Search Results (8)

This study focused on the monitoring of a bridge using the global navigation satellite system real-time kinematic (GNSS-RTK) sensor. An improved hybrid denoising method was developed to enhance the GNSS-RTK’s accuracy. The improved hybrid denoising method consists of the improved complete ensemble empirical mode decomposition with adaptive noise (ICEEMDAN), the detrended fluctuation analysis (DFA), and an improved wavelet threshold denoising method. The stability experiment demonstrated the superiority of the improved wavelet threshold denoising method in reducing the noise of the GNSS-RTK. A noisy simulation signal was created to assess the performance of the proposed method. Compared to the ICEEMDAN method and the CEEMDAN-WT method, the proposed method achieves lower RMSE and higher SNR. The signal obtained by the proposed method is similar to the original signal. Then, GNSS-RTK was used to monitor a bridge in maintenance and rehabilitation construction. The bridge monitoring experiment lasted for four hours. (Considering the space limitation of the article, only representative 600 s data is displayed in the paper.) The bridge is located in Tianjin, China. The original displacement ranges are −14.9~19.3 in the north–south direction; −26.9~24.7 in the east–west direction; and −46.7~52.3 in the vertical direction. The displacement ranges processed by the proposed method are −12.3~17.2 in the north–south direction; −24.6~24.1 in the east–west direction; and −46.7~51.1 in the vertical direction. The proposed method processed fewer displacements than the initial monitoring displacements. It indicates the proposed method reduces noise significantly when monitoring the bridge based on the GNSS-RTK sensor. The average sixth-order frequency from PSD is 1.0043 Hz. The difference between the PSD and FEA is only 0.99%. The sixth-order frequency from the PSD is similar to that from the FEA. The lower modes’ natural frequencies from the PSD are smaller than those from the FEA. It illustrates the fact that, during the repair process, the missing load-bearing rods made the bridge less stiff and strong. The smaller natural frequencies of the bridge, the complex construction environment, the diversity of workers’ operations, and some unforeseen circumstances occurring in the construction all bring risks to the safety of the bridge. We should pay more attention to the dynamic monitoring of the bridge during construction in order to understand the structural status in time to prevent accidents. Full article

The precise acquisition of water depth data in nearshore shallow waters bears considerable strategic significance for marine environmental monitoring, resource stewardship, navigational infrastructure development, and military security. Conventional bathymetric survey methodologies are constrained by their spatial and temporal limitations, thus failing to satisfy the requirements of large-scale, real-time surveillance. While satellite remote sensing technologies present a novel approach to water depth inversion in shallow waters, attaining high-precision inversion in nearshore areas characterized by elevated levels of suspended sediments and diminished transparency remains a formidable challenge. To tackle this issue, this study introduces an enhanced XGBoost model grounded in the Newton–Raphson optimizer (NRBO–XGBoost) and successfully applies it to water depth inversion investigations in the nearshore shallow waters of the Beibu Gulf. The research amalgamates Sentinel-2B multispectral imagery, nautical chart data, and in situ water depth measurements. By ingeniously integrating the Newton–Raphson optimizer with the XGBoost framework, the study realizes the automatic configuration of model training parameters, markedly elevating inversion accuracy. The findings reveal that the NRBO–XGBoost model attains a coefficient of determination (R²) of 0.85 when compared to nautical chart water depth data, alongside a scatter index (SI) of 21%, substantially surpassing conventional models. Additional validation analyses indicate that the model achieves a coefficient of determination (R²) of 0.86 with field-measured data, a mean absolute error (MAE) of 1.60 m, a root mean square error (RMSE) of 2.13 m, and a scatter index (SI) of 13%. Moreover, the model exhibits exceptional performance in extended applications within the waters of Zhanjiang Port (R² = 0.90), unequivocally affirming its dependability and practicality in intricate nearshore water environments. This study not only provides a fresh solution for remotely sensing water depth in complex nearshore water settings but also imparts valuable technical insights into the associated underwater surveys and marine resource exploitation. Full article

This study considers a relative orbit estimation problem wherein an observing spacecraft navigates with respect to a target space object at a large separation distance (several kilometers) using only the bearing angles obtained by a single onboard camera. Generally, the extended Kalman filter (EKF), which is based on linear relative motion equations such as the Clohessy–Wiltshire equation, is used for the relative navigation of satellites. The EKF linearizes the estimation error around the current estimate and applies the Kalman filter equations to this linearized system. However, it has been shown that nonlinearities of the orbit determination problem can make the linearization assumption insufficient to represent the actual uncertainty. Therefore, an analytical second-order extended Kalman filter (ASEKF) for relative orbit estimation is proposed in this study. The ASEKF, to sequentially estimate the relative states of satellites and their associated uncertainties, is formulated based on a second-order analytic relative-motion equation under J₂-perturbtation, which can overcome the deficiencies of existing approaches that mainly focus on applications in two-body, near-circular, and linearized orbit dynamics. Numerical results show that the proposed method provides superior robustness and mean-square error performance compared to linear estimators under the conditions considered. Full article

In this paper, new path optimization algorithms are developed for uncrewed aerial vehicle (UAV) self-localization and target tracking, exploiting beacon (landmark) bearings and angle-of-arrival (AOA) measurements from a manoeuvring target. To account for time-varying rotations in the local UAV coordinates with respect to the global Cartesian coordinate system, the unknown orientation angle of the UAV is also estimated jointly with its location from the beacon bearings. This is critically important, as orientation errors can significantly degrade the self-localization performance. The joint self-localization and target tracking problem is formulated as a Kalman filtering problem with an augmented state vector that includes all the unknown parameters and a measurement vector of beacon bearings and target AOA measurements. This formulation encompasses applications where Global Navigation Satellite System (GNSS)-based self-localization is not available or reliable, and only beacons or landmarks can be utilized for UAV self-localization. An optimal UAV path is determined from the optimization of the Bayesian Fisher information matrix by means of A- and D-optimality criteria. The performance of this approach at different measurement noise levels is investigated. A modified closed-form projection algorithm based on a previous work is also proposed to achieve optimal UAV paths. The performance of the developed UAV path optimization algorithms is demonstrated with extensive simulation examples. Full article

Christian environmental ethics have always navigated the thin line between the Scylla of pantheism and the Charybdis of deism. On the one hand, removing God from the world avoids pantheism but can inadvertently render the divine a distant, absentee father who cares little about what we do with the environment. On the other hand, if we bring the Creator too close to creation, we may begin to blur the distinction between them, fringing on pantheism. While making nature divine might at first seem to heighten the environmental desecration of the earth by making it a literal de-sacralizing of the sacred, this may be only a surface-level reading (or, at least, only true of very carefully nuanced versions of pantheism). For the pantheist, God would not just be the trees but the machines that log them; God would not just be the polar bears but the carbon dioxide that is evicting them. God would be no more present in that which is desecrated than in that which does the desecration (e.g., God would be one with the pesticides, bulldozers, and factory smoke). By making God everything, it becomes difficult to call any person, act, legislation, or event godless. This paper offers Henry More’s view of divine space as a constructive, Platonic Christian middle way between these two extremes, charting a God who is spatially present to nature without being pantheistically reducible to it, in the same way that space is intimately close to the objects within it while nonetheless remaining distinct from them. The bulk of the paper counters potential opponents to this proposal, specifically defending Morean space from the charge that it would break down the Creator–creature distinction and/or cave to the environmental Scylla of pantheism. Full article

This paper proposes a modified glideslope guidance method that optimizes a hybrid multiobjective of bearing-only navigation error and fuel consumption. The traditional glideslope guidance fixes uniform maneuver intervals and the initial approach velocity as a predetermined value, making this approach inflexible. In this paper, the maneuver intervals and the initial approach velocity were used as optimization variables, and a hybrid cost function was designed. The tradeoff between the two objectives was analyzed with a bearing-only navigation simulation conducted to reveal the navigation performance following different resulting trajectories. The result showed that the optimal scheduled times of maneuvers remained relatively stable under different tradeoff weights, while a strong correlation between the optimal initial approach velocity and the tradeoff weight was revealed. Therefore, when the optimization has to be solved several times online with different tradeoff weights, the initial approach velocity can be the only optimization variable, leaving the scheduled times of maneuvers fixed in the optimal values achieved offline. These findings provide a potential reference for far-approach trajectory design of bearing-only navigation. Full article

Robotic mapping and odometry are the primary competencies of a navigation system for an autonomous mobile robot. However, the state estimation of the robot typically mixes with a drift over time, and its accuracy is degraded critically when using only proprioceptive sensors in indoor environments. Besides, the accuracy of an ego-motion estimated state is severely diminished in dynamic environments because of the influences of both the dynamic objects and light reflection. To this end, the multi-sensor fusion technique is employed to bound the navigation error by adopting the complementary nature of the Inertial Measurement Unit (IMU) and the bearing information of the camera. In this paper, we propose a robust tightly-coupled Visual-Inertial Navigation System (VINS) based on multi-stage outlier removal using the Multi-State Constraint Kalman Filter (MSCKF) framework. First, an efficient and lightweight VINS algorithm is developed for the robust state estimation of a mobile robot by practicing a stereo camera and an IMU towards dynamic indoor environments. Furthermore, we propose strategies to deal with the impacts of dynamic objects by using multi-stage outlier removal based on the feedback information of estimated states. The proposed VINS is implemented and validated through public datasets. In addition, we develop a sensor system and evaluate the VINS algorithm in the dynamic indoor environment with different scenarios. The experimental results show better performance in terms of robustness and accuracy with low computation complexity as compared to state-of-the-art approaches. Full article

Recommendation services bear great importance in e-commerce, shopping, tourism, and social media, as they aid the user in navigating through the items that are most relevant to their needs. In order to build recommender systems, organizations log the item consumption in their user sessions by using different sensors. For instance, Web sites use Web data loggers, museums and shopping centers rely on user in-door positioning systems to register user movement, and Location-Based Social Networks use Global Positioning System for out-door user tracking. Most organizations do not have a detailed history of previous activities or purchases by the user. Hence, in most cases recommenders propose items that are similar to the most recent ones viewed in the current user session. The corresponding task is called session based, and when only the last item is considered, it is referred to as item-to-item recommendation. A natural way of building next-item recommendations relies on item-to-item similarities and item-to-item transitions in the form of “people who viewed this, also viewed” lists. Such methods, however, depend on local information for the given item pairs, which can result in unstable results for items with short transaction history, especially in connection with the cold-start items that recently appeared and had no time yet to accumulate a sufficient number of transactions. In this paper, we give new algorithms by defining a global probabilistic similarity model of all the items based on Random Fields. We give a generative model for the item interactions based on arbitrary distance measures over the items, including explicit, implicit ratings and external metadata to estimate and predict item-to-item transition probabilities. We exploit our new model in two different item similarity algorithms, as well as a feature representation in a recurrent neural network based recommender. Our experiments on various publicly available data sets show that our new model outperforms simple similarity baseline methods and combines well with recent item-to-item and deep learning recommenders under several different performance metrics. Full article