Despite the significant impacts of biomass burning (BB) on global climate change and regional air pollution, there is a relative lack of research on the temporal trends and geographic patterns of BB in Northeast China (NEC). This study investigates the spatial–temporal distribution of BB and its impact on the atmospheric environment in the NEC region during 2004 to 2023 based on remote sensing satellite data and reanalyzed data, using the Siegel’s Repeated Median Estimator and Mann–Kendall test for trend analysis, HDBSCAN to identify significant BB change regions, and Moran’s Index to examine the spatial autocorrelation of BB. The obtained results indicate a fluctuating yet overall increasing BB trend, characterized by annual increases of 759 for fire point counts (FPC) and 12,000 MW for fire radiated power (FRP). BB predominantly occurs in the Songnen Plain (SNP), Sanjiang Plain (SJP), Liaohe Plain (LHP), and the transitional area between SNP and the adjacent Greater Khingan Mountains (GKM) and Lesser Khingan Mountains (LKM). Cropland and urban areas exhibit the highest growth in BB trends, each surpassing 60% (p < 0.05), with the most significant growth cluster spanning 68,634.9 km². Seasonal analysis shows that BB peaks in spring and autumn, with spring experiencing the highest severity. The most critical periods for BB are March–April and October–November, during which FPC and FRP contribute to over 80% of the annual total. This trend correlates with spring planting and autumn harvesting, where cropland FPC constitutes 71% of all land-cover types involved in BB. Comparative analysis of the aerosol extinction coefficient (AEC) between areas with increasing and decreasing BB indicates higher AEC in BB increasing regions, especially in spring, with the vertical transport of BB reaching up to 1.5 km. County-level spatial autocorrelation analysis indicates high–high clustering in the SNP and SJP, with a notable resurgence of autocorrelation in the SNP, suggesting the need for coordinated provincial prevention and control efforts. Finally, our analysis of the impact of BB on atmospheric pollutants shows that there is a correlation between FRP and pollutants, with correlations for PM_2.5, PM₁₀, and CO of 0.4, 0.4, and 0.5, respectively. In addition, the impacts of BB vary by region and season, with the most significant impacts occurring in the spring, especially in the SNP, which requires more attention. In summary, considering the escalating BB trend in NEC and its significant effect on air quality, this study highlights the urgent necessity for improved monitoring and strategic interventions.

Attitude and heading estimation methods using the global navigation satellite system (GNSS) are generally based on multi-antenna deployment, where the installation space and system cost increase with the increase in the number of antennas. Since the single-antenna receiver is still the major choice of the mass market, we focus on precise and reliable heading and pitch estimation using a low-cost GNSS receiver. Carrier phase observations are precise but have an ambiguity problem. A single difference between consecutive epochs can eliminate ambiguity and reduce the measurement errors. In this work, a measurement model based on the time-differenced carrier phases (TDCPs) is utilized to estimate the precise delta position of the antenna between two consecutive epochs. Then, considering the motion constraint, the heading and pitch angles of a moving land vehicle can be determined by the components of the estimated receiver delta position. A threshold on the length of the delta position is selected to avoid large errors in static periods. To improve the reliability of the algorithm, the Doppler-aided cycle slip detection method is applied to exclude carrier phases with possible cycle slips. A real vehicular dynamic experiment using a low-cost, single-frequency GNSS receiver is conducted to evaluate the proposed algorithm. The experimental results show that the proposed algorithm is capable of providing precise vehicular heading and pitch estimates, with both the root mean square errors being better than 1.5°. This also indicates that the cycle slip exclusion is indispensable to avoid unexpected large errors.

Navigation errors due to drifting in inertial systems using low-cost sensors are some of the main challenges for land vehicle navigation in Global Navigation Satellite System (GNSS)-denied environments. In this paper, we propose an autonomous navigation strategy with a wheel-mounted microelectromechanical system (MEMS) inertial measurement unit (IMU), referred to as the wheeled inertial navigation system (INS), to effectively suppress drifted navigation errors. The position, velocity, and attitude (PVA) of the vehicle are predicted through the inertial mechanization algorithm, while gyro outputs are utilized to derive the vehicle’s forward velocity, which is treated as an observation with non-holonomic constraints (NHCs) to estimate the inertial navigation error states. To establish a theoretical foundation for wheeled INS error characteristics, a comprehensive system observability analysis is conducted from an analytical point of view. The wheel rotation significantly improves the observability of gyro errors perpendicular to the rotation axis, which effectively suppresses azimuth errors, horizontal velocity, and position errors. This leads to the superior navigation performance of a wheeled INS over the traditional odometer (OD)/NHC/INS. Moreover, a hybrid extended particle filter (EPF), which fuses the extended Kalman filter (EKF) and PF, is proposed to update the vehicle’s navigation states. It has the advantages of (1) dealing with the system’s non-linearity and non-Gaussian noises, and (2) simultaneously achieving both a high level of accuracy in its estimation and tolerable computational complexity. Kinematic field test results indicate that the proposed wheeled INS is able to provide an accurate navigation solution in GNSS-denied environments. When a total distance of over 26 km is traveled, the maximum position drift rate is only 0.47% and the root mean square (RMS) of the heading error is 1.13°.