MODIS GEOLOCATION CONTROL POINT RESIDUALS
VERSION 5 PRODUCT FORMAT
Version 5.0.0
November 29, 2004
This document specifies the MODIS geolocation control point residuals
product (MOD03CP) format. The product is stored as a Hierarchical
Data Format (HDF) file for each granule of MODIS data. It contains
records of MODIS geolocated observed terrestrial features that have
been identified with catalogued reference features. Identification
is performed using correlation with land feature chips and centroid
and dimensional matching of islands.
The specification is organized into two sections: global metadata
and control point records. The Metadata are intended to satisfy
both the ECS requirements for organizing, ingesting, cataloging, and
searching data products; and the user's needs for product
documentation. In this document the global metadata are subdivided
into ECS granule core and product-specific metadata.
The baseline HDF implementation of this product is as follows: ECS
granule metadata are stored in the ECS-defined format of large PVL
text blocks in HDF global attributes. All other global metadata are
stored as individual HDF global attributes, except for the
"Average Temperature" vdata, which has a single record. The control
point records are stored in a single HDF Vdata.
1. Global Metadata
1.1 ECS Granule Metadata
These metadata elements will be stored using the ECS metadata tools as
PVL text blocks in accordance with ECS standards. The inventory fields
will be stored in two ECS PVL strings in the HDF global attributes
named CoreMetadata.0 and ArchiveMetadata.0. All of these fields are
defined in detail in the V2 MODIS Metadata Dictionary. The data type
field listed below is relevant for I/O of these fields only, since each
set of metadata is stored as a single PVL text block. The supported
data types for ECS metadata are STRING, DOUBLE, and INTEGER.
Metadata Name Data Type Example
============= ========= =======
HDF File Attibute: CoreMetadata.0
---------------------------------
SHORTNAME STRING "MOD03CP"
VERSIONID STRING 4
RANGEBEGINNINGDATE STRING "2001-09-28"
RANGEBEGINNINGTIME STRING "09:35:00.000000"
RANGEENDINGDATE STRING "2001-09-28"
RANGEENDINGTIME STRING "09:40:00.000000"
LOCALGRANULEID STRING
"MOD03CP.A20010928.0935.004.2001275092316.hdf"
PRODUCTIONDATETIME STRING "YYYY-MM-DDThh:mm:ss.sssZ"
HDF File Attibute: ArchiveMetadata.0
------------------------------------
EASTBOUNDINGCOORDINATE DOUBLE -172.362889
WESTBOUNDINGCOORDINATE DOUBLE 179.32333l
NORTHBOUNDINGCOORDINATE DOUBLE 88.329234
SOUTHBOUNDINGCOORDINATE DOUBLE 67.239934
DESCRREVISION STRING "5.0"
PRODUCTIONHISTORY STRING "PGE60:5.0.0;
PGE11:4.3.1;PGE02:4.3.0;PGE01:4.1.10;PGE02:5.0.1;PGE01:4.1.12;PGE01:5.0.1"
1.2 MODIS Geolocation Specific Granule Metadata
These fields will be stored as individual HDF attributes.
Attribute Name Format Example
============== ====== =======
Spacecraft ID string "Terra" or "Aqua"
Production Date string "1995-01-01"
"YYYY-MM-DD"
GRANULENUMBER uint16 50
RANGEBEGINNINGDATE string "1995-01-01"
"YYYY-MM-DD"
RANGEBEGINNINGTIME string "00:00:00.000000Z"
"HH:MM:SS.SSSSSS"
RANGEENDINGDATE string "1995-01-01"
"YYYY-MM-DD"
RANGEENDINGTIME string "00:02:30.000000Z"
"HH:MM:SS.SSSSSS"
s/c start position float64(3) [6378140.0,0.0,0.0]
(in granule, ECR, meters)
s/c end position float64(3) [5005000.0,5005000.0,0.0]
(in granule, ECR, meters)
ORBITNUMBER uint16 28
(in granule)
Parameter Version String "5.0"
Version number of the control point parameters used by MOD03CP.
Geo Parameter Version String "5.3"
Version number of the Geolocation parameters used by MOD03.
Band_number String "1", "2", or "A"
Band(s) used for land control point correlation.
Cloud_select String "On" or "Off"
Snow_select String "On" or "Off"
Ice_select String "On" or "Off"
land_select String "On" or "Off"
single_island_select String "On" or "Off"
triplet_select String "Off" (obsolescent)
Number of Records uint16 10
Cumulated gflags uint32(8) 2682
1.3 "Average Temperatures"
There will be exactly one record stored in this vdata:
_FillValue: -999.0
Field Name Type
-------------------------------
TA_RC_SMIR_CFPA float32
units: "Kelvin"
valid_range: 50.0 to 118.0
TP_AO_SMIR_OBJ float32
units: "Celsius"
valid_range: -21.0 to 87.0
TP_MF_CALBKHD_SR float32
units: "Celsius"
valid_range: -23.0 to 87.0
TP_MF_Z_BKHD_BB float32
units: "Celsius"
valid_range: -23.0 to 87.0
TP_SA_RCT1_MIR float32
units: "Celsius"
valid_range: -21.0 to 87.0
TP_SR_SNOUT float32
units: "Celsius"
valid_range: -23.0 to 87.0
2.0 Control Point match records
The Control Point match records are contained in a Vdata structure within
the HDF file. The name of the Vdata is followed by a list of fields in
the Vdata. Each land control point and island match generates a record.
Island triplet matches generate three consecutive records. The number
of records in the Vdata will depend upon the number of successful
control point matchings performed.
Control Point Matches
=====================
Field Name Data Type Typical Value
---------- --------- -------------
Control Point Location x float64 ECR coordinates (meters)
Control Point Location y float64 ECR coordinates (meters)
Control Point Location z float64 ECR coordinates (meters)
Observed Control Point x float64 ECR coordinates (meters)
Observed Control Point y float64 ECR coordinates (meters)
Observed Control Point z float64 ECR coordinates (meters)
S/C position x float64 ECR coordinates (meters)
S/C position y float64 ECR coordinates (meters)
S/C position z float64 ECR coordinates (meters)
S/C velocity x float64 ECR coordinates (meters/second)
S/C velocity y float64 ECR coordinates (meters/second)
S/C velocity z float64 ECR coordinates (meters/second)
S/C attitude roll float64 With respect to the orbit frame
(degrees)
S/C attitude pitch float64 With respect to the orbit frame
(degrees)
S/C attitude yaw float64 With respect to the orbit frame
(degrees)
Time of observation float64 TAI: Sec. since midnight 1/1/93
Control Point view vector x float32 Unit View vector component
to the control point in the
spacecraft coordinate system
Control Point view vector y float32 Unit View vector component
to the control point in the
spacecraft coordinate system
Control Point view vector z float32 Unit View vector component
to the control point in the
spacecraft coordinate system
Observation line number float32 Fractional (1km) line number
where the control point is
observed.
Observation frame number float32 Fractional (1km) frame number
where the control point is
observed.
DEM uncertainty float32 DEM uncertainty of (land)
control point.
-1.0 indicated unknown
Measurement uncertainty float32 Islands: 250. (meters)
Land: 0.56 (correlation,
no units)
Control Point ID uint32 Combined with Control Point
Type, uniquely identifies
a control point.
Scan Number uint16 2
Control Point Type uint8 1 = land
2 = island
MODIS band used uint8 1
Mirror Side uint8 0 or 1
Error Flag uint8 bit 0 set: correlation too low
(CP not found)
bit 1 set: too cloudy/snowy/icy
bit 2 set: multiple possible
observed control points
bit 3 set: observed control
point (most likely)
exterior to search area
Maneuver Flag int8 0: Normal
1: Spacecraft was maneuvering
-127: Fill Value
Spare1 uint8 Spare