RESUMO
Ambiguity resolution (AR) is crucial for high-precision indoor pseudolite positioning. Due to the existing characteristics of the pseudolite positioning system, such as the geometry structure of the stationary pseudolite which is consistently invariant, the indoor signal is easy to interrupt and the first order linear truncation error cannot be ignored, and a new AR method based on the idea of the ambiguity function method (AFM) is proposed in this paper. The proposed method is a single-epoch and nonlinear method that is especially well-suited for indoor pseudolite positioning. Considering the very low computational efficiency of conventional AFM, we adopt an improved particle swarm optimization (IPSO) algorithm to search for the best solution in the coordinate domain, and variances of a least squares adjustment is conducted to ensure the reliability of the solving ambiguity. Several experiments, including static and kinematic tests, are conducted to verify the validity of the proposed AR method. Numerical results show that the IPSO significantly improved the computational efficiency of AFM and has a more elaborate search ability compared to the conventional grid searching method. For the indoor pseudolite system, which had an initial approximate coordinate precision better than 0.2 m, the AFM exhibited good performances in both static and kinematic tests. With the corrected ambiguity gained from our proposed method, indoor pseudolite positioning can achieve centimeter-level precision using a low-cost single-frequency software receiver.
RESUMO
Targeting of diagnostic and therapeutic agents to endothelial cells (ECs) provides an avenue to improve treatment of many maladies. For example, intercellular adhesion molecule 1 (ICAM-1), a constitutive endothelial cell adhesion molecule up-regulated in many diseases, is a good determinant for endothelial targeting of therapeutic enzymes and polymer nanocarriers (PNCs) conjugated with anti-ICAM (anti-ICAM/PNCs). However, intrinsic and extrinsic factors that control targeting of anti-ICAM/PNCs to ECs (e.g., anti-ICAM affinity and PNC valency and flow) have not been defined. In this study we tested in vitro and in vivo parameters of targeting to ECs of anti-ICAM/PNCs consisting of either prototype polystyrene or biodegradable poly(lactic-coglycolic) acid polymers (approximately 200 nm diameter spheres carrying approximately 200 anti-ICAM molecules). Anti-ICAM/PNCs, but not control IgG/PNCs 1) rapidly (t1/2 approximately 5 min) and specifically bound to tumor necrosis factor-activated ECs in a dose-dependent manner (Bmax approximately 350 PNC/cell) at both static and physiological shear stress conditions and 2) bound to ECs and accumulated in the pulmonary vasculature after i.v. injection in mice. Anti-ICAM/PNCs displayed markedly higher EC affinity versus naked anti-ICAM (Kd approximately 80 pM versus approximately 8 nM) in cell culture and, probably because of this factor, higher value (185.3 +/- 24.2 versus 50.5 +/- 1.5% injected dose/g) and selectivity (lung/blood ratio 81.0 +/- 10.9 versus 2.1 +/- 0.02, in part due to faster blood clearance) of pulmonary targeting. These results 1) show that reformatting monomolecular anti-ICAM into high-affinity multivalent PNCs boosts their vascular immuno-targeting, which withstands physiological hydrodynamics and 2) support potential anti-ICAM/PNCs utility for medical applications.