Abstract: A battery cell includes an electrode assembly, a first adhesive film, and a first adhesive layer. Outer surfaces of the electrode assembly include a first surface, a first lateral surface, a second surface opposite to the first surface, and a second lateral surface opposite to the first lateral surface. The first adhesive film adheres to the first lateral surface and extends from the first lateral surface to the first surface or extends from the first lateral surface to both the first surface and the second surface. The first adhesive layer adheres to the first surface. At least a part of the first adhesive layer overlaps the first adhesive film on a side of the first adhesive film in a thickness direction perpendicular to the first surface, and in the overlap, the first adhesive film disposed between the part of the first adhesive layer and the first surface in the thickness direction.

Abstract: The present disclosure discloses a latitude-free construction method for a gravity acceleration vector under a swaying base earth system. Firstly, a target function based on output information of an accelerator in a fixed-length sliding window under a swaying base is constructed; secondly, measurement information in a period of time window is used to construct the target function, and gradient descent optimization is used to obtain a rough value of qiib0; and finally, the rough value of qiib0 and an apparent motion of a gravity acceleration vector of an inertial system are used to construct the gravity acceleration vector under the earth coordinate system. The present disclosure makes a key breakthrough for solving the problem of high precision alignment of a ship with unknown latitude under a swaying base.

Abstract: The present disclosure designs a rotation matrix-based factor graph cooperative localization algorithm. Firstly, the reasons of sudden increase in an error in an operation process of a conventional factor graph cooperative localization algorithm are analyzed; secondly, a rotation matrix is designed, and the size of a rotation angle is determined; then, a rotation matrix-based cooperative localization algorithm factor graph model is constructed, and a specific algorithm flow is designed; and finally, filtering fusion estimation is performed on position status information of a slave boat.

Abstract: A battery cell includes an electrode assembly, a first adhesive film, and a first adhesive layer. Outer surfaces of the electrode assembly include a first surface, a first lateral surface, a second surface opposite to the first surface, and a second lateral surface opposite to the first lateral surface. The first adhesive film adheres to the first lateral surface and extends from the first lateral surface to the first surface or extends from the first lateral surface to both the first surface and the second surface. The first adhesive layer adheres to the first surface. At least a part of the first adhesive layer overlaps the first adhesive film on a side of the first adhesive film in a thickness direction perpendicular to the first surface, and in the overlap, the first adhesive film disposed between the part of the first adhesive layer and the first surface in the thickness direction.