Where Am I? Investigating Map Matching During Self‐Localization With Mobile Eye Tracking in an Urban Environment

Self‐localization is the process of identifying one's current position on a map, and it is a crucial part of any wayfinding process. During self‐localization the wayfinder matches visually perceptible features of the environment, such as landmarks, with map symbols to constrain potential locations on the map. The success of this visual matching process constitutes an important factor for the success of self‐localization. In this research we aim at observing the visual matching process between environment and map during self‐localization with real‐world mobile eye tracking. We report on one orientation and one self‐localization experiment, both in an outdoor urban environment. The gaze data collected during the experiments show that successful participants put significantly more visual attention to those symbols on the map that were helpful in the given situation than unsuccessful participants. A sequence analysis revealed that they also had significantly more switches of visual attention between map symbols and their corresponding landmarks in the environment, which suggests they were following a more effective self‐localization strategy.     

Preprocessing of gravity gradients at the GOCE high-level processing facility

One of the products derived from the gravity field and steady-state ocean circulation explorer (GOCE) observations are the gravity gradients. These gravity gradients are provided in the gradiometer reference frame (GRF) and are calibrated in-flight using satellite shaking and star sensor data. To use these gravity gradients for application in Earth scienes and gravity field analysis, additional preprocessing needs to be done, including corrections for temporal gravity field signals to isolate the static gravity field part, screening for outliers, calibration by comparison with existing external gravity field information and error assessment. The temporal gravity gradient corrections consist of tidal and nontidal corrections. These are all generally below the gravity gradient error level, which is predicted to show a 1/f behaviour for low frequencies. In the outlier detection, the 1/f error is compensated for by subtracting a local median from the data, while the data error is assessed using the median absolute deviation. The local median acts as a high-pass filter and it is robust as is the median absolute deviation. Three different methods have been implemented for the calibration of the gravity gradients. All three methods use a high-pass filter to compensate for the 1/f gravity gradient error. The baseline method uses state-of-the-art global gravity field models and the most accurate results are obtained if star sensor misalignments are estimated along with the calibration parameters. A second calibration method uses GOCE GPS data to estimate a low-degree gravity field model as well as gravity gradient scale factors. Both methods allow to estimate gravity gradient scale factors down to the 10⁻³ level. The third calibration method uses high accurate terrestrial gravity data in selected regions to validate the gravity gradient scale factors, focussing on the measurement band. Gravity gradient scale factors may be estimated down to the 10⁻² level with this method.     

Soil Organic Carbon mapping of partially vegetated agricultural fields with imaging spectroscopy

Soil Organic Carbon (SOC) is one of the key soil properties, but the large spatial variation makes continuous mapping a complex task. Imaging spectroscopy has proven to be an useful technique for mapping of soil properties, but the applicability decreases rapidly when fields are partially covered with vegetation. In this paper we show that with only a few percent fractional maize cover the accuracy of a Partial Least Square Regression (PLSR) based SOC prediction model drops dramatically. However, this problem can be solved with the use of spectral unmixing techniques. First, the fractional maize cover is determined with linear spectral unmixing, taking the illumination and observation angles into account. In a next step the influence of maize is filtered out from the spectral signal by a new procedure termed Residual Spectral Unmixing (RSU). The residual soil spectra resulting from this procedure are used for mapping of SOC using PLSR, which could be done with accuracies comparable to studies performed on bare soil surfaces (Root Mean Standard Error of Calibration = 1.34 g/kg and Root Mean Standard Error of Prediction = 1.65 g/kg). With the presented RSU approach it is possible to filter out the influence of maize from the mixed spectra, and the residual soil spectra contain enough information for mapping of the SOC distribution within agricultural fields. This can improve the applicability of airborne imaging spectroscopy for soil studies in temperate climates, since the use of the RSU approach can extend the flight-window which is often constrained by the presence of vegetation.     

The relation between rigorous and Helmert’s definitions of orthometric heights

Following our earlier definition of the rigorous orthometric height [J Geod 79(1-3):82–92 (2005)] we present the derivation and calculation of the differences between this and the Helmert orthometric height, which is embedded in the vertical datums used in numerous countries. By way of comparison, we also consider Mader and Niethammer’s refinements to the Helmert orthometric height. For a profile across the Canadian Rocky Mountains (maximum height of ~2,800 m), the rigorous correction to Helmert’s height reaches ~13 cm, whereas the Mader and Niethammer corrections only reach ~3 cm. The discrepancy is due mostly to the rigorous correction’s consideration of the geoid-generated gravity disturbance. We also point out that several of the terms derived here are the same as those used in regional gravimetric geoid models, thus simplifying their implementation. This will enable those who currently use Helmert orthometric heights to upgrade them to a more rigorous height system based on the Earth’s gravity field and one that is more compatible with a regional geoid model.     

ARGO upper salinity measurements: perspectives for L-band radiometers calibration and retrieved sea surface salinity validation

With the view of preparing the strategy for the calibration/validation of future L-band satellite radiometers, we examine the salinity variability recorded by Array for Real-Time Geostrophic Oceanography (ARGO) floats in the upper 10-m layer of the surface ocean. Using one year of ARGO measurements,we show that the surface salinity variability at ten days and 200-km scales is above /spl plusmn/0.1 psu for 30% of the drifters and that this variability is larger than 0.2 psu in tropical regions affected by strong river discharges and by precipitations, and in frontal areas characterized by strong mesoscale activity. Vertical gradient observed between 5-10-m depth is much lower than the horizontal variability but leads to systematic biases in the tropics. The South Pacific Ocean appears to be the less variable both vertically and horizontally.     

Design of a 3D Chirp Sub-bottom Imaging System

Chirp sub-bottom profilers are marine acoustic devices that use a known and repeatable source signature (1–24 kHz) to produce decimetre vertical resolution cross-sections of the sub-seabed. Here the design and development of the first true 3D Chirp system is described. When developing the design, critical factors that had to be considered included spatial aliasing, and precise positioning of sources and receivers. Full 3D numerical modelling of the combined source and receiver directivity was completed to determine optimal source and receiver geometries. The design incorporates four source transducers (1.5–13 kHz) that can be arranged into different configurations, including Maltese Cross, a square and two separated pairs. The receive array comprises 240 hydrophones in 60 groups whose group-centres are separated by 25 cm in both horizontal directions, with each hydrophone group containing four individual elements and a pre-amplifier. After careful consideration, it was concluded that the only way to determine with sufficient accuracy the source–receiver geometry, was to fix the sources and receivers within a rigid array. Positional information for the array is given by a Real Time Kinematic GPS and attitude system incorporating four antennas to give position, heading, pitch and roll. It is shown that this system offers vertical positioning accuracy with a root-mean-square (rms) error less than 2.6 cm, while the horizontal positioning rms error was less than 2.0 cm. The system is configured so that the Chirp source signature can be chosen by software aboard the acquisition vessel. The complete system is described and initial navigational and seismic data results are presented. These data demonstrate that the approach of using fixed source-receiver geometry combined with RTK navigation can provide complete 3D imaging of the sub-surface.     

Ex situ cultivation of Aplysinaaerophoba close to in situ conditions: ecological, biochemical and histological aspects

Sponges provide the largest number of biologically active natural products known from the marine environment and continue to be a very well studied phylum of marine fauna. The Mediterranean sponge Aplysina aerophoba accumulates brominated isoxazoline alkaloids such as Aplysinamisin-1, Aerophobin-2, Isofistularin-3 and the biotransformation product Aeroplysinin-1, which possesses, for example, antibiotic and cytotoxic properties. Until now, it is still being discussed which organisms – the sponge itself or associated microorganisms – are responsible for metabolite production. For cultivating Aplysina individuals under ex situ conditions, we surveyed relevant ecological factors in situ and controlled them in our aquarium system. We maintained A. aerophoba for more than 9 months and analysed changes of metabolite content and composition, microbial association as well as morphology in situ and ex situ under different light exposure. Although sponges showed slight reduction during maintenance, ex situ cultivation similar to in situ conditions provides a promising method to keep sponges and obtain their bioactive metabolites.     

Size and shape of near-spherical Allegan chondrules

Chondrules were extracted from a disaggregated sample of the Allegan meteorite. Individual chondrules were examined with apparatus incorporating two orthogonal binocular microscopes, and their three major axes measured. Maximum chondrule diameters ranged from 0.15 to 2.75 mm with a peak in distribution between 0.35 and 0.75 mm. The chondrule size distribution was found not to conform to Rosin's law. The chondrules were found to depart from sphericity by only small amounts. The authors still believe that the melting of nebula dust-ball agglomerates by some high-energy event was the most probable mechanism for the formation of chondrules.     

Testing for similarity in area‐based spatial patterns: Alternative methods to Andresen's spatial point pattern test

Andresen's spatial point pattern test (SPPT) compares two spatial point patterns on defined areal units; it identifies areas where the spatial point patterns diverge and aggregates these local (dis)similarities to one global measure. We discuss the limitations of the SPPT and provide two alternative methods to calculate differences in the point patterns. In the first approach we use differences in proportions tests corrected for multiple comparisons. We show how the size of differences matters, as with large point patterns many areas will be identified by SPPT as statistically different, even if those differences are substantively trivial. The second approach uses multinomial logistic regression, which can be extended to identify differences in proportions over continuous time. We demonstrate these methods by identifying areas where pedestrian stops by the New York City Police Department are different from violent crimes for 2006–2016.