Underwater Terrain Positioning Method Based on Least Squares Estimation for AUV     

陈鹏云  李晔  苏玉民  陈小龙  姜言清 《海洋工程》2015,29(6):859-874

To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrain-matching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation (LSE) is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning.  相似文献   

A computer-aided framework for subsurface identification of white shark pigment patterns     

M Dureuil  AV Towner  LG Ciolfi  LA Beck 《African Journal of Marine Science》2015,37(3):363-371

Subsurface video footage can be used as a successful identification tool for various marine organisms; however, processing of such information has proven challenging. This study tests the use of automated software to assist with photo-identification of the great white shark Carcharodon carcharias in the region of Gansbaai, on the south coast of South Africa. A subsurface photo catalogue was created from underwater video footage. Single individuals were identified by using pigmentation patterns. From this catalogue, two images of the head for each individual were inserted into automated contour-recognition software (Interactive Individual Identification System Beta Contour 3.0). One image was used to search the database, the other served as a reference image. Identification was made by means of a contour, assigned using the software to the irregular border of grey and white on the shark's head. In total, 90 different contours were processed. The output provided ranks, where the first match would be a direct identification of the individual. The method proved to be accurate, in particular for high-quality images where 88.24% and 94.12%, respectively, were identified by two independent analysts as first match, and with all individuals identified within the top 10 matches. The inclusion of metadata improved accuracy and precision, allowing identification of even low-quality images.  相似文献   

Estimating time-based instantaneous total mortality rate based on the age-structured abundance index   总被引：1，自引：0，他引：1  

王迎宾 《中国海洋湖沼学报》2015,33(3):559-576

The instantaneous total mortality rate(Z) of a fish population is one of the important parameters in fisheries stock assessment. The estimation of Z is crucial to fish population dynamics analysis,abundance and catch forecast,and fisheries management. A catch curve-based method for estimating time-based Z and its change trend from catch per unit effort(CPUE) data of multiple cohorts is developed. Unlike the traditional catch-curve method,the method developed here does not need the assumption of constant Z throughout the time,but the Z values in n continuous years are assumed constant,and then the Z values in different n continuous years are estimated using the age-based CPUE data within these years. The results of the simulation analyses show that the trends of the estimated time-based Z are consistent with the trends of the true Z,and the estimated rates of change from this approach are close to the true change rates(the relative differences between the change rates of the estimated Z and the true Z are smaller than 10%). Variations of both Z and recruitment can affect the estimates of Z value and the trend of Z. The most appropriate value of n can be different given the effects of different factors. Therefore,the appropriate value of n for different fisheries should be determined through a simulation analysis as we demonstrated in this study. Further analyses suggested that selectivity and age estimation are also two factors that can affect the estimated Z values if there is error in either of them,but the estimated change rates of Z are still close to the true change rates. We also applied this approach to the Atlantic cod(G adus morhua) fishery of eastern Newfoundland and Labrador from 1983 to 1997,and obtained reasonable estimates of time-based Z.  相似文献   

抗差加权整体最小二乘模型的牛顿-高斯算法     

王彬  李建成  高井祥  刘超 《测绘学报》2015,44(6):602-608

基于加权整体最小二乘的牛顿-高斯迭代算法,提出了一种抗差加权整体最小二乘模型。利用标准化残差构造权因子函数,并采用中位数法获得具有抗差性的单位权中误差估值,能同时实现观测空间和结构空间抗差。为获得标准化残差,利用线性近似的协因数传播律推导了加权整体最小二乘残差协因数阵的表达式,并给出模型的迭代计算方法。试验结果表明:对于加权整体最小二乘的粗差处理问题,本文提出的方法具有良好的抗差性能,参数估值与不含粗差时加权整体最小二乘的结果没有显著的差异,性能优于直接由残差构造的稳健加权整体最小二乘模型。  相似文献   

结合分形理论和自适应图像块划分的遥感图像噪声估计   总被引：1，自引：1，他引：0  

傅鹏  孙权森  纪则轩 《测绘学报》2015,44(11):1235-1245

针对场景复杂的光学遥感图像中加性噪声估计问题,提出了一种结合分形理论和自适应图像块划分的噪声估计方法。区别于传统的基于规则图像块划分的噪声估计方法,本文提出了一种自适应于图像局部信息的图像块划分算法,更大程度地保证了自适应图像块内部的平滑性。结合基于分形理论的图像低粗糙度纹理区域选取和基于统计分析的图像噪声标准差计算,实现了光学遥感图像加性噪声强度的自动估计。利用资源三号卫星图像进行定量试验分析,试验结果表明本文方法可以有效地适用于不同复杂程度、不同噪声强度的光学遥感图像。同时,本文中低粗糙度纹理区域选取和自适应图像块划分的方法经过改进后,还可以应用于雷达图像中乘性噪声的估计。  相似文献   

基于三维平差的基坑监测数据处理方法探讨     

黄志伟  刘晓华  龚率  许挺  杨君祥 《测绘工程》2015,(2):51-54

在基坑监测自由测站边角交会构网监测方法的基础上,提出基于全站仪观测数据的三维平差数据处理方法。通过结合工程实例,对监测数据进行精度分析,并比较三维平差与传统平差方法的计算结果,验证文中方法可满足二级基坑的监测精度要求,能准确、高效地监测基坑形变。  相似文献   

基于空-地多源数据融合的建筑物精细建模研究     

李永强  刘会云  曹鸿  牛路标  李立雪 《测绘工程》2015,(8)

针对建筑物精细建模的精度问题,对同一试验区建筑物群的机载LiDAR顶面数据、航空正射影像数据和车载LiDAR立面数据进行试验研究,通过精确提取各建筑物群的顶面和底面矢量轮廓线,对矢量轮廓线间的水平间距进行定性与定量分析,研究结果对空-地多源数据融合进行建筑物精细建模提供可靠的技术支持。  相似文献   

利用车载激光扫描的城市森林三维绿量估算   总被引：1，自引：0，他引：1  

虞思逸  吴宾  谈文琦  岳文辉  胡春凌  吴健平  余柏蒗 《测绘科学》2015,(9):82-87

针对城市森林绿量估算研究不足的现状,该文提出了结合高分辨率航空遥感影像和车载激光扫描技术估算城市森林三维绿量的方法:首先从车载激光扫描数据中提取道路两侧单株树的生物物理参数,再结合从航空遥感影像中提取的植被分布,对均质城市森林片区进行三维绿量的拟合计算;最后以上海市滨江森林公园为例进行了方法验证。结果表明,该方法能够拓展车载激光扫描系统应用的领域,为城市绿化信息的获取提供参考。  相似文献   

"地震可预测性国际合作研究"——1.0阶段工作理念及成果     

张盛峰  张永仙 《地震》2021,41(4):203-217

20世纪90年代由世界多个国家的地震学家围绕“地震可否预测”问题进行国际讨论后, 人们开始思考适用于地震预测研究的规则应该有哪些, 尤其是地震学家针对地震预测研究中所采取的途径和工作思路开始发生了变化。 2007年开始的“区域地震似然模型”(Regional Earthquake Likelihood Models, RELM)工作组和由此进一步而来的“地震可预测性国际合作研究”(Collaboratory for the Study of Earthquake Predictability, CSEP)计划开始之后, 一大批地震预测模型和与评估其预测效能有关的统计检验方法加入进来, 在设立相同的预测规则和使用统一的数据来源下, 通过全球设立不同测试中心的方式, 共同参与到对地震可预测性问题的系统研究中来。 当前, CSEP计划已由开始的1.0阶段发展至2.0阶段, 为使读者了解与这几项国际合作研究相关的工作主旨和发展历程, 本文总结了与CSEP工作1.0阶段相关的工作理念和工作成果以及存在的问题, 以期为下一步工作的开展提供参考。  相似文献   

利用卫星和雷达估计大暴雨   总被引：1，自引：1，他引：0  

闵爱荣  杨洪平  石燕 《气象科技》2007,35(2):209-212

利用合肥、武汉和长沙雷达、云顶亮温TBB等观测资料,对2003年7月8日发生的大暴雨天气过程进行了联合估计。结果表明:联合估算降水很好地再现了这次降水过程;卫星估算降水很大程度上弥补了雷达估算降水在空间分布上的不足,但对特大暴雨在强度上估计不足,对中等强度的降水估计偏大;引入雷达对卫星估算降水进行联合估算,能很好地反映暴雨云团的中尺度结构特征,反演的降水场能很好揭示强降水过程的时空变化特征。  相似文献