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Theses and Dissertations

2009

Articles 1 - 14 of 14

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

Precision Navigation Using Pre-Georegistered Map Data, Frederick C. Webber Sep 2009

Precision Navigation Using Pre-Georegistered Map Data, Frederick C. Webber

Theses and Dissertations

Navigation performance in small unmanned aerial vehicles (UAVs) is adversely affected by limitations in current sensor technology for small, lightweight sensors. Because most UAVs are equipped with cameras for mission-related purposes, it is advantageous to utilize the camera to improve the navigation solution. This research improves navigation by matching camera images to a priori georegistered image data and combining this update with existing image-aided navigation technology. The georegistration matching is done by projecting the images into the same plane, extracting features using the techniques Scale Invariant Feature Transform (SIFT) [5] and Speeded-Up Robust Features (SURF) [3]. The features are matched …

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Alternative Methods To Standby Gain Scheduling Following Air Data System Failure, Matthew W. Coldsnow Sep 2009

Alternative Methods To Standby Gain Scheduling Following Air Data System Failure, Matthew W. Coldsnow

Theses and Dissertations

The United States Air Force has advanced fighter aircraft that lose the ability to operate in a large portion of their operating flight envelope when an air data system failure is experienced. These aircraft are reverted to a fixed set of standby-gains that limit their maneuverability, degrade handling qualities, and increase susceptibility to departure. The purpose of this research was to determine if three alternative methods of standby-gain-scheduling could provide robust control with minimal performance degradation despite the lack of air data. To accomplish this, three methods of standby-gain-scheduling were developed, integrated, and tested in the Infinity Cube simulator at …

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The Navigation Potential Of Ground Feature Tracking, Guner Mutlu Sep 2009

The Navigation Potential Of Ground Feature Tracking, Guner Mutlu

Theses and Dissertations

This research effort examines the reduction of error in inertial navigation aided by vision. This is part of an effort focused on navigation in a GPS denied environment. The navigation concept examined here consists of two main steps. First, extract the position of a tracked ground object using vision and geo-locate it in 3 dimensional navigation frame. In this first step multiple positions of the UAV are assumed known; think of a synthetic aperture. The only information about the tracked ground objects/features is the unit vector that points to the objects from the center of the camera. Two such vectors …

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Modeling And Simulation Architecture For Studying Doppler-Based Radar With Complex Environments, Nicholas J. Amato Mar 2009

Modeling And Simulation Architecture For Studying Doppler-Based Radar With Complex Environments, Nicholas J. Amato

Theses and Dissertations

This research effort develops a hybrid large-scale modeling and simulation frame- work that defines the requirements for a program to evaluate radar-aircraft-turbine- clutter interactions. Wind turbines and other moving structures can interfere with a radar’s ability to detect moving aircraft because radar returns from turbines are comparable to those from slow flying aircraft. This interference can lead to aircraft collisions or crashes, reducing the safety for air traffic. Two radar applications, INSSITE and IMOM, were investigated to determine which of the subsystems, in the proposed architecture, are currently available and which need additional development. Current radar applications either delve too …

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Performance Enhancements Of Ranging Radio Aided Navigation, Patric J. Ernsberger Mar 2009

Performance Enhancements Of Ranging Radio Aided Navigation, Patric J. Ernsberger

Theses and Dissertations

Determining the position of team members is always useful information, whether it is a team of firefighters fighting a blaze or combatants clearing a building in the field. This information becomes even more decisive for the people responsible for their safety. To accomplish this in areas denied Global Navigation Satellite System (GNSS), such as around buildings or in steep valleys, alternative methods must be used. Radio ranging systems have been a part of the navigation solution for years. They unfortunately have poor performance in certain areas, such as inside buildings, due to multipath and other errors. To improve the position …

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Failure Detection Of A Pseudolite-Based Reference System Using Residual Monitoring, Michael A. Ciampa Mar 2009

Failure Detection Of A Pseudolite-Based Reference System Using Residual Monitoring, Michael A. Ciampa

Theses and Dissertations

The 746th TS uses a flight reference system referred to as the Central Inertial and GPS Test Facility (CIGTF) Reference System (CRS). Currently the CRS is the modern standard flight reference system for navigation testing, but high accuracy is dependent on the availability of GPS. A pseudolite system is currently being developed to augment the CRS and supply the capability to maintain high accuracy navigation under normal and jamming conditions. Pseudolite measurements typically contain cycle slips and other errors (such as multipath, tropospheric error, measurement noise) that can affect reliability. Past work relied on the receiver-reported signal-to-noise (SNR) value to …

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Deeply-Integrated Feature Tracking For Embedded Navigation, Jeffery R. Gray Mar 2009

Deeply-Integrated Feature Tracking For Embedded Navigation, Jeffery R. Gray

Theses and Dissertations

The Air Force Institute of Technology (AFIT) is investigating techniques to improve aircraft navigation using low-cost imaging and inertial sensors. Stationary features tracked within the image are used to improve the inertial navigation estimate. These features are tracked using a correspondence search between frames. Previous research investigated aiding these correspondence searches using inertial measurements (i.e., stochastic projection). While this research demonstrated the benefits of further sensor integration, it still relied on robust feature descriptors (e.g., SIFT or SURF) to obtain a reliable correspondence match in the presence of rotation and scale changes. Unfortunately, these robust feature extraction algorithms are computationally …

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Fusion Of Inertial Sensors And Orthogonal Frequency Division Multiplexed (Ofdm) Signals Of Opportunity For Unassisted Navigation, Jason G. Crosby Mar 2009

Fusion Of Inertial Sensors And Orthogonal Frequency Division Multiplexed (Ofdm) Signals Of Opportunity For Unassisted Navigation, Jason G. Crosby

Theses and Dissertations

The advent of the global positioning system (GPS) has provided worldwide high-accuracy position measurements. However, GPS may be rendered unavailable by jamming, disruption of satellites, or simply by signal shadowing in urban environments. Thus, this thesis considers fusion of Inertial Navigation Systems (INS) and Orthogonal Frequency Division Multiplexed (OFDM) signals of opportunity (SOOP) for navigation. Typical signal of opportunity navigation involves the use of a reference receiver and uses time difference of arrival (TDOA) measurements. However, by exploiting the block structure of OFDM communication signals, the need for the reference receiver is reduced or possibly removed entirely. This research uses …

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Model-Based Control Using Model And Mechanization Fusion Techniques For Image-Aided Navigation, Constance D. Hendrix Mar 2009

Model-Based Control Using Model And Mechanization Fusion Techniques For Image-Aided Navigation, Constance D. Hendrix

Theses and Dissertations

Unmanned aerial vehicles are no longer used for just reconnaissance. Current requirements call for smaller autonomous vehicles that replace the human in high-risk activities. Many times these activities are performed in GPS-degraded environments. Without GPS providing today's most accurate navigation solution, autonomous navigation in tight areas is more difficult. Today, image-aided navigation is used and other methods are explored to more accurately navigate in such areas (e.g., indoors). This thesis explores the use of inertial measurements and navigation solution updates using cameras with a model-based Linear Quadratic Gaussian controller. To demonstrate the methods behind this research, the controller will provide …

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Using Agent-Based Modeling To Evaluate Uas Behaviors In A Target-Rich Environment, Joseph A. Van Kuiken Mar 2009

Using Agent-Based Modeling To Evaluate Uas Behaviors In A Target-Rich Environment, Joseph A. Van Kuiken

Theses and Dissertations

The trade-off between accuracy and speed is a re-occurring dilemma in many facets of military performance evaluation. This is an especially important issue in the world of ISR. One of the most progressive areas of ISR capabilities has been the utilization of Unmanned Aircraft Systems (UAS). Many people believe that the future of UAS lies in smaller vehicles flying in swarms. We use the agent-based System Effectiveness and Analysis Simulation (SEAS) to create a simulation environment where different configurations of UAS vehicles can process targets and provide output that allows us to gain insight into the benefits and drawbacks of …

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An Investigation Into The Feasibility Of Using A Modern Gravity Gradient Instrument For Passive Aircraft Navigation And Terrain Avoidance, Marshall M. Rogers Mar 2009

An Investigation Into The Feasibility Of Using A Modern Gravity Gradient Instrument For Passive Aircraft Navigation And Terrain Avoidance, Marshall M. Rogers

Theses and Dissertations

Recently, Gravity Gradient Instruments (GGIs) - devices which measure the spatial derivatives of gravity, have improved remarkably due to development of accelerometer technologies. Specialized GGIs are currently flown on aircraft for geological purposes in the mining industries. As such, gravity gradient data is recorded in flight and detailed gradient maps are created after post mission processing. These maps, if stored in a database onboard an aircraft and combined with a GGI, form the basis for a covert navigation system using a map matching process. This system is completely passive and essentially unjammable. To determine feasibility of this method, a GGI …

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Boundary Avoidance Tracking: Consequences (And Uses) Of Imposed Boundaries On Pilot-Aircraft Performance, Ryan D. Blake Mar 2009

Boundary Avoidance Tracking: Consequences (And Uses) Of Imposed Boundaries On Pilot-Aircraft Performance, Ryan D. Blake

Theses and Dissertations

This thesis presents the results of research into the Boundary Avoidance Tracking (BAT) theory, which states that often pilots control an aircraft not in an attempt to maintain some condition, but to avoid some real or perceived boundaries. This pilot modeling concept was studied using over 30 pilots in simulator and flight tests. The pilot-aircraft system was evaluated with 3 different lateral-directional control models. Pilots were given a roll angle tracking task in the presence of shrinking boundaries. Pilots were also given a secondary task in some of the profiles in order to measure workload. Approximately 42 hours of simulation …

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Communication Free Robot Swarming, Zachary C. Gray Feb 2009

Communication Free Robot Swarming, Zachary C. Gray

Theses and Dissertations

As the military use of unmanned aerial vehicles increases, a growing need for novel strategies to control these systems exists. One such method for controlling many unmanned aerial vehicles simultaneously is the through the use of swarm algorithms. This research explores a swarm robotic algorithm developed by Kadrovach implemented on Pioneer Robots in a real-world environment. An adaptation of his visual sensor is implemented using stereo vision as the primary method of sensing the environment. The swarm members are prohibited from explicitly communicating other than passively through the environment. The resulting implementation produces a communication free swarming algorithm. The algorithm …

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Automated Knowledge Generation With Persistent Surveillance Video, Daniel T. Schmitt Feb 2009

Automated Knowledge Generation With Persistent Surveillance Video, Daniel T. Schmitt

Theses and Dissertations

The Air Force has increasingly invested in persistent surveillance platforms gathering a large amount of surveillance video. Ordinarily, intelligence analysts watch the video to determine if suspicious activities are occurring. This approach to video analysis can be a very time and manpower intensive process. Instead, this thesis proposes that by using tracks generated from persistent video, we can build a model to detect events for an intelligence analyst. The event that we chose to detect was a suspicious surveillance activity known as a casing event. To test our model we used Global Positioning System (GPS) tracks generated from vehicles driving …

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