A continuous-time state-space model for rapid quality-control of Argos locations from animal-borne tags

Abstract

State-space models are important tools for quality control of error-prone animal movement data. The near real-time (within 24 h) capability of the Argos satellite system aids dynamic ocean management of human activities by informing when animals enter intensive use zones. This capability also facilitates use of ocean observations from animal-borne sensors in operational ocean forecasting models. Such near real-time data provision requires rapid, reliable quality control to deal with error-prone Argos locations. We formulate a continuous-time state-space model for the three types of Argos location data (Least-Squares, Kalman filter, and Kalman smoother), accounting for irregular timing of observations. Our model is deliberately simple to ensure speed and reliability for automated, near real-time quality control of Argos data. We validate the model by fitting to Argos data collected from 61 individuals across 7 marine vertebrates and compare model-estimated locations to GPS locations. Estimation accuracy varied among species with median Root Mean Squared Errors usually < 5 km and decreased with increasing data sampling rate and precision of Argos locations. Including a model parameter to inflate Argos error ellipse sizes resulted in more accurate location estimates. In some cases, the model appreciably improved the accuracy of the Argos Kalman smoother locations, which should not be possible if the smoother uses all available information. Our model provides quality-controlled locations from Argos Least-Squares or Kalman filter data with slightly better accuracy than Argos Kalman smoother data that are only available via reprocessing. Simplicity and ease of use make the model suitable both for automated quality control of near real-time Argos data and for manual use by researchers working with historical Argos data.