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The Global Navigation Satellite System (GNSS) positioning technology using smartphones can be applied to many aspects of mass life, and the world’s first dual-frequency GNSS smartphone Xiaomi MI 8 represents a new trend in the development of GNSS positioning technology with mobile phones. The main purpose of this work is to explore the best real-time positioning performance that can be achieved on a smartphone without reference stations. By analyzing the GNSS raw measurements, it is found that all the three mobile phones tested have the phenomenon that the differences between pseudorange observations and carrier phase observations are not fixed, thus a PPP (precise point positioning) method is modified accordingly. Using a Xiaomi MI 8 smartphone, the modified real-time PPP positioning strategy which estimates two clock biases of smartphone was applied. The results show that using multi-GNSS systems data can effectively improve positioning performance; the average horizontal and vertical RMS positioning error are 0.81 and 1.65 m respectively (using GPS, BDS, and Galileo data); and the time required for each time period positioning errors in N and E directions to be under 1 m is less than 30s.

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By integrating a triboelectric nanogenerator (TENG) and an electrostatic actuation system (EAS), two kinds of self-powered EAS are designed for manipulating the movement of both microfluid and tiny solid objects. The mechanical triggering of the TENG can generate an extremely high electrostatic field inside EAS and thus the tiny object (liquid or solid) in the EAS can be actuated by the Coulomb force. Accordingly, the tribomotion of TENG can be used as both the driving power and control signal for the EAS. The TENG device with a contact surface of 70 cm 2 can drive a water droplet to move across a gap of 2 cm. Meanwhile, the confluence of two droplets with the same charge polarity and different components can also be induced and controlled by this self-powered EAS. In addition, based on the same working principle, this EAS also demonstrates its capability for manipulating solid object (e.g., a tiny steel pellet). By sliding the Kapton film along a segmented annular electrode, the tiny pellet can well follow the rotated motion of the Kapton film. The demonstrated concept of this self-powered EAS has excellent applicability for various micro/miniature actuation devices, electromechanical systems, human-machine interaction, etc.