sentinel-2 pod products performance

GMV, 2020; all rights reserved

SENTINEL-2 POD PRODUCTS

PERFORMANCE COPERNICUS SENTINEL-1, -2 AND -3 PRECISE ORBIT DETERMINATION SERVICE

(SENTINELSPOD)

Prepared by:

11/11/2020

XCPOD Team

Project Engineer

Signed by: Luning Bao Cheng

Approved by:

11/11/2020

XJ. Aguilar

Quality Manager

Signed by: Jaime Fernández Sánchez

Authorised by:

11/11/2020

XJ. Fernández

Project Manager

Signed by: Jaime Fernández Sánchez

Document ID: GMV-GMESPOD-TN-0011

DIL Code: TD-23

Internal Code: GMV 23539/13 V8/20

Version: 1.7

Date: 11/11/2020

ESA contract number 4000108273/13/1-NB

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SENTINELSPOD GMV 2020; all rights reserved Sentinel-2 POD Products Performance

DOCUMENT STATUS SHEET

Version Date Pages Changes

1.0 29/10/2013 9 First version of the document

1.1 20/12/2012 9 Update for S-2 SDR closeout

Update of applicable documents

Correct purpose of document (GMESPOD-S2-SDR-28). Section 1.1

Addition of reference to the products handbook and link to the processing baseline (GMESPOD-S3-SDR-112)

Addition of estimated accuracy for other sources of products (CNES, ESOC,…) (GMESPOD-S3-SDR-113)

1.2 27/06/2014 9 Update for S-2 ORR

Update of applicable and reference documents

Minor editorial changes

1.3 17/05/2017 11 Update after RSR#7:

Applicable documents updated in section 1.4.1

Reference documents added in section 1.4.2

Results of up-to-date RSRs included in table 3-2

1.4 17/12/2019 20 Changes:

To include list of acronyms (section 1.3)

To update applicable and reference documents (section 1.4.1)

To include new values up to September 2019 (section 3)

To include plots with the evolutions (section 3.6)

1.5 18/05/2020 21 Update after RSR#16:


To include the new values of the RSR#16 (section 3.5)

To update the plots with the evolutions (section 3.6)

1.6 04/08/2020 22 Update after RSR#17:




1.7 10/11/2020 22 Update after RSR#18:




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TABLE OF CONTENTS

1. INTRODUCTION ................................................................................................................................ 6

1.1. PURPOSE ................................................................................................................................ 6

1.2. SCOPE .................................................................................................................................... 6

1.3. DEFINITIONS AND ACRONYMS ................................................................................................. 6

1.4. APPLICABLE AND REFERENCE DOCUMENTS ............................................................................... 7 1.4.1. APPLICABLE DOCUMENTS .................................................................................................................. 7 1.4.2. REFERENCE DOCUMENTS ................................................................................................................... 7

2. COPERNICUS POD SERVICE CONTEXT ................................................................................................ 8

2.1. COPERNICUS POD SERVICE OVERVIEW .................................................................................... 8

2.2. SENTINEL-2 CPOD SERVICE PRODUCTS PERFORMANCE OVERVIEW ............................................ 8

3. SENTINEL-2 PRODUCTS PERFORMANCE ........................................................................................... 10

3.1. 2015 ..................................................................................................................................... 11

3.2. 2016 ..................................................................................................................................... 11

3.3. 2017 ..................................................................................................................................... 12

3.4. 2018 ..................................................................................................................................... 14

3.5. 2019 ..................................................................................................................................... 15

3.6. 2020 ..................................................................................................................................... 16

3.7. OVERALL ............................................................................................................................... 18 3.7.1. PRE ................................................................................................................................................. 18 3.7.2. NRT ................................................................................................................................................ 19 3.7.3. NTC ................................................................................................................................................ 21

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LIST OF TABLES

Table 1-1: Acronyms ................................................................................................................ 6

Table 1-2: Applicable Documents ............................................................................................... 7

Table 1-3: Reference Documents ............................................................................................... 7

Table 3-1: Requirements table for the Sentinel-2 POD products .................................................... 10

Table 3-2: Description of orbit solutions .................................................................................... 10

Table 3-3: Estimated accuracy of CPOD products for August – September 2015 [RD.1], [RD.2] ....... 11

Table 3-4: Estimated accuracy of CPOD products for October 2015 – January 2016 [RD.3] .............. 11

Table 3-5: Estimated accuracy of CPOD products for February – May 2016 [RD.4] .......................... 11

Table 3-6: Estimated accuracy of CPOD products for June – September 2016 [RD.5] ...................... 12

Table 3-7: Estimated accuracy of CPOD products for October 2016 – January 2017 [RD.6] .............. 12

Table 3-8: Estimated accuracy of CPOD products for February – May 2017 [RD.7] .......................... 12

Table 3-9: Estimated accuracy of CPOD products for June – September 2017 [RD.8] ...................... 13

Table 3-10: Estimated accuracy of CPOD products for October 2017 – January 2018 [RD.9] ............ 13

Table 3-11: Estimated accuracy of CPOD products for February – May 2018 [RD.10] ...................... 14

Table 3-12: Estimated accuracy of CPOD products for June – September 2018 [RD.11] ................... 14

Table 3-13: Estimated accuracy of CPOD products for October 2018 – January 2019 [RD.12] .......... 14



Table 3-16: Estimated accuracy of CPOD products for October 2019 – January 2020 [RD.15] .......... 16



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LIST OF FIGURES

Figure 3-1: Sentinel-2 CPOD PRE vs. NRT [2D RMS; mean] (cm) ................................................. 18

Figure 3-2: Sentinel-2 CPOD PRE vs. NRT [2D RMS; 1-sigma] (cm) .............................................. 18

Figure 3-3: Sentinel-2 CPOD PRE vs. NRT [2D RMS; 3-sigma] (cm) .............................................. 19

Figure 3-4: Sentinel-2 CPOD NRT vs. ESOC [3D RMS; mean] (cm) ............................................... 19

Figure 3-5: Sentinel-2 CPOD NRT vs. ESOC [3D RMS; 1-sigma] (cm) ........................................... 20

Figure 3-6: Sentinel-2 CPOD NRT vs. ESOC [3D RMS; 3-sigma] (cm) ........................................... 20

Figure 3-7: Sentinel-2 CPOD NTC vs. COMB [3D RMS; mean] (cm) .............................................. 21

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1. INTRODUCTION

1.1. PURPOSE

This document presents the Sentinel-2 POD Products Performance. It describes the performance of each of the POD products generated for Sentinel-2 as compared to the POD requirements (position accuracy, coverage, timeliness, latency). The Cal/Val plan of the Sentinel-2 mission [AD.2] presents completely the calibration and validation tasks aimed at characterizing the accuracy of the Sentinel-2

POD products. As part of the Cal/Val tasks, different reports are generated that justify the values presented in this document. Morevover, the Sentinel-2 POD products Quality Control Plan [AD.3] also provides information about metrics computed routinely related to the accuracy of the Sentinel-2 POD products.

This document is intended as a living document that describes the accuracy of a set of POD products for Sentinel-2 generated with a given POD system version. Thus, different accuracies are described for each processing baseline (POD system version and input data). Additional information is added to this

document when a new processing baseline is used.

1.2. SCOPE

This document is a deliverable by GMV in the frame of the Provision of the Precise Orbit Determination

Service for the Sentinel -2 mission.

1.3. DEFINITIONS AND ACRONYMS

Acronyms used in this document and needing a definition are included in the following table:

Table 1-1: Acronyms

Acronym Definition Acronym Definition

AD Applicable Document NRT Near Real Time

AIUB Astronomical Institute University of Bern NTC Non Time Critical

ANX Ascending Node Crossing ORR Operational Readiness Review

CNES Centre National d'Études Spatiales PDGS Payload Data Ground Segment

CPOD Copernicus POD POD Precise Orbit Determination

DIL Document Item List PRE Predicted

DLR Deutsche Zentrum für Luft- und Raumfahrt PVT Position, Velocity and Timing

ERS European Remote Sensing RD Reference Document

ESA European Space Agency RMS Root Mean Square

ESOC European Space Operation Centre RSR POD Regular Service Review

FTP File Trasnfer Protocol SAR Synthetic Aperture Radar

GHOST GPS High Precision Orbit Determination Software Tools

SDR Software Defined Radio

GIPSY Gps Inferred Positioning SYstem software SPOD Sentinels POD

GMES Global Monitoring for Environment and Security

SPOT Satellite pour l'Observation de la Terre

GNSS Global Navigation Satellite System STC Short Time Critical

ID Identifier SW Software

IPF Instrument Processing Facility TD Technical Documentation

MSI Multi-Spectral Instrument TN Technical Note

MWR Micro-Wave Radiometer TUD Technische Universiteit Delft

NAPEOS NAvigation Package for Earth Orbiting Satellites

TUM Technische Universität München

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1.4. APPLICABLE AND REFERENCE DOCUMENTS

1.4.1. APPLICABLE DOCUMENTS

The following documents, of the exact issue shown, form part of this document to the extent specified herein. Applicable documents are those referenced in the Contract or approved by the Approval Authority. They are referenced in this document in the form [AD.X]:

Table 1-2: Applicable Documents

Ref. Title Code Version Date

[AD.1] Sentinels POD Service File Format Specification GMES-GSEG-EOPG-FS-10-0075 1.24 19/11/2019

[AD.2] Sentinel-2 POD Cal-Val Plan GMV-GMESPOD-TN-0007 1.2 27/06/2014

[AD.3] Sentinels POD Service S-2 Products Quality Control Plan

GMV-GMESPOD-TN-0004 1.2 27/06/2014

[AD.4] Sentinels POD Product Handbook GMV-GMESPOD-TN-0009 1.14 18/05/2020

1.4.2. REFERENCE DOCUMENTS

The following documents, although not part of this document, extend or clarify its contents. Reference documents are those not applicable and referenced within this document. They are referenced in this document in the form [RD.X]:

Table 1-3: Reference Documents

Ref. Title Code Version Date

[RD.1] Sentinel-2A Commissioning Phase POD Report GMV-GMESPOD-TN-0019 1.1 09/10/2015

[RD.2] Copernicus POD Regular Service Review Jun-Sep 2015 GMV-GMESPOD-RSR-0003 1.1 18/12/2015

[RD.3] Copernicus POD Regular Service Review Oct 2015-Jan 2016

GMV-GMESPOD-RSR-0004 1.1 01/04/2016

[RD.4] Copernicus POD Regular Service Review Feb-May 2016 GMV-GMESPOD-RSR-0005 1.0 01/07/2016


[RD.6] Copernicus POD Regular Service Review Oct 2016-Jan 2017

GMV-GMESPOD-RSR-0007 1.0 03/03/2017



[RD.9] Copernicus POD Regular Service Review Oct 2017 - Jan 2018

GMV-GMESPOD-RSR-0010 1.1 07/03/2018




GMV-GMESPOD-RSR-0013 1.0 01/03/2019




GMV-GMESPOD-RSR-0016 1.0 04/03/2020



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2. COPERNICUS POD SERVICE CONTEXT

2.1. COPERNICUS POD SERVICE OVERVIEW

The Copernicus program (formerly known as GMES, Global Monitoring for Environment and Security) is a joint initiative of the European Commission and the European Space Agency (ESA), designed to support a sustainable European information network by monitoring, recording and analysing environmental data and events around the globe. The Copernicus program will consist of

five different families of satellites.

The first family is Sentinel-1, which consists of two satellites with imaging C-band radars. This family continues the C-band SAR data gathered by ERS and Envisat missions. The second family is Sentinel-2, which consists of two satellites with optical sensors. This family continues providing the products

delivered by Landsat and SPOT missions. The main instrument of the Sentinel-2 satellites is the Multi-Spectral Instrument (MSI), which operates from the visible to the shortwave infrared. The last family of the Copernicus program taken into consideration here is the Sentinel-3, which consists of two

satellites with several sensors to continue the products of Envisat and ERS missions. Following are the products to be provided by the Sentinel-3 mission: surface colour products, surface temperature products, land vegetation products, surface topography products, which are derived from the combination of data produced by the Radar Altimeter, MWR and GNSS receiver.

The Copernicus POD (CPOD) Service is part of the PDGS Ground Segment of the Sentinels missions and is in charge of the generation of precise orbital products and auxiliary data files for their use as part of the processing chains of the respective Sentinel PDGS. The Copernicus POD Service is a

service developed and operated by GMV with a system running on a cloud environment and providing products for the Sentinel missions with various timeliness: near real-time (NRT), short-time critical (STC), non-time critical (NTC) and reprocessing. On the other hand, the S-3 POD IPF is a software developed as part of the Sentinels POD Service that runs at the S-3 PDGS generating near-real time orbits for the Sentinel-3 mission.

2.2. SENTINEL-2 CPOD SERVICE PRODUCTS PERFORMANCE OVERVIEW

The main POD products generated by the CPOD Service associated to the Sentinel-2 mission are: predicted orbit file, and restituted orbit file. The following performance requirements are defined for each of these products [AD.1]:

Predicted Orbit File:

o The position accuracy threshold is 10 m 2D 3-sigma RMS. The 2D refers to the along-track and cross-track directions.

o The file is is made available at least 90 minutes before the next Sentinel-2 ascending node crossing (ANX). The generation frequency is approximately equal to the Sentinel-2 orbital period as its delivery is related to the ANX.

o The file coverage is the next orbital revolution (start and end ascending node crossing)

plus a configurable number of orbital revolutions of prediction (0 by default, configurable) and contains orbital state vectors at the epochs of the ascending node

crossings.

Restituted Orbit File:

o The position accuracy threshold 3 m 3D 3-sigma RMS.

o The file is generated within 30 minutes from reception of GNSS data in the POD FTP server. One file is generated for every dump.

o The file coverage is equal to the latest PVT contained within the received satellite ancillary data that triggers such generation with 2 revolutions backwards (configurable). The state vector frequency is of 30 seconds by default (configurable). 5 orbital state vectors (configurable) are added after the period of the latest PVT.

Aside from the previous POD products, there are others such as POD products quality reports, including GNSS sensor performance monitoring information or anomaly reports. This second set of

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products do not have performance requirements as those mentioned above for the orbital and

auxiliary products for the Sentinel-2 mission.

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3. SENTINEL-2 PRODUCTS PERFORMANCE

This section describes the performance of each of the POD products generated for Sentinel-2 as compared to the POD requirements (position accuracy, coverage, timeliness, latency). The Cal/Val

plan of the Sentinel-2 mission [AD.2] presents completely the calibration and validation tasks aimed at characterising the accuracy of the Sentinel-2 POD products. As part of the Cal/Val tasks, different reports are generated that justify the values presented in this document. Morevover, the Sentinel-2 POD products Quality Control Plan [AD.3] also provides information about metrics computed routinely related to the accuracy of the Sentinel-2 POD products.

The following table presents the requirements of the Sentinel-2 POD products:

Table 3-1: Requirements table for the Sentinel-2 POD products

Product Latency Requirement metric Requirement

value

Predicted orbit file (AUX_PREORB) NRT position accuracy in 2D (along- and cross-track) 3-sigma RMS

10 m

Restituted orbit file (AUX_RESORB) NRT position accuracy in 3D 3-sigma RMS 3 m

The tables of the following sub sections present the estimated accuracy of the POD products associated to a given processing baseline. A processing baseline is composed by a system version (software and configuration), and a set of input data. The description of the processing baselines in terms of models, changes with respect to other processing baselines, inputs and output coverage, etc., is provided in the POD product handbook [AD.4]. The source column of the tables indicates the centre generating the product, which are listed in Table 3-2.

Table 3-2: Description of orbit solutions

Name Centre POD SW

AIUB Astronomical Institute University of Bern Bernese

AING Astronomical Institute University of Bern Bernese (Non-gravitational)

COMB ALL ALL

CPOD Copernicus POD Service – GMV NAPEOS

DLR Deutsche Zentrum für Luft- und Raumfahrt GHOST

ESOC European Space Operation Centre NAPEOS

TUDF Technische Universiteit Delft GHOST

GIPSY-X (Jun-Sep 2020)

TUDG Technische Universiteit Delft GIPSY

TUM Technische Universität München Bernese

The following tables and plots show different metrics:

1. Average and standard deviation of the comparisons over the time period reported.

2. The 1-sigma (68%), 2-sigma (95%) and 3-sigma (99.7%) of the predicted (PRE) and NRT comparisons over the time period reported.

In order not to harm the statistics of the comparisons due to degraded products from manoeuvres or gaps of data, a filetering criterion has been included. Thus, comparisons above two times the accuracy requirement of the products have been filtered-out. For the S-2 NRT products case, all comparisons above 20 cm have been excluded (same criterion as for the S-1 NRT products).

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3.1. 2015

Table 3-3: Estimated accuracy of CPOD products for August – September 2015 [RD.1], [RD.2]

Processing baseline identifier [AD.4]

Product type

Source S-2A Mean (cm) S-2B Mean (cm)

SPOD_SYSTEM_v0.9.2

SPOD_SYSTEM_v0.9.3 SPOD_SYSTEM_v0.9.4

PRE

[2D RMS]

AUX_PREORB vs. AUX_RESORB

84.13 N/A


NRT

[3D RMS] CPOD vs. ESOC 5.21 N/A


NTC

[3D RMS]

CPOD vs. AIUB 4.20 N/A

CPOD vs. DLR 3.93 N/A

CPOD vs. TUDF 3.92 N/A

CPOD vs. TUM 4.47 N/A

Table 3-4: Estimated accuracy of CPOD products for October 2015 – January 2016 [RD.3]


Product type

Source S-2A Mean (cm) S-2B Mean (cm)

SPOD_SYSTEM_v0.9.4

SPOD_SYSTEM_v0.9.5 SPOD_SYSTEM_v0.9.6 SPOD_SYSTEM_v0.10.0

PRE

[2D RMS]


49.38 N/A

SPOD_SYSTEM_v0.9.5 SPOD_SYSTEM_v0.9.6 SPOD_SYSTEM_v0.10.0

NRT



NTC

[3D RMS]

CPOD vs. AIUB 2.33 N/A

CPOD vs. DLR 2.16 N/A

CPOD vs. ESOC 1.69 N/A

CPOD vs. TUDF 2.18 N/A

CPOD vs. TUM 3.40 N/A

CPOD vs. COMB 1.83 N/A

3.2. 2016

Table 3-5: Estimated accuracy of CPOD products for February – May 2016 [RD.4]


Product type

Source S-2A Mean ± stdev

(cm) S-2B Mean ± stdev

(cm)

SPOD_SYSTEM_v0.10.0

SPOD_SYSTEM_v1.0.0 SPOD_SYSTEM_v1.0.1 SPOD_SYSTEM_v1.0.2 SPOD_SYSTEM_v1.0.3 SPOD_SYSTEM_v1.0.4 SPOD_SYSTEM_v1.0.5 SPOD_SYSTEM_v1.0.6 SPOD_SYSTEM_v1.0.7 SPOD_SYSTEM_v1.0.8

PRE

[2D RMS]


49.03 N/A

NRT


NTC

[3D RMS]

CPOD vs. AIUB 2.69 ± 0.71 N/A

CPOD vs. DLR 2.91 ± 2.64 N/A

CPOD vs. ESOC 2.49 ± 1.66 N/A

CPOD vs. TUDF 2.88 ± 2.13 N/A

CPOD vs. TUM 3.12 ± 0.70 N/A

CPOD vs. COMB 2.31 ± 0.80 N/A

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Table 3-6: Estimated accuracy of CPOD products for June – September 2016 [RD.5]


Product type



(cm)

SPOD_SYSTEM_v1.0.8


PRE

[2D RMS]


42.95 ± 48.32 (av)

48.68 (1-sigma)

104.50 (2-sigma)

468.46 (3-sigma)

N/A

NRT

[3D RMS] CPOD vs. ESOC

3.59 ± 1.59 (av)

4.15 (1-sigma)

6.23 (2-sigma)

11.27 (3-sigma)

N/A

NTC

[3D RMS]


CPOD vs. DLR 2.14 ± 0.39 N/A



CPOD vs. TUM 2.60 ± 0.32 N/A




Product type



(cm)

SPOD_SYSTEM_v1.0.10 SPOD_SYSTEM_v1.1.0 SPOD_SYSTEM_v1.1.1 SPOD_SYSTEM_v1.2.0 SPOD_SYSTEM_v1.2.1

PRE

[2D RMS]


39.39 ± 37.12 (av)

45.48 (1-sigma)

95.84 (2-sigma)

290.86 (3-sigma)

N/A

NRT


3.28 ± 1.30 (av)

3.61 (1-sigma)

5.18 (2-sigma)

14.13 (3-sigma)

N/A

NTC

[3D RMS]


CPOD vs. DLR 2.37 ± 0.43 N/A



CPOD vs. TUM 3.12 ± 0.53 N/A


3.3. 2017



Product type



(cm)

SPOD_SYSTEM_v1.3.0

SPOD_SYSTEM_v1.3.1

SPOD_SYSTEM_v1.3.2

PRE

[2D RMS]


39.98 ± 42.51 (av)

44.02 (1-sigma)

102.54 (2-sigma)

366.66 (3-sigma)

N/A

NRT


2.39 ± 0.95 (av)

2.62 (1-sigma)

3.80 (2-sigma)

5.82 (3-sigma)

N/A

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Product type



(cm)

NTC

[3D RMS]


CPOD vs. DLR 2.05 ± 0.26 N/A



CPOD vs. TUM 2.39 ± 0.30 N/A




Product type



(cm)

SPOD_SYSTEM_v1.3.3

SPOD_SYSTEM_v1.3.4

SPOD_SYSTEM_v1.3.5

SPOD_SYSTEM_v1.3.6

PRE

[2D RMS]


56.48 ± 64.87 (av)

58.05 (1-sigma)

163.66 (2-sigma)

517.12 (3-sigma)

56.91 ± 59.59 (av)

59.11 (1-sigma)

162.21 (2-sigma)

406.21 (3-sigma)

NRT


2.30 ± 0.85 (av)

2.51 (1-sigma)

3.62 (2-sigma)

7.79 (3-sigma)

2.50 ± 0.86 (av)

2.75 (1-sigma)

4.00 (2-sigma)

5.30 (3-sigma)

NTC

[3D RMS]

CPOD vs. AIUB 2.20 ± 0.81 2.36 ± 1.22

CPOD vs. DLR 1.86 ± 0.24 1.88 ± 0.18

CPOD vs. ESOC 1.91 ± 1.15 2.30 ± 1.34

CPOD vs. TUDF 2.44 ± 1.50 2.90 ± 1.85

CPOD vs. TUM 2.13 ± 0.73 2.07 ± 0.73

CPOD vs. COMB 1.66 ± 1.21 2.31 ± 1.90



Product type



(cm)

SPOD_SYSTEM_v1.3.7

SPOD_SYSTEM_v1.3.8

SPOD_SYSTEM_v1.3.9

SPOD_SYSTEM_v1.4.0

PRE

[2D RMS]


37.43 ± 37.27 (av)

43.45 (1-sigma)

94.24 (2-sigma)

289.51 (3-sigma)

38.87 ± 38.64 (av)

43.60 (1-sigma)

95.57 (2-sigma)

309.11 (3-sigma)

NRT


2.63 ± 1.04 (av)

2.93 (1-sigma)

4.21 (2-sigma)

6.41 (3-sigma)

2.80 ± 1.01 (av)

3.07 (1-sigma)

4.42 (2-sigma)

6.44 (3-sigma)

NTC

[3D RMS]

CPOD vs. AIUB 1.98 ± 0.24 1.98 ± 0.21

CPOD vs. DLR 2.01 ± 0.27 1.98 ± 0.25

CPOD vs. ESOC 1.47 ± 0.40 1.59 ± 0.54

CPOD vs. TUDG 1.48 ± 0.30 1.43 ± 0.28

CPOD vs. TUM 2.06 ± 0.25 1.91 ± 0.23

CPOD vs. COMB 1.23 ± 0.22 1.24 ± 0.23

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3.4. 2018



Product type



(cm)

SPOD_SYSTEM_v1.4.1

SPOD_SYSTEM_v1.4.2

SPOD_SYSTEM_v1.4.3

PRE

[2D RMS]


44.71 ± 53.09 (av)

48.20 (1-sigma)

107.41 (2-sigma)

500.91 (3-sigma)

44.09 ± 46.50 (av)

48.79 (1-sigma)

108.90 (2-sigma)

434.72 (3-sigma)

NRT


2.58 ± 1.00 (av)

2.82 (1-sigma)

4.08 (2-sigma)

6.92 (3-sigma)

2.57 ± 1.01 (av)

2.82 (1-sigma)

4.09 (2-sigma)

6.90 (3-sigma)

NTC

[3D RMS]

CPOD vs. AIUB 2.16 ± 0.30 2.19 ± 0.26

CPOD vs. AING 2.25 ± 0.61 2.21 ± 0.63

CPOD vs. DLR 2.07 ± 0.30 2.41 ± 0.36

CPOD vs. ESOC 1.49 ± 0.32 1.40 ± 0.30

CPOD vs. TUDG 1.65 ± 0.35 1.60 ± 0.31

CPOD vs. TUM 1.99 ± 0.31 1.95 ± 0.25

CPOD vs. COMB 1.47 ± 0.31 1.48 ± 0.54



Product type



(cm)

SPOD_SYSTEM_v1.5.0

PRE

[2D RMS]


50.19 ± 54.93 (av)

56.05 (1-sigma)

122.31 (2-sigma)

554.99 (3-sigma)

45.71 ± 39.93 (av)

54.93 (1-sigma)

111.97 (2-sigma)

342.65 (3-sigma)

NRT


2.46 ± 1.06 (av)

2.66 (1-sigma)

4.11 (2-sigma)

9.63 (3-sigma)

2.40 ± 0.89 (av)

2.61 (1-sigma)

3.94 (2-sigma)

6.87 (3-sigma)

NTC

[3D RMS]

CPOD vs. AIUB 1.83 ± 0.18 1.78 ± 0.17

CPOD vs. AING 2.10 ± 0.25 2.15 ± 0.21

CPOD vs. DLR 1.99 ± 0.23 1.98 ± 0.20

CPOD vs. ESOC 1.36 ± 0.20 1.29 ± 0.18

CPOD vs. TUDG 1.54 ± 0.18 1.50 ± 0.17

CPOD vs. TUM 1.83 ± 0.21 1.83 ± 0.21

CPOD vs. COMB 1.40 ± 0.18 1.37 ± 0.18



Product type



(cm)

SPOD_SYSTEM_v1.5.1

SPOD_SYSTEM_v1.5.2

SPOD_SYSTEM_v1.5.3

PRE

[2D RMS]


40.89 ± 36.43 (av)

46.72 (1-sigma)

110.80 (2-sigma)

219.39 (3-sigma)

39.88 ± 45.83 (av)

43.49 (1-sigma)

95.58 (2-sigma)

449.91 (3-sigma)

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Product type



(cm)

NRT


2.67 ± 0.95 (av)

2.92 (1-sigma)

4.20 (2-sigma)

6.59 (3-sigma)

2.64 ± 0.92 (av)

2.89 (1-sigma)

4.21 (2-sigma)

6.31 (3-sigma)

NTC

[3D RMS]

CPOD vs. AIUB 2.06 ± 0.17 2.06 ± 0.18

CPOD vs. DLR 1.99 ± 0.22 1.98 ± 0.22

CPOD vs. ESOC 1.69 ± 0.18 1.63 ± 0.19

CPOD vs. TUDG 1.65 ± 0.20 1.53 ± 0.18

CPOD vs. TUM 1.91 ± 0.19 1.83 ± 0.18

CPOD vs. COMB 1.33 ± 0.17 1.28 ± 0.17

3.5. 2019



Product type



(cm)

SPOD_SYSTEM_v1.5.4

PRE

[2D RMS]


40.09 ± 36.63 (av)

45.70 (1-sigma)

105.45 (2-sigma)

201.31 (3-sigma)

36.92 ± 33.38 (av)

42.75 (1-sigma)

96.53 (2-sigma)

205.74 (3-sigma)

NRT


2.61 ± 0.88 (av)

2.88 (1-sigma)

4.06 (2-sigma)

6.38 (3-sigma)

2.55 ± 0.80 (av)

2.83 (1-sigma)

3.92 (2-sigma)

5.37 (3-sigma)

NTC

[3D RMS]

CPOD vs. AIUB 2.04 ± 0.20 2.02 ± 0.17

CPOD vs. DLR 2.12 ± 0.23 2.08 ± 0.18

CPOD vs. ESOC 1.90 ± 0.21 1.83 ± 0.19

CPOD vs. TUDG 1.85 ± 0.21 1.77 ± 0.19

CPOD vs. TUM 2.05 ± 0.19 1.99 ± 0.17

CPOD vs. COMB 1.56 ± 0.22 1.49 ± 0.18



Product type



(cm)

SPOD_SYSTEM_v1.5.4

PRE

[2D RMS]


47.24 ± 42.85 (av)

54.93 (1-sigma)

118.16 (2-sigma)

290.54 (3-sigma)

42.99 ± 35.03 (av)

51.32 (1-sigma)

108.51 (2-sigma)

180.43 (3-sigma)

NRT


2.94 ± 0.98 (av)

3.23 (1-sigma)

4.77 (2-sigma)

6.57 (3-sigma)

2.93 ± 1.00 (av)

3.24 (1-sigma)

4.82 (2-sigma)

6.75 (3-sigma)

NTC

[3D RMS]

CPOD vs. AIUB 1.85 ± 0.26 1.87 ± 0.26

CPOD vs. DLR 2.02 ± 0.24 2.04 ± 0.24

CPOD vs. ESOC 1.76 ± 0.24 1.69 ± 0.24

CPOD vs. TUDG 1.81 ± 0.31 1.80 ± 0.33

CPOD vs. TUM 1.96 ± 0.25 1.91 ± 0.24

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Product type



(cm)

CPOD vs. COMB 1.48 ± 0.24 1.45 ± 0.26



Product type



(cm)

SPOD_SYSTEM_v1.5.4

SPOD_SYSTEM_v1.5.5

PRE

[2D RMS]


47.75 ± 52.69 (av)

50.50 (1-sigma)

132.51 (2-sigma)

397.94 (3-sigma)

47.11 ± 51.40 (av)

52.18 (1-sigma)

123.12 (2-sigma)

399.01 (3-sigma)

NRT


2.67 ± 1.05 (av)

2.89 (1-sigma)

4.54 (2-sigma)

8.20 (3-sigma)

2.69 ± 1.04 (av)

2.91 (1-sigma)

4.55 (2-sigma)

7.54 (3-sigma)

NTC

[3D RMS]

CPOD vs. AIUB 1.74 ± 0.23 1.76 ± 0.20

CPOD vs. DLR 1.94 ± 0.23 1.92 ± 0.19

CPOD vs. ESOC 1.56 ± 0.18 1.52 ± 0.18

CPOD vs. TUDG 1.66 ± 0.21 1.63 ± 0.19

CPOD vs. TUM 1.88 ± 0.24 1.78 ± 0.20

CPOD vs. COMB 1.40 ± 0.19 1.34 ± 0.19

3.6. 2020



Product type



(cm)

SPOD_SYSTEM_v1.5.5

SPOD_SYSTEM_v1.6.0

PRE

[2D RMS]


46.86 ± 51.81 (av)

49.44 (1-sigma)

128.44 (2-sigma)

459.22 (3-sigma)

44.31 ± 38.77 (av)

50.04 (1-sigma)

123.47 (2-sigma)

234.83 (3-sigma)

NRT


2.46 ± 1.07 (av)

2.62 (1-sigma)

4.24 (2-sigma)

7.59 (3-sigma)

2.50 ± 1.04 (av)

2.68 (1-sigma)

4.32 (2-sigma)

7.43 (3-sigma)

NTC

[3D RMS]

CPOD vs. AING 1.59 ± 0.27 1.54 ± 0.24

CPOD vs. AIUB 1.67 ± 0.25 1.70 ± 0.21

CPOD vs. DLR 1.92 ± 0.20 2.00 ± 0.17

CPOD vs. ESOC 1.57 ± 0.16 1.56 ± 0.13

CPOD vs. TUDG 1.50 ± 0.24 1.48 ± 0.22

CPOD vs. TUM 1.62 ± 0.24 1.60 ± 0.22

CPOD vs. COMB 1.29 ± 0.27 1.26 ± 0.26

Code:

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Product type



(cm)

SPOD_SYSTEM_v1.6.X

SPOD_SYSTEM_v1.7.X

SPOD_SYSTEM_v1.8.X

PRE

[2D RMS]


31.23 ± 27.07 (av)

34.79 (1-sigma)

62.68 (2-sigma)

220.67 (3-sigma)

32.27 ± 22.15 (av)

35.70 (1-sigma)

65.03 (2-sigma)

144.98 (3-sigma)

NRT


2.13 ± 0.80 (av)

2.31 (1-sigma)

3.17 (2-sigma)

5.47 (3-sigma)

2.17 ± 0.85 (av)

2.34 (1-sigma)

3.24 (2-sigma)

6.82 (3-sigma)

NTC

[3D RMS]

CPOD vs. AING 1.34 ± 0.10 1.36 ± 0.11

CPOD vs. AIUB 1.50 ± 0.12 1.60 ± 0.12

CPOD vs. DLR 1.78 ± 0.17 1.95 ± 0.22

CPOD vs. ESOC 1.45 ± 0.14 1.47 ± 0.12

CPOD vs. TUDF 1.35 ± 0.11 1.38 ± 0.11

CPOD vs. TUDG 1.38 ± 0.11 1.41 ± 0.11

CPOD vs. TUM 1.43 ± 0.12 1.43 ± 0.11

CPOD vs. COMB 1.21± 0.10 1.21 ± 0.09

Code:

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3.7. OVERALL

The following figures shows the averages and 1-sigma and 3-sigma reported in the previous tables.

3.7.1. PRE

Figure 3-1: Sentinel-2 CPOD PRE vs. NRT [2D RMS; mean] (cm)

Figure 3-2: Sentinel-2 CPOD PRE vs. NRT [2D RMS; 1-sigma] (cm)

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Figure 3-3: Sentinel-2 CPOD PRE vs. NRT [2D RMS; 3-sigma] (cm)

3.7.2. NRT

Figure 3-4: Sentinel-2 CPOD NRT vs. ESOC [3D RMS; mean] (cm)

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Figure 3-5: Sentinel-2 CPOD NRT vs. ESOC [3D RMS; 1-sigma] (cm)

Figure 3-6: Sentinel-2 CPOD NRT vs. ESOC [3D RMS; 3-sigma] (cm)

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3.7.3. NTC

Figure 3-7: Sentinel-2 CPOD NTC vs. COMB [3D RMS; mean] (cm)

Code:

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END OF DOCUMENT