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To overcome the limitation of poor processing times for long-distance off-road path planning, an improved A-Star algorithm based on terrain data is proposed in this study. The improved A-Star algorithm for long-distance off-road path planning tasks was developed to identify a feasible path between the start and destination based on a terrain data map generated using a digital elevation model. This study optimised the algorithm in two aspects: data structure, retrieval strategy. First, a hybrid data structure of the minimum heap and 2D array greatly reduces the time complexity of the algorithm. Second, an optimised search strategy was designed that does not check whether the destination is reached in the initial stage of searching for the global optimal path, thus improving execution efficiency. To evaluate the efficiency of the proposed algorithm, three different off-road path planning tasks were examined for short-, medium-, and long-distance path planning tasks. Each group of tasks corresponded to three different off-road vehicles, and nine groups of experiments were conducted. The experimental results show that the processing efficiency of the proposed algorithm is significantly better than that of the conventional A-Star algorithm. Compared with the conventional A-Star algorithm, the path planning efficiency of the improved A-Star algorithm was accelerated by at least 4.6 times, and the maximum acceleration reached was 550 times for long-distance off-road path planning. The simulation results show that the efficiency of long-distance off-road path planning was greatly improved by using the improved 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 CUDA TM , 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 MATLAB TM 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.

Digital elevation models (DEMs) are widely used in geoscience. The quality of a DEM is a primary requirement for many applications and is affected during the different processing steps, from the collection of elevations to the interpolation implemented for resampling, and it is locally influenced by the landcover and the terrain slope. The quality must meet the user’s requirements, which only make sense if the nominal terrain and the relevant resolution have been explicitly specified. The aim of this article is to review the main quality assessment methods, which may be separated into two approaches, namely, with or without reference data, called external and internal quality assessment, respectively. The errors and artifacts are described. The methods to detect and quantify them are reviewed and discussed. Different product levels are considered, i.e., from point cloud to grid surface model and to derived topographic features, as well as the case of global DEMs. Finally, the issue of DEM quality is considered from the producer and user perspectives.

Modern wireless communication systems use various technological solutions to increase the efficiency of created radio networks. This efficiency also applies to radio resources. Currently, the utilization of a radio environment map (REM) is one of the directions allowing to improve radio resource management. The REM is increasingly used in emerging mobile ad-hoc networks (MANETs), in particular military tactical networks. In this case, the use of new technologies such as software-defined radio and network, cognitive radio, radio sensing, and building electromagnetic situational awareness made it possible to implement REM in tactical MANETs. Propagation attenuation maps (PAMs) are crucial REM elements that allow for determining the ranges of radio network nodes. In this paper, we present a novel algorithm for PAM based on a parabolic equation method (PEM). The PEM allows determining the signal attenuation along the assumed propagation direction. In this case, we consider terrain topography to obtain a more realistic analysis. Then, we average the adjacent attenuation profiles defined for the selected directions in places where attenuation has not been calculated. To this aim, linear regression is applied. Finally, we define several metrics that allow for the accuracy assessment of determining the PAM as a function of its dimensions.

Digital twin technology based on building a virtual digital city similar to a real one enables the simulation of urban phenomena or the design of a city. A geospatial platform is an essential supporting component of digital twin cities. In this study, we propose a planetary-scale geospatial open platform that can be used easily in the most widely used game engine environment. The proposed platform can visualize large-capacity geospatial data in real time because it organizes and manages various types of data based on quadtree tiles. The proposed rendering tile decision method provides constant geospatial data visualization according to the camera controls of the user. The platform implemented is based on Unity3D, and therefore, one can use it easily by importing the proposed asset library. The proposed geospatial platform is available on the Asset Store. We believe that the proposed platform can meet the needs of various three-dimensional (3-D) geospatial applications.

Digital/true orthoimage maps (D/TOMs) are one of the most important forms of national spatial data infrastructure (NSDI). The traditional generation of D/TOM is to orthorectify an aerial image into its upright and correct position by deleting displacements on and distortions of imagery. This results in the generated D/TOM having no building façade texture when the D/TOM superimposes on the digital building model (DBM). This phenomenon is no longer tolerated for certain applications, such as micro-climate investigation. For this reason, this paper presents the generation of a true2 orthoimage map (T2OM), which is radically different from the traditional D/TOM. The basic idea for the T2OM generation of a single building is to orthorectify the DBM-based building roof from up to down, the building façade from front to back, from back to front, from left side to right side, and from right side to left side, as well as complete a digital terrain model (DTM)-based T2OM, of which a superpixel is proposed to store building ID, texture ID, the elevation of each pixel, and gray information. Two study areas are applied to verify the methods. The experimental results demonstrate that the T2OM not only maintains the traditional characteristics of D/TOM, but also displays building façade texture and three-dimensional (3D) coordinates (XYZ) measurable at any point, and the accuracy of 3D measurement on a T2OM can achieve 0.025 m (0.3 pixel).

This paper presents a real-time terrain mapping method for aircraft’s navigation, combining probabilistic terrain modeling with adaptive azimuth scan command adjustment. The method refines a preloaded DTED in real time using radar scan data, enabling aircraft to update and utilize terrain elevation information during flight. The terrain is represented using a Gaussian Mixture Model (GMM), where radar scan data are evaluated based on their posterior responsibilities. A conditional nested GMM refinement is selectively applied in structurally ambiguous regions to capture multi-modal elevation patterns. The azimuth scan command is adaptively adjusted based on posterior responsibilities by increasing the step size in well-mapped regions and decreasing it in areas with low responsibility. This lightweight and adaptive strategy supports real-time operation with low computational cost. Simulations across diverse terrain types demonstrate accurate grid updates and adaptive scan control, with the proposed method achieving max error 29 m compared to grid-based averaging of 43 m and K-means clustering of 81 m. As the total number of updates is comparable to the existing methods, the proposed approach offers an advantage for real-time applications with enhanced grid accuracy.

The Kravarsko area is located in a hilly region of northern Croatia, where numerous landslides endanger and damage houses, roads, water systems, and power lines. Nevertheless, natural hazard management plans are practically non-existent. Therefore, during the initial research, a landslide inventory was developed for the Kravarsko pilot area based on remote sensing data (high-resolution digital elevation models), and some of the landslides were investigated in detail. However, due to the complexity and vulnerability of the area, additional zoning of landslide-susceptible areas was needed. As a result, a slope gradient map, a map of engineering geological units, and a land-cover map were developed as inputs for the landslide susceptibility map. Additionally, based on the available data and a landslide inventory, a terrain stability map was developed for landslide management. Analysis and map development were performed within a geographical information system environment, and the terrain stability map with key infrastructure data was determined to be the “most user-friendly and practically usable” resource for non-expert users in natural hazard management, for example, the local administration. At the same time, the terrain stability map can easily provide practical information for the local community and population about the expected landslide “risk” depending on the location of infrastructure, estates, or objects of interest or for the purposes of future planning.

High-quality soil maps are urgently needed by diverse stakeholders, but errors in existing soil maps are often unknown, particularly in countries with limited soil surveys. To address this issue, we used field soil data to assess the accuracy of seven spatial soil databases (Digital Soil Map of the World, Namibian Soil and Terrain Digital Database, Soil and Terrain Database for Southern Africa, Harmonized World Soil Database, SoilGrids1km, SoilGrids250m, and World Inventory of Soil Property Estimates) using topsoil texture as an example soil property and Namibia as a case study area. In addition, we visually compared topsoil texture maps derived from these databases. We found that the maps showed the correct topsoil texture in only 13% to 42% of all test sites, with substantial confusion occurring among all texture categories, not just those in close proximity in the soil texture triangle. Visual comparisons of the maps moreover showed that the maps differ greatly with respect to the number, types, and spatial distribution of texture classes. The topsoil texture information provided by the maps is thus sufficiently inaccurate that it would result in significant errors in a number of applications, including irrigation system design and predictions of potential forage and crop productivity, water runoff, and soil erosion. Clearly, the use of these existing maps for policy- and decision-making is highly questionable and there is a critical need for better on-site estimates and soil map predictions. We propose that mobile apps, citizen science, and crowdsourcing can help meet this need.

Chang’E-4 (CE-4) was the first mission to accomplish the goal of a successful soft landing on the lunar farside. The landing trajectory and the location of the landing site can be effectively reconstructed and determined using series of images obtained during descent when there were no Earth-based radio tracking and the telemetry data. Here we reconstructed the powered descent trajectory of CE-4 using photogrammetrically processed images of the CE-4 landing camera, navigation camera, and terrain data of Chang’E-2. We confirmed that the precise location of the landing site is 177.5991°E, 45.4446°S with an elevation of −5935 m. The landing location was accurately identified with lunar imagery and terrain data with spatial resolutions of 7 m/p, 5 m/p, 1 m/p, 10 cm/p and 5 cm/p. These results will provide geodetic data for the study of lunar control points, high-precision lunar mapping, and subsequent lunar exploration, such as by the Yutu-2 rover. The Chang’E-4 mission in January 2019 had the major challenge to land on the lunar far side without traditional radiometric techniques due to the missing line-of-sight. The authors here describe landing trajectory reconstruction and positioning techniques based upon the Moon’s digital terrain model that allowed reproducing the entire process of a successful landing.