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81.
Attitude estimation based on fusion of gyroscopes and single antenna GPS for small UAVs under the influence of vibration 总被引:2,自引:2,他引:2
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. 相似文献
82.
GPS tomography in the polar cap: comparison with ionosondes and in situ spacecraft data 总被引:1,自引:1,他引:1
Dimitry Pokhotelov P. T. Jayachandran Cathryn N. Mitchell John W. MacDougall Michael H. Denton 《GPS Solutions》2011,15(1):79-87
Tomographic 4D reconstructions of ionospheric anomalies appearing in the high-latitude polar cap region are compared with
plasma density measurements by digital ionosonde located near the north magnetic pole at Eureka station and with in situ plasma
measurements on-board DMSP spacecraft. The moderate magnetic storm of 14–17 October 2002 is taken as an example of a geomagnetic
disturbance which generates large-scale ionospheric plasma anomalies at mid-latitudes and in the polar cap region. Comparison
of the GPS tomographic reconstructions over Eureka station with the ionosonde measurements of the F layer peak densities indicates
that the GPS tomography correctly predicts the time of arrival and passage of the ionospheric tongue of ionization over the
magnetic pole area, although the tomographic technique appears to under-estimate the value of F peak plasma density. Comparison
with the in situ plasma measurements by the DMSP SSIES instruments shows that the GPS tomography correctly reproduces the
large-scale spatial structure of ionospheric anomalies over a wide range of latitudes from mid-latitudes to the high-latitude
polar cap region, though the tomographic reconstructions tend to over-estimate the density of the topside ionosphere at 840 km
DMSP orbit. This study is essential for understanding the quality and limitations of the tomographic reconstruction techniques,
particularly in high-latitude regions where GPS TEC measurements and other ionospheric data sources are limited. 相似文献
83.
There is a long history of recognising and interpreting discontinuous change—phase transitions—in urban systems. In this paper,
we use the aggregate retail model as an archetype to explore some new ideas. For example, we argue that the dependence of
paths of development on initial conditions has been understudied, and we offer a new graphical analysis that demonstrates
explicitly their influence on discrete change. We introduce an order parameter, and we plot this on a ‘results grid’ to facilitate
the discovery of possible phase transitions. We illustrate the use of these new developments with an application to London.
We show how retail developers can change the ‘initial conditions’ at a point in time and possibly bring about phase transitions
by their actions. This also shows that it should be possible to account for the history of urban development as a sequence
of initial conditions, illustrating path dependence. Secondly, the model could be deployed in relation to a new shopping zone,
and the tools developed here used to calculate the minimum size of a new development in order for it to compete. We explore
the ‘minimum size’ idea in relation to a new shopping zone in London. 相似文献
84.
Bradley W. Lane 《Journal of Geographical Systems》2011,13(2):147-171
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. 相似文献
85.
Acquisition and registration of terrestrial 3D laser scans is a fundamental task in mapping and modeling of cities in three dimensions. To automate this task marker-free registration methods are required. Based on the existence of skyline features, this paper proposes a novel method. The skyline features are extracted from panoramic 3D scans and encoded as strings enabling the use of string matching for merging the scans. Initial results of the proposed method in the old city center of Bremen are pre-sented. 相似文献
86.
Toward seamless indoor-outdoor applications: Developing stakeholder-oriented location-based services
Kohei OGAWA Edward VERBREE Sisi ZLATANOVA Naohiko KOHTAKE Yoshiaki OHKAMI 《地球空间信息科学学报》2011,14(2):109-118
Location-Based Services (LBS),an emerging new business based on smartphone and mobile networks,are becoming more and more popular.Most of these LBSs,however,only offer non-seamless indoor/outdoor applications and simple applications without giving stakeholders the chance to play an active role.Our specific aim is to solve these issues.This paper presents concepts to solve these issues by expanding the Open Location Services Interface Standard (OpenLS) to allow seamless indoor/outdoor positioning and to extend the content of the services to include information recommended by stakeholders. 相似文献
87.
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. 相似文献
88.
Sadhana Jain Divyani Kohli Ram Mohan Rao Wietske Bijker 《Journal of the Indian Society of Remote Sensing》2011,39(2):203-212
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. 相似文献
89.
Manuel Hernández-Pajares J. Miguel Juan Jaume Sanz Àngela Aragón-Àngel Alberto García-Rigo Dagoberto Salazar Miquel Escudero 《Journal of Geodesy》2011,85(12):887-907
The main goal of this paper is to provide a summary of our current knowledge of the ionosphere as it relates to space geodetic
techniques, especially the most informative technology, global navigation satellite systems (GNSS), specifically the fully
deployed and operational global positioning system (GPS). As such, the main relevant modeling points are discussed, and the
corresponding results of ionospheric monitoring are related, which were mostly computed using GPS data and based on the direct
experience of the authors. We address various phenomena such as horizontal and vertical ionospheric morphology in quiet conditions,
traveling ionospheric disturbances, solar flares, ionospheric storms and scintillation. Finally, we also tackle the question
of how improved knowledge of ionospheric conditions, especially in terms of an accurate understanding of the distribution
of free electrons, can improve space geodetic techniques at different levels, such as higher-order ionospheric effects, precise
GNSS navigation, single-antenna GNSS orientation and real-time GNSS meteorology. 相似文献
90.
Mandyam B. Rajani Satadru Bhattacharya A. S. Rajawat 《Journal of the Indian Society of Remote Sensing》2011,39(4):519-527
Talakadu is a well known historic place situated on bank of the river Cauvery in Mysore district of Karnataka. The place is
close to concave side of a prominent meander where large amount of sand has accumulated. It is believed that after construction
of a reservoir upstream, sand was exposed to wind action burying the structures of Ganga dynasty and other later kingdoms.
A number of buried sites have been identified by archaeological excavations conducted so far. Presently the area forms sand
dunes with thick plantation cover. Analysis of RADAR data (fine beam RADARSAT and ENVISAT ASAR) led to identifying a hitherto
unknown buried channel through the Old Talakadu town adjoining the excavated archaeological sites. The study suggests that
RADAR penetration through the plantation canopy seems to have occurred as observed by comparing with corresponding optical
data of LISS-IV. Below the canopy, sand and shrubs on top of the channel (topographically low area) are acting as smooth surface
providing dark tone on radar imagery. During field validation GPS was extensively used to navigate through the forest canopy
and locate the buried channel, excavated archaeological sites as well as other anomalous patterns. Synergistic application
of optical (RESOURCESAT-1 LISS-IV and CARTOSAT-1 & 2) and radar (fine beam RADARSAT and ENVISAT ASAR) data led to identifying
remote sensing based guides for archaeological exploration. Integration of known archaeological sites with the identified
anomalous patterns was done in GIS environment. This study adds on to the knowledge base of the site and compliments already
known information and suggested new areas for further archaeological exploration. 相似文献