Navigation, Guidance, Control and Dynamics Commons^™

Accurate Covariance Estimation For Pose Data From Iterative Closest Point Algorithm, Rick H. Yuan, Clark N. Taylor, Scott L. Nykl

Faculty Publications

One of the fundamental problems of robotics and navigation is the estimation of the relative pose of an external object with respect to the observer. A common method for computing the relative pose is the iterative closest point (ICP) algorithm, where a reference point cloud of a known object is registered against a sensed point cloud to determine relative pose. To use this computed pose information in downstream processing algorithms, it is necessary to estimate the uncertainty of the ICP output, typically represented as a covariance matrix. In this paper, a novel method for estimating uncertainty from sensed data is …

Crazyflie 2.1 Quadcopter Nonlinear System Identification, Nhat V. Nguyen, Hope Storro, John Plimpton

2023 Symposium

Quadcopters (quad) are used widely in many industries with crucial applications such as infrastructure inspection or package delivery. The Crazyflie 2.1 quad from Bitcraze provides an excellent platform for research and development. In this project, our goal is to perform system identification on the Crazyflie to propose a complete model. A gray box method is explored, which includes leveraging the parameters that are already known, to develop a set of equations. Through theory, simulations, and measurements, a complete quadcopter model is developed.

Instrumented Control Column For Optionally Piloted Aircraft, Andrew J. Klein

Electrical Engineering

Natilus, an aerospace company that is rapid-prototyping optionally piloted aircraft (OPA) for the shipping industry, needs a system that retrieves control column position data in order to manipulate flight simulator parameters in software. At present, a universally compatible system for all aircraft does not exist. Typically, established aerospace companies will sink significant time and money into developing proprietary systems for control column data retrieval as every aircraft is unique in its layout and linkage design. However, as a startup developing their first aircraft, Natilus does not have the privilege of modifying an existing sensor system to work with their HIL …

An Online Adaptive Machine Learning Framework For Autonomous Fault Detection, Nolan Coulter

Doctoral Dissertations and Master's Theses

The increasing complexity and autonomy of modern systems, particularly in the aerospace industry, demand robust and adaptive fault detection and health management solutions. The development of a data-driven fault detection system that can adapt to varying conditions and system changes is critical to the performance, safety, and reliability of these systems. This dissertation presents a novel fault detection approach based on the integration of the artificial immune system (AIS) paradigm and Online Support Vector Machines (OSVM). Together, these algorithms create the Artificial Immune System augemented Online Support Vector Machine (AISOSVM).

The AISOSVM framework combines the strengths of the AIS and …

Online Estimation Of Unknown Parameters For Flexible Spacecraft, Nicolo Woodward

Doctoral Dissertations and Master's Theses

Attitude controls methods of highly flexible spacecraft have seen increased interest over the last decades thanks to the technological development of flexible solar panels and deploy-ables, which improves the capabilities of small satellites. However, a high-fidelity model of the flexible mode dynamics is hard to obtain in on-ground testing because not all modes of frequencies can be observed, complicating the controller design. Furthermore, plastic deformations due to long periods of storage of stowed flexible components could result in exciting frequencies outside of the designed controller’s bandwidth, leading to an uncontrollable system. This thesis proposes a method to develop a high-fidelity …

Investigation Of Interplanetary Trajectories To Sedna, John W. Sarappo Iii, Samuel Brickley, Iliane Domenech, Lorenzo Franceschetti, James E. Lyne

Chancellor’s Honors Program Projects

No abstract provided.

Solar Sailing Adaptive Control Using Integral Concurrent Learning For Solar Flux Estimation, Luis Mendoza Zambrano

Doctoral Dissertations and Master's Theses

In the interest of exploiting natural forces for propellant-less spacecraft missions, this thesis proposes an adaptive control strategy to account for unknown parameters in the dynamic modeling of a reflectivity-controlled solar sail spacecraft. A Lyapunov-based control law along with integral concurrent learning is suggested to accomplish and prove global exponential tracking of the estimated parameters and states of interest, without satisfying the common persistence of excitation condition, which in most nonlinear systems cannot be guaranteed a priori. This involves estimating the solar flux or irradiance from the Sun to account for uncertainty and variation over time in this value. To …

Statistical Approach To Quantifying Interceptability Of Interaction Scenarios For Testing Autonomous Surface Vessels, Benjamin E. Hargis, Yiannis E. Papelis

Modeling, Simulation and Visualization Student Capstone Conference

This paper presents a probabilistic approach to quantifying interceptability of an interaction scenario designed to test collision avoidance of autonomous navigation algorithms. Interceptability is one of many measures to determine the complexity or difficulty of an interaction scenario. This approach uses a combined probability model of capability and intent to create a predicted position probability map for the system under test. Then, intercept-ability is quantified by determining the overlap between the system under test probability map and the intruder’s capability model. The approach is general; however, a demonstration is provided using kinematic capability models and an odometry-based intent model.

Optical Orbit Tracking And Estimation, Matthew Gillette

Doctoral Dissertations and Master's Theses

Angles-only initial orbit determination methods are currently limited in their use as they require some prior knowledge of where the observed object will be and when it will be there. This research aims to produce a viable method to automate this process so that objects whose trajectories are not saved in a user’s catalog can be observed. A method is devised using a novel approach to satellite recognition in an image. This method is used in addition to Astrometry to determine the right ascension and declination of the object. This information is then used to either obtain the initial conditions …

Nonlinear Dynamics Analysis And Control Of Space Vehicles With Flexible Structures, Marco Fagetti

Doctoral Dissertations and Master's Theses

Space vehicles that implement hardware such as antennas, solar panels, and other extended appendages necessary for their respective missions must consider the nonlinear rotational and vibrational dynamics of these flexible structures. Formulation and analysis of these flexible structures must account for the rigid-flexible coupling present in the system dynamics for stability analysis and control design. The system model is represented by a flexible appendage attached to a central rigid body, where the flexible appendage is modeled as a cantilevered Euler-Bernoulli beam. Discretization techniques, such as the assumed modes method and the finite element method, are used to model the coupled …

Autonomous Space Surveillance For Arbitrary Domains, David Zuehlke

Doctoral Dissertations and Master's Theses

Space is becoming increasingly congested every day and the task of accurately tracking satellites is paramount for the continued safe operation of both manned and unmanned space missions. In addition to new spacecraft launches, satellite break-up events and collisions generate large amounts of orbital debris dramatically increasing the number of orbiting objects with each such event. In order to prevent collisions and protect both life and property in orbit, accurate knowledge of the position of orbiting objects is necessary. Space Domain Awareness (SDA) used interchangeably with Space Situational Awareness (SSA), are the names given to the daunting task of tracking …

Accurate Indoor Navigation System Based On Imu/Lp-Mm Integrated Method Using Kalman Filter Algorithm, Abdullah Mohammed Bahasan

Hadhramout University Journal of Natural & Applied Sciences

Abstract

The demand for navigation systems is rapidly increasing, especially in indoor environments which the signal of GPS is not available. Therefore the Inertial Measurement Unit (IMU) system is a suitable navigation system in such indoor environments. It usually consists of three accelerometers and three gyroscopes to determine position, velocity and attitude information, respectively, without need of any external source. But this type of navigation systems has errors growth with time due to accelerometers and gyroscopes drifts. This paper introduces indoor navigation system based on integrated IMU navigation system with proposed system called Landmarks Points-Map Matching (LP-MM) system using Kalman …

Flight Testing Gls Approaches Enabled By Wide Area Corrections In Kerkyra, Greece, Thomas Dautermann, Thomas Ludwig

Journal of Aviation Technology and Engineering

Many airports with a high value to commercial air traffic have spatial or budgetary constraints which prevent the installation of a precision approach system. We previously designed a low-cost precision approach system which combines the advantages of both ground-based and satellite-based augmentation systems by using a converter between them in order to allow GAST-A approach types. We installed, operated, and flight-tested such a system at Kerkyra Airport using an A320 aircraft. During these, we recorded data from a commercial multimode receiver as well as GPS raw data in order to prove the feasibility of the system. Data were analyzed using …

Computer Based Modeling For Tilt-Wing E-Vtol Propeller Performance, Ege Konuk, Drew Landman

College of Engineering & Technology (Batten) Posters

Recent decades have seen a rapid popularization of Urban Air Mobility (UAM) concepts. The new generation of designs presents a wide range of configurations and approaches to exploit the advantages of these vehicles that can be used in civil, commercial, and military applications. One of the more popular concepts is the tandem tilt-wing e-VTOL configuration. However, these types of VTOL configurations bring challenges for performance prediction during crucial parts of flight operations. The flight dynamics during transition regimes where the vehicle transitions from vertical to forward flight and vice versa is not fully understood. In this research, modified blade element …

Comparison Of Dynamics Stability Testing Techniques With Magnetic Suspension Wind Tunnel Capabilities, Otoniel A. Ramirez, Mark Schoenenberger, David E. Cox, Colin P. Britcher

Mechanical & Aerospace Engineering Faculty Publications

Dynamic stability testing techniques currently utilized at NASA Langley Research Center (LaRC) are conducted in multiple facilities and consists of free flight, forced oscillation, and free-to-oscillate tests. The NASA/ODU Magnetic Suspension and Balance System (MSBS) has been recommissioned to explore its utility as an additional facility to expand the dynamic stability test capabilities currently available at NASA LaRC. Simulations were created to replicate each current test facility and method as closely as possible. Data collected from the simulated environments was corrupted with replicated noise sources of the different testing environments and then compared to real data collected during tests when …

Artificial Intelligence-Enabled Exploratory Cyber-Physical Safety Analyzer Framework For Civilian Urban Air Mobility, Md. Shirajum Munir, Sumit Howlader Dipro, Kamrul Hasan, Tariqul Islam, Sachin Shetty

VMASC Publications

Urban air mobility (UAM) has become a potential candidate for civilization for serving smart citizens, such as through delivery, surveillance, and air taxis. However, safety concerns have grown since commercial UAM uses a publicly available communication infrastructure that enhances the risk of jamming and spoofing attacks to steal or crash crafts in UAM. To protect commercial UAM from cyberattacks and theft, this work proposes an artificial intelligence (AI)-enabled exploratory cyber-physical safety analyzer framework. The proposed framework devises supervised learning-based AI schemes such as decision tree, random forests, logistic regression, K-nearest neighbors (KNN), and long short-term memory (LSTM) for predicting and …

Optimal Path Planning For Aerial Robots Using Genetic Algorithm, Anna Puigvert I Juan

Graduate Theses, Dissertations, and Problem Reports

This thesis presents a path optimization solution for a robot in two different constrained 3-dimensional (3D) environments. The robot is required to travel from its current position to a goal position following minimum cost paths (optimal paths). The first environment has 3D obstacles that interfere with the robot’s path. The path cost for this environment accounts for the minimum distance traveled by the robot from the start to the goal position while avoiding obstacles. The second environment is the atmosphere of Venus, specifically a flyable region of this atmosphere with characteristics similar to Earth’s. This environment has strong westward winds …

Missile Modeling And Simulation Of Nominal And Abnormal Scenarios Resulting From External Damage, James Manuel Floyd Iii

Graduate Theses, Dissertations, and Problem Reports

This thesis presents the development of a six-degree-of-freedom flight simulation environment for missiles and the application thereof to investigate the flight performance of missiles when exposed to external damage. The simulation environment was designed to provide a realistic representation of missile flight dynamics including aerodynamic effects, flight control systems, and self-guidance. The simulation environment was designed to be modular, expandable, and include realistic models of external damage to the missile body obtained by adversarial counteraction.

The primary objective of this research was to examine missile flight performance when subjected to unspecified external damage, including changes in trajectory, stability, and controllability, …

The Impacts Of Advanced Avionics On Degraded Visual Environments, Sultan Naseeb Harib Fairouz Mubarak, Anju Anna Jacob Dr

International Journal of Aviation, Aeronautics, and Aerospace

Degraded visual environments (DVE) such as brownout, sand storms, and night conditions are responsible for accidents and hence losses in the aviation industry. There is a need to develop avionic systems to support pilots when they encounter environmental conditions that compromise their visual capacity. This report discusses the effects of DVEs on aviation, expounds on the advanced avionic systems available and further elaborates how these systems are implemented in countering DVE conditions. The report recommends on how advanced avionics systems have been and are being implemented in aircrafts to support decisions made by pilots flying under degraded visual environments.

Enhancing Trajectory-Based Operations For Uavs Through Hexagonal Grid Indexing: A Step Towards 4d Integration Of Utm And Atm, Deepudev Sahadevan Neelakandan, Hannah Al Ali

International Journal of Aviation, Aeronautics, and Aerospace

Aviation is expected to face a surge in the number of manned aircraft and drones in the coming years, making it necessary to integrate Unmanned Aircraft System Traffic Management (UTM) into Air Traffic Management (ATM) to ensure safe and efficient operations. This research proposes a novel hexagonal grid-based 4D trajectory representation framework for unmanned aerial vehicle (UAV) traffic management that overcomes the limitations of existing square/cubic trajectory representation methods. The proposed model employs a hierarchical indexing structure using hexagonal cells, enabling efficient ground based strategic conflict detection and conflict free 4D trajectory planning. Additionally, the use of Hexagonal Discrete Global …