Synergism of binocular and motion stereo for passive ranging

Range measurements to objects in the world relative to mobile platforms such as ground or air vehicles are critical for visually aided navigation and obstacle detection/avoidance. An approach is presented that consists of a synergistic combination of two types of passive ranging method: binocular stereo and motion stereo. We show a new way to model the errors in binocular and motion stereo in conjunction with an inertial navigation system (INS) and derive the appropriate Kalman filter to refine the estimates from these two stereo ranging techniques. We present results using laboratory images that show that refined estimates can be optimally combined to give range values which are more accurate than any one of the individual estimates from binocular and motion stereo. By incorporating a blending filter, the approach has the potential of providing accurate, dense range measurements for all the pixels in the field of view (FOV)     

The plasma mantle: Composition and other characteristics observed by means of the PROGNOZ-7 satellite

A brief summary of the main results of magnetospheric ion composition measurements in general is first presented. PROGNOZ-7 measurements in the nightside plasma mantle are then described and analyzed. Some of the results are the following: In the nightside mantle not too far from midnight the properties of the mantle are sometimes consistent with the open magnetosphere model. However during most magnetic storm situations O⁺ ions appear in the mantle in large proportions and with high energies. The acceleration process affecting the ions has been found in several cases to give equal amounts of energy to all ions independent of mass. Along the flanks of the magnetosphere the flow of the plasma is often low or absent. The O⁺ content is high (up to 20%) and the energy spectrum of both ions and electrons may be very hot, even up to the level of the ring current plasma in the keV range.The O⁺ content in the plasma mantle is positively correlated with the magnetospheric activity level. The mantle, however, does not appear to be the dominating source for the storm time ring current. Direct acceleration of ionospheric ions onto the closed field lines of the plasma sheet and ring current is most likely the main source. The magnetopause on the nightside and along the flanks of the magnetosphere appears to be a fairly solid boundary for mantle ions of ionospheric origin. This is especially evident during periods with high geomagnetic activity, when the mantle is associated with fairly strong fluxes of O⁺ ions.An interesting observation in most of the mantle passages during geomagnetically disturbed periods is the occurrence of intense, magnetosheath like, regions deep inside the mantle. In some cases these regions with strong antisunward flow and with predominant magnetosheath ion composition was observed in the innermost part of the mantle, i.e. marking a boundary region between the lobe and the mantle. These magnetosheath penetration events are usually associated with strong fluxes of accelerated ionospheric ions in nearby parts of the mantle. Evanescent penetration regions with much reduced flow properties are frequently observed in the flank mantle.     

Mismatched Filtering of Sonar Signals

A replica correlator (matched filter) is an optimum processor for a receiver employing a pulse of continuous wave (CW) signal in a white Gaussian noise background. In an active sonar, however, when the target of interest has low Doppler shift and is embedded in a high reverberation background, this is not so. High sidelobes of the correlator frequency response pass a significant portion of the signal contained in the mainlobe of the reverberation spectrum. In order to reduce the sidelobes of the correlator output spectrum and at the same time keep the increase in its 3 dB bandwidth to a small amount, we propose lengthening of the replica of the transmitted signal and weighting it by a Kaiser window. It is demonstrated that by extending the weighted replica by 50 percent compared with the transmitted signal, it is possible to reduce the sidelobe levels to at least 40 dB below the mainlobe peak, with the concomitant increase of the 3 dB band-width by less than 5 percent. The degradation in signal-to-noise ratio (SNR) performance for such a ?mismatched? filter receiver with respect to the matched filter is less than 1.5 dB.     

Magnetic Position and Orientation Tracking System

Three-axis generation and sensing of quasi-static magneticdipole fields provide information sufficient to determine both the position and orientation of the sensor relative to the source. Linear rotation transformations based upon the previous measurements are applied to both the source excitation and sensor output vectors, yielding quantities that are linearly propotional to small changes in the position and orientation. Changes are separated using linear combinations of sensor output vectors, transformed to the desired coordinate frame, and used to update the previous measurements. Practical considerations for a head-tracking application are discussed.     

Some early results of the keV plasma experiment on GEOS-1

Some preliminary new results are presented of the keV plasma experiment on GEOS-1. Electrons and ions have been observed to stream along the magnetic field lines in the dayside magnetosphere from the ionospheric side of the satellite towards the equatorial plane during magnetic storms, with streaming velocities corresponding to a kinetic energy of the order of a keV. The opposite streaming velocity has also been seen, but primarily in the ions only and with a smaller flux ratio for the two opposite directions along the field lines. The transition between the two opposite streaming directions, as seen by the satellite, has been found to occur even in a fraction of a second.In magnetic storm conditions azimuthal asymmetries in ion fluxes corresponding to electric field intensities of several tens of millivolts per meter have been observed.     

Bounds on Elevation Error Estimates of a Target in Multipath

The Cramer-Rao bound for an unbiased estimate of the elevation angle of a target in the presence of multipath is calculated for the symmetric (target and image symmetric about the elevation symmetry plane of antenna) and nonsymmetric cases for an antenna consisting of 21 elements. These bounds are compared to the maximum likelihood estimates and it is found that the rms error of the maximum likelihood estimate (which has a bias) is below the Cramer-Rao bound for unbiased estimates.     

An Automatic System for the Control of Multiple Drone Aircraft

A conceptual system is proposed and described for the control of a multiplicity of drone aircraft. Each target (drone) aircraft is controlled, during a given mission, over a separate preprogrammed path comprised of straight line and circular arc segments. Full control of each target's altitude, plan position, and velocity is available. Position measurement can be obtained by use of either a radar or a bilateration method where altitude is measured in either case by each aircraft and telemetered to a central control point. Velocity is obtained by smoothing position data in a central computer, which also controls the entire mission complex.     

Model-based segmentation of FLIR images

The use of gray-scale intensities together with the edge information present in a forward-looking infrared (FLIR) image to obtain a precise and accurate segmentation of a target is presented. A model of FLIR images based on gray-scale and edge information is incorporated in a gradient relaxation technique which explicitly maximizes a criterion function based on the inconsistency and ambiguity of classification of pixels with respect to their neighbors. Four variations of the basic technique which provide automatic selection of thresholds to segment FLIR images are considered. These methods are compared, and several examples of segmentation of ship images are given