3 resultados para Hexarotor. Dynamic modeling. Robust backstepping control. EKF Attitude Estimation

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As part of the CryoSat Cal/Val activities and the pre-site survey for an ice core drilling contributing to the International Partnerships in Ice Core Sciences (IPICS), ground based kinematic GPS measurements were conducted in early 2007 in the vicinity of the German overwintering station Neumayer (8.25° W and 70.65° S). The investigated area comprises the regions of the ice tongues Halvfarryggen and Søråsen, which rise from the Ekströmisen to a maximum of about 760 m surface elevation, and have an areal extent of about 100 km x 50 km each. Available digital elevation models (DEMs) from radar altimetry and the Antarctic Digital Database show elevation differences of up to hundreds of meters in this region, which necessitated an accurate survey of the conditions on-site. An improved DEM of the Ekströmisen surroundings is derived by a combination of highly accurate ground based GPS measurements, satellite derived laser altimetry data (ICESat), airborne radar altimetry (ARA), and radio echo sounding (RES). The DEM presented here achieves a vertical accuracy of about 1.3 m and can be used for improved ice dynamic modeling and mass balance studies.

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Lakes Prespa and Ohrid, in the Balkan region, are considered to be amongst the oldest lakes in Europe. Both lakes are hydraulically connected via karst aquifers. From Lake Ohrid, several sediment cores up to 15 m long have been studied over the last few years. Here, we document the first long sediment record from nearby Lake Prespa to clarify the influence of Lake Prespa on Lake Ohrid and the environmental history of the region. Radiocarbon dating and dated tephra layers provide robust age control and indicate that the 10.5 m long sediment record from Lake Prespa reaches back to 48 ka. Glacial sedimentation is characterized by low organic matter content and absence of carbonates in the sediments, which indicate oligotrophic conditions in both lakes. Holocene sedimentation is characterized by particularly high carbonate content in Lake Ohrid and by particularly high organic matter content in Lake Prespa, which indicates a shift towards more mesotrophic conditions in the latter. Long-term environmental change and short-term events, such as related to the Heinrich events during the Pleistocene or the 8.2 ka cooling event during the Holocene, are well recorded in both lakes, but are only evident in certain proxies. The comparison of the sediment cores from both lakes indicates that environmental change affects particularly the trophic state of Lake Prespa due to its lower volume and water depth.

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The knowledge of ice sheet surface topography and the location of the ice divides are essential for ice dynamic modeling. An improved digital elevation model (DEM) of Dronning Maud Land (DML), Antarctica, is presented in this paper. It is based on ground-based kinematic GPS profiles, airborne radar altimetry, and data of the airborne radio-echo sounding system, as well as spaceborne laser altimetry from NASA's Ice, Cloud and land Elevation Satellite (ICESat). The accuracy of ICESat ice sheet altimetry data in the area of investigation is discussed. The location of the ice divides is derived from aspect calculation of the topography and is verified with several velocity data derived from repeated static GPS measurements.