Engineering Commons^™

Path Planning For Aircraft Under Threat Of Detection From Ground-Based Radar With Uncertainty In Aircraft And Radar States, Austin D. Costley

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

Mission planners for manned and unmanned aircraft operating within the detection range of ground-based radar systems are often concerned with the probability of detection. Several factors influence the probability of detection, including aircraft position and orientation, radar position, and radar performance parameters. Current path planning algorithms assume that these factors are known with certainty, but in practice, these factors are estimated and have some uncertainty.

This dissertation explores methods to consider the uncertainty in the detection factors for an aircraft path planner. First, the detection model is extended to include uncertainty in the aircraft position and orientation, radar position, and …

Self-Describing Fiducials For Gps-Denied Navigation Of Unmanned Aerial Vehicles, Amanda J. Strate

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

Accurate estimation of an Unmanned Aerial Vehicle’s (UAV’s) location is critical for the operation of the UAV when it is controlled completely by its onboard processor. This can be particularly challenging in environments in which GPS is not available (GPS-denied). Many of the options previously explored for estimation of a UAV’s location without the use of GPS require more sophisticated processors than can feasibly be mounted on a UAV because of weight, size, and power restrictions. Many options are also aimed at indoor operation without the range capabilities to scale to outdoor operations. This research explores an alternative method of …

Impacts Of Distributions And Trajectories On Navigation Uncertainty Using Line-Of-Sight Measurements To Known Landmarks In Gps-Denied Environments, Ryan D. Lamoreaux

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

Unmanned vehicles are increasingly common in our world today. Self-driving ground vehicles and unmanned aerial vehicles (UAVs) such as quadcopters have become the fastest growing area of automated vehicles research. These systems use three main processes to autonomously travel from one location to another: guidance, navigation, and controls (GNC). Guidance refers to the process of determining a desired path of travel or trajectory, affecting velocities and orientations. Examples of guidance activities include path planning and obstacle avoidance. Effective guidance decisions require knowledge of one’s current location. Navigation systems typically answer questions such as: “Where am I? What is my orientation? …