Search Results (536)

Atmospheric refractivity governs the propagation behavior of electromagnetic waves in the lower troposphere. Accurate spatial characterization of this parameter is essential for optimizing communication, radar, and navigation systems. This study presents a geostatistical framework for generating high-resolution refractivity maps using Universal Kriging (UK) applied to meteorological observations from a dense network of automatic weather stations in the Galician region (NW Spain). The methodology explicitly models the non-stationary vertical structure of the atmosphere by decomposing the refractivity field into a deterministic altitude-dependent drift and a stochastic residual component characterized by an exponential variogram. Validation, performed using independent test stations bounding the regional vertical profile, demonstrates that the UK approach significantly outperforms Ordinary Kriging (OK). UK not only reduces mean errors and improves linear agreement, but critically minimizes systematic bias and extreme outlier occurrences ($P_{95}$). Beyond accurate spatial interpolation, the dynamically estimated vertical drift retrieves the macroscopic refractivity gradient, serving as a direct, real-time diagnostic tool to classify anomalous radio-frequency (RF) propagation regimes (e.g., super-refraction and ducting) and supporting robust decision-making in complex topographies. Full article

Autonomous guided vehicle (AGV) navigation in high-density warehouses faces significant challenges due to narrow aisles and complex U-shaped traps. In such environments, traditional sampling-based path planning algorithms often converge slowly and produce suboptimal paths. To solve these issues, a novel hierarchical hybrid planning framework named MEG-RRT* (Multi-objective Evolutionary Guided RRT*) is proposed in this study. The proposed MEG-RRT* integrates an optimization engine based on NSGA-II into the sampling process. It guides exploration direction away from local minima by jointly optimizing convergence efficiency and safety-related objectives. Furthermore, a geometry-aware execution layer is introduced to improve motion through narrow passages and to refine the path structure. This layer includes radar-guided steering, adaptive step-size control, and ancestor shortcut operations. Comparative experiments were conducted in simulated scenarios of complex narrow passages and high-density warehouses to verify the superiority of the proposed MEG-RRT*. In complex narrow passages, the proposed algorithm achieves a 100% success rate; it also reduces convergence time by 43.5% compared to standard RRT* and by 44.9% compared to Informed-RRT*. In warehouse environments, it generates smooth, kinematically favorable paths that are 39% shorter than those produced by RRT-Connect. These results demonstrate that MEG-RRT* balances exploration efficiency and solution optimality, making it well suited for automated logistics applications. Full article

Ballistic missiles exhibit high velocities and rapid maneuverability after atmospheric reentry, posing substantial challenges for anti-ballistic missile (ABM) interception. This paper presents an integrated interception framework that combines an input estimation method with an improved particle swarm optimization-based guidance law (IPSOG). The input estimation approach processes noisy radar measurements to estimate target states in the presence of unknown system inputs and measurement noise. Its performance is evaluated through simulations and compared with the extended Kalman filter (EKF), demonstrating improved estimation accuracy and robustness under highly maneuvering conditions. An improved particle swarm optimization algorithm is employed to design the interceptor guidance law. Compared with conventional proportional navigation guidance (PNG), the proposed guidance method provides enhanced adaptability to target maneuvers. Numerical simulations are conducted to evaluate interception performance against maneuvering ballistic missile targets. Results show reductions in miss distance and interception time while maintaining lower average lateral acceleration and a larger effective interception region. These results indicate that the proposed framework improves both target state estimation and interceptor guidance performance for highly maneuvering ballistic missile targets. Full article

Paddy field water management and rice phenology strongly affect crop productivity and environmental processes, requiring continuous and quantitative monitoring. This study combined satellite synthetic aperture radar (SAR) observations and ground-based Global Navigation Satellite System (GNSS) interferometric reflectometry (GNSS-IR) over a paddy field to analyze their sensitivities to water-level variations and phenological dynamics. Sentinel-1 (C-band) and ALOS-2/PALSAR-2 (L-band) SAR time series were compared with continuous GNSS-IR observations acquired using geodetic-grade instrumentation. For GNSS-IR, Lomb–Scargle periodogram (LSP) analysis of SNR data was applied to derive two indicators: (i) the dominant spectral peak (f_water) frequency associated with the effective reflecting surface, and (ii) a normalized spectral integral (GNSS Phenology Indicator, GPI) representing vegetation-induced scattering and attenuation effects. The temporal evolution of LSP spectra exhibited systematic changes with rice phenological progression, including peak broadening and the emergence of multiple peaks as vegetation developed. For water level variations, L-band SAR co-polarized backscatter (VV and HH) and the GNSS-IR spectral peak exhibited comparable relationships with in situ water level, whereas C-band SAR showed weaker sensitivity. For phenological dynamics, GPI showed temporal behavior similar to that of the SAR polarization ratio (VH/VV), with clear responses around key growth stages, such as heading and harvest. These results suggest that SAR polarization-based indicators and GNSS-IR spectral characteristics can be interpreted within a consistent electromagnetic framework: co-polarized L-band SAR responses correspond to the water-surface-related GNSS-IR peak, whereas cross-polarized indicators correspond to GPI. This study demonstrated the potential of GNSS-IR as complementary information for physically interpreting SAR scattering mechanisms, highlighting a pathway toward more integrated microwave-based monitoring of land surface processes. Full article

Sea ice segmentation based on Synthetic Aperture Radar (SAR) images has become an important technical means for polar climate change monitoring and navigation safety guarantee. However, the existing methods have limitations in the utilization of SAR polarization information and the modeling of local diversity details of sea ice, which leads to insufficient segmentation, especially in complex ice-water boundary regions. To address these issues, this paper proposes a novel Polarization-Fused Edge-Enhanced UNet (PFEE-UNet) designed specifically for sea ice segmentation from high-resolution SAR images. Specifically, we design the Cross-Polarization Channel Interaction (CPCI) module, which employs a dual interaction strategy of hierarchical inter-group cascading and symmetric cross-fusion. This approach effectively leverages the complementary features of the HH and HV polarization channels, significantly enhancing the distinction between sea ice and open water. Additionally, we present the Dense–Sparse Diversity Enhancement (DSDE) module, which combines a spatial-channel joint attention mechanism to strengthen the model’s ability to capture spatial relationships within complex ice–water structures, effectively alleviating misclassifications caused by abrupt local texture changes. Finally, we design the Selective Edge Fusion (SEF) module, which dynamically selects and integrates multi-level edge features, improving the continuity of sea ice boundaries and preserving its morphological integrity. The experimental results show that the proposed PFEE-UNet model outperforms mainstream segmentation methods on the AI4Arctic/ASIP sea ice dataset, achieving an average Intersection over Union (IoU) of 84.48%, which surpasses existing methods such as HRNet (82.52%) and DeepLabv3+ (82.40%). Additionally, PFEE-UNet was applied for end-to-end ice–water segmentation on real-world Sentinel-1 SAR scenes, demonstrating its effectiveness and robustness for practical sea ice monitoring. Full article

The Earth’s lithosphere, the rigid outermost layer of the planet, is composed of numerous tectonic plates of varying sizes that move over the underlying asthenosphere. The motion and interaction of these plates give rise to a wide range of geodynamic processes. Accurate monitoring of these processes is essential for maintaining a stable, up-to-date, and reliable terrestrial reference frame. This study investigates the horizontal and vertical motions of the Antarctic Plate resulting from its interactions with adjacent plates. Tectonic plate movements can be determined using several space-geodetic techniques, including Global Navigation Satellite Systems (GNSS), Very Long Baseline Interferometry (VLBI), Satellite Laser Ranging (SLR), and Interferometric Synthetic Aperture Radar (InSAR). Among these methods, GNSS is currently the most widely used, as plate motions can be derived from continuous observations recorded at permanent stations and processed using scientific or commercial software. Within the scope of this research, GNSS data collected between 2020 and 2023 were processed using the GAMIT/GLOBK V.10.7 software package to estimate the coordinates and velocities of stations located on the Antarctic, South American, African, and Australian Plates in the ITRF14 reference frame. Furthermore, plate-fixed solutions were generated to analyze the relative motion of the Antarctic Plate with respect to neighboring plates. The results indicate that the Antarctic Plate moves at an average velocity of approximately 4–18 mm/year in the ITRF14 frame. The plate diverges from both the African and Australian Plates and exhibits predominantly strike-slip motion relative to the South American Plate. A comparison with existing global plate motion models demonstrates that the obtained velocities are consistent within 0–5 mm/year. Full article

Real-time path planning for Unmanned Surface Vehicles (USVs) in complex marine environments remains challenging due to unstructured environments, ocean current disturbances, and dynamic obstacles. This paper proposes an improved Hybrid Safety and Reward-Sensitive Twin Delayed Deep Deterministic Policy Gradient (H_RS_TD3) algorithm and constructs a high-fidelity simulation environment based on GEBCO bathymetric data and CMEMS ocean current data. The path planning problem is formulated as a Markov Decision Process (MDP), where the state space incorporates multi-beam radar perception, ocean current disturbances, and relative goal information, while the action space outputs continuous thrust and rudder commands subject to vehicle dynamics constraints. The proposed framework integrates a risk-aware hybrid safety decision architecture, a Trajectory Predictor Network (TPN), a Curvature-driven Advantage-based Prioritized Experience Replay (CDA-PER) mechanism, and an uncertainty-aware conservative Q-learning strategy to enhance navigation safety, sample efficiency, and policy stability. Comprehensive simulations demonstrate that, compared with baseline deep reinforcement learning methods, the proposed approach achieves faster convergence, improved stability, and competitive path efficiency while consistently maintaining sufficient obstacle clearance and millisecond-level inference latency, validating its effectiveness and practical feasibility for safe USV navigation in realistic dynamic marine environments. Full article

Unmanned aerial vehicle Synthetic Aperture Radar (UAV SAR) is inevitably affected by hardware performance and complex electromagnetic environments, resulting in noise in the radar echo signal. This causes image blurring and loss of detail, severely limiting the detection performance and imaging quality of UAV SAR. High-repetition-rate UAV SAR can achieve high signal-to-noise ratio (SNR), but the SAR data volume grows exponentially, posing a challenge for large-scale data processing. Furthermore, in the case of high repetition rate, downsampling methods are needed to reduce the amount of raw data, which leads to a decrease in the echo SNR, thus significantly affecting SAR image details. Existing SAR signal processing methods typically involve a series of processing steps on the raw echo data, such as azimuth and range direction processing. However, these traditional methods still have limitations in improving the SNR, especially in complex environments or when the target signal is weak, where their effectiveness is often unsatisfactory. To address these issues, this paper first analyzes the SNR gain in SAR echo data processing and proposes a phase-compensated parameter-adjusted Chebyshev filtering algorithm to improve the SNR of SAR echoes. The algorithm first utilizes azimuth Chebyshev filtering to avoid spectral aliasing during downsampling and fully leverages navigation information provided by the airborne platform to accurately compensate for phase changes between pulses. Then, it employs parameter-adjusted Chebyshev filtering and coherent superposition techniques to combine multiple adjacent pulses into a single pulse with a higher SNR. Finally, the enhanced pulses are combined into a new two-dimensional matrix for subsequent pulse compression and imaging processing. This method can improve the echo SNR while reducing the amount of echo data, minimizing the loss of the original echo SNR and reducing the memory footprint of subsequent imaging processing, thus effectively improving data processing efficiency. The effectiveness of the algorithm is verified through simulation and actual measurement data. Full article

Automotive radar has emerged as a pivotal technology for navigation in GNSS-denied environments, offering superior robustness to adverse weather and fluctuating lighting conditions compared to vision or LiDAR-based sensors. Despite these advantages, the inherent sparsity and noise of radar measurements often lead to degraded estimation accuracy and system reliability. To address these challenges, various radar-based localization frameworks have been explored, ranging from optimization-based and Extended Kalman Filter (EKF) approaches fused with Inertial Measurement Units (IMUs) to point cloud registration techniques like Iterative Closest Point (ICP). While filter-based methods are favored in multi-sensor fusion for their proven stability, ICP is widely utilized for high-precision pose estimation in point-cloud-centric systems. In this study, we propose a novel Radar-Inertial Odometry (RIO) framework that synergistically integrates ICP-based relative pose estimation with model-based sensor fusion. The proposed methodology leverages relative transformations derived from ICP alongside ego-velocity estimations obtained from radar Doppler measurements. To effectively incorporate relative ICP constraints, a stochastic cloning technique is implemented to augment previous states and their associated covariances, ensuring that the uncertainty of historical poses is explicitly accounted for. The performance of the proposed method is validated using public open-source datasets, demonstrating higher localization accuracy and more consistent performance compared to existing algorithms used for comparison. Full article

With the increasing demand for three-dimensional positioning in Synthetic Aperture Radar (SAR) systems, multi-view SAR technology is rapidly evolving. Airborne-distributed SAR systems, benefiting from multi-platform collaborative observation, flexible baseline configuration, and synchronous imaging, have become an ideal solution for realizing this technology. However, the flight paths of these platforms are not optimal, and the airborne navigation equipment also suffers from measurement errors, which severely deteriorates the multi-view SAR target positioning accuracy of the airborne-distributed platforms. Currently, research on this issue remains scarce. This paper is based on the multi-view normalized Range Doppler positioning model, introducing platform position errors to derive the Cramér-Rao Lower Bound (CRLB). A detailed positioning accuracy analysis is conducted for different flight paths and various sources of errors, demonstrating that platform position errors are a primary factor affecting target positioning accuracy. To address this, a target positioning method based on inter-platform ranging information is proposed, which imposes constraints on the position of the airborne-distributed platform using inter-platform ranging data, thereby reducing the dependence of target positioning accuracy on platform position errors and enhancing the robustness of three-dimensional positioning for multi-view SAR targets. The effectiveness of the proposed method is verified using measured data, which reduces the 3D positioning error of the target by nearly 60%. Full article

Time synchronization and positioning of bistatic radar transceivers is required to coordinate and meaningfully merge the measurements made between them. It simultaneously allows the radar transceivers to change their position throughout time. Despite their acknowledged vulnerabilities, Global Navigation Satellite Systems (GNSSs) are the preferred source for Positioning, Navigation and Timing (PNT) services. Because of these vulnerabilities however, research on possible signal sources to obtain alternative positioning, navigation and timing (A-PNT) is of interest. This present work proposes the use of a narrow-band transponder installed on a geostationary (GEO) satellite to be used as one anchor for a future time transfer. A channel calibration is made between the transceiver station and the chosen satellite. Diverse models are used to estimate the channel effects throughout the signal propagation path, estimate the time delay, and correct the measurements, accordingly. The available channel bandwidth on the proposed satellite is 2.7 kHz, limiting the accuracy of the time measurements. After integration of multiple pulses, a time accuracy of approximately 1 μs is obtained. The range measurements are compared against satellite positions propagated from publicly available two-line element sets (TLEs). The obtained results suggest that, after calibration, the expected accuracy and a good repeatability is obtained. Thus, making the QO-100 satellite a suitable anchor for the proposed technique. Full article

The 12 November 2025 G4 geomagnetic storm—the third most intense of solar cycle 25—was triggered by a complex shock-ICME (interplanetary coronal mass ejection) structure as a result of three ICMEs and driven shocks that arrived on 11–12 November. The main enhancement in the interplanetary magnetic field occurred in the sheath region behind the shock driven by the second ICME. The Dst index reached −217 nT (the SYM-H index reached −254 nT) and the maximum Kp index was 9-. To comprehensively analyze the causes of the storm and its complex effects on near-Earth space, we used a multi-instrumental data set, involving data from satellite missions (ACE, SDO, PROBA2), GNSS networks, ionosondes, optical instruments, high-frequency radars (SuperDARN-like), and cosmic ray monitors. The auroral oval expanded equatorward (down to ~35° N in America). We recorded a super equatorial plasma bubble that almost reached the auroral oval boundary. The equatorial anomaly crests intensified, exceeding 175 TECU, and shifted poleward (8–10°). At mid-latitudes, the F2 layer critical frequency exhibited a strong negative disturbance (−50%) during the main phase, followed by an unusually prolonged and intense positive phase (+100%). GPS Precise Point Positioning errors increased to 2–3 m at high latitudes and in regions affected by the equatorial bubble. The event also featured a Forbush decrease and ground-level enhancement (GLE 77 according to the database hosted by the University of Oulu) associated with the X5.1 solar flare. The results underscore the complex chain of processes from solar storm to geomagnetic and ionospheric responses, highlighting the risks to satellite-based navigation and communication systems. Full article

In complex maritime environments and scenarios with severe signal interference, unmanned surface vehicle (USV) swarms face dual challenges: unreliable GNSS signals due to interference and difficulties in accurately calibrating multi-sensor installation errors. These issues severely constrain the capability for high-precision cooperative formation operations. To address these problems, this paper proposes a cooperative localization and all-source online calibration algorithm based on a unified factor graph optimization framework. First, a tightly coupled all-source graph framework is established, integrating navigation radar, electro-optical systems (EOSs) with laser rangefinders, IMU, and GNSS into a sliding window. By leveraging high-precision mutual observations among the swarm, strong geometric constraints are constructed to mitigate the drift of individual inertial navigation systems. Second, an adaptive GNSS weighting mechanism based on signal quality and a degradation detection strategy based on eigenvalue analysis of the Fisher Information Matrix (FIM) are designed. These mechanisms enable online identification and robust estimation of extrinsic parameters, effectively resolving calibration divergence under weak excitation conditions such as straight-line sailing. Finally, the proposed algorithm is validated using field data from three USVs combined with simulated interference experiments. Results demonstrate that the algorithm can rapidly converge to high-precision calibration parameters without artificial targets (radar translation error < 0.2 m, EOS rotation error < 0.05°). During periods of simulated GNSS interference, the cooperative localization root mean square error (RMSE) is reduced to 2.85 m, representing an accuracy improvement of approximately 84.5% compared to traditional methods. This study achieves a “more accurate as it runs” cooperative navigation effect, providing reliable technical support for USV swarm applications in GNSS-denied environments. Full article

Optical and synthetic aperture radar (SAR) image registration faces challenges from nonlinear radiometric distortions and geometric deformations caused by different imaging mechanisms. This paper proposes a coarse-to-fine registration algorithm integrating geographic information constraints with cross-modal feature consistency mapping. The coarse stage employs imaging geometry-based coordinate transformation with airborne navigation data to eliminate scale and rotation differences. The fine stage constructs a multi-scale phase congruency-based feature response aggregation model combined with rotation-invariant descriptors and global-to-local search for sub-pixel alignment. Experiments on integrated airborne optical/SAR datasets demonstrate superior performance with an average RMSE of 2.00 pixels, outperforming both traditional handcrafted methods (3MRS, OS-SIFT, POS-GIFT, GLS-MIFT) and state-of-the-art deep learning approaches (SuperGlue, LoFTR, ReDFeat, SAROptNet) while reducing execution time by 37.0% compared with the best-performing baseline. The proposed coarse registration also serves as an effective preprocessing module that improves SuperGlue’s matching rate by 167% and LoFTR’s by 109%, with a hybrid refinement strategy achieving 1.95 pixels RMSE. The method demonstrates robust performance under challenging conditions, enabling real-time UAV-based multi-sensor fusion applications. Full article

This paper introduces an innovative radar-based navigation approach designed to address precision navigation challenges for Vertical Take-Off and Landing (VTOL) platforms. The key innovation is a unique extension of radar altimeter functionality when used with ground navigation beacons realized by Radio Frequency (RF) repeaters. The proposed solution is intended to support helicopter and Advanced Air Mobility (AAM) autonomous operations. Full article