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Tightly Integrating Optical And Inertial Sensors For Navigation Using The Ukf, Sedat Ebcin
Tightly Integrating Optical And Inertial Sensors For Navigation Using The Ukf, Sedat Ebcin
Theses and Dissertations
The motivation of this research is to address the benefits of tightly integrating optical and inertial sensors where GNSS signals are not available. The research begins with describing the navigation problem. Then, error and measurement models are presented. Given a set of features, a feature detection and projection algorithm is developed which utilizes inertial measurements to predict vectors in the feature space between images. The unscented Kalman filter is applied to the navigation system using the inertial measurements and feature matches to estimate the navigation trajectory. Finally, the image-aided navigation algorithm is tested using a simulation and an experiment. As …
Optimization Considerations For Adaptive Optics Digital Imagery Systems, Robert T. Brigantic
Optimization Considerations For Adaptive Optics Digital Imagery Systems, Robert T. Brigantic
Theses and Dissertations
This dissertation had three objectives. The first objective was to develop image quality metrics that characterize Adaptive Optics System (AOS) performance. The second objective was to delineate control settings that maximize AOS performance. The third objective was to identify and characterize trade-offs between fully and partially compensated adaptive. For the first objective, three candidate image quality metrics were considered: the Strehl ratio, a novel metric that modifies the Strehl ratio by integrating the modulus of the average system optical transfer function to a 'noise-effective-cutoff' frequency at which some specified image spectrum signal-to-noise-ratio level is attained, and the noise-effective-cutoff frequency. It …