Image-aided platform orientation determination with a GNSS/low-cost IMU system using robust-adaptive Kalman filter

The availability of miniaturized sensors with enhanced capabilities, new methods for image processing, and easy access to small and low-weight airborne platforms for data acquisition, including unmanned vehicles, opens new possibilities for geodetic navigation applications and developing new developments in sensor fusion. In this context, the development of efficient methods, based on low-cost sensors, to extract precise georeferenced information from digital cameras is of utmost interest. We present a method to improve the performance of the integration of GNSS/low-cost IMU by exploiting the orientation changes retrieved from digital images. In this work, a robust-adaptive Kalman filter is also introduced to further improve the performance of the method deployed. The adaptive factor and the robust factor accomplished are determined by innovation information and the threshold value of orientation changes between consecutive images. Results from airborne tests used to assess the performance of the method are presented. The results show that using a non-metric camera, the Euler angle estimation accuracy of the GNSS/low-cost IMU integration can be improved to be close to 0.5 degree and an additional improvement, which can reach 59%, can be achieved after using the robust-adaptive Kalman filter.     

Analysis of estimated satellite clock biases and their effects on precise point positioning

This study provides a systemic analysis to identify the biases in estimated satellite clocks and illustrates their effects in precise point positioning (PPP). First, the precise satellite clock estimation method considering pseudorange and carrier phase hardware delays is derived. Two methods for satellite clock estimation are compared, and their equivalency is discussed. The results show that apart from the well-known constant code hardware biases, the time-variant phase hardware biases are also absorbed by the estimated clocks. Also, the satellite clocks contain biases caused by modeling errors. To analyze the effects of these biases, they are grouped into initial clock biases (ICBs) and time-dependent biases (TDBs). Then, a detailed analysis of the impact of the biases on PPP-based troposphere and coordinate estimates is conducted. The experimental analysis demonstrates that TDBs affect positioning and tropospheric estimates, and their impacts are more significant in the static mode. The ICBs affect coordinate accuracy, zenith total delay mean bias, and its standard deviations only at the millimeter level for kinematic and static PPP, which is negligible. However, the ICBs affect the convergence period for both static and real kinematic PPP, and the magnitude of their impact largely depends on data quality. Note that satellites clocks are generally estimated with the P1/P2 and L1/L2 ionospheric-free combinations, and that hardware-specific parts of ICBs and TDBs cancel if users employ the same type of observables as the clock providers. Otherwise, the effects of biases cannot be ignored, especially for triple-frequency applications. Also, modeling-specific parts of ICBs and TDBs are significant in real-time clocks, which also affect user applications. Our conclusion is applicable for understanding the effects of these biases.     

Improved decentralized multi-sensor navigation system for airborne applications

The integration of Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) technologies is a very useful navigation option for high-accuracy positioning in many applications. However, its performance is still limited by GNSS satellite availability and satellite geometry. To address such limitations, a non-GNSS-based positioning technology known as “Locata” is used to augment a standard GNSS/INS system. The conventional methods for multi-sensor integration can be classified as being either in the form of centralized Kalman filtering (CKF), or decentralized Kalman filtering. However, these two filtering architectures are not always ideal for real-world applications. To satisfy both accuracy and reliability requirements, these three integration algorithms—CKF, federated Kalman filtering (FKF) and an improved decentralized filtering, known as global optimal filtering (GOF)—are investigated. In principle, the GOF is derived from more information resources than the CKF and FKF algorithms. These three algorithms are implemented in a GPS/Locata/INS integrated navigation system and evaluated using data obtained from a flight test. The experimental results show that the position, velocity and attitude solution derived from the GOF-based system indicate improvements of 30, 18.4 and 20.8% over the CKF- and FKF-based systems, respectively.     

Estimating satellite phase fractional cycle biases based on Kalman filter

Phase fractional cycle biases (FCBs) originating from satellites and receivers destroy the integer nature of PPP carrier phase ambiguities. To achieve integer ambiguity resolution of PPP, FCBs of satellites are required. In former work, least squares methods are commonly adopted to isolate FCBs from a network of reference stations. However, it can be extremely time consuming concerning the large number of observations from hundreds of stations and thousands of epochs. In addition, iterations are required to deal with the one-cycle inconsistency among FCB measurements. We propose to estimate the FCB based on a Kalman filter. The large number of observations are handled epoch by epoch, which significantly reduces the dimension of the involved matrix and accelerates the computation. In addition, it is also suitable for real-time applications. As for the one-cycle inconsistency, a pre-elimination method is developed to avoid iterations and posterior adjustments. A globally distributed network consisting of about 200 IGS stations is selected to determine the GPS satellite FCBs. Observations recorded from DoY 52 to 61 in 2016 are processed to verify the proposed approach. The RMS of wide lane (WL) posterior residuals is 0.09 cycles while that of the narrow lane (NL) is about 0.05 cycles, which indicates a good internal accuracy. The estimated WL FCBs also have a good consistency with existing WL FCB products (e.g., CNES-GRG, WHU-SGG). The RMS of differences with respect to GRG and SGG products are 0.03 and 0.05 cycles. For satellite NL FCB estimates, 97.9% of the differences with respect to SGG products are within ±?0.1 cycles. The RMS of the difference is 0.05 cycles. These results prove the efficiency of the proposed approach.     

3D-Monitoring Big Geo Data on a seaport infrastructure based on FIWARE

Many organizations of all kinds are using new technologies to assist the acquisition and analysis of data. Seaports are a good example of this trend. Seaports generate data regarding the management of marine traffic and other elements, as well as environmental conditions given by meteorological sensors and buoys. However, this enormous amount of data, also known as Big Data, is useless without a proper system to organize, analyze and visualize it. SmartPort is an online platform for the visualization and management of a seaport data that has been built as a GIS application. This work offers a Rich Internet Application that allows the user to visualize and manage the different sources of information produced in a port environment. The Big Data management is based on the FIWARE platform, as well as “The Internet of Things” solutions for the data acquisition. At the same time, Glob3 Mobile (G3M) framework has been used for the development of map requirements. In this way, SmartPort supports 3D visualization of the ports scenery and its data sources.     

Built environment and agricultural value at risk from Hurricane Irma flooding in Florida (USA)

Natural Hazards - Flooding is the most costly type of natural disaster, as well as the most frequent. To provide risk-based flood insurance, providers must be able to accurately determine an...     

Age and origin of groundwater resources in the Ararat Valley,Armenia: a baseline study applying hydrogeochemistry and environmental tracers

Within the Ararat Valley (Armenia), a continuously growing water demand (for irrigation and fish farming) and a simultaneous decline in groundwater recharge (due to climate change) result in increasing stress on the local groundwater resources. This detrimental development is reflected by groundwater-level drops and an associated reduction of the area with artesian conditions in the valley centre. This situation calls for increasing efforts aimed at more sustainable water resources management. The aim of this baseline study was the collection of data that allows for study on the origin and age distribution of the Ararat Valley groundwater based on environmental tracers, namely stable (δ²H, δ¹⁸O) and radioactive (³⁵S, ³H) isotopes, as well as physical-chemical indicators. The results show that the Ararat Valley receives modern recharge, despite its (semi-)arid climate. While subannual groundwater residence times could be disproved (³⁵S), the detected ³H pattern suggests groundwater ages of several decades, with the oldest waters being recharged around 60 years ago. The differing groundwater ages are reflected by varying scatter of stable isotope and hydrochemical signatures. The presence of young groundwater (i.e., younger that the 1970s), some containing nitrate, indicates groundwater vulnerability and underscores the importance of increased efforts to achieve sustainable management of this natural resource. Since stable isotope signatures indicate the recharge areas to be located in the mountains surrounding the valley, these efforts must not be limited to the central part of the valley where most of the abstraction wells are located.

     

Oxygen and Al‐Mg isotopic compositions of grossite‐bearing refractory inclusions from CO3 chondrites

The distribution of the short‐lived radionuclide ²⁶Al in the early solar system remains a major topic of investigation in planetary science. Thousands of analyses are now available but grossite‐bearing Ca‐, Al‐rich inclusions (CAIs) are underrepresented in the database. Recently found grossite‐bearing inclusions in CO3 chondrites provide an opportunity to address this matter. We determined the oxygen and magnesium isotopic compositions of individual phases of 10 grossite‐bearing CAIs in the Dominion Range (DOM) 08006 (CO3.0) and DOM 08004 (CO3.1) chondrites. All minerals in DOM 08006 CAIs as well as hibonite, spinel, and pyroxene in DOM 08004 are uniformly ¹⁶O‐rich (Δ¹⁷O = ?25 to ?20‰) but grossite and melilite in DOM 08004 CAIs are not; Δ¹⁷O of grossite and melilite range from ~ ?11 to ~0‰ and from ~ ?23 up to ~0‰, respectively. Even within this small suite, in the two chondrites a bimodal distribution of the inferred initial ²⁶Al/²⁷Al ratios (²⁶Al/²⁷Al)₀ is seen, with four having (²⁶Al/²⁷Al)₀ ≤1.1 × 10^?5 and six having (²⁶Al/²⁷Al)₀ ≥3.7 × 10^?5. Five of the ²⁶Al‐rich CAIs have (²⁶Al/²⁷Al)₀ within error of 4.5 × 10^?5; these values can probably be considered indistinguishable from the “canonical” value of 5.2 × 10^?5 given the uncertainty in the relative sensitivity factor for grossite measured by secondary ion mass spectrometry. We infer that the ²⁶Al‐poor CAIs probably formed before the radionuclide was fully mixed into the solar nebula. All minerals in the DOM 08006 CAIs, as well as spinel, hibonite, and Al‐diopside in the DOM 08004 CAIs retained their initial oxygen isotopic compositions, indicating homogeneity of oxygen isotopic compositions in the nebular region where the CO grossite‐bearing CAIs originated. Oxygen isotopic heterogeneity in CAIs from DOM 08004 resulted from exchange between the initially ¹⁶O‐rich (Δ¹⁷O ~?24‰) melilite and grossite and ¹⁶O‐poor (Δ¹⁷O ~0‰) fluid during hydrothermal alteration on the CO chondrite parent body; hibonite, spinel, and Al‐diopside avoided oxygen isotopic exchange during the alteration. Grossite and melilite that underwent oxygen isotopic exchange avoided redistribution of radiogenic ²⁶Mg and preserved undisturbed internal Al‐Mg isochrons. The Δ¹⁷O of the fluid can be inferred from O‐isotopic compositions of aqueously formed fayalite and magnetite that precipitated from the fluid on the CO parent asteroid. This and previous studies suggest that O‐isotope exchange during fluid–rock interaction affected most CAIs in CO ≥3.1 chondrites.     

Retrieving volume FeO and TiO_2 abundances of lunar regolith with CE-2 CELMS data using BPNN method

The volume FeO and TiO_2 abundances(FTAs) of lunar regolith can be more important for understanding the geological evolution of the Moon compared to the optical and gamma-ray results. In this paper, the volume FTAs are retrieved with microwave sounder(CELMS) data from the Chang'E-2 satellite using the back propagation neural network(BPNN) method. Firstly, a three-layered BPNN network with five-dimensional input is constructed by taking nonlinearity into account. Then, the brightness temperature(TB) and surface slope are set as the inputs and the volume FTAs are set as the outputs of the BPNN network.Thereafter, the BPNN network is trained with the corresponding parameters collected from Apollo, Luna,and Surveyor missions. Finally, the volume FTAs are retrieved with the trained BPNN network using the four-channel TBderived from the CELMS data and the surface slope estimated from Lunar Orbiter Laser Altimeter(LOLA) data. The rationality of the retrieved FTAs is verified by comparing with the Clementine UV-VIS results and Lunar Prospector(LP) GRS results. The retrieved volume FTAs enable us to re-evaluate the geological features of the lunar surface. Several important results are as follows. Firstly, very-low-Ti(<1.5 wt.%) basalts are the most spatially abundant, and the surfaces with TiO_2> 5 wt.% constitute less than 10% of the maria. Also, two linear relationships occur between the FeO abundance(FA) and the TiO_2 abundance before and after the threshold, 16 wt.% for FA. Secondly, a new perspective on mare volcanism is derived with the volume FTAs in several important mare basins, although this conclusion should be verified with more sources of data. Thirdly, FTAs in the lunar regolith change with depth to the uppermost surface,and the change is complex over the lunar surface. Finally, the distribution of volume FTAs hints that the highlands crust is probably homogeneous, at least in terms of the microwave thermophysical parameters.