GPS/BDS/INS tightly coupled integration accuracy improvement using an improved adaptive interacting multiple model with classified measurement update

An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） suffers the problem for which the uncertainty of the statistical properties to dynamic and measurement models will degrade the performance.In this research, an Adaptive Interacting Multiple Model（AIMM） filter is developed to enhance performance. The soft-switching property of Interacting Multiple Model（IMM） algorithm allows the adaptation between two levels of process noise, namely lower and upper bounds of the process noise. In particular, the Sage adaptive filtering is applied to adapt the measurement covariance on line. In addition, a classified measurement update strategy is utilized, which updates the pseudorange and Doppler observations sequentially. A field experiment was conducted to validate the proposed algorithm, the pseudorange and Doppler observations from Global Positioning System（GPS） and Bei Dou Navigation Satellite System（BDS） were post-processed in differential mode.The results indicate that decimeter-level positioning accuracy is achievable with AIMM for GPS/INS and GPS/BDS/INS configurations, and the position accuracy is improved by 35.8%, 34.3% and 33.9% for north, east and height components, respectively, compared to the CEKF counterpartfor GPS/BDS/INS. Degraded performance for BDS/INS is obtained due to the lower precision of BDS pseudorange observations.

北斗卫星导航系统与全球定位系统的性能比较

介绍了中国自主研发的北斗卫星导航系统(BDS)与美国全球定位系统(GPS)的一些性能差别。

Effects of Oxytetracycline on Methane Production and the Microbial Communities During Anaerobic Digestion of Cow Manure

The effects of different concentrations of oxytetracycline （OTC） on the dynamics of bacterial and archaeal communities during the mesophilic anaerobic digestion （37＆#176;C） of cow manure were investigated. Before anaerobic digestion, OTC was added to digesters at concentrations of 20, 50, and 80 mg L-1, respectively. Compared with no-antibiotic control, all methane productions underwent different levels of inhibition at different concentrations of OTC. Changes in the bacterial and archaeal communities were discussed by using PCR-denaturing gradient gel electrophoresis （DGGE）. Results showed that OTC affected the richness and diversity of bacterial and archaeal communities. The bacterial genus Flavobacterium and an uncultured bacterium （JN256083.1） were detected throughout the entire process of anaerobic digestion and seemed to be the functional bacteria. Methanobrevibacter boviskoreani and an uncultured archaeon （FJ230982.1） dominated the archaeal communities during anaerobic digestion. These microorganisms may have high resistance to OTC and may play vital roles in methane production.

Analytical long-term evolution and perturbation compensation models for BeiDou MEO satellites

The current paper establishes the analytical models of the long-term evolution and perturbation compensation strategy for Medium Earth Orbits（MEO）shallow-resonant navigation constellation,with application to the Chinese Bei Dou Navigation Satellite System（BDS）.The long-term perturbation model for the relative motion is developed based on the Hamiltonian model,and the long-term evolution law is analyzed.The relationship between the control boundary of the constellation and the offset of the orbital elements is analyzed,and a general analytical method for calculating the offset of the orbit elements is proposed.The analytical model is further improved when the luni-solar perturbations are included.The long-term evolutions of the BDS MEO constellation within 10 years are illustrated,and the effectiveness of the proposed analytical perturbation compensation calculation approach is compared with the traditional numerical results.We found the fundamental reason for the nonlinear variations of the relative longitude of ascending node and the mean argument of latitude is the long-periodic variations of the orbital inclination due to the luni-solar perturbations.The proposed analytical approach can avoid the numerical iterations,and reveal the essential relationship between the orbital element offsets and the secular drifts of the constellation configuration.Moreover,there is no need for maintaining the BDS MEO constellation within 10 years while using the perturbation compensation method.