一种WiFi无线接入点位置估计新算法

目的 针对无线接入点的位置估计问题,利用基于接收信号强度的测距技术,提出一种无需已知测距模型参数的无线接入点位置估计算法。该算法首先通过距离间的比例关系消去和无线接入点发射功率相关的测距模型参数;然后根据最小二乘原理来搜索最佳路径损耗指数,再确定无线接入点的位置。仿真结果表明,该算法能够改善现有无线接入点位置估计算法存在的不足,提升位置估计的精度。     

顾及用户体验的三维城市模型自适应组织方法

传统基于“图层付象”的组织方法,没有考虑三维城市模型的不同内容以及不同细节层次的粒度差异,导致在网络环境下的传输效率低,难以满足多用户并发访问的流畅可视化。深入分析了大范围漫游与小范围聚焦的用户体验特点,通过元数据统筹管理和对象离散化,即时响应用户请求,减少无效数据传输,保证了多用户并发环境下的高效调度和浏览。针对模型LoI)和分解的对象,设计了结构统一的对象ID,隐式存储关联关系并支持分布式模型存储管理。以分布式数据库MongoDB为平台进行实验,验证了本文方法的可行性和有效性。     

利用GRACE数据检测日本Mw9.0地震同震和震后重力变化

基于德国地学中心（GFZ）发布的GRACE RL05月重力场模型数据,考虑全球陆地同化系统陆地水储量的影响,采用300 km的扇形滤波,利用叠积法提取了日本Mw9.0地震的同震和震后重力时变信号,并利用最小二乘拟合的方法计算了两个同震重力变化极值点在地震前后85个月的重力年变率。结果表明：土壤水分和雪水引起的重力变化为-0.34~0.09 μgal;利用GRACE数据检测到的同震重力变化为-5.3~4.2 μgal,与基于PSGRN/PSCMP模型计算的结果在空间分布和量级上具有较好的一致性;震后5 a震中附近区域的重力整体上呈现增加趋势,断层上盘所在的日本海域与下盘所在的太平洋区域重力增加的最大值分别为2.6、4.5 μgal,下盘重力增加较大,可能与断层下盘所在地层的黏滞性相对较低有关。     

Precise photorealistic visualization for restoration of historic buildings based on tacheometry data

This paper puts forward a 3D reconstruction methodology applied to the restoration of historic buildings taking advantage of the speed, range and accuracy of a total geodetic station. The measurements representing geo-referenced points produced an interactive and photorealistic geometric mesh of a monument named ‘Neoria.’ ‘Neoria’ is a Venetian building located by the old harbor at Chania, Crete, Greece. The integration of tacheometry acquisition and computer graphics puts forward a novel integrated software framework for the accurate 3D reconstruction of a historical building. The main technical challenge of this work was the production of a precise 3D mesh based on a sufficient number of tacheometry measurements acquired fast and at low cost, employing a combination of surface reconstruction and processing methods. A fully interactive application based on game engine technologies was developed. The user can visualize and walk through the monument and the area around it as well as photorealistically view it at different times of day and night. Advanced interactive functionalities are offered to the user in relation to identifying restoration areas and visualizing the outcome of such works. The user could visualize the coordinates of the points measured, calculate distances and navigate through the complete 3D mesh of the monument. The geographical data are stored in a database connected with the application. Features referencing and associating the database with the monument are developed. The goal was to utilize a small number of acquired data points and present a fully interactive visualization of a geo-referenced 3D model.     

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.     

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.     

On the accuracy of the GPS L2 observable for ionospheric monitoring

The introduction of the unencrypted global positioning system (GPS) L2 civil (L2C) signal has the potential to improve measurements made with the L2 frequency, an important observable in GPS-based ionospheric research and monitoring. Recent work has shown significant differences between the legacy L2P(Y) and L2C-derived total electron content rate of change index (ROTI). This difference is observed between L2P(Y) and L2C-derived ROTI with certain receiver models and between zero-baseline receiver pairs. We discuss the likely cause for these differences: L1-aided tracking used to track both the L2P(Y) and L2C signals. We also present L2C data that are confirmed to be from tracking independent of L1. Using the ionospheric-free linear combination, we show that the independently tracked carrier phase dynamics are significantly more accurate than the L1-aided observables. This result is confirmed by comparing the behavior of the L2C and L2P(Y) carrier phase observables upon a sudden antenna rotation.     

A new evil waveforms evaluating method for new BDS navigation signals

With the advent of new global navigation satellite systems (GNSSs) and new signals, GNSS users will rely more on them to obtain higher-accuracy positioning. Evil waveform monitoring and assessment are of great importance for GNSS to achieve its positioning, velocity, and timing service with high accuracy. However, the advent of new navigation signals introduces the necessity to extend the traditional analyzing techniques already accepted for binary phase-shift keying modulation to new techniques. First, the well-known second-order step thread model adopted by the International Civil Aviation Organization is introduced. Then the extended new general thread models are developed for the new binary offset carrier modulated signals. However, no research has been done on navigation signal waveform symmetry yet. Simulation results showed that, waveform asymmetry may also cause tracking errors, range biases, and position errors in GNSS receivers. It is thus imperative that the asymmetry be quantified to enable the design of appropriate error budgets and mitigation strategies for various application fields. A novel evil waveform analysis method, called waveform rising and falling edge symmetry (WRaFES) method, is proposed. Based on this WRaFES method, the correlation metrics are provided to detect asymmetric correlation peaks distorted by received signal asymmetry. Then the statistical properties of the proposed methods are analyzed, and a proper deformation detection threshold is calculated. Finally, both simulation results and experimentally measured results of Beidou navigation satellite system (BDS) M1-S B1Cd signal are given, which show the effectiveness and robustness of the proposed thread models.     

Beidou satellite maneuver thrust force estimation for precise orbit determination

Beidou satellites, especially geostationary earth orbit (GEO) and inclined geosynchronous orbit (IGSO) satellites, need to be frequently maneuvered to keep them in position due to various perturbations. The satellite ephemerides are not available during such maneuver periods. Precise estimation of thrust forces acting on satellites would provide continuous ephemerides during maneuver periods and could significantly improve orbit accuracy immediately after the maneuver. This would increase satellite usability for both real-time and post-processing applications. Using 1 year of observations from the Multi-GNSS Experiment network (MGEX), we estimate the precise maneuver periods for all Beidou satellites and the thrust forces. On average, GEO and IGSO satellites in the Beidou constellation are maneuvered 12 and 2 times, respectively, each year. For GEO satellites, the maneuvers are mainly in-plane, while out-of-plane maneuvers are observed for IGSO satellites and a small number of GEO satellites. In most cases, the Beidou satellite maneuver periods last 15–25 min, but can be as much as 2 h for the few out-of-plane maneuvers of GEO satellites. The thrust forces acting on Beidou satellites are normally in the order of 0.1–0.7 mm/s². This can cause changes in velocity of GEO/IGSO satellites in the order of several decimeters per second. In the extreme cases of GEO out-of-plane maneuvers, very large cross-track velocity changes are observed, namely 28 m/s, induced by 5.4 mm/s² thrust forces. Also, we demonstrate that by applying the estimated thrust forces in orbit integration, the orbit errors can be estimated at decimeter level in along- and cross-track directions during normal maneuver periods, and 1–2 m in all the orbital directions for the enormous GEO out-of-plane maneuver.