Effects of a school-based karate intervention on academic achievement,psychosocial functioning,and physical fitness:A multi-country cluster randomized controlled trial

Purpose:To examine the effects of a school-based karate intervention on academic achievement,psychosocial functioning,and physical fitness in children aged 7-8 years.Methods:Twenty schools in 5 different European countries(2 second-grade classrooms per school)participated in a cluster randomized controlled trial(Sport at School trial).Participants were assigned to either a control group,which continued with their habitual physical education lessons,or to an intervention group,which replaced these lessons with a 1-year karate intervention(Karate Mind and Movement program).A total of 721 children(344 girls and 377 boys,7.4±0.5 years old,mean±SD)completed the study,of which 333 and 388 were assigned to the control group and intervention group,respectively.Outcomes included academic performance(average grade),psychosocial functioning(Strengths and Difficulties Questionnaire for parents),and different markers of physical fitness(cardiorespiratory fitness,balance,and flexibility).Results:The intervention provided small but significant benefits compared to the control group for academic achievement(d=0.16;p=0.003),conduct problems(d=-0.28;p=0.003),cardiorespiratory fitness(d=0.36;p<0.001),and balance(d=0.24;p=0.015).There was a trend towards significant benefits for flexibility(d=0.24;p=0.056).No significant benefits were observed for other variables,including psychosocial difficulties,emotional symptoms,hyperactivity/inattention,peer problems,or prosocial behaviour(all p>0.05).Conclusion:A 1-year school-based karate intervention was effective in improving academic achievement,conduct problems,and physical fitness in primary school children.The results support the inclusion of karate during physical education lessons.

Research on the Comprehensive Development Trend of National Fitness Activity Centers

With the further advancement of the“National Fitness”strategy and the continuous development of the information age,the National Fitness Activity Centers have become more comprehensive.The comprehensiveness is reflected in the design of diversified sports functions and spaces.The article serves to explore the comprehensive development trend of National Fitness Activity Centers.Through summarizing and sorting out domestic and foreign cases,the trend of the comprehensive development of National Fitness Activity Centers is predicted at three levels:industry,city,and individual functions.

基于多靶点粪便FIT-DNA联合检测技术的结直肠癌早筛应用研究

目的评价多靶点粪便FIT-DNA联合检测技术在结直肠癌早期筛查中的效果并进一步分析其应用前景。方法选取内蒙古医科大学附属医院就诊人群,每位受试者分别行血清肿瘤标志物检测、多靶点粪便FIT-DNA联合检测、肠镜检查,以接受多靶点粪便FIT-DNA联合检测人群为实验组,以接受肠镜检查及血清肿瘤标志物检测人群为对照组,以病理结果为金标准,评价新型粪便分子检测技术对于结直肠癌筛查的效果,对筛出的阳性人群给予及时干预。结果共分析了115例患者。血清肿瘤标志物检测敏感度63.2%(43/68),特异度74.5%(35/47);肠镜检查敏感度97.1%(66/68),特异度80.7%(38/47);而多靶点粪便FIT-DNA联合检测敏感度89.7%(61/68),特异度87.2%(41/47)。多靶点粪便FIT-DNA联合检测敏感度、特异度等均优于血清肿瘤标志物检测,敏感度虽低于肠镜检查,但相较肠镜检查操作简单,可居家自测。

某社区体检人群多靶点粪便FIT-DNA筛查结直肠癌的效果分析

目的:分析2019年5月至2020年11月北京市东高地社区35~74岁体检人群结直肠癌筛查结果,为结直肠癌早期筛查模式提供一些参考。方法:采用多靶点粪便FIT-DNA联合检测技术检查,阳性人群全结肠镜检查。结果:1963人完成检测,FIT-DNA阳性率14.0%(275/1963),随年龄增长呈增高趋势(χ2=17.990,P=0.000);70~74岁男性阳性率(27.5%)高于同龄女性(15.3%),其他年龄组无性别差异(P<0.000);高血压、糖尿病、经常吸烟、经常饮酒、低学历人群的FIT-DNA阳性率均增高(P<0.05)。肠镜总参与率9.48%(186/1963),FIT-DNA阳性肠镜参检率61.8%(170/275),检出结直肠癌和癌前病变33.9%(63/186);FIT-DNA和肠镜结果的阳性符合率达92.10%,其中肠癌与高级别病变阳性符合率达100%;75.9%(1489/1963)的人同时进行了FIT-DNA及iFOB检查,前者高于后者(χ2=39.78,P<0.001),前者是后者的2.18倍(OR=2.177,95%CI 1.70~22.784)。结论:FIT-DNA可明显提高肠镜检查的参与率,有利于提高肠癌及癌前病变检出率,可以作为社区人群早期筛查结直肠癌一种有效手段。

Resistance development,cross-resistance,and fitness costs associated with Aphis gossypii resistance towards sulfoxaflor and acetamiprid in different geographical regions

Aphis gossypii has become increasingly difficult to manage due to its strong insecticide resistance.In the laboratory,we established sulfoxaflor-resistant and acetamiprid-resistant strains in two A.gossypii populations with different basal insecticide resistance levels,and evaluated the effects of basal insecticide resistance on the resistance development and cross-resistance,as well as differences in fitness.Under the same selection pressure,Yarkant A.gossypii(with low basal insecticide resistance)evolved resistance to sulfoxaflor and acetamiprid more quickly than Jinghe A.gossypii(with high basal insecticide resistance),and the evolution of A.gossypii resistance to sulfoxaflor developed faster than acetamiprid in both Yarkant and Jinghe,Xingjiang,China.The sulfoxaflor-resistant strains selected from Yarkant and Jinghe developed significant cross-resistance to acetamiprid,imidacloprid,thiamethoxam and pymetrozine;while the acetamiprid-resistant strains developed significant cross-resistance to sulfoxaflor,imidacloprid,thiamethoxam,pymetrozine,and chlorpyrifos.The relative fitness of A.gossypii decreased as the resistance to sulfoxaflor and acetamiprid developed.The relative fitness levels of the sulfoxaflor-resistant strains(Yarkant-SulR and Jinghe-SulR)were lower than those of the acetamipridresistant strains(Yarkant-AceR and Jinghe-AceR).In addition,the relative fitness levels of sulfoxaflor-and acetamiprid-resistant strains were lower in Jinghe than in Yarkant.In summary,basal insecticide resistance of A.gossypii and insecticide type affected the evolution of resistance to insecticides in A.gossypii,as well as cross-resistance to other insecticides.The sulfoxaflor-and acetamiprid-resistant A.gossypii strains had obvious fitness costs.The results of this work will contribute to the insecticide resistance management and integrated management of A.gossypii.

Associations between health-related fitness and patient-reported symptoms in newly diagnosed breast cancer patients

Background:Newly diagnosed breast cancer patients experience symptoms that may affect their quality of life,treatment outcomes,and survival.Preventing and managing breast cancer-related symptoms soon after diagnosis is essential.The purpose of this study was to investigate the associations between health-related fitness(HRF)and patient-reported symptoms in newly diagnosed breast cancer patients.Methods:This study utilized baseline data from the Alberta Moving Beyond Breast Cancer Cohort Study that were collected within 90 days of diagnosis.HRF measures included peak cardiopulmonary fitness(peak volume of oxygen consumption(VO_(2peak))),maximal muscular strength and endurance,flexibility,and body composition.Symptom measures included depression,sleep quality,and fatigue.Adjusted multivariable logistic regression was performed for analyses.Results:Of 1458 participants,51.5%reported poor sleep quality,26.5%reported significant fatigue,and 10.4%reported moderate depression.In multivariable-adjusted models,lower relative VO_(2peak)was independently associated with a greater likelihood of all symptom measures,including moderate depression(p<0.001),poor sleep quality(p=0.009),significant fatigue(p=0.008),any symptom(p<0.001),and multiple symptoms(p<0.001).VO_(2peak)demonstrated threshold associations with all symptom measures such that all 3 lower quartiles exhibited similar elevated risk compared to the highest quartile.The strength of the threshold associations varied by the symptom measure with odds ratios ranging from-1.5 for poor sleep quality to-3.0 for moderate depression and multiple symptoms.Moreover,lower relative upper body muscular endurance was also independently associated with fatigue in a dose-response manner(p=0.001),and higher body weight was independently associated with poor sleep quality in an inverted U pattern(p=0.021).Conclusion:Relative VO_(2peak)appears to be a critical HRF component associated with multiple patient-reported symptoms in newly diagnosed breast cancer patients.Other HRF parameters may also be important for specific symptoms.Exercise interventions targeting different HRF components may help newly diagnosed breast cancer patients manage specific symptoms and improve outcomes.

Genetic benefits of female from extra-pair paternity are context dependent within the socially monogamous Tree Sparrow

Females actively seek extra-pair paternity(EPP)to acquire a fitness advantage for their offspring.The“contextdependence hypothesis”posits that female extra-pair mate choice has plasticity in response to environmental conditions,and therefore magnitude of female genetic benefits from EPP depends on the environmental variation.Furthermore,chronic heavy metal pollution can cause adverse effects on fitness-related traits of wild birds.However,few studies were available on the interactions between heavy metal pollution and EPP.We selected an area that was contaminated by heavy metals for more than 60 years(Baiyin,BY),a relatively unpolluted area(Liujiaxia,LJX),and Tree Sparrows(Passer montanus)as study species to explore the response of female extrapair mate choice and genetic benefits from EPP to heavy metal pollution in socially monogamous birds.The relatedness between social mates and extra-pair mates was investigated.Additionally,we compared the body size and heterozygosity of extra-pair offspring(EPO),within-pair offspring(WPO),social males and extra-pair males from the two Tree Sparrow populations.We found that at BY,female Tree Sparrows tended to choose extra-pair males with larger body size and lower genetic similarity,thereby producing higher heterozygosity and larger body size of EPO compared with those of WPO.However,no similar phenomenon was observed in the Tree Sparrow population from LJX.In addition,there was a significant interaction between population and paternity in the analyses of the fitness-related traits,suggesting that environmental variation could affect female genetic benefits from EPP.This study confirmed the existence of presumed interactions between environmental pollution and EPP within the natural population of socially monogamous Tree Sparrows.Our findings shed lights on the possible effects of long-term environmental stress on mating system in wild birds.

Subpopulations of regulatory T cells are associated with subclinical atherosclerotic plaques,levels of LDL,and cardiorespiratory fitness in the elderly

Background:Atherosclerosis forms the pathological basis for the development of cardiovascular disease.Since pathological processes initially develop without clinically relevant symptoms,the identification of early markers in the subclinical stage plays an important role for initiating early interventions.There is evidence that regulatory T cells(Tregs)are involved in the development of atherosclerosis.Therefore,the present study aimed to identify and investigate associations with Tregs and their subsets in a cohort of healthy elderly individuals with and without subclinical atherosclerotic plaques(SAP).In addition,various lifestyle and risk factors,such as cardiorespiratory fitness,were investigated as associated signatures.Methods:A cross-sectional study was performed in 79 participants(male:n=50;age=63.6±3.7 years;body mass index=24.9±3.1 kg/m2;mean±SD)who had no previous diagnosis of chronic disease and were not taking medication.Ultrasound of the carotids to identify SAP,cardiovascular function measurement for vascular assessment and a cardiorespiratory fitness test to determine peak oxygen uptake were performed.Additionally,tests were conducted to assess blood lipids and determine glucose levels.Immunophenotyping of Tregs and their subtypes(resting(rTregs)and effector/memory(mTregs))was performed by 8-chanel flow cytometry.Participants were categorized according to atherosclerotic plaque status.Linear and logistic regression models were used to analyze associations between parameters.Results:SAP was detected in a total of 29 participants.The participants with plaque were older(64.8±3.6 years vs.62.9±3.5 years)and had higher peripheral systolic blood pressure(133.8±14.7 mmHg vs.125.8±10.9 mmHg).The participants with SAP were characterized by a lower percentage of rTregs(28.8%±10.7%vs.34.6%±10.7%)and a higher percentage of mTregs(40.3%±14.7%vs.30.0%±11.9%).Multiple logistic regression identified age(odds ratio(OR)=1.20(95%confidence interval(95%CI):1.011.42))and mTregs(OR=1.05(95%CI:1.021.10))as independent risk factors for SAP.Stepwise linear regression could reveal an association of peak oxygen uptake(β=0.441),low-density lipoprotein(LDL)(β=0.096),and SAP(β=6.733)with mTregs and LDL(β=0.104)with rTregs.Conclusion:While at an early stage of SAP,the total proportion of Tregs gives no indication of vascular changes,this is indicated by a shift in the Treg subgroups.Factors such as serum LDL or cardiopulmonary fitness may be associated with this shift and may also be additional diagnostic indicators.This could be used to initiate lifestyle-based preventive measures at an early stage,which may have a protective effect against disease progression.

Yr5-virulent races of Puccinia striiformis f.sp.tritici possess relative parasitic fitness higher than current main predominant races and potential risk

Wheat stripe rust,caused by Puccinia striiformis f.sp.tritici(Pst),is one of the most destructive fungal diseases of wheat,and seriously threatens safe production of the crop worldwide.In China,new races historically appeared and rapidly developed to be predominant races and have resulted in ineffectiveness and replacement of wheat resistance cultivars as well as massive reduction in yield.In the present study,the relative parasitic fitness of the two newlyemerged Yr5-virulent races(TSA-6 and TSA-9)were compared with those of four currently predominant Chinese races(CYR31,CYR32,CYR33,and CYR34)based on evaluation on 10 Chinese wheat cultivars.As a result,there were significant differences in the relative parasitic fitness parameters among overall tested races based on multiple comparison(LSD)analysis(P<0.05).The principal component analysis(PCA)of overall parasitic fitness parameters indicated that the sporulation ability,infection and spore survivability,expansion capacity,and potential pathogenicity were the most important parasitic fitness attributes of the tested races.Based on the establishment of extracted three principal components and a comprehensive factor score mathematical models,evaluations of the parasitic fitness attributes of tested races showed that the level of relative parasitic fitness of the tested six races was:CYR32(1.15)>TSA-9(0.95)>TSA-6(0.92)>CYR34(0.29)>CYR31(–1.54)>CYR33(–1.77).The results indicated that two Yr5-virulent races TSA-9 and TSA-6 possessed relative parasitic fitness higher than races CYR34,CYR31,and CYR33,but lower than race CYR32,and have potential risks in developing to be predominant races.Therefore,continual monitoring of both Yr5-virulent races,and their variants is needed.The use of wheat cultivars(lines)with Yr5 resistance gene singly in wheat breeding is essential for being avoided,and is suggested to combine with other effective stripe rust resistance genes.

Is economic fitness helpful in achieving environmental sustainability in BRICS economies?A risk exposure perspective

A country’s ability to create complex goods and diversify its lines of products is essential for addressing all types of vulnerabilities.Quantifying a country’s vulnerability to extreme climatic events,such as droughts,superstorms,and other natural disasters,and its capacity for successful adaption,is an essential global need that has been ignored.This study examines the role of economic fitness(EF)in addressing climate change risk ex‐posure in BRICS countries in the context of the environmental Kuznets curve using panel data from 1995 to 2015.Panel threshold methodology is employed to ascertain the nonlinear relationship between EF and climate change risk exposure(i.e.,Notre Dame Global Adaptation Initiative Country Index(ND-GAIN)).In addition,empirical associations were estimated using panel-corrected standard errors,Driscoll-Kraay standard errors,and feasible generalized least squares estimation techniques.These findings demonstrated an inverted N shaped link between EF and ND-GAIN.Moreover,even after controlling for significant ND-GAIN influencing variables such as gross domestic product per capita,financial development,and urbanization,our robustness checks revealed significant and consistent findings.

A Residual Frequency Offset Estimation Method Based on Range Migration Fitting

Recently,researchers have proposed an emitter localization method based on passive synthetic aperture.However,the unknown residual frequency offset(RFO)between the transmit-ter and the receiver causes the received Doppler signal to shift,which affects the localization accu-racy.To solve this issue,this paper proposes a RFO estimation method based on range migration fitting.Due to the high frequency modulation slope of the linear frequency modulation(LFM)-mod-ulation radar signal,it is not affected by RFO in range compression.Therefore,the azimuth time can be estimated by fitting the peak value position of the pulse compression in range direction.Then,the matched filters are designed under different RFOs.When the zero-Doppler time obtained by the matched filters is consistent with the estimated azimuth time,the given RFO is the real RFO between the transceivers.The simulation results show that the estimation error of azimuth distance does not exceed 20 m when the received signal duration is not less than 3 s,the pulse repe-tition frequency(PRF)of the transmitter radar signal is not less than 1 kHz,the range detection is not larger than 1000 km,and the signal noise ratio(SNR)is not less than-5 dB.

The Impact and Intervention of Handheld Tai Chi Water-Resistance Fitness Ball on Middle-Aged and Elderly Patients with Parkinson’s Disease

Through the use of a survey and statistical methods, this study explores the effects and interventions of handheld Tai Chi water resistance fitness balls on the elderly with Parkinson’s disease. Firstly, a questionnaire on exercise compliance for patients with Parkinson’s disease was developed, and its reliability and validity were tested. Then, a survey was conducted to investigate the current status of exercise compliance among Parkinson’s disease patients, including general information, scoring status, and single and multiple factor analyses of influencing factors [1]. The results of the study show that through qualitative research, the dimensions and item pools of the questionnaire were initially constructed, and the reliability analysis of the questionnaire was conducted through Delphi expert consultation, with favorable results in terms of its reliability and validity [2]. Regarding the current status of exercise compliance among Parkinson’s disease patients, the study found that the level of exercise compliance needs improvement, and there are significant differences in exercise compliance levels among patients under different circumstances. Finally, the research results were discussed and conclusions were drawn. The innovation of this study lies in the development of a questionnaire on exercise compliance for patients with Parkinson’s disease and the preliminary qualitative research and Delphi expert consultation conducted on it, providing new ideas and methods for the study of exercise compliance. However, the study also has limitations as it did not examine the effects of other interventions on Parkinson’s disease, so further research should be conducted [3].

Path-dependent speciation in dynamic fitness landscapes

Species is a fundamental concept in evolutionary biology and biodiversity.However,existing species definitions are often influenced by artificial factors or are challenging in practical application,leading to confusion in species classification.Due to uncertain environmental changes and random genetic drift,the fitness expectations of a population may shift,causing species to evolve to a new evolutionary state based on their current instantaneous fitness within a dynamic fitness landscape.This contrasts with the classic static fitness landscape,where fitness expectations are constant.In a dynamic fitness landscape,speciation may exhibit path dependence,where the evolution of traits follows a probabilistic path,creating feedback that shapes evolutionary trajectories.The path-dependent evolutionary mechanism suggests that species survival within an ecosystem is not directly determined by their fitness but by the probability of their evolutionary pathways.This model also indicates that species can coexist with varying probabilities under limited environmental pressures.Consequently,new species,cryptic species,or sympatric species may emerge via path-dependent evolutionary processes.Within this framework,we developed a mathematical species concept,which may guide future species classification methodologies.

Market Positioning Analysis of CJ Brand Fitness Equipment

CJ Health Technology Co.has been an export-oriented supplier of fitness equipment,boasting leading technology innovation and manufacturing capabilities.However,in the process of expanding into the domestic market,the challenges of unclear market positioning and lack of brand awareness have emerged as major obstacles.To address these issues,a SWOT analysis was conducted to explore a suitable market positioning strategy for the CJ brand.The analysis reveals that the market demand for commercial fitness equipment is relatively saturated,with fierce competition.In contrast,the home fitness market represents a new blue ocean with promising development opportunities for the CJ brand.Leveraging excellent product quality,stringent quality control measures,and innovation-driven cutting-edge technology,it is recommended that CJ brand fitness equipment target young customers aged between 25 and 35 years old.Additionally,vigorously developing the home fitness product line is proposed to capitalize on this burgeoning market segment.

华为举办夏季全场景新品发布会,华为WATCH FIT 3等十余款新品亮相

2024年5月15日,华为举办夏季全场景新品发布会,推出了多款全场景新品,包括华为MateBook 14、华为MatePad 11.5"S、华为WATCH FIT 3、华为儿童手表5 Pro、华为Vision智慧屏4、华为智能眼镜2等。同时,发布会展示了华为MatePad Pro 13.2英寸。

Research on the Deep Integration Mechanism of National Fitness Campaign and College Physical Education Teaching:Taking Guangdong University of Science and Technology as an Example

By using the methods of literature review,questionnaire survey,and expert interview,this paper discusses and analyzes the deep integration mechanism of national fitness campaign and college physical education teaching,in order to promote the development of college physical education teaching reform,expand ideas,explore new fields,and provide novel development directions.The purpose is to enhance the national physical quality,improve the public service system,enhance the health awareness of the citizens,and provide guidelines for promoting the development of sports.

清华大学等40所高校联合组织互联网创新 国家未来互联网试验设施FITI项目推进会举行

5月12日,未来网络试验设施国家重大科技基础设施:未来互联网试验设施FITI项目推进工作会议在清华大学举行。清华大学等40所项目承建高校负责人员100多人参会。FITI项目负责人,清华大学吴建平院士表示,FITI项目是面向未来互联网体系结构创新的国家重大科技基础设施,旨在为研究和设计各种创新未来网络体系结构提供国际领先的开放性试验环境,是继中国教育和科研计算机网CERNET和CERNET2之后,由清华大学等40所高校联合攻关的又一个重大互联网实验平台。

基于van Genuchten模型土壤水分特征曲线的vanfit和MATLAB软件模拟研究

研究了土壤水分特征曲线对探讨土壤水分运动机理及溶质运移动力学机制具有重要科学意义。由于测定土壤水分特征曲线的长历时性和时间限制,在从相关参考文献中提取土壤水分特征曲线测定数据的基础上,建立土壤水分特征曲线的资料库,采用van Genuchten模型对土壤水分特征曲线进行描述,分别应用vanfit软件和MATLAB软件下的lsqcurvefit函数2种方法对土壤进行van Genuchten模型下的4个参数拟合分析。结果表明,2个程序拟合结果大体相近且优良,均方差较小,拟合曲线大致相同,且土壤质地不同,其土壤水分特征曲线差别较大。

Scoping review on health-related physical fitness in patients with inflammatory bowel disease:Assessment,interventions,and future directions

BACKGROUND Reaching the Selecting Therapeutic Targets in Inflammatory Bowel Disease-II(STRIDE-II)therapeutic targets for inflammatory bowel disease(IBD)requires an interdisciplinary approach.Lifestyle interventions focusing on enhancing and preserving health-related physical fitness(HRPF)may aid in improving subjective health,decreasing disability,or even controlling inflammation.However,ambiguity remains about the status and impact of HRPF(i.e.body composition,cardiorespiratory fitness,muscular strength,muscular endurance,and flexibility)in IBD patients,hindering the development of physical activity and physical exercise training guidelines.AIM To review HRPF components in IBD patients and the impact of physical activity and physical exercise training interventions on HRPF.METHODS A systematic search in multiple databases was conducted for original studies that included patients with IBD,assessed one or more HRPF components,and/or evaluated physical activity or physical exercise training interventions.RESULTS Sixty-eight articles were included.No study examined the complete concept of HRPF,and considerable heterogeneity existed in assessment methods,with frequent use of non-validated tests.According to studies that used gold standard tests,cardiorespiratory fitness seemed to be reduced,but findings on muscular strength and endurance were inconsistent.A limited number of studies that evaluated physical activity or physical exercise training interventions reported effects on HRPF,overall showing a positive impact.CONCLUSION We performed a scoping review using a systematic and iterative approach to identify and synthesize an emerging body of literature on health-related physical fitness in patients with IBD,highlighting several research gaps and opportunities for future research.Findings of this review revealed a gap in the literature regarding the accurate assessment of HRPF in patients with IBD and highlighted important methodological limitations of studies that evaluated physical activity or physical exercise training interventions.This scoping review is a step towards performing studies and systematic reviews in the future,which was not possible at present given the heterogeneity in endpoints and designs of the available studies on this topic.Future well-designed studies are required to determine the optimal training paradigm for improving HRPF in patients with IBD before guidelines can be developed and integrated into the therapeutic strategy.

A Robust Indoor Localization Algorithm Based on Polynomial Fitting and Gaussian Mixed Model

Wireless sensor network(WSN)positioning has a good effect on indoor positioning,so it has received extensive attention in the field of positioning.Non-line-of sight(NLOS)is a primary challenge in indoor complex environment.In this paper,a robust localization algorithm based on Gaussian mixture model and fitting polynomial is proposed to solve the problem of NLOS error.Firstly,fitting polynomials are used to predict the measured values.The residuals of predicted and measured values are clustered by Gaussian mixture model(GMM).The LOS probability and NLOS probability are calculated according to the clustering centers.The measured values are filtered by Kalman filter(KF),variable parameter unscented Kalman filter(VPUKF)and variable parameter particle filter(VPPF)in turn.The distance value processed by KF and VPUKF and the distance value processed by KF,VPUKF and VPPF are combined according to probability.Finally,the maximum likelihood method is used to calculate the position coordinate estimation.Through simulation comparison,the proposed algorithm has better positioning accuracy than several comparison algorithms in this paper.And it shows strong robustness in strong NLOS environment.