Huber M-estimation, as an estimation method based on mixed norm as cost function, provides an effective method for robust filtering to deal with measurement outliers. Based on statistical linear regression model approximating nonlinear measurement model, M-estimation algorithm is used to realize measurement update of states. However, when the measurement noise pollution rate is high, the filtering performance will be seriously degraded. In order to further improve the actual performance of data fusion under abnormal measurement noise, a vehicle cooperative positioning scheme based on adaptive M-estimation robust unscented Kalman filter (AMRUKF) was proposed. This algorithm combines Huber’s linear regression problem with covariance matching method, and calculates the adaptive matrix through the innovation covariance estimator based on fading memory index weighting to adaptively adjust the measurement noise covariance used in Huber M estimation method. The analytical and experimental results of tightly-coupled vehicle relative positioning show that the proposed AMRUKF method can effectively improve the robustness and accuracy of relative positioning and provide a practical control scheme for vehicle cooperative positioning.

High accuracy positioning information plays an important role in the field of autonomous driving, where both the visual and inertial sensors have been widely noticed because the virtue that they do not rely on external information. However, the accumulation of sensor errors degrades system positioning accuracy in complex environments due to the fixed system model and variable measurement noise in traditional visual inertial odometry. A novel visual inertial odometry based on interactive multiple model and multi-state constrained Kalman filter is proposed. First, the trifocal tensor model constructed from three consecutive images is used as the measurement model of the system, and the corresponding position and orientation information is added to the filter state vector to form a multi-state constrained Kalman filter (MSCKF), which is then combined with the interactive multiple model (IMM) to form an IMM-MSCKF algorithm to interactively fuse the inputs and outputs of multiple sub-filters to improve the positioning accuracy of the visual inertial odometry (VIO). The proposed method is validated by selected urban environment and highway area data from publicly available datasets. The experimental results show that the proposed algorithm effectively improves the positioning accuracy of integrated navigation while reducing the positioning error of a single sensor compared to the conventional visual inertial odometry.

Attitude information obtained from low-cost magnetic, angular rate, and gravity (MARG) sensors is prone to be deteriorated by disturbances such as external acceleration and magnetic anomaly in operational environments. To address the problem, a robust attitude estimation algorithm using low-cost MARG sensors is proposed. An error state Kalman filter (ESKF) is used for data fusing, in which the attitude errors are interpreted as a small rotation vector, and the gyro bias variation is also estimated. The nominal state and the error state are propagated with unit quaternion and rotation vector, respectively. An attitude correction is followed which combines the nominal and error parts by quaternion multiplication. The robustness of the proposed algorithm is embodied in resisting accuracy degradation of the attitude estimation caused by both external acceleration and magnetic anomalies. While external accelerations and magnetic disturbances are detected online, the accuracy reduction in attitude estimation is prevented by adaptively adjusting the related measurement noise covariance matrix. Besides, a two-step measurement update strategy is designed to guarantee that the roll and pitch update is separated from the yaw update. Various rotation and land vehicle dynamic tests have been conducted to validate the effectiveness and robustness of the proposed algorithm.

Shoe-mounted pedestrian navigation systems based on micro inertial sensors rely on zero velocity updates to correct their positioning errors in time, which effectively makes determining the zero velocity interval play a key role during normal walking. However, as walking gaits are complicated, and vary from person to person, it is difficult to detect walking gaits with a fixed threshold method. This paper proposes a pedestrian gait classification method based on a hidden Markov model. Pedestrian gait data are collected with a micro inertial measurement unit installed at the instep. On the basis of analyzing the characteristics of the pedestrian walk, a single direction angular rate gyro output is used to classify gait features. The angular rate data are modeled into a univariate Gaussian mixture model with three components, and a four-state left–right continuous hidden Markov model (CHMM) is designed to classify the normal walking gait. The model parameters are trained and optimized using the Baum–Welch algorithm and then the sliding window Viterbi algorithm is used to decode the gait. Walking data are collected through eight subjects walking along the same route at three different speeds; the leave-one-subject-out cross validation method is conducted to test the model. Experimental results show that the proposed algorithm can accurately detect different walking gaits of zero velocity interval. The location experiment shows that the precision of CHMM-based pedestrian navigation improved by 40% when compared to the angular rate threshold method.

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.