| 1. |
|
|
| 2. |
|
|
| 3. |
- Wolff, M.A., et al.
(författare)
-
Validation of HNO3, ClONO2 and N2O5 from the Atmospheric Chemistry Experiment Fourier Transform Spectrometer (ACE-FTS)
- 2008
-
Ingår i: Atmospheric Chemistry and Physics. - : Copernicus GmbH. - 1680-7316 .- 1680-7324. ; 8:13, s. 3529-3562
-
Tidskriftsartikel (refereegranskat)abstract
- The Atmospheric Chemistry Experiment (ACE) satellite was launched on 12 August 2003. Its two instruments measure vertical profiles of over 30 atmospheric trace gases by analyzing solar occultation spectra in the ultraviolet/visible and infrared wavelength regions. The reservoir gases HNO3, ClONO2, and N2O5 are three of the key species provided by the primary instrument, the ACE Fourier Transform Spectrometer (ACE-FTS). This paper describes the ACE-FTS version 2.2 data products, including the N2O5 update, for the three species and presents validation comparisons with available observations. We have compared volume mixing ratio (VMR) profiles of HNO3, ClONO2, and N2O5 with measurements by other satellite instruments (SMR, MLS, MIPAS), aircraft measurements (ASUR), and single balloon-flights (SPIRALE, FIRS-2). Partial columns of HNO3 and ClONO2 were also compared with measurements by ground-based Fourier Transform Infrared (FTIR) spectrometers. Overall the quality of the ACE-FTS v2.2 HNO3 VMR profiles is good from 18 to 35 km. For the statistical satellite comparisons, the mean absolute differences are generally within ±1 ppbv ±20%) from 18 to 35 km. For MIPAS and MLS comparisons only, mean relative differences lie within±10% between 10 and 36 km. ACE-FTS HNO3 partial columns (~15–30 km) show a slight negative bias of −1.3% relative to the ground-based FTIRs at latitudes ranging from 77.8° S–76.5° N. Good agreement between ACE-FTS ClONO2 and MIPAS, using the Institut für Meteorologie und Klimaforschung and Instituto de Astrofísica de Andalucía (IMK-IAA) data processor is seen. Mean absolute differences are typically within ±0.01 ppbv between 16 and 27 km and less than +0.09 ppbv between 27 and 34 km. The ClONO2 partial column comparisons show varying degrees of agreement, depending on the location and the quality of the FTIR measurements. Good agreement was found for the comparisons with the midlatitude Jungfraujoch partial columns for which the mean relative difference is 4.7%. ACE-FTS N2O5 has a low bias relative to MIPAS IMK-IAA, reaching −0.25 ppbv at the altitude of the N2O5 maximum (around 30 km). Mean absolute differences at lower altitudes (16–27 km) are typically −0.05 ppbv for MIPAS nighttime and ±0.02 ppbv for MIPAS daytime measurements.
|
|
| 4. |
|
|
| 5. |
- Hopfner, M., et al.
(författare)
-
Validation of MIPAS ClONO2 measurements
- 2007
-
Ingår i: Atmospheric Chemistry and Physics. - : Copernicus GmbH. - 1680-7316 .- 1680-7324. ; 7, s. 257-281
-
Tidskriftsartikel (refereegranskat)abstract
- Altitude profiles of ClONO2 retrieved with the IMK (Institut fur Meteorologie und Klimaforschung) science-oriented data processor from MIPAS/Envisat (Michelson Interferometer for Passive Atmospheric Sounding on Envisat) mid-infrared limb emission measurements between July 2002 and March 2004 have been validated by comparison with balloon-borne (Mark IV, FIRS2, MIPAS-B), airborne (MIPAS-STR), ground-based (Spitsbergen, Thule, Kiruna, Harestua, Jungfraujoch, Izana, Wollongong, Lauder), and spaceborne (ACE-FTS) observations. With few exceptions we found very good agreement between these instruments and MIPAS with no evidence for any bias in most cases and altitude regions. For balloon-borne measurements typical absolute mean differences are below 0.05 ppbv over the whole altitude range from 10 to 39 km. In case of ACE-FTS observations mean differences are below 0.03 ppbv for observations below 26 km. Above this altitude the comparison with ACE-FTS is affected by the photochemically induced diurnal variation of ClONO2. Correction for this by use of a chemical transport model led to an overcompensation of the photochemical effect by up to 0.1 ppbv at altitudes of 30-35 km in case of MIPAS-ACE-FTS comparisons while for the balloon-borne observations no such inconsistency has been detected. The comparison of MIPAS derived total column amounts with ground-based observations revealed no significant bias in the MIPAS data. Mean differences between MIPAS and FTIR column abundances are 0.11 +/- 0.12 x 10(14) cm(-2) (1.0 +/- 1.1%) and -0.09 +/- 0.19 x 10(14) cm(-2) (-0.8 +/- 1.7%), depending on the coincidence criterion applied. chi(2) tests have been performed to assess the combined precision estimates of MIPAS and the related instruments. When no exact coincidences were available as in case of MIPAS-FTIR or MIPAS-ACE-FTS comparisons it has been necessary to take into consideration a coincidence error term to account for chi(2) deviations. From the resulting chi(2) profiles there is no evidence for a systematic over/underestimation of the MIPAS random error analysis.
|
|
| 6. |
|
|
| 7. |
- Burgard, W., et al.
(författare)
-
A Comparison of SLAM Algorithms Based on a Graph of Relations
- 2009
-
Ingår i: <em>IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)</em>. - : IEEE conference proceedings. ; , s. 2089-2095
-
Konferensbidrag (refereegranskat)abstract
- In this paper, we address the problem of creating an objective benchmark for comparing SLAM approaches. We propose a framework for analyzing the results of SLAM approaches based on a metric for measuring the error of the corrected trajectory. The metric uses only relative relations between poses and does not rely on a global reference frame. The idea is related to graph-based SLAM approaches, namely to consider the energy that is needed to deform the trajectory estimated by a SLAM approach into the ground truth trajectory. Our method enables us to compare SLAM approaches that use different estimation techniques or different sensor modalities since all computations are made based on the corrected trajectory of the robot. We provide sets of relative relations needed to compute our metric for an extensive set of datasets frequently used in the SLAM community. The relations have been obtained by manually matching laser-range observations to avoid the errors caused by matching algorithms. Our benchmark framework allows the user an easy analysis and objective comparisons between different SLAM approaches.
|
|
| 8. |
- Khosrawi, Farahnaz, et al.
(författare)
-
Seasonal cycle of averages of nitrous oxide and ozone in the Northern and Southern Hemisphere polar, midlatitude, and tropical regions derived from ILAS/ILAS-II and Odin/SMR observations
- 2008
-
Ingår i: Journal of Geophysical Research. - 0148-0227 .- 2156-2202. ; 113:D18, s. D18305-
-
Tidskriftsartikel (refereegranskat)abstract
- Northern and Southern Hemispheric monthly averages of ozone (O-3) and nitrous oxide (N2O) have been suggested as a tool for evaluating atmospheric photochemical models. An adequate data set for such an evaluation can be derived from measurements made by satellites which, in general, have a high spatial and temporal coverage. Here, we use measurements made by the Improved Limb Atmospheric Spectrometers (ILAS and ILAS-II) which use the solar occultation technique and by the Odin-Sub-Millimetre Radiometer (Odin/SMR) which passively observes thermal emissions from the Earth's limb. From ILAS/ILAS-II and Odin/SMR observations, 1-year data sets of monthly averaged O-3 and N2O, covering a full seasonal cycle, were derived for the latitude range between 60 - 90 degrees N and 60 - 90 degrees S, respectively, by partitioning the data into equal bins of altitude or potential temperature. A comparison between both data sets in this latitude region shows a good agreement and verifies that limited sampling from satellite occultation experiments does not constitute a problem for deriving such a full seasonal cycle of monthly averaged N2O and O-3. Since Odin/SMR provides measurements globally, a 1-year data set of monthly averaged N2O and O-3 is reported here for both the entire Northern and Southern Hemispheres from these measurements. Further, these hemispheric data sets from Odin/SMR are separated into data sets of monthly averaged N2O and O-3 for the low latitudes, midlatitudes, and high latitudes. The resulting families of curves help to differentiate between O-3 changes due to photochemistry from those due to transport. These 1-year hemispheric data sets of monthly averaged N2O and O-3 from Odin/SMR and ILAS/ILAS-II as well as the data sets of monthly averaged N2O and O-3 for the specific latitude regions from Odin/SMR provide a potentially important tool for the evaluation of atmospheric photochemical models. An example of how such an evaluation can be performed is given using data from two chemical transport models (CTMs), the Chemical Lagrangian Model of the Stratosphere (CLaMS) and the Karlsruhe Simulation Model of the Middle Atmosphere (KASIMA). We find a good agreement between Odin/SMR and the CTMs CLaMS and KASIMA with differences generally less than +/- 20%.
|
|
| 9. |
|
|
| 10. |
|
|
