In this paper,we study scene image recognition with knowledge transfer for drone navigation.We divide navigation scenes into three macro-classes,namely outdoor special scenes(OSSs),the space from indoors to outdoors o...In this paper,we study scene image recognition with knowledge transfer for drone navigation.We divide navigation scenes into three macro-classes,namely outdoor special scenes(OSSs),the space from indoors to outdoors or from outdoors to indoors transitional scenes(TSs),and others.However,there are difficulties in how to recognize the TSs,to this end,we employ deep convolutional neural network(CNN)based on knowledge transfer,techniques for image augmentation,and fine tuning to solve the issue.Moreover,there is still a novelty detection prob-lem in the classifier,and we use global navigation satellite sys-tems(GNSS)to solve it in the prediction stage.Experiment results show our method,with a pre-trained model and fine tun-ing,can achieve 91.3196%top-1 accuracy on Scenes21 dataset,paving the way for drones to learn to understand the scenes around them autonomously.展开更多
全球导航卫星系统GNSS对流层天顶湿延迟(zenith wet delay,ZWD)随机噪声不仅影响ZWD估计值大小,还会影响ZWD的趋势项变化。为揭示ZWD随机游走过程噪声(random walk process noise,RWPN)的时空变化特征,本文选取全球20个IGS(Internationa...全球导航卫星系统GNSS对流层天顶湿延迟(zenith wet delay,ZWD)随机噪声不仅影响ZWD估计值大小,还会影响ZWD的趋势项变化。为揭示ZWD随机游走过程噪声(random walk process noise,RWPN)的时空变化特征,本文选取全球20个IGS(International GNSS Service)测站,基于JPL(Jet Propulsion Laboratory)、GFZ(Helmholtz-Centre Potsdam-German Research Centre for Geosciences)和CODE(Center for Orbit Determination in Europe)分析中心2010至2020年对流层产品,从不同地理位置和不同时间序列分析GNSS ZWD随机游走过程噪声的变化范围和特征;并且在扣除ZWD的趋势项和主要周期项后,进一步揭示了ZWD残差信号分量构成。结果表明:不同地理位置湿延迟RWPN具有显著差异,年均值范围在0.01~0.146 mm/√s之间,且在大气集中的中低纬地区湿延迟RWPN值较大,在大气相对稀薄的极地地区其值较小;同一测站的湿延迟RWPN具有明显的周年、半周年和季节性特征,极差值高达0.12 mm/√s以上;通过对ZWD残差值分析,发现ZWD残差信号除包含白噪声外,还具有4.8 h至2.43 d的高频信号分量。展开更多
基金supported by the National Natural Science Foundation of China(62103104)the Natural Science Foundation of Jiangsu Province(BK20210215)the China Postdoctoral Science Foundation(2021M690615).
文摘In this paper,we study scene image recognition with knowledge transfer for drone navigation.We divide navigation scenes into three macro-classes,namely outdoor special scenes(OSSs),the space from indoors to outdoors or from outdoors to indoors transitional scenes(TSs),and others.However,there are difficulties in how to recognize the TSs,to this end,we employ deep convolutional neural network(CNN)based on knowledge transfer,techniques for image augmentation,and fine tuning to solve the issue.Moreover,there is still a novelty detection prob-lem in the classifier,and we use global navigation satellite sys-tems(GNSS)to solve it in the prediction stage.Experiment results show our method,with a pre-trained model and fine tun-ing,can achieve 91.3196%top-1 accuracy on Scenes21 dataset,paving the way for drones to learn to understand the scenes around them autonomously.
文摘全球导航卫星系统GNSS对流层天顶湿延迟(zenith wet delay,ZWD)随机噪声不仅影响ZWD估计值大小,还会影响ZWD的趋势项变化。为揭示ZWD随机游走过程噪声(random walk process noise,RWPN)的时空变化特征,本文选取全球20个IGS(International GNSS Service)测站,基于JPL(Jet Propulsion Laboratory)、GFZ(Helmholtz-Centre Potsdam-German Research Centre for Geosciences)和CODE(Center for Orbit Determination in Europe)分析中心2010至2020年对流层产品,从不同地理位置和不同时间序列分析GNSS ZWD随机游走过程噪声的变化范围和特征;并且在扣除ZWD的趋势项和主要周期项后,进一步揭示了ZWD残差信号分量构成。结果表明:不同地理位置湿延迟RWPN具有显著差异,年均值范围在0.01~0.146 mm/√s之间,且在大气集中的中低纬地区湿延迟RWPN值较大,在大气相对稀薄的极地地区其值较小;同一测站的湿延迟RWPN具有明显的周年、半周年和季节性特征,极差值高达0.12 mm/√s以上;通过对ZWD残差值分析,发现ZWD残差信号除包含白噪声外,还具有4.8 h至2.43 d的高频信号分量。
