Optimization of two GPS/MEMS-IMU integration strategies with application to sports     

Adrian Waegli  Jan Skaloud 《GPS Solutions》2009,13(4):315-326

The application of low-cost L1 GPS receivers integrated with micro-electro-mechanical system (MEMS) inertial measurement units (IMU) allows the continuous observation of position, velocity and orientation which opens new possibilities for comparison of athletes’ performance throughout a racecourse. In this paper, we compare loosely and closely coupled integration strategies under realistic racing scenarios when GPS is partially or completely masked. The study reveals that both integration approaches have a similar performance when the satellite constellation is completed or the outages are short. However, for less than four satellites, the closely coupled strategy clearly outperforms the loosely coupled approach. The second part of the paper is devoted to the important problem of system initialization, because the conventional GPS/IMU alignment methods are no longer applicable when using MEMS-IMU. We introduce a modified coarse alignment method and a quaternion estimation method for the computation of the initial orientation. Simulations and practical experiments reveal that both methods are numerically stable for any initial orientation of the sensors with the error characteristics of MEMS-IMUs. Throughout the paper, our findings are supported by racing experiments with references provided in both, the measurement and the navigation domains.  相似文献   

Distribution and spatial variation of hydrothermal faunal assemblages at Lucky Strike (Mid-Atlantic Ridge) revealed by high-resolution video image analysis     

Daphne Cuvelier  Joze Sarrazin  Ana Colao  Jon Copley  Daniel Desbruyres  Adrian G. Glover  Paul Tyler  Ricardo Serro Santos 《Deep Sea Research Part I: Oceanographic Research Papers》2009,56(11):2026-2040

Whilst the fauna inhabiting hydrothermal vent structures in the Atlantic Ocean is reasonably well known, less is understood about the spatial distributions of the fauna in relation to abiotic and biotic factors. In this study, a major active hydrothermal edifice (Eiffel Tower, at 1690 m depth) on the Lucky Strike vent field (Mid-Atlantic Ridge (MAR)) was investigated. Video transects were carried out by ROV Victor 6000 and complete image coverage was acquired. Four distinct assemblages, ranging from dense larger-sized Bathymodiolus mussel beds to smaller-sized mussel clumps and alvinocaridid shrimps, and two types of substrata were defined based on high definition photographs and video imagery. To evaluate spatial variation, faunal distribution was mapped in three dimensions. A high degree of patchiness characterizes this 11 m high sulfide structure. The differences observed in assemblage and substratum distribution were related to habitat characteristics (fluid exits, depth and structure orientation). Gradients in community structure were observed, which coincided with an increasing distance from the fluid exits. A biological zonation model for the Eiffel Tower edifice was created in which faunal composition and distribution can be visually explained by the presence/absence of fluid exits.  相似文献   

Active tectonic morphology and submarine deformation of the northern Gulf of Eilat/Aqaba from analyses of multibeam data   总被引：1，自引：0，他引：1  

Gideon Tibor  Tina M. Niemi  Zvi Ben-Avraham  Abdallah Al-Zoubi  Ronnie A. Sade  John K. Hall  Gal Hartman  Emad Akawi  Abdelrahmem Abueladas  Rami Al-Ruzouq 《Geo-Marine Letters》2010,30(6):561-573

A high-resolution marine geophysical study was conducted during October-November 2006 in the northern Gulf of Aqaba/Eilat, providing the first multibeam imaging of the seafloor across the entire gulf head spanning both Israeli and Jordanian territorial waters. Analyses of the seafloor morphology show that the gulf head can be subdivided into the Eilat and Aqaba subbasins separated by the north-south-trending Ayla high. The Aqaba submarine basin appears starved of sediment supply, apparently causing erosion and a landward retreat of the shelf edge. Along the eastern border of this subbasin, the shelf is largely absent and its margin is influenced by the Aqaba Fault zone that forms a steep slope partially covered by sedimentary fan deltas from the adjacent ephemeral drainages. The Eilat subbasin, west of the Ayla high, receives a large amount of sediment derived from the extensive drainage basins of the Arava Valley (Wadi ’Arabah) and Yutim River to the north–northeast. These sediments and those entering from canyons on the south-western border of this subbasin are transported to the deep basin by turbidity currents and gravity slides, forming the Arava submarine fan. Large detached blocks and collapsed walls of submarine canyons and the western gulf margin indicate that mass wasting may be triggered by seismic activity. Seafloor lineaments defined by slope gradient analyses suggest that the Eilat Canyon and the boundaries of the Ayla high align along north- to northwest-striking fault systems—the Evrona Fault zone to the west and the Ayla Fault zone to the east. The shelf–slope break that lies along the 100 m isobath in the Eilat subbasin, and shallower (70–80 m isobaths) in the Aqaba subbasin, is offset by approx. 150 m along the eastern edge of the Ayla high. This offset might be the result of horizontal and vertical movements along what we call the Ayla Fault on the east side of the structure. Remnants of two marine terraces at 100 m and approx. 150 m water depths line the southwest margin of the gulf. These terraces are truncated by faulting along their northern end. Fossil coral reefs, which have a similar morphological appearance to the present-day, basin margin reefs, crop out along these deeper submarine terraces and along the shelf–slope break. One fossil reef is exposed on the shelf across the Ayla high at about 60–63 m water depth but is either covered or eroded in the adjacent subbasins. The offshore extension of the Evrona Fault offsets a fossil reef along the shelf and extends south of the canyon to linear fractures on the deep basin floor.  相似文献   

Compositions and microstructures of CB sulfides: Implications for the thermal history of the CB chondrite parent body          下载免费PDF全文

Poorna Srinivasan  Rhian H. Jones  Adrian J. Brearley 《Meteoritics & planetary science》2017,52(10):2193-2219

We studied textures and compositions of sulfide inclusions in unzoned Fe,Ni metal particles within CBa Gujba, CBa Weatherford, CBb HH 237, and CBb QUE 94411 in order to constrain formation conditions and secondary thermal histories on the CB parent body. Unzoned metal particles in all four chondrites have very similar metal and sulfide compositions. Metal particles contain different types of sulfides, which we categorize as: homogeneous low‐Cr sulfides composed of troilite, troilite‐containing exsolved daubreelite lamellae, arcuate sulfides that occur along metal grain boundaries, and shock‐melted sulfides composed of a mixture of troilite and Fe, Ni metal. Our model for formation proposes that the unzoned metal particles were initially metal droplets that formed from splashing by a partially molten impacting body. Sulfide inclusions later formed as a result of precipitation of excess S from solid metal at low temperatures, either during single stage cooling or during a reheating event by impacts. Sulfides containing exsolution lamellae record temperatures of ?600 °C, and irregular Fe‐FeS intergrowth textures suggest localized shock melting, both of which are indicative of heterogeneous heating by impact processes on the CB parent body. Our study shows that CBa and CBb chondrites formed in a similar environment, and also experienced similar secondary impact processing.  相似文献   

Effects of ocean acidification and high temperatures on the bryozoan Myriapora truncata at natural CO2 vents     

Riccardo Rodolfo‐Metalpa  Chiara Lombardi  Silvia Cocito  Jason M. Hall‐Spencer  Maria Cristina Gambi 《Marine Ecology》2010,31(3):447-456

There are serious concerns that ocean acidification will combine with the effects of global warming to cause major shifts in marine ecosystems, but there is a lack of field data on the combined ecological effects of these changes due to the difficulty of creating large‐scale, long‐term exposures to elevated CO₂ and temperature. Here we report the first coastal transplant experiment designed to investigate the effects of naturally acidified seawater on the rates of net calcification and dissolution of the branched calcitic bryozoan Myriapora truncata (Pallas, 1766). Colonies were transplanted to normal (pH 8.1), high (mean pH 7.66, minimum value 7.33) and extremely high CO₂ conditions (mean pH 7.43, minimum value 6.83) at gas vents off Ischia Island (Tyrrhenian Sea, Italy). The net calcification rates of live colonies and the dissolution rates of dead colonies were estimated by weighing after 45 days (May–June 2008) and after 128 days (July–October) to examine the hypothesis that high CO₂ levels affect bryozoan growth and survival differently during moderate and warm water conditions. In the first observation period, seawater temperatures ranged from 19 to 24 °C; dead M. truncata colonies dissolved at high CO₂ levels (pH 7.66), whereas live specimens maintained the same net calcification rate as those growing at normal pH. In extremely high CO₂ conditions (mean pH 7.43), the live bryozoans calcified significantly less than those at normal pH. Therefore, established colonies of M. truncata seem well able to withstand the levels of ocean acidification predicted in the next 200 years, possibly because the soft tissues protect the skeleton from an external decrease in pH. However, during the second period of observation a prolonged period of high seawater temperatures (25–28 °C) halted calcification both in controls and at high CO₂, and all transplants died when high temperatures were combined with extremely high CO₂ levels. Clearly, attempts to predict the future response of organisms to ocean acidification need to consider the effects of concurrent changes such as the Mediterranean trend for increased summer temperatures in surface waters. Although M. truncata was resilient to short‐term exposure to high levels of ocean acidification at normal temperatures, our field transplants showed that its ability to calcify at higher temperatures was compromised, adding it to the growing list of species now potentially threatened by global warming.  相似文献   

Human occupation of the northern Arabian interior during early Marine Isotope Stage 3          下载免费PDF全文

Richard P. Jennings  Ash Parton  Laine Clark‐Balzan  Tom S. White  Huw S. Groucutt  Paul S. Breeze  Adrian G. Parker  Nick A. Drake  Michael D. Petraglia 《第四纪科学杂志》2016,31(8):953-966

  相似文献   

Drained cavity expansions in soils of finite radial extent subjected to two boundary conditions     

Mohammad Pournaghiazar  Adrian R. Russell  Nasser Khalili 《国际地质力学数值与分析法杂志》2013,37(4):331-352

The problem of drained cavity expansion in soils of finite radial extent is investigated. Cylindrical and spherical cavities expanded from zero radius subjected to either constant stress or zero displacement at the finite boundary are considered. The generalised analytical solution procedure presented enables more advanced constitutive models to be implemented than have been possible in previous studies. Results generated for Sydney quartz sand highlight substantial differences between cavity limit pressures for the two boundary conditions and for boundaries of finite and infinite radial extent. This is of significance in accounting for boundary effects when interpreting cone penetration tests conducted in calibration chambers. Copyright © 2011 John Wiley & Sons, Ltd.  相似文献   

Extreme events as drivers of early human behaviour in Africa? The case for variability,not catastrophic drought     

David S. G. Thomas  Sallie L. Burrough  Adrian G. Parker 《第四纪科学杂志》2012,27(1):7-12

Extreme Late Quaternary climatic events, sometimes of considerable continental extent, are being proposed as major contributors to ancestral human behaviour, particularly migration, in Africa. Most recently, a catastrophic drought in the Afro‐Asian monsoon region has been proposed for 16 000–17 000 years ago, driven by global impacts of the Heinrich event 1 (H1), with potentially significant consequences for Palaeolithic cultures. We provide a new analysis of the assertion and find, on examination of a wide set of palaeoenvironmental records, that the scale and extent of the proposed drought is not supported. While some parts of the African tropics, close to the equator, do appear dry at this time, data for the tropics as a whole suggest markedly variable terrestrial conditions, with some environmental systems experiencing very positive hydrological excursions during H1. We contend that in the quest for evidence of climate drivers of ancestral human behaviour, the variability associated with spatially and temporally complex climatic conditions is a significant factor in itself. Copyright © 2011 John Wiley & Sons, Ltd.  相似文献   

Geophysical surveys of the sediments of Loch Ness,Scotland: implications for the deglaciation of the Moray Firth Ice Stream,British–Irish Ice Sheet     

Andrew J. Turner  John Woodward  Stuart A. Dunning  Adrian J. Shine  Chris R. Stokes  Colm Ó Cofaigh 《第四纪科学杂志》2012,27(2):221-232

We present results from three geophysical campaigns using high‐resolution sub‐bottom profiling to image sediments deposited in Loch Ness, Scotland. Sonar profiles show distinct packages of sediment, providing insight into the loch's deglacial history. A recessional moraine complex in the north of the loch indicates initial punctuated retreat. Subsequent retreat was rapid before stabilisation at Foyers Rise formed a large stillstand moraine. Here, the calving margin produced significant volumes of laminated sediments in a proglacial fjord‐like environment. Subsequent to this, ice retreated rapidly to the southern end of the loch, where it again deposited a sequence of proglacial laminated sediments. Sediment sequences were then disturbed by the deposition of a thick gravel layer and a large turbidite deposit as a result of a jökulhlaup from the Spean/Roy ice‐dammed lake. These sediments are overlain by a Holocene sheet drape. Data indicate: (i) a former tributary of the Moray Firth Ice Stream migrated back into Loch Ness as a major outlet glacier with a calving margin in a fjord‐like setting; (ii) there was significant sediment supply to the terminus of this outlet glacier in Loch Ness; and (iii) that jökulhlaups are important for sediment supply into proglacial fjord/lake environments and may compose >20% of proglacial sedimentary sequences. Copyright © 2011 John Wiley & Sons, Ltd.  相似文献   

Passive microwave remote sensing of the historic February 2010 snowstorms in the Middle Atlantic region of the USA     

James L. Foster  Gail Skofronick‐Jackson  Huan Meng  James R. Wang  George Riggs  Paul J. Kocin  Benjamin T. Johnson  Judah Cohen  Dorothy K. Hall  Son V. Nghiem 《水文研究》2012,26(22):3459-3471

The snowfall in the Baltimore/Washington metropolitan area during the winter of 2009/2010 was unprecedented and caused serious snow‐related disruptions. In February 2010, snowfall totals approached 2 m, and because maximum temperatures were consistently below normal, snow remained on the ground the entire month. One of the biggest contributing factors to the unusually severe winter weather in 2009/2010, throughout much of the middle latitudes, was the Arctic Oscillation. Unusually high pressure at high latitudes and low pressure at middle latitudes forced a persistent exchange of mass from north to south. In this investigation, a concerted effort was made to link remotely sensed falling snow observations to remotely sensed snow cover and snowpack observations in the Baltimore/Washington area. Specifically, the Advanced Microwave Scanning Radiometer onboard the Aqua satellite was used to assess snow water equivalent, and the Advanced Microwave Sounding Unit‐B and Microwave Humidity Sounder were employed to detect falling snow. Advanced Microwave Scanning Radiometer passive microwave signatures in this study are related to both snow on the ground and surface ice layers. In regard to falling snow, signatures indicative of snowfall can be observed in high frequency brightness temperatures of Advanced Microwave Sounding Unit‐B and Microwave Humidity Sounder. Indeed, retrievals show an increase in snow water equivalent after the detection of falling snow. Yet, this work also shows that falling snow intensity and/or the presence of liquid water clouds impacts the ability to reliably detect snow water equivalent. Moreover, changes in the condition of the snowpack, especially in the surface features, negatively affect retrieval performance. Copyright © 2011. This article is a U.S. Government work and is in the public domain in the USA.  相似文献