Improving the Position Accuracy and Computational Efficiency of UAV Terrain Aided Navigation Using a Two-Stage Hybrid Fuzzy Particle Filtering Method

Terrain Aided Navigation(TAN)technology has become increasingly important due to its effectiveness in environments where Global Positioning System(GPS)is unavailable.In recent years,TAN systems have been extensively researched for both aerial and underwater navigation applications.However,many TAN systems that rely on recursive Unmanned Aerial Vehicle(UAV)position estimation methods,such as Extended Kalman Filters(EKF),often face challenges with divergence and instability,particularly in highly non-linear systems.To address these issues,this paper proposes and investigates a hybrid two-stage TAN positioning system for UAVs that utilizes Particle Filter.To enhance the system’s robustness against uncertainties caused by noise and to estimate additional system states,a Fuzzy Particle Filter(FPF)is employed in the first stage.This approach introduces a novel terrain composite feature that enables a fuzzy expert system to analyze terrain non-linearities and dynamically adjust the number of particles in real-time.This design allows the UAV to be efficiently localized in GPS-denied environments while also reducing the computational complexity of the particle filter in real-time applications.In the second stage,an Error State Kalman Filter(ESKF)is implemented to estimate the UAV’s altitude.The ESKF is chosen over the conventional EKF method because it is more suitable for non-linear systems.Simulation results demonstrate that the proposed fuzzy-based terrain composite method achieves high positional accuracy while reducing computational time and memory usage.

Failure mechanisms and destruction characteristics of cemented coal gangue backfill under compression effect of non-uniform load

Backfill mining is one of the most important technical means for controlling strata movement and reducing surface subsidence and environmental damage during exploitation of underground coal resources. Ensuring the stability of the backfill bodies is the primary prerequisite for maintaining the safety of the backfilling working face, and the loading characteristics of backfill are closely related to the deformation and subsidence of the roof. Elastic thin plate model was used to explore the non-uniform subsidence law of the roof, and then the non-uniform distribution characteristics of backfill bodies’ load were revealed. Through a self-developed non-uniform loading device combined with acoustic emission (AE) and digital image correlation (DIC) monitoring technology, the synergistic dynamic evolution law of the bearing capacity, apparent crack, and internal fracture of cemented coal gangue backfills (CCGBs) under loads with different degrees of non-uniformity was deeply explored. The results showed that: 1) The uniaxial compressive strength (UCS) of CCGB increased and then decreased with an increase in the degree of non-uniformity of load (DNL). About 40% of DNL was the inflection point of DNL-UCS curve and when DNL exceeded 40%, the strength decreased in a cliff-like manner;2) A positive correlation was observed between the AE ringing count and UCS during the loading process of the specimen, which was manifested by a higher AE ringing count of the high-strength specimen. 3) Shear cracks gradually increased and failure mode of specimens gradually changed from “X” type dominated by tension cracks to inverted “Y” type dominated by shear cracks with an increase in DNL, and the crack opening displacement at the peak stress decreased and then increased. The crack opening displacement at 40% of the DNL was the smallest. This was consistent with the judgment of crack size based on the AE b-value, i. e., it showed the typical characteristics of “small b-value-large crack and large b-value-small crack”. The research results are of significance for preventing the instability and failure of backfill.

Study of the pressure transient behavior of directional wells considering the effect of non-uniform flux distribution

During the production,the fluid in the vicinity of the directional well enters the wellbore with different rates,leading to non-uniform flux distribution along the directional well.However,in all existing studies,it is oversimplified to a uniform flux distribution,which can result in inaccurate results for field applications.Therefore,this paper proposes a semi-analytical model of a directional well based on the assumption of non-uniform flux distribution.Specifically,the direction well is discretized into a carefully chosen series of linear sources,such that the complex well trajectory can be captured and the nonuniform flux distribution along the wellbore can be considered to model the three-dimensional flow behavior.By using the finite difference method,we can obtain the numerical solutions of the transient flow within the wellbore.With the aid of Green's function method,we can obtain the analytical solutions of the transient flow from the matrix to the wellbore.The complete flow behavior of a directional well is perfectly represented by coupling the above two types of transient flow.Subsequently,on the basis of the proposed model,we conduct a comprehensive analysis of the pressure transient behavior of a directional well.The computation results show that the flux variation along the direction well has a significant effect on pressure responses.In addition,the directional well in an infinite reservoir may exhibit the following flow regimes:wellbore afterflow,transition flow,inclined radial flow,elliptical flow,horizontal linear flow,and horizontal radial flow.The horizontal linear flow can be observed only if the formation thickness is much smaller than the well length.Furthermore,a dip region that appears on the pressure derivative curve indicates the three-dimensional flow behavior near the wellbore.

Displacement field reconstruction in landslide physical modeling by using a terrain laser scanner e Part 1:Methodology,error analysis and validation

Laser scanning technology has been widely used in landslide aspects.However,the existing deformation analysis based on terrain laser scanners can only provide limited information,which is insufficient for understanding landslide kinematics and failure mechanisms.To overcome this limitation,this paper proposes an automated method for processing point clouds collected in landslide physical modeling.This method allows the acquisition of quantitative three-dimensional(3D)deformation field information.The results show the organized and spatially related point cloud segmentation in terms of spherical targets.The segmented point clouds can be fitted to determine the locations of all preset targets and their corresponding location changes.The proposed method has been validated based on theoretical analysis and numerical and physical tests,which indicates that it can batch-process massive data sets with high computational efficiency and good noise resistance.Compared to existing methods,this method shows a significant potential for understanding landslide kinematics and failure mechanisms and advancing the application of 3D laser scanning in geotechnical modeling.

Effect of non-uniform swelling on coal multiphysics during gas injection: The triangle approach

In current dual porosity/permeability models,there exists a fundamental assumption that the adsorption-induced swelling is distributed uniformly within the representative elementary volume (REV),irrespective of its internal structures and transient processes.However,both internal structures and transient processes can lead to the non-uniform swelling.In this study,we hypothesize that the non-uniform swelling is responsible for why coal permeability in experimental measurements is not only controlled by the effective stress but also is affected by the adsorption-induced swelling.We propose a concept of the swelling triangle composed of swelling paths to characterize the evolution of the non-uniform swelling and serve as a core link in coupled multiphysics.A swelling path is determined by a dimensionless volumetric ratio and a dimensionless swelling ratio.Different swelling paths have the same start and end point,and each swelling path represents a unique swelling case.The swelling path as the diagonal of the triangle represents the case of the uniform swelling while that as the two perpendicular boundaries represents the case of the localized swelling.The paths of all intermediate cases populate inside the triangle.The corresponding relations between the swelling path and the response of coal multiphysics are established by a non-uniform swelling coefficient.We define this method as the triangle approach and corresponding models as swelling path-based ones.The proposed concept and models are verified against a long-term experimental measurement of permeability and strains under constant effective stress.Our results demonstrate that during gas injection,coal multiphysics responses have a close dependence on the swelling path,and that in both future experiments and field predictions,this dependence must be considered.

Relationships between Terrain Features and Forecasting Errors of Surface Wind Speeds in a Mesoscale Numerical Weather Prediction Model

Numerical weather prediction(NWP)models have always presented large forecasting errors of surface wind speeds over regions with complex terrain.In this study,surface wind forecasts from an operational NWP model,the SMS-WARR(Shanghai Meteorological Service-WRF ADAS Rapid Refresh System),are analyzed to quantitatively reveal the relationships between the forecasted surface wind speed errors and terrain features,with the intent of providing clues to better apply the NWP model to complex terrain regions.The terrain features are described by three parameters:the standard deviation of the model grid-scale orography,terrain height error of the model,and slope angle.The results show that the forecast bias has a unimodal distribution with a change in the standard deviation of orography.The minimum ME(the mean value of bias)is 1.2 m s^(-1) when the standard deviation is between 60 and 70 m.A positive correlation exists between bias and terrain height error,with the ME increasing by 10%−30%for every 200 m increase in terrain height error.The ME decreases by 65.6%when slope angle increases from(0.5°−1.5°)to larger than 3.5°for uphill winds but increases by 35.4%when the absolute value of slope angle increases from(0.5°−1.5°)to(2.5°−3.5°)for downhill winds.Several sensitivity experiments are carried out with a model output statistical(MOS)calibration model for surface wind speeds and ME(RMSE)has been reduced by 90%(30%)by introducing terrain parameters,demonstrating the value of this study.

Pressure transient characteristics of non-uniform conductivity fractured wells in viscoelasticity polymer flooding based on oil-water two-phase flow

Polymer flooding in fractured wells has been extensively applied in oilfields to enhance oil recovery.In contrast to water,polymer solution exhibits non-Newtonian and nonlinear behavior such as effects of shear thinning and shear thickening,polymer convection,diffusion,adsorption retention,inaccessible pore volume and reduced effective permeability.Meanwhile,the flux density and fracture conductivity along the hydraulic fracture are generally non-uniform due to the effects of pressure distribution,formation damage,and proppant breakage.In this paper,we present an oil-water two-phase flow model that captures these complex non-Newtonian and nonlinear behavior,and non-uniform fracture characteristics in fractured polymer flooding.The hydraulic fracture is firstly divided into two parts:high-conductivity fracture near the wellbore and low-conductivity fracture in the far-wellbore section.A hybrid grid system,including perpendicular bisection(PEBI)and Cartesian grid,is applied to discrete the partial differential flow equations,and the local grid refinement method is applied in the near-wellbore region to accurately calculate the pressure distribution and shear rate of polymer solution.The combination of polymer behavior characterizations and numerical flow simulations are applied,resulting in the calculation for the distribution of water saturation,polymer concentration and reservoir pressure.Compared with the polymer flooding well with uniform fracture conductivity,this non-uniform fracture conductivity model exhibits the larger pressure difference,and the shorter bilinear flow period due to the decrease of fracture flow ability in the far-wellbore section.The field case of the fall-off test demonstrates that the proposed method characterizes fracture characteristics more accurately,and yields fracture half-lengths that better match engineering reality,enabling a quantitative segmented characterization of the near-wellbore section with high fracture conductivity and the far-wellbore section with low fracture conductivity.The novelty of this paper is the analysis of pressure performances caused by the fracture dynamics and polymer rheology,as well as an analysis method that derives formation and fracture parameters based on the pressure and its derivative curves.

An improved non-uniform fast Fourier transform method for radio imaging of coronal mass ejections

Radioheliographs can obtain solar images at high temporal and spatial resolution,with a high dynamic range.These are among the most important instruments for studying solar radio bursts,understanding solar eruption events,and conducting space weather forecasting.This study aims to explore the effective use of radioheliographs for solar observations,specifically for imaging coronal mass ejections(CME),to track their evolution and provide space weather warnings.We have developed an imaging simulation program based on the principle of aperture synthesis imaging,covering the entire data processing flow from antenna configuration to dirty map generation.For grid processing,we propose an improved non-uniform fast Fourier transform(NUFFT)method to provide superior image quality.Using simulated imaging of radio coronal mass ejections,we provide practical recommendations for the performance of radioheliographs.This study provides important support for the validation and calibration of radioheliograph data processing,and is expected to profoundly enhance our understanding of solar activities.

HOG-VGG:VGG Network with HOG Feature Fusion for High-Precision PolSAR Terrain Classification

This article proposes a VGG network with histogram of oriented gradient(HOG) feature fusion(HOG-VGG) for polarization synthetic aperture radar(PolSAR) image terrain classification.VGG-Net has a strong ability of deep feature extraction,which can fully extract the global deep features of different terrains in PolSAR images,so it is widely used in PolSAR terrain classification.However,VGG-Net ignores the local edge & shape features,resulting in incomplete feature representation of the PolSAR terrains,as a consequence,the terrain classification accuracy is not promising.In fact,edge and shape features play an important role in PolSAR terrain classification.To solve this problem,a new VGG network with HOG feature fusion was specifically proposed for high-precision PolSAR terrain classification.HOG-VGG extracts both the global deep semantic features and the local edge & shape features of the PolSAR terrains,so the terrain feature representation completeness is greatly elevated.Moreover,HOG-VGG optimally fuses the global deep features and the local edge & shape features to achieve the best classification results.The superiority of HOG-VGG is verified on the Flevoland,San Francisco and Oberpfaffenhofen datasets.Experiments show that the proposed HOG-VGG achieves much better PolSAR terrain classification performance,with overall accuracies of 97.54%,94.63%,and 96.07%,respectively.

四川复杂地形下雷暴大风客观预报方法研究

地形复杂的四川地区,虽然雷暴大风发生频次较低,但造成的影响重大,现有的客观预报产品较少且时间分辨率低,为进一步提升四川复杂地形下雷暴大风预报准确率,综合考虑地形因子、模式物理量因子和时间因子,根据海拔高度将四川分为高海拔区和低海拔区,利用2018—2021年数据基于随机森林、自适应提升法、极端随机树三种机器学习方法分区构建雷暴大风预报模型,对2022年进行预报,获得逐3 h雷暴大风潜势预报,再利用气候背景将3 h预报时间降尺度到1 h,形成0~12 h逐小时雷暴大风预报,并检验预报效果。结果表明,逐3 h雷暴大风预报以自适应提升法效果最优,长时间检验和个例检验都表明,基于自适应提升法获得的0~12 h逐小时雷暴大风预报产品优于中央气象台产品,TS评分由0.0104提升至0.0595,空报率由0.988下降至0.808,业务应用价值较高。

秦岭山脉南北麓暴雨触发条件对比分析

采用实况气象观测资料、FY-2G卫星云图资料、多普勒雷达资料和ERA50.25°×0.25°逐小时再分析资料,对2021年8月21-22日同时发生在秦岭南北麓的强等级暴雨过程进行对比分析,探讨秦岭南北麓暴雨触发条件的影响机制。结果表明:秦岭北麓流场上,西风带系统在秦岭特殊地形作用下,对流层低层形成中尺度气旋性环流,通过热力作用触发暴雨,对流性降水持续时间短,强度小;湿斜压性增强是秦岭北麓暴雨开始的一个信号,当湿斜压性减弱以及中层比湿减小时,降水结束。对秦岭南麓而言,地形作用下对流层低层流场形成中尺度辐合线触发暴雨;降水释放的凝结潜热加热低层大气,与中低层入侵的冷空气共同构建对流不稳定结构,上升运动增强,降水增强和持续;对流云团在高温高湿的环境下迅速组织化合并发展,形成中尺度对流复合体(MCC),对流强度大,对流层结深厚,小时雨强大;中低层冷空气的入侵和扩散到地面的时间分别与秦岭南麓强降水的开始和结束时间对应。

基于GIM技术的输变电工程三维基础设计场景构建

为提升输变电工程三维基础设计场景构建效率,提出基于GIM技术的输变电工程三维基础设计场景构建。通过无人机扫描目标区域的环境信息,运用Grid建模方法生成三维地形图。以电网信息模型技术为核心,设计三维参数化建模方法,通过调整参数值,快速编辑输变电工程本体结构。经过坐标系转换,将输变电本体结构放置于三维地形场景内,合成输变电工程三维基础设计场景。再通过LOD细节模型,实现可视化三维场景的高效渲染。实验结果显示:应用所提方法构建三维场景模型耗费时间为21.5 min,较其他方法构建耗时最高降低了70.22%,效率得到了很大程度的提高,具有较为优越的应用性能。

Simulation Analysis on A Rainstorm in Guizhou and Numerical Test about the Terrain Impact

A rainstorm caused by mesoscale convective system (MCS) in Guizhou Province in June 25-26 in 2005 was simulated with the MM5 model. Based on the good simulated results of the MCS developing and the clouds physics process, and by means of reducing the height of Yunnan-Guizhou Plateau and cutting off the middle-east of the Yunnan-Guizhou Plateau on the simulated tests, the question as how the ladder terrain on the west of Yunnan-Guizhou Plateau impact on the rainstorm of Guizhou was studied. The analysis results showed that the second ladder terrain of Yunnan-Guizhou Plateau only affected the development of convective clouds on its backward position,and hardly affected the rain on its upward. The whole terrain of the Yunnan-Guizhou Plateau had a distinct impact not only on the windward slope rainfall of the west of the plateau, but also on the rainfall distribution, intensity and continuing time of the convective clouds on the middle-east of the plateau.

FREE VIBRATION ANALYSIS AND PHYSICAL PARAMETER IDENTIFICATION OF NON-UNIFORM BEAM CARRYING SPRING-MASS SYSTEMS

To analyze a multibody system composed of non-uniform beam and spring-mass subsystems, the model discretization is carried on by utilizing the finite element method（FEM）, the dynamic model of non-uniform beam is developed by using the transfer matrix method of multibody system（MS-TMM）, the transfer matrix of non-u- niform beam is derived, and the natural frequencies are computed. Compared with the numerical assembly method （NAM）, the results by MS-TMM have good agreement with the results by FEM, and are better than the results by NAM. When using the high precision method, the global dynamic equations of the complex multibody system are not needed and the orders of involved system matrices are decreased greatly. For the investigation on the re- verse problem of the physical parameter identification of multibody system, MS-TMM and the optimization tech- nology based on genetic algorithms（GAs） are combined and extended. The identification problem is exchanged for an optimization problem, and it is formulated as a global minimum solution of the objective function with respect to natural frequencies of multibody system. At last, the numerical example of non-uniform beam with attach- ments is discussed, and the identification results indicate the feasibility and the effectivity of the proposed aop- proach.

Application of unscented Kalman filter to novel terrain passive integrated navigation system

To improve the navigation accuracy of an autonomous underwater vehicle （AUV）, a novel terrain passive integrated navigation system （TPINS） is presented. According to the characteristics of the underwater environment and AUV navigation requirements of low cost and high accuracy, a novel TPINS is designed with a configuration of the strapdown inertial navigation system （SINS）, the terrain reference navigation system （TRNS）, the Doppler velocity sonar （DVS）, the magnetic compass and the navigation computer utilizing the unscented Kalman filter （UKF） to fuse the navigation information from various navigation sensors. Linear filter equations for the extended Kalman filter （EKF）, nonlinear filter equations for the UKF and measurement equations of navigation sensors are addressed. It is indicated from the comparable simulation experiments of the EKF and the UKF that AUV navigation precision is improved substantially with the proposed sensors and the UKF when compared to the EKF. The TPINS designed with the proposed sensors and the UKF is effective in reducing AUV navigation position errors and improving the stability and precision of the AUV underwater integrated navigation.

RANDOM TERRAIN MODEL

In order to slove a realistic test problem of TF/TA algorithm, it is necessary to make a discrete terrain model. The model has adjustable roughness parameters so as to test the optimization procedure for different types of terrain. In this paper, an algorithm to generate random terrain data is given.

Threshold Voltage Model for a Fully Depleted SOI-MOSFET with a Non-Uniform Profile

A novel approximation of the two-dimensional （2D） potential function perpendicular to the channel is proposed,and then an analytical threshold voltage model for a fully depleted SOI-MOSFET with a non-uniform Gaussian distribution doping profile is given based on this approximation. The model agrees well with numerical simulation by MEDICI. The result represents a new way and some reference points in analyzing and controlling the threshold voltage of non-uniform fully depleted （FD） SOI devices in practice.

Effect of local thermal sensation on whole-body thermal sensation under stable non-uniform environment

To reveal the principles of human thermal responses and find out the effects of body parts on whole-body thermal sensation,through a subjective survey,experimental investigations on human responses are carried out when a single body part is thermally stimulated.Cooling airflow is sent to seven body parts,respectively.Totally 94 samples are tested.To eliminate the obvious multicollinearity of thermal sensation among different body parts,the principal component regression approach is adopted to obtain the principal components for the body parts under different experimental conditions.Through regression and analysis of principal components,the weighting factors of the seven body parts are obtained.A predictive model on whole-body thermal sensation is obtained based on the weighting factors.The results show that the different characteristics of trunk and limbs are clearly seen.The weighting factors of local thermal sensation are integrated values,and there is little difference among values of different body parts.

NON-UNIFORM LINEAR ARRAY CONFIGURATION FOR MIMO RADAR

Array configuration of multiple-input multiple-output （MIMO） radar with non-uniform linear array （NLA） is proposed. Unlike a standard phased-array radar where NLA is used to generate thinner beam patterns, in MIMO radar the property of NLA is exploited to get more distinct virtual array elements so as to improve pa- rameter identifiability, which means the maximum number of targets that can be uniquely identified by the radar. A class of NLA called minimum redundancy linear array （MRLA） is employed and a new method to construct large MRLAs is descrihed. The numerical results verify that compared to uniform linear array （ULA） MIMO radars, NLA MIMO radars can retain the same parameter identifiability with fewer physical antennas and achieve larger aperture length and lower Cramer-Rao bound with the same number of the physical antennas.

复杂地形区域一次雹暴过程的观测及模拟研究

为提高中国西南复杂地形区域雹暴预报水平,对该区域内一次典型雹暴过程中的地形作用、微物理过程及成雹机制进行系统分析,并采用全弹性三维对流云模式进行数值模拟。结果表明:(1)雹暴过程为冷空气侵入型,地形对低层暖湿气流的阻拦导致水汽的积累,同时高原槽引导的冷空气触发雹暴。(2)近地面层或500~300 hPa高度层的>8×10^(-5)/s的涡度中心、750 hPa高度存在散度<-8×10^(-5)/s的辐合中心且在500 hPa或以上层次转为辐散、近地面层水汽通量散度<-12×10^(-8)g/(s·cm^(2)·hPa)、假相当位温梯度>4 K/km、0~6 km垂直风切变>15 m/s这几个阈值可以为西南复杂地形区域的雹暴过程提供预警。(3)32.03 m/s的强垂直风切变和旋转速度达19.85 m/s、厚度超3 km的强中气旋是降雹单体的主要维持机制。(4)雹胚主要由雪晶撞冻过冷雨滴产生,低密度霰在沉降过程中凇附云水和过冷雨滴增长成雹是主要的成雹机制。对贵州地区雹暴过程的预报具有一定指导作用。