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A Neural Network–Based Cloud Mask for PREFIRE and Evaluation with Simulated ObservationsAbstract
The Polar Radiant Energy in the Far Infrared Experiment (PREFIRE) will fill a gap in our understanding of polar processes and the polar climate by offering widespread, spectrally resolved measurements through the far-infrared (FIR) with two identical CubeSat spacecraft. While the polar regions are typically difficult for skillful cloud identification due to cold surface temperatures, the reflection by bright surfaces, and frequent temperature inversions, the inclusion of the FIR may offer increased spectral sensitivity, allowing for the detection of even thin ice clouds. This study assesses the potential skill, as well as limitations, of a neural network (NN)-based cloud mask using simulated spectra mimicking what the PREFIRE mission will capture. Analysis focuses on the polar regions. Clouds are found to be detected approximately 90% of time using the derived neural network. The NN’s assigned confidence for whether a scene is “clear” or “cloudy” proves to be a skillful way in which quality flags can be attached to predictions. Clouds with higher cloud-top heights are typically more easily detected. Low-altitude clouds over polar surfaces, which are the most difficult for the NN to detect, are still detected over 80% of the time. The FIR portion of the spectrum is found to increase the detection of clear scenes and increase mid- to high-altitude cloud detection. Cloud detection skill improves through the use of the overlapping fields of view produced by the PREFIRE instrument’s sampling strategy. Overlapping fields of view increase accuracy relative to the baseline NN while simultaneously predicting on a sub-FOV scale.
Significance Statement
Clouds play an important role in defining the Arctic and Antarctic climates. The purpose of this study is to explore the potential of never-before systematically measured radiative properties of the atmosphere to aid in the detection of polar clouds, which are traditionally difficult to detect. Satellite measurements of emitted radiation at wavelengths longer than 15 μm, combined with complex machine learning methods, may allow us to better understand the occurrence of various cloud types at both poles. The occurrence of these clouds can determine whether the surface warms or cools, influencing surface temperatures and the rate at which ice melts or refreezes. Understanding the frequencies of these various clouds is increasingly important within the context of our rapidly changing climate.
Abstract
The Polar Radiant Energy in the Far Infrared Experiment (PREFIRE) will fill a gap in our understanding of polar processes and the polar climate by offering widespread, spectrally resolved measurements through the far-infrared (FIR) with two identical CubeSat spacecraft. While the polar regions are typically difficult for skillful cloud identification due to cold surface temperatures, the reflection by bright surfaces, and frequent temperature inversions, the inclusion of the FIR may offer increased spectral sensitivity, allowing for the detection of even thin ice clouds. This study assesses the potential skill, as well as limitations, of a neural network (NN)-based cloud mask using simulated spectra mimicking what the PREFIRE mission will capture. Analysis focuses on the polar regions. Clouds are found to be detected approximately 90% of time using the derived neural network. The NN’s assigned confidence for whether a scene is “clear” or “cloudy” proves to be a skillful way in which quality flags can be attached to predictions. Clouds with higher cloud-top heights are typically more easily detected. Low-altitude clouds over polar surfaces, which are the most difficult for the NN to detect, are still detected over 80% of the time. The FIR portion of the spectrum is found to increase the detection of clear scenes and increase mid- to high-altitude cloud detection. Cloud detection skill improves through the use of the overlapping fields of view produced by the PREFIRE instrument’s sampling strategy. Overlapping fields of view increase accuracy relative to the baseline NN while simultaneously predicting on a sub-FOV scale.
Significance Statement
Clouds play an important role in defining the Arctic and Antarctic climates. The purpose of this study is to explore the potential of never-before systematically measured radiative properties of the atmosphere to aid in the detection of polar clouds, which are traditionally difficult to detect. Satellite measurements of emitted radiation at wavelengths longer than 15 μm, combined with complex machine learning methods, may allow us to better understand the occurrence of various cloud types at both poles. The occurrence of these clouds can determine whether the surface warms or cools, influencing surface temperatures and the rate at which ice melts or refreezes. Understanding the frequencies of these various clouds is increasingly important within the context of our rapidly changing climate.
A Precise Zenith Hydrostatic Delay Calibration Model in China Based on the Nonlinear Least Square MethodAbstract
Zenith hydrostatic delay (ZHD) is a crucial parameter in Global Navigation Satellite System (GNSS) navigation and positioning and GNSS meteorology. Since the Saastamoinen ZHD model has a larger error in China, it is significant to improve the Saastamoinen ZHD model. This work first estimated the Saastamoinen model using the integrated ZHD as reference values obtained from radiosonde data collected at 73 stations in China from 2012 to 2016. Then, the residuals between the reference values and the Saastamoinen modeled ZHDs were calculated, and the correlations between the residuals and meteorological parameters were explored. The continuous wavelet transform method was used to recognize the annual and semiannual characteristics of the residuals. Because of the nonlinear variation characteristics of residuals, the nonlinear least squares estimation method was introduced to establish an improved ZHD model—China Revised Zenith Hydrostatic Delay (CRZHD)—adapted for China. The accuracy of the CRZHD model was assessed using radiosonde data and International GNSS Service (IGS) data in 2017; the radiosonde data results show that the CRZHD model is superior to the Saastamoinen model with a 69.6% improvement. The three IGS stations with continuous meteorological data present that the BIAS and RMSE are decreased by 2.7 and 1.5 (URUM), 5.9 and 5.3 (BJFS), and 9.6 and 8.8 mm (TCMS), respectively. The performance of the CRZHD model retrieving PWV was discussed using radiosonde data in 2017. It is shown that the CRZHD model retrieving PWV (CRZHD-PWV) outperforms the Saastamoinen model (SAAS-PWV), in which the precision is improved by 44.4%. The BIAS ranged from −1 to 1 mm and RMSE ranged from 0 to 2 mm in CRZHD-PWV account for 89.0% and 95.9%, while SAAS-PWV account for 46.6% and 58.9%.
Significance Statement
Zenith hydrostatic delay (ZHD) is one of the most important parameters in Global Navigation Satellite System (GNSS) navigation and positioning and GNSS meteorology, which can be derived from a precise ZHD model due to its stability. This research established an improved ZHD model for China to obtain accurate ZHD, which is a prerequisite for pinpoint precipitable water vapor (PWV) retrieval. And the PWV value is beneficial to analyze the change in precipitation in some regions, forecast the short-term rainfall, and monitor the climate.
Abstract
Zenith hydrostatic delay (ZHD) is a crucial parameter in Global Navigation Satellite System (GNSS) navigation and positioning and GNSS meteorology. Since the Saastamoinen ZHD model has a larger error in China, it is significant to improve the Saastamoinen ZHD model. This work first estimated the Saastamoinen model using the integrated ZHD as reference values obtained from radiosonde data collected at 73 stations in China from 2012 to 2016. Then, the residuals between the reference values and the Saastamoinen modeled ZHDs were calculated, and the correlations between the residuals and meteorological parameters were explored. The continuous wavelet transform method was used to recognize the annual and semiannual characteristics of the residuals. Because of the nonlinear variation characteristics of residuals, the nonlinear least squares estimation method was introduced to establish an improved ZHD model—China Revised Zenith Hydrostatic Delay (CRZHD)—adapted for China. The accuracy of the CRZHD model was assessed using radiosonde data and International GNSS Service (IGS) data in 2017; the radiosonde data results show that the CRZHD model is superior to the Saastamoinen model with a 69.6% improvement. The three IGS stations with continuous meteorological data present that the BIAS and RMSE are decreased by 2.7 and 1.5 (URUM), 5.9 and 5.3 (BJFS), and 9.6 and 8.8 mm (TCMS), respectively. The performance of the CRZHD model retrieving PWV was discussed using radiosonde data in 2017. It is shown that the CRZHD model retrieving PWV (CRZHD-PWV) outperforms the Saastamoinen model (SAAS-PWV), in which the precision is improved by 44.4%. The BIAS ranged from −1 to 1 mm and RMSE ranged from 0 to 2 mm in CRZHD-PWV account for 89.0% and 95.9%, while SAAS-PWV account for 46.6% and 58.9%.
Significance Statement
Zenith hydrostatic delay (ZHD) is one of the most important parameters in Global Navigation Satellite System (GNSS) navigation and positioning and GNSS meteorology, which can be derived from a precise ZHD model due to its stability. This research established an improved ZHD model for China to obtain accurate ZHD, which is a prerequisite for pinpoint precipitable water vapor (PWV) retrieval. And the PWV value is beneficial to analyze the change in precipitation in some regions, forecast the short-term rainfall, and monitor the climate.
Abstract
Coherent ocean vortices, or eddies, are usually tracked on the surface of the ocean. However, tracking subsurface eddies is important for a complete understanding of deep ocean circulation. In this study, we develop an algorithm designed for the detection of subsurface eddies in the Arabian Sea using Nucleus for European Modelling of the Ocean (NEMO) model simulations. We optimize each parameter of our algorithm to achieve favorable results when compared with an algorithm using sea surface height (SSH). When compared to similar methods, we find that using the rescaled isopycnal potential vorticity (PV) is best for subsurface eddy detection. We proceed to demonstrate that our new algorithm can detect eddies successfully between specific isopycnals, such as those that define the Red Sea Water (RSW). In doing so, we showcase how our method can be used to describe the properties of eddies within the RSW and even identify specific long-lived subsurface eddies. We conduct one such case study by discerning the structure of a completely subsurface RSW eddy near the Chagos Archipelago using Lagrangian particle tracking and PV diagnostics. We conclude that our rescaled PV method is an efficient tool for investigating eddy dynamics within the ocean’s interior, and publicly provide our optimization methodology as a way for other researchers to develop their own subsurface detection algorithms with optimized parameters for any spatiotemporal model domain.
Abstract
Coherent ocean vortices, or eddies, are usually tracked on the surface of the ocean. However, tracking subsurface eddies is important for a complete understanding of deep ocean circulation. In this study, we develop an algorithm designed for the detection of subsurface eddies in the Arabian Sea using Nucleus for European Modelling of the Ocean (NEMO) model simulations. We optimize each parameter of our algorithm to achieve favorable results when compared with an algorithm using sea surface height (SSH). When compared to similar methods, we find that using the rescaled isopycnal potential vorticity (PV) is best for subsurface eddy detection. We proceed to demonstrate that our new algorithm can detect eddies successfully between specific isopycnals, such as those that define the Red Sea Water (RSW). In doing so, we showcase how our method can be used to describe the properties of eddies within the RSW and even identify specific long-lived subsurface eddies. We conduct one such case study by discerning the structure of a completely subsurface RSW eddy near the Chagos Archipelago using Lagrangian particle tracking and PV diagnostics. We conclude that our rescaled PV method is an efficient tool for investigating eddy dynamics within the ocean’s interior, and publicly provide our optimization methodology as a way for other researchers to develop their own subsurface detection algorithms with optimized parameters for any spatiotemporal model domain.
Scripps Argo Trajectory-Based Velocity Product: Global Estimates of Absolute Velocity Derived from Core, Biogeochemical, and Deep Argo Float Trajectories at Parking DepthAbstract
Global estimates of absolute velocities can be derived from Argo float trajectories during drift at parking depth. A new velocity dataset developed and maintained at Scripps Institution of Oceanography is presented based on all Core, Biogeochemical, and Deep Argo float trajectories collected between 2001 and 2020. Discrepancies between velocity estimates from the Scripps dataset and other existing products including YoMaHa and ANDRO are associated with quality control criteria, as well as selected parking depth and cycle time. In the Scripps product, over 1.3 million velocity estimates are used to reconstruct a time-mean velocity field for the 800–1200 dbar layer at 1° horizontal resolution. This dataset provides a benchmark to evaluate the veracity of the BRAN2020 reanalysis in representing the observed variability of absolute velocities and offers a compelling opportunity for improved characterization and representation in forecast and reanalysis systems.
Significance Statement
The aim of this study is to provide observation-based estimates of the large-scale, subsurface ocean circulation. We exploit the drift of autonomous profiling floats to carefully isolate the inferred circulation at the parking depth, and combine observations from over 11 000 floats, sampling between 2001 and 2020, to deliver a new dataset with unprecedented accuracy. The new estimates of subsurface currents are suitable for assessing global models, reanalyses, and forecasts, and for constraining ocean circulation in data-assimilating models.
Abstract
Global estimates of absolute velocities can be derived from Argo float trajectories during drift at parking depth. A new velocity dataset developed and maintained at Scripps Institution of Oceanography is presented based on all Core, Biogeochemical, and Deep Argo float trajectories collected between 2001 and 2020. Discrepancies between velocity estimates from the Scripps dataset and other existing products including YoMaHa and ANDRO are associated with quality control criteria, as well as selected parking depth and cycle time. In the Scripps product, over 1.3 million velocity estimates are used to reconstruct a time-mean velocity field for the 800–1200 dbar layer at 1° horizontal resolution. This dataset provides a benchmark to evaluate the veracity of the BRAN2020 reanalysis in representing the observed variability of absolute velocities and offers a compelling opportunity for improved characterization and representation in forecast and reanalysis systems.
Significance Statement
The aim of this study is to provide observation-based estimates of the large-scale, subsurface ocean circulation. We exploit the drift of autonomous profiling floats to carefully isolate the inferred circulation at the parking depth, and combine observations from over 11 000 floats, sampling between 2001 and 2020, to deliver a new dataset with unprecedented accuracy. The new estimates of subsurface currents are suitable for assessing global models, reanalyses, and forecasts, and for constraining ocean circulation in data-assimilating models.
Abstract
The existence of significant cross-polar antenna patterns, as well as the scan-dependent measurement biases, inherent to the polarimetric phased array radar (PPAR), are among the most important risk factors for using this technology in weather observations. The cross-polar patterns on receive induce cross coupling between returns from the two orthogonal fields causing biases in polarimetric variable estimates. Furthermore, the electromagnetic coupling in hardware may exacerbate the cross-coupling effects. To address this problem, a pulse-to-pulse phase coding in either the horizontal or vertical ports of the transmission elements has been proposed. However, it does not affect the scan-dependent system biases in PPAR estimates which require corrections via calibration mechanisms. Further, the cross-coupling signals are proportional to the cross-polar pattern power levels, rendering mitigation effective only at steering angles where these levels are sufficiently low (e.g., approximately less than ~-25 dB). In that regard, any approach that augments the number of such steering angles benefits the cross-coupling mitigation effectiveness. Herein, a simple approach that has a potential to achieve this via antenna tilt is presented.
Abstract
The existence of significant cross-polar antenna patterns, as well as the scan-dependent measurement biases, inherent to the polarimetric phased array radar (PPAR), are among the most important risk factors for using this technology in weather observations. The cross-polar patterns on receive induce cross coupling between returns from the two orthogonal fields causing biases in polarimetric variable estimates. Furthermore, the electromagnetic coupling in hardware may exacerbate the cross-coupling effects. To address this problem, a pulse-to-pulse phase coding in either the horizontal or vertical ports of the transmission elements has been proposed. However, it does not affect the scan-dependent system biases in PPAR estimates which require corrections via calibration mechanisms. Further, the cross-coupling signals are proportional to the cross-polar pattern power levels, rendering mitigation effective only at steering angles where these levels are sufficiently low (e.g., approximately less than ~-25 dB). In that regard, any approach that augments the number of such steering angles benefits the cross-coupling mitigation effectiveness. Herein, a simple approach that has a potential to achieve this via antenna tilt is presented.
Abstract
The Polar Radiant Energy in the Far InfraRed Experiment (PREFIRE) mission will measure the Earth’s emission at wavelengths ranging from 3-54 µm. The pre-launch clear-sky retrieval algorithm, evaluated with simulated test data, indicates that PREFIRE measurements will be valuable for retrieving atmospheric water vapor and temperature profiles. Far infrared measurements provide unique retrieval information, indicated by the high ranking of select FIR channels as primary contributors to the total degrees of freedom for signal (DFS). In utilizing all the PREFIRE channels, the average total DFS of 4 test regions ranges from 1.90 - 4.71. The information content increases with higher column water vapor and in the presence of near surface temperature inversions. Using the DFS profiles for guidance, the retrieval concentrates information into 7 distinct layers to reduce the retrieval uncertainty per layer. Sensitivity tests indicate forward model error due to surface emissivity uncertainty results in about a 9% increase in column water vapor uncertainty. The clear-sky retrieval is sensitive to the presence of undetected ice clouds, especially those with optical depths larger than 0.2. Hence, in addition to a separate PREFIRE cloud mask, optimal estimation retrieval metrics are explored as possible indicators of cloudy scenes.
Abstract
The Polar Radiant Energy in the Far InfraRed Experiment (PREFIRE) mission will measure the Earth’s emission at wavelengths ranging from 3-54 µm. The pre-launch clear-sky retrieval algorithm, evaluated with simulated test data, indicates that PREFIRE measurements will be valuable for retrieving atmospheric water vapor and temperature profiles. Far infrared measurements provide unique retrieval information, indicated by the high ranking of select FIR channels as primary contributors to the total degrees of freedom for signal (DFS). In utilizing all the PREFIRE channels, the average total DFS of 4 test regions ranges from 1.90 - 4.71. The information content increases with higher column water vapor and in the presence of near surface temperature inversions. Using the DFS profiles for guidance, the retrieval concentrates information into 7 distinct layers to reduce the retrieval uncertainty per layer. Sensitivity tests indicate forward model error due to surface emissivity uncertainty results in about a 9% increase in column water vapor uncertainty. The clear-sky retrieval is sensitive to the presence of undetected ice clouds, especially those with optical depths larger than 0.2. Hence, in addition to a separate PREFIRE cloud mask, optimal estimation retrieval metrics are explored as possible indicators of cloudy scenes.
Application of Machine Learning Techniques to Ocean Mooring Time Series DataAbstract
In situ observations are vital to improving our understanding of the variability and dynamics of the ocean. A critical component of the ocean circulation is the strong, narrow, and highly variable western boundary currents. Ocean moorings that extend from the seafloor to the surface remain the most effective and efficient method to fully observe these currents. For various reasons, mooring instruments may not provide continuous records. Here we assess the application of the Iterative Completion Self-Organizing Maps (ITCOMPSOM) machine learning technique to fill observational data gaps in a 7.5 yr time series of the East Australian Current. The method was validated by withholding parts of fully known profiles, and reconstructing them. For 20% random withholding of known velocity data, validation statistics of the u- and υ-velocity components are R 2 coefficients of 0.70 and 0.88 and root-mean-square errors of 0.038 and 0.064 m s−1, respectively. Withholding 100 days of known velocity profiles over a depth range between 60 and 700 m has mean profile residual differences between true and predicted u and υ velocity of 0.009 and 0.02 m s−1, respectively. The ITCOMPSOM also reproduces the known velocity variability. For 20% withholding of salinity and temperature data, root-mean-square errors of 0.04 and 0.38°C, respectively, are obtained. The ITCOMPSOM validation statistics are significantly better than those obtained when standard data filling methods are used. We suggest that machine learning techniques can be an appropriate method to fill missing data and enable production of observational-derived data products.
Significance Statement
Moored observational time series of ocean boundary currents monitor the full-depth variability and change of these dynamic currents and are used to understand their influence on large-scale ocean climate, regional shelf–coastal processes, extreme weather, and seasonal climate. In this study we apply a machine learning technique, Iterative Completion Self-Organizing Maps (ITCOMPSOM), to fill data gaps in a boundary current moored observational data record. The ITCOMPSOM provides an improved method to fill data gaps in the mooring record and if applied to other observational data records may improve the reconstruction of missing data. The derived gridded data product should improve the accessibility and potentially increase the use of these data.
Abstract
In situ observations are vital to improving our understanding of the variability and dynamics of the ocean. A critical component of the ocean circulation is the strong, narrow, and highly variable western boundary currents. Ocean moorings that extend from the seafloor to the surface remain the most effective and efficient method to fully observe these currents. For various reasons, mooring instruments may not provide continuous records. Here we assess the application of the Iterative Completion Self-Organizing Maps (ITCOMPSOM) machine learning technique to fill observational data gaps in a 7.5 yr time series of the East Australian Current. The method was validated by withholding parts of fully known profiles, and reconstructing them. For 20% random withholding of known velocity data, validation statistics of the u- and υ-velocity components are R 2 coefficients of 0.70 and 0.88 and root-mean-square errors of 0.038 and 0.064 m s−1, respectively. Withholding 100 days of known velocity profiles over a depth range between 60 and 700 m has mean profile residual differences between true and predicted u and υ velocity of 0.009 and 0.02 m s−1, respectively. The ITCOMPSOM also reproduces the known velocity variability. For 20% withholding of salinity and temperature data, root-mean-square errors of 0.04 and 0.38°C, respectively, are obtained. The ITCOMPSOM validation statistics are significantly better than those obtained when standard data filling methods are used. We suggest that machine learning techniques can be an appropriate method to fill missing data and enable production of observational-derived data products.
Significance Statement
Moored observational time series of ocean boundary currents monitor the full-depth variability and change of these dynamic currents and are used to understand their influence on large-scale ocean climate, regional shelf–coastal processes, extreme weather, and seasonal climate. In this study we apply a machine learning technique, Iterative Completion Self-Organizing Maps (ITCOMPSOM), to fill data gaps in a boundary current moored observational data record. The ITCOMPSOM provides an improved method to fill data gaps in the mooring record and if applied to other observational data records may improve the reconstruction of missing data. The derived gridded data product should improve the accessibility and potentially increase the use of these data.
Abstract
Accurate ocean wave measurements are needed for the safe design and operation of offshore facilities, but despite many ocean wave measurements, the accuracy of wave measurement systems remains an ongoing issue. Of paramount importance are measurements during extreme sea states. This paper examines wave measurements made with an Optech Laser, a Rosemount WaveRadar, and a Datawell Waverider buoy at North Rankin A platform (NRA), Australia; Ekofisk, North Sea; and several South China Sea locations. We evaluate the relative performance of these instruments based upon various frequency domain comparisons, including comparisons of their 1-D frequency spectra using spectrograms, spectral moments, high-frequency tail slopes, and significant wave heights derived from their wave spectra. A spectral relationship (transfer function) in terms of mean spectral ratio of the instruments is developed, which can be used for spectral calibration. On average, Laser and Waverider spectral estimates agree well at all sea states. However, at low wind speeds, the higher frequency spectral levels of the Laser are relatively high and noisy compared with the other two instruments. Radar higher frequency spectral estimates are relatively low compared to the other two instruments, particularly at lower sea states. In additionally, the higher frequency tail slopes of all three instruments vary between f ‒4 and f ‒5. However, at higher sea states, the Waverider tail slopes become steeper than f ‒5. The Radar produces the lowest significant wave heights (H m0) compared to the Laser and Waverider, but its second moment period (T m02) estimates are longer than the Laser and Waverider.
Abstract
Accurate ocean wave measurements are needed for the safe design and operation of offshore facilities, but despite many ocean wave measurements, the accuracy of wave measurement systems remains an ongoing issue. Of paramount importance are measurements during extreme sea states. This paper examines wave measurements made with an Optech Laser, a Rosemount WaveRadar, and a Datawell Waverider buoy at North Rankin A platform (NRA), Australia; Ekofisk, North Sea; and several South China Sea locations. We evaluate the relative performance of these instruments based upon various frequency domain comparisons, including comparisons of their 1-D frequency spectra using spectrograms, spectral moments, high-frequency tail slopes, and significant wave heights derived from their wave spectra. A spectral relationship (transfer function) in terms of mean spectral ratio of the instruments is developed, which can be used for spectral calibration. On average, Laser and Waverider spectral estimates agree well at all sea states. However, at low wind speeds, the higher frequency spectral levels of the Laser are relatively high and noisy compared with the other two instruments. Radar higher frequency spectral estimates are relatively low compared to the other two instruments, particularly at lower sea states. In additionally, the higher frequency tail slopes of all three instruments vary between f ‒4 and f ‒5. However, at higher sea states, the Waverider tail slopes become steeper than f ‒5. The Radar produces the lowest significant wave heights (H m0) compared to the Laser and Waverider, but its second moment period (T m02) estimates are longer than the Laser and Waverider.
Abstract
The present work details the measurement capabilities of Wave Glider autonomous surface vehicles (ASVs) for research-grade meteorology, wave, and current data. Methodologies for motion compensation are described and tested, including a correction technique to account for Doppler shifting of the wave signal. Wave Glider measurements are evaluated against observations obtained from World Meteorological Organization (WMO)-compliant moored buoy assets located off the coast of Southern California. The validation spans a range of field conditions and includes multiple deployments to assess the quality of vehicle-based observations. Results indicate that Wave Gliders can accurately measure wave spectral information, bulk wave parameters, water velocities, bulk winds, and other atmospheric variables with the application of appropriate motion compensation techniques. Measurement errors were found to be comparable to those from reference moored buoys and within WMO operational requirements. The findings of this study represent a step toward enabling the use of ASV-based data for the calibration and validation of remote observations and assimilation into forecast models.
Abstract
The present work details the measurement capabilities of Wave Glider autonomous surface vehicles (ASVs) for research-grade meteorology, wave, and current data. Methodologies for motion compensation are described and tested, including a correction technique to account for Doppler shifting of the wave signal. Wave Glider measurements are evaluated against observations obtained from World Meteorological Organization (WMO)-compliant moored buoy assets located off the coast of Southern California. The validation spans a range of field conditions and includes multiple deployments to assess the quality of vehicle-based observations. Results indicate that Wave Gliders can accurately measure wave spectral information, bulk wave parameters, water velocities, bulk winds, and other atmospheric variables with the application of appropriate motion compensation techniques. Measurement errors were found to be comparable to those from reference moored buoys and within WMO operational requirements. The findings of this study represent a step toward enabling the use of ASV-based data for the calibration and validation of remote observations and assimilation into forecast models.
