It is the main challenge for Global Positioning System (GPS)/Inertial Navigation System (INS) to achieve reliable and low-cost positioning solutions during GPS outages. A new GPS/INS hybrid method is proposed to bridge GPS outages. Firstly, a data pre-processing algorithm based on empirical mode decomposition (EMD) for wavelet de-noising is developed to reduce the uncertain noise of IMU raw measurements and provide accurate information for subsequent GPS/INS data fusion and training samples. Then, the interactive multi-model extended Kalman filter(IMM-EKF) algorithm is proposed to improve the robustness of Kalman filter output and the accuracy of model training target output. Finally, a new intelligent structure of GPS/INS based on Extreme Learning Machine (ELM) is proposed. When the GPS is available, the IMM-EKF is used to fuse the GPS and de-noised INS data, and the de-noised INS data and the outputs of IMM-EKF are used to train the ELM. During GPS outages, the ELM is used to predict and correct the INS position error. In order to evaluate the effectiveness of the proposed method, 3 tests were performed in the actual field test. The comparison results show that the proposed fusion method can significantly improve the accuracy and reliability of positioning during GPS outages.

Breast cancer is the most common cancer in women and poses a great threat to women's life and health. Mammography is an effective method for the diagnosis of breast cancer, but the results are largely limited by the clinical experience of radiologists. Therefore, the main purpose of this study is to perform two-stage classification (Normal/Abnormal and Benign/Malignancy) of two- view mammograms through convolutional neural network. In this study, we constructed a multi-view feature fusion network model for classification of mammograms from two views, and we proposed a multi-scale attention DenseNet as the backbone network for feature extraction. The model consists of two independent branches, which are used to extract the features of two mammograms from different views. Our work mainly focuses on the construction of multi-scale convolution module and attention module. The final experimental results show that the model has achieved good performance in both classification tasks. We used the DDSM database to evaluate the proposed method. The accuracy, sensitivity and AUC values of normal and abnormal mammograms classification were 94.92%, 96.52% and 94.72%, respectively. And the accuracy, sensitivity and AUC values of benign and malignant mammograms classification were 95.24%, 96.11% and 95.03%, respectively.