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This paper aims to present a method for improving the performance of the visual-inertial navigation system (VINS) by using a bio-inspired polarized light compass.

The measurement model of each sensor module is derived, and a robust stochastic cloning extended Kalman filter (RSC-EKF) is implemented for data fusion. This fusion framework can not only handle multiple relative and absolute measurements, but can also deal with outliers, sensor outages of each measurement module.

The paper tests the approach on data sets acquired by a land vehicle moving in different environments and compares its performance against other methods. The results demonstrate the effectiveness of the proposed method for reducing the error growth of the VINS in the long run.

The main contribution of this paper lies in the design/implementation of the RSC-EKF for incorporating the homemade polarized light compass into visual-inertial navigation pipeline. The real-world tests in different environments demonstrate the effectiveness and feasibility of the proposed approach.

City wall is an important symbol of ancient Chinese cities with unique geographical and cultural characteristics. Thus, the preservation of this historic landmark is considered significantly important. However, numerous residential construction activities and changes in ecological environment have destructed a great portion of the city walls in recent years. This study looks into the preservation of the ancient city walls from the systematic perspective and in line with the actual characteristics of Longdong Region to provide guideline measures for the protection and restoration of such landmark. Cognition and preservation are adopted extensively to investigate the specific situation of and the factors that influence the ancient city walls in this region. Preservation strategies for the city walls, including the “Axis-Point” system, planning control, and authenticity readability, are presented. The ancient city walls in Longdong Region can be preserved by protecting the entire region, the city, and the main wall body. The systematic method and preservation strategies at the “macro perspective,” “medium perspective” and “micro perspective” levels can solve the preservation problems of the ancient city walls in Longdong Region effectively.

With the end of the Cultural Revolution and the rise of Deng Xiaoping, China began a new era of economic and political reform. In 1978 the open door policy was initiated. In October of 1984, Deng Xiaoping set in motion an ambitious program of financial and industrial reform aimed at eventually restructuring China's economy into a vaguely defined market system. This “second revolution” has run into difficulties because the Chinese officials lacked experience controlling a supply and demand economy and because of the opposition from conservative factions within the Chinese bureaucracy.