Three-dimensional multi-constraint route planning of unmanned aerial vehicle low-altitude penetration based on coevolutionary multi-agent genetic algorithm

To address the issue of premature convergence and slow convergence rate in three-dimensional (3D) route planning of unmanned aerial vehicle (UAV) low-altitude penetration,a novel route planning method was proposed.First and foremost,a coevolutionary multi-agent genetic algorithm (CE-MAGA) was formed by introducing coevolutionary mechanism to multi-agent genetic algorithm (MAGA),an efficient global optimization algorithm.A dynamic route representation form was also adopted to improve the flight route accuracy.Moreover,an efficient constraint handling method was used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation.Simulation and corresponding analysis show that the planning results of CE-MAGA have better performance on terrain following,terrain avoidance,threat avoidance (TF/TA2) and lower route costs than other existing algorithms.In addition,feasible flight routes can be acquired within 2 s,and the convergence rate of the whole evolutionary process is very fast.

Occurrence Regularity of Tobacco Cutworm Moth (Spodoptera Litura) in Low-Altitude Tobacco Cultivation Areas in Lincang

[ Objective ] The paper was to study the occurrence and damage regularity of tobacco cutworm moth （Spodoptera Litura Fabricius） in low-altitude area in Lincang city. [ Method] The adult sex attractant monitoring, field investigation of occurrence and damage, and observation of continuous generation development of natural populations were carried out in natural flue-cured tobacco fields. [ Result] In field growth period of flue-cured tobacco under low-altitude of 1 000 - 1300 m, tobacco cutworm moth occurred for 4 generations, the duration of each generation was about 33 d, and the main injurious generation was the third generation. [ Conclusion] The paper provided reference for comprehensive control of tobacco cutworm moth in the low altitude areas.

Analysis of Low-Altitude Inversion Characteristics of Coal-Fired Power Projects Based on Tethered Balloon Observation

Atmospheric inversion phenomenon directly affects the vertical movement of air, which causes the cooling heat of the cooling tower in the power plant to be blocked. Therefore, it is necessary to analyze the atmospheric inversion characteristics of the research project during the design of the air cooling system. Using the low-altitude observing system of the tethered balloon, the on-site observation of the temperature below 300 m in summer is carried out for a coal-fired power integration project in Yulin, Shaanxi, China. Observations were made at 10 fixed times per day, with a cumulative observation of 46 days and 247 effective detections. The data were quality-controlled, and then linearly interpolated. According to the requirements of the project designer, the temperature data of 20, 50, 100, 150, 200, 250, 300 m was used for low-temperature inversion analysis. The research shows that the grounding inversion and low-altitude inversion can be observed at the same time. In the time and space changes, the grounding inversion temperature and intensity are significantly higher than the low-altitude inversion. The maximum inversion of grounding inversion and low-altitude inversion is 2.3?C/hm, 1.0?C/hm. Grounding inversion temperature occurs every time, the frequency is the highest at 20 o’clock, the average intensity is maximum at 17 o’clock, and the average height, maximum intensity and maximum height are maximum at 7 o’clock. When the low-altitude inversion temperature is 18 o’clock, other times can occur, and the frequency is the highest at 15 o’clock, but the inversion layer is shallow, the bottom is high and the intensity is small. Grounding inversion and low-altitude inversion can occur in all levels, and as the height increases, the grounding inversion decreases and the low-temperature inversion increases. The design of the project air cooling tower needs to fully consider the impact caused by the inverse temperature below 300 m.

卷积神经网络STAP低空风切变风速估计

由于机载气象雷达前视阵下存在非均匀性地杂波,导致难以获得足够的独立同分布样本,影响杂波协方差矩阵准确估计,进而影响风速估计。对此,该文提出一种基于卷积神经网络STAP的低空风切变风速估计方法,通过少量样本就能够实现高分辨杂波空时谱估计。首先,基于卷积神经网络模型训练好高分辨杂波空时谱卷积神经网络,接着计算杂波协方差矩阵,进而计算卷积神经网络STAP最优权矢量进行杂波抑制,达到对低空风切变风速精确估计。该文在小样本情况下,将稀疏恢复问题通过卷积神经网络实现,完成对高分辨杂波空时谱有效估计,仿真实验结果表明该方法可以有效估计空时谱,并完成风速估计。

Pangenome and multi-tissue gene atlas provide new insights into the domestication and highland adaptation of yaks

Background The genetic diversity of yak,a key domestic animal on the Qinghai-Tibetan Plateau(QTP),is a vital resource for domestication and breeding efforts.This study presents the first yak pangenome obtained through the de novo assembly of 16 yak genomes.Results We discovered 290 Mb of nonreference sequences and 504 new genes.Our pangenome-wide presence and absence variation(PAV)analysis revealed 5,120 PAV-related genes,highlighting a wide range of variety-specific genes and genes with varying frequencies across yak populations.Principal component analysis(PCA)based on binary gene PAV data classified yaks into three new groups:wild,domestic,and Jinchuan.Moreover,we pro-posed a‘two-haplotype genomic hybridization model'for understanding the hybridization patterns among breeds by integrating gene frequency,heterozygosity,and gene PAV data.A gene PAV-GWAS identified a novel gene(Bos-Gru3G009179)that may be associated with the multirib trait in Jinchuan yaks.Furthermore,an integrated transcrip-tome and pangenome analysis highlighted the significant differences in the expression of core genes and the muta-tional burden of differentially expressed genes between yaks from high and low altitudes.Transcriptome analysis across multiple species revealed that yaks have the most unique differentially expressed m RNAs and lnc RNAs(between high-and low-altitude regions),especially in the heart and lungs,when comparing high-and low-altitude adaptations.Conclusions The yak pangenome offers a comprehensive resource and new insights for functional genomic studies,supporting future biological research and breeding strategies.

The exploration and practice of low-altitude airspace flight service and traffic management in China

Due to the inherent nature of being highly digitalized,networked and intelligent,Unmanned Aerial System(UAS)operations pose a huge challenge to traditional aviation regulation and technical systems.How to keep safe,efficient and integrated operation for different Airspace users has become a pressing issue faced by civil aviation around the world.This paper focuses on the main operational scenarios and characteristics of unmanned aviation development in China.New operational characteristics and associated challenges due to diverse low-altitude users are analyzed,including operation concepts,UAS traffic management,technological test and verification,and standards.Drawing light on the practices in Europe and the United States,this paper summarizes China's practices and progress in low-altitude operations management,and analyzes future technological development needs and trends,as well as feasible implementation pathways and measures based on actual needs.

一次冷涡背景下强对流过程中风廓线雷达的应用

该文利用南通市兴东国家站风廓线雷达提供的资料,通过统计方法分析2017年8月7日南通出现的一次强对流天气过程。结果表明,此次强对流天气发生在冷涡背景下,处在副高边缘,本地水汽条件较好。风廓线雷达在强对流发生前能够清晰地体现冷暖平流的分布,风向风速的变化,对强对流过程的预报预警有很好的指示意义。垂直速度和信噪比与对流发生趋势较为一致,能够较好反映对流的变化。大气折射率结构常数能够很好地反映强对流的发生和结束。垂直风切变在强对流发生前60 min出现明显增大。

THE PRELIMINARY DESIGN OF LOW-LEVEL WINDSHEAR SIMULATION SYSTEM ON GROUND

Infrared windshear prediction is one of airborne LLWS remote sensing methods.Before it is applied,the prediction system should be tested on ground to prove it’s feasibility.The LLWS simulation system isused to check whether the infrared windshear prediction system operate properly.In this paper,according tothe requirement of the LLWS detection and the characteristic of LLWS＂source＂,we will analyze the theoryof the LLWS simulation and give a basic description of the system construction in which we pay more atten-tion to optical simulation and flight simulation.The optical simulation is used to simulate the atmospherc in-frared radiation as a LLWS occurs.The flight simulation is used to simulate the aircraft airspeed,pitch,alti-tude etc..The works presented here are necessary for the LLWS infrared prediction system.

地形对香港国际机场起降航道低空风切变的影响

为识别复杂地形影响下香港国际机场(HKIA,Hong Kong International Airport)低空风切变的易发空域,采用大涡模拟方法(LES,large eddy simulation)对机场及其周边地形进行了风场精细化数值模拟。结合风速云图比较东、东南、南、西南风背景下3条跑道起降航道上的风速变化,分析得出了地形与风场分布间的因果关系。通过与无地形情况下的对照试验结果对比,采用F因子(识别逆风)和7节标准(识别侧风)识别机场跑道低空风切变易发区间。结果表明,东风易造成飞机进离场的逆风风速发生时空变化;西南风影响跑道东侧着陆路径上的逆风风速,但几乎不影响跑道西侧离场路径的风速;在东南风和南风背景下,3条跑道起降航道低空段的侧风均受地形影响显著。根据3条跑道进离场航道上的低空风切变易发空域,得到了地形因素对香港国际机场低空风切变的影响范围,研究结果可为机场风切变风险防控提供主动规避措施和建议。

基于激光雷达的斜坡改进风切变预警算法

风切变是风矢量在水平或垂直方向发生改变的自然现象,严重危害飞行器的起飞和降落。针对现有F因子、单斜坡等风切变检测算法存在的虚警率过高或漏警问题,本文提出一种基于斜坡改进的激光雷达风切变预警算法,应用最大最小值代替传统算法的斜坡首尾风速差,并计算每个斜坡的能量变化,弥补了现有F因子算法虚警太高、斜坡算法会产生漏报的不足,为机场风切变预警能力的提升提供了有效解决途径。中国香港国际机场实测数据验证了算法的有效性与准确性,原始斜坡取400 m时斜坡改进算法最好,此时给出的风切变发生范围最精确,能为飞机安全起降提供有效的危害预警手段。

起飞着陆阶段风切变告警事件差异性分布研究

风切变是民航局重点监控的红色不安全事件,了解风切变事件的分布特性有助于行业更有效地开展飞行运行品质监控。通过对近两年触发风切变告警的航班QAR数据进行采集分析,从告警高度上,发现80%以上RWS风切变发生于200 ft以下的低空。从告警事件的飞行阶段分布上,65%以上发生于进近着陆阶段且以RWS类型为主,起飞爬升阶段不到35%且以PWS类型为主。起飞爬升、进近着陆阶段告警事件分布存在的显著差异性与不同飞行阶段飞机重量、空速、俯仰姿态差异以及气象雷达的俯仰扫描模式设置有关。

贵阳机场低空风切变成因初步分析

利用ECMWF ERA5再分析资料、贵阳机场航空器语音报告、贵阳机场自动观测资料等,通过合成分析及个例分析相结合的方法,分析了贵阳机场冷锋型、昆明准静止锋型、低空急流型和局地对流型风切变发生时的环流形势、天气系统的配合以及风切变发生时的风场情况。结果表明:1)冷锋型风切变需关注偏北风在700 hPa和850 hPa上的东伸情况以及900 hPa上的南压程度,机场跑道北端风向由南转北是风切变开始的信号;2)当准静止锋位于贵州省中西部时,贵阳机场上空逆温层内的偏南急流及近地面的弱北风往往导致飞机遭遇垂直风切变,当准静止锋在机场附近来回摆动时容易造成机场跑道南北两端出现对头风,从而导致风切变;3)低空急流型风切变出现时,低空急流与地面热低压相互配合,近地面风场受地形影响导致机场跑道两端风速不连续而产生风切变;4)局地对流型风切变可结合天气雷达、机场自动观测数据来有效监测。

银川河东机场2次低空风切变天气过程的对比分析

银川河东机场目前可用于低空风切变探测的设备有风廓线雷达、多普勒天气雷达、国产测风激光雷达及自观测风系统。该文选取了2次低空风切变天气过程,通过分析形势场及物理量场资料,并利用各探测设备资料进行分析对比。激光雷达的下滑道和PPI对于局部水平风场不均匀,风向变化导致的风切变天气,可进行有效告警。多普勒雷达低仰角速度图上的零速度线对风切变的发生有一定指示作用。风廓线雷达资料中风切变发生时刻前后对应着垂直风的上升运动,以及水平风的风向、风速的明显切变。

Application of 3D Digital Modeling Technology in the Construction of Digital Cities

The concepts of “digital twins”, “3D real scene”, “metacosm” and others were the technical paths for building digital cities with the development of emerging surveying and mapping science and technology, which was to build a digital and virtualized city that matched the real physical world, to achieve a one-to-one correspondence between all elements of the physical world and the digital virtual world. And one of its basic geographic information data was a highly similar, virtual simulation of the 3D real scene. After exploring the traditional manual 3DsMax modeling, UAV low-altitude digital oblique photogrammetry modeling, airborne laser scanning modeling and other single modeling technologies, this paper discussed the 3D digital modeling technology used by the UAV airborne laser scanning point cloud and low-altitude digital oblique photogrammetry for complementary integration, constructing the 3D scene of the digital city. This paper expounded the technical route and production process of 3D digital modeling, in order to provide technical references for related projects.

利用加密探测资料分析冷式切变线类大暴雨的动力结构

利用风廓线雷达、多普勒天气雷达、地面加密自动站和闪电定位仪等非常规观测资料,对发生在山东东南部沿海青岛的一次大暴雨天气的动力结构进行了分析,以探索如何综合应用新资料追踪暴雨的演变过程。结果表明:(1)此次大暴雨过程的影响系统是冷式切变线,冷空气从对流层低层入侵,切变线在850 hPa以下层次明显,地面冷锋逐渐演变为静止锋。(2)暴雨过程经历了两个强降雨和一个弱降雨时段,1小时30 mm以上的短历时强降雨发生在冷空气刚入侵阶段,并伴随雷电。(3)强降雨主要发生在925 hPa切变线附近,降雨分布在925 hPa切变线的东北风与850 hPa切变线的西南风叠置区域。大暴雨的分布与切变线走向基本一致。(4)在切变线移动和发展过程中,水平风有明显不同:冷空气刚影响时,对流层低层产生了明显的中尺度低压环流,是导致对流性短历时强降雨的关键因素;静止锋形成的时段内,从低层至高层,低压环流消失,代之以较强西南风与弱西北风之间的切变线;在静止锋维持的后期,低层和高层均转为西北风,仅在中层有西南风与偏北风之间的切变线,从而产生稳定性弱降雨。(5)风廓线对降雨的起止、盛衰有较强信号,风向风速自上而下顺序变化,当中层西南风风速增大且不断向下扩展,持续4 h后西南低空急流明显加强,当近地面转为东北风时,强降雨开始,强降雨阶段的显著特点是在风廓线雷达上表现为中低层强西北风和强西南风交替出现,降雨强度与交替的高度有关;当各层均转为稳定的西北风时预示降雨结束。

机载前视风切变雷达信号处理方法分析

遭遇低空风切变是飞机失事的主要原因之一,利用机载气象雷达探测危险低空风切变的最大难题在于寻求一种好的信号处理算法,在气象信号回波功率远低于地杂波回波功率时仍有好的性能表现。介绍了机载前视风切变雷达的几种数字信号处理算法,重点讨论了脉冲对处理(PPP)法和傅立叶变换(FFT)法,分析了两种算法的原理特点,采用风切变回波模拟数据对两种算法进行了计算机仿真和性能对比分析,仿真结果表明,在一般情况下采用FFT和PPP方法估计风速的性能差异不大,在微下击暴流核心区域,都能获得对风速的良好估计。

飞机穿越微下击暴流风场进场着陆运动特性

应用模糊逻辑建模与辨识的方法建立了微下击暴流模型 ,利用此模型对 A30 0飞机进场着陆时穿越微下击暴流进行了模拟 ,分析了低空风切变模型中高度因素的影响 ,说明了二维模型比一维模型更为优越。结果表明 ,提出的建模方法能够更好地反映出飞机穿越微下击暴流的动态特性。通过分析初始高度对飞机穿越微下击暴流动态性能的影响 ,得出了一些重要的结论 。

基于空时自适应处理的低空风切变风速估计方法

针对机载气象雷达在探测低空风切变时,有用信号会淹没在强杂波背景中的问题,该文提出一种基于空时自适应处理(STAP)的低空风切变风速估计方法。该方法首先利用空时插值原理校正机载前视阵地杂波的距离依赖性,获得多个独立同分布(IID)样本后估计地杂波协方差矩阵,然后构造适用于分布式低空风切变目标的空时自适应处理器,在自适应抑制地杂波的同时积累低空风切变信号,最终实现风场速度的精确估计。仿真结果表明,在高杂噪比、低信噪比的情况下,该方法可有效地自适应抑制地杂波并精确地估计风场速度。

低空风切变危险尺度研究

飞机在低空风切变中飞行的危险性评估尺度是机载低空风切变探测、告警、回避系统设计中的关键之一。本文从飞行动力学的基本方程组出发,根据能量高度的概念,从理论上导出了低空风切变对飞行安全的危险尺度,经研究,风切变的危险主要表现在水平风的加速度U_(wg)和垂直风速度W_(wg)上。文中研究了U_(wg)和w_(wg)对危险尺度的定性、定量关系,提出了用水平风加速度这个目前机载设备能探测的参数来评估风切变的危险程度,为前视式机载低空风变探测传感器的设计提供了基础。

低空风切变中直升机纵向运动特性分析

低空风切变是危及飞行安全的一种危险天气 ,由此而引起的严重飞行事故时有发生。将风切变引入直升机的基本运动方程 ,定性地讨论了水平风切变对直升机进场着陆 /着舰的影响 ,着重分析了直升机在低空风切变中的飞行航迹、操稳特性变化特点等 ,对飞行员处理风切变有一定的参考价值。