
Figure 1.
Density of ICESat-2 ATLAS measurements and years of airborne laser scanning (ALS) data. Labels for the Estonian ALS data are “S” for summer and “K” for spring.
Joonis 1. ICESat-2 ATLAS mõõtmiste paiknemine ja Maa-ameti aerolaserskaneerimise aastad. Märgised näitavad suvist ja kevadist aerolidari andmestikku.
Table 1.
The counts of ICESat-2 ATLAS ATL08 dataset pixels, their mean height (H) and standard deviation of height (SH) by measurement year and month compared to the forest mean height.
Tabel 1. Metsa keskmine kõrgus (H) ja standardhälve (SH) ICESat-2 ATLAS pikslitel andmestikus ATL08 mõõtmisaja järgi võrrelduna puistute takseeritud kõrguse keskmisega.
| Year-month Aasta-kuu | ICESat-2 ATLAS ATL08 | Forest inventory / Puistud | ||||
|---|---|---|---|---|---|---|
| Count Arv | H (m) | SH (m) | Count* Arv | H (m) | SH (m) | |
| 2019-06 | 568 | 16.9 | 8.1 | 144 | 16.7 | 8.2 |
| 2019-07 | 204 | 15.0 | 5.9 | 57 | 15.0 | 5.9 |
| 2019-08 | 650 | 17.5 | 7.2 | 165 | 17.0 | 7.1 |
| 2019-09 | 546 | 18.6 | 7.7 | 144 | 18.3 | 7.7 |
| 2020-06 | 520 | 18.0 | 6.5 | 128 | 17.6 | 6.6 |
| 2020-07 | 1269 | 17.7 | 7.0 | 312 | 17.5 | 7.2 |
| 2020-08 | 613 | 18.0 | 6.7 | 144 | 17.4 | 7.1 |
| 2020-09 | 1019 | 17.7 | 6.8 | 255 | 17.3 | 6.7 |
| 2021-06 | 1316 | 16.7 | 6.7 | 308 | 16.2 | 7.0 |
| 2021-07 | 1158 | 17.5 | 7.1 | 269 | 17.2 | 6.8 |
| 2021-08 | 504 | 17.3 | 6.8 | 150 | 17.2 | 6.9 |
| 2021-09 | 377 | 17.0 | 6.9 | 98 | 16.8 | 6.6 |
| 2022-06 | 926 | 18.1 | 6.8 | 245 | 18.3 | 6.7 |
| 2022-07 | 1034 | 17.1 | 6.8 | 274 | 17.0 | 6.6 |
| 2022-08 | 959 | 17.7 | 7.2 | 243 | 17.2 | 7.2 |
| 2022-09 | 1048 | 17.4 | 6.6 | 250 | 17.3 | 6.6 |

Figure 2.
Examples of the influence of ICESat-2 ATLAS scanning track on height difference of canopy surface height calculated from airborne laser scanning (ALS) data and ICESat-2 data ATLAS. The legend shows the ALS measurement time and number of observations. Labels for ALS data are “S” for summer and “K” for spring. Only strong impulses are shown for 2019; in 2020 and 2022 individual tracks contained only strong or weak impulses.
Joonis 2. Näiteid satelliidi ICESat-2 ATLAS skaneerimisraja mõjust satelliidilt ja lennukilt laserskanneriga (ALS) mõõdetud taimkatte pinna kõrguse erinevusele. Legendil on toodud ALS mõõtmisaeg ja ICESat-2 ATLAS pikslite arv. 2019. aasta suve andmetes on näidatud ainult tugevad impulsid, 2020. ja 2022. aasta andmetes sisaldasid rajad ainult nõrku või tugevaid impulsse.

Figure 3.
Difference between the Estonian digital terrain elevation model (DEM) and the model used for ICESat-2 ATLAS ATL08 as a function of longitude and latitude (expressed with colour).
Joonis 3. Eesti ja ICESat-2 ATLAS ATL08 maapinna kõrgusmudelite erinevus sõltuvalt geograafilisest asukohast (värv vastab laiuskraadile).

Figure 4.
Examples of the 95th percentile of airborne laser scanning (ALS) point cloud height distribution and ICESat-2 ATLAS canopy surface height by year and growth season when ALS was done. The symbol colour corresponds to the ICESat-2 pixel location longitude.
Joonis 4. Lennukilt (ALS) ja kosmoselidariga ICESat-2 ATLAS tehtud lasers-kaneerimise andme-test arvutatud puistu pinnamudeli võrdlus ALS mõõtmisaja järgi. Sümboli värv kirjeldab ICESat-2 piksli asukoha geograafilist idapikkust.
Table A1.1.
Model coefficients. Abbreviations and variables: Eq. no – model equation number; Veg.p – vegetation period (‘k’=spring, ‘s’=summer); DF – degrees of freedom; HALS – 95th percentile of airborne lidar point cloud height distribution (m); KALS – canopy cover at 2 m reference height over ground; Conifers – TRUE if evergreen conifers dominate the pixel; Peatland – TRUE if soil is deep peat; Weak.beam – TRUE if track was illuminated by weak beam; Track – label in ICESat-2 ATLAS ATL08 dataset (GT1L, GT1R, GT2L, GT2R, GT3L, GT3R).
Tabel A1.1. Mudelite parameetrid. Lühendid ja tähised: Eq. no – võrrandi number; Veg.p – kasvuperiood (‘k’=kevad, ‘s’=suvi); DF– vabadusastmete arv; HALS – aerolidari punktipilve kõrgusjaotuse 95-protsentiil; KALS – võrastiku katvus 2 m kõrgusel maapinnast; Conifers – TRUE, kui pikslil domineerisid igihaljad okaspuud; Peatland – TRUE, kui piksel asus sügaval turbamullal; Weak.beam – TRUE nõrga impulsiga valgustatud raja korral; Track – vaatluste rada ICESat-2 ATLAS ATL08 andmestiku järgi (GT1L, GT1R, GT2L, GT2R, GT3L, GT3R).
| Model | Model variables | Track | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Eq. No | Year | Veg.p | DF | R2 | RSE (m) | Intercept | HALS (m) | KALS (%) | Conifers | Peatland | Weak. beam | GT1R | GT2L | GT2R | GT3L | GT3R |
| 1 | 2019 | k | 422 | 0.95 | 1.77 | 0.232 | 1.015 | |||||||||
| 2 | 2019 | k | 421 | 0.951 | 1.76 | 0.073 | 0.985 | 0.012 | ||||||||
| 3 | 2019 | k | 420 | 0.951 | 1.76 | 0.077 | 0.984 | 0.013 | −0.081 | |||||||
| 4 | 2019 | k | 419 | 0.951 | 1.75 | 0.222 | 0.971 | 0.017 | −0.099 | −0.513 | ||||||
| 5 | 2019 | k | 421 | 0.95 | 1.77 | 0.311 | 1.012 | −0.379 | ||||||||
| 6 | 2019 | k | 420 | 0.951 | 1.76 | 0.159 | 0.98 | 0.013 | −0.46 | |||||||
| 7 | 2019 | k | 415 | 0.952 | 1.75 | 0.123 | 0.976 | 0.014 | −0.041 | 0.037 | −0.163 | 0.321 | 0.307 | −1.172 | ||
| 1 | 2019 | s | 499 | 0.933 | 1.88 | −0.387 | 1.026 | |||||||||
| 2 | 2019 | s | 498 | 0.934 | 1.87 | −1.124 | 0.987 | 0.018 | ||||||||
| 3 | 2019 | s | 497 | 0.935 | 1.85 | −1.561 | 0.987 | 0.02 | 0.558 | |||||||
| 4 | 2019 | s | 496 | 0.935 | 1.85 | −1.578 | 0.987 | 0.02 | 0.606 | −0.207 | ||||||
| 5 | 2019 | s | 498 | 0.932 | 1.88 | −0.396 | 1.026 | 0.115 | ||||||||
| 6 | 2019 | s | 497 | 0.934 | 1.87 | −1.180 | 0.986 | 0.018 | 0.281 | |||||||
| 7 | 2019 | s | 492 | 0.936 | 1.84 | −1.057 | 0.99 | 0.018 | 0.607 | −0.169 | −0.561 | −0.551 | −0.625 | −0.773 | ||
| 1 | 2020 | k | 1144 | 0.914 | 1.72 | −0.203 | 1.045 | |||||||||
| 2 | 2020 | k | 1143 | 0.917 | 1.70 | −0.543 | 1.00 | 0.017 | ||||||||
| 3 | 2020 | k | 1142 | 0.917 | 1.70 | −0.482 | 0.992 | 0.021 | −0.259 | |||||||
| 4 | 2020 | k | 1141 | 0.917 | 1.69 | −0.355 | 0.983 | 0.022 | −0.239 | −0.26 | ||||||
| 5 | 2020 | k | 1143 | 0.917 | 1.70 | −0.009 | 1.04 | −0.953 | ||||||||
| 6 | 2020 | k | 1142 | 0.919 | 1.67 | −0.347 | 0.995 | 0.017 | −0.944 | |||||||
| 7 | 2020 | k | 1137 | 0.92 | 1.66 | −0.204 | 0.994 | 0.018 | −0.157 | −1.299 | −0.397 | −0.791 | 0.017 | −0.984 | ||
| 1 | 2020 | s | 957 | 0.942 | 1.74 | −0.588 | 1.039 | |||||||||
| 2 | 2020 | s | 956 | 0.942 | 1.73 | −0.985 | 1.011 | 0.012 | ||||||||
| 3 | 2020 | s | 955 | 0.945 | 1.69 | −1.328 | 0.989 | 0.015 | 0.816 | |||||||
| 4 | 2020 | s | 954 | 0.945 | 1.69 | −1.357 | 0.99 | 0.014 | 0.801 | 0.089 | ||||||
| 5 | 2020 | s | 956 | 0.943 | 1.73 | −0.526 | 1.039 | −0.811 | ||||||||
| 6 | 2020 | s | 955 | 0.943 | 1.72 | −0.898 | 1.013 | 0.011 | −0.768 | |||||||
| 7 | 2020 | s | 950 | 0.947 | 1.66 | −1.015 | 0.99 | 0.014 | 0.89 | −1.264 | −0.546 | −0.855 | −0.274 | −1.396 | ||
| 1 | 2021 | k | 434 | 0.892 | 2.0 | 0.665 | 0.987 | |||||||||
| 2 | 2021 | k | 433 | 0.896 | 1.97 | 0.218 | 0.947 | 0.019 | ||||||||
| 3 | 2021 | k | 432 | 0.895 | 1.97 | 0.211 | 0.948 | 0.018 | 0.028 | |||||||
| 4 | 2021 | k | 431 | 0.896 | 1.96 | 0.242 | 0.941 | 0.021 | 0.117 | −0.48 | ||||||
| 5 | 2021 | k | 433 | 0.893 | 1.99 | 0.889 | 0.98 | −0.599 | ||||||||
| 6 | 2021 | k | 432 | 0.897 | 1.96 | 0.443 | 0.94 | 0.019 | −0.61 | |||||||
| 7 | 2021 | k | 427 | 0.898 | 1.94 | 0.4 | 0.95 | 0.017 | −0.023 | 0.143 | −1.613 | −0.008 | −1.2 | −0.223 | ||
| 1 | 2021 | s | 791 | 0.939 | 1.82 | −0.602 | 1.052 | |||||||||
| 2 | 2021 | s | 790 | 0.94 | 1.81 | −1.174 | 1.021 | 0.014 | ||||||||
| 3 | 2021 | s | 789 | 0.94 | 1.81 | −1.221 | 1.016 | 0.015 | 0.153 | |||||||
| 4 | 2021 | s | 788 | 0.94 | 1.81 | −1.313 | 1.022 | 0.014 | 0.096 | 0.22 | ||||||
| 5 | 2021 | s | 790 | 0.939 | 1.82 | −0.544 | 1.052 | −0.518 | ||||||||
| 6 | 2021 | s | 789 | 0.94 | 1.80 | −1.154 | 1.019 | 0.015 | −0.589 | |||||||
| 7 | 2021 | s | 784 | 0.941 | 1.79 | −0.633 | 1.017 | 0.015 | 0.121 | −0.432 | −1.751 | −0.625 | −1.381 | −0.631 | ||
| 1 | 2022 | k | 944 | 0.936 | 1.78 | −0.665 | 1.043 | |||||||||
| 2 | 2022 | k | 943 | 0.936 | 1.77 | −1.13 | 1.014 | 0.013 | ||||||||
| 3 | 2022 | k | 942 | 0.936 | 1.77 | −1.122 | 1.014 | 0.014 | −0.045 | |||||||
| 4 | 2022 | k | 941 | 0.936 | 1.77 | −1.133 | 1.015 | 0.013 | −0.047 | 0.048 | ||||||
| 5 | 2022 | k | 943 | 0.937 | 1.77 | −0.521 | 1.038 | −0.863 | ||||||||
| 6 | 2022 | k | 942 | 0.937 | 1.76 | −0.94 | 1.014 | 0.012 | −0.763 | |||||||
| 7 | 2022 | k | 937 | 0.937 | 1.76 | −2.184 | 1.017 | 0.011 | 0.012 | 1.306 | 0.303 | 1.061 | 1.172 | 1.204 | ||
| 1 | 2022 | s | 1374 | 0.923 | 1.64 | −0.405 | 1.041 | |||||||||
| 2 | 2022 | s | 1373 | 0.925 | 1.62 | −1.371 | 1.01 | 0.018 | ||||||||
| 3 | 2022 | s | 1372 | 0.926 | 1.60 | −1.788 | 0.999 | 0.021 | 0.508 | |||||||
| 4 | 2022 | s | 1371 | 0.926 | 1.61 | −1.771 | 0.997 | 0.021 | 0.515 | −0.037 | ||||||
| 5 | 2022 | s | 1373 | 0.924 | 1.63 | −0.303 | 1.039 | −0.497 | ||||||||
| 6 | 2022 | s | 1372 | 0.925 | 1.62 | −1.216 | 1.011 | 0.016 | −0.41 | |||||||
| 7 | 2022 | s | 1367 | 0.927 | 1.59 | −1.995 | 1 | 0.019 | 0.544 | 0.376 | −0.532 | 0.266 | 0.051 | 0.459 | ||
Table A1.2.
Significance (‘***’ 0.001 ‘**’ 0.01 ‘*’ 0.05 ‘.’ 0.1 ‘ ’ 1) of model coefficients. Abbreviations and variables are the same as in Table A1.1.
Tabel A1.2. Mudelite parameetrite olulisus (‘***’ 0.001 ‘**’ 0.01 ‘*’ 0.05 ‘.’ 0.1 ‘ ’ 1). Lühendid ja tähised on samad nagu tabelis A1.1.
| Model | Significance / Olulisus | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Eq. No | Year | Veg.p | Intercept | HALS (m) | KALS (%) | Conifers | Peatland | Weak. beam | GT1R | GT2L | GT2R | GT3L | GT3R |
| 1 | 2019 | k | *** | ||||||||||
| 2 | 2019 | k | *** | * | |||||||||
| 3 | 2019 | k | *** | * | |||||||||
| 4 | 2019 | k | *** | * | * | ||||||||
| 5 | 2019 | k | *** | ||||||||||
| 6 | 2019 | k | *** | * | |||||||||
| 7 | 2019 | k | *** | * | ** | ||||||||
| 1 | 2019 | s | . | *** | |||||||||
| 2 | 2019 | s | *** | *** | ** | ||||||||
| 3 | 2019 | s | *** | *** | ** | *** | |||||||
| 4 | 2019 | s | *** | *** | *** | *** | |||||||
| 5 | 2019 | s | . | *** | |||||||||
| 6 | 2019 | s | *** | *** | ** | ||||||||
| 7 | 2019 | s | ** | *** | ** | *** | * | * | * | ||||
| 1 | 2020 | k | *** | ||||||||||
| 2 | 2020 | k | ** | *** | *** | ||||||||
| 3 | 2020 | k | ** | *** | *** | * | |||||||
| 4 | 2020 | k | * | *** | *** | * | * | ||||||
| 5 | 2020 | k | *** | *** | |||||||||
| 6 | 2020 | k | * | *** | *** | *** | |||||||
| 7 | 2020 | k | *** | *** | *** | ** | ** | *** | |||||
| 1 | 2020 | s | *** | *** | |||||||||
| 2 | 2020 | s | *** | *** | *** | ||||||||
| 3 | 2020 | s | *** | *** | *** | *** | |||||||
| 4 | 2020 | s | *** | *** | *** | *** | |||||||
| 5 | 2020 | s | *** | *** | *** | ||||||||
| 6 | 2020 | s | *** | *** | ** | *** | |||||||
| 7 | 2020 | s | *** | *** | *** | *** | *** | *** | * | . | *** | ||
| 1 | 2021 | k | * | *** | |||||||||
| 2 | 2021 | k | *** | *** | |||||||||
| 3 | 2021 | k | *** | ** | |||||||||
| 4 | 2021 | k | *** | *** | . | ||||||||
| 5 | 2021 | k | ** | *** | * | ||||||||
| 6 | 2021 | k | *** | *** | * | ||||||||
| 7 | 2021 | k | *** | ** | * | * | |||||||
| 1 | 2021 | s | ** | *** | |||||||||
| 2 | 2021 | s | *** | *** | ** | ||||||||
| 3 | 2021 | s | *** | *** | *** | ||||||||
| 4 | 2021 | s | *** | *** | ** | ||||||||
| 5 | 2021 | s | ** | *** | * | ||||||||
| 6 | 2021 | s | *** | *** | *** | ** | |||||||
| 7 | 2021 | s | *** | *** | ** | ** | |||||||
| 1 | 2022 | k | *** | *** | |||||||||
| 2 | 2022 | k | *** | *** | *** | ||||||||
| 3 | 2022 | k | *** | *** | *** | ||||||||
| 4 | 2022 | k | *** | *** | *** | ||||||||
| 5 | 2022 | k | ** | *** | *** | ||||||||
| 6 | 2022 | k | *** | *** | ** | *** | |||||||
| 7 | 2022 | k | *** | *** | ** | *** | ** | * | ** | ||||
| 1 | 2022 | s | ** | *** | |||||||||
| 2 | 2022 | s | *** | *** | *** | ||||||||
| 3 | 2022 | s | *** | *** | *** | *** | |||||||
| 4 | 2022 | s | *** | *** | *** | *** | |||||||
| 5 | 2022 | s | * | *** | *** | ||||||||
| 6 | 2022 | s | *** | *** | *** | ** | |||||||
| 7 | 2022 | s | *** | *** | *** | *** | * | * | * | ||||