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NASA NTRS2010

Response to Toward Unified Satellite Climatology of Aerosol Properties: MODIS versus MISR versus AERONET - 3

A recent paper by Mishchenko et al. compares near-coincident MISR, MODIS, and AERONET aerosol optical depth (AOD), and gives a much less favorable impression of the utility of the satellite products than that presented by the instrument teams and other groups. We trace the reasons for the differing pictures to whether known and previously documented limitations of the products are taken into account in the assessments. Specifically, the analysis approaches differ primarily in (1) the treatment of outliers, (2) the application of absolute vs. relative criteria for testing agreement, and (3) the ways in which seasonally varying spatial distributions of coincident retrievals are taken into account. Mishchenko et al. also do not distinguish between observational sampling differences and retrieval algorithm error. We assess the implications of the different analysis approaches, and cite examples demonstrating how the MISR and MODIS aerosol products have been applied successfully to a range of scientific investigations.

Kahn, Ralph A.↗
NASA NTRS2011

MODIS On-orbit Calibration Uncertainty Assessment

MODIS has 20 reflective solar bands (RSB) and 16 thermal emissive bands (TEB). Compared to its heritage sensors, MODIS was developed with very stringent calibration uncertainty requirements. As a result, MODIS was designed and built with a set of on-board calibrators (OBC), which allow key sensor performance parameters and on-orbit calibration coefficients to be monitored and updated. In terms of its calibration traceability, MODIS RSB calibration is reflectance based using an on-board solar diffuser (SD) and the TEB calibration is radiance based using an on-board blackbody (BB). In addition to on-orbit calibration coefficients derived from its OBC, calibration parameters determined from sensor pre-launch calibration and characterization are used in both the RSB and TEB calibration and retrieval algorithms. This paper provides a brief description of MODIS calibration methodologies and an in-depth analysis of its on-orbit calibration uncertainties. Also discussed in this paper are uncertainty contributions from individual components and differences due to Terra and Aqua MODIS instrument characteristics and on-orbit performance.

Chiang, Vincent↗
NASA NTRS2011

Global Precipitation Measurement, Validation, and Applications Integrated Hydrologic Validation to Improve Physical Precipitation Retrievals for GPM

Land surface modeling and data assimilation can provide dynamic land surface state variables necessary to support physical precipitation retrieval algorithms over land. It is well-known that surface emission, particularly over the range of frequencies to be included in the Global Precipitation Measurement Mission (GPM), is sensitive to land surface states, including soil properties, vegetation type and greenness, soil moisture, surface temperature, and snow cover, density, and grain size. In order to investigate the robustness of both the land surface model states and the microwave emissivity and forward radiative transfer models, we have undertaken a multi-site investigation as part of the NASA Precipitation Measurement Missions (PMM) Land Surface Characterization Working Group. Specifically, we will demonstrate the performance of the Land Information System (LIS; http://lis.gsfc.nasa.gov; Peters-Lidard et aI., 2007; Kumar et al., 2006) coupled to the Joint Center for Satellite Data Assimilation (JCSDA's) Community Radiative Transfer Model (CRTM; Weng, 2007; van Deist, 2009). The land surface is characterized by complex physical/chemical constituents and creates temporally and spatially heterogeneous surface properties in response to microwave radiation scattering. The uncertainties in surface microwave emission (both surface radiative temperature and emissivity) and very low polarization ratio are linked to difficulties in rainfall detection using low-frequency passive microwave sensors (e.g.,Kummerow et al. 2001). Therefore, addressing these issues is of utmost importance for the GPM mission. There are many approaches to parameterizing land surface emission and radiative transfer, some of which have been customized for snow (e.g., the Helsinki University of Technology or HUT radiative transfer model;) and soil moisture (e.g., the Land Surface Microwave Emission Model or LSMEM).

Peters-Lidar, Christa D.↗
NASA NTRS2011

MODIS Radiometric Calibration and Uncertainty Assessment

Since launch, Terra and Aqua MODIS have collected more than II and 9 years of datasets for comprehensive studies of the Earth's land, ocean, and atmospheric properties. MODIS observations are made in 36 spectral bands: 20 reflective solar bands (RSB) and 16 thermal emissive bands (TEB). Compared to its heritage sensors, MODIS was developed with very stringent calibration and uncertainty requirements. As a result, MODIS was designed and built with a set of state of the art on-board calibrators (OBC), which allow key sensor performance parameters and on-orbit calibration coefficients to be monitored and updated if necessary. In terms of its calibration traceability, MODIS RSB calibration is reflectance based using an on-board solar diffuser (SD) and the TEB calibration is radiance based using an on-board blackbody (BB). In addition to on-orbit calibration coefficients derived from its OBC, calibration parameters determined from sensor pre-launch calibration and characterization are used in both the RSB and TEB calibration and retrieval algorithms. This paper provides a brief description of MODIS calibration methodologies and discusses details of its on-orbit calibration uncertainties. It assesses uncertainty contributions from individual components and differences between Terra and Aqua MODIS due to their design characteristics and on-orbit periormance. Also discussed in this paper is the use of MODIS LIB uncertainty index CUI) product.

Xiong, Xiaoxiong↗
NASA NTRS2011

The Canadian Experiment for Freeze/Thaw in 2012 or 2013 CanEx-FT12 or FT13

General objectives of the experiment are: Pre-launch Calibration/Validation of SMAP Freeze/Thaw products and retrieval algorithms and rehearsal for Soil Moisture Active-Passive (SMAP) post launch validation. The basis of the radar freeze-thaw measurement is the large shift in dielectric constant and backscatter (dB) between predominantly frozen & thawed conditions. The Dielectric constant of liquid water varies with frequency, whereas that of pure ice is constant

permafrost↗
NASA NTRS2011

Atmospheric Airborne Pressure Measurements Using the Oxygen A Band for the ASCENDS Mission

We report on airborne atmospheric pressure measurements using new fiber-based laser technology and the oxygen A-band at 765 nm. Remote measurements of atmospheric temperature and pressure are required for a number of NASA Earth science missions and specifically for the Active Sensing of CO2 Emissions Over Nights, Days, and Seasons (ASCENDS) mission. Accurate measurements of tropospheric CO2 on a global scale are very important in order to better understand its sources and sinks and to improve predictions on any future climate change. The ultimate goal of a CO2 remote sensing mission, such as ASCENDS, is to derive the CO2 concentration in the atmosphere in terms of mole fraction in unit of parts-per-million (ppmv) with regard to dry air. Therefore, both CO2 and the dry air number of molecules in the atmosphere are needed in deriving this quantity. O2 is a stable molecule and uniformly mixed in the atmosphere. Measuring the O2 absorption in the atmosphere can thus be used to infer the dry air number of molecules and then used to calculate CO2 concentration. With the knowledge of atmospheric water vapor, we can then estimate the total surface pressure needed for CO2 retrievals. Our work, funded by the ESTO IIP program, uses fiber optic technology and non-linear optics to generate 765 nm laser radiation coincident with the Oxygen A-band. Our pulsed, time gated technique uses several on- and off-line wavelengths tuned to the O2 absorption line. The choice of wavelengths allows us to measure the pressure by using two adjacent O2 absorptions in the Oxygen A-band. Our retrieval algorithm fits the O2 lineshapes and derives the pressure. Our measurements compare favorably with a local weather monitor mounted outside our laboratory and a local weather station.

Riris, Haris↗
NASA NTRS2012

High Resolution Observations of Drop Size Distribution for GPM Ground Validation

During the Mid-latitude Convective Cloud Experiment (MC3E), NASA's GPM GV Disdrometer and Radar Observations of Precipitation (DROP) Facility deployed an array of disdrometers and rain gauges in northern Oklahoma to sample, with high resolution, the drop size distribution (DSD) for use in development of precipitation retrieval algorithms for the GPM core satellite. The DROP Facility instruments deployed during MC3E consisted of 16 autonomous Parsivel units, 5 two-dimensional video disdrometers (2DVD), a vertical pointing K-band radar and 32 tipping bucket rain gauges. There were several rainfall events during MC3E in which rain drops exceeding 5 mm in diameter were recorded. During a convective rainfall event one of the 2DVDs measured a large rain drop of 8 mm in diameter falling from a convective cell under which several other disdrometers revealed a broad DSD spectrum across this cell and median drop diameter of 3.1 mm. The NPOL radar, which was scanning over the disdrometer array in high resolution RHI mode (every 40 sec), during a stratiform rainfall event revealed a 1 km thick bright band with locally thicker segments that produced rainfall rates of 6-10 mm/hr and indications of DSD modulations as enhanced concentrations of mid-sized rain drops (1.5-3.0 mm) descended below cloud base. These observations are key in characterizing the DSD variability within the 4 km footprint of the GPM Dual-wavelength Precipitation Radar that will provide a global map of precipitation as well as DSD.

Gatlin, Patrick N.↗
NASA NTRS2012

Spectral Profiler Probe for In Situ Snow Grain Size and Composition Stratigraphy

An ultimate goal of the climate change, snow science, and hydrology communities is to measure snow water equivalent (SWE) from satellite measurements. Seasonal SWE is highly sensitive to climate change and provides fresh water for much of the world population. Snowmelt from mountainous regions represents the dominant water source for 60 million people in the United States and over one billion people globally. Determination of snow grain sizes comprising mountain snowpack is critical for predicting snow meltwater runoff, understanding physical properties and radiation balance, and providing necessary input for interpreting satellite measurements. Both microwave emission and radar backscatter from the snow are dominated by the snow grain size stratigraphy. As a result, retrieval algorithms for measuring snow water equivalents from orbiting satellites is largely hindered by inadequate knowledge of grain size.

Berisford, Daniel F.↗
NASA NTRS2011

A Case Study of Using a Multilayered Thermodynamical Snow Model for Radiance Assimilation

A microwave radiance assimilation (RA) scheme for the retrieval of snow physical state variables requires a snowpack physical model (SM) coupled to a radiative transfer model. In order to assimilate microwave brightness temperatures (Tbs) at horizontal polarization (h-pol), an SM capable of resolving melt-refreeze crusts is required. To date, it has not been shown whether an RA scheme is tractable with the large number of state variables present in such an SM or whether melt-refreeze crust densities can be estimated. In this paper, an RA scheme is presented using the CROCUS SM which is capable of resolving melt-refreeze crusts. We assimilated both vertical (v) and horizontal (h) Tbs at 18.7 and 36.5 GHz. We found that assimilating Tb at both h-pol and vertical polarization (v-pol) into CROCUS dramatically improved snow depth estimates, with a bias of 1.4 cm compared to-7.3 cm reported by previous studies. Assimilation of both h-pol and v-pol led to more accurate results than assimilation of v-pol alone. The snow water equivalent (SWE) bias of the RA scheme was 0.4 cm, while the bias of the SWE estimated by an empirical retrieval algorithm was -2.9 cm. Characterization of melt-refreeze crusts via an RA scheme is demonstrated here for the first time; the RA scheme correctly identified the location of melt-refreeze crusts observed in situ.

Toure, Ally M.↗
NASA NTRS2012

High-Altitude MMIC Sounding Radiometer for the Global Hawk Unmanned Aerial Vehicle

Microwave imaging radiometers operating in the 50-183 GHz range for retrieving atmospheric temperature and water vapor profiles from airborne platforms have been limited in the spatial scales of atmospheric structures that are resolved not because of antenna aperture size, but because of high receiver noise masking the small variations that occur on small spatial scales. Atmospheric variability on short spatial and temporal scales (second/ km scale) is completely unresolved by existing microwave profilers. The solution was to integrate JPL-designed, high-frequency, low-noise-amplifier (LNA) technology into the High-Altitude MMIC Sounding Radiometer (HAMSR), which is an airborne microwave sounding radiometer, to lower the system noise by an order of magnitude to enable the instrument to resolve atmospheric variability on small spatial and temporal scales. HAMSR has eight sounding channels near the 60-GHz oxygen line complex, ten channels near the 118.75-GHz oxygen line, and seven channels near the 183.31-GHz water vapor line. The HAMSR receiver system consists of three heterodyne spectrometers covering the three bands. The antenna system consists of two back-to-back reflectors that rotate together at a programmable scan rate via a stepper motor. A single full rotation includes the swath below the aircraft followed by observations of ambient (roughly 0 C in flight) and heated (70 C) blackbody calibration targets located at the top of the rotation. A field-programmable gate array (FPGA) is used to read the digitized radiometer counts and receive the reflector position from the scan motor encoder, which are then sent to a microprocessor and packed into data files. The microprocessor additionally reads telemetry data from 40 onboard housekeeping channels (containing instrument temperatures), and receives packets from an onboard navigation unit, which provides GPS time and position as well as independent attitude information (e.g., heading, roll, pitch, and yaw). The raw data files are accessed through an Ethernet port. The HAMSR data rate is relatively low at 75 kbps, allowing for real-time access over the Global Hawk high-data-rate downlink. Once on the ground, the raw data are unpacked and processed through two levels of processing. The Level 1 product contains geo-located, time-stamped, calibrated brightness temperatures for the Earth scan. These data are then input to a lD variational retrieval algorithm to produce temperature, water vapor, and cloud liquid water profiles, as well as several derived products such as potential temperature and relative humidity.

Brown, Shannon T.↗
NASA NTRS2012

SO2 over Central China: Measurements, Numerical Simulations and the Tropospheric Sulfur Budget

SO2 in central China was measured in situ from an aircraft and remotely using the Ozone Monitoring Instrument (OMI) from the Aura satellite; results were used to develop a numerical tool for evaluating the tropospheric sulfur budget - sources, sinks, transformation and transport. In April 2008, measured ambient SO2 concentrations decreased from approx.7 ppbv near the surface to approx. 1 ppbv at 1800 m altitude (an effective scale height of approx.800 m), but distinct SO2 plumes were observed between 1800 and 4500 m, the aircraft's ceiling. These free tropospheric plumes play a major role in the export of SO2 and in the accuracy of OMI retrievals. The mean SO2 column contents from aircraft measurements (0.73 DU, Dobson Units) and operational OMI SO2 products (0.63+/-0.26 DU) were close. The OMI retrievals were well correlated with in situ measurements (r = 0.84), but showed low bias (slope = 0.54). A new OMI retrieval algorithm was tested and showed improved agreement and bias (r = 0.87, slope = 0.86). The Community Multiscale Air Quality (CMAQ) model was used to simulate sulfur chemistry, exhibiting reasonable agreement (r = 0.62, slope = 1.33) with in situ SO2 columns. The mean CMAQ SO2 loading over central and eastern China was 54 kT, approx.30% more than the estimate from OMI SO2 products, 42 kT. These numerical simulations, constrained by observations, indicate that ",50% (35 to 61 %) of the anthropogenic sulfur emissions were transported downwind, and the overall lifetime of tropospheric SO2 was 38+/-7 h.

He, Hao↗
NASA NTRS2012

Airborne Lidar Measurements of Atmospheric Pressure Made Using the Oxygen A-Band

Accurate measurements of greenhouse gas mixing ratios on a global scale are currently needed to gain a better understanding of climate change and its possible impact on our planet. In order to remotely measure greenhouse gas concentrations in the atmosphere with regard to dry air, the air number density in the atmosphere is also needed in deriving the greenhouse gas concentrations. Since oxygen is stable and uniformly mixed in the atmosphere at 20.95%, the measurement of an oxygen absorption in the atmosphere can be used to infer the dry air density and used to calculate the dry air mixing ratio of a greenhouse gas, such as carbon dioxide or methane. OUT technique of measuring Oxygen uses integrated path differential absorption (IPDA) with an Erbium Doped Fiber Amplifier (EDF A) laser system and single photon counting module (SPCM). It measures the absorbance of several on- and off-line wavelengths tuned to an O2 absorption line in the A-band at 764.7 nm. The choice of wavelengths allows us to maximize the pressure sensitivity using the trough between two absorptions in the Oxygen A-band. Our retrieval algorithm uses ancillary meteorological and aircraft altitude information to fit the experimentally obtained lidar O2 line shapes to a model atmosphere and derives the pressure from the profiles of the two lines. We have demonstrated O2 measurements from the ground and from an airborne platform. In this paper we will report on our airborne measurements during our 2011 campaign for the ASCENDS program.

Riris, Haris↗
NASA NTRS2012

Airborne Measurements of Atmospheric Pressure made Using an IPDA Lidar Operating in the Oxygen A-Band

We report airborne measurements of atmospheric pressure made using an integrated path differential absorption (IPDA) lidar that operates in the oxygen A-band near 765 nm. Remote measurements of atmospheric temperature and pressure are needed for NASA s Active Sensing of CO2 Emissions Over Nights, Days, and Seasons (ASCENDS) mission to measure atmospheric CO2. Accurate measurements of tropospheric CO2 on a global scale are very important in order to better understand its sources and sinks and to improve our predictions of climate change. The goal of ASCENDS is to determine the CO2 dry mixing ratio with lidar measurements from space at a level of ~1 ppm. Analysis to date shows that with current weather models, measurements of both the CO2 column density and the column density of dry air are needed. Since O2 is a stable molecule that uniformly mixed in the atmosphere, measuring O2 absorption in the atmosphere can be used to infer the dry air density. We have developed an airborne (IPDA) lidar for Oxygen, with support from the NASA ESTO IIP program. Our lidar uses DFB-based seed laser diodes, a pulsed modulator, a fiber laser amplifier, and a non-linear crystal to generate wavelength tunable 765 nm laser pulses with a few uJ/pulse energy. The laser pulse rate is 10 KHz, and average transmitted laser power is ~20 mW. Our lidar steps laser pulses across a selected line O2 doublet near 764.7 nm in the Oxygen A-band. The direct detection lidar receiver uses a 20 cm diameter telescope, a Si APD detector in Geiger mode, and a multi-channel scalar to detect and record the time resolved laser backscatter in 40 separate wavelength channels. Subsequent analysis is used to estimate the transmission line shape of the doublet for the laser pulses reflected from the ground. Ground based data analysis allows averaging from 1 to 60 seconds to increase SNR in the transmission line shape of the doublet. Our retrieval algorithm fits the expected O2 lineshapes against the measurements and determines the atmospheric pressure by minimizing the error between the observations and model. We first demonstrated our airborne lidar during flights during summer 2010. We made several improvements and made measurements during the Ascends flights during July 2011. More information about the technique, lidar instrument, airborne measurements, and pressure estimates will be described in the presentation.

Riris, Haris↗
NASA NTRS2012

SRT Evaluation of AIRS Version-6.02 and Version-6.02 AIRS Only (6.02 AO) Products

Version-6 contains a number of significant improvements over Version-5. This report compares Version-6 products resulting from the advances listed below to those from Version-5. 1. Improved methodology to determine skin temperature (T(sub s)) and spectral emissivity (Epsilon(sub v)). 2. Use of Neural-net start-up state. 3. Improvements which decrease the spurious negative Version-5 trend in tropospheric temperatures. 4. Improved QC methodology. Version-6 uses separate QC thresholds optimized for Data Assimilation (QC=0) and Climate applications (QC=0,1) respectively. 5. Channel-by-channel clear-column radiances R-hat(sub tau) QC flags. 6. Improved cloud parameter retrieval algorithm. 7. Improved OLR RTA. Our evaluation compared V6.02 and V6.02 AIRS Only (V6.02 AO) Quality Controlled products with those of Version-5.0. In particular we evaluated surface skin temperature T(sub s), surface spectral emissivity Epsilon(sub v), temperature profile T(p), water vapor profile q(p), OLR, OLR(sub CLR), effective cloud fraction alpha-Epsilon, and cloud cleared radiances R-hat(sub tau) . We conducted two types of evaluations. The first compared results on 7 focus days to collocated ECMWF truth. The seven focus days are: September 6, 2002; January 25, 2003; September 29, 2004; August 5, 2005; February 24, 2007; August 10, 2007; and May 30, 2010. In these evaluations, we show results for T(sub s), Epsilon(sub v), T(p), and q(p) in terms of yields, and RMS differences and biases with regard to ECMWF. We also show yield trends as well as bias trends of these quantities relative to ECMWF truth. We also show yields and accuracy of channel by channel QC d values of R-hat(sub tau) for V6.02 and V6.02 AO. Version-5 did not contain channel by channel QC d values of R-hat(sub tau). In the second type of evaluation, we compared V6.03 monthly mean Level-3 products to those of Version-5.0, for four different months: January, April, July, and October; in 3 different years 2003, 2007, and 2011. In particular, we compared V6.03 and V5.0 trends of T(p), q(p), alpha-Epsilon, OLR, and OLR(sub CLR) computed based on results for these 12 time periods

Susskind, Joel↗
NASA NTRS2012

Retrieval of Ocean Surface Windspeed and Rainrate from the Hurricane Imaging Radiometer (HIRAD) Brightness Temperature Observations

The Hurricane Imaging Radiometer (HIRAD) is a new airborne synthetic aperture passive microwave radiometer capable of wide swath imaging of the ocean surface wind speed under heavy precipitation e.g. in tropical cyclones. It uses interferometric signal processing to produce upwelling brightness temperature (Tb) images at its four operating frequencies 4, 5, 6 and 6.6 GHz [1,2]. HIRAD participated in NASA s Genesis and Rapid Intensification Processes (GRIP) mission during 2010 as its first science field campaign. It produced Tb images with ~70 km swath width and 3 km resolution from a ~ 20 km altitude. From this, ocean surface wind speed and column averaged atmospheric liquid water content can be retrieved across the swath. The column averaged liquid water then could be related to an average rain rate. The retrieval algorithm (and the HIRAD instrument itself) is a direct descendant of the nadir-only Stepped Frequency Microwave Radiometer that is used operationally by the NOAA Hurricane Research Division to monitor tropical cyclones [3,4]. However, due to HIRAD s slant viewing geometry (compared to nadir viewing SFMR) a major modification is required in the algorithm. Results based on the modified algorithm from the GRIP campaign will be presented in the paper.

Biswas, Sayak K.↗
NASA NTRS2012

An Overview of Atmospheric Composition OSSE Activities at NASA's Global Modeling and Assimilation Office

A model-based Observing System Simulation Experiment (OSSE) is a framework for numerical experimentation in which observables are simulated from fields generated by an earth system model, including a parameterized description of observational error characteristics. Simulated observations can be used for sampling studies, quantifying errors in analysis or retrieval algorithms, and ultimately being a planning tool for designing new observing missions. While this framework has traditionally been used to assess the impact of observations on numerical weather prediction, it has a much broader applicability, in particular to aerosols and chemical constituents. In this talk we will give a general overview of Observing System Simulation Experiments (OSSE) activities at NASA's Global Modeling and Assimilation Office, with focus on its emerging atmospheric composition component.

daSilva, Arlinda↗
NASA NTRS2012

Level-1C Product from AIRS: Principal Component Filtering

The Atmospheric Infrared Sounder (AIRS), launched on the EOS Aqua spacecraft on May 4, 2002, is a grating spectrometer with 2378 channels in the range 3.7 to 15.4 microns. In a grating spectrometer each individual radiance measurement is largely independent of all others. Most measurements are extremely accurate and have very low noise levels. However, some channels exhibit high noise levels or other anomalous behavior, complicating applications needing radiances throughout a band, such as cross-calibration with other instruments and regression retrieval algorithms. The AIRS Level-1C product is similar to Level-1B but with instrument artifacts removed. This paper focuses on the "cleaning" portion of Level-1C, which identifies bad radiance values within spectra and produces substitute radiances using redundant information from other channels. The substitution is done in two passes, first with a simple combination of values from neighboring channels, then with principal components. After results of the substitution are shown, differences between principal component reconstructed values and observed radiances are used to investigate detailed noise characteristics and spatial misalignment in other channels.

Noise Equivalent delta Temperature (NEdT)↗
NASA NTRS2012

Using Information From Prior Satellite Scans to Improve Cloud Detection Near the Day-Night Terminator

With geostationary satellite data it is possible to have a continuous record of diurnal cycles of cloud properties for a large portion of the globe. Daytime cloud property retrieval algorithms are typically superior to nighttime algorithms because daytime methods utilize measurements of reflected solar radiation. However, reflected solar radiation is difficult to accurately model for high solar zenith angles where the amount of incident radiation is small. Clear and cloudy scenes can exhibit very small differences in reflected radiation and threshold-based cloud detection methods have more difficulty setting the proper thresholds for accurate cloud detection. Because top-of-atmosphere radiances are typically more accurately modeled outside the terminator region, information from previous scans can help guide cloud detection near the terminator. This paper presents an algorithm that uses cloud fraction and clear and cloudy infrared brightness temperatures from previous satellite scan times to improve the performance of a threshold-based cloud mask near the terminator. Comparisons of daytime, nighttime, and terminator cloud fraction derived from Geostationary Operational Environmental Satellite (GOES) radiance measurements show that the algorithm greatly reduces the number of false cloud detections and smoothes the transition from the daytime to the nighttime clod detection algorithm. Comparisons with the Geoscience Laser Altimeter System (GLAS) data show that using this algorithm decreases the number of false detections by approximately 20 percentage points.

Yost, Christopher R.↗