Search Results (393)

Dual-LiDAR systems are widely deployed in autonomous driving, yet extrinsic calibration remains challenging in non-overlapping field-of-view (FoV) configurations where correspondence-based methods are unreliable. We propose an engineering-oriented 2.5D calibration framework that estimates horizontal extrinsics $(x,y,\mathrm{yaw})$ via motion-guided planar alignment and then refines them using Gaussian Process Implicit Surfaces (GPIS), which provide continuous and probabilistic surface constraints from spatially disjoint scans. This design avoids calibration targets and reduces dependence on strong scene assumptions, improving robustness under noise and weak structure. Extensive high-fidelity simulation experiments demonstrate centimeter-level lateral accuracy and sub-degree yaw error, consistently outperforming representative motion-based and BEV-based baselines under both clean and noisy settings. To further assess real-world applicability, we conduct a preliminary nuScenes case study by splitting LiDAR scans into front and rear subsets to emulate a non-overlapping dual-LiDAR setup, achieving improved yaw accuracy and competitive lateral precision. Overall, the proposed method serves as a practical refinement stage for non-overlapping dual-LiDAR calibration, with a favorable balance of accuracy, robustness, and engineering feasibility. Full article

Inspired by the remarkable collaborative echolocation mechanisms of dolphin pods, the paper addresses the challenge of achieving high-precision cooperative positioning for clusters of unmanned underwater vehicles (UUVs) in complex marine environments. Cooperative positioning systems for UUVs typically rely on acoustic ranging information to correct positional errors. However, the propagation characteristics of underwater acoustic signals are susceptible to environmental disturbances, often resulting in non-Gaussian, heavy-tailed distributions of ranging noise. Additionally, the strong nonlinearity of the system and the limited observability of measurement information further constrain positioning accuracy. To tackle these issues, this paper innovatively proposes a Factor Graph-based Adaptive Cooperative Positioning Algorithm (FGAWSP) suitable for heavy-tailed noise environments. The method begins by constructing a factor graph model for UUV cooperative positioning to intuitively represent the probabilistic dependencies between system states and observed variables. Subsequently, a novel factor graph estimation mechanism integrating adaptive weights with the product algorithm is designed. By conducting online assessment of residual information, this mechanism dynamically adjusts the fusion weights of different measurements, thereby achieving robust handling of anomalous range values. Experimental results demonstrate that the proposed method reduces positioning errors by 22.31% compared to the traditional algorithm, validating the effectiveness of our approach. Full article

Accurate Short-Term Load Forecasting (STLF) is paramount for the stable and economical operation of power systems, particularly in the context of high renewable energy penetration, which exacerbates load volatility and non-stationarity. The prevailing advanced “decomposition–ensemble” paradigm, however, faces two significant challenges when processing non-stationary signals: (1) The performance of Variational Mode Decomposition (VMD) is highly dependent on its hyperparameters (K, α), and traditional meta-heuristic algorithms (e.g., GA, GWO, PSO) are prone to converging to local optima during the optimization process; (2) Deep learning predictors struggle to dynamically weigh the importance of multi-dimensional, heterogeneous features (such as the decomposed Intrinsic Mode Functions (IMFs) and external climatic factors). To address these issues, this paper proposes a novel, adaptive hybrid forecasting framework, namely IRIME-VMD-CDA-LSTNet. Firstly, an Improved Rime Optimization Algorithm (IRIME) integrated with a Gaussian Mutation strategy is proposed. This algorithm adaptively optimizes the VMD hyperparameters by targeting the minimization of average sample entropy, enabling it to effectively escape local optima. Secondly, the optimally decomposed IMFs are combined with climatic features to construct a multi-dimensional information matrix. Finally, this matrix is fed into an innovative Cross-Dimensional Attention (CDA) LSTNet model, which dynamically allocates weights to each feature dimension. Ablation experiments conducted on a real-world dataset from a distribution substation demonstrate that, compared to GA-VMD, GWO-VMD, and PSO-VMD, the proposed IRIME-VMD method achieves a reduction in Root Mean Square Error (RMSE) of up to 18.9%. More importantly, the proposed model effectively mitigates the “prediction lag” phenomenon commonly observed in baseline models, especially during peak load periods. This framework provides a robust and high-accuracy solution for non-stationary load forecasting, holding significant practical value for the operation of modern power systems. Full article

Radio-frequency interference (RFI) severely degrades the imaging quality of synthetic aperture radar (SAR), especially when the interference energy is strongly coupled with ground backscatter in both the time and frequency domains. Existing algorithms typically rely on energy contrast or component decomposition in transform domains, which limits their ability to cleanly separate complex RFI from high-power echoes. Exploiting the fact that kurtosis is insensitive to ground clutter and background noise, this paper proposes an interference suppression network based on the temporal kurtosis guidance mechanism. Specifically, a statistical prior vector capturing the non-Gaussian characteristics of RFI is constructed using kurtosis in the time–frequency domain and is integrated into a multi-scale attention mechanism, allowing the network to more effectively concentrate on interfered regions. Meanwhile, a systematic framework is established for the quantitative assessment of phase fidelity in the reconstruction of complex-valued SAR echoes. On this basis, by exploiting the strong generalization capability and high processing efficiency of data-driven models, the proposed network achieves improved RFI separation and enhanced reconstruction accuracy of underlying scene features. Ablation experiments validated that the design of a kurtosis-guided module can reduce the mean square error (MSE) loss by 14.87% compared to the basic model. Furthermore, regarding the phase fidelity, the correlation coefficient between the suppressed signal and the original true signal reached 0.99. Finally, GF-3 satellite data are used to further demonstrate the effectiveness and practicality of the proposed method. Full article

The International Roughness Index (IRI) is calculated from elevation profiles acquired by high-speed profilers or laser scanners, but these raw data often contain measurement noise and extraneous wavelength components that can degrade the accuracy of IRI calculations. Existing filtering methods expose a limitation in removing IRI-insensitive wavelength components. Thus, this paper proposes a Gaussian filtering algorithm based on the Nyquist sampling theorem to remove IRI-insensitive components of the longitudinal profile. The proposed approach first adaptively determines Gaussian template lengths according to sampling intervals, and then incorporates a boundary padding strategy to ensure processing stability. The proposed method enables precise wavelength selection within the IRI-sensitive band of 1.3–29.4 m while maintaining computational efficiency. The method was validated using the Paris–Lille dataset and the U.S. Long-Term Pavement Performance (LTPP) program dataset. The filtered profiles were evaluated by Power Spectral Density (PSD), and IRI values were calculated and compared with those obtained by conventional profile filtering methods. The results show that the proposed method is effective in removing the non-sensitive components of IRI and obtaining highly accurate IRI values. Compared with the standard IRI provided by the LTPP dataset, mean absolute error of the IRI values from the proposed method reaches 0.051 m/km, and mean relative error is less than 4%. These findings indicate that the proposed method improves the reliability of IRI calculation. Full article

In machine learning, the Bayes classifier represents the theoretical optimum for minimizing classification errors. Since estimating high-dimensional probability densities is impractical, simplified approximations such as naïve Bayes and k-nearest neighbor are widely used as baseline classifiers. Despite their simplicity, these methods require design choices—such as the distance measures in kNN, or the feature independence in naïve Bayes. In particular, naïve Bayes relies on implicit assumptions by using Gaussian mixtures or univariate kernel density estimators. Such design choices, however, often fail to capture heterogeneous distributional structures across features. We propose a flexible naïve Bayes classifier that leverages Pareto Density Estimation (PDE), a parameter-free, non-parametric approach shown to outperform standard kernel methods in exploratory statistics. PDE avoids prior distributional assumptions and supports interpretability through visualization of class-conditional likelihoods. In addition, we address a recently described pitfall of Bayes’ theorem: the misclassification of observations with low evidence. Building on the concept of plausible Bayes, we introduce a safeguard to handle uncertain cases more reliably. While not aiming to surpass state-of-the-art classifiers, our results show that PDE-flexible naïve Bayes with uncertainty handling provides a robust, scalable, and interpretable baseline that can be applied across diverse data scenarios. Full article

The selection of data smoothing methods is one of the key steps in extracting land surface phenology parameters from time-series remote sensing data. However, existing studies often use default parameters for denoising the time-series data, neglecting the sensitivity of phenology extraction to different combinations of smoothing parameters. Therefore, this study systematically evaluated three parametric smoothing methods—Savitzky–Golay (SG), Whittaker Smoother (WS), and Harmonic Analysis of Time-Series (HANTS)—and two non-parametric methods—Asymmetric Gaussian (AG) and Double-Logistic (DL)—on the accuracy of Start of Season (SOS) and End of Season (EOS) extraction at eight ground phenology observation sites in Inner Mongolia, based on time-series MOD13Q1- Normalized Difference Vegetation Index data and using the derivative method as the background for phenology parameter extraction at the site scale. The results showed that (1) DL and HANTS yielded similar accuracy for phenology extraction in desert steppe, while parametric smoothing methods outperformed non-parametric methods in phenology simulation in typical and meadow steppe regions. (2) We proposed the optimal phenology parameter combination for different steppe types in Inner Mongolia. For desert steppe, DL or HANTS was recommended. For SOS extraction in typical steppe ecosystems, the WS parameter combination was used. For EOS and phenology in meadow steppe, the HANTS parameter combination yielded better simulation results. (3) In desert and meadow steppes, the window radius in SG contributed more to phenology accuracy than polynomial order. The opposite was true for typical steppe. In WS, the contribution of the differential order to SOS and EOS extraction in desert and typical steppes was higher than that of the smoothing factor. The opposite was observed in meadow steppe. In HANTS, the fitting tolerance error was the key factor controlling phenology extraction accuracy. (4) Based on the optimal phenology extraction scheme, the smallest extraction error occurred in meadow steppe at the site scale. This was followed by typical steppe. Desert steppe showed relatively larger errors. This study overcomes the reliance on default parameters in previous studies and proposes a practical framework for phenology extraction for different grassland ecosystems. The findings provide new empirical evidence for method selection and parameter setting in remote sensing phenology monitoring. Full article

Navigation errors due to drifting in inertial systems using low-cost sensors are some of the main challenges for land vehicle navigation in Global Navigation Satellite System (GNSS)-denied environments. In this paper, we propose an autonomous navigation strategy with a wheel-mounted microelectromechanical system (MEMS) inertial measurement unit (IMU), referred to as the wheeled inertial navigation system (INS), to effectively suppress drifted navigation errors. The position, velocity, and attitude (PVA) of the vehicle are predicted through the inertial mechanization algorithm, while gyro outputs are utilized to derive the vehicle’s forward velocity, which is treated as an observation with non-holonomic constraints (NHCs) to estimate the inertial navigation error states. To establish a theoretical foundation for wheeled INS error characteristics, a comprehensive system observability analysis is conducted from an analytical point of view. The wheel rotation significantly improves the observability of gyro errors perpendicular to the rotation axis, which effectively suppresses azimuth errors, horizontal velocity, and position errors. This leads to the superior navigation performance of a wheeled INS over the traditional odometer (OD)/NHC/INS. Moreover, a hybrid extended particle filter (EPF), which fuses the extended Kalman filter (EKF) and PF, is proposed to update the vehicle’s navigation states. It has the advantages of (1) dealing with the system’s non-linearity and non-Gaussian noises, and (2) simultaneously achieving both a high level of accuracy in its estimation and tolerable computational complexity. Kinematic field test results indicate that the proposed wheeled INS is able to provide an accurate navigation solution in GNSS-denied environments. When a total distance of over 26 km is traveled, the maximum position drift rate is only 0.47% and the root mean square (RMS) of the heading error is 1.13°. Full article

Precise prediction of structural settlement in subway tunnels is crucial for ensuring safety during both construction and operational phases; however, the non-linear characteristics of monitoring data pose a significant challenge to achieving this goal. To address this issue, this study proposes a hybrid predictive model, termed HO-GPR. This model integrates the Hippopotamus Optimization (HO) algorithm—a novel bio-inspired meta-heuristic—with Gaussian Process Regression (GPR), a non-parametric probabilistic machine learning method. Specifically, HO is utilized to globally optimize the hyperparameters of GPR to enhance its adaptability to complex deformation patterns. The model was validated using 52 months of field settlement monitoring data collected from the Urumqi Metro Line 1 tunnel. Through a series of comparative and generalization experiments, the accuracy and adaptability of the model were systematically evaluated. The results demonstrate that the HO-GPR model is superior to five benchmark models—namely Gated Recurrent Unit (GRU), Support Vector Regression (SVR), HO-optimized Back Propagation Neural Network (HO-BP), standard GPR, and ARIMA—in terms of accuracy and stability. It achieved a Coefficient of Determination (R²) of 0.979, while the Root Mean Square Error (RMSE), Mean Absolute Error (MAE), and Mean Absolute Percentage Error (MAPE) were as low as 0.318 mm, 0.240 mm, and 1.83%, respectively, proving its capability for effective prediction with non-linear data. The findings of this research can provide valuable technical support for the structural safety management of subway tunnels. Full article

We propose an uncertainty propagation framework based on phase space that treats the error distribution as the marginal of a Wigner quasi-probability distribution and defines an effective uncertainty constant quantifying the minimal resolvable phase-space cell. Recognizing that observational updates systematically reduce uncertainty, we adopt a generalized Koopman–von Neumann equation grounded in operator dynamical modeling to propagate the density operator corresponding to the error distribution. The scaling parameter $\kappa$ quantifies the reduction in uncertainty following each filter update. Although the potential is presently retained only to second order—so that both propagation and update preserve Gaussian form and permit direct Kalman recursion—the framework itself lays the analytical foundation for a future treatment of non-Gaussian features. Validated on 1215 orbits (semi-major axis: 9600 km to 42,164 km), the method shows that within a 3 min fit/10 min forecast window, observational noise contributes 350 m while unmodeled dynamics adds only 0.6 m. Kruskal–Wallis rank-sum tests and the accompanying scatter-plot trend rank the semi-major axis as the dominant sensitive parameter. The proposed model outperforms Chebyshev and high-fidelity propagators in real time, offering a physically interpretable route for short-arc orbit prediction. Full article

Accurate vertical distribution of fire-induced heat fluxes in the atmosphere is critical for realistic coupled fire–atmosphere simulations. In response to concerns raised by Shamsaei et al. (2023) regarding potential energy conservation issues in the WRF-SFIRE heat distribution scheme, this study first conducts a comprehensive theoretical analysis, demonstrating that the original exponential formulation exhibits negligible error under typical domain configurations. Then, it introduces a novel formulation, called the Versatile Energy-Conservative Distribution scheme, that rigorously guarantees energy conservation while providing enhanced flexibility in specifying vertical distribution profiles. The proposed method accommodates multiple profiles, including exponential, Gaussian, and gamma, and enables the independent treatment of surface and canopy heat fluxes, thereby yielding a more flexible representation of fire heat fluxes. Numerical evaluations on both fine and coarse non-uniform meshes confirm that the new formulation maintains perfect energy balance across various configurations and overcomes the limitations observed in other schemes, such as the truncated Gaussian approach. These advancements not only refute previous claims of significant energy misrepresentation but also offer a robust and flexible framework intended to improve the representation of fire–atmosphere interactions in numerical models. Full article

This study investigates the horizontal positioning accuracy of a low-cost, multi-frequency GNSS receiver operating in static mode using a newly released PPP-RTK correction service delivering localized corrections. To the authors’ knowledge, this represents one of the first performance evaluations of this service, which optimizes correction data based on the approximate receiver location. The results are compared against those from the previous version of the service, which provided non-localized corrections. Analyses were conducted in both the time and frequency domains, employing robust statistical tools to characterize error behavior. The localized service achieved a mean horizontal error of approximately 0.020 m and a 95% Circular Error Probable (CEP95) of 0.046 m, in line with its declared performance. By contrast, the earlier non-localized service yielded a mean horizontal error of approximately 0.074 m and a CEP95 of 0.124 m under comparable static conditions, confirming the significant improvement achieved by localized corrections. Spectral and wavelet analyses revealed a dominant 33 mHz harmonic in the positioning error, corresponding to the 30 s update period of atmospheric corrections, indicating a periodic influence arising from the correction stream. Continuous wavelet analysis further identified intervals in which this harmonic was absent, during which positioning accuracy improved markedly (CEP95 reduced to 0.019 m). To properly address the non-Gaussian nature of the error distribution, bias-corrected and accelerated (BCa) bootstrap methods were applied to estimate confidence intervals. Overall, the results demonstrate the benefits of localized corrections, while emphasizing the importance of accounting for the temporal structure of correction data in PPP-RTK performance assessments. Future developments will focus on kinematic scenarios and adaptive filtering strategies to mitigate periodic errors induced by correction updates. Full article

In the Arctic region, the navigation and positioning accuracy of shipborne and autonomous underwater vehicle (AUV) integrated Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) solutions is severely degraded due to poor satellite geometry, frequent ionospheric disturbances, non-Gaussian measurement noise, and strong multipath effects, as well as long-term INS-based dead-reckoning for AUVs when GNSS is unavailable underwater. In addition, the sparse ground-based augmentation infrastructure and the lack of reliable reference trajectories and dedicated test ranges in polar waters hinder the validation and performance assessment of existing marine navigation systems, further complicating the achievement of accurate and reliable navigation in this region. To improve the positioning accuracy of the GNSS/INS shipborne navigation system, this paper adopts a tightly coupled GNSS/INS navigation approach. To further enhance the accuracy and robustness of tightly coupled GNSS/INS positioning, this paper proposes an improved Adaptive Robust Extended Kalman Filter (IAREKF) algorithm to effectively suppress the effects of gross errors and non-Gaussian noise, thereby significantly enhancing the system’s robustness and positioning accuracy. First, the residuals and Mahalanobis distance are calculated using the Adaptive Robust Extended Kalman Filter (AREKF), and the chi-square test is used to assess the anomalies of the observations. Subsequently, the observation noise covariance matrix is dynamically adjusted to improve the filter’s anti-interference capability in the complex Arctic environment. However, the state estimation accuracy of AREKF is still affected by GNSS signal degradation, leading to a decrease in navigation and positioning accuracy. To further improve the robustness and positioning accuracy of the filter, this paper introduces a sliding window mechanism, which dynamically adjusts the observation noise covariance matrix using historical residual information, thereby effectively improving the system’s stability in harsh environments. Field experiments conducted on an Arctic survey vessel demonstrate that the proposed improved adaptive robust extended Kalman filter significantly enhances the robustness and accuracy of Arctic integrated navigation. In the Arctic voyages at latitudes 80.3° and 85.7°, compared to the Loosely coupled EKF, the proposed method reduced the horizontal root mean square error by 61.78% and 21.7%, respectively. Full article

This paper develops a unified synchronization framework for octonion-valued fractional-order neural networks (FOOVNNs) subject to mixed delays, Lévy disturbances, and topology switching. A fractional sliding surface is constructed by combining $I^{1-\mu }{e}_g$ with integral terms in powers of $|e_g|$. The controller includes a nonsingular term $-{\rho }_{2g}{s}_g^{c_2}\mathrm{sign}\left(s_g\right)$, a disturbance-compensation term $-{\widehat{\theta }}_g\mathrm{sign}\left(s_g\right)$, and a delay-feedback term $-{\lambda }_g{e}_g(t-\tau )$, while dimension-aware adaptive laws ${\phantom{,}}^C{D}_t^{\mu }{\rho }_g=k_{1g}N{\parallel s_g\parallel }^{c_2}$ and ${\phantom{,}}^C{D}_t^{\mu }{\widehat{\theta }}_g=k_{2g}N\parallel s_g\parallel$ ensure scalability with network size. Fixed-time convergence is established via a fractional stochastic Lyapunov method, and predefined-time convergence follows by a time-scaling of the control channel. Markovian switching is treated through a mode-dependent Lyapunov construction and linear matrix inequality (LMI) conditions; non-Gaussian perturbations are handled using fractional Itô tools. The architecture admits observer-based variants and is implementation-friendly. Numerical results corroborate the theory: (i) Two-Node Baseline: The fixed-time design drives ${\parallel e\left(t\right)\parallel }_1$ to $\mathcal{O}\left({10}^{-4}\right)$ by $t\approx 0.94\mathrm{s}$, while the predefined-time variant meets a user-set $T_p=0.5\mathrm{s}$ with convergence at $t\approx 0.42\mathrm{s}$. (ii) Eight-Node Scalability: Sliding surfaces settle in an $\mathcal{O}\left(1\right)$ band, and adaptive parameter means saturate well below their ceilings. (iii) Hyperspectral (Synthetic): Reconstruction under Lévy contamination achieves a competitive PSNR consistent with hypercomplex modeling and fractional learning. (iv) Switching Robustness: under four modes and twelve random switches, the error satisfies ${max}_t{\parallel e\left(t\right)\parallel }_1\le 0.15$. The results support octonion-valued, fractionally damped controllers as practical, scalable mechanisms for robust synchronization under non-Gaussian noise, delays, and time-varying topologies. Full article

In the field of remote sensing, tracking highly maneuvering targets is challenging due to its rapidly changing patterns and uncertainties, particularly under non-Gaussian noise conditions. In this paper, we consider the problem of tracking highly maneuvering targets without using preset parameters in non-Gaussian noise. We propose a multi-domain intelligent state estimation network (MIENet). It consists of two main models to estimate the key parameter for the Unscented Kalman Filter, enabling robust tracking of highly maneuvering targets under various intensities and distributions of observation noise. The first model, called a fusion denoising model (FDM), is designed to eliminate observation noise by enhancing multi-domain feature fusion. The second model, called a parameter estimation model (PEM), is designed to estimate key parameters of target motion by learning both global and local motion information. Additionally, we design a physically constrained loss function (PCLoss) that incorporates physics-informed constraints and prior knowledge. We evaluate our method on radar trajectory simulation and real remote sensing video datasets. Simulation results on the LAST dataset demonstrate that the proposed FDM can reduce the root mean square error (RMSE) of observation noise by more than 60%. Moreover, the proposed MIENet consistently outperforms the state-of-the-art state estimation algorithms across various highly maneuvering scenes, achieving this performance without requiring adjustment of noise parameters under non-Gaussian noise. Furthermore, experiments conducted on the real-world SV248S dataset confirm that MIENet effectively generalizes to satellite video object tracking tasks. Full article