基于强跟踪性能的QEKF组合导航自适应滤波研究

以低成本陆用航姿参考系统（AHRS）/GPS紧耦合系统为研究对象,建立了基于伪距、伪距率、航向角的组合观测数学模型。引入强跟踪滤波（STF）算法,利用渐消因子的作用,增强滤波器对状态快速变化的跟踪能力。同时,针对微惯性器件漂移过大的缺点,采用二阶EKF（QEKF）方法,通过对Hessian矩阵的求解,补偿系统观测方程线性化的二阶截断误差。仿真表明：STQEKF方法可高速准确地逼近系统非线性模型,实现陆地载体导航控制,在传感器精度有限的情况下,使姿态和位置的控制效果较标准EKF分别提高了约8.9%-38.2%和48.7%-54.4%     

Tracking of facial deformations in multi-image sequences with elimination of rigid motion of the head

The paper deals with measurement of human facial deformations from synchronized image sequences taken with multiple calibrated cameras from different viewpoints. SIFT (Scale Invariant Feature Transform) keypoints are utilized as image feature points in the first place to determine spatial and temporal correspondences between images. If no temporal match is found for an image point by keypoint matching, then the tracking of the point is switched to least squares matching provided the point has one or more spatial corresponding points in the other views of the previous frame. For this purpose, a new method based on affine multi-image least squares matching is proposed where multiple spatial and temporal template images are simultaneously matched against each search image and part of the spatial template images also change during adjustment. A new method based on analyzing temporal changes in the image coordinates of the tracked points in multiple views is then presented for detecting the 3-D points which move only rigidly between consecutive frames. These points are used to eliminate the effect of rigid motion of the head and to obtain the changes in the 3-D points and in the corresponding image points due to pure deformation of the face. The methods are thoroughly tested with three multi-image sequences of four cameras including also quite large changes of facial deformations. The test results prove that the proposed affine multi-image least squares matching yields better results than another method using only fixed templates of the previous frame. The elimination of the effect of rigid motion works well and the points where the face is deforming can be correctly detected and the true deformation estimated. A method based on a novel adaptive threshold is also proposed for automated extraction and tracking of circular targets on a moving calibration object.     

一种新的BOC调制无模糊跟踪鉴别器设计

建立了导航接收机码跟踪延迟锁定环的数学模型,讨论了DP和EMLP鉴别器在不同信号、不同前端滤波器带宽的鉴别曲线特性,阐述了BOC调制模糊跟踪产生的原因。针对BOC调制信号的模糊跟踪问题,从BOC调制的机理出发,将BOC调制分成伪码和副栽波两部分分析,阐述了一种新的鉴别器设计。实验表明：新鉴别器设计,鉴别曲线线性跟踪区域斜率最高为9,可实现BOC调制的无模糊跟踪。     

冰川运动速度研究: 方法、变化、问题与展望

冰川流速是表征冰川运动的重要参数之一,对于冰川动力学、气候变化以及物质平衡等研究具有重要意义。冰川流速的影响因素多样,其中气象因子主要是通过改变冰川物质平衡、活动性以及水力特征来对冰川运动产生影响,所以冰川流速也可能与气象因子一样具有季节性差异。基于2017-11-06—2020-11-02期间31景哨兵1号（Sentinel-1）雷达影像,采用外部数字高程模型（digital elevation model,DEM）辅助的偏移量追踪法对中国西藏自治区昌都市八宿县境内然乌湖流域的雅弄冰川进行了冰川表面流速提取,并结合研究区冰舌面积变化以及气象因子（平均气温、降水量、降雪日数以及平均日照数）对雅弄冰川流速季节性变化进行了分析。结果表明：雅弄冰川流速分布呈现中上部流速高而下部流速低的特点,且冰川中部主流线流速明显高于两侧速度。30组冰川流速变化具有明显的季节性,夏季流速高而冬春季流速低。与流速变化相同,冰舌面积变化同样具有季节性差异,冬季面积明显大于夏季面积。与气象影响因子对比分析发现,气温、降水以及日照均对冰川表面流速具有正效应,促进冰川运动,而降雪抑制了部分热量及辐射传递,进而抑制了冰川融水过程,减缓了冰川运动。在气象因子影响力上,气温对冰川运动的效应最明显,降雨次之,日照影响最小。     

卫星跟踪卫星技术的进展及应用前景

卫星跟踪卫星技术被认为是 2 1世纪初最有价值和应用前景的高效重力探测技术 ,旨在测定中长波重力场的精细结构及时间相依变化。本文首先简要阐述卫星跟踪卫星技术的发展背景及概况 ,其次介绍目前已经实施和将要实施的卫星跟踪卫星计划 CHAMP和 GRACE的进展情况 ,最后讨论该技术在精化地球重力场和研究相关地学问题中的应用前景。     

Semantic and syntactic interoperability in online processing of big Earth observation data

ABSTRACT

The challenge of enabling syntactic and semantic interoperability for comprehensive and reproducible online processing of big Earth observation (EO) data is still unsolved. Supporting both types of interoperability is one of the requirements to efficiently extract valuable information from the large amount of available multi-temporal gridded data sets. The proposed system wraps world models, (semantic interoperability) into OGC Web Processing Services (syntactic interoperability) for semantic online analyses. World models describe spatio-temporal entities and their relationships in a formal way. The proposed system serves as enabler for (1) technical interoperability using a standardised interface to be used by all types of clients and (2) allowing experts from different domains to develop complex analyses together as collaborative effort. Users are connecting the world models online to the data, which are maintained in a centralised storage as 3D spatio-temporal data cubes. It allows also non-experts to extract valuable information from EO data because data management, low-level interactions or specific software issues can be ignored. We discuss the concept of the proposed system, provide a technical implementation example and describe three use cases for extracting changes from EO images and demonstrate the usability also for non-EO, gridded, multi-temporal data sets (CORINE land cover).     

A comparative analysis of gridding systems for point-based land cover/use analysis

For spatial analyses, raster land cover/use maps are converted into points, where each point holds attribute of its corresponding land cover/use. However, these are not identical in terms of areas or shapes; thus assigning a point to each isolated shape is not an adequate solution and for that gridding is suggested. Square, hexagon and triangle are among the basic land use gridding systems where each of them has its own advantages in such process. This research aims to compare the systems in providing accurate representations of the original land cover/use maps, assess the data loss while increasing resolution and suggest suitable gridding system. The research finds the errors in area and feature numbers as criteria for selected classes. Modules that find out errors in each scale considering each criterion and class alone are proposed. The modules suggest both the best system for each criterion alone and for combined criteria.     

动态非线性滤波模型非线性强度的曲率度量及其应用

基于微分几何的两种曲率——参数影响曲率和固有曲率,给出了定量描述非线性滤波问题的非线性强度的方法,分别采用扩展Kalman滤波方法和Unscented Kalman滤波方法进行了模拟实验。结果验证了这些曲率确实能够度量非线性滤波问题的非线性强度,且能够评估非线性滤波算法的状态估计性能。     

山东省远距离热带气旋暴雨研究

应用1971—2003年的山东降水资料、常规天气图资料、台风年签和NCEP资料,对在华沿海登陆和活动的热带气旋在山东造成远距离暴雨的气候特征进行统计分析,对环流形势场进行合成分析。建立了山东省远距离热带气旋暴雨的天气学模型。分别计算分析了山东有和无远距离热带气旋暴雨合成的水汽和温湿能的收支。结果表明：在华南沿海登陆和活动的热带气旋与西风带环流系统和副热带高压相互作用在山东造成的远距离热带气旋暴雨年均2.5次。暴雨的范围广、强度大。出现暴雨的时间比热带气旋登陆时间滞后。在山东造成远距离暴雨的热带气旋在华南沿海登陆时,中心东部有一股东南风或偏南风低空急流指向内陆。中高纬度中低层西风带环流弱,位置偏北。500 hPa西风带中的偏北气流与副高边缘的偏南气流在山东境内汇合。低层850—700 hPa伴有低值系统影响,山东为气旋性环流控制。热带气旋登陆后其中心附近的中低层偏南风急流向北伸展,绕过副高脊线直达山东。在台风中心附近至山东之间建立起水汽和温湿能的输送通道,把高温高湿的暖湿空气源源不断地向山东输送。在台风登陆后12—48小时内,山东暴雨区上空有大量的水汽和温湿能的净流入。暖湿气流与西风带气流相汇合,产生辐合上升,造成暴雨。     

Development of FBMINC model for particle diffusion in fluids

An accurate particle tracking method using FBMINC （new fractional Brownian motion） is outlined. It generates non-Fickian diffusion rather than Fickian diffusion as traditional particle tracking model does. The FBMINC model is based on fractional Brownian motion （fl3m） which is generalization of regular Brownian motion. The two models of fBms （FBM model and FBMINC model） were explored and the differences of the two models are compared from the three aspects： the standard deviation of each step, the small memory and the effect of the number of particles in the cloud. The results show the FBMINC model is a better model as it produces more accurate statistics. The effect of simple shear dispersion for both Brownian and fBm was investigated. The power law scaling of fBm shear dispersion was correctly identified. In addition, a scaling coettieient was found numerically. The FBMINC model is then used for producing both superdiffusive and subdiffusive particle paths, therefore, the non-Fickian diffusion of soil particle clouds can be modelled. The particle clouds represent soil contaminant are released in an idealised coastal bay and the fBm particle tracking method is used for simulation the particle cloud spreading in the bay. There is a noticeable increase in the spreading rate of the cloud. In addition, owning to the spreading rate of the cloud, a noticeable part of it has escaped the bay area and transported downstream. The variation of the Hurst exponent can lead to an area of the flow being affected by a contaminant cloud which is not picked up by the regular Brownian motion models. The purpose of this paper is to bring soil transport engineers a new angle on soil particle transport research in fluids. Using FBM1NC particle tracking model allows more flexibility in simulation of diffusion in soil contaminant spread in coastal bay or ocean surface.