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With ten-year (2004–2013) ground-based observations of Beijing Forest (BJF) and Beijing City (BJC) sites in North China, we validated the high-quality MODerate resolution Imaging Spectroradiometer (MODIS) Collection 5 (C5) and Collection 6 (C6) Aerosol Optical Depth (AOD) products’ precision and discussed the sensors degradation issues. The annual mean AOD and Angstrom exponent (α) were 0.20 ± 0.02 and 0.83 ± 0.15 in the background over the past ten years, and they were 0.59 ± 0.07 and 1.13 ± 0.08 in the urban, respectively. Ground-based AOD had both slightly declining trends, with variations of 0.023 and 0.057 over the past decade in the background and urban, respectively. There were large differences among the eight kinds of MODIS AOD products (Terra vs. Aqua, C5 vs. C6, DT (Deep Target) vs. DB (Deep Blue), and DTDB in the background and urban areas), but all the products’ monthly errors had larger variations in the spring and summer, and smaller ones in the autumn and winter. In the background, more than 62% of DT matchups for C5 and C6 products were within NASA’s expected error (EE) envelope. In the urban, 69%~72% of C6 DB retrievals were falling within EE envelope. The new dataset named C6 DTDB had better performance in the background, whereas it overestimated by 37%~41% in the urban caused by surface reflectivity estimation error. The range of monthly average error varied from −0.21 to 0.28 in the background and from −0.63 to 0.48 in the urban. From the background to the urban areas, the retrieval errors of Terra and Aqua had slightly increased by 0.0023~0.0158 and 0.0011~0.0124 per year, respectively, which implied that the two MODIS instruments had degraded slowly

The Variations and Trends of MODIS C5 & C6 Products’ Errors in the Recent Decade over the Background and Urban Areas of North China