仿生导航技术综述

仿生导航技术是一种模仿动物导航机理的新型导航技术,涉及认知科学、机器学习、计算机视觉和信息融合等多个学科。仿生导航因具有自主性好、自适应性强等特点,近年来成为了导航领域的研究热点之一。首先阐述了仿生导航的内涵,然后从仿生导航传感器技术和仿生导航方法两个方面简要介绍了国内外研究现状和发展趋势。其中,仿生导航传感器技术包括了仿生光罗盘、仿生磁罗盘、仿生复眼等内容;仿生导航方法主要涉及导航经验知识的表达与机器学习、仿生多源异质导航信息融合、面向任务的仿生路径规划与导航等。最后,对仿生导航技术进行了总结,并对未来发展进行了展望。

导航在路上

武汉大学实施的"烛光导航工程"是一件真正关爱学生的好事,担任"烛光导航师"是教师的份内工作。总结了担任武汉大学"烛光导航师"三年多的导航经验与体会,认为导航始终在路上,一方面要针对不同学生的特点进行导航,另一方面要针对不同年级的学生有重点地进行导航。

Interannual to decadal variation of spring sea level anomaly in the western South China Sea

Satellite observations of sea level anomalies(SLA) from January 1993 to December 2012 are used to investigate the interannual to decadal changes of the boreal spring high SLA in the western South China Sea(SCS) using the Empirical Orthogonal Function(EOF) method. We find that the SLA variability has two dominant modes. The Sea Level Changing Mode(SLCM) occurs mainly during La Ni?a years, with high SLA extension from west of Luzon to the eastern coast of Vietnam along the central basin of the SCS, and is likely induced by the increment of the ocean heat content. The Anticyclonic Eddy Mode(AEM) occurs mainly during El Ni?o years and appears to be triggered by the negative wind curl anomalies within the central SCS. In addition, the spring high SLA in the western SCS experienced a quasi-decadal change during 1993–2012; in other words, the AEM predominated during 1993–1998 and 2002–2005, while the La Ni?a-related SLCM prevailed during 1999–2001 and 2006–2012. Moreover, we suggest that the accelerated sea level rise in the SCS during 2005–2012 makes the SLCM the leading mode over the past two decades.

A global empirical model for estimating zenith tropospheric delay

Tropospheric delay acts as a systematic error source in the Global Navigation Satellite Systems(GNSS) positioning. Empirical models UNB3, UNB3 m, UNB4 and EGNOS have been developed for use in Satellite-Based Augmentation Systems(SBAS). Model performance, however, is limited due to the low spatial resolution of the look-up tables for meteorological parameters. A new design has been established in this study for improving performance of the tropospheric delay model by more effectively eliminating the error produced by tropospheric delay. The spatiotemporal characteristics of the Zenith Tropospheric Delay(ZTD) were analyzed with findings that ZTD exhibits different annual variations at different locations and decreases exponentially with height increasing. Spherical harmonics are utilized based on the findings to fit the annual mean and amplitude of the ZTD on a global scale and the exponential function is utilized for height corrections, yielding the ZTrop model. On a global scale, the ZTrop features an average deviation of ?1.0 cm and Root Mean Square(RMS) of 4.7 cm compared with the International GNSS Service(IGS) ZTD products, an average deviation of 0.0 cm and RMS of 4.5 cm compared with the Global Geodetic Observing System(GGOS) ZTD data, and an average deviation of ?1.3 cm and RMS of 5.2 cm compared with the ZTD data from the Constellation Observing System of Meteorology, Ionosphere, and Climate(COSMIC). The RMS of the ZTrop model is 14.5% smaller than that of UNB3, 6.0% smaller than that of UNB3 m, 16% smaller than that of UNB4, 14.5% smaller than that of EGNOS and equivalent to the sophisticated GPT2+Saas model in comparison with the IGS ZTD products. The ZTrop, UNB3 m and GPT2+Saas models are finally evaluated in GPS-based Precise Point Positioning(PPP), as the models act to aid in obtaining PPP position error less than 1.5 cm in north and east components and relative large error(>5 cm) in up component with respect to the random walk approach.