Multiple global navigation satellite system (GNSS) constellations can dramatically improve the signal availability in dense urban environments. However, accuracy remains a challenge because buildings block, reflect and diffract the signals. This paper investigates three different techniques for mitigating the impact of non-line-of-sight (NLOS) reception and multipath interference on position accuracy without using additional hardware, testing them using data collected at multiple sites in central London. Aiding the position solution using a terrain height database was found to have the biggest impact, improving the horizontal accuracy by 35% and the vertical accuracy by a factor of 4. An 8% improvement in horizontal accuracy was also obtained from weighting the GNSS measurements in the position solution according to the carrier-power-to-noise-density ratio (C/N 0 ). Consistency checking using a conventional sequential elimination technique was found to degrade horizontal positioning performance by 60% because it often eliminated the wrong measurements in cases when multiple signals were affected by NLOS reception or strong multipath interference. A new consistency checking method that compares subsets of measurements performed better, but was still equally likely to improve or degrade the accuracy. This was partly because removing a poor measurement can result in adverse signal geometry, degrading the position accuracy. Based on this, several ways of improving the reliability of consistency checking are proposed. K E Y
The reception of indirect signals, either in the form of non-line-of-sight (NLOS) reception or multipath interference, is a major cause of GNSS position errors in urban environments. We explore the potential of using dual-polarisation antenna technology for detecting and mitigating the reception of NLOS signals and severe multipath interference. The new technique computes the value of the carrier-power-to-noise-density (C/N 0 ) measurements from left-hand circular polarised (LHCP) outputs subtracted from the right-hand circular polarised (RHCP) C/N 0 counterpart. If this quality is negative, NLOS signal reception is assumed. If the C/N 0 difference is positive, but falls below a threshold based on its lower bound in an open-sky environment, severe multipath interference is assumed. Results from two experiments are presented. Open field testing was first performed to characterise the antenna behaviour and determine a suitable multipath detection threshold. The techniques were then tested in a dense urban area. Using the new method, two signals in the urban data were identified as NLOS-only reception during the occupation period at one station, while the majority of the remaining signals present were subject to a mixture of NLOS reception and severe multipath interference. The point positioning results were dramatically improved by excluding the detected NLOS measurements. The new technique is suited to a wide range of static ground applications based on our results.
Abstract-The next generation of navigation and positioning systems must provide greater accuracy and reliability in a range of challenging environments to meet the needs of a variety of mission-critical applications. No single navigation technology is robust enough to meet these requirements on its own, so a multisensor solution is required. Although many new navigation and positioning methods have been developed in recent years, little has been done to bring them together into a robust, reliable, and cost-effective integrated system. To achieve this, four key challenges must be met: complexity, context, ambiguity, and environmental data handling. This paper addresses each of these challenges. It describes the problems, discusses possible approaches, and proposes a program of research and standardization activities to solve them. The discussion is illustrated with results from research into urban GNSS positioning, GNSS shadow matching, environmental feature matching, and context detection.
Calcium-sensing receptor (CaSR) belongs to the family C of G-protein coupled receptors. We have previously demonstrated that CaSR could induce apoptosis of cultured neonatal rat ventricular cardiomyocytes in simulated ischemia/reperfusion. It remains unknown whether the CaSR has function in lipopolysaccharide (LPS)-induced myocardial injure. The aim of this study was to investigate whether the CaSR plays a role in LPS-induced myocardial injury. Cultured neonatal rat cardiomyocytes were treated with LPS, with or without pretreatment with the CaSR-specific agonist gadolinium chloride (GdCl3) or the CaSR-specific antagonist NPS2390. Release of TNF-α and IL-6 from cardiomyocytes was observed. Levels of malonaldehyde (MDA), lactate dehydrogenase (LDH), and activity of superoxide dismutase (SOD) were measured. In addition, apoptosis of the cardiomyocytes, [Ca2+]i and level of CaSR expression were determined. The results showed that LPS increased cardiomyocytes apoptosis, [Ca2+]i, MDA, LDH, TNF-α, IL-6 release, and CaSR protein expression. Compared with LPS treatment alone, pretreatment with GdCl3 further increased apoptosis of cardiomyocytes, MDA, LDH, TNF-α, IL-6 release, [Ca2+]i, and the expression of the CaSR protein. Conversely, pretreatment with NPS2390 decreased apoptosis of cardiomyocytes, MDA, LDH, TNF-α, IL-6 release, [Ca2+]i and the expression of the CaSR protein. These results demonstrate that LPS could induce cardiomyocyte injury. Moreover, LPS-induced cardiomyocyte injury was related to CaSR-mediated cardiomyocytes apoptosis, TNF-α, IL-6 release, and increase of intracellular calcium.
PurposeTo investigate the mechanism of the anti-epileptic effect of Ganoderma lucidum polysaccharides (GLP), the changes of intracellular calcium and CaMK II α expression in a model of epileptic neurons were investigated.MethodPrimary hippocampal neurons were divided into: 1) Control group, neurons were cultured with Neurobasal medium, for 3 hours; 2) Model group I: neurons were incubated with Mg2+ free medium for 3 hours; 3) Model group II: neurons were incubated with Mg2+ free medium for 3 hours then cultured with the normal medium for a further 3 hours; 4) GLP group I: neurons were incubated with Mg2+ free medium containing GLP (0.375 mg/ml) for 3 hours; 5) GLP group II: neurons were incubated with Mg2+ free medium for 3 hours then cultured with a normal culture medium containing GLP for a further 3 hours. The CaMK II α protein expression was assessed by Western-blot. Ca2+ turnover in neurons was assessed using Fluo-3/AM which was added into the replacement medium and Ca2+ turnover was observed under a laser scanning confocal microscope.ResultsThe CaMK II α expression in the model groups was less than in the control groups, however, in the GLP groups, it was higher than that observed in the model group. Ca2 + fluorescence intensity in GLP group I was significantly lower than that in model group I after 30 seconds, while in GLP group II, it was reduced significantly compared to model group II after 5 minutes.ConclusionGLP may inhibit calcium overload and promote CaMK II α expression to protect epileptic neurons.
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