Digital Terrain Map Research Articles

The impact of road grade on carbon dioxide (CO2) emission of a passenger vehicle in real-world driving

To accurately estimate real-world vehicle emission at 1Hz the road grade for each second of data must be quantified. Failure to incorporate road grade can result in over or underestimation of a vehicle’s power output and hence cause inaccuracy in the instantaneous emission estimate. This study proposes a simple LiDAR (Light Detection And Ranging) – GIS (Geographic Information System) road grade estimation methodology, using GIS software to interpolate the elevation for each second of data from a Digital Terrain Map (DTM). On-road carbon dioxide (CO2) emissions from a passenger car were recorded by Portable Emission Measurement System (PEMS) over 48 test laps through an urban-traffic network. The test lap was divided into 8 sections for micro-scale analysis. The PHEM instantaneous emission model (Hausberger, 2003) was employed to estimate the total CO2 emission through each lap and section. The addition of the LiDAR-GIS road grade to the PHEM modelling improved the accuracy of the CO2 emission predictions. The average PHEM estimate (with road grade) of the PEMS measured section total CO2 emission (n=288) was 93%, with 90% of the PHEM estimates between 80% and 110% of the PEMS recorded value. The research suggests that instantaneous emission modelling with LiDAR-GIS calculated road grade is a viable method for generating accurate real-world micro-scale CO2 emission estimates. The sensitivity of the CO2 emission predictions to road grade was also tested by lessening and exaggerating the gradient profiles, and demonstrates that assuming a flat profile could cause considerable error in real-world CO2 emission estimation.

New approach for evaluating habitat stability using scarce records for both historical and contemporary specimens: a case study using Carabidae specimen records

AbstractNatural history collections, such as specimen records, are crucial resources for conservation and habitat management. However, these data are usually scarce compared to physical environmental data (e.g., digital terrain maps) that we often have little species data and a lot of physical environmental data with which to evaluate habitats. In this paper, we propose a method for evaluating habitat stability using scarce natural history records and abundant physical environmental data. We used both historical and contemporary specimen records of carabid beetles (areas in which records of the same species were recorded during both periods) and evaluated the attributes of these areas using terrain characteristics. We found two common terrain characteristics among the occupied areas: large total river length and low variation in elevation. These terrain characteristics suggest that habitats of carabid species have been conserved in disturbed and wet environments for a long time. These results are consistent with the ecological characteristics of carabid beetles. Our study shows that scarce natural history collections, combined with ingenuity, can be useful for evaluating habitats.

The Improved Kriging Interpolation Algorithm for Local Underwater Terrain Based on Fractal Compensation

The interpolation-reconstruction of local underwater terrain using the underwater digital terrain map (UDTM) is an important step for building an underwater terrain matching unit and directly affects the accuracy of underwater terrain matching navigation. The Kriging method is often used in terrain interpolation, but, with this method, the local terrain features are often lost. Therefore, the accuracy cannot meet the requirements of practical application. Analysis of the geographical features is performed on the basis of the randomness and self-similarity of underwater terrain. We extract the fractal features of local underwater terrain with the fractal Brownian motion model, compensating for the possible errors of the Kriging method with fractal theory. We then put forward an improved Kriging interpolation method based on this fractal compensation. Interpolation-reconstruction tests show that the method can simulate the real underwater terrain features well and that it has good usability.

Efficient Methods Used to Create Hydrogeological Model of Latvia

In 2010-2012, the hydrogeological model (HM) of Latvia LAMO was established by scientists of Riga Technical University. The commercial program Groundwater Vistas (GV) is used for running LAMO. GV includes the worldwide applied MODFLOW program. Efficient methods were used for creating geometry of HM, for arrangement of various boundary conditions (digital terrain map, hydrographical network, infiltration flow, conditions on the HM shell surface) and to calibrate HM. Their appliance considerably improved quality of HM and reduced time needed to create LAMO.

Correction of Inertial Navigation System’s Errors by the Help of Video-Based Navigator Based on Digital Terrarium Map

This paper deals with the error analysis of a novel navigation algorithm that uses as input the sequence of images acquired from a moving camera and a Digital Terrain (or Elevation) Map (DTM/DEM). More specifically, it has been shown that the optical flow derived from two consecutive camera frames can be used in combination with a DTM to estimate the position, orientation and ego-motion parameters of the moving camera. As opposed to previous works, the proposed approach does not require an intermediate explicit reconstruction of the 3D world. In the present work the sensitivity of the algorithm outlined above is studied. The main sources for errors are identified to be the optical-flow evaluation and computation, the quality of the information about the terrain, the structure of the observed terrain and the trajectory of the camera. By assuming appropriate characterization of these error sources, a closed form expression for the uncertainty of the pose and motion of the camera is first developed and then the influence of these factors is confirmed using extensive numerical simulations. The main conclusion of this paper is to establish that the proposed navigation algorithm generates accurate estimates for reasonable scenarios and error sources, and thus can be effectively used as part of a navigation system of autonomous vehicles.

Development of a GPU Accelerated Terrain Referenced UAV Localization and Navigation Algorithm

This study focuses on localization and navigation of Unmanned Air Vehicles (UAVs) based on digital terrain map data. The solution to the Terrain Referenced Localization and Navigation (TERELONA) or Terrain Referenced Navigation (TRN) is described by using particle filter. In many UAV applications one of the most important points is to provide accurate location information continuously. TERELONA system can supply the air vehicle with the accurate position information with a bounded error. In this paper, the particle filtering method as an implementation of Bayesian approach to the terrain referenced localization and navigation is described. The radar altimeter measurements are used as an implicit representation of aircraft position. Whenever new measurements are taken from radar altimeter, they are compared to the Digital Terrain Map (DTM) data in order to fix a position. The solution is represented, in a Bayesian framework, by a set of particles with their corresponding weights. We have developed the terrain referenced localization and navigation algorithm based on the particle approximation. The proposed algorithm, which is developed in CUDATM, is also tested on the GPU environment using GPUmat software architecture. Thus, we can cope with the computational load of the very large initial horizontal position errors. The proposed algorithm has been implemented in MATLABTM environment and evaluated on simulated data. Simulations are conducted over an ASTER GDEM product which belongs to a region in northwest of Turkey. The simulation results are provided.

MAXIMIZING COVERAGE OF A SINGLE FREQUENCY NETWORK FOR DIGITAL TELEVISION SERVICES

This paper approaches the problem of maximising Single Frequency Network (SFN) coverage for digital terrestrial television (DTT) based on the ISDB-T standard. An important issue to face up deals with the prioritization of specific zones in the study region (of high population density) with the aim of covering the most users possible. The optimization-based approach introduces directive receiving antennas along with transmitting sector antennas to make the network more realistic. Moreover, the ITU-R P.1546 propagation prediction method is used and applied to digital terrain maps (DTM) and the transmitters useful and interfering contributions are estimated at every receiver point within the region. The parameters to be optimized for every transmitter using the simulated annealing algorithm include static delays, the effective radiated power (ERP) and the relative azimuth orientation for sector antennas. Representative results considering a region in northern Spain with a topography similar to any coastal region in Chile surrounded by mountain ranges, are included and discussed.

Relações pedomorfogeológicas e distribuição de pedoformas na estação ecológica de águas emendadas, Distrito Federal

O Distrito Federal (DF) apresenta um modelo de distribuição de solos na paisagem condicionado pela compartimentação geomorfológica e substrato geológico. A perfeita compreensão das pedoformas auxilia o levantamento e mapeamento de detalhe ou semidetalhe dos solos de uma região. O mapeamento pedológico disponível do DF, realizado em 1978, em escala 1:100.000, ainda é a principal fonte de informações pedológicas do DF; no entanto, muitas vezes não atende aos diversos estudos pedológicos, em razão da escala reduzida. Assim, o objetivo deste trabalho foi estudar as relações solos-paisagem em uma topossequência na Estação Ecológica de Águas Emendadas - ESECAE, considerada representativa das relações entre feições do relevo, material de origem e classes de solos, em áreas com exposição das três unidades geomorfológicas definidas no Distrito Federal, incluindo as Chapadas Elevadas, bem como elaborar um mapa de pedoformas da área estudada, utilizando técnicas de geoprocessamento. Realizou-se um estudo da distribuição de solos na paisagem, por meio de avaliação das relações entre pedologia, geomorfologia e geologia. Para o desenvolvimento do trabalho, utilizaram-se os mapas geológicos e geomorfológicos disponíveis da ESECAE, além de geração do Modelo Digital do Terreno (MDT) e mapas de unidades geomorfológicas, de classes de declividade e de distribuição de geoformas. Por meio de dados da literatura e atividades de campo, com a caracterização dos solos nos perfis representativos ao longo da topossequência em estudo, estabeleceu-se o modelo de relação pedomorfogeológica da região, que permitiu estabelecer as relações entre os solos e as formas da paisagem e a elaboração do mapa de pedoformas da Estação Ecológica de Águas Emendadas. O mapa de pedoformas gerado fornece dados para atividades de levantamento e mapeamento pedológico de detalhe e semidetalhe em áreas com exposição das unidades geomorfológicas de ocorrência no Distrito Federal.

Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrain

In this paper we present a visual navigation algorithm for the six-legged walking robot DLR Crawler in rough terrain. The algorithm is based on stereo images from which depth images are computed using the semi-global matching (SGM) method. Further, a visual odometry is calculated along with an error measure. Pose estimates are obtained by fusing inertial data with relative leg odometry and visual odometry measurements using an indirect information filter. The visual odometry error measure is used in the filtering process to put lower weights on erroneous visual odometry data, hence, improving the robustness of pose estimation. From the estimated poses and the depth images, a dense digital terrain map is created by applying the locus method. The traversability of the terrain is estimated by a plane fitting approach and paths are planned using a D* Lite planner taking the traversability of the terrain and the current motion capabilities of the robot into account. Motion commands and the traversability measures of the upcoming terrain are sent to the walking layer of the robot so that it can choose an appropriate gait for the terrain. Experimental results show the accuracy of the navigation algorithm and its robustness against visual disturbances.

수치지형도를 활용한 가시권 분석의 적정 분석방법에 관한 연구

본 연구의 목적은 GIS 분석기법을 활용한 가시권 분석이 활발해 지고 있으나 분석결과의 정확도에 대한 논의는 이루어지고 있지 않은 점에 착안하여 가시권 분석방법에 대한 심층적 논의를 통해 분석결과의 신뢰도를 높이는데 있다. 수치지형도를 활용한 가시권 분석은 분석 대상지의 특성, 수치지형도의 축척, 분석의 공간 해상도, 지형자료의 형태에 따라 상이하게 도출되어 분석결과의 오차를 발생시킬 수 있다. 이러한 측면에서 본 연구에서는 분석의 공간 해상도가 낮아지면 가시권 분석결과의 면적은 넓어지고 유효 한계해상도보다 해상도가 낮아지면 분석결과의 면적은 불안정한 변화추이를 보일 것이라는 가정 하에 공간 해상도별 가시면적의 변화추이와 공간 일치도 분석을 실시하였다. 연구결과를 요약하면 분석 대상지와 수치지형도의 축척, 공간 해상도, 입력된 지형자료의 형태에 따라 분석결과가 상이하게 도출되어 분석결과의 정확도에 영향을 미치는 것으로 나타났다. 즉, 가시영역이 산지 지형인 경우에서 안정적 분석결과가 도출되었다. 또 입력되는 지형자료의 경우는 제한된 조건에서 TIN보다 레스터 자료에서 안정적인 분석결과가 도출되었다. 마지막으로 해상도별 가시면적의 변화추이와 공간 일치도 분석결과에 비춰보면 축척별 수치지형도에 따른 유효한 최소의 공간 해상도가 존재하는데, 1/1,000의 경우는 8m, 1/5,000은 20m, 1/25,000은 35m를 넘지 않은 범위에서 분석하는 것이 바람직하다. The purpose of this study is to contribute enhancing the accuracy of viewshed analysis through the explanation for an analysis method of viewshed analysis using GIS. According to previous studies, the visible area using digital terrain in viewshed analysis depends on a visible interest area, scale of terrain, spatial resolution and surface data. In this study, we used trend analysis and RMSE analysis in order to find the effect of a visible interest area, scale of terrain, etc in viewshed analysis. Results of this study are as follows. First, the result of viewshed analysis depends on a visible interest area, scale of terrain, spatial resolution, surface data such as previous studies. Second, the results in forest area are reliable than those of flat area in terms of a visible interest area. Third, the results based on raster grid data are stable than those of TIN(triangulated irregular network) in terms of input surface data. Fourth, according to the result of trend and RMSE analysis, the spatial resolution for analysis is differently applied to different scales digital terrain map in viewshed analysis. In detail, it is desirable that the spatial resolution is set less than 10m(in the case of 1/1,000 digital terrain map), 20m(in the case of 1/5,000 map), 30m(1/25,000 map).

Direct Method for Video-Based Navigation Using a Digital Terrain Map

A novel vision-based navigation algorithm is proposed. The gray levels of two images, together with a Digital Terrain Map (DTM), are directly utilized to define constraints on the navigation parameters. The feasibility of the algorithm is examined both under a simulated environment and using real flight data.

Performance of laser and radar ranging devices in adverse environmental conditions

AbstractA comparative evaluation of millimeter‐wave radar and two‐dimensional scanning lasers in dust and rain conditions for sensor applications in field robotics is presented. A robust and reliable method for measuring the level of suspended dust (or other obscurant media) by determining the transmission coefficient is developed and used for quantitative assessment of sensor performance. The criteria of target acquisition reliability, precision, and accuracy under varying environmental conditions are assessed via sensor operation in a controlled environment. This environment generated dust and rain of varying densities. Sensor performance is also assessed for the potential effect on digital terrain mapping and haul truck localization due to sensor‐specific behaviors in these conditions (e.g., false targets, increased noise). Trials on a research electric face shovel are conducted to test observed behaviors. It is concluded that laser scanners are suitable for environments with transmissions exceeding 92%–93%/m for targets closer than 25 m. The radar remained relatively unaffected by the generated conditions of rain (50–70 mm/h) and dust (10‐m visibility); however, its accuracy (0.1 m with a corner reflector and 0.3 m on a haul truck), free‐space clutter, and scan rate were insufficient for locating unmodified haul trucks for this application. © 2009 Wiley Periodicals, Inc.

Precision enhancement in ETSI‐Hata propagation model tuning using experimental data in a dense urban area

AbstractIn this paper an enhanced ETSI‐Hata propagation model tuning is presented. The three‐dimensional (3D) digital terrain map (DTM) was included in the simulation process. For the enhancement of the model tuning process and precision verification of ETSI‐Hata model, the real 3D map of the buildings of the simulated area was incorporated over the DTM. Multiple knife edge diffraction method and the antenna effective height method were used to calculate the diffraction loss. This method was applied for a real urban scenario. For every sector in the coverage area, a tuned model was exploited. Using a genetic algorithm, frequency planning for the entire urban area was performed, which resulted in an improvement in the quality of service. Copyright © 2009 John Wiley & Sons, Ltd.

On the Correction of Partial Beam Blockage in Polarimetric Radar Data

Abstract Three methodologies for correcting the radar reflectivity factor (ZH) in the presence of partial beam blockage are implemented, compared, and evaluated using a polarimetric radar dataset from the North American Monsoon Experiment (NAME) in northwestern Mexico. One methodology uses simulated interactions between radar beams and digital terrain maps, while the other two invoke the self-consistency of polarimetric radar measurands in rainfall, and the relative insensitivity of a specific differential phase to beam blockage. While the different methodologies often agree to within 1–2 dB, significant disagreements can occur in regions of sharp azimuthal gradients in beam blockage patterns, and in areas where the terrain-caused radar clutter map is complex. These disagreements may be mitigated by the use of additional radar data to develop the polarimetric correction techniques, by a more sophisticated terrain-beam interaction model, or by a higher-resolution digital terrain map. Intercomparisons between ground radar data and Tropical Rainfall Measuring Mission satellite overpasses suggest that all of the methodologies can correct mean ZH to within the expected uncertainty of such intercomparisons (1–1.5 dB). The polarimetric correction methods showed good results even in severely blocked regions (>10 dB reduction). The results suggest the possibility that all of the techniques may be valid approaches to correcting partial beam blockage, and within that context relative advantages and disadvantages of each technique are discussed. However, none of the techniques can correct radar data when weak echoes are reduced to noise by strong blocks, thus leading to biases in corrected ZH and rainfall climatologies.

Digital terrain mapping of the underside of sea ice from a small AUV

In April 2007 the first three‐dimensional digital terrain mapping of the underside of sea ice to be done from an ice‐launched autonomous underwater vehicle (AUV) was carried out at an ice camp in the Beaufort Sea using the Gavia vehicle, which could be launched and recovered through 3 × 1 m holes. Gavia was equipped with a GeoSwath 500 kHz interferometric sonar system, which yielded swaths of typical width 80 m. The imagery showed the morphological distinctions between first‐year (FY) and multi‐year (MY) ice undersides, the contrast between the shapes of FY and MY ridges, and the appearance of refrozen leads. Ice drafts were validated by drilling, and it was found that ridge slope statistics and local probability density functions (PDFs) of draft could be derived with high precision. The special opportunities offered by access to 3‐D mapping are pointed out.

The Last Glacial Maximum British–Irish Ice Sheet: a reconstruction using digital terrain mapping

AbstractThe use of digital terrain mapping in determining the anatomy of the Late Devensian British–Irish Ice Sheet at a resolution of 500 m cell size is illustrated for Boulton et al.'s 1985 and 1991 models and Lambeck's 1995 model of the ice sheet at its maximum extent as an independent ice mass. Area and volume of the ice sheet are given for each model and the spatial pattern of ice thickness shown in maps. The analyses show that if no account is taken of topography beneath the ice surface, models will seriously overestimate ice volume. It is suggested that as reconstructions of the ice sheet improve, detailed models of ice thickness at the resolution given in this paper may be of value in determining the contribution of the ice sheet to sea surface changes as well as in determining the effects of ice loading on glacio‐isostasy, neotectonics and possibly on paraglacial processes in areas of high relief. Copyright © 2007 John Wiley & Sons, Ltd.

3차원 지형모델링에 의한 경관정보 분석과 Web GIS 구현

In this study 3D topographic modeling was made by using aerial photography and digital terrain map, through this we did visibility analysis and implemented Web GIS of Dong-A university. Studying area was Busan Saha-gu Hadan-dong, we used aerial photography on a scale of 1:20,000 and digital terrain map on a scale of 1:5,000. Ortho correction image was made by aerial photography through selecting GCP, image matching, image resampling and precise differential rectification. And DEM on digital map was created using ArcView program, making 3D topographic modeling by road layer and building layer and implementing Web GIS about Dong-A university.

English

This study aims to help army officials in taking decisions before war to decide the optimalpath for army troops moving between two points in a real world digital terrain, consideringfactors like traveled distance, terrain type, terrain slope, and road network. There can optionallybe one or more enemies (obstacles) located on the terrain which should be avoided. A tile-basedA* search strategy with diagonal distance and tie-breaker heuristics is proposed for finding theoptimal path between source and destination nodes across a real-world 3-D terrain. A performancecomparison (time analysis, search space analysis, and accuracy) has been made between themultiresolution A* search and the proposed tile-based A* search for large-scale digital terrainmaps. Different heuristics, which are used by the algorithms to guide these to the goal node,are presented and compared to overcome some of the computational constraints associated withpath finding on large digital terrains. Finally, a halt schedule is generated using the optimal path,weather condition, moving time, priority and type of a column, so that the senior military plannerscan strategically decide in advance the time and locations where the troops have to halt orovertake other troops depending on their priority and also the time of reaching the destination.

Shift–Scale Complex Correlation for Wide-Angle Coherent Cross-Track SAR Stereo Processing

Automated synthetic aperture radar (SAR) stereo correspondence becomes increasingly difficult when imaging high-relief terrain utilizing large stereo crossing-angle geometries because high-relief SAR image features can undergo significant spatial distortions, causing a failure of traditional correlation matching. This paper presents eight coherent spotlight-mode cross-track stereo pairs with stereo crossing angles averaging 93.7deg collected over a terrain with slopes greater than 20deg. These stereo pairs suffer from terrain-induced distortions, resulting in a decrease in complex correlation (coherence) when utilizing scanning-window correlation calculations. The search to maximize complex correlation is changed from a shift-only (disparity) search to a shift-and-scale search using the downhill simplex method. This approach is tested against complex imagery with simulated distortions and then employed on the eight wide-angle stereo collects. The resulting digital terrain maps (DTMs) are compared to ground truth. Using a shift-and-scale correlation approach to estimate disparity, the relative height errors decrease, and the number of reliable DTM posts increase

The theory of functionals of stochastic backscattered fields

The theory of wave scattering by anisotropic statistically rough surfaces, which is an important part of statistical radiophysics, is considered. A new analytic method is developed and generalized for solving problems of radar imaging. The method involves analytic determination of the functionals of stochastic backscattered fields and can be applied to solve a wide class of physical problems with allowance for the finite width of an antenna’s pattern. The unified approach based on this method is used to analyze the generalized frequency response of a scattering radio channel, a generalized correlator of scattered fields, spatial correlation functions of stochastic backscattered fields, frequency coherence functions of stochastic backscattered fields, the coherence band of a spatial-temporal scattering radar channel, the kernel of the generalized uncertainty function, and the measure of noise immunity characterizing radar probing of the Earth’s surface or extended targets. The introduced frequency coherence functions are applied for thorough and consistent study of techniques for measuring the characteristics of a rough surface, aircraft altitude, and distortions observed when radar signals are scattered by statistically rough, including fractal, surfaces. To exemplify urgent applications, radiophysical synthesis of detailed digital reference radar terrain maps and microwave radar images that was proposed earlier is considered and improved with the use of the theory of fractals.