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A tightly coupled global navigation satellite system (GNSS)-Vision-IMU-wheel odometer (GVIWO) system is proposed, which can realize robust positioning in extreme environments. The purpose of this study is to achieve adaptive initialization in complex environments, sensor anomaly detection and processing, and adaptive robust localization in extreme environments.

Adaptive initialization includes traditional dynamic and static initialization and extreme condition initialization. To deal with the unstable visual features in the state of excited motion, a method of wheel odometer assisted initialization is designed. According to the abnormal condition of the sensor, the anomaly detection and attenuation mechanism are designed to realize the accurate positioning of the sensor under abnormal condition.

Tight coupling optimization of GNSS signals, RGB+Depth Map cameras, inertial measurement units and wheel odometers ensures accurate positioning in both indoor and outdoor environments. Through open data sets and field validation experiments, the proposed tightly coupled system has strong adaptability, especially in extreme environments.

A new framework is proposed by integrating GNSS, visual, inertial measurement unit (IMU) and wheel odometer sensors to form an efficient positioning solution. An adaptive initialization method is proposed to enhance the robustness and real-time performance of the positioning system in complex and dynamic environments. A mechanism for detecting and attenuating sensor anomalies is designed, enabling quasideterministic positioning under sensor anomalies.

Through a theoretical lens of psychological ownership, this study aims to investigate how technology mindfulness may stimulate metaverse tourism users’ feelings of individual psychological ownership, aesthetic value and conversational value, which in turn fosters intention to engage in prosocial behaviors.

The study used a scenario-based survey that allowed U.S.-based participants to create their own avatars and imagine using their avatars to explore heritage sites in the metaverse. Structural equality modeling was applied for data analysis.

The results from 357 valid responses indicate that technology mindfulness arouses tourists’ individual psychological ownership, aesthetic value, conversational value and prosocial behavioral intentions. The moderating role of biospheric value orientation on willingness to donate and intention to volunteer is investigated.

The research sheds light on the significance of technology mindfulness, conversational value and psychological ownership perspectives in the metaverse, which have been previously overlooked. The authors used a scenario-based survey for mental stimulation due to current metaverse technology limitations.

The study is one of the first to explore the possibility of encouraging prosocial behaviors using metaverse-facilitated technology. The research offers guidelines to engage hospitality and tourism customers in the metaverse that can blend their virtual experiences into the real world.

This study represents one of the pioneering efforts to gain an in-depth understanding of the application of metaverse in triggering prosocial behavior toward heritage sites, explained via a technology mindfulness-driven model with a psychological ownership perspective.