Unmanned-aerial-vehicle (UAV) communications, as a critical application scenario in the sixth generation (6G) wireless communication field, has garnered widespread attention. During UAV-to-ground communication, channel data plays a pivotal role. Analyzing channel data enables an understanding of communication environments’ diversity and temporal variability, thereby facilitating the construction of more efficient communication systems. This article proposes a novel UAV-to-ground channel prediction method based on multimodal fusion. The method aims to achieve real-time and precise prediction of UAV-to-ground channel data from UAVs in the 3-D airspace by integrating various sources of information, including UAV-captured images, location data of transmitters and receivers, and communication settings. The network uses a fused architecture combining convolutional neural network (CNN) and Transformer architecture to extract and integrate features from diverse information sources. This fusion strategy significantly enhances the accuracy of UAV-to-ground channel prediction. Incorporating image information enables the network better to comprehend the complexity and dynamics of communication environments, thereby assisting in achieving more precise UAV-to-ground channel prediction. Experimental results demonstrate that the proposed method achieves real-time prediction of ground channels across various flight altitudes and communication frequency bands. This provides robust technical support for advancing UAV communication and offers new insights for optimizing and upgrading future wireless communication systems.

The safe operation of unmanned ground vehicles (UGVs) demands fundamental and essential requirements for continuous and reliable positioning performance. Traditional coupled navigation systems, combining the global navigation satellite system (GNSS) with an inertial navigation system (INS), provide continuous, drift-free position estimation. However, challenges like GNSS signal interference and blockage in complex scenarios can significantly degrade system performance. Moreover, ultra-wideband (UWB) technology, known for its high precision, is increasingly used as a complementary system to the GNSS. To tackle these challenges, this paper proposes a novel tightly coupled INS/UWB/GNSS-RTK integrated positioning system framework, leveraging a variational Bayesian adaptive Kalman filter based on the maximum mixture correntropy criterion. This framework is introduced to provide a high-precision and robust navigation solution. By incorporating the maximum mixture correntropy criterion, the system effectively mitigates interference from anomalous measurements. Simultaneously, variational Bayesian estimation is employed to adaptively adjust noise statistical characteristics, thereby enhancing the robustness and accuracy of the integrated system’s state estimation. Furthermore, sensor measurements are tightly integrated with the inertial measurement unit (IMU), facilitating precise positioning even in the presence of interference from multiple signal sources. A series of real-world and simulation experiments were carried out on a UGV to assess the proposed approach’s performance. Experimental results demonstrate that the approach provides superior accuracy and stability in integrated system state estimation, significantly mitigating position drift error caused by uncertainty-induced disturbances. In the presence of non-Gaussian noise disturbances introduced by anomalous measurements, the proposed approach effectively implements error control, demonstrating substantial advantages in positioning accuracy and robustness.

Accurate prediction of bus arrival times is a challenging problem in the public transportation field. Previous studies have shown that to improve prediction accuracy, more heterogeneous measurements provide better results. So what other factors should be added into the prediction model? Traditional prediction methods mainly use the arrival time and the distance between stations, but do not make full use of dynamic factors such as passenger number, dwell time, bus driving efficiency, etc. We propose a novel approach that takes full advantage of dynamic factors. Our approach is based on a Recurrent Neural Network (RNN). The experimental results indicate that a variety of prediction algorithms (such as Support Vector Machine, Kalman filter, Multilayer Perceptron, and RNN) have significantly improved performance after using dynamic factors. Further, we introduce RNN with an attention mechanism to adaptively select the most relevant input factors. Experiments demonstrate that the prediction accuracy of RNN with an attention mechanism is better than RNN with no attention mechanism when there are heterogeneous input factors. The experimental results show the superior performances of our approach on the data set provided by Jinan Public Transportation Corporation.

Identifying an epidermal growth factor receptor (EGFR) mutation is important because EGFR tyrosine kinase inhibitors are the first-line treatment of choice for patients with EGFR mutation-positive lung adenocarcinomas (LUAC). This study is aimed at developing and validating a radiomics-based machine learning (ML) approach to identify EGFR mutations in patients with LUAC. We retrospectively collected data from 201 patients with positive EGFR mutation LUAC (140 in the training cohort and 61 in the validation cohort). We extracted 1316 radiomics features from preprocessed CT images and selected 14 radiomics features and 1 clinical feature which were most relevant to mutations through filter method. Subsequently, we built models using 7 ML approaches and established the receiver operating characteristic (ROC) curve to assess the discriminating performance of these models. In terms of predicting EGFR mutation, the model derived from radiomics features and combined models (radiomics features and relevant clinical factors) had an AUC of 0.79 (95% confidence interval (CI): 0.77-0.82), 0.86 (0.87-0.88), respectively. Our study offers a radiomics-based ML model using filter methods to detect the EGFR mutation in patients with LUAC. This convenient and low-cost method may be of help to noninvasively identify patients before obtaining tumor sample for molecule testing.

The timing group delay parameter (TGD) or differential code bias parameter (DCB) is an important factor that affects the performance of GNSS basic services; therefore, TGD and DCB must be taken seriously. Moreover, the TGD parameter is modulated in the navigation message, taking into account the impact of TGD on the performance of the basic service. International GNSS Monitoring and Assessment System (iGMAS) provides the broadcast ephemeris with TGD parameter and the Chinese Academy of Science (CAS) provides DCB products. In this paper, the current available BDS-3 TGD and DCB parameters are firstly described in detail, and the relationship of TGD and DCB for BDS-3 is figured out. Then, correction models of BDS-3 TGD and DCB in standard point positioning (SPP) or precise point positioning (PPP) are given, which can be applied in various situations. For the effects of TGD and DCB in the SPP and PPP solution processes, all the signals from BDS-3 were researched, and the validity of TGD and DCB has been further verified. The experimental results show that the accuracy of B1I, B1C and B2a single-frequency SPP with TGD or DCB correction was improved by approximately 12–60%. TGD will not be considered for B3I single-frequency, because the broadcast satellite clock offset is based on the B3I as the reference signal. The positioning accuracy of B1I/B3I and B1C/B2a dual-frequency SPP showed that the improvement range for horizontal components is 60.2% to 74.4%, and the vertical components improved by about 50% after the modification of TGD and DCB. In addition, most of the uncorrected code biases are mostly absorbed into the receiver clock bias and other parameters for PPP, resulting in longer convergence time. The convergence time can be max increased by up to 50% when the DCB parameters are corrected. Consequently, the positioning accuracy can reach the centimeter level after convergence, but it is critical for PPP convergence time and receiver clock bias that the TGD and DCB correction be considered seriously.

In this paper, we propose a partial ambiguity method of global navigation satellite system (GNSS) reliable positioning based on a robust estimation model to address the problems of the low reliability and availability of GNSS positioning in urban complex environments. First, the high-precision observations selected on the basis of the signal-to-noise ratio (SNR) were used to solve ambiguities. Then, the fixed ambiguities were used as constraints to solve the ambiguities of low-quality observations. The robust estimation method was used to reduce the impact of outliers for the ambiguity solutions. The robust estimation was also used to solve the position parameters to reduce the influence of the residual errors and uncorrected ambiguities for GNSS high-accuracy positioning. Static and dynamic data were used to evaluate the proposed algorithm. These experiments show that the proposed algorithm with the robust estimation can reduce the fixed time of ambiguity initialization, compared with the conventional algorithm without the robust estimation. The positioning accuracy and solution rate are similar regardless of whether the robust estimation is used in the GNSS unblocked environment. In blocked environments, the solution rate improves to more than 99%, and the three-dimensional (3D) position accuracy improves by more than 70% when the robust estimation is used. When the observation number of simulated small gross error accounts for 40.91% of total observations, the centimeter-level positioning accuracy can still be obtained via several robust estimation models. In the urban blocked environment, the IGG (Institute of Geodesy and Geophysics) III scheme has a better performance than other robust schemes discussed in this paper with regard to the positioning performance and computational efficiency.