Satellite altimetry has been designed for sea level monitoring over open ocean areas. However, for some years, this technology has also been used to retrieve water levels from reservoirs, wetlands and in general any inland water body, although the radar altimetry technique has been especially applied to rivers and lakes. In this paper, a new approach for the estimation of inland water level time series is described. It is used for the computation of time series of rivers and lakes available through the web service "Database for Hydrological Time Series over Inland Waters" (DAHITI). The new method is based on an extended outlier rejection and a Kalman filter approach incorporating cross-calibrated multi-mission altimeter data from Envisat, ERS-2, Jason-1, Jason-2, TOPEX/Poseidon, and SARAL/AltiKa, including their uncertainties. The paper presents water level time series for a variety of lakes and rivers in North and South America featuring different characteristics such as shape, lake extent, river width, and data coverage. A comprehensive validation is performed by comparisons with in situ gauge data and results from external inland altimeter databases. The new approach yields rms differences with respect to in situ data between 4 and 36 cm for lakes and 8 and 114 cm for rivers. For most study cases, more accurate height information than from other available altimeter databases can be achieved.

Lakes and reservoirs are crucial elements of the hydrological and biochemical cycle and are a valuable resource for hydropower, domestic and industrial water use, and irrigation. Although their monitoring is crucial in times of increased pressure on water resources by both climate change and human interventions, publically available datasets of lake and reservoir levels and volumes are scarce. Within this study, a time series of variation in lake and reservoir volume between 1984 and 2015 were analysed for 137 lakes over all continents by combining the JRC Global Surface Water (GSW) dataset and the satellite altimetry database DAHITI. The GSW dataset is a highly accurate surface water dataset at 30 m resolution compromising the whole L1T Landsat 5, 7 and 8 archive, which allowed for detailed lake area calculations globally over a very long time period using Google Earth Engine. Therefore, the estimates in water volume fluctuations using the GSW dataset are expected to improve compared to current techniques as they are not constrained by complex and computationally intensive classification procedures. Lake areas and water levels were combined in a regression to derive the hypsometry relationship (dh ∕ dA) for all lakes. Nearly all lakes showed a linear regression, and 42 % of the lakes showed a strong linear relationship with a R² > 0.8, an average R² of 0.91 and a standard deviation of 0.05. For these lakes and for lakes with a nearly constant lake area (coefficient of variation < 0.008), volume variations were calculated. Lakes with a poor linear relationship were not considered. Reasons for low R² values were found to be (1) a nearly constant lake area, (2) winter ice coverage and (3) a predominant lack of data within the GSW dataset for those lakes. Lake volume estimates were validated for 18 lakes in the US, Spain, Australia and Africa using in situ volume time series, and gave an excellent Pearson correlation coefficient of on average 0.97 with a standard deviation of 0.041, and a normalized RMSE of 7.42 %. These results show a high potential for measuring lake volume dynamics using a pre-classified GSW dataset, which easily allows the method to be scaled up to an extensive global volumetric dataset. This dataset will not only provide a historical lake and reservoir volume variation record, but will also help to improve our understanding of the behaviour of lakes and reservoirs and their representation in (large-scale) hydrological models.

EOT20 is the latest in a series of empirical ocean tide (EOT) models derived using residual tidal analysis of multi-mission satellite altimetry at DGFI-TUM. The amplitudes and phases of 17 tidal constituents are provided on a global 0.125^∘ grid based on empirical analysis of seven satellite altimetry missions and four extended missions. The EOT20 model shows significant improvements compared to the previous iteration of the global model (EOT11a) throughout the ocean, particularly in the coastal and shelf regions, due to the inclusion of more recent satellite altimetry data as well as more missions, the use of the updated FES2014 tidal model as a reference to estimated residual signals, the inclusion of the ALES retracker and improved coastal representation. In the validation of EOT20 using tide gauges and ocean bottom pressure data, these improvements in the model compared to EOT11a are highlighted with the root sum square (RSS) of the eight major tidal constituents improving by ∼ 1.4 cm for the entire global ocean with the major improvement in RSS (∼ 2.2 cm) occurring in the coastal region. Concerning the other global ocean tidal models, EOT20 shows an improvement of ∼ 0.2 cm in RSS compared to the closest model (FES2014) in the global ocean. Variance reduction analysis was conducted comparing the results of EOT20 with FES2014 and EOT11a using the Jason-2, Jason-3 and SARAL satellite altimetry missions. From this analysis, EOT20 showed a variance reduction for all three satellite altimetry missions with the biggest improvement in variance occurring in the coastal region. These significant improvements, particularly in the coastal region, provide encouragement for the use of the EOT20 model as a tidal correction for satellite altimetry in sea-level research. All ocean and load tide data from the model can be freely accessed at https://doi.org/10.17882/79489 (Hart-Davis et al., 2021). The tide gauges from the TICON dataset used in the validation of the tide model, are available at https://doi.org/10.1594/PANGAEA.896587 (Piccioni et al., 2018 a).

Climate studies require long data records extending the lifetime of a single remote sensing satellite mission. Precise satellite altimetry exploring global and regional evolution of the sea level has now completed a two decade data record. A consistent long-term data record has to be constructed from a sequence of different, partly overlapping altimeter systems which have to be carefully cross-calibrated. This cross-calibration is realized globally by adjusting an extremely large set of single- and dual-satellite crossover differences performed between all contemporaneous altimeter systems. The total set of crossover differences creates a highly redundant network and enables a robust estimate of radial errors with a dense and rather complete sampling for all altimeter systems analyzed. An iterative variance component estimation is applied to obtain an objective relative weighting between altimeter systems with different performance. The final time series of radial errors is taken to estimate (for each of the altimeter systems) an empirical auto-covariance function. Moreover, the radial errors capture relative range biases and indicate systematic variations in the geo-centering of altimeter satellite orbits. The procedure has the potential to estimate for all altimeter systems the geographically correlated mean errors which is not at all visible in single-satellite crossover differences but maps directly to estimates of the mean sea surface.

In this study, a new approach for the automated extraction of high-resolution time-variable water surfaces is presented. For that purpose, optical images from Landsat and Sentinel-2 are used between January 1984 and June 2018. The first part of this new approach is the extraction of land-water masks by combining five water indexes and using an automated threshold computation. In the second part of this approach, all data gaps caused by voids, clouds, cloud shadows, or snow are filled by using a long-term water probability mask. This mask is finally used in an iterative approach for filling remaining data gaps in all monthly masks which leads to a gap-less surface area time series for lakes and reservoirs. The results of this new approach are validated by comparing the surface area changes with water level time series from gauging stations. For inland waters in remote areas without in situ data water level time series from satellite altimetry are used. Overall, 32 globally distributed lakes and reservoirs of different extents up to 2482.27 km ${}^2$ are investigated. The average correlation coefficients between surface area time series and water levels from in situ and satellite altimetry have increased from 0.611 to 0.862 after filling the data gaps which is an improvement of about 41%. This new approach clearly demonstrates the quality improvement for the estimated land-water masks but also the strong impact of a reliable data gap-filling approach. All presented surface area time series are freely available on the Database of Hydrological Time Series of Inland (DAHITI).