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复杂环境下智能手机RTK+PDR融合定位 总被引：1，自引：0，他引：1
针对室外复杂环境下智能手机定位精度低、抗干扰能力不足的问题,本文利用手机GNSS观测值和手机内置IMU数据,采用RTK和PDR算法融合定位,对比分析了小米8和华为Mate20X两款手机的GNSS数据质量和融合定位算法性能,以及不同观测条件下融合算法的定位精度和稳定性。试验结果表明,在良好和复杂两种观测条件下,采用RTK算法定位精度分别为1.8 m和4.6 m;采用RTK+PDR融合算法定位精度分别为1.2 m和2.6 m,在两种环境下,RTK+PDR融合算法的精度分别提高了50%和76%,即显著提高了智能手机在室外复杂环境下的定位精度。 相似文献
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The water quality in Biscayne Bay has been significantly affected by past and continuing coastal and watershed development. The nutrient concentrations in the Bay have been dramatically changed by the conversion of natural creeks and sheet flow freshwater inputs to rapid and episodic canal inputs from the large and rapidly expanding Miami metropolitan area. This study is an evaluation of nutrient loadings to Biscayne Bay for 1994-2002 from canal, atmospheric, and groundwater sources. Dissolved inorganic nitrogen (DIN, as nitrate, nitrite, and ammonium) and total phosphorus (TP) loadings by the canals were influenced by their geographic locations relative to discharge amount, watershed land use, stormwater runoff, and proximity to landfills. Annual budgets showed that canals contributed the bulk of N loading to the bay as 1687.2 metric ton N yr(-1) (88% total load). Direct atmospheric DIN load for Biscayne Bay was only 231.7 ton N yr(-1), based on surface area. Of the canal DIN load, nitrate+nitrite (NO(x)(-)) loading (1294.5 ton N yr(-1)) made up a much greater proportion than that of ammonium (NH(4)(+), 392.6 ton N yr(-1)). In the urbanized north and central Bay, canal DIN load was evenly split between NO(x)(-) and NH(4)(+). However, in the south, 95% of the DIN load was in the form of NO(x)(-), reflecting the more agricultural land use. Contrary to N, canals contributed the only 66% of P load to the bay (27.5 ton P yr(-1)). Atmospheric TP load was 14 ton Pyr(-1). In the north, canal P load dominated the budget while in the south, atmospheric load was almost double canal load. Groundwater inputs, estimated only for the south Bay, represented an important source of N and P in this zone. Groundwater input of N (141 ton N yr(-1)) was about equal to atmospheric load, while P load (5.9 ton P yr(-1)) was about equal to canal load. 相似文献
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