An maximum likelihood registration algorithm based on earth-centered earth-fixed (ECEF) coordinate system is presented.

提出了一种基于地心坐标系（ECEF）的传感器极大似然配准算法。

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Stratospheric: Robert Harrison captured images of the Earth like this one using a Canon Sure Shot camera fixed in a polystyrene box and attached to a helium balloon

平流层：罗伯特·哈里森将一台佳能 Sure Shot 相机固定在聚苯乙烯盒中并将盒子绑在氦气球上，仅凭此他捕捉到了上面这样的地球图像

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Forced to pick a date for this earth shattering moment, the reluctant preacher fixed it on October 22nd, 1844.

好似被迫要选择地球这惊天动地的一刻，牧师不情愿的把日期设定在1844年10月22日。

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It takes its name from the four fixed objects - buildings, antennae, spans and earth - which divers use to take off.

BBC: Mother's grief at base jump death of Gary Harbird

An antenna, which is 40cm across and 15cm high, is firmly embedded in a 4.5 tonne slab of 300 million year-old sandstone from Yorkshire which in turn is fixed almost three metres into the earth.

BBC: Satellite technology aids quake research