Open Access. Powered by Scholars. Published by Universities.®

Navigation, Guidance, Control and Dynamics Commons

Open Access. Powered by Scholars. Published by Universities.®

Articles 1 - 2 of 2

Full-Text Articles in Navigation, Guidance, Control and Dynamics

Tightly Integrating Optical And Inertial Sensors For Navigation Using The Ukf, Sedat Ebcin Mar 2008

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 …


Towards A Metric For The Assessment Of Safety Critical Control Systems, Oscar R. Gonzalez, Jorge R. Chavez-Fuentes, W. Steven Gray Jan 2008

Towards A Metric For The Assessment Of Safety Critical Control Systems, Oscar R. Gonzalez, Jorge R. Chavez-Fuentes, W. Steven Gray

Electrical & Computer Engineering Faculty Publications

There is a need for better integration of the fault tolerant and the control designs for safety critical systems such as aircraft. The dependability of current designs is assessed primarily with measures of the interconnection of fault tolerant components: the reliability function and the mean time to failure. These measures do not directly take into account the interaction of the fault tolerant components with the dynamics of the aircraft. In this paper, a first step to better integrate these designs is made. It is based on the observation that unstable systems are intrinsically unreliable and that a necessary condition for …