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NASA NTRS1995

FORTRAN program for analyzing ground-based radar data: Usage and derivations, version 6.2

A postflight FORTRAN program called 'radar' reads and analyzes ground-based radar data. The output includes position, velocity, and acceleration parameters. Air data parameters are also provided if atmospheric characteristics are input. This program can read data from any radar in three formats. Geocentric Cartesian position can also be used as input, which may be from an inertial navigation or Global Positioning System. Options include spike removal, data filtering, and atmospheric refraction corrections. Atmospheric refraction can be corrected using the quick White Sands method or the gradient refraction method, which allows accurate analysis of very low elevation angle and long-range data. Refraction properties are extrapolated from surface conditions, or a measured profile may be input. Velocity is determined by differentiating position. Accelerations are determined by differentiating velocity. This paper describes the algorithms used, gives the operational details, and discusses the limitations and errors of the program. Appendices A through E contain the derivations for these algorithms. These derivations include an improvement in speed to the exact solution for geodetic altitude, an improved algorithm over earlier versions for determining scale height, a truncation algorithm for speeding up the gradient refraction method, and a refinement of the coefficients used in the White Sands method for Edwards AFB, California. Appendix G contains the nomenclature.

Haering, Edward A., Jr.↗

NASA NTRS1998

A Self-Tuning Kalman Filter for Autonomous Spacecraft Navigation

Most navigation systems currently operated by NASA are ground-based, and require extensive support to produce accurate results. Recently developed systems that use Kalman Filter and Global Positioning System (GPS) data for orbit determination greatly reduce dependency on ground support, and have potential to provide significant economies for NASA spacecraft navigation. Current techniques of Kalman filtering, however, still rely on manual tuning from analysts, and cannot help in optimizing autonomy without compromising accuracy and performance. This paper presents an approach to produce a high accuracy autonomous navigation system fully integrated with the flight system. The resulting system performs real-time state estimation by using an Extended Kalman Filter (EKF) implemented with high-fidelity state dynamics model, as does the GPS Enhanced Orbit Determination Experiment (GEODE) system developed by the NASA Goddard Space Flight Center. Augmented to the EKF is a sophisticated neural-fuzzy system, which combines the explicit knowledge representation of fuzzy logic with the learning power of neural networks. The fuzzy-neural system performs most of the self-tuning capability and helps the navigation system recover from estimation errors. The core requirement is a method of state estimation that handles uncertainties robustly, capable of identifying estimation problems, flexible enough to make decisions and adjustments to recover from these problems, and compact enough to run on flight hardware. The resulting system can be extended to support geosynchronous spacecraft and high-eccentricity orbits. Mathematical methodology, systems and operations concepts, and implementation of a system prototype are presented in this paper. Results from the use of the prototype to evaluate optimal control algorithms implemented are discussed. Test data and major control issues (e.g., how to define specific roles for fuzzy logic to support the self-learning capability) are also discussed. In addition, architecture of a complete end-to-end candidate flight system that provides navigation with highly autonomous control using data from GPS is presented.

Truong, Son H.↗

NASA NTRS2001

High Order Difference Method for Low Mach Number Aeroacoustics

A high order finite difference method with improved accuracy and stability properties for computational aeroacoustics (CAA) at low Mach numbers is proposed. The Euler equations are split into a conservative and a symmetric non- conservative portion to allow the derivation of a generalized energy estimate. Since the symmetrization is based on entropy variables, that splitting of the flux derivatives is referred to as entropy splitting. Its discretization by high order central differences was found to need less numerical dissipation than conventional conservative schemes. Owing to the large disparity of acoustic and stagnation quantities in low Mach number aeroacoustics, the split Euler equations are formulated in perturbation form. The unknowns are the small changes of the conservative variables with respect to their large stagnation values. All nonlinearities and the conservation form of the conservative portion of the split flux derivatives can be retained, while cancellation errors are avoided with its discretization opposed to the conventional conservative form. The finite difference method is third-order accurate at the boundary and the conventional central sixth-order accurate stencil in the interior. The difference operator satisfies the summation by parts property analogous to the integration by parts in the continuous energy estimate. Thus, strict stability of the difference method follows automatically. Spurious high frequency oscillations are suppressed by a characteristic-based filter similar to but without limiter. The time derivative is approximated by a 4-stage low-storage second-order explicit Runge-Kutta method. The method has been applied to simulate vortex sound at low Mach numbers. We consider the Kirchhoff vortex, which is an elliptical patch of constant vorticity rotating with constant angular frequency in irrotational flow. The acoustic pressure generated by the Kirchhoff vortex is governed by the 2D Helmholtz equation, which can be solved analytically using separation of variables.

Mueller, B.↗

NASA NTRS2013

Mass Conservation and Positivity Preservation with Ensemble-type Kalman Filter Algorithms

Maintaining conservative physical laws numerically has long been recognized as being important in the development of numerical weather prediction (NWP) models. In the broader context of data assimilation, concerted efforts to maintain conservation laws numerically and to understand the significance of doing so have begun only recently. In order to enforce physically based conservation laws of total mass and positivity in the ensemble Kalman filter, we incorporate constraints to ensure that the filter ensemble members and the ensemble mean conserve mass and remain nonnegative through measurement updates. We show that the analysis steps of ensemble transform Kalman filter (ETKF) algorithm and ensemble Kalman filter algorithm (EnKF) can conserve the mass integral, but do not preserve positivity. Further, if localization is applied or if negative values are simply set to zero, then the total mass is not conserved either. In order to ensure mass conservation, a projection matrix that corrects for localization effects is constructed. In order to maintain both mass conservation and positivity preservation through the analysis step, we construct a data assimilation algorithms based on quadratic programming and ensemble Kalman filtering. Mass and positivity are both preserved by formulating the filter update as a set of quadratic programming problems that incorporate constraints. Some simple numerical experiments indicate that this approach can have a significant positive impact on the posterior ensemble distribution, giving results that are more physically plausible both for individual ensemble members and for the ensemble mean. The results show clear improvements in both analyses and forecasts, particularly in the presence of localized features. Behavior of the algorithm is also tested in presence of model error.

EnKR↗

DOE OSTI2021

Energy Exascale Earth System Model v2.0

First release of version 2 of the Energy Exascale Earth System Model. The atmosphere component remains EAM. Major changes since version 1 include: all column-physics parameterizations are computed on a separate grid that has approximately half the number of points of the dynamics grid, a new nonhydrostatic dynamical core (running in hydrostatic mode) with semi-Lagrangian tracer transport, CLUBB updated from v1 to v2, a new convective trigger (dCAPE/ULL) based on the dynamic Convective Available Potential Energy (CAPE) (dCAPE) and the Unrestricted Launch Level (ULL) concepts is used in ZM. minimum cloud droplet number changed, gravity wave drag energy conservation fixed and new tunings used, dust emission size distribution changed to emit more coarse dust particles The land component is still ELM. Major changes since version 1 include: using SNICAR-AD for radiation in snow to match the sea-ice model and fixing bugs in snow compaction and water state calculation. The ocean component remains MPAS-ocean. Major change since version 1 include: Redi isopycnal mixing has been updated, tested, and tuned in combination with the Gent-McWilliams parameterization, a sign error was fixed in the 3rd-order flux routines, the mesh used in low-resolution coupled cases was modified and the time steps adjusted, new regionally refined meshes were created, one focused on North America and another on the Southern Ocean, including ice shelf cavities. The sea-ice component remains MPAS-seaice. Major changes since version 1 include: A new heat- and freshwater-conserving coupling of frazil ice, turning off of SSH filtering, addition of SNICAR-AD and snow grain aging. The land-ice component remains MPAS-Albany-landIce (MALI) and is a static ice sheet. There is more out-of-the-box support for cryosphere configurations including the new regionally refined configuration around Antarctica with ice shelf cavities. The river model is MOSART. The half-degree river mesh was redone so it no longer treats Black and Caspian seas as ocean. The coupler remains cpl7/MCT. Major changes since version 1 include handling of ice shelf melt fluxes (heat / freshwater exchange with the ocean), and data icebergs. All components allow regional refinement of their meshes and two separate example of refinement, one in and around North America and one around Antarctica and the Southern Ocean, are provided.

E3SM Project, DOE↗

DOE OSTI2020

Trans-Neptunian Objects Found in the First Four Years of the Dark Energy Survey

In this paper, we present a catalog of 316 trans-Neptunian bodies (TNOs) detected from the first four seasons ("Y4" data) of the Dark Energy Survey (DES). The survey covers a contiguous 5000 deg 2 of the southern sky in the grizY optical/NIR filter set, with a typical TNO in this part of the sky being targeted by 25–30 Y4 exposures. This paper focuses on the methods used to detect these objects from the ≈60,000 Y4 exposures, a process made challenging by the absence of the few-hour repeat observations employed by TNO-optimized surveys. Newly developed techniques include: transient/moving object detection by comparison of single-epoch catalogs to catalogs of "stacked" images; quantified astrometric error from atmospheric turbulence; new software for detecting TNO linkages in a temporally sparse transient catalog, and for estimating the rate of spurious linkages; use of faint stars to determine the detection efficiency versus magnitude in all exposures. Final validation of the reality of linked orbits uses a new "sub-threshold confirmation" test, wherein we demand the object be detectable in a stack of the exposures in which the orbit indicates an object should be present, but was not individually detected. This catalog contains all validated TNOs which were detected on ≥6 unique nights in the Y4 data, and is complete to r 23.3 mag with virtually no dependence on orbital properties for bound TNOs at distance 30 au < d < 2500 au. The catalog includes 245 discoveries by DES, 139 not previously published. The final DES TNO catalog is expected to yield >0.3 mag more depth, and arcs of >4 yr for nearly all detections.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2022

A Catalog of Candidate Double and Lensed Quasars from Gaia and WISE Data

Making use of strong correlations between closely separated multiple or double sources and photometric and astrometric metadata in Gaia Early Data Release 3 (EDR3), we generate a catalog of candidate double- and multiply imaged lensed quasars and active galactic nuclei (AGNs), comprising 3140 systems. It includes two partially overlapping parts: a sample of distant (redshifts mostly greater than 1) sources with perturbed data; and systems that have been resolved into separate components by Gaia at separations less than 2''. For the first part, which is roughly one-third of the published catalog, we synthesized 0.617 million redshifts using multiple machine-learning prediction and classification methods, using independent photometric and astrometric data from Gaia EDR3 and the Wide-field Infrared Survey Explorer, with accurate spectroscopic redshifts from the Sloan Digital Sky Survey (SDSS) as a training set. Using these synthetic redshifts, we estimate a 4.9% rate of interlopers with spectroscopic redshifts below 1 in this part of the catalog. Unresolved candidate double and dual AGNs and quasars are selected as sources with a marginally high BP/RP excess factor (phot_bp_rp_excess_factor), which is sensitive to source extent, limiting our search to high-redshift quasars. For the second part of the catalog, additional filters on measured parallax and near-neighbor statistics are applied to diminish the propagation of the remaining stellar contaminants. The estimated rate of the positives (double or multiple sources) is 98%, and the estimated rate of dual (physically related) quasars is greater than 54%. A few dozen serendipitously found objects of interest are discussed in more detail, including known and new lensed images, planetary nebulae, young IR stars of peculiar morphology, and quasars with catastrophic redshift errors in SDSS.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1996

A High Spectral Resolution Lidar Based on Absorption Filter

A High Spectral Resolution Lidar (HSRL) that uses an iodine absorption filter and a tunable, narrow bandwidth Nd:YAG laser is demonstrated. The iodine absorption filter provides better performance than the Fabry-Perot etalon that it replaces. This study presents an instrument design that can be used a the basis for a design of a simple and robust lidar for the measurement of the optical properties of the atmosphere. The HSRL provides calibrated measurements of the optical properties of the atmospheric aerosols. These observations include measurements of aerosol backscatter cross sections, optical depth, backscatter phase function depolarization, and multiple scattering. The errors in the HSRL data are discussed and the effects of different errors on the measured optical parameters are shown.

Piironen, Paivi↗

NASA NTRS1980

Alternative approach to multisensor navigation

An alternative to the Kalman filtering technique, based on logical rather than numerical techniques, is presented. It can be implemented on one or more microprocessors (with a fixed communications protocol between the individual microprocessors); requires only limited preprocessing of the input data; can have its constituent subsystem changed without major revision to the combiner as new or better navigation techniques, such as the global positioning system (GPS) or Loran-C, become available; and tolerates a wide variety of sensor, hardware, and software errors. The basic structure of the method and results of simulations of its performance in the presence of errors common to low-cost sensors (such as VOR or basic Omega) are presented, along with a discussion of possible extensions.

Cannon, M. J.↗

NASA NTRS1997

Multiplexed Holographic Data Storage in Bacteriorhodopsin

High density optical data storage, driven by the information revolution, remains at the forefront of current research areas. Much of the current research has focused on photorefractive materials (SBN and LiNbO3) and polymers, despite various problems with expense, durability, response time and retention periods. Photon echo techniques, though promising, are questionable due to the need for cryogenic conditions. Bacteriorhodopsin (BR) films are an attractive alternative recording medium. Great strides have been made in refining BR, and materials with storage lifetimes as long as 100 days have recently become available. The ability to deposit this robust polycrystalline material as high quality optical films suggests the use of BR as a recording medium for commercial optical disks. Our own recent research has demonstrated the suitability of BR films for real time spatial filtering and holography. We propose to fully investigate the feasibility of performing holographic mass data storage in BR. Important aspects of the problem to be investigated include various data multiplexing techniques (e.g. angle- amplitude- and phase-encoded multiplexing, and in particular shift-multiplexing), multilayer recording techniques, SLM selection and data readout using crossed polarizers for noise rejection. Systems evaluations of storage parameters, including access times, memory refresh constraints, erasure, signal-to-noise ratios and bit error rates, will be included in our investigations.

Mehrl, David J.↗

NASA NTRS2008

Digital Receiver Phase Meter

The software of a commercially available digital radio receiver has been modified to make the receiver function as a two-channel low-noise phase meter. This phase meter is a prototype in the continuing development of a phase meter for a system in which radiofrequency (RF) signals in the two channels would be outputs of a spaceborne heterodyne laser interferometer for detecting gravitational waves. The frequencies of the signals could include a common Doppler-shift component of as much as 15 MHz. The phase meter is required to measure the relative phases of the signals in the two channels at a sampling rate of 10 Hz at a root power spectral density <5 microcycle/(Hz)1/2 and to be capable of determining the power spectral density of the phase difference over the frequency range from 1 mHz to 1 Hz. Such a phase meter could also be used on Earth to perform similar measurements in laser metrology of moving bodies. To illustrate part of the principle of operation of the phase meter, the figure includes a simplified block diagram of a basic singlechannel digital receiver. The input RF signal is first fed to the input terminal of an analog-to-digital converter (ADC). To prevent aliasing errors in the ADC, the sampling rate must be at least twice the input signal frequency. The sampling rate of the ADC is governed by a sampling clock, which also drives a digital local oscillator (DLO), which is a direct digital frequency synthesizer. The DLO produces samples of sine and cosine signals at a programmed tuning frequency. The sine and cosine samples are mixed with (that is, multiplied by) the samples from the ADC, then low-pass filtered to obtain in-phase (I) and quadrature (Q) signal components. A digital signal processor (DSP) computes the ratio between the Q and I components, computes the phase of the RF signal (relative to that of the DLO signal) as the arctangent of this ratio, and then averages successive such phase values over a time interval specified by the user.

Marcin, Martin↗

NASA NTRS2020

Biomass Estimation from Simulated GEDI, ICESat-2 and NISAR Across Environmental Gradients in Sonoma County, California

Estimates of the magnitude and distribution of aboveground carbon in Earth’s forests remain uncertain, yet knowledge of forest carbon content at a global scale is critical for forest management in support of climate mitigation. In light of this knowledge gap, several upcoming spaceborne missions aim to map forest aboveground biomass, and many new biomass products are expected from these datasets. As these new missions host different technologies, each with relative strengths and weaknesses for biomass retrieval, as well as different spatial resolutions, consistently comparing or combining biomass estimates from these new datasets will be challenging. This paper presents a demonstration of an inter-comparison of biomass estimates from simulations of three NASA missions (GEDI, ICESat-2 and NISAR) over Sonoma county in California, USA. We use a high resolution, locally calibrated airborne lidar map as our reference dataset, and emphasize the importance of considering uncertainties in both reference maps and spaceborne estimates when conducting biomass product validation. GEDI and ICESat-2 were simulated from airborne lidar point clouds, while UAVSAR’s L-band backscatter was used as a proxy for NISAR. To estimate biomass for the lidar missions we used GEDI’s footprint-level biomass algorithms, and also adapted these for application to ICESat-2. For UAVSAR, we developed a locally trained biomass model, calibrated against the ALS reference map. Each mission simulation was evaluated in comparison to the local reference map at its native product resolution (25 m, 100m transect, and 1 ha) yielding RMSEs of 57%, 75%, and 89% for GEDI, NISAR, and ICESat-2 respectively. RMSE values increased for GEDI’s power beam during simulated daytime conditions (64%), coverage beam during nighttime conditions (72%), and coverage beam daytime conditions (87%). We also test the application of GEDI’s biomass modeling framework for estimation of biomass from ICESat-2, and fine that ICESat-2 yields reasonable biomass estimates, particularly in relatively short, open canopies. Results suggest that while all three missions will produce datasets useful for biomass mapping, tall, dense canopies such as those found in Sonoma County present the greatest challenges for all three missions, while steep slopes also prove challenging for single-date SAR based biomass retrieval. Our methods provide guidance for the inter-comparison and validation of spaceborne biomass estimates through the use of airborne lidar reference maps, and could be repeated with on-orbit estimates in any area with high quality field plot and ALS data. These methods allow for regional interpretations and filtering of multi-mission biomass estimates toward improved wall-to-wall biomass maps through data fusion.

GEDI↗

DOE OSTI2026

A score-based diffusion model approach for adaptive learning of stochastic partial differential equation solutions

In this paper, we propose a novel framework for adaptively learning the time-evolving solutions of stochastic partial differential equations (SPDEs) using score-based diffusion models within a recursive Bayesian inference setting. SPDEs play a central role in modeling complex physical systems under uncertainty, but their numerical solutions often suffer from model errors and reduced accuracy due to incomplete physical knowledge and environmental variability. To address these challenges, we encode the governing physics into the score function of a diffusion model using simulation data and incorporate observational information via a likelihood-based correction in a reverse-time stochastic differential equation. This enables adaptive learning through iterative refinement of the solution as new data becomes available. To improve computational efficiency in high-dimensional settings, we introduce the ensemble score filter, a training-free approximation of the score function designed for real-time inference. Numerical experiments on benchmark SPDEs demonstrate the accuracy and robustness of the proposed method under sparse and noisy observations.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2023

Interpreting Sunyaev–Zel’dovich observations with MillenniumTNG: mass and environment scaling relations

ABSTRACT Sunyaev–Zel’dovich (SZ) measurements can dramatically improve our understanding of the intergalactic medium and the role of feedback processes in galaxy formation, allowing us to calibrate important astrophysical systematics in cosmological constraints from weak lensing galaxy clustering surveys. However, the signal is only measured in a two-dimensional projection, and its correct interpretation relies on understanding the connection between observable quantities and the underlying intrinsic properties of the gas, in addition to the relation between the gas and the underlying matter distribution. One way to address these challenges is through the use of hydrodynamical simulations such as the high-resolution, large-volume MillenniumTNG suite. We find that measurements of the optical depth, τ, and the Compton-y parameter, Y, receive large line-of-sight contributions that can be removed effectively by applying a compensated aperture photometry filter. In contrast with other τ probes (e.g. X-rays and fast radio bursts), the kinematic SZ-inferred τ receives most of its signal from a confined cylindrical region around the halo due to the velocity decorrelation along the line of sight. Additionally, we perform fits to the Y–M and τ–M scaling relations and report best-fitting parameters adopting the smoothly broken power law formalism. We note that subgrid physics modelling can broaden the error bar on these by 30 per cent for intermediate-mass haloes (${\sim }10^{13} \, {\rm M}_{\odot }$). The scatter of the scaling relations can be captured by an intrinsic dependence on concentration and an extrinsic dependence on tidal shear. Finally, we comment on the effect of using galaxies rather than haloes in observations, which can bias the inferred profiles by ∼20 per cent for L* galaxies.

Hadzhiyska, Boryana (ORCID:0000000223123121)↗

NASA NTRS1977

Remote sounding of cloudy atmospheres. III - Experimental verifications

The cloud-filtering technique developed in Parts I and II of this study is experimentally verified in this paper. The verification is based on radiance data measured in the 4.3 and 15 micron CO2 bands using a multidetector sounder mounted on an aircraft. The results presented here show that, from the aircraft height of 7.6 km and in the presence of multiple cloud formations, it is possible to recover simultaneously: (1) the clear-column atmospheric temperature profile with an rms error of 1 K with respect to radiosondes, (2) the land and sea surface temperature at all sun zenith angles. The accuracy of the recovered sea-surface temperature is 0.5-1 K with respect to measured bucket temperatures, (3) the humidity profile (water vapor mixing ratio) with a precision of 10%, (4) the fractional covers and heights of up to three cloud formations, and (5) the types of clouds, i.e., whether convective or nonconvective.

Chahine, M. T.↗

NASA NTRS1986

Computer-aided analysis for the Mechanics of Granular Materials (MGM) experiment

The Mechanics of Granular Materials (MGM) program is planned to provide experimental determinations of the mechanics of granular materials under very low gravity conditions. The initial experiments will use small glass beads as the granular material, and a precise tracking of individual beads during the test is desired. Real-time video images of the experimental specimen were taken with a television camera, and subsequently digitized by a frame grabber installed in a microcomputer. Easily identified red tracer beads were randomly scattered throughout the test specimen. A set of Pascal programs was written for processing and analyzing the digitized images. Filtering the image with Laplacian, dilation, and blurring filters when using a threshold function produced a binary (black on white) image which clearly identified the red beads. The centroids and areas for each bead were then determined. Analyzing a series of the images determined individual red bead displacements throughout the experiment. The system can provide displacement accuracies on the order of 0.5 to 1 pixel is the image is taken directly from the video camera. Digitizing an image from a video cassette recorder introduces an additional repeatability error of 0.5 to 1 pixel. Other programs were written to provide hardcopy prints of the digitized images on a dot-matrix printer.

Parker, Joey K.↗

NASA NTRS1991

Digital cartography of Io

A high resolution controlled mosaic of the hemisphere of Io centered on longitude 310 degrees is produced. Digital cartographic techniques were employed. Approximately 80 Voyager 1 clear and blue filter frames were utilized. This mosaic was merged with low-resolution color images. This dataset is compared to the geologic map of this region. Passage of the Voyager spacecraft through the Io plasma torus during acquisition of the highest resolution images exposed the vidicon detectors to ionized radiation, resulting in dark-current buildup on the vidicon. Because the vidicon is scanned from top to bottom, more charge accumulated toward the bottom of the frames, and the additive error increases from top to bottom as a ramp function. This ramp function was removed by using a model. Photometric normalizations were applied using the Minnaert function. An attempt to use Hapke's photometric function revealed that this function does not adequately describe Io's limb darkening at emission angles greater than 80 degrees. In contrast, the Minnaert function accurately describes the limb darkening up to emission angles of about 89 degrees. The improved set of discrete camera angles derived from this effort will be used in conjunction with the space telemetry pointing history file (the IPPS file), corrected on 4 or 12 second intervals to derive a revised time history for the pointing of the Infrared Interferometric Spectrometer (IRIS). For IRIS observations acquired between camera shutterings, the IPPS file can be corrected by linear interpolation, provided that the spacecraft motions were continuous. Image areas corresponding to the fields of view of IRIS spectra acquired between camera shutterings will be extracted from the mosaic to place the IRIS observations and hotspot models into geologic context.

Mcewen, Alfred S.↗

NASA NTRS1997

Using Laser Altimetry to Detect Topographic Change in Long Valley Caldera, California

Long Valley caldera California, is a site of extensive volcanism, persistent seismicity, and uplift of a resurgent dome, currently at a rate of about 3 cm/year. Airborne laser altimetry was used to determine the surface topography of the region in 1993. A repeat mission occurred in 1995. Three different laser altimeters were flown, dubbed ATLAS, SLICER and RASCAL. Data processing consists of the combination of the aircraft trajectory and attitude data with the laser range, the determination of an atmospheric delay, laser pulse timing errors, laser system biases, and data geolocation to obtain the position of the laser spot on the ground. Results showed that using the ATLAS and SLICER instruments, the elevation of an overflown lake is determined to precisions of 3.3 cm and 2.9 cm from altitudes of 500 m and 3 km above the ground, and about 10 cm using the RASCAL instrument from 500 m above ground. Comparison with tide gauge data showed the laser measurements are able to resolve centimeter-level changes in the lake elevation over time. Repeat pass analysis of tracks over flat surfaces indicate no systematic biases affect the measurement procedure of the ATLAS and SLICER instruments. Comparison of GPS and laser-derived elevations of easily-identifiable features in the caldera confirm the horizontal accuracy of the measurement is within the diameter of the laser footprint, and vertical accuracy is within the error inherent in the measurement. Crossover analysis shows that the standard error of the means at track intersection points within the caldera, and dome (i.e., where zero and close to the maximum amount of uplift is expected) are about I cm, indicating elevation change at the 3 cm/year level should be detectable. We demonstrate one of the powerful advantages of scanning laser altimetry over other remote sensing techniques; the straightforward creation of precise digital elevation maps of overflown terrain. Initial comparison of the 1993-1995 data indicates uplift occurred, but filtering is required to remove vegetation effects. Although research continues to utilize the full potential of laser altimetry data, the results constitute a successful demonstration that the technique may be used to perform geodetic monitoring of surface topographic change.

Hofton, M. A.↗