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Full-Text Articles in Navigation, Guidance, Control and Dynamics
Optimal Control Of An Uninhabited Loyal Wingman, Clay J. Humphreys
Optimal Control Of An Uninhabited Loyal Wingman, Clay J. Humphreys
Theses and Dissertations
As researchers strive to achieve autonomy in systems, many believe the goal is not that machines should attain full autonomy, but rather to obtain the right level of autonomy for an appropriate man-machine interaction. A common phrase for this interaction is manned-unmanned teaming (MUM-T), a subset of which, for unmanned aerial vehicles, is the concept of the loyal wingman. This work demonstrates the use of optimal control and stochastic estimation techniques as an autonomous near real-time dynamic route planner for the DoD concept of the loyal wingman. First, the optimal control problem is formulated for a static threat environment and …
Improving Real-World Performance Of Vision Aided Navigation In A Flight Environment, Donald T. Venable
Improving Real-World Performance Of Vision Aided Navigation In A Flight Environment, Donald T. Venable
Theses and Dissertations
The motivation of this research is to fuse information from an airborne imaging sensor with information extracted from satellite imagery in order to provide accurate position when GPS is unavailable for an extended duration. A corpus of existing geo-referenced satellite imagery is used to create a key point database. A novel algorithm for recovering coarse pose using by comparing key points extracted from the airborne imagery to the reference database is developed. This coarse position is used to bootstrap a local-area geo-registration algorithm, which provides GPS-level position estimates. This research derives optimizations for existing local-area methods for operation in flight …
Visual-Ins Using A Human Operator And Converted Measurements, Turner J. Montgomery
Visual-Ins Using A Human Operator And Converted Measurements, Turner J. Montgomery
Theses and Dissertations
A method human operated INS aiding is explored in which the pilot identifies and tracks a ground feature of unknown position over a short measurement epoch using an E/O sensor. One then refers to Visual-INS. In contrast to current research trends, a human operator is entrusted with visually tracking the ground feature. In addition, a less conventional measurement linearization technique is applied to generate “converted” measurements. A linear regression algorithm is then applied to the converted measurements providing an estimate of the INS horizontal velocity error and accelerometer biases. At the completion of the measurement epoch, the INS is corrected …
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 …