The University of Southern Califronia (USC) and the Jet Propulsion Laboratory (JPL) have jointly developed a Global Assimilative Ionospheric Model (GAIM) to monitor space weather, study storm effects, and provide ionospheric calibration for DoD customers and NASA flight projects. GAIM is a physics-based 3D data assimilation model that uses both variational (4DVAR) and Kalman filter techniques to solve for the ion & electron density state and key drivers such as equatorial electrodynamics, neutral winds, and ion production terms. GAIM can accept as input: TEC measurements from the full worldwide network of 1000+ GPS sites; GPS occultation links from CHAMP, SAC-C, IOX, and the COSMIC constellation; UV limb and nadir scans from the TIMED and DMSP satellites; and in situ data from a variety of satellites (C/NOFS & DMSP). GAIM ingests the multiple data sources, in near real-time if available, updates the 3D ion & electron density grid every 5 minutes, and solves for improved drivers every 1-2 hours. Since our forward physics model and corresponding adjoint model were expressly designed for data assimilation and computational efficiency, all of this can be accomplished on one or two Linux workstations. GAIM density retrievals have been validated by comparisons to vertical TEC measurements from TOPEX & JASON, line-of-sight TEC measurements from independent GPS sites, density versus altitude profiles from ionosondes & incoherent scatter radars, and alternative tomographic retrievals.
The varying latency of the NRT data sources, from 5 minutes to 2 hours, presents a serious challenge to any NRT data assimilation system. On the one hand, one wants to provide a NRT density specification by continuously ingesting the low latency data and performing a 3D density (Kalman filter) update every 5 to 15 minutes. However, the powerful datatypes from the space-based platforms, with latencies up to 2 hours, are necessary to accurately image the ionosphere in 3D and, more importantly, estimate ionospheric drivers that are not currently (directly) measurable, thereby enabling forecast. So on the other hand, one would like to fully utilize all of the data by running the assimilation system 2 hours in the past, and then quickly propagating forward to provide a RT specification and forecast. One potential solution is to run two threads that exchange density state and drivers, but tradeoffs in space & time resolution are inevitable and the computation must be kept tractable. In addition, an operational system must deal with other issues such as varying data latencies, data outages, editing & calibrating data in RT, diagnosing when two datatypes are inconsistent, and rejecting erroneous data using post-fit residual checks. Finally, the accuracy of the nowcast & forecast products must be continuously validated by comparisons to independent measurements, both in NRT and after the fact. Since independent datatypes may not be available in NRT, continuous validation must often be done by withholding part of the input dataset and instead reserving it for validation.
A prototype real-time (RT) GAIM system was first demonstrated in May 2004 and is currently running every day. We will present results from this prototype, describe how we handle the NRT measurement stream, and discuss our approach to the many challenges mentioned above.