RSE-08000; No of Pages 13 Remote Sensing of Environment xxx (2011) xxx–xxx Contents lists available at ScienceDirect Remote Sensing of Environment j o u r n a l h o m e p a g e : w w w. e l s ev i e r. c o m / l o c a t e / r s e Global night-time fire season timing and fire count trends using the ATSR instrument series Olivier Arino a, Stefano Casadio b,⁎, Danilo Serpe b a b European Space Agency, Earth Observation Directorate, ESA-ESRIN, Via Galileo Galilei, 00044, Frascati, Italy Serco, c/o ESA-ESRIN, Via Galileo Galilei, 00044, Frascati, Italy a r t i c l e i n f o Article history: Received 30 October 2009 Received in revised form 19 April 2011 Accepted 7 May 2011 Available online xxxx Keywords: Fires Satellite Global trends a b s t r a c t Global night-time fire counts for the years from 1995 to 2009 have been obtained by using the latest version of Along Track Scanning Radiometer Top of Atmosphere radiance products (level 1B), and related trends have been estimated. Possible biases due to cloud coverage variations have been assumed to be negligible. The sampling number (acquisition frequency) has also been analysed in detail and proved not to influence our results. The new ATSR World Fire Atlas (WFA) product continuity has been tested by comparing the partially overlapping fire counts time series from the ATSR-2 (on board ERS-2) and the AATSR (on board ENVISAT) missions which showed negligible offsets. The ATSR-WFA products show very good correlation with the TRMM-VIRS and MODIS-Aqua/Terra monthly night-time fire counts. Global night-time fire trends have been evaluated by inspecting the time series of hot spots aggregated a) at 2° × 2° scale; b) at district/country/ region/continent scales, and c) globally. The statistical significance of the estimated trend parameters has been verified by means of the Mann–Kendall test. Results indicate that no trends in the absolute number of fire counts can be identified at the global scale, that there has been no appreciable shift in the fire season during the last 14 years, and that statistically significant positive and negative trends are only found when data are aggregated at smaller scales. © 2011 Elsevier Inc. All rights reserved. 1. Introduction Biomass burning has been recognised to play an important role in regional and global climate change (Harden et al., 2000; Hoffmann et al., 2003; Kasischke et al., 1995), and also to affect weather on much shorter scales (Andreae, 1991; Rosenfeld, 1999). Investigation of the impact of climate change on wild fire activity at the regional scale has been recently attempted, showing that by the year 2050 the expected increases in surface temperature might cause a drastic increase in the annual mean burned area (Spracklen et al., 2009). However, our capability of assessing risks related to possible changes in fire regimes at the global scale is impaired by the poor representations of fires in global models (Bowman et al., 2009). Globally fires can be of different nature, but in general three main categories can be identified: forest fires, agricultural fires and industrial fires. Forest fires are mainly attributed to human behaviour, e.g. in the Mediterranean region, while an ignition factor of natural origin (e.g. lightning) is relevant in the Boreal region. In agriculture fire has been used for thousands of years (Clement & Horn, 2001; Delcourt et al., 1998; Goldammer, 1988). As to the industrial ⁎ Corresponding author. Tel.: + 39 0694180594. E-mail address: [email protected] (S. Casadio). component, gas flaring activity related to oil-gas extraction appears to be the dominant factor (Marland et al., 2008). The most effective tools for global fire analysis are space-borne instruments, as they are capable of detecting flames at relatively high space and time resolution, even in remote areas not accessible with other means. Rigorous processing of such measurements allows the construction of a statistically significant data set that shows no sampling bias. Global fire time series derived from different space-borne sensors are by now long enough (i.e. more than 14 years) to allow the analysis of long term trends at the global scale with adequate accuracy. The long history of fire detection from space started with the pioneering works of Dozier (1981) and Matson and Dozier (1981), in which the thermal response of the Advanced Very High Resolution Radiometer (AVHRR) sensor (on board the NOAA satellites) was analysed. In particular, Dozier theoretically approached the study of the sub-pixel temperature fields by using the 3.7 and 10.6 μm channels of AVHRR. For more than twenty years space-borne detection of active fires has been conducted making use of sensors operating at visible to infrared wavelengths, with a 1–3 km nadir spatial resolution and a spectral channel in the middle infrared atmospheric window, i.e. 3.4 to 4.2 μm. The most effective sensors in this class have been NOAA-AVHRR (Martin et al., 1999), VAS/GOES (Prins & Menzel, 1994), ERS and ENVISAT ATSR (Arino & Melinotte, 1998), TRMM-VIRS (Visible and Infrared Scanner) (Giglio et al., 2003a), and MODIS (Moderate 0034-4257/$ – see front matter © 2011 Elsevier Inc. All rights reserved. doi:10.1016/j.rse.2011.05.025 Please cite this article as: Arino, O., et al., Global night-time fire season timing and fire count trends using the ATSR instrument series, Remote Sensing of Environment (2011), doi:10.1016/j.rse.2011.05.025 2 O. Arino et al. / Remote Sensing of Environment xxx (2011) xxx–xxx Resolution Imaging Spectroradiometer) on the EOS Terra and Aqua satellites (Giglio et al., 2003b). The middle-infrared (MIR) channels of these instruments (with the exception of MODIS) saturate at relatively low pixel-averaged brightness temperatures, and this saturation impairs the quantitative characterisation of large fires. Such a limitation originates from the design of these instruments, which were not intended for fire detection. In order to overcome the problem, a relatively recent experiment with a prototype small satellite, the Bi-spectral InfraRed Detection (BIRD) experimental small satellite (Zhukov et al., 2006), was entirely dedicated to fire detection and characterisation from space. With its 380 m ground pixel size and its spectral channels in MIR (3.4 to 4.2 μm) and TIR (8.5 to 9.3 μm) the BIRD instrument successfully operated for more than 28 months, thus allowing for the characterisation of fires which had previously been not detectable with the above mentioned sensors. Besides such low Earth orbiting (LEO) satellite sensors, fire detection has exploited instruments onboard geostationary (GEO) platforms (Calle et al., 2006; Cisbani et al., 2002; Costantini et al., 2008; Prins et al., 1998; Roberts et al., 2005). Despite the very high revisit time frequency (data acquired every 15 to 30 min) that could allow a detailed analysis of daily fire life cycle, the main limitations to fire detection for these type of sensors are the relatively low spatial resolution, ranging from 3 to 6 km, which results in a low signal magnification over the background when compared to higher spatial resolution LEO imagers. In addition, GEO platforms are not suitable for fire detection over mid latitudes and polar regions due to the extreme observation viewing angles. Hence, the geostationary satellites represent an improvement over tropical regions but have difficulties monitoring fires in high latitude regions. The various instruments flying on LEO platforms are characterised by very different geographic coverage, in terms of both overpass frequency and sampling time. The overpass local time for the sensors which are relevant in this context is such that different sensors investigate the same areas at different local times, so that the information gathered from a single sensor should be used in synergy with the others to fully characterise the fire daily cycle. In addition, the overpass frequency significantly varies too, from a few hours (e.g. TRMM), to one day (e.g. MODIS), to 5 days (e.g. ATSR for night time measurements at equator). The European Space Agency Along Track Scanning Radiometer World Fire Atlas (ATSR-WFA) project provides a global fire monitoring service by using data acquired by the ATSR-2 and AATSR sensors from the European Space Agency satellites (Arino & Plummer, 2001; Arino et al., 2005, 2007a; Goloub & Arino, 2000; Grégoire et al., 2001; Jenkins et al., 1997). The World Fire Atlas consists of a global collection of “hot spots”, i.e. the Earth locations from which emitted radiances exceed predefined thresholds, detected by analysing the measurements of the Along Track Scanning Radiometer (ATSR-2), onboard ERS-2 platform from November 1995 to December 2002, and extended onward by using the Advanced ATSR (AATSR), onboard ENVISAT, since 1st January 2003 to present. The ATSR-WFA now includes almost 14 years of consistent data thus representing a valid support to studies focusing on the long term behaviour of climate parameters (Kasischke et al., 2003; Le Page et al., 2007). The ATSR radiance products used in this work have been produced by the latest version of the level 0 to 1 processing chain (version 6.0.1) (Procter, 2009). They cover the three ATSR missions and have been available to users since February 2009. The new level 1 products are characterised by several radiometric and geolocation processing improvements and, most relevant in the context of this work, several orbit gaps have been filled in order to provide a consistent dataset spanning from 1991 to present. The overall ATSR-WFA processing chain is aimed at detecting hot spots in the thermal bands of the ATSR family instruments for night-time scenarios. In particular, the MIR band centred at 3.7 μm shows the highest sensitivity to surface temperature variations and two simple fixed threshold algorithms have been developed to fully exploit this signal. In this MIR band, anomalous night-time Brightness Temperature (BT) hot spots are detected according to the following criteria: • ALGO1: BT saturated (i.e. BT ≥ 312 K) • ALGO2: BT ≥ 308 K In the following only ALGO1 products, i.e. counts of saturated pixels, will be used for the trend analysis, as the ALGO2 products, while increasing the number of detections, are characterised by small but noticeable differences between the ERS-2 and ENVISAT WFA products. Such discrepancies are related to a 30 minute sensing time difference between the two satellites which causes the background temperatures at 3.7 μm to rise above the 308 K level more often in the case of ENVISAT than for ERS-2 due to a slight change in the background temperature, as reported by Arino and Casadio (2008). We also considered that it was preferable to have omissions rather than commissions of fire for the purpose of trends analysis. 2. ATSR-WFA dataset coverage and self consistency The monthly record generated by the ATSR WFA processing provides the detection date and time, and the pixel's coordinates with a ± 1 km geolocation accuracy for each hot spot. The ATSR revisit frequency for night-time measurements is about once every 5 days at equator, rapidly increasing with latitude. The monthly zonal mean of ATSR (version 6.0.1) night-time number of overpasses for the same ground location is shown in Fig. 1, where different colours indicate the number of satellite overpasses per month. From Fig. 1 it can be deduced that: a) the number of overpasses at each latitude is consistent between the ATSR-2 and AATSR missions; b) a data gap between January and June 1996 is present due to ATSR-2 operations (the instrument was turned off during this period); c) two periods of reduced coverage are found in early 2001 (January to April) and early 2002 when the number of overpasses in the tropical regions is slightly reduced. The continuous coverage extends from 70°N to 75°S, while higher latitudes are only covered during local winters: this is due to our choice to analyse top-of-atmosphere (TOA) radiances for which the related solar zenith angle (‘sza’) is less than 10°. In the previous version of the WFA products only data in the 70°S–70°N latitude range were considered, independently of the season. The zonal mean number of overpasses is a good indicator of the data coverage. However it doesn't give any hint on how overpasses are spatially distributed, whether uniformly or not. As an example, Fig. 2 shows the global map of ATSR-2 overpasses for March 2001 (upper panel) and February 2002 (lower panel). Although the zonal mean gives similar numbers for both months, it is evident that the impact on fire counts is totally different. In fact, during March 2001 the total orbit coverage was 82% (i.e. 18% of the orbits were missing) but only the American continent was not covered while the rest of the world was regularly sampled. This implies that only the American night-time fires are missing in the related monthly fire count. On the other hand, the January 2002 overpass map (orbit coverage 72%) shows that the missing orbits are spread worldwide and hence the number and distribution of detected fires is significantly impacted. One of the major achievements of the latest ATSR reprocessing is the recovery of a large number of ATSR-2 orbits that were not fully processed in the past. In fact the eclipsed portion of many ATSR-2 orbits passing over Western Africa and the Eastern Pacific was not analysed in the period spanning from December 1995 to June 1999, so that the Western US was only partially covered, which is relevant for night-time fire detection. The ATSR-2 global monthly overpass frequency relative to the earlier product version is shown in the upper panel of Fig. 3 while the one relative to the new version is shown in the lower panel. The data shown in Fig. 3 have been obtained by averaging the overpass information relative to the entire duration of the ATSR-2 mission (1995–2003). Please cite this article as: Arino, O., et al., Global night-time fire season timing and fire count trends using the ATSR instrument series, Remote Sensing of Environment (2011), doi:10.1016/j.rse.2011.05.025 O. Arino et al. / Remote Sensing of Environment xxx (2011) xxx–xxx 3 Fig. 1. Time evolution of the ATSR-2 and AATSR zonal mean number of overpasses per month (night-time only). (For interpretation of the references to colour in this figure legend, the reader is referred to the web version of this article.) These important data gaps were not highlighted by any ATSR user until late 2007, when the reprocessing activity took place. It should be noted that the most affected area is also relevant for SST retrievals from ATSR night-time radiances and, even in this case, no ATSR user lamented this enormous data gap (which is now filled). The presence of an additional data gap was pointed out by Mota et al. (2005) who reported a lack of ATSR-2 measurements above 60°N for a period spanning from February to August 1997: this gap has been filled too, as it can be clearly seen in Fig. 1, where the zonal data monthly coverage is reported. The ATSR-WFA historical and NRT Monthly data sets are available as ASCII files at the European Space Agency (ESA) ATSR WFA website (http://due.esrin.esa.int/wfa/), while the new products described (and used) in this work will be made available to the public in the future. The results shown in this paper have been obtained with the following strategy. First, the 14 years of the new WFA ALGO1 monthly products were pre-processed in order to provide a classification of hot spot pixels according to country/continent geographic information, and to GlobCover land use classification (Arino et al., 2007b). We then developed a tool for the selection/extraction of significant data according to our choice of relevant parameters. Finally, the extracted time series was analysed in order to retrieve statistical information and trend parameters (plus the related uncertainties) for each selected category. In order to correctly estimate trends we decided to limit the period of interest to the July 1996/June 2009 time window, i.e. thirteen full years. During this period the ATSR-2 and AATSR operated without major interruptions (with the exception of some short periods on 2001 and 2002), so that the related ATSR-WFA data set can be considered consistent in terms of data coverage. The (A)ATSR(−2) data coverage has been analysed in order to exclude possible misinterpretations in trend estimation. Results on overpass frequency and number of valid orbit data analysis showed negligible trends in Earth coverage for both instruments and for the merged data set: the periods of reduced coverage are placed just in the middle of the analysed time series (and in seasons characterised by low fire activity) resulting in a negligible impact on the statistical analyses (see Fig. 1). The consistency of fire counts time series produced by the two instruments has been verified by analysing the hot spot retrievals during their overlap period, i.e. July 2002 to June 2003. The ALGO1 counts from AATSR and ATSR-2 were separately binned onto a 2° × 2° global grid to cancel possible geolocation inaccuracy, then the 2D fields were compared cell by cell. Fig. 4 shows the histogram of ATSR2 to AATSR percentage differences (ALGO1) for the overlap period (thin line) together with the superimposed Gaussian fit (thick line). The bias estimated via the Gaussian fit is very small (− 0.1%), showing that the data from the two sensors can be merged into a fully consistent data set. The fact that AATSR counts appear to be slightly larger than those of ATSR-2 could be due to the different sampling time of the two sensors, as the ENVISAT ascending crossing time precedes that of ERS-2 by 30 min. The relatively large estimated Gaussian standard deviation (≈18%) is due to larger discrepancies at low absolute counts (the ATSR-2 and AATSR data sets have standard deviations as large as 153% and 161% respectively) and therefore the effect can be considered negligible. As to the possible impact of trends in cloud cover, the controversial results presented in peer reviewed publications (Rossow & Schiffer, 1999; Wylie et al., 2005) do not allow a rigorous treatment and we therefore assumed no significant cloud cover variation over the last 14 years. 3. ATSR-WFA inter-comparison with independent data sets The ATSR-WFA validation exercises carried out during the past years (Arino & Plummer, 2001; Arino et al., 2005) have demonstrated the reliability of the product. In addition to these investigations we show here a comparison between ATSR and TRMM-VIRS fire counts for the 1998–2009 time period. We used VIRS data because the related fire products should be less affected by the satellite overpass time, due to its high revisit frequency, thus providing a detailed picture of the Please cite this article as: Arino, O., et al., Global night-time fire season timing and fire count trends using the ATSR instrument series, Remote Sensing of Environment (2011), doi:10.1016/j.rse.2011.05.025 4 O. Arino et al. / Remote Sensing of Environment xxx (2011) xxx–xxx Fig. 2. Global maps of monthly ATSR-2 overpasses. Upper panel: March 2001; lower panel February 2002. fire activity in the tropics, the TRMM coverage being limited to the tropical regions. In order to match the TRMM latitudinal coverage the ATSR fire counts were limited to latitudes between 40°S and 40°N. The TRMM 3.7 and 11 μm brightness temperatures (TB3 and TB4 respectively) are used in the traditional threshold TRMM fire detection algorithm: a hot spot is identified when BT3 saturates or BT3–BT4 N 15 K (Ji & Stocker, 2006). These TRMM-VIRS monthly files are freely available to the public (http://pps.gsfc.nasa.gov/Fire/fireintro.html), along with dedicated software tools for the data ingestion and manipulation. These data are monthly collections of retrieved fire counts during daytime and night-time conditions, and it is possible to discriminate between the two by selecting the appropriate solar zenith angle value, the night-time fire counts being associated to solar zenith angle larger than 90°. The ATSR and night-time TRMM-VIRS time series of monthly fire counts are shown in Fig. 5, where the thick line represents the TRMM-VIRS data (ordinate axis on the left), and the thin line represents the ATSR fire counts (ordinate axis on the right). The vertical dashed line corresponds to the switching to AATSR data and the grey area indicates the January–June 1996 ATSR-2 data gap. The correlation between the two data sets is evident, except for two very limited periods: a) during the last months of 2001 and the first months of 2002, when ATSR underestimates fires with respect to TRMM-VIRS; b) towards the end of 2002, when ATSR overestimates fire with respect to TRMM. Both discrepancies can be explained by instrumental issues: in case a) ATSR-2 was often turned off from November 2001 to March 2002 due to instrument and platform anomalies; in case b) TRMM experienced a hardware problem related to one of its solar panels and the VIRS instrument was turned off from September 6th through October 15th 2002 (Giglio & Kendall, 2003). The ATSR vs. TRMM-VIRS night-time monthly fire counts scatter plot is shown in Fig. 6, where the filled circles indicate months of Please cite this article as: Arino, O., et al., Global night-time fire season timing and fire count trends using the ATSR instrument series, Remote Sensing of Environment (2011), doi:10.1016/j.rse.2011.05.025 O. Arino et al. / Remote Sensing of Environment xxx (2011) xxx–xxx 5 Fig. 3. ATSR-2 average monthly overpass frequency maps. Upper panel: old TOA radiance product version; lower plot: latest product version (v6.0.1). Note the large data gap (dark blue, upper panel) in the Eastern pacific area. (For interpretation of the references to colour in this figure legend, the reader is referred to the web version of this article.) reduced operations (outliers). The estimated correlation coefficient is 0.77 when using all data including outliers, and increases to 0.84 when excluding the outliers from the statistical analysis. In the latter case the ATSR to TRMM-VIRS ratio is about 3 (2.94), and it is due to the combination of two competing effects: the different pixel resolutions (ATSR = 1 km 2 and TRMM-VIRS = 4 km 2) and the different overpass frequency (much higher for TRMM-VIRS with respect to ATSR). In addition, the lower fire detection in the Ji and Stocker VIRS data has been noted by Generoso et al. (2003) and is explained by Giglio and Kendall (2004) as being due to omission errors at night-time. Despite this, the ATSR-VIRS (Ji and Stocker) comparison indicates similar sampling of the temporal dependence of fire from the two data sets when averaged globally. Unfortunately the most likely improved Giglio et al. VIRS data set did not offer day/night discrimination (Giglio & Kendall, 2004) and, thus, it was not possible to compare them with ATSR night-time fires. The day/night discrimination the Giglio TRMM- VIRS data has been envisaged by Giglio (private communication, 2011) and will be investigated in the future. The MODIS fire products used for our inter-comparison exercise are the ‘Global Monthly Fire Location Products (MCD14ML) Collection 5’ freely distributed by NASA (Giglio, 2010). These data cover a time period spanning from 2001 to present, and the night-time fire counts have been extracted and analysed. The adopted selection criteria for MODIS fire counts consists in retaining the number of spots for which the provided confidence level is ≥80%, i.e. the “high confidence level” indicated in the MODIS Fire Product User's Guide. In addition, the MODIS-Aqua and MODIS-Terra fire counts have been analysed separately to account for the different overpass local time of the two satellites. The MODIS vs. WFA monthly night-time fire counts scatter plot is shown in Fig. 7, where the MODIS-Aqua data are shown in blue and the MODIS-Terra in red. Please cite this article as: Arino, O., et al., Global night-time fire season timing and fire count trends using the ATSR instrument series, Remote Sensing of Environment (2011), doi:10.1016/j.rse.2011.05.025 6 O. Arino et al. / Remote Sensing of Environment xxx (2011) xxx–xxx Fig. 4. ATSR-2 to AATSR ALGO1 percentage difference histogram (July 2002–June 2003). As can be noticed, the ATSR-WFA monthly fire counts (on global scale, i.e. including high latitudes) are only 40% smaller than the related MODIS-Terra fire products, while they are 50% larger than the corresponding MODIS-Aqua. The intercept value for fire counts is smaller than 200 for MODIS Terra and exceeding 800 for MODIS Aqua. The uncertainty on the retrieved gain for MODIS-Terra is 3.8% and about 5.8% for MODIS-Aqua, while the uncertainty on the intercepts is around 200% and 50% respectively. The correlation coefficients are very high for both MODIS data sets (0.87 for MODIS-aqua and 0.95 for MODIS-Terra). When removing the restriction on MODIS confidence levels (i.e. all fire products are used) the angular coefficients increase to 1.3 for MODIS-Aqua and 2.9 for MODIS-Terra while the related correlation coefficients remain unchanged. This is a further confirmation of the validity of the ATSR-WFA products, considering also the very different revisit time of ATSR and MODIS. The above described results show that ATSR is able to detect the general behaviour of active fire with a reasonable degree of confidence. If the retrievals of fire activities from VIRS and ATSR instruments, being based on very similar principles, may be affected by similar problems (e.g. omission errors), the comparison with Fig. 6. ATSR vs. TRMM-VIRS monthly night-time fire counts (by Ji and Stocker). Filled circles indicate periods of reduced instrumental operation (outliers). Dashed line shows the fitted linear fit to the data excluding outliers. The linear fit slope value is reported along with the correlation coefficients estimated using all data and excluding outliers. MODIS “high confidence” products indicates that the information content of the ATSR-WFA data set is comparable to that of MODIS night-time products, not only for tropical regions but also at global scale. In addition to the active fire products comparison exercise, ATSRWFA fire counts have been compared to the corresponding estimates of the burnt areas (BAE) extracted from the GlobCarbon dataset (Plummer et al., 2006). The retrieval of BAE products is based on the analysis of daytime radiance in the VIS-NIR-SWIR as measured from different sensors (ATSR, MERIS, and VEGETATION), and the burnt areas are individuated for cloud free scenarios for years 1998 to 2007. The BAE values, expressed in km 2, are not affected by possible biases introduced by changes in cloudiness patterns, thus providing information on the fire activity which is totally independent from ATSR hot spot retrieval. Two examples of BAE and ATSR fire count time series are shown in Fig. 8, in which the upper panel refers to Angola and the lower panel to Brazil. The estimated correlation coefficients for the two considered cases are 0.83 for Angola and 0.97 for Brazil. These results confirm the validity of ATSR fire products for the estimates of fire timing and trends. Fig. 5. Monthly night-time ATSR and TRMM-VIRS fire counts (spots) vs. time. Left ordinate axis refers to TRMM-VIRS, right ordinate axis refers to ATSR. The vertical dashed line indicates the date of passage from ATSR-2 to AATSR and the grey area indicates the ATSR-2 data gap of 1996. Please cite this article as: Arino, O., et al., Global night-time fire season timing and fire count trends using the ATSR instrument series, Remote Sensing of Environment (2011), doi:10.1016/j.rse.2011.05.025 O. Arino et al. / Remote Sensing of Environment xxx (2011) xxx–xxx Fig. 7. MODIS-Aqua (blue) and MODIS-Terra (red) vs. ATSR-WFA night-time monthly fire counts (2001 to present). (For interpretation of the references to colour in this figure legend, the reader is referred to the web version of this article.) 7 As to high latitudes, fixed threshold algorithms are certainly not the most appropriate for fire detection. The seasonal variation in the background surface temperatures results in a seasonal variation in the fire detection ability of the algorithm which is only partially compensated by the increase in the overpass frequency with latitude. High latitude fires occurring in winter are therefore less likely to be detected than those occurring in summer due to the lower background temperature. This effect is more important for the detection of small fires, as the background signal constitutes a significant portion of the emitted radiance. It can be assumed that at high latitudes the ATSR hot spots refer to large sized fires, and hence, related trends correspond to this type of fires only. A simple simulation of the effect of different background temperatures on fire detection using the ALGO1 approach has been carried out by assuming an effective flame temperature Tf = 1000 K, a fire fraction ‘Ff’ (i.e. the fraction of the 1 km2 ATSR pixel effectively burning) varying from 10− 5 to 10− 3 (10 to 1000 m2), and a background temperature ‘Tb’ ranging from 273.15 to 293.15 K. The temperatures are converted to radiances at 3.7 μm (the ATSR thermal band adopted for ALGO1) and combined to estimate the total radiance emitted by the burning pixel using the Planck function (emissivity = 1, atmospheric transmission = 1, nadir viewing, no smouldering fraction). The resulting 3.7 μm brightness temperatures ‘TB3.7’ seen by the ATSR instrument Fig. 8. Time series of BAE (thick line) and ATSR spots (thin line) for years 1998–2007. Upper panel refers to Angola, lower panel to Brazil. Please cite this article as: Arino, O., et al., Global night-time fire season timing and fire count trends using the ATSR instrument series, Remote Sensing of Environment (2011), doi:10.1016/j.rse.2011.05.025 8 O. Arino et al. / Remote Sensing of Environment xxx (2011) xxx–xxx Table 1 Estimated brightness temperatures at 3.7 μm for different fire size and temperature. Tb ↓ Ff → 10− 5 10− 4 5 10− 4 273.15 278.15 283.15 288.15 293.15 278.557 282.603 286.827 291.197 295.686 303.674 305.281 307.155 309.305 311.732 340.866 341.377 342.002 342.755 343.655 under these extremely favourable conditions are listed in Table 1, where the grey cells indicate the cases in which TB3.7 exceeds the 312 K threshold. As expected, active fires with effective flame temperature of 1000 K can only be detected in cases where the fire fraction is larger than 10 − 4. On the other hand, for large fires the contribution of the background is negligible for the 312 K saturation limit of the 3.7 μm detection band of ATSR. In this simulation the contribution of the “just burnt” fraction has not been taken into account, and the above results are to be considered only as qualitative indications of the ATSR active fire detection limits. (white solid line) is reported in Fig. 9, together with the associated standard deviations (dashed lines). It is apparent that: a) The night-time global fire season generally has its peak between August and September, with no statistically significant trend. b) The maximum number of fires is found for September 1997. c) The 2003 August–September fire counts are smaller than for the same period of other years. d) The global fire season duration (estimated from gaussian standard deviation) does not vary significantly over the 1997–2008 time period. The two anomalous seasons 1998 and 2003 have been explained with a strong correlation between fire activity and El Niño (McPhaden, 2004; van der Werf et al., 2004). The time series of the total number of fire counts per year is shown in Fig. 10. To maximise the number of full years, fire counts have been grouped from July to June rather than from January to December: in this way the 1996 and 2009 data could be used and a total of 13 complete years was obtained. The largest numbers of fire counts are found in the 1997–1998 and 2002–2003 time slots, and no significant trend is observable for the considered period. Both El Niño events are clearly noticeable on the graph. 4. Global fire analysis 5. Local fire analysis As a first step, the ATSR global monthly counts were plotted against month-of-the-year and year in order to detect possible changes in the seasonality of the active fires during 1996–2009. Fig. 9 shows the monthly/yearly ATSR WFA distribution: grey cells indicate missing data, and colours indicate the number of detections (blue to red in increasing order). For each yearly time series a Gaussian curve is fitted to five monthly spot numbers around the maximum, and the curve connecting the so derived expected values Global fire counts must be aggregated following specific criteria before any time series analysis can be carried out. This aggregation is intended to cancel possible artefacts of acquisition (localisation/frequency) and to eliminate areas where sampling is insufficient. In this work we adopted two aggregation types: a) displacement on a 2D global grid, and b) grouping using state/country political borders. For the aggregation type a), the monthly ATSR fire products have been sampled into a 2° × 2° grid, and single cell time series have been Fig. 9. Global ATSR-WFA hot spot monthly distribution (1995–2009). Solid line: peak fire activity; dashed lines: estimated fire season. Colour scale indicates the total number of fires per month. Grey rectangles indicate missing data. (For interpretation of the references to colour in this figure legend, the reader is referred to the web version of this article.) Please cite this article as: Arino, O., et al., Global night-time fire season timing and fire count trends using the ATSR instrument series, Remote Sensing of Environment (2011), doi:10.1016/j.rse.2011.05.025 O. Arino et al. / Remote Sensing of Environment xxx (2011) xxx–xxx 9 Fig. 10. ATSR-WFA ALGO1 global yearly fire counts (hot spots) from July to June. individually considered for statistical analysis. The grid size has been chosen after several attempts (0.5°, 1°, 2°, and 5°), the 2° mesh resulting to be the best compromise between number of fire counts per grid cell (increasing with size) and land surface homogeneity within the cell. The seasonal components have been removed by applying phase averaging, i.e. removing the average number of fire counts in each calendar month. The resulting residuals are then analysed to detect trends. Alternative methods to remove the seasonality effects have been attempted (e.g. spectral methods), but results were not satisfactory due the spurious annual components originating from stochastic events and deviations from purely sinusoidal behaviour. The residuals have been fitted to a straight line and the resulting slope has been normalised to the average number of fire counts in the series, providing the trend values in units of [%/year]. In order to fully assess the statistical significance of trends, the Mann–Kendall test has been adopted (hereafter indicated with M–K) prescribing a 95% confidence level (Hirsch & Slack, 1984; Yue & Pilon, 2004). The trend uncertainty is also estimated, so as to provide a sort of S/N ratio which, along with the significance test, allows a robust assessment of the trend relevance. Trends have been classified as follows: • Statistically significant: S/N ≥ 1, M–K passed • Potentially significant (positive or negative): S/N ≥1, M–K not passed • Insignificant: S/N b 1, M–K not passed For all cases in which S/N b 1 the M–K test always gave negative results (i.e. non significant trends). The M–K test results are given here in the form of global maps (see Fig. 11), in which the presence of statistically significant trends is indicated by area colour filling. The colour code for trends is as follows: red for statistically significant and positive; brown for potentially positive; light green for potentially negative; green for statistically significant and negative. Light grey areas are characterised by insignificant trends, while dark grey areas indicate absence of useful data. Fig. 11. 1996–2009 ATSR-WFA trends on global scale (2° × 2° cell). (For interpretation of the references to colour in this figure legend, the reader is referred to the web version of this article.) Please cite this article as: Arino, O., et al., Global night-time fire season timing and fire count trends using the ATSR instrument series, Remote Sensing of Environment (2011), doi:10.1016/j.rse.2011.05.025 10 O. Arino et al. / Remote Sensing of Environment xxx (2011) xxx–xxx Fig. 12. ATSR-WFA 1996–2009 trends at district (or state) level. (For interpretation of the references to colour in this figure legend, the reader is referred to the web version of this article.) The global distribution of positive and negative trends is difficult to interpret. The global net contribution is insignificant (see Fig. 10), and possible changes in local fire activity can be related to very complex local factors, from climatic to political (Krawchuk et al., 2009). However, positive trends are found in Western US, South-western Russia and Southern China. Similar results have been reported for the US (Westerling et al., 2006), and by Achard et al. (2008) for Russia, while no independent information is available for China. Table 2 Trends at “Continent” aggregation level. Name N% MK %/y Asia Africa South America Australia North America Europe Oceania 29.9 23.4 21.1 11.0 10.9 3.1 0.4 0 −1 0 0 0 0 0 − 1.58 − 1.91 1.19 − 0.815 1.62 1.19 1.74 Table 3 Trends at “Region” aggregation level. Name N% MK %/y South America Asiatic Russia Australia + NZL Northern America Middle Africa Eastern Africa South Eastern Asia Northern Africa Western Asia Central Asia Western Africa Southern Asia Eastern Asia Central America Southern Africa European Russia Southern Europe Eastern Europe Polynesia Western Europe Caribbean Melanesia Northern Europe 21.1 12.0 11.0 8.4 7.1 6.4 6.0 5.2 3.4 3.0 3.0 2.7 2.5 2.2 1.7 1.3 0.8 0.6 0.3 0.3 0.3 0.2 0.1 0 0 0 0 −1 0 0 −1 −1 0 −1 1 0 0 −1 0 0 0 1 −1 0 −1 −1 1.19 0.60 − 0.82 3.80 − 2.13 − 0.64 − 8.88 − 1.42 − 1.49 1.03 − 3.63 1.99 − 0.27 − 6.59 − 4.22 2.36 1.45 3.82 3.21 − 4.18 0.36 − 18.51 − 10.13 The data aggregation scheme of type b) consists of the merging of the ATSR fire count products based on political state and country selection criteria. This type of aggregation is not physically relevant, but the nature of the problem is not only physical. Regulations on land use and on burnt forest recovery may vary significantly from state to state or from country to country, and fire activity may vary accordingly. Four main aggregation classes have been selected in this work: “Continent” (Africa, Asia, Australia, Oceania, Europe, South America and North America); “Region” (25 vast sub continental regions); “Country” (193 political countries); and “Administrative districts” (2024 areas). The classification database adopted in this work is that produced by ESRIARCINFO (version 9.2). For each selected area the ATSR monthly count time series has been extracted and analysed. The way data are grouped impacts the results of the statistical analysis. In fire count series aggregated over wide areas (e.g. continents or continental regions), the number of fire counts is large, but fire regimes of different amplitude, phase and trend are merged into a single signal, which is therefore difficult to characterise. On the other hand, when very small areas are selected the number of fire counts per month may be extremely low, thus amplifying the impact of possible outliers on the statistical distribution of data. In many cases fire Table 4 Negative trends at “Country” aggregation level (10.45% of total spots). Name N% MK %/y Zaire Nigeria Algeria Niger Mongolia Botswana Libya Cameroon Uganda Kuwait Malaysia Syria Ghana Chile Qatar Papua New Guinea Kenya Germany Egypt France 2.8 1.2 1.1 0.7 0.6 0.6 0.5 0.4 0.4 0.4 0.3 0.2 0.2 0.2 0.2 0.2 0.1 0.1 0.1 0.1 −1 −1 −1 −1 −1 −1 −1 −1 −1 −1 −1 −1 −1 −1 −1 −1 −1 −1 −1 −1 − 2.47 − 7.05 − 4.56 − 7.31 − 7.69 − 9.09 − 6.30 − 5.36 − 5.31 − 3.76 − 15.24 − 11.46 − 3.66 − 6.12 − 4.19 − 21.10 − 14.50 − 4.67 − 10.17 − 6.26 Please cite this article as: Arino, O., et al., Global night-time fire season timing and fire count trends using the ATSR instrument series, Remote Sensing of Environment (2011), doi:10.1016/j.rse.2011.05.025 O. Arino et al. / Remote Sensing of Environment xxx (2011) xxx–xxx Table 5 Positive trends at “Country” aggregation level (10.92% of total spots). Name N% MK %/y United States Argentina Iran Paraguay India Uzbekistan Congo Saudi Arabia Cambodia 5.0 1.6 1.6 1.1 0.8 0.3 0.2 0.2 0.1 1 1 1 1 1 1 1 1 1 7.81 2.11 1.13 4.52 4.11 5.30 2.94 4.34 3.24 regimes are driven by weather condition and agricultural practices, which can differ in their timing depending on the terrain or cultivation type. This implies that small area characteristics can be reduced to few well defined land types and seasonal forcing parameters, leading to a fire count signal which can be decomposed into a very limited number of easily separable components. In practice, statistically significant trends are more likely to be found for small areas which are frequently affected by wild fires, whereas large areas show no statistically significant trends, with the exception of Africa at continental scale, and USA at country scale (including Alaska). ATSR fire count trends for small scale areas, i.e. at district level, are shown in Fig. 12, where the colour codes are the same as for Fig. 11. As it can be easily seen in the plot, statistically significant trends are 11 found only for few districts (22 positive, 38 negative) out of more than 2000 analysed areas. For trends at the country aggregation level the increase of the ensemble populations leads to very different results. The United States trend is positive and statistically significant, even if at state level no statistically significant trends can be found in the USA (only potentially significant positive trends). This is probably due to the homogeneity of the fire regimes in that country, increasing the probability of passing the M–K tests when all relative data are merged into a single time series. Russia, extending from Urals to the Bering Sea, shows no detectable trend, while statistically significant trends are found at smaller scales: the signs of these trends are opposite and their contributions are elided in the data combination. Only 9 countries show a significant positive trend, and 20 a significant negative trend (out of 193 analysed countries). When enlarging the areas of interest to sub-continental or “Region” level, the fire signal becomes more “noisy”. Africa (with the exception of Eastern Africa), Western Asia, Northern and Western Europe, and Melanesia show significant negative trends. North America, resulting from the combination of USA and Canada, only shows potentially significant positive trend, while statistically significant positive trends are found for Southern Asia and Polynesia. Finally, at continental level, Africa shows a statistically significant negative trend, Asia and Australia show potentially significant negative trends. Trend values at different aggregation levels are given in Table 2 (“Continent”), Table 3 (“Region”), Table 4 (“Country”, negative trends Fig. 13. Africa (blue) and North America (red) monthly residuals time series. Upper panel: all data; lower panel: residuals exceeding three standard deviations excluded. Dashed lines indicate linear fits to the time series. (For interpretation of the references to colour in this figure legend, the reader is referred to the web version of this article.) Please cite this article as: Arino, O., et al., Global night-time fire season timing and fire count trends using the ATSR instrument series, Remote Sensing of Environment (2011), doi:10.1016/j.rse.2011.05.025 12 O. Arino et al. / Remote Sensing of Environment xxx (2011) xxx–xxx only) and Table 5 (“Country”, positive trends only). In each table, the first column reports the area name, the second column the relative number of fire counts (i.e. “N%” = 100xNa/Ntot, where Na is the total number of fire counts detected within the specified area, and Ntot is the total number of fire counts globally), the related Mann–Kendall test results are given in the third column (“MK” = −1,0,1 for negative, absent and positive trends respectively), while trend values are reported in the fourth column (“%/year”). In each table areas are listed in “N%” decreasing order. It can be seen that statistically significant positive and negative trends at country level account for approximately the same percentage of global fire counts. Results at “Administrative districts” are shown in Fig. 12. Two examples of ATSR count residuals time series are shown in the upper panel of Fig. 13 for Africa (blue) and North America (red) at the continental aggregation level. The coloured dashed lines are a linear fit to the residuals time series. As mentioned above, the African fire count trend is negative and statistically significant, while the North American trend is positive but not statistically significant, with three periods of enhanced fire activity during 1998, 2004 and 2005. The African data during the short period of reduced coverage of ATSR-2 can be clearly seen as deficit of about 3000 counts in early 2002. A test on the impact of these “outliers” on trend results was carried out by excluding all data exceeding three standard deviations and by repeating the trend evaluation. Results from this exercise are shown in the lower panel of Fig. 13. The exclusions of outliers impacted on the two time series statistics in very different ways. The trend evaluated for Africa remained essentially unchanged and fully statistically significant, while the North America trend value resulted drastically reduced (statistically not significant), as the three periods of enhanced fire activity were excluded. This is a further indication that the reduced ATSR-2 coverage for the early 2002 months has very little impact on trend estimates, the “data gaps” being located in the middle of the time series. 6. Conclusions The analysis of new ATSR-WFA night-time fire count time series has been performed at different data aggregation scales, from local (2° × 2° cell) to global. No trend is identifiable at global scale, while at smaller aggregation scales statistically significant positive and negative fire trends have been found over all continents. The global fire season appears not to change its length and timing during the period under investigation. The relationships between fire distribution and trends in relation to other climatic variables have not been investigated in this work, and will be the subject of future studies. Although the length of the ATSR-WFA fire counts time series exceeds 14 years, results suggest that to unambiguously identify fire trends a much longer time series is needed. To overcome this problem, the exploitation of the ATSR-1 mission (1991–1996) is being attempted by analysing the short-wave-infrared (SWIR) radiances. This would add 4 years of useful data to the ATSR-WFA series analysed in this work. Finally, the continuity of similar measurements from the “Sea and Land Surface Temperature” radiometer (SLST) on board the operational Sentinel-3 satellite series is now a reality in Europe. Sentinel-3 SLST resolution, spectral and calibration characteristics are similar to those of ATSR extending its capacity with a better sampling due to a wider swath. In order to remedy sensor saturation during daytime, the SLST sensor will have two channels dedicated to fire detection (Mavrocordatos et al., 2007). Sentinel-3 launch is planned for 2013. Future efforts will be made to ensure consistency with the night-time only ATSR WFA and MODIS fire count time series, thus providing a consistent global fire time series spanning perhaps 30 years. Acknowledgments The authors would like to acknowledge N. Houghton for promptly providing ATSR TOA products. The comments and suggestions from the referees have been very constructive in completing the analysis of the data. 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