在获取分割后的二值化图像中，采用了形态学滤波算子进行去噪，然后利用二值图像投影变换，并参考石块底部阴影位置信息，辅助完成对部分场景下的石块识别和定位。
Binary image is filtered by utilizing morphological filter. Then, using the information of stone shadow and projection transform, detection and position of stone is utilized in part environment.
若要在干扰环境下提高GPS的定位精度，必须采取措施提高GPS接收机的抗干扰能力，如采用外部导航辅助等。
If GPS positioning accuracy need be improved under the jamming circumstance, it must take measures to improve the anti-jamming ability of GPS receiver, such as outer navigation aid, etc.
最后引入了多目标情况下结合距离走动量来辅助准确定位的方法。
Lastly, the details about how to do target locating are described, combined with the length of range migration.
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