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Due to high dimension and precision for the ambiguity vector under GNSS observations of multi-frequency and multi-system, a major problem to limit computational efficiency of ambiguity resolution is the longer reduction time when using conventional LLL algorithm. To address this problem, it is proposed a new block processing algorithm of LLL by analyzing the relationship between the reduction time and the dimensions and precision of ambiguity. The new algorithm reduces the reduction time to improve computational efficiency of ambiguity resolution, which is based on block processing ambiguity variance-covariance matrix that decreased the dimensions of single reduction matrix. It is validated that the new algorithm with two groups of measured data. The results show that the computing efficiency of the new algorithm increased by 65.2% and 60.2% respectively compared with that of LLL algorithm when choosing a reasonable number of blocks.

In response to the market demand of people who need special care, a smart wheelchair based on STM32 is designed. Through the STM32F103ZET6 development board, it uses the smart car (simulated electric wheelchair) as the carrier with the attitude calculation algorithm, GPS positioning, Lora wireless communication, PWM speed control and distance detection, the gesture control of the movement and steering of the car, automatic obstacle avoidance, GPS Real-time transmission of positioning information, one-key call for help, and video recording of unexpected situations. The gesture recognition rate of the system is stable and the safety is high, and it can meet the requirements of wheelchair intelligence.

Oligopeptide transporters (OPTs) are a group of membrane localized proteins that have a broad range of substrate transport capabilities and contribute to numerous biological processes. However, limited information has been reported on OPTs in higher plants. In this study, a comprehensive analysis of the OPT gene family in Medicago truncatula was performed. A total of 26 OPT genes (MtOPT01-MtOPT26) have been identified in the Medicago truncatula genome. Phylogenetic analyses indicated that MtOPTs consisted of two distinct subgroups, 12 MtOPTs belonged to the peptide transport subgroup (PT-OPT) based on their predicted amino acid sequences containing the two highly conserved motifs (NPG and KIPPR) and 14 MtOPTs belonged to yellow stripe subgroup (YS-OPT). The MtOPTs distributed on each of 8 chromosomes in Medicago truncatula. Sequence analysis verified that MtOPTs significant similar to those in other plants. The copy number of MtOPTs was low and the multiply of MtOPTs was simple relatively. Gene structure analysis showed that most of the MtOPTs have various numbers of introns. The multiple of MtOPTs might play different biological roles which were supported by the fact that MtOPTs have a distinct tissue-specific expression pattern. The data obtained in this study will help to better understand the complexity of the MtOPTs gene family and provide new evidence for the function and evolution of the OPT gene family in higher plants.