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 c...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.展开更多
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
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 loc...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.展开更多
Projects on unmanned aerial vehicle(UAV) swarms have been initiated in a big way in the last few years, especially from 2015 to 2016. As a result, the number of related works on UAV swarms has been on the rise, with t...Projects on unmanned aerial vehicle(UAV) swarms have been initiated in a big way in the last few years, especially from 2015 to 2016. As a result, the number of related works on UAV swarms has been on the rise, with the rate of growth dramatically accelerating since 2017. This research conducts a bibliometric analysis of robotics swarms and UAV swarms to answer the following questions:(i) Disciplines mentioned in the UAV swarms research.(ii) The future development trends and hotspots in the UAV swarms research.(iii) Tracking related outcomes in the UAV swarms research.展开更多
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...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。展开更多
This paper presents a hierarchical simultaneous localization and mapping（SLAM） system for a small unmanned aerial vehicle（UAV） using the output of an inertial measurement unit（IMU） and the bearing-only observati...This paper presents a hierarchical simultaneous localization and mapping（SLAM） system for a small unmanned aerial vehicle（UAV） using the output of an inertial measurement unit（IMU） and the bearing-only observations from an onboard monocular camera.A homography based approach is used to calculate the motion of the vehicle in 6 degrees of freedom by image feature match.This visual measurement is fused with the inertial outputs by an indirect extended Kalman filter（EKF） for attitude and velocity estimation.Then,another EKF is employed to estimate the position of the vehicle and the locations of the features in the map.Both simulations and experiments are carried out to test the performance of the proposed system.The result of the comparison with the referential global positioning system/inertial navigation system（GPS/INS） navigation indicates that the proposed SLAM can provide reliable and stable state estimation for small UAVs in GPS-denied environments.展开更多
文摘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.
文摘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
基金supported by the National High Technology Researchand Development Program of China(863 Program)(2008AA12A216)
文摘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.
文摘Projects on unmanned aerial vehicle(UAV) swarms have been initiated in a big way in the last few years, especially from 2015 to 2016. As a result, the number of related works on UAV swarms has been on the rise, with the rate of growth dramatically accelerating since 2017. This research conducts a bibliometric analysis of robotics swarms and UAV swarms to answer the following questions:(i) Disciplines mentioned in the UAV swarms research.(ii) The future development trends and hotspots in the UAV swarms research.(iii) Tracking related outcomes in the UAV swarms research.
文摘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。
基金supported by National High Technology Research Development Program of China (863 Program) (No.2011AA040202)National Science Foundation of China (No.51005008)
文摘This paper presents a hierarchical simultaneous localization and mapping（SLAM） system for a small unmanned aerial vehicle（UAV） using the output of an inertial measurement unit（IMU） and the bearing-only observations from an onboard monocular camera.A homography based approach is used to calculate the motion of the vehicle in 6 degrees of freedom by image feature match.This visual measurement is fused with the inertial outputs by an indirect extended Kalman filter（EKF） for attitude and velocity estimation.Then,another EKF is employed to estimate the position of the vehicle and the locations of the features in the map.Both simulations and experiments are carried out to test the performance of the proposed system.The result of the comparison with the referential global positioning system/inertial navigation system（GPS/INS） navigation indicates that the proposed SLAM can provide reliable and stable state estimation for small UAVs in GPS-denied environments.
