Search

Kalman filter-based Inertial Navigation System (INS) is a reliable and efficient method to estimate the position of a pedestrian indoors. Classical INS-based methodology which is called IEZ (INS-EKF-ZUPT) makes use of an Extended Kalman Filter (EKF), a Zero velocity UPdaTing (ZUPT) to calculate the position and attitude of a person. However, heading error which is a key factor of the whole Pedestrian Dead Reckoning (PDR) system is unobservable for IEZ-based PDR system. To minimize the error, Electronic Com-pass (EC) algorithm becomes a valid method. But magnetic disturbance may have a big negative effect on it. In this paper, the Quasi-static Magnetic field Detection (QMD) method is proposed to detect the pure magnetic field and then selects EC algorithm or Heuristic heading Drift Reduction algorithm (HDR) according to the detection result, which implements the complementation of the two methods. Meanwhile, the QMD, EC, and HDR algorithms are integrated into the IEZ framework to form a new PDR solution which is named Advanced IEZ (AIEZ).

Despite the recent advances of graph neural networks (GNNs) in modeling graph data, the training of GNNs on large datasets is notoriously hard due to the overfitting. Adversarial training, which augments data with the worst-case adversarial examples, has been widely demonstrated to improve model's robustness against adversarial attacks and generalization ability. However, while the previous adversarial training generally focuses on protecting GNNs from spiteful attacks, it remains unclear how the adversarial training could improve the generalization abilities of GNNs in the graph analytics problem. In this paper, we investigate GNNs from the lens of weight and feature loss landscapes, i.e., the loss changes with respect to model weights and node features, respectively. We draw the conclusion that GNNs are prone to falling into sharp local minima in these two loss landscapes, where GNNs possess poor generalization performances. To tackle this problem, we construct the co-adversarial perturbation (CAP) optimization problem in terms of weights and features, and design the alternating adversarial perturbation algorithm to flatten the weight and feature loss landscapes alternately. Furthermore, we divide the training process into two stages: one conducting the standard cross-entropy minimization to ensure the quick convergence of GNN models, the other applying our alternating adversarial training to avoid falling into locally sharp minima. The extensive experiments demonstrate our CAP can generally improve the generalization performance of GNNs on a variety of benchmark graph datasets.

Recently, the method that learns networks layer by layer has attracted increasing interest for its ease of analysis. For the method, the main challenge lies in deriving an optimization target for each layer by inversely propagating the global target of the network. The propagation problem is ill posed, due to involving the inversion of nonlinear activations from lowdimensional to high-dimensional spaces. To address the problem, the existing solution is to learn an auxiliary network to specially propagate the target. However, the network lacks stability, and moreover, it results in higher complexity for network learning. In the letter, we show that target propagation could be achieved by modeling the network s each layer with compressed sensing, without the need of auxiliary networks. Experiments show that the proposed method could achieve better performance than the auxiliary network-based method.

Graph neural networks (GNNs) have received tremendous attention due to their superiority in learning node representations. These models rely on message passing and feature transformation functions to encode the structural and feature information from neighbors. However, stacking more convolutional layers significantly decreases the performance of GNNs. Most recent studies attribute this limitation to the over-smoothing issue, where node embeddings converge to indistinguishable vectors. Through a number of experimental observations, we argue that the main factor degrading the performance is the unstable forward normalization and backward gradient resulted from the improper design of the feature transformation, especially for shallow GNNs where the over-smoothing has not happened. Therefore, we propose a novel orthogonal feature transformation, named Ortho-GConv, which could generally augment the existing GNN backbones to stabilize the model training and improve the model's generalization performance. Specifically, we maintain the orthogonality of the feature transformation comprehensively from three perspectives, namely hybrid weight initialization, orthogonal transformation, and orthogonal regularization. By equipping the existing GNNs (e.g. GCN, JKNet, GCNII) with Ortho-GConv, we demonstrate the generality of the orthogonal feature transformation to enable stable training, and show its effectiveness for node and graph classification tasks.