Robust Kalman filtering based on Mahalanobis distance as outlier judging criterion

A robust Kalman filter scheme is proposed to resist the influence of the outliers in the observations. Two kinds of observation error are studied, i.e., the outliers in the actual observations and the heavy-tailed distribution of the observation noise. Either of the two kinds of errors can seriously degrade the performance of the standard Kalman filter. In the proposed method, a judging index is defined as the square of the Mahalanobis distance from the observation to its prediction. By assuming that the observation is Gaussian distributed with the mean and covariance being the observation prediction and its associate covariance, the judging index should be Chi-square distributed with the dimension of the observation vector as the degree of freedom. Hypothesis test is performed to the actual observation by treating the above Gaussian distribution as the null hypothesis and the judging index as the test statistic. If the null hypothesis should be rejected, it is concluded that outliers exist in the observations. In the presence of outliers scaling factors can be introduced to rescale the covariance of the observation noise or of the innovation vector, both resulting in a decreased filter gain. And the scaling factors can be solved using the Newton’s iterative method or in an analytical manner. The harmful influence of either of the two kinds of errors can be effectively resisted in the proposed method, so robustness can be achieved. Moreover, as the number of iterations needed in the iterative method may be rather large, the analytically calculated scaling factor should be preferred.     

三频精密单点定位观测模型初探

三频观测值为导航定位提供了更多的观测值组合选择。在利用载波相位三频线性组合消除一阶电离层误差的基础上,对组合模糊度为实数和整数两种情况下的二阶电离层误差及观测噪声水平进行了分析,获得了几种适用于精密单点定位的三频观测值组合。     

基于VRML的摄影测量室内控制场仿真设计系统研究开发

室内精密控制场为近景摄影测量的研究与实验提供物方基准。快速、方便、准确地设计出满足多用途研究需求的精密控制场的技术方法,是数字摄影测量一项重要的研究内容。文中探讨以VRML为主要仿真平台,采用VB为开发语言,建立摄影测量室内精密控制场仿真设计系统的方法,并应用该系统指导实际控制场建立,实现相应功能。结果表明,该系统在控制场的仿真设计及三维可视化分析方面,不仅具有建模方法灵活、设计场景逼真的特点,而且具有同数据库连接方便、与模型对象交互功能强、支持可视化分析与数据双向查询等优点,并可实现建模和建库的自动化,满足相机检校、支持算法研究和测量精度评定等应用需要。     

A GNSS interference identification using an adaptive cascading IIR notch filter

A low-complexity time-domain approach for global navigation satellite systems is proposed to detect and identify single-tone, multi-tone, swept continuous wave interference (CWI) and band-limited white Gaussian noise (BLWN). An adaptive notch filter and adaptive cascading filter structure are employed to identify the type of interference signals. The number of the cascading stages is selected by comparing the total power in receiver bandpass, and after, passing the adaptive notch filter. For this reason, the proposed filter structure is more efficient in identifying and mitigating interference signals than the conventional filter structure. In addition, the automatic gain control gain is used to detect the existence of continuous wave interference. The performance of the interference detection and identification method is evaluated for the cases of GPS signal in the presence of single-tone, multi-tone, swept CWI and BLWN.     

Carrying Capacity of Marine Region in Liaoning Province

Carrying capacity is one of important studies on coordinating development of population,resources,and environment.At present,the researches on it mainly concentrate on the carrying capacity for population and economy,such as the water resources carrying capacity,the land resources carrying capacity,the environment carrying capacity,etc.Based on the related theories and methods,this paper creatively proposed the concept and meaning of carrying capacity of marine region,and formed the appraisal system.According to the developing situation of marine economy of Liaoning Province in recent years,and by employing the method of the state space,this paper also measured the carrying capacity and carrying state of marine region and discussed the sustainable problems of marine economy of Liaoning.The research results show that the carrying state of marine region of Liaoning is in the state of overloading at present,but taking a favorable turn.     

1980—2020年中国九大流域蒸散发及其组分时空评估

蒸散发是地表陆气水分交换的纽带,准确量化蒸散发的时空演变格局对于水资源规划与管理至关重要。本文基于GLEAM模型的蒸散发及其组分数据集,借助7个通量观测站数据、120个流域的流域水量平衡及PML_V2蒸散发产品,在中国九大流域系统评估了GLEAM-ET产品,分析了植被恢复背景下,蒸散发（ET）及其组分（植被蒸腾Ec,截留蒸发Ei,土壤蒸发Es）在1980—2020年的时空演变格局。本文主要得到以下结论：① GLEAM-ET产品在中国九大流域具有较好的适用性,其性能与气候类型有关,干旱区效果优于湿润区。此外,GLEAM与PML_V2模型在九大流域相关性较好（R>0.7）,分布格局与变化趋势整体保持一致。② 全国尺度上,ET均值为416.88 mm,增长速率为1.21 mm/a。Ec与ET均呈自东南向西北递减的分布格局,而Es与其相反。Ec、ET在九大流域均呈显著增加趋势（p<0.001）。Ei、Es在季风区流域分别呈显著增加和显著减小趋势;在内陆区流域呈不显著减小（p>0.05）和显著增加趋势。③在植被恢复背景下,ET组分比例发生了变化。Ec占比变化存在南北差异,南方流域Ec占比均减小,北方流域均增加。Ei占比在各流域均增加,Es占比均减小。黄河流域ET组分对植被恢复的响应最为明显,Ec占比增加了5.21%,Es占比减小了5.56%。     

Assessment of future runoff trends under multiple climate change scenarios in the Willamette River Basin,Oregon, USA

We investigated trends in future seasonal runoff components in the Willamette River Basin (WRB) of Oregon for the twenty‐first century. Statistically downscaled climate projections by Climate Impacts Group (CIG), eight different global climate model (GCM) simulations with two different greenhouse gas (GHG) emission scenarios, (A1B and B1), were used as inputs for the US Geological Survey's Precipitation Runoff Modelling System. Ensemble mean results show negative trends in spring (March, April and May) and summer (June, July and August) runoff and positive trends in fall (September, October and November) and winter (December, January and February) runoff for 2000–2099. This is a result of temperature controls on the snowpack and declining summer and increasing winter precipitation. With temperature increases throughout the basin, snow water equivalent (SWE) is projected to decline consistently for all seasons. The decreases in the centre of timing and 7‐day low flows and increases in the top 5% flow are caused by the earlier snowmelt in spring, decreases in summer runoff and increases in fall and winter runoff, respectively. Winter runoff changes are more pronounced in higher elevations than in low elevations in winter. Seasonal runoff trends are associated with the complex interactions of climatic and topographic variables. While SWE is the most important explanatory variable for spring and winter runoff trends, precipitation has the strongest influence on fall runoff. Spatial error regression models that incorporate spatial dependence better explain the variations of runoff trends than ordinary least‐squares (OLS) multiple regression models. Our results show that long‐term trends of water balance components in the WRB could be highly affected by anthropogenic climate change, but the direction and magnitude of such changes are highly dependent on the interactions between climate change and land surface hydrology. This suggests a need for spatially explicit adaptive water resource management within the WRB under climate change. Copyright © 2010 John Wiley & Sons, Ltd.     

Integrated marine pollution management: A new model of marine pollution prevention and control in Kaohsiung,Taiwan

In a small island country like Taiwan, where the coastal zones have been heavily utilized, it is critical for the government to protect the health of near shore aquatic environment by enforcing the Marine Pollution Control Act (MPCA). However, the implementation of an effective plan based on MPCA is challenging local area. This is particular the case in the local level when the cross linkage among all related agencies is generally lacking. In 2004, the Kaohsiung city was aware of the shortfalls and then implemented an integrated marine pollution management system. The new system was adopted an action plan, that integrates all agencies with a strong communication mechanism. The encouraging results have shown substantial resource savings and a great improvement in water quality in the Kaohsiung marine environment. The success of this case reflects the needs for the concept of the integrated coastal zone management when dealing with marine affairs.     

High-frequency near-bottom acoustic reflection signatures of hydrocarbon seeps on the Northern Gulf of Mexico continental slope

Acoustic reflection signatures of four hydro-carbon seeps were classified using near-bottom 25-kHz echosounder profiles. Echo patterns were compared with ground-truth data obtained by submersible observations and shallow coring. Six echo types were distinguished: strong reflections from (1)?exposed or (2)?buried hard substrates, such as authigenic carbonate or gas hydrate; acoustic scattering in (3)?unlayered or (4)?layered sediments owing to gas, shells, or disseminated carbonates; (5)?attenuation caused by gas; and (6)?undisturbed sediments. Echo type distributions suggest that high spatial variability indicates a younger, vigorous seep, whereas extensive hard substrate implies an older, encrusted seep.     

Comparison of genetic algorithms and shuffled complex evolution approach for calibrating distributed rainfall–runoff model

Three methods, Shuffled Complex Evolution (SCE), Simple Genetic Algorithm (SGA) and Micro‐Genetic Algorithm (µGA), are applied in parameter calibration of a grid‐based distributed rainfall–runoff model (GBDM) and compared by their performances. Ten and four historical storm events in the Yan‐Shui Creek catchment, Taiwan, provide the database for model calibration and verification, respectively. The study reveals that the SCE, SGA and µGA have close calibration results, and none of them are superior with respect to all the performance measures, i.e. the errors of time to peak, peak discharge and the total runoff volume, etc. The performances of the GBDM for the verification events are slightly worse than those in the calibration events, but still quite satisfactory. Among the three methods, the SCE seems to be more robust than the other two approaches because of the smallest influence of different initial random number seeds on calibrated model parameters, and has the best performance of verification with a relatively small number of calibration events. Copyright © 2009 John Wiley & Sons, Ltd.