A semantic vector map-based approach for aircraft positioning in GNSS/GPS denied large-scale environment

Accurate positioning is one of the essential requirements for numerous applications of remote sensing data,especially in the event of a noisy or unreliable satellite signal.Toward this end,we present a novel framework for aircraft geo-localization in a large range that only requires a downward-facing monocular camera,an altimeter,a compass,and an open-source Vector Map(VMAP).The algorithm combines the matching and particle filter methods.Shape vector and correlation between two building contour vectors are defined,and a coarse-to-fine building vector matching(CFBVM)method is proposed in the matching stage,for which the original matching results are described by the Gaussian mixture model(GMM).Subsequently,an improved resampling strategy is designed to reduce computing expenses with a huge number of initial particles,and a credibility indicator is designed to avoid location mistakes in the particle filter stage.An experimental evaluation of the approach based on flight data is provided.On a flight at a height of 0.2 km over a flight distance of 2 km,the aircraft is geo-localized in a reference map of 11,025 km~2using 0.09 km~2aerial images without any prior information.The absolute localization error is less than 10 m.

Review of Effective Vegetation Mapping Using the UAV (Unmanned Aerial Vehicle) Method

We tried more precise mapping of vegetation using UAV?(unmanned aerial vehicle), as a new method of creating vegetation maps, and we?objected to be clearly the efficient mapping of vegetation using the UAV method by comparing vegetation maps created by analysing aerial photographs taken by a UAV and an aircraft (manned flight). The aerial photography using UAV was conducted in the Niida River estuary (the secondary river flowing into Minamisoma City in Fukushima Prefecture, Japan). The photography period was in August 2013. We analysed the aerial photographs using ArcGis 9 (Esri Japan Corporation, Tokyo, Japan). The aerial photographs of the main plant communities (Phragmites australis,?Typha domingensis, and?Miscanthus sacchariflorus) taken by the UAV could clearly discriminate each plant community at the 1/50 scale. Moreover, it could clearly discriminate the shape of a plant at the 1/10 scale. We compared the vegetation maps by analysing the aerial photos taken by a UAV (2013 shooting) and an aircraft (2011 shooting). As a result, the vegetation map created by the UAV method could clearly discriminate community distributions. We conclude that vegetation surveys using UAV are possible and are capable of a highly precise community division in places where field reconnaissance is difficult. The UAV method is effective and will contribute to the improvement of research methods in the future;this method may reduce research costs associated with a reduction in field survey days and man-power.

Localization of Mobile Robot Aided for Large-Scale Construction Based on Optimized Artificial Landmark Map in Ongoing Scene

The effectiveness of mobile robot aided for architectural construction depends strongly on its accurate localization ability.Localization of mobile robot is increasingly important for the printing of buildings in the construction scene.Although many available studies on the localization have been conducted,only a few studies have addressed the more challenging problem of localization for mobile robot in large-scale ongoing and featureless scenes.To realize the accurate localization of mobile robot in designated stations,we build an artificial landmark map and propose a novel nonlinear optimization algorithm based on graphs to reduce the uncertainty of the whole map.Then,the performances of localization for mobile robot based on the original and optimized map are compared and evaluated.Finally,experimental results show that the average absolute localization errors that adopted the proposed algorithm is reduced by about 21%compared to that of the original map.

High Spatial Resolution Mapping of Dykes Using Unmanned Aerial Vehicle(UAV) Photogrammetry: New Insights On Emplacement Processes

Remote sensing has played a pivotal role in our understanding of the geometry of dykes and dyke swarms on Earth,Venus and Mars(West and Ernst,1991;Mege and Masson,1995;Ernst et al.,2005).Since the 1970’s

Classification of wintertime large-scale tilted ridges over the Eurasian continent and their influences on surface air temperature

This study investigates the major patterns of large-scale tilted ridges(LSTRS)over the Eurasian continent and their connections with large-scale surface air temperature during boreal winter.A total number of 134 LSTR events with zonal extent exceeding 90°of longitude on the peak day are identified.Using self-organizing map(SOM),the LSTRs are classified into five clusters that are characterized by different spatial distributions and orientations.The leading two clusters are closely associated with extensive and persistent cold events over different places.Considering the first cluster,LSTRs extend from the Ural Mountains to Northeast Asia and are favorable for the amplification and southeastward extension of the Siberian high.Therefore,this cluster is closely associated with the occurrence of extensive and persistent cold events in china.In comparison with the first cluster,the LSTRs of second group are situated to the west,with starting points from the Kola Peninsula,and cause extensive and persistent cold events over Eastern Europe,central Asia,and central Siberia.The results suggest that the vertical coupling between LSTRs and the corresponding anomalous sea level pressure is crucial for the persistent cold temperature events associated with the leading two SOM clusters.

RESEARCH AND APPLICATION OF REMOTE SENSING IN THE FIELDS OF SURVEYING AND MAPPING

The technique of aerial photography has been used in the surveying and Mapping for more than fifty years. Along with the development of space technolongy, the satellite images are more and more widely applied to solve the survey problems. Recent years, the surveying and mapping community has conducted more deeply investigation into the remote sensing and carried out extensive applications.

Analysis of unmanned aerial vehicle navigation and height control system based on GPS

According to the characteristic of global positioning system（GPS） reflection signals,a GPS delay mapping receiver system scheme is put forward,which not only satisfies the unmanned aerial vehicle（UAV） guidance localization but also realizes height measurement.A code delay algorithm is put forward,which processes the direct and land reflected signal and outputs the navigation data and specular point.The GPS terrain reflected echo signal mathematical equation is inferred.The reflecting signal area,when the GPS signal passes the land,is analyzed.The height survey model reflected land surface characteristic is established.A simulation system which carries guidance localization of the UAV and the height measuring control through the GPS direct signal and the land reflected signal is designed,taken the GPS satellite as the illumination source,the receiver is put on the UAV.Then the UAV guidance signal,the GPS reflection signal and receiver＇s parallel processing are realized.The parallel processing reduces UAV＇s payload and raises system＇s operating efficiency.The simulation results confirms the validity of the model and also provides the basis for the UAV＇s optimization design.

Application of aerial remote sensing in the study on vegetation in Guangzhou,China

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MapGIS的无人机航测数据自动成图方法

为提高航测数据自动成图效果,提出基于地理信息系统软件(Map Geographic Information System,MapGIS)的无人机航测数据自动成图方法。应用MapGIS技术构建航测数字化体系,采集无人机航测数据,并基于数据质量控制原则校正数据,根据采集结果将地形图进行数字线划图处理,实现无人机航测数据自动成图。实验结果表明,设计方法在实际应用过程中效果更佳。提高无人机航测数据质量的分析和控制效果,保证无人机航测数据自动成图效果。

Improved lazy theta algorithm based on octree map for path planning of UAV

This paper investigates the path planning method of unmanned aerial vehicle(UAV)in threedimensional map.Firstly,in order to keep a safe distance between UAV and obstacles,the obstacle grid in the map is expanded.By using the data structure of octree,the octree map is constructed,and the search nodes is significantly reduced.Then,the lazy theta*algorithm,including neighbor node search,line-of-sight algorithm and heuristics weight adjustment is improved.In the process of node search,UAV constraint conditions are considered to ensure the planned path is actually flyable.The redundant nodes are reduced by the line-of-sight algorithm through judging whether visible between two nodes.Heuristic weight adjustment strategy is employed to control the precision and speed of search.Finally,the simulation results show that the improved lazy theta*algorithm is suitable for path planning of UAV in complex environment with multi-constraints.The effectiveness and flight ability of the algorithm are verified by comparing experiments and real flight.

改进YOLOv5的无人机航拍图像目标检测算法

针对无人机航拍图像目标检测中目标尺度多样、相似目标众多、目标聚集导致的目标漏检、误检问题,提出了改进YOLOv5的无人机航拍图像目标检测算法DA-YOLO。提出由特征图注意力生成器和动态权重学习模块组成的多尺度动态特征加权融合网络,特征图注意力生成器融合处理不同尺度目标更重要的特征,权重学习模块自适应地调节对不同尺度目标特征的学习,该网络可增强在目标尺度多样下的辨识度从而降低目标漏检。设计一种并行选择性注意力机制(PSAM)添加到特征提取网络中,该模块通过动态融合空间信息和通道信息,加强特征的表达获得更优质的特征图,提高网络对相似目标的区分能力以减少误检。使用Soft-NMS代替YOLOv5中采用的非极大值抑制(NMS)以改善目标聚集场景下的漏检、误检。实验结果表明,改进算法在VisDrone数据集上检测精度达到37.79%,相比于YOLOv5s算法精度提高了5.59个百分点,改进后的算法可以更好地应用于无人机航拍图像目标检测中。

基于AirSim的无人机硬件在环仿真平台设计与实现

为了减少使用真实无人机和相机进行算法验证所带来的高成本与人员安全风险,研制了一个无人机实物平台,并基于AirSim和虚幻引擎4搭建了配套的无人机硬件在环仿真平台。在同一局域网内,仿真平台与实物平台建立连接,将传感器数据直接输送到实物平台进行算法验证。硬件在环仿真平台可在室内无GPS环境下保证算法在仿真和实物运行时处于同一平台,节省仿真时编译代码和数据拷贝的时间,有利于多传感器融合定位算法的验证。

基于改进哈里斯鹰算法的无人飞行器路径规划

针对无人飞行器三维路径规划问题,提出一种基于哈里斯鹰优化(Harris hawks optimization,HHO)算法的无人飞行器三维路径规划算法。首先根据路径规划代价指标和无人飞行器自身性能,建立路径规划模型确立代价函数和约束条件。接着针对传统HHO算法的不足,引入非线性能量因子来平衡全局搜索和局部搜索的关系,使算法避免陷入局部最小值;引入混沌映射对HHO算法进行初始化种群并对其进行局部混沌搜索,增强算法种群多样性和搜索能力。最后通过仿真实验证明,改进的哈里斯鹰优化(improvement Harris hawks optimization,IHHO)算法可以有效规划出安全的无人飞行器航线,并且能够跳出局部最小值和具备较优的收敛速度。

无人机双目视觉鲁棒定位方法

无人机(unmanned aerial vehicle,UAV)在全球定位系统(global positioning system,GPS)信号拒止环境中的应用受到限制,传统视觉同步定位与建图(simultaneous localization and mapping,SLAM)技术一定程度上解决了该问题,但在动态场景和弱纹理场景中定位精度较差。针对该问题提出一种基于双目视觉的多场景鲁棒SLAM方法,重点考虑了真实环境中的动态和弱纹理2类具有挑战性的场景,利用双目相机为UAV在动态和弱纹理场景中提供位姿信息。针对动态场景利用掩膜基于区域的卷积神经网络(mask region-based convolutional neural network,Mask R-CNN)分割潜在动态内容并剔除动态特征,通过计算稠密光流同步相邻帧的掩膜,减小了掩膜的计算成本。对于弱纹理场景,在传统SLAM算法使用的点特征基础上融合了线特征,充分利用了环境中的结构特征。数值模拟和仿真实验证明了本文算法具有更高的鲁棒性和精确性。

无人机激光雷达技术和倾斜摄影技术在地形测绘中的应用

针对地形落差大、植被茂密、通视条件差的区域,本文提出了一种综合利用无人机激光雷达(LiDAR)技术与倾斜摄影技术完成测图的方法。利用激光雷达穿透性强,高密度、高精度获取数据的优势,可准确获取地面高程信息;利用倾斜摄影建模技术可准确地获取地物的平面位置信息,实现比较直观的可视化效果,可快速进行矢量数据采集工作。通过两种技术手段的结合,可实现高精度地形图的生产。本文从实际出发,以黑龙江某项目为例,论证了此方法能够完全满足1∶500数字地形图的精度要求。

基于次镜像移补偿的折反式航测相机光机系统设计

针对航测相机对地摆扫成像过程中的动态像移问题,采用两镜望远系统的矢量像差理论,将次镜作为像移补偿元件,通过次镜多维运动实现航测相机的综合像移补偿。次镜在对像移进行补偿的过程中会发生偏心和倾斜,导致次镜离轴,影响成像质量,因此,建立了失调折反光学系统成像模型,研究次镜像差场偏移矢量与次镜失调量之间的关系,并分析次镜多维运动对成像质量的影响。为验证次镜多维运动的像移补偿能力,搭建实验平台对该航测相机进行了实验室内以及外场成像试验。结果表明,采用该像移补偿技术的航测相机动态分辨率可达74 lp/mm,且像移补偿精度优于0.5个像素,达到设计预期。

基于CiteSpace的农药雾滴润湿展布研究进展可视化分析

为精准把握农药雾滴润湿展布领域的研究现状、热点及趋势,借助CiteSpace软件,基于CNKI和WOS数据库获得的近30年的文献样本,从发文量、国家、机构、作者、研究热点、演进趋势等方面进行可视化分析。结果表明:当前国内外关于农药雾滴润湿展布的研究均处于飞速发展阶段,年发文量呈现激增态势,2021年中、外文文献的发文量分别达到78篇和53篇,而且已形成稳定的核心作者群及发文机构,但各群体、机构间的合作关系较弱;在该领域,中、美是主要的研究国家,中国的发文量最多(109篇),但文献的影响力(中介中心性0.09)却远不如美国(中介中心性0.46);在研究热点方面,国内的研究侧重点在于探索喷施参数、雾滴行为分析、药剂选择组合等实践层面,而国际上的侧重点还包括研制新型农药物资、开发新型施药设备及技术等创新层面的研究;未来,与无人机施药技术相关的研究将会是该领域的研究热点。

联合无人机影像生成DSM和DOM的多层次建筑物变化检测

随着我国城镇化水平的不断提高,城镇建筑物日新月异,及时、准确地掌握城镇建筑物的变化信息对城镇管理、违章建筑查处及灾害评估有着重要意义。该文提出了一种联合无人机影像生成数字表面模型(digital surface model,DSM)和正射影像(digital orthophoto map,DOM)的多层次建筑物变化检测方法,主要包括4个步骤:①对无人机影像生成的密集点云和DOM进行预处理,生成差分归一化DSM(differential normalized DSM,dnDSM)并提取植被区域;②利用多层高差阈值提取候选变化区域,并在此过程中剔除植被及面积较小区域;③对低层候选变化区域进行连通域分析,对于每个连通对象,利用其较高层的变化检测结果剔除低层中的误检测;④统计每个变化对象的正、负高差值数量关系,确定变化类型。实验结果表明,该文方法不但能够保留较低高差阈值检测到的低矮变化建筑物,而且能够保证高大变化建筑物的正确性、完整性。

基于改进GWO的多无人机三维协同航迹规划

针对GWO算法求解多无人机协同航迹时存在协同性差、易陷入局部最优、收敛速度慢以及求解精度差的问题,提出一种基于改进GWO的多无人机三维协同航迹规划方法。首先,建立多无人机三维协同航迹规划数学模型,以消耗代价、高度代价、威胁代价、空间约束、时间约束5者的加权和以及惩罚项作为目标函数;其次,利用贪心算法和Tent映射相结合的方法来提高种群适应度,并保留种群的多样性来减小陷入局部最优的可能性;再改进收敛因子来提高算法收敛速度;然后,设计一种动态权重位置更新方法来提高算法的探索和开发能力;最后,将改进的GWO算法应用于多无人机航迹规划问题求解。与GWO算法和CSGWO算法对比的仿真结果表明,所提出的改进GWO算法在求解精度上分别提高了64.8%和16.7%,在收敛速度上分别提升了28.5%和25.4%,并且协同能力明显优于对比算法。

无人机航空摄影测量在河北某矿山地形测绘中的应用及精度控制

无人机航空摄影测量技术由于高效快速、灵活易操作逐步应用于各种测图工作。本文重点针对矿产勘查中的地形测绘,采用无人机航空摄影测量测制1:2000地形图的过程和精度控制,对大比例尺地形测绘成图和质量检查进行了探讨。