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Full-Text Articles in Physical Sciences and Mathematics
Closed-Loop Adaptive Optics Control In Strong Atmospheric Turbulence, Todd M. Venema
Closed-Loop Adaptive Optics Control In Strong Atmospheric Turbulence, Todd M. Venema
Theses and Dissertations
A self-referencing interferometer based closed-loop adaptive optics controller is developed which is designed to operate effectively under strong turbulence conditions. The aberrated optical field is modeled stochastically and then estimates of the state of the system are developed using a steady-state, fixed-gain Kalman filter. The phase of the optical field is considered the state of the system which is wrapped in a limited range of (-π, π]. This phase is unwrapped through the use of a least-squares reconstructor which has been modified to work effectively in the presence of branch points associated with strong turbulence. The conjugate of the optical …
Tightly Integrating Optical And Inertial Sensors For Navigation Using The Ukf, Sedat Ebcin
Tightly Integrating Optical And Inertial Sensors For Navigation Using The Ukf, Sedat Ebcin
Theses and Dissertations
The motivation of this research is to address the benefits of tightly integrating optical and inertial sensors where GNSS signals are not available. The research begins with describing the navigation problem. Then, error and measurement models are presented. Given a set of features, a feature detection and projection algorithm is developed which utilizes inertial measurements to predict vectors in the feature space between images. The unscented Kalman filter is applied to the navigation system using the inertial measurements and feature matches to estimate the navigation trajectory. Finally, the image-aided navigation algorithm is tested using a simulation and an experiment. As …