1. Workshop on Algorithm Implementation within the Aquarius Data Processing System 21-22 March 2007 College of Engineering Department of Atmospheric, Oceanic & Space Sciences Chris Ruf Space Physics Research Laboratory Dept. of Atmospheric, Oceanic & Space Sciences University of Michigan cruf@umich.edu, 734-764-6561 (V), 734-936-0503 (F) Aquarius Radiometer RFI Flag

2. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 2 of 17 Outline Description of RFI Flag Algorithm Demonstration of performance using JPL-PALS measurements with data sampling conditions similar to Aquarius in-flight Algorithm Input Data and Configuration Parameters and Processed Outputs Back Up Slides –Sensitivity of False Alarm Rate and Probability of Missed Detection to parameters of the algorithm –Description and demonstration of new kurtosis-based RFI detection method

3. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 3 of 17 Qualitative Description of Algorithm The RFI detection algorithm is a “glitch detector” which identifies samples that deviate anomalously from the average of their neighbors Adjustable parameters of the algorithm address –How many neighboring samples to use to determine the local average –Which neighboring samples to exclude from the average due to possible RFI contamination –How large a deviation from the local average constitutes the presence of RFI –Which (if any) other samples near a contaminated sample should also be flagged as contaminated even if they are not flagged directly by the algorithm

4. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 4 of 17 Relevant Aquarius Data Sampling Parameters Calibrated TB samples are measured every 10ms Satellite ground track velocity is ~ 7.5km/s Radiometer HPBW footprint diameters are ~ 85, 102 and 125 km Derived relationships –A very sharp TB feature, such as a coastal crossing, requires approximately 13 seconds (= HPBW/v groundtrack ) to develop in the Aquarius image –There will be approximately 1300 TB samples taken during a coastal crossing transition Concern: Possible RFI false alarms during the most rapid changes in TB (e.g. at coastal crossings)

5. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 5 of 17 Description of Algorithm, pg 1 of 2 Step 1: Determine local mean TB at sample under test –Step 1a: Compute dirty local mean, denoted by Average W S TB samples within +/- W S /2 of sample under test Do not include the sample under test in the average – Step 1b: Identify dirty TB i samples among the W S samples Sample TB i is dirty if (TB i - ) > T m  T T m is the mean threshold, an adjustable parameter of the algorithm  T, the  =10 ms radiometer NEDT, is a fixed variable of the algorithm –Step 1c: Re-compute local mean without dirty samples, denoted by

6. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 6 of 17 Description of Algorithm, pg 2 of 2 Step 2: Decide if the sample under test is corrupted by RFI –Sample under test is flagged as corrupted if (TB under test - ) > T det  T T det is the detection threshold, an adjustable parameter of the algorithm  T, the  =10 ms radiometer NEDT, is a fixed variable of the algorithm Step 3: Also flag nearby samples as corrupted because they may be corrupted at a level below the detection threshold –Flag all samples within +/- W r,f of the sample under test W r.f is an adjustable parameter of the algorithm (possibly= 0)

7. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 7 of 17 Dependence of Algorithm on its Parameters Characterize algorithm performance using –False Alarm Rate (identifying RFI when there isn’t any) –Probability of Missed Detection (missing the identification of RFI that is present) Use ground based L-Band PALS measurements made during April-May 2006 at JPL with JPL-PALS RF front end and University of Michigan Agile Digital Detector back end –ADD measures the 1 st – 4 th moments of the pre-detection signal –The 2 nd moment is a traditional square law detector –The kurtosis is derived from 2 nd and 4 th central moments Reliably identifies RFI with power levels at or above the radiometer NEDT

8. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 8 of 17 Description of PALS Data Sets Used, pg 1 of 4 Data Set B: Nadir sky view with no RFI present –2 nd moment time series shown –Clear of RFI; variations almost exclusively due to NEDT

9. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 9 of 17 Description of PALS Data Sets Used, pg 2 of 4 Data Set C: Nadir sky view with strong RFI present –2 nd moment time series shown –Large TB spikes typical of weekday daytime RFI near Bldg. 168

10. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 10 of 17 Description of PALS Data Sets Used, pg 3 of 4 Data Set D: Nadir sky to absorber transition with no RFI –2 nd moment time series shown; elapsed time from cold sky to ambient BB absorber (13 sec) is approximately the same as Aquarius costal crossing transition

11. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 11 of 17 Description of PALS Data Sets Used, pg 4 of 4 Data Set E: Nadir sky to absorber transition with artificial RFI added –2 nd moment time series shown; RFI added at approximate location of coastline

12. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 12 of 17 Example #1 of Algorithm Performance Data Set C (nadir sky w/ RFI) Algorithm parameters: W s =20, T m =1.5, T det =4, W r =W f =5 Several missed detections (bottom plot) near t = 6 and 10 seconds

13. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 13 of 17 Example #2 of Algorithm Performance Data Set D (simulated coastal crossing w/ no RFI) Algorithm parameters: W s =20, T m =1.5, T det =4, W r =W f =5 False alarms more likely near coastal crossing

14. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 14 of 17 Example #3 of Algorithm Performance Data Set E (simulated coastal crossing w/ single RFI event at coastline) Algorithm parameters: W s =20, T m =1.5, T det =4, W r =W f =5 Single RFI event successfully detected; false alarms still present

15. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 15 of 17 Algorithm Input Data Samples of the raw (shortest integration time; either 0.01 s or 0.02 s) radiometer antenna counts, CANT –For each sample to be tested for RFI, the preceding and subsequent 30 CANT samples from the same radiometer at the same polarization are also needed Time tag for each CANT sample –For each sample, a time tag is needed from which the relative time between each of the 61 samples can be determined. –The time can be referenced to any common point in the integration interval (e.g. any of the start time, the center time or the end time of the integrator is okay) Location (latitude, longitude) of the center of the radiometer antenna footprint for the CANT sample under test –Precision: Rounded to nearest 1 deg

16. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 16 of 17 Algorithm Input Configuration Parameters Local mean running average window, WM –Values for this parameter are assigned independently in 1 degree increments of latitude and longitude and for each of the three radiometers. Units: seconds; Resolution: 0.001 s Local mean running average glitch threshold, TM –Values for this parameter are assigned independently in 1 degree increments of latitude and longitude and for each of the three radiometers. Units: unitless; Resolution: 0.01 RFI detection glitch threshold, TD –Values for this parameter are assigned independently in 1 degree increments of latitude and longitude and for each of the three radiometers. Units: unitless; Resolution: 0.01 RFI detection neighborhood window, WD –Values for this parameter are assigned independently in 1 degree increments of latitude and longitude and for each of the three radiometers. Units: seconds; Required resolution: 0.001 s Nominal standard deviation of radiometer antenna counts, STDANT –Values for this parameter are assigned independently for each of the three radiometers. Units: radiometer counts; Required resolution: 0.01 counts

17. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 17 of 17 Algorithm Processed Ouputs Number of CANT samples in the neighborhood of the sample under test (neighborhood as defined by WM) that were flagged with RFI –Resolution: integer value between 0 and 60 Number of standard deviations that the sample under test deviated from the local mean by –Resolution: one significant digit, i.e. xx.1. RFI detection word –=3 if RFI detected in sample under test and in neighbors –=2 if RFI detected in sample under test only –=1 if RFI detected in neighbors only –=0 if RFI not detected in sample under test or in neighbors

18. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 18 of 17 Back Up Slides on RFI Flag Performance Statistics

19. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 19 of 17 W S and T m Affects on False Alarm Rate, pg 1 of 2 Vary local averaging window (W S ) and mean threshold (T m ) Evaluate False Alarm Rate using Data Set B (clean sky view) W S has little effect; FAR varies inversely with T m as expected

20. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 20 of 17 W S and T m Affects on False Alarm Rate, pg 2 of 2 Vary local averaging window (W S ) and mean threshold (T m ) Evaluate False Alarm Rate using Data Set C (clean simulated coastal crossing) W S has little effect; FAR varies inversely with T m but with significantly higher values (approximately double) as compared to constant TB sky view

21. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 21 of 17 W S Affect on Missed Detections, pg 2 of 2 Single coastal-crossing RFI event not missed ~44% of RFI events in Data Set C (nadir sky w/ strong RFI) missed –Missed detection rate is not dependent on W S

22. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 22 of 17 W r,f Affect on False Alarm Rate Vary window of otherwise clean neighboring samples flagged with RFI (W r,f ) Evaluate False Alarm Rate using Data Set B (clean sky view) Increasing W r,f increases FAR as expected, since no RFI is actually present

23. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 23 of 17 W r,f Affect on Missed Detections Vary window of otherwise clean neighboring samples flagged with RFI (W r,f ) Evaluate Missed Detections using Data Sets C,D,E (nadir sky w/ RFI and coastal crossings) Increasing W r,f decreases missed detections for Data Set C; no detections missed for coastal crossing data sets

24. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 24 of 17 T m and T det Affect on False Alarm Rate, pg 1 of 2 Vary mean threshold (T m ) and detection threshold (T det ) Evaluate False Alarm Rate using Data Set B (clean sky view) Lowering either T m or T det will increase the FAR

25. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 25 of 17 T m and T det Affect on False Alarm Rate, pg 2 of 2 Vary T m and T det and evaluate False Alarm Rate as in previous slide Plot with T det on x-axis; T det has largest effect on FAR of any parameter

26. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 26 of 17 T det Affect on Missed Detections Vary T det and evaluate missed detections using Data Sets C,D,E (nadir sky w/ RFI and coastal crossings) Decreasing T det decreases missed detections for Data Set C; no detections missed for coastal crossing data sets

27. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 27 of 17 BACKUP SLIDES ON ADD

28. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 28 of 17 Agile Digital Detector for RFI Mitigation Chris Ruf, Sidharth Misra & Roger De Roo Dept. of Atmospheric, Oceanic & Space Sciences University of Michigan cruf@umich.edu, 734-764-6561 (V), 734-936-0503 (F) College of Engineering Department of Atmospheric, Oceanic & Space Sciences  Rad 2006 9 th Specialist Meeting on Microwave Radiometry and Remote Sensing Applications San Juan, Puerto Rico 28 February – 3 March 2006

29. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 29 of 17 Outline Objectives –Develop a way to detect and mitigate Radio Frequency Interference that can reliably differentiate between low level RFI and the natural geophysical variability of brightness temperature –Assess the technological feasibility of implementing the approach on a spaceborne microwave radiometer Agile Digital Detector Theory of Operation Prototype Design Field Tests

30. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 30 of 17 Agile Digital Detector (ADD) Theory of Operation Conventional microwave radiometer square law detectors measure the 2 nd moment of the noise voltage ADD measures either: a) the probability density function; or b) select higher order moments of the noise voltage –Non-gaussian distributed RFI can be detected –Digital sub-banding permits mitigation filtering Very low level RFI can be reliably discriminated from natural variability in brightness temperature

31. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 31 of 17 Approaches to Detecting RFI 1.Time domain – look for pulses 2.Frequency domain – look for carrier frequencies 3.Amplitude domain – look for non-thermal distribution 4.Correlation domain – e.g. Look for polarization signatures Thermal waveform Sinusoidal waveform Gaussian pdf Non-Gaussian pdf

32. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 32 of 17 RFI Detection Using Higher Order Moments The kurtosis of a random variable, x, is defined as k=3 for a gaussian distributed r.v., independent of  x 2 (i.e. k=3 for gaussian thermal noise, independent of T B ) The standard deviation of an estimate of k after a finite integration time is For prototype radiometer operation (B=3 MHz &  =0.3 s),  k = 0.005 RFI Detection Flag if |k – 3| > 3  k

33. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 33 of 17 L-Band ADD Prototype Functional Block Diagram High speed ADC followed by 8 x 3 MHz subbands cover 1401.5-1425.5 MHz 128 level discrete probability density function at each level Parallel V- and H-pol channels + 3 rd Stokes digital cross-correlation

34. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 34 of 17 Demonstration Tests Installed in ground based L-Band radiometer –May ’05: Artificial radar pulses added to LN 2 BB Load –Jun ’05: Field deployment near ARSR-1 air traffic control radar Installed in NOAA/ETL PSR C-Band Stepped LO channel –Aug ’05: Airborne flight over Houston/Dallas/San Antonio/Gulf of Mexico –data analysis still in progress

35. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 35 of 17 ADD Prototype Installed in Ground based L- Band Radiometer Truck mounted fully polarimetric L-Band radiometer operated by the U-M Microwave Geophysics Lab Deployed in Canton, MI at ARSR-1 air traffic control radar site in June 2005 –Collaborators: J. Piepmeier (NASA GSFC) and J. Johnson (OSU) concurrently operated other RFI mitigation back ends

36. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 36 of 17 Outdoor Sky Cal with sinusoidal RFI 8 Subband Probability Density Functions T B = 40 K plus ~260 K sine wave injected into subband 5

37. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 37 of 17 LN 2 Load Cal with pulsed sinusoidal RFI 60s time series of kurtosis/3 in 8 subbands Normalized kurtosis is 1.000 +/- 0.002 in subbands 1-2,6-8 Normalized kurtosis is 1.007 in subbands 3&5; 2.35 in subband 4

38. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 38 of 17 Near ARSR-1 Air Traffic Control Radar Canton, MI (N42 16' 36", W083 28' 27") Transmits at ~1305 MHz / Peak transmit power 4 MW / Pulse width 2 ms / Pulse repetition frequency 360 Hz / Azimuth scan 10 sec per revolution.

39. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 39 of 17 Near ARSR-1 Air Traffic Control Radar 60s time series of / 2 /3 in 8 subbands Antenna pointing at tree line away from radar; RFI from bi-static ground clutter 10s azimuth scan period evident in subband 1 Strong non-gaussian kurtosis in subbands 4&5

40. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 40 of 17 Near ARSR-1 Air Traffic Control Radar 60s time series of RFI-corrected T B Row 1: T B using all 8 subbands Row 2: T B using only subbands with normalized kurtosis within 3  of 1.000 Row 3: T B difference between rows 1&2 (RFI level of 0-1K) Row 4: # of RFI-free subbands

41. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 41 of 17 Numerical simulation – Dependence of Kurtosis on strength of pulsed sinusoidal RFI (a) 1% duty cycle and variable amplitude (b) 10% duty cycle and variable amplitude (c) 100% duty cycle (i.e. continuous wave) and variable amplitude (d) fixed amplitude and variable duty cycle. SNR is the ratio between the variance of the sinusoid and of the gaussian noise signal, which corresponds to the relative brightness temperature of the RFI and the earth scene.

42. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 42 of 17 Example of PSR Flight Data Kurtosis and 2 nd Moment Spectra Kurtosis (left) and 2 nd moment (below) 5.5-7.5 GHz spectra v. time over Dallas Metro area ch = 50-80 (~6 GHz), intermittent times –Strong non-gaussian kurtosis –Strong, correlated effect on T B ch = 170-180 (~7.5 GHz), t = 0-60s –Strong non-gaussian kurtosis –Not so noticeable effect on T B

43. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 43 of 17 Closer Look at PSR Flight Data – RFI with Strong TB Kurtosis (left) and 2 nd moment (right) spectra near 6 GHz v. time over Dallas Metro area

44. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 44 of 17 Closer Look at PSR Flight Data – RFI with Weak TB Kurtosis (left) and 2 nd moment (right) spectra near 7.5 GHz v. time over Dallas Metro area

45. 21 Mar 2007Ruf, RFI Flag, Aquarius Algo Workshoppg 45 of 17 Performance Summary Direct measurement of PDF can be used to reliably detect non-gaussian RFI Experimental verification of  kurtosis noise floor –  k = 0.002 is consistent with [24/(B  )] 1/2 theory –3  deviation is exceeded with RFI level ~ NE  T Digital subbands allow RFI to be removed