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Theses and Dissertations

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Articles 181 - 210 of 232

Full-Text Articles in Navigation, Guidance, Control and Dynamics

Cooperative Control Simulation Validation Using Applied Probability Theory, Christopher S. Schulz Sep 2003

Cooperative Control Simulation Validation Using Applied Probability Theory, Christopher S. Schulz

Theses and Dissertations

Several research simulations have been created to support development and refinement of teamed autonomous agents using decentralized cooperative control algorithms. Simulation is the necessary tool to evaluate the performance of decentralized cooperative control algorithms, however these simulations lack a method to validate their output. This research presents a method to validate the performance of a decentralized cooperative control simulation environment for an autonomous Wide Area Search Munition (WASM). Rigorous analytical methods for six wide area search and engagement scenarios involving Uniform, Normal, and Poisson distributions of N real targets and M false target objects are formulated to generate expected numbers …

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Application Of Maneuver-Based Control In Variable Autonomy Unmanned Combat Aerial Vehicles, Alexander M. G. Walan Mar 2003

Application Of Maneuver-Based Control In Variable Autonomy Unmanned Combat Aerial Vehicles, Alexander M. G. Walan

Theses and Dissertations

The rise in the capability and lethality of unmanned combat aerial vehicles (UCAVs) historically has been paralleled by an increase in the complexity of the command and control of these systems. This trend has continued with the command and control of the current fleet of unmanned aerial vehicles such as the Predator and Global Hawk. The control of these vehicles falls on the extremes on the manual vs autonomous spectrum. As the missions tasked to these vehicles increase in complexity and lethality, operators will increasingly require the ability to tailor the amount of control exercised over the vehicle. Maneuver Based …

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A Comparison Of Nonlinear Algorithms To Prevent Pilot-Induced Oscillations Caused By Actuator Rate Limiting, James G. Hanley Mar 2003

A Comparison Of Nonlinear Algorithms To Prevent Pilot-Induced Oscillations Caused By Actuator Rate Limiting, James G. Hanley

Theses and Dissertations

The objective of this study was to compare the ability of the Feedback-with-Bypass (FWB) and the Derivative-Switching (DS) flight control system filters to prevent PIO during actuator rate limiting, and the filters' effects on aircraft handling qualities. This comparison was conducted in three steps: computer simulation, ground simulation in the Large Amplitude Multimode Aerospace Research Simulator (LAMARS), and flight tests conducted in the Variable Stability In-flight Simulator Test Aircraft (VISTA). During computer simulation, the FWB filter better reduced the phase lag and prevented sustained or divergent oscillations during the closed-loop analysis. During both ground simulation and flight tests, the FWB …

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A Study Of Control Laws For Microsatellite Rendezvous With A Non-Cooperative Target, Troy A. Tschirhart Mar 2003

A Study Of Control Laws For Microsatellite Rendezvous With A Non-Cooperative Target, Troy A. Tschirhart

Theses and Dissertations

This study investigated the feasibility of using a microsatellite to accomplish an orbital rendezvous with a noncooperative target, with a focus on the control laws necessary for achieving such a rendezvous. The relative motions of the microsatellite and the target satellite are described using Hill's equations. The results of an investigation of two different controller methodologies show that an impulsive thrust controller based on the Clohessey-Wiltshire solution used little fuel, but was not very robust. A continuous thrust controller using a Linear Quadratic Regulator was found to be more robust, but used much more fuel. As a final solution, a …

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Development And Simulation Of A Pseudolite-Based Flight Reference System, Terry J. Bouska Mar 2003

Development And Simulation Of A Pseudolite-Based Flight Reference System, Terry J. Bouska

Theses and Dissertations

Current flight reference systems are vulnerable to GPS jamming and also lack the accuracy required to test new systems. Pseudolites can augment flight reference systems by improving accuracy, especially in the presence of GPS jamming. This thesis evaluates a pseudolite-based flight reference system which applies and adapts carrier-phase differential GPS techniques. The algorithm developed in this thesis utilizes an extended Kalman filter along with carrier-phase ambiguity resolution techniques. A simulation of the pseudolite-based positioning system realistically models measurement noise, multipath, pseudolite position errors, and tropospheric delay. A comparative evaluation of the algorithms performance for single and widelane frequency measurements is …

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Tightly-Coupled Image-Aided Inertial Navigation System Via A Kalman Filter, Michael G. Giebner Mar 2003

Tightly-Coupled Image-Aided Inertial Navigation System Via A Kalman Filter, Michael G. Giebner

Theses and Dissertations

Inertial navigation systems and GPS systems have revolutionized the world of navigation. Inertial systems are incapable of being jammed and are the backbone of most navigation systems. GPS is highly accurate over long periods of time, and it is an excellent aid to inertial navigation systems. However, as a military force we must be prepared to deal with the denial of the GPS signal. This thesis seeks to determine it, via simulation, it is viable to aid an INS with visual measurements.

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Ins Aiding Using Passive, Bearings-Only Measurements Of An Unknown Stationary Ground Object, Alec E. Porter Mar 2003

Ins Aiding Using Passive, Bearings-Only Measurements Of An Unknown Stationary Ground Object, Alec E. Porter

Theses and Dissertations

The theory for Inertial Navigation System (INS) aiding using passive, bearings only measurements of an unknown stationary ground object, in the vein of optical flow measurement, is developed. Stand-alone bearings-only measurements over time of an unknown, but stationary, ground object are shown to yield estimates of the aircraft’s aerodynamic angles, viz., the angle of attack and sideslip angle. Two new equations containing the aircraft’s angular navigation variables ψ, θ, φ, γ, H, and the aerodynamic angles are derived. This allows an update of the aircraft’s attitude, thus making INS aiding using passive, bearings-only measurements possible. Moreover, the use of stadiametry, …

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Broadcast Vs Precise Gps Ephemerides: A Historical Perspective, David L. M. Warren Mar 2002

Broadcast Vs Precise Gps Ephemerides: A Historical Perspective, David L. M. Warren

Theses and Dissertations

In most recent years, both high-resolution imagery systems and images were only available to military and national security organizations. Distinctive changes within the commercial image industry allowed space-borne pioneers to provide high-resolution images. Space-borne Image Company's Ikonos satellite provides a 1-meter resolution for the past 3 years. Current development of .5-meter resolution will be offered in the near future. Access of these images is available in ground stations located worldwide in different regions. Studies have shown that these high quality images are eye-catching and may serve a purpose through its design; on contrary high cost and accessibility does not met …

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Ins Aiding By Tracking An Unknown Ground Object, Mursy Polat Mar 2002

Ins Aiding By Tracking An Unknown Ground Object, Mursy Polat

Theses and Dissertations

The reduction of the navigation error in an inertial navigation system by optically tracking a ground object is investigated. Multiple observations of the ground object are used. The location of the ground object is assumed unknown. A careful analysis of the measurement situation at hand reveals that by optically tracking an unknown ground object using passive, bearings-only measurements, the aircraft's angle of attack and sideslip angle can be measured. Thus, two new independent measurement equations featuring the aircraft's angular navigation variables are obtained. Hence, by optically tracking over time an unknown ground object, inertial navigation system aiding is in fact …

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An Examination Of Latency And Degradation Issues In Unmanned Combat Aerial Vehicle Environments, Shane A. Dougherty Mar 2002

An Examination Of Latency And Degradation Issues In Unmanned Combat Aerial Vehicle Environments, Shane A. Dougherty

Theses and Dissertations

Since the multidimensional knapsack problems are NP-hard problems, the exact solutions of knapsack problems often need excessive computing time and storage space. Thus, heuristic approaches are more practical for multidimensional knapsack problems as problems get large. This thesis presents the results of an empirical study of the performance of heuristic solution procedures based on the coefficients correlation structures and constraint slackness settings. In this thesis, the three representative greedy heuristics, Toyoda, Senju and Toyoda, and Loulou and Michaelides methods, are studied. The purpose of this thesis is to explore which heuristic of the three representative greedy heuristics perform best under …

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Flight Control Failure Detection And Control Redistribution Using Multiple Model Adaptive Estimation With Filter Spawning, Michael L. Torres Jr. Mar 2002

Flight Control Failure Detection And Control Redistribution Using Multiple Model Adaptive Estimation With Filter Spawning, Michael L. Torres Jr.

Theses and Dissertations

In the current research, the MMAE with Filter Spawning and Control Redistribution (MMAE/FS/CR) are used together to identify failures and apply appropriate corrections. This effort explores the performance of the MMAE/FS/CR in different regions of the flight envelope using model and gain scheduling. The MMAE/FS/CR is able to detect complete and partial actuator/surface failures, as well as complete sensor failures. Once the actuator/surface failure is identified and the effectiveness is determined in the case of partial failures, proper control is applied in order to accomplish the desired pilot command. Improvements in the algorithm are required in order to enhance the …

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Air Vehicle Path Planning, Jeffrey M. Hebert Dec 2001

Air Vehicle Path Planning, Jeffrey M. Hebert

Theses and Dissertations

This dissertation explores optimal path planning for air vehicles. An air vehicle exposed to illumination by a tracking radar is considered and the problem of determining an optimal planar trajectory connecting two prespecified points is addressed. An analytic solution yielding the trajectory minimizing the received radar energy reflected from the target is derived using the Calculus of Variations. Additionally, the related problem of an air vehicle tracked by a passive sensor is also solved. Using the insights gained from the single air vehicle radar exposure minimization problem, a hierarchical cooperative control law is formulated to determine the optimal trajectories that …

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Adaptive And Reconfigurable Flight Control, Yih Shiun Huang Mar 2001

Adaptive And Reconfigurable Flight Control, Yih Shiun Huang

Theses and Dissertations

An indirect adaptive and reconfigurable flight control system is developed. The three-module controller consists of: (1) a system identification module, (2) a parameter estimate smoother, and (3) a proportional and integral compensator for tracking control. Specifically: (1) The identification of a linear discrete-time control system's open-loop gain is addressed. The classical Kalman filter theory for linear control systems is extended and the control system's state and loop gain are jointly estimated on-line. Explicit formulae for the loop gain's estimate and estimation error covariance are derived. The estimate is unbiased and the predicted covariance is reliable. (2) An adaptive smoother is …

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Development And Testing Of A Multiple Filter Approach For Precise Dgps Positioning And Carrier-Phase Ambiguity Resolution, Paul E. Henderson Mar 2001

Development And Testing Of A Multiple Filter Approach For Precise Dgps Positioning And Carrier-Phase Ambiguity Resolution, Paul E. Henderson

Theses and Dissertations

The most precise relative positioning obtained using differential GPS depends on accurately determining carrier-phase integer ambiguities. To achieve high precision, many current static and kinematic algorithms use a floating-point solution until enough information becomes available to fix the carrier-phase ambiguities accurately. A mew method is presented that uses a multiple model Kalman filter to resolve the carrier-phase integer ambiguities. This method starts with the floating-point results, yet smoothly and rapidly attains the precision of the correct fixed-integer solution, eliminating the need to decide when to switch from the floating to the fixed-integer solution. This method is based on a theoretically …

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Phugoid Damping Control, Nicolas J. Schindeler Mar 2001

Phugoid Damping Control, Nicolas J. Schindeler

Theses and Dissertations

A novel phugoid damping control design methodology is developed, based on the use of wind axes and a point-mass aircraft model. The state variables are air speed, flight path angle, and heading angle, the control variables are thrust setting, angle of attack, bank angle, and sideslip angle, and the command signals are airspeed, flight path angle, and heading angle or heading rate. All the variables and parameters are nondimensionalized. A multivariable set point controller is developed which consists of: (1) a trim calculation-based nonlinear feed-forward control computer; thus, given a commanded new trim state (air speed, flight path angle, and …

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Three Dimensional Formation Flight Control, James K. Hall Mar 2000

Three Dimensional Formation Flight Control, James K. Hall

Theses and Dissertations

Automating the control of an aircraft flying in formation necessitates the extension of the theory of formation flight control to allow for three dimensional maneuvers. The formation was modeled as a two-aircraft, leader and wingspan, formation. Both aircraft has its own three dimensional, rotating and translating, Cartesian axes system, with special attention being given to the motion of the leader in relation to the wingspan. The controller operated using the equations of motion expressed in the rotating reference frame of the wing aircraft. The control system has seven states, three inputs and three disturbance signals to model the dynamics of …

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Closely Supervised Reactive Control Of An Uninhabited Aerial Vehicle, Roy G. Glassco Jun 1999

Closely Supervised Reactive Control Of An Uninhabited Aerial Vehicle, Roy G. Glassco

Theses and Dissertations

Closely Supervised Reactive Control is an alternative control method for uninhabited aerial vehicles that incorporates some of the benefits of both manual and autonomous operations. Utilizing an onboard camera, an operator can control a UAV by manually choosing desired targets. The flight path of the uninhabited vehicle is determined autonomously from the camera gimbal angles. The operator of the payload (i.e. camera), has close supervision of the aircraft. The aircraft, using an onboard computer, is given autonomous control to alter flight path to fly towards a target and at a specified range, loiter over the target. In the basic mode …

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Close Formation Flight Control, Andrew W. Proud May 1999

Close Formation Flight Control, Andrew W. Proud

Theses and Dissertations

In this research the close formation flight control problem is addressed. The formation consists of a lead and wing aircraft, where the wing flies in close formation with the lead, such that the lead's vortices produce aerodynamic coupling effects, and a reduction in the formation's drag is achieved. A controller, i.e., a formation-hold autopilot for the wing aircraft, is designed such that the formation's geometry is maintained in the face of lead aircraft maneuvers. In the formation flight control system, the wing and lead aircraft dynamics are coupled due to kinematic effects, and, in the case of close formations, additional …

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Singularity Avoidance Strategies For Satellite Mounted Manipulators Using Attitude Control, Nathan A. Titus Jun 1998

Singularity Avoidance Strategies For Satellite Mounted Manipulators Using Attitude Control, Nathan A. Titus

Theses and Dissertations

Control concepts for satellite mounted manipulators (SMM) are examined. The primary focus is on base actuated concepts, which eliminate singularity problems associated with free floating SMMs. A new form of the equations of motion for an n-link SMM is developed using a quasi coordinate form of Lagrange's Equation. Alternative free floating SMM designs are presented which eliminate dynamic singularities, but still experience difficulties due to the unactuated base. A new generic SMM controller is developed as a framework for various control concepts with and without base actuation. Momentum constrained Jacobians are shown to produce better SMM tracking than fixed base …

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Improved Mathematical Modeling For Gps Based Navigation, Salvatore Nardi Mar 1998

Improved Mathematical Modeling For Gps Based Navigation, Salvatore Nardi

Theses and Dissertations

This thesis is concerned with the development of new closed form GPS position determination algorithms that work in the presence of pseudorange measurement noise. The mathematical derivation of two closed form algorithms, based on stochastic modeling and estimation techniques, is presented. The algorithms provide an estimate of the GPS solution parameters (viz., the user position and the user clock bias) as well as the estimation error covariance. The experimental results are analyzed by comparison to the baseline results from the conventional Iterative Least Squares (ILS) algorithm. In typical GPS scenarios, the closed form algorithms are extremely sensitive to noise, making …

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Multiple Model Adaptive Estimation And Control Redistribution Performance On The Vista F-16 During Partial Actuator Impairments, Curtis S. Clark Dec 1997

Multiple Model Adaptive Estimation And Control Redistribution Performance On The Vista F-16 During Partial Actuator Impairments, Curtis S. Clark

Theses and Dissertations

Multiple Model Adaptive Estimation with Control Reconfiguration (MMAE/CR) capability to estimate and compensate for partial actuator failures, or "impairments" is investigated using the high-fidelity, nonlinear, six-degree-of-freedom, VISTA F-16 simulation which currently resides on the Simulation Rapid-Prototyping Facility (SRF). After developing a model for inserting partial actuator impairments into the VISTA F-16 truth model, research begins with a battery of single actuator impairment tests. This stage of research explores the capability of the existing MMAE algorithm to estimate single, partial actuator impairments, and helps to define refinements and expansions needed in the MMAE algorithm for the second phase of research: the …

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Pseudorandom Code Generation For Communication And Navigation System Applications, John F. Brendle Jr. Dec 1997

Pseudorandom Code Generation For Communication And Navigation System Applications, John F. Brendle Jr.

Theses and Dissertations

This research project investigated the design, construction and evaluation of a pseudorandom code generator for communication and navigation system applications. These types of codes include spreading codes, Gold codes, Jet Propulsion Laboratory (JPL) ranging codes, syncopated codes, and nonlinear codes. Such waveforms are typically used in communication and navigation system applications. The code generator uses the Stanford Telecom STEL-1032 Pseudorandom Number (PRN) coder. A coder interface was designed and constructed for manual data entry to the registers of the PRN coder. The code generator is capable of independently clocking and generating all possible codes with lengths up to 4,294,967,295 bits. …

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The Effects Of Elevator Rate Limiting And Stick Dynamics On Longitudinal Pilot-Induced Oscillations, Patrick J. Peters Mar 1997

The Effects Of Elevator Rate Limiting And Stick Dynamics On Longitudinal Pilot-Induced Oscillations, Patrick J. Peters

Theses and Dissertations

This report presents the results of an investigation into the effects of elevator rate limiting and stick dynamics on longitudinal pilot-induced oscillations (PIO). A simulation study was conducted to prepare for the flight test, but also to gain insight into the effects of rate limiting and stick dynamics. Due to the non-numerical nature of the simulation results, a flexible three-phase flight test plan was developed, first varying the rate limits, then varying the stick dynamics, and finally flying a matrix determined in the first two phases. There were three major conclusions. First, the offset landing task flown was insufficient to …

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Optimization Of A Gps-Based Navigation Reference System, Jason B. Mckay Dec 1996

Optimization Of A Gps-Based Navigation Reference System, Jason B. Mckay

Theses and Dissertations

The development of increasingly accurate new aircraft navigation systems has caused the Air Force to develop a new Navigation Reference System to test them, called the Submeter Accuracy Reference System (SARS). The SARS is an inverted GPS system which consists of an array of GPS receivers on the ground and an airborne pseudolite mounted on the test aircraft. The SARS will provide a proof position estimate that is used to check the navigation system under test. Unfortunately, ground based inverted GPS systems tend to suffer from high geometric sensitivity to measurement errors. This research tackles the problem of optimizing the …

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A Differential Gps Aided Ins For Aircraft Landings, Ryan L. Britton Dec 1995

A Differential Gps Aided Ins For Aircraft Landings, Ryan L. Britton

Theses and Dissertations

The Department of Defense (DOD) and the commercial airline industry are in the process of replacing the instrument landing system (ILS) for aircraft precision approach landings. The use of differential Global Positioning System (DGPS) is thought to be a viable replacement for ILS precision approaches. This thesis explores the integration of an INS, DGPS, Barometric Altimeter, Pseudolite, and Radar Altimeter for a tanker type and a single engine aircraft precision approach. These devices are integrated using an extended Kalman filter (EKF). For the tanker type aircraft federal Aviation Administration (FAA) requirements for a Category I and a Category II precision …

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Wing Flexure Compensation For Aircraft Attitude And Position Determination In An Inverted Carrier-Phase Positioning System, Bradley W. Mahlum Dec 1995

Wing Flexure Compensation For Aircraft Attitude And Position Determination In An Inverted Carrier-Phase Positioning System, Bradley W. Mahlum

Theses and Dissertations

In response to the ever increasing accuracies in inertial navigation systems, the U. S. Air Force must develop higher accuracy reference systems. These reference systems must also be small enough to be utilized in the testing of navigation systems onboard fighter aircraft. One such proposed system utilizes carrier-phase Global Positioning System (CPGPS) transmitters mounted on MM-9 pods with receivers on the ground. This research examines one possible method of utilizing this system to determine the attitude and position of the aircraft, given position estimates for the transmitter's locations. The transmitter positioning algorithm showed that the geometry will be problematic for …

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Design Of Flight Control Laws For Aircraft With Flexible Wings Using Quantitative Feedback Theory, Christina L. Osmon Dec 1995

Design Of Flight Control Laws For Aircraft With Flexible Wings Using Quantitative Feedback Theory, Christina L. Osmon

Theses and Dissertations

Aircraft composed of lightweight composite materials are extremely enticing since their structural weight is greatly reduced. However, the control of these aircraft is complicated by the resultant flexibility of the wings. Two avenues of approach are possible; stiffen the wings thus losing some of the weight reduction benefits, or design the lateral/directional flight control system cognizant of the wing's flexibility. In this thesis the second approach is taken. The design of three lateral/directional flight control systems for the sub-sonic flight envelope of the F-18 is presented. The Quantitative Feedback Theory (QFT) robust control design technique is used. These designs incorporate …

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A Quantitative Feedback Theory Fcs Design For The Subsonic Envelope Of The Vista F-16 Including Configuration Variation And Aerodynamic Control Effector Failures, Vicent J. Cacciatore Dec 1995

A Quantitative Feedback Theory Fcs Design For The Subsonic Envelope Of The Vista F-16 Including Configuration Variation And Aerodynamic Control Effector Failures, Vicent J. Cacciatore

Theses and Dissertations

Fault tolerant flight control systems for combat aircraft are an alternative to excessively redundant aircraft designs or reconfigurable control laws. However, due to the range of flight conditions within a combat aircraft's operational flight envelope, the variety of its configurations, and the unavailability of an aerodynamic data base for damaged aircraft, designing fault tolerant systems is a complicated endeavor. Quantitative Feedback Theory is a robust control design technique especially well-suited to manage the structured parametric uncertainty inherent in this problem, and consequently is applied as the primary design tool for this research. Furthermore, realistic failure models are developed for the …

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Design And Analysis Of A Navigation System Using The Federated Filter, Stephen J. Delory Dec 1995

Design And Analysis Of A Navigation System Using The Federated Filter, Stephen J. Delory

Theses and Dissertations

The purpose of this paper was to design and analyse a federated filter design, to be used for retrofit of an Embedded GPS/INS (EGI) navigation unit into an existing Kalman filter-based air navigation system. A design was selected and simulations were conducted in the Distributed Kalman Filter Simulation software (DKFSIM). As well, a centralized Kalman filter design was simulated under identical conditions for comparison purposes. The federated filter was shown to be a feasible design, with accuracy in position and velocity very close to centralized Kalman filter values. The federated filter design also showed some attractive fault detection and isolation …

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Velocity Determination For An Inverted Pseudolite Navigation Reference System, Jeffrey M. Hebert Dec 1995

Velocity Determination For An Inverted Pseudolite Navigation Reference System, Jeffrey M. Hebert

Theses and Dissertations

As navigation systems continue to improve in performance and features, the Air Force must develop better Navigation Reference Systems (NRS) to keep pace with technology. Specifically, with the advent of enhanced, integrated Global Positioning System (GPS) and Inertial Navigation System (INS) navigators, emphasis is placed on the measuring performance in the presence of GPS jamming. To meet these needs, a new NRS, dubbed the Sub-Meter Accuracy Reference System (SARS), is being developed by the 746th Test Squadron, Holloman AFB, New Mexico. SARS uses a unique, inverted GPS pseudolite positioning system to determine a reference trajectory. This research investigates two post …

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