Documente Academic
Documente Profesional
Documente Cultură
1
W.D. Philpot, Cornell University, Fall 2015
8. SCANNERS
8.1 General
Scanners are scanning radiometers which, when operated from an airborne or spaceborne
platform, image the terrain in one or more spectral bands. Mechanical scanners are electro-optical-
mechanical sensors that use a mirror or prism to focus radiation of ultraviolet, visible or infrared
wavelengths, or combinations of these wavelengths, from the ground to one or more detectors.
(Microwave scanners will be described in a later section.) The mirror or prism rotates or oscillates,
scanning a line of incoming radiation that is usually perpendicular to the flight direction (Figure
8.1). New, adjacent lines are scanned as the platform moves ahead. Each line is typically recorded
digitally and sometimes displayed directly on a monitor.
Recall that the aircraft or spacecraft is moving ahead during the time that each line is
imaged. For mechanically scanning systems this means that the pixel the end of the scan line will
be imaged later than the pixel at the beginning of the scan line and therefore be will displaced along
the flight path. The displacement is usually rather small but not always entirely negligible. More
troublesome is the geometric distortion introduced as a result of the variation in viewing angle.
This geometric distortion is especially severe near the edges of the image where the sizes of the
ground resolution elements are comparatively larger than those at nadir (Figure 8.2). For a square
pixel at nadir, the width of a single scan line on the ground is Hω1/2. At a viewing angle, θ, the
along-scan-line width of a pixel is Hω1/2 sec2 θ while the length along the flight line is ω1/2 sec θ.
The distortion is called the panoramic effect. Panoramic distortion can be reduced to negligible
amounts by restricting the total FOV in relation to the flight height.
Philpot & Philipson: Remote Sensing Fundamentals Scanners 8.2
W.D. Philpot, Cornell University, Fall 2015
Figure 8.2: Panoramic effect − the increase in the GIFOV with viewing angle.
The time devoted to scanning a resolution element must be at least as long as it takes the
detector to respond. The detector's dwell time refers to the time the detector must "look at," or
dwell on, a resolution element before it "sees" it. In general,
Detector dwell time per element = ktd (8.2)
where k is a constant of 1.0 or more, and td is the time constant for the detector (i.e., time required
for the detector to respond). For each ground resolution element to be "seen,"
ω1/2
≤ kt d
2πM (8.3)
The remaining variables to be considered are the velocity, V, and height, H, of the aircraft. It
should be clear that, if the aircraft is moving too rapidly, there will be gaps in the ground coverage.
The velocity of the aircraft must therefore be linked with the rate of scanning.
In the flight direction at the nadir, the width of a single scan line is H multiplied by ω1/2, the
IFOV in the flight direction (Figure 8.1); the width of the ground strip covered each second is
M(Hω1/2). To avoid gaps or underlap between scan lines,
M(Hω1/2) > V (8.4)
V
or M> (8.5)
Hω1/ 2
The rate of mirror rotation is thus governed, in part, by the velocity to height ratio, and vice versa.
(Note that overlap between adjacent scan lines produces redundant information.) The constraints
can be combined by substituting for M in Equation 10.3, which results in the following:
Philpot & Philipson: Remote Sensing Fundamentals Scanners 8.4
W.D. Philpot, Cornell University, Fall 2015
ω V
≥
2πkt d H (8.6)
As indicated by Equation 8.6, the spatial resolution can be increased by decreasing td, with no
change in V or H, if the speed of the detector can be increased. Similarly, flying faster or lower
requires a faster detector for the same ω.
The relation between velocity and height, the V/H ratio, describes the angular rate
(radians/second) that a point on the ground appears to pass beneath the aircraft. For a given scanner
configuration, ω and td are fixed, but the V/H ratio can be adjusted to some defined maximum
value.
As A d
For simple scanners, =
ω = (8.8)
R2 f2
The signal to noise ratio is one means of assessing the information transferred by the power
received. Rearranging Equation 8.10,
Vs PD∗
= (8.11)
Vn A d B1/ 2
Substituting for P = Ltot ω Ao to and Ad = ω/f2, assuming a square instantaneous FOV whereby
ω = (ω1/2) (ω1/2), and letting F = the f-number of the scanner optics = f/Do, results in
Vs ω1/ 2 Do t o D∗ L
= (8.12)
Vn 4f (B1/ 2 )
In order for the scanner to achieve an angular resolution of ω all parts of the system must be able to
accommodate an electrical bandwidth of B. A nominal value for B is 1/[2(detector dwell time)] or,
from equation 8.2, B = 1/[2(ktd)]. Substituting from Equation 8.6,
Vs ωDo τo D∗ L
= (8.13)
Vn 4fπ1/ 2 (V / H)1/ 2
While equation 8.13 has many variables, for a given scanner configuration, one can define a system
constant,
ωDo τo D∗ L
C= (8.14)
4fπ1/ 2
Vs CL
then = (8.15)
Vn (V / H)1/ 2
With C defined for the scanner optical system, the only variables involved in assessing a signal to
noise ratio are L, the level of radiance from the ground, and the V/H ratio.
8.5
in the array. However, this seems a small price to pay for eliminating the scanning mechanism and
greatly increasing the dwell time.
a. b.
Figure 8.3: Detector designs to increase individual detector dwell time: a) Design using multiple
detectors, one for each scan line; b) CCD array detector.
Figure 8.4: Diagram of color scanner with one detector per band.
As with the single band case, multiple detectors and CCD arrays can be employed to expand
the spectral range of the scanner. Two arrangements are illustrated in Figure 8.5. Both are
variations on the single-band design and both have the same advantages and limitations as the
single-band counterparts. Registration of spectral band is still an issue in both cases. With the CCD
design, registration along the scan line is typically near perfect; any misregistration will occur in the
flight direction.
Philpot & Philipson: Remote Sensing Fundamentals Scanners 8.7
W.D. Philpot, Cornell University, Fall 2015
a. b.
Figure 8.5: Schematic drawings of two detector designs for sensing multiple spectral bands:
a) design using separate detectors for each scan line and multiple detectors on each scan line
to image in multiple spectral bands; b) design using a separate linear CCD array for each
spectral band.
If the design is extended to collect full spectra (e.g., hyperspectral data) another possibility is
to replace the linear CCD arrays with a 2-dimensional CCD array. This configuration is illustrated
in Figure 8.6. One dimension of the array is spectral, collecting an entire spectrum for one sample
in the scan; the other is spatial, collecting data for the full scan line. An advantage of this design is
that spectral data truly come from a single ground resolution element. Light from a single pixel
entering the optical system is dispersed across the along-track dimension of the array, usually with a
diffraction grating. Lines are then collected sequentially as with the linear detector in Figure 8.3b.
day cycle at a moderate resolution (30-150 m), or with a 2-3 day repeat visit at low resolution (~1
km) or geostationary systems that would provide hourly coverage or better at 8-10 km. All of the
early systems were nadir-viewing and higher resolution was incompatible with global coverage
since it was not feasible to collect high resolution data over a FOV sufficiently wide to insure
regular contiguous coverage.
In order to insure the possibility of imaging all parts of the globe at high resolution, it was
necessary that the system be pointable. Initially the pointing capability was limited to cross-track
pointing with the SPOT satellite. More recent systems (IKONOS, GeoEye, QuickBird, Worldview,
Pleiades) allow pointing in both the along-track and cross-track directions. The systems are quite
agile, being capable of pointing rapidly enough to take multiple images of the same site in one orbit,
or to collect multiple sites cross-track within relatively short distances.
Figure 8.7: Illustration of the pointing capability of the IKONOS satellite. From Grodecki and Dial,
Space Imaging. http://www.satimagingcorp.com/satellite-
sensors/IKONOSGeometricAccuracy-ISPRS202001.pdf
Such dynamic pointing capability means that it is possible to collect stereo imagery or to collect
data of the same location on earth every 1-2 days, as needed. This is an enormous advantage for
monitoring disaster sites or any rapidly developing situation. The system must be tasked to collect
the imagery, however, and past data for may be quite sparse.
Another issue that arises as a result of the pointing capability is the distortion introduced by
the pointing. Although the high resolution systems are typically pushbroom scanners, when the
system is pointed the pixels suffer the same panoramic distortion that is characteristic of
whiskbroom scanners. The difference is that the entire array suffers the same distortion. An
important consequence of this is that the native resolution of the image is dependent on the system
viewing angle. Standard practice is to report system resolution as the nadir pixel size – the
Philpot & Philipson: Remote Sensing Fundamentals Scanners 8.9
W.D. Philpot, Cornell University, Fall 2015
minimum possible resolution. For example, the nadir ground sampling distance (GSD) – the pixel
size – for the IKONOS sensor is 0.82 m for panchromatic images. At 30 degrees, the GSD is 1 m
for panchromatic images. Image products are typically resampled to a standard value (for
IKONOS, this is 1 m). The resampling insures consistency among images, standardizes geometric
registration and makes it possible to create mosaics and more easily compare images collected at
different times, but there is some loss in fidelity that occurs as a result of the resampling.
Under the same assumptions, the centripetal force, is described by the equation:
ms v 2
Fc = (8.17)
r
Setting Fc equal to Fg one may then solve for a relationship between the velocity of the satellite in a
circular orbit, vc, and its distance from the earth:
Gme
vc = (8.18)
r
The ground-track velocity is related very simply to the orbital circular velocity by the ratio
Re
vg = vc (8.19)
Re + h
Philpot & Philipson: Remote Sensing Fundamentals Scanners 8.10
W.D. Philpot, Cornell University, Fall 2015
This ground-track velocity, combined with a desired ground-sampling distance (GSD), provides an
upper limit for the amount of time available to collect a single scan line worth of data. This
maximum dwell time is simply:
tmaxdwell = GSD / vg (8.20)
As an example, the Landsat satellites which fly at an altitude of h ~ 800 km (r = Re + h = 7178 km)
have an on-orbit velocity of ~7,450 km/s. This corresponds to a ground speed of ~6,620 km/s and a
maximum dwell time of ~1 ms for a scan line worth of data.
The next issue is to choose a convenient orbital period. For example, it is often useful to
require that satellites in a polar orbit pass over the same latitude at the same local time every day.
This helps to minimize changes in the sun illumination angle. Another option would be to adjust
the orbital period to match the earth's rotation so that a satellite at the equator could be stationary
relative to the earth. The orbital period of a satellite can be determined using Kepler's 3rd Law.
Johannes Kepler (1571-1630) was concerned with the basic question of describing the motion of the
earth about the sun, but his laws apply generally to all satellites. The 3rd law states that the square
of the period, T, of satellite about the earth is proportional to the cube of the satellite’s mean
distance from the earth, or:
T2 4π 2
= (8.21)
r3 Gme
Rearranging to solve for the period, T, we have:
r3
T = 2π (8.22)
Gme
As an example, the international space station has an orbital period of 92 minutes (5,520 s).
Knowing the period we may then solve for the distance of the satellite from the center of the earth:
1/3 1/3
T
2 5520s
2
r=
Gme
2ππ
=
6.67 (
× 10 −11 3 −1 −2
m kg s 5.97 × 10 24
)(
kg )
2
=
6, 750km
geosynchronous transfer orbit (GTO). The orbit is then circularized by firing the spacecraft's engine
at apogee.
Polar orbits (PO) are orbits with an inclination of 90 degrees. Polar orbits are useful for satellites
that carry out mapping and/or surveillance operations because as the planet rotates the spacecraft
has access to virtually every point on the planet's surface. There are two problems with the polar
orbit. The first is that since the earth moves in its orbit around the Sun, the solar irradiance angle
along the satellite varies continuously throughout the year (Figure 8.8). The second flaw is that, if
all the satellites in north-south oriented orbits were polar orbiting satellites, they would tend to
converge at the poles making collisions more likely.
Walking orbits: An orbiting satellite is subjected to a great many gravitational influences. First,
planets are not perfectly spherical and they have slightly uneven mass distribution. These
fluctuations have an effect on a spacecraft's trajectory. Also, the sun, moon, and planets contribute a
gravitational influence on an orbiting satellite. By carefully adjusting the orbit’s inclination it is
possible to design an orbit which takes advantage of these influences to induce a precession in the
satellite's orbital plane. The resulting orbit is called a walking orbit, or precessing orbit.
Sun synchronous orbits (SSO) are walking orbits whose orbital plane precesses with the same
period as the planet's solar orbit period such that the satellite will cross the equator at about the
same local time every orbit making it possible to maintain a more uniform solar irradiance angle
throughout the mission’s duration. (For the Earth, this is accomplished by selecting an inclination
about 8° off the polar orbit.) This uniformity in the equator crossing time makes adjacent swaths as
similar as possible since it reduces effects due to varying atmospheric path and BRDF. In order to
maintain an exact synchronous timing, it may be necessary to conduct occasional propulsive
maneuvers to adjust the orbit
(a) (b)
Figure 8.8: Polar (a) and sun-synchronous (b) orbit orientations. (From
http://fp.optics.arizona.edu/detlab/Classes/Opti566/OPTI566_Spring12/Miscellaneous/orbita
l-mechanics.pdf