Browsing by Author "Bevly, David"

Now showing items 21-40 of 106

Design, Testing, and Simulation of a Low-Cost, Light-Weight, Low-g IMU for the Navigation of an Indoor Blimp

Anderson, Abby (2006-05-15)

In this thesis we develop an IMU for the purpose of navigating an autonomous indoor blimp. Due to the unique system properties of an indoor blimp, the developed IMU is light-weight and is capable of measuring slow rotational ...

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 ...

Determination of the Allowable Parametric Uncertainty in the Closed Loop Via a Skew-μ Based Technique with an Application to the Yaw-Roll Vehicle Model

Brown, Lowell (2017-08-14)

In this dissertation, a methodical approach is presented that quantifies how well model parameters need to be known or by how much they can vary in order that the performance of a controller in closed loop is maintained. ...

Development of a GPS Software Receiver on an FPGA for Testing Advanced Tracking Algorithms

Edwards, William Luke (2010-07-20)

In this thesis, the development of an FPGA-based software GPS receiver with a special focus on advanced tracking algorithms is developed. The particular algorithms of note in this thesis are in a class known as vector ...

Development of an Autonomous Mobile Robot-Trailer System for UXO Detection

Hodo, David (2007-08-15)

The process of finding and removing unexploded ordnance (UXO) from contaminated sites is an expensive and time consuming task. In this thesis, an autonomous mobile robot-trailer system is developed for this purpose. It ...

Development of ANVEL HIL/SIL Simulation Environment for Rapid Prototyping of Navigation Algorithms

Nelson, Brently (2018-05-04)

This thesis presents the development of a Hardware In the Loop/Software In the Loop (HIL/SIL) simulation environment with the purpose of testing Global Positioning System/Inertial Navigation System (GPS/INS) navigation ...

Dynamic Gaussian Process Models for Model Predictive Control of Vehicle Roll

Broderick, David (2012-03-21)

The machine learning method Gaussian process (GP) regression is used to learn the vehicle dynamics without any prior knowledge. The model formed with GP regression demonstrates characteristics that make it useful in ...

Enabling Shape Memory Alloys as Actuators for Robotics

Gurley, Austin (2017-11-27)

Does any existing technology provide a viable actuator for the high degree-of-freedom robots that will soon be ubiquitous in society? If a technology exists that is in any way superior to the electric motor for robotics – ...

Enhancement and Defense of GPS Navigation Using Signal Processing Techniques

Carson, Nathaniel (2018-02-14)

In this thesis methods of spoo ng prevention are developed to detect, identify, and mitigate an attack against both networked and standalone GPS receivers. A network based detection algorithm is introduced which combines ...

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 ...

Evaluation of Platooning Efficiency for Heavy Duty Trucks using Cooperative Adaptive Cruise Control

Smith, Patrick (2020-05-20)

This thesis presents an evaluation of heavy duty truck platooning efficiency through fuel and coastdown testing. The trucking industry accounts for nearly 70% of the freight shipped in the United States. These heavy duty ...

An Experimental Exploration of Low-Cost Sensor and Vehicle Model Solutions for Precision Ground Vehicle Navigation

Salmon, Daniel (2015-12-08)

This thesis presents the use of a vehicle dynamic model (VDM) in conjunction with standard vehicle safety sensors to assist a low-cost Inertial Measurement Unit (IMU) and low-cost Global Positioning System (GPS) for fused ...

Fault Detection and Exclusion in Deeply Integrated GPS/INS Navigation

Clark, Benjamin (2012-12-04)

This dissertation presents a novel fault detection and exclusion method in a centralized deeply integrated GPS/INS navigation system. The method presented is also demonstrated in a centralized vector tracking GPS ...

A Fully Integrated Sensor Fusion Method Combining a Single Antenna GPS Unit with Electronic Stability Control Sensors

Ryan, Jonathan (2011-07-05)

This work presents a method for incorporating GPS (Global Positioning System) and standard roll stability control (RSC) sensors into the electronic stability control (ESC) and RSC systems. It is an adaptation of the very ...

A GPS and GLONASS L1 Vector Tracking Software-Defined Receiver

Watts, Tanner (2019-07-29)

Originally designed for military navigation, GPS has exploded into a modern tool used by government, industrial, and commercial sectors. The position and timing services GPS receivers provide have been integrated into ...

GPS and Inertial Sensor Enhancements for Vision-based Highway Lane Tracking

Clanton, Joshua (2006-08-15)

For the past decade much research in the Intelligent Transportation Systems (ITS) community has been devoted to the topic of lane departure warning (LDW). A significant portion of highway fatalities each year are attributed ...

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 ...

A GPS L1 and Cellular 4G LTE Vector Tracking Software-Defined Receiver

Morgan, Samuel (2023-11-17)

In this thesis, a traditional GPS L1 vector tracking receiver is augmented with cellular 4G LTE channels. The hybrid receiver can acquire and track GPS L1 and LTE signals simultaneously in an extended Kalman filter-based ...

A GPS L5 Software Defined Vector Tracking Receiver

Givhan, Charles Anderson (2021-08-11)

As the world continues towards autonomy, the need for continuous, precise, and robust navigation is becoming increasingly important. A new wave of modernized Global Navigation Satellite Systems (GNSS) signals are currently ...