Collaborative positioning for swarms:A brief survey of vision,LiDAR and wireless sensors based methods

As positioning sensors,edge computation power,and communication technologies continue to develop,a moving agent can now sense its surroundings and communicate with other agents.By receiving spatial information from both its environment and other agents,an agent can use various methods and sensor types to localize itself.With its high flexibility and robustness,collaborative positioning has become a widely used method in both military and civilian applications.This paper introduces the basic fundamental concepts and applications of collaborative positioning,and reviews recent progress in the field based on camera,LiDAR(Light Detection and Ranging),wireless sensor,and their integration.The paper compares the current methods with respect to their sensor type,summarizes their main paradigms,and analyzes their evaluation experiments.Finally,the paper discusses the main challenges and open issues that require further research.

Three-dimensional constrained gravity inversion of Moho depth and crustal structural characteristics at Mozambique continental margin

Mozambique's continental margin in East Africa was formed during the break-off stage of the east and west Gondwana lands. Studying the geological structure and division of continent-ocean boundary(COB) in Mozambique's continental margin is considered of great significance to rebuild Gondwana land and understand its movement mode. Along these lines, in this work, the initial Moho was fit using the known Moho depth from reflection seismic profiles, and a 3D multi-point constrained gravity inversion was carried out. Thus, highaccuracy Moho depth and crustal thickness in the study area were acquired. According to the crustal structure distribution based on the inversion results, the continental crust at the narrowest position of the Mozambique Channel was detected. According to the analysis of the crustal thickness, the Mozambique ridge is generally oceanic crust and the COB of the whole Mozambique continental margin is divided.

Remote sensing of quality traits in cereal and arable production systems:A review

Cereal is an essential source of calories and protein for the global population.Accurately predicting cereal quality before harvest is highly desirable in order to optimise management for farmers,grading harvest and categorised storage for enterprises,future trading prices,and policy planning.The use of remote sensing data with extensive spatial coverage demonstrates some potential in predicting crop quality traits.Many studies have also proposed models and methods for predicting such traits based on multiplatform remote sensing data.In this paper,the key quality traits that are of interest to producers and consumers are introduced.The literature related to grain quality prediction was analyzed in detail,and a review was conducted on remote sensing platforms,commonly used methods,potential gaps,and future trends in crop quality prediction.This review recommends new research directions that go beyond the traditional methods and discusses grain quality retrieval and the associated challenges from the perspective of remote sensing data.

Analysis of coordinate time series of DORIS stations on Eurasian plate and the plate motion based on SSA and FFT

This study focuses on analyzing the time series of DORIS beacon stations and plate motion of the Eurasian plate by applying Singular Spectrum Analysis(SSA)and Fast Fourier Transform(FFT).First,the rend terms and periodic signals are accurately separated by SSA,then,the periodic seasonal signals are detected using SSA,and finally,the main components of the time series are reconstructed successfully.The test results show that the nonlinear trends and seasonal signals of DORIS stations are detected successfully.The periods of the seasonal signals detected are year,half-year,and 59 days,etc.The contribution rates and slopes in E,N,and U directions of the trend items of each beacon station after reconstruction are obtained by least-square fitting.The velocities of these stations are compared with those provided by the GEODVEL2010 model,and it is found that they are in good agreement except the DIOB,MANB,and PDMB stations.Based on the DORIS coordinate time series,the velocity field on the Eurasian plate is constructed,and the test shows that the Eurasian plate moves eastward as a whole with an average velocity of 24.19±0.11 mm/y in the horizontal direction,and the average velocity of it is1.74±0.07 mm/y in the vertical direction.

Combination of Tsoft and ET34-ANA-V80 software for the preprocessing and analysis of tide gauge data in French Polynesia

Since 2008 a network of five sea-level monitoring stations was progressively installed in French Polynesia.The stations are autonomous and data,collected at a sampling rate of 1 or 2 min,are not only recorded locally,but also transferred in real time by a radio-link to the NOAA through the GOES satellite.The new ET34-ANA-V80 version of ETERNA,initially developed for Earth Tides analysis,is now able to analyze ocean tides records.Through a two-step validation scheme,we took advantage of the flexibility of this new version,operated in conjunction with the preprocessing facilities of the Tsoft software,to recover co rrected data series able to model sea-level variations after elimination of the ocean tides signal.We performed the tidal analysis of the tide gauge data with the highest possible selectivity(optimal wave grouping)and a maximum of additional terms(shallow water constituents).Our goal was to provide corrected data series and modelled ocean tides signal to compute tide-free sea-level variations as well as tidal prediction models with centimeter precision.We also present in this study the characteristics of the ocean tides in French Polynesia and preliminary results concerning the non-tidal variations of the sea level concerning the tide gauge setting.

Hierarchical pattern recognition of landform elements considering scale adaptation

Landform elements with varying morphologies and spatial arrangements are recognized as feature indicator of landform classification and play a critical role in geomorphological studies.Differential geometry method has been extensively applied in prior landform element research,while its efficacy in differentiating similar morphological characteristics remains inadequate to date.To reduce reliance on geomorphometric variables and increase awareness of landform patterns,geomorphons method was generated in previous study corresponding to specific landform reclassification map based on lookup table.Besides,to address the problem of feature similarity,hierarchical classification was proposed and effectively utilized for terrain recognition through the analytical strategy of fuzzy gradient features.Thus,combining the advantages of these two aspects,a hierarchical framework was proposed in this study for landform element pattern recognition considering the morphology and hierarchy factors.First,the local triplet patterns derived from geomorphons were enhanced by setting the flatness threshold,and subsequently adopted for the primary landform element recognition.Then,as geomorphic units with the same morphology possess different spatial analytical scales,the unidentified landform elements under the principle of scale adaptation were determined by calculating the spatial correlation and entropy information.To ensure the effectiveness of this proposed method,the sampling points were randomly selected from NASADEM data and then validated against a real 3D terrain model.Quantitative results of landform element pattern recognition demonstrate that our approach can reach above 77%average accuracy.Additionally,it delineates local details more effectively than geomorphons in visual assessment,resulting in a 7%accuracy improvement in overall scale.

Height connection across sea by using satellite altimetry data sets,ellipsoidal heights,astrogeodetic deflections of the vertical,and an Earth Gravity Model

Islands and the mainland are separated by seas,and the distances between them might be so long that the height on the mainland cannot be exactly translated to the islands,resulting in different height systems on the mainland and the islands.In this study,we used astrogeodetic deflections of the vertical and ellipsoidal heights of points on the mainland and island near their coastlines to implement height connection across sea areas.First,the modeled gravity and modeled astrogeodetic vertical deflections of segmentation points along connecting routes over the sea between the mainland and the island were determined by Earth Gravity Model(EGM),and the ellipsoidal heights of segmentation points were determined by the satellite altimetry data sets.Second,we used a linear interpolation model to increase the precision of the vertical deflections of segmentation points.Third,we computed the geopotential difference of points between the mainland and the island using a method derived from geopotential theory and the astronomical leveling principle.Finally,we estimated the normal height of the point on the island using the geopotential-difference iterative computation approach.Using observed data of normal heights,ellipsoidal heights,and astrogeodetic vertical deflections referring to height sites in Qingdao,Shandong Province,we conducted a numerical experiment involving the normal height connection across sea regions.We determined the data of the ellipsoidal heights and gravity of segmentation points along the connecting route across the water in the numerical experiment using DTU10.The distance of the height connection across the sea was approximately 10.5 km.According to China's official leveling specifications,the experimental results met the criterion of third-class leveling precision.

Polar motion prediction using the combination of SSA and ARMA

High-precision polar motion(PM) prediction is of important significance in astronomy, geodesy, aviation,hydrographic mapping, interstellar navigation, and so on. SSA can effectively extract the trend and period terms of PM,in the process of achieving high-precision medium-and long-term polar motion prediction,it is necessary to solve the end effect problem and overfitting problem of SSA forecasting method;therefore, ARMA was applied to decreasethe end effect, and a suitable combination of reconstructed components was determined to avoid the high variance reaction of SSA overfitting. Based on the decomposition and reconstruction of the PM by SSA, the reconstructed components are determined to participate in the SSA iterative fitting model according to the variance contribution rate. The combination of the reconstructed components representing the polar motion period term and the trend term is determined according to the correlation analysis of the selected reconstructed components. After the above work, the principal component prediction sequence is obtained by fitting the period term and the trend term to convergence, respectively, and then, the SSA end effect is modified, and the residual term is predicted based on ARMA. The test results show that he prediction accuracy of SSA + ARMA at the front of the X and Y directions are improved by 96.90% and 97.53% compared with those of SSA, respectively,and the forecast accuracy of 365 days are improved by 37.93% and 19.53% in the X and Y directions compared with those of Bulletin A, respectively.

An improved algorithm based on equivalent sound velocity profile method at large incident angle

With the development of ultra-wide coverage technology,multibeam echo-sounder(MBES)system has put forward higher requirements for localization accuracy and computational efficiency of ray tracing method.The classical equivalent sound speed profile(ESSP)method replaces the measured sound velocity profile(SVP)with a simple constant gradient SVP,reducing the computational workload of beam positioning.However,in deep-sea environment,the depth measurement error of this method rapidly increases from the central beam to the edge beam.By analyzing the positioning error of the ESSP method at edge beam,it is discovered that the positioning error increases monotonically with the incident angle,and the relationship between them could be expressed by polynomial function.Therefore,an error correction algorithm based on polynomial fitting is obtained.The simulation experiment conducted on an inclined seafloor shows that the proposed algorithm exhibits comparable efficiency to the original ESSP method,while significantly improving bathymetry accuracy by nearly eight times in the edge beam.

An improved positioning model of deep-seafloor datum point at large incidence angle

The inhomogeneous sound speed in seawater causes refraction of sound waves,and the elimination of the refraction effect is essential to the accuracy of underwater acoustic positioning.The raytracing method is an indispensable tool for effectively handling problems.However,this method has a conflict between localization accuracy and computational quantity.The equivalent sound speed profile(ESSP)method uses a simple sound speed profile(SSP)instead of the actual complex SSP,which can improve positioning precision but with residual error.The residual error is especially non-negligible in deep water and at large beam incidence angles.By analyzing the residual error of the ESSP method through a simulation,an empirical formula of error is presented.The data collected in the sailing circle mode(large incidence angle)of the South China Sea are used for verification.The experiments show that compared to the ESSP method,the improved algorithm has higher positioning precision and is more efficient than the ray-tracing method.

Inversion method of deflection of the vertical based on SWOT wide-swath altimeter data

The deflection of the vertical(DOV)is the key information in the study of ocean gravity field.However,in most areas,the precision of the prime component of DoV is significantly lower than that of the meridian component.To obtain higher accuracy and resolution of ocean gravity information,researchers have proposed a novel altimeter called the wide-swath altimeter.This altimeter allows for the simultaneous acquisition of high-precision and high-resolution two-dimensional measurements of sea surface height(SSH).In this paper,the Surface Water and Ocean Topography(SWOT)mission with a wide-swath altimeter on board is selected for research.One cycle of swoT sea surface height data is simulated to inverse the DOV in the Arabian Sea(45°E—80°E,0°-30°N),and the inversion results are compared with those of conventional altimeter data.The results demonstrate that the difference between the meridian and prime components derived from the inversion of swoT wide-swath data is minimal,significantly outperforming the inversion results of conventional nadir altimeter data.The advantage of swoT wide-swath altimeter lies in its ability to use the multi-directional geoid slope at any sea surface measurement point to invert the components in the meridian and prime directions.To investigate the impact of this advantage on inversion precision,this paper employs a method to calculate the gradient of the geoid in multiple directions to invert DoV components.The improvement effect of calculating the gradient of the geoid in multiple directions on the precision of DoV component is analyzed.It is found that the accuracy of DoV inversion has significantly improved with the increase of geodetic gradient calculation direction.In addition,the effects of various errors and grid spacing in SwoT wide sea surface height data on the precision of Dov inversion are also analyzed.

Accuracy assessment of global ocean tide models in the South China Sea using satellite altimeter and tide gauge data

In this study,to meet the need for accurate tidal prediction,the accuracy of global ocean tide models was assessed in the South China Sea(0°–26°N,99°–121°E).Seven tide models,namely,DTU10,EOT11 a,FES2014,GOT4.8,HAMTIDE12,OSU12 and TPXO8,were considered.The accuracy of eight major tidal constituents(i.e.,Q1,O1,P1,K1,N2,M2,S2 and K2)were assessed for the shallow water and coastal areas based on the tidal constants derived from multi-mission satellite altimetry(TOPEX and Jason series)and tide gauge observations.The root mean square values of each constituent between satellite-derived tidal constants and tide models were found in the range of 0.72–1.90 cm in the deep ocean(depth>200 m)and 1.18–5.63 cm in shallow water area(depth<200 m).Large inter-model discrepancies were noted in the Strait of Malacca and the Taiwan Strait,which could be attributable to the complicated hydrodynamic systems and the paucity of high-quality satellite altimetry data.In coastal regions,an accuracy performance was investigated using tidal results from 37 tide gauge stations.The root sum square values were in the range of 9.35–19.11 cm,with the FES2014 model exhibiting slightly superior performance.

Consistency analysis of GRACE and GRACE-FO data in the study of global mean sea level change

Global mean sea level(GMSL) change is one of the important indicators of global climate change and is a crucial scientific issue of continuing interest. As satellite altimeter data, the Gravity Recovery and Climate Experiment(GRACE) and Argo continue to be updated, especially with the release of GRACE Follow-On(GRACE-FO) data, making it necessary to combine these latest data to estimate sea level change. Determinations on whether the GRACE and GRACE-FO observation systems provide unbiased global observation data have not been effectively evaluated. Therefore, this research mainly investigated the consistency of GRACE and GRACE-FO observation data in studying GMSL change. By comparing the sum of the GMSL calculated by the two gravity satellites and Argo data with the GMSL calculated by satellite altimeters, the discrepancy between GRACE-FO + Argo and satellite altimeter data is about 7.9 ± 2.3 mm, which is likely derived from the inconsistency between GRACE and GRACE-FO data.

Altimetric Algorithm and Errors of Ocean Altimetry Using GNSS Reflection Signals

As a new remote sensing technology, the global navigation satellite system（GNSS） reflection signals can be used to collect the information of ocean surface wind, surface roughness and sea surface height. Ocean altimetry based on GNSS reflection technique is of low cost and it is easy to obtain large amounts of data thanks to the global navigation satellite constellation. We can estimate the sea surface height as well as the position of the specular reflection point. This paper focuses on the study of the algorithm to determine the specular reflection point and altimetry equations to estimate the sea surface height over the reflection region. We derive the error equation of sea surface height based on the error propagation theory. Effects of the Doppler shift and the size of the glistening zone on the altimetry are discussed and analyzed at the same time. Finally, we calculate the sea surface height based on the simulated GNSS data within the whole day and verify the sea surface height errors according to the satellite elevation angles. The results show that the sea surface height can reach the precision of 6 cm for elevation angles of 55° to 90°, and the theoretical error and the calculated error are in good agreement.

Fusion of SAR and Optical Image for Sea Ice Extraction

It is difficult to balance local details and global distribution using a single source image in marine target detection of a large scene.To solve this problem,a technique based on the fusion of optical image and synthetic aperture radar(SAR)image for the extraction of sea ice is proposed in this paper.The Band 2(B2 image of Sentinel-2(S2 in the research area is selected as optical image data.Preprocessing on the optical image,such as resampling,projection transformation and format conversion,are conducted to the S2 dataset before fusion.Imaging characteristics of the sea ice have been analyzed,and a new deep learning(DL)model,OceanTDL5,is built to detect sea ices.The fusion of the Sentinel-1(S1 and S2 images is realized by solving the optimal pixel values based on deriving Poisson Equation.The experimental results indicate that the use of a fused image improves the accuracy of sea ice detection compared with the use of a single data source.The fused image has richer spatial details and a clearer texture compared with the original optical image,and its material sense and color are more abundant.

Effective Elastic Thickness of the Lithosphere in the Mariana Subduction Zone and Surrounding Regions and Its Implications for Their Tectonics

To understand the rheology,structure,and tectonics of the lithosphere in the Mariana subduction zone and surrounding regions,we calculated the effective elastic thickness of the lithosphere(Te)in these areas using the improved moving window admittance technique(MWAT)method.We find that smaller data grid spacing can better reflect Te variations in the subduction zone.The Te of the study region ranges from 0 to 47 km.The Te is reduced from 40 km on the seaward side of the outer-rise region to 1-2 km along the trench axis.The lithospheric breaking distance from the trench axis ranges from 0 to 250 km.We suggest that the intermediate Te values in seamounts and high Te values on the seaward side of the outer-rise region respectively reflect the‘fossil’rheological state and current lithospheric strength of the Pacific plate.The faulting induced by the downward bending of subducting plate not only ruptures the lithosphere but also contributes to the mantle serpentinization,significantly reducing the lithospheric strength.The largest breaking distance of the Ogasawara Plateau may be due to the increase in the mass load of the subducting plate in the Ogasawara Plateau and the significant horizontal bending force in the plate caused by the resistance of seamounts to subduction.Furthermore,a good positive correlation exists between the breaking distance and subduction dip angle along the trench axis.We suggest that the subducting plate with a larger breaking distance is likely to form a larger subduction angle.

Spatiotemporal characteristics of sea ice transport in the Baffin Bay and its association with atmospheric variability

Sea ice export through the Baffin Bay plays a vital role in modulating the sea ice cover variability in the Labrador Sea.In this study,satellite-derived sea ice products are used to obtain the sea ice area flux(SIAF)through the three passages in the Baffin Bay(referred to as A,B,and C for the north,middle,and south passages,respectively).The spatial variability of the monthly sea ice drift in the Baffin Bay is presented.The interannual variability and trends in SIAF via the three passages are outlined.The connection to several large-scale atmospheric circulation modes is assessed.Over the period of 1988-2015,the average annual(October to the following September)SIAF amounts to 555×10^(3) km^(2),642×10^(3) km^(2),and 551×10^(3) km^(2) through Passages A,B,and C,respectively.These quantities are less than that observed through the Fram Strait(FS,707×10^(3) km^(2))of the corresponding period.The positive trends in annual SIAF,on the order of 53.1×10^(3) km^(2)/(10 a)and 43.2×10^(3) km^(2)/(10 a)(significant at the 95%confidence level),are identified at Passages A and B,respectively.The trend of the south passage(C),however,is slightly negative(-13.3×10^(3) km^(2)/(10 a),not statistically significant).The positive trends in annual SIAF through the Passages A and B are primarily attributable to the significant increases after 2000.The connection between the Baffin Bay sea ice export and the North Atlantic Oscillation is not significant over the studied period.By contrast,the association with the cross-gate sea level pressure difference is robust in the Baffin Bay(R equals 0.69 to 0.71,depending on the passages considered),but relatively weaker than that over FS(R=0.74).

Gravity anomalies determined from mean sea surface model data over the Gulf of Mexico

With the improvements in the density and quality of satellite altimetry data,a high-precision and high-resolution mean sea surface model containing abundant information regarding a marine gravity field can be calculated from long-time series multi-satellite altimeter data.Therefore,in this study,a method was proposed for determining marine gravity anomalies from a mean sea surface model.Taking the Gulf of Mexico(15°–32°N,80°–100°W)as the study area and using a removal-recovery method,the residual gridded deflections of the vertical(DOVs)are calculated by combining the mean sea surface,mean dynamic topography,and XGM2019e_2159 geoid,and then using the inverse Vening-Meinesz method to determine the residual marine gravity anomalies from the residual gridded DOVs.Finally,residual gravity anomalies are added to the XGM2019e_2159 gravity anomalies to derive marine gravity anomaly models.In this study,the marine gravity anomalies were estimated with mean sea surface models CNES_CLS15MSS,DTU21MSS,and SDUST2020MSS and the mean dynamic topography models CNES_CLS18MDT and DTU22MDT.The accuracy of the marine gravity anomalies derived by the mean sea surface model was assessed based on ship-borne gravity data.The results show that the difference between the gravity anomalies derived by DTU21MSS and CNES_CLS18MDT and those of the ship-borne gravity data is optimal.With an increase in the distance from the coast,the difference between the gravity anomalies derived by mean sea surface models and ship-borne gravity data gradually decreases.The accuracy of the difference between the gravity anomalies derived by mean sea surface models and those from ship-borne gravity data are optimal at a depth of 3–4 km.The accuracy of the gravity anomalies derived by the mean sea surface model is high.

Automatic segmentation of gas plumes from multibeam water column images using a U-shape network

Cold seeps are widely developed on the seabed of continental margins and can form gas plumes due to the upward migration of methane-rich fluids.The detection and automatic segmentation of gas plumes are of great significance in locating and studying the cold seep system that is usually accompanied by hydrate layers in the subsurface.A multibeam echo-sounder system(MBES)can record the complete backscatter intensity of the water column,and it is one of the most effective means for detecting cold seeps.However,the gas plumes recorded in multibeam water column images(WCI)are usually blurred due to the interference of the complicated water environment and the sidelobes of the MBES,making it difficult to obtain the effective segmentation.Therefore,based on the existing UNet semantic segmentation network,this paper proposes an AP-UNet network combining the convolutional block attention module and the pyramid pooling module for the automatic segmentation and extraction of gas plumes.Comparative experiments are conducted among three traditional segmentation methods and two deep learning methods.The results show that the AP-UNet segmentation model can effectively suppress complicated water column noise interference.The segmentation precision,the Dice coefficient,and the recall rate of this model are 92.09%,92.00%,and 92.49%,respectively,which are 1.17%,2.10%,and 2.07%higher than the results of the UNet.

Basis functions for shallow-water temperature profiles based on the internal-wave eigenmodes

The shallow-water temperature profile is typically parameterized using a few empirical orthogonal function(EOF)coefficients.However,when the experimental area is poorly known or highly variable,the adaptability of the EOFs will be significantly reduced.In this study,a new set of basis functions,generated by combining the internal-wave eigenmodes with the average temperature gradient,is developed for characterizing the temperature perturbations.Temperature profiles recorded by a thermistor chain in the South China Sea in 2015 are processed and analyzed.Compared to the EOFs,the new set of basis functions has higher reconstruction accuracy and adaptability;it is also more stable in ocean regions that have internal waves.