A Compensation Method for the Geomagnetic Measurement Error of an Underwater Ship-Borne Magnetometer Based on Constrained Total Least Squares.

When magnetic matching aided navigation is applied to an underwater vehicle, the magnetometer must be installed inside the vehicle, considering the navigation safety and concealment of the underwater vehicle. Then, the interference magnetic field will seriously affect the accuracy of geomagnetic field measurement, which directly affects the accuracy of geomagnetic matching aided navigation. Therefore, improving the accuracy of geomagnetic measurements inside the vehicle through error compensation has become one of the most difficult problems that requires an urgent solution in geomagnetic matching aided navigation. In order to solve this problem, this paper establishes the calculation model of the internal magnetic field of the underwater vehicle and the geomagnetic measurement error model of the ship-borne magnetometer. Then, a compensation method for the geomagnetic measurement error of the ship-borne magnetometer, based on the constrained total least square method, is proposed. To verify the effectiveness of the method proposed in this paper, a simulation experiment of geomagnetic measurement and compensation of a ship-borne three-axis magnetometer was constructed. Among them, to be closer to the real situation, a combination of the geomagnetism model, the elliptic shell model and the magnetic dipole model was used to simulate the internal magnetic field of the underwater vehicle. The experimental results indicated that the root mean square error of geomagnetic measurement in an underwater vehicle was less than 5 nT after compensation, and the accuracy of geomagnetic measurement met the requirements of geomagnetic matching aided navigation.

Experimental investigation on dynamic deformation characteristics of the overlying strata in backfilling strip mining at different time scales.

The dynamic subsidence disaster caused by underground mining of coal resources is a complex spatiotemporal process, which is a common disaster in mining areas. The backfilling strip mining technology is a green and sustainable coal mining method, which has been commonly used to reduce the subsidence disaster of the overlying strata and protect surface buildings. The transient deformation is the main reason of surface buildings damage; therefore, in this study, the similar material model was used to research dynamic deformation characteristics of the overlying strata in backfilling strip mining at different time scales, and the optical image method was employed to monitor and obtain the movement data of the overlying strata automatically. The data analysis shows that there is a time-scale effect in mining subsidence. The deformation of the overlying strata increases instantaneously at a certain time under the monitoring of small time scale, and this phenomenon gradually disappears as time scales increase. According to the subsidence velocity of small time scale, the subsidence state of the overlying strata can be further divided into the abrupt subsidence state and the gentle subsidence state. This is really significant for promoting the development of the backfilling strip mining technology and preventing the damage of surface buildings.

A Combination Scheme of Pure Strapdown and Dual-Axis Rotation Inertial Navigation Systems.

Compared with the strapdown inertial navigation system (SINS), the rotation strapdown inertial navigation system (RSINS) can effectively improve the accuracy of navigation information, but rotational modulation also leads to an increase in the oscillation frequency of attitude errors. In this paper, a dual-inertial navigation scheme that combines the strapdown inertial navigation system and the dual-axis rotation inertial navigation system is proposed, which can effectively improve the attitude error accuracy in the horizontal direction by using the high-position information of the rotation inertial navigation system and the stability characteristics of the attitude error of the strapdown inertial navigation system. Firstly, the error characteristics of the strapdown inertial navigation system and the rotation strapdown inertial navigation system are analyzed, and then the combination scheme and Kalman filter are designed according to the error characteristics, and finally, the simulation experiment shows that the pitch angle error of the dual inertial navigation system is reduced by more than 35% and the roll angle error is reduced by more than 45% compared with the rotation strapdown inertial navigation system. Therefore, the combination scheme of double inertial navigation proposed in this paper can further reduce the attitude error of the rotation strapdown inertial navigation system, and at the same time, the two sets of inertial navigation systems can also enhance the reliability of ship navigation.

An Improved System-Level Calibration Scheme for Rotational Inertial Navigation Systems.

The system-level calibration technology of rotational inertial navigation is one of the main methods to improve the accuracy of inertial navigation, and the design of the calibration scheme is the key to calibration technology. By the establishment of the error model of inertial navigation system, a 30-position calibration scheme is designed in this study. Based on the 30-dimensional Kalman filter, the constant errors, scale factor errors and installation error of gyroscope and accelerometer are identified. Comparing the traditional schemes and the 30-position scheme with the simulation experiment, the observability of the 30-position scheme is higher, the residual error of the estimated sensor is smaller and the navigation positioning accuracy after the estimated inertial sensor error parameter compensation is higher, which verifies the feasibility of the 30-position scheme. Finally, the measured experiment uses the 30-position scheme to estimate the error of a certain type of IMU sensor, and the calibration curve of the error parameter is well converged before the end of the calibration experiment, so it has certain practical value.

A 28-Year-Old Woman Presenting with a Clinical Flare of Systematic Lupus Erythematosus and Abdominal Pain Due to Rectus Sheath Hematoma.

BACKGROUND A flare, or flare-up, of systematic lupus erythematosus (SLE) is diagnosed by an increase in disease activity in one or more organs, new symptoms, or changes in laboratory measurements. A hematoma can occur in the sheath of the rectus abdominis following muscle trauma or rupture of an epigastric vessel, or it can occur spontaneously. This report is of a 28-year-old woman who presented with a clinical flare of SLE and abdominal pain due to rectus sheath hematoma. CASE REPORT A 28-year-old woman had been suspected of having SLE 9 years ago and had received glucocorticoid therapy combined with hydroxychloroquine. However, lupus flared after she discontinued glucocorticoids, and she was admitted with a 1-month history of marked generalized edema, abdominal distension, frothy urine, and massive ascites. During hospitalization, she abruptly developed a continuous, stabbing abdominal pain and a bulge over the right abdomen as a result of straining during a bowel movement. On examination, a well-demarcated round mass that measured 121 mm × 96 mm was detected in the right quadrant. Abdominal emergency computed tomography revealed a right rectus sheath hematoma (21.4×4.7 cm). After her condition improved, the patient underwent an ultrasound-guided renal biopsy and was diagnosed with class III (A/C) and class V lupus nephritis. CONCLUSIONS This case has shown that spontaneous rectus sheath hematoma can occur without a history of trauma in a patient with an exacerbation of SLE. This association appears to be rare, and the cause is unknown.

Research on clinical characteristics and prognostic analysis of heparin-induced thrombocytopenia after surgery for acute type a aortic dissection.

PURPOSE: The present study aimed to explore the clinical characteristics of heparin-induced thrombocytopenia (HIT) after surgery for acute type A aortic dissection and perform a relevant prognostic analysis. METHODS: After continuous observation and analysis of 204 patients who underwent acute type A aortic dissection, we found that blood platelets decreased significantly after surgery and that these patients can be suspected to suffer HIT based on relevant 4Ts scores. For these suspected HIT patients, a latex particle-enhanced immunoturbidimetric assay was conducted to detect heparin-induced antibodies. Perioperative clinical data of patients in HIT and non-HIT groups were recorded as were blood platelet counts, HIT antibody test results, 4Ts scores, thromboembolic complications, clinical prognosis and outcomes. RESULTS: In the present study, 38 suspected HIT patients, 16 HIT patients and 188 non-HIT patients were selected in the clinical setting. Among them, HIT patients were found to have prolonged cardiopulmonary bypass time (223 min on average vs. 164 min) and delayed aortic cross-clamp time (128 min on average vs. 107 min), and these differences between HIT patients and non-HIT patients were significant (P < 0.05). Additionally, the HIT group required longer operation time and higher dose of heparin, but showing no statistical differences (P > 0.05). The transfusions of blood platelets in the HIT group and non-HIT group were 18.7 ± 5.0u and 15.6 ± 7.34 u, respectively. In the HIT group, the mechanic ventilation time and the length of ICU stay were longer comparing the non-HIT group(P < 0.05), though no significant differences in total length of stay or In-hospital mortality were observed (P > 0.05). The incidence of continuous renal replacement therapy in HIT group was higher than the non-HIT group (P < 0.05). Additionally,there were no significant differences in 24-h postoperative drainage or reoperation for bleeding in both group(P > 0.05). However, the HIT antibody titer in the HIT group was significantly higher than that in the Suspected HIT group (2.7 ± 0.8 U/mL vs. 0.3 ± 0.2 U/mL) (P < 0.05). Among patients diagnosed with HIT, the incidence of thromboembolism reached 31.5%.For example, two HIT patients newly developed thromboembolism in both lower extremities,and three patients experienced cerebral infarction. CONCLUSIONS: After surgery for acute type A aortic dissection, HIT patients developed postoperative complications, the duration of ventilatory support and length of ICU stay were extended, and the incidence of thromboembolism increased. HIT antibody detection and risk classification should be implemented for high-risk patients showing early clinical characteristics.

A Sequential Multiplicative Extended Kalman Filter for Attitude Estimation Using Vector Observations.

In this paper, a sequential multiplicative extended Kalman filter (SMEKF) is proposed for attitude estimation using vector observations. In the proposed SMEKF, each of the vector observations is processed sequentially to update the attitude, which can make the measurement model linearization more accurate for the next vector observation. This is the main difference to Murrell’s variation of the MEKF, which does not update the attitude estimate during the sequential procedure. Meanwhile, the covariance is updated after all the vector observations have been processed, which is used to account for the special characteristics of the reset operation necessary for the attitude update. This is the main difference to the traditional sequential EKF, which updates the state covariance at each step of the sequential procedure. The numerical simulation study demonstrates that the proposed SMEKF has more consistent and accurate performance in a wide range of initial estimate errors compared to the MEKF and its traditional sequential forms.