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.     

中国内蒙古下白垩统白彦华群胜利组的首个同位素年龄

由于丰富的煤炭资源,内蒙古的下白垩统地层具有重要的经济价值.但长期以来相关地层一直缺乏同位素测年研究,影响了区域地层对比工作的开展.本文对内蒙古锡林浩特下白垩统胜利组煤层夹层中的火山灰锆石应用LA-ICP-MS进行U-Pb法测年,结果显示胜利组5煤(层)和6煤(层)形成于大约109-107 Ma(早白垩世阿尔布期).这...     

2012—2016年象山近岸海域水质评价与模拟研究

为了解象山近岸海域水质污染状况,文章根据2012—2016年象山县近岸海域的水质监测结果,分析象山近岸海域水质现状及年际变化。应用灰色预测的模型来对象山近岸海域水质主要污染物的相关数据进行处理,得出主要污染物的预测结果。分析结果表明：象山近岸海域主要污染物为无机氮。用预测结果和实际数值通过残差验证,最后模拟出今后几年的监测值,为象山县近岸海域生态环境相关管理部门提供数据支撑和决策依据。     

2007-2016年四川省土壤干旱时空动态分析

四川作为农业大省,旱灾是导致农业减产最主要的因素。通过遥感和GIS手段进行四川省土壤干旱程度的时空分析,提高干旱的空间可视化程度,加强干旱监测的时效性尤为重要。本研究基于四川省2007—2016年逐季度的MODIS数据和1961—2011年40个气象站的月降水资料,采用温度植被干旱指数(TVDI)计算得到四川省干旱等级分布情况,辅以标准化降雨指数(SPI)进行相关性分析,并通过线性回归、反距离权重空间插值、GIS空间分析模型重建等方法,分析近十年来四川省地区以季度为时间尺度的土壤干旱时空变化特征,制作各时相土壤干旱分布图展示其微变化。结果表明:(1)在月时间尺度上,SPI-1与TVDI呈中等至强负相关关系,即TVDI值越小,SPI值越大,干旱程度越轻;验证结果表明TVDI都能够较好地对四川省的干旱空间分布状况进行反映。(2)四川省各区域、各季节干旱分布不均:空间上,干旱频发的区域集中在四川盆地及攀西南部区域。时间上,在春季,四川盆地区域的土壤干旱程度大致呈现加剧—持续—减缓的趋势;夏季,四川盆地的干旱变化趋势是加剧—减缓—加剧;秋季,四川盆地的干旱变化趋势是加剧—减缓—持续减缓;冬季,全川干旱程度变化不明显。本文的研究结果对四川省开展农业防灾减灾,引导农业灌溉具有指导意义。     

Analysis of city centrality based on entropy weight TOPSIS and population mobility: A case study of cities in the Yangtze River Economic Belt

Based on statistical data and population flow data for 2016,and using entropy weight TOPSIS and the obstacle degree model,the centrality of cities in the Yangtze River Economic Belt(YREB)together with the factors influencing centrality were measured.In addition,data for the population flow were used to analyze the relationships between cities and to verify centrality.The results showed that:(1)The pattern of centrality conforms closely to the pole-axis theory and the central geography theory.Two axes,corresponding to the Yangtze River and the Shanghai-Kunming railway line,interconnect cities of different classes.On the whole,the downstream cities have higher centrality,well-defined gradients and better development of city infrastructure compared with cities in the middle and upper reaches.(2)The economic scale and size of the population play a fundamental role in the centrality of cities,and other factors reflect differences due to different city classes.For most of the coastal cities or the capital cities in the central and western regions,factors that require long-term development such as industrial facilities,consumption,research and education provide the main competitive advantages.For cities that are lagging behind in development,transportation facilities,construction of infrastructure and fixed asset investment have become the main methods to achieve development and enhance competitiveness.(3)The mobility of city populations has a significant correlation with the centrality score,the correlation coefficients for the relationships between population mobility and centrality are all greater than 0.86(P<0.01).The population flow is mainly between high-class cities,or high-class and low-class cities,reflecting the high centrality and huge radiating effects of high-class cities.Furthermore,the cities in the YREB are closely linked to Guangdong and Beijing,reflecting the dominant economic status of Guangdong with its geographical proximity to the YREB and Beijing's enormous influence as the national political and cultural center,respectively.     

中西文化差异对旅游跨文化交际的影响

旅游是一种特殊的文化交流活动,在跨文化交际中常常会发生文化冲突,这大多是由于不同文化之间的差异造成的.中西文化差异导致旅游跨文化交际障碍的因素很多,其中最重要的因素是中西方价值取向、思维方式、行为规范的差异.在旅游跨文化交际中应特别增加中西文化差异意识,方能尽量减少交际障碍.