Improving Single-Frequency RTK in the Urban EnviornmentA look at how Doppler measurements can be used to smooth noisy code-based pseudoranges to improve the precision of autonomous positioning as well as to improve the availability of single-frequency real-time kinematic positioning, especially in urban environments.
The presence of different types of devices, spanning multiple GNSS receiver types, configurations, hardware, software, and consequent widely varying capabilites, among a user mix of vehicles, cyclists, and pedestrians, poses several engineering challenges for a V2X scheme in which all road users share data with each other and with the road infrastructure.
During the winter of 1838–39, the great Native American Cherokee Nation trekked across southern Illinois, in a forced removal by the U.S. government from their ancestral homeland in Tennessee. Harried, unequipped, and unsupported by their captors, thousands died on the Trail of Tears. Burial records were not kept, and burial locations remain lost to this day. Local history suggests that some Illinois settlers allowed the Cherokee to bury their dead on small plots of land adjacent to their own family cemeteries. One such plot, the Campground Presbyterian Church cemetery near Anna, Illinois, may contain unmarked Cherokee graves.
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