Abstract-In this paper, a personal micronavigation system that uses high-resolution gait-corrected inertial measurement units is presented. The goal of this paper is to develop a navigation system that uses secondary inertial variables, such as velocity, to enable long-term precise navigation in the absence of Global Positioning System (GPS) and beacon signals. In this scheme, measured zerovelocity duration from the ground reaction sensors is used to reset the accumulated integration errors from accelerometers and gyroscopes in position calculation. With the described system, an average position error of 4 m is achieved at the end of half-hour walks.Index Terms-Dead reckoning, inertial measurement, Kalman filter (KF), pedestrian navigation system, pressure sensor array.
Energy dispersive X‐ray fluorescence spectroscopy of thin sections of Laurencia snyderae Dawson shows bromine is concentrated in a cytoplasmic vesicle, the corps en cerise, a previously described structure characteristic of this genus. The presence of the brominated natural product β‐snyderol is shown to be related to the presence of corps en cerise in cortical cells. The presence of halogenated sesquiterpenoids in the corps en cerise of various Laurencia species is inferred from these data.
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