Electronic appliances and ferromagnetic materials can be easily found in any building in urban environment. A steady magnetic environment and a pure value of geomagnetic field for calculating the heading of the smartphone in case of pedestrian walking indoors is hard to obtain. Therefore, an independent inertial heading correction algorithm without involving magnetic field but only making full use of the embedded Micro-Electro-Mechanical System (MEMS) Inertial measurement unit (IMU) device in the smartphone is presented in this paper. Aiming at the strict navigation requirements of pedestrian smartphone positioning, the algorithm focused in this paper consists of Gravity Assisted (GA) and Middle Time Simulated-Zero Velocity Update (MTS-ZUPT) methods. With the help of GA method, the different using-mode of the smartphone can be judged based on the data from the gravity sensor of smartphone. Since there is no zero-velocity status for handheld smartphone, the MTS-ZUPT algorithm is proposed based on the idea of Zero Velocity Update (ZUPT) algorithm. A Kalman Filtering algorithm is used to restrain the heading divergence at the middle moment of two steps. The walking experimental results indicate that the MTS-ZUPT algorithm can effectively restrain the heading error diffusion without the assistance of geomagnetic heading. When the MTS-ZUPT method was integrated with GA method, the smartphone navigation system can autonomously judge the using-mode and compensate the heading errors. The pedestrian positioning accuracy is significantly improved and the walking error is only 1.4% to 2.0% of the walking distance in using-mode experiments of the smartphone.
Carbon-based materials are usually considered as conventional electrode materials for supercapacitors (SCs), therefore it is meaningful to enhance supercapacitive capacity and cycling stability via rational surface structure design of carbon-based materials. The bio-inspired coral-like porous carbon structure has attracted much attention recently in that it can offer large surface area for ion accommodation and favor ions-diffusion, promoting its energy storage capacity. Herein, we designed a superiorly hydrophilic B, N dual doped coral-like carbon framework (BN-CCF) and studied its surface wettability via low-field nuclear magnetic resonance relaxation technique. The unique coral-like micro-nano structure and B, N dual doping in carbon framework can enhance its pseudocapacitance and improve surface wettability. Therefore, when used as electrodes of SCs, the BN-CCF displays 457.5 F g−1 at 0.5 A g−1, even when current density increases 20 folds, it still exhibits high capacitance retention of 66.1% and superior cycling stability. The symmetrical SCs assembled by BN-CCF electrodes show a high energy density of 14.92 Wh kg−1 (600 W kg−1). In this work, simple structural regulation with B, N dual doping and surface wettability should be considered as effective strategy to enhance energy storage capacity of carbon-based SCs.
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