Search Results (443)

To address the challenges in unstructured orchard environments, including high geometric similarity between fruit trees (with the measured average Euclidean distance difference between point cloud descriptors of adjacent trees being less than 0.5 m), significant dynamic interference (e.g., interference from pedestrians or moving equipment can occur every 5 min), and uneven terrain, this paper proposes an improved mapping algorithm named OSC-LIO (Orchard Scan Context Lidar Inertial Odometry via Smoothing and Mapping). The algorithm designs a dynamic point filtering strategy based on Euclidean clustering and spatiotemporal consistency within a 5-frame sliding window to reduce the interference of dynamic objects in point cloud registration. By integrating local semantic features such as fruit tree trunk diameter and canopy height difference, a two-tier verification mechanism combining “global and local information” is constructed to enhance the distinctiveness and robustness of loop closure detection. Motion compensation is achieved by fusing data from an Inertial Measurement Unit (IMU) and a wheel odometer to correct point cloud distortion. A three-level hierarchical indexing structure—”path partitioning, time window, KD-Tree (K-Dimension Tree)”—is built to reduce the time required for loop closure retrieval and improve the system’s real-time performance. Experimental results show that the improved OSC-LIO system reduces the Absolute Trajectory Error (ATE) by approximately 23.5% compared to the original LIO-SAM (Tightly coupled Lidar Inertial Odometry via Smoothing and Mapping) in a simulated orchard environment, while enabling stable and reliable path planning and autonomous navigation. This study provides a high-precision, lightweight technical solution for autonomous navigation in orchard scenarios. Full article

The hard bottom layer in paddy fields significantly impacts the driving stability, operational quality, and efficiency of agricultural machinery. Continuously improving the precision and efficiency of unmanned, precision operations for paddy field machinery is essential for realizing unmanned smart rice farms. Addressing the unclear influence patterns of hard bottom contours on typical scenarios of agricultural machinery motion and posture changes, this paper employs a rice transplanter chassis equipped with GNSS and AHRS. It proposes methods for acquiring motion state information and hard bottom contour data during agricultural operations, establishing motion state expression models for key points on the machinery antenna, bottom of the wheel, and rear axle center. A correlation analysis method between motion state and hard bottom contour parameters was established, revealing the influence mechanisms of typical hard bottom contours on machinery trajectory deviation, attitude response, and wheel trapping. Results indicate that hard bottom contour height and local roughness exert extremely significant effects on agricultural machinery heading deviation and lateral movement. Heading variation positively correlates with ridge height and negatively with wheel diameter. The constructed mathematical model for heading variation based on hard bottom contour height difference and wheel diameter achieves a coefficient of determination R² of 0.92. The roll attitude variation in agricultural machinery is primarily influenced by the terrain characteristics encountered by rear wheels. A theoretical model was developed for the offset displacement of the antenna position relative to the horizontal plane during roll motion. The accuracy of lateral deviation detection using the posture-corrected rear axle center and bottom of the wheel center improved by 40.7% and 39.0%, respectively, compared to direct measurement using the positioning antenna. During typical vehicle-trapping events, a segmented discrimination function for trapping states is developed when the terrain profile steeply declines within 5 s and roughness increases from 0.008 to 0.012. This method for analyzing how hard bottom terrain contours affect the position and attitude changes in agricultural machinery provides theoretical foundations and technical support for designing wheeled agricultural robots, path-tracking control for unmanned precision operations, and vehicle-trapping early warning systems. It holds significant importance for enhancing the intelligence and operational efficiency of paddy field machinery. Full article

High-resolution satellite precipitation products are key inputs for basin-scale rainfall estimation, but they still exhibit substantial biases in complex terrain and during heavy rainfall. Recent multi-source fusion studies have shown that simply stacking multiple same-type microwave satellite products yields only limited additional gains for high-quality precipitation estimates and may even introduce local degradation, suggesting that targeted correction of a single, widely validated high-quality microwave product (such as IMERG) is a more rational strategy. Focusing on the mountainous, gauge-sparse Lüshui River basin with pronounced relief and frequent heavy rainfall, we use GPM IMERG V07 as the primary microwave product and incorporate CHIRPS, ERA5 evaporation, and a digital elevation model as auxiliary inputs to build a daily attention-enhanced CNN–LSTM (A-CNN–LSTM) bias-correction framework. Under a unified IMERG-based setting, we compare three network architectures—LSTM, CNN–LSTM, and A-CNN–LSTM—and test three input configurations (single-source IMERG, single-source CHIRPS, and combined IMERG + CHIRPS) to jointly evaluate impacts on corrected precipitation and SWAT runoff simulations. The IMERG-driven A-CNN–LSTM markedly reduces daily root-mean-square error and improves the intensity and timing of 10–50 mm·d⁻¹ rainfall events; the single-source IMERG configuration also outperforms CHIRPS-including multi-source setups in terms of correlation, RMSE, and performance across rainfall-intensity classes. When the corrected IMERG product is used to force SWAT, daily Nash-Sutcliffe Efficiency increases from about 0.71/0.70 to 0.85/0.79 in the calibration/validation periods, and RMSE decreases from 87.92 to 60.98 m³ s⁻¹, while flood peaks and timing closely match simulations driven by gauge-interpolated precipitation. Overall, the results demonstrate that, in gauge-sparse mountainous basins, correcting a single high-quality, widely validated microwave product with a small set of heterogeneous covariates is more effective for improving precipitation inputs and their hydrological utility than simply aggregating multiple same-type satellite products. Full article

To address the challenge of obtaining high-spatiotemporal-resolution and high-precision temperature grids for agricultural meteorological monitoring, this research focuses on rice heat stress monitoring with the China Meteorological Administration Land Data Assimilation System (CLDAS) and develops a temperature correction model that synergizes physical mechanisms with a data-driven strategy by introducing a GeoAI framework. Ensemble learning methods (XGBoost, LightGBM, and Random Forest) were utilized to process a comprehensive set of predictors, integrating dynamic surface features derived from FY-4 satellite’s high-frequency observation data. The data comprised surface thermal regime metrics, specifically the daily maximum land surface temperature (LST_max) and its diurnal range (LST_{max_min}), along with vegetation indices including the normalized difference vegetation index (NDVI) and enhanced vegetation index (EVI). Further, topographic attributes derived from a digital elevation model (DEM) were incorporated, such as slope, aspect, the terrain ruggedness index (TRI), and the topographic position index (TPI). The approach uniquely capitalized on the temporal resolution of geostationary data to capture the diurnal land surface dynamics crucial for bias correction. The proposed models not only enhanced temperature data quality but also achieved impressive accuracy. Across China, the root mean square error (RMSE) was reduced to 1.04 °C, mean absolute error (MAE) to 0.53 °C, and accuracy (ACC) to 0.97. Additionally, the most notable improvement was that the RMSE decreased by nearly 50% (from 2.17 °C to 1.11 °C), MAE dropped from 1.48 °C to 0.80 °C, and ACC increased from 0.72 to 0.96 in the southwestern region of China. The corrected rice heat stress data (2020–2023) indicated that significant negative correlations exist between yield loss and various heat stress metrics in the severely affected middle and lower Yangtze River region. The research confirms that embedding geostationary meteorological satellites within a GeoAI framework can effectively enhance the precision of agricultural weather monitoring and related impact assessments. Full article

Flood hazards in arid oil-producing regions result from both natural hydrological processes and terrain changes due to land subsidence. In the Yibal field in northern Oman, long-term hydrocarbon extraction has caused measurable ground deformation, altering surface gradients and drainage patterns. This study presents a deformation-adjusted flood hazard assessment by integrating a 2013 photogrammetric DEM with a 2023 subsidence-corrected DEM derived from multi-temporal PS-InSAR observations (RADARSAT-2 and TerraSAR-X). Key hydrological indicators—including slope, drainage networks, Height Above Nearest Drainage (HAND), floodplain depth, Curve Number, and extreme precipitation from the wettest monthly rainfall in a 10-year archive—were recalculated for both years. Flood hazard maps for 2013 and 2023 were generated using an AHP-based multi-criteria framework across five hydrologically motivated scenarios. Results indicate that while the total area of high- and very-high-hazard zones changed only slightly in most scenarios (within ±6%), these zones shifted into subsidence-affected depressions, reflecting deformation-driven redistribution of flood-prone areas. Low-hazard zones grew most significantly, especially in Scenarios S2–S4, with increases of 160–320% compared to 2013, while moderate-hazard areas showed smaller but consistent growth. Floodplain-dominated conditions (S5) produced the most pronounced nonlinear response, with a substantial increase in very low hazard and localized concentration of very high hazard in areas of deepest subsidence. Geomorphic analysis using the Geomorphic Flood Index (GFI) shows deepening of flow pathways and expansion of geomorphic depressions between 2013 and 2023, supporting the modeled redistribution of hazards. These findings demonstrate that even moderate subsidence can significantly alter hydrological susceptibility and underscore the importance of incorporating deformation-adjusted terrain modeling into flood hazard assessments in petroleum fields and other subsidence-prone areas. Full article

Real-time precipitation monitoring through satellite remote sensing represents a critical technological frontier for operational hydrology in data-scarce mountainous regions. Following a comprehensive evaluation of reanalysis precipitation products in the downstream Yarlung Zangpo watershed, this investigation advances understanding by systematically assessing eight satellite-based precipitation retrieval algorithms against ground truth observations from 18 meteorological stations (2014–2022). Multi-temporal performance analysis employed statistical metrics including correlation analysis, root mean square error, mean absolute error, and bias assessment to characterize algorithm reliability across annual, monthly, and seasonal scales. Representative monthly spatial analysis (January, April, July) and comprehensive 12 month × 18 station heatmap visualization revealed pronounced seasonal performance variations and elevation-dependent error patterns. Satellite retrieval algorithms demonstrated systematic underestimation tendencies, with observational precipitation averaging 2358 mm/yr, substantially exceeding remote sensing estimates across six of eight products. IMERG_EarlyRun and IMERG_LateRun achieved optimal performance with annual correlation coefficients of 0.41/0.37 and minimal bias (relative bias: −3.0%/1.4%), substantially outperforming other products. Unexpectedly, IMERG_FinalRun exhibited severe deterioration (correlation: 0.37, relative bias: −73.8%) compared to Early/Late Run products despite comprehensive gauge adjustment, indicating critical limitations of statistical correction procedures in data-sparse mountainous environments. Temporal analysis revealed substantial year-to-year performance variability across all products, with algorithm accuracy strongly modulated by annual precipitation characteristics and underlying meteorological conditions. Station-level assessment demonstrated that 100% of stations showed underestimation for IMERG_FinalRun versus balanced patterns for IMERG_EarlyRun/LateRun (53% underestimation, 47% overestimation), confirming systematic gauge-adjustment failures. Supplementary terrain–precipitation analysis indicated GSMaP_MVK_G shows superior spatial pattern representation, while IMERG_LateRun excels in capturing temporal variations, suggesting multi-product integration strategies for comprehensive monitoring. Comparative assessment with previous reanalysis evaluation establishes that satellite products offer superior real-time availability but exhibit greater temporal variability compared to model-based approaches’ consistent performance. IMERG_EarlyRun and IMERG_LateRun are recommended for operational real-time applications, GSMaP_MVK_G for terrain-sensitive spatial analysis, and reanalysis products for seasonal assessment, while IMERG_FinalRun and FY2 require substantial improvement before deployment in high-altitude watershed management systems. Full article

This study presents the digitization and integration of Kazakhstan’s legacy gravimetric maps at a scale of 1:200,000 into a modern geospatial database using ArcGIS. The primary objective was to convert analog gravity data into a structured, queryable, and spatially analyzable digital format to support contemporary geoscientific applications, including geoid modeling and regional geophysical analysis. The project addresses critical gaps in national gravity coverage, particularly in underrepresented regions such as the Caspian Sea basin and the northeastern frontier, thereby enhancing the accessibility and utility of gravity data for multidisciplinary research. The methodology involved a systematic workflow: assessment and selection of gravimetric maps, raster image enhancement, georeferencing, and digitization of observation points and anomaly values. Elevation data and terrain corrections were incorporated where available, and metadata fields were populated with information on the methods and accuracy of elevation determination. Gravity anomalies were recalculated, including Bouguer anomalies (with densities of 2.67 g/cm³ and 2.30 g/cm³), normal gravity, and free-air anomalies. A unified ArcGIS geodatabase was developed, containing spatial and attribute data for all digitized surveys. The final deliverables include a 1:1,000,000-scale gravimetric map of free-air gravity anomalies for the entire territory of Kazakhstan, a comprehensive technical report, and supporting cartographic products. The project adhered to national and international geophysical mapping standards and utilized validated interpolation and error estimation techniques to ensure data quality. The validation process by the modern gravimetric surveys also confirmed the validity and reliability of the digitized historical data. This digitization effort significantly modernizes Kazakhstan’s gravimetric infrastructure, providing a robust foundation for geoid modeling, tectonic studies, and resource exploration. Full article

A reliable Digital Elevation Model (DEM) is a key input for land use planning and risk management, particularly in floodplains where low-resolution models often fail to represent subtle topographic variations. In many regions worldwide, high-precision elevation data are unavailable, necessitating the development of methods to enhance existing global digital elevation models (DEM). This study proposes a practical and replicable methodology to improve the vertical accuracy of global DEMs in flat terrains with limited data availability. The approach is based on correcting the altimetric differences between the DEM and GNSS-RTK-surveyed topographic points, incorporating land cover classification to refine adjustments. The methodology was tested in the Ranchería River delta in Riohacha, La Guajira, Colombia, using four global DEMs: FABDEM, SRTM, ASTER, and ALOS. Results showed a significant reduction in root mean square error (RMSE), with improvements of up to 76.691% for ASTER, 55.882% for FABDEM, 55.932% for SRTM, and 36.842% for ALOS. The proposed method requires minimal computational resources and no advanced programming. Due to minimal data requirements, it makes it a scalable and replicable solution for similar floodplain environments. These enhancements in local altimetric accuracy could help to improve the reliability of hydrodynamic modeling, with direct implications for flood risk management and decision-making in vulnerable flatland areas. Full article

Sport horse feeding robots face significant challenges in achieving precise navigation within complex stable environments. Uneven terrain and frequently moist ground often cause drive wheel slippage, resulting in path deviation and cumulative pose errors that compromise feeding accuracy and operational efficiency. To address this challenge, an enhanced Dynamic Window Approach (DWA) path planning framework, which integrates an automatic drift correction module based on an Inertial Measurement Unit (IMU) and a two-stage cascade proportional–integral–derivative (PID) controller, is proposed in this paper. This enhanced DWA enables precise yaw adjustment while preserving the native velocity sampling and trajectory evaluation framework of conventional DWA. Field validations were conducted through ten independent trials along a fixed 28 m feeding route in an actual sport horse feeding environment to quantitatively evaluate the robot’s path deviation and yaw angle stability. The results demonstrated that the enhanced algorithm reduced the standard deviation of path deviation from 0.161 m to 0.144 m (10.56% improvement) and decreased yaw angle standard deviation from 2.19° to 1.74° (20.55% reduction in angular oscillation). These improvements validated the effectiveness of the proposed algorithm in mitigating slippage-induced pose drift and significantly improving the locomotion capability of robots for sport horse feeding within stable environments. Full article

The weighted mean temperature (T_m) is a critical parameter for converting zenith wet delay (ZWD) to precipitable water vapor (PWV) in Global Navigation Satellite System (GNSS) meteorology. Unlike conventional approaches, this study develops a novel high-precision atmospheric Tm grid model with enhanced spatiotemporal resolution through the incorporation of hourly near-surface temperature lapse rates (NSTLR). The core methodology encompasses two principal components: regional estimation of hourly NSTLR variations and establishment of a corresponding Tm grid model. Validation was conducted using ERA5 reanalysis datasets and in situ measurements from 109 meteorological stations across Shandong Province and Sichuan Province, China. Compared with no environmental lapse rate (ELR) correction and constant ELR correction, the accuracy of the constructed Tm grid model improved by 31.59% and 11.51%, respectively. Notably, in high-altitude areas, the improvements were even more substantial, reaching 58.65% and 21.28%, respectively. Therefore, the Tm model constructed in this study has significant practical significance for building ground-based meteorological observation systems, especially for regions with significant terrain variations. Full article

Orthometric heights are practically determined from levelling and gravity measurements by applying orthometric corrections to levelled height differences. Currently, Helmert’s definition of orthometric heights is mostly used, with the mean gravity computed only approximately from observed surface gravity by applying the Poincaré–Prey gravity reduction. In this study, we apply the state-of-the-art method for the orthometric height determination and demonstrate its practical applicability. The method utilizes advanced numerical procedures to account for the topographic relief and mass density variations, while adopting the Earth’s spherical approximation. The non-topographic contribution of masses inside the geoid is evaluated by solving geodetic boundary-values problems. We apply this method for the first time to practically determine the orthometric heights of levelling benchmarks from levelling and gravity measurements and digital terrain and rock density models. The results obtained after the readjustment of newly determined orthometric heights at the levelling network covering Hong Kong territories are compared with Helmert’s orthometric heights. This comparison revealed that errors in Helmert’s orthometric heights vary between −3.13 and 0.95 cm. Such errors are very significant when compared to accurate values of the cumulative orthometric correction between −1.88 and 0.84 cm. Moreover, large errors (up to 1 cm) already occur at levelling benchmarks at very low elevations (<100 m). These findings demonstrate that the accurate determination of orthometric heights is crucial, even for regions with moderately elevated topography. Full article

Developing a high-precision regional geoid model is a key element in modernizing Kazakhstan’s vertical reference framework and ensuring consistent GNSS-based height determination. However, the mountainous terrain of southeastern Kazakhstan, characterized by strong topographic gradients and sparse terrestrial gravity coverage, poses significant modelling challenges. This study presents the first AI-enhanced hybrid geoid model developed for the Almaty region, integrating classical gravimetric modelling with modern machine-learning simulation. The baseline solution was computed using the Least-Squares Modification of Stokes’ Formula with Additive Corrections, combining digitized Soviet-era terrestrial gravity data, the global geopotential model XGM2019e_2159, and the FABDEM 30 m digital elevation model. Validation using GNSS/levelling benchmarks revealed a systematic bias of −0.06 m and an RMS of 0.08 m. To improve the fit between modelled and observed undulations, three machine-learning regressors—Gaussian Process Regression (GPR), Support Vector Regression (SVR), and LSBoost—were applied to model the residual correction surface. Among them, SVR provided the best held-out performance (RMSE = 0.04 m), while LOOCV, 10-fold and spatial CV confirmed stable generalization across terrain regimes. The resulting hybrid model, designated N_ALM2025, achieved centimetre-level consistency with GNSS/levelling data. The results demonstrate that integrating classical geoid computation with AI-based residual modelling provides an efficient computational framework for high-precision geoid determination in complex mountainous environments. Full article

As climate change intensifies, enhancing numerical weather prediction (NWP) accuracy has been increasingly critical. While data assimilation optimizes NWP initial conditions, its effectiveness over complex terrain requires further systematic evaluation. This study implemented a high-resolution WRF/4D-Var data assimilation framework, overcoming its inherent limitation of not supporting two-layer nested assimilation across domains by designing a two-layer nested “assimilation-forecast” workflow. Representative winter and summer cases from February and June 2019 were selected to evaluate improvements in near-surface and upper-air meteorological parameters. The results indicated that the 4D-Var data assimilation significantly improved the correlation coefficients of near-surface variables during winter by 2.9% (temperature), 14.5% (relative humidity), 6.6% (wind speed), and 10.4% (wind direction), with even greater improvements observed in summer reaching 13.3%, 5.8%, 35.3%, and 42.3%, respectively. Meanwhile, 4D-Var considerably enhanced the atmospheric vertical profiling, with the middle troposphere (300–700 hPa) exhibiting the most pronounced improvement. Among different surface types, water bodies exhibited the strongest assimilation response. Results also revealed systematic corrections to the background fields, with February exhibiting more uniform adjustments in contrast to June’s complex spatiotemporal patterns. Positive effects persisted throughout the 24-h forecasts, with the maximum benefit occurring within the first 12 h. These results demonstrate the effectiveness of 4D-Var in regional meteorological forecasting, highlighting its value for constructing high-precision multidimensional meteorological fields to support both weather and air quality simulations. Full article

Accurate daily surface soil moisture (SSM) mapping at high spatial resolution (e.g., 30 m) remains challenging due to individual satellite sensor limitations. Although passive microwave sensors provide frequent coarse-resolution observations and synthetic aperture radar (SAR) offers high-resolution data intermittently, achieving both simultaneously requires sensor synergy. This paper introduces the microwave–optical multi-stage synergistic downscaling framework (MMSDF) to generate daily 30 m SSM products. The framework integrates SMAP L4 (9 km), MODIS data (500 m–1 km), harmonized Landsat Sentinel-2 (HLS, 30 m), radiometric terrain corrected Sentinel-1 (RTC-S1, 30 m), and auxiliary geographic data. It comprises three stages: (1) downscaling SMAP L4 to 1 km via random forest; (2) calibrating Sentinel-1 water cloud model (WCM) using intermediate 1 km SSM to retrieve 30 m SSM without in situ calibration; and (3) fusing daily 1 km SSM and intermittent 30 m WCM-derived retrievals using the spatial–temporal fusion model (ESTARFM) to generate seamless daily 30 m SSM maps. Validation against in situ measurements from 16 sites in Hunan Province, China (summer 2024) yielded R of 0.54 and RMSE of 0.045 ${\mathrm{cm}}^3/{\mathrm{cm}}^3$. Results demonstrate the framework’s capability to synergize multi-source data for high-resolution daily SSM estimates valuable for hydrological and agricultural applications. Full article

Remote sensing has emerged as an essential method for geological mapping, especially in complex environments such as the Mediterranean region. While earlier global reviews have been focused either on multi- and hyperspectral sensors in general for geological applications or on hyperspectral sensors using machine learning for lithological mapping and mineral prospecting, this review article provides the first regionally focused synthesis dedicated to the Mediterranean region. The review examines both passive sensors such as Sentinel-2 MSI, Landsat-8 (OLI), ASTER, MODIS, Hyperion, PRISMA, EnMAP, and active sensors such as Sentinel-1, ALOS, TerraSAR-X. Furthermore, the review emphasizes the sensor functionalities, the data integration within Geographic Information System (GIS) platforms and methodological advancements such as machine learning and multi-sensor fusion. A total of 42 case studies are assessed, covering Portugal, Spain, France, Italy, the Balkans, Greece, Turkey, Cyprus, Egypt, Tunisia and Morocco. These examples highlight how remote sensing techniques have been adapted to varying lithological, tectonic and geomorphological settings across the Mediterranean. The analysis identifies key methodological trends, including the transition from spectral indices to advanced data fusion, the growing reliance on open-access available multispectral archives, and the emerging role of new-generation hyperspectral missions (PRISMA, EnMAP) in high-resolution geological mapping. The findings illustrate the non-invasive and scalable advantages of remote sensing for geological mapping in complex terrains, while also noting current challenges such as atmospheric correction, spatial resolution mismatches, and field validation requirements. By combining region-specific applications, this review demonstrates how remote sensing contributes not only to fundamental geological understanding but also to sustainable resource management and mineral exploration within one of the world’s most geologically diverse regions. Full article