Hemiboreaalsete metsade kaardistamine interferomeetrilise tehisava-radari andmetelt

Väitekirja elektrooniline versioon ei sisalda publikatsioone.Käesolev doktoritöö uurib tehisavaradari (SAR) kasutusvõimalusi metsa kõrguse hindamiseks hemiboreaalsete metsade vööndis. Uurimistöö viidi läbi Tartu Üli¬kooli, Tartu Observatooriumi, Aalto Ülikooli, Euroopa Kosmoseagentuuri (ESA) kaugseire keskuse ESRIN ja Reach-U koostöös. Uurimistöös kasutatud satelliidi¬andmed on pärit Saksa Kosmosekeskuse (DLR) kõrglahutusega bistaatilise X-laineala tehisavaradari TanDEM-X satelliidipaarilt. Sagedasti uuenevad satelliidiandmed, nende globaalne katvus ja kõrge ruumi¬line lahutus võimaldavad tehisavaradari abil kaardistada metsi ning nendes toimu¬vaid muutusi suurtel maa-aladel. Radari abil on võimalik saada kõrge lahutusvõimega pilte, mis on tundlikud taimestikule, maapinna karedusele ja dielektrilistele omadustele. Sünkroonis lendava radaripaari samaaegselt tehtud pildid elimineerivad võimalikud ajalised muutused taimestikus ning tänu sellele on radariandmetest võimalik tuletada metsade vertikaalset struktuuri ja kõrgust. Uurimistöös käsitletakse tehisavaradari interferomeetrilise koherentsuse tund¬likkust metsa kõrguse suhtes ning analüüsitakse, millised keskkonna ja klimaati¬lised tingimused ning satelliidi orbiidiga seotud parameetrid mõjutavad radari¬piltidelt erinevate puuliikide kõrguse hindamise täpsust. Lisaks keskendub väitekiri interferomeetrilisele koherentsusele tuginevate mudelite analüüsi¬misele ning nende täpsuse hindamisele operatiivse metsa kõrguse kaardistamise raken-duseks. Vaatluse alla on võetud kolm testala, mis asuvad Soomaa rahvuspargis, Võrtsjärve idakaldal Rannus ja Peipsiveere looduskaitsealal ning katavad kokku 2291 hektarit metsa. 23 TanDEM-X satelliidipildi koherentsuspilte võrreldakse samadel testaladel aerolaserskaneerimise (LiDAR) abil mõõdetud puistute kõrgu¬sega, mis on omakorda jagatud kolme rühma (kuused, männid ja laia¬lehised segametsad). RVoG (Random Volume over Ground) taimekatte mudel ning sellest tule¬tatud lihtsamad pooleempiirilised mudelid sobituvad olemasolevate TanDEM-X koherentsuse ning LiDARi metsa puistute kõrgusandmetega hästi. Töö tule¬mused kinnitavad, et tulevikus on suurte ja erinevatest metsatüüpidest koosne¬vate metsade kõrguse kosmosest kaardistamisel otstarbekas kasutusele võtta esmalt just soovitatud lihtsamad ja universaalsemad mudelid.This thesis presents research in the field of radar remote sensing and contributes to the forest monitoring application development using space-borne synthetic aperture radar (SAR). Satellite data is particularly useful for large-scale forestry applications making high revisit monitoring of the state of forests worldwide possible. The sensitivity of SAR to the dielectric and geometrical properties of the targets, penetration capacity and coherent imaging properties make it a unique tool for mapping and monitoring forest biomes. SAR satellites are also capable of retrieving additional information about the structure of the forest, tree height and biomass estimates as an essential input for monitoring the changes in the carbon stocks. Interferometric SAR (InSAR) is an advanced SAR imaging technique that allows the retrieval of forest parameters while working in nearly all weather conditions, independently of daylight and cloud cover. This research concen¬trates on assessing the impact of different variables affecting hemiboreal forest height estimation from space-borne X-band interferometric SAR coherence data. In particular, the research analyses the changes in coherence dynamics related to seasonal conditions, tree species and imaging properties using a large collection of interferometric SAR images from different seasons over a four-year period. The study is carried out over three test sites in Estonia using the extensive multi-temporal dataset of 23 TanDEM-X images, covering 2291 hectares of forests to describe the relation between the interferometric SAR coherence mag¬nitude and forest parameters. The work demonstrates how the correlation of interferometric coherence and Airborne LiDAR Scanning (ALS)-derived forest height varies for pine and deciduous tree species, for summer (leaf-on) and winter (leaf-off) conditions and for flooded forest floor. A simple semi-empirical modelling approach is proposed as being suitable for wide area forest mapping with limited a priori information under a range of seasonal and environ¬¬mental conditions. A Random Volume over Ground (RVoG) model and three semi-empirical models are compared and validated against a large dataset of coherence magnitude and ALS-measured data over hemiboreal forests in Estonia. The results show that all proposed models perform well in describing the relationship between hemiboreal forest height and interferometric coherence, allowing in future to derive forest stand height with an accuracy suitable for a wide range of applications

KappaMask: AI-Based Cloudmask Processor for Sentinel-2

The Copernicus Sentinel-2 mission operated by the European Space Agency (ESA) provides comprehensive and continuous multi-spectral observations of all the Earth's land surface since mid-2015. Clouds and cloud shadows significantly decrease the usability of optical satellite data, especially in agricultural applications; therefore, an accurate and reliable cloud mask is mandatory for effective EO optical data exploitation. During the last few years, image segmentation techniques have developed rapidly with the exploitation of neural network capabilities. With this perspective, the KappaMask processor using U-Net architecture was developed with the ability to generate a classification mask over northern latitudes into the following classes: clear, cloud shadow, semi-transparent cloud (thin clouds), cloud and invalid. For training, a Sentinel-2 dataset covering the Northern European terrestrial area was labelled. KappaMask provides a 10 m classification mask for Sentinel-2 Level-2A (L2A) and Level-1C (L1C) products. The total dice coefficient on the test dataset, which was not seen by the model at any stage, was 80% for KappaMask L2A and 76% for KappaMask L1C for clear, cloud shadow, semi-transparent and cloud classes. A comparison with rule-based cloud mask methods was then performed on the same test dataset, where Sen2Cor reached 59% dice coefficient for clear, cloud shadow, semi-transparent and cloud classes, Fmask reached 61% for clear, cloud shadow and cloud classes and Maja reached 51% for clear and cloud classes. The closest machine learning open-source cloud classification mask, S2cloudless, had a 63% dice coefficient providing only cloud and clear classes, while KappaMask L2A, with a more complex classification schema, outperformed S2cloudless by 17%

The Comet Interceptor Mission

Here we describe the novel, multi-point Comet Interceptor mission. It is dedicated to the exploration of a little-processed long-period comet, possibly entering the inner Solar System for the first time, or to encounter an interstellar object originating at another star. The objectives of the mission are to address the following questions: What are the surface composition, shape, morphology, and structure of the target object? What is the composition of the gas and dust in the coma, its connection to the nucleus, and the nature of its interaction with the solar wind? The mission was proposed to the European Space Agency in 2018, and formally adopted by the agency in June 2022, for launch in 2029 together with the Ariel mission. Comet Interceptor will take advantage of the opportunity presented by ESA’s F-Class call for fast, flexible, low-cost missions to which it was proposed. The call required a launch to a halo orbit around the Sun-Earth L2 point. The mission can take advantage of this placement to wait for the discovery of a suitable comet reachable with its minimum ΔV capability of 600 ms−1. Comet Interceptor will be unique in encountering and studying, at a nominal closest approach distance of 1000 km, a comet that represents a near-pristine sample of material from the formation of the Solar System. It will also add a capability that no previous cometary mission has had, which is to deploy two sub-probes – B1, provided by the Japanese space agency, JAXA, and B2 – that will follow different trajectories through the coma. While the main probe passes at a nominal 1000 km distance, probes B1 and B2 will follow different chords through the coma at distances of 850 km and 400 km, respectively. The result will be unique, simultaneous, spatially resolved information of the 3-dimensional properties of the target comet and its interaction with the space environment. We present the mission’s science background leading to these objectives, as well as an overview of the scientific instruments, mission design, and schedule

Vision-based positioning and navigation with 3D maps: concepts and analysis

Three-dimensional (3D) representations of objects are steadily working their way into the mainstream in the modern navigation world and increasingly gaining ground due to the number of potential applications. Realistic 3D maps have recently become a common feature in the World Wide Web, car navigation systems as well as in mobile phones as they provide dimensions with imagery and thus connect people to the world. In addition to the visual representations of the surrounding environment, 3D navigable maps can also be used for 3D navigation when integrated with a vision sensor.This thesis is an investigation into the integration of digital camera with 3D maps to determine user’s 3D position and orientation for vision-based 3D navigation. One focus point in this research is on the historical developments of 3D maps, navigable maps and the concept of how to use these to enhance navigation. In addition the principles of using visual measurements for 3D navigation have been defined, experimented and analysed. After defining the properties of 3D navigable maps, an in-depth analysis has been carried out to outline the error sources affecting vision-based navigation and to assess the performance of the algorithms.The core of this thesis is the study on accuracy, sensitivity and reliability of the navigation solutions using a 3D map as a navigation sensor and a single image from the user’s digital camera as information about his/her current position and orientation. Experiments were carried out with PhotoModeler® software to provide camera position estimation and with Matlab® software for Direct Linear Transformation, Space Resection and Least Squares Estimation.This study shows that the performance of the algorithm is promising and the estimation of the user’s camera position can be within a decimetre level accuracy. In order to achieve that, it is crucial to consider the fact that the space resection algorithm has high sensitivity to the initial orientation parameters. According to the accuracy of camera position estimation from space resection it is recommended that the vision-based navigation and positioning should be reinforced by inertial sensors, which provide more accurate orientation parameters. The lower accuracy of the camera position and orientation estimation are also influenced by the calibration of the camera, the image quality and resolution, the number and distribution of the ground control points, and also the map itself, together with the accuracy of the surveyed ground control points

Seasonal effects on the estimation of height of boreal and deciduous forests from interferometric TanDEM-X coherence data

The aim of this study is to assess the performance of single-pass X-band bistatic SAR interferometric forest height estimation of boreal and temperate deciduous forests under variable seasonal conditions. For this, twelve acquisitions of single-and dual-polarized TanDEM-X coherence images over 118 forest stands were analyzed and compared against LiDAR forest height maps. Strong correlations were found between interferometric coherence magnitude and LiDAR derived forest stand height for pine forests (r2=0.94) and spruce forest (r2=0.87) as well as for deciduous trees (r2=0.94) during leaf-off conditions with temperatures below 0°C. It was found that coherence magnitude based forest height estimation is influenced by leaf-on and leaf-off conditions as well as daily temperature fluctuations, height of ambiguity and effective baseline. These factors alter the correlation and should be taken into account for accurate coherence-based height retrieval. Despite the influence of the mentioned factors, generally a strong relationship in regression analysis between X-band SAR coherence and LiDAR derived forest stand height can be found. Moreover, a simple semi empirical model, derived from Random Volume over Ground model, is presented. The model takes into account all imaging geometry dependent parameters and allows to derive tree height estimate without a priori knowledge. Our results show that X-band SAR interferometry can be used to estimate forest canopy height for boreal and deciduous forests in both summer and winter, but the conditions should be stable.Peer reviewe