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Full-Text Articles in Navigation, Guidance, Control and Dynamics
Real-Time Implementation Of Vision-Aided Monocular Navigation For Small Fixed-Wing Unmanned Aerial Systems, Timothy I. Machin
Real-Time Implementation Of Vision-Aided Monocular Navigation For Small Fixed-Wing Unmanned Aerial Systems, Timothy I. Machin
Theses and Dissertations
The goal of this project was to develop and implement algorithms to demonstrate real-time positioning of a UAV using a monocular camera combined with previously collected orthorectified imagery. Unlike previous tests, this project did not utilize a full inertial navigation system (INS) for attitude, but instead had to rely on the attitude obtained by inexpensive commercial off-the-shelf (COTS) autopilots. The system consisted of primarily COTS components and open-source software, and was own over Camp Atterbury, IN for a sequence of flight tests in Fall 2015. The system obtained valid solutions over much of the flight path, identifying features in the …
Feedback Speed Control Of A Small Two-Stroke Internal Combustion Engine That Propels An Unmanned Aerial Vehicle, Paul D. Fjare
Feedback Speed Control Of A Small Two-Stroke Internal Combustion Engine That Propels An Unmanned Aerial Vehicle, Paul D. Fjare
UNLV Theses, Dissertations, Professional Papers, and Capstones
Unmanned aerial vehicles (UAV) require intelligent control of their power source. Small UAV are typically powered by electric motors or small two-stroke internal combustion (IC) engines. Small IC engines allow for longer flight times but are more difficult to control and cause significant ground noise. A hybrid operation that uses the engine at high altitudes and the electric motors at low altitudes is desired. This would allow for extended flight with acceptable ground noise levels. Since the engine can not be restarted in the air it must be able to remain at idle for an extended time without stalling. A …
Precision Navigation Using Pre-Georegistered Map Data, Frederick C. Webber
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 …
The Navigation Potential Of Ground Feature Tracking, Guner Mutlu
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 …
Operator State Estimation For Adaptive Aiding In Uninhabited Combat Air Vehicles, Christopher A. Russell
Operator State Estimation For Adaptive Aiding In Uninhabited Combat Air Vehicles, Christopher A. Russell
Theses and Dissertations
This research demonstrated the first closed-loop implementation of adaptive automation using operator functional state in an operationally relevant environment. In the Uninhabited Combat Air Vehicle (UCAV) environment, operators can become cognitively overloaded and their performance may decrease during mission critical events. This research demonstrates an unprecedented closed-loop system, one that adaptively aids UCAV operators based on their cognitive functional state A series of experiments were conducted to 1) determine the best classifiers for estimating operator functional state, 2) determine if physiological measures can be used to develop multiple cognitive models based on information processing demands and task type, 3) determine …
Analysis Of Online-Delaunay Navigation For Time Sensitive Targeting, David Chow
Analysis Of Online-Delaunay Navigation For Time Sensitive Targeting, David Chow
Theses and Dissertations
Given the drawbacks of leaving time-sensitive targeting (TST) strictly to humans, there is value to the investigation of alternative approaches to TST operations that employ autonomous systems. This paper accomplishes five things. First, it proposes a short-hop abbreviated routing paradigm (SHARP) - based on Delaunay triangulations (DT), ad-hoc communication, and autonomous control - for recognizing and engaging TSTs that, in theory, will improve upon persistence, the volume of influence, autonomy, range, and situational awareness. Second, it analyzes the minimum timeframe need by a strike (weapons enabled) aircraft to navigate to the location of a TST under SHARP. Third, it shows …
Cooperative Control Simulation Validation Using Applied Probability Theory, Christopher S. Schulz
Cooperative Control Simulation Validation Using Applied Probability Theory, Christopher S. Schulz
Theses and Dissertations
Several research simulations have been created to support development and refinement of teamed autonomous agents using decentralized cooperative control algorithms. Simulation is the necessary tool to evaluate the performance of decentralized cooperative control algorithms, however these simulations lack a method to validate their output. This research presents a method to validate the performance of a decentralized cooperative control simulation environment for an autonomous Wide Area Search Munition (WASM). Rigorous analytical methods for six wide area search and engagement scenarios involving Uniform, Normal, and Poisson distributions of N real targets and M false target objects are formulated to generate expected numbers …