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MTCR-CR Routing Strategy for Connection-Oriented Routing over Satellite Networks
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作者 Li Changhao Sun Xue +1 位作者 Yan Lei Cao Suzhi 《China Communications》 SCIE CSCD 2024年第5期280-296,共17页
The high-speed movement of satellites makes it not feasible to directly apply the mature routing scheme on the ground to the satellite network.DT-DVTR in the snapshot-based connectionoriented routing strategy is one o... The high-speed movement of satellites makes it not feasible to directly apply the mature routing scheme on the ground to the satellite network.DT-DVTR in the snapshot-based connectionoriented routing strategy is one of the representative solutions,but it still has room for improvement in terms of routing stability.In this paper,we propose an improved scheme for connection-oriented routing strategy named the Minimal Topology Change Routing based on Collaborative Rules(MTCR-CR).The MTCR-CR uses continuous time static topology snapshots based on satellite status to search for intersatellite link(ISL)construction solutions that meet the minimum number of topology changes to avoid route oscillations.The simulation results in Beidou-3 show that compared with DT-DVTR,MTCR-CR reduces the number of routing changes by about 92%,the number of path changes caused by routing changes is about38%,and the rerouting time is reduced by approximately 47%.At the same time,in order to show our algorithm more comprehensively,the same experimental index test was also carried out on the Globalstar satellite constellation. 展开更多
关键词 ISL routing stability satellite networks satellite routing dynamic strategy
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Influence of Solar Activity on Precise Orbit Prediction of LEO Satellites 被引量:1
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作者 Jun-Jun Yuan Shan-Shi Zhou +4 位作者 Cheng-Pan Tang Bin Wu Kai Li Xiao-Gong Hu Er-Tao Liang 《Research in Astronomy and Astrophysics》 SCIE CAS CSCD 2023年第4期56-65,共10页
The perturbations of low earth orbit(LEO)satellites operating in the orbit of 300~2000 km are complicated.In particular,the atmospheric drag force and solar radiation pressure force change rapidly over a short period ... The perturbations of low earth orbit(LEO)satellites operating in the orbit of 300~2000 km are complicated.In particular,the atmospheric drag force and solar radiation pressure force change rapidly over a short period of time due to solar activities.Using spaceborne global positioning system(GPS)data of the CHAMP,GRACE and SWARM satellites from 2002 to 2020,this paper studies in depth the influence of solar activity on LEO satellites’precise orbit prediction by performing a series of orbit prediction experiments.The quality of GPS data is more susceptible to being influenced by solar activity during years when this activity is high and the changes in dynamic parameters are consistent with those of solar activity.The effects of solar activity on LEO orbit prediction accuracy are analyzed by comparing the predicted orbits with the precise ones.During years of high solar activity,the average root-mean-squares prediction errors at 10,20,and 30 minutes are 0.15,0.20,and 0.26 m,respectively,which are larger than the corresponding values in low-solar-activity years by 59%,63%,and 68%,respectively.These results demonstrate that solar activity has a great influence on the orbit prediction accuracy,especially during high-solar-activity years.We should strengthen the real-time monitoring of solar activity and geomagnetic activity,and formulate corresponding orbit prediction strategies for the active solar period. 展开更多
关键词 SUN activity-atmospheric effects-space vehicles instruments-planets and satellites atmospheres-planets and satellites dynamical evolution and stability-planets and satellites fundamental parameters
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A Power Reduction Method for Pilot Channel of LEO Satellite Based on Dynamic Compensation 被引量:3
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作者 Yong Zhang Yongning Zhuo +1 位作者 Jian Wang Siyuan Jiang 《China Communications》 SCIE CSCD 2017年第3期55-65,共11页
Since the lower power requirement of code division multiple access(CDMA) than that of other multiple access, the CDMA technology is suitable to be used in low earth orbit(LEO) satellite communication system whose spac... Since the lower power requirement of code division multiple access(CDMA) than that of other multiple access, the CDMA technology is suitable to be used in low earth orbit(LEO) satellite communication system whose space power is limited due to the small size of satellite. The pilot channel of CDMA technology is very important for earth mobile station(EMS) in LEO system to recover carrier and code, but the power requirement of pilot channel is very higher than that of other channels. In this paper, a power reduction method for pilot channel is proposed. By the new method, the power of pilot channel transmitted from LEO satellite is reduced to a lower level. For improving the signal to noise ratio(SNR) of pilot channel with lower power, coherent integration is employed in EMS at the pre-processing stage. Considering the high dynamic situation of LEO satellite, the long period of time for integration will deteriorate the receiving performance of EMS, therefore, a dynamic compensation module is added to carrier tracking loop against the high dynamic. Meanwhile, the transfer function of the new tracking loop and the condition for steadystate zero error are deduced. Numerical examples are provided to demonstrate effectiveness of the proposed approach. 展开更多
关键词 low earth orbit satellite communication dynamic compensation power reduction carrier tracking
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RESEARCH ON AUTOMATIC FOG IDENTIFICATION TECHNOLOGY BY METEOROLOGICAL SATELLITE REMOTE SENSING 被引量:1
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作者 周红妹 葛伟强 +2 位作者 柏桦 刘冬韡 杨引明 《Journal of Tropical Meteorology》 SCIE 2009年第1期28-37,共10页
There is an urgent need for the development of a method that can undertake rapid, effective, and accurate monitoring and identification of fog by satellite remote sensing, since heavy fog can cause enormous disasters ... There is an urgent need for the development of a method that can undertake rapid, effective, and accurate monitoring and identification of fog by satellite remote sensing, since heavy fog can cause enormous disasters to China’s national economy and people's lives and property in the urban and coastal areas. In this paper, the correlative relationship between the reflectivity of land surface and clouds in different time phases is found, based on the analysis of the radiative and satellite-based spectral characteristics of fog. Through calculation and analyses of the relative variability of the reflectivity in the images, the threshold to identify quasi-fog areas is generated automatically. Furthermore, using the technique of quick image run-length encoding, and in combination with such practical methods as analyzing texture and shape fractures, smoothness, and template characteristics, the automatic identification of fog and fog-cloud separation using meteorological satellite remote sensing images are studied, with good results in application. 展开更多
关键词 meteorological satellites remote sensing fog dynamic monitoring rapid and automatic identification methods
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Current Status and Main Application Achievements of Ocean Satellites
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作者 LIN Mingsen ZHANG Youguang 《空间科学学报》 CAS CSCD 北大核心 2022年第4期733-743,共11页
Ocean satellites have realized multi-satellite networked operation.The HY-1D satellite launched in June 2020 realized networked with HY-1C satellite,and completed the construction of ocean color satellite constellatio... Ocean satellites have realized multi-satellite networked operation.The HY-1D satellite launched in June 2020 realized networked with HY-1C satellite,and completed the construction of ocean color satellite constellation.The HY-2D satellite launched in May 2021 is networked with the on orbit HY-2B and HY-2C satellites to complete the construction of marine dynamic environment satellite constellation.The 1 mC-SAR satellite 01 launched in November 2021 is networked with GF-3,which initially forms the marine monitoring satellite constellation.This year,the networking of 1 mC-SAR satellite 02 with satellite 01 and GF-3 is realized,and the construction of marine monitoring satellite constellation is completed.At present,the ocean satellites have the operational application capabilities of remote sensing investigation,monitoring,evaluation and supervision of marine ecology,marine disaster prevention and reduction,global oceans and Polar Regions,Sea Islands,rights and interests maintenance. 展开更多
关键词 Ocean color satellite Ocean dynamic environment satellite Ocean monitoring satellite satellite networking
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Dynamic routing and wavelength assignment algorithm of optical satellite networks based on cross-layer design
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作者 文国莉 Zhang Qi +6 位作者 Tian Qinghua Wang Houtian Tao Ying Chen Dong Liu Naijin Shen Yufei Zhou Na 《High Technology Letters》 EI CAS 2017年第3期252-259,共8页
In order to overcome the adverse effects of Doppler wavelength shift on data transmission in the optical satellite networks,a dynamic routing and wavelength assignment algorithm based on crosslayer design( CL-DRWA) is... In order to overcome the adverse effects of Doppler wavelength shift on data transmission in the optical satellite networks,a dynamic routing and wavelength assignment algorithm based on crosslayer design( CL-DRWA) is introduced which can improve robustness of the network. Above all,a cross-layer optimization model is designed,which considers transmission delay and wavelength-continuity constraint,as well as Doppler wavelength shift. Then CL-DRWA is applied to solve this model,resulting in finding an optimal light path satisfying the above constraints for every connection request. In CL-DRWA,Bellman-Ford method is used to find an optimal route and a distributed relative capacity loss method is implemented to get an optimal wavelength assignment result on the optimal route. Moreover,compared with the dynamic routing and wavelength assignment algorithm based on minimum delay strategy( MD-DRWA),CL-DRWA can make an improvement of 5. 3% on the communication success probability. Meanwhile,CL-DRWA can meet the requirement of transmission delay for real-time services. 展开更多
关键词 cross-layer design Doppler wavelength shift dynamic routing and wavelength assignment optical satellite network
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The Development Status and Main Application Progress of China’s Ocean Satellites
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作者 LIN Mingsen ZHANG Youguang 《Aerospace China》 2022年第1期41-54,共14页
China’s ocean satellites are divided into three series based on ocean color satellites(HY-1),ocean dynamic environment satellites(HY-2)and ocean monitoring satellites(HY-3).The three series of ocean satellites operat... China’s ocean satellites are divided into three series based on ocean color satellites(HY-1),ocean dynamic environment satellites(HY-2)and ocean monitoring satellites(HY-3).The three series of ocean satellites operate today in a multi-satellite network.The HY-1 D satellite launched in June 2020 and the HY-1 C satellite,already in orbit,realized a network observation capability and completed the formation of the ocean color satellite constellation.The HY-2 D satellite launched in May 2021 joined the HY-2 B and HY-2 C satellites,which have been on orbit already and completed a network observation capability,thus establishing the ocean dynamic environment satellite constellation.The GF-302 satellite(1 m C-SAR 01)launched in November 2021 has networked with GF-3,initially establishing an ocean monitoring satellite constellation,which has finally completed its construction with the launch of the GF-303 satellite(1 m C-SAR 02)in April 2022.The GF-3 three-satellite network effectively boasts a wide capability in applications of satellite data products and services in many fields,such as ocean environmental monitoring,ocean disaster prevention and mitigation,marine scientific research and polar research. 展开更多
关键词 ocean color satellite ocean dynamic environment satellite ocean monitoring satellite satellite constellation
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Effect of Orbital Characteristic of Inclined Third-body on Motion of Secondary-body for a Hierarchical Triple Systems
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作者 Majid Bakhtiari 《Research in Astronomy and Astrophysics》 SCIE CAS CSCD 2023年第6期1-11,共11页
The influence of a third-body's orbital elements on the second-body's motion in a hierarchical triple system is a crucial problem in astrophysics.Most prolonged evaluation studies have focused on a distant zer... The influence of a third-body's orbital elements on the second-body's motion in a hierarchical triple system is a crucial problem in astrophysics.Most prolonged evaluation studies have focused on a distant zero-inclined thirdbody.This study presents a new perspective on second-body motion equations that addresses a perturbing-body in an elliptic orbit derived with consideration of the axial-tilt(obliquity)of the primary.The proposed model is compared by the dual-averaged method and the N-body problem algorithm.After validation,a generalized threebody model is derived to investigate the effects of the third-body's orbital elements on secondary-body motion behavior.The proposed model considers short-time oscillations that affect secular evaluation and applies to exoplanets with all the primary and third body eccentricities,inclinations,and mass ratios.It is shown that the obliquity of the primary(or third-body's inclination)must be considered for precise long-term assessment,even in highly-hierarchical systems. 展开更多
关键词 celestial mechanics planets and satellites:dynamical evolution and stability Planetary Systems GRAVITATION
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Studying the Equilibrium Points of the Modified Circular Restricted Three-body Problem: The Case of Sun–Haumea System
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作者 INurul Huda B.Dermawan +2 位作者 M.B.Saputra R.Sadikin T.Hidayat 《Research in Astronomy and Astrophysics》 SCIE CAS CSCD 2023年第11期232-242,共11页
We intend to study a modified version of the planar Circular Restricted Three-Body Problem(CRTBP) by incorporating several perturbing parameters. We consider the bigger primary as an oblate spheroid and emitting radia... We intend to study a modified version of the planar Circular Restricted Three-Body Problem(CRTBP) by incorporating several perturbing parameters. We consider the bigger primary as an oblate spheroid and emitting radiation while the small primary has an elongated body. We also consider the perturbation from a disk-like structure encompassing this three-body system. First, we develop a mathematical model of this modified CRTBP.We have found there exist five equilibrium points in this modified CRTBP model, where three of them are collinear and the other two are non-collinear. Second, we apply our modified CRTBP model to the Sun–Haumea system by considering several values of each perturbing parameter. Through our numerical investigation, we have discovered that the incorporation of perturbing parameters has resulted in a shift in the equilibrium point positions of the Sun–Haumea system compared to their positions in the classical CRTBP. The stability of equilibrium points is investigated. We have shown that the collinear equilibrium points are unstable and the stability of non-collinear equilibrium points depends on the mass parameter μ of the system. Unlike the classical case, non-collinear equilibrium points have both a maximum and minimum limit of μ for achieving stability. We remark that the stability range of μ in non-collinear equilibrium points depends on the perturbing parameters. In the context of the Sun–Haumea system, we have found that the non-collinear equilibrium points are stable. 展开更多
关键词 celestial mechanics Kuiper Belt:general planets and satellites:dynamical evolution and stability
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A tale of planet formation: from dust to planets 被引量:4
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作者 Beibei Liu Jianghui Ji 《Research in Astronomy and Astrophysics》 SCIE CAS CSCD 2020年第10期249-286,共38页
The characterization of exoplanets and their birth protoplanetary disks has enormously advanced in the last decade.Benefitting from that,our global understanding of the planet formation processes has been substantiall... The characterization of exoplanets and their birth protoplanetary disks has enormously advanced in the last decade.Benefitting from that,our global understanding of the planet formation processes has been substantially improved.In this review,we first summarize the cutting-edge states of the exoplanet and disk observations.We further present a comprehensive panoptic view of modern core accretion planet formation scenarios,including dust growth and radial drift,planetesimal formation by the streaming instability,core growth by planetesimal accretion and pebble accretion.We discuss the key concepts and physical processes in each growth stage and elaborate on the connections between theoretical studies and observational revelations.Finally,we point out the critical questions and future directions of planet formation studies. 展开更多
关键词 planets and satellites:general planets and satellites:formation planets and satellites:dynamical evolution and stability protoplanetary disks
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Orbital evolution of a planet with tidal dissipation in a restricted three-body system
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作者 Wen-Lei Wang Xue-Qing Xu Xin-Hao Liao 《Research in Astronomy and Astrophysics》 SCIE CAS CSCD 2019年第9期79-96,共18页
The angle between planetary spin and the normal direction of an orbital plane is supposed to reveal a range of information about the associated planetary formation and evolution. Since the orbit’s eccentricity and in... The angle between planetary spin and the normal direction of an orbital plane is supposed to reveal a range of information about the associated planetary formation and evolution. Since the orbit’s eccentricity and inclination oscillate periodically in a hierarchical triple body and tidal friction makes the spin parallel to the normal orientation of the orbital plane with a short timescale in an isolated binary system, we focus on the comprehensive effect of third body perturbation and tidal mechanism on the angle. Firstly, we extend the Hut tidal model(1981) to the general spatial case, adopting the equilibrium tide and weak friction hypothesis with constant delay time, which is suitable for arbitrary eccentricity and any angle ? between the planetary spin and normal orientation of the orbital plane. Furthermore, under the constraint of angular momentum conservation, the equations of orbital and ratational motion are given. Secondly, considering the coupled effects of tidal dissipation and third body perturbation, and adopting the quadrupole approximation as the third body perturbation effect, a comprehensive model is established by this work. Finally, we find that the ultimate evolution depends on the timescales of the third body and tidal friction. When the timescale of the third body is much shorter than that of tidal friction, the angle ? will oscillate for a long time,even over the whole evolution;when the timescale of the third body is observably larger than that of the tidal friction, the system may enter stable states, with the angle ? decaying to zero ultimately, and some cases may have a stable inclination beyond the critical value of Lidov-Kozai resonance. In addition, these dynamical evolutions depend on the initial values of the orbital elements and may aid in understanding the characteristics of the orbits of exoplanets. 展开更多
关键词 ASTROMETRY and celestial mechanics:celestial MECHANICS planet-star interactions planets and satellites:dynamical evolution and stability
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Near-resonance tidal evolution of the Earth-Moon system influenced by orbital-scale climate change
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作者 Nan Wang Zhi-Guo He 《Research in Astronomy and Astrophysics》 SCIE CAS CSCD 2019年第9期3-12,共10页
We build a conceptual coupled model of the climate and tidal evolution of the Earth-Moon system to find the influence of the former on the latter. An energy balance model is applied to calculate steady-state temperatu... We build a conceptual coupled model of the climate and tidal evolution of the Earth-Moon system to find the influence of the former on the latter. An energy balance model is applied to calculate steady-state temperature field from the mean annual insolation as a function of varying astronomical parameters. A harmonic oscillator model is applied to integrate the lunar orbit and Earth’s rotation with the tidal torque dependent on the dominant natural frequency of ocean. An ocean geometry acts as a bridge between temperature and oceanic frequency. On assumptions of a fixed hemispherical continent and an equatorial circular lunar orbit, considering only the 41 kyr periodicity of Earth’s obliquity ε and the M2 tide, simulations are performed near tidal resonance for 106 yr. It is verified that the climate can influence the tidal evolution via ocean. Compared with the tidal evolution with constant ε, that with varying ε is slowed down;the EarthMoon distance oscillates in phase with ε before the resonance maximum but exactly out of phase after that;the displacement of the oscillation is in positive correlation with the difference between oceanic frequency and tidal frequency. 展开更多
关键词 MOON planets and satellites:dynamical evolution and stability planets and satellites:oceans
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The Investigation of the Dynamical Evolution of Extrasolar Three-planetary System GJ 3138
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作者 Alexander Perminov Eduard Kuznetsov 《Research in Astronomy and Astrophysics》 SCIE CAS CSCD 2022年第1期68-84,共17页
This article is devoted to studying the dynamical evolution and orbital stability of compact extrasolar threeplanetary system GJ 3138. In this system, all semimajor axes are less than 0.7 au. The modeling of planetary... This article is devoted to studying the dynamical evolution and orbital stability of compact extrasolar threeplanetary system GJ 3138. In this system, all semimajor axes are less than 0.7 au. The modeling of planetary motion is performed using the averaged semi-analytical motion theory of the second order in planetary masses,which the authors construct. Unknown and known with errors orbital elements vary in allowable limits to obtain a set of initial conditions. Each of these initial conditions is applied for the modeling of planetary motion. The assumption about the stability of observed planetary systems allows to eliminate the initial conditions leading to excessive growth of the orbital eccentricities and inclinations and to identify those under which these orbital elements conserve moderate values over the whole modeling interval. Thus, it becomes possible to limit the range of possible values of unknown orbital elements and determine their most probable values in terms of stability. 展开更多
关键词 Planetary Systems planets and satellites:dynamical evolution and stability planetstar interactions celestial mechanics
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Review Article: Resonant Families of Periodic Orbits in the Restricted Three-body Problem
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作者 Shanshan Pan Xiyun Hou 《Research in Astronomy and Astrophysics》 SCIE CAS CSCD 2022年第7期14-31,共18页
The restricted three-body problem(RTBP) is a fundamental model in celestial mechanics.Periodic orbits in the synodic frame play a very important role in understanding the dynamics of the RTBP model.Most of these perio... The restricted three-body problem(RTBP) is a fundamental model in celestial mechanics.Periodic orbits in the synodic frame play a very important role in understanding the dynamics of the RTBP model.Most of these periodic orbits,when interpreted in the sidereal frame,are actually resonant periodic orbits.As a result,numerical computation of the periodic orbits is also one approach for researchers to understand the orbital resonances of the three-body problem.Extensive studies have been carried out on this topic,concerning either the circular case or the elliptic case of this model.In this paper,we make a brief review of the history and current status of the studies on resonant periodic orbits in the RTBP model.Starting from the unperturbed two-body problem,we organize the review paper by the two cases of this model—the circular restricted three-body problem and the elliptic restricted three-body problem. 展开更多
关键词 celestial mechanics proper motions planets and satellites:dynamical evolution and stability
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Stability of the coplanar planetary four-body system
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作者 Chao Liu Sheng-Ping Gong Jun-Feng Li 《Research in Astronomy and Astrophysics》 SCIE CAS CSCD 2020年第9期228-240,共13页
We consider the coplanar planetary four-body problem,where three planets orbit a large star without the cross of their orbits.The system is stable if there is no exchange or cross of orbits.Starting from the Sundman i... We consider the coplanar planetary four-body problem,where three planets orbit a large star without the cross of their orbits.The system is stable if there is no exchange or cross of orbits.Starting from the Sundman inequality,the equation of the kinematical boundaries is derived.We discuss a reasonable situation,where two planets with known orbits are more massive than the third one.The boundaries of possible motions are controlled by the parameter c^2E.If the actual value of c^2E is less than or equal to a critical value(c^2 E)cr,then the regions of possible motions are bounded and therefore the system is stable.The criteria obtained in special cases are applied to the Solar System and the currently known extrasolar planetary systems.Our results are checked using N-body integrator. 展开更多
关键词 methods:analytical methods:numerical celestial mechanics planets and satellites:dynamical evolution and stability stars:kinematics and dynamics galaxies:kinematics and dynamics
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WHU-Grace01s:A new temporal gravity field model recovered from GRACE KBRR data alone 被引量:2
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作者 Zhou Hao Luo Zhicai Zhong Bo 《Geodesy and Geodynamics》 2015年第5期316-323,共8页
A new temporal gravity field model called WHU-Grace01s solely recovered from Gravity Recovery and Climate Experiment (GRACE) K-Band Range Rate (KBRR) data based on dynamic integral approach is presented in this pa... A new temporal gravity field model called WHU-Grace01s solely recovered from Gravity Recovery and Climate Experiment (GRACE) K-Band Range Rate (KBRR) data based on dynamic integral approach is presented in this paper. After meticulously preprocessing of the GRACE KBRR data, the root mean square of its post residuals is about 0.2 micrometers per second, and seventy-two monthly temporal solutions truncated to degree and order 60 are computed for the period from January 2003 to December 2008. After applying the combi- nation filter in WHU-Grace01s, the global temporal signals show obvious periodical change rules in the large-scale fiver basins. In terms of the degree variance, our solution is smaller at high degrees, and shows a good consistency at the rest of degrees with the Release 05 models from Center for Space Research (CSR), GeoForschungsZentrum Potsdam (GFZ) and Jet Pro- pulsion Laboratory 0PL). Compared with other published models in terms of equivalent water height distribution, our solution is consistent with those published by CSR, GFZ, JPL, Delft institute of Earth Observation and Space system (DEOS), Tongji University (Tongji), Institute of Theoretical Geodesy (ITG), Astronomical Institute in University of Bern (AIUB) and Groupe de Recherche de Geodesie Spatiale (GRGS}, which indicates that the accuracy of WHU-Grace01s has a good consistency with the previously published GRACE solutions. 展开更多
关键词 Temporal gravity field model Gravity Recovery and Climate Experiment (GRACE) Dynamic integral approach K-Band Range Rate (KBRR) satellite gravity Spherical harmonics Equivalent water height Geopotential determination
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A Distributed Cooperative Dynamic Task Planning Algorithm for Multiple Satellites Based on Multi-agent Hybrid Learning 被引量:14
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作者 WANG Chong LI Jun JING Ning WANG Jun CHEN Hao 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2011年第4期493-505,共13页
Traditionally, heuristic re-planning algorithms are used to tackle the problem of dynamic task planning for multiple satellites. However, the traditional heuristic strategies depend on the concrete tasks, which often ... Traditionally, heuristic re-planning algorithms are used to tackle the problem of dynamic task planning for multiple satellites. However, the traditional heuristic strategies depend on the concrete tasks, which often affect the result’s optimality. Noticing that the historical information of cooperative task planning will impact the latter planning results, we propose a hybrid learning algorithm for dynamic multi-satellite task planning, which is based on the multi-agent reinforcement learning of policy iteration and the transfer learning. The reinforcement learning strategy of each satellite is described with neural networks. The policy neural network individuals with the best topological structure and weights are found by applying co-evolutionary search iteratively. To avoid the failure of the historical learning caused by the randomly occurring observation requests, a novel approach is proposed to balance the quality and efficiency of the task planning, which converts the historical learning strategy to the current initial learning strategy by applying the transfer learning algorithm. The simulations and analysis show the feasibility and adaptability of the proposed approach especially for the situation with randomly occurring observation requests. 展开更多
关键词 multiple satellites dynamic task planning problem multi-agent systems reinforcement learning neuroevolution of augmenting topologies transfer learning
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