Browsing by Author "Martin, Scott"

Now showing items 1-20 of 33

Adaptive Steering Actuator Delay Compensation for a Vehicle Lateral Control System

Kennedy, William (2023-05-01)

This thesis presents an adaptive control algorithm for steering actuator delay compensation in a ground vehicle lateral control system. Unknown and time-varying actuator delay values are considered. Many active safety ...

Aerial Vision-Based Relative Positioning and Ground Vehicle Speed Estimation for Cooperative UAV-UGV Automated Platoons

Williams, Robert III (2022-12-09) ETD File Embargoed

This thesis is not approved for public release.

Ambiguous Energy Suppression in Encryption Derived Pseudo-Random BPSK Radar Signals

Kamrath, Luke (2021-12-01)

In this thesis, a pseudo-random binary phase shift keying (BPSK) radar signal is developed using Advanced Encryption Standard (AES-192). The primary objective of this encryption based BPSK (E-BPSK) signal is to provide a ...

Closely Coupled GPS/INS Relative Positioning For Automated Vehicle Convoys

Martin, Scott (2011-04-15)

In this thesis, differential GPS methods are developed for use in automated vehicle convoy positioning. The GPS pseudorange and carrier phase measurements are used to compute relative position vectors between two vehicles ...

Collaborative Simultaneous Tracking and Navigation with Low Earth Orbit Satellite Signals of Opportunity and Inertial Navigation System

Thompson, Sterling (2022-07-26)

This thesis has not been approved for public release.

Computer Vision Based Cooperative Navigation for UAVs and Ground Vehicles

Kamrath, Daniel (2022-06-30)

This thesis is not approved for public release.

Decentralized Collaborative Navigation in Limited Observability Environments with Low Earth Orbit Satellite Signals of Opportunity between Aerial and Ground Vehicles

Moomaw, Christian (2023-07-28)

A decentralized collaborative navigation algorithm known as inverse covariance intersection (ICI) is studied in the context of a group of vehicles navigating using opportunistic Doppler measurements. Signals of opportunity ...

Deep Integration of a Flight Vehicle Dynamic Model in a Vector Tracking Software Defined Receiver

Miller, Noah (2024-01-04)

The greater occurrence of signal interference on Global Navigation Satellite Systems (GNSS) requires additional alternative navigation solutions to provide robust, reliable localization of flight vehicles when measurements ...

Deep Learned Multi-Modal Traffic Agent Predictions for Truck Platooning Cut-Ins

Douglass, Samuel Jr (2020-05-18)

Recent advances in Driver-Assisted Truck Platooning (DATP) have shown success in linking multiple trucks in leader-follower platoons using Cooperative Adaptive Cruise Control (CACC). Such setups allow for closer spacing ...

Detection of GNSS Faults Using Receiver Clock Drift Estimates

Wood, Joshua (2021-05-25)

GNSS based navigation systems are used in almost every sector, from industrial and agricultural environments to everyday applications such as personal navigation or autonomous vehicles. Satellite navigation provides accurate ...

Effect of Atmospheric Drag Estimation on Orbit Determination

McDougal, Madeline (2023-12-07)

Determining the location of Low Earth Orbit (LEO) satellites in orbit is an important aspect when using them for navigation and performing reentry analysis. A large perturbation in LEO satellite orbits is atmospheric ...

Estimation of Relative Motion between Non-Rigid Bodies on a Semi-Truck

Schretter, Brendan (2024-01-08)

This thesis develops methods to estimate the relative motion between the cabin and chassis of a semi-truck without the use of a complex suspension model between the two bodies. In, this thesis only sensors that would be ...

Evaluation of Cooperative Navigation Strategies with Maneuvering UAVs

Pryor, Jacob (2021-07-27)

This thesis presents and evaluates cooperative navigation methods used to reduce navigation solution error growth between members of an unmanned aerial vehicle - unmanned ground vehicle (UAV-UGV) or all-UAV team when Global ...

GPS Carrier Phase Tracking in Difficult Environments Using Vector Tracking For Precise Positioning and Vehicle Attitude Estimation

Martin, Scott (2017-04-25)

In this dissertation, two approaches are developed to improve the carrier phase tracking performance of a software-defined GPS receiver. The first approach combines a non-coherent vector tracking architecture with a local ...