The rapid variation of atmospheric water vapor is important for a regional hydrologic cycle and climate change. However, it is rarely investigated in China, due to the lack of a precipitable water ...vapor (PWV) dataset with high temporal resolution. Therefore, this study focuses on the generation of an hourly PWV dataset using Global Navigation Satellite System (GNSS) observations derived from the Crustal Movement Observation Network of China. The zenith total delay parameters estimated by GAMIT/GLOBK software are used and validated with an average root mean square (RMS) error of 4-5 mm. The pressure (P) and temperature (T) parameters used to calculate the zenith hydrostatic delay (ZHD) and weighted average temperature of atmospheric water vapor (
) are derived from the fifth-generation reanalysis dataset of the European Centre for Medium-Range Weather Forecasting (ECMWF ERA5) products. The values of P and T at the GNSS stations are obtained by interpolation in the horizontal and vertical directions using empirical formulas.
is calculated at the GNSS stations using the improved global pressure and temperature 2 wet (IGPT2w) model in China with an RMS of 3.32 K. The interpolated P and T are validated by interpolating the grid-based ERA5 data into radiosonde stations. The average RMS and bias of P and T in China are 2.71/-1.11 hPa and 1.88/-0.51 K, respectively. Therefore, the error in PWV with a theoretical RMS of 1.85 mm over the period of 2011-2017 in China can be obtained. Finally, the hourly PWV dataset in China is generated and the practical accuracy of the generated PWV dataset is validated using the corresponding AERONET and radiosonde data at specific stations. Numerical results reveal that the average RMS values of the PWV dataset in the four geographical regions of China are less than 3 mm. A case analysis of the PWV diurnal variations as a response to the EI Niño event of 2015-2016 is performed. Results indicate the capability of the hourly PWV dataset of monitoring the rapid water vapor changes in China.
The GNSS tropospheric tomography technique has been proven to be a powerful tool for three-dimensional water vapor reconstruction. In most previous studies, the signals leaving the side face of the ...tomography area are ignored as having invalid information, which wastes valuable observations and decreases signal coverage of the research area. To include the contribution of such signals to the final tomographic result, an improved tropospheric tomography approach, which makes the most use of GNSS observations by combining the data derived from the empirical Global Pressure and Temperature 2 wet model, is proposed. Compared to the conventional method, the proposed method can adaptively use the signals penetrating from the model’s side face to the tomographic model, which increases the number of voxels crossed by rays and improves the stability of the tomography model. Numerical results in Hong Kong over the period of day of year 124–150, 2013 show that the internal accuracy of the tomographic model based on the proposed method increases by 9.8% when compared to the conventional method. The RMS errors of the integrated water vapor derived from the proposed method are 4.1 and 4.6 mm, respectively, while the values derived from the conventional method are 5.0 and 5.4 mm, respectively, when compared to the radiosonde and European Centre for Medium-Range Weather Forecasts (ECMWF) products. In addition, compared to the conventional method, the accuracy of the water vapor density profile derived from the tomographic result of the proposed method has been enhanced by 25% and 12.5% when the radiosonde and ECMWF data are considered as the reference, respectively. Such results indicate a good performance of the proposed method for GNSS troposphere tomography.
•Hourly PWV dataset over the period of 2005–2016 is generated on a global scale.•Temperature and pressure are both provided by ERA5 are used.•Tm is calculated using multilayer feedforward neural ...network (NN) model.•The RMS of the hourly PWV dataset is less than 3 mm globally.
Atmospheric water vapour plays an important role in phenomena related to the global hydrologic cycle and climate change. However, the rapid temporal–spatial variation in global tropospheric water vapour has not been well investigated due to a lack of long-term, high-temporal-resolution precipitable water vapour (PWV). Accordingly, this study generates an hourly PWV dataset for 272 ground-based International Global Navigation Satellite System (GNSS) Service (IGS) stations over the period of 2005–2016 using the zenith troposphere delay (ZTD) derived from global-scale GNSS observation. The root mean square (RMS) of the hourly ZTD obtained from the IGS tropospheric product is approximately 4 mm. A fifth-generation reanalysis dataset of the European Centre for Medium-range Weather Forecasting (ECMWF ERA5) is used to obtain hourly surface temperature (T) and pressure (P), which are first validated with GNSS synoptic station data and radiosonde data, respectively. Then, T and P are used to calculate the water vapour-weighted atmospheric mean temperature (Tm) and zenith hydrostatic delay (ZHD), respectively. T and P at the GNSS stations are obtained via an interpolation in the horizontal and vertical directions using the grid-based ERA5 reanalysis dataset. Here, Tm is calculated using a neural network model, whereas ZHD is obtained using an empirical Saastamoinen model. The RMS values of T and P at the collocated 693 radiosonde stations are 1.6 K and 3.1 hPa, respectively. Therefore, the theoretical error of PWV caused by the errors in ZTD, T and P is on the order of approximately 2.1 mm. A practical comparison experiment is performed using 97 collocated radiosonde stations and 23 GNSS stations equipped with meteorological sensors. The RMS and bias of the hourly PWV dataset are 2.87/−0.16 and 2.45/0.55 mm, respectively, when compared with radiosonde and GNSS stations equipped with meteorological sensors. Additionally, preliminary analysis of the hourly PWV dataset during the EI Niño event of 2014–2016 further indicates the capability of monitoring the daily changes in atmospheric water vapour. This finding is interesting and significant for further climate research.
The fast motion of low Earth orbit (LEO) satellites provides rapid geometric changes in a short time, which can accelerate the initialization of precise point positioning (PPP). The rapid convergence ...of ambiguity parameters is conducive to the rapid success of ambiguity fixing. This paper presents the performance of single- and four-system combined PPP Ambiguity Resolution (AR), enhanced with an ambiguity-float solution LEO. Two LEO constellations were designed: L was a typical polar orbit constellation, with a higher number of visible satellites at high latitudes than at low and middle latitudes; and M was designed to compensate for the lack of visible satellites at low and middle latitudes. The ground observation data of the LEO satellites at the MGEX stations were simulated. Because the global navigation satellite systems (GNSSs) were fully operational, the GNSS data were real observation data from the MGEX stations. Based on the daily observation datasets collected at 258 stations in the global MGEX observation network over three days (from 1 January to 3 January 2022), in addition to the LEO simulation data, we evaluated the positioning performance of LEO ambiguity-float solution-enhanced PPP ambiguity resolution and compared it with LEO-enhanced PPP. The L+M mixed constellation was able to reduce the time to first fix (TTFF) of the four-system combined PPP-AR to 5 min, and four LEO satellites were sufficient to achieve this. L+M mixed constellation was able to reduce the convergence time of the four-system combined PPP to 2 min. Unlike PPP-AR, PPP required more LEO satellites for augmentation to saturate.
•SOC inversion models were established for various land-use in an arid mining area.•SOC spatiotemporal variability and its effect factors were analyzed.•Changes in vegetation and soil erosion ...dominate the spatial distribution of SOC.•Coal mining affects plant, terrain and soil erosion, then weakens SOC accumulation.
Soil organic carbon (SOC) undergoes rapid changes due to human production activities, which have an impact on the land carbon cycle and ultimately global change. As one of the main human production activities, coal mining significantly impacts the soil carbon cycle. However, due to the lack of remote sensing modeling of soil carbon in mining areas, the spatio-temporal changes and driving mechanisms of SOC in mining areas remain unclear. Therefore, this study investigated and determined SOC data from 300 sampling points (depth of 0–20 cm) located in an arid mining area of China. Remote sensing images were then used to established a soil organic carbon density (SOCD) prediction model within the Random Forest (RF) model to achieve digital mapping of soil organic carbon stocks (SOCS). The spatiotemporal changes of SOCS were analyzed using SOCS digital mapping, and the influencing mechanism of SOCS was revealed using path analysis. The results showed that the constructed SOCD predictive model meets the demand for SOCD prediction (R2 ≥ 0.74, p < 0.01, RMSE ≤ 1.72 kg/m2). Under the combined influence of coal mining and land reclamation, the total amount of surface SOCS in the mining area exhibited a fluctuating upward trend from 1990 (6.34 Tg) to 2021 (7.73 Tg), with an annual growth rate of 0.038 Tg/a. The spatial distribution of SOCS generally increased from southeast to northwest. Precipitation, Normalized Difference Vegetation Index (NDVI), and land use were positively correlated to SOCS spatial distribution, while temperature, elevation, soil erosion, and mining intensity were negatively correlated to SOCS. The impact degree of factors on SOCS was as follows: NDVI > soil erosion > mining intensity > precipitation > elevation > land use > temperature. The negative impact of coal mining on SOCS was mainly indirect, through disturbance to elevation, vegetation, and soil erosion. The uneven ground subsidence and stretching caused by coal mining contribute to intensified soil erosion and vegetation degradation in the affected area, leading to a reduction in SOCS. However, SOCS did not decrease under high intensity mining, which was related to the increase in vegetation and the reduction in soil erosion in the mining area. In this study, a soil carbon prediction model was established based on remote sensing modeling to evaluate the temporal and spatial distribution of soil carbon in an arid mining area. The results can serve as valuable references for the scientific improvement of the ecological environment in mining areas, the rational planning of mining area construction, as well as low-carbon land reclamation and ecological compensation assessments.
Coal mine surface subsidence detection determines the damage degree of coal mining, which is of great importance for the mitigation of hazards and property loss. Therefore, it is very important to ...detect deformation during coal mining. Currently, there are many methods used to detect deformations in coal mining areas. However, with most of them, the accuracy is difficult to guarantee in mountainous areas, especially for shallow seam mining, which has the characteristics of active, rapid, and high-intensity surface subsidence. In response to these problems, we made a digital subsidence model (DSuM) for deformation detection in coal mining areas based on airborne light detection and ranging (LiDAR). First, the entire point cloud of the study area was obtained by coarse to fine registration. Second, noise points were removed by multi-scale morphological filtering, and the progressive triangulation filtering classification (PTFC) algorithm was used to obtain the ground point cloud. Third, the DEM was generated from the clean ground point cloud, and an accurate DSuM was obtained through multiple periods of DEM difference calculations. Then, data mining was conducted based on the DSuM to obtain parameters such as the maximum surface subsidence value, a subsidence contour map, the subsidence area, and the subsidence boundary angle. Finally, the accuracy of the DSuM was analyzed through a comparison with ground checkpoints (GCPs). The results show that the proposed method can achieve centimeter-level accuracy, which makes the data a good reference for mining safety considerations and subsequent restoration of the ecological environment.
Southeast China, a non-core region influenced by the El Niño–Southern Oscillation (ENSO), has been seldom investigated before. However, the occurrence of ENSO will affect the redistribution of ...precipitation and the temperature (T) spatial pattern on a global scale. This condition will further lead to flood or drought disasters in Southeast China. Therefore, the method of monitoring the occurrence of ENSO is important and is the focus of this paper. The spatiotemporal characteristics of precipitable water vapor (PWV) and T are first analyzed during ENSO using the empirical orthogonal function (EOF). The results showed that a high correlation spatiotemporal consistency exist between PWV and T. The response thresholds of PWV and T to ENSO are determined by moving the window correlation analysis (MWCA). If the sea surface temperature anomaly (SSTA) at the Niño 3.4 region exceeded the ranges of (−1.17°C, 1.04°C) and (−1.15°C, 1.09°C), it could cause the anomalous change of PWV and T in Southeast China. Multichannel singular spectral analysis (MSSA) is introduced to analyze the multi-type signals (tendency, period, and anomaly) of PWV and T over the period of 1979–2017. The results showed that the annual abnormal signal and envelope line fluctuation of PWV and T agreed well in most cases with the change in SSTA. Therefore, a standard PWV and T index (SPTI) is proposed on the basis of the results to monitor ENSO events. The PWV and T data derived from the grid-based European Center for Medium-Range Weather Forecasting (ECMWF) reanalysis products and GNSS/RS stations in Southeast China were used to validate the performance of the proposed SPTI. Experimental results revealed that the time series of average SPTI calculated in Southeast China corresponded well to that of SSTA with a correlation coefficient of 0.66 over the period of 1979–2017. The PWV values derived from the Global Navigation Satellite System (GNSS) and radiosonde data at two specific stations (WUHN and 45004) were also used to calculate the SPTI. The results showed that the correlation coefficients between SPTI and SSTA were 0.73 and 0.71, respectively. Such results indicate the capacity of the proposed SPTI to monitor the ENSO in Southeast China.
Simultaneous localization and mapping (SLAM) is the key technology for the automation of intelligent mining equipment and the digitization of the mining environment. However, the shotcrete surface ...and symmetrical roadway in underground coal mines make light detection and ranging (LiDAR) SLAM prone to degeneration, which leads to the failure of mobile robot localization and mapping. To address these issues, this paper proposes a robust LiDAR SLAM method which detects and compensates for the degenerated scenes by integrating LiDAR and inertial measurement unit (IMU) data. First, the disturbance model is used to detect the direction and degree of degeneration caused by insufficient line and plane feature constraints for obtaining the factor and vector of degeneration. Second, the degenerated state is divided into rotation and translation. The pose obtained by IMU pre-integration is projected to plane features and then used for local map matching to achieve two-step degenerated compensation. Finally, a globally consistent LiDAR SLAM is implemented based on sliding window factor graph optimization. The extensive experimental results show that the proposed method achieves better robustness than LeGO-LOAM and LIO-SAM. The absolute position root mean square error (RMSE) is only 0.161 m, which provides an important reference for underground autonomous localization and navigation in intelligent mining and safety inspection.
Global Navigation Satellite System (GNSS) troposphere tomography has become one of the most cost-effective means to obtain three-dimensional (3-d) image of the tropospheric water vapour field. ...Traditional methods divide the tomography area into a number of 3-d voxels and assume that the water vapour density at any voxel is a constant during the given period. However, such behaviour breaks the spatial continuity of water vapour density in a horizontal direction and the number of unknown parameters needing to be estimated is very large. This is the focus of the paper, which tries to reconstruct the water vapor field using the tomographic technique without imposing empirical horizontal and vertical constraints. The proposed approach introduces the layered functional model in each layer vertically and only an a priori constraint is imposed for the water vapor information at the location of the radiosonde station. The elevation angle mask of 30° is determined according to the distribution of intersections between the satellite rays and different layers, which avoids the impact of ray bending and the error in slant water vapor (SWV) at low elevation angles on the tomographic result. Additionally, an optimal weighting strategy is applied to the established tomographic model to obtain a reasonable result. The tomographic experiment is performed using Global Positioning System (GPS) data of 12 receivers derived from the Satellite Positioning Reference Station Network (SatRef) in Hong Kong. The quality of the established tomographic model is validated under different weather conditions and compared with the conventional tomography method using 31-day data, respectively. The numerical result shows that the proposed method is applicable and superior to the traditional one. Comparisons of integrated water vapour (IWV) of the proposed method with that derived from radiosonde and European Centre for Medium-Range Weather Forecasts (ECMWF) ERA-Interim data show that the root mean square (RMS)/Bias of their differences are 3.2/−0.8 mm and 3.3/−1.7 mm, respectively, while the values of traditional method are 5.1/−3.9 mm and 6.3/−5.9 mm, respectively. Furthermore, the water vapour density profiles are also compared with radiosonde and ECMWF data, and the values of RMS/Bias error for the proposed method are 0.88/0.06 g/m3 and 0.92/−0.08 g/m3, respectively, while the values of the traditional method are 1.33/0.38 g/m3 and 1.59/0.40 g/m3, respectively.
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