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Full-Text Articles in Engineering
Performance Evaluation Of Ad Hoc Routing In A Swarm Of Autonomous Aerial Vehicles, Matthew T. Hyland
Performance Evaluation Of Ad Hoc Routing In A Swarm Of Autonomous Aerial Vehicles, Matthew T. Hyland
Theses and Dissertations
This thesis investigates the performance of three mobile ad hoc routing protocols in the context of a swarm of autonomous unmanned aerial vehicles (UAVs). It is proposed that a wireless network of nodes having an average of 5.1774 log n neighbors, where n is the total number of nodes in the network, has a high probability of having no partitions. By decreasing transmission range while ensuring network connectivity, and implementing multi-hop routing between nodes, spatial multiplexing is exploited whereby multiple pairs of nodes simultaneously transmit on the same channel. The proposal is evaluated using the Greedy Perimeter Stateless Routing (GPSR), …
Stochastic Estimation And Control Of Queues Within A Computer Network, Nathan C. Stuckey
Stochastic Estimation And Control Of Queues Within A Computer Network, Nathan C. Stuckey
Theses and Dissertations
An extended Kalman filter is used to estimate size and packet arrival rate of network queues. These estimates are used by a LQG steady state linear perturbation PI controller to regulate queue size within a computer network. This paper presents the derivation of the transient queue behavior for a system with Poisson traffic and exponential service times. This result is then validated for ideal traffic using a network simulated in OPNET. A more complex OPNET model is then used to test the adequacy of the transient queue size model when non-Poisson traffic is combined. The extended Kalman filter theory is …
Development And Testing Of A High-Speed Real-Time Kinematic Precise Dgps Positioning System Between Two Aircraft, Christopher J. Spinelli
Development And Testing Of A High-Speed Real-Time Kinematic Precise Dgps Positioning System Between Two Aircraft, Christopher J. Spinelli
Theses and Dissertations
This research involves the design, implementation, and testing of a high-speed, real-time kinematic, precise differential GPS positioning system for use in airborne applications such as automated aerial-refueling and close formation flying. Although many of the current ambiguity resolution techniques use the residuals from the least squares position estimation to determine the true ambiguity set, this thesis presents a novel approach to the ambiguity resolution problem, called the minimum indicator. Instead of assuming the ambiguity set with the lowest residuals is the true set, other special characteristics of the residuals are examined. This increases the confidence that the algorithm has selected …
The Navigation Potential Of Signals Of Opportunity-Based Time Difference Of Arrival Measurements, Kenneth A. Fisher
The Navigation Potential Of Signals Of Opportunity-Based Time Difference Of Arrival Measurements, Kenneth A. Fisher
Theses and Dissertations
This research introduces the concept of navigation potential, NP, to quantify the intrinsic ability to navigate using a given signal. NP theory is a new, information theory-like concept that provides a theoretical performance limit on estimating navigation parameters from a received signal that is modeled through a stochastic mapping of the transmitted signal and measurement noise. NP theory is applied to SOP-based TDOA systems in general as well as for the Gaussian case. Furthermore, the NP is found for a received signal consisting of the transmitted signal, multiple delayed and attenuated replicas of the transmitted signal, and measurement noise. Multipath-based …
The Use Of X-Ray Pulsars For Aiding Gps Satellite Orbit Determination, Dennis W. Woodfork Ii
The Use Of X-Ray Pulsars For Aiding Gps Satellite Orbit Determination, Dennis W. Woodfork Ii
Theses and Dissertations
This research proposes the use of an existing "signal of opportunity" - namely x-ray pulsars - to improve the accuracy and robustness of the GPS satellite and clock estimation algorithm. Improvement in satellite and clock accuracy results in a direct benefit to the user. A simulation has been developed to determine the effects of using x-ray pulsar measurements on the GPS Operational Control Segment. The epoch-specific position, velocity, and clock errors of all GPS satellites in the constellation were estimated using both pseudoranges and time-difference-of-arrival (TDOA) measurements from pulsars. The primary measure of accuracy is a constellation Signal-In-Space Range Error …
Determination Of Structure From Motion Using Aerial Imagery, Paul R. Graham
Determination Of Structure From Motion Using Aerial Imagery, Paul R. Graham
Theses and Dissertations
The structure from motion process creates three-dimensional models from a sequence of images. Until recently, most research in this field has been restricted to land-based imagery. This research examines the current methods of land-based structure from motion and evaluates their performance for aerial imagery. Current structure from motion algorithms search the initial image for features to track though the subsequent images. These features are used to create point correspondences between the two images. The correspondences are used to estimate the motion of the camera and then the three-dimensional structure of the scene. This research tests current algorithms using synthetic data …