Attitude estimation based on fusion of gyroscopes and single antenna GPS for small UAVs under the influence of vibration

An attitude estimation method is presented for small unmanned aerial vehicles (UAVs) powered by a piston engine which is the major source of vibration. Vibration of the engine significantly degrades the accuracy of the inertial measurement unit, especially for low-cost sensors that are based on micro electro-mechanical system. Therefore, a vibration model for a small UAV is proposed in order to examine the influence of vibration on attitude estimation with different sensors. The model is derived based on spectrum analysis with short-time Fourier transform. The vibration is compared with the drift of the gyroscope in order to examine the impact on attitude estimation. An attitude estimation method that fuses the gyroscopes and single antenna global positioning system (GPS) is proposed to mitigate the influence of engine vibration and gyroscope drift. The quaternion-based extended Kalman filter is implemented to fuse the sensors. This filter fuses the angular rates measured by the gyroscopes and the pseudo-attitude derived from the GPS velocity to estimate the attitude of the UAV. Simulations and experiment results indicate that the proposed method performs well both in short-term and long-term accuracy even though the gyroscopes are affected by drift and vibration noise, while the pseudo-attitude contains severe noise.     

TAZ-level variation in work trip mode choice between 1990 and 2000 and the presence of rail transit

Rail transit continues to be a popular alternative for cities as a tool for alleviating automobile congestion and for redeveloping areas into transit and pedestrian-friendly environments. Ideally, rail transit will draw trips away from cars, but the quantitative work that tests this notion has often been either case studies of neighborhoods, in which conclusions are tough to generalize, or citywide comparisons where important spatial variation is lost in aggregation. This study seeks to narrow this gap in the research by using multivariate analysis of covariance to isolate the effect of covariates and cities on changes in work trip mode choice at the traffic analysis zone (TAZ) level for nine cities between 1990 and 2000. The results suggest differences by city in the change at the TAZ level of the proportion of people driving alone and taking transit. Increases in transit usage were associated with cities that built rail transit, while increases in automobile commuting and decreases in transit usage were associated with cities that did not.     

Analytical methods for error propagation in planar space–time prisms

The space–time prism demarcates all locations in space–time that a mobile object or person can occupy during an episode of potential or unobserved movement. The prism is central to time geography as a measure of potential mobility and to mobile object databases as a measure of location possibilities given sampling error. This paper develops an analytical approach to assessing error propagation in space–time prisms and prism–prism intersections. We analyze the geometry of the prisms to derive a core set of geometric problems involving the intersection of circles and ellipses. Analytical error propagation techniques such as the Taylor linearization method based on the first-order partial derivatives are not available since explicit functions describing the intersections and their derivatives are unwieldy. However, since we have implicit functions describing prism geometry, we modify this approach using an implicit function theorem that provides the required first-order partials without the explicit expressions. We describe the general method as well as details for the two spatial dimensions case and provide example calculations.     

Spatial Metrics to Analyse the Impact of Regional Factors on Pattern of Urbanisation in Gurgaon,India

In recent years, there has been lot of emphasis on the study of urban land use/ land cover changes to discover the growth pattern due to rapid urbanisation. This study presents spatial metrics and gradient analysis approach for quantifying and capturing changes in urban landscape using LISS III imagery of 1999, 2001 and 2004 of Gurgaon, India. A combination of spatial metrics i.e. percentage of landscape, mean patch size, number of patches, landscape shape index and largest patch index, available in Fragstats ver. 3.3, have been used to quantify the patterns of urban growth in different directions in terms of size, shape and complexity of development. The local built-up areas were quantified by the “moving window” technique. A gradient analysis has been carried out through sampling from a reference point to 8 km in 16 directions with a window size of 500 mts. Results of this study demonstrate the potential of spatial metrics and gradient modelling to quantify the impact of regional factors on the growth pattern of Gurgaon city.     

Transverse Mercator with an accuracy of a few nanometers

Implementations of two algorithms for the transverse Mercator projection are described; these achieve accuracies close to machine precision. One is based on the exact equations of Thompson and Lee and the other uses an extension of Krüger’s series for the mapping to higher order. The exact method provides an accuracy of 9 nm over the entire ellipsoid, while the errors in the series method are less than 5 nm within 3900 km of the central meridian. In each case, the meridian convergence and scale are also computed with similar accuracy. The speed of the series method is competitive with other less accurate algorithms and the exact method is about five times slower.     

Self-calibration Applied in Converting Simulation Surveying

In the field of converting simulation surveying and traditional close range photogrammetry, it has been developed so far to survey objects by commercial digital camera and this technique is applied widely in every part of production. In order to get three-dimensional information of objects, commercial digital camera must be examined. For a long time, digital camera has been examined by DLT. Then there must be a high-precision control field. For realizing surveying without control points, a method for self-calibration is proposed.     

Study on the urban heat island effects and its relationship with surface biophysical characteristics using MODIS imageries

This study assesses surface urban heat island (UHI) and its associated surface physical characteristics using remote sensing approaches. TERRA/MODIS images acquired in 2005 in three different seasons were selected to generate land surface tem-perature and surface characteristics for the Changsha-Zhuzhou-Xiangtan metropolitan area in China. The intensity of urban heat is-land effects and its seasonal variations were examined. The result showed that UHI effects were significant both in the summer and the spri...     

Integrating terrain and vegetation indices for identifying potential soil erosion risk area

The present paper offers an innovative method to monitor the change in soil erosion potential by integrating terrain and vegetation indices derived from remote sensing data. Three terrain indices namely, topographic wetness index (TWI), stream power index (SPI) and slope length factor (LS), were derived from the digital elevation model. Normalized vegetation index (NDVI) was derived for the year 1988 and 2004 using remote sensing images. K-mean clustering was performed on staked indices to categorize the study area into four soil erosion potential classes. The validation of derived erosion potential map using USLE model showed a good agreement. Results indicated that there was a significant change in the erosion potential of the watershed and a gradual shifting of lower erosion potential class to next higher erosion potential class over the study period.     

Use of service middleware based on ECHO with CSW for discovery and registry of MODIS data

Nowadays, NASA is producing several terabytes Moderate Resolution Imaging Spectroradiometer (MODIS) data everyday; how to find the data with criteria, such as specific times, locations, and scales using an international standard becomes more and more important. In this paper, a service-oriented architecture for use of the integration Earth Observation System Clearing-HOuse (ECHO) with the Open Geospatial Consortium (OGC) Catalogue Service—Web profile (CSW) is put forward. The architecture consists of three roles: a service requester (the user), a service provider (the ECHO metadata server), and a service broker (the GeoNetwork CSW and MODIS registry service middleware). The core component-MODIS registry service middleware includes three components: metadata fetcher, metadata transformer, and metadata register. The metadata fetcher is used to fetch metadata from ECHO metadata server; the metadata transformer is responsible for transform metadata from one form to another; the metadata register is in charge of registering ISO19139-based metadata to CSW. A prototype system is designed and implemented by using the service middleware technology and a standard interface and protocol. The feasibility and the response time of registry and retrieval of MODIS data are evaluated by means of a realistic LPDAAC_ECS MODIS data center. The implementation of this prototype system and the experiment show that the architecture and method is feasible and effective.