Abstract:The integration of Global Positioning System (GPS) real-time kinematics (RTK) and an inertial navigation system (INS) has been widely used in many applications, such as mobile mapping and autonomous vehicle control. Such applications require high-accuracy position information. However, continuous and reliable high-accuracy positioning is still challenging for GPS/INS integration in urban environments because of the limited satellite visibility, increasing multipath, and frequent signal blockages. Recently, with the rapid deployment of multi-constellation Global Navigation Satellite System (multi-GNSS) and the great advances in low-cost micro-electro-mechanical-system (MEMS) inertial measurement units (IMUs), it is expected that the positioning performance could be improved significantly. In this contribution, the tightly-coupled single-frequency multi-GNSS RTK/MEMS-IMU integration is developed to provide precise and continuous positioning solutions in urban environments. The innovation-based outlier-resistant ambiguity resolution (AR) and Kalman filtering strategy are proposed specifically for the integrated system to resist the measurement outliers or poor-quality observations. A field vehicular experiment was conducted in Wuhan City to evaluate the performance of the proposed algorithm. Results indicate that it is feasible for the proposed algorithm to obtain high-accuracy positioning solutions in the presence of measurement outliers. Moreover, the tightly-coupled single-frequency multi-GNSS RTK/MEMS-IMU integration even outperforms the dual-frequency multi-GNSS RTK in terms of AR and positioning performance for short baselines in urban environments.

Precise position, velocity, and attitude is essential for self-driving cars and unmanned aerial vehicles (UAVs). The integration of global navigation satellite system (GNSS) real-time kinematics (RTK) and inertial measurement units (IMUs) is able to provide high-accuracy navigation solutions in open-sky conditions, but the accuracy will be degraded severely in GNSS-challenged environments, especially integrated with the low-cost microelectromechanical system (MEMS) IMUs. In order to navigate in GNSS-denied environments, the visual–inertial system has been widely adopted due to its complementary characteristics, but it suffers from error accumulation. In this contribution, we tightly integrate the raw measurements from the single-frequency multi-GNSS RTK, MEMS-IMU, and monocular camera through the extended Kalman filter (EKF) to enhance the navigation performance in terms of accuracy, continuity, and availability. The visual measurement model from the well-known multistate constraint Kalman filter (MSCKF) is combined with the double-differenced GNSS measurement model to update the integration filter. A field vehicular experiment was carried out in GNSS-challenged environments to evaluate the performance of the proposed algorithm. Results indicate that both multi-GNSS and vision contribute significantly to the centimeter-level positioning availability in GNSS-challenged environments. Meanwhile, the velocity and attitude accuracy can be greatly improved by using the tightly-coupled multi-GNSS RTK/INS/Vision integration, especially for the yaw angle.

The WD40 proteins, often acting as scaffolds to form functional complexes in fundamental cellular processes, are one of the largest families encoded by the eukaryotic genomes. Systematic studies of this family on genome scale are highly required for understanding their detailed functions, but are currently lacking in the animal lineage. Here we present a comprehensive in silico study of the human WD40 family. We have identified 262 non-redundant WD40 proteins, and grouped them into 21 classes according to their domain architectures. Among them, 11 animal-specific domain architectures have been recognized. Sequence alignment indicates the complicated duplication and recombination events in the evolution of this family. Through further phylogenetic analysis, we have revealed that the WD40 family underwent more expansion than the overall average in the evolutionary early stage, and the early emerged WD40 proteins are prone to domain architectures with fundamental cellular roles and more interactions. While most widely and highly expressed human WD40 genes originated early, the tissue-specific ones often have late origin. These results provide a landscape of the human WD40 family concerning their classification, evolution, and expression, serving as a valuable complement to the previous studies in the plant lineage.

Dual-frequency Global Positioning System (GPS) Real-time Kinematics (RTK) has been proven in the past few years to be a reliable and efficient technique to obtain high accuracy positioning. However, there are still challenges for GPS single-frequency RTK, such as low reliability and ambiguity resolution (AR) success rate, especially in kinematic environments. Recently, multi-Global Navigation Satellite System (multi-GNSS) has been applied to enhance the RTK performance in terms of availability and reliability of AR. In order to further enhance the multi-GNSS single-frequency RTK performance in terms of reliability, continuity and accuracy, a low-cost micro-electro-mechanical system (MEMS) inertial measurement unit (IMU) is adopted in this contribution. We tightly integrate the single-frequency GPS/BeiDou/GLONASS and MEMS-IMU through the extended Kalman filter (EKF), which directly fuses the ambiguity-fixed double-differenced (DD) carrier phase observables and IMU data. A field vehicular test was carried out to evaluate the impacts of the multi-GNSS and IMU on the AR and positioning performance in different system configurations. Test results indicate that the empirical success rate of single-epoch AR for the tightly-coupled single-frequency multi-GNSS RTK/INS integration is over 99% even at an elevation cut-off angle of 40°, and the corresponding position time series is much more stable in comparison with the GPS solution. Besides, GNSS outage simulations show that continuous positioning with certain accuracy is possible due to the INS bridging capability when GNSS positioning is not available.

As an ancient protein family, the WD40 repeat proteins often play essential roles in fundamental cellular processes in eukaryotes. Although investigations of eukaryotic WD40 proteins have been frequently reported, prokaryotic ones remain largely uncharacterized. In this paper, we report a systematic analysis of prokaryotic WD40 proteins and detailed comparisons with eukaryotic ones. About 4,000 prokaryotic WD40 proteins have been identified, accounting for 6.5% of all WD40s. While their abundances are less than 0.1% in most prokaryotes, they are enriched in certain species from Cyanobacteria and Planctomycetes, and participate in various functions such as prokaryotic signal transduction and nutrient synthesis. Comparisons show that a higher proportion of prokaryotic WD40s tend to contain multiple WD40 domains and a large number of hydrogen bond networks. The observation that prokaryotic WD40 proteins tend to show high internal sequence identity suggests that a substantial proportion of them (~20%) should be formed by recent or young repeat duplication events. Further studies demonstrate that the very young WD40 proteins, i.e., Highly-Repetitive WD40s, should be of higher stability. Our results have presented a catalogue of prokaryotic WD40 proteins, and have shed light on their evolutionary origins.

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