US Commercial Imaging Satellites
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1 US Commercial Imaging Satellites In the early 1990s, Russia began selling 2-meter resolution product from its archives of collected spy satellite imagery. Some of this product was down-sampled to provide coarser resolution than the originals. And there was fear that Russia would offer even higher resolution imagery. The French were planning SPOT 5 with close to 2.5-m resolution imagery (Indeed SPOT 5 was launched in 2002). And the French could conceivably offer 1-m resolution imagery from their HELIOS spy satellite. US firms were pressing the government to allow them to compete in this marketplace. In 1992, Congress passed the Land Remote Sensing Policy Act, which set forth the provisions for the licensing of US commercial imaging satellites. And in March 1994, the Clinton Administration issued Presidential Decision Directive (PDD) 23 providing specific guidelines for licensing high-resolution image collectors. Since then, a number of US firms have received licenses to provide 1-m and 0.5-m resolution imagery. This new generation of commercial satellites serves as dual-use collectors. Besides providing on demand product to the international marketplace, they can also satisfy some of the lower resolution needs of the US military and intelligence community, allowing the latter to focus their resources at the high end of the spectrum. The launch of IKONOS II on September 24, 1999 marked the beginning of the modern era of commercial imaging. And second generation higher resolution commercial imaging satellites are already on line. IKONOS II and QuickBird 2 The most successful companies in the commercial imaging arena are GeoEye (formerly Space Imaging) with its IKONOS II satellite, and DigitalGlobe (formerly EarthWatch) with its QuickBird-2 satellite. IKONOS II in a 682-km altitude orbit has been providing 0.82-m resolution imagery since late QuickBird-2 in a 450-km altitude orbit began providing m resolution imagery in February QuickBird 2 imagery has been the mainstay of GOOGLE Maps until more recent satellites. IKONOS provides 11-km swath widths along nadir, while QuickBird provides 16.5-km swath widths. The spectral bands and the relative resolutions for these two satellites are listed in Table 1. The multi-spectral bands are the same as Thematic Mapper bands 1, 2, 3 and 4 used on Landsat 4 and 5. This is fortunate from a scientific standpoint it standardizes product collection and facilitates long-term change detection and comparisons. TABLE 1. Spectral Bands Band Wavelength (µm) Resolution Pan /900 1x Blue x Green x Red x NIR x 1 Richard R. Auelmann
2 IKONOS and QuickBird employ pushbroom scan, with detectors for each of the bands located one behind the other. The bands are collected almost simultaneously making it possible to provide pan sharpened natural color images (colorized images at near the pan resolution). Examples are shown in Figures 1 and 2. Figure 1. Ground Zero taken by IKONOS 2 (GeoEye) Figure 2. Washington National Airport taken by QuickBird 2 (DigitalGlobe) 2 Richard R. Auelmann
3 Largely because Lockheed-Martin built IKONOS II and Ball built QuickBird-2, the two satellites look quite different (Figure 3). Kodak (now ITT) provided the sensors. Both satellites use reaction wheels for attitude control, and can point off vertical (either fore and aft or to the side) while collecting in scans parallel to the satellite track. IKONOS II QuickBird 2 Figure 3. Two Key Satellites of the Modern Era of Commercial Imaging The design and performance details for IKONOS and QuickBird are presented in Table 1. They are from Internet sources (not all in precise agreement). Both satellites are in circular, Sun synchronous orbits that cross the equator at 10:30 AM traveling north to south. Performance is shown when viewing along nadir and when viewing 30 off to the side. IKONOS has choices of 10, 13, 18, 24 and 32 stages of time-delayed integration (TDI) for the pan band. It is interesting that IKONOS, with its maximum line rate of 6500 lps, cannot employ all 32 stages when scanning at the ground orbit rate along nadir. To do so would require a line rate of 8300 lps. The QuickBird 2 sensor has twice as many detectors, but the same number of TDI stages as IKONOS. Its maximum line rate is unspecified, and may be higher than the IKONOS value because its GSD is smaller. However, it would have to be 11,700 lps to employ all 32 stages of TDI when scanning at its ground orbit rate along nadir. The multispectral cover the same swath widths as the pan band, and do not employ TDI. Both satellites are capable of producing stereo images on a single orbit pass. This is done by first pointing forward to image a ground segment and than pointing aft to image the same image from a different aspect angle. Judging from the large number of technical papers on the subject, stereo image collection appears to be an important business segment, especially for GeoEye. Stereo imaging serves two separate functions: to provide a 3-dimensional view of the scene, and to geolocate the scene. Geolocation of a scene without any ground reference points requires precise knowledge of the vehicle location and sensor LOS direction at the time of the image collects. Even though IKONOS flies at a higher altitude than QuickBird, IKONOS provides tighter geolocation, mainly because of its more accurate pointing knowledge capability. 3 Richard R. Auelmann
4 TABLE 2. IKONOS II and QuickBird 2 Design Parameters Orbit Parameters units IKONOS IKONOS QuickBird QuickBird Complete orbits per day, I Coverage repeat period, N solar days Residual, K Orbits per day, Q = I + (K/N) Orbits per repeat period, R = NQ Orbit period min Mean orbit rate, n rad/sec Semi-major axis, a km Orbit altitude km Sun synchronous inclination deg South-bound equatorial crossing time hour 10:30AM 10:30AM 10:30AM 10:30AM Orbit speed km/sec Ground speed km/sec Earth rotation per orbit period deg Distance between passes km Daily step interval km Viewing Geometry Earth centered viewing offset, ϕ deg Range, r km Off nadir view angle, θ deg Zenith angle, ψ deg Ground offset, r E ϕ km Pushbroom Sensor Spectral band (pan) µm Mean wavelength µm Pixel pitch, p µm Aperture diameter, D m Focal length, f m IFOV µrad F# = f/d Optical Q Detector array (cross track) pixels Detectors in TDI pixels Max line rate Klps Bits per pixel Bits per pixel (compressed) On board storage Gbits X-band downlink Mbit/s Ground Projection r*ifov m r*ifov / cos ψ m GSD m Effective resolution m Ground swath width (nadir or side) km Geolocation CE90 w/o GCP m CE90 with GCP m 2 4 Richard R. Auelmann
5 Second Generation Partly with government funding, DigitalGlobe and GeoEye developed the second generation of commercial imaging satellites. DigitalGlobe launched WorldView 1 in September It provides 0.5-m resolution pan imagery from a 496-km altitude circular, Sun synchronous orbit. It carries only a 0.45 µm to 0.9 µm pan band. One of its early images is shown in Figure 4. Figure 4. One of the Early release WorldView 1 Images (Houston, Texas) (DigitalGlobe) GeoEye launched GeoEye -1 in September Deployed at nearly the same altitude as IKONOS, it provides 0.41-m resolution panchromatic and the same four multi-color bands as IKONOS at four times coarser resolution than its pan band. Figure 5 shows its first released natural color image. Because of the government licensing agreement, the image is likely resampled to 0.5-m resolution (the resolution limit for general distribution of commercial imagery under the license). 5 Richard R. Auelmann
6 Figure 5. First GeoEye 1 Image: Kutztown, PA, October 7, (GeoEye) DigitalGlobe launched WorldView 2 in October It provides 0.46-m resolution panchromatic imagery from a 773-km orbit. along with eight multi-spectral bands at four times coarser resolution. These bands are listed in Table 3. The pan, red, green and blue bands are slightly modified from those employed on IKONOS, QuickBird 2 and GeoEye 1. TABLE 3. Spectral Bands for WorldView 2 Band Wavelength (µm) Resolution Time-Delayed Integration Pan x 8 to 64, 6 levels Coastal x 3 to 24, 7 levels Blue x " Green x " Yellow x " Red x " Red Edge x " NIR x " NIR x " The design parameters for these three satellites are presented in Table 4. Performance is again shown when viewing along nadir and at specified off nadir angles. The focal lengths are determined from the stated resolutions for the given altitudes, and the fact ITT will switch to the smaller 8-µm pixels for the pan band. The sensors for GeoEye-1 and WorldView 2 are believed to be the same with 1.1-m aperture diameters (to achieve a near Q = 1 optical design). However, there may be small differences in the number of detectors based on the published swath widths. 6 Richard R. Auelmann
7 WorldView 1 uses the 0.6-m primary mirror design (from QuickBird), but with a somewhat shorter focal length (8 m versus 8.84 m), because of the smaller pixels. The other uncertainty concerns the maximum line rate, which is speculated to be as high as 20 Klps. Line rates lower than this would make it inefficient to employ cross track scan. Also noteworthy is the continued greater emphasis that GeoEye seems to place on geolocation accuracy than DigitalGlobe. TABLE 4. Design Parameters for Three Next Generation Commercial Satellites Orbit Parameters units GEOEYE 1 WorldView 1 WorldView 2 WorldView 2 Complete orbits per day, I Coverage repeat period, N solar days Residual, K Orbits per solar day, Q = I + (K/N) ` Orbits per repeat period, R = NQ Orbit period min Mean orbit rate, n rad/sec Semi-major axis, a km Orbit altitude km Sun synchronous inclination deg North-to-South Equatorial crossing hour 10:30AM 10:30AM 10:30AM 10:30AM 10:30AM 10:30AM 10:30AM 10:30AM Orbit speed km/sec Ground speed km/sec Earth rotation per orbit period (deg) Distance between passes km Daily step interval km Viewing Geometry Earth centered viewing offset, ϕ deg Range, r km Off nadir view angle, θ deg Zenith angle, ψ deg Ground offset, r E ϕ km Sensor WorldView 2 Scan Pushbroom Pushbroom Pushbroom Pushbroom Cross track Crosstrack Spectral band (PAN) µm Mean wavelength µm Pixel pitch, p µm Aperture diameter, D m Focal length, f m IFOV µrad F# = f/d Optical Q Detector array (cross track) pixels/line Detectors in TDI pixels Maximum line rate Klps Bits per pixel bpp Bits per pixel (Compressed) bpp On board strorage Gbits X-band downlink Mbps MS Bands Number 4 none 8 Relative Resolution to Pan 4x 4x Ground Projection r*ifov m r*ifov / cos ψ m GSD m Effective resolution m Ground swath (perpendicular to scan) km Geolocation CE90 w/o GCP m CE90 with GCP m 2 2 Besides higher resolution than their predecessors, these new satellites provide tighter geolocation registration and more robust collection capabilities. General Dynamics built GeoEye -1, and Ball built WorldView 1 and is building WorldView 2. To provide enhanced re-pointing capabilities GeoEye-1 uses bigger reaction wheels than on IKONOS, while WorldView 1 and 2 7 Richard R. Auelmann
8 use control moment gyros. It is speculated that GeoEye-1 will continue to operate in a pushbroom mode, while the WorldView satellites will operate in a bi-directional cross track scan mode, which is more efficient (though more complicated) than pushbroom scan. ITT is again providing the sensors for the next generation satellites. References The best source of information on the QuickBird 2, WorldView 1 and WorldView 2 satellites is the DigitalGlobe web site: For information on IKONOS II and GeoEye 1 see the GeoEye web site: The Sharing Earth Observation Resources website: provides data on most Earth imaging satellites including IKONOS II, QuickBird 2, and WorldView 1. communication with James Whitehead of Space Imaging September 10, 2001 provided information of the IKONOS telescope and sensor. Celentano, Andrea, WorldView 1 & 2 Latest Status, Eurimage, C_Celentano_Worldview.pdf 8 Richard R. Auelmann
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