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Advanced Very High Resolution Radiometer (AVHRR) onboard National Oceanic and Atmospheric Administration (NOAA) satellites can provide over 40 years of global remote sensing observations, which can be used to retrieve long-term aerosol optical depth (AOD). This is of great significance to the study of global climate change. In this paper, we proposed an algorithm to jointly calculate AOD and land surface properties from AVHRR observations. With assumptions that AOD doesn't vary in adjacent space and earth surface property doesn't vary in two days, the algorithm considered non-Lambertian surface reflection based on the shape of bidirectional reflectance distribution function (BRDF shape) and obtained AOD and surface property by optimal estimation (OE) method. The algorithm has been applied to NOAA-7, 9, 11, 14, 16, 18, and 19 satellites and AVHRR-retrieved AOD with 5 × 10 km over China (15°–60° N, 70°–140°E) has been obtained from 1982 to 2016. Comparisons of AVHRR-retrieved AOD against AErosol RObotic NETwork (AERONET) (in and around China) and China Aerosol Remote Sensing Network (CARSNET) AOD show good consistency with 62.62% points within the uncertainty of Δτ = ± (0.05 + 0.25τ) and root-mean-square error (RMSE) of 0.26. Further comparison of the monthly mean AOD of multiple AOD datasets in the 'Beijing', 'Dalanzadgad', 'NCU_Taiwan' and 'Kanpur' stations shows that the results of the algorithm are stable. The yearly averaged AOD data also has similar agreements with MERRA-2 (The Modern-Era Retrospective analysis for Research and Applications, Version 2) and AVHRRDB data (AVHRR 'Deep Blue' aerosol data set). The multi-year mean correlation coefficient is 0.70 and 0.61 and the percentages within the uncertainty are 80.01% and 67.29% compared with MERRA-2 AOD and AVHRRDB AOD respectively. [ABSTRACT FROM AUTHOR]