1. Introduction
Once a tropical cyclone makes landfall, one of its main dangers is the flooding it often causes. This threat of flooding is a function of the rain rate as well as the total surface rain accumulation. The precipitation can be quite drastically affected by local orographic forcing as well as interactions with any midlatitude frontal boundaries or upper-level troughs. That is why it is very desirable to monitor the rainfall within tropical cyclones at fine temporal and spatial scales. While this can be achieved using weather radar, the measurement of surface rainfall with radar is not without problems, chief among them being the dependence of the nonlinear relation between the measured radar reflectivities Z and the underlying rain rate R on the sizes of the raindrops. The latter can vary significantly within a tropical cyclone. In convective areas, large hydrometeors tend to precipitate out locally, while smaller ones tend to be carried aloft to be precipitated out in stratiform areas. Since the reflectivity of a raindrop is roughly proportional to the square of its mass, small errors in the a priori assumption about the drop sizes in any given column of rain can easily produce large errors in the inferred rain rate. This problem has been dealt with in two ways. A concerted effort has been made to describe the drop size distribution (DSD) in various rain regimes using in situ measurements obtained by ground-based disdrometers as well as airborne optical probes. While such data can yield statistical descriptions about raindrop size variability, they are limited by the fact that the instruments involved can only sample a minuscule volume of air relative to the large volumes that are probed by even the highest resolution radars. It is therefore not at all clear how representative the statistics obtained from in situ data are of the rain in any specific precipitating column. An alternate procedure to quantify these statistics and to make them more specifically relevant to any particular area within a tropical cyclone is to design radars that can simultaneously measure both the rain rate and the underlying mean drop size. This approach requires a dual-frequency radar, with the assumption that the reflectivities measured at two different frequencies depend in an invertible way on the underlying rain rate and mean drop size. Indeed, the original proposal for the precipitation radar designed for the Tropical Rainfall Measuring Mission (TRMM) specified a Ku-band as well as a Ka-band channel. The latter was eventually dropped because of budget constraints, but the dual-frequency design is being implemented for the upcoming Global Precipitation Mission.
In the case of TRMM, this DSD problem has been dealt with in two ways. In the radar algorithm, (1) is used to adjust the ratio αβ/b and thus reduce the ambiguity, at least in the case of heavier precipitation. In the Bayesian framework of the TRMM combined radar/radiometer algorithm, (1) is used to weight the candidate a priori DSDs in favor of the better-matching ones, and the observed radiances are also used to further constrain the multiple possibilities for the DSD. The dual-frequency radar that the Global Precipitation Measurement (GPM) mission’s core satellite will carry should prove a much more effective tool in sorting out at least part of this DSD-induced ambiguity. Indeed, with two radar reflectivity profiles, one would expect to be able to retrieve not just a single rain-rate profile, but in addition at least one first-order DSD profile, for example, a profile of the (mass weighted) mean drop diameter D*. Unfortunately, this expectation may turn out to be difficult to fulfill, because the reflectivity profiles at the two radar frequencies are far from independent. After all, lighter rain is made up mostly of small drops. As Fig. 2 shows, the backscattering cross section of small drops is not significantly different at 14 and 35 GHz. One would therefore not expect large differences in the associated radar reflectivity factors. While the difference in the extinction cross section appears more readily exploitable for small drops, its actual magnitude is unfortunately so small that the resulting attenuation is not significant for light precipitation. At the other extreme, while the attenuation will be appreciable (at both frequencies) for heavy rain, it is in fact likely to be so appreciable as to drive the backscattered 35-GHz signal itself below the sensitivity threshold of that channel. Thus, the two frequencies are not very different at low rain rates, and they will in effect reduce to a single frequency at high rain rates, leaving a somewhat disappointing range over which the two frequencies can be realistically expected to resolve the DSD-induced ambiguity problem. That is why it is at least as important for GPM as it was for TRMM to develop an optimal approach to extract from all the GPM core satellite’s measurement profiles of the best unbiased estimates of the means of the rain rate R and mass-weighted mean diameter D*. The purpose of this paper is to quantify the effect of different plausible a priori assumptions about the possible shapes of the DSD on the retrieved precipitation profiles using tropical cyclone data from the Fourth Convection and Moisture Experiment (CAMEX-4).
The aim of this work is not to propose a specific retrieval methodology. Many dual-frequency rain-profiling algorithms have been proposed to date, starting with those developed by Eccles and Mueller (1971), Fujita (1983), Meneghini and Nakamura (1990), and Marzoug and Amayenc (1994). These approaches start by making some simplifying assumptions to reduce the DSD description to an analytic form using two parameters, and proceed to prescribe a procedure to retrieve the latter given a pair of reflectivity profiles at two frequencies. Our goal is to assess the effect of a priori DSD assumptions, including the possibility of considering DSDs that are not given by any analytic form but rather coming directly from extensive collections of in situ measurements. That is why we tried to avoid any specific deterministic retrieval algorithms, and relied instead on obtaining Bayesian estimates of the (conditional) mean rain rate and mass-weighted mean drop diameter, given the measured reflectivities and given each a priori model of the allowed DSD shapes. The models considered are listed in section 2, and the Bayesian estimation is discussed in section 3. The results for the CAMEX-4 data are described in section 4.
2. Different DSD models
The next step is to calculate the Mie extinction and backscattering efficiencies as a function of drop diameter. Once this is done, one can associate to each rain rate/DSD pair (R, N) in any one of our five models the corresponding radar reflectivity factors z14(R, N) and z35(R, N) (in mm6 m−3), and the corresponding attenuation coefficients k14(R, N) and k35(R, N) (in dB km−1). Figure 3 shows the resulting reflectivity manifolds [to borrow a term dear to the passive radiometer community, see, e.g., Smith and Mugnai (1988)] for each of our DSD models. In the case of NMP, NΓ0, NΓ1, and NΓ2, these manifolds were obtained by choosing a few representative values for the free DSD parameter (Λ in the case of NMP, NΓ1, and NΓ2, D″ in the case of NΓ0), and letting R vary from 0.2 to 200 mm h−1. In the case of NC, the manifold is computed directly from the DSD samples in the database. In all cases, the value of the difference z14(R, N)–z35(R, N) is plotted versus z14(R, N). The first observation is that, for all five DSD models, when the 14-GHz reflectivities are small, the rain-rate curves are almost horizontal, confirming our previous observation that for lighter precipitation there is no significant difference between the two frequencies.
There are two additional facts illustrated by the figure that are crucial to the retrieval problem. The first is that all the curve crossings correspond to retrieval ambiguities: they indicate that a pair of (14-GHz, 35-GHz) reflectivity factors can be explained by at least two rain rates (which can differ by a factor of 2 or more, the two-dimensional manifolds could not be readily made to illustrate this ambiguity quantitatively), associated to different DSD parameter values. This implies that even in the absence of any observation noise, the dual-frequency retrieval problem can be ambiguous, and manifestly more so in the case of NMP than in the other cases, though all the models have nonnegligible ambiguities at low precipitation. Since these ambiguities are intrinsic to the dual-frequency observations, one would need to consider additional measurements to resolve them. The second point concerns the blank regions in the plots. These are most evident in the least ambiguous cases NΓ0 and NΓ1, though they are not entirely absent in the other models. Indeed, current technology cannot guarantee that the noise in the reflectivity measurements is less than about 0.3 dB rms at best. Thus, one’s actual observations could quite easily fall outside the region covered by our manifolds, that is, it is quite likely that with any DSD model one will face the situation where no rain rate can explain exactly a pair of (noisy) reflectivities. Therefore, when attempting a retrieval, one must have a rigorous mechanism to assess the plausibility of the various model pairs that are close to the measured pair. In summary, a dual-frequency radar cannot entirely avoid the ambiguities with which we have been all too familiar in the case of the TRMM radar, and the noise in the measurements (along with the unavoidable imperfection of any DSD model) will make it essential to allow for multiple inexact matches. Both of these concerns make it highly desirable to use a Bayesian framework to make unbiased estimates of the precipitation underlying the measurements.
There is yet another problem which leads us to consider a sixth case. It is brought about by the need to account for the cumulative attenuation at both frequencies as one estimates the rain rate sequentially through the consecutive vertical range bins in the cloud. It is however easiest to describe this sixth case once the retrieval approach has been outlined in the following section.
3. Dual-frequency Bayesian retrieval
- Starting at the top of the cloud (i = 1), and setting A14(0) = A35(0) = 0, consider all realistic rain rates R and all DSDs N allowed by the a priori model, and calculate for each pair (R, N) its mean-squared distance di from the two independent measurements:The optimal unbiased estimate of the rain rate would then have to be given bywhere pi is the probability weight pi(R, N) = e−0.5di(R, N), normalized so that Σ∫pi = 1.
- The corresponding accumulated attenuation up to and including the current range bin must then be updated, using the similar formulawhere δ is the thickness of the range bin (in km), and f = 14 or 35 GHz. This is the Bayesian retrieval approach that we used.
To verify the accuracy of this dual-frequency Bayesian approach, it was tested on synthetic data which was constructed as follows. Starting with the rain-rate profiles obtained from the single-frequency TRMM radar algorithm over hurricane Bonnie on 22 August 1998, we superimposed the DSD model NΓ0 with various values of the parameter D″, making sure to vary D″ in all three spatial dimensions. We then (re)synthesized measured reflectivity profiles Z14 and Z35 at the TRMM resolution but assuming sensitivity thresholds of 17 dBZ at 14 GHz and 15 dBZ at 35 GHz. We then applied the Bayesian approach described above to verify that the estimates do match the original rates and the superimposed values of D″. The results are illustrated in Fig. 4, which shows estimated versus original rain rates, grouped into two seasons, one consisting of profiles where the values of D″ in the superimposed DSD were low (the low-D season) and one where the value of D″ were large (the high-D season). For comparison, single-frequency (14 GHz) retrievals are also shown. The scatter in the dual-frequency Bayesian retrieval did increase substantially below 1 and above 12 mm h−1, but that was expected since at low rain rates the second frequency simply adds no independent information and at high rain rates the significant 35-Ghz attenuation forces the 35-GHz echo below the assumed sensitivity threshold. Thus one can conclude that the Bayesian dual-frequency approach performs quite satisfactorily.
4. The CAMEX-4 results
We are now ready to apply the retrieval procedure outlined above to the data collected by JPL’s airborne PR-2 radar (Sadowy et al. 2003) over tropical storm Gabrielle and Hurricane Humberto during the CAMEX-4 experiment. Figures 5 –8 show the results of the retrievals. The top two panels of Fig. 5 show the rather low radar reflectivities measured at nadir over Tropical Storm Gabrielle on 15 September 2001. The system had just emerged off the Florida coast over the Gulf Stream (around 30°N, 79°W), but had not reintensified. The remaining panels of Fig. 5 show the retrieved rain rates and mean drop diameters for each of the DSD models NMP, NΓ0, NC, and NCC. The top panels of Fig. 6 show the one-way integrated attenuations corresponding to each of the models considered, along with the surface-reference PIA estimated from two models: a single average clear-air surface-cross-section reference value, and a fitted model as in Li et al. (2002). The remaining panels of Fig. 6 show the difference between the measured radar reflectivity factors and those reconstructed from the results of the Bayesian retrieval, in each of the four cases considered in this example. The top two panels of Fig. 7 show the radar reflectivities measured at nadir over Hurricane Humberto on 24 September 2001. The cyclone was embedded in a strong southwesterly flow, and anticyclonic outflow from the convective region was quite obvious. The warm core in the eye was weak, about 2 to 3 K warmer than the surrounding environment. There was a large cirrus outflow extending several hundred nautical miles from the center near 37°N, 63°W. The remaining panels in Fig. 7 show the retrieved rain rates and mean drop diameters for each of the DSD models NMP, NΓ0, NΓ1, NΓ2, and NC. Finally, the top panels of Fig. 8 show the various PIAs, and the remaining panels of Fig. 8 show the errors in the case of NMP, NΓ0, and NC.
The reflectivities measured in Gabrielle never exceeded about 40 dBZ, and at no time was the 35-GHz echo attenuated below the sensitivity threshold of the radar. Figure 5 shows that the retrieved vertical structure of the precipitation is quite similar in all four cases considered. The exponential model MP produces unrealistically large rain rates in the three convective regions (near kilometers 220, 270, and 350), and very large mean hydrometeor sizes above the freezing level. Figure 6 confirms that the error in all four models is quite low, except within the melting layer in the restricted-gamma case NΓ0, where the model manifestly cannot explain the measured reflectivities without errors of about 2 dB. In general, the errors are lowest in the case of NC and NCC. A quantitative comparison of the estimates obtained using the various DSD models reveals significant differences between NMP on one hand and the three other models on the other hand. Indeed, the average vertical rain-rate profile estimated using any of the DSD models except the exponential is between 2 and 3 mm h−1 (with the exponential DSD model, the average rain rate increases rapidly from about 1 mm h−1 at 4 km to 11 mm h−1 near the surface). Similarly, except in the exponential case, the average vertical mean–drop size profile increases from the top to a value near 1.4 mm in the melting layer, then remains near 1.2 mm from 4 km down to the surface (with the exponential DSD model, the average mean–drop size reaches 1.8 mm in the melting layer, drops to about 0.9 mm at 4-km altitude, and remains fairly constant down to the surface). As to the cloud-attenuation effect, the rain-rate estimates obtained using the rain + cloud model NCC are very close to those of the rain-only model NC aloft, though as the altitude decreases the rain rates estimated using the rain + cloud model increase steadily with respect to those of the rain-only model, the increase reaching about 50% near the surface. However, remarkably, the mean drop size estimated by the rain + cloud and the rain-only models are almost identical.
In the case of Humberto, Fig. 7 clearly shows several cells with significant convection, and in fact the 35-GHz echo disappears at several locations along the track, most notably near kilometer 110 and between kilometers 170 and 210. The vertical structure of the retrieved rain rates and mean drop sizes from all the models except the exponential are quite similar. The latter was manifestly ill suited to explain the measurements in this case and Fig. 8 confirms that its errors are not negligible. This figure also shows that the models NΓ0, NΓ1, and NΓ2 (as well as NMP) fail whenever the 35-GHz is attenuated into the noise, but the raw samples model NC produces remarkably low errors even when the 35-GHz channel is attenuated into noise. A quantitative comparison of the differences in the estimates due to the different DSD models confirms that the exponential model is the least consistent with the measurements, the database model is the most consistent, and the restricted gamma models fall in between. Specifically, the average vertical rain rate profile in the case of NΓ2 and NC increases from about 4 mm h−1 at 4 km to about 10.5 mm h−1 near the surface; in the case of NΓ0, it increases from about 5 mm h−1 at 4 km to rather large 40 mm h−1 near the surface; and in the case of NMP and NΓ1, it increases from about 6 mm h−1 at 4 km to a rather unrealistic 90 mm h−1 near the surface. As to the average mean drop size, the estimates obtained using NΓ0 and NC are very close, remaining near 1.5 mm from 3.5 km down to the surface; the mean drop size in the case of NΓ2 remains near 1.7 mm from the melting layer down to the surface; and the mean drop size in the case of NΓ1 is systematically the lowest, increasing from 1.2 mm just below the melting layer to 1.5 mm near the surface.
5. Conclusions
The main conclusion of this analysis is that several quite different DSD models do indeed produce plausible dual-frequency precipitation estimates, at least over tropical systems like those observed during CAMEX-4. The general shape of the vertical variation of the retrieved rain rates and mean drop sizes will be similar among the different models, but the precipitation amounts and the actual profiles of mean drop diameter differ from model to model, as do the resulting correlation patterns between rain rate and mean drop diameter. The most important implication is that the decision about which drop size distributions should be considered a priori plausible does have a determining effect on the eventual retrievals. It is therefore very important to justify such a priori assumptions with detailed DSD measurements at radar-sized resolutions.
Acknowledgments
This work was performed at the Jet Propulsion Laboratory, California Institute of Technology, under contract with the National Aeronautics and Space Administration.
REFERENCES
Eccles, P. J., and E. A. Mueller, 1971: X-band attenuation and liquid water content estimation by dual-wavelength radar. J. Appl. Meteor., 10 , 1252–1259.
Fujita, M., 1983: An algorithm for estimating rain rate by a dual-frequency radar. Radio Sci., 18 , 697–708.
Haddad, Z. S., A. R. Jameson, E. Im, and S. L. Durden, 1995: Improved coupled Z–R and k–R relations and the resulting ambiguities in the determination of the vertical distribution of rain from the radar backscatter and the integrated attenuation. J. Appl. Meteor., 34 , 2680–2688.
Haddad, Z. S., D. A. Short, S. L. Durden, E. Im, S. Hensley, M. B. Grable, and R. A. Black, 1997a: A new parametrization of the raindrop size distribution. IEEE Trans. Geosci. Remote Sens., 35 , 532–539.
Haddad, Z. S., E. A. Smith, C. D. Kummerow, T. Iguchi, M. R. Farrar, S. L. Durden, M. Alves, and W. S. Olson, 1997b: The TRMM ‘Day-1’ radar/radiometer combined rain-profiling algorithm. J. Meteor. Soc. Japan, 75 , 799–809.
Iguchi, T., T. Kozu, R. Meneghini, J. Awaka, and K. Okamoto, 2000: Rain-profiling algorithm for the TRMM precipitation radar. J. Appl. Meteor., 39 , 2038–2052.
Li, L., E. Im, S. L. Durden, and Z. S. Haddad, 2002: A surface wind model-based method to estimate rain-induced radar path attenuation over ocean. J. Atmos. Oceanic Technol., 19 , 658–672.
Lukas, R., P. J. Webster, M. Ji, and A. Leetmaa, 1995: The large-scale context of the TOGA Coupled Ocean Atmosphere Response Experiment. Meteor. Atmos. Phys., 56 , 3–16.
Marshall, J. S., and W. M. K. Palmer, 1948: The distribution of raindrops with size. J. Meteor., 5 , 165–166.
Marzoug, M., and P. Amayenc, 1994: A class of single- and dual-frequency algorithms for rain-rate profiling from a spaceborne radar. Part I: Principle and tests from numerical simulations. J. Atmos. Oceanic Technol., 11 , 1480–1506.
Meagher, J. P., and Z. S. Haddad, 2002: Principal-component analysis for raindrops and its application to the remote sensing of rain. Quart. J. Roy. Meteor. Soc., 128 , 559–571.
Meneghini, R., and K. Nakamura, 1990: Range profiling of the rain rate by an airborne weather radar. Remote Sens. Environ., 31 , 193–209.
Sadowy, G. A., A. C. Berkun, W. Chun, E. Im, and S. L. Durden, 2003: Development of an advanced airborne precipitation radar. Microwave J., 46 , 84–98.
Smith, E. A., and A. Mugnai, 1988: Radiative transfer to space through a precipitating cloud at multiple microwave frequencies. Part II: Results and analysis. J. Appl. Meteor., 27 , 1074–1091.
Ulbrich, C. W., 1983: Natural variations in the analytical form of the raindrop size distribution. J. Climate Appl. Meteor., 22 , 1764–1775.
Ulbrich, C. W., and D. Atlas, 1998: Rainfall microphysics and radar properties: Analysis methods for drop size spectra. J. Appl. Meteor., 37 , 912–923.
The Zm-derived PIA vs surface-reference estimates from the TRMM data, showing poor correlation at moderate and low precipitation (convective cases are shown in red, stratiform in black).
Citation: Journal of the Atmospheric Sciences 63, 1; 10.1175/JAS3589.1
Actual (Mie) vs small-size-approximation (Rayleigh) microwave signatures of raindrops.
Citation: Journal of the Atmospheric Sciences 63, 1; 10.1175/JAS3589.1
Reflectivity manifolds (z14 − z35) vs z14 for the DSDs (top) NMP, (middle left) NΓ0, (middle right) NΓ1, (lower left) NΓ2, and (lower right) NC, showing the flow lines for the rain rate R in the first two cases (each curve corresponds to a fixed value of the free parameter of the respective DSD, namely N0 in the case of NMP, and D″ = D*R−0.155 in the case of NΓ0), and showing one point for typical values of (R, μ, Λ) considered in the case of NΓ1 and NΓ2, showing all the DSD sampled during the TOGA COARE campaign in the case of NC.
Citation: Journal of the Atmospheric Sciences 63, 1; 10.1175/JAS3589.1
Estimated vs original rain rates, with small-drop cases indicated with × and the large-drop cases indicated with ○. (left) The single-frequency retrievals, which misinterpret the changing DSD, resulting in biased estimates, and (right) the dual-frequency Bayesian estimates.
Citation: Journal of the Atmospheric Sciences 63, 1; 10.1175/JAS3589.1
(top) Tropical Storm Gabrielle–measured radar reflectivities in dB, (left) retrieved rain rates R in mm h−1, and (right) mass-weighted mean drop diameters D* in mm.
Citation: Journal of the Atmospheric Sciences 63, 1; 10.1175/JAS3589.1
Tropical Storm Gabrielle–PIA in dB [at (top left) 14 and (top right) 35 GHz; the measured attenuations according to the two surface-reference methods are shown in dashed lines, while the estimates from three of the DSD models are shown in black in the case of NMP, blue in the case of NΓ0, and red in the case of NC] as well as the reflectivity errors Z − Zreconstructed in dB [at (left) 14 and (right) 35 GHz].
Citation: Journal of the Atmospheric Sciences 63, 1; 10.1175/JAS3589.1
(top) Hurricane Humberto–measured radar reflectivities in dB, (left) retrieved rain rates R in mm h−1, and (right) mass-weighted mean drop diameters D* in mm.
Citation: Journal of the Atmospheric Sciences 63, 1; 10.1175/JAS3589.1
Hurricane Humberto–PIA in dB [at (top left) 14 and (top right) 35 GHz, as in Fig. 6] and reflectivity errors, Z − Zreconstructed in dB [at (left) 14 and (right) 35 GHz].
Citation: Journal of the Atmospheric Sciences 63, 1; 10.1175/JAS3589.1
Correlations between R and D* in the case of Gabrielle.
Citation: Journal of the Atmospheric Sciences 63, 1; 10.1175/JAS3589.1
Correlations between R and D* in the case of Humberto.
Citation: Journal of the Atmospheric Sciences 63, 1; 10.1175/JAS3589.1
Retrieved D*–R relations with R in mm h−1 and D* in mm.