Ustream, the live video streaming service that hit the mainstream recently thanks to a litter of Shiba Inu puppies, just announced Watershed, a new white-label streaming video service.

近来得益于一窝西巴犬崽冲击主流的流媒体视频直播服务，刚刚发布了Watershed ，一种新的白标签流媒体视频服务。

Under the condition that marked inertial navigation units(INU) measurement errors do exist, two new Doppler centroid estimation techniques in frequency domain and time domain were proposed.

本文针对载机惯导参数误差较大的实际情况，提出了改进的频域和时域多普勒质心估计算法。