Please wait a minute...
Journal of ZheJiang University (Engineering Science)  2026, Vol. 60 Issue (4): 751-762    DOI: 10.3785/j.issn.1008-973X.2026.04.007
    
Water-floating garbage trajectory prediction model based on multi-scale graph convolution
Long MA1(),Yongqi HOU1(),Baijing WU1,Li GAO1,Jianwei DENG2,Guanghui YAN1
1. School of Electronic and Information Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China
2. Gansu Provincial Institute of Water Resources, Lanzhou 730000, China
Download: HTML     PDF(1501KB) HTML
Export: BibTeX | EndNote (RIS)      

Abstract  

In response to the insufficient modeling of spatiotemporal heterogeneity under a single scale in water-floating garbage trajectory prediction, which often leads to high uncertainty in results, a multi-scale adaptive graph convolutional model (MAGC-Trajectory) was proposed. First, an adaptive gated graph convolution module was developed. Static adjacency relationships imposed by spatiotemporal priors were cross-domain integrated with data-driven dynamic topological structures. This enhanced the model’s ability to capture temporal dependencies of garbage drift and fluctuations of its trajectories. Next, a multi-scale spatiotemporal interaction module was designed. Spatial features were decoupled along different temporal scales. They were then fused in a weighted manner with temporal features. This strengthened the representation of spatiotemporal heterogeneity in garbage trajectories. Meanwhile, an improved nonlinear learning layer was introduced. A learnable adaptive activation function was employed to reinforce global fusion of multiscale spatiotemporal features. This resulted in high-order drift trajectory features with a unified representation. Lastly, a probabilistic prediction layer was constructed. Mean-variance estimation was utilized to estimate the trajectories’ distribution interval. This quantified predictive uncertainty and thus provided more robust predicted trajectories. Experiments were conducted on the water-floating garbage trajectory dataset. Results showed that, compared with the baseline model, the proposed approach reduced MAE by 0.000 2 and RMSE by 0.000 5. These improvements provide actionable support for decision-making in mitigating water-floating garbage pollution within the study area.



Key wordswater-floating garbage      trajectory prediction      graph convolution      adaptive adjacency matrix      spatiotemporal feature fusion      probabilistic prediction     
Received: 22 April 2025      Published: 19 March 2026
CLC:  TV 697.3  
  X 524  
Fund:  国家自然科学基金资助项目(62366028);甘肃省水利科学研究院项目基金(LZJT524289).
Cite this article:

Long MA,Yongqi HOU,Baijing WU,Li GAO,Jianwei DENG,Guanghui YAN. Water-floating garbage trajectory prediction model based on multi-scale graph convolution. Journal of ZheJiang University (Engineering Science), 2026, 60(4): 751-762.

URL:

https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2026.04.007     OR     https://www.zjujournals.com/eng/Y2026/V60/I4/751


多尺度图卷积下的水漂垃圾轨迹预测模型

针对水漂垃圾轨迹预测中单一尺度下时空异质性建模不足,导致预测结果不确定性高的问题,提出多尺度自适应图卷积模型MAGC-Trajectory. 构建自适应门控图卷积模块,将时空先验约束的静态邻接关系与数据驱动的动态拓扑结构进行跨域融合,提升模型对垃圾漂移的时序关系和轨迹波动的捕捉能力;设计多尺度时空交互模块,对空间特征进行时间尺度解耦,并与时序特征加权融合,增强垃圾轨迹时空异质性的表征能力;提出改进非线性学习层,使用可学习的自适应激活函数强化不同尺度时空特征的全局融合,生成具有统一表征的漂移轨迹高阶特征;设计概率预测层,使用均值-方差估计轨迹分布区间,量化预测结果的不确定性,提供更加鲁棒的预测轨迹. 在水漂垃圾轨迹数据集上的实验表明,相较于基准模型,所提模型的MAE、RMSE分别降低了0.000 2、0.000 5. 所提方法能够从决策上助力研究区域的水漂垃圾污染治理工作.


关键词: 水漂垃圾,  轨迹预测,  图卷积,  自适应邻接矩阵,  时空特征融合,  概率预测 
Fig.1 Multi-scale adaptive graph convolution model for floating garbage trajectory(MAGC-Trajectory)
Fig.2 Structure diagram of multi-scale spatiotemporal feature generation module
Fig.3 Adaptive gated graph convolution
Fig.4 Structure diagram of spatiotemporal feature fusion layer
Fig.5 Structure comparison between MLP and KAN
Fig.6 Satellite images of Yinggezui reservoir and Lanzhou section of Yellow River
轨迹采集时间地点轨迹点数目起点经度/(°E)起点纬度/(°N)终点经度/(°E)终点纬度/(°N)
轨迹111月鹦鸽嘴水库57399.833 099 0038.936 024 0099.850 564 9738.942 732 20
轨迹211月鹦鸽嘴水库1 87999.832 001 9438.934 474 4799.843 727 8138.938 661 67
轨迹311月鹦鸽嘴水库2 24499.831 926 3538.934 483 9099.850 458 2038.943 343 19
轨迹411月鹦鸽嘴水库1 70899.833 256 6738.936 136 9799.869 500 0538.955 534 76
轨迹55月黄河兰州段4 327103.769 908 2536.089 722 37103.817 942 836.070 174 72
轨迹65月黄河兰州段3 234103.740 453 6136.095 214 53103.765 875 036.090 130 10
Tab.1 Information on position and quantity of trajectory points in water-floating garbage trajectory dataset
时间经度/(°E)纬度/(°N)经向速度/(m·s?1纬向速度/(m·s?1经向加速度/(m·s?2纬向加速度/(m·s?2
2024/11/3099.833 099 0038.936 024 000.118 678 8720.032 987 1590.011 867 8870.003 298 716
2024/11/3099.833 102 8138.936 010 280.133 466 4640.021 879 2470.013 346 6460.002 187 925
2024/11/3099.833 100 2838.935 994 850.124 292 8560.084 214 0350.012 429 2860.008 421 404
$\vdots $$\vdots $$\vdots $$\vdots $$\vdots $$\vdots $$\vdots $
2024/11/3099.850 561 5438.942 724 880.063 335 870.029 671 3620.006 333 5870.002 967 136
Tab.2 Data display of trajectory 1
模型名称2号塑料类轨迹
MAERMSEPICPMPIW
GNN0.000 360 700.000 637 3510.003 2
GNN-MS0.000 236 090.000 312 6710.002 5
GNN-AG0.000 235 990.000 294 6110.002 5
GNN-FN0.000 157 570.000 196 1210.001 8
MAGC-Trajectory0.000 135 890.000 161 0310.001 9
Tab.3 Comparison of indicators of ablation models
Fig.7 Comparison of prediction results of trajectory 6
模型轨迹3(塑料)轨迹4(塑料)轨迹5(编织物)轨迹6(金属)
MAERMSEMAERMSEMAERMSEMAERMSE
ARIMA0.000 907 770.001 044 910.000 826 460.000 997 000.000 620 720.000 733 710.000 497 540.000 479 94
LSTM0.000 664 180.000 377 460.000 526 430.000 475 120.000 610 720.000 714 910.000 581 390.000 892 69
PSO-GRU0.000 268 660.000 303 530.001 282 100.001 528 820.001 282 580.001 788 720.002 556 010.004 059 56
Crossformer0.000 855 280.001 124 090.001 844 850.003 029 050.002 930 030.005 488 650.000 665 450.001 058 63
PatchTST0.000 235 040.000 339 290.000 357 850.000 382 010.000 227 430.000 325 600.000 268 740.000 431 20
CNN-LSTM0.000 206150.000 920 980.000 416 620.000 685 010.000 706 420.000 874 630.000 415 090.000 584 47
ASTGCN0.000 285 360.000 304 840.000 406 330.000 628 630.000 502 940.000 529 850.000 270 920.000 346 26
DCRNN0.000 196 310.000 242 670.000 426 840.000 605 680.000 322 170.000 288 780.000 151 100.000 212 69
K-GCN-LSTM0.000 471 820.000 542 800.001 911 420.002 420 090.000 279 030.000 199 160.001 057 480.001 440 52
MAGC-Trajectory0.000 135 890.000 161 030.000 285 290.000 331 460.000 241 920.000 251 920.000 097 490.000 131 98
Tab.4 Comparison of MAE and RMSE among different comparison models
Fig.8 Water-floating garbage trajectory probability prediction results
[1]   仇威, 栾华龙, 渠庚, 等 三峡水库应急补水对2022年洪季长江口盐水入侵的影响[J]. 长江科学院院报, 2024, 41 (10): 30- 39
QIU Wei, LUAN Hualong, QU Geng, et al Impact of emergent water supply of the Three Gorges Reservoir on saltwater intrusion in the Changjiang River Estuary in 2022[J]. Journal of Changjiang River Scientific Research Institute, 2024, 41 (10): 30- 39
doi: 10.11988/ckyyb.20240616
[2]   张云, 王雨, 周绍辉, 等 星载GNSS-R检测太湖水华可行性分析[J]. 北京航空航天大学学报, 2024, 50 (3): 695- 705
ZHANG Yun, WANG Yu, ZHOU Shaohui, et al Analysis on feasibility of detecting water blooms in Taihu Lake with spaceborne GNSS-R[J]. Journal of Beijing University of Aeronautics and Astronautics, 2024, 50 (3): 695- 705
[3]   TAN Y, CHENG Q, LYU F, et al Hydrological reduction and control effect evaluation of sponge city construction based on one-way coupling model of SWMM-FVCOM: a case in university campus[J]. Journal of Environmental Management, 2024, 349: 119599
doi: 10.1016/j.jenvman.2023.119599
[4]   CASTÁN-LASCORZ M A, JIMÉNEZ-HERRERA P, TRONCOSO A, et al A new hybrid method for predicting univariate and multivariate time series based on pattern forecasting[J]. Information Sciences, 2022, 586: 611- 627
doi: 10.1016/j.ins.2021.12.001
[5]   潘金伟, 王乙乔, 钟博, 等 基于统计特征搜索的多元时间序列预测方法[J]. 电子与信息学报, 2024, 46 (8): 3276- 3284
PAN Jinwei, WANG Yiqiao, ZHONG Bo, et al Statistical feature-based search for multivariate time series forecasting[J]. Journal of Electronics and Information Technology, 2024, 46 (8): 3276- 3284
doi: 10.11999/JEIT231264
[6]   VERDONCK T, BAESENS B, ÓSKARSDÓTTIR M, et al Special issue on feature engineering editorial[J]. Machine Learning, 2024, 113 (7): 3917- 3928
doi: 10.1007/s10994-021-06042-2
[7]   CATON S, HAAS C Fairness in machine learning: a survey[J]. ACM Computing Surveys, 2024, 56 (7): 1- 38
[8]   AL-SELWI S M, HASSAN M F, ABDULKADIR S J, et al RNN-LSTM: from applications to modeling techniques and beyond: systematic review[J]. Journal of King Saud University - Computer and Information Sciences, 2024, 36 (5): 102068
doi: 10.1016/j.jksuci.2024.102068
[9]   刘凇佐, 王虔, 李磊, 等 粒子群优化的门控循环单元网络漂流浮标轨迹预测[J]. 电子与信息学报, 2024, 46 (8): 3295- 3304
LIU Songzuo, WANG Qian, LI Lei, et al Gated recurrent unit network of particle swarm optimization for drifting buoy trajectory prediction[J]. Journal of Electronics and Information Technology, 2024, 46 (8): 3295- 3304
doi: 10.11999/JEIT230945
[10]   吴跃高, 俞万能, 曾广淼, 等 融合拼接注意力机制的船舶轨迹预测方法[J]. 控制理论与应用, 2025, 42 (9): 1798- 1806
WU Yuegao, YU Wanneng, ZENG Guangmiao, et al Ship trajectory prediction method incorporating concatenated attention mechanism[J]. Control Theory and Applications, 2025, 42 (9): 1798- 1806
[11]   BAI J, ZHU J, SONG Y, et al A3T-GCN: attention temporal graph convolutional network for traffic forecasting[J]. ISPRS International Journal of Geo-Information, 2021, 10 (7): 485
doi: 10.3390/ijgi10070485
[12]   SRIRAMULU A, FOURRIER N, BERGMEIR C Adaptive dependency learning graph neural networks[J]. Information Sciences, 2023, 625: 700- 714
doi: 10.1016/j.ins.2022.12.086
[13]   BAI L, YAO L, LI C, et al Adaptive graph convolutional recurrent network for traffic forecasting[J]. Advances in Neural Information Processing Systems, 2020, 33: 17804- 17815
[14]   ZHOU Y, ZHENG H, HUANG X, et al Graph neural networks: taxonomy, advances, and trends[J]. ACM Transactions on Intelligent Systems and Technology, 2022, 13 (1): 1- 54
[15]   XU D, PENG H, TANG Y, et al Hierarchical spatio-temporal graph convolutional neural networks for traffic data imputation[J]. Information Fusion, 2024, 106: 102292
doi: 10.1016/j.inffus.2024.102292
[16]   LIU R W, LIANG M, NIE J, et al STMGCN: mobile edge computing-empowered vessel trajectory prediction using spatio-temporal multigraph convolutional network[J]. IEEE Transactions on Industrial Informatics, 2022, 18 (11): 7977- 7987
doi: 10.1109/TII.2022.3165886
[17]   ZHAO J, YAN Z, CHEN X, et al K-GCN-LSTM: a k-hop graph convolutional network and long-short-term memory for ship speed prediction[J]. Physica A: Statistical Mechanics and Its Applications, 2022, 606: 128107
doi: 10.1016/j.physa.2022.128107
[18]   TANG X, CHEN H, XIANG W, et al Short-term load forecasting using channel and temporal attention based temporal convolutional network[J]. Electric Power Systems Research, 2022, 205: 107761
doi: 10.1016/j.jpgr.2021.107761
[19]   邵海东, 肖一鸣, 邓乾旺, 等 基于不确定性感知网络的可信机械故障诊断[J]. 机械工程学报, 2024, 60 (12): 194- 206
SHAO Haidong, XIAO Yiming, DENG Qianwang, et al Trustworthy mechanical fault diagnosis using uncertainty-aware network[J]. Journal of Mechanical Engineering, 2024, 60 (12): 194- 206
doi: 10.3901/JME.2024.12.194
[20]   TANG S, LI B, YU H. ChebNet: efficient and stable constructions of deep neural networks with rectified power units via Chebyshev approximation [EB/OL]. (2024–10–14) [2025–04–20]. https://doi.org/10.1007/s40304-023-00392-0.
[21]   SHARMA K, LEE Y C, NAMBI S, et al A survey of graph neural networks for social recommender systems[J]. ACM Computing Surveys, 2024, 56 (10): 1- 34
[22]   BARAKBAYEVA T, DEMIRCI F M Fully automatic CNN design with inception and ResNet blocks[J]. Neural Computing and Applications, 2023, 35 (2): 1569- 1580
doi: 10.1007/s00521-022-07700-9
[23]   LIU Z, WANG Y, VAIDYA S, et al. KAN: Kolmogorov-arnold networks [EB/OL]. (2025−02−09) [2025−04−20]. https://arxiv.org/abs/2404.19756.
[24]   LAURINDO L C, MARIANO A J, LUMPKIN R An improved near-surface velocity climatology for the global ocean from drifter observations[J]. Deep Sea Research Part I: Oceanographic Research Papers, 2017, 124: 73- 92
doi: 10.1016/j.dsr.2017.04.009
[25]   ZHONG W, ZHAI D, XU W, et al Accurate and efficient daily carbon emission forecasting based on improved ARIMA[J]. Applied Energy, 2024, 376: 124232
doi: 10.1016/j.apenergy.2024.124232
[26]   ZHANG Y, YAN J. Crossformer: transformer utilizing cross-dimension dependency for multivariate time series forecasting [C]// International Conference on Learning Representations. Kigali: [S.n.], 2023: 1–21.
[27]   BAI L, YAO L, LI C, et al Adaptive graph convolutional recurrent network for traffic forecasting[J]. Advances in Neural Information Processing Systems, 2020, 33: 17804- 17815
[1] Wenqiang CHEN,Linyue FENG,Dongdan WANG,Yulei GU,Xuan ZHAO. Vehicle trajectory prediction model integrating dynamic risk map and multivariate attention mechanism[J]. Journal of ZheJiang University (Engineering Science), 2026, 60(3): 455-467.
[2] Guanghui YAN,Xiao HUANG,Wenwen CHANG. Emergency braking behavior recognition based on EEG multi-scale features and graph neural networks[J]. Journal of ZheJiang University (Engineering Science), 2026, 60(2): 404-414.
[3] Siyao ZHOU,Nan XIA,Jiahong JIANG. Pose-guided dual-branch network for clothing-changing person re-identification[J]. Journal of ZheJiang University (Engineering Science), 2026, 60(1): 71-80.
[4] Zongmin LI,Chang XU,Yun BAI,Shiyang XIAN,Guangcai RONG. Dual-neighborhood graph convolution method for point cloud understanding[J]. Journal of ZheJiang University (Engineering Science), 2025, 59(5): 879-889.
[5] Mengyao ZHANG,Jie ZHOU,Wenting LI,Yong ZHAO. Three-dimensional mesh segmentation framework using global and local information[J]. Journal of ZheJiang University (Engineering Science), 2025, 59(5): 912-919.
[6] Wenqiang CHEN,Dongdan WANG,Wenying ZHU,Yongjie WANG,Tao WANG. Vehicle multimodal trajectory prediction model based on spatio-temporal graph attention network[J]. Journal of ZheJiang University (Engineering Science), 2025, 59(3): 443-450.
[7] Gang XIAO,Dapeng LU,Wenbo ZHENG,Zhenbo CHENG,Yuanming ZHANG. Multivariable time series data anomaly detection method based on spatiotemporal graph attention network[J]. Journal of ZheJiang University (Engineering Science), 2025, 59(10): 2134-2143.
[8] Chunli AN,Biling ZHANG,Guoan ZHAO,Bo WANG,Yan LIU. Power grid fault diagnosis based on FFT-CNN-GCN[J]. Journal of ZheJiang University (Engineering Science), 2025, 59(10): 2205-2212.
[9] Shuhan WU,Dan WANG,Yuanfang CHEN,Ziyu JIA,Yueqi ZHANG,Meng XU. Attention-fused filter bank dual-view graph convolution motor imagery EEG classification[J]. Journal of ZheJiang University (Engineering Science), 2024, 58(7): 1326-1335.
[10] Jinye LI,Yongqiang LI. Spatial-temporal multi-graph convolution for traffic flow prediction by integrating knowledge graphs[J]. Journal of ZheJiang University (Engineering Science), 2024, 58(7): 1366-1376.
[11] Zhiwei XING,Shujie ZHU,Biao LI. Airline baggage feature perception based on improved graph convolutional neural network[J]. Journal of ZheJiang University (Engineering Science), 2024, 58(5): 941-950.
[12] Yongxi HE,Hu HAN,Bo KONG. Aspect-based sentiment analysis model based on multi-dependency graph and knowledge fusion[J]. Journal of ZheJiang University (Engineering Science), 2024, 58(4): 737-747.
[13] Xiaoqian XIANG,Jing CHEN. Pedestrian trajectory prediction based on dual-attention spatial-temporal graph convolutional network[J]. Journal of ZheJiang University (Engineering Science), 2024, 58(12): 2586-2595.
[14] Youwei WANG,Weiqi WANG,Lizhou FENG,Jianming ZHU,Yang LI. Rumor detection method based on breadth-depth sampling and graph convolutional networks[J]. Journal of ZheJiang University (Engineering Science), 2024, 58(10): 2040-2052.
[15] Zihao SHEN,Yuyu TANG,Hui WANG,Peiqian LIU,Kun LIU. Clustering and deep learning based trajectory privacy protection mechanism for Internet of vehicles[J]. Journal of ZheJiang University (Engineering Science), 2024, 58(1): 20-28.