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Full-Text Articles in Engineering
An Investigation Of The Effects Of Boundary Avoidance On Pilot Tracking, Randy D. Warren
An Investigation Of The Effects Of Boundary Avoidance On Pilot Tracking, Randy D. Warren
Theses and Dissertations
Pilot-Involved Oscillations (PIOs) remain a significant issue in the design, testing and operations of aerospace vehicles. Traditional methods for predicting, describing, and analyzing these events have provided the community with improved methods for minimizing the occurrences of PIOs. However, these events continue to occur over a wide range of aerospace vehicle types and over a wide range of pilot acumen. The introduction of boundary avoidance tracking (BAT) by Mr. William Gray in 2004 added a missing piece to the PIO puzzle. This theory presented that PIOs may result from increasing pilot gain resulting not from maintaining a specified condition, but …
Development Of A Low-Latency, High Data Rate, Differential Gps Relative Positioning System For Uav Formation Flight Control, Stephen J. Comstock
Development Of A Low-Latency, High Data Rate, Differential Gps Relative Positioning System For Uav Formation Flight Control, Stephen J. Comstock
Theses and Dissertations
In order for Unmanned Aerial Vehicles (UAVs) to be able to fly missions currently performed by manned aircraft, they must be able to conduct in-flight refueling. Additionally, significant fuel savings can be realized if multiple UAV's are able to fly in precise formation and align wingtip vortices. In either case, the precise relative position between the aircraft must be known to an accuracy of only a few centimeters. Previous research at the Air Force Institute of Technology culminated in the development of a relative positioning system for manned aircraft. This thesis presents the development of the next-generation system designed for …
Characterization Of Uav Performance And Development Of A Formation Flight Controller For Multiple Small Uavs, Patrick A. Mccarthy
Characterization Of Uav Performance And Development Of A Formation Flight Controller For Multiple Small Uavs, Patrick A. Mccarthy
Theses and Dissertations
The Air Force Institute of Technology's (AFIT) Advanced Navigation Technology (ANT) Center has recently delved into the research topic of small Unmanned Aerial Vehicles (UAV). One area of particular interest is using multiple small UAVs cooperatively to improve mission efficiency, as well as perform missions that couldn't be performed using vehicles independently. However, many of these missions require that the UAVs operate in close proximity of each other. This research lays the foundation required to use the ANT Center's UAVs for multi-vehicle missions (e.g. cooperatively) by accomplishing two major goals. First, it develops test procedures that can be used to …
Situational Awareness And Synthetic Vision For Unmanned Aerial Vehicle Flight Testing, Joseph M. Dugan
Situational Awareness And Synthetic Vision For Unmanned Aerial Vehicle Flight Testing, Joseph M. Dugan
Theses and Dissertations
The Advanced Navigation Technology (ANT) Center at the Air Force Institute of Technology (AFIT) is currently exploring ways to develop and advance the employment of autonomous Unmanned Aerial Vehicles (UAV) by the Department of Defense for military purposes. The research in this thesis describes the development of a tool that enhances situational awareness and provides synthetic vision in a program called the Aviator Visual Display Simulator (AVDS) during UAV flight. During flight testing, the Situational Awareness and Synthetic Vision Relay Tool (SASVRT) developed provides the test coordinator and pilot, as well as the safety observers, with the most pertinent information …
An Investigation Into Robust Wind Correction Algorithms For Off-The Shelf Unmanned Aerial Vehicle Autopilots, Brent K. Robinson
An Investigation Into Robust Wind Correction Algorithms For Off-The Shelf Unmanned Aerial Vehicle Autopilots, Brent K. Robinson
Theses and Dissertations
The research effort focuses on developing methods to design efficient wind correction algorithms to "piggyback" on current off-the-shelf Unmanned Aerial Vehicle (UAV) autopilots. Autonomous flight is certainly the near future for the aerospace industry and there exists great interest in defining a system that can guide and control aircraft with high levels of accuracy. The primary systems required to command the vehicles are already in place, but with only moderate abilities to adjust for dynamic environments (i.e. wind effects), if at all. The goal of this research is to develop a systematic procedure for implementing efficient and robust wind effects …
Optimal Geometric Deployment Of A Ground Based Pseudolite Navigation System To Track A Landing Aircraft, Matthew P. Crawford
Optimal Geometric Deployment Of A Ground Based Pseudolite Navigation System To Track A Landing Aircraft, Matthew P. Crawford
Theses and Dissertations
With much of the military and civilian communities becoming dependent on GPS technology to navigate it has become imperative that the navigation systems be tested in situations in which GPS does not work. This testing is especially necessary for precise tasks such as landing an aircraft. Currently, research is being conducted into using a pseudolite-based reference system to use as a truth model for the GPS jamming test. Pseudolite systems have been proven to provide sub-centimeter level accuracy in the horizontal plane; however in the vertical plane the position error is still in the decimeter to meter level range. This …
Bio-Inspired, Odor-Based Navigation, Maynard John Porter Iii
Bio-Inspired, Odor-Based Navigation, Maynard John Porter Iii
Theses and Dissertations
The ability of moths to locate a member of the opposite sex, by tracking a wind-borne plume of odor molecules, is an amazing reality. Numerous scenarios exist where having this capability embedded into ground-based or aerial vehicles would be invaluable. The main crux of this thesis investigation is the development of a navigation algorithm which gives a UAV the ability to track a chemical plume to its source. Inspiration from the male moth's, in particular Manduca sexta, ability to successfully track a female's pheromone plume was used in the design of both 2-D and 3-D navigation algorithms. The algorithms were …
Methods For Aiding Height Determination In Pseudolite-Based Reference Systems Using Batch Least-Squares Estimation, John H. R. Amt
Methods For Aiding Height Determination In Pseudolite-Based Reference Systems Using Batch Least-Squares Estimation, John H. R. Amt
Theses and Dissertations
There are many situations in which GPS is either unable to provide the desired level of accuracy or is unavailable. Use of a pseudolite-based reference system for navigation can be a means for positioning during these times. While there are advantages in using a pseudolite-based reference system, there are still implementation issues and deficiencies that must be addressed. In many cases, a pseudolite system with ground-based transmitters has difficulty determining the height of the receiver accurately. This is due to the poor vertical observability inherent in the geometry of the system. A common approach in naval applications for solving the …
Evaluating The Correlation Characteristics Of Arbitrary Am And Fm Radio Signals For The Purpose Of Navigation, Bryan S. Kim
Evaluating The Correlation Characteristics Of Arbitrary Am And Fm Radio Signals For The Purpose Of Navigation, Bryan S. Kim
Theses and Dissertations
The Global Positioning System (GPS) provides position estimates on the Earth at anytime, anywhere and in any weather. However, to provide robust positioning, GPS requires an unobstructed path to satellite signals. As such, GPS performance generally degrades or becomes non-existent in environments such as large urban areas. This research investigates and analyzes the correlation characteristics of arbitrary AM and FM radio signals for the purpose of navigation. Simulations are conducted with different combinations of correlation methods (`fixed' or `varying'), modulation types (AM or FM), and signal types (song or voice). Out of the eight different variations considered, only two provided …
Performance Analysis Of A Cooperative Search Algorithm For Multiple Unmanned Aerial Vehicles Under Limited Communication Conditions, Kevin M. Morris
Performance Analysis Of A Cooperative Search Algorithm For Multiple Unmanned Aerial Vehicles Under Limited Communication Conditions, Kevin M. Morris
Theses and Dissertations
This research investigates the impacts of realistic wireless communications upon a group of unmanned aerial vehicles (UAVs) utilizing a distributed search algorithm. The UAVs are used to survey an area for mobile targets and they require communication to cooperatively locate the targets. The mobile targets do not continually radiate energy, which exacerbates the search effort; a UAV could fly directly over a target and not detect it. A simulation of cooperative UAVs is implemented using the OPNET Modeler network simulation tool. The search performance of a group of UAVs is observed when communication range, data rate, and the number of …
Development Of Autonomous Unmanned Aerial Vehicle Platform: Modeling, Simulating, And Flight Testing, Nidal M. Jodeh
Development Of Autonomous Unmanned Aerial Vehicle Platform: Modeling, Simulating, And Flight Testing, Nidal M. Jodeh
Theses and Dissertations
The Advanced Navigation Technology (ANT) Center at the Air Force Institute of Technology (AFIT) conducts extensive research in advanced guidance, navigation, and control to exploit the full potential of autonomous Unmanned Aerial Vehicles (UAV). The research in this thesis describes a UAV research platform developed to support the ANT Center's goals. This platform is now the bedrock for UAV simulation and local flight test at AFIT. The research has three major components. The first component is development of a physical, inertial, and aerodynamic model representing an existing aircraft. A systematic analysis of the airframe leads to a complete geometric, inertial, …
Formation Flight Control For Aerial Refueling, Steven M. Ross
Formation Flight Control For Aerial Refueling, Steven M. Ross
Theses and Dissertations
A controller is designed for an aircraft to autonomously fly formation during aerial refueling. Requirements for a refueling autopilot are stated. A six-degree-of-freedom model is developed for an F-16 lead aircraft and a Learjet LJ-25 wing aircraft. Bare airframe stability of both aircraft is investigated, and stability augmentation is performed. A Matlab Simulink® simulation is built to reproduce the sensor inputs that will be available to the wing aircraft in flight, including disturbances. Control frames are investigated to determine the optimum presentation of the error vector for control during the task of air refueling. Control laws are developed from the …
Estimation And Mitigation Of Unmodeled Errors For A Pseudolite Based Reference System, Jeremiah A. Shockley
Estimation And Mitigation Of Unmodeled Errors For A Pseudolite Based Reference System, Jeremiah A. Shockley
Theses and Dissertations
Current flight reference systems rely heavily on the Global Positioning System (GPS), causing susceptibility to GPS jamming. Additionally, an increasing number of tests involve jamming the GPS signal. A need exists to develop a system capable of GPS-level accuracy during these outages. One promising solution is a ground-based pseudolite system capable of delivering sub-centimeter level accuracy, yet operating at non-GPS frequencies. This thesis attempts to determine the unknown errors in the Locata system, one such pseudolite-based system, to achieve the accuracy required. The development of a measurement simulation tool along with a Kalman filter algorithm provides confirmation of filter performance …
Modeling, Stability, And Control Of A Rotatable Tail On A Micro Air Vehicle, Travis J. Higgs
Modeling, Stability, And Control Of A Rotatable Tail On A Micro Air Vehicle, Travis J. Higgs
Theses and Dissertations
This research uses existing experimental wind tunnel data to develop a non-linear model that is used to characterize the stability of a flexible wing Micro Air Vehicle (MAV) with a rotatable tail. The experimental data are curve fit based on either angle of attack or angle of sideslip, and the coupled effect of tail rotation and tail deflection on the force and moment coefficients. Static optimization trims the input and state variables for Steady Level Unaccelerated Flight (SLUF). The resulting initial conditions are fed to an open loop non-linear Simulink/Matlab simulation. The study found that the bare MAV design is …
Controlling Sideslip Angle To Reduce The Radar Exposure Of A Tactical, Rotary Winged Uav, Jonathan D. Bulseco
Controlling Sideslip Angle To Reduce The Radar Exposure Of A Tactical, Rotary Winged Uav, Jonathan D. Bulseco
Theses and Dissertations
This work investigates another way of contributing to the radar minimization solution for air vehicles in a threat environment. While much research has been conducted on structural solutions to radar exposure minimization, not much work has been done in the area of using control to continuously assess and present the smallest radar cross section of an air vehicle to oncoming threat radar systems by changing the aircraft's orientation. This work looks at the application of sideslip/beta angle feedback control of an unmanned helicopter to minimize radar cross section exposure in a hostile radar environment. A new way of controlling aircraft …
The Use Of X-Ray Pulsars For Aiding Gps Satellite Orbit Determination, Dennis W. Woodfork Ii
The Use Of X-Ray Pulsars For Aiding Gps Satellite Orbit Determination, Dennis W. Woodfork Ii
Theses and Dissertations
This research proposes the use of an existing "signal of opportunity" - namely x-ray pulsars - to improve the accuracy and robustness of the GPS satellite and clock estimation algorithm. Improvement in satellite and clock accuracy results in a direct benefit to the user. A simulation has been developed to determine the effects of using x-ray pulsar measurements on the GPS Operational Control Segment. The epoch-specific position, velocity, and clock errors of all GPS satellites in the constellation were estimated using both pseudoranges and time-difference-of-arrival (TDOA) measurements from pulsars. The primary measure of accuracy is a constellation Signal-In-Space Range Error …
Ins Aiding Using Passive, Bearings-Only Measurements Of An Unknown Stationary Ground Object, Alec E. Porter
Ins Aiding Using Passive, Bearings-Only Measurements Of An Unknown Stationary Ground Object, Alec E. Porter
Theses and Dissertations
The theory for Inertial Navigation System (INS) aiding using passive, bearings only measurements of an unknown stationary ground object, in the vein of optical flow measurement, is developed. Stand-alone bearings-only measurements over time of an unknown, but stationary, ground object are shown to yield estimates of the aircraft’s aerodynamic angles, viz., the angle of attack and sideslip angle. Two new equations containing the aircraft’s angular navigation variables ψ, θ, φ, γ, H, and the aerodynamic angles are derived. This allows an update of the aircraft’s attitude, thus making INS aiding using passive, bearings-only measurements possible. Moreover, the use of stadiametry, …
Development And Simulation Of A Pseudolite-Based Flight Reference System, Terry J. Bouska
Development And Simulation Of A Pseudolite-Based Flight Reference System, Terry J. Bouska
Theses and Dissertations
Current flight reference systems are vulnerable to GPS jamming and also lack the accuracy required to test new systems. Pseudolites can augment flight reference systems by improving accuracy, especially in the presence of GPS jamming. This thesis evaluates a pseudolite-based flight reference system which applies and adapts carrier-phase differential GPS techniques. The algorithm developed in this thesis utilizes an extended Kalman filter along with carrier-phase ambiguity resolution techniques. A simulation of the pseudolite-based positioning system realistically models measurement noise, multipath, pseudolite position errors, and tropospheric delay. A comparative evaluation of the algorithms performance for single and widelane frequency measurements is …
Tightly-Coupled Image-Aided Inertial Navigation System Via A Kalman Filter, Michael G. Giebner
Tightly-Coupled Image-Aided Inertial Navigation System Via A Kalman Filter, Michael G. Giebner
Theses and Dissertations
Inertial navigation systems and GPS systems have revolutionized the world of navigation. Inertial systems are incapable of being jammed and are the backbone of most navigation systems. GPS is highly accurate over long periods of time, and it is an excellent aid to inertial navigation systems. However, as a military force we must be prepared to deal with the denial of the GPS signal. This thesis seeks to determine it, via simulation, it is viable to aid an INS with visual measurements.
Broadcast Vs Precise Gps Ephemerides: A Historical Perspective, David L. M. Warren
Broadcast Vs Precise Gps Ephemerides: A Historical Perspective, David L. M. Warren
Theses and Dissertations
In most recent years, both high-resolution imagery systems and images were only available to military and national security organizations. Distinctive changes within the commercial image industry allowed space-borne pioneers to provide high-resolution images. Space-borne Image Company's Ikonos satellite provides a 1-meter resolution for the past 3 years. Current development of .5-meter resolution will be offered in the near future. Access of these images is available in ground stations located worldwide in different regions. Studies have shown that these high quality images are eye-catching and may serve a purpose through its design; on contrary high cost and accessibility does not met …
A Study Of Satellite Navigation, Dilution Of Precision, And Positioning Techniques For Use On And Around The Moon, John H. Macnicol
A Study Of Satellite Navigation, Dilution Of Precision, And Positioning Techniques For Use On And Around The Moon, John H. Macnicol
Theses and Dissertations
The National Aeronautics and Space Agency is examining several approaches to meet navigational requirements for spacecraft in lunar orbit, in transit to or from the moon, and for personnel on the lunar surface requiring an accurate, real-time, on-board navigation capability. This work addresses one possible solution to the navigation problem in the vicinity of the moon using a lunar satellite navigation system. Dilution of precision is the figure of merit used to determine if a candidate lunar satellite navigation system can meet accuracy specifications based on a given satellite constellation and the measurement types used. Ten satellite constellations, using two …
Ins Aiding By Tracking An Unknown Ground Object, Mursy Polat
Ins Aiding By Tracking An Unknown Ground Object, Mursy Polat
Theses and Dissertations
The reduction of the navigation error in an inertial navigation system by optically tracking a ground object is investigated. Multiple observations of the ground object are used. The location of the ground object is assumed unknown. A careful analysis of the measurement situation at hand reveals that by optically tracking an unknown ground object using passive, bearings-only measurements, the aircraft's angle of attack and sideslip angle can be measured. Thus, two new independent measurement equations featuring the aircraft's angular navigation variables are obtained. Hence, by optically tracking over time an unknown ground object, inertial navigation system aiding is in fact …
Phugoid Damping Control, Nicolas J. Schindeler
Phugoid Damping Control, Nicolas J. Schindeler
Theses and Dissertations
A novel phugoid damping control design methodology is developed, based on the use of wind axes and a point-mass aircraft model. The state variables are air speed, flight path angle, and heading angle, the control variables are thrust setting, angle of attack, bank angle, and sideslip angle, and the command signals are airspeed, flight path angle, and heading angle or heading rate. All the variables and parameters are nondimensionalized. A multivariable set point controller is developed which consists of: (1) a trim calculation-based nonlinear feed-forward control computer; thus, given a commanded new trim state (air speed, flight path angle, and …
Development And Testing Of A Multiple Filter Approach For Precise Dgps Positioning And Carrier-Phase Ambiguity Resolution, Paul E. Henderson
Development And Testing Of A Multiple Filter Approach For Precise Dgps Positioning And Carrier-Phase Ambiguity Resolution, Paul E. Henderson
Theses and Dissertations
The most precise relative positioning obtained using differential GPS depends on accurately determining carrier-phase integer ambiguities. To achieve high precision, many current static and kinematic algorithms use a floating-point solution until enough information becomes available to fix the carrier-phase ambiguities accurately. A mew method is presented that uses a multiple model Kalman filter to resolve the carrier-phase integer ambiguities. This method starts with the floating-point results, yet smoothly and rapidly attains the precision of the correct fixed-integer solution, eliminating the need to decide when to switch from the floating to the fixed-integer solution. This method is based on a theoretically …
Three Dimensional Formation Flight Control, James K. Hall
Three Dimensional Formation Flight Control, James K. Hall
Theses and Dissertations
Automating the control of an aircraft flying in formation necessitates the extension of the theory of formation flight control to allow for three dimensional maneuvers. The formation was modeled as a two-aircraft, leader and wingspan, formation. Both aircraft has its own three dimensional, rotating and translating, Cartesian axes system, with special attention being given to the motion of the leader in relation to the wingspan. The controller operated using the equations of motion expressed in the rotating reference frame of the wing aircraft. The control system has seven states, three inputs and three disturbance signals to model the dynamics of …