Registrations based on the manual placement of spherical targets are still being employed by many professionals in the industry.However,the placement of those targets usually relies solely on personal experience witho...Registrations based on the manual placement of spherical targets are still being employed by many professionals in the industry.However,the placement of those targets usually relies solely on personal experience without scientific evidence supported by numerical analysis.This paper presents a comprehensive investigation,based on Monte Carlo simulation,into determining the optimal number and positions for efficient target placement in typical scenes consisting of a pair of facades.It demonstrates new check-up statistical rules and geometrical constraints that can effectively extract and analyze massive simulations of unregistered point clouds and their corresponding registrations.More than 6×10^(7) sets of the registrations were simulated,whereas more than IOO registrations with real data were used to verify the results of simulation.The results indicated that using five spherical targets is the best choice for the registration of a large typical registration site consisting of two vertical facades and a ground,when there is only a box set of spherical targets available.As a result,the users can avoid placing extra targets to achieve insignificant improvements in registration accuracy.The results also suggest that the higher registration accuracy can be obtained when the ratio between the facade-to-target distance and target-to-scanner distance is approximately 3:2.Therefore,the targets should be placed closer to the scanner rather than in the middle between the facades and the scanner,contradicting to the traditional thought. Besides,the results reveal that the accuracy can be increased by setting the largest projected triangular area of the targets to be large.展开更多
Mount Semeru,an active volcano in East Java,Indonesia,erupted on December 4,2021,following extreme rainfall that caused an avalanche of hot pyroclastic flows and lava.The tropospheric conditions and dominant particle ...Mount Semeru,an active volcano in East Java,Indonesia,erupted on December 4,2021,following extreme rainfall that caused an avalanche of hot pyroclastic flows and lava.The tropospheric conditions and dominant particle components in the atmosphere can be monitored using Global Navigation Satellite System(GNSS)technology and remote sensing satellites.GNSS signal propagation delay in Precise Point Positioning(PPP)processing can be used to determine Zenith Tropospheric Delay(ZTD)and Precipitable Water Vapor(PWV)variables so that atmospheric conditions can be generated.In addition,by using remote sensing satellite data,it is possible to obtain rainfall data with high temporal resolution as well as the dominant particle and gas content values during eruptions.During the eruption period,the high value of PWV was dominated by the high intensity of precipitation during the rainy season.High rainfall before the eruption caused activity inside the mountain to increase,which occurred in avalanche type eruption.Apart from that,the atmosphere around Semeru was also dominated by SO_(2)content,which spreaded for tens of kilometers.SO_(2)content began to be detected significantly by remote sensing sensors on December 7,2021.In this study,deformation and atmospheric monitoring were also carried out using low-cost GNSS at the Semeru Monitoring Station on September 9-15,2022.The results of the ZTD and ZWD values show the dominance of the wet component,which is directly proportional to rainfall activity in this period.展开更多
Stone Pine(Pinus pinea L.)is currently the pine species with the highest commercial value with edible seeds.In this respect,this study introduces a new methodology for extracting Stone Pine trees from Digital Surface ...Stone Pine(Pinus pinea L.)is currently the pine species with the highest commercial value with edible seeds.In this respect,this study introduces a new methodology for extracting Stone Pine trees from Digital Surface Models(DSMs)generated through an Unmanned Aerial Vehicle(UAV)mission.We developed a novel enhanced probability map of local maxima that facilitates the computation of the orientation symmetry by means of new probabilistic local minima information.Four test sites are used to evaluate our automated framework within one of the most important Stone Pine forest areas in Antalya,Turkey.A Hand-held Mobile Laser Scanner(HMLS)was utilized to collect the reference point cloud dataset.Our findings confirm that the proposed methodology,which uses a single DSM as an input,secures overall pixel-based and object-based F1-scores of 88.3%and 97.7%,respectively.The overall median Euclidean distance revealed between the automatically extracted stem locations and the manually extracted ones is computed to be 36 cm(less than 4 pixels),demonstrating the effectiveness and robustness of the proposed methodology.Finally,the comparison with the state-of-the-art reveals that the outcomes of the proposed methodology outperform the results of six previous studies in this context.展开更多
In this study,we developed multiple hybrid machine-learning models to address parameter optimization limitations and enhance the spatial prediction of landslide susceptibility models.We created a geographic informatio...In this study,we developed multiple hybrid machine-learning models to address parameter optimization limitations and enhance the spatial prediction of landslide susceptibility models.We created a geographic information system database,and our analysis results were used to prepare a landslide inventory map containing 359 landslide events identified from Google Earth,aerial photographs,and other validated sources.A support vector regression(SVR)machine-learning model was used to divide the landslide inventory into training(70%)and testing(30%)datasets.The landslide susceptibility map was produced using 14 causative factors.We applied the established gray wolf optimization(GWO)algorithm,bat algorithm(BA),and cuckoo optimization algorithm(COA)to fine-tune the parameters of the SVR model to improve its predictive accuracy.The resultant hybrid models,SVR-GWO,SVR-BA,and SVR-COA,were validated in terms of the area under curve(AUC)and root mean square error(RMSE).The AUC values for the SVR-GWO(0.733),SVR-BA(0.724),and SVR-COA(0.738)models indicate their good prediction rates for landslide susceptibility modeling.SVR-COA had the greatest accuracy,with an RMSE of 0.21687,and SVR-BA had the least accuracy,with an RMSE of 0.23046.The three optimized hybrid models outperformed the SVR model(AUC=0.704,RMSE=0.26689),confirming the ability of metaheuristic algorithms to improve model performance.展开更多
The critical environment is one of the main insufficient to positioning. Geodetic observing systems such as the global positioning system （GPS） and the global navigation satellite systems （GNSS） are routinely used...The critical environment is one of the main insufficient to positioning. Geodetic observing systems such as the global positioning system （GPS） and the global navigation satellite systems （GNSS） are routinely used to estimate the contaminating effects by critical environment. In an effort to define the accuracy and reliability of GPS/ GNSS positioning, we investigated the data having con- taminating effects due to forestry environment. Some reliability criteria and geometric concepts were defined and then examined by them. Two sets of data were collected in open sky and closed canopy separately. The analysis of the observed data was performed using the reliability criteria and geometric concepts. The accuracy and reliability of positioning strongly depended on the canopy ratio and satellite availability. The minimum detectable error on baseline was estimated about 2.5 mm under closed canopy. The number of observable satellites and minimal detectable errors were computed for each epoch. The minimal biases on estimated baselines, bias-to-noise ratios for estimating baseline components and probability of success of the integer ambiguity solution were defined in case of forest canopy. Finally, geometric quality could be achieved using the factors of dilution of precision. Thus, the presented accuracy and reliability concepts fulfill the requirement proposed by the global geodetic observing system in forest environment.展开更多
In this study,the effect of different sampling rates(i.e.observation recording interval)on the Precise Point Positioning(PPP)solutions in terms of accuracy was investigated.For this purpose,a field test was carried ou...In this study,the effect of different sampling rates(i.e.observation recording interval)on the Precise Point Positioning(PPP)solutions in terms of accuracy was investigated.For this purpose,a field test was carried out inÇorum province,Turkey,on 11 September 2019.Within this context,a Geodetic Point(GP)was established and precisely coordinated.A static GNSS measurement was occupied on the GP for about 4-hour time at 0.10 second(s)/10 Hz measurement intervals with the Trimble R10 geodetic grade GNSS receiver.The original observation file was converted to RINEX format and then decimated into the different data sampling rates as 0.2 s,0.5 s,1 s,5 s,10 s,30 s,60 s,and 120 s.All these RINEX observation files were submitted to the Canadian Spatial Reference System-Precise Point Positioning(CSRS-PPP)online processing service the day after the data collection date by choosing both static and kinematic processing options.In this way,PPP-derived static coordinates,and the kinematic coordinates of each measurement epoch were calculated.The PPP-derived coordinates obtained from each decimated sampling intervals were compared to known coordinates of the GP for northing,easting,2D position,and height components.According to the static and kinematic processing results,high data sampling rates did not change the PPP solutions in terms of accuracy when compared to the results obtained using lower sampling rates.The results of this study imply that it was not necessary to collect GNSS data with high-rate intervals for many surveying projects requiring cm-level accuracy.展开更多
The current global or regional ionospheric models have been established for monitoring the ionospheric variations. However, the spatial and temporal resolutions are not enough to describe total electron content（TEC）...The current global or regional ionospheric models have been established for monitoring the ionospheric variations. However, the spatial and temporal resolutions are not enough to describe total electron content（TEC） variations in small scales for China. In this paper, a regional ionospheric grid model（RIGM） with high spatial-temporal resolution（0.5 0.5 and 10-min interval） in China and surrounding areas is established based on spherical harmonics expansion from dense GPS measurements provided by Crustal Movement Observation Network of China（CMONOC） and the International GNSS Service（IGS）. The correlation coefficient between the estimated TEC from GPS and the ionosonde measurements is 0.97, and the root mean square（RMS） with respect to Center for Orbit Determination in Europe（CODE） Global Ionosphere Maps（GIMs） is 4.87 TECU. In addition, the impact of different spherical harmonics orders and degrees on TEC estimations are evaluated and the degree/order 6 is better. Moreover, effective ionospheric shell heights from300 km to 700 km are further assessed and the result indicates that 550 km is the most suitable for regional ionospheric modeling in China at solar maximum.展开更多
This article focuses on the performance analysis of both real-time and post-mission kinematic precise point positioning(PPP)in challenging marine environments.For this purpose,a real dynamic experiment lasting 6 h was...This article focuses on the performance analysis of both real-time and post-mission kinematic precise point positioning(PPP)in challenging marine environments.For this purpose,a real dynamic experiment lasting 6 h was carried out on a lake dam in?orum City of Turkey.While the kinematic test was continuing,the real-time PPP coordinates were obtained for each measurement epoch with a commercial real-time PPP(RT-PPP)service,namely the Trimble Center Point RTX.Then the post-mission PPP(PM-PPP)coordinates were calculated by using Multi-GNSS data and the Multi-GNSS Experiment(MGEX)precise products.The kinematic RT-PPP and PM-PPP results showed that the PPP coordinates were consistent with the relative solution at centimetre and decimetre level in horizontal and height components,respectively.This study implies that PPP technique is a powerful tool for highly accurate positioning in both real-time and post-mission modes,even for dynamic applications in harsh environments.展开更多
This paper outlines a methodology to estimate monthly precipitation surfaces at 1-kin resolution for the Upper Shiyang River watershed （USRW） in northwest China. Generation of precipitation maps is based on the appl...This paper outlines a methodology to estimate monthly precipitation surfaces at 1-kin resolution for the Upper Shiyang River watershed （USRW） in northwest China. Generation of precipitation maps is based on the application of a four-variable genetic algorithm （GA） trained on 10 years of weather and ancillary data, i.e., surface air temperature, relative humidity, Digital Elevation Model-derived estimates of elevation, and time of year collected at 29 weather stations in west-central Gansu and northern Qinghai province. An observed-to-GA predicted data comparison of 10 years of precipitation collected at the 29 weather stations showed that about 84% of the variability in observed values could be explained by the trained GA, including variability in two independent datasets. Point-comparisons of observed and modeled precipitation along an elevation-rainfall gradient demonstrated near-similar spatiotemporal patterns. A precipitation surface for USRW for July, 2005, was developed with the trained GA and input surfaces of surface air temperature and relative humidity generated from Moderate Resolution Imaging Spectroradiometer sensor （MODIS） products of land surface temperature. Spatial tendencies in predicted maximum and minimum values of surface air temperature, relative humidity, and precipitation within a 2-kin radius circle around selected weather stations were in close agreement with the values measured at the weather stations.展开更多
The Global Positioning System(GPS)is a GNSS constellation,but GNSS is not always GPS.GPS is one of the GNSS constellations used around the world.The GNSS constellations include GPS(US),QZSS(Japan),Beidou/BDS(China),Ga...The Global Positioning System(GPS)is a GNSS constellation,but GNSS is not always GPS.GPS is one of the GNSS constellations used around the world.The GNSS constellations include GPS(US),QZSS(Japan),Beidou/BDS(China),Galileo(EU),and GLONASS(Russia).In 1999,the European Commission(EC)proposed the European Galileo satellite navigation system for the first time.A four-phase development was proposed,including public and private sector finance.Galileo was intended for both civilian and government use,and is managed and controlled by civil authorities.Galileo is made up of 30 satellites,a number of globally distributed ground stations,and a ground control and monitoring system,all of which are extremely similar to the structure,format,and layout of GPS.In this study,we investigate GPS/GLONASS/Galileo/Beidou/IRNSS/QZSS Navigation Satellite System integration algorithm for long baselines ranging from 1500 km to 3000 km in China,Japan and Mongolia.The positioning performance with GPS/GLONASS/Galileo/BDS/IRNSS/QZSS,GPS-only,Galileo-only,GLONASS-only and BDS-only,etc.is compared in terms of the positioning accuracy.An improvement of positioning accuracy over long baselines can be found with GPS/GLONASS/Galileo/BDS/QZSS/IRNSS compared with that of GPS-only and that of BDS-only.The obtained differences of the two baselines(Topcon Magnet Tools Software(Multi-GNSS)-(CSRS-PPP(GPS/GLONASS),(Trimble-RTX(GPS/GLONASS),(AUSPOS(GPS/GLONASS))Online Processing Software)by using GPS/GLONASS/Galileo/BDS/QZSS/IRNSS signals is between 40 cm and 111.5 cm on three days.展开更多
Oasis cities are deeply affected by human activities in arid and semi-arid regions.Vegetation is an important repository in the carbon cycle of oasis urban ecosystems.The continuous expansion of urban has a disproport...Oasis cities are deeply affected by human activities in arid and semi-arid regions.Vegetation is an important repository in the carbon cycle of oasis urban ecosystems.The continuous expansion of urban has a disproportionate impact on the carbon sequestration capacity of vegetation.Till now,studies have been conducted to quantify the impact of urbanization on vegetation carbon sequestration capacity,the mechanism of such impact remains unclear and lacks systematic investigations,especially in oasis urban.Understanding the impact mechanism greatly benefits the sustainable development of oasis urban and regional carbon neutrality.To fill this knowledge gap,we design a theoretical framework to analyze the impact of urbanization on vegetation carbon sequestration capacity by isolating the direct and indirect impacts in Urumqi,China.Some results based on Landsat images indicated that the Impervious Surface Areas(ISAs)expanded by 436.98 km2 during 2000-2019.The Net Primary Productivity(NPP)calculated using the Vegetation Photosynthesis Model(VPM)was directly caused by the loss of 51.45 Gg C(1 Gg=109 g).Another important finding proved that the direct carbon loss caused by urbanization did not change the upward trend of the total carbon sequestration capacity of vegetation,but only slowed down this upward trend by 20.86%.Our results provide new insights into urban vegetation carbon sinks and contribute to a better understanding of the uncertainty of urbanization toward carbon neutrality.This study will provide scientific data support and suggestions for the sustainable development of oasis cities and the regional carbon budget.展开更多
Global Positioning System （GPS） has been widely used to estimate the total zenith tropo- spheric delay （ZTD） and precipitable water vapour （PWV） for weather prediction and at- mospheric research as a continuous ...Global Positioning System （GPS） has been widely used to estimate the total zenith tropo- spheric delay （ZTD） and precipitable water vapour （PWV） for weather prediction and at- mospheric research as a continuous and all-weather technique. However, estimations of ZTD and PWV are subject to effects of geophysical models with large uncertainties, particularly imprecise ocean tide models of inland seas in Turkey. In this paper, GPS data from Jan. 1, 2010 to Dec. 31, 2011 are processed using GAMIT/GLOBK at four co-located GPS stations （ISTN, ERZR, SAMN, and IZMI） with Radiosonde from the Turkish Met-Office together with several nearby IGS stations. Four widely used ocean tide models are adopted to evaluate their effects on GPS-estimated PWV, such as IERS recommended FES2004, NAO99b, CSR4.0 and GOT00. Five different strategies are taken without ocean tide model and with four ocean tide models, respectively, which are used to evaluate ocean tide models effects on GPS-estimated PWV through comparing with co-located Radiosonde. Results showed that ocean tide models have greatly affected the estimation of the pre- cipitable water vapour at stations near coasts. The ocean tide model FES2004 gave the best results when compared to Radiosonde with ＋2.12 mm in PWV at stations near coastline. While other ocean tides models agree each other at millimeter level in PWV. However, at inland GPS stations, ocean tide models have less effect on GPS-estimated PWV.展开更多
Acid mine drainage is wastewater from a mine having a low pH and an elevated level of dissolved heavy metals. These metals are harmful to aquatic, animal and human life. This paper looks at the removal of copper from ...Acid mine drainage is wastewater from a mine having a low pH and an elevated level of dissolved heavy metals. These metals are harmful to aquatic, animal and human life. This paper looks at the removal of copper from acid mine drainage using ion exchange to less than 1 mg/l. A weak acidic cation resin was used. Spectrophotometric determination of copper with sodium diethyldithiocarbamate was used to determine the copper concentrations in the treated water. Using regression analysis, the experimental results gave a correlation coefficient of 0.977 and a coefficient of determination of 99.5%. Results indicated that the higher the flows rate the shorter the period after which the copper concentration in the treated water reaches 1 mg/l. At pH 3.85 and 5.09, the resin performed better and at pH above 6.62 and between pH 3.0 and below the resin’s does not perform well. The higher the resin height the greater is the resin exchange capacity and the longer it takes for the copper concentration to reach 1 mg/l in the treated water. The higher the wastewater copper concentration the shorter the time it takes the resin to reach 1 mg/l. The results for this experiment indicated that acid mine drainage can be treated well by ion exchange resins, but it is also very important to establish suitable operating conditions.展开更多
Location Based Navigation System (LBNS) is a specific Location Based Service (LBS) purely for navigational purpose. These systems resolve position of a user by using GNSS/GPS positioning technologies, to which supplem...Location Based Navigation System (LBNS) is a specific Location Based Service (LBS) purely for navigational purpose. These systems resolve position of a user by using GNSS/GPS positioning technologies, to which supplementary information on goods and services are tagged. The navigation services have become popular and can be installed on mobile phones to provide route information, location of points of interest and user’s current location. LBS has continued to face challenges which include “communication” process towards user reference. Location Based Service System conveys suitable information through a mobile device for effective decision making and reaction within a given time span. This research was geared at understanding the state of LBS technology acceptance and adoption by users in Nairobi Kenya. To do this a quantitative study was carried out through a questionnaire, to investigate mobile phone users’ response on awareness and use of LBS technology. Testing the growth of this technology in this region compared to predictions in previous studies using Technology Acceptance Model (TAM), it is evident that many users may be aware of GPS functionality in mobile phones but are certainly yet to fully embrace the technology as they rarely use it. This points to some underlying challenges towards this technology within this part of the World, thereby recommending for deliberate monitoring and evaluation of LBS technology for sustenance growth based on user satisfaction and acceptance for improved usability.展开更多
Digital elevation model （DEM） is the most popular product for three-dimensional （3D） digital representation of bare Earth surface and can be produced by many techniques with different characteristics and ground sa...Digital elevation model （DEM） is the most popular product for three-dimensional （3D） digital representation of bare Earth surface and can be produced by many techniques with different characteristics and ground sampling distances （GSD）. Space-borne opti- cal and synthetic aperture radar （SAR） imaging are two of the most preferred and modern techniques for DEM generation. Using them, global DEMs that cover almost entire Earth are produced with low cost and time saving processing. In this study, we aimed to assess the Satellite pour robservation de la Terre-5 （SPOT-5）, High Resolution Stereoscopic （HRS）, the Advanced Space-borne Thermal Emission and Reflection Radiometer （ASTER）, and the Shuttle Radar Topography Mission （SRTM） C-band global DEMs, produced with space-borne optical and SAR imaging. For the assessment, a reference DEM derived from 1 ： 1000 scaled digital photogrammetric maps was used. The study is performed in 100 km2 study area in Istanbul including various land classes such as open land, forest, built-up land, scrub and rough terrain obtained from Landsat data. The analyses were realized considering three vertical accuracy types as fundamental, supplemental, and consolidated, defined by national digital elevation program （NDEP） of USA. The results showed that, vertical accuracy of SRTM C-band DEM is better than optical models in all three accuracy types despite having the largest grid spacing. The result of SPOT-5 HRS DEM is very close by SRTM and superior in comparison with ASTER models.展开更多
Several new MEMS Inertial Measurement Unit(IMU) sensor products have been released recently with improved performance,which have the potential to support much higher precision applications.New MEMS IMUs include the Na...Several new MEMS Inertial Measurement Unit(IMU) sensor products have been released recently with improved performance,which have the potential to support much higher precision applications.New MEMS IMUs include the NavChip from InterSense,the Nav440 from Crossbow,the Landmark30/40 from GTI,the SDI500 from Systron Donner.Since they are new in the market,currently there is limited information about their error characterization which however is important for the construction of proper error models for their integration with other sensors such as GPS.This paper will investigate the error characterization of two new MEMS IMU sensors,namely the NavChip and Nav440,using Allan variance technique.In addition to identifying different error terms,different stochastic error modeling methods,such as Gauss-Markov(GM) and Autoregressive(AR) processes,will also be investigated to assess the MEMS IMU sensor biases.Investigation to integrate new MEMS IMU sensors with Precise Point Positioning(PPP) will also be conducted to address the re-convergence issues.展开更多
Precise point positioning with ambiguity resolution(PPP-AR)is a powerful tool for geodetic and time-constrained applications that require high precision.The performance of PPP-AR highly depends on the reliability of t...Precise point positioning with ambiguity resolution(PPP-AR)is a powerful tool for geodetic and time-constrained applications that require high precision.The performance of PPP-AR highly depends on the reliability of the correct integer carrier-phase ambiguity estimation.In this study,the performance of narrow-lane ambiguity resolution of PPP using the Least-squares AMBiguity Decorrelation(LAMBDA)and bootstrapping methods is extensively investigated using real data from 55 IGS stations over one-month in 2020.Static PPP with 24-,12-,8-,4-,2-,1-and½-h sessions using two different cutoff angles(7°and 30°)was conducted with three PPP modes:i.e.ambiguity-float and two kinds of ambiguity-fixed PPP using the LAMBDA and bootstrapping methods for narrow-lane AR,respectively.The results show that the LAMBDA method can produce more reliable results for 2 hour and shorter observation sessions com-pared with the bootstrapping method using a 7°cutoff angle.For a 30°cutoff angle,the LAMBDA method outperforms the bootstrapping method for observation sessions of 4 h and less.For long observation times,the bootstrapping method produced much more accurate coordinates compared with the LAMBDA method without considering the wrong fixes cases.The results also show that occurrences of fixing the wrong integer ambiguities using the bootstrapping method are higher than that of the LAMBDA method.展开更多
The Unmanned Surface Vehicle(USV)navigation system needs an accurate,firm,and reliable performance to avoid obstacles,as well as carry out automatic movements during missions.The Global Positioning System(GPS)is often...The Unmanned Surface Vehicle(USV)navigation system needs an accurate,firm,and reliable performance to avoid obstacles,as well as carry out automatic movements during missions.The Global Positioning System(GPS)is often used in these systems to provide absolute position information.However,the GPS measurements are affected by external conditions such as atmospheric bias and multipath effects.This leads to the inability of the stand-alone GPS to provide accurate positioning for the USV systems.One of the solutions to correct the errors of this sensor is by conducting GPS and Inertial Measurement Unit(IMU)fusion.The IMU sensor is complementary to the GPS and not affected by external conditions.However,it accumulates noise as time elapses.Therefore,this study aims to determine the fusion of the GPS and IMU sensors for the i-Boat navigation system,which is a USV developed by Institut Teknologi Sepuluh Nopember(ITS)Surabaya.Using the Unscented Kalman filter(UKF),sensor fusion was carried out based on the state equation defined by the dynamic and kinematic mathematical model of ship motion in 6 degrees of freedom.Then the performance of this model was tested through several simulations using different combinations of attitude measurement data.Two scenarios were conducted in the simulations:attitude measurement inclusion and exclusion(Scenarios I and II,respectively).The results showed that the position estimation in Scenario II was better than in Scenario I,with the Root Mean Square Error(RMSE)value of 0.062 m.Further simulations showed that the presence of attitude measurement data caused a decrease in the fusion accuracy.The UKF simulation with eight measurement parameters(Scenarios A,B and C)and seven measurement parameters(Scenarios D,E and F),as well as analytical attitude movement,indicated that yaw data had the largest noise accumulation compared to roll and pitch.展开更多
In 2000, the United Nations (UN) developed Millennium Development Goals (MDG) with one of its aim being to improve access of potable water supply by 2015 in developing countries. This study thus focused on Kenya’s Gi...In 2000, the United Nations (UN) developed Millennium Development Goals (MDG) with one of its aim being to improve access of potable water supply by 2015 in developing countries. This study thus focused on Kenya’s Gilgil constituency which lies in both arid and semi-arid zones and experiences bimodal rains which are neither heavy nor reliable. With persistent shortages, water management and monitoring became essential and in current times the use of Geographic Information Systems (GIS) is being incorporated due to its capability as an effective tool in water resources management. The study’s aim was to provide knowledge about accessible areas and gaps using cost surface analysis as well as identify other factors that influence settlement. The study utilized walk speeds as an impedance to determine cost surfaces followed by creation of service areas from water facilities using time as a measurement of access. The study established that surface friction may not have major influence on accessibility and service areas while logistic regression established that other factors strongly influence settlement apart from water availability. The study also reveals that 77% of the semi-permanent households in Gilgil have a hard time accessing water as they are outside the 30-minute walk time.展开更多
The quality of surface water is rapidly changing due to climatic variations, natural processes, and anthropogenic activities. The objectives of this study were to classify and analyze the surface water quality of 12 m...The quality of surface water is rapidly changing due to climatic variations, natural processes, and anthropogenic activities. The objectives of this study were to classify and analyze the surface water quality of 12 major rivers of Alberta on the basis of 17 parameters during the period of five years (i.e., 2004-2008) using principal component analysis (PCA), total exceedance model and clustering technique. Seven major principal components (PCs) with variability of about 89% were identified. These PCs were the indicators of watershed geology, mineralization and anthropogenic activities related to land use/cover. The seven dominant parameters revealed from the seven PCs were total dissolved solids (TDS), true color (TC), pH, iron (Fe), fecal coliform (FC), dissolved oxygen (DO), and turbidity (TUR). The normalized data of dominant parameters were used to develop a model for obtaining total exceedance. The exceedance values acquired from the total exceedance model were used to determine the patterns for the development of five clusters. The performance of the clusters was compared with the classes obtained in Canadian Water Quality Index (CWQI). Cluster 1, cluster 2, cluster 3, cluster 4 and cluster 5 showed agreements of 85.71%, 83.54%, 90.22%, 80.74%, and 83.40% with their respective CWQI classes on the basis of the data for all rivers during 2004-2008. The water quality was deteriorated in growing season due to snow melting. This methodology could be applied to classify the raw surface water quality, analyze the spatio-temporal trends and study the impacts of the factors affecting the water quality anywhere in the world.展开更多
基金Key Research and Development Program of Guangdong Province (No.2020B0101130009)
文摘Registrations based on the manual placement of spherical targets are still being employed by many professionals in the industry.However,the placement of those targets usually relies solely on personal experience without scientific evidence supported by numerical analysis.This paper presents a comprehensive investigation,based on Monte Carlo simulation,into determining the optimal number and positions for efficient target placement in typical scenes consisting of a pair of facades.It demonstrates new check-up statistical rules and geometrical constraints that can effectively extract and analyze massive simulations of unregistered point clouds and their corresponding registrations.More than 6×10^(7) sets of the registrations were simulated,whereas more than IOO registrations with real data were used to verify the results of simulation.The results indicated that using five spherical targets is the best choice for the registration of a large typical registration site consisting of two vertical facades and a ground,when there is only a box set of spherical targets available.As a result,the users can avoid placing extra targets to achieve insignificant improvements in registration accuracy.The results also suggest that the higher registration accuracy can be obtained when the ratio between the facade-to-target distance and target-to-scanner distance is approximately 3:2.Therefore,the targets should be placed closer to the scanner rather than in the middle between the facades and the scanner,contradicting to the traditional thought. Besides,the results reveal that the accuracy can be increased by setting the largest projected triangular area of the targets to be large.
基金the Indonesian Collaborative Research(RKI)2022:598/IT2/T/HK.00.01/2022Center of Volcanology and Geological Hazard Mitigation of Indonesia for the data and financial support of this research。
文摘Mount Semeru,an active volcano in East Java,Indonesia,erupted on December 4,2021,following extreme rainfall that caused an avalanche of hot pyroclastic flows and lava.The tropospheric conditions and dominant particle components in the atmosphere can be monitored using Global Navigation Satellite System(GNSS)technology and remote sensing satellites.GNSS signal propagation delay in Precise Point Positioning(PPP)processing can be used to determine Zenith Tropospheric Delay(ZTD)and Precipitable Water Vapor(PWV)variables so that atmospheric conditions can be generated.In addition,by using remote sensing satellite data,it is possible to obtain rainfall data with high temporal resolution as well as the dominant particle and gas content values during eruptions.During the eruption period,the high value of PWV was dominated by the high intensity of precipitation during the rainy season.High rainfall before the eruption caused activity inside the mountain to increase,which occurred in avalanche type eruption.Apart from that,the atmosphere around Semeru was also dominated by SO_(2)content,which spreaded for tens of kilometers.SO_(2)content began to be detected significantly by remote sensing sensors on December 7,2021.In this study,deformation and atmospheric monitoring were also carried out using low-cost GNSS at the Semeru Monitoring Station on September 9-15,2022.The results of the ZTD and ZWD values show the dominance of the wet component,which is directly proportional to rainfall activity in this period.
基金supported by the Projects of Scientific Investigation(BAP)of Ankara Haci Bayram Veli University[Grant No.01/2019-32].
文摘Stone Pine(Pinus pinea L.)is currently the pine species with the highest commercial value with edible seeds.In this respect,this study introduces a new methodology for extracting Stone Pine trees from Digital Surface Models(DSMs)generated through an Unmanned Aerial Vehicle(UAV)mission.We developed a novel enhanced probability map of local maxima that facilitates the computation of the orientation symmetry by means of new probabilistic local minima information.Four test sites are used to evaluate our automated framework within one of the most important Stone Pine forest areas in Antalya,Turkey.A Hand-held Mobile Laser Scanner(HMLS)was utilized to collect the reference point cloud dataset.Our findings confirm that the proposed methodology,which uses a single DSM as an input,secures overall pixel-based and object-based F1-scores of 88.3%and 97.7%,respectively.The overall median Euclidean distance revealed between the automatically extracted stem locations and the manually extracted ones is computed to be 36 cm(less than 4 pixels),demonstrating the effectiveness and robustness of the proposed methodology.Finally,the comparison with the state-of-the-art reveals that the outcomes of the proposed methodology outperform the results of six previous studies in this context.
基金supported by the Basic Research Project of the Korea Institute of Geoscience and Mineral Resources(KIGAM)Project of Environmental Business Big Data Platform and Center Construction funded by the Ministry of Science and ICT。
文摘In this study,we developed multiple hybrid machine-learning models to address parameter optimization limitations and enhance the spatial prediction of landslide susceptibility models.We created a geographic information system database,and our analysis results were used to prepare a landslide inventory map containing 359 landslide events identified from Google Earth,aerial photographs,and other validated sources.A support vector regression(SVR)machine-learning model was used to divide the landslide inventory into training(70%)and testing(30%)datasets.The landslide susceptibility map was produced using 14 causative factors.We applied the established gray wolf optimization(GWO)algorithm,bat algorithm(BA),and cuckoo optimization algorithm(COA)to fine-tune the parameters of the SVR model to improve its predictive accuracy.The resultant hybrid models,SVR-GWO,SVR-BA,and SVR-COA,were validated in terms of the area under curve(AUC)and root mean square error(RMSE).The AUC values for the SVR-GWO(0.733),SVR-BA(0.724),and SVR-COA(0.738)models indicate their good prediction rates for landslide susceptibility modeling.SVR-COA had the greatest accuracy,with an RMSE of 0.21687,and SVR-BA had the least accuracy,with an RMSE of 0.23046.The three optimized hybrid models outperformed the SVR model(AUC=0.704,RMSE=0.26689),confirming the ability of metaheuristic algorithms to improve model performance.
文摘The critical environment is one of the main insufficient to positioning. Geodetic observing systems such as the global positioning system （GPS） and the global navigation satellite systems （GNSS） are routinely used to estimate the contaminating effects by critical environment. In an effort to define the accuracy and reliability of GPS/ GNSS positioning, we investigated the data having con- taminating effects due to forestry environment. Some reliability criteria and geometric concepts were defined and then examined by them. Two sets of data were collected in open sky and closed canopy separately. The analysis of the observed data was performed using the reliability criteria and geometric concepts. The accuracy and reliability of positioning strongly depended on the canopy ratio and satellite availability. The minimum detectable error on baseline was estimated about 2.5 mm under closed canopy. The number of observable satellites and minimal detectable errors were computed for each epoch. The minimal biases on estimated baselines, bias-to-noise ratios for estimating baseline components and probability of success of the integer ambiguity solution were defined in case of forest canopy. Finally, geometric quality could be achieved using the factors of dilution of precision. Thus, the presented accuracy and reliability concepts fulfill the requirement proposed by the global geodetic observing system in forest environment.
文摘In this study,the effect of different sampling rates(i.e.observation recording interval)on the Precise Point Positioning(PPP)solutions in terms of accuracy was investigated.For this purpose,a field test was carried out inÇorum province,Turkey,on 11 September 2019.Within this context,a Geodetic Point(GP)was established and precisely coordinated.A static GNSS measurement was occupied on the GP for about 4-hour time at 0.10 second(s)/10 Hz measurement intervals with the Trimble R10 geodetic grade GNSS receiver.The original observation file was converted to RINEX format and then decimated into the different data sampling rates as 0.2 s,0.5 s,1 s,5 s,10 s,30 s,60 s,and 120 s.All these RINEX observation files were submitted to the Canadian Spatial Reference System-Precise Point Positioning(CSRS-PPP)online processing service the day after the data collection date by choosing both static and kinematic processing options.In this way,PPP-derived static coordinates,and the kinematic coordinates of each measurement epoch were calculated.The PPP-derived coordinates obtained from each decimated sampling intervals were compared to known coordinates of the GP for northing,easting,2D position,and height components.According to the static and kinematic processing results,high data sampling rates did not change the PPP solutions in terms of accuracy when compared to the results obtained using lower sampling rates.The results of this study imply that it was not necessary to collect GNSS data with high-rate intervals for many surveying projects requiring cm-level accuracy.
基金supported by the National Natural Science Foundation of China (NSFC) Project (11573052)Shanghai Science and Technology Commission Project (12DZ2273300)Key Laboratory of Planetary Sciences, Chinese Academy of Sciences
文摘The current global or regional ionospheric models have been established for monitoring the ionospheric variations. However, the spatial and temporal resolutions are not enough to describe total electron content（TEC） variations in small scales for China. In this paper, a regional ionospheric grid model（RIGM） with high spatial-temporal resolution（0.5 0.5 and 10-min interval） in China and surrounding areas is established based on spherical harmonics expansion from dense GPS measurements provided by Crustal Movement Observation Network of China（CMONOC） and the International GNSS Service（IGS）. The correlation coefficient between the estimated TEC from GPS and the ionosonde measurements is 0.97, and the root mean square（RMS） with respect to Center for Orbit Determination in Europe（CODE） Global Ionosphere Maps（GIMs） is 4.87 TECU. In addition, the impact of different spherical harmonics orders and degrees on TEC estimations are evaluated and the degree/order 6 is better. Moreover, effective ionospheric shell heights from300 km to 700 km are further assessed and the result indicates that 550 km is the most suitable for regional ionospheric modeling in China at solar maximum.
文摘This article focuses on the performance analysis of both real-time and post-mission kinematic precise point positioning(PPP)in challenging marine environments.For this purpose,a real dynamic experiment lasting 6 h was carried out on a lake dam in?orum City of Turkey.While the kinematic test was continuing,the real-time PPP coordinates were obtained for each measurement epoch with a commercial real-time PPP(RT-PPP)service,namely the Trimble Center Point RTX.Then the post-mission PPP(PM-PPP)coordinates were calculated by using Multi-GNSS data and the Multi-GNSS Experiment(MGEX)precise products.The kinematic RT-PPP and PM-PPP results showed that the PPP coordinates were consistent with the relative solution at centimetre and decimetre level in horizontal and height components,respectively.This study implies that PPP technique is a powerful tool for highly accurate positioning in both real-time and post-mission modes,even for dynamic applications in harsh environments.
基金funded by the Chinese Meteorological Administration (CMA),the Gansu Provincial Meteorological Bureau (GMB),under the direction of the Lanzhou Regional Climate Centre(Natural Science Foundation of China under Grant No.40830957)the Faculty of Forestry and Environmental Management,University of New Brunswick
文摘This paper outlines a methodology to estimate monthly precipitation surfaces at 1-kin resolution for the Upper Shiyang River watershed （USRW） in northwest China. Generation of precipitation maps is based on the application of a four-variable genetic algorithm （GA） trained on 10 years of weather and ancillary data, i.e., surface air temperature, relative humidity, Digital Elevation Model-derived estimates of elevation, and time of year collected at 29 weather stations in west-central Gansu and northern Qinghai province. An observed-to-GA predicted data comparison of 10 years of precipitation collected at the 29 weather stations showed that about 84% of the variability in observed values could be explained by the trained GA, including variability in two independent datasets. Point-comparisons of observed and modeled precipitation along an elevation-rainfall gradient demonstrated near-similar spatiotemporal patterns. A precipitation surface for USRW for July, 2005, was developed with the trained GA and input surfaces of surface air temperature and relative humidity generated from Moderate Resolution Imaging Spectroradiometer sensor （MODIS） products of land surface temperature. Spatial tendencies in predicted maximum and minimum values of surface air temperature, relative humidity, and precipitation within a 2-kin radius circle around selected weather stations were in close agreement with the values measured at the weather stations.
文摘The Global Positioning System(GPS)is a GNSS constellation,but GNSS is not always GPS.GPS is one of the GNSS constellations used around the world.The GNSS constellations include GPS(US),QZSS(Japan),Beidou/BDS(China),Galileo(EU),and GLONASS(Russia).In 1999,the European Commission(EC)proposed the European Galileo satellite navigation system for the first time.A four-phase development was proposed,including public and private sector finance.Galileo was intended for both civilian and government use,and is managed and controlled by civil authorities.Galileo is made up of 30 satellites,a number of globally distributed ground stations,and a ground control and monitoring system,all of which are extremely similar to the structure,format,and layout of GPS.In this study,we investigate GPS/GLONASS/Galileo/Beidou/IRNSS/QZSS Navigation Satellite System integration algorithm for long baselines ranging from 1500 km to 3000 km in China,Japan and Mongolia.The positioning performance with GPS/GLONASS/Galileo/BDS/IRNSS/QZSS,GPS-only,Galileo-only,GLONASS-only and BDS-only,etc.is compared in terms of the positioning accuracy.An improvement of positioning accuracy over long baselines can be found with GPS/GLONASS/Galileo/BDS/QZSS/IRNSS compared with that of GPS-only and that of BDS-only.The obtained differences of the two baselines(Topcon Magnet Tools Software(Multi-GNSS)-(CSRS-PPP(GPS/GLONASS),(Trimble-RTX(GPS/GLONASS),(AUSPOS(GPS/GLONASS))Online Processing Software)by using GPS/GLONASS/Galileo/BDS/QZSS/IRNSS signals is between 40 cm and 111.5 cm on three days.
基金supported by the National Natural Science Foundation of China[grant numbers 42090012,41771452,41771454]the National Key Research and Development Program of China[grant number 2018YFB0505401]+2 种基金03 special research and 5G project of Jiangxi Province in China[grant number 20212ABC03A09]Zhuhai industry university research cooperation project of China[grant number ZH22017001210098PWC]Natural Science Foundation of Sichuan[grant number 2022NSFCSC1124].
文摘Oasis cities are deeply affected by human activities in arid and semi-arid regions.Vegetation is an important repository in the carbon cycle of oasis urban ecosystems.The continuous expansion of urban has a disproportionate impact on the carbon sequestration capacity of vegetation.Till now,studies have been conducted to quantify the impact of urbanization on vegetation carbon sequestration capacity,the mechanism of such impact remains unclear and lacks systematic investigations,especially in oasis urban.Understanding the impact mechanism greatly benefits the sustainable development of oasis urban and regional carbon neutrality.To fill this knowledge gap,we design a theoretical framework to analyze the impact of urbanization on vegetation carbon sequestration capacity by isolating the direct and indirect impacts in Urumqi,China.Some results based on Landsat images indicated that the Impervious Surface Areas(ISAs)expanded by 436.98 km2 during 2000-2019.The Net Primary Productivity(NPP)calculated using the Vegetation Photosynthesis Model(VPM)was directly caused by the loss of 51.45 Gg C(1 Gg=109 g).Another important finding proved that the direct carbon loss caused by urbanization did not change the upward trend of the total carbon sequestration capacity of vegetation,but only slowed down this upward trend by 20.86%.Our results provide new insights into urban vegetation carbon sinks and contribute to a better understanding of the uncertainty of urbanization toward carbon neutrality.This study will provide scientific data support and suggestions for the sustainable development of oasis cities and the regional carbon budget.
文摘Global Positioning System （GPS） has been widely used to estimate the total zenith tropo- spheric delay （ZTD） and precipitable water vapour （PWV） for weather prediction and at- mospheric research as a continuous and all-weather technique. However, estimations of ZTD and PWV are subject to effects of geophysical models with large uncertainties, particularly imprecise ocean tide models of inland seas in Turkey. In this paper, GPS data from Jan. 1, 2010 to Dec. 31, 2011 are processed using GAMIT/GLOBK at four co-located GPS stations （ISTN, ERZR, SAMN, and IZMI） with Radiosonde from the Turkish Met-Office together with several nearby IGS stations. Four widely used ocean tide models are adopted to evaluate their effects on GPS-estimated PWV, such as IERS recommended FES2004, NAO99b, CSR4.0 and GOT00. Five different strategies are taken without ocean tide model and with four ocean tide models, respectively, which are used to evaluate ocean tide models effects on GPS-estimated PWV through comparing with co-located Radiosonde. Results showed that ocean tide models have greatly affected the estimation of the pre- cipitable water vapour at stations near coasts. The ocean tide model FES2004 gave the best results when compared to Radiosonde with ＋2.12 mm in PWV at stations near coastline. While other ocean tides models agree each other at millimeter level in PWV. However, at inland GPS stations, ocean tide models have less effect on GPS-estimated PWV.
文摘Acid mine drainage is wastewater from a mine having a low pH and an elevated level of dissolved heavy metals. These metals are harmful to aquatic, animal and human life. This paper looks at the removal of copper from acid mine drainage using ion exchange to less than 1 mg/l. A weak acidic cation resin was used. Spectrophotometric determination of copper with sodium diethyldithiocarbamate was used to determine the copper concentrations in the treated water. Using regression analysis, the experimental results gave a correlation coefficient of 0.977 and a coefficient of determination of 99.5%. Results indicated that the higher the flows rate the shorter the period after which the copper concentration in the treated water reaches 1 mg/l. At pH 3.85 and 5.09, the resin performed better and at pH above 6.62 and between pH 3.0 and below the resin’s does not perform well. The higher the resin height the greater is the resin exchange capacity and the longer it takes for the copper concentration to reach 1 mg/l in the treated water. The higher the wastewater copper concentration the shorter the time it takes the resin to reach 1 mg/l. The results for this experiment indicated that acid mine drainage can be treated well by ion exchange resins, but it is also very important to establish suitable operating conditions.
文摘Location Based Navigation System (LBNS) is a specific Location Based Service (LBS) purely for navigational purpose. These systems resolve position of a user by using GNSS/GPS positioning technologies, to which supplementary information on goods and services are tagged. The navigation services have become popular and can be installed on mobile phones to provide route information, location of points of interest and user’s current location. LBS has continued to face challenges which include “communication” process towards user reference. Location Based Service System conveys suitable information through a mobile device for effective decision making and reaction within a given time span. This research was geared at understanding the state of LBS technology acceptance and adoption by users in Nairobi Kenya. To do this a quantitative study was carried out through a questionnaire, to investigate mobile phone users’ response on awareness and use of LBS technology. Testing the growth of this technology in this region compared to predictions in previous studies using Technology Acceptance Model (TAM), it is evident that many users may be aware of GPS functionality in mobile phones but are certainly yet to fully embrace the technology as they rarely use it. This points to some underlying challenges towards this technology within this part of the World, thereby recommending for deliberate monitoring and evaluation of LBS technology for sustenance growth based on user satisfaction and acceptance for improved usability.
基金Under the auspices of Scientific Research Project Coordinatorship of Yildiz Technical University,Turkey(No.20100503KAP01)
文摘Digital elevation model （DEM） is the most popular product for three-dimensional （3D） digital representation of bare Earth surface and can be produced by many techniques with different characteristics and ground sampling distances （GSD）. Space-borne opti- cal and synthetic aperture radar （SAR） imaging are two of the most preferred and modern techniques for DEM generation. Using them, global DEMs that cover almost entire Earth are produced with low cost and time saving processing. In this study, we aimed to assess the Satellite pour robservation de la Terre-5 （SPOT-5）, High Resolution Stereoscopic （HRS）, the Advanced Space-borne Thermal Emission and Reflection Radiometer （ASTER）, and the Shuttle Radar Topography Mission （SRTM） C-band global DEMs, produced with space-borne optical and SAR imaging. For the assessment, a reference DEM derived from 1 ： 1000 scaled digital photogrammetric maps was used. The study is performed in 100 km2 study area in Istanbul including various land classes such as open land, forest, built-up land, scrub and rough terrain obtained from Landsat data. The analyses were realized considering three vertical accuracy types as fundamental, supplemental, and consolidated, defined by national digital elevation program （NDEP） of USA. The results showed that, vertical accuracy of SRTM C-band DEM is better than optical models in all three accuracy types despite having the largest grid spacing. The result of SPOT-5 HRS DEM is very close by SRTM and superior in comparison with ASTER models.
基金Excellent talents Program of Liaoning Province(LR2011007)supported by the Natural Sciences and Engineering Research Council(NSERC)of Canada and Tecterra as well as Program for Liaoning Excellent Talents in University,China~~
文摘Several new MEMS Inertial Measurement Unit(IMU) sensor products have been released recently with improved performance,which have the potential to support much higher precision applications.New MEMS IMUs include the NavChip from InterSense,the Nav440 from Crossbow,the Landmark30/40 from GTI,the SDI500 from Systron Donner.Since they are new in the market,currently there is limited information about their error characterization which however is important for the construction of proper error models for their integration with other sensors such as GPS.This paper will investigate the error characterization of two new MEMS IMU sensors,namely the NavChip and Nav440,using Allan variance technique.In addition to identifying different error terms,different stochastic error modeling methods,such as Gauss-Markov(GM) and Autoregressive(AR) processes,will also be investigated to assess the MEMS IMU sensor biases.Investigation to integrate new MEMS IMU sensors with Precise Point Positioning(PPP) will also be conducted to address the re-convergence issues.
文摘Precise point positioning with ambiguity resolution(PPP-AR)is a powerful tool for geodetic and time-constrained applications that require high precision.The performance of PPP-AR highly depends on the reliability of the correct integer carrier-phase ambiguity estimation.In this study,the performance of narrow-lane ambiguity resolution of PPP using the Least-squares AMBiguity Decorrelation(LAMBDA)and bootstrapping methods is extensively investigated using real data from 55 IGS stations over one-month in 2020.Static PPP with 24-,12-,8-,4-,2-,1-and½-h sessions using two different cutoff angles(7°and 30°)was conducted with three PPP modes:i.e.ambiguity-float and two kinds of ambiguity-fixed PPP using the LAMBDA and bootstrapping methods for narrow-lane AR,respectively.The results show that the LAMBDA method can produce more reliable results for 2 hour and shorter observation sessions com-pared with the bootstrapping method using a 7°cutoff angle.For a 30°cutoff angle,the LAMBDA method outperforms the bootstrapping method for observation sessions of 4 h and less.For long observation times,the bootstrapping method produced much more accurate coordinates compared with the LAMBDA method without considering the wrong fixes cases.The results also show that occurrences of fixing the wrong integer ambiguities using the bootstrapping method are higher than that of the LAMBDA method.
基金the i-Boat ITS TeamDRPM ITS IndonesiaWorld-Class Professor Program (Ministry of Higher Education, Research, and Technology, Indonesia) for the data and financial support of this study
文摘The Unmanned Surface Vehicle(USV)navigation system needs an accurate,firm,and reliable performance to avoid obstacles,as well as carry out automatic movements during missions.The Global Positioning System(GPS)is often used in these systems to provide absolute position information.However,the GPS measurements are affected by external conditions such as atmospheric bias and multipath effects.This leads to the inability of the stand-alone GPS to provide accurate positioning for the USV systems.One of the solutions to correct the errors of this sensor is by conducting GPS and Inertial Measurement Unit(IMU)fusion.The IMU sensor is complementary to the GPS and not affected by external conditions.However,it accumulates noise as time elapses.Therefore,this study aims to determine the fusion of the GPS and IMU sensors for the i-Boat navigation system,which is a USV developed by Institut Teknologi Sepuluh Nopember(ITS)Surabaya.Using the Unscented Kalman filter(UKF),sensor fusion was carried out based on the state equation defined by the dynamic and kinematic mathematical model of ship motion in 6 degrees of freedom.Then the performance of this model was tested through several simulations using different combinations of attitude measurement data.Two scenarios were conducted in the simulations:attitude measurement inclusion and exclusion(Scenarios I and II,respectively).The results showed that the position estimation in Scenario II was better than in Scenario I,with the Root Mean Square Error(RMSE)value of 0.062 m.Further simulations showed that the presence of attitude measurement data caused a decrease in the fusion accuracy.The UKF simulation with eight measurement parameters(Scenarios A,B and C)and seven measurement parameters(Scenarios D,E and F),as well as analytical attitude movement,indicated that yaw data had the largest noise accumulation compared to roll and pitch.
文摘In 2000, the United Nations (UN) developed Millennium Development Goals (MDG) with one of its aim being to improve access of potable water supply by 2015 in developing countries. This study thus focused on Kenya’s Gilgil constituency which lies in both arid and semi-arid zones and experiences bimodal rains which are neither heavy nor reliable. With persistent shortages, water management and monitoring became essential and in current times the use of Geographic Information Systems (GIS) is being incorporated due to its capability as an effective tool in water resources management. The study’s aim was to provide knowledge about accessible areas and gaps using cost surface analysis as well as identify other factors that influence settlement. The study utilized walk speeds as an impedance to determine cost surfaces followed by creation of service areas from water facilities using time as a measurement of access. The study established that surface friction may not have major influence on accessibility and service areas while logistic regression established that other factors strongly influence settlement apart from water availability. The study also reveals that 77% of the semi-permanent households in Gilgil have a hard time accessing water as they are outside the 30-minute walk time.
文摘The quality of surface water is rapidly changing due to climatic variations, natural processes, and anthropogenic activities. The objectives of this study were to classify and analyze the surface water quality of 12 major rivers of Alberta on the basis of 17 parameters during the period of five years (i.e., 2004-2008) using principal component analysis (PCA), total exceedance model and clustering technique. Seven major principal components (PCs) with variability of about 89% were identified. These PCs were the indicators of watershed geology, mineralization and anthropogenic activities related to land use/cover. The seven dominant parameters revealed from the seven PCs were total dissolved solids (TDS), true color (TC), pH, iron (Fe), fecal coliform (FC), dissolved oxygen (DO), and turbidity (TUR). The normalized data of dominant parameters were used to develop a model for obtaining total exceedance. The exceedance values acquired from the total exceedance model were used to determine the patterns for the development of five clusters. The performance of the clusters was compared with the classes obtained in Canadian Water Quality Index (CWQI). Cluster 1, cluster 2, cluster 3, cluster 4 and cluster 5 showed agreements of 85.71%, 83.54%, 90.22%, 80.74%, and 83.40% with their respective CWQI classes on the basis of the data for all rivers during 2004-2008. The water quality was deteriorated in growing season due to snow melting. This methodology could be applied to classify the raw surface water quality, analyze the spatio-temporal trends and study the impacts of the factors affecting the water quality anywhere in the world.
