A Non-Parametric Scheme for Identifying Data Characteristic Based on Curve Similarity Matching

For accurately identifying the distribution charac-teristic of Gaussian-like noises in unmanned aerial vehicle(UAV)state estimation,this paper proposes a non-parametric scheme based on curve similarity matching.In the framework of the pro-posed scheme,a Parzen window(kernel density estimation,KDE)method on sliding window technology is applied for roughly esti-mating the sample probability density,a precise data probability density function(PDF)model is constructed with the least square method on K-fold cross validation,and the testing result based on evaluation method is obtained based on some data characteristic analyses of curve shape,abruptness and symmetry.Some com-parison simulations with classical methods and UAV flight exper-iment shows that the proposed scheme has higher recognition accuracy than classical methods for some kinds of Gaussian-like data,which provides better reference for the design of Kalman filter(KF)in complex water environment.

Stereo Matching of Planar Curves Composed of Time Stamped Points

Matching features such as curve segments in stereo images play a very important role in scene recomtruction. In this paper, a stereo matching algorithm for the trajectories composed of time stamped points is proposed. Based on time stamped points, planar curve match measurements are given first, such as time constraint, cross-ratio invariant constraint and eplpolar geometry constraint; then, a trajectory matching method is proposed based on epipolar geometry constraint and cross-ratio invariant constraint. In order to match the planar curve segments projected by perspective projection system, the curve start time and end time are selected first to prepare match candidates. Then, the epipolar equation is used to discard the unmatched curve segment candidates. At last, a cross ratio invariant constxaint is used to find the most matched curve segments. If their match measurement is higher than the specialized threshold, a candidate with the least cross ratio difference is then selected as the match result; otherwise, no match is found. Unlike the conventional planar curve segments matching algorithm, this paper presents a weakly calibrated binocular stereo vision system which is based on wide baseline. The stamped points are obtained by targets detecting method of flying objects from image sequences. Due to wide baseline, there must exist the projection not in epipolar monotonic order or the curve segments located in very short distance and keeping the epipolar monotonic order. By using the method mentioned above, experiments are made to match planar curve segments not only in epipolar monotonic order but also not in epipolar monotonic order. The results show that the performance of our curve matching algorithm is effective for matching the arc-like planar trajectories composed of time stamped points.

Application of Vertical Electrical Sounding in Mapping Lateral and Vertical Changes in the Subsurface Lithologies: A Case Study of Olbanita, Menengai Area, Nakuru, Kenya

Much study has been done in the study area linking Vertical Electrical Sounding (VES) interpreted results to lithologies in the subsurface though only tend to indicate the vertical changes with the aim of mapping the occurrence of groundwater aquifers. Several boreholes have been drilled in the study area, though not much has been done to compare the vertical and lateral lithologic changes in the study area. This research is based on VES modelled geoelectric layers compared from point to point and using borehole logs as control data to establish inferences of certain lithology in the subsurface. The inversion of each VES curve was obtained using an AGI Earth Imager ID inversion automated computer program and resistivities and thicknesses of a geoelectric model were estimated. The analyzed VES data interpretation achieved using the curve matching technique resulted in mapping the subsurface of the area as portraying H-type;ρ1 > ρ2 ρ3, K-type;ρ1 ρ2 > ρ3, A-type;ρ1 ρ2 ρ3, Q-type;ρ1 > ρ2 > ρ3, representing 3-Layer subsurface and subsequently a combination of HK, HA and KHK types of curves representing 4-Layer and 5-Layer in the subsurface. The analysis further deployed the use of the surfer software capabilities which combined the VES data to generate profiles running in the west-east and the north-south direction. A closer analysis of the curve types indicates that there exists a sequence showing a shifting of the order of arrangement between the west and the east fragments which incidentally coincides with VES points 8, 9 and 10 in the West-East profiles. The lateral change is noted from the types of curves established and each curve indicates a vertical change in the subsurface. Control log data of lithologies from four boreholes BH1, BH2, BH3 and BH5 to show a qualification that different resistivity values portent different lithologies. Indeed, an analysis at borehole BH3 lithologies is dominated by either compacted rocks or soils, insinuating a scenario of compression experienced in this part of the subsurface which confirmed compression of subsurface formations. A correlation of the VES curve types and their change from one point to another in the study area are evident. This change supported by the surfer generated profiles from the modeled VES data show that there exists and inferred fault line running in the north-south in the area. The inferred fault line by VES mapping, is magnificently outlined by the geological map. There is exuded evidence from this study that the application of VES is able to help map the lateral and the vertical changes in the subsurface of any area but the evidence of the specific lithologies has to be supported by availability of borehole log control data. The VES data was able to enumerate vertical layering of lithologies, lateral changes and even mapping vertical fault line in the study area.

Outboard abnormal noise source localization method with curved surface projection based on time delay matching and weighting criterion

An improved localization method consisting of ＂filtering-time delay estimationhyperbolic localization＂ is proposed. Combining the empirical mode decomposition（EMD）and time delay estimation method based on generalized average magnitude difference function,the original signals are decomposed into intrinsic mode function（IMF） components. The energy distribution criterion and spectrum consistency criterion are used to select the IMFs, which can represent the physical characteristics of the source signal. Several sets of signals are applied to estimate the time delay, and then a vector matching criterion is proposed to select the correct time delay estimation. Considering the hydrophones location, a shell model is established and projected to a plane according to the quadrant before the hyperbolic localization. Results of mooring and sailing tests show that the proposed method improves the localization accuracy,and reduces the error caused by time delay estimation.