The Chinese government started an important project “Geographical conditions monitoring (GCM)” in 2012, which aims at fully revealing the spatial pattern of natural resources, and economic and social development. Urban development assessment and analysis are an important topic of the comprehensive statistics in GCM project. This study quantitatively evaluates the sustainable development level of 287 cities at prefecture level and above in China and analyzes their spatial distribution. Both an index system of urban sustainable development (USI) constructed by three aspects, namely society, economy and environment, and the TOPSIS-Entropy method are adopted. The results show that the overall level of urban sustainable development in China is not high, and obvious differences in urban sustainable development among cities exist. The coordination of social, economic and environmental sustainable development in China is at a low level. In terms of spatial distribution, cities from eastern coastal areas of China are at relatively higher levels of sustainable development with central and northeastern cities ranking second and western ones lowest. Several spatial clusters of urban sustainable development can be found. The “High–High” clusters, in which cities have high levels of sustainable development, are distributed in urban agglomerations. Finally, some suggestions have been provided to achieve all-round sustainable development in China.

In the past few decades, global navigation satellite system (GNSS) technology has been widely used in structural health monitoring (SHM), and the monitoring mode has evolved from long-term deformation monitoring to dynamic monitoring. This paper gives an overview of GNSS-based dynamic monitoring technologies for SHM. The review is classified into three parts, which include GNSS-based dynamic monitoring technologies for SHM, the improvement of GNSS-based dynamic monitoring technologies for SHM, as well as denoising and detrending algorithms. The significance and progress of Real-Time Kinematic (RTK), Precise Point Position (PPP), and direct displacement measurement techniques, as well as single-frequency technology for dynamic monitoring, are summarized, and the comparison of these technologies is given. The improvement of GNSS-based dynamic monitoring technologies for SHM is given from the perspective of multi-GNSS, a high-rate GNSS receiver, and the integration between the GNSS and accelerometer. In addition, the denoising and detrending algorithms for GNSS-based observations for SHM and corresponding applications are summarized. Challenges of low-cost and widely covered GNSS-based technologies for SHM are discussed, and problems are posed for future research.

The demand for location-based services (LBS) in large indoor spaces, such as airports, shopping malls, museums and libraries, has been increasing in recent years. However, there is still no fully applicable solution for indoor positioning and navigation like Global Navigation Satellite System (GNSS) solutions in outdoor environments. Positioning in indoor scenes by using smartphone cameras has its own advantages: no additional needed infrastructure, low cost and a large potential market due to the popularity of smartphones, etc. However, existing methods or systems based on smartphone cameras and visual algorithms have their own limitations when implemented in relatively large indoor spaces. To deal with this problem, we designed an indoor positioning system to locate users in large indoor scenes. The system uses common static objects as references, e.g., doors and windows, to locate users. By using smartphone cameras, our proposed system is able to detect static objects in large indoor spaces and then calculate the smartphones’ position to locate users. The system integrates algorithms of deep learning and computer vision. Its cost is low because it does not require additional infrastructure. Experiments in an art museum with a complicated visual environment suggest that this method is able to achieve positioning accuracy within 1 m.

Indoor localization is one of the fundamentals of location-based services (LBS) such as seamless indoor and outdoor navigation, location-based precision marketing, spatial cognition of robotics, etc. Visual features take up a dominant part of the information that helps human and robotics understand the environment, and many visual localization systems have been proposed. However, the problem of indoor visual localization has not been well settled due to the tough trade-off of accuracy and cost. To better address this problem, a localization method based on image retrieval is proposed in this paper, which mainly consists of two parts. The first one is CNN-based image retrieval phase, CNN features extracted by pre-trained deep convolutional neural networks (DCNNs) from images are utilized to compare the similarity, and the output of this part are the matched images of the target image. The second one is pose estimation phase that computes accurate localization result. Owing to the robust CNN feature extractor, our scheme is applicable to complex indoor environments and easily transplanted to outdoor environments. The pose estimation scheme was inspired by monocular visual odometer, therefore, only RGB images and poses of reference images are needed for accurate image geo-localization. Furthermore, our method attempts to use lightweight datum to present the scene. To evaluate the performance, experiments are conducted, and the result demonstrates that our scheme can efficiently result in high location accuracy as well as orientation estimation. Currently the positioning accuracy and usability enhanced compared with similar solutions. Furthermore, our idea has a good application foreground, because the algorithms of data acquisition and pose estimation are compatible with the current state of data expansion.

Accurate multispectral image segmentation is essential in remote sensing research. Traditional fuzzy clustering algorithms used to segment multispectral images have several disadvantages, including: (1) they usually only consider the pixels’ grayscale information and ignore the interaction between pixels; and, (2) they are sensitive to noise and outliers. To overcome these constraints, this study proposes a multispectral image segmentation algorithm based on fuzzy clustering combined with the Tsallis entropy and Gaussian mixture model. The algorithm uses the fuzzy Tsallis entropy as regularization item for fuzzy C-means (FCM) and improves dissimilarity measure using the negative logarithm of the Gaussian Mixture Model (GMM). The Hidden Markov Random Field (HMRF) is introduced to define prior probability of neighborhood relationship, which is used as weights of the Gaussian components. The Lagrange multiplier method is used to solve the segmentation model. To evaluate the proposed segmentation algorithm, simulated and real multispectral images were segmented using the proposed algorithm and two other algorithms for comparison (i.e., Tsallis Fuzzy C-means (TFCM), Kullback–Leibler Gaussian Fuzzy C-means (KLG-FCM)). The study found that the modified algorithm can accelerate the convergence speed, reduce the effect of noise and outliers, and accurately segment simulated images with small gray level differences with an overall accuracy of more than 98.2%. Therefore, the algorithm can be used as a feasible and effective alternative in multispectral image segmentation, particularly for those with small color differences.

Device-free wireless localization based on Wi-Fi channel state information (CSI) is an emerging technique that could estimate users’ indoor locations without invading their privacy or requiring special equipment. It deduces the position of a person by analyzing the influence on the CSI of Wi-Fi signals. When pedestrians block the signals between the transceivers, the non-line-of-sight (NLOS) transmission occurs. It should be noted that NLOS has been a significant factor restricting the device-free positioning accuracy due to signal reduction and abnormalities during multipath propagation. For this problem, we analyzed the NLOS effect in an indoor environment and found that the position error in the LOS condition is different from the NLOS condition. Then, two empirical models, namely, a CSI passive positioning model and a CSI NLOS/LOS detection model, have been derived empirically with extensive study, which can obtain better robustness identified results in the case of NLOS and LOS conditions. An algorithm called SVM-NB (Support Vector Machine-Naive Bayes) is proposed to integrate the SVM NLOS detection model with the Naive Bayes fingerprint method to narrow the matching area and improve position accuracy. The NLOS identification precision is better than 97%. The proposed method achieves localization accuracy of 0.82 and 0.73 m in laboratory and corridor scenes, respectively. Compared to the Bayes method, our tests showed that the positioning accuracy of the NLOS condition is improved by 28.7% and that of the LOS condition by 26.2%.