Under dynamic conditions, the centroiding accuracy of the motion-blurred star image decreases and the number of identified stars reduces, which leads to the degradation of the attitude accuracy of the star sensor. To improve the attitude accuracy, a region-confined restoration method, which concentrates on the noise removal and signal to noise ratio (SNR) improvement of the motion-blurred star images, is proposed for the star sensor under dynamic conditions. A multi-seed-region growing technique with the kinematic recursive model for star image motion is given to find the star image regions and to remove the noise. Subsequently, a restoration strategy is employed in the extracted regions, taking the time consumption and SNR improvement into consideration simultaneously. Simulation results indicate that the region-confined restoration method is effective in removing noise and improving the centroiding accuracy. The identification rate and the average number of identified stars in the experiments verify the advantages of the region-confined restoration method.

The attitude accuracy of a star sensor decreases rapidly when star images become motion-blurred under dynamic conditions. Existing techniques concentrate on a single frame of star images to solve this problem and improvements are obtained to a certain extent. An attitude-correlated frames (ACF) approach, which concentrates on the features of the attitude transforms of the adjacent star image frames, is proposed to improve upon the existing techniques. The attitude transforms between different star image frames are measured by the strap-down gyro unit precisely. With the ACF method, a much larger star image frame is obtained through the combination of adjacent frames. As a result, the degradation of attitude accuracy caused by motion-blurring are compensated for. The improvement of the attitude accuracy is approximately proportional to the square root of the number of correlated star image frames. Simulations and experimental results indicate that the ACF approach is effective in removing random noises and improving the attitude determination accuracy of the star sensor under highly dynamic conditions.

Compared to conventional floodlighted imaging systems, a pulsed laser range-gated imaging system can get a real-time high performance underwater image when the distance of target is known. Otherwise, optical properties of the water, mainly the attenuation coefficient of the water, should be obtained to automatically set the parameters of the imaging system. Typically, special instrument is required to measure the attenuation coefficient of the water. In this work, a water attenuation coefficient estimation method is proposed merely with the pulsed laser range-gated imaging system. The imaging model of the backscattered light of the pulsed laser range-gated imaging system is built through the light propagation theory. As a result, the water attenuation coefficient is calculated by nonlinear estimation method. Experiments under different water conditions are designed and carried out to verify the proposed method. Results show that the relative errors between the estimation and the reference are about 1% for the water in the water tank and seawater pool, and about 4% for the towing boat tank, respectively.

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