Search

High-precision Low Earth Orbit (LEO) satellite clocks are essential for LEO-augmented Positioning, Navigation, and Timing (PNT) services. Nowadays, high-precision LEO satellite clocks can be determined in real-time using a Kalman filter either onboard or on the ground, as long as the GNSS observations collected onboard LEO satellites can be transmitted to the ground in real-time. While various real-time and high-precision GNSS products are available nowadays in the latter case, their continuity and latencies in engineering reality are not as perfect as expected and will lead to unignorable impacts on the precision of the real-time LEO satellite clocks. In this study, based on real observations of Sentinel-3B, the impacts of different latencies and continuity of the real-time GNSS products on LEO real-time clocks are determined and discussed for two scenarios, namely the "epoch estimation" and "arc estimation" scenarios. The former case refers to the traditional filter-based processing epoch-by-epoch, and the latter case connects LEO satellite clocks from different rounds of filter-based processing under a certain arc length. The two scenarios lead to the "end-loss" and "mid-gap" situations. Latencies of the real-time GNSS products are discussed for the cases of orbit-only latency, clock-only latency, and combined forms, and different handling methods for the missing GNSS satellite clocks are discussed and compared. Results show that the real-time LEO satellite clock precision is very sensitive to the precision of real-time GNSS satellite clocks, and prediction of the latter becomes essential in case of their latencies. For the "end-loss" situation, with a latency of 30 to 120 s for the GNSS real-time clocks, the LEO satellite clock precision is reduced from about 0.2 to 0.28–0.57 ns. Waiting for the GNSS products in case of their short latencies and predicting the LEO satellite clocks instead could be a better option. For "arc-estimation", when the gap of GNSS real-time products increases from 5 to 60 min, the real-time LEO clock precision decreases from 0.26 to 0.32 ns. [ABSTRACT FROM AUTHOR]

Forest fires pose a catastrophic threat to Earth's ecology as well as threaten human beings. Timely and accurate monitoring of forest fires can significantly reduce potential casualties and property damage. Thus, to address the aforementioned problems, this paper proposed an unmanned aerial vehicle (UAV) based on a lightweight forest fire recognition model, Fire-Net, which has a multi-stage structure and incorporates cross-channel attention following the fifth stage. This is to enable the model's ability to perceive features at various scales, particularly small-scale fire sources in wild forest scenes. Through training and testing on a real-world dataset, various lightweight convolutional neural networks were evaluated on embedded devices. The experimental outcomes indicate that Fire-Net attained an accuracy of 98.18%, a precision of 99.14%, and a recall of 98.01%, surpassing the current leading methods. Furthermore, the model showcases an average inference time of 10 milliseconds per image and operates at 86 frames per second (FPS) on embedded devices. [ABSTRACT FROM AUTHOR]

The utilization of Low Earth Orbit (LEO) satellites is anticipated to augment various aspects of traditional GNSS-based Positioning, Navigation, and Timing (PNT) services. While the LEO satellite orbital products can nowadays be produced with rather high accuracy in real-time of a few centimeters, the precision of the LEO satellite clock products that can be achieved in real-time is less studied. The latter, however, plays an essential role in the LEO-augmented positioning and timing performances. In real-time, the users eventually use the predicted LEO satellite clocks, with their precision determined by both the near-real-time clock precision and the prediction time needed to match the time window for real-time applications, i.e., the precision loss during the prediction phase. In this study, a real-time LEO satellite clock determination method, consisting of near-real-time clock determination with ultra-short-term clock prediction is proposed and implemented. The principles and strategies of this method are discussed in detail. The proposed method utilized Kalman-filter-based processing, but supports restarts at pre-defined times, thus hampering continuous bias propagation and accumulation from ancient epochs. Based on the method, using Sentinel-3B GNSS observations and the real-time GNSS products from the National Center for Space Studies (CNES) in France, the near-real-time LEO satellite clocks can reach a precision of 0.2 to 0.3 ns, and the precision loss during the prediction phase is within 0.07 ns for a prediction time window from 30 to 90 s. This results in a total error budget in the real-time LEO satellite clocks of about 0.3 ns. [ABSTRACT FROM AUTHOR]

High-precision Low Earth Orbit (LEO) satellite clocks are essential for LEO-augmented Positioning, Navigation, and Timing (PNT) services. Nowadays, high-precision LEO satellite clocks can be determined in real-time using a Kalman filter either onboard or on the ground, as long as the GNSS observations collected onboard LEO satellites can be transmitted to the ground in real-time. While various real-time and high-precision GNSS products are available nowadays in the latter case, their continuity and latencies in engineering reality are not as perfect as expected and will lead to unignorable impacts on the precision of the real-time LEO satellite clocks. In this study, based on real observations of Sentinel-3B, the impacts of different latencies and continuity of the real-time GNSS products on LEO real-time clocks are determined and discussed for two scenarios, namely the “epoch estimation” and “arc estimation” scenarios. The former case refers to the traditional filter-based processing epoch-by-epoch, and the latter case connects LEO satellite clocks from different rounds of filter-based processing under a certain arc length. The two scenarios lead to the “end-loss” and “mid-gap” situations. Latencies of the real-time GNSS products are discussed for the cases of orbit-only latency, clock-only latency, and combined forms, and different handling methods for the missing GNSS satellite clocks are discussed and compared. Results show that the real-time LEO satellite clock precision is very sensitive to the precision of real-time GNSS satellite clocks, and prediction of the latter becomes essential in case of their latencies. For the “end-loss” situation, with a latency of 30 to 120 s for the GNSS real-time clocks, the LEO satellite clock precision is reduced from about 0.2 to 0.28–0.57 ns. Waiting for the GNSS products in case of their short latencies and predicting the LEO satellite clocks instead could be a better option. For “arc-estimation”, when the gap of GNSS real-time products increases from 5 to 60 min, the real-time LEO clock precision decreases from 0.26 to 0.32 ns.

This paper investigates a real-time process generator of wideband signals, which calculates waveforms in a field-programmable gate array (FPGA) using the high-level synthesis (HLS) method. To obtain high-resolution and wide-swath images, the generator must produce multiple modes of large time-bandwidth product (TBP) linear frequency modulation (LFM) signals. However, the conventional storage method is unrealistic as it requires huge storage resources to save pre-computed waveforms. Therefore, this paper proposes a novel processing approach that calculates waveforms in real-time based simply on parameters such as the sampling frequency, bandwidth, and time width. Additionally, this paper implements predistortion through the polynomial curve to approximate phase errors of the system. The parallelizing process in the FPGA is necessary to satisfy the high-speed requirement of a digital-to-analog converter (DAC); however, repeatedly multiplexing real-time calculation consumes extensive logic and DSP resources, potentially exceeding FPGA limitations. To address this, this paper proposes a piecewise linear algorithm to conserve resources, which processes the polynomial only once, acquires the difference in two adjacent values through the register and pipeline, and then adds this increment to facilitate parallel computations. The performance of this proposed generator is validated through simulation and implemented in experiments with an X-band airborne SAR system. [ABSTRACT FROM AUTHOR]

The BeiDou-3 system (BDS-3) broadcasts PPP-B2b signals to provide real-time PPP service. Compared with the traditional PPP technique, the PPP-B2b service broadcasts corrections through satellite links, covers a wide area, and is independent of the internet. With the PPP-B2b service, users can obtain high-precision positioning information through the real-time PPP. Many studies have been conducted to evaluate the positioning performance of PPP-B2b. In theory, high-precision timing information could also be obtained through PPP-B2b. With the development of science and technology, the need for highly accurate time measurement, even at the sub-nanosecond level, is experiencing significant growth. However, the GNSS standard timing service can hardly meet these requirements. This contribution analyzes the timing performance of the PPP-B2b service and proposes a sub-nanosecond precise timing method of Coordinated Universal Time (UTC) based on the PPP-B2b service. BDS-3 and GPS observations from nine tracking stations and real-time collected PPP-B2b corrections over 516 days were used to analyze the performance of the proposed timing method. The results show that: (1) The difference between the PPP-B2b-restored UTC, which was realized by one-way timing with the UTC offsets in broadcast ephemeris, and UTC (NTSC), fluctuates within a few ns. (2) The timing uncertainty of the zero baseline based on the proposed method is better than 0.2 ns. (3) Compared with the post-processed PPP time transfer, the UTC dissemination uncertainty of the short and long baseline with the proposed method is better than 0.7 ns. The experiment results verified the feasibility of the proposed sub-nanosecond level precise UTC dissemination method based on the PPP-B2b service. [ABSTRACT FROM AUTHOR]

Forest fires pose a catastrophic threat to Earth’s ecology as well as threaten human beings. Timely and accurate monitoring of forest fires can significantly reduce potential casualties and property damage. Thus, to address the aforementioned problems, this paper proposed an unmanned aerial vehicle (UAV) based on a lightweight forest fire recognition model, Fire-Net, which has a multi-stage structure and incorporates cross-channel attention following the fifth stage. This is to enable the model’s ability to perceive features at various scales, particularly small-scale fire sources in wild forest scenes. Through training and testing on a real-world dataset, various lightweight convolutional neural networks were evaluated on embedded devices. The experimental outcomes indicate that Fire-Net attained an accuracy of 98.18%, a precision of 99.14%, and a recall of 98.01%, surpassing the current leading methods. Furthermore, the model showcases an average inference time of 10 milliseconds per image and operates at 86 frames per second (FPS) on embedded devices.

In recent years, significant strides have been made in the field of synthetic aperture radar (SAR) ship detection through the application of deep learning techniques. These advanced methods have substantially improved the accuracy of ship detection. Nonetheless, SAR images present distinct challenges, including complex backgrounds, small ship targets, and noise interference, thereby rendering the detectors particularly demanding. In this paper, we introduce LRTransDet, a real-time SAR ship detector. LRTransDet leverages a lightweight vision transformer (ViT) and a multi-scale feature fusion neck to address these challenges effectively. First, our model implements a lightweight backbone that combines convolutional neural networks (CNNs) and transformers, thus enabling it to simultaneously capture both local and global features from input SAR images. Moreover, we boost the model's efficiency by incorporating the faster weighted feature fusion (Faster-WF2) module and coordinate attention (CA) mechanism within the feature fusion neck. These components optimize computational resources while maintaining the model's performance. To overcome the challenge of detecting small ship targets in SAR images, we refine the original loss function and use the normalized Wasserstein distance (NWD) metric and the intersection over union (IoU) scheme. This combination improves the detector's ability to efficiently detect small targets. To prove the performance of our proposed model, we conducted experiments on four challenging datasets (the SSDD, the SAR-Ship Dataset, the HRSID, and the LS-SSDD-v1.0). The results demonstrate that our model surpasses both general object detectors and state-of-the-art SAR ship detectors in terms of detection accuracy (97.8% on the SSDD and 93.9% on the HRSID) and speed (74.6 FPS on the SSDD and 75.8 FPS on the HRSID), all while demanding 3.07 M parameters. Additionally, we conducted a series of ablation experiments to illustrate the impact of the EfficientViT, the Faster-WF2 module, the CA mechanism, and the NWD metric on multi-scale feature fusion and detection performance. [ABSTRACT FROM AUTHOR]

Real-Time (RT) Precise Point Positioning (PPP) uses precise satellite orbits and clock corrections, and employs a separate receiver for positioning. With the growing demand, RT PPP is becoming an increasingly popular research topic. The ambiguity resolution (AR) can significantly improve the positioning accuracy and convergence time of PPP, so it is essential to study PPPAR in RT mode. In this paper, 37 MGEX stations from around the world are chosen, and the RT orbit, clock, and phase biases products broadcast by the Centre National d'Etudes Spatiales (CNES) are applied to PPPAR. Additionally, the residuals of the RT phase biases products, convergence time, and positioning accuracy are investigated. The results indicate that GPS products have the best quality of AR, with wide-lane (WL) and narrow-lane (NL) residuals of 98.9% and 95.3%, respectively, within ±0.25 cycles. Within ±0.25 cycles, the WL and NL residuals of the Galileo are 98.2% and 94.3%, respectively. Within ±0.25 cycles, the (Beidou Navigation Satellite System) BDS has a poor quality of AR, with WL and NL residuals of 97.3% and 73.1%, respectively. Due to the poor quality of the BDS AR, the convergence time of the BDS is not calculated in this paper. The convergence time of other systems is significantly reduced after AR processing, and the convergence time of the GPS/Galileo combination is the fastest, being 17.14 min in kinematic mode and only 11.85 min in static mode. The positioning accuracy of the GPS, Galileo, GPS/Galileo, and GPS/Galileo/BDS in the E and U directions is significantly improved after PPPAR. [ABSTRACT FROM AUTHOR]

Star image registration is the most important step in the application of astronomical image differencing, stacking, and mosaicking, which requires high robustness, accuracy, and real-time capability on the part of the algorithm. At present, there are no high-performance registration algorithms available in this field. In the present paper, we propose a star image registration algorithm that relies only on radial module features (RMF) and rotation angle features (RAF) while providing excellent robustness, high accuracy, and good real-time performance. The test results on a large amount of simulated and real data show that the comprehensive performance of the proposed algorithm is significantly better than the four classical baseline algorithms as judged by the presence of rotation, insufficient overlapping area, false stars, position deviation, magnitude deviation, and complex sky background, making it a more ideal star image registration algorithm than current alternatives. [ABSTRACT FROM AUTHOR]

The utilization of Low Earth Orbit (LEO) satellites is anticipated to augment various aspects of traditional GNSS-based Positioning, Navigation, and Timing (PNT) services. While the LEO satellite orbital products can nowadays be produced with rather high accuracy in real-time of a few centimeters, the precision of the LEO satellite clock products that can be achieved in real-time is less studied. The latter, however, plays an essential role in the LEO-augmented positioning and timing performances. In real-time, the users eventually use the predicted LEO satellite clocks, with their precision determined by both the near-real-time clock precision and the prediction time needed to match the time window for real-time applications, i.e., the precision loss during the prediction phase. In this study, a real-time LEO satellite clock determination method, consisting of near-real-time clock determination with ultra-short-term clock prediction is proposed and implemented. The principles and strategies of this method are discussed in detail. The proposed method utilized Kalman-filter-based processing, but supports restarts at pre-defined times, thus hampering continuous bias propagation and accumulation from ancient epochs. Based on the method, using Sentinel-3B GNSS observations and the real-time GNSS products from the National Center for Space Studies (CNES) in France, the near-real-time LEO satellite clocks can reach a precision of 0.2 to 0.3 ns, and the precision loss during the prediction phase is within 0.07 ns for a prediction time window from 30 to 90 s. This results in a total error budget in the real-time LEO satellite clocks of about 0.3 ns.

For many years, the navigation team at the French Space Agency (CNES) has been developing its Precise Point Positioning project. The goal was initially to promote a technique called undifferenced ambiguity resolution. One of the main characteristics of this technique is the capability for a user receiver to perform centimeter-level accuracy in real time. To do so, a demonstrator has been built. Its architecture is composed of three main elements: a correction processing software called the server part, a means to transmit the corrections using standardized messages, and a user software capable of handling the corrections to compute an accurate positioning at the user level. In this paper, we present the recent advances in the CNES precise point positioning demonstrator. They are composed of some evolution of the network of stations and server software, the implementation of the new state space representation standard, a new method for instantaneous ambiguity resolution using uncombined four-frequency signals, its implementation in real-time at the server and the user level, and the use of high-rate Doppler measurements to improve the accuracy of the solution in harsh urban environments. On top of that, the computation of high-accuracy post-processed phase biases with the majority of current GNSS signals supported, compatible with the uncombined method and a new online positioning service to demonstrate the capacity of the user software, is demonstrated. [ABSTRACT FROM AUTHOR]

The official launch of the Chinese BeiDou Navigation Satellite System with global coverage (BDS-3) presents significant opportunities for various applications, including precision agriculture and autonomous driving, among others. With its global spatial coverage and hybrid space constellation comprising geosynchronous Earth orbit (GEO), inclined geosynchronous orbit (IGSO), and medium Earth orbit (MEO) satellites, BDS can significantly contribute to various GNSS remote sensing applications that require real-time, precise water surface height measurements with high temporal and spatial resolution, such as in tidal monitoring. In this paper, we propose a carrier-phase-based method for BDS Reflectometry (BDS-R) to precisely retrieve real-time water surface height. Firstly, the BDS-R altimetry method is introduced, along with a detailed explanation of the data processing procedures. Secondly, a quality control method tailored to the characteristics of low-cost BDS devices is developed. Thirdly, a land altimetry experiment is conducted to evaluate the precision of BDS-R and analyze the specific contribution of the BDS hybrid constellation. Finally, a water surface altimetry experiment validates the real-time monitoring capabilities for low-cost BDS-R. The results indicate that low-cost BDS-R can achieve real-time centimeter-level water level monitoring with a temporal resolution of 1 s in lakefront environments. The performance of BDS-R can be significantly improved by the BDS hybrid constellation, particularly IGSOs. It is concluded that low-cost BDS-R has great potential for promoting ground-based GNSS remote sensing applications. [ABSTRACT FROM AUTHOR]

Highly accurate near-real-time satellite precipitation estimates (SPEs) are important for hydrological forecasting and disaster warning. The near-real quantitative precipitation estimates (REGC) of the recently developed Chinese geostationary meteorological satellite Fengyun 4A (FY4A) have the advantage of high spatial and temporal resolution, but there are errors and uncertainties to some extent. In this paper, a self-adaptive ill-posed least squares scheme based on sequential processing (SISP) is proposed and practiced in mainland China to correct the real-time biases of REGC hour by hour. Specifically, the scheme adaptively acquires sample data by setting temporal and spatial windows and constructs an error-correction model based on the ill-posed least squares method from the perspectives of climate regions, topography, and rainfall intensity. The model adopts the sequential idea to update satellite precipitation data within time windows on an hour-by-hour basis and can correct the biases of real-time satellite precipitation data using dynamically changing parameters, fully taking into account the influence of precipitation spatial and temporal variability. Only short-term historical data are needed to accurately rate the parameters. The results show that the SISP algorithm can significantly reduce the biases of the original REGC, in which the values of relative bias (RB) in mainland China are reduced from 11.2% to 3.3%, and the values of root mean square error (RMSE) are also reduced by about 17%. The SISP algorithm has a better correction in humid and semi-humid regions than in arid and semi-arid regions and is effective in reducing the negative biases of precipitation in each climate region. In terms of rain intensity, the SISP algorithm can improve the overestimation of satellite precipitation estimates for low rain intensity (0.2–1 mm/h), but the correction for high rain intensity (>1 mm/h) needs further improvement. The error component analysis shows that the SISP algorithm can effectively correct the hit bias. This study serves as a valuable reference for real-time bias correction using short-term accumulated precipitation data. [ABSTRACT FROM AUTHOR]

This paper investigates a real-time process generator of wideband signals, which calculates waveforms in a field-programmable gate array (FPGA) using the high-level synthesis (HLS) method. To obtain high-resolution and wide-swath images, the generator must produce multiple modes of large time-bandwidth product (TBP) linear frequency modulation (LFM) signals. However, the conventional storage method is unrealistic as it requires huge storage resources to save pre-computed waveforms. Therefore, this paper proposes a novel processing approach that calculates waveforms in real-time based simply on parameters such as the sampling frequency, bandwidth, and time width. Additionally, this paper implements predistortion through the polynomial curve to approximate phase errors of the system. The parallelizing process in the FPGA is necessary to satisfy the high-speed requirement of a digital-to-analog converter (DAC); however, repeatedly multiplexing real-time calculation consumes extensive logic and DSP resources, potentially exceeding FPGA limitations. To address this, this paper proposes a piecewise linear algorithm to conserve resources, which processes the polynomial only once, acquires the difference in two adjacent values through the register and pipeline, and then adds this increment to facilitate parallel computations. The performance of this proposed generator is validated through simulation and implemented in experiments with an X-band airborne SAR system.

The automotive synthetic aperture radar (SAR) can obtain two-dimensional (2-D) high-resolution images and has good robustness compared with the other sensors. Generally, the 2-D high-resolution always conflicts with the real-time requirement in conventional SAR imaging. This article suggests an automotive video SAR (ViSAR) imaging technique based on sub-aperture spectrum fusion to address this issue. Firstly, the scene space variation problem caused by close observation distance in automotive SAR is analyzed. Moreover, the sub-aperture implementation method, frame rate and resolution of automotive ViSAR are also introduced. Then, the improved Range Doppler algorithm (RDA) is used to focus the sub-aperture data. Finally, a sub-aperture stitching strategy is proposed to obtain a high-resolution frame image. Compared with the available ViSAR imaging method, the proposed method is more efficient, performs better, and is more appropriate for automotive ViSAR. The simulation results and actual data of the automotive SAR validate the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

The augmentation of the Global Navigation Satellite System (GNSS) by Low Earth Orbit (LEO) satellites is proposed as an effective method to improve the precision and shorten the convergence time of Precise Point Positioning (PPP). Serving as navigation satellites in the future, LEO satellites need to be provided with their high-accuracy orbits in real-time. This would potentially enable the high-accuracy real-time LEO satellite clock determination, and eventually facilitate the high-accuracy ground-based positioning. Studies have been performed to achieve such real-time orbits using a Kalman filter in both the kinematic and reduced-dynamic modes. Batch Least-Squares (BLS) adjustment delivers more stable orbits in near-real-time, as it performs better phase screening. However, it suffers from longer delays compared to the Kalman filter. With the LEO satellite orbit prediction strategies improved over time, this latency can be bridged by short-term orbit prediction. In this study, using real-time GNSS satellite products, the real-time LEO satellite orbits are obtained based on the batch least-squares adjustment and short-term prediction. LEO ephemeris parameters are generated within specific prediction time windows. Using real data from the 500 km GRACE C satellite and 810 km Sentinel-3B satellite, the near-real-time BLS Precise Orbit Determination (POD) results exhibit good accuracy with an Orbital User Range Error (OURE) of 2–4 cm using different real-time GNSS products. A range of delays of the BLS POD processes are assumed, based on tests performed on different processing machines, leading to various prediction windows, from 3–8 min to 12–17 min that correspond to the real-time usage. The orbital prediction errors are shown to be highly correlated with the orbital height and the prediction time. The computational efficiency thus becomes essential to reduce the prediction errors for a certain LEO satellite. For advanced processing units leading to a prediction window shorter or equal to 6–11 min, one can expect a total real-time orbital error budget of 3–5 cm, provided that an appropriate prediction strategy is applied and high-quality GNSS products are used. For a given fitting interval, the ephemeris fitting errors are generally related to the number of ephemeris parameters and the orbital height. Compared with the prediction errors, the ephemeris fitting errors do not play a significant role in the total error budget when using 22 ephemeris parameters. [ABSTRACT FROM AUTHOR]

The BeiDou-3 system (BDS-3) broadcasts PPP-B2b signals to provide real-time PPP service. Compared with the traditional PPP technique, the PPP-B2b service broadcasts corrections through satellite links, covers a wide area, and is independent of the internet. With the PPP-B2b service, users can obtain high-precision positioning information through the real-time PPP. Many studies have been conducted to evaluate the positioning performance of PPP-B2b. In theory, high-precision timing information could also be obtained through PPP-B2b. With the development of science and technology, the need for highly accurate time measurement, even at the sub-nanosecond level, is experiencing significant growth. However, the GNSS standard timing service can hardly meet these requirements. This contribution analyzes the timing performance of the PPP-B2b service and proposes a sub-nanosecond precise timing method of Coordinated Universal Time (UTC) based on the PPP-B2b service. BDS-3 and GPS observations from nine tracking stations and real-time collected PPP-B2b corrections over 516 days were used to analyze the performance of the proposed timing method. The results show that: (1) The difference between the PPP-B2b-restored UTC, which was realized by one-way timing with the UTC offsets in broadcast ephemeris, and UTC (NTSC), fluctuates within a few ns. (2) The timing uncertainty of the zero baseline based on the proposed method is better than 0.2 ns. (3) Compared with the post-processed PPP time transfer, the UTC dissemination uncertainty of the short and long baseline with the proposed method is better than 0.7 ns. The experiment results verified the feasibility of the proposed sub-nanosecond level precise UTC dissemination method based on the PPP-B2b service.

In recent years, significant strides have been made in the field of synthetic aperture radar (SAR) ship detection through the application of deep learning techniques. These advanced methods have substantially improved the accuracy of ship detection. Nonetheless, SAR images present distinct challenges, including complex backgrounds, small ship targets, and noise interference, thereby rendering the detectors particularly demanding. In this paper, we introduce LRTransDet, a real-time SAR ship detector. LRTransDet leverages a lightweight vision transformer (ViT) and a multi-scale feature fusion neck to address these challenges effectively. First, our model implements a lightweight backbone that combines convolutional neural networks (CNNs) and transformers, thus enabling it to simultaneously capture both local and global features from input SAR images. Moreover, we boost the model’s efficiency by incorporating the faster weighted feature fusion (Faster-WF2) module and coordinate attention (CA) mechanism within the feature fusion neck. These components optimize computational resources while maintaining the model’s performance. To overcome the challenge of detecting small ship targets in SAR images, we refine the original loss function and use the normalized Wasserstein distance (NWD) metric and the intersection over union (IoU) scheme. This combination improves the detector’s ability to efficiently detect small targets. To prove the performance of our proposed model, we conducted experiments on four challenging datasets (the SSDD, the SAR-Ship Dataset, the HRSID, and the LS-SSDD-v1.0). The results demonstrate that our model surpasses both general object detectors and state-of-the-art SAR ship detectors in terms of detection accuracy (97.8% on the SSDD and 93.9% on the HRSID) and speed (74.6 FPS on the SSDD and 75.8 FPS on the HRSID), all while demanding 3.07 M parameters. Additionally, we conducted a series of ablation experiments to illustrate the impact of the EfficientViT, the Faster-WF2 module, the CA mechanism, and the NWD metric on multi-scale feature fusion and detection performance.

Star image registration is the most important step in the application of astronomical image differencing, stacking, and mosaicking, which requires high robustness, accuracy, and real-time capability on the part of the algorithm. At present, there are no high-performance registration algorithms available in this field. In the present paper, we propose a star image registration algorithm that relies only on radial module features (RMF) and rotation angle features (RAF) while providing excellent robustness, high accuracy, and good real-time performance. The test results on a large amount of simulated and real data show that the comprehensive performance of the proposed algorithm is significantly better than the four classical baseline algorithms as judged by the presence of rotation, insufficient overlapping area, false stars, position deviation, magnitude deviation, and complex sky background, making it a more ideal star image registration algorithm than current alternatives.

Real-Time (RT) Precise Point Positioning (PPP) uses precise satellite orbits and clock corrections, and employs a separate receiver for positioning. With the growing demand, RT PPP is becoming an increasingly popular research topic. The ambiguity resolution (AR) can significantly improve the positioning accuracy and convergence time of PPP, so it is essential to study PPPAR in RT mode. In this paper, 37 MGEX stations from around the world are chosen, and the RT orbit, clock, and phase biases products broadcast by the Centre National d’Etudes Spatiales (CNES) are applied to PPPAR. Additionally, the residuals of the RT phase biases products, convergence time, and positioning accuracy are investigated. The results indicate that GPS products have the best quality of AR, with wide-lane (WL) and narrow-lane (NL) residuals of 98.9% and 95.3%, respectively, within ±0.25 cycles. Within ±0.25 cycles, the WL and NL residuals of the Galileo are 98.2% and 94.3%, respectively. Within ±0.25 cycles, the (Beidou Navigation Satellite System) BDS has a poor quality of AR, with WL and NL residuals of 97.3% and 73.1%, respectively. Due to the poor quality of the BDS AR, the convergence time of the BDS is not calculated in this paper. The convergence time of other systems is significantly reduced after AR processing, and the convergence time of the GPS/Galileo combination is the fastest, being 17.14 min in kinematic mode and only 11.85 min in static mode. The positioning accuracy of the GPS, Galileo, GPS/Galileo, and GPS/Galileo/BDS in the E and U directions is significantly improved after PPPAR.

Ambiguity resolution (AR) is a core technology that helps to speed up convergence time and increase positioning accuracy for precise point positioning (PPP), and the performance of PPP-AR is based on the quality of ambiguity resolution products. Real-time PPP-AR becomes a reality as users can now obtain publicly accessible real-time observable-specific signal bias (OSB) products from the Centre National d'Etudes Spatiales (CNES). Therefore, an analysis of the quality of OSB products and an evaluation of the performance of PPP-AR are required to promote the application of real-time positioning. For a total of 31 days between day of year (DOY) 121 and 151 in 2021, observation data were collected from 90 stations, and the OSB products were used to assess the experiments. As for the quality of the OSB products, the data availability (DA) of the GPS and Galileo satellites was greater than 97%, whereas that of BDS was less than 60%; the maximum fluctuation value (MAX) and standard deviation (STD) of the GPS, Galileo, and BDS satellites were 0.045 and 0.012; 0.081 and 0.028; and 0.292 and 0.085 cycles, respectively. In terms of ambiguity residuals using the OSB products, the wide-lane (WL) residual percentages within ±0.25 cycles for the GPS, Galileo, BDS-2, and BDS-3 systems were more than 92%, and the narrow-lane (NL) residual percentages within ±0.25 cycles for the four systems were 92%, 89%, 79%, and 60%, respectively. With regard to the performance of PPP-AR, the GPS+Galileo solution showed the best performance in the kinematic positioning mode, in which the mean root mean square (RMS) of positioning accuracy was 1.06, 1.27, and 2.85 cm for the east (E), north (N), and up (U) components, respectively, and the mean convergence time reached 9.6 min. In the static positioning mode, the mean convergence times of the GPS-only and GPS+Galileo solutions were 11.4 min and 8.0 min, respectively, and both of their mean RMS for positioning accuracy reached 0.79, 0.95, and 1.48 cm for the E, N, and U components, respectively. However, the addition of BDS did not further enhance the performance of multi-GNSS PPP-AR in either the kinematic or static positioning mode due to the poor quality of the real-time BDS products. More importantly, a prediction method was proposed to avoid re-convergence and to enhance the reliability of PPP-AR in the event of short-time missing real-time OSB products and to improve the positioning accuracy and the ambiguity fixed rate. [ABSTRACT FROM AUTHOR]

For many years, the navigation team at the French Space Agency (CNES) has been developing its Precise Point Positioning project. The goal was initially to promote a technique called undifferenced ambiguity resolution. One of the main characteristics of this technique is the capability for a user receiver to perform centimeter-level accuracy in real time. To do so, a demonstrator has been built. Its architecture is composed of three main elements: a correction processing software called the server part, a means to transmit the corrections using standardized messages, and a user software capable of handling the corrections to compute an accurate positioning at the user level. In this paper, we present the recent advances in the CNES precise point positioning demonstrator. They are composed of some evolution of the network of stations and server software, the implementation of the new state space representation standard, a new method for instantaneous ambiguity resolution using uncombined four-frequency signals, its implementation in real-time at the server and the user level, and the use of high-rate Doppler measurements to improve the accuracy of the solution in harsh urban environments. On top of that, the computation of high-accuracy post-processed phase biases with the majority of current GNSS signals supported, compatible with the uncombined method and a new online positioning service to demonstrate the capacity of the user software, is demonstrated.

Consumer-grade Unmanned Aerial Vehicles (UAVs) are poorly suited to monitor complex scenes where multiple analysis tasks need to be carried out in real-time and in parallel to fulfil time-critical requirements. Therefore, we developed an innovative UAV agnostic system that is able to carry out multiple road infrastructure monitoring tasks simultaneously and in real-time. The aim of the paper is to discuss the system design considerations and the performance of the processing pipeline in terms of computational strain and latency. The system was deployed on a unique typology of UAV and instantiated with realistic placeholder modules that are of importance for infrastructure inspection tasks, such as vehicle detection for traffic monitoring, scene segmentation for qualitative semantic reasoning, and 3D scene reconstruction for large-scale damage detection. The system was validated by carrying out a trial on a highway in Guadalajara, Spain. By utilizing edge computation and remote processing, the end-to-end pipeline, from image capture to information dissemination to drone operators on the ground, takes on average 2.9 s, which is sufficiently quick for road monitoring purposes. The system is dynamic and, therefore, can be extended with additional modules, while continuously accommodating developments in technologies, such as IoT or 5G. [ABSTRACT FROM AUTHOR]

Since the data generation rate of high-resolution satellites is increasing rapidly, to relieve the stress of data downloading and processing systems while enhancing the time efficiency of information acquisition, it is important to deploy on-board edge computing on satellites. However, the volume, weight, and computability of on-board systems are strictly limited by the harsh space environment. Therefore, it is very difficult to match the computability and the requirements of diversified intelligent applications. Currently, this problem has become the first challenge of the practical deployment of on-board edge computing. To match the actual requirements of the Luojia3 satellite of Wuhan University, this manuscript proposes a three-level edge computing architecture based on a System-on-Chip (SoC) for low power consumption and expandable on-board processing. First, a transfer level is designed to focus on hardware communications and Input/Output (I/O) works while maintaining a buffer to store image data for upper levels temporarily. Second, a processing framework that contains a series of libraries and Application Programming Interfaces (APIs) is designed for the algorithms to easily build parallel processing applications. Finally, an expandable level contains multiple intelligent remote sensing applications that perform data processing efficiently using base functions, such as instant geographic locating and data picking, stream computing balance model, and heterogeneous parallel processing strategy that are provided by the architecture. It is validated by the performance improvement experiment that following this architecture, using these base functions can help the Region of Interest (ROI) system geometric correction fusion algorithm to be 257.6 times faster than the traditional method that processes scene by scene. In the stream computing balance experiment, relying on this architecture, the time-consuming algorithm ROI stabilization production can maintain stream computing balance under the condition of insufficient computability. We predict that based on this architecture, with the continuous development of device computability, the future requirements of on-board computing could be better matched. [ABSTRACT FROM AUTHOR]

The purpose of this research was to derive and evaluate fire radiative power (FRP) values for real-time Biogeographical Region and Individual Geostationary HHMMSS Threshold (BRIGHT)/Advanced Himawari Imager (AHI) hotspots. While BRIGHT/AHI hotspots with 2 km nominal resolution are available every 10 min, they are without FRP values. Here, we present a method to calculate FRP values for BRIGHT/AHI hotspots and compute them over a 12-month period, day and night. FRP distributions from BRIGHT/AHI hotspots and coincident Moderate Resolution Imaging Spectroradiometer (MODIS) and Visible Infrared Imaging Radiometer Suite (VIIRS) hotspots are compared to assess relative agreement, with the distributions found to be broadly similar. Nuanced differences between the sensor FRP values were explored highlighting the need for a deeper understanding of the fire detection and FRP algorithms when doing intercomparisons. Notwithstanding the complexities of FRP intercomparisons, the computationally simple BRIGHT/AHI FRP definition allows for fast and real-time reporting of BRIGHT/AHI hotspots FRP. [ABSTRACT FROM AUTHOR]

Real-time precise orbit determination (POD) of low earth orbiters (LEOs) is crucial for orbit maintenance as well as autonomous operation for space missions. The Global Positioning System (GPS) has become the dominant technique for real-time precise orbit determination (POD) of LEOs. However, the observation conditions of near-earth space are more critical than those on the ground. Real-time POD accuracy can be seriously affected when the observation environment suffers from strong space events, i.e., a heavy solar storm. In this study, we proposed a reliable adaptive Kalman filter based on pseudorange and epoch-differenced carrier-phase measurements. This approach uses the epoch-differenced carrier phase to eliminate the ambiguities and thus reduces the significant number of unknown parameters. Real calculations demonstrate that four to five observed GPS satellites is sufficient to solve reliable position parameters. Furthermore, with accurate pseudorange and epoch-differenced carrier-phase-based reference orbits, orbital dynamic disturbance can be detected precisely and reliably with an adaptive Kalman filter. Analyses of Swarm-A POD show that sub-meter level real-time orbit solutions can be obtained when the observation conditions are good. For poor observation conditions such as the GRACE-A satellite on 8 September 2017, when fewer than five GPS satellites were observed for 14% of the observation time, 1–2 m orbital accuracy can still be achieved with the proposed approach. [ABSTRACT FROM AUTHOR]

Highly accurate near-real-time satellite precipitation estimates (SPEs) are important for hydrological forecasting and disaster warning. The near-real quantitative precipitation estimates (REGC) of the recently developed Chinese geostationary meteorological satellite Fengyun 4A (FY4A) have the advantage of high spatial and temporal resolution, but there are errors and uncertainties to some extent. In this paper, a self-adaptive ill-posed least squares scheme based on sequential processing (SISP) is proposed and practiced in mainland China to correct the real-time biases of REGC hour by hour. Specifically, the scheme adaptively acquires sample data by setting temporal and spatial windows and constructs an error-correction model based on the ill-posed least squares method from the perspectives of climate regions, topography, and rainfall intensity. The model adopts the sequential idea to update satellite precipitation data within time windows on an hour-by-hour basis and can correct the biases of real-time satellite precipitation data using dynamically changing parameters, fully taking into account the influence of precipitation spatial and temporal variability. Only short-term historical data are needed to accurately rate the parameters. The results show that the SISP algorithm can significantly reduce the biases of the original REGC, in which the values of relative bias (RB) in mainland China are reduced from 11.2% to 3.3%, and the values of root mean square error (RMSE) are also reduced by about 17%. The SISP algorithm has a better correction in humid and semi-humid regions than in arid and semi-arid regions and is effective in reducing the negative biases of precipitation in each climate region. In terms of rain intensity, the SISP algorithm can improve the overestimation of satellite precipitation estimates for low rain intensity (0.2–1 mm/h), but the correction for high rain intensity (>1 mm/h) needs further improvement. The error component analysis shows that the SISP algorithm can effectively correct the hit bias. This study serves as a valuable reference for real-time bias correction using short-term accumulated precipitation data.

The automotive synthetic aperture radar (SAR) can obtain two-dimensional (2-D) high-resolution images and has good robustness compared with the other sensors. Generally, the 2-D high-resolution always conflicts with the real-time requirement in conventional SAR imaging. This article suggests an automotive video SAR (ViSAR) imaging technique based on sub-aperture spectrum fusion to address this issue. Firstly, the scene space variation problem caused by close observation distance in automotive SAR is analyzed. Moreover, the sub-aperture implementation method, frame rate and resolution of automotive ViSAR are also introduced. Then, the improved Range Doppler algorithm (RDA) is used to focus the sub-aperture data. Finally, a sub-aperture stitching strategy is proposed to obtain a high-resolution frame image. Compared with the available ViSAR imaging method, the proposed method is more efficient, performs better, and is more appropriate for automotive ViSAR. The simulation results and actual data of the automotive SAR validate the effectiveness of the proposed method.

The augmentation of the Global Navigation Satellite System (GNSS) by Low Earth Orbit (LEO) satellites is proposed as an effective method to improve the precision and shorten the convergence time of Precise Point Positioning (PPP). Serving as navigation satellites in the future, LEO satellites need to be provided with their high-accuracy orbits in real-time. This would potentially enable the high-accuracy real-time LEO satellite clock determination, and eventually facilitate the high-accuracy ground-based positioning. Studies have been performed to achieve such real-time orbits using a Kalman filter in both the kinematic and reduced-dynamic modes. Batch Least-Squares (BLS) adjustment delivers more stable orbits in near-real-time, as it performs better phase screening. However, it suffers from longer delays compared to the Kalman filter. With the LEO satellite orbit prediction strategies improved over time, this latency can be bridged by short-term orbit prediction. In this study, using real-time GNSS satellite products, the real-time LEO satellite orbits are obtained based on the batch least-squares adjustment and short-term prediction. LEO ephemeris parameters are generated within specific prediction time windows. Using real data from the 500 km GRACE C satellite and 810 km Sentinel-3B satellite, the near-real-time BLS Precise Orbit Determination (POD) results exhibit good accuracy with an Orbital User Range Error (OURE) of 2–4 cm using different real-time GNSS products. A range of delays of the BLS POD processes are assumed, based on tests performed on different processing machines, leading to various prediction windows, from 3–8 min to 12–17 min that correspond to the real-time usage. The orbital prediction errors are shown to be highly correlated with the orbital height and the prediction time. The computational efficiency thus becomes essential to reduce the prediction errors for a certain LEO satellite. For advanced processing units leading to a prediction window shorter or equal to 6–11 min, one can expect a total real-time orbital error budget of 3–5 cm, provided that an appropriate prediction strategy is applied and high-quality GNSS products are used. For a given fitting interval, the ephemeris fitting errors are generally related to the number of ephemeris parameters and the orbital height. Compared with the prediction errors, the ephemeris fitting errors do not play a significant role in the total error budget when using 22 ephemeris parameters.

Ambiguity resolution (AR) is a core technology that helps to speed up convergence time and increase positioning accuracy for precise point positioning (PPP), and the performance of PPP-AR is based on the quality of ambiguity resolution products. Real-time PPP-AR becomes a reality as users can now obtain publicly accessible real-time observable-specific signal bias (OSB) products from the Centre National d’Etudes Spatiales (CNES). Therefore, an analysis of the quality of OSB products and an evaluation of the performance of PPP-AR are required to promote the application of real-time positioning. For a total of 31 days between day of year (DOY) 121 and 151 in 2021, observation data were collected from 90 stations, and the OSB products were used to assess the experiments. As for the quality of the OSB products, the data availability (DA) of the GPS and Galileo satellites was greater than 97%, whereas that of BDS was less than 60%; the maximum fluctuation value (MAX) and standard deviation (STD) of the GPS, Galileo, and BDS satellites were 0.045 and 0.012; 0.081 and 0.028; and 0.292 and 0.085 cycles, respectively. In terms of ambiguity residuals using the OSB products, the wide-lane (WL) residual percentages within ±0.25 cycles for the GPS, Galileo, BDS-2, and BDS-3 systems were more than 92%, and the narrow-lane (NL) residual percentages within ±0.25 cycles for the four systems were 92%, 89%, 79%, and 60%, respectively. With regard to the performance of PPP-AR, the GPS+Galileo solution showed the best performance in the kinematic positioning mode, in which the mean root mean square (RMS) of positioning accuracy was 1.06, 1.27, and 2.85 cm for the east (E), north (N), and up (U) components, respectively, and the mean convergence time reached 9.6 min. In the static positioning mode, the mean convergence times of the GPS-only and GPS+Galileo solutions were 11.4 min and 8.0 min, respectively, and both of their mean RMS for positioning accuracy reached 0.79, 0.95, and 1.48 cm for the E, N, and U components, respectively. However, the addition of BDS did not further enhance the performance of multi-GNSS PPP-AR in either the kinematic or static positioning mode due to the poor quality of the real-time BDS products. More importantly, a prediction method was proposed to avoid re-convergence and to enhance the reliability of PPP-AR in the event of short-time missing real-time OSB products and to improve the positioning accuracy and the ambiguity fixed rate.

Consumer-grade Unmanned Aerial Vehicles (UAVs) are poorly suited to monitor complex scenes where multiple analysis tasks need to be carried out in real-time and in parallel to fulfil time-critical requirements. Therefore, we developed an innovative UAV agnostic system that is able to carry out multiple road infrastructure monitoring tasks simultaneously and in real-time. The aim of the paper is to discuss the system design considerations and the performance of the processing pipeline in terms of computational strain and latency. The system was deployed on a unique typology of UAV and instantiated with realistic placeholder modules that are of importance for infrastructure inspection tasks, such as vehicle detection for traffic monitoring, scene segmentation for qualitative semantic reasoning, and 3D scene reconstruction for large-scale damage detection. The system was validated by carrying out a trial on a highway in Guadalajara, Spain. By utilizing edge computation and remote processing, the end-to-end pipeline, from image capture to information dissemination to drone operators on the ground, takes on average 2.9 s, which is sufficiently quick for road monitoring purposes. The system is dynamic and, therefore, can be extended with additional modules, while continuously accommodating developments in technologies, such as IoT or 5G.

Since the data generation rate of high-resolution satellites is increasing rapidly, to relieve the stress of data downloading and processing systems while enhancing the time efficiency of information acquisition, it is important to deploy on-board edge computing on satellites. However, the volume, weight, and computability of on-board systems are strictly limited by the harsh space environment. Therefore, it is very difficult to match the computability and the requirements of diversified intelligent applications. Currently, this problem has become the first challenge of the practical deployment of on-board edge computing. To match the actual requirements of the Luojia3 satellite of Wuhan University, this manuscript proposes a three-level edge computing architecture based on a System-on-Chip (SoC) for low power consumption and expandable on-board processing. First, a transfer level is designed to focus on hardware communications and Input/Output (I/O) works while maintaining a buffer to store image data for upper levels temporarily. Second, a processing framework that contains a series of libraries and Application Programming Interfaces (APIs) is designed for the algorithms to easily build parallel processing applications. Finally, an expandable level contains multiple intelligent remote sensing applications that perform data processing efficiently using base functions, such as instant geographic locating and data picking, stream computing balance model, and heterogeneous parallel processing strategy that are provided by the architecture. It is validated by the performance improvement experiment that following this architecture, using these base functions can help the Region of Interest (ROI) system geometric correction fusion algorithm to be 257.6 times faster than the traditional method that processes scene by scene. In the stream computing balance experiment, relying on this architecture, the time-consuming algorithm ROI stabilization production can maintain stream computing balance under the condition of insufficient computability. We predict that based on this architecture, with the continuous development of device computability, the future requirements of on-board computing could be better matched.

The purpose of this research was to derive and evaluate fire radiative power (FRP) values for real-time Biogeographical Region and Individual Geostationary HHMMSS Threshold (BRIGHT)/Advanced Himawari Imager (AHI) hotspots. While BRIGHT/AHI hotspots with 2 km nominal resolution are available every 10 min, they are without FRP values. Here, we present a method to calculate FRP values for BRIGHT/AHI hotspots and compute them over a 12-month period, day and night. FRP distributions from BRIGHT/AHI hotspots and coincident Moderate Resolution Imaging Spectroradiometer (MODIS) and Visible Infrared Imaging Radiometer Suite (VIIRS) hotspots are compared to assess relative agreement, with the distributions found to be broadly similar. Nuanced differences between the sensor FRP values were explored highlighting the need for a deeper understanding of the fire detection and FRP algorithms when doing intercomparisons. Notwithstanding the complexities of FRP intercomparisons, the computationally simple BRIGHT/AHI FRP definition allows for fast and real-time reporting of BRIGHT/AHI hotspots FRP.

Real-time precise orbit determination (POD) of low earth orbiters (LEOs) is crucial for orbit maintenance as well as autonomous operation for space missions. The Global Positioning System (GPS) has become the dominant technique for real-time precise orbit determination (POD) of LEOs. However, the observation conditions of near-earth space are more critical than those on the ground. Real-time POD accuracy can be seriously affected when the observation environment suffers from strong space events, i.e., a heavy solar storm. In this study, we proposed a reliable adaptive Kalman filter based on pseudorange and epoch-differenced carrier-phase measurements. This approach uses the epoch-differenced carrier phase to eliminate the ambiguities and thus reduces the significant number of unknown parameters. Real calculations demonstrate that four to five observed GPS satellites is sufficient to solve reliable position parameters. Furthermore, with accurate pseudorange and epoch-differenced carrier-phase-based reference orbits, orbital dynamic disturbance can be detected precisely and reliably with an adaptive Kalman filter. Analyses of Swarm-A POD show that sub-meter level real-time orbit solutions can be obtained when the observation conditions are good. For poor observation conditions such as the GRACE-A satellite on 8 September 2017, when fewer than five GPS satellites were observed for 14% of the observation time, 1–2 m orbital accuracy can still be achieved with the proposed approach.

Several recent studies have shown that knowledge of the spatiotemporal dynamics of soil moisture intrinsically contains information on precipitation. In this study, we show how SMOS measurements can be used to generate a near-real-time precipitation product with a spatial resolution of 0.1° and a temporal resolution of 3 h. The principle consists of assimilating the SMOS data into a model that simulates the evolution of soil moisture, which is forced by a satellite precipitation product. The assimilation of SMOS soil moisture leads to an adjustment of the satellite precipitation rates. Using data from more than 200 rain gauges set up in Africa between 2010 and 2021, we show that the PrISM algorithm (for Precipitation Inferred from Soil Moisture) almost systematically improves the initial precipitation product. One of the original features of this study is that we used the IMERG-Early satellite precipitation product, which has a finer spatial resolution (0.1°) than SMOS (~0.25°). Despite this, the methodology reduces both the RMSE and bias of IMERG-Early. The RMSE is reduced from 8.0 to 6.3 mm/day, and the absolute bias is reduced from 0.81 to 0.63 mm/day on average over the 200 rain gauges. PrISM performs even slightly better on average than IMERG-Final in terms of RMSE (6.8 mm/day for IMERG-Final) but better scores are obtained by IMERG-Final in terms of absolute bias (0.35 mm/day), which utilizes a network of field measurements to correct the biases of the IMERG-Early product with a 2.5-month delay. Therefore, the use of SMOS soil moisture measurements for Africa can be an advantageous alternative to the use of gauge measurements for debiasing rainfall satellite products in real time.

The global system of BDS (BeiDou Navigation Satellite System), i.e., BDS-3, is characterized with a multi-frequency signal broadcasting capability, which was demonstrated as beneficial for GNSS (Global Navigation Satellite System) data processing. However, research on real-time BDS-3 clock estimation with multi-frequency signals is quite limited, especially for the new B1C and B2a signals. In this study, we developed models for BDS-3 multi-frequency real-time data processing, including the uncombined model for clock estimation and the GFIF (Geometry-Free Ionosphere-Free) combined model for IFCB (Inter-Frequency Clock Bias) determination. Based on the models, simulated real-time numerical experiments with about 80 global IGS (International GNSS Service) network stations are conducted for validation and analysis. The results indicate that: (1) the uncombined model with multi-frequency signals can achieve comparable accuracy with the traditional dual-frequency IF model in terms of clock estimation, and the double-differenced clock STDs (Standard Deviations) are generally less than 0.05 ns with post-processed clocks as a reference; (2) unlike the B1C and B1I/B3I signals, the satellite IFCBs generated from multi-frequency clock estimation show apparent temporal variations for B2a and B1I/B3I signals, further investigation with GFIF models confirm the variations mainly result from the errors of receiver antenna corrections. Therefore, we addressed the feasibility of the uncombined model and the importance of accurate antenna information in the multi-frequency data processing.

Single-frequency (SF) receivers are much cheaper than that of dual-frequency (DF). Even though DF precise point positioning (PPP) is nowadays applied in the time community, the cost of equipment is one of the key considerations for time users. Furthermore, the hardware delay calibration of single-frequency devices is simpler than that of dual-frequency devices. In addition, there is no literature to study real-time SF PPP time transfer. In this contribution, the possibility of time transfer using SF PPP was studied. The Un-combined SF PPP was employed for time transfer with ionospheric-constraint using real-time precise products. In this case, 18 multi-GNSS experiment (MGEX) stations and one time lab station were used to study real-time SF PPP time transfer using GPS, Galileo and BDS-2/3 satellites with 20-day. The results suggested that real-time single-frequency PPP can meet time transfer. the standard deviation (STD) of the clock difference obtained from GPS-only, Galileo-only and BDS-2/3 single-frequency PPP are about (0.51, 0.54, 0.91) ns, respectively. The frequency stability of real-time single-frequency PPP can achieve (1E-12, 1E-13, 1E-13) level at short-term and (1E-13, 1E-13, 1E-14) level at long-term, respectively, for BDS-2/3, Galileo-only and GPS-only based.

Real-time analysis of UAV low-altitude remote sensing images at airborne terminals facilitates the timely monitoring of weeds in the farmland. Aiming at the real-time identification of rice weeds by UAV low-altitude remote sensing, two improved identification models, MobileNetV2-UNet and FFB-BiSeNetV2, were proposed based on the semantic segmentation models U-Net and BiSeNetV2, respectively. The MobileNetV2-UNet model focuses on reducing the amount of calculation of the original model parameters, and the FFB-BiSeNetV2 model focuses on improving the segmentation accuracy of the original model. In this study, we first tested and compared the segmentation accuracy and operating efficiency of the models before and after the improvement on the computer platform, and then transplanted the improved models to the embedded hardware platform Jetson AGX Xavier, and used TensorRT to optimize the model structure to improve the inference speed. Finally, the real-time segmentation effect of the two improved models on rice weeds was further verified through the collected low-altitude remote sensing video data. The results show that on the computer platform, the MobileNetV2-UNet model reduced the amount of network parameters, model size, and floating point calculations by 89.12%, 86.16%, and 92.6%, and the inference speed also increased by 2.77 times, when compared with the U-Net model. The FFB-BiSeNetV2 model improved the segmentation accuracy compared with the BiSeNetV2 model and achieved the highest pixel accuracy and mean Intersection over Union ratio of 93.09% and 80.28%. On the embedded hardware platform, the optimized MobileNetV2-UNet model and FFB-BiSeNetV2 model inferred 45.05 FPS and 40.16 FPS for a single image under the weight accuracy of FP16, respectively, both meeting the performance requirements of real-time identification. The two methods proposed in this study realize the real-time identification of rice weeds under low-altitude remote sensing by UAV, which provide a reference for the subsequent integrated operation of plant protection drones in real-time rice weed identification and precision spraying.

LiDAR occupies a vital position in self-driving as the advanced detection technology enables autonomous vehicles (AVs) to obtain much environmental information. Ground segmentation for LiDAR point cloud is a crucial procedure to ensure AVs’ driving safety. However, some current algorithms suffer from embarrassments such as unavailability on complex terrains, excessive time and memory usage, and additional pre-training requirements. The Jump-Convolution-Process (JCP) is proposed to solve these issues. JCP converts the segmentation problem of the 3D point cloud into the smoothing problem of the 2D image and takes little time to improve the segmentation effect significantly. First, the point cloud marked by an improved local feature extraction algorithm is projected onto an RGB image. Then, the pixel value is initialized with the points’ label and continuously updated according to image convolution. Finally, a jump operation is introduced in the convolution process to perform calculations only on the low-confidence points filtered by the credibility propagation algorithm, reducing the time cost. Experiments on three datasets show that our approach has a better segmentation accuracy and terrain adaptability than those of the three existing methods. Meanwhile, the average time for the proposed method to deal with one scan data of 64-beam and 128-beam LiDAR is only 8.61 ms and 15.62 ms, which fully meets the AVs’ requirement for real-time performance.

Positioning accuracy and power consumption are essential performance indicators of integrated navigation and positioning chips. This paper proposes a single-frequency GNSS/MEMS-IMU/odometer real-time high-precision integrated navigation algorithm with dynamic power adaptive adjustment capability in complex environments. It is implemented in a multi-sensor fusion navigation SiP (system in package) chip. The simplified INS algorithm and the simplified Kalman filter algorithm are adopted to reduce the computation load, and the strategy of adaptively adjusting the data rate and selecting the observation information for measurement update in different scenes and motion modes is combined to realize high-precision positioning and low power consumption in complex scenes. The performance of the algorithm is verified by real-time vehicle experiments in a variety of complex urban environments. The results show that the RMS statistical value of the overall positioning error in the entire road section is 0.312 m, and the overall average power consumption is 141 mW, which meets the requirements of real-time integrated navigation for high-precision positioning and low power consumption. It supports single-frequency GNSS/MEMS-IMU/odometer integrated navigation SiP chip in real-time, high-precision, low-power, and small-volume applications.

A multipath is a major error source in bridge deformation monitoring and the key to achieving millimeter-level monitoring. Although the traditional MHM (multipath hemispherical map) algorithm can be applied to multipath mitigation in real-time scenarios, accuracy needs to be further improved due to the influence of observation noise and the multipath differences between different satellites. Aiming at the insufficiency of MHM in dealing with the adverse impact of observation noise, we proposed the MHM_V model, based on Variational Mode Decomposition (VMD) and the MHM algorithm. Utilizing the VMD algorithm to extract the multipath from single-difference (SD) residuals, and according to the principle of the closest elevation and azimuth, the original observation of carrier phase in the few days following the implementation are corrected to mitigate the influence of the multipath. The MHM_V model proposed in this paper is verified and compared with the traditional MHM algorithm by using the observed data of the Forth Road Bridge with a seven day and 10 s sampling rate. The results show that the correlation coefficient of the multipath on two adjacent days was increased by about 10% after residual denoising with the VMD algorithm; the standard deviations of residual error in the L1/L2 frequencies were improved by 37.8% and 40.7%, respectively, which were better than the scores of 26.1% and 31.0% for the MHM algorithm. Taking a ratio equal to three as the threshold value, the fixed success rates of ambiguity were 88.0% without multipath mitigation and 99.4% after mitigating the multipath with MHM_V. The MHM_V algorithm can effectively improve the success rate, reliability, and convergence rate of ambiguity resolution in a bridge multipath environment and perform better than the MHM algorithm.

Mobile and handheld mapping systems are becoming widely used nowadays as fast and cost-effective data acquisition systems for 3D reconstruction purposes. While most of the research and commercial systems are based on active sensors, solutions employing only cameras and photogrammetry are attracting more and more interest due to their significantly minor costs, size and power consumption. In this work we propose an ARM-based, low-cost and lightweight stereo vision mobile mapping system based on a Visual Simultaneous Localization And Mapping (V-SLAM) algorithm. The prototype system, named GuPho (Guided Photogrammetric System), also integrates an in-house guidance system which enables optimized image acquisitions, robust management of the cameras and feedback on positioning and acquisition speed. The presented results show the effectiveness of the developed prototype in mapping large scenarios, enabling motion blur prevention, robust camera exposure control and achieving accurate 3D results.

The dark channel prior (DCP)-based single image removal algorithm achieved excellent performance. However, due to the high complexity of the algorithm, it is difficult to satisfy the demands of real-time processing. In this article, we present a Graphics Processing Unit (GPU) accelerated parallel computing method for the real-time processing of high-definition video haze removal. First, based on the memory access pattern, we propose a simple but effective filter method called transposed filter combined with the fast local minimum filter algorithm and integral image algorithm. The proposed method successfully accelerates the parallel minimum filter algorithm and the parallel mean filter algorithm. Meanwhile, we adopt the inter-frame atmospheric light constraint to suppress the flicker noise in the video haze removal and simplify the estimation of atmospheric light. Experimental results show that our implementation can process the 1080p video sequence with 167 frames per second. Compared with single thread Central Processing Units (CPU) implementation, the speedup is up to 226× with asynchronous stream processing and qualified for the real-time high definition video haze removal.

Two methods are widely used for evaluating the precision of satellite clock products, namely the single-satellite method (SSM) and the multi-satellite method (MSM). In the satellite clock product evaluation, an important issue is how to eliminate the timescale difference. The SSM selects a reference satellite to eliminate the timescale difference by between-satellite differencing, but its evaluation results are susceptible to the gross errors in the referenced satellite clock offsets. In the MSM, the timescale difference is first estimated and then removed. Unlike the GPS, the BeiDou Navigation Satellite System (BDS) consists of three types of satellites, namely geosynchronous earth orbit (GEO), inclined geosynchronous orbit (IGSO), and medium earth orbit (MEO) satellites. The three types of satellites have uneven orbital accuracy. In the generation of satellite clock products, the orbital errors are partly assimilated into the clock offsets. If neglecting the orbital accuracy difference of the three types of BeiDou satellites, the MSM will obtain biased estimates of the timescale difference and finally affect the clock product evaluation. In this study, an improved multi-satellite method (IMSM) is proposed for evaluating the real-time BDS clock products by removing the assimilated orbital errors of the three types of BDS satellites when estimating the timescale difference. Three real-time BDS clock products disseminated by three different International GNSS Service (IGS) analysis centers, namely CLK16, CLK20, and CLK93, over a period of two months are used to validate this method. The results indicate that the assimilated orbital errors have a significant impact on the estimation of the timescale difference. Subsequently, the IMSM is compared with the SSM in which the referenced satellite is rigorously chosen, and their RMS difference is only 0.08 ns, which suggests that the evaluation results obtained by the IMSM are accurate. Compared with the traditional MSM, the IMSM improves the RMS by 0.16, 0.11, and 0.07 ns for CLK16, CLK20, and CLK93, respectively. Finally, three real-time BDS clock products are evaluated using the proposed method, and results reveal a significant precision difference among them.

Short-term freeze/thaw cycles, which mostly occur in the northern hemisphere across the majority of land surfaces, are reported to cause severe economic losses over broad areas of Europe and North America. Therefore, in order to assess the extent of frost damage in the agricultural sector, the objective of this study is to build an operational approach capable of detecting frozen plots at the plot scale in a near real-time scenario using Sentinel-1 (S1) data. C-band synthetic aperture radar (SAR) data show high potential for the detection of freeze/thaw surface states due to the significant alterations to the dielectric properties of the soil, which are distinctly observable in the backscattered signal. In this study, we propose an approach that relies on change detection in the high-resolution Sentinel-1 C-band SAR backscattered coefficients, to determine surface states at the plot scale as either frozen or unfrozen. A threshold analysis is first performed in order to determine the best thresholds for three distinct land cover classes, and for each polarization mode (VH, and VV). S-1 SAR data are then used to detect a plot’s surface state as either unfrozen, mild-to-moderately frozen or severely frozen. A temperature-based filter has also been applied at the end of the detection chain to eliminate false detections in the freezing detection algorithm due mainly to rainfall, irrigation, tillage, or signal noise. Our approach has been tested over two study sites in France, and the output results, using either VH or VV, compared qualitatively well with both in situ air temperature data and soil temperature data provided by ERA5-Land. Overall, our algorithm was able to detect all freezing episodes over the analyzed S-1 SAR time series, and with no false detections. Moreover, given the high-resolution aspect of S-1 SAR data, our algorithm is capable of mapping the local variation of freezing episodes at plot scale. This is in contrast with previous products that only offer coarser results across larger areas (low spatial resolution).

Real-time (RT) ocean surface wind can make key improvements to disaster alarmingand safety of maritime navigation to avoid loss in property and human lives. Wind scatterometry is a well-acquainted way of obtaining good quality ocean surface winds, and it has been in application for decades. Existing wind-obtaining chains employ ground stations for receiving observations and can, at best, provide products in around 30 minutes for limited regions. In recent years, a satellite information-obtaining and transmission network is the new trend of Earth observation. In this research, on-board wind retrieval environment and procedures, which are different from traditional wind-obtaining chains, are proposed. First, the establishment of the on-board environment is instructed. Structures of each module are provided. The ground simulation system is been established based on this. After that, existing observing and processing routines of wind scatterometry are described, and then an on-board processing chain proposed and described. Modifications to existing satellite-ground chains are highlighted. The proposed method is validated in Level 0 data from the Chinese–French Oceanic SATellite (CFOSAT). Experiments indicate that the proposed on-board processing procedure can provide comparable results to ground-processed wind products. The root-mean-square error (RMSE) of wind speed for a track of data used in the experiment was about 0.26 m/s, and it was about 0.8° for wind direction. By decreasing wind field result quality, calculation time can be lessened in the on-board environment. However, it is found that in the whole chain of on-board wind generation, the most time-consuming procedure is observation-obtaining. The proposed on-board processing method can achieve good wind accuracy while meeting RT applications with good processing time. This provides a good complement to existing on-board-observing-ground-processing chains for RT applications.

The ability to remotely detect and map chemical vapour clouds in open air environments is a topic of significant interest to both defence and civilian communities. In this study, we integrate a prototype miniature colorimetric chemical sensor developed for methyl salicylate (MeS), as a model chemical vapour, into a micro unmanned aerial vehicle (UAV), and perform flights through a raised MeS vapour cloud. Our results show that that the system is capable of detecting MeS vapours at low ppm concentration in real-time flight and rapidly sending this information to users by on-board telemetry. Further, the results also indicate that the sensor is capable of distinguishing “clean” air from “dirty”, multiple times per flight, allowing us to look towards autonomous cloud mapping and source localization applications. Further development will focus on a broader range of integrated sensors, increased autonomy of detection and improved engineering of the system.

Anomaly detection has received considerable interest for hyperspectral data exploitation due to its high spectral resolution. A well-known algorithm for hyperspectral anomaly detection is the RX detector. A number of variations have been studied since then, including global and local versions for different type of anomalies. Aiming at a real-time requirement for practical applications, this paper extends the concept of global and local anomaly detectors to be real-time detectors. The algorithms exploit the fact that a true real-time detector must produce its output in a causal manner and at the same time as an input comes in. Taking advantage of the Woodbury matrix identity, the global and local real-time detectors can be implemented and processed pixel-by-pixel in real time. Both synthetic and real hyperspectral imagery are conducted to demonstrate their performance.

The combination of Global Navigation Satellite Systems (GNSS) may improve the accuracy and precision of estimated coordinates, as well as the convergence time of Precise Point Positioning (PPP) solutions. The key conditions are the correct functional model and the proper weighting of observations, for which different characteristics of multi-GNSS signals should be taken into account. In post-processing applications, the optimum stochastic model can be obtained through the analysis of post-fit residuals, but for real-time applications the stochastic model has to be defined in advanced. We propose five different weighting schemes for the GPS + GLONASS + Galileo + BeiDou combination, including two schemes with no intra-system differences, and three schemes that are based on signal noise and/or quality of satellite orbits. We perform GPS-only and five multi-GNSS solutions representing each weighting scheme. We analyze formal errors of coordinates, coordinate repeatability, and solution convergence time. We found that improper or equal weighting may improve formal errors but decreases coordinate repeatability when compared to the GPS-only solution. Intra-system weighting based on satellite orbit quality allows for a reduction of formal errors by 40%, for shortening convergence time by 40% and 47% for horizontal and vertical components, respectively, as well as for improving coordinate repeatability by 6%. [ABSTRACT FROM AUTHOR]