GNSS integration with vision-based navigation for low GNSS visibility conditions   总被引：1，自引：1，他引：0  

Dae Hee Won  Eunsung Lee  Moonbeom Heo  Sangkyung Sung  Jiyun Lee  Young Jae Lee 《GPS Solutions》2014,18(2):177-187

In urban canyons, buildings and other structures often block the line of sight of visible Global Navigation Satellite System (GNSS) satellites, which makes it difficult to obtain four or more satellites to provide a three-dimensional navigation solution. Previous studies on this operational environment have been conducted based on the assumption that GNSS is not available. However, a limited number of satellites can be used with other sensor measurements, although the number is insufficient to derive a navigation solution. The limited number of GNSS measurements can be integrated with vision-based navigation to correct navigation errors. We propose an integrated navigation system that improves the performance of vision-based navigation by integrating the limited GNSS measurements. An integrated model was designed to apply the GNSS range and range rate to vision-based navigation. The possibility of improved navigation performance was evaluated during an observability analysis based on available satellites. According to the observability analysis, each additional satellite decreased the number of unobservable states by one, while vision-based navigation always has three unobservable states. A computer simulation was conducted to verify the improvement in the navigation performance by analyzing the estimated position, which depended on the number of available satellites; additionally, an experimental test was conducted. The results showed that limited GNSS measurements can improve the positioning performance. Thus, our proposed method is expected to improve the positioning performance in urban canyons.  相似文献   

Distribution of small plastic debris in cross-section and high strandline on Heungnam beach, South Korea     

Nak Won Heo  Sang Hee Hong  Gi Myung Han  Sunwook Hong  Jongmyoung Lee  Young Kyung Song  Mi Jang  Won Joon Shim 《Ocean Science Journal》2013,48(2):225-233

The spatial distribution of small plastic debris on Heungnam beach in February 2011 was investigated. The abundances of small plastic debris over 2 mm in size along the high strandline and cross-sectional line of the beach were determined. The mean abundances of small plastics were 976 ± 405 particles/m² at the high strandline in the upper tidal zone along the shoreline and 473 ± 866 particles/m² at the cross-section perpendicular to the shoreline. Specifically, styrofoam (expanded polystyrene) spherules accounted for 90.7% of the total plastic abundance in the high strandline and 96.3% in the cross-section. The spatial distribution patterns of small plastic debris differed between the high strandline and cross-sectional line. The cross-sectional distribution of small plastic abundance differed among plastic types, indicating that representative sampling of small plastic debris on a beach is necessary.  相似文献   

Geophysical Surveys in the Jebel Hamrat Fidan,Jordan     

Alan J. Witten  Thomas E. Levy  Russell B. Adams  I.J. Won 《Geoarchaeology》2000,15(2):135-150

The Jebel (Jebel is mountain in Arabic) Hamrat Fidan marks the “gateway” to the Feinan district of southern Jordan—one of the largest sources of copper during the prehistoric and Early Bronze Ages in the eastern Mediterranean. Preliminary excavations and surveys at sites along the Wadi Fidan have revealed a long history of settled occupation extending from the Pre‐Pottery Neolithic (ca. 6,500 B.C.) to early medieval times. Because of this long history of occupation, and the fact that this area was a regional center for the production of copper, the study of this area is important for understanding early metallurgy, craft specialization, and social evolution. During the summer of 1997, geophysical investigations at a series of Neolithic and Bronze Age sites identified specific areas within Wadi Fidan for future intensive excavations. Three geophysical techniques (electromagnetic induction, ground‐penetrating radar, and magnetometry) were used to help locate buried architectural and industrial features remaining from early mining and metallurgical operations, including copper ore bodies or voids. Geophysics was not used at the actual mining sites because of scheduling constraints; however, geophysics did delineate buried stone walls at three distinct Wadi Fidan sites. Magnetometry and ground penetrating radar provided little useful information. Buried stone walls were apparently “masked” by numerous magnetic stones on the ground surface making magnetometry useless. Reflections from known strata demonstrated that radar penetrated the ground adequately; however, known shallowly buried walls were not recognizable. Electromagnetic induction produced maps of linear and rectilinear features that suggested spatial distribution of widespread buried stone walls suitable for future excavation. A significant and unexpected finding was that electromagnetic induction proved capable of delineating buried stone walls. © 2000 John Wiley & Sons, Inc.  相似文献