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.     

室内定轨移动摄影测量控制系统设计与实现

在室内定轨移动摄影测量系统中,自动化、智能化的控制系统是其稳定可靠工作的重要保障.该摄影测量系统需要对轨道上的移动平台和摄影测量机构进行远程操作,为了实现稳定、可靠的控制,设计研发以单片机为控制核心的遥控系统;摄影测量机构是由五台非量测数码相机拼接而成,为了实现五台相机同步摄影,设计完成相机同步曝光装置.实验表明该系统...     

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.     

GIS基础地理数据质量检查及其监控体系构建

随着GIS应用的日益广泛,其基础地理数据质量问题越来越得到重视.本文对GIS基础地理数据的质量从检查内容、误差源、检查方法方面进行了研究,最后以数字线化图为例对软件监控方法的主要内容进行了探讨.     

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...