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Robust paleomagnetic results through geological time are one of the keys to understand the drift history of the eastern Qiangtang terrane (EQT). Here, we presented comprehensive petrographic observations and rock magnetic and paleomagnetic analyses of the early Carboniferous Upper Zaduo (ZD) limestone Formation (C1z2) from the Sulucun (SLC) section in the Zaduo area, EQT, to investigate its magnetic originality and geological significance. A total of 12 sites (131 samples) were collected. Photomicrograph observations indicate that the limestone samples were characterized by widespread carbonate veinlets. Electron microprobe and energy dispersive spectrometry analyses confirm that authigenic magnetite formed after pyrite. Rock magnetic analyses reveal the dominant magnetic minerals of pyrite and magnetite, with ‘wasp-waisted’ hysteresis loops and close to the “remagnetization trend” hysteresis parameters. Based on both thermal and alternating field demagnetizations, the characteristic remanent magnetization directions for most samples were isolated: Dg = 6.3°, Ig = 50.1°, kg = 54.9, α95 = 6.2° in-situ, and Ds = 330.2°, Is = 58.9°, ks = 5.9, and α95 = 20.5° after 2-step tilt correction. The κ (α95) value decreases (increases) after tilt-correction, and the ChRM directions failed both the McFadden (1990), Watson and Enkin (1993) fold tests, indicating post-folding magnetizations. The 11 site-mean directions yield a mean in-situ paleopole of 84.4°N, 200.3°E, and A95 = 6.8°, which is coincident with the post ∼53 Myr (especially around 40 Ma) paleopoles of the region. We therefore interpreted that these early Carboniferous limestone samples contain remagnetized magnetizations and that they were obtained after 53 Ma, most likely around 40 Ma, due to the far-field effect of the India–Eurasia collision.

In order to satisfy the requirement of automatic driving of outdoor unmanned vehicle, an automatic driving algorithm composed of integrated navigation and guidance control is proposed. The integrated navigation algorithm, which is fused with IMU, GNSS receiver and odometer, is designed based on SCKF with second-order fixed nonlinear expansion as the measurement model. The guidance control algorithm divides the expected route into segments and calculates the lateral and angular deviation between unmanned vehicle and the segmented route according to the longitude, latitude, heading angle and the key points sequence of the electronic map. The algorithm eliminates the deviation by incremental PID controller to realize the route tracking segment by segment. The simulation experiment results show that the accuracy of the integrated navigation algorithm based on SCKF is better than that based on SKF. The outdoor experiment verifies the effectiveness of the proposed automatic driving algorithm.