We propose a kind of fast and high-precision alignment algorithm based on the ESO technology. Firstly, in order to solve the problems of rapid, high-accuracy, and anti-interference alignment on the moving pedestal in the north-seeker, the ESO technology in control theory is introduced to improve the traditional Kalman fine-alignment model. This method includes two stages: the coarse alignment in the inertial frame and fine alignment based on the ESO technology. By utilizing the ESO technology, the convergence speed of the heading angle can be greatly accelerated. The advantages of this method are high-accuracy, fast-convergence, strong ability of anti-interference, and short time-cost (no need of KF recursive calculation). Then, the algorithm model, calculation process, and the setting initial-values of the filter are shown. Finally, taking the shipborne north-finder based on the FOG (fiber-optic gyroscope) as the investigated subject, the test on the moving ship is carried out. The results of first off-line simulation show that the misalignment angle of the heading angle of the proposed (traditional) method is ≤2.1' (1.8') after 5.5 (10) minutes of alignment. The results of second off-line simulation indicate that the misalignment angle of the heading angle of the proposed (traditional) method is ≤4.8' (14.2') after 5.5 (10) minutes of alignment. The simulations are based on the ship-running experimental data. The measurement precisions of Doppler velocity log (DVL) are different in these two experiments.
A multilayered metallic M-shaped nano-grating is proposed to enhance the internal quantum efficiency, light extraction efficiency and surface-plasmon (SP) extraction efficiency of the gallium nitride-based light emitting diodes. This structure is fabricated by the low-cost nano-imprint lithography. The suitable grating based on quasi-symmetrical-waveguide structure has a high transmission in the visible region. The properties of SP mode and the Purcell effect in this type of LED is investigated. The experimental results demonstrate that its peak photoluminescence intensity of the proposed LED is over 10 times greater than that from a naked GaN-LED without any nanostructure.
Underwater image stitching is a technique employed to seamlessly merge images with overlapping regions, creating a coherent underwater panorama. In recent years, extensive research efforts have been devoted to advancing image stitching methodologies for both terrestrial and underwater applications. However, existing image stitching methods, which do not utilize detector information, heavily rely on matching feature pairs and tend to underperform in situations where underwater images contain regions with blurred feature textures. To address this challenge, we present an improved scale-invariant feature transform (SIFT) underwater image stitching method. This method enables the stitching of underwater images with arbitrarily acquired images featuring blurred feature contours and that do not require any detector information. Specifically, we perform a coarse feature extraction between the reference and training images, and then we acquire the target image and perform an accurate feature extraction between the reference and target images. In the final stage, we propose an improved fade-in and fade-out fusion method to obtain a panoramic underwater image. The experimental results show that our proposed method demonstrates enhanced robustness, particularly in scenarios where detecting feature points is challenging, when compared to traditional SIFT methods. Additionally, our method achieves higher matching accuracy and produces higher-quality results in the stitching of underwater images.
In underwater imagery, issues such as non-uniform illumination, blurriness, and low contrast are prevalent, significantly impacting the quality of captured images. In recent years, numerous researchers have delved into underwater image processing. Due to the intricacies of underwater environments, low-light images have different requirements compared to well-illuminated ones. However, existing algorithms often struggle to address the non-uniform illumination issues stemming from various lighting conditions in underwater settings. They also lack the capability to adaptively enhance underwater images with varying brightness. To tackle these challenges, we propose an adaptive illumination enhancement method for underwater images. This algorithm offers the capability to adaptively enhance underwater images suffering from detail blurriness based on their original brightness. Furthermore, it dynamically adjusts the parameters of the gamma function using the image's illumination component to augment color contrast. Experimental results demonstrate that our approach outperforms other algorithms, as evidenced by superior scores in UIQM metric. It effectively addresses edge blurriness and non-uniform illumination issues prevalent in underwater images captured under varying lighting conditions.
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In this paper, an EML (electro-magnetic log) integrated navigation algorithm based on the HMM (hidden Markov model) and CNLKF (cross-noise linear Kalman filter) is proposed, which is suitable for SINS (strapdown inertial navigation system)/EML/GNSS (global navigation satellite system) integrated navigation systems for small or medium-sized AUV (autonomous underwater vehicle). The algorithm employs the following five techniques: ① the HMM-based pre-processing algorithm of EML data; ② the CNLKF-based fusion algorithm of SINS/EML information; ③ the MALKF (modified adaptive linear Kalman filter)-based algorithm of GNSS-based calibration; ④ the estimation algorithm of the current speed based on output from MALKF and GNSS; ⑤ the feedback correction of LKF (linear Kalman filter). The principle analysis of the algorithm, the modeling process, and the flow chart of the algorithm are given in this paper. The sea trial of a small-sized AUV shows that the endpoint positioning error of the proposed/traditional algorithm by this paper is 20.5 m/712.1 m. The speed of the water current could be relatively accurately estimated by the proposed algorithm. Therefore, the algorithm has the advantages of high accuracy, strong anti-interference ability (it can effectively shield the outliers of EML and GNSS), strong adaptability to complex environments, and high engineering practicality. In addition, compared with the traditional DVL (Doppler velocity log), EML has the advantages of great concealment, low cost, light weight, small size, and low power consumption.
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