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Full-Text Articles in Computer Engineering
Integrated Environment And Proximity Sensing For Uav Applications, Shawn S. Brackett
Integrated Environment And Proximity Sensing For Uav Applications, Shawn S. Brackett
Electronic Theses and Dissertations
As Unmanned Aerial Vehicle (UAV), or “drone” applications expand, new methods for sensing, navigating and avoiding obstacles need to be developed. The project applies an Extended Kalman Filter (EKF) to a simulated quadcopter vehicle though Matlab in order to estimate not only the vehicle state but the world state around the vehicle. The EKF integrates multiple sensor readings from range sensors, IMU sensors, and radiation sensors and combines this information to optimize state estimates. The result is an estimated world map to be used in vehicle navigation and obstacle avoidance.
The simulation handles the physics behind the vehicle flight. As …
On The Simulation And Mitigation Of Anisoplanatic Optical Turbulence For Long Range Imaging, Russell C. Hardie, Daniel A. Lemaster
On The Simulation And Mitigation Of Anisoplanatic Optical Turbulence For Long Range Imaging, Russell C. Hardie, Daniel A. Lemaster
Russell C. Hardie
We describe a numerical wave propagation method for simulating long range imaging of an extended scene under anisoplanatic conditions. Our approach computes an array of point spread functions (PSFs) for a 2D grid on the object plane. The PSFs are then used in a spatially varying weighted sum operation, with an ideal image, to produce a simulated image with realistic optical turbulence degradation. To validate the simulation we compare simulated outputs with the theoretical anisoplanatic tilt correlation and differential tilt variance. This is in addition to comparing the long- and short-exposure PSFs, and isoplanatic angle. Our validation analysis shows an …
On The Simulation And Mitigation Of Anisoplanatic Optical Turbulence For Long Range Imaging, Russell C. Hardie, Daniel A. Lemaster
On The Simulation And Mitigation Of Anisoplanatic Optical Turbulence For Long Range Imaging, Russell C. Hardie, Daniel A. Lemaster
Electrical and Computer Engineering Faculty Publications
We describe a numerical wave propagation method for simulating long range imaging of an extended scene under anisoplanatic conditions. Our approach computes an array of point spread functions (PSFs) for a 2D grid on the object plane. The PSFs are then used in a spatially varying weighted sum operation, with an ideal image, to produce a simulated image with realistic optical turbulence degradation. To validate the simulation we compare simulated outputs with the theoretical anisoplanatic tilt correlation and differential tilt variance. This is in addition to comparing the long- and short-exposure PSFs, and isoplanatic angle. Our validation analysis shows an …