Introduction:Human brucellosis persists as a critical public health challenge in China.Understanding disease clusters and trends is essential for implementing effective control strategies.This study evaluates the epid...Introduction:Human brucellosis persists as a critical public health challenge in China.Understanding disease clusters and trends is essential for implementing effective control strategies.This study evaluates the epidemiological characteristics and spatiotemporal distribution of brucellosis in China from 2011 to 2023.Methods:Data were obtained from the National Notifiable Disease Reporting System(NNDRS).We conducted descriptive epidemiological analyses and employed SaTScan10.1 and ArcGIS10.7 software to identify disease clusters and generate county(district)-level incidence maps.Results:The incidence of human brucellosis in Chinese mainland increased substantially between 2011 and 2023,rising from 38,151 cases(2.8/100,000)across 834 counties(25.4%)to 70,439 cases(5.2/100,000)across 2,290 counties(76.9%).A significant upward trend in reported incidence emerged during 2018–2023(average annual percentage change(AAPC)=14.9%,P=0.01).Most cases(89.3%)occurred in individuals aged 25–69 years,with an increasing proportion among those aged over 60 years.While 96.1%of cases were reported in northern provincial-level administrative divisions(PLADs),southern regions demonstrated escalating incidence rates and expanding geographical spread.Southern PLADs exhibited a notable annual increase of 31.5%in reported incidence(P<0.01).Counties(districts)with incidence rates exceeding 10 per 100,000 expanded geographically from northwestern pastoral regions to southern areas and from rural to urban settings.Primary spatiotemporal clusters were concentrated in Inner Mongolia and adjacent provincial-level administrative divisions(PLADs),with emerging clusters identified in Yunnan,Guangdong,and Xizang.Conclusions:The human brucellosis epidemic in China continues to intensify,characterized by rebounding incidence rates and broader geographical distribution across counties(districts).While spatiotemporal clusters remain predominantly centered in Inner Mongolia and neighboring regions,targeted interventions and increased resource allocation for high-risk areas and populations are imperative.展开更多
As a significant city in the Yangtze River Delta regions,Hefei has experienced rapid changes in the sources of air pollution due to its high-speed economic development and urban expansion.However,there has been limite...As a significant city in the Yangtze River Delta regions,Hefei has experienced rapid changes in the sources of air pollution due to its high-speed economic development and urban expansion.However,there has been limited research in recent years on the spatial-temporal distribution and emission of its atmospheric pollutants.To address this,this study conducted mobile observations of urban roads using the Mobile-DOAS instrument from June 2021 to May 2022.The monitoring results exhibit a favourable consistent with TROPOMI satellite data and ground monitoring station data.Temporally,there were pronounced seasonal variations in air pollutants.Spatially,high concentration of HCHO and NO_(2)were closely associated with traffic congestion on roadways,while heightened SO_(2)levels were attributed to winter heating and industrial emissions.The study also revealed that with the implementation of road policies,the average vehicle speed increased by 95.4%,while the NO concentration decreased by 54.4%.In the estimation of urban NO_(x)emission flux,it was observed that in temporal terms,compared with inventory data,the emissions calculated viamobile measurements exhibitedmore distinct seasonal patterns,with the highest emission rate of 349 g/sec in winter and the lowest of 142 g/sec in summer.In spatial terms,the significant difference in emissions between the inner and outer ring roads also suggests the presence of the city’s primary NO_(x)emission sources in the area between these two rings.This study offers data support for formulating the next phase of air pollution control measures in urban areas.展开更多
In the current situation of decelerating economic expansion,examining the digital economy(DE)as a novel economic model is beneficial for the local economy’s sustainable and high-quality development(HQD).We analyzed p...In the current situation of decelerating economic expansion,examining the digital economy(DE)as a novel economic model is beneficial for the local economy’s sustainable and high-quality development(HQD).We analyzed panel data from the Yellow River(YR)region from 2013 to 2021 and discovered notable spatial variances in the composite index and coupling coordination of the two systems.Specifically,the downstream region exhibited the highest coupling coordination,while the upstream region had the lowest.We identified that favorable factors such as economic development,innovation,industrial upgrading,and government intervention can bolster the coupling.Our findings provide a valuable framework for promoting DE and HQD in the YR region.展开更多
Accurate traffic flow prediction has a profound impact on modern traffic management. Traffic flow has complex spatial-temporal correlations and periodicity, which poses difficulties for precise prediction. To address ...Accurate traffic flow prediction has a profound impact on modern traffic management. Traffic flow has complex spatial-temporal correlations and periodicity, which poses difficulties for precise prediction. To address this problem, a Multi-head Self-attention and Spatial-Temporal Graph Convolutional Network (MSSTGCN) for multiscale traffic flow prediction is proposed. Firstly, to capture the hidden traffic periodicity of traffic flow, traffic flow is divided into three kinds of periods, including hourly, daily, and weekly data. Secondly, a graph attention residual layer is constructed to learn the global spatial features across regions. Local spatial-temporal dependence is captured by using a T-GCN module. Thirdly, a transformer layer is introduced to learn the long-term dependence in time. A position embedding mechanism is introduced to label position information for all traffic sequences. Thus, this multi-head self-attention mechanism can recognize the sequence order and allocate weights for different time nodes. Experimental results on four real-world datasets show that the MSSTGCN performs better than the baseline methods and can be successfully adapted to traffic prediction tasks.展开更多
This paper investigates the spatial-temporal cooperative guidance problem for multiple flight vehicles without relying on time-to-go information.First,a two-stage cooperative guidance strategy,namely the cooperative g...This paper investigates the spatial-temporal cooperative guidance problem for multiple flight vehicles without relying on time-to-go information.First,a two-stage cooperative guidance strategy,namely the cooperative guidance and the Proportional Navigation Guidance(PNG)stage strategy,is developed to realize the spatial-temporal constraints in two dimensions.At the former stage,two controllers are designed and superimposed to satisfy both impact time consensus and impact angle constraints.Once the convergent conditions are satisfied,the flight vehicles will switch to the PNG stage to ensure zero miss distance.To further extend the results to three dimensions,a planar pursuit guidance stage is additionally imposed at the beginning of guidance.Due to the inde-pendence of time-to-go estimation,the proposed guidance strategy possesses great performance in satisfying complex spatial-temporal constraints even under flight speed variation.Finally,several numerical simulations are implemented to verify the effectiveness and advantages of the proposed results under different scenarios.展开更多
Forest fires pose a significant threat to human life and property,so the utilization of unmanned aircraft systems provides new ways for forest firefighting.Given the constrained load capacities of these aircraft,aeria...Forest fires pose a significant threat to human life and property,so the utilization of unmanned aircraft systems provides new ways for forest firefighting.Given the constrained load capacities of these aircraft,aerial refueling becomes crucial to extend their operational time and range.In order to address the complexities of firefighting missions involving multi-receiver and multi-tanker deployed from various airports,first,a fuel consumption calculation model for aerial refueling scheduling is established based on the receiver path.Then,two distinct methods,including an integrated one and a decomposed one,are designed to address the challenges of establishing refueling airspace and allocating tasks for tankers.Both methods aim to optimize total fuel consumption of the receivers and tankers within the aerial refueling scheduling framework.The optimization problem is established as nonlinear optimization models along with restrictions.The integrated method seamlessly combines refueling rendezvous point scheduling and tanker task allocation into unified process.It has a complete solution space and excels in optimizing total fuel consumption.The decomposed method,through the separation of rendezvous point scheduling and task allocation,achieves a reduced computational complexity.However,this comes at the cost of sacrificing optimality by excluding specific feasible solutions.Finally,numerical simulations are carried out to verify the feasibility and effectiveness of the proposed methods.These simulations yield insights crucial for the practical engineering application of both the integrated and decomposed methods in real-world scenarios.This comprehensive approach aims to enhance the efficiency of forest firefighting operations,mitigating the risks posed by forest fires to human life and property.展开更多
In the Industrial Internet of Things(IIoT),sensors generate time series data to reflect the working state.When the systems are attacked,timely identification of outliers in time series is critical to ensure security.A...In the Industrial Internet of Things(IIoT),sensors generate time series data to reflect the working state.When the systems are attacked,timely identification of outliers in time series is critical to ensure security.Although many anomaly detection methods have been proposed,the temporal correlation of the time series over the same sensor and the state(spatial)correlation between different sensors are rarely considered simultaneously in these methods.Owing to the superior capability of Transformer in learning time series features.This paper proposes a time series anomaly detection method based on a spatial-temporal network and an improved Transformer.Additionally,the methods based on graph neural networks typically include a graph structure learning module and an anomaly detection module,which are interdependent.However,in the initial phase of training,since neither of the modules has reached an optimal state,their performance may influence each other.This scenario makes the end-to-end training approach hard to effectively direct the learning trajectory of each module.This interdependence between the modules,coupled with the initial instability,may cause the model to find it hard to find the optimal solution during the training process,resulting in unsatisfactory results.We introduce an adaptive graph structure learning method to obtain the optimal model parameters and graph structure.Experiments on two publicly available datasets demonstrate that the proposed method attains higher anomaly detection results than other methods.展开更多
Earthquakes exhibit clear clustering on the earth. It is important to explore the spatial-temporal characteristics of seismicity clusters and their spatial heterogeneity. We analyze effects of plate space, tectonic st...Earthquakes exhibit clear clustering on the earth. It is important to explore the spatial-temporal characteristics of seismicity clusters and their spatial heterogeneity. We analyze effects of plate space, tectonic style, and their interaction on characteristic of cluster.Based on data of earthquakes not less than moment magnitude(M_w) 5.6 from 1960 to 2014, this study used the spatial-temporal scan method to identify earthquake clusters. The results indicate that seismic spatial-temporal clusters can be classified into two types based on duration: persistent clusters and burst clusters. Finally, we analysed the spatial heterogeneity of the two types. The main conclusions are as follows: 1) Ninety percent of the persistent clusters last for 22-38 yr and show a high clustering likelihood;ninety percent of the burst clusters last for 1-1.78 yr and show a high relative risk. 2) The persistent clusters are mainly distributed in interplate zones, especially along the western margin of the Pacific Ocean. The burst clusters are distributed in both intraplate and interplate zones, slightly concentrated in the India-Eurasia interaction zone. 3) For the persistent type, plate interaction plays an important role in the distribution of the clusters’ likelihood and relative risk. In addition, the tectonic style further enhances the spatial heterogeneity. 4) For the burst type,neither plate activity nor tectonic style has an obvious effect on the distribution of the clusters’ likelihood and relative risk. Nevertheless,interaction between these two spatial factors enhances the spatial heterogeneity, especially in terms of relative risk.展开更多
The spatial and temporal variation of green economic efficiency and its driving factors are of great significance for the construction of high-efficiency and low-consumption green development model and sustainable soc...The spatial and temporal variation of green economic efficiency and its driving factors are of great significance for the construction of high-efficiency and low-consumption green development model and sustainable socio-economic development.The research focused on the Yangtze River Economic Belt(YREB)and employed the miniumum distance to strong efficient frontier DEA(MinDs)model to measure the green economic efficiency of the municipalities in the region between 2008 and 2020.Then,the spatial autocorrelation model was used to analyze the evolution characteristics of its spatial pattern.Finally,Geodetector was applied to reveal the drivers and their interactions on green economic efficiency.It is found that:1)the overall green economic efficiency of the YREB from 2008 to 2020 shows a W-shaped fluctuating upward trend,green economic efficiency is greater in the downstream and smallest in the upstream;2)the spatial distribution of green economic efficiency shows clustering characteristics,with multi-core clustering based on‘city clusters-central cities'becoming more obvious over time;the High-High agglomeration type is mainly clustered in Jiangsu and Zheji-ang,while the Low-Low agglomeration type is clustered in the western Sichuan Plateau area and southwestern Yunnan;3)from input-output factors,whether it is the YREB as a whole or the upper,middle and lower reaches regions,the economic development level,labor input,and capital investment are the leading factors in the spatial-temporal evolution of green economic efficiency,with the com-prehensive influence of economic development level and pollution index being the most important interactive driving factor;4)from so-cio-economic factors,information technology drivers such as government intervention,transportation accessibility,information infra-structure,and Internet penetration are always high impact influencers and dominant interaction factors for green economic efficiency in the YREB and the three major regions in the upper,middle and lower reaches.Accordingly,the article puts forward relevant policy re-commendations in terms of formulating differentiated green transformation strategies,strengthening network leadership and informa-tion technology construction and coordinating multi-factor integrated development,which could provide useful reference for promoting synergistic green economic efficiency in the YREB.展开更多
Background:Brucellosis is a major public health issue in China,while its temporal and spatial distribution have not been studied in depth.This study aims to better understand the epidemiology of brucellosis in the mai...Background:Brucellosis is a major public health issue in China,while its temporal and spatial distribution have not been studied in depth.This study aims to better understand the epidemiology of brucellosis in the mainland of China,by investigating the human,temporal and spatial distribution and clustering characteristics of the disease.Methods:Human brucellosis data from the mainland of China between 2012 and 2016 were obtained from the China Information System for Disease Control and Prevention.The spatial autocorrelation analysis of ArcGIS10.6 and the spatial-temporal scanning analysis of SaTScan software were used to identify potential changes in the spatial and temporal distribution of human brucellosis in the mainland of China during the study period.Results:A total of 244348 human brucellosis cases were reported during the study period of 2012-2016.The average incidence of human brucellosis was higher in the 40-65 age group.The temporal clustering analysis showed that the high incidence of brucellosis occurred between March and July.The spatial clustering analysis showed that the location of brucellosis clustering in the mainland of China remained relatively fixed,mainly concentrated in most parts of northern China.The results of the spatial-temporal clustering analysis showed that Heilongjiang represents a primary clustering area,and the Tibet,Shanxi and Hubei provinces represent three secondary clustering areas.Conclusions:Human brucellosis remains a widespread challenge,particularly in northern China.The clustering analysis highlights potential high-risk human groups,time frames and areas,which may require special plans and resources to monitor and control the disease.展开更多
To clarify the connotations and extensions of urban resilience,this study focuses on the Chengdu-Chongqing Economic Circle with 16 cities as research subjects.A comprehensive evaluation index system was constructed to...To clarify the connotations and extensions of urban resilience,this study focuses on the Chengdu-Chongqing Economic Circle with 16 cities as research subjects.A comprehensive evaluation index system was constructed to measure the resilience of each city from 2003 to 2020.The spatial-temporal evolution characteristics were analyzed using Kernel density estimation,standard deviation ellipse,and spatial Markov chain analysis,and the spatial Tobit model was introduced to discover the influencing factors.The results indicate the following:①Urban resilience in the Chengdu-Chongqing Economic Circle displays an upward trend,with the center of gravity moving to the southwest,and the polarization phenomenon intensifying.②The urban resilience level in a region has certain spatial and geographical dependence,while the probability of urban resilience transfer differs in adjacent cities with different resilience levels.③Urban centrality,economic scale,openness level,and financial development promote urban resilience,whereas government scale significantly inhibits it.Finally,this paper proposes countermeasures and suggestions to improve the urban resilience of the Chengdu-Chongqing Economic Circle.展开更多
The prediction for Multivariate Time Series(MTS)explores the interrelationships among variables at historical moments,extracts their relevant characteristics,and is widely used in finance,weather,complex industries an...The prediction for Multivariate Time Series(MTS)explores the interrelationships among variables at historical moments,extracts their relevant characteristics,and is widely used in finance,weather,complex industries and other fields.Furthermore,it is important to construct a digital twin system.However,existing methods do not take full advantage of the potential properties of variables,which results in poor predicted accuracy.In this paper,we propose the Adaptive Fused Spatial-Temporal Graph Convolutional Network(AFSTGCN).First,to address the problem of the unknown spatial-temporal structure,we construct the Adaptive Fused Spatial-Temporal Graph(AFSTG)layer.Specifically,we fuse the spatial-temporal graph based on the interrelationship of spatial graphs.Simultaneously,we construct the adaptive adjacency matrix of the spatial-temporal graph using node embedding methods.Subsequently,to overcome the insufficient extraction of disordered correlation features,we construct the Adaptive Fused Spatial-Temporal Graph Convolutional(AFSTGC)module.The module forces the reordering of disordered temporal,spatial and spatial-temporal dependencies into rule-like data.AFSTGCN dynamically and synchronously acquires potential temporal,spatial and spatial-temporal correlations,thereby fully extracting rich hierarchical feature information to enhance the predicted accuracy.Experiments on different types of MTS datasets demonstrate that the model achieves state-of-the-art single-step and multi-step performance compared with eight other deep learning models.展开更多
Highly evolved granite is an important sign of the mature continent crust and closely associated with deposits of rare metals.In this work,the authors undertake systematically zircon U-Pb ages and whole rock elemental...Highly evolved granite is an important sign of the mature continent crust and closely associated with deposits of rare metals.In this work,the authors undertake systematically zircon U-Pb ages and whole rock elemental data for highly evolved granitic intrusions from the Great Xing’an Range(GXR),NE China,to elucidate their discriminant criteria,spatial-temporal distribution,differentiation and geodynamic mecha-nism.Geochemical data of these highly evolved granites suggest that high w(SiO_(2))(>70%)and differentiation index(DI>88)could be quantified indicators,while strong Eu depletion,high TE_(1,3),lowΣREE and low Zr/Hf,Nb/Ta,K/Rb could only be qualitative indicators.Zircon U-Pb ages suggest that the highly evolved gran-ites in the GXR were mainly formed in Late Mesozoic,which can be divided into two major stages:Late Ju-rassic-early Early Cretaceous(162-136 Ma,peak at 138 Ma),and late Early Cretaceous(136-106 Ma,peak at 126 Ma).The highly evolved granites are mainly distributed in the central-southern GXR,and display a weakly trend of getting younger from northwest to southeast,meanwhile indicating the metallogenic potential of rare metals within the central GXR.The spatial-temporal distribution,combined with regional geological data,indicates the highly evolved Mesozoic granites in the GXR were emplaced in an extensional environ-ment,of which the Late Jurassic-early Early Cretaceous extension was related to the closure of the Mongol-Okhotsk Ocean and roll-back of the Paleo-Pacific Plate,while the late Early Cretaceous extension was mainly related to the roll-back of the Paleo-Pacific Plate.展开更多
Considering the nonlinear structure and spatial-temporal correlation of traffic network,and the influence of potential correlation between nodes of traffic network on the spatial features,this paper proposes a traffic...Considering the nonlinear structure and spatial-temporal correlation of traffic network,and the influence of potential correlation between nodes of traffic network on the spatial features,this paper proposes a traffic speed prediction model based on the combination of graph attention network with self-adaptive adjacency matrix(SAdpGAT)and bidirectional gated recurrent unit(BiGRU).First-ly,the model introduces graph attention network(GAT)to extract the spatial features of real road network and potential road network respectively in spatial dimension.Secondly,the spatial features are input into BiGRU to extract the time series features.Finally,the prediction results of the real road network and the potential road network are connected to generate the final prediction results of the model.The experimental results show that the prediction accuracy of the proposed model is im-proved obviously on METR-LA and PEMS-BAY datasets,which proves the advantages of the pro-posed spatial-temporal model in traffic speed prediction.展开更多
As an important river in the western part of Jilin Province,the lower reach of the Nenjiang River is an important wetland water source conservation area in Jilin Province.Within the watershed,it governs the Momoge Wet...As an important river in the western part of Jilin Province,the lower reach of the Nenjiang River is an important wetland water source conservation area in Jilin Province.Within the watershed,it governs the Momoge Wetland,the Xianghai Wetland,and the Danjiang Wetland in Jilin Province.The main problem in the lower reaches of the Nenjiang River is the uneven distribution of water resources in time and space,and the intensification of land salinization.Zhenlai County and Da an City in the Nenjiang River Basin have sufficient surface water resources,with surface water as the drinking water source.Baicheng City and Tongyu County have scarce surface water resources,and both use groundwater as their domestic water source.The main polluted section in the basin is the Xianghai Reservoir,and the annual water quality evaluation is Class V.However,the water quality of the Tao er River,the main stream of the Nenjiang River,is significantly better than that of the Xianghai Reservoir.In order to better study the water environmental pollution situation in the Nenjiang River basin,monitoring data from five sections of non seasonal rivers in the basin from 2012 to 2021 were selected for studying water quality.This in-depth exploration of the water pollution status and river water quality change trends in the Nenjiang River basin is of great significance for future rural development,agricultural pattern transformation,and the promotion of water ecological civilization construction.展开更多
Federated learning is a machine learning framework designed to protect privacy by keeping training data on clients’devices without sharing private data.It trains a global model through collaboration between clients a...Federated learning is a machine learning framework designed to protect privacy by keeping training data on clients’devices without sharing private data.It trains a global model through collaboration between clients and the server.However,the presence of data heterogeneity can lead to inefficient model training and even reduce the final model’s accuracy and generalization capability.Meanwhile,data scarcity can result in suboptimal cluster distributions for few-shot clients in centralized clustering tasks,and standalone personalization tasks may cause severe overfitting issues.To address these limitations,we introduce a federated learning dual optimization model based on clustering and personalization strategy(FedCPS).FedCPS adopts a decentralized approach,where clients identify their cluster membership locally without relying on a centralized clustering algorithm.Building on this,FedCPS introduces personalized training tasks locally,adding a regularization term to control deviations between local and cluster models.This improves the generalization ability of the final model while mitigating overfitting.The use of weight-sharing techniques also reduces the computational cost of central machines.Experimental results on MNIST,FMNIST,CIFAR10,and CIFAR100 datasets demonstrate that our method achieves better personalization effects compared to other personalized federated learning methods,with an average test accuracy improvement of 0.81%–2.96%.Meanwhile,we adjusted the proportion of few-shot clients to evaluate the impact on accuracy across different methods.The experiments show that FedCPS reduces accuracy by only 0.2%–3.7%,compared to 2.1%–10%for existing methods.Our method demonstrates its advantages across diverse data environments.展开更多
Many fields,such as neuroscience,are experiencing the vast prolife ration of cellular data,underscoring the need fo r organizing and interpreting large datasets.A popular approach partitions data into manageable subse...Many fields,such as neuroscience,are experiencing the vast prolife ration of cellular data,underscoring the need fo r organizing and interpreting large datasets.A popular approach partitions data into manageable subsets via hierarchical clustering,but objective methods to determine the appropriate classification granularity are missing.We recently introduced a technique to systematically identify when to stop subdividing clusters based on the fundamental principle that cells must differ more between than within clusters.Here we present the corresponding protocol to classify cellular datasets by combining datadriven unsupervised hierarchical clustering with statistical testing.These general-purpose functions are applicable to any cellular dataset that can be organized as two-dimensional matrices of numerical values,including molecula r,physiological,and anatomical datasets.We demonstrate the protocol using cellular data from the Janelia MouseLight project to chara cterize morphological aspects of neurons.展开更多
Thermally activated delayed fluorescence(TADF)materials driven by a through-space charge transfer(TSCT)mechanism have garnered wide interest.However,access of TSCT-TADF molecules with longwavelength emission remains a...Thermally activated delayed fluorescence(TADF)materials driven by a through-space charge transfer(TSCT)mechanism have garnered wide interest.However,access of TSCT-TADF molecules with longwavelength emission remains a formidable challenge.In this study,we introduce a novel V-type DA-D-A’emitter,Trz-mCzCbCz,by using a carborane scaffold.This design strategically incorporates carbazole(Cz)and 2,4,6-triphenyl-1,3,5-triazine(Trz)as donor and acceptor moieties,respectively.Theoretical calculations alongside experimental validations affirm the typical TSCT-TADF characteristics of this luminogen.Owing to the unique structural and electronic attributes of carboranes,Trz-mCzCbCz exhibits an orange-red emission,markedly diverging from the traditional blue-to-green emissions observed in classical Cz and Trz-based TADF molecules.Moreover,bright emission in aggregates was observed for Trz-mCzCbCz with absolute photoluminescence quantum yield(PLQY)of up to 88.8%.As such,we have successfully fabricated five organic light-emitting diodes(OLEDs)by utilizing Trz-mCzCbCz as the emitting layer.It is important to note that both the reverse intersystem crossing process and the TADF properties are profoundly influenced by host materials.The fabricated OLED devices reached a maximum external quantum efficiency(EQE)of 12.7%,with an emission peak at 592 nm.This represents the highest recorded efficiency for TSCT-TADF OLEDs employing carborane derivatives as emitting layers.展开更多
For multi-vehicle networks,Cooperative Positioning(CP)technique has become a promising way to enhance vehicle positioning accuracy.Especially,the CP performance could be further improved by introducing Sensor-Rich Veh...For multi-vehicle networks,Cooperative Positioning(CP)technique has become a promising way to enhance vehicle positioning accuracy.Especially,the CP performance could be further improved by introducing Sensor-Rich Vehicles(SRVs)into CP networks,which is called SRV-aided CP.However,the CP system may split into several sub-clusters that cannot be connected with each other in dense urban environments,in which the sub-clusters with few SRVs will suffer from degradation of CP performance.Since Unmanned Aerial Vehicles(UAVs)have been widely used to aid vehicular communications,we intend to utilize UAVs to assist sub-clusters in CP.In this paper,a UAV-aided CP network is constructed to fully utilize information from SRVs.First,the inter-node connection structure among the UAV and vehicles is designed to share available information from SRVs.After that,the clustering optimization strategy is proposed,in which the UAV cooperates with the high-precision sub-cluster to obtain available information from SRVs,and then broadcasts this positioning-related information to other low-precision sub-clusters.Finally,the Locally-Centralized Factor Graph Optimization(LC-FGO)algorithm is designed to fuse positioning information from cooperators.Simulation results indicate that the positioning accuracy of the CP system could be improved by fully utilizing positioning-related information from SRVs.展开更多
基金Supported by the Public Health Emergency Response Mechanism Operation Program of Chinese Center for Disease Control and Prevention(102393220020010000017).
文摘Introduction:Human brucellosis persists as a critical public health challenge in China.Understanding disease clusters and trends is essential for implementing effective control strategies.This study evaluates the epidemiological characteristics and spatiotemporal distribution of brucellosis in China from 2011 to 2023.Methods:Data were obtained from the National Notifiable Disease Reporting System(NNDRS).We conducted descriptive epidemiological analyses and employed SaTScan10.1 and ArcGIS10.7 software to identify disease clusters and generate county(district)-level incidence maps.Results:The incidence of human brucellosis in Chinese mainland increased substantially between 2011 and 2023,rising from 38,151 cases(2.8/100,000)across 834 counties(25.4%)to 70,439 cases(5.2/100,000)across 2,290 counties(76.9%).A significant upward trend in reported incidence emerged during 2018–2023(average annual percentage change(AAPC)=14.9%,P=0.01).Most cases(89.3%)occurred in individuals aged 25–69 years,with an increasing proportion among those aged over 60 years.While 96.1%of cases were reported in northern provincial-level administrative divisions(PLADs),southern regions demonstrated escalating incidence rates and expanding geographical spread.Southern PLADs exhibited a notable annual increase of 31.5%in reported incidence(P<0.01).Counties(districts)with incidence rates exceeding 10 per 100,000 expanded geographically from northwestern pastoral regions to southern areas and from rural to urban settings.Primary spatiotemporal clusters were concentrated in Inner Mongolia and adjacent provincial-level administrative divisions(PLADs),with emerging clusters identified in Yunnan,Guangdong,and Xizang.Conclusions:The human brucellosis epidemic in China continues to intensify,characterized by rebounding incidence rates and broader geographical distribution across counties(districts).While spatiotemporal clusters remain predominantly centered in Inner Mongolia and neighboring regions,targeted interventions and increased resource allocation for high-risk areas and populations are imperative.
基金supported by the National Natural Science Foundation of China(Nos.U19A2044,42105132,42030609,41975037,and 42105133)the National Key Research and Development Program of China(No.2022YFC3703502)+1 种基金the Plan for Anhui Major Provincial Science&Technology Project(No.202203a07020003)Hefei Ecological Environment Bureau Project(No.2020BFFFD01804).
文摘As a significant city in the Yangtze River Delta regions,Hefei has experienced rapid changes in the sources of air pollution due to its high-speed economic development and urban expansion.However,there has been limited research in recent years on the spatial-temporal distribution and emission of its atmospheric pollutants.To address this,this study conducted mobile observations of urban roads using the Mobile-DOAS instrument from June 2021 to May 2022.The monitoring results exhibit a favourable consistent with TROPOMI satellite data and ground monitoring station data.Temporally,there were pronounced seasonal variations in air pollutants.Spatially,high concentration of HCHO and NO_(2)were closely associated with traffic congestion on roadways,while heightened SO_(2)levels were attributed to winter heating and industrial emissions.The study also revealed that with the implementation of road policies,the average vehicle speed increased by 95.4%,while the NO concentration decreased by 54.4%.In the estimation of urban NO_(x)emission flux,it was observed that in temporal terms,compared with inventory data,the emissions calculated viamobile measurements exhibitedmore distinct seasonal patterns,with the highest emission rate of 349 g/sec in winter and the lowest of 142 g/sec in summer.In spatial terms,the significant difference in emissions between the inner and outer ring roads also suggests the presence of the city’s primary NO_(x)emission sources in the area between these two rings.This study offers data support for formulating the next phase of air pollution control measures in urban areas.
基金supported by the National Office for Philosophy and Social Sciences(grant reference 22&ZD067).
文摘In the current situation of decelerating economic expansion,examining the digital economy(DE)as a novel economic model is beneficial for the local economy’s sustainable and high-quality development(HQD).We analyzed panel data from the Yellow River(YR)region from 2013 to 2021 and discovered notable spatial variances in the composite index and coupling coordination of the two systems.Specifically,the downstream region exhibited the highest coupling coordination,while the upstream region had the lowest.We identified that favorable factors such as economic development,innovation,industrial upgrading,and government intervention can bolster the coupling.Our findings provide a valuable framework for promoting DE and HQD in the YR region.
基金supported by the National Natural Science Foundation of China(Grant Nos.62472149,62376089,62202147)Hubei Provincial Science and Technology Plan Project(2023BCB04100).
文摘Accurate traffic flow prediction has a profound impact on modern traffic management. Traffic flow has complex spatial-temporal correlations and periodicity, which poses difficulties for precise prediction. To address this problem, a Multi-head Self-attention and Spatial-Temporal Graph Convolutional Network (MSSTGCN) for multiscale traffic flow prediction is proposed. Firstly, to capture the hidden traffic periodicity of traffic flow, traffic flow is divided into three kinds of periods, including hourly, daily, and weekly data. Secondly, a graph attention residual layer is constructed to learn the global spatial features across regions. Local spatial-temporal dependence is captured by using a T-GCN module. Thirdly, a transformer layer is introduced to learn the long-term dependence in time. A position embedding mechanism is introduced to label position information for all traffic sequences. Thus, this multi-head self-attention mechanism can recognize the sequence order and allocate weights for different time nodes. Experimental results on four real-world datasets show that the MSSTGCN performs better than the baseline methods and can be successfully adapted to traffic prediction tasks.
基金the National Science Fund for Distinguished Young Scholars of China (No.62025301)the National Natural Science Foundation of China (Nos.62273043 and 62373055)+1 种基金the China National Postdoctoral Program for Innovative Talents (No.BX20230461)the China Postdoctoral Science Foundation (No.2023M740249)。
文摘This paper investigates the spatial-temporal cooperative guidance problem for multiple flight vehicles without relying on time-to-go information.First,a two-stage cooperative guidance strategy,namely the cooperative guidance and the Proportional Navigation Guidance(PNG)stage strategy,is developed to realize the spatial-temporal constraints in two dimensions.At the former stage,two controllers are designed and superimposed to satisfy both impact time consensus and impact angle constraints.Once the convergent conditions are satisfied,the flight vehicles will switch to the PNG stage to ensure zero miss distance.To further extend the results to three dimensions,a planar pursuit guidance stage is additionally imposed at the beginning of guidance.Due to the inde-pendence of time-to-go estimation,the proposed guidance strategy possesses great performance in satisfying complex spatial-temporal constraints even under flight speed variation.Finally,several numerical simulations are implemented to verify the effectiveness and advantages of the proposed results under different scenarios.
基金This work was supported by the National Natural Science Foundation of China(Nos.61833013,61473012 and 62103335)Key Research Program of Jiangxi Province in China(No.20192BBEL50005).
文摘Forest fires pose a significant threat to human life and property,so the utilization of unmanned aircraft systems provides new ways for forest firefighting.Given the constrained load capacities of these aircraft,aerial refueling becomes crucial to extend their operational time and range.In order to address the complexities of firefighting missions involving multi-receiver and multi-tanker deployed from various airports,first,a fuel consumption calculation model for aerial refueling scheduling is established based on the receiver path.Then,two distinct methods,including an integrated one and a decomposed one,are designed to address the challenges of establishing refueling airspace and allocating tasks for tankers.Both methods aim to optimize total fuel consumption of the receivers and tankers within the aerial refueling scheduling framework.The optimization problem is established as nonlinear optimization models along with restrictions.The integrated method seamlessly combines refueling rendezvous point scheduling and tanker task allocation into unified process.It has a complete solution space and excels in optimizing total fuel consumption.The decomposed method,through the separation of rendezvous point scheduling and task allocation,achieves a reduced computational complexity.However,this comes at the cost of sacrificing optimality by excluding specific feasible solutions.Finally,numerical simulations are carried out to verify the feasibility and effectiveness of the proposed methods.These simulations yield insights crucial for the practical engineering application of both the integrated and decomposed methods in real-world scenarios.This comprehensive approach aims to enhance the efficiency of forest firefighting operations,mitigating the risks posed by forest fires to human life and property.
基金This work is partly supported by the National Key Research and Development Program of China(Grant No.2020YFB1805403)the National Natural Science Foundation of China(Grant No.62032002)the 111 Project(Grant No.B21049).
文摘In the Industrial Internet of Things(IIoT),sensors generate time series data to reflect the working state.When the systems are attacked,timely identification of outliers in time series is critical to ensure security.Although many anomaly detection methods have been proposed,the temporal correlation of the time series over the same sensor and the state(spatial)correlation between different sensors are rarely considered simultaneously in these methods.Owing to the superior capability of Transformer in learning time series features.This paper proposes a time series anomaly detection method based on a spatial-temporal network and an improved Transformer.Additionally,the methods based on graph neural networks typically include a graph structure learning module and an anomaly detection module,which are interdependent.However,in the initial phase of training,since neither of the modules has reached an optimal state,their performance may influence each other.This scenario makes the end-to-end training approach hard to effectively direct the learning trajectory of each module.This interdependence between the modules,coupled with the initial instability,may cause the model to find it hard to find the optimal solution during the training process,resulting in unsatisfactory results.We introduce an adaptive graph structure learning method to obtain the optimal model parameters and graph structure.Experiments on two publicly available datasets demonstrate that the proposed method attains higher anomaly detection results than other methods.
基金Under the auspices of National Natural Science Foundation of China(No.41771537)Fundamental Research Funds for the Central Universities
文摘Earthquakes exhibit clear clustering on the earth. It is important to explore the spatial-temporal characteristics of seismicity clusters and their spatial heterogeneity. We analyze effects of plate space, tectonic style, and their interaction on characteristic of cluster.Based on data of earthquakes not less than moment magnitude(M_w) 5.6 from 1960 to 2014, this study used the spatial-temporal scan method to identify earthquake clusters. The results indicate that seismic spatial-temporal clusters can be classified into two types based on duration: persistent clusters and burst clusters. Finally, we analysed the spatial heterogeneity of the two types. The main conclusions are as follows: 1) Ninety percent of the persistent clusters last for 22-38 yr and show a high clustering likelihood;ninety percent of the burst clusters last for 1-1.78 yr and show a high relative risk. 2) The persistent clusters are mainly distributed in interplate zones, especially along the western margin of the Pacific Ocean. The burst clusters are distributed in both intraplate and interplate zones, slightly concentrated in the India-Eurasia interaction zone. 3) For the persistent type, plate interaction plays an important role in the distribution of the clusters’ likelihood and relative risk. In addition, the tectonic style further enhances the spatial heterogeneity. 4) For the burst type,neither plate activity nor tectonic style has an obvious effect on the distribution of the clusters’ likelihood and relative risk. Nevertheless,interaction between these two spatial factors enhances the spatial heterogeneity, especially in terms of relative risk.
基金Under the auspices of the National Natural Science Foundation of China(No.71974070)‘CUG Scholar'Scientific Research Funds at China University of Geosciences(Wuhan)(No.2022005)。
文摘The spatial and temporal variation of green economic efficiency and its driving factors are of great significance for the construction of high-efficiency and low-consumption green development model and sustainable socio-economic development.The research focused on the Yangtze River Economic Belt(YREB)and employed the miniumum distance to strong efficient frontier DEA(MinDs)model to measure the green economic efficiency of the municipalities in the region between 2008 and 2020.Then,the spatial autocorrelation model was used to analyze the evolution characteristics of its spatial pattern.Finally,Geodetector was applied to reveal the drivers and their interactions on green economic efficiency.It is found that:1)the overall green economic efficiency of the YREB from 2008 to 2020 shows a W-shaped fluctuating upward trend,green economic efficiency is greater in the downstream and smallest in the upstream;2)the spatial distribution of green economic efficiency shows clustering characteristics,with multi-core clustering based on‘city clusters-central cities'becoming more obvious over time;the High-High agglomeration type is mainly clustered in Jiangsu and Zheji-ang,while the Low-Low agglomeration type is clustered in the western Sichuan Plateau area and southwestern Yunnan;3)from input-output factors,whether it is the YREB as a whole or the upper,middle and lower reaches regions,the economic development level,labor input,and capital investment are the leading factors in the spatial-temporal evolution of green economic efficiency,with the com-prehensive influence of economic development level and pollution index being the most important interactive driving factor;4)from so-cio-economic factors,information technology drivers such as government intervention,transportation accessibility,information infra-structure,and Internet penetration are always high impact influencers and dominant interaction factors for green economic efficiency in the YREB and the three major regions in the upper,middle and lower reaches.Accordingly,the article puts forward relevant policy re-commendations in terms of formulating differentiated green transformation strategies,strengthening network leadership and informa-tion technology construction and coordinating multi-factor integrated development,which could provide useful reference for promoting synergistic green economic efficiency in the YREB.
文摘Background:Brucellosis is a major public health issue in China,while its temporal and spatial distribution have not been studied in depth.This study aims to better understand the epidemiology of brucellosis in the mainland of China,by investigating the human,temporal and spatial distribution and clustering characteristics of the disease.Methods:Human brucellosis data from the mainland of China between 2012 and 2016 were obtained from the China Information System for Disease Control and Prevention.The spatial autocorrelation analysis of ArcGIS10.6 and the spatial-temporal scanning analysis of SaTScan software were used to identify potential changes in the spatial and temporal distribution of human brucellosis in the mainland of China during the study period.Results:A total of 244348 human brucellosis cases were reported during the study period of 2012-2016.The average incidence of human brucellosis was higher in the 40-65 age group.The temporal clustering analysis showed that the high incidence of brucellosis occurred between March and July.The spatial clustering analysis showed that the location of brucellosis clustering in the mainland of China remained relatively fixed,mainly concentrated in most parts of northern China.The results of the spatial-temporal clustering analysis showed that Heilongjiang represents a primary clustering area,and the Tibet,Shanxi and Hubei provinces represent three secondary clustering areas.Conclusions:Human brucellosis remains a widespread challenge,particularly in northern China.The clustering analysis highlights potential high-risk human groups,time frames and areas,which may require special plans and resources to monitor and control the disease.
基金supported by the Graduate Research and Innovation Project of Chongqing Normal University[Grant No.YKC23035],comprehensive evaluation,and driving factors of urban resilience in the Chengdu-Chongqing Economic Circle.
文摘To clarify the connotations and extensions of urban resilience,this study focuses on the Chengdu-Chongqing Economic Circle with 16 cities as research subjects.A comprehensive evaluation index system was constructed to measure the resilience of each city from 2003 to 2020.The spatial-temporal evolution characteristics were analyzed using Kernel density estimation,standard deviation ellipse,and spatial Markov chain analysis,and the spatial Tobit model was introduced to discover the influencing factors.The results indicate the following:①Urban resilience in the Chengdu-Chongqing Economic Circle displays an upward trend,with the center of gravity moving to the southwest,and the polarization phenomenon intensifying.②The urban resilience level in a region has certain spatial and geographical dependence,while the probability of urban resilience transfer differs in adjacent cities with different resilience levels.③Urban centrality,economic scale,openness level,and financial development promote urban resilience,whereas government scale significantly inhibits it.Finally,this paper proposes countermeasures and suggestions to improve the urban resilience of the Chengdu-Chongqing Economic Circle.
基金supported by the China Scholarship Council and the CERNET Innovation Project under grant No.20170111.
文摘The prediction for Multivariate Time Series(MTS)explores the interrelationships among variables at historical moments,extracts their relevant characteristics,and is widely used in finance,weather,complex industries and other fields.Furthermore,it is important to construct a digital twin system.However,existing methods do not take full advantage of the potential properties of variables,which results in poor predicted accuracy.In this paper,we propose the Adaptive Fused Spatial-Temporal Graph Convolutional Network(AFSTGCN).First,to address the problem of the unknown spatial-temporal structure,we construct the Adaptive Fused Spatial-Temporal Graph(AFSTG)layer.Specifically,we fuse the spatial-temporal graph based on the interrelationship of spatial graphs.Simultaneously,we construct the adaptive adjacency matrix of the spatial-temporal graph using node embedding methods.Subsequently,to overcome the insufficient extraction of disordered correlation features,we construct the Adaptive Fused Spatial-Temporal Graph Convolutional(AFSTGC)module.The module forces the reordering of disordered temporal,spatial and spatial-temporal dependencies into rule-like data.AFSTGCN dynamically and synchronously acquires potential temporal,spatial and spatial-temporal correlations,thereby fully extracting rich hierarchical feature information to enhance the predicted accuracy.Experiments on different types of MTS datasets demonstrate that the model achieves state-of-the-art single-step and multi-step performance compared with eight other deep learning models.
基金Supported by projects of the National Natural Science Foundation of China(Nos.92062216,41888101).
文摘Highly evolved granite is an important sign of the mature continent crust and closely associated with deposits of rare metals.In this work,the authors undertake systematically zircon U-Pb ages and whole rock elemental data for highly evolved granitic intrusions from the Great Xing’an Range(GXR),NE China,to elucidate their discriminant criteria,spatial-temporal distribution,differentiation and geodynamic mecha-nism.Geochemical data of these highly evolved granites suggest that high w(SiO_(2))(>70%)and differentiation index(DI>88)could be quantified indicators,while strong Eu depletion,high TE_(1,3),lowΣREE and low Zr/Hf,Nb/Ta,K/Rb could only be qualitative indicators.Zircon U-Pb ages suggest that the highly evolved gran-ites in the GXR were mainly formed in Late Mesozoic,which can be divided into two major stages:Late Ju-rassic-early Early Cretaceous(162-136 Ma,peak at 138 Ma),and late Early Cretaceous(136-106 Ma,peak at 126 Ma).The highly evolved granites are mainly distributed in the central-southern GXR,and display a weakly trend of getting younger from northwest to southeast,meanwhile indicating the metallogenic potential of rare metals within the central GXR.The spatial-temporal distribution,combined with regional geological data,indicates the highly evolved Mesozoic granites in the GXR were emplaced in an extensional environ-ment,of which the Late Jurassic-early Early Cretaceous extension was related to the closure of the Mongol-Okhotsk Ocean and roll-back of the Paleo-Pacific Plate,while the late Early Cretaceous extension was mainly related to the roll-back of the Paleo-Pacific Plate.
基金the National Natural Science Foundation of China(No.61461027,61762059)the Provincial Science and Technology Program supported the Key Project of Natural Science Foundation of Gansu Province(No.22JR5RA226)。
文摘Considering the nonlinear structure and spatial-temporal correlation of traffic network,and the influence of potential correlation between nodes of traffic network on the spatial features,this paper proposes a traffic speed prediction model based on the combination of graph attention network with self-adaptive adjacency matrix(SAdpGAT)and bidirectional gated recurrent unit(BiGRU).First-ly,the model introduces graph attention network(GAT)to extract the spatial features of real road network and potential road network respectively in spatial dimension.Secondly,the spatial features are input into BiGRU to extract the time series features.Finally,the prediction results of the real road network and the potential road network are connected to generate the final prediction results of the model.The experimental results show that the prediction accuracy of the proposed model is im-proved obviously on METR-LA and PEMS-BAY datasets,which proves the advantages of the pro-posed spatial-temporal model in traffic speed prediction.
文摘As an important river in the western part of Jilin Province,the lower reach of the Nenjiang River is an important wetland water source conservation area in Jilin Province.Within the watershed,it governs the Momoge Wetland,the Xianghai Wetland,and the Danjiang Wetland in Jilin Province.The main problem in the lower reaches of the Nenjiang River is the uneven distribution of water resources in time and space,and the intensification of land salinization.Zhenlai County and Da an City in the Nenjiang River Basin have sufficient surface water resources,with surface water as the drinking water source.Baicheng City and Tongyu County have scarce surface water resources,and both use groundwater as their domestic water source.The main polluted section in the basin is the Xianghai Reservoir,and the annual water quality evaluation is Class V.However,the water quality of the Tao er River,the main stream of the Nenjiang River,is significantly better than that of the Xianghai Reservoir.In order to better study the water environmental pollution situation in the Nenjiang River basin,monitoring data from five sections of non seasonal rivers in the basin from 2012 to 2021 were selected for studying water quality.This in-depth exploration of the water pollution status and river water quality change trends in the Nenjiang River basin is of great significance for future rural development,agricultural pattern transformation,and the promotion of water ecological civilization construction.
基金supported by the Foundation of President of Hebei University(XZJJ202303).
文摘Federated learning is a machine learning framework designed to protect privacy by keeping training data on clients’devices without sharing private data.It trains a global model through collaboration between clients and the server.However,the presence of data heterogeneity can lead to inefficient model training and even reduce the final model’s accuracy and generalization capability.Meanwhile,data scarcity can result in suboptimal cluster distributions for few-shot clients in centralized clustering tasks,and standalone personalization tasks may cause severe overfitting issues.To address these limitations,we introduce a federated learning dual optimization model based on clustering and personalization strategy(FedCPS).FedCPS adopts a decentralized approach,where clients identify their cluster membership locally without relying on a centralized clustering algorithm.Building on this,FedCPS introduces personalized training tasks locally,adding a regularization term to control deviations between local and cluster models.This improves the generalization ability of the final model while mitigating overfitting.The use of weight-sharing techniques also reduces the computational cost of central machines.Experimental results on MNIST,FMNIST,CIFAR10,and CIFAR100 datasets demonstrate that our method achieves better personalization effects compared to other personalized federated learning methods,with an average test accuracy improvement of 0.81%–2.96%.Meanwhile,we adjusted the proportion of few-shot clients to evaluate the impact on accuracy across different methods.The experiments show that FedCPS reduces accuracy by only 0.2%–3.7%,compared to 2.1%–10%for existing methods.Our method demonstrates its advantages across diverse data environments.
基金supported in part by NIH grants R01NS39600,U01MH114829RF1MH128693(to GAA)。
文摘Many fields,such as neuroscience,are experiencing the vast prolife ration of cellular data,underscoring the need fo r organizing and interpreting large datasets.A popular approach partitions data into manageable subsets via hierarchical clustering,but objective methods to determine the appropriate classification granularity are missing.We recently introduced a technique to systematically identify when to stop subdividing clusters based on the fundamental principle that cells must differ more between than within clusters.Here we present the corresponding protocol to classify cellular datasets by combining datadriven unsupervised hierarchical clustering with statistical testing.These general-purpose functions are applicable to any cellular dataset that can be organized as two-dimensional matrices of numerical values,including molecula r,physiological,and anatomical datasets.We demonstrate the protocol using cellular data from the Janelia MouseLight project to chara cterize morphological aspects of neurons.
基金supported by the Natural Science Foundation of Jiangsu Province(No.BZ2022007)the National Natural Science Foundation of China(No.92261202)+1 种基金the Ministry of Science and Technology of the People’s Republic of China(No.2021YFE0114800)the Ministry of Science and Higher Education of the Russian Federation(No.075-15-2021-1027).
文摘Thermally activated delayed fluorescence(TADF)materials driven by a through-space charge transfer(TSCT)mechanism have garnered wide interest.However,access of TSCT-TADF molecules with longwavelength emission remains a formidable challenge.In this study,we introduce a novel V-type DA-D-A’emitter,Trz-mCzCbCz,by using a carborane scaffold.This design strategically incorporates carbazole(Cz)and 2,4,6-triphenyl-1,3,5-triazine(Trz)as donor and acceptor moieties,respectively.Theoretical calculations alongside experimental validations affirm the typical TSCT-TADF characteristics of this luminogen.Owing to the unique structural and electronic attributes of carboranes,Trz-mCzCbCz exhibits an orange-red emission,markedly diverging from the traditional blue-to-green emissions observed in classical Cz and Trz-based TADF molecules.Moreover,bright emission in aggregates was observed for Trz-mCzCbCz with absolute photoluminescence quantum yield(PLQY)of up to 88.8%.As such,we have successfully fabricated five organic light-emitting diodes(OLEDs)by utilizing Trz-mCzCbCz as the emitting layer.It is important to note that both the reverse intersystem crossing process and the TADF properties are profoundly influenced by host materials.The fabricated OLED devices reached a maximum external quantum efficiency(EQE)of 12.7%,with an emission peak at 592 nm.This represents the highest recorded efficiency for TSCT-TADF OLEDs employing carborane derivatives as emitting layers.
基金supported by the National Natural Science Foundation of China(No.62271399)the National Key Research and Development Program of China(No.2022YFB1807102)。
文摘For multi-vehicle networks,Cooperative Positioning(CP)technique has become a promising way to enhance vehicle positioning accuracy.Especially,the CP performance could be further improved by introducing Sensor-Rich Vehicles(SRVs)into CP networks,which is called SRV-aided CP.However,the CP system may split into several sub-clusters that cannot be connected with each other in dense urban environments,in which the sub-clusters with few SRVs will suffer from degradation of CP performance.Since Unmanned Aerial Vehicles(UAVs)have been widely used to aid vehicular communications,we intend to utilize UAVs to assist sub-clusters in CP.In this paper,a UAV-aided CP network is constructed to fully utilize information from SRVs.First,the inter-node connection structure among the UAV and vehicles is designed to share available information from SRVs.After that,the clustering optimization strategy is proposed,in which the UAV cooperates with the high-precision sub-cluster to obtain available information from SRVs,and then broadcasts this positioning-related information to other low-precision sub-clusters.Finally,the Locally-Centralized Factor Graph Optimization(LC-FGO)algorithm is designed to fuse positioning information from cooperators.Simulation results indicate that the positioning accuracy of the CP system could be improved by fully utilizing positioning-related information from SRVs.
