Search Results (199)

The Pamir–Tian Shan domain constitutes one of the most actively deforming intracontinental orogenic systems associated with continued India–Eurasia convergence. Characterizing present-day deformation in this region is fundamental to deciphering its geodynamic evolution and assessing seismic risk. Existing strain rate models based on GNSS measurements display noticeable discrepancies, largely attributable to variations in analytical strategies and uneven station distribution. In this study, we determine the present crustal strain and rotation fields across the Pamir–Tian Shan area using the most updated GNSS velocity solution referenced to stable Eurasia. To address the issues of inconsistent strain rate field results and lack of reliability verification in previous studies based on GNSS data, this paper computes the crustal strain rate field (principal strain rate, maximum shear strain rate, dilatation strain rate, and rotational strain rate) with a grid spacing of 0.75° × 0.75° in the study area, followed by numerical validation of the results’ reliability. The derived strain field is characterized by dominant NNW–SSE shortening throughout much of the orogenic system, with peak compressional strain rates (~1.0 × 10⁻⁷ yr⁻¹) concentrated along the Pamir Frontal Thrust. By contrast, the interior of the Pamir Plateau exhibits clear EW extension, consistent with areas affected by normal-faulting earthquakes. High values of shear strain rates are primarily localized along major active fault systems, whereas negative dilatational components indicate overall contraction within the Tian Shan. The rotation-rate distribution reveals clockwise rotation of the Tarim Basin (approximately 0.6°/Myr) together with counterclockwise rotation affecting the Pamir and Tian Shan blocks, accommodated by prominent strike–slip fault networks. The close spatial agreement between the modeled strain patterns, active tectonic structures, and focal mechanism solutions supports the reliability of the inferred deformation field. The research results of this paper are of great scientific significance for in-depth study of the tectonic evolution and earthquake disaster assessment in the Pamir–Tian Shan region. Full article

This study provides a comparative performance evaluation of commercial Precise Point Positioning Real-Time Kinematic (PPP-RTK) and public Network RTK (NRTK) services for vehicle-based positioning in urban and suburban environments. Using low-cost u-blox ZED-F9 receivers, the research assesses the accuracy, availability, and robustness of the u-blox PointPerfect service against a regional NRTK network across diverse real-world scenarios, including high-speed highway conditions and signal-challenging urban corridors. The experimental framework utilizes a rigid-bar setup for high-precision ground-truth validation and incorporates an independent vertical accuracy assessment against a LiDAR-derived digital elevation model (DEM). The results demonstrate that all tested configurations achieve decimeter-level accuracy. Notably, the integration of PPP-RTK with an inertial measurement unit (IMU) delivers performance nearly equivalent to NRTK, effectively mitigating vertical biases and ensuring positioning continuity in GNSS-denied areas such as tunnels. These results confirm that low-cost GNSS solutions, when paired with modern augmentation services and IMU integration, can meet the stringent demands of mass-market applications like Cooperative Intelligent Transport Systems (C-ITS) and autonomous mobility. Full article

Autonomous flight of unmanned aerial vehicles (UAVs) in Global Navigation Satellite System (GNSS)-denied environments critically depends on accurate and robust visual localization. To tackle the challenges of cross-view domain discrepancies and real-time high-precision matching, we propose GRiM-Net, a two-stage joint optimization visual localization network. First, a global retrieval module aggregates features and selects the most similar satellite map candidate patches from a pre-built index, efficiently narrowing the search from the global map to a local region. Next, a fine matching module performs pixel-level keypoint detection and description on the query image and candidate patches. Bidirectional matching and weighted homography estimation are then used to map the UAV image center to satellite coordinates, yielding precise geographic positions. Both modules share a backbone with domain-adaptive batch normalization, and joint optimization of global retrieval triplet loss with fine matching keypoint, descriptor, and homography reprojection losses enables synergistic enhancement of feature representations. Ablation and comparison experiments conducted on public urban cross-view benchmarks demonstrate that GRiM-Net can achieve efficient and robust geographic coordinate regression for UAVs, providing a practical localization component for broader navigation systems. Full article

The rising market penetration of new energy vehicles (NEVs) is transforming urban traffic into a heterogeneous mix of battery electric (BEVs), hybrid electric (HEVs), and conventional fuel vehicles (FVs). For analytical brevity, traditional internal combustion engine vehicles (ICEVs) are hereafter referred to as ‘fuel vehicles (FVs)’ in the discussion of New Energy Vehicle (NEV) networks. This research investigates the efficacy of centralized coordination for NEVs within a localized region, as opposed to individualized speed control, in enhancing the mitigation of traffic congestion. Evaluating traffic efficiency and decarbonization strategies in such settings often requires extensive random sampling and Monte Carlo simulations over a large set of parameter combinations. However, conventional microscopic traffic simulators, which rely on fine-grained modeling of vehicle dynamics and signal control, incur prohibitive computational time when scaled to large networks and numerous experimental scenarios. In this study, battery electric vehicles and hybrid electric vehicles are designed as density-aware vehicles, whose movement speed is adaptively adjusted according to the regional traffic density in their vicinity and the control parameter β. In contrast, fuel vehicles adopt a stochastic movement speed and, together with other vehicle types, exhibit either movement or stoppage in the lattice environment. This density-driven speed-adaptive control and lattice arbitration mechanism is intended to reproduce, in a simplified yet extensible manner, changes in mobility and traffic-flow stability under high-density traffic conditions. The simulation results indicate that, under the same Manhattan road network and vehicle-density conditions, tuning the β parameter of new energy vehicles to reduce their movement speed in high-density areas and to mitigate abrupt position changes can suppress traffic-flow oscillations, delay the onset of the congestion phase transition, and promote spatial equilibrium of traffic flow. Meanwhile, this study develops simplified energy-consumption and carbon emission models for battery electric vehicles, hybrid electric vehicles, and fuel vehicles, demonstrating that incorporating a speed-adaptive density strategy into mixed traffic flow not only helps alleviate abnormal congestion but also reduces potential energy use and carbon emissions caused by congestion and stop-and-go behavior. From a sensing and practical perspective, the proposed framework assumes that future connected and autonomous vehicles (CAVs) can estimate vehicle states and local traffic density through GNSS–IMU multi-sensor fusion and V2X communications, indicating methodological consistency between the proposed model and real-world CAV sensing capabilities and making it a suitable and effective experimental platform for investigating the relationships among new energy vehicle penetration, density-control strategies, and carbon footprint. Full article

Environmental loading is a major driver of nonlinear GNSS vertical displacements, yet its spatiotemporal heterogeneity remains insufficiently understood in regions with complex topography. In this study, we investigate the environmental loading effects on GNSS vertical motions across Southwest China using observations from a network of 66 stations. Singular Spectrum Analysis (SSA) and Empirical Orthogonal Function (EOF) analysis were applied to extract annual signals, while component-wise RMS reduction quantified hydrological and atmospheric loading contributions. Spatial statistical analysis, cross-wavelet transform, and k-means clustering examined correlation patterns and phase hysteresis between GNSS observations and modeled loads. Results show that hydrological loading dominates seasonal vertical oscillations, but crustal responses exhibit pronounced spatial heterogeneity controlled by regional topography and hydro-climatic gradients. EOF analysis reveals a dipole pattern induced by the Hengduan Mountains’moisture-blocking effect. Atmospheric loading anomalously dominates the eastern Sichuan Basin, whereas Yunnan displays strong amplitudes with high heterogeneity due to karst hydrogeology. Phase analysis identifies three distinct regimes: a rapid elastic response on the Tibetan Plateau, (with the lag of ~20 ± 5 days, correlation coefficient R ≈ 0.65), intermediate delays in Yunnan (~60 ± 5 days, R ≈ 0.58), and pronounced hysteresis in the Sichuan Basin (~105 ± 5 days, R ≈ 0.38) linked to slow groundwater diffusion and poroelastic processes. These findings highlight the critical role of local hydrogeological dynamics in modulating GNSS vertical deformation and provide new insights for improving environmental loading corrections in complex mountainous regions. Full article

This study used Global Navigation Satellite System (GNSS) observations from the China Crustal Movement Observation Network (CMONOC) and the Kunming Continuously Operating Reference Station (KMCORS) network to investigate ionospheric response characteristics over China during the geomagnetic storm of 4–6 November 2023, and to assess their impacts on CORS-based real-time kinematic (RTK) positioning performance in the low-latitude Kunming region. A quantitative assessment was conducted by integrating regional two-dimensional dTEC (%) maps over China, BeiDou Navigation Satellite System (BDS) Geostationary Earth Orbit (GEO) total electron content (TEC), the rate of TEC index (ROTI), and RTK positioning solutions to evaluate ionospheric disturbances, irregularity activity, and associated degradation in positioning performance. Results indicate that, during geomagnetic storms, ionospheric responses over China exhibit pronounced phase-dependent and latitudinal variations. During the second geomagnetic storm on 5–6 November, positive responses were dominant at mid-to-high latitudes, whereas alternating positive and negative responses were observed at low latitudes. During the recovery phase, the Kunming region successively experienced a positive ionospheric storm lasting approximately 10 h, followed by a negative ionospheric storm lasting about 7 h, with relative TEC variations reaching a maximum of approximately 90%. The GEO TEC time series was consistent with the temporal evolution of the two-dimensional dTEC (%), while ROTI increased markedly during the disturbance enhancement period (21:00 UT on 5 November to 07:00 UT on 6 November 2023). During periods of enhanced ionospheric response and irregularities, RTK positioning performance was observed to deteriorate markedly. The fixed-solution rate at medium-to-long baseline stations decreased from nearly 100% to close to 0%, accompanied by an increase in vertical positioning errors to approximately 20 cm, whereas short-baseline stations were only minimally affected. These results indicate that ionospheric disturbances during geomagnetic storms exert a pronounced impact on CORS-based RTK positioning services in the Kunming region, with the magnitude of this impact being closely related to baseline length. Full article

In recent years, the Cyclone Global Navigation Satellite System (CYGNSS) of NASA has attracted widespread attention for the retrieval of freeze/thaw (F/T) states through the analysis of reflected signals. F/T variations in high-altitude regions have long been a focal point in this field. However, these areas lack benchmark observational data with high temporal and spatial resolution. A model named Partial Convolution–Time Convolutional Network (PTCN) is proposed in this paper to reconstruct CYGNSS data at a 3 km resolution. This model integrates partial convolution with a time convolutional network (TCN) and does not rely on any auxiliary data. Partial convolution is employed to distinguish valid pixels, with the interference of missing values being removed. TCN is employed to capture temporal features, which results in the reconstruction of observational data. Compared with the original observational data (at a 3 km resolution), the coverage of the reconstructed data is six times that of the original. A simulation of missing data is applied for the first time in the quantitative evaluation of observational data reconstruction. The results show that the value of R for the reconstructed data reaches 0.92, and the value of the root mean square error (RMSE) reaches 2.7. The reconstructed data is used for daily F/T retrieval. At both 36 km and 9 km resolutions, the F/T retrieval accuracy after reconstruction is comparable to that before reconstruction. The temporal resolution is improved by 256%, which successfully fills 92% of the observational gaps in soil moisture passive–active (SMAP) data. Compared with ground-based F/T retrievals, the reconstructed F/T accuracies are 87.71% at 36 km and 82.3% at 9 km.The model successfully reconstructs high-temporal and spatial resolution CYGNSS data while maintaining accuracy. In the future, this method holds significant potential for the application of global GNSS-R high-temporal and spatial resolution remote sensing observations. Full article

Global Navigation Satellite Systems (GNSS) are highly affected in equatorial regions, especially due to the formation of Equatorial Plasma Bubbles (EPBs), which cause disturbances in the ionosphere resulting in different forms of signal degradation. Despite Colombia’s privileged geographic position, its limited monitoring infrastructure hinders the detection and mitigation of these effects. This study proposes the development of a Low-Cost Scintillation Laboratory (LCSL) using a cognitive radio–based approach for real-time scintillation monitoring, aimed at improving GNSS reliability. The system was designed following a Systems Engineering methodology, defining functional architectures and constraints. A communication system model was developed to account for EPBs’ effects on GNSS signals, while cognitive radio algorithms within a Software-Defined Radio (SDR) framework enabled real-time detection, monitoring, and alert generation. To implement this approach, monitoring stations were deployed in Bogotá, Cartagena, and Santa Marta utilized low-cost GNSS receivers integrated with Machine Learning (ML) algorithms for the automatic classification of scintillation events. Additionally, the system’s accuracy was validated by comparing experimental data with historical records from the Geophysical Institute of Peru (IGP). The results demonstrated that the integration of cognitive radio and ML-based detection enhanced precision and adaptability compared to traditional methods. The network of monitoring stations effectively validated the system’s performance, providing valuable insights into equatorial ionospheric dynamics. This study contributes to the advancement of monitoring methodologies and highlights the importance of accessible infrastructure for mitigating EPB effects on GNSS, ultimately fostering more resilient navigation and communication systems. Full article

The 12 November 2025 G4 geomagnetic storm—the third most intense of solar cycle 25—was triggered by a complex shock-ICME (interplanetary coronal mass ejection) structure as a result of three ICMEs and driven shocks that arrived on 11–12 November. The main enhancement in the interplanetary magnetic field occurred in the sheath region behind the shock driven by the second ICME. The Dst index reached −217 nT (the SYM-H index reached −254 nT) and the maximum Kp index was 9-. To comprehensively analyze the causes of the storm and its complex effects on near-Earth space, we used a multi-instrumental data set, involving data from satellite missions (ACE, SDO, PROBA2), GNSS networks, ionosondes, optical instruments, high-frequency radars (SuperDARN-like), and cosmic ray monitors. The auroral oval expanded equatorward (down to ~35° N in America). We recorded a super equatorial plasma bubble that almost reached the auroral oval boundary. The equatorial anomaly crests intensified, exceeding 175 TECU, and shifted poleward (8–10°). At mid-latitudes, the F2 layer critical frequency exhibited a strong negative disturbance (−50%) during the main phase, followed by an unusually prolonged and intense positive phase (+100%). GPS Precise Point Positioning errors increased to 2–3 m at high latitudes and in regions affected by the equatorial bubble. The event also featured a Forbush decrease and ground-level enhancement (GLE 77 according to the database hosted by the University of Oulu) associated with the X5.1 solar flare. The results underscore the complex chain of processes from solar storm to geomagnetic and ionospheric responses, highlighting the risks to satellite-based navigation and communication systems. Full article

High-precision autonomous localization remains a critical challenge for intelligent mining vehicles in GNSS-denied and unstructured coal mine roadways, where traditional odometry-based methods suffer from severe cumulative drift and perceptual aliasing. Inspired by the synergy between mammalian visual cues and cognitive neural mechanisms, this paper proposes a robust biomimetic localization framework that integrates multi-source perception with a prior cognitive map. The core contributions are three-fold: First, a semantic-enhanced biomimetic localization method is developed, leveraging roadway sign data as absolute spatial anchors to suppress long-distance cumulative errors. Second, an optimized head direction (HD) cell model is formulated by incorporating a speed balance factor, kinematic constraints, and a drift correction influence factor, significantly improving the precision of angular perception. Third, boundary-adaptive and sign-based semantic constraint terms are integrated into a continuous attractor network (CAN)-based path integration model, effectively preventing trajectory deviation into non-navigable regions. Comprehensive evaluations conducted in large-scale underground scenarios demonstrate that the proposed framework consistently outperforms conventional IMU-odometry fusion, representative 3D SLAM solutions, and baseline biomimetic algorithms. By effectively integrating semantic landmarks as spatial anchors, the system exhibits superior resilience against cumulative drift, maintaining high localization precision where standard methods typically diverge. The results confirm that our approach significantly enhances both trajectory consistency and heading stability across extensive distances, validating its robustness and scalability in handling the inherent complexities of unstructured coal mine environments for enhanced intrinsic safety. Full article

Total Electron Content (TEC) maps allow the evaluation of the state of the ionosphere. There are many providers/sources of worldwide or regional TEC maps for the continuous monitoring of the ionosphere, which employ different GNSS monitoring networks for data acquisition, TEC calculation or interpolation methods for generating the maps, or different spatial and temporal resolutions and coverage. How reliable are TEC maps over Brazil? We employed TEC maps from four different providers for 2022–2024, in the growing phase of the current solar cycle 25. Seasonality is also taken into account. A systematic comparison of TEC maps over Brazil was performed using correlation and similarity analysis between maps of different sources. Significant differences were found. Even for the same source there are differences in the density of monitoring stations according to the region. An example of bubble signature in TEC maps is also analyzed. Ground truth validation of TEC is performed by comparing TEC point values extracted from the maps with values derived from a set of GNSS stations over Brazil. As a result, no TEC maps of these sources were deemed reliable, due to low spatial and/or temporal resolution, low monitoring station density, or inadequate interpolation scheme. Full article

Increasingly frequent intense rainfall is increasing landslide occurrence and risk. In southern China in particular, steep slopes and thin residual soils produce frequent landslide events with pronounced spatial heterogeneity. Therefore, displacement prediction methods that function across sites and deformation regimes in similar settings are essential for early warning. Most existing approaches adopt a multistage pipeline that decomposes, predicts, and recombines, often leading to complex architectures with weak cross-domain transfer and limited adaptability. To address these limitations, we present CRAFormer, a causal role-aware Transformer guided by a dynamic-lag Bayesian network-style causal graph learned from historical observations. In our system, the discovered directed acyclic graph (DAG) partitions drivers into five causal roles and induces role-specific, non-anticipative masks for lightweight branch encoders, while a context-aware Top-2 gate sparsely fuses the branch outputs, yielding sample-wise attributions. To safely exploit exogenous rainfall forecasts, next-day rainfall is entered exclusively through an ICS tail with a leakage-free block mask, a non-negative readout, and a rainfall monotonicity regularizer. In this study, we curate two long-term GNSS datasets from Guangxi (LaMenTun and BaYiTun) that capture slow creep and step-like motions during extreme rainfall. Under identical inputs and a unified protocol, CRAFormer reduces the MAE and RMSE by 59–79% across stations relative to the strongest baseline, and it lowers magnitude errors near turning points and step events, demonstrating robust performance for two contrasting landslides within a shared regional setting. Ablations confirm the contributions of the DBN-style causal masks, the leakage-free ICS tail, and the monotonicity prior. These results highlight a practical path from causal discovery to forecast-compatible neural predictors for rainfall-induced landslides. Full article

Throughout the history of civil aviation, radio navigation aids have played a crucial role in ensuring the safety and continuity of air transportation. Although the development of Global Navigation Satellite Systems (GNSS) over the past half-century has significantly improved positioning accuracy, the system’s vulnerability to interference considerably reduces its reliability and poses a risk to civil aviation safety. This limitation highlights the crucial role of ground-based radio navigation networks in ensuring nominal flight operations. This study presents a comprehensive analysis of the global coverage and performance of radio navigation aid networks and assesses the implementation level of Performance-Based Navigation (PBN) by Air Navigation Service Providers (ANSPs) worldwide. A novel methodology is proposed for network performance evaluation, incorporating spatial characteristics of parameter distribution across global airspace using a geospatial indexing framework to determine airspace configurations compliant with various area navigation (RNAV) specifications. The performance of DME/DME, VOR/DME, and VOR/VOR positioning methods is evaluated within the official ICAO regional airspace structure. The results indicate that the European and North American regions currently maintain the most developed DME and VOR networks and propose reliable infrastructure sustainability. Globally, RNAV 1 capability is supported within approximately 20.2% of airspace using DME/DME and 3.45% using VOR/DME, while RNAV 5 coverage extends over 23.61% of global airspace, which approves resource efficiency distribution. RNAV 10 coverage could be supported by the VOR/VOR positioning method only in 13.48% of global airspace. Overall, the obtained results confirm the limited positioning performance of VOR network compared with DME, supporting the continuation of VOR network rationalization strategies and highlighting the need for optimized resource sharing to ensure the resilience and safety of the global air navigation system. Full article

The Aeolian Archipelago, located in the southern margin of the Tyrrhenian Sea, is a key area to investigate the interplay between regional active fault systems and volcanic activity, making it a focal point for geodynamic studies. In particular, Salina Island lies at the intersection of two major tectonic structures: the Sisifo–Alicudi fault system in the western sector and the Aeolian–Tindari–Letojanni fault system in the central sector both exert a significant influence on the region’s deformation patterns. Detecting these signals requires high-quality GNSS data, yet the performance of newly installed stations in tectonic environments must be rigorously assessed. Between June 2023 and February 2024, a new continuous local GNSS network, which consists of five stations, Salin@Net, was established, on Salina Island. The central scientific objective of this study is to verify whether the new GNSS network achieves the data quality necessary for reliable geodetic monitoring and to evaluate its potential to resolve strain gradients in the area. We performed an extensive performance analysis of Salin@net GNSS stations, analyzing data quality, encompassing assessments of multipath effect, signal-to-noise ratio, observation continuity, and cycle slip occurrences, alongside GNSS position time series. These metrics were compared against the ISAL-RING station and benchmarked International GNSS Service (IGS) standards. Results show that the newly installed stations consistently meet the required standards, delivering robust and reliable measurements that are comparable to those of the RING GNSS continuous network. Positioning time series, processed in the ITRF14, indicate that the precision of the derived velocity estimates is comparable to that of standard continuous stations, although longer time spans are required to better constrain linear velocity estimates. Finally, spherical wavelet analysis demonstrates that the geometry of Salin@net significantly improves the spatial resolution of the strain field across the Aeolian–Tindari–Letojanni fault system and enhances resolution along the Sisifo–Alicudi fault, underscoring the role of dense, small-aperture GNSS networks in tectonic environment. Full article

With the accelerated launch of spaceborne Global Navigation Satellite System Reflectometry (GNSS-R) satellites, GNSS-R has gradually emerged as an important technique for remote sensing. However, due to its pseudo-random observation mode, the use of a single system makes it difficult to provide continuous spatiotemporal coverage over a specific area within the short term. Although interpolation methods can partially alleviate the coverage gaps, their application is limited by accuracy and reliability constraints, which still restrict the practical use of GNSS-R in terrestrial surface monitoring. To address this issue, conducting joint analyses and data fusion of multi-satellite GNSS-R observations has become an important approach to improving the continuity and accuracy of surface monitoring. However, systematic studies on the integration of multi-satellite GNSS-R data remain relatively limited. Moreover, differences in orbital inclination, antenna design, and signal bandwidth among various spaceborne GNSS-R systems lead to discrepancies in their land observations. Therefore, this study systematically analyzes the reflectivity differences among multiple GNSS-R satellites (e.g., the Cyclone Global Navigation Satellite System (CYGNSS), Fengyun-3 (FY-3), and Tianmu-1 (TM-1)) under consistent surface roughness and land cover conditions, with the aim of providing a theoretical and methodological foundation for the fusion and integrated application of multi-satellite GNSS-R data. The results show that, except for desert regions, the spatial distribution of the correlation coefficients from the least squares fitting of reflectivity between different spaceborne GNSS-R satellites exhibits a pattern similar to that of an established variable, i.e., the vegetation–roughness composite variable (VR), with higher inter-system correlations occurring in areas characterized by lower VR values. Significant reflectivity deviations were observed near water bodies and river networks, such as the Amazon, Paraná, Congo, Niger, Nile, Ganges, Mekong, and Yangtze, where both the fitting intercepts and biases are relatively large. In addition, the reflectivity correlations between CYGNSS–TM-1 and CYGNSS–FY-3 are both strongly influenced by surface vegetation cover type. As the correlation increases, the proportion of non-vegetated and forested areas decreases, while that of grasslands, shrublands, and cropland/vegetation mosaics increases. Analysis of inter-system reflectivity correlations across different land cover types indicates that forested areas exhibit low-to-moderate correlations but maintain stable structural characteristics, whereas wooded areas show moderate correlations slightly lower than those of forests. Grasslands, shrublands, and croplands are mainly distributed within regions of moderate surface roughness and correlation, among which croplands have the highest proportion of highly correlated grids, demonstrating the greatest potential for multi-source data fusion. Wetlands display high roughness and low correlation, largely influenced by dynamic water variations, while bare soils show low roughness (0.2–0.4) but still weak correlations. Full article