An improved artificial bee colony (IABC) algorithm is presented for bias correction of fiber optic gyroscopes in inertial navigation systems. Its effectiveness is verified through an eight-orientation heading test conducted across two independent trials. In the absence of correction, heading deviations are evident, reaching approximately 0.056° and 0.079°, which reflect substantial bias accumulation. Conventional methods offer limited improvement and struggle to maintain consistency, yielding deviations near 0.06° and 0.041°. By contrast, the IABC algorithm reduces these deviations to below 0.046° and around 0.038°, respectively. The results confirm that the proposed approach provides more reliable compensation and enhances heading accuracy across diverse orientation scenarios.

Multimodal intent recognition poses significant challenges, requiring the incorporation of non-verbal modalities from real-world contexts to enhance the comprehension of human intentions. However, most existing multimodal intent benchmark datasets are limited in scale and suffer from difficulties in handling out-of-scope samples that arise in multi-turn conversational interactions. In this paper, we introduce MIntRec2.0, a large-scale benchmark dataset for multimodal intent recognition in multi-party conversations. It contains 1,245 high-quality dialogues with 15,040 samples, each annotated within a new intent taxonomy of 30 fine-grained classes, across text, video, and audio modalities. In addition to more than 9,300 in-scope samples, it also includes over 5,700 out-of-scope samples appearing in multi-turn contexts, which naturally occur in real-world open scenarios, enhancing its practical applicability. Furthermore, we provide comprehensive information on the speakers in each utterance, enriching its utility for multi-party conversational research. We establish a general framework supporting the organization of single-turn and multi-turn dialogue data, modality feature extraction, multimodal fusion, as well as in-scope classification and out-of-scope detection. Evaluation benchmarks are built using classic multimodal fusion methods, ChatGPT, and human evaluators. While existing methods incorporating nonverbal information yield improvements, effectively leveraging context information and detecting out-of-scope samples remains a substantial challenge. Notably, powerful large language models exhibit a significant performance gap compared to humans, highlighting the limitations of machine learning methods in the advanced cognitive intent understanding task. We believe that MIntRec2.0 will serve as a valuable resource, providing a pioneering foundation for research in human-machine conversational interactions, and significantly facilitating related applications. The full dataset and codes are available for use at https://github.com/thuiar/MIntRec2.0.