Measurement and model simulation of sun stimulated chlorophyll fluorescence within a daily cycle

Radiance spectra of the water surface were recorded from an anchored ship during one clear day to observe the efficiency of sun light stimulated fluorescence of phytoplankton chlorophyll in the Baltic Sea. The fluorescence was calculated as the radiance at 685 nm above a linear baseline, constructed from L(645) and L(724). For a chlorophyll concentration range of 2.5 – 4.0 μg/l a strong linear correlation was found. The result is confirmed by simulation of the experiment with a radiative transfer model. A fluorescence efficiency of 0.3% of the scalar irradiance, absorbed by phytoplankton, is derived, which does not change with sun elevations above 20°.     

Spiral eddies in the Baltic,Black and Caspian seas as seen by satellite radar data

Despite spiral eddies were first seen on the sea surface more than 40 years ago, there is still a lot of uncertainty concerning these eddies. The present paper is aimed to provide the comprehensive results on the occurrence and statistics of small-scale eddies in the three inner seas (the Baltic, Black and Caspian) using satellite synthetic aperture radar (SAR) images. The dataset used includes over 2000 medium resolution Envisat ASAR and ERS-2 SAR images obtained in 2009–2010 in the different parts of the seas mentioned. As a result of the analysis performed ∼14,000 vortical structures were detected. 71% of them were visualized due to surfactant films (“black” eddies), while 29% due to wave/current interactions (“white” eddies). Practically all the eddies detected were cyclonically rotating. Their diameter was within 1–20 km. Characteristic size of the “black” eddies in all the basins was discovered to be less than that of the “white” eddies. Characteristic eddy size for the Baltic, Black and Caspian seas proved to be strictly proportional to the values of the baroclinic Rossby radius of deformation typical for these basins. The “black” eddies did not demonstrate a significant connection with the basin- and meso-scale surface circulation of the seas. Most of the “white” eddies detected were attributed to the zones with the most intense drift currents, i.e. those along the western boundaries and (in the Baltic Sea only) in the elongated parts of the basin.     

ASAR imaging for coastal upwelling in the Baltic Sea

Analysis of Envisat Advanced Synthetic Aperture Radar (ASAR) and Aqua/Terra Moderate Imaging Spectrometer (MODIS) infrared (IR) imagery of coastal upwelling in the southeastern Baltic Sea is presented. It is found that upwelling features are well distinct in the SAR images, and the leading imaging mechanism appears to be the change of the marine atmospheric boundary layer (MABL) stratification over the sea surface temperature (SST) front. This finding is supported by model calculations of the MABL transformation supplemented with the SAR backscatter calculations based on the CMOD4 model. In addition an empirical dependence of the SAR contrasts over the upwelling region on the wind speed and the SST drop is suggested. Finally, surface slicks accumulated in the sea surface current convergence zones generate additional distinct features in SAR imagery. This effect is interpreted within the framework of the coastal current circulation model based on analysis of the SST snapshot.     

Conditional sea surface statistics and their impact on geophysical sea surface parameters retrieved from SAR altimetry signals

In this study we present an analytical formulation of synthetic-aperture radar (SAR) altimetry signals including narrow banded nonlinear wave fields and conditional statistics between wave elevation displacements, horizontal wave slopes and vertical wave particle velocities. Considering the wave elevation displacements coskewness with respect to horizontal slopes leads to an analytical formulation of the electromagnetic bias within a SAR-mode altimeter stack. This formulation can be either parametrized by the significant wave height (SWH) and mean wave steepness, or in terms of the variance of vertical wave velocities. The effect of conditional vertical wave particle velocity variances with respect to the observed horizontal wave slopes close to nadir incidence angles leads to an effective reduction of the azimuth blurring of SAR-mode stacks. We present here a formulation of this effect by examining JONSWAP ocean wave spectra. In most cases this effect reduces the azimuth blurring by 10% to 30%. Additionally we investigate the effect of a nonlinear wave elevation displacement probability density function (PDF) on estimated geophysical parameters. We were able to show that including an elevation displacement skewness of 0.13 improves significantly the SWH consistency between altimetry and ECMWF Reanalysis v5 ERA5 results.All of these effects are validated with respect to ERA5 model data in the North East Atlantic region and in situ data located in the German Bight and Baltic Sea.The developed model can be used in both SAR and conventional altimetry retrackers.     

Effects of solar UV-B radiation on aquatic ecosystems.

Solar UV degrades dissolved organic carbon photolytically so that they can readily be taken up by bacterioplankton. On the other hand solar UV radiation inhibits bacterioplankton activity. Bacterioplankton productivity is far greater than previously thought and is comparable to phytoplankton primary productivity. According to the "microbial loop hypothesis," bacterioplankton is seen in the center of a food web, having a similar function to phytoplankton and protists. The penetration of UV and PAR into the water column can be measured. Marine waters show large temporal and regional differences in their concentrations of dissolved and particulate absorbing substances. A network of dosimeters (ELDONET) has been installed in Europe ranging from Abisko in Northern Sweden to Gran Canaria. Cyanobacteria are capable of fixing atmospheric nitrogen which is then made available to higher plants. The agricultural potential of cyanobacteria has been recognized as a biological fertilizer for wet soils such as in rice paddies. UV-B is known to impair processes such as growth, survival, pigmentation, motility, as well as the enzymes of nitrogen metabolism and CO2 fixation. The marine phytoplankton represents the single most important ecosystem on our planet and produces about the same biomass as all terrestrial ecosystems taken together. It is the base of the aquatic food chain and any changes in the size and composition of phytoplankton communities will directly affect food production for humans from marine sources. Another important role of marine phytoplankton is to serve as a sink for atmospheric carbon dioxide. Recent investigations have shown a large sensitivity of most phytoplankton organisms toward solar short-wavelength ultraviolet radiation (UV-B); even at ambient levels of UV-B radiation many organisms seem to be under UV stress. Because of their requirement for solar energy, the phytoplankton dwell in the top layers of the water column. In this near-surface position phytoplankton will be exposed to solar ultraviolet radiation. This radiation has been shown to affect growth, photosynthesis, nitrogen incorporation and enzyme activity. Other targets of solar UV irradiation are proteins and pigments involved in photosynthesis. Whether or not screening pigments can be induced in phytoplankton to effectively shield the organisms from excessive UV irradiation needs to be determined. Macroalgae show a distinct pattern of vertical distribution in their habitat. They have developed mechanisms to regulate their photosynthetic activity to adapt to the changing light regime and protect themselves from excessive radiation. A broad survey was carried out to understand photosynthesis in aquatic ecosystems and the different adaptation strategies to solar radiation of ecologically important species of green, red and brown algae from the North Sea, Baltic Sea, Mediterranean, Atlantic, polar and tropical oceans. Photoinhibition was quantified by oxygen exchange and by PAM (pulse amplitude modulated) fluorescence measurements based on transient changes of chlorophyll fluorescence.     

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.     

Spaceborne quantitative assessment of dissolved organic carbon fluxes in the Kara Sea

An advanced algorithm for retrieval of phytoplankton chlorophyll (CHL) and dissolved organic carbon (DOC) concentrations from MERIS images of the Kara Sea is presented. The supply of DOC of terrestrial origin into the Kara Sea is numerically assessed from satellite data on DOC and historical records of river discharge rates. It exceeds the historical in situ values only by 25%. Satellite data on CHL were exploited for calculating the phytoplankton columnar biomass and the total phytoplankton biomass in the Kara Sea. Remote sensing and in situ data were used to calculate the value of the coefficient (K_PH) for calculation from phytoplankton biomass of autochthonous production of DOC. K_PH proved to be 142 ± 8 gC/gPH/month and exhibited only slight interannual variations. The coefficient K_PH was employed for the first time to evaluate the production of autochthonous DOC in the Kara Sea and to correct the value of the allochthonous DOC flux initially retrieved from space across the Kara Sea.     

A point-wise least squares spectral analysis (LSSA) of the Caspian Sea level fluctuations,using TOPEX/Poseidon and Jason-1 observations

The Caspian Sea has displayed considerable fluctuations in its water level during the past century. Knowledge of such fluctuation is vital for understanding the local hydrological cycles, climate of the region, and construction activities within the sea and along its shorelines. This study established a point-wise satellite altimetry approach to monitor the fluctuations of the Caspian Sea using a complete dataset of TOPEX/Poseidon for the period 1993 to the middle of 2002, and its follow-on Jason-1 for the period 2002 to August 2009. Therefore, 280 virtual time-series were constructed to monitor the fluctuations. The least squares spectral analysis (LSSA) method is, then employed to find the most significant frequencies of the time-series, while the statistical method of principle component analysis (PCA) is applied to extract the dominant variability of level variations. The study also used the observations of TOPEX/Poseidon and Jason-1 over the Volga River along with 5 years of Volga’s water discharge to study its influence on the Caspian Sea level changes. The LSSA results indicate that the lunar semidiurnal (M2) and the Sun semidiurnal (S2) frequencies are the main tidal frequencies of the Caspian Sea with the mean amplitude of 4.2 and 2.8 cm, respectively. A statistically significant long-term frequency (12.5-years period) is also found from altimetry and tide gauge observations. A phase lag, related to the inter-annual frequencies of the Volga River was detected from the point-wise time-series showing level propagation from the northwest to the southeast of the sea. The cross-correlation between the power spectrum of Volga and that of the northern-most, middle, and southern-most points within the Caspian Sea were respectively 0.63, 0.51 and 0.4 of zero-lag correlation, corroborating the influence of the Volga River. The result of PCA also shows that different parts of the Caspian Sea exhibit different amplitudes of level variations, indicating that the point-wise approach, when employing all available satellite measurements could be a suitable method for a preliminary monitoring of this inland water resource as it gives accurate local fluctuations.     

Estimates of vertical land motion along the southwestern coasts of Turkey from coastal altimetry and tide gauge data

The differences between coastal altimetry and sea level time series of tide gauges in between March 1993 and December 2009 are used to estimate the rates of vertical land motion at three tide gauge locations along the southwestern coasts of Turkey. The CTOH/LEGOS along-track coastal altimetry retrieves altimetric sea level anomalies closer to the coast than the standard along-track altimetry products. However, the use of altimetry very close to the coast is not found to improve the results. On the contrary, the gridded and interpolated AVISO merged product exhibits the best agreement with tide gauge data as it provides the smoothest variability both in space and time compared with along track altimetry data. The Antalya gauge to the south (in the Mediterranean Sea) and the Mentes/Izmir gauge to the west (in the Aegean Sea) both show subsidence while the Bodrum tide gauge to the south (in the Aegean Sea) shows no significant vertical land motion. The results are compared and assessed with three independent geophysical vertical land motion estimates like from GPS. The GIA effect in the region is negligible. The VLM estimates from altimetry and tide gauge data are in good agreement both with GPS derived vertical velocity estimates and those inferred from geological and archaeological investigations.     

基于低轨稀疏星座的蓝绿激光对潜定位研究

潜艇只在必要时刻才浮出水面，对实时通信和导航定位造成极大制约。蓝绿激光具有深水穿透性高、衰减系数低等优势，已在机载和星载平台对潜艇通信中得到验证。借鉴GNSS导航信号产生原理，结合蓝绿激光通信测距一体化与低轨卫星自身精密定轨，提出了基于蓝绿激光通信的低轨卫星对潜定位算法。通过在激光通信中增加载波相位调制，实现潜艇激光接收器的伪距测量，联合其高程测量信息实现水下定位。以一带一路海域，特别是中国南海区域为服务对象，优化星座参数设计了3颗卫星组成的低轨稀疏星座。潜艇在星座覆盖区域内保持静态，间隔1~3min完成至少两次通信测距和导航电文接收，联合两组观测数据、精密星历及高程测量信息进行定位解算。仿真结果显示，在卫星过境期间，考虑卫星定轨精度，激光在空气、水下传播误差等因素，潜艇可在水下实现X、Z方向定位误差优于100m，Y方向误差约100~150m的高精度定位，对提升潜艇的战场作战能力具有意义。     

Low-level circulation during the 1979 Indian summer monsoon

The GARP Monsoon Experiment (MONEX) provided a unique set of observations during the months May, June, July and August 1979, to study the Indian summer monsoon. Data sets from different platforms were collected during this period. In this paper, these platforms are reviewed and their data are presented with a special emphasis on the non-conventional ones : geostationary satellite (GOES), constant-level balloons (BALSAMINE Experiment) and instrumented aircrafts. Some results on the low-level circulation over the Arabian Sea as deduced from these observations are given. In 1979, the onset of the monsoon was very late and took place around mid-June. It was characterized by the formation of a vortex off the western coast of India and its later westward displacement over the Arabian Sea.     

Detection of surface temperature anomaly of the Sea of Marmara

Monitoring sea surface temperature (SST) over a long-term and detecting the anomalies highly contribute to understanding the prevailing water quality of the sea. Earth observation satellite images are the key data sources that offer the long-term SST detection in a cost and time effective way. Since the Sea of Marmara in Türkiye is surrounded by the highly populated provinces, the water quality of the sea has gained importance for scientific and public communities over the years. This article emphasizes on the significance of detecting SST trend and corresponding anomalies of the Sea of Marmara over the past 32 years. To address the SST variations of the Sea of Marmara in time, a comprehensive set of both field and satellite data regarding SSTs were obtained within the context of this study. The SST trend and its anomalies between the years 1990 and 2021 were detected by applying Seasonal-Trend decomposition procedure based on LOESS (STL) method to NOAA OISST V2 data. On the other hand, spatial SST distribution was detected with Landsat-8, Sentinel-3 and NOAA OISST V2 satellite data. SST results were verified with the in-situ data within the scope of accuracy assessment. The results showed that SST time-series data performed an increasing trend and had anomalies mostly during the spring months in the recent years.     

A study on Nighttime Winter Anomaly (NWA) and other related Mid-latitude Summer Nighttime Anomaly (MSNA) in the light of International Reference Ionosphere (IRI) – Model

The ionospheric Nighttime Winter Anomaly (NWA) is a feature observed in the Northern Hemisphere at the American and in the Southern Hemisphere at the Asian longitude sector under low solar activity conditions. Jakowski et al. (2015) analyzed ground-based GPS derived TEC and peak electron density data from radio occultation measurements on Formosat-3/COSMIC satellites and confirmed the persistence of the phenomenon. Further, they assumed that Mid-latitude Summer Nighttime Anomaly (MSNA) and related special anomalies such as the Weddell Sea Anomaly (WSA) and the Okhotsk Sea Anomaly (OSA) are closely related to the NWA via enhanced wind-induced uplifting of the ionosphere. The aim of this paper is to study the factors causing these anomalies and also to investigate if these anomalies are re-produced by IRI. The results show that IRI model does include the NWA effect, though at a different longitude and could be improved for better predictions. The IRI-2016 model does show WSA in TEC but not in NmF2. Further, the IRI-2016 model could clearly predict the OSA both in NmF2 and TEC.     

Relationships of mineral deposits and lineament analysis of the Red Sea region,northeastern Sudan

The Red Sea region of northeastern Sudan is the most favorable target for mineral prospection. It is the place where almost all types of mineral deposits, so far recorded in Sudan, were represented. Lineament analysis of a 1:1,000,000-scale Landsat image mosaic indicate, among others, two prominent N-S and ENE structural trends to control magmatic activities and the related mineralization in the Red Sea region. Mineralization, tectonic, and magmatic activities in the Proterozoic appear to be closely correlative with the recent events connected with the formation of the Red Sea.     

利用WW3模式实现中国海击水概率数值预报

海浪对掠海飞行有着重要影响,以T639预报风场驱动WW3（WAVEWATCH-Ⅲ）海浪模式,对2013年3月发生在中国海的一次冷空气海浪场进行数值模拟.结合飞行高度探测的标准差、海浪浪高的标准差,进一步实现了击水概率的数值预报,为低空飞行器的航迹规划提供科学依据.主要计算了5 m高度、10 m高度、15 m高度的击水概率,并对比不同飞行高度击水概率的差异.结果表明,以T639预报风场驱动WW3海浪模式,可以较好地预报中国海海浪场、击水概率场.在冷空气影响下,中国海的击水概率出现明显增幅.飞行高度低于10 m时,海浪会对掠海飞行器的安全造成很大威胁.      

A modern robust approach to remotely estimate chlorophyll in coastal and inland zones

The chlorophyll concentration of a water body is an important proxy for representing the phytoplankton biomass. Its estimation from multi or hyper-spectral remote sensing data in natural waters is generally achieved by using (i) the waveband ratioing in two or more bands in the blue-green or (ii) by using a combination of the radiance peak position and magnitude in the red-near-infrared (NIR) spectrum. The blue-green ratio algorithms have been extensively used with satellite ocean color data to investigate chlorophyll distributions in open ocean and clear waters and the application of red-NIR algorithms is often restricted to turbid productive water bodies. These issues present the greatest obstacles to our ability to formulate a modern robust method suitable for quantitative assessments of the chlorophyll concentration in a diverse range of water types. The present study is focused to investigate the normalized water-leaving radiance spectra in the visible and NIR region and propose a robust algorithm (Generalized ABI, GABI algorithm) for chlorophyll concentration retrieval based on Algal Bloom index (ABI) which separates phytoplankton signals from other constituents in the water column. The GABI algorithm is validated using independent in-situ data from various regional to global waters and its performance is further evaluated by comparison with the blue-green waveband ratios and red-NIR algorithms. The results revealed that GABI yields significantly more accurate chlorophyll concentrations (with uncertainties less than 13.5%) and remains more stable in different waters types when compared with the blue-green waveband ratios and red-NIR algorithms. The performance of GABI is further demonstrated using HICO images from nearshore turbid productive waters and MERIS and MODIS-Aqua images from coastal and offshore waters of the Arabian Sea, Bay of Bengal and East China Sea.     

北斗卫星导航系统实时定轨与钟差处理策略

目前鲜有对北斗卫星导航系统（BeiDouNavigationSatelliteSystem,BDS）实时精密定轨与钟差确定的研究,文章提出了BDS实时轨道与实时钟差处理策略,包括了观测与动力学模型、实时轨道与实时钟差处理流程与评估方法。尤其对于实时钟差,为了提高计算效率,联合使用两个独立并行的线程估计非差绝对钟差和历元间相对钟差。利用多模全球卫星导航系统试验(MGEX)与全球连续检测评估系统（iGMAS）实测数据进行了北斗实时轨道与钟差解算,BDS实时轨道径向平均精度对于GEO卫星优于20cm,对于IGSO与MEO一般优于10cm;钟差精度对于GEO卫星为0.5~4.5ns,对于IGSO／MEO为0.2~2.0ns。基于目前的轨道与钟差结果,实时精密单点定位（PrecisePointPositioning,PPP）结果可以达到分米量级。     

Orbit determination of BeiDou navigation satellite system maneuvered satellites based on instantaneous velocity pulses parameters

The BeiDou navigation satellite system (BDS) comprises geostationary earth orbit (GEO) satellites as well as inclined geosynchronous orbit (IGSO) and medium earth orbit (MEO) satellites. Owing to their special orbital characteristics, GEO satellites require frequent orbital maneuvers to ensure that they operate in a specific orbital window. The availability of the entire system is affected during the maneuver period because service cannot be provided before the ephemeris is restored. In this study, based on the conventional dynamic orbit determination method for navigation satellites, multiple sets of instantaneous velocity pulses parameters which belong to one of pseudo-stochastic parameters were used to simulate the orbital maneuver process in the orbital maneuver arc and establish the observed and predicted orbits of the maneuvered and non-maneuvered satellites of BeiDou regional navigation satellite system (BDS-2) and BeiDou global navigation satellite system (BDS-3). Finally, the single point positioning (SPP) technology was used to verify the accuracy of the observed and predicted orbits. The orbit determination accuracy of maneuvered satellites can be greatly improved by using the orbit determination method proposed in this paper. The overlapping orbit determination accuracy of maneuvered GEO satellites of BDS-2 and BDS-3 can improve 2–3 orders of magnitude. Among them, the radial orbit determination accuracy of each maneuvered satellite is basically better than 1 m. simultaneously, the combined orbit determination of the maneuvered and non-maneuvered satellites does not have a great impact on the orbit determination accuracy of the non-maneuvered satellites. Compared with the multi GNSS products (indicated by GBM) from the German Research Centre for Geosciences (GFZ), the impact of adding the maneuvered satellites on the orbit determination accuracy of BDS-2 satellites is less than 9 %. Furthermore, the orbital recovery time and the service availability period are significantly improved. When the node of the predicted orbit is traversed approximately 3 h after the maneuver, the accuracy of the predicted orbit of the maneuvered satellite can reach that of the observed orbit. The SPP results for the BDS reached a normal level when the node of the predicted orbit was 2 h after the maneuver.     

An improved altimeter-derived gravity anomaly from shipborne gravity based on the mean sea surface height constraint factors method

Coastal marine gravity modeling faces challenges due to the degradation of the quality and poor coverage of altimeter data in coastal regions. The effective fusion of shipborne gravity data and altimeter-derived marine gravity data can make shipborne gravity data more useful for the accurate estimation of altimeter-derived coastal marine gravity. A mean sea surface height constraint factor (MSSHCF) method based on the ordinary kriging method and the remove-restore technique is proposed to fuse altimeter-derived gravity model with shipborne gravity data. In this method, all data are standardized during the interpolation process to reduce the error and mean sea surface as a vertical variable is added to the semi-variance function in ordinary kriging to obtain the residual shipborne gravity as corrected data source. The coastal marine gravity models V2.1 and V3.1 which fused altimeter-derived gravity data with shipborne gravity data and V1.1 without shipborne gravity data at a spatial resolution of 1′×1′ can be obtained. Validation experiments show that the accuracy of the gravity model V3.1 obtained by the MSSHCF method more closely agrees with the validated gravity model DTU17 and SS V31 than the model V2.1 obtained by the ordinary kriging interpolation method and the V1.1 model. Our results were validated against shipborne gravity data; the accuracy of model V3.1 was 4.95 % higher than the model V1.1 in South China Sea area A and 2.48 % higher in South China Sea area B. Meanwhile, the accuracy of model V3.1 was 2.07 % higher than model V2.1 in South China Sea area A and 2.42 % higher in South China Sea area B. The effects of distance from the coast and sea depth on the marine gravity model were also evaluated. The results show that the gravity model V3.1 has higher accuracy with the change in ocean distance and depth than the V2.1 and V1.1 gravity models. Thus, our study shows that the MSSHCF method effectively refines coastal altimeter-derived gravity using shipborne gravity data.     

基于UPF滤波的微小航天器姿态矩阵估计方法

针对基于惯性-星光姿态确定系统噪声存在非高斯分布的情况,提出了将离散粒子滤波(UPF)方法应用于定姿系统滤波器设计,该方法用离散卡尔曼滤波(UKF)得到粒子滤波的重要采样函数,从而克服扩展卡尔曼滤波(EKF)和UKF只能应用到噪声为高斯分布的不足。文章以微机电系统(MEMS)陀螺和互补性金属氧化物半导体有源像素图像传感器(CMOS APS)星敏感器为姿态敏感器件,选取基于矢量观测的最小参数姿态矩阵估计方法为定姿算法,提出将UPF与最小参数姿态矩阵估计方法结合,设计了一种针对微小航天器的UPF姿态估计器,采用从MEMS陀螺采集的数据进行了半物理仿真并对其特性进行了分析与比较。仿真比较结果表明:在敏感器精度较差并且系统噪声非高斯分布的情况下,这种基于UPF的姿态估计方法可以取得比EKF和UKF更快的滤波收敛性和更好的滤波精度,有效地提高了定姿性能。