Browsing by Author "Martin, Scott"

Now showing items 21-33 of 33

Methods for Improving Visual Terrain Relative Navigation for Dynamic Aerial Systems

Castleberry, Matthew (2021-04-26)

One popular means of aerial localization and navigation in GPS-denied environments is visual terrain relative navigation. Terrain relative navigation involves performing image registration with sensed aerial camera imagery ...

A Multi-Antenna Vector Tracking Beamsteering GPS Receiver for Robust Positioning

Burchfield, Scott (2022-05-17)

This thesis proposes the coupling of a Global Positioning System (GPS) L1 C/A vector tracking software-defined receiver with controlled reception pattern array array (CRPA) satellite constrained beamsteering, i.e. a ...

Observability-Informed Measurement Validation for Visual-Inertial Navigation

Boler, Matthew (2022-05-04)

This thesis presents a measurement validation method for visual-inertial navigation and an implementation of a visual-inertial estimator which makes use of it. Many autonomous plat- forms, especially flying ones, rely ...

Obstacle Avoidance of an Unmanned Ground Vehicle using a Combined Approach of Model Predictive Control and Proportional Navigation

Shaw, Ryan (2018-12-06)

This thesis presents a new approach for the guidance and control of a UGV (Unmanned Ground Vehicle). A special focus was placed on moving obstacles that interfere with the planned path of the vehicle, this is due to the ...

Online Rotational Self-Calibration of LiDAR Sensors when Mounted on a Ground Vehicle

Meyer, Stephanie (2021-08-06)

This thesis presents a method for online extrinsic rotational calibration of a LiDAR sensor with minimal manual intervention. The approach leverages the expected geometry of structured environments common to ground ...

Pedestrian Navigation using Particle Filtering and a priori Building Maps

Ray, Tanner (2019-05-16)

This thesis presents a new particle filter (PF) weight update method that improves the performance of indoor positioning systems. In standalone inertial pedestrian-dead-reckoning (PDR) systems, the position error grows ...

Radar Aided INS Navigation Filter with Magnetometer Based Attitude Measurements

Williams, John (2018-12-11)

This thesis presents a method for GPS-free navigation using a radar-aided inertial navigation filter with a magnetometer based attitude measurement. GPS has become the popular tool of choice when considering navigation ...

Radio Source Signal Localization Methods and Hardware Simulation

Carter, Patrick (2023-02-23)

This thesis identifies and derives several methods of transmitter localization as well as collects several pre-existing algorithms and adapts them to the use of passive GPS interference localization. Due to legal ...

Simultaneous Estimation of State of Charge and State of Health of a Large Format Li-ion Cell based on an Equivalent Circuit Model

Gairola, Saurabh (2019-07-29)

Accurate estimations of the state of charge (SOC), capacity fade (SOHQ) and power fade (SOHP) are critical for ensuring safe and reliable operations of Lithium-ion batteries. Traditional estimation methods using complex ...

A Software Signal Simulation of Low Earth Orbit Satellites for Investigative Analysis

McDougal, Samuel (2023-05-02)

Simulation tools are an important part of the engineering design process by allowing changes in algorithms and processes before implementation. Current global navigation satellite systems (GNSSs) are mainly located in ...

Timing Evaluation of Iridium Satellite Time and Location Signal: Measurement-Level Implementation and Receiver Hardware Time Interval Comparison

Smith, Austin (2023-12-06)

This thesis assesses the accuracy, stability, and convergence rates of receiver timing solutions with the Iridium Satellite Time and Location (STL) signal through two studies. In the first experiment, an Extended Kalman ...

The Utilization of Geometric Hashing Techniques for Feature Association during Ground Vehicle Localization

Sprunk, Michael (2023-04-28)

This thesis presents a new approach to laser-based robot localization using the concept of geometric hashing. The technique operates on an a priori feature map representing the navigation environment by recording all ...

Utilizing Hidden Markov Models to Classify Maneuvers and Improve Estimates of an Unmanned Aerial Vehicle During High Dynamic Flight

Strong, Amy (2021-07-28)

Unmanned Aerial Vehicles (UAVs) are an increasing presence around the world; however, they can pose a threat to secure facilities. Many UAV mitigation techniques require accurate knowledge of UAV states to successfully ...