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CORS station for synergistic monitoring of multivariate surface parameters in expansive soils 用于协同监测膨胀性土壤多元地表参数的 CORS 站
IF 2.6 3区 地球科学 Q2 ASTRONOMY & ASTROPHYSICS Pub Date : 2024-08-19 DOI: 10.1016/j.asr.2024.08.044
Xiongchuan Chen, Shuangcheng Zhang, Yong Fang, Bin Wang, Ning Liu, Ningkang An, Jun Li, Zhijie Feng, Sijiezi Li
Expansive soils cause frequent surface deformation due to their expansion and contraction, which is a serious engineering hazard, and long-term subsidence monitoring is a prerequisite for preventing and controlling expansive soil disasters. Currently, the conventional monitoring methods for the above issue include Interferometric Synthetic Aperture Radar (InSAR) technology, but InSAR is not suitable for uninterrupted monitoring of surface deformation and has low sensitivity. Meanwhile, it can’t obtain multiple surface environmental parameters around the station. The Global Navigation Satellite System (GNSS), a system that can directly acquire surface deformation, has been widely used in landslide disaster monitoring, and in recent years, this technology has also been applied to the field of expansive soil disaster monitoring. At the same time, GNSS can also provide a constant stream of L-band microwave signals to obtain ground environmental information such as precipitable rainfall and soil moisture around the station. In previous studies of expansive soil hazards, GNSS technology has been mainly used to provide surface deformation information without exploring its potential to invert ground environmental information around stations. This paper proposes a ground-based GNSS remote sensing integrated monitoring system that integrates expanding land surface parameters such as “precipitable rainfall, soil moisture, and three-dimensional deformation” and analyses the ability of ground-based GNSS to be used for integrated monitoring of expanding soil hazards by combining ten years of consecutive observational data from GNSS stations along the coastal area of Houston. The experimental results show that the GNSS is capable of providing highly accurate time-series characterization of deformation, and inelastic subsidence in recent years has resulted in a cumulative permanent elevation loss of 2 cm along the Houston coast. The correlation coefficient between soil moisture extracted by the fifth-generation European reanalysis data (ERA5) and soil moisture inverted by ground-based GNSS is 0.514. At the same time, the GNSS was also able to monitor the zenithal precipitable water vapor (PWV) and soil moisture changes around the GNSS station and further analyze the response relationship among the three parameters, which could comprehensively evaluate the stability of expansive soils, avoiding the unreliability of relying on a single piece of monitoring information to assess the stability of expansive soils. We hope to construct a more comprehensive ground-based GNSS remote sensing monitoring system to better monitor expansive soil hazards.
膨胀土因其膨胀和收缩而导致地表变形频繁,具有严重的工程危害性,长期沉降监测是防治膨胀土灾害的前提条件。目前,针对上述问题的常规监测方法包括干涉合成孔径雷达(InSAR)技术,但 InSAR 不适合对地表变形进行不间断监测,灵敏度较低。同时,它也无法获取站点周围的多种地表环境参数。全球导航卫星系统(GNSS)是一种可直接获取地表形变的系统,已广泛应用于滑坡灾害监测,近年来,该技术也被应用于膨胀土灾害监测领域。同时,全球导航卫星系统还可以提供源源不断的 L 波段微波信号,获取站点周围的降水量、土壤湿度等地面环境信息。在以往的膨胀性土壤灾害研究中,GNSS 技术主要用于提供地表形变信息,而没有挖掘其反演站点周围地面环境信息的潜力。本文提出了一种集 "可降水量、土壤水分和三维形变 "等膨胀性地表参数于一体的地基 GNSS 遥感综合监测系统,并结合休斯顿沿海地区 GNSS 观测站连续十年的观测数据,分析了地基 GNSS 用于膨胀性土壤灾害综合监测的能力。实验结果表明,全球导航卫星系统能够提供高度精确的形变时间序列特征,近年来的非弹性沉降已导致休斯顿沿海地区累计永久海拔下降 2 厘米。第五代欧洲再分析数据(ERA5)提取的土壤湿度与地基全球导航卫星系统反演的土壤湿度之间的相关系数为 0.514。同时,全球导航卫星系统还能监测全球导航卫星系统站点周围的天顶降水水汽(PWV)和土壤水分变化,并进一步分析这三个参数之间的响应关系,从而全面评估膨胀性土壤的稳定性,避免了依靠单一监测信息评估膨胀性土壤稳定性的不可靠性。我们希望构建一个更全面的地基 GNSS 遥感监测系统,以更好地监测膨胀土灾害。
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引用次数: 0
Temporary atmospheres produced by human activities on the Moon 人类在月球上的活动产生的临时大气层
IF 2.6 3区 地球科学 Q2 ASTRONOMY & ASTROPHYSICS Pub Date : 2024-08-19 DOI: 10.1016/j.asr.2024.08.042
Rosemary M. Killen, Benjamin T. Sprague, William M. Farrell
Outgassing from materials, whether through the ascent/descent stages of lunar vehicles, airlock depressurizing, rover or astronaut suit outgassing, may cause an effect of unwanted accumulation of volatiles at the surface and exosphere. This is especially important at (or proximal) to permanently shadowed regions (PSRs) at the lunar poles. Herein, we provide estimates of expected outgassing from various human-landed objects on the Moon, including backpacks, airlocks, rovers, landers, trash and mining operations. Astronaut suits produce some level of oxygen outgassing (Helou et al., 2022), which may transport and condense in these PSRs, even in micro- cold traps (Glavin et al., 2010).We estimate the outgassing from drill mining and trash-to-gas conversion assuming a specific technology is operating. These outgassing systems can create local, temporary atmospheres in the vicinity (∼100 km radius) of the sources. The atmosphere may be particularly high within meters of the source. To obtain column densities for these temporary atmospheres, we first bracket ranges for the gas number loss as a function of time. We then derive the maximum distance traveled and the time the released molecules remain in the exosphere for a single ballistic hop, assuming the molecules are ejected from the surface of the object at its surface temperature. In some cases, such as the astronaut backpack and the rover, the temperature is that of the source. Given this information, an average and peak local exospheric density and column density can be estimated. We find that backpacks, airlock releases, and the Starship lander can create relatively high-density local atmospheres, with local near-lander outgassing water densities exceeding 10/cm. This local water exosphere is over 10 times greater than the LADEE-derived lower limit of the natural water exosphere at ∼3/cm. Thus, the anthropogenic temporary water exosphere will likely dominate the environment near the lander, making an assessment of the natural exospheric water environment difficult.
无论是月球飞行器的上升/下降阶段,还是气闸减压、漫游车或宇航服的排气,都可能在月球表面和外大气层造成不必要的挥发物积累。这在月球两极永久阴影区(或其附近)尤为重要。在此,我们对人类在月球上的各种着陆物体(包括背包、气闸、漫游车、着陆器、垃圾和采矿作业)的预期排气量进行了估算。宇航服会产生一定程度的氧气放气(Helou 等人,2022 年),这些氧气可能会在这些 PSR 中传输和冷凝,甚至在微冷捕集器中传输和冷凝(Glavin 等人,2010 年)。这些放气系统可在来源附近(半径∼100 公里)形成局部的临时大气。在辐射源数米范围内,大气可能会特别高。为了获得这些临时大气的柱密度,我们首先为气体数量损失随时间变化的范围设置括号。然后,假定分子是在天体表面温度下从天体表面喷射出来的,我们就可以得出一次弹道跳跃的最大飞行距离和释放的分子在外层大气中停留的时间。在某些情况下,例如宇航员背包和漫游车,温度就是源的温度。根据这些信息,可以估算出当地外大气层的平均密度和峰值密度以及柱密度。我们发现,背包、气闸释放器和星舰着陆器可以产生密度相对较高的局部大气,着陆器附近的局部排气水密度超过 10/cm。这种局部水外大气比 LADEE 得出的自然水外大气下限 ∼3/cm 大 10 倍以上。因此,人为的临时水外大气层很可能在着陆器附近的环境中占主导地位,从而难以对自然外大气层的水环境进行评估。
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引用次数: 0
A general three-component polarimetric SAR interferometry target decomposition 一般三分量偏振合成孔径雷达干涉测量目标分解
IF 2.6 3区 地球科学 Q2 ASTRONOMY & ASTROPHYSICS Pub Date : 2024-08-19 DOI: 10.1016/j.asr.2024.08.043
Shuaifeng Hu, Qinghua Xie, J. David Ballester-Berman, Qi Dou, Xing Peng, Youjun Wang, Haiqiang Fu, Jianjun Zhu
In this study, a general three-component polarimetric SAR interferometry (PolInSAR) target decomposition framework is proposed by modifying the existing generalized surface, double-bounce, and volume models. The resulting general models are then compared to the original Freeman-Durden modeling strategy. Three types of generalized volume scattering models (generalized volume scattering model (GVSM), simplified Neumann volume scattering model (SNVSM) and simplified adaptive volume scattering model (SAVSM)) were employed. Simulated L-band PolInSAR data over deciduous and pine forest stands generated by PolSARpro and DLR P-band airborne PolInSAR data over a tropical forest area from the AfriSAR 2016 campaign were used for performance analysis. A qualitative comparison of the decomposition results shows that the three generalized volume scattering models generally deviate from the Freeman-Durden model, showing that the GVSM and SNVSM models have very similar results. In the case of airborne data over tropical forests, a tomographic synthetic aperture radar (TomoSAR) profile was also computed and used as a benchmark for comparison with the phase-center profiles of all four volume-scattering components. Not only do the GVSM and SNVSM models exhibit similar results between them (as with simulated data), but also a better match with the HV TomoSAR profile.
本研究通过修改现有的广义表面模型、双弹跳模型和体积模型,提出了一种通用的三分量偏振合成孔径雷达干涉测量(PolInSAR)目标分解框架。然后将由此产生的通用模型与最初的 Freeman-Durden 建模策略进行比较。采用了三种广义体散射模型(广义体散射模型(GVSM)、简化诺伊曼体散射模型(SNVSM)和简化自适应体散射模型(SAVSM))。性能分析使用了 PolSARpro 生成的落叶林和松林林分 L 波段 PolInSAR 仿真数据,以及 2016 年非洲合成孔径雷达(AfriSAR)活动中热带林区的 DLR P 波段机载 PolInSAR 数据。分解结果的定性比较显示,三种广义体散射模型普遍偏离弗里曼-杜登模型,表明 GVSM 和 SNVSM 模型的结果非常相似。对于热带森林上空的机载数据,还计算了断层合成孔径雷达(TomoSAR)剖面图,并将其作为基准与所有四个体散射分量的相位中心剖面图进行比较。GVSM 模型和 SNVSM 模型不仅显示出相似的结果(与模拟数据相似),而且与 HV TomoSAR 剖面更为匹配。
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引用次数: 0
Correlating sunspot numbers with Alfvén and Magnetosonic Mach number across last four solar cycles and prediction of solar cycle 25 with LSTM+model 将过去四个太阳周期的太阳黑子数与阿尔弗文和磁子马赫数相关联,并利用 LSTM+ 模型预测太阳周期 25
IF 2.6 3区 地球科学 Q2 ASTRONOMY & ASTROPHYSICS Pub Date : 2024-08-19 DOI: 10.1016/j.asr.2024.08.041
Mu He, Hongbing Zhu
Solar activity dynamics are explored through an in-depth analysis of the interplay between sunspot numbers and critical magnetohydrodynamic parameters − specifically Alfvén Mach number and Magnetosonic Mach number − over the past four solar cycles (SC). Our investigation reveals a robust negative correlation between SSN and both Alfvén Mach number and Magnetosonic Mach number, shedding light on the intertwined nature of solar magnetic phenomena and magnetohydrodynamic processes. Significant temporal synchronicities are unveiled, elucidating compelling alignments between specific features of Alfvén Mach number and Magnetosonic Mach number and the peaks and troughs of SSN throughout the solar cycles. This temporal coherence underscores the complex interplay between solar magnetic activity and the broader dynamics of magnetohydrodynamic phenomena, providing deeper insights into solar cycle behavior. To enhance our understanding and predictive capabilities, we deploy an optimized LSTM+model for forecasting Alfvén Mach number and Magnetosonic Mach number in the ongoing solar cycle, SC-25. Rigorous validation of the model’s accuracy is achieved through meticulous examination of prediction results for SC-24, affirming the reliability and robustness of our predictive framework. Furthermore, the anticipated timing of the first appearance to peak and the overall peak of SSN in SC-25 is calculated as 2 Jun. 2023 ± 34 days and 16 Jan. 2025 ± 27 days, respectively. Notably, these projections suggest the possibility of a double peak phenomenon in SC-25, characterized by comparable intensity levels around 160.
通过深入分析过去四个太阳周期(SC)中太阳黑子数与关键磁流体动力学参数(特别是阿尔弗文马赫数和磁声波马赫数)之间的相互作用,探索了太阳活动动力学。我们的研究揭示了太阳黑子数与阿尔弗文马赫数和磁声波马赫数之间强烈的负相关,揭示了太阳磁现象和磁流体动力学过程相互交织的本质。揭示了重要的时间同步性,阐明了阿尔弗文马赫数和磁声波马赫数的特定特征与整个太阳周期中 SSN 的峰值和谷值之间令人信服的一致性。这种时间上的一致性强调了太阳磁活动与更广泛的磁流体动力学现象之间复杂的相互作用,为我们更深入地了解太阳周期行为提供了依据。为了加强我们的理解和预测能力,我们部署了一个优化的 LSTM+ 模型,用于预测正在进行的太阳周期 SC-25 中的阿尔弗文马赫数和磁流体马赫数。通过细致检查 SC-24 的预测结果,对模型的准确性进行了严格验证,从而肯定了我们预测框架的可靠性和稳健性。此外,根据计算,SC-25 中 SSN 首次出现峰值和总体峰值的预期时间分别为 2023 年 6 月 2 日 ± 34 天和 2025 年 1 月 16 日 ± 27 天。值得注意的是,这些预测表明,SC-25 有可能出现双峰现象,其特点是强度水平在 160 左右。
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引用次数: 0
Assessing effect of water photovoltaics on nearby water surface temperature using remote sensing techniques 利用遥感技术评估水上光伏发电对附近水面温度的影响
IF 2.6 3区 地球科学 Q2 ASTRONOMY & ASTROPHYSICS Pub Date : 2024-08-19 DOI: 10.1016/j.asr.2024.08.040
Di Chen, Qiuzhi Peng, Jiating Lu, Peiyi Huang, Yaxuan Liu, Fengcan Peng
The impact of photovoltaic power plants (PVs) on ambient temperature has received global research attention. However, existing reports predominantly focus on ground photovoltaic power plants (GPVs), with limited attention to water photovoltaic power plants (WPVs). As a new type of PVs, the influence of WPVs on nearby water surface temperature (WST) remains unclear. Utilizing 15 WPVs in China as case studies, this study assessed the effect of WPVs on nearby WST through remote sensing techniques. The findings revealed that WPVs have a significant heating effect ( < 0.001) on the WST in the nearby zone (0–120 m from the photovoltaic panels) compared to the distant water (120–240 m from the photovoltaic panels), indicating that WPVs can modify the thermal environment of adjacent water. Furthermore, we further found that the photovoltaic coverage ratio is significantly ( < 0.05) positively correlated with the heating effect of WPVs on nearby WST. This paper highlights the effectiveness of remote sensing techniques in evaluating the impact of photovoltaics on surrounding WST. Considering the potential impact of the photovoltaic heating effect on the aquatic ecological environment, we recommend carefully considering the necessity and appropriate area proportion of WPVs in specific water.
光伏电站(PVs)对环境温度的影响已受到全球研究的关注。然而,现有报告主要关注地面光伏电站(GPV),对水上光伏电站(WPV)的关注有限。作为一种新型光伏电站,水上光伏电站对附近水面温度(WST)的影响尚不清楚。本研究以中国的 15 个水上光伏电站为案例,通过遥感技术评估了水上光伏电站对附近水面温度的影响。研究结果表明,与远处水域(距离光伏板 120-240 米)相比,近处水域(距离光伏板 0-120 米)的 WPV 对附近水域的 WST 有显著的加热效应(< 0.001),这表明 WPV 可以改变附近水域的热环境。此外,我们还进一步发现,光伏覆盖率与 WPV 对附近 WST 的加热效应呈显著正相关(< 0.05)。本文强调了遥感技术在评估光伏发电对周围水体温度影响方面的有效性。考虑到光伏加热效应对水生态环境的潜在影响,我们建议在具体水域中仔细考虑安装 WPV 的必要性和适当的面积比例。
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引用次数: 0
Tight integration of real-time GNSS PPP and INS: Ionosphere-free combined vs uncombined models 实时 GNSS PPP 和 INS 的紧密集成:无电离层组合模型与非组合模型的对比
IF 2.6 3区 地球科学 Q2 ASTRONOMY & ASTROPHYSICS Pub Date : 2024-08-17 DOI: 10.1016/j.asr.2024.08.037
Lei Zhao, Paul Blunt, Lei Yang, Qiyuan Zhang, Guangcai Li, Qiang Wen
The GNSS Precise Point Positioning (PPP) model is usually established in either an ionospheric-free (IF) combined form or an uncombined (UC) form. These formulations can be equivalent in theory but their applications in practice could still perform differently when integrated with external sensors. In this study, we compared the positioning performance of the two PPP models tightly coupled with the Inertial Navigation System (INS) using a high-grade inertial measurement unit (IMU) in real vehicle navigation tests. The ambiguity resolution (AR) was also exploited in the two PPP models after applying the observable specific biases (OSB) to the GNSS raw code and phase measurements. According to the results, under good satellite observability the UC PPP/INS tightly-coupled integration (TCI) significantly outperforms the IF PPP/INS TCI. The UC TCI model with AR could achieve a positioning accuracy of 4.6 and 3.0 cm in the horizontal and vertical directions, which are improved by 37 % and 63 % respectively relative to the IF TCI model. However, in the case of frequent GNSS signal interruptions or poor satellite observation condition, the IF TCI model shows a superior reliability than the UC TCI. Nevertheless, when the ionospheric parameters are properly constrained in the UC TCI model, substantial improvements in terms of convergence and accuracy are obtained. The UC PPP augmented with external precise ionospheric information would greatly increase the cost, and users may select the appropriate PPP model with INS TCI in real applications in accordance with the demanded accuracy level and measuring conditions.
全球导航卫星系统精确点定位(PPP)模型通常以无电离层(IF)组合形式或非组合(UC)形式建立。这两种形式在理论上是等效的,但在实际应用中与外部传感器集成后,其性能仍会有所不同。在本研究中,我们使用高级惯性测量单元(IMU)在实际车辆导航测试中比较了与惯性导航系统(INS)紧密结合的两种 PPP 模型的定位性能。在对 GNSS 原始代码和相位测量应用可观测特定偏差(OSB)后,两个 PPP 模型还利用了模糊分辨率(AR)。结果显示,在良好的卫星可观测性条件下,UC PPP/INS 紧耦合集成(TCI)明显优于 IF PPP/INS TCI。带有 AR 的 UC TCI 模型在水平和垂直方向的定位精度分别为 4.6 厘米和 3.0 厘米,比 IF TCI 模型分别提高了 37% 和 63%。不过,在 GNSS 信号频繁中断或卫星观测条件较差的情况下,中频 TCI 模型的可靠性优于 UC TCI。尽管如此,当电离层参数在 UC TCI 模型中得到适当约束时,收敛性和准确性都会得到大幅提高。在 UC PPP 中增加外部精确电离层信息会大大增加成本,用户可在实际应用中根据所需的精度等级和测量条件选择适当的 PPP 模型和 INS TCI。
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引用次数: 0
Determination of the spacecraft’s spin axis orientation. Photometric patterns method 确定航天器的自旋轴方向。光度模式法
IF 2.6 3区 地球科学 Q2 ASTRONOMY & ASTROPHYSICS Pub Date : 2024-08-17 DOI: 10.1016/j.asr.2024.08.038
Nikolay Koshkin, Leonid Shakun, Elena Korobeynikova, Seda Melikyants, Svetlana Strakhova, Vladislav Dragomiretsky, Andrey Ryabov, Sergey Terpan, Tatiana Golubovskaya
Near-Earth space is becoming increasingly congested; the number of satellites in low Earth orbit (LEO), where there is already the greatest spatial density of objects (including man-made debris), is increasing rapidly. Knowing the status of non-cooperative space objects is one of the requirements of space situational awareness (SSA). Assessing the dynamic properties of large inactive satellites and rocket bodies, such as their rotation period and the spatial location of the rotation axis, is necessary to predict their orientation. This information is critical to both the success of active debris removal (ADR) missions and improved orbital propagation of objects in LEO. Monitoring the state of RSO is carried out by various means, including using ground-based optical sensors by collecting photometric data, processing it and analyzing light curves. This paper presents a new method for estimating the orientation of the RSO rotation axis in space. This method relies on structural analysis of RSO light curves and the search for similar fragments, called ”photometric patterns,” in observations obtained from one or several sites simultaneously or over a short period of time. The method does not require knowledge of the RSO shape and does not impose strict requirements on the quality of photometric observations.
近地空间正变得越来越拥挤;低地球轨道(LEO)上的卫星数量正在迅速增加,而这里的物体(包括人造碎片)空间密度已经最大。了解不合作空间物体的状态是空间态势感知(SSA)的要求之一。评估大型非活动卫星和火箭体的动态特性,如旋转周期和旋转轴的空间位置,对于预测其方位十分必要。这些信息对于成功执行主动碎片清除(ADR)任务和改进低地轨道上物体的轨道传播都至关重要。监测 RSO 状态的手段多种多样,包括使用地面光学传感器收集光度数据、处理数据和分析光曲线。本文提出了一种估算 RSO 空间旋转轴方向的新方法。这种方法依赖于对 RSO 光曲线的结构分析,以及从一个或多个观测点同时或在短时间内获得的观测数据中寻找类似的片段(称为 "光度模式")。这种方法不需要了解 RSO 的形状,对测光观测的质量也没有严格要求。
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引用次数: 0
Futuristic flood risks assessment, in the Upper Vellar Basin, integrating AHP and bivariate analysis 综合 AHP 和双变量分析,对上维拉尔盆地进行未来洪水风险评估
IF 2.6 3区 地球科学 Q2 ASTRONOMY & ASTROPHYSICS Pub Date : 2024-08-15 DOI: 10.1016/j.asr.2024.08.030
Subbulakshmi M, Sachikanta Nanda
Flood susceptibility maps provide invaluable information for assessing and managing flood-prone areas, aiding in proactive planning, risk reduction strategies, and safeguarding vulnerable communities. The current research concentrates on advancing sustainable development practices by undertaking a comprehensive assessment of flood susceptibility in the Upper Vellar basin, with a projection for 2050. Employing an integrative methodology, this study utilizes an Analytical Hierarchy Process (AHP) and Bivariate Analysis. Nine critical parameters were used: elevation, distance from the river, distance from the road, drainage density, predicted LULC, projected precipitation, slope, soil type, and Topographic Wetness Index (TWI). The Modules of Land Use Change Evaluation (MOLUSE) plugin, which uses Cellular Automata-Artificial Neural Network (CA-ANN), was employed to predict the LULC map for the year 2050. Furthermore, bias-corrected Coupled Model Intercomparison Project 6 (CMIP 6) EC EARTH 3 Model (GCM) RCP 4.5 and 8.5 projected precipitation data were employed. The resulting flood susceptibility zones are classified into three categories: low, moderate, and high, with proportions of 32.64%, 55.52%, and 11.84% for RCP 4.5, and 34.63%, 53.46%, and 11.91% for RCP 8.5, respectively, concerning the total area. In both scenarios, nearly 38% of the settlement area is at high flood risk. This study provides essential insights for policymakers and stakeholders, facilitating the formulation of sustainable strategies to address projected changes in land use, precipitation patterns, and flood susceptibility in the Upper Vellar region up to 2050.
洪水易发区地图为评估和管理洪水易发区提供了宝贵的信息,有助于制定积极的规划、降低风险战略和保护脆弱社区。当前的研究集中于通过对上韦拉尔流域洪水易发性的全面评估,以及对 2050 年的预测,推进可持续发展实践。本研究采用综合方法,使用了层次分析法(AHP)和双变量分析法。使用了九个关键参数:海拔、与河流的距离、与道路的距离、排水密度、预测的土地利用、土地利用变化、预测的降水量、坡度、土壤类型和地形湿润指数(TWI)。土地利用变化评估模块(MOLUSE)插件采用了细胞自动机-人工神经网络(CA-ANN),用于预测 2050 年的土地利用、土地利用变化(LULC)地图。此外,还采用了经过偏差校正的耦合模式相互比较项目 6(CMIP 6)EC EARTH 3 模式(GCM)RCP 4.5 和 8.5 预测降水数据。得出的洪水易发区分为三类:低、中、高,在 RCP 4.5 中分别占总面积的 32.64%、55.52% 和 11.84%,在 RCP 8.5 中分别占总面积的 34.63%、53.46% 和 11.91%。在这两种情景下,近 38% 的居住区面临高洪水风险。这项研究为政策制定者和利益相关者提供了重要见解,有助于制定可持续战略,以应对上维拉尔地区到 2050 年的土地利用、降水模式和洪水易发性的预期变化。
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引用次数: 0
End-to-end deep reinforcement learning and control with multimodal perception for planetary robotic dual peg-in-hole assembly 利用多模态感知进行端到端深度强化学习和控制,实现行星机器人双孔钉入式装配
IF 2.6 3区 地球科学 Q2 ASTRONOMY & ASTROPHYSICS Pub Date : 2024-08-15 DOI: 10.1016/j.asr.2024.08.028
Boxin Li, Zhaokui Wang
The planetary construction is necessary for long-term scientific deep space exploration and resource utilization in the future. The planetary robotic assembly control is a key technology that must be broken through in future planetary surface construction. The paper focuses on the most representative dual peg-in–hole assembly, which has sufficiently complex contact interaction, wide range of applications and good method portability. To address the challenges brought by the unstructured planetary environment and the features of the construction tasks, the paper proposes an end-to-end deep reinforcement learning and control method with multimodal perception for planetary robotic assembly tasks. A staged reward function based on the visual virtual target point for policy learning is designed. The effectiveness and feasibility of the proposed control method have been verified through simulation experiments and ground real robot experiments. It provides a feasible control method of robotic operations for future planetary surface construction.
行星建设是未来长期深空科学探索和资源利用的需要。行星机器人装配控制是未来行星表面建造必须突破的关键技术。本文重点研究了最具代表性的双孔钉入式装配,它具有足够复杂的接触交互、广泛的应用范围和良好的方法便携性。针对非结构化行星环境带来的挑战和建造任务的特点,本文提出了一种端到端的深度强化学习和控制方法,并将其应用于行星机器人装配任务的多模态感知。设计了一种基于视觉虚拟目标点的分阶段奖励函数,用于策略学习。通过仿真实验和地面真实机器人实验,验证了所提控制方法的有效性和可行性。它为未来行星表面建造提供了一种可行的机器人操作控制方法。
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引用次数: 0
Unscented Schmidt-Kalman filter on Lie groups with application to spacecraft attitude estimation 应用于航天器姿态估计的 Lie 群上的无标记 Schmidt-Kalman 滤波器
IF 2.6 3区 地球科学 Q2 ASTRONOMY & ASTROPHYSICS Pub Date : 2024-08-15 DOI: 10.1016/j.asr.2024.08.035
Hangbiao Zhu, Haichao Gui, Rui Zhong
This paper addresses the estimation problem of nonlinear systems evolving on Lie groups with unknown parameters. More precisely, some parameters in the equations of motion or sensor measurements are unknown, such as gravitational anomalies and measurement biases, and are infeasible to estimate with available observations. The unscented Schmidt-Kalman filter (USKF) approach in Euclidean space is incorporated with exponential maps from Lie algebra to Lie groups, to develop USKF algorithms on Lie groups. Two types of USKFs are derived, respectively, from left-invariant and right-invariant state estimation errors. The two USKFs, not only account for the effect of unknown parameters but also provide estimates preserving the geometry of state manifold. They are advantageous over the extended Schmidt-Kalman filter for nonlinear systems in the sense of avoiding the computation of Jacobian and achieving higher or comparable estimation accuracy depending on the magnitude of parameters uncertainties. The proposed method is then applied to a spacecraft attitude estimation problem based on quaternion representation, where the magnitude of the gyroscope bias noise is unknown. Simulations are conducted to illustrate the effectiveness of the proposed algorithms in comparison with other methods.
本文探讨了在未知参数的李群上演化的非线性系统的估计问题。更确切地说,运动方程或传感器测量中的某些参数是未知的,如重力异常和测量偏差,而且无法用现有观测数据进行估计。欧几里得空间中的无特征施密特-卡尔曼滤波器(USKF)方法与从李代数到李群的指数映射相结合,开发出了李群上的 USKF 算法。根据左不变和右不变的状态估计误差,分别推导出两种 USKF。这两种 USKF 不仅考虑了未知参数的影响,还提供了保留状态流形几何的估计值。对于非线性系统,它们比扩展的施密特-卡尔曼滤波器更有优势,可以避免计算雅各布因子,并根据参数不确定性的大小获得更高或相当的估计精度。然后,将提出的方法应用于基于四元数表示的航天器姿态估计问题,其中陀螺仪偏置噪声的大小是未知的。通过仿真说明了所提算法与其他方法相比的有效性。
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Advances in Space Research
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