GNSS integration with vision-based navigation for low GNSS visibility conditions

In urban canyons, buildings and other structures often block the line of sight of visible Global Navigation Satellite System (GNSS) satellites, which makes it difficult to obtain four or more satellites to provide a three-dimensional navigation solution. Previous studies on this operational environment have been conducted based on the assumption that GNSS is not available. However, a limited number of satellites can be used with other sensor measurements, although the number is insufficient to derive a navigation solution. The limited number of GNSS measurements can be integrated with vision-based navigation to correct navigation errors. We propose an integrated navigation system that improves the performance of vision-based navigation by integrating the limited GNSS measurements. An integrated model was designed to apply the GNSS range and range rate to vision-based navigation. The possibility of improved navigation performance was evaluated during an observability analysis based on available satellites. According to the observability analysis, each additional satellite decreased the number of unobservable states by one, while vision-based navigation always has three unobservable states. A computer simulation was conducted to verify the improvement in the navigation performance by analyzing the estimated position, which depended on the number of available satellites; additionally, an experimental test was conducted. The results showed that limited GNSS measurements can improve the positioning performance. Thus, our proposed method is expected to improve the positioning performance in urban canyons.     

Long-term comparison of satellite and in-situ sea surface temperatures around the Korean Peninsula

Ocean Science Journal - Satellite remotely sensed sea surface temperature (SST) was compared with in-situ SST in the seas around the Korean Peninsula from 1984 to 2013. A matchup dataset between...     

Expansion velocities of the planetary nebula NGC 7009—the high dispersion spectra line profiles

We investigated the line profiles of the high dispersion spectra of He?I, He?II, N?III, [N?II], [O?III], [Ar?III], [Ar?IV], [S?II], [S?III ], and [Cl?IV], secured at the center of the planetary nebula NGC 7009 with the fiber-fed Bohyunsan Echelle Spectrograph (BOES). The expansion velocities for the main shell and the faint outer thin shell were derived based on stronger double Gaussian profiles and the fast blue wing component, respectively. With the Keck 2D spectral images, we set the main shell boundaries as R～4″ and 6″ and the faint outer thin shell boundaries as R～11″ and 13″. The radial variation of expansion velocities of both shells does not follow a linear acceleration. The acceleration of the main shell gas seems to be in a retarded mode, while that of the outer faint shell gas seems to be affected by an additional force. The fast wing component appears also in the He?I, He?II, and N?III line profiles which are likely to have been formed in a compact region, located inside the main shell. The additional deceleration factor, such as the rotation of the central star or the dust gas in the gas shell might cause the non-linear acceleration. Based on the line profiles responsible for the three zones, we conclude that there were at least three major changes occurred in the central star temperature since the first outflow from the central star.     

Winter distribution of diatom assemblages along the coastline of R. O. Korea in 2010

Diatoms are a globally successful and eukaryotic photosynthetic organism with an ornamented silica external wall. The relationship between their valve morphology and habitat means that diatoms can be used as bioindicators to characterize the aquatic environment. To estimate the differential distribution and diversity of diatom assemblages along the coastal line, we collected phytoplankton samples from 114 coastal sites of waters of R. O. Korea. We applied the unweighted pair-group technique usin...     

Derivation of regression coefficients for sea surface temperature retrieval over East Asia

Among the regression-based algorithms for deriving SST from satellite measurements, regionally optimized algorithms normally perform better than the corresponding global algorithm. In this paper,three algorithms are considered for SST retrieval over the East Asia region (15°-55°N, 105°-170°E),including the multi-channel algorithm (MCSST), the quadratic algorithm (QSST), and the Pathfinder algorithm (PFSST). All algorithms are derived and validated using collocated buoy and Geostationary Meteorological Satellite (GMS-5) observations from 1997 to 2001. An important part of the derivation and validation of the algorithms is the quality control procedure for the buoy SST data and an improved cloud screening method for the satellite brightness temperature measurements. The regionally optimized MCSST algorithm shows an overall improvement over the global algorithm, removing the bias of about -0.13℃ and reducing the root-mean-square difference (rmsd) from 1.36℃ to 1.26℃. The QSST is only slightly better than the MCSST. For both algorithms, a seasonal dependence of the remaining error statistics is still evident. The Pathfinder approach for deriving a season-specific set of coefficients, one for August to October and one for the rest of the year, provides the smallest rmsd overall that is also stable over time.     

中国东北地区中生代火山岩的大地构造意义

中国东北地区中生代火山岩可划分为西部大兴安岭环状火山岩带、南部火山岩带和东部火山岩带,它们是古亚洲洋构造域向太平洋构造域转换时期不同构造环境的产物。西部大兴安岭环状火山岩带的形成与古亚洲洋闭合过程中壳幔相互作用引起的深部热地幔柱的上升有关,南部火山岩带与构造域转换时期走滑拉伸构造有关,而东部火山岩带则是太平洋板块斜向俯冲作用的产物。     

Formation mechanisms of illite,chlorite and mixed-layer illite-chlorite in Triassic volcanogenic sediments from the Southland Syncline,New Zealand

Clay minerals from the three principal kinds of zeolitic sediments from the type area for zeolite facies alteration, the Triassic Murihiku Supergroup, Southland, New Zealand, have been studied by TEM. Bentonitic tuff consists largely of smectite and heulandite with minor illite; they occur as replacements of glass shards and are inferred to be direct alteration products of tuff alteration. Both analcime- and laumontite-rich tuffs contain chlorite, illite and mixed-layer illite-chlorite, including 11 mixed-layer sequences. Subhedral to euhedral phyllosilicate crystal shapes and other textural features imply that phyllosilicates crystallized from solution derived in part by dissolution of precursor smectite. Intralayer transitions involving illite and chlorite are inferred to be products of crystallization rather than direct alteration and replacement. Petrographically similar bentonitic and analcimized tuffs overlap each other in the stratigraphic section, supporting earlier observations that there is no systematic change in smectite relative to the illite plus chlorite derived from smectite in sections up to 8.5 km thick. The data imply that smectite may be metastable relative to illite plus chlorite. Permeability and fluid chemistry are inferred to be as significant as temperature in promoting reactions in clay minerals as well as zeolites during burial metamorphism.Contribution No. 436, from The Mineralogical Laboratory, Department of Geological Sciences, The University of Michigan, Ann Arbor, Michigan 48109