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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 …
Demonstration Of A Strategy To Perform Two-Dimensional Diode Laser Tomography, Ryan N. Givens
Demonstration Of A Strategy To Perform Two-Dimensional Diode Laser Tomography, Ryan N. Givens
Theses and Dissertations
Demonstration of a strategy to perform two-dimensional diode laser tomography using a priori knowledge from symmetry arguments and computational fluid dynamic (CFD) calculations is presented for a flat flame burner. The strategy uses an optimization technique to determine flame diameter and location using a vector quantization approach. Next, the variance in a training set, produced from CFD calculations, is captured using principal components analysis. The information in the training set allows interpolation between beam paths resulting in temperature and density maps. Finally, the TDLAS temperature and density maps are shown to agree with traditional thermocouple measurements of the flat flame …