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Table of Content

    16 September 2025, Volume 54 Issue 8
    Review
    Deep learning methods for remote sensing intelligent change detection: evolution and development
    Jixian ZHANG, Haiyan GU, Huan NI, Haitao LI, Yi YANG, Shaopeng DING, Songman SUI
    2025, 54(8):  1347-1370.  doi:10.11947/j.AGCS.2025.20240417
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    The rapid development of multimodal remote sensing and deep learning technologies has expanded the data and method dimensions of remote sensing change detection, laying the foundation for more automated, refined, and intelligent change detection. This article focuses on change detection based on deep learning, addressing two fundamental scientific issues: change feature expression and network learning strategies, and detailing the evolution of change detection research. In terms of change feature expression, there are four research trends: from local to global and spatiotemporal integration, from single modality to multimodality, from lightweight models to large models, and from binary to multi-category semantic feature expression. In terms of network learning, there is a development trend from fully supervised to weak/semi-supervised to unsupervised change detection. Based on this, the article discusses the current challenges faced by deep learning-based change detection and, in conjunction with the development trends of artificial intelligence technology, points out three development directions: text-image fusion, generative, and human-computer collaborative modes. This aims to provide direction and ideas for theoretical methods and application research, and to enhance the intelligence and application level of remote sensing change detection.

    Re-conceptualizing narrative cartography
    Shiliang SU, Juan XIANG, Qingyun DU, Lin LI, Qianqian LI, Lingqi WANG, Jiangyue ZHANG, Mengjun KANG, Min WENG
    2025, 54(8):  1371-1388.  doi:10.11947/j.AGCS.2025.20250107
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    Maps, as the “universal language” of all humanity and the “narrative text” of global discourse activities, constitute an important pathway for subject self-expression, social interaction, and international communication. In recent years, narrative cartography has become a hot and cutting-edge issue in international cartography research. It is imperative to establish a conceptual framework for narrative cartography, laying a clear and solid theoretical foundation. This framework aims to contextualize “telling story well via maps” within diverse problem settings, ultimately advancing the study of narrative cartography from theory to practice. Through theoretical deduction, this study first explores the textual logic of map forms at the epistemological level, the syntactic logic of map language at the methodological level, and the practical logic of map discourse at the praxis level. A conceptual framework for narrative cartography is then constructed featured by a hierarchical and integrative structure. Finally, the research paradigm of narrative cartography is proposed, and the epistemology, ontology, and methodology of narrative cartography are established in order to promote the transformation of narrative cartography from the academic forefront to the mainstream of cartography. The conceptual framework and research paradigm provide a theoretical foundation and directional guidance for the establishment and development of narrative cartography. This paper offers theoretical insights and actionable strategies to support the innovative development of cartography.

    Geodesy and Navigation
    Left-handed symmetry equivariant filtering model and algorithm for GNSS/INS integrated navigation
    Yarong LUO, Wentao LU, Chi GUO, Jingnan LIU
    2025, 54(8):  1389-1403.  doi:10.11947/j.AGCS.2025.20240473
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    The current equivariant filtering theory is mainly built for local observation in the field of robotics, and cannot be naturally applied to inertial based integrated navigation systems with global observation. To solve the above problems, this paper constructs an equivariant filtering framework which is suitable for global observation through left-handed symmetry, and applies it to GNSS/SINS integrated navigation system which includes gyroscope bias and accelerometer bias states. Different from the left invariant extended Kalman filtering (EKF) on matrix Lie group, firstly, the left-handed symmetry is used to construct the equivariant filtering. Secondly, a two-frame group is employed to derive the linearized error dynamic matrix and the noise driven matrix of equivariant error for a biased inertial navigation system. Finally, a Cartan-Schouten connection is used for covariance parallel transport to complete the curvature correction on the manifold. The experimental results show that the proposed filtering algorithm has better transient response under different large misalignment angles compared with left invariant EKF. Additionally, when the initial yaw error is 90°, the average position error of the proposed filter reduces by 36% compared to left invariant EKF. At the same time, the integrated navigation system can effectively improve the robustness of the filter after curvature correction, and compared to the proposed filter without curvature correction, the average position error reduces by 14% after curvature correction.

    Improved ABC algorithm for optimizing BP neural network in short-term clock bias prediction and application
    Xiong PAN, Longjie ZHANG, Qingsong AI, Lihong JIN, Mao CAI
    2025, 54(8):  1404-1415.  doi:10.11947/j.AGCS.2025.20240318
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    In order to solve the problem that BP neural network is easy to fall into the local optimal solution and the convergence speed is slow when dealing with nonlinear and complex environments, an improved artificial bee colony algorithm is proposed to optimize BP neural network and apply it to short-term prediction of clock deviation. Firstly, from the perspective of enhancing the randomness of the step size, improving the search efficiency and maintaining the diversity of the population, the Lévy flight strategy, the teaching and learning optimization algorithm and the fitness-distance balance mechanism were introduced to improve the artificial bee colony algorithm, which effectively improved the global search ability of the algorithm and avoided falling into the local optimal solution. Secondly, the improved artificial bee colony algorithm is combined with BP neural network to be applied to the short-term prediction of satellite clock deviation, and the corresponding calculation steps are given. Then, the high-precision satellite clock products provided by GFZ are selected to compare and analyze the single-day and multi-day forecasts from the aspects of algorithm efficiency, stability and accuracy, so as to verify the applicability of the model. Finally, the prediction results of the optimization model are verified to be applied in PPP. Compared with the QP, BP and ABC-BP models, the average accuracy is increased by 56.55%, 25.11% and 7.07%, respectively, and the improvement effect of MEO-PHM clock is better than that of MEO-Rb clock. The improved artificial bee colony algorithm and the BP combined model have a more concentrated residual distribution, a median closer to zero, and a smaller extreme value, which has high accuracy and stability in the 6 and 12 h prediction. The accuracy of the combined model in the E, N and U directions was improved by using the forecast clock error sequence to improve the accuracy of the results in the E, N and U directions, which were improved by 42.07%, 31.07%, 41.79% and 45.42%, 50.16%, 46.18% compared with the ABC-BP model and the BP model, respectively.

    An efficient discretization approach for the short-arc integral equation based on Adams and KSG integrators
    Shaobin HU, Qiujie CHEN, Yunzhong SHEN, Xingfu ZHANG
    2025, 54(8):  1416-1426.  doi:10.11947/j.AGCS.2025.20240361
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    The short-arc integral approach is a widely used technique for satellite-based gravity field recovery, which essentially provides an integral solution to Newton's equation of motion based on the boundary value condition. Considering that Adams and KSG integrators are multistep methods for single and double integrals respectively, this paper proposes a discretization approach for the short-arc integral formula by integrating both Adams and KSG integrators. Consequently, concise formulas have been derived to calculate the coefficients for discretizing the integral equations, thereby contributing to efficient discretization of the short-arc integral equations. Taking the simulation calculation of GRACE-FO satellites as a case study, the proposed approach is compared with the conventional short-arc integral approach from multiple perspectives: computation of discretization coefficients for integral equations, integration of position and velocity vectors, solution of partial derivatives with respect to spherical harmonic coefficients, and gravity field estimation. The results suggest that: ① The discretization coefficient matrices exhibit a high level of consistency between the two approaches, with the RMS (root mean square) of the differences for the position and velocity equations at the orders of 10-9 and 10-6, respectively. However, compared to the conventional approach, the proposed approach significantly enhances efficiency in calculating the discretization coefficient matrices by approximately 80% for position equation and 90% for velocity equation. ② The proposed approach exhibits comparable integration error for velocity vector to the conventional approach using the same arc length, while demonstrating slightly higher accuracy in position vector integration under longer arc lengths. ③ The partial derivatives of the position and velocity equations with respect to spherical harmonic coefficients obtained from both approaches are generally consistent; however, discrepancies arise at high degrees due to low signal energy at those degrees. ④ The accuracy of the resulting gravity field models remains comparable between the two approaches, while the proposed approach significantly enhances the efficiency of solving gravity field models by 74.4% compared with the conventional numerical integral approach.

    GPS/Galileo/BDS overlapping frequencies multipath error analysis and modeling
    Yangyi CHEN, Kai ZHENG, Xiaohong ZHANG, Mingkui WU, Pengxu WANG, Wenju FU, Kezhong LIU
    2025, 54(8):  1427-1438.  doi:10.11947/j.AGCS.2025.20240316
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    Multipath error is one of the primary unmodeled errors affecting GNSS precise positioning. Currently, the multipath hemispherical map (MHM) model generated by single system is limited by satellite orbit period and data volume, leading to restricted data coverage and low modeling efficiency. Therefore, this paper constructs an integrated multi-system MHM model by combining overlapping frequency data from GPS, Galileo, and BDS. The effectiveness of the short-term fusion model for multipath correction is evaluated with short-baseline data. The results show that the multipath error of the overlapping frequency for the three systems exhibits consistent spatial distribution characteristics, and the data coverage (the proportion of grids with more than 30 residuals within the total grids) of the three-system fusion model constructed with 4-day data is higher than that of the model built with 10-day data of a single system. The multipath models with overlapping frequency between systems has good interoperability. After using an overlapping grid evaluation method, the inter-system multipath correction rate is approximately 30%~45%. The correction rates of the three-system fusion model for GPS, Galileo, and BDS are approximately 60%、46%, and 48%, respectively. Additionally, the multi-system fusion model, constructed in a short time, can enhance positioning accuracy by approximately 10%~20% compared to single-system models, which is comparable to those of single-system multipath models built with long-term data. However, the difference in the multipath correction effect between the GPS single-system model and the multi-system fusion model is not significant.

    Marine Survey
    Hierarchical encryption matching algorithm for adjacent strip splicing in airborne LiDAR bathymetry
    Dongdong PU, Hongzhou CHAI, Yongzhong OUYANG, Chao DONG
    2025, 54(8):  1439-1451.  doi:10.11947/j.AGCS.2025.20240458
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    The complex system integration errors and the high dynamism of the marine environment pose numerous challenges for the adjacent strip splicing in airborne LiDAR Bathymetry (ALB). Existing methods primarily rely on spatial geometric features to establish correspondence, lacking thorough analysis and optimization of this correspondence. Potential outliers in the correspondence significantly impact the accuracy of spatial alignment. To address this, a hierarchical encryption matching algorithm for adjacent strip splicing in ALB is proposed. Our algorithm leverages the robustness of graph space and dynamic optimization mechanism to mitigate the effects of potential mismatches. Firstly, calculate the multi-scale features of ALB point cloud and select points with stable and significant features as feature points. Secondly, based on feature points, a global graph matching is constructed to facilitate the coarse alignment between adjacent strips. Then, an encrypted local graph model is constructed within the neighborhood of the globally matched nodes. Finally, a dynamic mechanism featuring one-to-many and bidirectional matching is employed to identify the optimal matching and eliminate outliers of correspondence. Our algorithm divides the process of adjacent ALB strips splicing into two levels: coarse alignment and fine registration. In the coarse alignment phase, the stability of the global graph structure is fully leveraged. For fine registration, a dynamic optimization strategy utilizing a local neighborhood encryption graph model is employed, effectively bolstering the robustness of correspondence by harnessing local information. The experiment employed measured point cloud data from three regions featuring different carriers and shapes. It compared the performance of RANSAC-ICP, 3D-NDT, MCM algorithms, and features matching algorithms for verification purposes. The accuracy was assessed using rotation error, translation error, and overall error. Balancing accuracy and efficiency, the results demonstrate that the algorithm proposed exhibits significant advantages.

    Correction method for time-varying sound speed errors in underwater geodetic datum positioning
    Yijie ZHAO, Junting WANG, Tianhe XU, Jianxu SHU, Yangfan LIU
    2025, 54(8):  1452-1463.  doi:10.11947/j.AGCS.2025.20240459
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    The spatio-temporal variability of oceanic sound speed is a significant source of error in underwater acoustic navigation and positioning. Addressing the issue that temporal variations in sound speed can severely impact the accuracy of underwater geodetic datum positioning, this paper proposes a method for real-time forecasting of local sound speed fields based on the least squares support vector machine (LSSVM) algorithm, and applies it to oceanic geodetic datum positioning. The method first extrapolates the measured sound speed profiles to the depth of the seabed geodetic datum layout; then, using the measured sound speed profile data, it constructs a sound speed forecasting model based on the LSSVM algorithm, and predicts the sound speed profile based on the positioning data of the experimental geodetic datum points, ultimately applying it to the underwater geodetic datum point positioning model for real-time correction of sound speed representative errors. Through validation analysis using the actual measured geodetic datum positioning data from the South China Sea at 3000 m, the results indicate that, taking the positioning results of the ray tracing method as the true value, compared to the weighted average sound speed method of a single sound speed profile, the underwater geodetic datum positioning method proposed in this paper has achieved a significant enhancement in 3D positioning accuracy for both survey stations. Specifically, for marine geodetic datum 1, the positioning accuracy has been improved from 0.839 m to 0.424 m, representing a 49.5% increase. For marine geodetic datum 2, the positioning accuracy has been elevated from 0.928 m to 0.190 m, which corresponds to a substantial improvement of 79.5%. Therefore, the proposed algorithm can effectively correct the impact of sound speed representative errors, thereby enhancing the accuracy of seabed geodetic datum positioning.

    Photogrammetry and Remote Sensing
    A denoising method for underground pipeline data acquired by ground penetrating radar based on DnNet
    Huiqin WANG, Jiahao LI, Xin LIU, Yongqiang HE, Jia LUO, Bincan LIU
    2025, 54(8):  1464-1475.  doi:10.11947/j.AGCS.2025.20230508
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    The presence of noise can seriously affect the intelligent interpretation and identification of ground-penetrating radar (GPR) underground pipelines. In view of this, this paper proposes a PnNet-based denoising method for GPR under ground pipeline data. Among them, this algorithm constructs a brand-new deep learning denoising network by using the encoder-decoder structure, group normalization and simplified channel attention mechanism, achieving a significant improvement in the denoising performance of ground penetrating radar images. The feedforward network is improved by using deep convolutional blocks, effectively enhancing the network's ability to recover waveform edge information. Meanwhile, due to the simplification of the channel attention mechanism and the improvement of the feedforward network, the noise reduction efficiency has been significantly enhanced. The experimental results show that the proposed algorithm has a good noise reduction effect. In the noise reduction of simulated GPR images, compared with the dictionary learning method, Cycle GAN, DRUNet and DnCNN, when the standard deviation of noise is equal to 50, the peak signal-to-noise ratio of the proposed algorithm has increased by 24.72, 24.3, 23.54 and 23.86 dB respectively. The structural similarities have increased by 0.545 5, 0.424 2, 0.140 8 and 0.375 9 respectively. In the actual denoising of GPR data, the proposed algorithm can remove most of the noise and retain the waveform details of underground pipelines compared with other algorithms.

    Spatio-temporal fusion algorithm based on adaptive reference feature incorporation and multi-scale feature aggregation
    Shuai FANG, Jiaen LIU, Jing ZHANG
    2025, 54(8):  1476-1488.  doi:10.11947/j.AGCS.2025.20240457
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    The purpose of spatio-temporal fusion algorithm is to generate dense time series images with high spatial resolution, which is very important for monitoring fine dynamic-changes of the surface. Most of the spatio-temporal fusion algorithms help to predict the target fine image by reference fine image in the adjacent time, which makes the purpose of spatio-temporal fusion algorithm is to generate dense time series images with high spatial resolution, which is very important for monitoring fine dynamic-changes of the surface. However, the existing spatio-temporal fusion algorithms are easily misled by the reference image in the area with land cover change, and the reconstruction of heterogeneous areas composed of small targets is more difficult. To this end, this paper proposes a spatio-temporal fusion algorithm based on adaptive reference feature incorporation and multi-scale feature aggregation. In the encoding stage, an adaptive reference feature incorporation module is designed. According to the change information provided by the time series coarse image pair and the gating structure, the adaptive introduction of the reference fine image is realized, which not only improves the prediction accuracy by using the reference information, but also suppresses the misleading of the reference information to the change area. In the decoder stage, a multi-scale feature aggregation strategy is designed to aggregate information of different scales for each layer of the decoder, and the channel attention mechanism is combined to filter information with important features to improve the reconstruction accuracy of heterogeneous areas. Finally, the focal frequency loss term is introduced into the loss function. From the perspective of frequency distribution, it enhances the authenticity of the generated image and focuses on the reconstruction of difficult frequency bands to make up for the deficiency of spatial spectrum loss. The experimental results on LGC, CIA and Wuhan datasets show that the proposed algorithm has better fusion results than the other six algorithms.

    Combining projective transform and road segmentation for street view-satellite images cross-view geo-localization
    Wenjian GAN, Yang ZHOU, Xiaofei HU, Luying ZHAO, Gaoshuang HUANG, Mingbo HOU
    2025, 54(8):  1489-1500.  doi:10.11947/j.AGCS.2025.20240254
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    The vast differences between street view and satellite images make it extremely difficult to match them, which brings great challenges to the research and application of cross-view image geo-localization in this study, we propose a cross-view geo-localization framework based on projective transform and road segmentation to address the difficulties caused by the viewpoint differences in cross-view image geo-localization. Firstly, we establish a geometric projection relationship between the street view and satellite images to achieve the viewpoint transformation from the ground images to satellite images, in order to reduce the viewpoint difference between the street view and satellite images. Meanwhile, to better learn the viewpoint invariant features in the images, we are inspired by self-supervised learning and then use a visual foundation model with strong zero-shot generalization capability for road segmentation, and introduce an auxiliary training branch for road prior information during the training process, to improve the performance of the model without changing the model architecture and the model inference speed. After using our method, the average Recall@1 accuracy of the four methods, SAFA, GeoDTR, SAIG, and TransGeo, is improved by 0.55% on the CVACT dataset and 2.84% on the CVWU dataset. The experimental results show that the proposed cross-view geo-localization method, which combines geometric projective transform with self-supervised learning, can be organically combined with other model architectures.

    Cartography and Geoinformation
    Yang Chizhong filtering and estimation methods for spatial data interpolation
    Qiliang LIU, Jie YANG, Xiancheng MAO, Zhankun LIU, Min DENG
    2025, 54(8):  1501-1517.  doi:10.11947/j.AGCS.2025.20240370
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    Geoscience research generally faces the problem of missing data and sparse distribution. Spatial interpolation is one of the primary and core tasks of geoscience data analysis. Statistics- and geometry- based spatial interpolation methods are widely used in spatial data analysis; however, they have long had defects in modeling non-stationary spatial processes. Yang Chizhong filtering and interpolation methods (abbreviated as Yang Chizhong methods) integrate geometric and statistical strategy to quantify spatial autocorrelation structure, which provides a new idea for modeling non-stationary spatial processes. Yang Chizhong methods have unique advantages in modeling small samples and non-stationary spatial processes, such as geometrisation of ore body. In this study, we first overcome two long-standing theoretical shortcomings of Yang Chizhong methods. Then, we focus on the new progress of Yang Chizhong methods in recent years. Finally, we provide an outlook on future research directions. Yang Chizhong methods can widely serve the analysis of distribution characteristics and discovery of evolutionary laws of geo-phenomena.

    A global coastal DEM super-resolution reconstruction method integrating frequency-domain features and topographic priors
    Wenjun HUANG, Qun SUN, Qing XU, Long FAN, Anzhu YU, Fubing ZHANG
    2025, 54(8):  1518-1531.  doi:10.11947/j.AGCS.2025.20250126
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    To overcome the limitations of existing digital elevation model (DEM) super-resolution reconstruction methods in model generalization and terrain feature awareness, a terrain-factor-guided approach is proposed. First, a paired high- and low-resolution DEM dataset covering global coastal regions is constructed based on the open-source DEM data from GEBCO and ETOPO-1. Then, an end-to-end DEM super-resolution model is designed with a high-low frequency feature decoupling module to separate and fuse terrain details and global features. A terrain guidance module is introduced, incorporating prior terrain knowledge, such as surface segmentation depth, to enhance the perception of terrain structure. Additionally, dynamic weight adjustment based on homoscedastic uncertainty is employed to adaptively assign loss weights according to the importance of different terrain features, thereby improving reconstruction accuracy and stability. Comparative experiments with seven state-of-the-art methods demonstrate that the proposed approach achieves superior performance in RMSEelevation, MAEelevation, and RMSEslope metrics, accurately reconstructing complex features such as fragmented ridges and low seamounts. These results validate the effectiveness and robustness of the method in terrain feature reconstruction and precision enhancement.

    Summary of PhD Thesis
    Study on canopy height estimation based on ICESat-2/ATLAS photon counting LiDAR data
    Jiapeng HUANG
    2025, 54(8):  1532-1532.  doi:10.11947/j.AGCS.2025.20230567
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    Research on the key technologies of GNSS real-time satellite clock offset estimation
    Wei XIE
    2025, 54(8):  1533-1533.  doi:10.11947/j.AGCS.2025.20240009
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    Effects of interspecific competition on the chlorophyll inversion of phragmites australis and spartina alterniflora in the coastal wetland of the Yangtze River Estuary
    Wei ZHUO
    2025, 54(8):  1534-1534.  doi:10.11947/j.AGCS.2025.20240020
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    BeiDou/GNSS real-time clock offset and phase bias estimation and application method
    Chuanfeng SONG
    2025, 54(8):  1535-1535.  doi:10.11947/j.AGCS.2025.20240022
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    Construction of the geographic scenario data model and its ontological representation
    Yi HUANG
    2025, 54(8):  1536-1536.  doi:10.11947/j.AGCS.2025.20240313
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