Dynamic Anchor Learning for Arbitrary-Oriented Object Detection

Arbitrary-oriented objects widely appear in natural scenes, aerial photographs, remote sensing images, etc., thus arbitrary-oriented object detection has received considerable attention. Many current rotation detectors use plenty of anchors with different orientations to achieve spatial alignment with ground truth boxes, then Intersection-over-Union (IoU) is applied to sample the positive and negative candidates for training. However, we observe that the selected positive anchors cannot always ensure accurate detections after regression, while some negative samples can achieve accurate localization. It indicates that the quality assessment of anchors through IoU is not appropriate, and this further lead to inconsistency between classification confidence and localization accuracy. In this paper, we propose a dynamic anchor learning (DAL) method, which utilizes the newly defined matching degree to comprehensively evaluate the localization potential of the anchors and carry out a more efficient label assignment process. In this way, the detector can dynamically select high-quality anchors to achieve accurate object detection, and the divergence between classification and regression will be alleviated. With the newly introduced DAL, we achieve superior detection performance for arbitrary-oriented objects with only a few horizontal preset anchors. Experimental results on three remote sensing datasets HRSC2016, DOTA, UCAS-AOD as well as a scene text dataset ICDAR 2015 show that our method achieves substantial improvement compared with the baseline model. Besides, our approach is also universal for object detection using horizontal bound box. The code and models are available at https://github.com/ming71/DAL.Comment: Accepted to AAAI 2021. The code and models are available at https://github.com/ming71/DA

Solving Gravity Anomaly Matching Problem Under Large Initial Errors in Gravity Aided Navigation by Using an Affine Transformation Based Artificial Bee Colony Algorithm

Gravity aided inertial navigation system (GAINS), which uses earth gravitational anomaly field for navigation, holds strong potential as an underwater navigation system. The gravity matching algorithm is one of the key factors in GAINS. Existing matching algorithms cannot guarantee the matching accuracy in the matching algorithms based gravity aided navigation when the initial errors are large. Evolutionary algorithms, which are mostly have the ability of global optimality and fast convergence, can be used to solve the gravity matching problem under large initial errors. However, simply applying evolutionary algorithms to GAINS may lead to false matching. Therefore, in order to deal with the underwater gravity matching problem, it is necessary to improve the traditional evolutionary algorithms. In this paper, an affine transformation based artificial bee colony (ABC) algorithm, which can greatly improve the positioning precision under large initial errors condition, is developed. The proposed algorithm introduces affine transformation to both initialization process and evolutionary process of ABC algorithm. The single-point matching strategy is replaced by the strategy of matching a sequence of several consecutive position vectors. In addition, several constraints are introduced to the process of evolution by using the output characteristics of the inertial navigation system (INS). Simulations based on the actual gravity anomaly base map have been performed for the validation of the proposed algorithm

A Real-Time Mismatch Detection Method for Underwater Database-Referenced Navigation

Database-referenced navigation (DBRN) using geophysical information is often implemented on autonomous underwater vehicles (AUVs) to correct the positional errors of the inertial navigation system (INS). The matching algorithm is a pivotal technique in DBRN. However, it is impossible to completely eliminate mismatches in practical application. Therefore, it is necessary to perform a mismatch detection method on the outputs of DBRN. In this paper, we propose a real-time triple constraint mismatch detection method. The proposed detection method is divided into three modules: the model fitting detection module, the spatial structure detection module, and the distance ratio detection module. In the model fitting detection module, the navigation characteristics of AUVs are used to select the fitting model. In the spatial structure detection module, the proposed method performs the mismatch detection based on the affine transformation relationship between the INS-indicated trajectory and the corresponding matched trajectory. In the distance ratio detection module, we derive the distance ratio constraint between the INS-indicated trajectory and the corresponding matched trajectory. Simulations based on an actual geomagnetic anomaly base map have been performed for the validation of the proposed method

Spoofing Detection and Mitigation in a Multi-correlator GPS Receiver Based on the Maximum Likelihood Principle

As a structural interference, spoofing is difficult to detect by the target receiver while the advent of a repeater makes the implementation of spoofing much easier. Most existing anti-spoofing methods are merely capable of detecting the spoofing, i.e., they cannot effectively remove counterfeit signals. Therefore, based on the similarities between multipath and spoofing, the feasibility of applying multipath mitigation methods to anti-spoofing is first analyzed in this paper. We then propose a novel algorithm based on maximum likelihood (ML) estimation to resolve this problem. The tracking channels with multi-correlators are constructed and a set of corresponding steps of detecting and removing the counterfeit signals is designed to ensure that the receiver locks the authentic signals in the presence of spoofing. Finally, the spoofing is successfully executed with a software receiver and the saved intermediate frequency (IF) signals, on this basis, the effectiveness of the proposed algorithm is verified by experiments

Tracking Architecture Based on Dual-Filter with State Feedback and Its Application in Ultra-Tight GPS/INS Integration

If a Kalman Filter (KF) is applied to Global Positioning System (GPS) baseband signal preprocessing, the estimates of signal phase and frequency can have low variance, even in highly dynamic situations. This paper presents a novel preprocessing scheme based on a dual-filter structure. Compared with the traditional model utilizing a single KF, this structure avoids carrier tracking being subjected to code tracking errors. Meanwhile, as the loop filters are completely removed, state feedback values are adopted to generate local carrier and code. Although local carrier frequency has a wide fluctuation, the accuracy of Doppler shift estimation is improved. In the ultra-tight GPS/Inertial Navigation System (INS) integration, the carrier frequency derived from the external navigation information is not viewed as the local carrier frequency directly. That facilitates retaining the design principle of state feedback. However, under harsh conditions, the GPS outputs may still bear large errors which can destroy the estimation of INS errors. Thus, an innovative integrated navigation filter is constructed by modeling the non-negligible errors in the estimated Doppler shifts, to ensure INS is properly calibrated. Finally, field test and semi-physical simulation based on telemetered missile trajectory validate the effectiveness of methods proposed in this paper

A Novel EM Implementation for Initial Alignment of SINS Based on Particle Filter and Particle Swarm Optimization

For nonlinear systems in which the measurement noise parameters vary over time, adaptive nonlinear filters can be applied to precisely estimate the states of systems. The expectation maximization (EM) algorithm, which alternately takes an expectation- (E-) step and a maximization- (M-) step, has been proposed to construct a theoretical framework for the adaptive nonlinear filters. Previous adaptive nonlinear filters based on the EM employ analytical algorithms to develop the two steps, but they cannot achieve high filtering accuracy because the strong nonlinearity of systems may invalidate the Gaussian assumption of the state distribution. In this paper, we propose an EM-based adaptive nonlinear filter APF to solve this problem. In the E-step, an improved particle filter PF_new is proposed based on the Gaussian sum approximation (GSA) and the Monte Carlo Markov chain (MCMC) to achieve the state estimation. In the M-step, the particle swarm optimization (PSO) is applied to estimate the measurement noise parameters. The performances of the proposed algorithm are illustrated in the simulations with Lorenz 63 model and in a semiphysical experiment of the initial alignment of the strapdown inertial navigation system (SINS) in large misalignment angles