparison with vegetation trends in regions dominated by natural ecosystems. Our results suggest that degradation of pasture lands is not a globally widespread phenomenon and, consistent with much of the terrestrial biosphere, there have been widespread increases in pasture productivity over the last 30 years.

ecosystems↗

Atmospheric Correction of High-Spatial-Resolution Commercial Satellite Imagery Products Using MODIS Atmospheric Products

Remotely sensed ground reflectance is the foundation of any interoperability or change detection technique. Satellite intercomparisons and accurate vegetation indices, such as the Normalized Difference Vegetation Index (NDVI), require the generation of accurate reflectance maps (NDVI is used to describe or infer a wide variety of biophysical parameters and is defined in terms of near-infrared (NIR) and red band reflectances). Accurate reflectance-map generation from satellite imagery relies on the removal of solar and satellite geometry and of atmospheric effects and is generally referred to as atmospheric correction. Atmospheric correction of remotely sensed imagery to ground reflectance has been widely applied to a few systems only. The ability to obtain atmospherically corrected imagery and products from various satellites is essential to enable widescale use of remotely sensed, multitemporal imagery for a variety of applications. An atmospheric correction approach derived from the Moderate Resolution Imaging Spectroradiometer (MODIS) that can be applied to high-spatial-resolution satellite imagery under many conditions was evaluated to demonstrate a reliable, effective reflectance map generation method. Additional information is included in the original extended abstract.

Pagnutti, Mary↗

A low-latitude, high-elevation 10Be production-rate calibration from the Rwenzori Mountains, Uganda

Cosmogenic nuclide surface-exposure dating has become a key tool in geomorphology. Robust application of the technique relies on determination of local nuclide production rates using independently dated calibration sites. However, there are few existing calibration sites in certain regions, particularly in low-latitude, high-elevation regions where cosmogenic nuclide production is theoretically more sensitive to changes in Earth's magnetic field and atmospheric conditions. We present a new cosmogenic beryllium-10 (10Be) production-rate calibration from the equatorial Rwenzori Mountains in Uganda. The calibration is based on radiocarbon dating of basal lake sediments (∼21.3 kyr BP) from Lake Mahoma (2900 m asl) and measured 10Be concentrations from boulders on the crest of a moraine which dams the lake. Our results indicate a time-integrated 10Be production rate of 15.83 ± 0.81 at/g/yr at Lake Mahoma. We then use these calibration data and two public online calculators to calculate ages for moraines in a separate Rwenzori valley for which there exists a minimum-limiting radiocarbon age constraint (∼12 kyr BP) on surficial glacial sediments. This enables us to assess the performance of different parameters used to scale production rates spatially and temporally (e.g., scaling frameworks, geomagnetic field reconstructions, atmospheric models) for surface-exposure age calculation in the region. Our results highlight the sensitivity of low-latitude cosmogenic nuclide surface-exposure ages to discrete calculation parameters, such as scaling framework or reconstructions of Earth's magnetic field, and the utility of determining production rates at sites where limiting age data exists for other nearby landforms.

Anderson, N [Dartmouth College]↗

Atmospheric Correction of High-Spatial-Resolution Commercial Satellite Imagery Products Using MODIS Atmospheric Products

Remotely sensed ground reflectance is the basis for many inter-sensor interoperability or change detection techniques. Satellite inter-comparisons and accurate vegetation indices such as the Normalized Difference Vegetation Index, which is used to describe or to imply a wide variety of biophysical parameters and is defined in terms of near-infrared and redband reflectance, require the generation of accurate reflectance maps. This generation relies upon the removal of solar illumination, satellite geometry, and atmospheric effects and is generally referred to as atmospheric correction. Atmospheric correction of remotely sensed imagery to ground reflectance, however, has been widely applied to only a few systems. In this study, we atmospherically corrected commercially available, high spatial resolution IKONOS and QuickBird imagery using several methods to determine the accuracy of the resulting reflectance maps. We used extensive ground measurement datasets for nine IKONOS and QuickBird scenes acquired over a two-year period to establish reflectance map accuracies. A correction approach using atmospheric products derived from Moderate Resolution Imaging Spectrometer data created excellent reflectance maps and demonstrated a reliable, effective method for reflectance map generation.

Pagnutti, Mary↗

Advanced Infrastructure Integrity Modeling (AIIM) Onshore Pipeline Database

The Advanced Infrastructure Integrity Modeling (AIIM) Onshore Pipeline Database is an interoperable spatial resource containing critical environmental, operational, and reported stressors tied to publicly available oil and gas pipeline locations across the contiguous U.S. and Alaska. This database contains two layers: 1. Pipeline point locations (‘pipeline_points’) – More than 500,000 points (at every kilometer along pipelines, and end points) to which more than 350 stress-related variables have been appended. 2. Merged pipelines (‘merged_pipelines’) – The original, publicly available pipeline data (see table below) merged together into one feature class.

Carbon Transport↗

Multibody dynamics: Modeling component flexibility with fixed, free, loaded, constraint, and residual modes

The assumed-modes method in multibody dynamics allows the elastic deformation of each component in the system to be approximated by a sum of products of spatial and temporal functions commonly known as modes and modal coordinates respectively. The choice of component modes used to model articulating and non-articulating flexible multibody systems is examined. Attention is directed toward three classical Component Mode Synthesis (CMS) methods whereby component normal modes are generated by treating the component interface (I/F) as either fixed, free, or loaded with mass and stiffness contributions from the remaining components. The fixed and free I/F normal modes are augmented by static shape functions termed constraint and residual modes respectively. A mode selection procedure is outlined whereby component modes are selected from the Craig-Bampton (fixed I/F plus constraint), MacNeal-Rubin (free I/F plus residual), or Benfield-Hruda (loaded I/F) mode sets in accordance with a modal ordering scheme derived from balance realization theory. The success of the approach is judged by comparing the actuator-to-sensor frequency response of the reduced order system with that of the full order system over the frequency range of interest. A finite element model of the Galileo spacecraft serves as an example in demonstrating the effectiveness of the proposed mode selection method.

Spanos, John T.↗

Modeling new production in upwelling centers - A case study of modeling new production from remotely sensed temperature and color

A method has been developed for estimating new production in upwelling systems from remotely sensed surface temperatures. A shift-up model predicts the rate of adaptation of nitrate uptake. The time base for the production cycle is obtained from a knowledge of surface heating rates and differences in temperature between the point of upwelling and each pixel. Nitrate concentrations are obtained from temperature-nitrate regression equations. The model was developed for the northwest Africa upwelling region, where shipboard measurements of new production were available. It can be employed in two modes, the first using only surface temperatures, and the second in which CZCS color data are incorporated. The major advance offered by this method is the capability to estimate new production on spatial and time scales inaccessible with shipboard approaches.

Dugdale, Richard C.↗

Modeling and Simulation of Variable Mass, Flexible Structures

The advent of the new Ares I launch vehicle has highlighted the need for advanced dynamic analysis tools for variable mass, flexible structures. This system is composed of interconnected flexible stages or components undergoing rapid mass depletion through the consumption of solid or liquid propellant. In addition to large rigid body configuration changes, the system simultaneously experiences elastic deformations. In most applications, the elastic deformations are compatible with linear strain-displacement relationships and are typically modeled using the assumed modes technique. The deformation of the system is approximated through the linear combination of the products of spatial shape functions and generalized time coordinates. Spatial shape functions are traditionally composed of normal mode shapes of the system or even constraint modes and static deformations derived from finite element models of the system. Equations of motion for systems undergoing coupled large rigid body motion and elastic deformation have previously been derived through a number of techniques [1]. However, in these derivations, the mode shapes or spatial shape functions of the system components were considered constant. But with the Ares I vehicle, the structural characteristics of the system are changing with the mass of the system. Previous approaches to solving this problem involve periodic updates to the spatial shape functions or interpolation between shape functions based on system mass or elapsed mission time. These solutions often introduce misleading or even unstable numerical transients into the system. Plus, interpolation on a shape function is not intuitive. This paper presents an approach in which the shape functions are held constant and operate on the changing mass and stiffness matrices of the vehicle components. Each vehicle stage or component finite element model is broken into dry structure and propellant models. A library of propellant models is used to describe the distribution of mass in the fuel tank or Solid Rocket Booster (SRB) case for various propellant levels. Based on the mass consumed by the liquid engine or SRB, the appropriate propellant model is coupled with the dry structure model for the stage. Then using vehicle configuration data, the integrated vehicle model is assembled and operated on by the constant system shape functions. The system mode shapes and frequencies can then be computed from the resulting generalized mass and stiffness matrices for that mass configuration. The rigid body mass properties of the vehicle are derived from the integrated vehicle model. The coupling terms between the vehicle rigid body motion and elastic deformation are also updated from the constant system shape functions and the integrated vehicle model. This approach was first used to analyze variable mass spinning beams and then prototyped into a generic dynamics simulation engine. The resulting code was tested against Crew Launch Vehicle (CLV-)class problems worked in the TREETOPS simulation package and by Wilson [2]. The Ares I System Integration Laboratory (SIL) is currently being developed at the Marshall Space Flight Center (MSFC) to test vehicle avionics hardware and software in a hardware-in-the-loop (HWIL) environment and certify that the integrated system is prepared for flight. The Ares I SIL utilizes the Ares Real-Time Environment for Modeling, Integration, and Simulation (ARTEMIS) tool to simulate the launch vehicle and stimulate avionics hardware. Due to the presence of vehicle control system filters and the thrust oscillation suppression system, which are tuned to the structural characteristics of the vehicle, ARTEMIS must incorporate accurate structural models of the Ares I launch vehicle. The ARTEMIS core dynamics simulation models the highly coupled nature of the vehicle flexible body dynamics, propellant slosh, and vehicle nozzle inertia effects combined with mass and flexible body properties that vary significant with time during the flight. All forces that act on the vehicle during flight must be simulated, including deflected engine thrust force, spatially distributed aerodynamic forces, gravity, and reaction control jet thrust forces. These forces are used to excite an integrated flexible vehicle, slosh, and nozzle dynamics model for the vehicle stack that simulates large rigid body translations and rotations along with small elastic deformations. Highly effective matrix math operations on a distributed, threaded high-performance simulation node allow ARTEMIS to retain up to 30 modes of flex for real-time simulation. Stage elements that separate from the stack during flight are propagated as independent rigid six degrees of freedom (6DOF) bodies. This paper will present the formulation of the resulting equations of motion, solutions to example problems, and describe the resulting dynamics simulation engine within ARTEMIS.

Tobbe, Patrick A.↗

Review of Remote Sensing Needs and Applications in Africa

Remote sensing data has had an important role in identifying and responding to inter-annual variations in the African environment during the past three decades. As a largely agricultural region with diverse but generally limited government capacity to acquire and distribute ground observations of rainfall, temperature and other parameters, remote sensing is sometimes the only reliable measure of crop growing conditions in Africa. Thus, developing and maintaining the technical and scientific capacity to analyze and utilize satellite remote sensing data in Africa is critical to augmenting the continent's local weather/climate observation networks as well as its agricultural and natural resource development and management. The report Review of Remote Sensing Needs and Applications in Africa' has as its central goal to recommend to the US Agency for International Development an appropriate approach to support sustainable remote sensing applications at African regional remote sensing centers. The report focuses on "RS applications" to refer to the acquisition, maintenance and archiving, dissemination, distribution, analysis, and interpretation of remote sensing data, as well as the integration of interpreted data with other spatial data products. The report focuses on three primary remote sensing centers: (1) The AGRHYMET Regional Center in Niamey, Niger, created in 1974, is a specialized institute of the Permanent Interstate Committee for Drought Control in the Sahel (CILSS), with particular specialization in science and techniques applied to agricultural development, rural development, and natural resource management. (2) The Regional Centre for Maiming of Resources for Development (RCMRD) in Nairobi, Kenya, established in 1975 under the auspices of the United Nations Economic Commission for Africa and the Organization of African Unity (now the African Union), is an intergovernmental organization, with 15 member states from eastern and southern Africa. (3) The Regional Remote Sensing Unit (RRSU) in Gaborone, Botswana, began work in June 1988 and operates under the Agriculture Information Management System (AIMS), as part of the Food, Agriculture and Natural Resources (FANR) Directorate, based at the Southern Africa Development Community (SADC) Secretariat.

Brown, Molly E.↗

NASA Global Flood Mapping System

Product utility key factors: Near real time, automated production; Flood spatial extent Cloudiness Pixel resolution: 250m; Flood temporal extent; Flash floods short duration on ground?; Landcover--Water under vegetation cover vs open water

flood↗

Evaluation and Validation of a High Spatial Resolution Satellite Soil Moisture Product over the Continental United States

The soil moisture (SM) data retrieved from the Soil Moisture Active and Passive (SMAP) satellite are available at a 9 km grid spacing since April 2015. This product can provide valuable information for research and applications in hydrology and other related fields. However, the resolution may be too coarse for applications at catchment or field scale. In this study, an established downscaling methodology, which had a major modification regarding its application on the SMAP 33 km domain, was implemented to develop a 1 km soil moisture product based on the SMAP 9 km data. The algorithm proposed here is based on the thermal inertia principle and developed by modeling the relationship between surface temperature difference and SM for different Normalized Difference Vegetation Index (NDVI) classes. The model functions were established and tuned using data from the NASA’s Land Information System (LIS) North America Land Data Assimilation System (NLDAS) and remotely sensed VISible/InfRared (VIS/IR) reflectance data from Long Term Data Record (LTDR) AVHRR (Advanced Very High Resolution Radiometer) for the growing season months of April-September 1981–2018. These were then implemented using the MODIS (Moderate Resolution Imaging Spectroradiometer) data over the Continental United States (CONUS) domain. Validation activities were carried out using in situ measurements distributed through the International Soil Moisture Network (ISMN). The validation results computed using the 1 km SM data showed that the R2, unbiased RMSE (root mean square error) and bias were improved relative to the 9 km SMAP product by 0.045, 0.018m3/m3 and 0.001m3/m3, respectively. The 1 km SM also exhibited a strong time-series autocorrelation. Further accuracy assessment analyses indicated that precipitation might contribute to the uncertainties in both the 9 km SMAP and 1 km downscaled SMAP SM products.

SMAP↗

Temporal and Spatial Dynamics of Nitric Oxide Production at High Latitudes During an ICME-driven Storm on Dec. 14, 2006

During geomagnetic storms driven by interplanetary coronal mass ejections (ICMEs), Earth’s upper atmosphere neutral mass density is directly driven by the geomagnetic storm cycle from intense driving and subsequent recovery. The neutral density heating and cooling times are shorter for stronger storms and longer for weaker storms. The influx of energy (Joule Heating and precipitation) into Earth’s upper atmosphere during the storm main phase allows for the enhanced production of nitric oxide (NO) at high latitudes, which in turn cools the thermosphere by radiating away excess energy. As a result, greater NO production results in quicker thermospheric cooling. Yet while the production of NO on a global scale has been examined in detail, the space and time evolution of NO is not well-known. In this study, we investigate the effects of a particular ICME-driven storm, which occurred on Dec. 14th, 2006, on the production of NO at high latitudes. We compare NO measurements from the Thermosphere, Ionosphere, Mesosphere Dynamics (TIMED) spacecraft to neutral mass density measurements from the Challenging Minisatellite Payload (CHAMP) spacecraft and find that the impact of the shock prior to the storm, not just the onset of the storm itself, is responsible for an increase in NO production. We also observe a dawn-dusk asymmetry in high-latitude NO production and discuss how the geometry of the solar wind driver may play a role in creating this asymmetry. Finally, we discuss how the improved hemispheric and local time coverage provided by the GDC and DYNAMIC missions will enable more robust studies of the spatiotemporal evolution of NO during storms. Since NO is an important factor in regulating the neutral density of the thermosphere, such studies will be relevant for more accurate orbital drag calculations.

Kevin Delano↗

Parameters Describing Earth Observing Remote Sensing Systems

The Earth science community needs to generate consistent and standard definitions for spatial, spectral, radiometric, and geometric properties describing passive electro-optical Earth observing sensors and their products. The parameters used to describe sensors and to describe their products are often confused. In some cases, parameters for a sensor and for its products are identical; in other cases, these parameters vary widely. Sensor parameters are bound by the fundamental performance of a system, while product parameters describe what is available to the end user. Products are often resampled, edge sharpened, pan-sharpened, or compressed, and can differ drastically from the intrinsic data acquired by the sensor. Because detailed sensor performance information may not be readily available to an international science community, standardization of product parameters is of primary performance. Spatial product parameters described include Modulation Transfer Function (MTF), point spread function, line spread function, edge response, stray light, edge sharpening, aliasing, ringing, and compression effects. Spectral product parameters discussed include full width half maximum, ripple, slope edge, and out-of-band rejection. Radiometric product properties discussed include relative and absolute radiometry, noise equivalent spectral radiance, noise equivalent temperature diffenence, and signal-to-noise ratio. Geometric product properties discussed include geopositional accuracy expressed as CE90, LE90, and root mean square error. Correlated properties discussed include such parameters as band-to-band registration, which is both a spectral and a spatial property. In addition, the proliferation of staring and pushbroom sensor architectures requires new parameters to describe artifacts that are different from traditional cross-track system artifacts. A better understanding of how various system parameters affect product performance is also needed to better ascertain the utility of existing datasets and products as well as to specify the performance of new sensors and products. Examples of simulations performed for the Landsat Data Continuity Mission illustrate how various parameters affect system and product performance. Specific examples include the effects of ground sample distance, MTF, and band-to-band registration on various products.

Zanoni, Vicki↗

Impact of Spatial Sampling on Continuity of MODIS-VIIRS Land Surface Reflectance Products: A Simulation Approach

With the increasing need to construct long-term climate-quality data records to understand, monitor, and predict climate variability and change, it is vital to continue systematic satellite measurements along with the development of new technology for more quantitative and accurate observations. The Suomi National Polar-orbiting Partnership mission provides continuity in monitoring the Earths surface and its atmosphere in a similar fashion as the heritage MODIS instruments onboard the National Aeronautics and Space Administrations Terra and Aqua satellites. In this paper, we aim at quantifying the consistency of Aqua MODIS and Suomi-NPP Visible Infrared Imaging Radiometer Suite (VIIRS) Land Surface Reflectance (LSR) and NDVI products as related to their inherent spatial sampling characteristics. To avoid interferences from sources of measurement and/or processing errors other than spatial sampling, including calibration, atmospheric correction, and the effects of the bidirectional reflectance distribution function, the MODIS and VIIRSLSR products were simulated using the Landsat-8s Operational Land Imager (OLI) LSR products. The simulations were performed using the instruments point spread functions on a daily basis for various OLI scenes over a 16-day orbit cycle. It was found that the daily mean differences due to discrepancies in spatial sampling remain below 0.0015 (1) in absolute surface reflectance at subgranule scale (i.e., OLI scene size).We also found that the MODISVIIRS product intercomparisons appear to be minimally impacted when differences in the corresponding view zenith angles (VZAs) are within the range of -15deg to -35deg (VZA(sub v) - VZA(sub m)), where VIIRS and MODIS footprints resemble in size. In general, depending on the spatial heterogeneity of the OLI scene contents, per-grid-cell differences can reach up to 20.Further spatial analysis of the simulated NDVI and LSR products revealed that, depending on the user accuracy requirements for product intercomparisons, spatial aggregations may be used. It was found that if per-grid-cell differences on the order of 10(in LSR or NDVI) are tolerated, the product intercomparisons are expected to be immune from differences in spatial sampling.

VIIRS↗