Increasing Remotely Sensed Snow Cover through Composite AMSRE/MODIS Product By Charley Follett An Undergraduate Thesis Submitted in Partial Fulfillment for the Requirements of Bachelor of Arts in Geography and Earth Science Carthage College Kenosha, WI April, 2010 ‘ Increasing MODIS Snow Cover through Composite AMSR-E/MODIS Product Charley Follett Abstract Accurate mapping of snow cover in mountainous terrain is extremely important, as snowmelt is a major source of water storage and runoff. Therefore, remote sensing of snow cover has wide applications, especially in mountainous terrain where recording ground station data is difficult. Both MODIS and AMSR-E satellite instruments can be used to study snow cover, with the possibility of a composite AMSR-E and MODIS snow cover product increasing accuracy of remote sensing based snow cover. As each instrument complements the other, as AMSR-E can detect through clouds whereas MODIS cannot, and the resolution of MODIS is superior to AMSR-E. The focus is in the study area of the Colorado Headwaters region during the month of January, 2006. 2 Table of Contents List of Figures……………………………………………………………………………..4 Lists of Tables……………………………………………………………………………...4 Literature Review………………………………………………………………….............5 Introduction.....................................................................................................….......5 Background……………………..……………………………………………….….5 Hypothesis…………………………………………………………………………..……...13 Methods.………….…………………………………………………………………….…..14 Study Period...................…………………………………………………………...14 Study Area………………………….. ……….………………………………….....14 Acquisition…………………………………………………………………………15 Processing……………………………...………………………………...………….17 Results………………………………………………………………………………….........20 Discussion…………………………………………………………………………….........25 Future Research…………………………………………………………………....25 Acknowledgements..............................................................................................................27 Works Cited..........................................................................................................................28 3 List of Figures Figure 1: Map of study area, shown by red outline 14 Figure 2: AMSR-E and MODIS overlay 18 Figure 3: 2006 January 1st composite AMSR-E and MODIS map. 19 Figure 4: January 8th MODIS snow cover 20 Figure 5: January 8th composite snow cover 20 Figure 6: Chart of accuracy between MODIS and Composite product 21 Figure 7: January 5th snow cover. 22 List of Tables Table 1: MODIS integer values, from National Snow and Ice Data Center 16 Table 2: Percentage of remotely sensed snow and land cover 21 Table 3: Percentages of snow, land, and cloud cover 22 Table 4: Paired T test of means. 23 4 Introduction Remote sensing of snow cover has wide applications, especially in mountainous terrain when ground station data is sparse. Remote sensing of snow cover allows for reliable, continuous study without the need for coverage to be interpolated through techniques such as isohyetal mapping. Both the Moderate Resolution Imaging Spectroradiometer (MODIS) and Advanced Microwave Scanning Radiometer - Earth Observing System (AMSR-E) satellite instruments can be used to remotely sense snow cover. Composite snow cover products that combine the AMSRE and MODIS instruments have been developed by researchers and shown to increase accuracy over using either instrument alone. The purpose of this thesis was to compare a composite AMSR-E and MODIS product with the cloud removal algorithm against MODIS snow cover product to see if accuracy is improved as a result. Background Accurate mapping of snow cover in mountainous terrain is extremely important, as it contributes to modeling of snow-melt, which is a major source of water storage and runoff in many watersheds such as the Colorado River. Data relating to water storage change is relevant to agricultural interests, reservoir operators, and other agencies and corporations that manage water resources. The high albedo reflectance of snow also makes it an important factor in climate change studies and energy budget equations (Foster et al. 2005). Streamflow is statistically linked to snow cover (Yang et al. 2007), thus snow cover is a vital factor to be investigated when 5 researching areas where snow cover is extensive and hydrologically significant. The Colorado Headwaters meets this criterion, as snowmelt in the sub-basin is the leading contributor to the Colorado River (Short, 2010). Remote sensing is an excellent source that has been used to map snow cover, and the introduction of new satellite instruments and techniques increase our ability to map snow cover with each passing year. Through developing a composite snow cover mapping method, which uses both MODIS and AMSR-E snow cover products, this proposal aimed to increase accuracy of mapped snow cover and provide valuable information to water managers and other users of the data. Remote sensing provides valuable tools for looking at snow-covered area (SCA) and other hydrological factors, such as snow water equivalent (SWE). SCA refers to the geographical extent of snow cover, while SWE is an estimate of how much water would be obtained from a melting snowpack. Remote sensing offers continual, uniform, and reliable data over large areas, and can be used to complement other sources of data such as ground observation networks. Ground based stations can provide continuous and reliable information about snow cover and other factors for a specific location, but in mountainous terrain, these values (ex. SWE) may vary widely due to the complex terrain. In addition, other difficulties arise from inconsistencies between ground stations, and accessibility issues in maintaining a network of ground stations in mountainous areas. Remote sensing fills the gaps left by ground station data and can provide among other things percent snow cover over a mountainous region, which is often not possible using ground station data. Snowpack Telemetry (SNOTEL) stations record long-term data (i.e. SWE, temperature, precipitation) which can be statistically analyzed against remote sensing measurements for validation. The SNOTEL data network has been in operation from the 1970s, 6 and provides data at high elevations and in rugged terrain, where validation of remote sensing data is most useful. Besides academia, SCA estimates obtained from remote sensing are used extensively in the private and government sectors. Organizations such as the National Oceanic and Atmospheric Administration provide real-time snow cover and snow water equivalency maps produced using remotely sensed data to the public. These maps are interactive, and allow casual users to explore regions with only a few clicks. In the private sector, news corporations use these maps for weather forecasts and visualizations. Communities can use remote sensing snow products to make decisions regarding water resources and agricultural activity, such as irrigation. Remote sensing instruments collect data about the earth by measuring electromagnetic radiation emitted or reflected by the earth’s surface. Remote sensing instruments must collect data from “windows” in the electromagnetic spectrum where the Earth’s atmosphere does not interfere (Campbell, 1996). This limits remote sensing to using the visible, infrared, and microwave radiation portions of the electromagnetic spectrum. Remote sensing is either passive, or active. Passive remote sensing refers to detect natural radiation emitted or reflected by the earth’s surface, whereas active remote sensing refers to instruments sending their own energy to the earth and detecting how it changes when it is reflected back to the remote sensing instrument. Passive remote sensing in the visible and infrared spectrums measures the reflectance of solar radiation by the earth’s surface. The wavelength spectrums have different properties and applications; visible radiation can penetrate water, infrared radiation is extremely useful for landuse and vegetation differentiation, and microwave radiation is not attenuated by the passage through the atmosphere and can be used at night because there is no dependence on reflected solar radiation (Campbell, 1996). A multi-spectral scanner uses both the visible and infrared 7 spectrum to measure several bands, or ranges of radiation wavelength. Everything has its own spectral signature; a field of corn has different reflectivity when it is planted, when it is growing, and when it is harvested. Multi-spectral scanners are sensitive enough to detect such differences in reflectivity, which adds to the type of analysis that can be done. For instance, bands can be combined into a single image, or selected to emphasize differences in reflectivity due to wavelength. A multi-spectral instrument, the Moderate Resolution Imaging Spectroradiometer (MODIS) sensor on the Terra satellite provides global snow and ice products at a 500 meter resolution on a daily basis, with each swath measuring 2330 kilometers. With a high radiometric sensitivity across 36 spectral bands, MODIS also has a high temporal cycle of 1-2 days globally. The MODIS instrument uses both visible and infrared spectral bands. This resolution is excellent at both regional and more local scales. Applications of MODIS data range from measuring surface temperature, to measuring global vegetation and snow cover. Snow cover has high reflectance in the visible spectrum and low reflectance in the short-wave infrared spectrum. High reflection in the visible spectrum is due to albedo, or the measure of how strongly something reflects light from light sources. If an object or surface is very white, albedo is high, if it is darker, albedo will be low, thus snow’s high reflectance in the visible spectrum. Reflectance in the infrared spectrum is a function of energy emitted. The algorithm used to create the MODIS snow cover products contains several enhancements designed to increase the accuracy of the SCA estimates. To prevent snow cover in forests from being misread, the Normalized Difference Vegetation Index (NDVI) (insert citation) is calculated to help determine differences between snow-covered areas and snow-free forests (Yang et al. 2007). Other criteria, related to the reflection of snow in the different spectral bands 8 are used to allow for the discrimination of snow from water and clouds (Yang et al. 2007). Comparisons of MODIS data and SNOTEL station observations of SWE show high statistical agreement when cloud-cover does not interfere with the viewing of snow cover from the MODIS instrument (Klein, 2003). MODIS has a nominal resolution of 500 meters, so sometimes a MODIS pixel will show that there is snow cover when a SNOTEL station disagrees, because the pixel is averaged across 500 meters whereas the station detects snow in its immediate area. Because the MODIS instrument cannot detect snow cover under clouds it is ineffective for the mapping of SCA under these conditions. Other sensors exist that can detect SCA through cloud cover, for example those that utilize the microwave portion of the spectrum (i.e. AMSR-E). The Advanced Microwave Scanning Radiometer-Earth Observing System (AMSR-E) instrument on the Aqua satellite provides passive microwave measurements of snow cover at a global scale. The sensitivity of the sensor allows it to penetrate cloud-cover and differentiate between snow, water, ice, and other type of land cover. AMSR-E goes a step further than other SCA products and can be used to estimate SWE as well. However, the spatial resolution of AMSR-E products is 25 kilometers, which is very coarse when compared to other. Even so, the AMSR-E spatial resolution is a major improvement over previous sensors, such as the Special Sensor Microwave/Imager (SSM/I) instrument. The SSM/I instrument used four frequencies; AMSR-E uses six, and therefore has a wider range of the microwave spectrum to use for analysis. Microwave instruments have coarser resolution compared to visible and infrared spectrum instruments due to physical limitations. Microwave radiation has a longer wavelength than visible and infrared radiation. An unrealistically sized antenna would be required to obtain better spatial resolution, and is not possible with current technology. For vast areas such as the ocean a low resolution is not a serious issue, but in heterogeneous terrain such as mountainous 9 areas, it may present problems. Therefore, AMSR-E snow cover would be well suited for a supplementary role, but the resolution is too poor and insurmountable to be the primary instrument used for studying snow cover. Sanjay et al. 2008 found that that there was good agreement between MODIS derived SCA data and ground station data in mountainous terrain and concluded that the MODIS data is can be used as an effective estimator of SCA in the Himalayas region (Sanjay et al. 2008) .However, the rugged terrain in the area contributed to a mountain shadowing effect (caused by the low angle of solar illumination in complex terrain, not to be confused with a mountain rain shadow effect) leading to a less accurate reading of snow-cover. Visible spectrum cannot be used during nighttime hours, so shadowing will decrease their effectiveness as well. The study also compared SCA estimates derived from other sensors as well and found that MODIS outperformed the other sensors at detecting snow in areas where shadowing was a problem (2008). In a study using MODIS SCA data to examine the relationship between snow cover in the Tibetan plateau and the East Asian Summer Monsoon, Che Tao and Li Xi found that the MODIS snow cover product was useful and accurate when compared against ground station data (Che et al. 2004). In the paper titled, “Snow depth estimation over north-western Indian Himalayas using AMSR-E”, Indrani Das and R. N. Sarwade found that AMSR-E was suitable for use in the Himalayas, although snow depth was off by an average error of 20.34 cm due to the coarse spatial resolution of AMSR-E (Sarwade et al. 2003). However, the errors were not related to the question of whether snow was detected by the sensor, but were instead related to the snow depth estimates derived by the sensor. A few studies have used AMSR-E solely to derive estimates of SCA, but found that the coarse spatial resolution of the data hindered its use even though it had 10 the ability to penetrate cloud-cover (Comiso, 2003). As a result, there have been numerous studies that have used combined products of AMSR-E and other high resolution sensors such as MODIS to map snow cover. MODIS and AMSR-E composite products have been developed to take into account the advantages of each sensor to provide a more complete SCA product. This concept is not new and has been applied in the past using MODIS and SSM/I data. This combination yielded more accurate estimates of SCA than the use of each product alone. AMSR-E, however, is a much more powerful microwave sensor than SSM/I and has produced even stronger results (Tait et al. 2000). AMSR-E has the ability to penetrate cloud-cover, and also can penetrate the atmosphere without losing accuracy. As a supplement to the high resolution MODIS snow product, AMSRE has been found to significantly increase the accuracy of SCA estimate (Wang et al. 2008). Using a combined MODIS and AMSR-E product suppresses cloud cover effects while still providing the user with a relatively fine spatial resolution (2008). When validated against ground stations, the combined MODIS and ASMR-E product shows high agreement with surface observations, but the accuracy drops when the snow cover is shallow or the snow distribution is scattered spatially (2008). The mountain-shadow effect encountered in previous studies that used MODIS to map SCA might also be decreased by using AMSR-E data, which operates the same regardless of the brightness. A combined MODIS and ASMR-E SCA product has been found to be more accurate than when either product is used alone, but the integration of cloud cover removal may increase the accuracy even further. Relatively few studies have utilized cloud removal algorithms in relation to MODIS data, but those that have report excellent results (Zhengming 2008). Cloud removal techniques are new and relatively unexplored, and a delicate balance between predicting the 11 presence of snow under clouds and maintaining accuracy must be preserved (Bardossy 2009). Using a combined MODIS and AMSR-E product enhanced with an additional cloud cover removal technique could make for an extremely powerful and accurate snow cover product in mountainous regions. The goal of this proposal is to see if accuracy is increased and use tools and techniques that are replicable without esoteric features. Future research may include refinement of techniques used and porting of scripts to other GIS and remote sensing programs, such as IDRISI, ERDAS, or GRASS. 12 Hypothesis The composite AMSR-E and MODIS snow cover product was designed to test the following hypothesis: Null Hypothesis: The snow and land cover detected with the composite snow cover product and the standard MODIS snow cover product is not significantly different. Alternate Hypothesis 1: The composite AMSR-E and MODIS product has significantly higher snow and land cover detected than the standard MODIS snow cover product. 13 Methods: Study Period: MODIS and AMSR-E snow cover products are both available as far back as 2003. This proposal will focus on the winter regime, specifically, January 2006. MODIS snow cover products are available daily, 8-day composite, or monthly, and AMSR-E is available daily, 5-day composite, or monthly. Therefore, the composite products will be built using daily snow cover products of both instruments. Because the concern of this proposal is a proof of concept, and not determining long term trends in the region, the study period is January 1st through January 8th, 2006. Study Area: The Colorado River provides water resources for seven states and Mexico, and understanding changes in the water availability is essential to people and interested within the region. 75 percent of the total water within the Colorado River watershed originates as snow in the Rocky Mountains (Short 2010). 14 Figure 1: Map of study area, shown by red outline Acquisition Data from both the AMSR-E and MODIS instruments will be obtained from the Earth Observing System Data and Information System (EOSDIS), using python scripting to automatically download data and subset it to the study area. Although the MODIS instrument is located on the Terra satellite, and the AMSR-E instrument is located on the Aqua satellite, snow products from both instruments can be subset to the study area extent while being acquired. This is done using a vector outline of the study area, and then processing the imported HDF files to have pixels completely within the vector selected and subset. 15 Both AMSR-E and MODIS data utilized are level 3 in terms of processing, which ensures that necessary adjustments have already been made to the datasets. MODIS derived snow coverage contains cells with a range of values that indicate either snow, clouds, land, water, or no data(indicating an error). In comparison, AMSR-E SWE cell values from 1 to 240 indicate millimeters of snow water equivalent. Therefore, any value between 1 and 240 indicates presence of snow and is considered an indicator of snow cover, and 0 indicates a lack of snow cover. Values above 240mm are used to indicate parameters besides SWE, such as detection of a lake or other large body of water, and should be disregarded. Figure 2 shows what each value in a MODIS HDF snow cover file corresponds to. 16 Daily MODIS Snow Cover Coded Integer Values Sample Explanation Value 0 Data missing 1 No decision 11 Night 25 No snow 37 Lake 39 Ocean 50 Cloud 100 Lake ice 200 Snow 254 Detector saturated 255 Fill Table 1: MODIS integer values, from National Snow and Ice Data Center Processing Using python scripting within ArcGIS, the following steps will be automated. The ArcGIS product suite allows for extensive scripting capabilities and includes a “Model-Builder” tool that makes it easy for users without programming experience to automate tasks within ArcGIS. One script was devoted to automatically creating the composite product. After processing an appropriate amount of combined AMSR-E and MODIS snow cover products, the resulting product was compared to MODIS snow cover product without AMSR-E. 17 The script involved several steps of processing. First, both MODIS and AMSR-E data must be projected in the same coordinate system. To interpolate MODIS images, the HDF file was converted into GRID format at 500m resolution. Then, the cell values were classified, using the metadata and documentation, so that the MODIS image is classified according to snow, cloud, and no snow. Next, the AMSR-E data was converted into grid format. Using the Mask tool, AMSR-E pixels (which are much larger than MODIS pixels due to the coarser resolution) that are completely within MODIS detected cloud cover are selected. If an AMSR-E pixel is not completely within MODIS detected cloud cover, it will not be selected or used in the composite product. Originally during the design of scripting and the project, analysis was intended to include the use of a cloud removal algorithm, and so the replacement of MODIS cloud cover with AMSR-E was designed to allow for that, so that the tolerance for non-cloud cover pixels was very low. Any MODIS pixels that are not cloud cover stop AMSR-E from replacing nearby cloud cover pixels. If, however, an AMSR-E pixel is over an area that is completely cloud cover, AMSR-E replaces that pixel. Because AMSR-E reads through clouds, the encapsulated pixel will represent either snow or land cover. It is possible for AMSR-E swaths to have errors, but no AMSR-E swaths in the study had errors within the study area. When a pixel of AMSR-E is within MODIS cloud cover, the AMSR-E pixel is resampled using Nearest Neighbor analysis to match the 500m resolution of MODIS. Raster operations use the values of selected AMSR-E to replace the 18 MODIS cloud cover detected. Afterwards, using raster operations the values are combined into a single composite image. The result is a composite MODIS and AMSR-E product. Following the creation of composite MODIS and AMSR-E product, statistical testing was done to see if there is a significant replacement of cloud cover with AMSR-E sensed land or snow cover. Figure 2: AMSR-E and MODIS overlay. For the pixels in red, cloud cover was detected. The outline of AMSR-E pixels can be seen as well. The bottom pixels are mostly completely within the cloud cover and would be replaced with AMSR-E. 19 Results Visualization Below are shown several maps of the composite imagery produced, as well as maps showing the non-composite imagery. Figure 3: 2006 January 1st composite AMSR-E and MODIS map. The next two images compare MODIS snow cover product and a composite snow cover product over the study area. Visually, it appears as if a dramatic increase in snow cover has occurred, but the table that follows shows that statistically, the gains are negligible. 20 Figure 4: January 8th MODIS snow cover Figure 5: January 8th composite snow cover 21 Below in figure 6 is a chart measuring the snow and land cover remotely sensed by MODIS, as well as the snow and land cover found with the composite product. The most noticeable increase is with January 1st, with a 10% aggregate increase in snow and land cover sensed, as shown by Table 2. Percentage of remotely sensed snow and land 120% 100% 80% 60% MODIS Composite 40% 20% 0% 1 2 3 4 5 6 7 8 January 1st - January 8th Figure 6: Chart of accuracy between MODIS and Composite product 1-Jan 2-Jan 3-Jan 4-Jan 5-Jan 6-Jan 7-Jan 8-Jan MODIS Composite 29.08% 39.39% 63.66% 63.66% 97.22% 97.88% 53.12% 53.12% 95.24% 95.24% 83.22% 83.32% 77.67% 78.08% 65.23% 66.16% Table 2: Percentage of remotely sensed snow and land cover 22 MODIS Snow Land Cloud Composite Snow Land Cloud Replacement? 1-Jan 2-Jan 3-Jan 4-Jan 5-Jan 6-Jan 7-Jan 8-Jan 19.61% 9.47% 70.92% 1.20% 62.46% 36.34% 4.40% 92.82% 2.78% 2.80% 50.33% 46.88% 8.68% 86.56% 4.76% 3.68% 79.54% 16.78% 5.39% 72.28% 22.33% 2.68% 62.55% 34.77% 22.36% 1.20% 4.61% 2.80% 8.68% 3.74% 5.59% 3.51% 17.02% 62.46% 93.27% 50.33% 86.56% 79.58% 72.49% 62.65% 60.61% 36.34% 2.12% 46.88% 4.76% 16.68% 21.92% 33.84% Yes No Yes No No Yes Yes Yes Table 3: Percentages of snow, land, and cloud cover between MODIS and composite imagery. The above table measures the day to day changes in snow cover and land cover by the MODIS sensor as well as the composite product. There were several days (January 2nd, 4th, and 5th) that AMSR-E could not be used to replace cloud cover. On January 2nd, for instance, AMSR-E coverage did not include the study area. On January 5th, shown in Figure 7, no pixels were replaced due to lack of cloud cover. Figure 7: January 5th snow cover. No pixels could be replaced. 23 Paired T for Composite versus MODIS N Mean StDev SE Mean Composite 8 0.7210 0.2035 0.0719 MODIS 8 0.7056 0.2278 0.0805 Difference 8 0.0155 0.0355 0.0126 95% lower bound for mean difference: -0.0083 T-Test of mean difference = 0 (vs > 0): T-Value = 1.23 P-Value = 0.129 Table 4: Paired T test of means. Table 4 shows the statistical testing that was done at a significance level of .05 using a paired t test in MiniTab, suggesting that there was not a significant increase in accuracy through the creation of the composite product. 24 Discussion Originally this research was intended to answer two independent hypotheses, with the first regarding the efficacy of a composite product compared to a standard MODIS snow cover product, and the second intended to be a comparison of said composite product against a snow cover product using a cloud removal algorithm. The second hypothesis proved too difficult to achieve with the tools available with multiple errors prohibiting a statistical analysis of results, leading to a shift towards testing the composite product alone and maintaining the experimental design and hypothesis setup at the beginning of the experiment. The results showed that the gains of using the composite product were not significant and suggest a flaw in methodology and approach, which reflect the challenges of this project. Originally, the processing of the composite product was meant to make it easier for a cloud removal algorithm to be applied, which was outside the scope of this undergraduate thesis. This might have affected the efficacy of the composite product, as a composite product with a lower tolerance for replacing MODIS cloud cover could have led to a significant level of increased accuracy. Accepting the null hypothesis does not mean that increasing the accuracy of MODIS with AMSR-E cannot be done, only that the approach and methodology of this study would need to be reexamined. For instance, the focus was on first 8 days in January of 2006, and AMSR-E could not be used during several of those days to replace MODIS pixels, because of the coverage of AMSR-E missing the study area, and for the other days, the lack of cloud cover for AMSR-E to replace. In table 3, it is evident that January 3rd and 5th have negligible cloud cover. However, January 1st had an almost 10% decrease in cloud cover due to AMSR-E, and would likely have been even higher if the methodology had been altered to be more tolerant of non-cloud cover pixels. If the experiment had been set up to test the efficacy of a composite product when there is a certain amount of cloud cover with an alternate hypothesis suggesting 25 that a composite product significantly increases snow cover of MODIS during periods of high cloud cover, the design might have shown such a composite product to be significantly effective. The results of this study do support the conclusion that as a daily product, a composite AMSR-E and MODIS snow cover product would likely not be a significant improvement. Future Research More research with a more robust methodology using the lessons learned from this project would be needed in order to test a composite AMSR-E and MODIS product with a different approach. Flaws with the processing steps were realized early on, and alternate methods and tools could be explored. In addition, the results of January 8th did not seem accurate during verification, suggesting that a bug in the scripting process may have skewed results. A follow up project could be an experimental design that does not attempt to implement a cloud removal algorithm and instead attempts to maximize the potential of a AMSR-E and MODIS composite product. 26 Acknowledgements Brian Harshburger, for giving me professional and personal direction and guidance throughout the last two semesters. 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