Road-Network-Map-Assisted Vehicle Positioning Based on Pose Graph Optimization.

Satellite signals are easily lost in urban areas, which causes difficulty in vehicles being located with high precision. Visual odometry has been increasingly applied in navigation systems to solve this problem. However, visual odometry relies on dead-reckoning technology, where a slight positioning error can accumulate over time, resulting in a catastrophic positioning error.

A Cycle Slip Detection and Repair Method Based on Inertial Aiding for BDS Triple-Frequency Signals.

Cycle slip detection and repair is a prerequisite to obtain high-precision positioning based on a carrier phase. Traditional triple-frequency pseudorange and phase combination algorithm are highly sensitive to the pseudorange observation accuracy. To solve the problem, a cycle slip detection and repair algorithm based on inertial aiding for a BeiDou navigation satellite system (BDS) triple-frequency signal is proposed.

Monocular Visual Position and Attitude Estimation Method of a Drogue Based on Coaxial Constraints.

In aerial refueling, there exists deformation of the circular feature on the drogue's stabilizing umbrella to a certain extent, which causes the problem of duality of position estimation by a single circular feature. In this paper, a monocular visual position and attitude estimation method of a drogue is proposed based on the coaxial constraints. Firstly, a procedure for scene recovery from one single circle is introduced.

Negligible risk of the COVID-19 resurgence caused by work resuming in China (outside Hubei): a statistical probability study.

The COVID-19 outbreak in China appears to reach the late stage since late March 2020, and a stepwise restoration of economic operations is implemented. Risk assessment for such economic restoration is of significance. Here, we estimated the probability of COVID-19 resurgence caused by work resuming in typical provinces/cities and found that such probability is very limited (<5% for all the regions except Beijing).

Synthesis, structures and Helicobacter pylori urease inhibitory activity of copper(II) complexes with tridentate aroylhydrazone ligands.

A series of new copper(II) complexes were prepared. They are [CuL(1)(NCS)] (1), [CuClL(1)]·CH3OH (2), [CuClL(2)]·CH3OH (3), [CuL(3)(NCS)]·CH3OH (4), [CuL(4)(NCS)]·0.4H2O (5), and [CuL(5)(bipy)] (6), where L(1), L(2), L(3) and L(4) are the deprotonated form of N'-(2-hydroxybenzylidene)-3-methylbenzohydrazide, 4-bromo-N'-(2-hydroxy-5-methoxybenzylidene)benzohydrazide, N'-(2-hydroxy-5-methoxybenzylidene)-3-methylbenzohydrazide and 2-chloro-N'-(2-hydroxy-5-methoxybenzylidene)benzohydrazide, respectively, L(5) is the dianionic form of N'-(2-hydroxybenzylidene)-3-methylbenzohydrazide, and bipy is 2,2'-bipyridine.

Synthesis, structures and urease inhibitory activity of cobalt(III) complexes with Schiff bases.

A series of new cobalt(III) complexes were prepared. They are [CoL(1)(py)3]·NO3 (1), [CoL(2)(bipy)(N3)]·CH3OH (2), [CoL(3)(HL(3))(N3)]·NO3 (3), and [CoL(4)(MeOH)(N3)] (4), where L(1), L(2), L(3) and L(4) are the deprotonated form of N'-(2-hydroxy-5-methoxybenzylidene)-3-methylbenzohydrazide, N'-(2-hydroxybenzylidene)-3-hydroxylbenzohydrazide, 2-[(2-dimethylaminoethylimino)methyl]-4-methylphenol, and N,N'-bis(5-methylsalicylidene)-o-phenylenediamine, respectively, py is pyridine, and bipy is 2,2'-bipyridine. The complexes were characterized by infrared and UV-Vis spectra, and single crystal X-ray diffraction.