Navigation, Guidance, Control and Dynamics Commons^™

Radar Based Navigation In Unknown Terrain, Kyle J. Kauffman

Theses and Dissertations

There is a great need to develop non-GPS based methods for positioning and navigation in situations where GPS is not available. This research focuses on the development of an Ultra-Wideband Orthogonal Frequency Division Multiplexed (UWB-OFDM) radar as a navigation sensor in GPS-denied environments. A side-looking vehicle-fixed UWB-OFDM radar is mounted to a ground or aerial vehicle continuously collecting data. A set of signal processing algorithms and methods are developed which use the raw radar data to aide in calculating the vehicle position and velocity via a simultaneous localization and mapping (SLAM) approach. The radar processing algorithms detect strong, persistent, and …

Determination Of Human Powered Helicopter Stability Characteristics Using Multi-Body System Simulation Techniques, Sean M. Brown

Master's Theses

Multi-Body System Simulation combined with System Identification was developed as a method for determining the stability characteristics of a human powered helicopter(HPH) configurations. HPH stability remains a key component for meeting competition requirements, but has not been properly treated. Traditional helicopter dynamic analysis is not suited to the HPH due to its low rotation speeds and light weight. Multi-Body System Simulation is able to generate dynamic response data for any HPH configuration. System identification and linear stability theory are used to determine the stability characteristics from the dynamic response. This thesis focuses on the method development and doesn't present any …

Three-Axis Stabilized Earth Orbiting Spacecraft Simulator, Alan F. Ma, Nikola N. Dominikovic

Aerospace Engineering

This report details the method and results of the program created for simulating an Earth orbiting spacecraft with control actuators and orbital perturbations. The control actuators modeled are reaction thrusters, reaction/momentum wheels, and control moment gyros (CMG). The perturbations modeled were gravity gradient, electromagnetic torques, solar radiation pressure, gravity gradients, third-body effects, Earth oblateness and atmospheric drag. This simulation allows for satellite control in all 6 degrees of freedom for any Earth orbiting spacecraft. Assumptions include rigid body dynamics, no sensor noise, constant spacecraft cross-sectional area, constant coefficient of drag and reflectivity, ignoring the effects due to the moon, moment …

Control System Development For Small Uav Gimbal, Nicholas J. Brake

Master's Theses

The design process of unmanned ISR systems has typically driven in the direction of increasing system mass to increase stabilization performance and imagery quality. However, through the use of new sensor and processor technology high performance stabilization feedback is being made available for control on new small and low mass stabilized platforms that can be placed on small UAVs. This project develops and implements a LOS stabilization controller design, typically seen on larger gimbals, onto a new small stabilized gimbal, the Tigereye, and demonstrates the application on several small UAV aircraft. The Tigereye gimbal is a new 2lb, 2-axis, gimbal …

Empennage Sizing And Aircraft Stability Using Matlab, Ryan C. Struett

Aerospace Engineering

No abstract provided.

Comprehensive Matlab Gui For Determining Barycentric Orbital Trajectories, Steve Katzman

Aerospace Engineering

When a 3-body gravitational system is modeled using a rotating coordinate frame, interesting applications become apparent. This frame, otherwise known as a barycentric coordinate system, rotates about the system’s center of mass. Five unique points known as Lagrange points rotate with the system and have numerous applications for spacecraft operations. The goal of the Matlab GUI was to allow easy manipulation of trajectories in a barycentric coordinate system to achieve one of two end goals: a free-return trajectory or a Lagrange point rendezvous. Through graphical user input and an iterative solver, the GUI is capable of calculating and optimizing both …

Development Of A Pyrotechnic Shock Simulation Apparatus For Spacecraft Applications, Joseph Binder, Matthew Mccarty, Chris Rasmussen

Aerospace Engineering

This report details the research, design, construction, and testing of a pyrotechnic shock simulation apparatus for spacecraft applications. The apparatus was developed to be used in the Space Environments Lab at California Polytechnic State University. It will be used for testing spacecraft components with dimensions up to 24”x12”x12” as well as CubeSats. Additionally, it may be used as an instructional or demonstrational tool in the Aerospace Department’s space environments course. The apparatus functions by way of mechanical impact of an approximately 20 lb stainless steel swinging hammer. Tests were performed to verify the simulator’s functionality. Suggestions for improvement and further …

Flying Qualities Built-In-Test For Unmanned Aerial Systems, Alton Pak-Hin Chiu

Master's Theses

This paper presents a flying qualities built-in-test for UAS application with the scope limited to the longitudinal axis. A doublet input waveform excites the AV and both α and q are used by EUDKF to estimate the A and B matrices which are short period approximations of the system. ζ, ω, GM, PM, observability, and controllability are calculated to determine flying qualities with the results displayed to the AVO in a color-coded, easy to interpret display.

While SID algorithms have been flying in vehicles with adaptive control schemes, vehicles with other schemes (such as classical feedback) lack this built-in self …

Multi-Tier Exploration Concept Demonstration Mission, Jeremy Straub

Jeremy Straub

A multi-tier, multi-craft mission architecture has been proposed but, despite its apparent promise, limited use and testing of the architecture has been conducted. This paper proposes and details a mission concept and its implementation for testing this architecture in the terrestrial environment. It is expected that this testing will allow significant refinement of the proposed architecture as well as providing data on its suitability for use in both terrestrial and extra-terrestrial applications. Logistical and technical challenges with this testing are discussed.

Sun-Synchronous Orbit Slot Architecture Analysis And Development, Eric Watson

Master's Theses

Space debris growth and an influx in space traffic will create a need for increased space traffic management. Due to orbital population density and likely future growth, the implementation of a slot architecture to Sun-synchronous orbit is considered in order to mitigate conjunctions among active satellites. This paper furthers work done in Sun-synchronous orbit slot architecture design and focuses on two main aspects. First, an in-depth relative motion analysis of satellites with respect to their assigned slots is presented. Then, a method for developing a slot architecture from a specific set of user defined inputs is derived.

Enhanced Image-Aided Navigation Algorithm With Automatic Calibration And Affine Distortion Prediction, Juan D. Jurado

Theses and Dissertations

This research aims at improving two key steps within the image aided navigation process: camera calibration and landmark tracking. The camera calibration step is improved by automating the point correspondence calculation within the standard camera calibration algorithm, thereby reducing the required time for calibration while maintaining the output model accuracy. The feature landmark tracking step is improved by digitally simulating affine distortions on input images in order to calculate more accurate feature descriptors for improved feature matching in high relative viewpoint change. These techniques are experimentally demonstrated in an outdoor environment with a consumer-grade inertial sensor and three imaging sensors, …

Integration Of Cold Atom Interferometry Ins With Other Sensors, Aaron J. Canciani

Theses and Dissertations

Inertial navigation systems (INS) using cold-atom interferometry are currently under development, and sensors in these systems are expected to be several orders of magnitude more ccurate than current navigation grade sensors. This signi cant increase in accuracy motivates the need to explore how these high accuracy inertial navigation systems can be integrated with other sensors. This research focuses on methods of integrating cold atom interferometry INS with conventional navigation grade INS, as well as with GPS. Results from a full 6 degree of freedom simulation show that integrating CAI INS with navigation grade INS is a successful way to address …

Satellite Relative Motion Control For Mit's Spheres Program, Samuel P. Barbaro

Theses and Dissertations

Autonomous formation flight concepts and algorithms have great potential to revolutionize spacecraft operations enabling missions to perform autonomous docking, in-space refueling, in-space robotic assembly, and space debris removal. Such tasks require the implementation of speed and path control algorithms to maneuver satellites along relative paths with specified rates along those paths. This thesis uses MATLAB® and SIMULINK® to design and simulate a control algorithm capable of providing relative speed and path control between satellites with a pointing error of less than two degrees, a position error of less than two millimeters, and a millimeter per second of velocity error. The …

Hybrid Solution Of Stochastic Optimal Control Problems Using Gauss Pseudospectral Method And Generalized Polynomial Chaos Algorithms, Gerald C. Cottrill

Theses and Dissertations

Two numerical methods, Gauss Pseudospectral Method and Generalized Polynomial Chaos Algorithm, were combined to form a hybrid algorithm for solving nonlinear optimal control and optimal path planning problems with uncertain parameters. The algorithm was applied to two concept demonstration problems: a nonlinear optimal control problem with multiplicative uncertain elements and a mission planning problem sponsored by USSTRATCOM. The mission planning scenario was constructed to find the path that minimizes the probability of being killed by lethal threats whose locations are uncertain to statistically quantify the effects those uncertainties have on the flight path solution, and to use the statistical properties …

Nonlinear Uav Flight Control Using Command Filtered Backstepping, Brian M. Borra

Master's Theses

The aim of this effort is to implement a nonlinear flight control architecture, specifically flight path control via command filtered backstepping, for use in AME UAS's Fury® 1500 unmanned flying wing aircraft. Backstepping is a recursive, control-effort minimizing, constructive design procedure that interlaces the choice of a Lyapunov function with the design of feedback control. It allows the use of certain plant states to act as intermediate, virtual controls, for others breaking complex high order systems into a sequence of simpler lower-order design tasks.

Work herein is a simplified implementation based on publications by Farrell, Sharma, and Polycarpou. Online approximation …

Adaptive Kriging Controller Design For Hypersonic Flight Vehicle Via Back-Stepping, Bin Xu

Bin Xu

No abstract provided.

Direct Neural Discrete Control Of Hypersonic Flight Vehicle, Bin Xu

Bin Xu

No abstract provided.

Specialized System Identification For Parafoil And Payload Systems, Michael Ward, Mark Costello, Nathan Slegers

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

There are a number of peculiar aspects to parafoil and payload systems that make it difficult to apply conventional system identification procedures used for aerospace systems. Parafoil and payload systems are unique because typically there is very little sensor information available, the sensors that are available are separated from the canopy by a complex network of flexible rigging, the systems are very sensitive to wind and turbulence, the systems exhibit a number of nonlinear behaviors, and the systems exhibit a high degree of variability from flight to flight. The current work describes a robust system identification procedure developed to address …

Evaluation Of Multibody Parafoil Dynamics Using Distributed Miniature Wireless Sensors, Chrystine M. Gorman, Nathan Slegers

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

Guided parafoils arc composed of two primary bodies, a payload and parafoil. The payload encompasses the majority ofthe ovcrdll system mass; however, the parafoil generates the majority of aerodynamic loads and is the sole source of control. Despite the canopy being the source of control, the sensor systems used for guidance are located away from the parafoil. Many multi body models exist in literature and use different degrees of freedom to represent parafoil-payload relative motion. However, in many cases, simulations are used to investigate how the relative motion between bodies affects the overall dynamics without experimental validation determining the accuracy …

A Systematic Approach For Real-Time Operator Functional State Assessment, Guangfan Zhang, Wei Wang, Aaron Pepe, Roger Xu, Tom Schnell, Nick Anderson, Dean Heitkamp, Jiang Li, Feng Li, Frederick Mckenzie

Electrical & Computer Engineering Faculty Publications

A task overload condition often leads to high stress for an operator, causing performance degradation and possibly disastrous consequences. Just as dangerous, with automated flight systems, an operator may experience a task underload condition (during the en-route flight phase, for example), becoming easily bored and finding it difficult to maintain sustained attention. When an unexpected event occurs, either internal or external to the automated system, the disengaged operator may neglect, misunderstand, or respond slowly/inappropriately to the situation. In this paper, we discuss an approach for Operator Functional State (OFS) monitoring in a typical aviation environment. A systematic ground truth finding …