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A GNSS-aided DVL calibration method based on quaternion estimation for underwater vehicles 基于四元数估计的gnss辅助水下航行器DVL标定方法
IF 1.6 4区 地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS Pub Date : 2023-05-27 DOI: 10.1080/01490419.2023.2213838
Kaidi Jin, Hongzhou Chai, Chuhan Su, Minzhi Xiang, Mingchen Shi
Abstract Doppler velocity logger (DVL) error parameters can significantly influence the navigation accuracy of DVL/strapdown inertial navigation system (SINS) integration for unmanned underwater vehicles (UUV). To improve the navigation accuracy of UUV, this study proposes a two-stage DVL calibration method aided by global navigation satellite system (GNSS) measurements. First, utilizing the velocity of GNSS/SINS integrated navigation, the scale factor error of DVL is calculated by the moduli of velocities in UUV body frame and DVL instrument frame. Then, using the measurements throughout the calibration process, the calibration problem of the installation angle is converted to a nonlinear constraint optimization problem by describing the angle as a unit quaternion. Moreover, an easy-to-implement quaternion estimation algorithm is chosen to solve the problem and obtain the optimal quaternion. Simulation and sea trial indicate that the proposed method can rapidly and accurately estimate the DVL error parameters in different scenarios, and the position accuracy of the DVL/SINS system is improved.
摘要多普勒速度记录仪(DVL)误差参数对水下无人潜航器DVL/捷联惯导系统(SINS)集成的导航精度有重要影响。为了提高UUV的导航精度,本文提出了一种基于全球导航卫星系统(GNSS)测量辅助的两阶段DVL定标方法。首先,利用GNSS/SINS组合导航的速度,通过UUV体架和DVL仪器架的速度模量计算DVL的尺度因子误差;然后,利用整个校准过程中的测量数据,将安装角的校准问题转化为一个非线性约束优化问题,将安装角描述为一个单位四元数。此外,选择了一种易于实现的四元数估计算法来解决该问题,并获得了最优四元数。仿真和海上试验表明,该方法能快速准确地估计不同场景下的DVL误差参数,提高了DVL/SINS系统的定位精度。
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引用次数: 0
Multispectral Satellite-Derived Bathymetry Based on Sparse Prior Measured Data 基于稀疏先验测量数据的多光谱卫星测深
IF 1.6 4区 地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS Pub Date : 2023-05-23 DOI: 10.1080/01490419.2023.2213840
Yanhong Wang, Yilan Chen, Yikai Feng, Zhipeng Dong, Xiaoyu Liu
Abstract Satellite-derived bathymetry is an economic and effective method of obtaining large-scale, high-resolution bathymetric information. At present, bathymetric inversion models require existing bathymetric data as a necessary condition, but these may be difficult to obtain around many small islands. Under the condition of sparse measurement data, many common methods have low levels of accuracy. This paper proposes a method of transferring a bathymetric model for an island that has in situ data to an island that has little in situ data. First, in situ data are used to establish a high-precision satellite bathymetry model for a given island. Second, this model is transplanted to other islands. The addition of just 2–3 data points to correct the model results can reduce the mean relative error to 6.62% in the range of 0–20 m. This is close to the accuracy of establishing the model using a large number of measurement data (mean relative error of 5.25%).
卫星测深是获取大规模、高分辨率测深信息的一种经济有效的方法。目前,水深反演模型需要现有的水深数据作为必要条件,但在许多小岛屿周围,这些数据可能难以获得。在测量数据稀疏的情况下,许多常用方法的精度水平较低。本文提出了一种将具有原位数据的岛屿的水深模型转换为具有少量原位数据的岛屿的方法。首先,利用现场数据建立给定岛屿的高精度卫星测深模型。第二,将这种模式移植到其他岛屿。在0 ~ 20 m范围内,只需添加2 ~ 3个数据点对模型结果进行校正,平均相对误差可降低至6.62%。这接近利用大量测量数据建立模型的精度(平均相对误差为5.25%)。
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引用次数: 1
Distinguishing Ulva prolifera and Sargassum horneri by using multi-feature-based ResUnet algorithm 基于多特征的ResUnet算法区分浒苔和马尾藻
IF 1.6 4区 地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS Pub Date : 2023-05-03 DOI: 10.1080/01490419.2023.2197265
Jinyu Li, Shengjia Zhang, Chao Zhang, Hong-chun Zhu
Abstract In recent years, two types of macroalgae, namely, Ulva prolifera and Sargassum horneri, have appeared occasionally together in the Yellow Sea and the East China Sea. Remote sensing enables timely and cost-effective observation of macroalgae across large areas. In the available studies, the recognition and classification of the two macroalgae are primarily based on spectral difference analysis. In this study, the spectral features, indices and textural feature parameters of the macroalgae targets were extracted and a preliminary multi-feature dataset was constructed based on Sentinel-2 images. Feature selection was performed using SHAP-based importance analysis and Bhattacharyya distance. From this, a multi-feature dataset was created and used as an input to a deep semantic segmentation network of improved ResUnet. The experiments of intelligent recognition and classification of U. prolifera and S. horneri were carried out using the proposed multi-feature-based ResUnet algorithm, with specific F1-scores of 96.7% and 96.8%, respectively. The proposed multi-feature-based ResUnet algorithm can obtain efficient and high-accuracy results for the recognition and classification of marine floating macroalgae. It achieves accurate remote sensing monitoring of the two types of marine floating macroalgae and has significant theoretical research significance and practical application value.
摘要近年来,黄海和东海海域偶尔出现了两种大型藻类,即增生Ulva prolifera和马尾藻(Sargassum horneri)。遥感技术能够对大面积的大型藻类进行及时和经济有效的观测。在现有的研究中,对这两种大型藻类的识别和分类主要是基于光谱差异分析。本研究提取了大型藻类目标的光谱特征、指数和纹理特征参数,并基于Sentinel-2图像构建了初步的多特征数据集。使用基于shap的重要性分析和Bhattacharyya距离进行特征选择。在此基础上,创建了一个多特征数据集,并将其作为改进的ResUnet深度语义分割网络的输入。采用本文提出的基于多特征的ResUnet算法对浒苔和角藻进行了智能识别分类实验,具体f1得分分别为96.7%和96.8%。本文提出的基于多特征的reunet算法能够获得高效、高精度的海洋浮藻识别与分类结果。实现了对两类海洋浮藻的精确遥感监测,具有重要的理论研究意义和实际应用价值。
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引用次数: 1
Assessment of beach morphological changes in the east coast of India during cyclone Phethai, through field data and numerical modeling 通过现场数据和数值模拟评估“Phethai”气旋期间印度东海岸海滩形态变化
IF 1.6 4区 地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS Pub Date : 2023-04-27 DOI: 10.1080/01490419.2023.2200043
V. Noujas, R. S. Kankara, B. Rajan
Abstract Episodic extreme waves caused by cyclones can have catastrophic consequences for coastal zones, including drastic beach morphology changes. The present study analyzed the beach morphological changes from Kakinada to Konapapapeta on the southeast coast of India before, during, and after the tropical cyclone Phethai using field survey and numerical modeling. Beach profiles were collected using Trimble RTK GPS and shoreline tracking was performed with handheld GPS. Numerical modeling was carried out using MIKE software to estimate the sediment transport rate before, during, and after the cyclone. Although the intensity of the cyclone reduced to a deep depression before landfall, several morphological changes were observed. Erosion was higher in the northern sector, where the beach width was less, and prominent scarps were seen throughout this region after the cyclone. The inundation varied from 40 to 120 m during the cyclone due to a storm surge of 0.5 to 1 m. During the cyclone, significant wave heights reached up to 4 m. The gross sediment transport rate is 3 to 13 times greater during the cyclone period than during the non-cyclone period. The maximum gross sediment transport rate during the Phethai cyclone was 1040 m3/day. Sediment transport was estimated for the same site for the non-cyclone year 2019, and the gross transport rate was 26,174 m3. As it is projected that extreme events are likely to increase due to climate change, output from this type of study is vital to environmental managers to assess erosion and develop long-term mitigation plans.
由气旋引起的偶发极端海浪会对沿海地区造成灾难性的后果,包括剧烈的海滩形态变化。本文采用野外调查和数值模拟的方法,分析了热带气旋“Phethai”之前、期间和之后印度东南沿海Kakinada至Konapapapeta海滩的形态变化。使用Trimble RTK GPS收集海滩剖面,使用手持式GPS进行海岸线跟踪。利用MIKE软件进行数值模拟,估算气旋发生前、发生中、发生后的输沙率。虽然气旋的强度在登陆前已降至低气压,但仍观察到若干形态变化。飓风过后,北部地区的侵蚀程度较高,海滩宽度较小,整个地区都有明显的陡坡。台风期间,由于风暴潮0.5至1米,淹没范围在40至120米之间。气旋期间,显著浪高高达4米。气旋期的总输沙率是非气旋期的3 ~ 13倍。Phethai气旋期间最大输沙量为1040 m3/d。估算了2019年非气旋年同一地点的输沙量,总输沙量为26174 m3。由于预计极端事件可能因气候变化而增加,这类研究的产出对于环境管理者评估侵蚀和制定长期缓解计划至关重要。
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引用次数: 0
Probabilities of acquiring cloud-free and low-tide Landsat observations for mapping saltmarsh over south-eastern Bangladesh from 1980 to 2019 1980年至2019年孟加拉国东南部盐沼测绘中获取无云和低潮Landsat观测数据的概率
IF 1.6 4区 地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS Pub Date : 2023-04-10 DOI: 10.1080/01490419.2023.2200212
Sheikh Mohammed Rabiul Alam, M. S. Hossain
Abstract As is well-documented, cloud cover (CC) obscures the target object and water depth and turbidity impede optical remote sensing (RS). Therefore, Landsat imagery acquired under cloud-free (CFI) and low-tide (LTI) conditions are considered ‘quality’ observations when mapping tidal wetlands such as saltmarsh. Although it is essential to estimate probabilities of acquiring at least one CFI and LTI, previous studies rarely addressed in RS of saltmarsh land cover (SLC). In order to evaluate the probabilities of acquiring at least one CFI and LTI in a year, a month, a season, a pair of seasons, or a certain time interval within a year over south-eastern Bangladesh, all images acquired between 1988 and 2019 were examined. The results indicate that SLC applications are generally affected by CC and tide heights; an average yearly CF probability of 16% can be acquired under LT conditions. Seasonal variations in CFI are apparent and there is a significant shortage of clear observation during the monsoon. The higher number of CFI may not guarantee a higher probability of LTI due to tide dynamics. The availability of both CFI and LTI can be remarkably improved if the present 16-day interval time of Landsat’s acquisition is increased.
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引用次数: 0
Book Review: High-resolution Seafloor Survey and Applications by Ziyin Wu, Fanlin Yang, Yong Tang, et al. 书评:高分辨率海底测量与应用吴子银,杨凡林,唐勇等。
4区 地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS Pub Date : 2023-04-08 DOI: 10.1080/01490419.2023.2185842
Gang Qiao
"Book Review: High-resolution Seafloor Survey and Applications by Ziyin Wu, Fanlin Yang, Yong Tang, et al.." Marine Geodesy, just-accepted(just-accepted), pp. 1–2
书评:高分辨率海底测量与应用吴子银,杨凡林,唐勇,等海洋大地测量学,刚被接受(刚被接受),1-2页
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引用次数: 3
Improving the accuracy of bathymetry using the combined neural network and gravity wavelet decomposition method with altimetry derived gravity data 利用神经网络和重力小波分解相结合的方法提高测深精度
IF 1.6 4区 地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS Pub Date : 2023-02-27 DOI: 10.1080/01490419.2023.2179140
Yongjin Sun, Wei Zheng, Zhaowei Li, Zhiquan Zhou, Xiaocong Zhou, Zhongkai Wen
Abstract The wide range of bathymetry models can be estimated using the marine gravity information derived from satellite altimetry. However, due to nonlinear factors influences such as isostasy effects, the bathymetry estimated by gravity anomaly and vertical gravity gradient is not satisfactory. Therefore, to improve the accuracy of bathymetry estimation, a combined neural network and gravity information wavelet decomposition (CNNGWD) method is proposed based on wavelet decomposition and correlation analysis. Next, the bathymetry of the Manila Trench area is estimated using the CNNGWD method and multilayer neural network (MNN) method, respectively. Then, the shipborne sounding data and international bathymetric models such as ETOPO1 and GEBCO_2021 are separately used to evaluate the accuracy of the inversion models. The results show that the root mean square errors (RMSE) of the difference between the bathymetric model one (BM1) estimated by CNNGWD method and the shipborne sounding data is 59.90 m, the accuracy is improved by 12.45%, 64.70% and 28.68% compared with the bathymetric model two (BM2) which estimated by MNN, ETOPO1 and GEBCO, respectively. Finally, by analyzing the bathymetric accuracy shift with depth, the BM1 has lower RMSE at depths ranging from 1000 m to 3000 m. Furthermore, BM1 shows dominance in flat troughs and rugged ridge regions.
摘要利用卫星测高得到的海洋重力信息,可以估计出各种各样的测深模型。然而,由于均衡效应等非线性因素的影响,重力异常和垂直重力梯度估计的水深并不令人满意。为此,为了提高测深估计的精度,提出了基于小波分解和相关分析的神经网络与重力信息小波分解(CNNGWD)相结合的方法。接下来,分别采用CNNGWD方法和多层神经网络(MNN)方法估算马尼拉海沟区域的水深。然后分别利用船载测深资料和ETOPO1、GEBCO_2021等国际水深模型对反演模型的精度进行评价。结果表明,CNNGWD方法估计的水深模型1 (BM1)与船载测深数据差值的均方根误差(RMSE)为59.90 m,与MNN、ETOPO1和GEBCO方法估计的水深模型2 (BM2)相比,精度分别提高了12.45%、64.70%和28.68%。最后,通过对水深精度随深度变化的分析,发现BM1在1000 ~ 3000 m深度范围内均方根误差较低。此外,BM1在平坦槽区和崎岖脊区表现出优势。
{"title":"Improving the accuracy of bathymetry using the combined neural network and gravity wavelet decomposition method with altimetry derived gravity data","authors":"Yongjin Sun, Wei Zheng, Zhaowei Li, Zhiquan Zhou, Xiaocong Zhou, Zhongkai Wen","doi":"10.1080/01490419.2023.2179140","DOIUrl":"https://doi.org/10.1080/01490419.2023.2179140","url":null,"abstract":"Abstract The wide range of bathymetry models can be estimated using the marine gravity information derived from satellite altimetry. However, due to nonlinear factors influences such as isostasy effects, the bathymetry estimated by gravity anomaly and vertical gravity gradient is not satisfactory. Therefore, to improve the accuracy of bathymetry estimation, a combined neural network and gravity information wavelet decomposition (CNNGWD) method is proposed based on wavelet decomposition and correlation analysis. Next, the bathymetry of the Manila Trench area is estimated using the CNNGWD method and multilayer neural network (MNN) method, respectively. Then, the shipborne sounding data and international bathymetric models such as ETOPO1 and GEBCO_2021 are separately used to evaluate the accuracy of the inversion models. The results show that the root mean square errors (RMSE) of the difference between the bathymetric model one (BM1) estimated by CNNGWD method and the shipborne sounding data is 59.90 m, the accuracy is improved by 12.45%, 64.70% and 28.68% compared with the bathymetric model two (BM2) which estimated by MNN, ETOPO1 and GEBCO, respectively. Finally, by analyzing the bathymetric accuracy shift with depth, the BM1 has lower RMSE at depths ranging from 1000 m to 3000 m. Furthermore, BM1 shows dominance in flat troughs and rugged ridge regions.","PeriodicalId":49884,"journal":{"name":"Marine Geodesy","volume":"46 1","pages":"271 - 302"},"PeriodicalIF":1.6,"publicationDate":"2023-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46464215","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Estimating the Wind Dependency of Aerosol Optical Depth at Remote Oceanic Regions 估算遥远海洋地区气溶胶光学深度对风的依赖关系
IF 1.6 4区 地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS Pub Date : 2023-02-24 DOI: 10.1080/01490419.2023.2184436
D. Ganguly, M. Raman
Abstract In this article, the applicability of India’s indigenously developed scatterometer, Scatsat-1 for marine aerosol characterization and wind dependency of aerosol optical depth (AOD) was investigated using 3 years of satellite data. Wind data from Scatsat-1 and AOD with its size fraction from SNPP VIIRS from 2017 to 2019 were used for the investigation. A technique has been demonstrated for identifying remote oceanic regions with mostly marine aerosol using certain criteria like distance from land, higher fraction of coarse AOD, lower variation of AOD with wind direction, and so forth. Daily wind and AOD from 2017 to 2019 were used for studying the relationship between wind speed and AOD at remote oceanic locations away from terrestrial and anthropogenic influence. Five regions of interest (ROIs) of 5° by 5° were identified in different oceanic regions for carrying out the regression analysis. A linear increase of coarse mode AOD and total AOD with an increase in wind speed was observed for all five remote locations while fine mode AOD was unrelated. The slope of the linear relation agreed with Kiliyanpilakkil and Meskhidze (2011) for intermediate wind values. The remote regions also had a lower variation of AOD with change in wind direction implying less transport of aerosol from nearby landmasses.
本文利用3年的卫星数据,研究了印度自主研制的Scatsat-1散射计在海洋气溶胶表征和气溶胶光学深度(AOD)的风依赖关系中的适用性。使用2017 - 2019年Scatsat-1和AOD的风数据及其SNPP VIIRS的大小分数进行调查。已经证明了一种技术,可以使用某些标准,如与陆地的距离、粗AOD的较高比例、AOD随风向的变化较小等,来识别主要由海洋气溶胶组成的偏远海洋地区。利用2017 - 2019年的日风和AOD,研究了远离陆地和人为影响的海洋偏远地区风速与AOD的关系。在不同的海洋区域确定5°× 5°的5个感兴趣区域(roi)进行回归分析。粗态AOD和总AOD均随风速的增加呈线性增加,而细态AOD与之无关。对于中间风值,线性关系的斜率与Kiliyanpilakkil和Meskhidze(2011)一致。偏远地区AOD随风向变化的变化也较小,这意味着来自附近大陆的气溶胶输送较少。
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引用次数: 0
The impact of nonlinear tide–surge interaction on satellite radar altimeter-derived tides 非线性潮涌相互作用对卫星雷达高度计潮汐的影响
IF 1.6 4区 地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS Pub Date : 2023-02-06 DOI: 10.1080/01490419.2023.2175084
H. Guarneri, M. Verlaan, D. C. Slobbe, J. Veenstra, F. Zijl, J. Pietrzak, M. Snellen, L. Keyzer, Y. Afrasteh, R. Klees
Abstract Both empirical and assimilative global ocean tidal models are significantly more accurate in the deep ocean than in shelf and coastal waters. In this study, we answered whether this is due to the quality of the models used to reduce tide and surge or the general approach to treat tide and surge as two separate components of the water level obtained from stand-alone models, which ignores the nonlinear tide–surge interaction. In doing so, we used tide gauge observations as partially synthetic altimeter time series, tide–surge water-level time series obtained with the 2D Dutch Continental Shelf Model – Flexible Mesh (DCSM), and tide and surge water-level time series obtained using the DCSM, FES2014 (FES) and the Dynamic Atmospheric Correction (DAC) product. Expressed in the root-sum-square (RSS) of the eight main tidal constituents, we obtained a reduction % when removing the DCSM tide–surge water levels compared to when we removed the sum of the DCSM tide and DCSM surge water levels. The RSS obtained in the latter case was only 3.3% lower than with FES and DAC. We conclude that the lower tidal estimates accuracy in shelf-coastal waters derives from the missing nonlinear tide–surge interactions.
摘要经验和同化全球海洋潮汐模型在深海中都比在陆架和沿海水域中准确得多。在这项研究中,我们回答了这是由于用于减少潮汐和涌浪的模型的质量,还是将潮汐和涌潮视为从独立模型中获得的水位的两个独立分量的一般方法,忽略了非线性潮汐-涌浪相互作用。在这样做的过程中,我们使用潮汐计观测作为部分合成的高度计时间序列,使用2D荷兰大陆架模型-柔性网格(DCSM)获得的潮汐-涌浪水位时间序列,以及使用DCSM、FES2014(FES)和动态大气校正(DAC)产品获得的潮汐和涌浪水位序列。用八种主要潮汐成分的平方根(RSS)表示,与去除DCSM潮汐和DCSM涌浪水位之和时相比,去除DCSM涌潮水位时,我们获得了%的减少。后一种情况下获得的RSS仅比FES和DAC低3.3%。我们得出的结论是,陆架沿岸水域较低的潮汐估计精度源于缺失的非线性潮汐-涌浪相互作用。
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引用次数: 0
Aggregation Methods Using Bathymetry Sources of Differing Subjective Reliabilities for Navigation Mapping 利用不同主观信度的测深源进行导航制图的聚合方法
IF 1.6 4区 地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS Pub Date : 2023-01-09 DOI: 10.1080/01490419.2023.2166173
P. Elmore, B. Calder, F. Petry, G. Masetti, Ron Yager
Abstract When planning for ship navigation or compiling data for a bathymetry map, the navigator or mapper uses many different sources of bathymetry information and navigation hazards. The quality of these sources is inconsistent in general, however, making it challenging to provide a coherent picture for planning. Here, we describe an approach for consistent planning/mapping that uses a combination of soft computing and Bayesian estimation. The case study used to exercise this system involves NOAA Electronic Nautical Charts for an area in the Chesapeake Bay. We first interpolate each set of irregularly spaced soundings to gridded versions of each point-cloud set. Each of these intermediate grids is then aggregated into a fused bathymetric realization using order weighted averaging (OWA) to provide the weights for each source based on their subjective reliabilities. The OWA allows for fusion informed by the user’s subjective risk allowed in the reconstruction of the seafloor surface and provides quantitative methods to generate, use, and record subjective reliability weights. Each sounding point that went into the bathymetry estimate is then categorized as “no-go,” “caution,” or “go” status. Reliability estimates are reused for weighted Bayesian categorization of each output grid cell to compute the navigable surface.
摘要在规划船舶导航或编制测深图数据时,导航员或制图员使用了许多不同的测深信息来源和导航危险。然而,这些来源的质量总体上不一致,这使得为规划提供一个连贯的画面具有挑战性。在这里,我们描述了一种使用软计算和贝叶斯估计相结合的一致性规划/映射方法。用于实施该系统的案例研究涉及美国国家海洋和大气管理局切萨皮克湾一个地区的电子海图。我们首先将每组不规则间隔的测深插入到每个点云集的网格版本中。然后,使用顺序加权平均(OWA)将这些中间网格中的每一个聚合为融合的测深实现,以基于其主观可靠性为每个源提供权重。OWA允许根据海底表面重建中允许的用户主观风险进行融合,并提供生成、使用和记录主观可靠性权重的定量方法。然后,进入测深估计的每个测深点都被归类为“不允许”、“谨慎”或“允许”状态。可靠性估计被重新用于每个输出网格单元的加权贝叶斯分类,以计算可导航表面。
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引用次数: 0
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Marine Geodesy
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