Copernicus: Sentinel-2 — The Optical Imaging Mission for Land Services
Sentinel-2 is a multispectral operational imaging mission within the GMES (Global Monitoring for Environment and Security) program, jointly implemented by the EC (European Commission) and ESA (European Space Agency) for global land observation (data on vegetation, soil and water cover for land, inland waterways and coastal areas, and also provide atmospheric absorption and distortion data corrections) at high resolution with high revisit capability to provide enhanced continuity of data so far provided by SPOT-5 and Landsat-7. 1) 2) 3) 4) 5) 6) 7) 8)
Table 1: Copernicus is the new name of the former GMES program 9)
The overall GMES user requirements of the EU member states call for optical observation services in the areas of Global Climate Change (Kyoto Protocol and ensuing regulations), sustainable development, European environmental policies (e.g. spatial planning for Soil Thematic Strategy, Natura 2000 and Ramsar Convention, Water Framework Directive), European civil protection, common agricultural policy, development and humanitarian aid, and EU Common Foreign & Security Policy.
To meet the user needs, the Sentinel-2 satellite data will support the operational generation of the following high level products like:
• Generic land cover, land use and change detection maps (e.g. CORINE land cover maps update, soil sealing maps, forest area maps)
• Maps of geophysical variables (e.g. leaf area index, leaf chlorophyll content, leaf water content).
The mission is dedicated to the full and systematic coverage of land surface (including major islands) globally with the objective to provide cloud-free products typically every 15 to 30 days over Europe and Africa. To achieve this objective and to provide high mission availability, a constellation of two operational satellites is required, allowing to reach a 5-day geometric revisit time. The revisit time with only one operational satellite as it will be the case at the beginning of the deployment of the system is 10 days. - In comparison, Landsat-7 provides a 16-day geometric revisit time, while SPOT provides a 26-day revisit, and neither of them provides systematic coverage of the overall land surface.
The following list summarizes the top-level system design specifications derived from the user requirements:
• Sentinel-2 will provide continuity of data for services initiated within the GSE (GMES Service Element) projects. It will establish a key European source of data for the GMES Land Fast Track Monitoring Services and will also contribute to the GMES Risk Fast Track Services.
• The frequent revisit and high mission availability goals call for 2 satellites in orbit at a time, each with a 290 km wide swath using a single imaging instrument
• Continuous land + islands carpet mapping imaging within the latitude range of -56º to +83º (the selected orbit excludes imagery from Antarctica)
• 10 m, 20 m, and 60 m spatial resolution (in the VNIR to SWIR spectral range) to identify spatial details consistent with 1 ha MMU (Minimum Mapping Unit)
• An accurate geolocation (< 20 m) of the data is required (without GCPs) and shall be produced automatically to meet the timeliness requirements. The geolocation accuracy of Level 1 b imagery data w.r.t. WGS-84 (World Geodetic System - 1984) reference Earth ellipsoid of better than 20 m at 2σ confidence level without need of any ground control points is required.
• Very good radiometric image quality (combination of onboard absolute and on ground vicarious calibration).
• The mission lifetime is specified as 7.25 years and propellant is to be sized for 12 years, including provision for de-orbiting maneuvers at end-of-life.
• 2 weeks of satellite autonomy and maximum decoupling between flight operations and mission exploitation
Table 2: Sentinel-2 fast track service compliance to land user requirements
To provide operational services over a long period (at least 15 years following the launch of the first satellites), it is foreseen to develop a series of four satellites, with nominally two satellites in operation in orbit and a third one stored on ground as back-up.
In partnership: The Sentinel-2 mission has been made possible thanks to the close collaboration between ESA, the European Commission, industry, service providers and data users. Demonstrating Europe's technological excellence, its development has involved around 60 companies, led by Airbus Defence and Space in Germany for the satellites and Airbus Defence and Space in France for the multispectral instruments. 10)
The mission has been supported in kind by the French space agency CNES to provide expertise in image processing and calibration, and by the German Aerospace Center DLR that provides the optical communication payload, developed by Tesat Spacecom GmbH.
This piece of technology allows the Sentinel-2 satellites to transmit data via laser to satellites in geostationary orbit carrying the European Data Relay System (EDRS). This new space data highway allows large volumes of data to be relayed very quickly so that information can be even more readily available for users.
Seven years in the making, this novel mission has been built to operate for more than 20 years. Ensuring that it will meet users' exacting requirements has been a challenging task. Developing Sentinel-2 has involved a number of technical challenges, from early specification in 2007 to qualification and acceptance in 2015.
The satellite requires excellent pointing accuracy and stability and, therefore, high-end orbit and attitude control sensors and actuators. The multispectral imager is the most advanced of its kind, integrating two large visible near-infrared and shortwave infrared focal planes, each equipped with 12 detectors and integrating 450,000 pixels.
Pixels that may fail in the course of the mission can be replaced by redundant pixels. Two kinds of detectors integrate high-quality filters to isolate the spectral bands perfectly. The instrument's optomechanical stability must be extremely high, which has meant the use of silicon carbide ceramic for its three mirrors and focal plane, and for the telescope structure itself.
The geometric performance requires strong uniformity across the focal planes to avoid image distortion. The radiometric performance excluded any compromise regarding stray light, dictating a tight geometry and arrangement of all the optical and mechanical elements. The instrument is equipped with a calibration and shutter mechanism that integrates a large spectralon sunlight diffuser.
Each satellite has a high level of autonomy, so that they can operate without any intervention from the ground for periods of up to 15 days. This requires sophisticated autonomous failure analysis, detection and correction on board.
The ‘carpet mapping' imaging plan requires acquisition, storage and transmission of 1.6 TB per orbit. This massive data blast results from the combination of the 290 km swath with 13 spectral channels at a spatial resolution as high as 10 m.
In addition, the optical communication payload using the EDRS data link is a new technology that will improve the amount and speed of data delivery to the users. This was very recently demonstrated by Sentinel-1A, which also carries an optical communication payload.
Land in focus: Ensuring that land is used sustainably, while meeting the food and wood demands of a growing global population – a projected eight billion by 2020 – is one of today's biggest challenges. The Copernicus land service provides information to help respond to global issues such as this as well as focusing on local matters, or ‘hotspots', that are prone to specific challenges.
However, this service relies on very fast revisit times, timely and accurate satellite data in order to make meaningful information available to users – hence, the role of Sentinel-2. Through the service, users will have access to information about the health of our vegetation so that informed decisions can be made – whether about addressing climate change or how much water and fertilizer are needed for a maximum harvest.
Sentinel-2 is able to distinguish between different crop types and will deliver timely data on numerous plant indices, such as leaf area index, leaf chlorophyll content and leaf water content – all of which are essential to accurately monitor plant growth. This kind of information is essential for precision farming: helping farmers decide how best to nurture their crops and predict their yield.
While this has obvious economic benefits, this kind of information is also important for developing countries where food security is an issue. The mission's fast geometric revisit of just five days, when both satellites are operational, and only 10 days with Sentinel-2A alone, along with the mission's range of spectral bands means that changes in plant health and growth status can be easily monitored.
Sentinel-2 will also provide information about changes in land cover so that areas that have been damaged or destroyed by fire, for example, or affected by deforestation, can be monitored. Urban growth also can be tracked.
The Copernicus services are managed by the European Commission. The five ‘pan-European' themes covering 39 countries are addressed by the land service, including sealed soil (imperviousness), tree cover density, forest type, and grasslands. There is currently insufficient cloud-free satellite data in high resolution with all the necessary spectral bands that cover Europe fast enough to monitor vegetation when it is growing rapidly in the summer. Sentinel-2 will fill this gap.
This multi-talented mission will also provide information on pollution in lakes and coastal waters at high spatial resolution and with frequent coverage. Frequent coverage is also key to monitoring floods, volcanic eruptions and landslides. This means that Sentinel-2 can contribute to disaster mapping and support humanitarian aid work.
Leading edge: The span of 13 spectral bands, from the visible and the near-infrared to the shortwave infrared at different spatial resolutions ranging from 10 to 60 m on the ground, takes global land monitoring to an unprecedented level.
The four bands at 10 m resolution ensure continuity with missions such as SPOT-5 or Landsat-8 and address user requirements, in particular, for basic land-cover classification. The six bands at 20 m resolution satisfy requirements for enhanced land-cover classification and for the retrieval of geophysical parameters. Bands at 60 m are dedicated mainly to atmospheric corrections and cirrus-cloud screening.
In addition, Sentinel-2 is the first civil optical Earth observation mission of its kind to include three bands in the ‘red edge', which provide key information on the vegetation state.
Thanks to its high temporal and spatial resolution and to its three red edge bands, Sentinel-2 will be able to see very early changes in plant health. This is particularly useful for the end users and policy makers to detect early signs of food shortages in developing countries (Ref. 10).
Table 3: Facts and figures
In April 2008, ESA awarded the prime contract to Airbus Defence and Space (former EADS-Astrium GmbH) of Friedrichshafen, Germany to provide the first Sentinel-2A Earth observation satellite. In the Sentinel-2 mission program, Astrium is responsible for the satellite's system design and platform, as well as for satellite integration and testing. Astrium Toulouse will supply the MSI (MultiSpectral Instrument), and Astrium Spain is in charge of the satellite's structure pre-integrated with its thermal equipment and harness. The industrial core team also comprises Jena Optronik (Germany), Boostec (France), Sener and GMV (Spain). 11) 12) 13) 14)
Sentinel-2 uses the AstroBus-L of EADS Astrium, a standard modular ECSS (European Cooperation for Space Standards) compatible satellite platform compatible with an in-orbit lifetime of up to 10 years, with consumables sizeable according to the mission needs. The platform design is one-failure tolerant and the standard equipment selection is based on minimum Class 2 EEE parts, with compatibility to Class 1 in most cases. The AstroBus-L platform is designed for direct injection into LEO (Low Earth Orbit). Depending on the selection of standard design options, AstroBus-L can operate in a variety of LEOs at different heights and with different inclinations. An essential feature of AstroBus-L is the robust standard FDIR (Failure Detection, Isolation and Recovery) concept, which is hierarchically structured and can easily be adapted to specific mission needs.
Figure 1: Artist's rendition of the Sentinel-2 spacecraft (image credit: ESA, Airbus DS)
The satellite is controlled in 3-axes via high-rate multi-head star trackers, mounted on the camera structure for better pointing accuracy and stability, and gyroscopes and a GNSS receiver assembly. The AOCS (Attitude and Orbit Control Subsystem) comprises the following elements: 18)
• A dual frequency GPS receiver (L1/L2 code) for position and time information
• A STR (Star Tracker) assembly for precise attitude information (use of 3 STRs)
• A RMU (Rate Measurement Unit) for rate damping and yaw acquisition purposes
• A redundant precision IMU (Inertial Measurement Unit) for high-accuracy attitude determination
• Magnetometers (MAG) for Earth magnetic field information
• CESS (Coarse Earth Sun Sensors) for coarse Earth and Sun direction determination
• 4 RW (Reaction Wheels) and 3 MTQ (Magnetic Torquers)
• RCS (Reaction Control System) a monopropellant propulsion system for orbit maintenance with 1 N thrusters
The different tasks of the AOCS are defined the following modes:
• Initial Acquisition and Save Mode (rate damping, Earth acquisition, yaw acquisition, steady-state)
• Normal Mode (nominal and extended observation)
• Orbit Control Mode (in- and out-of-plane ΔV maneuvers).
Figure 2: Overview of the AOCS architecture (image credit: EADS Astrium)
The geolocation accuracy requirements of < 20 m for the imagery translate into the following AOCS performance requirements as stated in Table 4.
Table 4: AOCS performance requirements in normal mode
For Sentinel-2 it was decided to mount both the IMU and the star trackers on the thermally controlled sensor plate on the MSI. So the impact of time-variant IMU/STR misalignment on the attitude performance can be decreased to an absolute minimum. Furthermore, the consideration of the time-correlated star tracker noises by covariance tuning was decided.
Figure 3: Sentinel-2 spacecraft architecture (image credit: Astrium GmbH)
Figure 4: Block diagram of the Sentinel-2 spacecraft (image credit: EADS Astrium)
The EPS (Electric Power Subsystem) consists of:
• Solar Array (one deployable and rotatable single wing with three panels). Total array area of 7.1 m2. Use of 2016 triple junction GaAs solar cells with integrated diode. Total power of 2300 W (BOL) and 1730 W (EOL). The mass is < 40 kg.
• SADM (Solar Array Drive Mechanism) for array articulation. Use of a two phase stepper motor with µ-stepping to minimize parasitic distortions during MSI operation, motor step angle 1.5º. Mass of < 3.2 kg.
• PCDU (Power Control and Distribution Unit). PCDU with one unregulated 28 V ±4 V main power bus. Mass of < 21.6 kg; the in-orbit life is 12.25 years.
• Li-ion batteries with 8 cells in series. Total capacity of 102 Ah @ EOL. Mass = 51 kg.
Figure 5: Block diagram of the electrical power subsystem (image credit: EADS Astrium)
The OBC is based on the ERC32 PM (Processor Module) architecture. The PLDHS (Payload Data Handling System) provides source data compression from 1.3 Gbit/s to 450 Mbit/s [state-of-the-art lossy compression (wavelet transform)].
The spacecraft mass is ~ 1200 kg, including 275 kg for the MSI instrument, 35 kg for the IR payload (optional) and 80 kg propellant (hydrazine). The S/C power is 1250 W max, including 170 W for the MSI and < 100 W for the IR payload. The spacecraft is designed for a design life of 7.25 years with propellant for 12 years of operations, including deorbiting at EOL (End of Life).
Table 5: Overview of some spacecraft parameters
Figure 6: Schematic view of the deployed Sentinel-2 spacecraft (image credit: EADS Astrium)
Figure 7: The Sentinel-2 spacecraft in launch configuration (image credit: ESA)
Payload data are being stored in NAND flash memory technology SSR (Solid State Recorder) based on integrated CoReCi (Compression Recording and Ciphering) units of Airbus DS, available at various capacities. The CoReCi is an integrated image compressor, mass memory and data ciphering unit designed to process, store and format multi-spectral video instrument data for the satellite downlink. The mass memory utilizes high performance commercial Flash components, ESA qualified and up-screened for their use in space equipment. This new Flash technology allows mass and surface area used in the memory to be reduced by a factor of nearly 20 when compared with the former SD-RAM (Synchronous Dynamic Random Access Memory) based equipment. The first CoReCi unit has been successfully operating on SPOT-6 since September 2012. Sentinel-2A is carrying a CoReCi unit. 19) 20)
The MRCPB (Multi-Résolution par Codage de Plans Binaires) compression algorithm used is a wavelet transform with bit plane coding (similiar to JPEG 2000). This complex algorithm is implemented in a dedicated ASIC, with speeds of up to 25 Mpixel/s. Alternatively this unit can be supplied with a CCSDS compression algorithm using a new ASIC developed with ESA support. The ciphering is based on the AES algorithm with 128 bit keys. The modularity of the design allows the memory capacity and data rate to be adapted by adjusting the number of compressor and memory boards used.
• February 27, 2017: The ninth Vega light-lift launcher is now complete at the Spaceport, with its Sentinel-2B Earth observation satellite installed atop the four-stage vehicle in preparation for a March 6 mission from French Guiana. 21)
• January 12, 2017: Sentinel-2B arrived at Europe's spaceport in Kourou, French Guiana on 6 January 2017 to be prepared for launch. After being moved to the cleanroom and left for a couple of days to acclimatise, cranes were used to open the container and unveil the satellite. Over the next seven weeks the satellite will be tested and prepared for liftoff on a Vega rocket. 22)
• November 15, 2016: Sentinel-2B has successfully finished its test program at ESA/ESTEC in Noordwijk, The Netherlands. The second Sentinel-2 Airbus built satellite will now be readied for shipment to the Kourou spaceport in French Guiana begin January 2017. It is scheduled for an early March 2017 lift-off on Vega. 23)
- Offering "color vision" for the Copernicus program, Sentinel-2B like its twin satellite Sentinel-2A will deliver optical images from the visible to short-wave infrared range of the electromagnetic spectrum. From an altitude of 786 km, the 1.1 ton satellite will deliver images in 13 spectral bands with a resolution of 10, 20 or 60 m and a uniquely large swath width of 290 km.
• June 15, 2016: Airbus DS completed the manufacture of the Sentinel-2B optical satellite; the spacecraft is ready for environmental testing at ESA/ESTEC. The Sentinel-2 mission, designed and built by a consortium of around 60 companies led by Airbus Defence and Space, is based on a constellation of two identical satellites flying in the same orbit, 180° apart for optimal coverage and data delivery. Together they image all Earth's land surfaces, large islands, inland and coastal waters every five days at the equator. Sentinel-2A was launched on 23 June 2015, its twin, Sentinel-2B, will follow early next year. 24)
- The Sentinel-1 and -2 satellites are equipped with the Tesat-Spacecom's LCT (Laser Communication Terminal). The SpaceDataHighway is being implemented within a Public-Private Partnership between ESA and Airbus Defence and Space.
Figure 8: Sentinel-2B being loaded at Airbus Defence and Space's satellite integration center in Friedrichshafen, Germany (image credit: Airbus DS, A. Ruttloff)
• April 27, 2015: The Sentinel-2A satellite on Arianespace's next Vega mission is being readied for pre-launch checkout at the Spaceport, which will enable this European Earth observation platform to be orbited in June from French Guiana. — During activity in the Spaceport's S5 payload processing facility, Sentinel-2A was removed from the shipping container that protected this 1,140 kg class spacecraft during its airlift from Europe to the South American launch site. With Sentinel-2A now connected to its ground support equipment and successfully switched on, the satellite will undergo verifications and final preparations for a scheduled June 11 liftoff. 25)
Figure 9: Sentinel-2A is positioned in the Spaceport's S5 payload processing facility for preparation ahead of its scheduled June launch on Vega (image credit: Arianespace)
• April 23, 2015: The Sentinel-2A satellite has arrived safe and sound in French Guiana for launch in June. The huge Antonov cargo aircraft that carried the Sentinel-2A from Germany, touched down at Cayenne airport in the early morning of 21 April. 26)
• April 8, 2015: The Sentinel-2A satellite is now being carefully packed away in a special container that will keep it safe during its journey to the launch site in French Guiana. The satellite will have one final test, a ‘leak test', in the container to ensure the propulsion system is tight. Bound for Europe's Spaceport in French Guiana, Sentinel-2A will leave Munich aboard an Antonov cargo plane on 20 April. Once unloaded and unpacked, it will spend the following weeks being prepared for liftoff on a Vega rocket. 27)
• February 24, 2015: Sentinel-2A is fully integrated at IABG's facilities in Ottobrunn, Germany before being packed up and shipped to French Guiana for a scheduled launch in June 2015. 28)
Figure 10: Photo of the Sentinel-2A spacecraft in the thermal vacuum chamber testing at IAGB's facilities (image credit: ESA, IABG, 2015)
• In August 2014, Airbus Defence and Space delivered the Sentinel-2A environmental monitoring satellite for testing . In the coming months, the Sentinel-2A satellite will undergo a series of environmental tests at IABG, Ottobrunn, Germany, to determine its suitability for use in space. 29) 30)
Figure 11: Sentinel-2A solar array deployment test at IABG (Airbus Defence & Space), image credit: ESA 31)
- Sentinel-2A is scheduled to launch in June 2015; Sentinel-2B, which is identical in design, is set to follow in March 2017. Together, these two satellites will be able to capture images of our planet's entire land surface in just five days in a systematic manner.
Figure 12: Photo of the Sentinel-2A spacecraft at the satellite integration center in Friedrichshafen, Germany (image credit: Airbus DS, A. Ruttloff)
RF communications: The payload data handling is based on a 2.4 Tbit solid state mass memory and the payload data downlink is performed at a data rate of 560 Mbit/s in X-band with 8 PSK modulation and an isoflux antenna, compliant with the spectrum bandwidth allocated by the ITU (international Telecommunication Union).
Command and control of the spacecraft (TT&C) is performed with omnidirectional S-band antenna coverage using a helix and a patch antenna. The TT&C S-band link provides 64 kbit/s in uplink (with authenticated/encrypted commands) and 2 Mbit/s in downlink..
The requirements call for 4 core X-band ground stations for full mission data recovery by the GMES PDS (Payload Data System).
In parallel to the RF communications, an optical LEO-GEO communications link using the LCT (Laser Communication Terminal) of Tesat-Spacecom (Backnang, Germany) will be provided on the Sentinel-2 spacecraft. The LCT is based on a heritage design (TerraSAR-X) with a transmit power of 2.2 W and a telescope of 135 mm aperture to meet the requirement of the larger link distance. The GEO LCT will be accommodated on AlphaSat of ESA/industry (launch 2012) and later on the EDRS (European Data Relay Satellite) system of ESA. The GEO relay consists of an optical 2.8 Gbit/s (1.8 Gbit/s user data) communication link from the LEO to the GEO satellite and of a 600 Mbit/s Ka-band communication link from the GEO satellite to the ground. 34)
To meet the user requirements of fast data delivery, DLR (German Aerospace Center) is funding the OCP (Optical Communication Payload), i.e. the LCT of Tesat, – a new capability to download large volumes of data from the Sentinel-2 and Sentinel-1 Earth observation satellites - via a data relay satellite directly to the ground. A contract to this effect was signed in October 2010 between ESA and DLR. 35)
Since the Ka-band downlink is the bottleneck for the whole GEO relay system, an optical ground station for a 5.625 Gbit/s LEO-to-ground and a 2.8 Gbit/s GEO-to-ground communication link is under development.
Orbit: Sun-synchronous orbit, altitude = 786 km, inclination = 98.5º, (14+3/10 revolutions/day) with 10:30 hours LTDN (Local Time at Descending Node). This local time has been selected as the best compromise between cloud cover minimization and sun illumination.
The orbit is fully consistent with SPOT and very close to the Landsat local time, allowing seamless combination of Sentinel-2 data with historical data from legacy missions to build long-term temporal series. The two Sentinel-2 satellites will be equally spaced (180º phasing) in the same orbital plane for a 5 day revisit cycle at the equator.
The Sentinel-2 satellites will systematically acquire observations over land and coastal areas from -56° to 84° latitude including islands larger 100 km2, EU islands, all other islands less than 20 km from the coastline, the whole Mediterranean Sea, all inland water bodies and closed seas. Over specific calibration sites, for example DOME-C in Antarctica, additional observations will be made. The two satellites will work on opposite sides of the orbit (Figure 13).
Figure 13: Twin observation configuration of the Sentinel-2 spacecraft constellation (image credit: ESA)
• The first stage separated 1 min 55 seconds after liftoff, followed by the second stage and fairing at 3 min 39 seconds and 3 min 56 seconds, respectively, and the third stage at 6 min 32 seconds.
• After two more ignitions, Vega's upper stage delivered Sentinel-2B into the targeted Sun-synchronous orbit. The satellite separated from the stage 57 min 57 seconds into the flight.
• Telemetry links and attitude control were then established by controllers at ESOC in Darmstadt, Germany, allowing activation of Sentinel's systems to begin. The satellite's solar panel has already been deployed.
• After this first ‘launch and early orbit' phase, which typically lasts three days, controllers will begin checking and calibrating the instruments to commission the satellite. The mission is expected to begin operations in three to four months.
Sentinel-2B will join its sister satellite Sentinel-2A and the other Sentinels part of the Copernicus program, the most ambitious Earth observation program to date. Sentinel-2A and -2B will be supplying ‘color vision' for Copernicus and together they can cover all land surfaces once every five days thus optimizing global coverage and the data delivery for numerous applications. The data provided by these Sentinel-2 satellites is particularly suited for agricultural purposes, such as managing administration and precision farming.
With two satellites in orbit it will take only five days to produce an image of the entire Earth between the latitudes of 56º south and 84º north, thereby optimizing the global coverage zone and data transmission for numerous applications.
To ensure data continuity two further optical satellites, Sentinel-2C and -2D, are being constructed in the cleanrooms of Airbus and will be ready for launch as of 2020/2021.
Figure 14: Illustration of the Sentinel-2B spacecraft in orbit (image credit: Airbus DS, Ref. 38)