Open Access. Powered by Scholars. Published by Universities.®
- Discipline
-
- Navigation, Guidance, Control and Dynamics (109)
- Electrical and Computer Engineering (42)
- Physical Sciences and Mathematics (24)
- Computer Sciences (19)
- Signal Processing (17)
-
- Multi-Vehicle Systems and Air Traffic Control (9)
- Systems Engineering and Multidisciplinary Design Optimization (9)
- Computer Engineering (6)
- Space Vehicles (6)
- Systems and Communications (6)
- Artificial Intelligence and Robotics (5)
- Controls and Control Theory (5)
- Aeronautical Vehicles (4)
- Applied Mathematics (3)
- Electromagnetics and Photonics (3)
- Geography (3)
- Social and Behavioral Sciences (3)
- Theory and Algorithms (3)
- Electrical and Electronics (2)
- Geographic Information Sciences (2)
- Graphics and Human Computer Interfaces (2)
- Hardware Systems (2)
- Optics (2)
- Physics (2)
- Propulsion and Power (2)
- Aerodynamics and Fluid Mechanics (1)
- Astrodynamics (1)
- Astrophysics and Astronomy (1)
- Publication Year
- Publication Type
Articles 121 - 150 of 183
Full-Text Articles in Aerospace Engineering
Waypoint Generation Based On Sensor Aimpoint, Shannon M. Farrell
Waypoint Generation Based On Sensor Aimpoint, Shannon M. Farrell
Theses and Dissertations
Secretary of Defense Robert M. Gates has emphasized a need for a greater number of intelligence, surveillance, and reconnaissance (ISR) assets to support combatant commanders and military operations globally. Unmanned systems, especially MAVs, used as ISR platforms provide the ability to maintain covertness during missions and help reduce the risk to human life. This research develops waypoint generation algorithms required to keep a point of interest (POI) in the field of view (FOV) of a fixed sensor on a micro air vehicle (MAV) in the presence of a constant wind.
Fixed sensors, while cheaper and less prone to mechanical failure …
Deeply-Integrated Feature Tracking For Embedded Navigation, Jeffery R. Gray
Deeply-Integrated Feature Tracking For Embedded Navigation, Jeffery R. Gray
Theses and Dissertations
The Air Force Institute of Technology (AFIT) is investigating techniques to improve aircraft navigation using low-cost imaging and inertial sensors. Stationary features tracked within the image are used to improve the inertial navigation estimate. These features are tracked using a correspondence search between frames. Previous research investigated aiding these correspondence searches using inertial measurements (i.e., stochastic projection). While this research demonstrated the benefits of further sensor integration, it still relied on robust feature descriptors (e.g., SIFT or SURF) to obtain a reliable correspondence match in the presence of rotation and scale changes. Unfortunately, these robust feature extraction algorithms are computationally …
Fusion Of Inertial Sensors And Orthogonal Frequency Division Multiplexed (Ofdm) Signals Of Opportunity For Unassisted Navigation, Jason G. Crosby
Fusion Of Inertial Sensors And Orthogonal Frequency Division Multiplexed (Ofdm) Signals Of Opportunity For Unassisted Navigation, Jason G. Crosby
Theses and Dissertations
The advent of the global positioning system (GPS) has provided worldwide high-accuracy position measurements. However, GPS may be rendered unavailable by jamming, disruption of satellites, or simply by signal shadowing in urban environments. Thus, this thesis considers fusion of Inertial Navigation Systems (INS) and Orthogonal Frequency Division Multiplexed (OFDM) signals of opportunity (SOOP) for navigation. Typical signal of opportunity navigation involves the use of a reference receiver and uses time difference of arrival (TDOA) measurements. However, by exploiting the block structure of OFDM communication signals, the need for the reference receiver is reduced or possibly removed entirely. This research uses …
Model-Based Control Using Model And Mechanization Fusion Techniques For Image-Aided Navigation, Constance D. Hendrix
Model-Based Control Using Model And Mechanization Fusion Techniques For Image-Aided Navigation, Constance D. Hendrix
Theses and Dissertations
Unmanned aerial vehicles are no longer used for just reconnaissance. Current requirements call for smaller autonomous vehicles that replace the human in high-risk activities. Many times these activities are performed in GPS-degraded environments. Without GPS providing today's most accurate navigation solution, autonomous navigation in tight areas is more difficult. Today, image-aided navigation is used and other methods are explored to more accurately navigate in such areas (e.g., indoors). This thesis explores the use of inertial measurements and navigation solution updates using cameras with a model-based Linear Quadratic Gaussian controller. To demonstrate the methods behind this research, the controller will provide …
Surveillance Using Multiple Unmanned Aerial Vehicles, Christopher E. Booth
Surveillance Using Multiple Unmanned Aerial Vehicles, Christopher E. Booth
Theses and Dissertations
This study examines the performance and limitations of a heuristic cooperative control (CC) surveillance algorithm for multiple unmanned aerial vehicles (UAVs) under both simulation and demonstration. The algorithm generates Dubin's based paths and provides velocity feedback to accomplish simultaneous arrival onto a surveillance orbit around the target and maintains position while orbiting. The CC algorithm has two modes: one that generates commands to multiple UAVs for simultaneous arrival to a surveillance orbit, and one that maintains equal angular spacing about the orbit. In addition to positional performance metrics, percentage of target in-view time was also measured based on the UAV's …
An Investigation Into The Feasibility Of Using A Modern Gravity Gradient Instrument For Passive Aircraft Navigation And Terrain Avoidance, Marshall M. Rogers
An Investigation Into The Feasibility Of Using A Modern Gravity Gradient Instrument For Passive Aircraft Navigation And Terrain Avoidance, Marshall M. Rogers
Theses and Dissertations
Recently, Gravity Gradient Instruments (GGIs) - devices which measure the spatial derivatives of gravity, have improved remarkably due to development of accelerometer technologies. Specialized GGIs are currently flown on aircraft for geological purposes in the mining industries. As such, gravity gradient data is recorded in flight and detailed gradient maps are created after post mission processing. These maps, if stored in a database onboard an aircraft and combined with a GGI, form the basis for a covert navigation system using a map matching process. This system is completely passive and essentially unjammable. To determine feasibility of this method, a GGI …
Using Predictive Rendering As A Vision-Aided Technique For Autonomous Aerial Refueling, Adam D. Weaver
Using Predictive Rendering As A Vision-Aided Technique For Autonomous Aerial Refueling, Adam D. Weaver
Theses and Dissertations
This research effort seeks to characterize a vision-aided approach for an Unmanned Aerial System (UAS) to autonomously determine relative position to another aircraft in a formation, specifically to address the autonomous aerial refueling problem. A system consisting of a monocular digital camera coupled with inertial sensors onboard the UAS is analyzed for feasibility of using this vision-aided approach. A three-dimensional rendering of the tanker aircraft is used to generate predicted images of the tanker as seen by the receiver aircraft. A rigorous error model is developed to model the relative dynamics between an INS-equipped receiver and the tanker aircraft. A …
Boundary Avoidance Tracking: Consequences (And Uses) Of Imposed Boundaries On Pilot-Aircraft Performance, Ryan D. Blake
Boundary Avoidance Tracking: Consequences (And Uses) Of Imposed Boundaries On Pilot-Aircraft Performance, Ryan D. Blake
Theses and Dissertations
This thesis presents the results of research into the Boundary Avoidance Tracking (BAT) theory, which states that often pilots control an aircraft not in an attempt to maintain some condition, but to avoid some real or perceived boundaries. This pilot modeling concept was studied using over 30 pilots in simulator and flight tests. The pilot-aircraft system was evaluated with 3 different lateral-directional control models. Pilots were given a roll angle tracking task in the presence of shrinking boundaries. Pilots were also given a secondary task in some of the profiles in order to measure workload. Approximately 42 hours of simulation …
A Feasibility Study Of A Persistent Monitoring System For The Flight Deck Of U.S. Navy Aircraft Carriers, Jeffrey S. Johnston
A Feasibility Study Of A Persistent Monitoring System For The Flight Deck Of U.S. Navy Aircraft Carriers, Jeffrey S. Johnston
Theses and Dissertations
This research analyzes the use of modern Real Time Locating Systems (RTLS), such as the Global Positioning System (GPS), to improve the safety of aircraft, equipment, and personnel onboard a United States Navy (USN) aircraft carrier. The results of a detailed analysis of USN safety records since 1980 show that mishaps which could potentially be prevented by a persistent monitoring system result in the death of a sailor nearly every other year and account for at least $92,486,469, or 5.55% of the total cost of all flight deck and hangar bay related mishaps. A system to continually monitor flight deck …
Communication Free Robot Swarming, Zachary C. Gray
Communication Free Robot Swarming, Zachary C. Gray
Theses and Dissertations
As the military use of unmanned aerial vehicles increases, a growing need for novel strategies to control these systems exists. One such method for controlling many unmanned aerial vehicles simultaneously is the through the use of swarm algorithms. This research explores a swarm robotic algorithm developed by Kadrovach implemented on Pioneer Robots in a real-world environment. An adaptation of his visual sensor is implemented using stereo vision as the primary method of sensing the environment. The swarm members are prohibited from explicitly communicating other than passively through the environment. The resulting implementation produces a communication free swarming algorithm. The algorithm …
Automated Knowledge Generation With Persistent Surveillance Video, Daniel T. Schmitt
Automated Knowledge Generation With Persistent Surveillance Video, Daniel T. Schmitt
Theses and Dissertations
The Air Force has increasingly invested in persistent surveillance platforms gathering a large amount of surveillance video. Ordinarily, intelligence analysts watch the video to determine if suspicious activities are occurring. This approach to video analysis can be a very time and manpower intensive process. Instead, this thesis proposes that by using tracks generated from persistent video, we can build a model to detect events for an intelligence analyst. The event that we chose to detect was a suspicious surveillance activity known as a casing event. To test our model we used Global Positioning System (GPS) tracks generated from vehicles driving …
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 …
Optimal Guidance Of A Relay Mav For Isr Support Beyond Line-Of-Sight, John H. Hansen
Optimal Guidance Of A Relay Mav For Isr Support Beyond Line-Of-Sight, John H. Hansen
Theses and Dissertations
This thesis developed guidance laws to optimally position a relay Micro-UAV (MAV) to provide an operator with real-time Intelligence, Surveillance, and Reconnaissance (ISR) by relaying communication and video signals when there is no line-of-sight between the operator at the base and the rover MAV performing the ISR mission. The ISR system consists of two MAVs, the Relay and the Rover, and a Base. The Relay strives to position itself to minimize the radio frequency (RF) power required for maintaining communications between the Rover and the Base, while the Rover performs the ISR mission, which may maximize the required RF power. …
Velocity Estimate Following Air Data System Failure, Scott A. Mclaren
Velocity Estimate Following Air Data System Failure, Scott A. Mclaren
Theses and Dissertations
Modern high performance aircraft can provide amazing performance due in part to their advanced flight control systems that require gain scheduling to provide optimum performance over a huge flight envelope. In modern fighter aircraft, this gain scheduling is a function of airspeed, and almost all of the research involving aircraft gain scheduling assumes aircraft airspeed to be a known quantity. The purpose of this research was to investigate a method of determining an aircraft’s airspeed in the event of total air data system failure. The process began by combining known aircraft information following an air data system failure to determine …
Real-Time Navigation And Flight Path Generation For Tracking Stop-And-Go Targets With Miniature Air Vehicles, Nate A. Terning
Real-Time Navigation And Flight Path Generation For Tracking Stop-And-Go Targets With Miniature Air Vehicles, Nate A. Terning
Theses and Dissertations
This research effort focuses on using a heuristic approach to determine the optimal flight path required to put an Unmanned Aircraft System’s (UAS) sensor on a moving target in the presence of a constant wind field. This thesis builds on past work using dynamic optimization techniques to calculate minimum time to target. The computationally intensive dynamic optimization routines in their current form take a prohibitive amount of time to calculate and ultimately result in erroneous flight path predictions due to inherent execution time latencies. Therefore an iterative, suboptimal heuristic approach was explored to mitigate excessive calculation times and ultimately yield …
Handling Qualities Evaluation Of A Supersonic Tailless Air Vehicle, Steven W. Speares
Handling Qualities Evaluation Of A Supersonic Tailless Air Vehicle, Steven W. Speares
Theses and Dissertations
This thesis presents the results of a handling qualities evaluation of a supersonic tailless air vehicle. The 2006 Quadrennial Defense Review mandated the need for the next generation of long-range strike aircraft by 2018. Due to speed and stealth requirements, this resulted in a tailless aircraft with an instantaneous center of rotation located well forward of that of a conventional aircraft. This thesis examines how this center of rotation affected pilot handling qualities ratings. This effect should have been the most pronounced during approach and landing, and was where the testing focused. The goal of this research was to develop …
Space Based Satellite Tracking And Characterization Utilizing Non-Imaging Passive Sensors, Bradley R. Townsend
Space Based Satellite Tracking And Characterization Utilizing Non-Imaging Passive Sensors, Bradley R. Townsend
Theses and Dissertations
A technique is developed to determine the orbit of a sunlight illuminated satellite passing through the field-of-view of a sensor platform in a Highly Elliptical Orbit (HEO) and Geosynchronous orbit (GEO). The technique develops two different methods of initial orbit determination. The first relies on the Gauss initial orbit determination method to develop an estimate of the state from angular data. The second method relies on positional data of the target relative to the Earth’s background to determine an estimate of the state. These estimates are then refined in a non-linear least squares routine. This estimate of the state is …
Development And Flight Of A Robust Optical-Inertial Navigation System Using Low-Cost Sensors, Michael B. Nielsen
Development And Flight Of A Robust Optical-Inertial Navigation System Using Low-Cost Sensors, Michael B. Nielsen
Theses and Dissertations
This research develops and tests a precision navigation algorithm fusing optical and inertial measurements of unknown objects at unknown locations. It provides an alternative to the Global Positioning System (GPS) as a precision navigation source, enabling passive and low-cost navigation in situations where GPS is denied/unavailable. This paper describes two new contributions. First, a rigorous study of the fundamental nature of optical/inertial navigation is accomplished by examining the observability grammian of the underlying measurement equations. This analysis yields a set of design principles guiding the development of optical/inertial navigation algorithms. The second contribution of this research is the development and …
Optimal Control Strategies For Constrained Relative Orbits, David J. Irvin Jr.
Optimal Control Strategies For Constrained Relative Orbits, David J. Irvin Jr.
Theses and Dissertations
The US Air Force's ability to protect space assets is enhanced by a proficiency in satellite proximity operations and Space Situational Awareness (SSA). In pursuit of that proficiency, this research develops a key capability of interest to mission planners; the ability of a deputy satellite to "hover" within a defined volume fixed in the vicinity of a chief satellite for an extended period of time. This research finds optimal trajectories, produced with discrete-thrusts, that minimize fuel spent per unit time and stay within the user-defined volume, thus providing a practical hover capability in the vicinity of the chief. The work …
Common Aero Vehicle Autonomous Reentry Trajectory Optimization Satisfying Waypoint And No-Fly Zone Constraints, Timothy R. Jorris
Common Aero Vehicle Autonomous Reentry Trajectory Optimization Satisfying Waypoint And No-Fly Zone Constraints, Timothy R. Jorris
Theses and Dissertations
To support the Global Strike mission, an autonomous trajectory optimization technique is presented to minimize the flight time, satisfy terminal and intermediate constraints, and remain within the specified vehicle heating and control limitations. "Waypoints" are specified for reconnaissance or multiple payload deployments and "no-fly zones" are specified for geopolitical restrictions or threat avoidance. The Hypersonic Cruise Vehicle (HCV) is used as a simplified two-dimensional platform to compare multiple solution techniques. The solution techniques include a unique geometric approach, an analytical dynamic optimization technique, and a numerical approach. This numerical technique is a direct solution method involving pseudospectral methods and nonlinear …
Real-Time Gps-Alternative Navigation Using Commodity Hardware, Jordon L. Fletcher
Real-Time Gps-Alternative Navigation Using Commodity Hardware, Jordon L. Fletcher
Theses and Dissertations
Modern navigation systems can use the Global Positioning System (GPS) to accurately determine position with precision in some cases bordering on millimeters. Unfortunately, GPS technology is susceptible to jamming, interception, and unavailability indoors or underground. There are several navigation techniques that can be used to navigate during times of GPS unavailability, but there are very few that result in GPS-level precision. One method of achieving high precision navigation without GPS is to fuse data obtained from multiple sensors. This thesis explores the fusion of imaging and inertial sensors and implements them in a real-time system that mimics human navigation. In …
Controller Design For Accurate Antenna Pointing Onboard A Spacecraft, Victor M. Barba
Controller Design For Accurate Antenna Pointing Onboard A Spacecraft, Victor M. Barba
Theses and Dissertations
Controller design for a spacecraft mounted flexible antenna is considered. The antenna plant model has a certain degree of uncertainty. Additionally, disturbances from the host spacecraft are transmitted to the antenna and need to be attenuated. The design concept explored herein entails feedforward control to slew the antenna. Feedback control is then used to compensate for plant uncertainty and to reject the disturbance signals. A tight control loop is designed to meet performance specifications while minimizing the control gains. Simulations are conducted to show that the integration of feedforward control action and feedback compensation produces better responses than the implementation …
Development Of Cursor-On-Target Control For Semi-Autonomous Unmanned Aircraft Systems, Joshua D. Crouse
Development Of Cursor-On-Target Control For Semi-Autonomous Unmanned Aircraft Systems, Joshua D. Crouse
Theses and Dissertations
The research presented in this thesis focuses on developing, demonstrating, and evaluating the concept of a Cursor-on-Target control system for semi-autonomous unmanned aircraft systems. The Department of Defense has mapped out a strategy in which unmanned aircraft systems will increasingly replace piloted aircraft. During most phases of flight autonomous unmanned aircraft control reduces operator workload, however, real-time information exchange often requires an operator to relay decision changes to the unmanned aircraft. The goal of this research is to develop a preliminary Cursor-on-Target control system to enable the operator to guide the unmanned aircraft with minimal workload during high task phases …
A Small-Scale 3d Imaging Platform For Algorithm Performance Evaluation, Steven A. James
A Small-Scale 3d Imaging Platform For Algorithm Performance Evaluation, Steven A. James
Theses and Dissertations
In recent years, world events have expedited the need for the design and application of rapidly deployable airborne surveillance systems in urban environments. Fast and effective use of the surveillance images requires accurate modeling of the terrain being surveyed. The process of accurately modeling buildings, landmarks, or other items of interest on the surface of the earth, within a short lead time, has proven to be a challenging task. One approach of high importance for countering this challenge and accurately reconstructing 3D objects is through the employment of airborne 3D image acquisition platforms. While developments in this arena have significantly …
Automated Carrier Landing Of An Unmanned Combat Aerial Vehicle Using Dynamic Inversion, Nicholas A. Denison
Automated Carrier Landing Of An Unmanned Combat Aerial Vehicle Using Dynamic Inversion, Nicholas A. Denison
Theses and Dissertations
Dynamic Inversion (DI) is a powerful nonlinear control technique which has been applied to several modern flight control systems. This research utilized concepts of DI in order to develop a controller to land an Unmanned Combat Aerial Vehicle (UCAV) on an aircraft carrier. The Joint Unmanned Combat Air System (J-UCAS) Equivalent Model was used as the test aircraft. An inner-loop DI controller was developed to control the pitch, roll, and yaw rate dynamics of the aircraft, while an outer-loop DI controller was developed to provide flight path commands to the inner-loop. The controller design and simulation were conducted in the …
Development Of An Experimental Platform For Testing Autonomous Uav Guidance And Control Algorithms, Justin R. Rufa
Development Of An Experimental Platform For Testing Autonomous Uav Guidance And Control Algorithms, Justin R. Rufa
Theses and Dissertations
With the United States' push towards using unmanned aerial vehicles (UAVs) for more military missions, wide area search theory is being researched to determine the viability of multiple vehicle autonomous searches over the battle area. Previous work includes theoretical development of detection and attack probabilities while taking into account known enemy presence within the search environment. Simulations have been able to transform these theories into code to predict the UAV performance against known numbers of true and false targets. The next step to transitioning these autonomous search algorithms to an operational environment is the experimental testing of these theories through …
Optimal Wind Corrected Flight Path Planning For Autonomous Micro Air Vehicles, Michael D. Zollars
Optimal Wind Corrected Flight Path Planning For Autonomous Micro Air Vehicles, Michael D. Zollars
Theses and Dissertations
This research effort focuses on determining the optimal flight path required to put a micro air vehicle's (MAVs) fixed sensor on a target in the presence of a constant wind. Autonomous flight is quickly becoming the future of air power and over the past several years, the size and weight of autonomous vehicles has decreased dramatically. As these vehicles were implemented into the field, it was quickly discovered that their flight paths are severely altered by wind. However, since the size of the vehicle does not allow for a gimbaled camera, only a slight perturbation to the attitude of the …
Autonomous Unmarked Aerial Rendezvous For Automated Aerial Refueling (Aar), Brian S. Burns
Autonomous Unmarked Aerial Rendezvous For Automated Aerial Refueling (Aar), Brian S. Burns
Theses and Dissertations
As unmanned aerial vehicles (UAVs) increase in capability, the ability to refuel them in the air is becoming more critical. Aerial refueling will extend the range, shorten the response times, and extend loiter time of UAVs. Executing aerial refueling autonomously will reduce the command and control, logistics, and training efforts associated with fielding UAV systems. Currently, the Air Force Research Lab is researching the various technologies required to conduct automated aerial refueling (AAR). One of the required technologies is the ability to autonomously rendezvous with the tanker. The goal of this research is to determine the control required to fly …
Wide Area Search And Engagement Simulation Validation, Michael J. Marlin
Wide Area Search And Engagement Simulation Validation, Michael J. Marlin
Theses and Dissertations
As unmanned aerial vehicles (UAVs) increase in capability, the ability to refuel them in the air is becoming more critical. Aerial refueling will extend the range, shorten the response times, and extend loiter time of UAVs. Executing aerial refueling autonomously will reduce the command and control, logistics, and training efforts associated with fielding UAV systems. Currently, the Air Force Research Lab is researching the various technologies required to conduct automated aerial refueling (AAR). One of the required technologies is the ability to autonomously rendezvous with the tanker. The goal of this research is to determine the control required to fly …
An Analysis Of Aircraft Handling Quality Data Obtained From Boundary Avoidance Tracking Flight Test Techniques, Jason D. Dotter
An Analysis Of Aircraft Handling Quality Data Obtained From Boundary Avoidance Tracking Flight Test Techniques, Jason D. Dotter
Theses and Dissertations
Cooper-Harper ratings (CHRs) have been used to describe and compare aircraft handling qualities for over 40 years, but are by their very nature, subjective. The subjective and sometimes ambiguous results obtained from qualitative handling quality ratings are inconsistent with the rest of the flight test process, where quantifiable results followed by statistical analysis are the norm. This thesis presents a method for obtaining accurate and consistent flight test data that quantifies the handling qualities of a specific aircraft. The method is demonstrated using both pilot-in-the-loop simulations and flight tests with the NF-16D Variable-Stability In-Flight Simulator Test Aircraft (VISTA). Boundary Avoidance …