Coal mining induces surface subsidence, making rapid and precise monitoring of this subsidence a key area of current research. To address the limitations of D-InSAR technology in capturing large-gradient deformations in the central subsidence basin and the challenges facing UAVs in accurately monitoring small deformations at the basin’s edge, we propose a method for inverting the expected parameters of surface subsidence by synergistically integrating InSAR and UAV monitoring. We determined the cumulative subsidence of monitoring points along the dip and strike observation line of the Banji 110,801 working face between 10 April 2021 and 28 June 2022, employing D-InSAR and UAV techniques. By leveraging the complementary strengths of both monitoring techniques, we fused the two types of monitoring data and verified the error of the fusion data to be within 10 cm through leveling data verification. Simulation experiments utilizing the probability integration method and the Broyden–Fletcher–Goldfarb–Shanno (BFGS) optimization algorithm confirmed that the 10 cm data source error remains within the required limits for probability integration parameter inversion. Finally, the BFGS algorithm was employed to invert the parameters of the probability integration method based on the fusion data results. Subsequently, these inversion parameters were used to predict the subsidence at the monitoring point and were compared with the level measured data. The results demonstrate that the use of collaborative InSAR and UAV monitoring technology for inverting the expected parameters of surface subsidence in the mining area yields superior results, aligning with the actual patterns of ground surface movement and deformation. This study addresses the global need for unmanned monitoring of mining-related subsidence. It employs InSAR and UAV technologies in a synergistic approach to monitor surface subsidence in mining regions. This approach harnesses the strengths of multiple data sources and presents a novel concept for the unmanned monitoring of surface subsidence in mining areas, contributing to environmental protection efforts.

Indoor positioning using smartphones has garnered significant research attention. Geomagnetic and sensor data offer convenient methods for achieving this goal. However, conventional geomagnetic indoor positioning encounters several limitations, including low spatial resolution, poor accuracy, and stability issues. To address these challenges, we propose a fusion positioning approach. This approach integrates geomagnetic data, light intensity measurements, and inertial navigation data, utilizing a hierarchical optimization strategy. We employ a Tent-ASO-BP model that enhances the traditional Back Propagation (BP) algorithm through the integration of chaos mapping and Atom Search Optimization (ASO). In the offline phase, we construct a dual-resolution fingerprint database using Radial Basis Function (RBF) interpolation. This database amalgamates geomagnetic and light intensity data. The fused positioning results are obtained via the first layer of the Tent-ASO-BP model. We add a second Tent-ASO-BP layer and use an improved Pedestrian Dead Reckoning (PDR) method to derive the walking trajectory from smartphone sensors. In PDR, we apply the Biased Kalman Filter–Wavelet Transform (BKF-WT) for optimal heading estimation and set a time threshold to mitigate the effects of false peaks and valleys. The second-layer model combines geomagnetic and light intensity fusion coordinates with PDR coordinates. The experimental results demonstrate that our proposed positioning method not only effectively reduces positioning errors but also improves robustness across different application scenarios.

In the evolving landscape of device-free localization techniques, Wi-Fi channel state information (CSI) emerges as a pivotal tool for environmental sensing. This study introduces a novel fingerprint localization algorithm. It employs an improved Hybrid Grey Wolf Particle Swarm Optimization (IPSOGWO) in combination with Multi-Output Support Vector Regression (MSVR) to enhance indoor positioning accuracy. To counteract the limitations of standard DBSCAN and PCA in noise reduction and feature extraction from complex nonlinear data, we propose an adaptive denoising algorithm based on spatial clustering (A-DBSCAN) and an autoencoder to efficiently denoise and extract features from CSI amplitude to improve the localization accuracy. Additionally, we introduce a new position update strategy, bolstering the optimization efficiency of the PSOGWO algorithm. This refined approach is instrumental in determining the globally optimal hyperparameters in MSVR, leading to enhanced model prediction accuracy. Two indoor scenario experiments were conducted to evaluate our method, yielding average localization errors of 0.59 m and 1.12 m, marking an improvement in localization performance compared to existing methods.

Unmanned ships, equipped with self-navigation and image processing capabilities, are progressively expanding their applications in fields such as mining, fisheries, and marine environments. Along with this development, issues concerning waterborne traffic safety are gradually emerging. To address the challenges of navigation and obstacle detection on the water’s surface, this paper presents CDS-YOLOv7, an enhanced obstacle-detection framework for aquatic environments, architecturally evolved from YOLOv7. The proposed system implements three key innovations: (1) Architectural optimization through replacement of the Spatial Pyramid Pooling Cross Stage Partial Connections (SPPCSPC) module with GhostSPPCSPC for expanded receptive field representation. (2) Integration of a parameter-free attention mechanism (SimAM) with refined pooling configurations to boost multi-scale detection sensitivity, and (3) Strategic deployment of depthwise separable convolutions (DSC) to reduce computational complexity while maintaining detection fidelity. Furthermore, we develop a Spatial–Channel Synergetic Attention (SCSA) mechanism to counteract feature degradation in convolutional operations, embedding this module within the Extended Effective Long-Range Aggregation Network (E-ELAN) network to enhance contextual awareness. Experimental results reveal the model’s superiority over baseline YOLOv7, achieving 4.9% mean average precision@0.5 (mAP@0.5), +4.3% precision (P), and +6.9% recall (R) alongside a 22.8% reduction in Giga Floating-point Operations Per Second (GFLOPS).

Global Navigation Satellite System (GNSS) observations are subject to various errors during their propagation process. A reasonable correction of these errors can improve the positioning, navigation, and timing (PNT) service capability. The impact of multipaths on pseudorange observations can reach a decimeters or even meters level. However, their mechanism is complex and there is currently no universally accepted high-precision correction model. The correlation between the pseudorange multipaths (MP) of BDS-2 satellites and satellite elevation has been confirmed, while there have been fewer analyses of the MP characteristics for different frequencies of BDS-3 satellites. The broadcasting of multi-frequency observations in BDS-3 should theoretically make the extracted MP more accurate compared to traditional methods. Based on this, in this contribution, a multi-frequency MP extraction algorithm based on the least squares principle is proposed, which can simultaneously eliminate the influence of higher-order ionospheric delay. The analytical expression for only eliminating first-order ionospheric delay is successfully derived. Subsequently, the characteristics of the MPs extracted from different frequency combinations and the impact of combination noise on the extraction accuracy are discussed. The influence of second-order ionospheric delay on the MPs for each frequency under different combination noises, as well as the periodic behavior exhibited in long-term observations of the BDS-3 medium earth orbit (MEO) and inclined geosynchronous orbit (IGSO) satellites, are also analyzed. Finally, the correlations between the MPs of each frequency of BDS satellite and elevation are quantitatively analyzed based on observations from 35 stations. Overall, this work has positive implications for the study of the MP characteristics of BDS-3 and subsequent modeling efforts.

This study introduces an innovative GNSS-based monitoring system designed to evaluate deformation in mining headframes, effectively addressing the limitations of traditional methods, such as inadequate real-time capabilities and complex data processing requirements. The research was conducted at the Liuzhuang Mine in Anhui Province, China, where a monitoring network was established, consisting of one reference station and eight GNSS stations strategically positioned on sheave platforms and structural supports. Over a period of 66 days, high-frequency 3D deformation data were collected and processed using advanced methodologies, including cubic spline interpolation, generalized extreme studentized deviate (GESD) outlier removal, and Gaussian filtering. Spatiotemporal analysis, employing the “base state with amendments” model, indicated that 90% of the deformations (ΔX, ΔY, ΔH) were confined within ±8 mm, with more significant fluctuations observed near the sheave wheels due to mechanical stress. Correlation analysis identified the distance to the sheave wheel as the primary factor influencing horizontal deformation, with Pearson correlation coefficients exceeding 0.67, while vertical settlement remained stable. Risk thresholds, derived from statistical fluctuations, demonstrated that 99.2% of the data fell within safe limits during validation. In comparison to traditional approaches, the GNSS system delivers enhanced precision, real-time functionality, and a decreased field workload. This study presents a scalable framework for assessing headframe safety and guides the optimization of sensor placement in analogous mining settings. It is proposed that future integration with multi-source sensors, such as inertial navigation systems, will further augment monitoring robustness.