Computer Engineering Commons^™

Computational Efficiency Of A Hybrid Mass Concentration And Spherical Harmonic Modeling, Nathan Piepgrass

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

Through Spherical Harmonics, one can describe complex gravitational fields. However as the order and degree of the spherical harmonics increases, the computation speed rises exponentially. In addition, for onboard applications of spherical harmonics, the processors are radiation hardened in order to mitigate negative effects of the space environment on electronics. But, those processors have outdated processing speeds, resulting in a slower onboard spherical harmonic program.

This thesis examines a partial solution to the slow computation speed of spherical harmonics programs. The partial solution was to supplant the gravity models in the flight software. The spherical harmonics gravity model can be …

Kernelized Locality-Sensitive Hashing For Fast Image Landmark Association, Mark A. Weems

Theses and Dissertations

As the concept of war has evolved, navigation in urban environments where GPS may be degraded is increasingly becoming more important. Two existing solutions are vision-aided navigation and vision-based Simultaneous Localization and Mapping (SLAM). The problem, however, is that vision-based navigation techniques can require excessive amounts of memory and increased computational complexity resulting in a decrease in speed. This research focuses on techniques to improve such issues by speeding up and optimizing the data association process in vision-based SLAM. Specifically, this work studies the current methods that algorithms use to associate a current robot pose to that of one previously …

Polarimetric Enhancements To Electro-Optical Aided Navigation Techniques, Jeremiah D. Johnson

Theses and Dissertations

Navigation in indoor and urban environments by small unmanned systems is a topic of interest for the Air Force. The Advanced Navigation Technology Center at the Air Force Institute of Technology is continually looking for novel approaches to navigation in GPS deprived environments. Inertial sensors have been coupled with image aided concepts, such as feature tracking, with good results. However, feature density in areas with large, flat, smooth surfaces tends to be low. Polarimetric sensors have been used for surface reconstruction, surface characterization and outdoor navigation. This thesis combines aspects of some of these algorithms along with a realistic, micro-facet …