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We propose a fundamental theorem for eco-environmental surface modelling (FTEEM) in order to apply it into the fields of ecology and environmental science more easily after the fundamental theorem for Earth’s surface system modeling (FTESM). The Beijing-Tianjin-Hebei (BTH) region is taken as a case area to conduct empirical studies of algorithms for spatial upscaling, spatial downscaling, spatial interpolation, data fusion and model-data assimilation, which are based on high accuracy surface modelling (HASM), corresponding with corollaries of FTEEM. The case studies demonstrate how eco-environmental surface modelling is substantially improved when both extrinsic and intrinsic information are used along with an appropriate method of HASM. Compared with classic algorithms, the HASM-based algorithm for spatial upscaling reduced the root-mean-square error of the BTH elevation surface by 9 m. The HASM-based algorithm for spatial downscaling reduced the relative error of future scenarios of annual mean temperature by 16%. The HASM-based algorithm for spatial interpolation reduced the relative error of change trend of annual mean precipitation by 0.2%. The HASM-based algorithm for data fusion reduced the relative error of change trend of annual mean temperature by 70%. The HASM-based algorithm for model-data assimilation reduced the relative error of carbon stocks by 40%. We propose five theoretical challenges and three application problems of HASM that need to be addressed to improve FTEEM.

Airborne light detection and ranging (lidar) is becoming a widely adopted technique for capturing elevation data, which are mainly used for creating digital terrain models (DTMs). However, the large size of lidar datasets poses a serious computational challenge to the promising radial basis function (RBF) interpolation method. In this work, to reduce the huge computational cost and improve the interpolation accuracy, random Fourier features are first introduced to approximate the Gaussian kernel of RBFs in feature space, then a random features-based weighted RBF interpolation method is developed. Based on randomized Fourier features, the nonlinear kernel-based training and evaluation of the RBF method is transformed into simple linear operations in feature space, and with the help of weighted ridge regression, the negative effect of the non-Gaussian distribution of lidar datasets on DTM production is reduced. In other words, the combination of randomized Fourier features and weighted ridge regression improves the efficiency and accuracy of the RBF interpolation method. Experiments on simulated datasets indicate that the proposed method performs better than the classical or random features-based RBF method for dealing with non-Gaussian distributed samples, with the former being slightly less accurate than the iterative RBF method due to the low-dimensional random features. However, the computational cost of the new method is much lower compared with the classical or iterative RBFs. Interpolation of airborne lidar-derived points demonstrates that the new method has a computational cost similar to the inverse distance weighting and triangulated irregular network (TIN) approaches, and is significantly faster than the ordinary kriging (OK) or thin plate spline (TPS) methods. Quantitatively, for interpolation of 644,433 points, the proposed method is approximately 833 and 21 times faster than OK and TPS, respectively. Moreover, the new method avoids the surface discontinuity artifacts presented by the OK, TPS, and TIN methods.

Surface modeling with very large data sets is challenging. An efficient method for modeling massive data sets using the high accuracy surface modeling method (HASM) is proposed, and HASM_Big is developed to handle very large data sets. A large data set is defined here as a large spatial domain with high resolution leading to a linear equation with matrix dimensions of hundreds of thousands. An augmented system approach is employed to solve the equality-constrained least squares problem (LSE) produced in HASM_Big, and a block row action method is applied to solve the corresponding very large matrix equations. A matrix partitioning method is used to avoid information redundancy among each block and thereby accelerate the model. Experiments including numerical tests and real-world applications are used to compare the performances of HASM_Big with its previous version, HASM. Results show that the memory storage and computing speed of HASM_Big are better than those of HASM. It is found that the computational cost of HASM_Big is linearly scalable, even with massive data sets. In conclusion, HASM_Big provides a powerful tool for surface modeling, especially when there are millions or more computing grid cells.

Due to the penetration ability of airborne light detection and ranging (lidar) into tree crowns, data pits commonly appear in lidar-derived canopy height models (CHMs). They have a seriously negative effect on the quality of tree detection and subsequent biophysical measurements. To construct a pit-free CHM, an algorithm based on robust locally weighted regression and robust z-score was presented to remove data pits. The significant advantage of the new algorithm is parameter-free, which makes it efficient and robust for practical applications. A numerical test and a real-world example were respectively employed to assess the performance of our method for CHM construction, and its results were compared with those of three classical methods including natural neighbor interpolation of the highest point method, mean and median filters. The numerical test demonstrates that our algorithm is more accurate than the other methods for generating pit-free CHMs under the presence of data pits. The real-world example shows that compared with the classical methods, our method has a better ability of data pit removal. Moreover, our method performs better than the other methods for deriving plot-level maximum tree height from CHMs. In a word, the new method shows high potential for pit-free CHM construction.

The HY-2A satellite is the first ocean dynamic environment monitoring satellite of China. Centimeter-level radial accuracy is a fundamental requirement for its scientific research and applications. To achieve this goal, we designed the strategies of precise orbit determination (POD) in detail. To achieve the relative optimal orbit for HY-2A, we carried out POD using DORIS-only, SLR-only, and DORIS + SLR tracking data, respectively. POD tests demonstrated that the consistency level of DORIS-only and SLR-only orbits with respect to the CNES orbits were about 1.81 cm and 3.34 cm in radial direction in the dynamic sense, respectively. We designed 6 cases of different weight combinations for DORIS and SLR data, and found that the optimal relative weight group was 0.2 mm/s for DORIS and 15.0 cm for SLR, and RMS of orbit differences with respect to the CNES orbits in radial direction and three-dimensional (3D) were 1.37 cm and 5.87 cm, respectively. These tests indicated that the relative radial and 3D accuracies computed using DORIS + SLR data with the optimal relative weight set were obviously higher than those computed using DORIS-only and SLR-only data, and satisfied the requirement of designed precision. The POD for HY-2A will provide the invaluable experience for the following HY-2B, HY-2C, and HY-2D satellites.

The increasing availability of big spatial data demands large-scale surface modeling methods. To find a solution for large-scale surface modeling problem, based on previously developed high accuracy surface modeling (HASM) method, an extended high accuracy surface modeling method utilizing cloud computing is developed. The developed method was run on a Hadoop-based cloud computing environment comprising four computers and applied for China’s Poyang Lake basin digital elevation model construction. The experiments results indicate that the cloud computing-based method outperforms the general sequential method based on single computer significantly and attains three times speedups. Furthermore, the improved schedule algorithm for cloud computing-based HASM has further accelerated the computing speed.

Support vector machine for regression (SVR) is an efficient tool for solving function estimation problem. However, it is sensitive to outliers due to its unbounded loss function. In order to reduce the effect of outliers, we propose a robust SVR with a trimmed Huber loss function (SVRT) in this paper. Synthetic and benchmark datasets were, respectively, employed to comparatively assess the performance of SVRT, and its results were compared with those of SVR, least squares SVR (LS-SVR) and a weighted LS-SVR. The numerical test shows that when training samples are subject to errors with a normal distribution, SVRT is slightly less accurate than SVR and LS-SVR, yet more accurate than the weighted LS-SVR. However, when training samples are contaminated by outliers, SVRT has a better performance than the other methods. Furthermore, SVRT is faster than the weighted LS-SVR. Simulating eight benchmark datasets shows that SVRT is averagely more accurate than the other methods when sample points are contaminated by outliers. In conclusion, SVRT can be considered as an alternative robust method for simulating contaminated sample points.

In most cases, climate change projections from General Circulation Models (GCM) and Regional Climate Models cannot be directly applied to climate change impact studies, and downscaling is, therefore, needed. A large number of statistical downscaling methods exist, but no clear recommendations exist of which methods are more appropriate, depending on the application. This paper compares two different statistical downscaling methods, Presim1 and Presim2, using the Coupled Model Intercomparison Project Phase 5 (CMIP5) datasets and station observations. Both methods include two steps, but the major difference between them is how the CMIP5 dataset and the station data used. The downscaled precipitation data are validated with observations through China and Jiangxi province from 1976 to 2005. Results show that GCMs cannot be used directly in climate change impact studies. In China, the second method Presim2, which establishes regression model based on the station data, has a tendency to overestimate or underestimate the real values. The accuracy of Presim1 is much better than Presim2 based on mean absolute error, mean relative error and root mean square error. Presim1 fuses the mode data and station data effectively. Results also show the importance of the meteorological station data in the process of residual modification.

Ground observation is able to obtain highly accurate data with high temporal resolution at observation points, but these observation points are too sparsely to satisfy the application requirements at regional scale. Satellite remote sensing can frequently supply spatially continuous information on earth surface, which is impossible from ground-based investigations, but remote sensing description is not able to directly obtain process parameters. In fact, in terms of fundamental theorem of surfaces, a surface is uniquely defined by the first fundamental coefficients, about the details of the surface observed when we stay on the surface, and the second fundamental coefficients, the change of the surface observed from outside the surface. A method for high accuracy surface modeling (HASM) has been developed initiatively to find solutions for error problem and slow-speed problem of earth surface modeling since 1986. HASM takes global approximate information (e.g., remote sensing images or model simulation results) as its driving field and local accurate information (e.g., ground observation data and/or sampling data) as its optimum control constraints. Its output satisfies the iteration stopping criterion which is determined by application requirement for accuracy. This paper reviews problems to be solved in every development stage and applications of HASM.

In order to find a solution for accurate, topographic data-demanding applications, such as catchment hydrologic modeling and assessments of anthropic activities impact on environmental systems, high-accuracy surface modeling (HASM) method is developed. Although it can produce a digital elevation model (DEM) surface of higher accuracy than classical methods, e.g. inverse distance weighted, spline and kriging, HASM requires numerous iterations to solve large linear systems, which impede its applications in high-resolution and large-scale surface interpolation. This paper aims to demonstrate the utilization of graphics’ processing units (GPUs) device to accelerate HASM in constructing large-scale and high-resolution DEM surfaces. We parallelized the linear system algorithm for solving HASM with Compute Unified Device Architecture, a parallel programming model developed by NVIDIA. We designed a memory-saving strategy to enable the HASM algorithm to run on GPUs. The speedup ratio of GPU-based algorithm was tested and compared with CPU-based algorithm through simulations of both ideal Gaussian synthetic surface and real topographic surface in the loess plateau of Gansu province. The GPU-parallelized algorithm can attain an over 10× speedup ratio with the CPU-based algorithm as a reference. The speedup ratio increases with the scale and resolution of the dataset. The memory management strategy efficiently reduces the memory usage by more than eight times the grid cell number. Implementing HASM in the GPUs device enables modeling large-scale and high-resolution surfaces in a reasonable time period and implies the potential benefits from the use of GPUs as massive, parallel co-processors for arithmetic-intensive data-processing applications.

The inverse-distance weighting (IDW) method is considered as one of the most popular deterministic methods and is widely applied to a variety of areas because of its low computational cost and easy implementation. In this paper, we show that the classical IDW is essentially a zeroth-order local kernel regression method with an inverse distance weight function. Thus, it suffers from various shortcomings, such as the boundary bias. Considering the advantages of the local polynomial modeling technique in statistics, the classical IDW was generalized into a higher-order regression by the Taylor expansion and then computed by means of a weighted least-squares method. Surface modeling of rainfall fields in China indicated that the generalized IDWs with the first- and second-orders are more accurate than the classical IDW in terms of root mean square error (RMSE). The example of digital elevation model construction with a group of sample points showed that the two generalized IDWs have better RMSE and mean error than the classical IDW. Furthermore, the second-order IDW has a better performance than the ordinary kriging in terms of RMSE. A theoretical analysis demonstrated that the gradient-plus-inverse distance squared method presented by Nalder and Wein (Agric For Meteorol 92(4): 211-225, 1998) is a first-order form of the generalized IDW expanded on spatial coordinates and elevation. In a word, the generalized IDW can incorporate multiple covariates, which can better explain the interpolation procedure and might improve its accuracy.

The sensitivities of the initial value and the sampling information to the accuracy of a high accuracy surface modeling (HASM) are investigated and the implementations of this new modeling method are modified and enhanced. Based on the fundamental theorem of surface theory, HASM is developed to correct the error produced in geographical information system and ecological modeling process. However, the earlier version of HASM is theoretically incomplete and its initial value must be produced by other surface modeling methods, such as spline, which limit its promotion. In other words, we must use other interpolators to drive HASM. According to the fundamental theorem of surface theory, we modify HASM, namely HASM.MOD, by adding another important nonlinear equation to make it independent of other methods and, at the same time, have a complete and solid theory foundation. Two mathematic surfaces and monthly mean temperature of 1951-2010 are used to validate the effectiveness of the new method. Experiments show that the modified version of HASM is insensitive to the selection of initial value which is particular important for HASM. We analyze the sensitivities of sampling error and sampling ratio to the simulation accuracy of HASM.MOD. It is found that sampling information plays an important role in the simulation accuracy of HASM.MOD. Another feature of the modified version of HASM is that it is theoretically perfect as it considers the third equation of the surface theory which reflects the local warping of the surface. The modified HASM may be useful with a wide range of spatial interpolation as it would no longer rely on other interpolation methods.

Thin plate spline (TPS) has been widely accepted as a method for smooth fitting of noisy data. However, the classical TPS always has an ill-conditioning problem when two sample points are very close. Although the modified orthogonal least squares-based TPS (TPS-M) avoids this ill-conditioning problem, it is not completely immune to over-fitting when sample points are noisy. In this paper, a regularized least squares method of thin plate spline (TPS-RLS) was developed, which adds a weight penalty term to the error criterion of orthogonal least squares (OLS). TPS-RLS combines the advantages of both regularization and OLS, which avoid the over-fitting and the ill-conditioning problems simultaneously. Numerical tests indicate that irrespective of the standard deviation of sampling errors and the number of knots, TPS-RLS is always more accurate than TPS-M for smooth fitting of noisy data, whereas TPS-M would have a serious over-fitting problem if the optimal number of knots were not determined in advance. The real-world example of fitting total station instrument data shows that among the classical interpolation methods including IDW, natural neighbor and ordinary kriging, TPS-RLS has the highest accuracy for a series of DEMs with different resolutions, especially for the coarse one. Surface modeling of DEMs with contour lines demonstrate that TPS-RLS has a better performance than the classical methods in terms of both root mean squared error and relief shaded map appearance.

We have found that a spatial interpolation of mean annual temperature (MAT) in China can be accomplished using a global ordinary least squares regression model since the relationship between temperature and its environmental determinants is constant. Therefore the estimation of MAT does not very across space and thus exhibits spatial stationarity. The interpolation of mean annual precipitation (MAP), however, is more complex and changes spatially as a function of topographic variation. Therefore, MAP shows spatial non-stationarity and must be estimated with a geographically weighted regression. A statistical transfer function (STF) of MATwas formulated using minimized residuals output from a high accuracy and high speed method for surface modeling (HASM) with an ordinary least squares (OLS) linear equation that uses latitude and elevation as independent variables, abbreviated as HASM- OLS. The STF of MAP under a BOX-COX transformation is derived as a combination of minimized residuals output by HASM with a geographically weighted regression (GWR) using latitude, longitude, elevation, impact coefficient of aspect and sky view factor as independent variables, abbreviated as HASM-GWR-BC. In terms of HASM-OLS and HASM-GWR-BC

The multiquadric method (MQ) with high interpolation accuracy has been widely used for interpolating spatial data. However, MQ is an exact interpolation method, which is improper to interpolate noisy sampling data. Although the least squares MQ (LSMQ) has the ability to smooth out sampling errors, it is inherently not robust to outliers due to the least squares criterion in estimating the weights of sampling knots. In order to reduce the impact of outliers on the accuracy of digital elevation models (DEMs), a robust method of MQ (MQ-R) has been developed. MQ-R includes two independent procedures: knot selection and the solution of the system of linear equations. The two independent procedures were respectively achieved by the space-filling design and the least absolute deviation, both of which are very robust to outliers. Gaussian synthetic surface, which is subject to a series of errors with different distributions, was employed to compare the performance of MQ-R with that of LSMQ. Results indicate that LSMQ is seriously affected by outliers, whereas MQ-R performs well in resisting outliers, and can construct satisfactory surfaces even though the data are contaminated by severe outliers. A real-world example of DEM construction was employed to evaluate the robustness of MQ-R, LSMQ, and the classical interpolation methods including inverse distance weighting method, thin plate spline, and ANUDEM. Results showed that compared with the classical methods, MQ-R has the highest accuracy in terms of root mean square error. In conclusion, when sampling data is subject to outliers, MQ-R can be considered as an alternative method for DEM construction.