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Articles 31 - 60 of 284
Full-Text Articles in Engineering
Characterization And Sensitivity Analysis Of 6 Meter Cassegrain Antenna, James L. Harris
Characterization And Sensitivity Analysis Of 6 Meter Cassegrain Antenna, James L. Harris
Theses and Dissertations
This paper will characterize a 6 meter in diameter cassegrain antenna. The cassegrain antenna is a special form of a dual reflector antenna which uses a main reflector following a parabolic curve and a sub reflector which follows a hyperbolic curve. Cassegrain style antennas have multiple parameters which can be tuned to achieve specific design goals. Performing a sensitivity analysis will establish relationships between design parameters, directivity, side lobe levels, and effects of strut geometry. The initial design parameters will be assumed based on typical values. Results from the sensitivity analysis will be used to provide a performance band for …
Near Real-Time Zigbee Device Discrimination Using Cb-Dna Features, Yousuke Z. Matsui
Near Real-Time Zigbee Device Discrimination Using Cb-Dna Features, Yousuke Z. Matsui
Theses and Dissertations
Currently, Low-Rate Wireless Personal Area Networks (LR-WPAN) based on the Institute of Electrical and Electronics Engineers (IEEE) 802.15.4 standard are at risk due to open-source tools which allow bad actors to exploit unauthorized network access through various cyberattacks by falsifying bit-level credentials. This research investigates implementing a Radio Frequency (RF) air monitor to perform Near RealTime (NRT) discrimination of Zigbee devices using the IEEE 802.15.4 standard. The air monitor employed a Multiple Discriminant Analysis/Euclidean Distance classifier to discriminate Zigbee devices based upon Constellation-Based Distinct Native Attribute (CB-DNA) fingerprints. Through the use of CB-DNA fingerprints, Physical Layer (PHY) characteristics unique to …
A Non-Destructive Evaluation Application Using Software Defined Radios And Bandwidth Expansion, Nicholas J. O'Brien
A Non-Destructive Evaluation Application Using Software Defined Radios And Bandwidth Expansion, Nicholas J. O'Brien
Theses and Dissertations
The development of low-complexity, lightweight and low-cost Non-Destructive Evaluation (NDE) equipment for microwave device testing is desirable from a maintenance efficiency and operational availability perspective. Current NDE equipment tends to be custom-designed, cumbersome and expensive. Software Defined Radio (SDR) technology, and a bandwidth expansion technique that exploits a priori transmit signal knowledge and auto-correlation provides a solution. This research investigated the reconstruction of simultaneous SDR receiver instantaneous bandwidth (sub-band) collections using single, dual and multiple SDR receivers. The adjacent sub-bands, collectively spanning a transmit signal bandwidth were auto-correlated with a replica transmit signal to restore frequency and phase offsets. The …
Improved Ground-Based Monocular Visual Odometry Estimation Using Inertially-Aided Convolutional Neural Networks, Josiah D. Watson
Improved Ground-Based Monocular Visual Odometry Estimation Using Inertially-Aided Convolutional Neural Networks, Josiah D. Watson
Theses and Dissertations
While Convolutional Neural Networks (CNNs) can estimate frame-to-frame (F2F) motion even with monocular images, additional inputs can improve Visual Odometry (VO) predictions. In this thesis, a FlowNetS-based [1] CNN architecture estimates VO using sequential images from the KITTI Odometry dataset [2]. For each of three output types (full six degrees of freedom (6-DoF), Cartesian translation, and transitional scale), a baseline network with only image pair input is compared with a nearly identical architecture that is also given an additional rotation estimate such as from an Inertial Navigation System (INS). The inertially-aided networks show an order of magnitude improvement over the …
Development Of A Drone-Mounted Wireless Attack Platform, Nathan V. Barker
Development Of A Drone-Mounted Wireless Attack Platform, Nathan V. Barker
Theses and Dissertations
The commercial drone market has grown rapidly due to the increasing utility and capabilities of drones. This new found popularity has made it possible for inexpensive drones capable of impressive carry capacities and flight times to reach the consumer market. These new features also offer an invaluable resource to wireless hackers. Capitalizing on their mobility, a wireless hacker can equip a drone with hacking tools to surpass physical security (e.g. fences) with relative ease and reach wireless networks. This research seeks to experimentally evaluate the ability of a drone-mounted wireless attack platform equipped with a directional antenna to conduct wireless …
Gamma-Ray Radiation Effects In Graphene-Based Transistors With H-Bn Nanometer Film Substrates, E. J. Cazalas, Michael R. Hogsed, S. R. Vangala, Michael R. Snure, John W. Mcclory
Gamma-Ray Radiation Effects In Graphene-Based Transistors With H-Bn Nanometer Film Substrates, E. J. Cazalas, Michael R. Hogsed, S. R. Vangala, Michael R. Snure, John W. Mcclory
Faculty Publications
Radiation effects on graphene field effect transistors (GFETs) with hexagonal boron nitride (h-BN) thin film substrates are investigated using 60Co gamma-ray radiation. This study examines the radiation response using many samples with varying h-BN film thicknesses (1.6 and 20 nm thickness) and graphene channel lengths (5 and 10 μm). These samples were exposed to a total ionizing dose of approximately 1 Mrad(Si). I-V measurements were taken at fixed time intervals between irradiations and postirradiation. Dirac point voltage and current are extracted from the I-V measurements, as well as mobility, Dirac voltage hysteresis, and the total number of GFETs that remain …
Adaptive-Hybrid Redundancy With Error Injection, Nicholas S. Hamilton, Scott R. Graham, Timothy Carbino, James C. Petrosky, J. Addison Betances
Adaptive-Hybrid Redundancy With Error Injection, Nicholas S. Hamilton, Scott R. Graham, Timothy Carbino, James C. Petrosky, J. Addison Betances
Faculty Publications
Adaptive-Hybrid Redundancy (AHR) shows promise as a method to allow flexibility when selecting between processing speed and energy efficiency while maintaining a level of error mitigation in space radiation environments. Whereas previous work demonstrated AHR’s feasibility in an error free environment, this work analyzes AHR performance in the presence of errors. Errors are deliberately injected into AHR at specific times in the processing chain to demonstrate best and worst case performance impacts. This analysis demonstrates that AHR provides flexibility in processing speed and energy efficiency in the presence of errors
Insulation Sensitivity Analysis For An Optimized Fabric Shelter Off-Grid Hybrid Energy System, Jay F. Pearson [*], Torrey J. Wagner, Steven Schuldt
Insulation Sensitivity Analysis For An Optimized Fabric Shelter Off-Grid Hybrid Energy System, Jay F. Pearson [*], Torrey J. Wagner, Steven Schuldt
Faculty Publications
During military and disaster relief operations, connecting to an established electrical grid is rarely an option. In these situations, camps consisting of poorly insulated fabric shelters are predominantly powered by inefficient diesel generators that require frequent fuel resupply. In order to reduce the fuel demand of these generators, camps may utilize photovoltaic-battery systems. This paper presents an innovative cost-performance model capable of optimizing solar array size, battery backup system, and shelter insulation type to minimize the operating cost of powering a single fabric shelter. Model performance was evaluated using one year of insolation, weather and energy requirement data from a …
Adaptive-Hybrid Redundancy For Radiation Hardening, Nicolas S. Hamilton
Adaptive-Hybrid Redundancy For Radiation Hardening, Nicolas S. Hamilton
Theses and Dissertations
An Adaptive-Hybrid Redundancy (AHR) mitigation strategy is proposed to mitigate the effects of Single Event Upset (SEU) and Single Event Transient (SET) radiation effects. AHR is adaptive because it switches between Triple Modular Redundancy (TMR) and Temporal Software Redundancy (TSR). AHR is hybrid because it uses hardware and software redundancy. AHR is demonstrated to run faster than TSR and use less energy than TMR. Furthermore, AHR allows space vehicle designers, mission planners, and operators the flexibility to determine how much time is spent in TMR and TSR. TMR mode provides faster processing at the expense of greater energy usage. TSR …
Evaluation Of Eu:Licaf For Neutron Detection Utilizing Sipms And Portable Electronics, Michael A. Ford, Buckley E. O'Day Iii, John W. Mcclory, Manish K. Sharma, Areg Danagoulian
Evaluation Of Eu:Licaf For Neutron Detection Utilizing Sipms And Portable Electronics, Michael A. Ford, Buckley E. O'Day Iii, John W. Mcclory, Manish K. Sharma, Areg Danagoulian
Faculty Publications
With the increasing cost and decreasing availability of 3He, there have been many efforts to find alternative neutron detection materials. Lithium calcium aluminum fluoride (LiCAF) enriched to 95% 6Li doped with europium was evaluated here as a replacement material for 3He. Wafers 0.5 cm thick, consisting of LiCAF crystals in a rubberized matrix, were embedded with wavelength shifting fibers (WSF) and mated to silicon photo-multipliers (SiPMs) to measure the photon response in a flux of neutrons from a DD neutron generator. Excellent discrimination was realized between neutrons and gammas, and both pulse-height discrimination and pulse-shape analysis were …
Non-Destructive Characterization Of Rotated Uniaxial Anisotropic Materials, Alexander G. Knisely
Non-Destructive Characterization Of Rotated Uniaxial Anisotropic Materials, Alexander G. Knisely
Theses and Dissertations
Electromagnetic material characterization of anisotropic media requires measurement diversity, minimal measurement uncertainty and insight into sample symmetry. Additionally, non-destructive characterization techniques are valued over legacy measurement techniques because a destructive approach requires sample preparation to execute a measurement. A Single Port Waveguide Probe (SPWP) non-destructive material characterization technique is proposed to accommodate measuring a metal backed, known thickness, rotated uniaxial anisotropic material. A rotated uniaxial sample possesses unique transverse constitutive components and a longitudinal constitutive component which is the same as one of the transverse values. The SPWP consists of a rectangular waveguide aperture cut in the center of a …
Segmented Control Of Electrostatically Actuated Bimorph Micromirrors, Kullen W. Waggoner
Segmented Control Of Electrostatically Actuated Bimorph Micromirrors, Kullen W. Waggoner
Theses and Dissertations
Electrostatic actuating bimorph beams are a MEMS device that can be used to control arrays of small micromirrors for optical beam scanning. Previous research has demonstrated that creating high-angle deflection using long repeating arms of bimorph beams is possible. The current devices lack precise control and measurement of the mirror deflection. A solution to improve control and measurement is by using segmented bias channels to control separate portions of the actuation arm. The amount of mirror deflection will vary depending on which segments of the arm are actuated. This thesis discusses the results of FEA modeling and testing.
Engineered Surfaces To Control Secondary Electron Yield For Multipactor Suppression, James M. Sattler
Engineered Surfaces To Control Secondary Electron Yield For Multipactor Suppression, James M. Sattler
Theses and Dissertations
A significant problem for satellites, vacuum electron devices, and particle accelerators is multipactor: an avalanche of electrons caused by recurring secondary electron emission (SEE) in a time-varying electric field. The consequences of multipactor range from temporary to permanent device failure. This research studied how surface topography can be engineered to minimize SEE and suppress multipactor. Two new semi-empirical models (one based on a 2D pore, the other based on a 3D pore) were developed to predict the secondary electron yield (SEY) of a porous surface based on pore aspect ratio and porosity. The models were validated with experimental SEY measurements …
Real-Time Camera Tracking System Using Optical Flow Feature Points, Daniel D. Doyle, Alan L. Jennings, Jonathan T. Black
Real-Time Camera Tracking System Using Optical Flow Feature Points, Daniel D. Doyle, Alan L. Jennings, Jonathan T. Black
AFIT Patents
A new apparatus and method for tracking a moving object with a moving camera provides a real-time, narrow field-of-view, high resolution and on target image by combining commanded motion with an optical flow algorithm for deriving motion and classifying background. Commanded motion means that movement of the pan, tilt and zoom (PTZ) unit is “commanded” by a computer, instead of being observed by the camera, so that the pan, tilt and zoom parameters are known, as opposed to having to be determined, significantly reducing the computational requirements for tracking a moving object. The present invention provides a single camera pan …
Pvdf-Trfe Electroactive Polymer Mechanical-To-Electrical Energy Harvesting Experimental Bimorph Structure, William G. Kaval, Robert A. Lake, Ronald A. Coutu Jr.
Pvdf-Trfe Electroactive Polymer Mechanical-To-Electrical Energy Harvesting Experimental Bimorph Structure, William G. Kaval, Robert A. Lake, Ronald A. Coutu Jr.
Faculty Publications
Research of electrostrictive polymers has generated new opportunities for harvesting energy from the surrounding environment and converting it into usable electrical energy. Electroactive polymer (EAP) research is one of the new opportunities for harvesting energy from the natural environment and converting it into usable electrical energy. Piezoelectric ceramic based energy harvesting devices tend to be unsuitable for low-frequency mechanical excitations such as human movement. Organic polymers are typically softer and more flexible therefore translated electrical energy output is considerably higher under the same mechanical force. In addition, cantilever geometry is one of the most used structures in piezoelectric energy harvesters, …
Integrated Circuit Wear-Out Prediction And Recycling Detection Using Radio-Frequency Distinct Native Attribute Features, Randall D. Deppensmith
Integrated Circuit Wear-Out Prediction And Recycling Detection Using Radio-Frequency Distinct Native Attribute Features, Randall D. Deppensmith
Theses and Dissertations
Radio Frequency Distinct Native Attribute (RF-DNA) has shown promise for detecting differences in Integrated Circuits(IC) using features extracted from a devices Unintentional Radio Emissions (URE). This ability of RF-DNA relies upon process variation imparted to a semiconductor device during manufacturing. However, internal components in modern ICs electronically age and wear out over their operational lifetime. RF-DNA techniques are adopted from prior work and applied to MSP430 URE to address the following research goals: 1) Does device wear-out impact RF-DNA device discriminability?, 2) Can device age be continuously estimated by monitoring changes in RF-DNA features?, and 3) Can device age state …
Variable Response Of A Thermally Tuned Mems Pressure Sensor, Robert A. Lake, Ronald A. Coutu Jr.
Variable Response Of A Thermally Tuned Mems Pressure Sensor, Robert A. Lake, Ronald A. Coutu Jr.
Faculty Publications
A typical microelectromechanical systems (MEMS) pressure sensor consists of a thin, deformable membrane and sensing element such as a piezoresistive element which is used to measure the amount of deflection in response to an applied pressure. Previous efforts demonstrated that buckled membranes, from silicon on insulator (SOI) wafers, can be thermally tuned via joule heating. By applying heat to the membrane through a resistive heating element, compressive stress is induced in the membrane causing it to buckle further out of plane and increasing its overall stiffness response. It is demonstrated that by increasing the stiffness of the membrane, the response …
Benefits Of Considering More Than Temperature Acceleration For Gan Hemt Life Testing, Ronald A. Coutu Jr., Robert A. Lake, Bradley D. Christiansen, Eric R. Heller, Christopher A. Bozada, Brian S. Poling, Glen D. Via, James P. Theimer, Stephen E. Tetlak, Ramakrishna Vetury, Jeffrey B. Shealy
Benefits Of Considering More Than Temperature Acceleration For Gan Hemt Life Testing, Ronald A. Coutu Jr., Robert A. Lake, Bradley D. Christiansen, Eric R. Heller, Christopher A. Bozada, Brian S. Poling, Glen D. Via, James P. Theimer, Stephen E. Tetlak, Ramakrishna Vetury, Jeffrey B. Shealy
Faculty Publications
The purpose of this work was to investigate the validity of Arrhenius accelerated-life testing when applied to gallium nitride (GaN) high electron mobility transistors (HEMT) lifetime assessments, where the standard assumption is that only critical stressor is temperature, which is derived from operating power, device channel-case, thermal resistance, and baseplate temperature. We found that power or temperature alone could not explain difference in observed degradation, and that accelerated life tests employed by industry can benefit by considering the impact of accelerating factors besides temperature. Specifically, we found that the voltage used to reach a desired power dissipation is important, and …
Electromagnetic Characterization Of Materials Using A Dual Chambered High Temperature Waveguide, Jeffrey S. Sovern
Electromagnetic Characterization Of Materials Using A Dual Chambered High Temperature Waveguide, Jeffrey S. Sovern
Theses and Dissertations
Measurement of the electromagnetic properties of materials at high temperatures is important for industrial, scientific, medical, and aerospace applications [1]. Current high-temperature electromagnetic material characterization is a time consuming process that typically requires three days to collect data from one material specimen. For example, the standard high-temperature process involving rectangular waveguides [2] requires measurements of the sample (1), the empty waveguide (2), and a metal short standard (3) completed in separate heated runs over three days to perform the Nicolson-Ross-Weir inversion algorithm for computing permittivity and permeability. The technique developed here will reduce the high-temperature measurement process from three days …
Efficacy Of Physical Layer Preamble Manipulation For Ieee 802.11a/Ac, Benjamin W. Ramsey, Jonathan D. Fuller, Christopher W. Badenhop
Efficacy Of Physical Layer Preamble Manipulation For Ieee 802.11a/Ac, Benjamin W. Ramsey, Jonathan D. Fuller, Christopher W. Badenhop
Faculty Publications
Wireless physical layer manipulation is a recently discovered technique for selective packet obfuscation. This process exploits the unique and proprietary nature of transceiver designs rather than manufacturing imperfections. To date, preamble manipulation has only successfully been demonstrated on low data rate transceivers operating in the2.4 GHz band. This Letter investigates the effectiveness of preamble manipulation on common 5 GHz IEEE 802.11a and IEEE 802.11ac wireless transceivers for the first time. Herein it is demonstrated that the preamble short training sequence length can be manipulated to discern among the six transceiver designs under test with greater than 99% accuracy using fewer …
Improved Sensitivity Mems Cantilever Sensor For Terahertz Photoacoustic Spectroscopy, Ronald A. Coutu Jr., Ivan R. Medvedev, Douglas T. Petkie
Improved Sensitivity Mems Cantilever Sensor For Terahertz Photoacoustic Spectroscopy, Ronald A. Coutu Jr., Ivan R. Medvedev, Douglas T. Petkie
Faculty Publications
In this paper, a microelectromechanical system (MEMS) cantilever sensor was designed, modeled and fabricated to measure the terahertz (THz) radiation induced photoacoustic (PA) response of gases under low vacuum conditions. This work vastly improves cantilever sensitivity over previous efforts, by reducing internal beam stresses, minimizing out of plane beam curvature and optimizing beam damping. In addition, fabrication yield was improved by approximately 50% by filleting the cantilever’s anchor and free end to help reduce high stress areas that occurred during device fabrication and processing. All of the cantilever sensors were fabricated using silicon-on-insulator (SOI) wafers and tested in a custom …
System And Method For Identifying Electrical Properties Of Integrate Circuits, Mary Y. Lanzerotti
System And Method For Identifying Electrical Properties Of Integrate Circuits, Mary Y. Lanzerotti
AFIT Patents
A new method for displaying electrical properties for integrated circuit (IC) layout designs provides for improved human visualization of those properties and comparison of as designed layout design parameters to as specified layout design parameters and to as manufactured layout parameters. The method starts with a circuitry as designed layout in a first digital format, extracts values for electrical properties from that circuitry as designed layout then annotates those values back into the first digital format. The annotated circuitry as designed layout is then converted from the first digital format to a second digital format that can be converted to …
Investigation Of Electromagnetic Signatures Of A Fpga Using An Aprel Em-Isight System, Karynn A. Sutherlin
Investigation Of Electromagnetic Signatures Of A Fpga Using An Aprel Em-Isight System, Karynn A. Sutherlin
Theses and Dissertations
Large military platforms have encountered major performance and reliability issues due to an increased number of incidents with counterfeit electronic parts. This has drawn the attention of Department of Defense (DOD) leadership making detection and avoidance of counterfeit electronic parts a top issue for national defense. More defined regulations and processes for identifying, reporting, and disposing of counterfeit electronic parts are being revised to raise awareness for this aggregating issue, as well as enhance the detection of these parts. Multiple technologies are currently employed throughout the supply chain to detect counterfeit electronic parts. These methods are often costly, time-consuming, and …
Multi-Mode Analysis Of Dual Ridged Waveguide Systems For Material Characterization, Jason G. Crosby
Multi-Mode Analysis Of Dual Ridged Waveguide Systems For Material Characterization, Jason G. Crosby
Theses and Dissertations
In this dissertation, two nondestructive dual ridged waveguide (DRWG) material characterization systems are investigated. The single and clamped DRWG probe geometries were analyzed in previous work; however, that research only incorporated the dominant DRWG mode. Here, that restriction is removed and the existence of evanescent higher- order modes is considered. Theoretical analysis of the single and clamped DRWG probes is presented and discussed. The approach taken here is similar to that presented in previous research: Love's equivalence theorem is used to remove the DRWG apertures which are replaced with equivalent magnetic currents radiating in the presence of the background parallel-plate …
Novel Applications Of A Thermally Tunable Bistable Buckling Silicon-On-Insulator (Soi) Microfabricated Membrane, Robert A. Lake
Novel Applications Of A Thermally Tunable Bistable Buckling Silicon-On-Insulator (Soi) Microfabricated Membrane, Robert A. Lake
Theses and Dissertations
Buckled membranes are commonly used microelectromechanical systems (MEMS) structures. Recent work has demonstrated that the deflection and stiffness of these membranes can be tuned through localized joule heating. These devices were implemented into the design and fabrication of two novel device applications, a tunable pressure sensor and a steerable micromirror. A differential pressure across the membrane causes de reflection, up or down, which can be measured and related to a specific pressure. By tuning the stiffness of the membrane, its pressure response is varied providing a wider range of application for the pressure sensor. A 2.0mm by 2.0mm square membrane …
Gate-Level Commercial Microelectronics Verification With Standard Cell Recognition, Leleia A. Hsia
Gate-Level Commercial Microelectronics Verification With Standard Cell Recognition, Leleia A. Hsia
Theses and Dissertations
Within the past two decades, the problem of counterfeit hardware has gained significant attention within the Department of Defense (DoD). Counterfeit electronics compromise national security systems as they may fail to meet durability requirements and/or contain malicious circuits [6, 16, 17]. This necessitates the development of methods to detect counterfeit electronics and prevent the counterfeit electronics from entering DoD systems. The DARPA TRUST program was established to address the need to verify integrated circuit (IC) electronics. This research describes the development of standard cell recognition (SCR) software intended to resolve conflicts in prior TRUST related applications of commercial software to …
Unique Two-Way Field Probe Concept Utilizing A Geodesic Sphere And Quad-Rotor, Travis A. Albee
Unique Two-Way Field Probe Concept Utilizing A Geodesic Sphere And Quad-Rotor, Travis A. Albee
Theses and Dissertations
Surveying the test volume of a radar range normally involves utilizing an antenna field probe to measure the electromagnetic field in that volume of space. Today, field probes vary in size and shape and can be difficult and time consuming to setup. They also have a limited range of motion due to their support structure and translational mechanism, which also has scattering mechanisms that can perturb the field they are measuring. Field probes are useful, but because of these shortcomings they can provide limited characterization of the field illuminating the measurement area. Leveraging quad-rotor technology, coupled with a two-way probe …
Initial Implementation And Testing Of A Tightly-Coupled Imu/Pseudolite System, James E. C. Kawecki
Initial Implementation And Testing Of A Tightly-Coupled Imu/Pseudolite System, James E. C. Kawecki
Theses and Dissertations
Currently, the 746th Test Squadrons (746th TS) Central Inertial and GPS Test Facility (CIGTF) operates one of the most accurate truth reference systems, called the CIGTF Reference System (CRS). CIGTF will be replacing the CRS with a new references system called UHARS (Ultra High Accuracy Reference System). UHARS will differ from CRS by adding the ability to use a non-GPS pseudolite system, as a new measurement source. This research effort describes the design of the extended Kalman filter which is developed in AFIT's SPIDER filter framework which implements a tightly-coupled pseudolite/INS filter.
Materials Characterization And Microelectronic Implementation Of Metal-Insulator Transition Materials And Phase Change Materials, Alexander H. Gwin
Materials Characterization And Microelectronic Implementation Of Metal-Insulator Transition Materials And Phase Change Materials, Alexander H. Gwin
Theses and Dissertations
Vanadium dioxide (VO2) is a metal-insulator transition (MIT) material, and germanium telluride (GeTe) is a phase change material (PCM), both of which undergo several orders of magnitude increase in electrical conductivity from room temperature to their transition temperatures. They are candidates for many important technologies, including ultra-fast electronic memory, optical switches and filters, and active layers in terahertz metamaterials, among others. The physical mechanisms causing the phase transitions in these materials are explained and investigated experimentally. These materials were incorporated into six types of microelectronic devices, which were designed, fabricated, and tested at the Air Force Institute of …
Urban Environment Navigation With Real-Time Data Utilizing Computer Vision, Inertial, And Gps Sensors, Johnathan L. Rohde
Urban Environment Navigation With Real-Time Data Utilizing Computer Vision, Inertial, And Gps Sensors, Johnathan L. Rohde
Theses and Dissertations
The purpose of this research was to obtain a navigation solution that used real data, in a degraded or denied global positioning system (GPS) environment, from low cost commercial o the shelf sensors. The sensors that were integrated together were a commercial inertial measurement unit (IMU), monocular camera computer vision algorithm, and GPS. Furthermore, the monocular camera computer vision algorithm had to be robust enough to handle any camera orientation that was presented to it. This research develops a visual odometry 2-D zero velocity measurement that is derived by both the features points that are extracted from a monocular camera …