Abstract: A state estimation method for mobile robot navigation is provided which includes: step S1, initializing the processing module, and then controlling the field-programmable gate array to obtain measurement values of a moment k collected by the inertial measurement unit and the localization apparatus in a constant sampling period; step S2, controlling the application-specific integrated circuit to send the measurement values to the processing module; step S3, controlling the processing module to, based on the measurement values, sequentially perform vector padding, additional inertial vector acquisition, normalization processing, alignment error computation, filter measurement value computation, bias estimation value computation, velocity estimation value computation, pose estimation value computation and orthogonalization processing to obtain state estimation values of the moment k; step S4, controlling the processing module to send the state estimation values to the human-machine interface for visual display.

Abstract: An interface joint material based on industrial solid waste includes raw materials in parts by weight: portland slag cement, 80˜130 parts; metakaolin, 80˜130 parts; the industrial solid waste, 80˜130 parts; sodium silicate, 25˜35 parts; alkali, 8˜12 parts; acrylate, 30˜36 parts; a trivinyl ether compound, 1˜3 parts; inorganic sulfite, 1˜3 parts; persulfate, 1˜3 parts; a water reducing agent, 3˜6 parts, and water, 60˜80 parts. The interface joint material is suitable for a concrete interface of different components, with good bonding, high strength, and the advantages of pumping, fast hard, early strength, micro expansion and high ductility; In addition, the industrial solid waste is added into the interface joint material, which improves a utilization rate of the industrial solid waste in construction joint materials, and has significant for recycling of the industrial solid waste.

Abstract: A concrete crack repair material based on nano materials includes raw materials as follows: seaweed, sulphoaluminate cement, natural sand, nano-silica fume, calcium formate, fly ash, anhydrous calcium sulphoaluminate, a polyester fiber, a water reducing agent, a corrosion inhibitor and water. By reasonably selecting the raw materials of the concrete crack repair material and making a reasonable ratio of the raw materials, the concrete crack repair material is obtained with excellent performance such as good compressive strength, bending strength and bond strength, and excellent impermeability and frost resistance. The concrete crack repair material can be used for the concrete crack repair in the marine environment, which has very important application values.