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.     

Surface Geophysical Methods used to Verify the Karst Geological Structure in the Built-up Area: A Case Study of Specific Engineering-Geological Conditions

This article presents a research study of complex limestone karst engineering-geological conditions in the municipality Valaská near Banská Bystrica in Slovakia. The aim of the study is to demonstrate the impossibility of spatial identification of cave spaces using surface geophysical methods due to the specific engineering-geological conditions of a thick surface layer of anthropogenic fill containing highly heterogeneous anthropogenic material. Its maximum thickness is 3 m. Another specificific condition of the study area is its location in the built-up area, due to which the applicability of geophysical methods was limited. The article contains methodological recommendations to be used in analogous geological conditions with karst structures topped with anthropogenic fill, which complicates the identification of cave spaces. The recommended solution herein is the identification of the cave system using underground mapping of the karst and its projection onto the surface for which surface geophysical methods have been combined.     

Small-strain behaviour of unsaturated silty clay: experiments and model interpretation

Acta Geotechnica - The experimental data dealing with the so-called small strain stiffness of soils are indispensable in developing and calibrating advanced numerical models. A literature review...     

Effects of cadmium, zinc and nitrogen status on non-protein thiols in the macroalgae Enteromorpha spp. from the Scheldt Estuary (SW Netherlands, Belgium) and Thermaikos Gulf (N Aegean Sea, Greece)

Enteromorpha prolifera (Scheldt Estuary) and E. linza (Thermaikos Gulf) were incubated at three salinities with 100 and 200microgL(-1)Cd and Zn. The objective was to measure effects of Cd, Zn and nitrogen (N) status on the pools of metal-binding non-protein thiols: glutathione and phytochelatins, (gamma-glutamyl-cysteinyl)(n)-glycine (PC). In E. linza, ammonium pools were higher, but amino acid pools, total N and protein contents were lower than in E. prolifera. Reduced glutathione (GSH) pools were positively correlated with free glutamate and protein contents. In E. linza GSH pools increased and the ratio of reduced to oxidized glutathione (GSH:(GSH+0.5GSSG)), an indicator of oxidative stress, decreased with Cd contents, indicating Cd-induced glutathione oxidation. Total glutathione pools (reduced plus oxidized) ranged from 16nmolSgdwt(-1) in controls (at 0.5micromolCdgdwt(-1)) to 179nmolSgdwt(-1) (at 1.9micromolCdgdwt(-1)) at the highest cadmium dosage. Cadmium stimulated PC synthesis in E. prolifera which suggests that in N-rich algae, glutathione pools were high enough for PC synthesis. In both species GSH and protein increased with Zn contents, whereas GSH:(GSH+0.5GSSG) decreased, which would indicate Zn-induced oxidative stress; in E. linza, at the highest salinity the glutathione redox ratio decreased from 0.61 (at 2.9micromolZngdwt(-1)) to 0.26 (at 4.9nmolSgdwt(-1)) (at 0.5molCdgdwt(-1)). PCs were not synthesized in response to Zn, which may have resulted in Zn-induced GSH oxidation. The presence of both oxidative effects (Cd, Zn) and detoxification (Cd) could be identified by observing the responses of glutathione and PC pools to metal stress.     

The presolar grain inventory of fine‐grained chondrule rims in the Mighei‐type (CM) chondrites

We investigated the inventory of presolar silicate, oxide, and silicon carbide (SiC) grains of fine‐grained chondrule rims in six Mighei‐type (CM) carbonaceous chondrites (Banten, Jbilet Winselwan, Maribo, Murchison, Murray and Yamato 791198), and the CM‐related carbonaceous chondrite Sutter's Mill. Sixteen O‐anomalous grains (nine silicates, six oxides) were detected, corresponding to a combined matrix‐normalized abundance of ~18 ppm, together with 21 presolar SiC grains (~42 ppm). Twelve of the O‐rich grains are enriched in ¹⁷O, and could originate from low‐mass asymptotic giant branch stars. One grain is enriched in ¹⁷O and significantly depleted in ¹⁸O, indicative of additional cool bottom processing or hot bottom burning in its stellar parent, and three grains are of likely core‐collapse supernova origin showing enhanced ¹⁸O/¹⁶O ratios relative to the solar system ratio. We find a presolar silicate/oxide ratio of 1.5, significantly lower than the ratios typically observed for chondritic meteorites. This may indicate a higher degree of aqueous alteration in the studied meteorites, or hint at a heterogeneous distribution of presolar silicates and oxides in the solar nebula. Nevertheless, the low O‐anomalous grain abundance is consistent with aqueous alteration occurring in the protosolar nebula and/or on the respective parent bodies. Six O‐rich presolar grains were studied by Auger Electron Spectroscopy, revealing two Fe‐rich silicates, one forsterite‐like Mg‐rich silicate, two Al‐oxides with spinel‐like compositions, and one Fe‐(Mg‐)oxide. Scanning electron and transmission electron microscopic investigation of a relatively large silicate grain (490 nm × 735 nm) revealed that it was crystalline åkermanite (Ca₂Mg[Si₂O₇]) or a an åkermanite‐diopside (MgCaSi₂O₆) intergrowth.     

Evaluation of the Presence of Methane in Złoczew Lignite: Comparison with Other Lignite Deposits in Poland

Natural Resources Research - Catastrophic cases of methane explosion during exploratory drilling within the Be?chatów ortholignite deposit have led to testing for methane in other Polish...