Colored Measurement Noise (CMN) has a great impact on the accuracy of human localization in indoor environments with Inertial Navigation System (INS) integrated with Ultra Wide Band (UWB). To mitigate its influence, a distributed Kalman Filter (dKF) is developed for Gauss–Markov CMN with switching Colouredness Factor Matrix (CFM). In the proposed scheme, a data fusion filter employs the difference between the INS- and UWB-based distance measurements. The main filter produces a final optimal estimate of the human position by fusing the estimates from local filters. The effect of CMN is overcome by using measurement differencing of noisy observations. The tests show that the proposed dKF developed for CMN with CFM can reduce the localization error compared to the original dKF, and thus effectively improve the localization accuracy.

In this article, the state-of-the-art multi-wave and hybrid imaging techniques in the field of nondestructive evaluation and structural health monitoring were comprehensively reviewed. A new direction for assessment and health monitoring of various structures by capitalizing the advantages of those imaging methods was discussed. Although sharing similar system configurations, the imaging physics and principles of multi-wave phenomena and hybrid imaging methods are inherently different. After a brief introduction of nondestructive evaluation (NDE), structure health monitoring (SHM) and their related challenges, several recent advances that have significantly extended imaging methods from laboratory development into practical applications were summarized, followed by conclusions and discussion on future directions.

Multiple light scattering is considered as the major limitation for deep imaging and focusing in turbid media. In this paper, we present an innovative method to overcome this limitation and enhance the delivery of light energy ultra-deep into turbid media with significant improvement in focusing. Our method is based on a wide-field reflection matrix optical coherence tomography (RM-OCT). The time-reversal decomposition of the RM is calibrated with the Tikhonov regularization parameter in order to get more accurate reversal results deep inside the scattering sample. We propose a concept named model energy matrix, which provides a direct mapping of light energy distribution inside the scattering sample. To the best of our knowledge, it is the first time that a method to measure and quantify the distribution of beam intensity inside a scattering sample is demonstrated. By employing the inversion of RM to find the matched wavefront and shaping with a phase-only spatial light modulator, we succeeded in both focusing a beam deep (~9.6 times of scattering mean free path, SMFP) inside the sample and increasing the delivery of light energy by an order of magnitude at an ultra-deep (~14.4 SMFP) position. This technique provides a powerful tool to understand the propagation of photon in a scattering medium and opens a new way to focus light inside biological tissues.