Currently, positioning, navigation, and timing information is becoming more and more vital for both civil and military applications. Integration of the global navigation satellite system and /inertial navigation system is the most popular solution for various carriers or vehicle positioning. As is well-known, the global navigation satellite system positioning accuracy will degrade in signal challenging environments. Under this condition, the integration system will fade to a standalone inertial navigation system outputting navigation solutions. However, without outer aiding, positioning errors of the inertial navigation system diverge quickly due to the noise contained in the raw data of the inertial measurement unit. In particular, the micromechanics system inertial measurement unit experiences more complex errors due to the manufacturing technology. To improve the navigation accuracy of inertial navigation systems, one effective approach is to model the raw signal noise and suppress it. Commonly, an inertial measurement unit is composed of three gyroscopes and three accelerometers, among them, the gyroscopes play an important role in the accuracy of the inertial navigation system’s navigation solutions. Motivated by this problem, in this paper, an advanced deep recurrent neural network was employed and evaluated in noise modeling of a micromechanics system gyroscope. Specifically, a deep long short term memory recurrent neural network and a deep gated recurrent unit–recurrent neural network were combined together to construct a two-layer recurrent neural network for noise modeling. In this method, the gyroscope data were treated as a time series, and a real dataset from a micromechanics system inertial measurement unit was employed in the experiments. The results showed that, compared to the two-layer long short term memory, the three-axis attitude errors of the mixed long short term memory–gated recurrent unit decreased by 7.8%, 20.0%, and 5.1%. When compared with the two-layer gated recurrent unit, the proposed method showed 15.9%, 14.3%, and 10.5% improvement. These results supported a positive conclusion on the performance of designed method, specifically, the mixed deep recurrent neural networks outperformed than the two-layer gated recurrent unit and the two-layer long short term memory recurrent neural networks.

Hyperspectral LiDAR (HSL) technology can obtain spectral and ranging information from targets by processing the recorded waveforms and measuring the time of flight (ToF). With the development of the supercontinuum laser (SCL), it is technically easier to develop an active hyperspectral LiDAR system that can simultaneously collect both spatial information and extensive spectral information from targets. Compared with traditional LiDAR technology, which can only obtain range and intensity information at the selected spectral wavelengths, HSL detection technology has demonstrated its potential and adaptability for various quantitative applications from its spectrally resolved waveforms. However, with most previous HSLs, the collected spectral information is discrete, and such information might be insufficient and restrict the further applicability of the HSLs. In this paper, a tunable HSL technology using an acousto-optic tunable filter (AOTF) as a spectroscopic device was proposed, designed, and tested to address this issue. Both the general range precision and the accuracy of the spectral measurement were evaluated. By tuning the spectroscopic device in the time dimension, the proposed AOTF-HSL could achieve backscattered echo with continuous coverage of the full spectrum of 500–1000 nm, which had the unique characteristics of a continuous spectrum in the visible and near infrared (VNIR) regions with 10 nm spectral resolution. Yellow and green leaves from four plants (aloe, dracaena, balata, and radermachera) were measured using the AOTF-HSL to assess its feasibility in agriculture application. The spectral profiles measured by a standard spectrometer (SVC^© HR-1024) were used as a reference for evaluating the measurements of the AOTF-HSL. The difference between the spectral measurements collected from active and passive instruments was minor. The comparison results show that the AOTF-based consecutive and high spectral resolution HSL was effective for this application.

Recently, a major effort has been made to develop methods or tools for rock characterization and mineral content mapping. Light detection and ranging (LiDAR) is an efficient active remote sensing technique for collecting geometry information about rock surfaces. However, traditional LiDAR sensors work with a single-wavelength laser source, and it is unfeasible to obtain spectral information using one LiDAR sensor. The combination of hyperspectral imaging and LiDAR techniques is an emerging method for acquiring spatial and spectral information simultaneously that allows remote mapping of high-resolution mineral content and distributions and identifies subtle chemical variations. Unfortunately, spatial and spectral data registration, which introduces additional complicated data processing, is an inevitable and essential issue for this method. In this letter, first, we investigate the feasibility of ore classification applications with hyperspectral LiDAR (HSL). HSL consists of 17 spectral channels covering the visible-shortwave infrared (SWIR) spectral range. Spatial and spectral information about seven different ore samples is obtained under a controlled laboratory environment using HSL. The standard deviation of the distance measurements is less than 1.1 cm for different spectral channels, and the classification accuracy can reach 100% if all 17 spectral measurements are used. To optimize the system design with lower cost and system complexity, a spectral band selection criterion is built based on the feature contribution degree (FCD), which is calculated using the normalized variance of the reflectance values for different ore samples at each wavelength. Two different strategies of FCD selection are tested to generate vectors: ascending sequences and descending sequences. Feature vectors with descending sequences have better classification accuracy. In addition, the results show that the classification accuracy can reach 100% with the feature vector of the seven largest FCD values compared to 59.57% for the feature vector with the seven smallest FCD values. Moreover, we find that the channels with high FCD values are primarily centered in SWIR bands. This result could be a reference for optimizing the hardware design of HSL for ore classification or mineral identification.

During the mining operation, it is a critical task in coal mines to significantly improve the safety by precision coal mining sorting and rock classification from different layers. It implies that a technique for rapidly and accurately classifying coal/rock in-site needs to be investigated and established, which is of significance for improving the coal mining efficiency and safety. In this letter, a 91-channel hyperspectral LiDAR (HSL) using an acousto-optic tunable filter (AOTF) as the spectroscopic device is designed, which operates based on the wide-spectrum emission laser source with a 5-nm spectral resolution to tackle this issue. The spectra of four-type coal/rock specimens collected by HSL are used to classify with three multi-label classifiers: naive Bayes (NB), logistic regression (LR), and support vector machine (SVM). Furthermore, we discuss and explore whether Gaussian fitting (GF) method and calibration with the reference whiteboard (RB) can enhance the classification accuracy. The experimental results show that the GF technique not only improves the accuracy of range measurement but also optimizes the classification performance using the spectra collected by the HSL. In addition, calibration with RB can improve classification accuracy as well. In addition, we also discuss methods to improve the calibration-free classification accuracy preliminarily.

Huizhou-style ancient architecture was one of the most important genres of architectural heritage in China. The architecture employed bricks, woods, and stones as raw materials, and timber frames were significant structures. Due to the drawback that the timbers were vulnerable to moisture and atmospheric agents, ancient timber buildings needed frequent protective interventions to maintain its good condition. Such interventions unavoidably disrupted the consistency between the original timber components. Besides this, the modifications brought about difficulty in correctly analysing and judging the state of existing ancient buildings, which, in current preservation practices, mainly rely on the expertise of skilled craftsmen to classify wood species and to identify the building-age of the timber components. Therefore, the industry and the research community urgently need a technique to rapidly and accurately classify wood materials and to discriminate building-age. In the paper, we designed an eye-safe 81-channel hyperspectral LiDAR (HSL) to tackle these issues. The HSL used an acousto-optic tunable filter (AOTF) as a spectral bandpass filter, offering the HSL measurements with 5 nm spectral resolution. Based on the HSL measurements, we analysed the relationship between the surface and cross-section spectral profiles of timber components from different ancient architectures built in the early Qing dynasty (~300 years), late Qing dynasty (~100 years), and nowadays, and confirmed the feasibility of using surface spectra of timber components for classification purpose. We classified building-ages and wood species with multiple Naive Bayes (NB) and support vector machine (SVM) classifiers by the surface spectra of timber components; this also unveiled the possibility of classifying gnawed timber components from its spectra for the first time. The encouraging experimental results supported that the AOTF-HSL is feasible for historic timber building preservation.