基于经验模态分解的点云数据平滑与增强

在计算机辅助设计与逆向工程应用中,针对缺乏拓扑连接关系的点云数据,提出了基于经验模态分解(EMD)的点云数据平滑与增强算法。首先,以点云模型的拉普拉斯矩阵坐标与法向的内积作为EMD输入信号,提取点云模型输入信号的极值点作为插值节点计算信号的上下包络;然后,为实现特征保持的EMD信号分解,通过检测点云数据上特征点,并在计算信号上下包络的过程中作为约束,克服传统EMD算法无法保持特征的局限;最后,迭代地从输入信号中减去上下包络的均值得到内蕴模态函数(IMF)和余量,并通过设计滤波器实现了点云数据平滑和增强。实验结果表明,本文算法有效地将EMD推广到三维散乱点云数据中,扩大EMD在三维几何中的应用范围,并在点云数据平滑和增强方面取得了很好的效果。     

A comparison of seasonal variations of sea level in the southern Baltic Sea from altimetry and tide gauge data

In this paper, seasonal sea level variations have been determined at five locations in the Baltic Sea from satellite altimetry for the period 1993–2015. The results were compared to tide gauge water level data. Annual and semi-annual amplitudes have been investigated for both sea level anomalies and tide gauge water level. It was found that the two independent observations of sea level variations along the Polish coast are in good agreement both in terms of their annual and semi-annual amplitudes and their annual and semi-annual phases. The annual cycles in the sea level variations measured by altimetry and tide gauge reach maximum values at approximately the same month (November/December).Moreover, this article shows the differences between the annual and semi-annual amplitudes and phases in the sea level anomalies and water level data within the same time frame. The difference in the annual amplitudes between the satellite altimetry and the tide gauge results is between 0.33?cm and 1.53?cm. The maximum differences in the annual cycle of the sea level changes were found at the Swinoujscie station. The correlations between the original series and the calculated curves were determined, and the relationship between the amplitudes and the phases were investigated. The correlation between the annual variations observed from the two independent observation techniques is 0.92.To analyse the dynamics of the change in sea level, the linear trend was estimated from the satellite altimetry and tide gauge time series both in the original time series of the data and in the time series in which seasonal variations were removed. In addition, we calculated the estimated errors of regression and how many years’ worth of data are needed to obtain an accuracy of 0.1?mm per year. The estimated errors of regression showed that to get an accuracy of 0.1?mm per year, we need 100?years of data.     

Coherent superposition of multi-GNSS wavelet analysis periodogram for sea-level retrieval in GNSS multipath reflectometry

The multipath signals of GNSS can act as a tide gauge via a technology called Global Navigation Satellite Systems multipath reflectometry (GNSS-MR), which is based on the relationship between multipath frequency and height to sea surface. In addition to the traditional frequency extraction method of Lomb–Scargle periodogram (LSP), wavelet analysis can be applied to extract instantaneous multipath frequencies of GPS L1, thus improving data utilization. However, because of the sensitivity of instantaneous frequency to noise and the introduction of more signals, multi-constellation retrievals exhibit many outliers and errors. The aim of this study is to apply wavelet analysis to multi-constellation multi-frequency signals and most importantly to find a method to avoid noise. We used coherent superposition to overlap the intra-track inter-signal instantaneous frequency spectrograms to enhance effective information and to weaken noise. This coherent superposition method can achieve intra-track inter-signal combination. The multi-GNSS data from two Multi-GNSS Experiment (MGEX) stations were used. The results showed that the coherent superposition spectrogram has a clear energy concentration, and the frequencies calculated from it depict sea-level changes. To compare the method with the LSP method and to combine inter-track retrievals, a robust regression method was used to combine retrievals and to produce equally spaced retrieval series. The results show that the combined retrievals from the coherent superposition method have a slightly higher accuracy than those from the classical LSP method. Because this method can be used to retrieve sea-level data from instantaneous frequency, it increases data utilization and provides a way to obtain details of SNR arcs, which is a potential method to benefit GNSS-MR, especially for sites with narrow reflecting sensing zones in a small sea azimuth range.     

面向综合环境监测的星载SAR技术发展

针对中国微波遥感对地观测在信息维度、反演精度、观测效率和体系架构等方面存在的问题,基于国家重点研发计划“星载新体制SAR综合环境监测技术”的研究内容与成果,探讨了面向综合环境监测的若干未来星载SAR技术发展。在超大幅宽成像方面,提出分段渐变重频时序设计方案和基于最优线性无偏估计的低过采样变重频数据处理算法,实现了跨盲区大幅宽星载SAR成像;在宽幅星载SAR高灵敏度成像方面,提出中频数字波束合成高效星上实时处理架构和加权因子快速生成算法,采用16通道机载飞行试验数据验证,图像信噪比提升约112dB;在多极化星载SAR成像方面,分别提出一种简缩极化分解算法及混合全极化方位模糊抑制方法,在P/L波段机载飞行试验中得到验证;在高精度干涉SAR技术方面,提出基于改进相位补偿方案的层析SAR处理方法,利用P波段全极化层析SAR数据验证,获得优于0.9m的森林高度反演精度;在综合环境监测星座架构设计方面,针对广域地表高程、地表形变、海浪谱能量、洋流速度和生物量应用,完成品质因数达100的高分宽幅SAR卫星方案,其观测效能和观测维度较目前在轨SAR卫星有大幅提升。     

Monitoring coastal sea level using reflected GNSS signals

A continuous monitoring of coastal sea level changes is important for human society since it is predicted that up to 332 million people in coastal and low-lying areas will be directly affected by flooding from sea level rise by the end of the 21st century. The traditional way to observe sea level is using tide gauges that give measurements relative to the Earth’s crust. However, in order to improve the understanding of the sea level change processes it is necessary to separate the measurements into land surface height changes and sea surface height changes. These measurements should then be relative to a global reference frame. This can be done with satellite techniques, and thus a GNSS-based tide gauge is proposed. The GNSS-based tide gauge makes use of both GNSS signals that are directly received and GNSS signals that are reflected from the sea surface. An experimental installation at the Onsala Space Observatory (OSO) shows that the reflected GNSS signals have only about 3 dB less signal-to-noise-ratio than the directly received GNSS signals. Furthermore, a comparison of local sea level observations from the GNSS-based tide gauge with two stilling well gauges, located approximately 18 and 33 km away from OSO, gives a pairwise root-mean-square agreement on the order of 4 cm. This indicates that the GNSS-based tide gauge gives valuable results for sea level monitoring.     

Design of BDS-3 integrity monitoring and preliminary analysis of its performance

With the improvement in the service accuracy and expansion of the application scope of satellite navigation systems, users now have high demands for system integrity that are directly related to navigation safety. As a crucial index to measure the reliability of satellite navigation systems, integrity is the ability of the system to send an alarm when an abnormity occurs. The new-generation Beidou Navigation Satellite System (BDS-3) prioritized the upgrading of system integrity as an important objective in system construction. Because the system provides both basic navigation and satellite-based augmentation system (SBAS) services by the operational control system, BDS-3 adopts an integrated integrity monitoring and processing strategy that applies satellite autonomous integrity monitoring and ground-based integrity monitoring for both the basic navigation service and SBAS navigation service. BDS-3 also uses an improved and refined integrity parameter system to provide slow, fast and real-time integrity parameters for basic navigation, and provide SBAS-provided integrity information messages in accordance with Radio Technical Commission for Aeronautics (RTCA) specification and dual frequency, multi-constellation (DFMC) specification to support the SBAS signal frequency, single constellation operation and DFMC operation respectively. The performance of BDS-3 system integrity monitoring is preliminarily verified during on-orbit testing in different states, including normal operation, satellite clock failure and satellite ephemeris failure. The results show that satellite autonomous integrity monitoring, ground-based integrity monitoring and satellite-based augmentation all correctly work within the system. Satellite autonomous integrity monitoring can detect satellite clock failure but not satellite orbit failure. However, ground-based integrity monitoring can detect both. Moreover, the satellite-based augmentation integrity system monitors the differential range error after satellite ephemeris and clock error corrections based on user requirements. Compared to the near minute-level time-to-alert capability of ground-based integrity monitoring, satellite autonomous integrity monitoring reduces the system alert time to less than 4 s. With a combined satellite-ground monitoring strategy and the implementation of different monitoring technologies, the BDS-3 integrity of service has been considerably improved.     

Estimating sea level rise around Australia using a new approach to account for low frequency climate signals

Regional sea level studies help to identify the vulnerable areas to the sea level rise. This study investigates the impact of climate modes on sea level variations and trends around Australia using altimetry data, climate indices, and sea level records from tide gauge stations. Here, we show that the sea level variations are negatively correlated with climate indices to the north and west of Australia. The spectral analyses of the climate indices and tide gauge data suggest that a low frequency signal with a period of 11 years emerges during the mid 1980s. Since the 25-year length of the satellite altimetry record is yet too short to detect low frequency signals, their effect on the estimation of regional sea level trend is unknown. Therefore, we estimate the sea level trend with consideration of this signal and using a two-step method. All signals with periods shorter than 7.5 years are first removed from sea level time series and then the trend is estimated using the parametric model that includes the 11-year signal. The skill of the parametric model in explaining the variations in sea level anomaly validates the presence of the 11-year signal detected in the spectrograms of the tide gauge data and climate indices. The average sea level trend for the study area is estimated as 3.85 ± 0.15 mm/year.     

时频域并行捕获算法

针对DS/FH(Direct Sequence/Frequency Hopping)混合扩频测控信号的快速捕获,经典的时域并行方法或频域并行方法已不能满足需求.为了进一步提高载波捕获精度,在PMF-FFT(Partial Match Filter-Fast Fourier Transform)算法基础上,提出了一种反馈式结构的时频域并行捕获算法,通过PMF-FFT算法粗估载波频偏,利用一种Quinn频率插值算法提高频偏估计精度,并使用估计结果调整本地载波,再次进行捕获.理论分析和仿真结果表明,该算法与PMF-FFT算法相比,提高了载波捕获精度,在大频偏低信噪比条件下增加了频率分析带宽、减少了平均捕获时间.     

Regional in situ validation of satellite altimeters: Calibration and cross-calibration results at the Corsican sites

The in situ validation of the satellite altimeter sea surface heights is generally performed either at a few local points directly flown over by the satellites or using the global tide gauge network. A regional in situ calibration method was developed by NOVELTIS in order to monitor the altimeter data quality in a perimeter of several hundred kilometres around a given in situ calibration site. The primary advantage of this technique is its applicability not only for missions flying over dedicated sites but also for missions on interleaved or non repetitive orbits. This article presents the altimeter bias estimates obtained with this method at the Corsican calibration site, for the Jason-1 mission on its nominal and interleaved orbits as well as for the Jason-2 and Envisat missions. The various regional bias estimates (8.2 cm and 7.4 cm for Jason-1 respectively on the nominal and interleaved orbits in Senetosa, 16.4 cm for Jason-2 in Senetosa and 47.0 cm for Envisat in Ajaccio, with an accuracy between 2.5 cm and 4 cm depending on the mission) are compared with the results obtained by the other in situ calibration teams. This comparison demonstrates the coherency at the centimetre level, the stability and the generic character of the method, which would also be of benefit to the new and future altimeter missions such as Cryosat-2, SARAL/AltiKa, Sentinel-3, Jason-3, Jason-CS.     

基于小波变换的光纤周界定位系统

为提高基于双Mach-Zehnder干涉仪结构的光纤周界定位系统的定位精度,对信号频率范围及信噪比对系统定位精度的影响进行了理论分析和仿真研究.在此基础上,提出在选用光缆时需要兼顾对外界振动的敏感性和对外场复杂环境的适应性,以确保在长期可靠运行的前提下,扩展采集信号的频率范围;使用小波阈值降噪算法,提取振动信号的有效频率成分,滤除噪声,提高信噪比.最后进行了监测距离31 km的外场实验,验证了所选用光缆的优良性能和小波降噪算法的有效性.     

Coastal sea level measurements using a single geodetic GPS receiver

This paper presents a method to derive local sea level variations using data from a single geodetic-quality Global Navigation Satellite System (GNSS) receiver using GPS (Global Positioning System) signals. This method is based on multipath theory for specular reflections and the use of Signal-to-Noise Ratio (SNR) data. The technique could be valuable for altimeter calibration and validation. Data from two test sites, a dedicated GPS tide gauge at the Onsala Space Observatory (OSO) in Sweden and the Friday Harbor GPS site of the EarthScope Plate Boundary Observatory (PBO) in USA, are analyzed. The sea level results are compared to independently observed sea level data from nearby and in situ tide gauges. For OSO, the Root-Mean-Square (RMS) agreement is better than 5 cm, while it is in the order of 10 cm for Friday Harbor. The correlation coefficients are better than 0.97 for both sites. For OSO, the SNR-based results are also compared with results from a geodetic analysis of GPS data of a two receivers/antennae tide gauge installation. The SNR-based analysis results in a slightly worse RMS agreement with respect to the independent tide gauge data than the geodetic analysis (4.8 cm and 4.0 cm, respectively). However, it provides results even for rough sea surface conditions when the two receivers/antennae installation no longer records the necessary data for a geodetic analysis.     

Using cross correlation to estimate Doppler frequency

Doppler frequency estimation with high accuracy is very important for precise orbit determination and scientific studies in deep space exploration. In this paper, we propose a new method which implements cross correlation of only received signals from one single station to estimate Doppler frequency. The algorithm is relatively simple and it can achieve high accuracy even when signal to noise ratio (SNR) is very low. Moreover, the accuracy can be further improved by implementing frequency compensation, especially when the frequency dynamic range is high. Simulations were performed and results proved the validity of this method. X-band observations on MEX (Mars Express) and Juno were performed by a 13 m telescope of Wuhan University, which was equipped by two back ends, i.e. CDAS (Chinese Data Acquisition System) and RSR (Radio Science Receiver). Raw data recorded by the CDAS were processed by using the proposed method, and the estimated frequencies were in good agreement with the real time frequency estimation values by the RSR. What’s more, the accuracy by using cross correlation was higher than the one of RSR.     

多星分布式无源相干定位方法

针对方向性辐射源信号主瓣波束窄测向定位精度不足的问题,提出多星分布式无源相干定位方法。首先,根据参考星接收到的主瓣强信号对辐射源位置进行粗定位,并根据粗定位信息对频移进行补偿;随后,将参考星信号分发至临近卫星,在粗定位范围内对相干星接收到的旁瓣弱信号进行互相关搜索,解算时差信息;然后,采用多星时差定位体制估计辐射源精确位置;最后对提出算法进行了Cramer-Rao下界分析,并通过仿真实验对算法进行验证。仿真结果表明,算法在弱信号信噪比(SNR在-40～0 dB)的情况下,定位误差能够快速逼近Cramer-Rao下界,并且能够有效提高辐射源的定位精度。     

卫星接收系统抗干扰的卷积盲分离算法

提出一种新的卷积混合盲分离算法,并把该算法应用到卫星通信抗干扰中,将通信信号和干扰信号分离开,以实现抗干扰的目的。该算法使用基于初等反射矩阵的高阶累积量联合对角化法来分离卷积混合的卫星通信信号和干扰信号。计算机仿真表明,在噪声环境下,信噪比大于10dB时该算法有较好的分离效果,信噪比小于10dB时分离性能有所下降,但基本也能实现分离,且与其他文献中方法相比具有计算复杂度低、分离性能好的特点,因此更适宜用于卫星通信抗干扰。     

直反信号协同的GNSS-R BSAR距离多普勒成像算法

针对目前基于全球导航卫星系统反射信号的双基地合成孔径雷达（GNSS-R BSAR)在一站固定模式下的大斜视,斜距历程复杂,回波信号方位空变导致回波信号难以处理的问题,提出改进的距离多普勒成像新算法。所提算法采用GNSS信号作为辐射源,根据一站固定模式下GNSS-R BSAR合成孔径时间长的特点,引入高阶等效斜视距离模型,得到导航卫星与目标斜距相对时间变化的精确描述。先通过直射信号与回波信号时域对消进行距离徙动校正,实现全场景目标距离徙动的精确校正;再通过方位向分块混合相关处理来克服回波信号方位向的移变性质,实现全场景高效精确成像。所提算法的成像效率优于传统后向投影时域（BP）算法,成像精度与BP算法相当,且可根据需要通过调整方位分块的宽度来提升聚焦效果。最后,用GPS-L5信号进行仿真和实验,仿真和实验结果验证了所提算法的可行性和高效性。     

基于会切场推力器无拖曳系统建模及参数优化

随着卫星重力测量技术的突破性进展,对航天器试验环境要求也在不断提高,航天器受到的残余扰动必须尽可能减小。作为中国将来重力场测量卫星备选主推力器的会切场推力器,其推力器的控制精度直接决定了测量的准确性。文章首先通过PID方法设计了位移模式下的无拖曳控制器,该控制器在预估阻力系数、参考质量与卫星本体的位移差、速度差等性能方面有良好的表现,在应对卫星运行时的突发情况时表现出很强的稳定性。但PID参数没有达到最优解,在此基础上对于该模型的控制精度进行优化,用遗传算法对PID控制的参数进行筛选。结果分析表明,会切场推力器的控制精度有所改善,NTW方向上的速度和位移误差均减小;推力阻力和显著减少;控制精度提高,更好地满足使用需求。     

Initial accuracy and reliability of current BDS-3 precise positioning,velocity estimation,and time transfer (PVT)

The primary system of Chinese global BeiDou satellite system (BDS-3) was completed to provide global services on December 27, 2018; this was a key milestone in the development process for BDS in terms of its provision of global services. Therefore, this study analyzed the current performance of BDS-3, including its precise positioning, velocity estimation, and time transfer (PVT). The datasets were derived from international GNSS monitoring and assessment system (iGMAS) tracking networks and the two international time laboratories in collaboration with the International Bureau of Weights and Measures (BIPM). With respect to the positioning, the focus is on the real-time kinematic (RTK) positioning and precise point positioning (PPP) modes with static and kinematic scenarios. The results show that the mean available satellite number is 4.8 for current BDS-3 system at short baseline XIA1–XIA3. The RTK accuracy for three components is generally within cm level; the 3D mean accuracy is 8.9 mm for BDS-3 solutions. For the PPP scenarios, the convergence time is about 4 h for TP01 and BRCH stations in two scenarios. After the convergence, the horizontal positioning accuracy is better than cm level and the vertical accuracy nearly reaches the 1 dm level. With respect to kinematic scenarios, the accuracy stays at the cm level for horizontal components and dm level for the vertical component at two stations. In terms of velocity estimation, the horizontal accuracy stays at a sub-mm level, and the vertical accuracy is better than 2 mm/s in the BDS-3 scenario, even in the Arctic. In terms of time and frequency transfer, the noise level of BDS-3 time links can reach 0.096 ns for long-distances link NT01–TP02 and 0.016 ns for short-distance links TP01–TP02. Frequency stability reaches 5E–14 accuracy when the averaging time is within 10,000 s for NT01–TP02 and 1E–15 for TP01–TP02.     

基于非抽取小波包变换的信号滤波算法

对航天测控信号进行滤波处理,有利于改善信号品质,提高系统的测量性能。针对航天测控信号中的差分单程测距(DifferentialOne-wayRanging, DOR)信标信号等侧音信号,提出了基于非抽取小波包变换（Un-decimatedWaveletPacketTransform,UWPT）的滤波改进算法。该算法以功率平坦度为准则,判断某一节点是否需要继续分解。改进算法克服了以能量聚焦度为准则时算法误判停止分解或多重分解算法复杂、计算量大等的缺点,同时解决了阈值不易确定的问题。仿真结果表明改进算法在降低算法复杂度的同时,滤波性能相对有所提高。最后采用改进算法对仿真信号和在轨卫星数据进行处理,结果表明滤波后仿真信号差分相位估计精度提高约3倍、实测数据差分相位估计精度提高0.72倍。     

包络均值滤波算法实时检测微弱信号

在强噪声环境下提取微弱信号一直是信号处理方法研究的难点,提出一种基于包络均值滤波(EMF,Envelope Mean Filter)的微弱信号提取算法,可以实时恢复出深埋在均匀分布噪声中的微弱缓变非周期信号的波形.EMF算法通过对混有均匀分布噪声的信号进行过采样,对信号的包络线进行实时分析,并用上、下包络的均值作为真实信号的估计值.为了使输出信号平滑、无跳变,采用实时滑模平均滤波器对估计值进行滤波,最终恢复出的原始信号.通过仿真研究对包络的分析算法、最优衰减系数的选取、过采样系数、平滑序列长度和不同信噪比的微弱信号对还原精度的影响进行了研究.EMF算法简单,可使信噪比提高60 dB以上.已经成功用于IEEE 1588精密时钟同步的时钟伺服算法中.