The integration of GNSS （Global Navigation Satellite System） and INS （Inertial Navigation System） using IMU （Inertial Measurement Unit） is now widely used for MMS （Mobile Mapping System） and navigation applica...The integration of GNSS （Global Navigation Satellite System） and INS （Inertial Navigation System） using IMU （Inertial Measurement Unit） is now widely used for MMS （Mobile Mapping System） and navigation applications to seamlessly determine position, velocity and attitude of the mobile platform. With low cost, small size, ligh weight and low power consumtion, the MEMS （Micro-Electro-Mechanical System） IMU and low cost GPS （Global Positioning System） receivers are now the trend in research and using for many applications. However, researchs in the literature indicated that the the performance of the low cost INS/GPS systems is still poor, particularly, in case of GNSS-noise environment. To overcome this problem, this research applies analytic contrains including non-holonomic constraint and zero velocity update in the data fusion engine such as Extended Kalman Filter to improve the performance of the system. The benefit of the proposed method will be demonstrated through experiments and data analysis.展开更多
Waters in marine ecosystems are likely contamination. The origin of pollution may be industrial, radioactive, agricultural, urban mikobiologjike etc.. The study was conducted in the waters of the Adriatic sea ecosyste...Waters in marine ecosystems are likely contamination. The origin of pollution may be industrial, radioactive, agricultural, urban mikobiologjike etc.. The study was conducted in the waters of the Adriatic sea ecosystem aims to analyze the microbiological contamination areas. These waters are used for holiday purposes by citizens. The samplings of marine water are taken from the stratum water surface about 10 cm, at a distance 10-20 m by sea coast. These samples are examined in laboratory for determination of two micro organisms, indicators excrements pollution Faecal Coliform （FC） （ISO 9803） and FC, probably Streptococcus Faecal （FS） with Filtrate Membrane Method＇s in specific areas （ISO 7899-2）. In area Velipoja, Albania, the microbiologic elaborated analyses have resulted as follows： For FC and Streptococcus Faecal are given the minimal values FC-50, FS-50 and maximal values FC-90, FS-90 per 100 mL. About the evaluation of reaction （pH） is concluded that in Albania the sea waters coastal zones have a lightly alkaline ambient, where pH value is in the range 7.5-8.3, estimated according to recommended standards 6-9. No cases of red-tide algae development have been observed.展开更多
文摘The integration of GNSS （Global Navigation Satellite System） and INS （Inertial Navigation System） using IMU （Inertial Measurement Unit） is now widely used for MMS （Mobile Mapping System） and navigation applications to seamlessly determine position, velocity and attitude of the mobile platform. With low cost, small size, ligh weight and low power consumtion, the MEMS （Micro-Electro-Mechanical System） IMU and low cost GPS （Global Positioning System） receivers are now the trend in research and using for many applications. However, researchs in the literature indicated that the the performance of the low cost INS/GPS systems is still poor, particularly, in case of GNSS-noise environment. To overcome this problem, this research applies analytic contrains including non-holonomic constraint and zero velocity update in the data fusion engine such as Extended Kalman Filter to improve the performance of the system. The benefit of the proposed method will be demonstrated through experiments and data analysis.
文摘Waters in marine ecosystems are likely contamination. The origin of pollution may be industrial, radioactive, agricultural, urban mikobiologjike etc.. The study was conducted in the waters of the Adriatic sea ecosystem aims to analyze the microbiological contamination areas. These waters are used for holiday purposes by citizens. The samplings of marine water are taken from the stratum water surface about 10 cm, at a distance 10-20 m by sea coast. These samples are examined in laboratory for determination of two micro organisms, indicators excrements pollution Faecal Coliform （FC） （ISO 9803） and FC, probably Streptococcus Faecal （FS） with Filtrate Membrane Method＇s in specific areas （ISO 7899-2）. In area Velipoja, Albania, the microbiologic elaborated analyses have resulted as follows： For FC and Streptococcus Faecal are given the minimal values FC-50, FS-50 and maximal values FC-90, FS-90 per 100 mL. About the evaluation of reaction （pH） is concluded that in Albania the sea waters coastal zones have a lightly alkaline ambient, where pH value is in the range 7.5-8.3, estimated according to recommended standards 6-9. No cases of red-tide algae development have been observed.
