Image-aided platform orientation determination with a GNSS/low-cost IMU system using robust-adaptive Kalman filter     

Wenlin Yan  Luísa Bastos  José A. Gonçalves  Américo Magalhães  Tianhe Xu 《GPS Solutions》2018,22(1):12

The availability of miniaturized sensors with enhanced capabilities, new methods for image processing, and easy access to small and low-weight airborne platforms for data acquisition, including unmanned vehicles, opens new possibilities for geodetic navigation applications and developing new developments in sensor fusion. In this context, the development of efficient methods, based on low-cost sensors, to extract precise georeferenced information from digital cameras is of utmost interest. We present a method to improve the performance of the integration of GNSS/low-cost IMU by exploiting the orientation changes retrieved from digital images. In this work, a robust-adaptive Kalman filter is also introduced to further improve the performance of the method deployed. The adaptive factor and the robust factor accomplished are determined by innovation information and the threshold value of orientation changes between consecutive images. Results from airborne tests used to assess the performance of the method are presented. The results show that using a non-metric camera, the Euler angle estimation accuracy of the GNSS/low-cost IMU integration can be improved to be close to 0.5 degree and an additional improvement, which can reach 59%, can be achieved after using the robust-adaptive Kalman filter.  相似文献   

Analysis of estimated satellite clock biases and their effects on precise point positioning     

Shirong Ye  Lewen Zhao  Jia Song  Dezhong Chen  Weiping Jiang 《GPS Solutions》2018,22(1):16

This study provides a systemic analysis to identify the biases in estimated satellite clocks and illustrates their effects in precise point positioning (PPP). First, the precise satellite clock estimation method considering pseudorange and carrier phase hardware delays is derived. Two methods for satellite clock estimation are compared, and their equivalency is discussed. The results show that apart from the well-known constant code hardware biases, the time-variant phase hardware biases are also absorbed by the estimated clocks. Also, the satellite clocks contain biases caused by modeling errors. To analyze the effects of these biases, they are grouped into initial clock biases (ICBs) and time-dependent biases (TDBs). Then, a detailed analysis of the impact of the biases on PPP-based troposphere and coordinate estimates is conducted. The experimental analysis demonstrates that TDBs affect positioning and tropospheric estimates, and their impacts are more significant in the static mode. The ICBs affect coordinate accuracy, zenith total delay mean bias, and its standard deviations only at the millimeter level for kinematic and static PPP, which is negligible. However, the ICBs affect the convergence period for both static and real kinematic PPP, and the magnitude of their impact largely depends on data quality. Note that satellites clocks are generally estimated with the P1/P2 and L1/L2 ionospheric-free combinations, and that hardware-specific parts of ICBs and TDBs cancel if users employ the same type of observables as the clock providers. Otherwise, the effects of biases cannot be ignored, especially for triple-frequency applications. Also, modeling-specific parts of ICBs and TDBs are significant in real-time clocks, which also affect user applications. Our conclusion is applicable for understanding the effects of these biases.  相似文献   

Integrated compression of vehicle spatio‐temporal trajectories under the road stroke network constraint          下载免费PDF全文

Dongbao Zhao  Emmanuel Stefanakis 《Transactions in GIS》2018,22(4):991-1007

With fast growth of all kinds of trajectory datasets, how to effectively manage the trajectory data of moving objects has received a lot of attention. This study proposes a spatio‐temporal data integrated compression method of vehicle trajectories based on stroke paths coding compression under the road stroke network constraint. The road stroke network is first constructed according to the principle of continuous coherence in Gestalt psychology, and then two types of Huffman tree—a road strokes Huffman tree and a stroke paths Huffman tree—are built, based respectively on the importance function of road strokes and vehicle visiting frequency of stroke paths. After the vehicle trajectories are map matched to the spatial paths in the road network, the Huffman codes of the road strokes and stroke paths are used to compress the trajectory spatial paths. An opening window algorithm is used to simplify the trajectory temporal data depicted on a time–distance polyline by setting the maximum allowable speed difference as the threshold. Through analysis of the relative spatio‐temporal relationship between the preceding and latter feature tracking points, the spatio‐temporal data of the feature tracking points are all converted to binary codes together, accordingly achieving integrated compression of trajectory spatio‐temporal data. A series of comparative experiments between the proposed method and representative state‐of‐the‐art methods are carried out on a real massive taxi trajectory dataset from five aspects, and the experimental results indicate that our method has the highest compression ratio. Meanwhile, this method also has favorable performance in other aspects: compression and decompression time overhead, storage space overhead, and historical dataset training time overhead.  相似文献   

内蒙古平安地元古代构造混杂岩的发现与地质意义     

杨月后  王继春  张海平  周飞  苏银春  钱程  汪岩  郭永烈  顾新雨  寇帅 《地质论评》2021,67(Z1):67z1157-67z1159

正研究区位于内蒙古东部天山镇西平安地地区,古生代大地构造位置由南向北可划分为华北板块、白乃庙岛弧和索伦—林西缝合带(图1)。Xiao等(2015)和Jian等(2012)等认为温都尔庙—柯丹山—西拉木伦蛇绿混杂岩带是华北板块和西伯利亚板块的缝合带,研究区则位于该混杂岩带以南白乃庙岛弧一侧。  相似文献   

鄂尔多斯盆地北部环河组与直罗组物质组分及地球化学特征差异研究     

骆效能  张字龙  易超  张艳 《地质论评》2021,67(Z1):67z1153-67z1154

正近年来,利用砂岩/泥岩岩石地球化学在判别岩石形成时的大地构造背景、盆地物源及物源区构造背景等方面取得了许多显著成果,为认识盆地及源区的性质与演化提供了新的视角。碎屑沉积物地球化学组成特征可以有效地揭示其物源区类型、风化条件和构造背景(Taylor and McClennan,1985;Mclennan and Taylor,1991;刘朱睿鸷等,2020;  相似文献   

特提斯构造域东段叠合盆地演化和油气成藏规律特征初论     

马锋  张光亚  刘祚冬  梁英波  张磊  杨柳明  许岩  毛祖臣 《地质论评》2021,67(4):67050009-67050009

通过分析特提斯构造域东段区域地质和含油气盆地勘探开发基础数据,从板块构造演化入手,系统编制特提斯构造域东段沉积构造演化剖面图和生储盖组合剖面图,研究盆地演化阶段、叠合特征、油气成藏条件及油气藏类型,揭示中亚和中国西部前陆盆地演化和油气富集规律异同。研究表明：古亚洲洋、古特提斯洋和新特提斯洋控制了特提斯构造域东段的区域构造分带、盆地演化、盆地类型及油气成藏模式。根据古洋壳缝合线可分为北、中、南3个构造带,古生代以来多期微板块的拼贴,导致特提斯构造域东段含油气盆地演化分为3个演化阶段,早古生代伸展、晚古生代挤压、早中生代伸展和新生代挤压构造作用控制了研究区盆地的叠合演化,发育下古生界、上古生界和中生界3套区域分布的优质烃源岩和下古生界、上古生界、中生界和新生界4套储盖组合,形成多种类型的油气藏。  相似文献   

泉州官桥地区地热勘探靶区及成因模式探讨     

陆晨明  刘春雷  李亚松  郝奇琛  曹胜伟  董岩 《地质论评》2021,67(5):1345-1356

福建省地热资源主要以中低温水热系统为主,对于其中深部的控热过程及条件目前还存在认识上的不足。本次研究综合重力及广域电磁法对研究区的断层及凹陷进行了详细的勘测和解译,推测出5条主断裂和10条次级断裂,并划定出凹陷区的分布范围。泉州官桥地区的对流型地热资源是储热岩体、导热断层和保热盖层的“三元”聚热模式。根据该聚热模式,一级断裂F31与F8的交汇部位可圈定为一级地热勘探靶区,GQ-F2与GQ-F3和GQ-F4、GQ-F7与F29、F1与F30、GQ-F10与GQ-F11的交汇部位可圈定为二级地热勘探靶区。在一级地热勘探靶区内布设的DR02孔显示,0~300m深度水温增速由快至慢,300m深度以下温度稳定在48℃。利用地热验证钻孔检验了聚热模式及圈定靶区的可靠性,这对于泉州官桥地区的地热资源开发利用具有重要意义。  相似文献   

烃源岩热模拟分子标志物演化特征及分子解析     

魏彩云  张斌  胡国艺  帅燕华  陈琰  张静  刘玉娥 《地球化学》2021,50(6):602-611

为了研究地质体中分子标志物随热成熟度的演化规律,开展了烃源岩热模拟实验,并对产物进行了分子标志物定量及分子解析.结果表明,随着模拟温度的增高,三环萜烷和藿烷含量均逐渐降低,但降低幅度有差异,藿烷和高相对分子质量的三环萜烷降低幅度大于低相对分子质量的三环萜烷,导致在热模拟温度升至370℃的情况下,低相对分子质量三环萜烷的峰高高于藿烷;高相对分子质量甾烷含量降低幅度大于低相对分子质量甾烷,相同相对分子质量不同构型化合物甾烷热解速率不一致,同碳数 ααα 甾烷热解速率大于αββ 甾烷,低相对分子质量的甾烷定量结果随热模拟温度升高先降低后升高再降低;低碳数的芳烃含量随热模拟温度升高先降低后升高,高碳数芳烃含量则一直处于降低状态.分子解析认为,C19和C20三环萜烷主要来自于高碳数三环萜烷的裂解,藿烷的贡献极低;17α(H)C27三降藿烷(Tm)来自高碳数藿烷的贡献,18α(H)C27三降藿烷(Ts)没有其他化合物加入;相同质量前提下,C29甾烷裂解速率为:C29ααS>C29ααR>C29ββS>C29ββR;孕甾烷和升孕甾烷含量升高来自高碳数甾烷的裂解;低碳数的芳烃含量随温度升高来源广泛,高碳数芳烃主要起裂解作用.  相似文献   

华北克拉通东缘金岭杂岩体岩浆源区及构造背景:来自岩相学、岩石地球化学及年代学的证据          下载免费PDF全文

高继雷周永刚  张振飞高明波赵体群  田振环朱振宏 《地质科学》2021,56(1):253-271

金岭杂岩体由细粒黑云角闪闪长岩、中细粒黑云角闪闪长岩、中细粒黑云角闪二长闪长岩和细粒角闪二长闪长岩组成,是鲁西地区典型矽卡岩型富铁矿(金岭铁矿)控矿岩体。本次研究对细粒黑云角闪闪长岩和细粒角闪二长闪长岩进行了锆石LA‐ICP‐MS U‐Pb定年,其结果分别为129.2±3.2 Ma和132.8±1.2 Ma,表明该杂岩体的侵位时代为早白垩世。样品SiO2、K2O和Na2O含量分别介于54.17%~63.73%、1.92%~4.76%和3.10%~5.41%之间,K2O/Na2O为0.58~0.94,A/CNK为0.60~0.93,具有轻稀土富集,重稀土亏损的右倾型稀土配分模式,轻、重稀土分馏程度中等((La/Yb)N=9.94~23.49),Eu异常不明显(δEu=0.84~1.10),具中—弱负Ce异常(δCe=0.56~0.92)。样品以富集大离子亲石元素(Ba、K、U、Pb等)、亏损高场强元素(Nb、Ta、Ti)以及高Sr/Y为特征。金岭杂岩体为燕山晚期岩浆活动产物,属准铝质高钾钙碱性系列,岩浆主要来源于富集岩石圈地幔的部分熔融,并在岩浆上升侵位的过程中有地壳物质的同化混染。燕山晚期华北克拉通在古太平洋板块俯冲后后撤引起的板内伸展环境下,增厚陆壳减薄阶段,岩浆上侵就位形成金岭杂岩体。  相似文献   

马达加斯加北部绿岩带石英脉型金矿流体包裹体特征及成矿作用分析     

吴大天  孙巍  赵院冬  许逢明  徐涛  王奎良 《地质学报》2021,95(4):1231-1244

为探讨马达加斯加北部绿岩带石英脉型金矿的成矿温度和物质来源,对Maevatanana和Andriamena两个绿岩带石英脉型金矿的石英脉流体包裹体的研究表明,这两条绿岩带金矿流体包裹体较为发育,有H2O-NaCl包裹体,即水溶液型(Ⅰ类);CO2-H2O-NaCl包裹体,即LH2O+VCO2型(Ⅱ类);富CO2包裹体,即LH2O+LCO2+VCO2型(Ⅲ类)和少量含子晶的H2O-NaCl包裹体,即含NaCl子矿物型(Ⅳ类)等4种类型;成矿阶段可分为早期成矿、主成矿、后期成矿阶段,早期成矿阶段以Ⅰ和部分Ⅱ类包裹体为主,偶见少量Ⅳ类含NaCl子晶包裹体,主成矿阶段以大部分Ⅱ类和Ⅲ类包裹体为主,后期成矿阶段以Ⅰ类包裹体为主;Maev和Adm金矿成矿流体以CO2-NaCl-H2O型为主,同时含有不同程度的CH4、N2和H2,以及少量的H2S等挥发分,表现为富CO2、中-低盐度、中高温和不混溶.结合已有区域地质背景和成岩成矿特点,推断流体成矿作用与过程中大量花岗质岩浆经过同熔或重熔作用生成及上侵定位有密切关系,矿床形成与陆内碰撞造山过程,并且有深部来源物质参与成矿.  相似文献