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基于边界归一化的低空无人机实时避撞路径规划 被引量:3
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作者 王亮 魏铂淞 +1 位作者 熊瑜 许卓凡 《西北工业大学学报》 EI CAS CSCD 北大核心 2017年第2期213-219,共7页
小型无人机的广泛应用已引发严重的城市低空安全问题,实时避撞路径规划是提高无人机在陌生城市低空飞行安全的重要技术。针对传统Laguerre路径规划无法实时应用的问题,建立了基于单航段分解的Laguerre实时滚动规划模型。通过障碍边界归... 小型无人机的广泛应用已引发严重的城市低空安全问题,实时避撞路径规划是提高无人机在陌生城市低空飞行安全的重要技术。针对传统Laguerre路径规划无法实时应用的问题,建立了基于单航段分解的Laguerre实时滚动规划模型。通过障碍边界归一化确保障碍物异型位置关系下的Laguerre路径的一致性,导出了单航段Laguerre最佳避撞路径规划定理。进而,提出了基于障碍边界归一化的无人机低空实时避撞路径规划方法。通过模拟城市复杂环境的规划实验表明,该方法不仅实现了陌生环境下的实时路径规划,而且所规划路径具有更好的避撞安全性。 展开更多
关键词 无人机 实时路径规划 Laguerre图 边界归一化 安全工程
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Normalized edge detection, and the horizontal extent and depth of geophysical anomalies 被引量:2
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作者 李丽丽 韩立国 黄大年 《Applied Geophysics》 SCIE CSCD 2014年第2期149-157,252,253,共11页
Edge detection is an image processing technique for finding the boundaries of objects within images. It is typically used to interpret gravity and magnetic data, and find the horizontal boundaries of geological bodies... Edge detection is an image processing technique for finding the boundaries of objects within images. It is typically used to interpret gravity and magnetic data, and find the horizontal boundaries of geological bodies. Large deviations between model and true edges are common because of the interference of depth and errors in computing the derivatives; thus, edge detection methods cannot provide information about the depth of the source. To simultaneously obtain the horizontal extent and depth of geophysical anomalies, we use normalized edge detection filters, which normalize the edge detection function at different depths, and the maxima that correspond to the location of the source. The errors between model and actual edges are minimized as the depth of the source decreases and the normalized edge detection method recognizes the extent of the source based on the maxima, allowing for reliable model results. We demonstrate the applicability of the normalized edge detection filters in defining the horizontal extent and depth using synthetic and actual aeromagnetic data. 展开更多
关键词 geophysical anomalies normalized edge detection normalized total horizontal derivative regularization tilt angle theta map
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A Method for Alpine Wetland Delineation and Features of Border: Zoigê Plateau, China 被引量:2
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作者 ZHENG Yaomin NIU Zhenguo +12 位作者 GONG Peng LI Mengna HU Lile WANG Lei YANG Yuxiang GU Hai-jun MU Jinrong DOU Gejia XUE Hui WANG Lin LI Hua DOU Gejie DANG Zhicairang 《Chinese Geographical Science》 SCIE CSCD 2017年第5期784-799,共16页
Accurate wetland delineation is the basis of wetland definition and mapping, and is of great importance for wetland management and research. The Zoige Plateau on the Qinghai-Tibet Plateau was used as a research site f... Accurate wetland delineation is the basis of wetland definition and mapping, and is of great importance for wetland management and research. The Zoige Plateau on the Qinghai-Tibet Plateau was used as a research site for research on alpine wetland delineation. Several studies have analyzed the spatiotemporal pattern and dynamics of these alpine wetlands, but none have addressed the issues of wetland boundaries. The objective of this work was to discriminate the upper boundaries of alpine wetlands by coupling ecological methods and satellite observations. The combination of Landsat 8 images and supervised classification was an effective method for rapid identification of alpine wetlands in the Zoig6 Plateau. Wet meadow was relatively stable compared with hydric soils and wetland hydrology and could be used as a primary indicator for discriminating the upper boundaries of alpine wetlands. A slope of less than 4.5° could be used as the threshold value for wetland delineation. The normalized difference vegetation index (NDVI) in 434 field sites showed that a threshold value of 0.3 could distinguish grasslands from emergent marsh and wet meadow in September. The median normalized difference water index (NDWI) of emergent marsh remained more stable than that of wet meadow and grasslands during the period from September until July of the following year. The index of mean density in wet meadow zones was higher than the emergent and upland zones. Over twice the number of species occurred in the wet meadow zone compared with the emergent zone, and close to the value of upland zone. Alpine wetlands in the three reserves in 2014 covered 1175.19 kin2 with a classification accuracy of 75.6%. The combination of ecological methods and remote sensing technology will play an important role in wetland delineation at medium and small scales. The correct differentiation between wet meadow and grasslands is the key to improving the accuracy of future wetland delineation. 展开更多
关键词 alpine wetland delineation ecological methods remote sensing Zoige Plateau
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