一种用于图像特征提取的改进ORB-SLAM算法

针对复杂室内环境下视觉SLAM定位存在实时性差、轨迹漂移等问题,本文提出了一种基于图像特征提取方法的ORBSLAM算法。该算法在前端中提高图像特征检测与匹配的效率和精度,引入闭环检测策略优化相机位姿轨迹,提高定位精度。以不同来源图像对比分析不同特征提取算法SIFT、SURF、ORB的有效性,运用该算法估计机器人运动轨迹,与真实轨迹相对位姿误差为0.144 8 m,试验表明所提出的方法切实可行,具有较高的稳健性。     

Spatio-temporal evaluation matrices for geospatial data

The global geospatial community is investing substantial effort in providing tools for geospatial data-quality information analysis and systematizing the criteria for geospatial data quality. The importance of these activities is increasing, especially in the last decade, which has witnessed an enormous expansion of geospatial data use in general and especially among mass users. Although geospatial data producers are striving to define and present data-quality standards to users and users increasingly need to assess the fitness for use of the data, the success of these activities is still far from what is expected or required. As a consequence, neglect or misunderstanding of data quality among users results in misuse or risks. This paper presents an aid in spatio-temporal quality evaluation through the use of spatio-temporal evaluation matrices (STEM) and the index of spatio-temporal anticipations (INSTANT) matrices. With the help of these two simple tools, geospatial data producers can systematically categorize and visualize the granularity of their spatio-temporal data, and users can present their requirements in the same way using business intelligence principles and a Web 2.0 approach. The basic principles and some examples are presented in the paper, and potential further applied research activities are briefly described.     

多径效应的动态特性对码跟踪环路的影响分析

接收机与卫星之间的相对运动,使得多径效应存在动态特性。针对卫星轨道的不同,分析多径效应对测距误差的影响,着重讨论静止接收机接收GEO卫星信号时出现的固有多径现象,仿真分析多径信号的衰落频率对码跟踪环路的影响。仿真结果表明,当衰落频率接近或大于码环路带宽时,多径对码跟踪精度的影响会在一定程度上被滤除;不同的卫星轨道导致多径效应的动态特性存在差异,会使测距误差在时域上表现出短时快变和长时缓变两种特征。为研究多径效应产生机理与卫星轨道因素的相关性提供了验证途径。     

A Study of Structure and Mechanism of a Meso-beta-scale Convective Vortex and Associated Heavy Rainfall in the Dabie Mountain Area Part I: Diagnostic Analysis of the Structure

An analysis was conducted on the evolutional process of a mesoscale convective vortex (MCV) and associated heavy rainfall in the Dabie Mountain area on 21-22 June 2008,as well as their structural characteristics in different stages,by using the mesoscale reanalysis data with 3 km and 1 h resolution generated by the Local Analysis and Prediction System (LAPS) in the Southern China Heavy Rainfall Experiment.The results showed that the latent heat released by convection in the midtroposphere was the main energy source for the development of a low-level vortex.There was a positive feedback interaction between the convection and the vortex,and the evolution of the MCV was closely related to the strength of the positive interaction.The most typical characteristics of the thermal structure in different stages were that,there was a relatively thin diabatic heating layer in the midtroposphere in the formative stage;the thickness of diabatic heating layer significantly increased in the mature stage;and it almost disappeared in the decay stage.The characteristics of the dynamic structure were that,in the formative stage,there was no anticyclonic circulation at the high level;in the mature stage,an anticyclonic circulation with strong divergence was formed at the high level;in the decay stage,the anticyclonic circulation was damaged and the high-level atmosphere was in a disordered state of turbulence.Finally,the structural schematics of the MCV in the formative and mature stage were established respectively.     

耦合模式热带太平洋云—气候反馈模拟误差评估

云—气候反馈是热带海气相互作用的重要过程, 同时也是气候模拟的难点。本文利用IPCC AR4提供的耦合模式20世纪模拟试验结果和观测资料, 通过滤波和经验正交展开 (EOF) 的方法将热带太平洋海表温度的年际变化和年代际变化信号分别提取出来, 然后再分别计算观测和模式在年际和年代际时间尺度上云—辐射和热通量反馈特征, 发现在上述两个时间尺度上, 耦合模式模拟的云—辐射和热通量的反馈都要比观测和再分析资料的偏弱。反馈偏弱的可能原因是模式中热带大气对流和云对海表温度变化的敏感性比真实大气要偏弱。值得注意的是, 尽管耦合模式热带太平洋年代际热力反馈偏弱, 但是耦合模式模拟的热带太平洋南北纬10°之间海表温度的年代际增温趋势与观测相当。进一步分析表明, 只用年代际热力反馈来解释热带太平洋的气候变化是不够的, 还必须考虑动力反馈对于海表温度变化的调节作用。     

二维阵列线圈核磁共振地下水探测理论研究

核磁共振法(Magnetic Resonance Sounding,MRS)是一种直接探测地下水的地球物理方法,目前只能对水平层状的含水层进行一维测深,对于尺寸小于线圈直径的二维或三维含水构造成像时,其灵敏度和横向分辨率很低.本文从研究二维阵列线圈核磁共振地下水探测方式的可行性出发,推导了地面发射线圈产生的椭圆极化激发...     

瞬变电磁法多匝小回线装置实验对比

采用实验方法对多匝同一小回线和重叠小回线两种瞬变电磁法工作装置进行了对比研究,探讨了两种装置参数随线圈匝数的变化关系,从而为野外实际勘探提供数据参考。首先在地下一定深度埋置一低阻体,在该低阻体正上方布置一条测线,然后先分析单点数据的发射磁矩、关断时间、感应信号强度随线圈匝数的变化关系,在此基础上对比不同装置随线圈匝数变化的多测道剖面图,分析两种装置的异同点。实验表明两种装置的发射磁矩、关断时间、信号强度及对异常体的分辨能力都随发射线圈匝数的增加而增加;在相同匝数情况下,同一回线的发射磁矩和关断时间稍大,但有效信号部分能量衰减快,信号强度相对较弱,探测深度较浅,然而在有效探测深度下,同一小回线装置对低阻异常体的分辨能力更强。     

瞬变电磁“烟圈”反演实现

目前应用较广的反演基于烟圈理论,简称"烟圈反演"。烟圈理论最早由M.N.Nabig-hian提出的。这里基于一种简单的、快速近似反演方法,实现瞬变电磁中心回线法反演程序的开发。由于这种简化的"烟圈"理论反演方法具有计算简单、不需要初始模型的特点,适合于在野外现场对观测数据进行初步解释。     

基于多匝环形线圈的核磁共振信号响应计算与试验研究

核磁共振接收信号的质量主要受探测天线的传递特性影响,当传递特性较差时,严重影响测量效果.结合目前国内外核磁共振找水仪天线的研制情况,给出了接收天线传递特性的计算方法,根据数值计算结果讨论了影响传递特性的天线参数.利用吉林大学研制的核磁共振找水仪进行实际测试,结果证明与讨论结果一致.本文得出的传递特性影响因素和接收信号质量评估方法,可以为不同类型核磁共振找水仪天线的设计提供依据,将促使核磁共振方法在复杂地形环境找水及隧道、矿井灾害水源探测等方面得到有效应用.     

便携式重力固体潮数字化数据采集系统

概述了线性静电反馈的基本原理。LCR G型重力仪进行线性静电反馈自动平衡的技术改造后 ,分辨率由原来的 0 .0 1× 10 -5ms-2 提高到 0 .0 0 1× 10 -5ms-2 ,与DZCW 1型智能化重力数据采集控制仪、计算机等一起组成便携式重力固体潮数字化数据采集系统。系统可进行数据实时处理、图像显示和数据传输。试验结果表明 :系统性能稳定、可靠 ,操作方便、灵活、快捷 ,可用于监测重力场在时空上的连续变化