Maximum Likelihood Rover Localization by Matching Range Maps
This paper describes maximum likelihood estimation techniques for performing rover localization in natural terrain by matching range maps.
Rovers Range Maps↗
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Results for “MAP estimation”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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An efficient approach to ARMA modeling of biological systems with multiple inputs and delays
This paper presents a new approach to AutoRegressive Moving Average (ARMA or ARX) modeling which automatically seeks the best model order to represent investigated linear, time invariant systems using their input/output data. The algorithm seeks the ARMA parameterization which accounts for variability in the output of the system due to input activity and contains the fewest number of parameters required to do so. The unique characteristics of the proposed system identification algorithm are its simplicity and efficiency in handling systems with delays and multiple inputs. We present results of applying the algorithm to simulated data and experimental biological data In addition, a technique for assessing the error associated with the impulse responses calculated from estimated ARMA parameterizations is presented. The mapping from ARMA coefficients to impulse response estimates is nonlinear, which complicates any effort to construct confidence bounds for the obtained impulse responses. Here a method for obtaining a linearization of this mapping is derived, which leads to a simple procedure to approximate the confidence bounds.
Non-NASA Center↗
The XFaster Power Spectrum and Likelihood Estimator for the Analysis of Cosmic Microwave Background Maps
Explore the source record for details and available documents.
A. E. Gambrel↗
Nationwide forestry applications program: Procedure 1 applicability to rangeland classification
The author has identified the following significant results. An assumption that short prairie grass and salt grass could be differentiated on aircraft photographs was inaccurate for the Weld County site. However, rangeland could be differentiated using procedure 1 from LACIE. Estimates derived from either random or systematic sampling were satisfactory. Level 1 features were separated and mapped, and proportions were estimated with accompanying confidence statements.
Reeves, C. A.↗
Simulation-based inference for parameter estimation of complex watershed simulators
High-resolution, spatially distributed process-based (PB) simulators are widely employed in the study of complex catchment processes and their responses to a changing climate. However, calibrating these PB simulators using observed data remains a significant challenge due to several persistent issues, including the following: (1) intractability stemming from the computational demands and complex responses of simulators, which renders infeasible calculation of the conditional probability of parameters and data, and (2) uncertainty stemming from the choice of simplified representations of complex natural hydrologic processes. Here, we demonstrate how simulation-based inference (SBI) can help address both of these challenges with respect to parameter estimation. SBI uses a learned mapping between the parameter space and observed data to estimate parameters for the generation of calibrated simulations. To demonstrate the potential of SBI in hydrologic modeling, we conduct a set of synthetic experiments to infer two common physical parameters – Manning's coefficient and hydraulic conductivity – using a representation of a snowmelt-dominated catchment in Colorado, USA. We introduce novel deep-learning (DL) components to the SBI approach, including an “emulator” as a surrogate for the PB simulator to rapidly explore parameter responses. We also employ a density-based neural network to represent the joint probability of parameters and data without strong assumptions about its functional form. While addressing intractability, we also show that, if the simulator does not represent the system under study well enough, SBI can yield unreliable parameter estimates. Approaches to adopting the SBI framework for cases in which multiple simulator(s) may be adequate are introduced using a performance-weighting approach. The synthetic experiments presented here test the performance of SBI, using the relationship between the surrogate and PB simulators as a proxy for the real case.
54 ENVIRONMENTAL SCIENCES↗
The Simons Observatory: validation of reconstructed power spectra from simulated filtered maps for the small aperture telescope survey
We present a transfer function-based method to estimate angular power spectra from filtered maps for cosmic microwave background (CMB) surveys. This is especially relevant for experiments targeting the faint primordial gravitational wave signatures in CMB polarisation at large scales, such as the Simons Observatory (SO) small aperture telescopes. While timestreams can be filtered to mitigate the contamination from low-frequency noise, usual methods that calculate the mode coupling at individual multipoles can be challenging for experiments covering large sky areas or reaching few-arcminute resolution. The method we present here, although approximate, is more practical and faster for larger data volumes. We validate it through the use of simulated observations approximating the first year of SO data, going from half-wave plate-modulated timestreams to maps, and using simulations to estimate the mixing of polarisation modes induced by an example of time-domain filtering. We show its performance through an example null test and with an end-to-end pipeline that performs inference on cosmological parameters, including the tensor-to-scalar ratio r. The performance demonstration uses simulated observations at multiple frequency bands. We find that the method can recover unbiased parameters for our simulated noise levels.
CMBR experiments↗
Synthesis maps of ultraviolet observations of neutral interstellar gas
Copernicus and IUE measurements of neutral hydrogen column densities have been taken for about 140 stars distributed between 10 and 3000 pc from the sun and plotted in several maps to directly yield estimates of contours of neutral hydrogen column density in the 5-500 x 10 to the 17th/sq cm range. These maps show that low column density neutral hydrogen is asymmetrically distributed around the sun with a 'hole' in the neutral hydrogen located in the third quadrant. This distribution mirrors that of nearby B stars associated with the Gould belt. The maps clearly show the directions in which observations at wavelengths less than 912 A will be most successful.
Frisch, P. C.↗
Characteristics of Forests in Western Sayani Mountains, Siberia from SAR Data
This paper investigated the possibility of using spaceborne radar data to map forest types and logging in the mountainous Western Sayani area in Siberia. L and C band HH, HV, and VV polarized images from the Shuttle Imaging Radar-C instrument were used in the study. Techniques to reduce topographic effects in the radar images were investigated. These included radiometric correction using illumination angle inferred from a digital elevation model, and reducing apparent effects of topography through band ratios. Forest classification was performed after terrain correction utilizing typical supervised techniques and principal component analyses. An ancillary data set of local elevations was also used to improve the forest classification. Map accuracy for each technique was estimated for training sites based on Russian forestry maps, satellite imagery and field measurements. The results indicate that it is necessary to correct for topography when attempting to classify forests in mountainous terrain. Radiometric correction based on a DEM (Digital Elevation Model) improved classification results but required reducing the SAR (Synthetic Aperture Radar) resolution to match the DEM. Using ratios of SAR channels that include cross-polarization improved classification and
Ranson, K. Jon↗
Global Admittance Estimates of Elastic and Crustal Thickness of Venus: Results from Top, Hot Spot, and Bottom Loading Models
We have calculated admittance spectra using the spatio-spectral method [14] for Venus by moving the central location of the spectrum over a 1 grid, create 360x180 admittance spectra. We invert the observed admittance using top-loading (TL), hot spot (HS), and bottom loading (BL) models, resulting in elastic, crustal, and lithospheric thickness estimates (Te, Zc, and Zl) [0]. The result is a global map for interpreting subsurface structure. Estimated values of Te and Zc concur with previous TL local admittance results, but BL estimates indicate larger values than previously suspected.
Smrekar, S. E.↗
Simulations of lunar gravity field determination for Lunar Observer
The current plan for the Lunar Observer (LO) mission is to launch in the late 1990s and insert LO into a 100 km polar circular mapping orbit. However, prior to the mapping orbit, LO will be placed in a gravity calibration orbit (GCO) at a higher altitude to determine the gravity field of the moon. This paper examines the abilities of two GCO orbits (at 200 and 500 km altitudes) to recover a high degree and order gravity truth model that includes spherical harmonics and mascons by estimating different degree and order gravity fields with spherical harmonics only. This is achieved by comparing radial accelerations from the true and estimated models at the mapping altitude and by comparing trajectory propagations. For the gravity fields estimated (up to 30th degree and order), the 500 km GCO was just as successful as the 200 km GCO in determining the gravity field.
Konopliv, Alex↗
Remote sensing of strippable coal reserves and mine inventory in part of the Warrior Coal Field in Alabama
Methods by which estimates of the remaining reserves of strippable coal in Alabama could be made were developed. Information acquired from NASA's Earth Resources Office was used to analyze and map existing surface mines in a four-quadrangle area in west central Alabama. Using this information and traditional methods for mapping coal reserves, an estimate of remaining strippable reserves was derived. Techniques for the computer analysis of remotely sensed data and other types of available coal data were developed to produce an estimate of strippable coal reserves for a second four-quadrangle area. Both areas lie in the Warrior coal field, the most prolific and active of Alabama's coal fields. They were chosen because of the amount and type of coal mining in the area, their location relative to urban areas, and the amount and availability of base data necessary for this type of study.
Joiner, T. J.↗
Constraints on Wildfire Smoke Source Strength, Injection Height, and Particle Evolution
Aerosol sources are represented in climate and air quality models with an injection height and a source strength. We have applied a combination of Multi-angle Imaging SpectroRadiometer (MISR) and MODerate resolution Imaging Spectroradiometer (MODIS) observations to help constrain these two key model variables for wildfire smoke plumes. Injection height is obtained from MISR stereo imagery, which makes it possible to map plume elevation and estimate the associated motion vectors at plume altitude near-source, where contrast features in the plume can be identified in the multi-angle views. A current limitation of injection-height mapping is the relatively narrow MISR swath width (~380 km) and 10:30 AM equator crossing time on the day side of Earth. However, upcoming missions, as well as advanced imagers on geostationary platforms, promise to greatly expand the spatial and temporal range over which this technique can be applied. We estimate source strength by matching forward-simulated plume aerosol optical depth (AOD) from models with AOD snapshots retrieved from MODIS observations. This technique works best for large, isolated plumes common in boreal forest, and tends to fail where plume AOD is low and/or background AOD, distinct from the specific source of interest, is high. These two approaches for constraining aerosol modeling with satellite observations have been the subject of ongoing AeroCom/AeroSat studies by our group. A third effort applies the combination of MISR plume heights, wind vectors, and particle microphysical property constraints to infer smoke-plume particle evolution processes and timescales, including the emission and subsequent evolution of black and brown smoke. In this presentation, we will provide an update on the status of these efforts.
wildfire↗
Release of juvenile water on Mars - Estimated amounts and timing associated with volcanism
The amount of water released on Mars in association with volcanism is estimated to equal a layer 46 meters deep over the entire planet. Most of this water was released in the first 2 billion years of Martian history. The estimate is based on mapping the volcanic materials and by inferring the volatile content of the lavas. Water from other sources, such as plutonic activity and cometary contributions, is not included in the estimate.
Greeley, Ronald↗
SERM Forest Cover Data of Saskatchewan in Vector Format
This data set was acquired as a general provincial scale vegetation cover map and an alternative to the very detailed vector forest cover data available for the BOREAS SSA. The data set was prepared by SERM-FBIU, and is a condensed forest cover type map of Saskatchewan at a scale of 1:1,000,000. The date of the maps from which this data set was generated is unknown; it is estimated that the forest cover maps were made in the mid-1980s.
Nickeson, Jaime↗
Global Scale Attribution of Anthropogenic and Natural Dust Sources and their Emission Rates Based on MODIS Deep Blue Aerosol Products
Our understanding of the global dust cycle is limited by a dearth of information about dust sources, especially small-scale features which could account for a large fraction of global emissions. Here we present a global-scale high-resolution (0.1 deg) mapping of sources based on Moderate Resolution Imaging Spectroradiometer (MODIS) Deep Blue estimates of dust optical depth in conjunction with other data sets including land use. We ascribe dust sources to natural and anthropogenic (primarily agricultural) origins, calculate their respective contributions to emissions, and extensively compare these products against literature. Natural dust sources globally account for 75% of emissions; anthropogenic sources account for 25%. North Africa accounts for 55% of global dust emissions with only 8% being anthropogenic, mostly from the Sahel. Elsewhere, anthropogenic dust emissions can be much higher (75% in Australia). Hydrologic dust sources (e.g., ephemeral water bodies) account for 31% worldwide; 15% of them are natural while 85% are anthropogenic. Globally, 20% of emissions are from vegetated surfaces, primarily desert shrublands and agricultural lands. Since anthropogenic dust sources are associated with land use and ephemeral water bodies, both in turn linked to the hydrological cycle, their emissions are affected by climate variability. Such changes in dust emissions can impact climate, air quality, and human health. Improved dust emission estimates will require a better mapping of threshold wind velocities, vegetation dynamics, and surface conditions (soil moisture and land use) especially in the sensitive regions identified here, as well as improved ability to address small-scale convective processes producing dust via cold pool (haboob) events frequent in monsoon regimes.
aerosols↗
Extending the Precipitation Map Offshore Using Daily and 3-Hourly Combined Precipitation Estimates
One of the difficulties in studying landfalling extratropical cyclones along the Pacific Coast is the lack of antecedent data over the ocean, including precipitation. Recent research on combining various satellite-based precipitation estimates opens the possibility of realistic precipitation estimates on a global 1 deg. x 1 deg. latitude-longitude grid at the daily or even 3-hourly interval. The goal in this work is to provide quantitative precipitation estimates that correctly represent the precipitation- related variables in the hydrological cycle: surface accumulations (fresh-water flux into oceans), frequency and duration statistics, net latent heating, etc.
Huffman, George J.↗
The rationale and suggested approaches for research geosynchronous satellite measurements for severe storm and mesoscale investigations
The measurements from current and planned geosynchronous satellites provide quantitative estimates of temperature and moisture profiles, surface temperature, wind, cloud properties, and precipitation. A number of significant observation characteristics remain, they include: (1) temperature and moisture profiles in cloudy areas; (2) high vertical profile resolution; (3) definitive precipitation area mapping and precipitation rate estimates on the convective cloud scale; (4) winds from low level cloud motions at night; (5) the determination of convective cloud structure; and (6) high resolution surface temperature determination. Four major new observing capabilities are proposed to overcome these deficiencies: a microwave sounder/imager, a high resolution visible and infrared imager, a high spectral resolution infrared sounder, and a total ozone mapper. It is suggested that the four sensors are flown together and used to support major mesoscale and short range forecasting field experiments.
Shenk, W. E.↗
Improvements to GNSS Positioning in Challenging Environments by 3DMA Lidar Informed Selective Satellites Usage
The use of global navigation satellite systems (GNSS) for position estimation tends to yield poor results when operating inside of an urban canyon due to large obstructions (e.g., buildings) that disrupt signals as they travel from a satellite to a receiver resulting in a position estimate that may significantly fluctuate in magnitude and direction. Identifying and removing signals that are non-line-of-sight (NLOS) to the receiver and only using signals that are line-of-sight (LOS) can improve the estimated position. However, quickly and accurately determining the LOS status of each measurement can be challenging without additional information about the operating environment. Use of publicly available lidar data can be used to incorporate techniques, such as 3D-mapping-aided (3DMA), to estimate the LOS status of satellites and augment the position solution accordingly. To complicate the issue, the error on the GNSS position estimate in an urban canyon is often so large that is it not sufficient to use as an approximate location for LOS prediction. That is, at times the calculated GNSS solution is not representative of the true location and cannot be used to accurately predict which satellites are within LOS due to the difference in the physical geometry associated with the two locations. This paper explores the use of a GNSS/inertial fused position solution as the initial position estimate for predicting which satellites are within LOS in an urban environment and the impact that removal of predicted NLOS satellites has on the GNSS position solution.
GPS↗