When underwater vehicles work, underwater images are often absorbed by light and scattered and diffused by floating objects, which leads to the degradation of underwater images. The generative adversarial network (GAN) is widely used in underwater image enhancement tasks because it can complete image-style conversions with high efficiency and high quality. Although the GAN converts low-quality underwater images into high-quality underwater images (truth images), the dataset of truth images also affects high-quality underwater images. However, an underwater truth image lacks underwater image enhancement, which leads to a poor effect of the generated image. Thus, this paper proposes to add the natural image quality evaluation (NIQE) index to the GAN to provide generated images with higher contrast and make them more in line with the perception of the human eye, and at the same time, grant generated images a better effect than the truth images set by the existing dataset. In this paper, several groups of experiments are compared, and through the subjective evaluation and objective evaluation indicators, it is verified that the enhanced image of this algorithm is better than the truth image set by the existing dataset.

The quality of underwater images is often affected by the absorption of light and the scattering and diffusion of floating objects. Therefore, underwater image enhancement algorithms have been widely studied. In this area, algorithms based on Multi-Scale Retinex (MSR) represent an important research direction. Although the visual quality of underwater images can be improved to some extent, the enhancement effect is not good due to the fact that the parameters of these algorithms cannot adapt to different underwater environments. To solve this problem, based on classical MSR, we propose an underwater image enhancement optimization (MSR-PO) algorithm which uses the non-reference image quality assessment (NR-IQA) index as the optimization index. First of all, in a large number of experiments, we choose the Natural Image Quality Evaluator (NIQE) as the NR-IQA index and determine the appropriate parameters in MSR as the optimization object. Then, we use the Gravitational Search Algorithm (GSA) to optimize the underwater image enhancement algorithm based on MSR and the NIQE index. The experimental results show that this algorithm has an excellent adaptive ability to environmental changes.

Among current detection methods of the atmospheric boundary layer, sounding balloon has disadvantages such as low recovery and low reuse rate, anemometer tower has disadvantages such as fixed location and high cost, and remote sensing detection has disadvantages such as low data accuracy. In this paper, a meteorological element sensor was carried on a six-rotor UAV platform to achieve detection of meteorological elements of the atmospheric boundary layer, and the influence of different installation positions of the meteorological element sensor on the detection accuracy of the meteorological element sensor was analyzed through many experiments. Firstly, a six-rotor UAV platform was built through mechanical structure design and control system design. Secondly, data such as temperature, relative humidity, pressure, elevation, and latitude and longitude were collected by designing a meteorological element detection system. Thirdly, data management of the collected data was conducted, including local storage and real-time display on ground host computer. Finally, combined with the comprehensive analysis of the data of automatic weather station, the validity of the data was verified. This six-rotor UAV platform carrying a meteorological element sensor can effectively realize the direct measurement of the atmospheric boundary layer and in some cases can make up for the deficiency of sounding balloon, anemometer tower, and remote sensing detection.

Ocean wave parameters, including wave height, direction and period, are necessary to improve forecasts of ocean wave conditions. Their accurate observation contributes to safety of both offshore operations and military operations. However, conventional wave observation methods that combine the three-axis accelerometer-based wave sensor with the gyroscope may show problems such as inner arm error, transverse sensitivity effect, and gyroscope drift. The first two are due to non-coincidence of centroids inside the accelerometer. Such problems will reduce reliability of data. To solve the problems, a new type of parallel six-dimensional accelerometer is developed to reduce principle errors and improve stability of wave buoys. The solution features a single mass and 12-chain redundancy. When compared with the performance of high-precision sensors in the wave pool, the wave buoy based on six-dimensional accelerometer is proved to be more accurate in wave height measurement than 3.75 % × measurement value, with wave direction accuracy of ± 1°, and the wave period measurement accuracy of ± 0.1s.