高度优先加法链m元标量速乘算法研究

为提高标量点乘在移动计算设备中的运算效率,并增强其计算安全性,比较分析了加法链方法、m-ary方法等标量点乘方法的执行过程和加速性能特征,提出了基于高度优先加法链和自由窗口宽度的Improved-m-ary的标量点乘方法。分析结论和实验仿真数据表明,该方法能有效减轻标量平均汉明重量,降低标量点乘计算量,内嵌的窗口值杂乱化机制使得其针对旁路信道分析攻击表现出出色的免疫力。     

Effects of different sensors, flying altitudes, and pulse repetition frequencies on forest canopy metrics and biophysical stand properties derived from small-footprint airborne laser data

Canopy height distributions were created from small-footprint airborne laser scanner (ALS) data collected over 40 field sample plots with size 1000 m² located in mature conifer forest. ALS data were collected with two different instruments, i.e., the ALTM 1233 and ALTM 3100 laser scanners (Optech Inc.). The ALTM 1233 data were acquired at a flying altitude of 1200 m and a pulse repetition frequency (PRF) of 33 kHz. Three different acquisitions were carried out with ALTM 3100, i.e., (1) a flying altitude of 1100 m and a PRF of 50 kHz, (2) a flying altitude of 1100 m and a PRF of 100 kHz, and (3) a flying altitude of 2000 m and a PRF of 50 kHz. Height percentiles, mean and maximum height values, coefficients of variation of the heights, and canopy density at different height intervals above the ground were derived from the four different ALS datasets and for single + first and last echoes of the ALS data separately. The ALS-derived height- and density variables were assessed in pair-wise comparisons to evaluate the effects of (a) instrument, (b) flying altitude, and (c) PRF. A systematic shift in height values of up to 0.3 m between sensors when the first echoes were compared was demonstrated. Also the density-related variables differed significantly between the two instruments. Comparisons of flying altitudes and PRFs revealed upwards shifted canopy height distributions for the highest flying altitude (2000 m) and the lowest PRF (50 kHz). The distribution of echoes on different echo categories, i.e., single and multiple (first and last) echoes, differed significantly between acquisitions. The proportion of multiple echoes decreased with increasing flying altitude and PRF. Different echo categories have different properties since it is likely that single echoes tend to occur in the densest parts of the tree crowns, i.e., near the apex where the concentration of biological matter is highest and distance to the ground is largest. To assess the influence of instrument, flying altitude, and PRF on biophysical properties derived from ALS data, regression analysis was carried out to relate ALS-derived metrics to mean tree height (h_L) and timber volume (V). Cross validation revealed only minor differences in precision for the different ALS acquisitions, but systematic differences between acquisitions of up to 2.5% for h_L and 10.7% for V were found when comparing data from different acquisitions.     

Development of a pit filling algorithm for LiDAR canopy height models

LiDAR canopy height models (CHMs) can exhibit unnatural looking holes or pits, i.e., pixels with a much lower digital number than their immediate neighbors. These artifacts may be caused by a combination of factors, from data acquisition to post-processing, that not only result in a noisy appearance to the CHM but may also limit semi-automated tree-crown delineation and lead to errors in biomass estimates. We present a highly effective semi-automated pit filling algorithm that interactively detects data pits based on a simple user-defined threshold, and then fills them with a value derived from their neighborhood. We briefly describe this algorithm and its graphical user interface, and show its result in a LiDAR CHM populated with data pits. This method can be rapidly applied to any CHM with minimal user interaction. Visualization confirms that our method effectively and quickly removes data pits.     

一种改进的UAV高度无缝融合导航方法

为了解决无人飞行器多机载高度传感器直接使用和切换导致的信号突变的问题,提出了一种基于微惯性器件、GPS、声纳、气压高度计的高度无缝融合方法.建立声纳和气压高度计误差模型,对其动态误差进行了分析和滤波预处理.采用基于增量的无缝融合方法获取高度变化估计值以修正气压高度.利用无迹卡尔曼滤波(UKF)方法将气压高度计、GPS和惯性导航系统信息进行有效融合获得精确的高度估计值.该方法考虑了各种高度传感器在动态环境下的误差特性,解决了模式切换带来的信号突变问题.飞行试验结果表明:采用该设计的方法系统具有较高的精度和可靠性.经过150 s飞行后,高度估计误差为0.4707m,能够满足无人飞行器飞行要求.     

数字压力传感器BP5607应用实现

基于MEMS技术的数字压力传感器技术正处于一个迅猛发展的阶段,数字压力传感器目前的灵敏度可以做到0.01mbar,高灵敏度、高分辨率的数字压力传感器在日常生活中越发扮演着重要的角色。介绍了高分辨率数字压力传感器BP5607的设计思想;基于ARM处理器LPC1768+BP5607的架构,结合改进型差分气压测高的高程算法实现了BP5607的气压测高仪,克服了在“国际标准大气”模型下大气压无规则变化带来的高程测量误差,提高了高程测量精度。实验表明,该测高仪具有优于0.2m的高程测量分辨率和较高的灵敏度,对导航定位形成良好的辅助效果。     

空心互感式位移传感器

本文介绍一种空心互感式位移传感器,其工作原理是采用开关方式,以恒流源双向向空心互感的原边线圈充放电,采样副边线圈在稳定放电期间的窄脉冲高度来测量位移量,量程可达20mm,相对精度为2%。论述了互感值的测量,分别设计了轴向和径向两个位移的试验及捕获采样数据的电路,从数据分析证明该方法可以测量位移,减少了空心线圈中的干扰对测量的影响,轴向位移还可以直接测量电介质材料的厚度。     

Optimization of Geoscience Laser Altimeter System waveform metrics to support vegetation measurements

The Geoscience Laser Altimeter System (GLAS) has collected over 250 million measurements of vegetation height over forests globally. Accurate vegetation heights can be determined using waveform metrics that include vertical extent and extent of the waveform's trailing and leading edges. All three indices are highly dependent upon the signal strength, background noise and signal-to-noise ratio of the waveform, as the background noise contribution to the waveforms has to be removed before their calculation. Over the last six years, GLAS has collected data during thirteen observation periods using illumination from three different lasers. The power levels of these lasers have changed over time, resulting in variable signal power and noise characteristics. Atmospheric conditions vary continuously, also influencing signal power and noise.To minimize these effects, we optimized a noise coefficient which could be constant or vary according to observation period or noise metric. This parameter is used with the mean and standard deviation of the background noise to determine a noise level threshold that is removed from each waveform. An optimization analysis was used with a global dataset of waveforms that are near-coincident with waveforms from other observation periods; the goal of the optimization was to minimize the difference in vertical extent between spatially overlapping GLAS observations. Optimizations based on absolute difference in height led to situations in which the total extent was minimized as well; further optimizations reduced a normalized difference in height extent. The simplest optimizations were based on a constant value to be applied to all observations; noise coefficients of 2.7, 3.2, 3.4 and 4.0 were determined for datasets consisting of global forests, global vegetation, forest in the legal Amazon basin and boreal forests respectively. Optimizations based on the power level or the signal-to-noise ratio of waveforms best minimized differences in waveform extent, decreasing the percent root mean squared height difference by 25-54% over the constant value approach. Further development of methods to ensure temporal consistency of waveform indices will be necessary to support long-term satellite lidar missions and will result in more accurate and precise estimates of canopy height.     

A fuzzy reasoning and fuzzy-analytical hierarchy process based approach to the process of railway risk information: A railway risk management system

Risk management is becoming increasingly important for railway companies in order to safeguard their passengers and employees while improving safety and reducing maintenance costs. However, in many circumstances, the application of probabilistic risk analysis tools may not give satisfactory results because the risk data are incomplete or there is a high level of uncertainty involved in the risk data. This article presents the development of a risk management system for railway risk analysis using fuzzy reasoning approach and fuzzy analytical hierarchy decision making process. In the system, fuzzy reasoning approach (FRA) is employed to estimate the risk level of each hazardous event in terms of failure frequency, consequence severity and consequence probability. This allows imprecision or approximate information in the risk analysis process. Fuzzy analytical hierarchy process (fuzzy-AHP) technique is then incorporated into the risk model to use its advantage in determining the relative importance of the risk contributions so that the risk assessment can be progressed from hazardous event level to hazard group level and finally to railway system level. This risk assessment system can evaluate both qualitative and quantitative risk data and information associated with a railway system effectively and efficiently, which will provide railway risk analysts, managers and engineers with a method and tool to improve their safety management of railway systems and set safety standards. A case study on risk assessment of shunting at Hammersmith depot is used to illustrate the application of the proposed risk assessment system.     

Assessment of the impacts of surface topography, off-nadir pointing and vegetation structure on vegetation lidar waveforms using an extended geometric optical and radiative transfer model

In order to prioritize the measurement requirements and accuracies of the two new lidar missions, a physical model is required for a fundamental understanding of the impact of surface topography, footprint size and off-nadir pointing on vegetation lidar waveforms and vegetation height retrieval. In this study, we extended a well developed Geometric Optical and Radiative Transfer (GORT) vegetation lidar model to take into account for the impacts of surface topography and off-nadir pointing on vegetation lidar waveforms and vegetation height retrieval and applied this extended model to assess the aforementioned impacts on vegetation lidar waveforms and height retrieval.Model simulation shows that surface topography and off-nadir pointing angle stretch waveforms and the stretching effect magnifies with footprint size, slope and off-nadir pointing angle. For an off-nadir pointing laser penetrating vegetation over a slope terrain, the waveform is either stretched or compressed based on the relative angle. The stretching effect also results in a disappearing ground peak return when slope or off-nadir pointing angle is larger than the “critical slope angle”, which is closely related to various vegetation structures and footprint size. Model simulation indicates that waveform shapes are affected by surface topography, off-nadir pointing angle and vegetation structure and it is difficult to remove topography effects from waveform extent based only on the shapes of waveform without knowing any surface topography information.Height error without correction of surface topography and off-nadir pointing angle is the smallest when the laser beams at the toward-slope direction and the largest from the opposite direction. Further simulation reveals within 20° of slope and off-nadir pointing angle, given the canopy height as roughly 25 m and the footprint size as 25 m, the error for vegetation height (RH100) ranges from − 2 m to greater than 12 m, and the error for the height at the medium energy return (RH50) from − 1 m to 4 m. The RH100 error caused by unknown surface topography and without correction of off-nadir pointing effect can be explained by an analytical formula as a function of vegetation height, surface topography, off-nadir pointing angle and footprint size as a first order approximation. RH50 is not much affected by topography, off-nadir pointing and footprint size. This forward model simulation can provide scientific guidance on prioritizing future lidar mission measurement requirements and accuracies.     

Physically based vertical vegetation structure retrieval from ICESat data: Validation using LVIS in White Mountain National Forest, New Hampshire, USA

Vegetation structure retrieval accuracies from spaceborne Geoscience Laser Altimeter System (GLAS) on the Ice, Cloud and land Elevation Satellite (ICESat) data are affected by surface topography, background noise and sensor saturation. This study uses a physical approach to remove surface topography effect from lidar returns to retrieve vegetation height from ICESat/GLAS data over slope terrains. Slope-corrected vegetation heights from ICESat/GLAS data were compared to airborne Laser Vegetation Imaging Sensor (LVIS) (20 m footprint size) and small-footprint lidar data collected in White Mountain National Forest, NH. Impact of slope on LVIS vegetation height estimates was assessed by comparing LVIS height before and after slope correction with small-footprint discrete-return lidar and field data.Slope-corrected GLAS vegetation heights match well with 98 percentile heights from small-footprint lidar (R² = 0.77, RMSE = 2.2 m) and top three LVIS mean (slope-corrected) heights (R² = 0.64, RMSE = 3.7 m). Impact of slope on LVIS heights is small, however, comparison of LVIS heights (without slope correction) with either small footprint lidar or field data indicates that our scheme improves the overall LVIS height accuracy by 0.4-0.7 m in this region. Vegetation height can be overestimated by 3 m over a 15° slope without slope correction. More importantly, both slope-corrected GLAS and LVIS height differences are independent of slope. Our results demonstrate the effectiveness of the physical approach to remove surface topography from large footprint lidar data to improve accuracy of maximum vegetation height estimates.GLAS waveforms were compared to aggregated LVIS waveforms in Bartlett Experimental Forest, NH, to evaluate the impact of background noise and sensor saturation on vegetation structure retrievals from ICESat/GLAS. We found that GLAS waveforms with sensor saturation and low background noise match well with aggregated LVIS waveforms, indicating these waveforms capture vertical vegetation structure well. However, waveforms with large noise often lead to mismatched waveforms with LVIS and underestimation of waveform extent and vegetation height. These results demonstrate the quality of ICESat/GLAS vegetation structure estimates.