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GNSS/INS can provide position, attitude, and velocity (PAV) information for shipborne platforms. However, if the ship has a long-term linear motion or a stationary state, and is under the combined actions of sea surface swells, there will be a situation of sideslip and drift; if the ship is traveling slowly or shaking violently, the attitude calculation will not be completed. In the above situation, the traditional single-antenna GNSS/INS measurement mode is not suitable, and the attitude observability is poor; the heading angle attitude information, especially, will gradually diverge. Unreliable information will directly lead to a significant increase in underwater positioning errors. In this paper, a multi-antenna GNSS/INS combination algorithm is developed and used to provide high-precision PAV information, and is thereby able to obtain high-precision underwater positioning results. The experimental results show that the method has improved the acquisition of position and velocity in the horizontal direction and the accuracy of navigation attitude measurement. In particular, the attitude measurement accuracy in the 3 degrees of freedom (DoF) are improved by 10.1% (roll), 8.6% (pitch), and 29.3% (yaw).

Few studies have analyzed the implementation of dietary management in Chinese adults with diabetes. Thus, we assessed and compared dietary intake and diet quality between diabetic patients with and without dietary management behaviors (DPDM vs. NDPDM), and evaluated the adherence to dietary guidelines in both groups of patients. The data were obtained from the 2002, 2010–2013, and 2015 China National Nutrition Survey. A total of 69,583, 67,177, and 96,631 subjects participated in the 2002, 2010–2013, and 2015 survey rounds, respectively. The dietary intake data were measured using 3-day 24 h dietary recalls and weighed records of household condiments. The China Healthy Diet Index (CHDI) was used to evaluate diet quality. The study included 6229 patients with diabetes, of which 78% had dietary management behaviors. The diabetic patients with dietary management behaviors showed higher percentages of energy from high-quality carbohydrates, animal protein, saturated fatty acids, and unsaturated fatty acids and lower percentages from low-quality carbohydrates and plant protein than NDPDM. The diabetic patients with dietary management behaviors also had lower intakes of cereals and tubers and higher intakes of vegetables than NDPDM. The total CHDI score of DPDM was higher than NDPDM (56.3 ± 12.7 vs. 54.1 ± 12.3). The proportion of DPDM meeting the recommended intake for different food items ranged from 3.3% to 42.8% and from 3.0% to 39.2% in NDPDM. The diabetic patients with dietary management behaviors showed better adherence to dietary guidelines and higher diet quality scores than NDPDM, while the overall adherence was poor in both groups of patients. Our findings suggested that measures are needed to promote and refine dietary management behaviors, which can help to improve disease management in diabetic patients.

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