In an airborne laser bathymetry system, the full-waveform echo signal is usually recorded by discrete sampling. The accuracy of signal recognition and the amount of effective information that can be extracted by conventional methods are limited. To improve the validity and reliability of airborne laser bathymetry data and to extract more information to better understand the water reflection characteristics, we select the effective portion of the original waveform for further research, suppress random noise, and decompose the selected portion progressively using the half-wavelength Gaussian function with the time sequence of the received echo signals. After parameter optimization, a reasonable and effective reflection component selection mechanism is established to obtain accurate parameters for the reflected components. The processing strategy proposed in this paper reduces the problems of unreasonable decomposition and the reflected pulse peak-position shift caused by echo waveform superposition and offers good precision for waveform decomposition and peak detection. In another experiment, the regional processing result shows an obvious improvement in the shallow water area, and the bottom point cloud is as accurate as the intelligent waveform digitizer (IWD), a subsystem of airborne laser terrain mapping (ALTM). These findings confirm that the proposed method has high potential for application.

Ocean waves are a vital environmental factor that affects the accuracy of airborne laser bathymetry (ALB) systems. As the regional water surface undulates with randomness, the laser propagation direction through the air–water surface will change and impact the underwater topographic result from the ALB system, especially for the small laser divergence system. However, the natural ocean surface changes rapidly over time, and uneven ocean surface point clouds from ALB scanning will cause an uncertain estimation of the laser propagation direction; therefore, a self-adaptive correction method based on the characteristics of the partial wave surface is key to improving the accuracy and applicability of the ALB system. In this paper, we focused on the issues of spatial position deviation caused by surface waves and position correction of the underwater laser footprint, and the dimension-based adaptive method is applied to attempt to correct the laser incidence angle. Simulation experiments and analysis of the actual measurement data from different ALB systems verified that the method can effectively suppress the influence of ocean waves. Furthermore, the inversion result of sea surface inclination changes is consistent with the surface wind wave reanalysis products. Based on the laser underwater propagation model in the strategy, we also quantitatively analyzed the influence of surface waves on laser bathymetry, which can guide the operation selection and data processing of the ALB system at specific water depths and under dynamic ocean conditions.

REDD+ (Reducing Emissions from Deforestation and Degradation Plus) projects generate carbon credits to offset emissions, but recent studies have questioned their effectiveness. We evaluated 52 voluntary REDD+ projects across 12 tropical countries using synthetic control methods. Only a minority of project units showed statistically significant reductions in deforestation, and just 19% met their reported emissions targets. Nonetheless, many underperforming projects still delivered partial climate benefits, with an estimated 13.2% of tradable credits supported by counterfactual analysis. Effectiveness varied by region, with stronger performance in Brazil and Africa. Although systematic over-crediting remains a concern, our results suggest greater climate benefits than previous assessments. Improving baseline methodologies and strengthening verification frameworks will be essential for enhancing the credibility and impact of forest carbon offsets.

In the stratosphere, the use of winds to navigate balloons has emerged as a practical approach for Earth observation, collecting meteorological data, and other applications. However, controlling such balloons is challenging due to imperfect wind data and the need for real-time decisions. Research in this field predominantly concentrates on station-keeping missions, but there is an absence of studies on stratospheric balloon path planning. In this work, we employ deep reinforcement learning to train a controller that guides the balloon from a random starting point to a target range within a simulated wind field that changes over time and space. The results prove the feasibility of using reinforcement learning for superpressure balloon path planning in complex, dynamic wind fields, and the RL controller outperforms the hand-crafted baseline controller, achieving faster navigation with a higher success rate.

LiDAR-unmanned aerial system (LiDAR-UAS) technology can accurately and efficiently obtain detailed and accurate three-dimensional spatial information of objects. The classification of objects in estuarine areas is highly important for management, planning, and ecosystem protection. Owing to the presence of slopes in estuarine areas, distinguishing between dense vegetation (lawns and trees) on slopes and the ground at the tops of slopes is difficult. In addition, the imbalance in the number of point clouds also poses a challenge for accurate classification directly from point cloud data. A multifeature-assisted and multilayer fused neural network (MLF-PointNet++) is proposed for LiDAR-UAS point cloud classification in estuarine areas. First, the 3D shape features that characterize the geometric characteristics of targets and the visible-band difference vegetation index (VDVI) that can characterize vegetation distribution are used as auxiliary features to enhance the distinguishability of dense vegetation (lawns and trees) on slopes and the ground at the tops of slopes. Second, to enhance the extraction of target spatial information and contextual relationships, the feature vectors output by different layers of set abstraction in the PointNet++ model are fused to form a combined feature vector that integrates low and high-level information. Finally, the focal loss function is adopted as the loss function in the MLF-PointNet++ model to reduce the effect of imbalance in the number of point clouds in each category on the classification accuracy. A classification evaluation was conducted using LiDAR-UAS data from the Moshui River estuarine area in Qingdao, China. The experimental results revealed that MLF-PointNet++ had an overall accuracy (OA), mean intersection over union (mIOU), kappa coefficient, precision, recall, and F₁-score of 0.976, 0.913, 0.960, 0.953, 0.953, and 0.953, respectively, for object classification in the three representative areas, which were better than the corresponding values for the classification methods of random forest, BP neural network, Naive Bayes, PointNet, PointNet++, and RandLA-Net. The study results provide effective methodological support for the classification of objects in estuarine areas and offer a scientific basis for the sustainable development of these areas.