Navigation, Guidance, Control and Dynamics Commons^™

Optimization Of Active Rendezvous Trajectories By Genetic Algorithms, Marie Emmanuelle Ricour

Master's Theses - Daytona Beach

Trajectory optimization is and will remain a hot topic in the engineering field. Because analytical or exact solutions are often difficult and sometimes impossible to compute, there is a need for alternative and efficient methods. UnderWater Vehicles (UWV) trajectories and rendezvous trajectories of continuous low-thrust spacecraft are examined. One of the methods to solve such problems is the Genetic Algorithm (GA) method. In this work, a GA has been developed using Matlab®. It treats possible solutions to the studied problems as individuals and eventually converges to an optimal or near optimal solution. Genetic Algorithms have been used previously to solve …

Evaluation Of Probabilistic Methodology For Predicting Satellite Tracking Resources, Matthew Lynn Stubbe

Master's Theses - Daytona Beach

This research evaluates a probabilistic methodology for estimating the ability of satellite tracking networks to provide tracking and data acquisition services to large constellations of satellites. This approach, developed by Hagar is evaluated using Monte Carlo simulations of optimal satellite contact scheduling on a tracking network for a certain class of satellites. The actual results of the scheduled Monte Carlo simulations were then compared to the predicted values computed with Hagar's methodology for a range constellation and network sizes. Comparison methods include percent difference, a Wilcoxon signed ranks test and a Mann-Whitney U test.

The Monte Carlo simulations were run …

Development Of A Low-Latency, High Data Rate, Differential Gps Relative Positioning System For Uav Formation Flight Control, Stephen J. Comstock

Theses and Dissertations

In order for Unmanned Aerial Vehicles (UAVs) to be able to fly missions currently performed by manned aircraft, they must be able to conduct in-flight refueling. Additionally, significant fuel savings can be realized if multiple UAV's are able to fly in precise formation and align wingtip vortices. In either case, the precise relative position between the aircraft must be known to an accuracy of only a few centimeters. Previous research at the Air Force Institute of Technology culminated in the development of a relative positioning system for manned aircraft. This thesis presents the development of the next-generation system designed for …

Navigation Using Signals Of Opportunity In The Am Transmission Band, Jonathan A. Mcellroy

Theses and Dissertations

Maintaining a precision navigation solution both in a GPS hostile jamming environment and also in a GPS non-compatible terrain area is of great importance. To that end, this thesis evaluates the ability to navigate using signals from the AM band of the electromagnetic spectrum (520 to 1710 kHz). Navigation position estimates are done using multi-lateration techniques similar to GPS. However, pseudoranges are created using Time Difference of Arrival (TDOA) distances between a reference receiver and a mobile receiver, allowing the mobile receiver to obtain absolute position estimates over time. Four methods were developed for estimating the cross-correlation peak within a …

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 …

Fusion Of Imaging And Inertial Sensors For Navigation, Michael J. Veth

Theses and Dissertations

The motivation of this research is to address the limitations of satellite-based navigation by fusing imaging and inertial systems. The research begins by rigorously describing the imaging and navigation problem and developing practical models of the sensors, then presenting a transformation technique to detect features within an image. Given a set of features, a statistical feature projection technique is developed which utilizes inertial measurements to predict vectors in the feature space between images. This coupling of the imaging and inertial sensors at a deep level is then used to aid the statistical feature matching function. The feature matches and inertial …

Performance Analysis Of Recoverable Flight Control Systems Subject To Neutron-Induced Upsets Using Hybrid Dynamical Models, Hong Zhang

Electrical & Computer Engineering Theses & Dissertations

It has been observed that atmospheric neutrons can produce single-event upsets in digital flight control hardware. Potentially, they can reduce system performance and introduce a safety hazard. One experimental system-level approach investigated to help mitigate the effects of these upsets is NASA Langley's Recoverable Computer System. It employs rollback error recovery using dual-lock-step processors together with new fault tolerant architectures and communication subsystems.

In this dissertation, a class of stochastic hybrid dynamical models, which consists of a jump-linear system and a stochastic finite-state automaton, is used to describe the performance of a Boeing 737 aircraft system in closed-loop with a …

Micron-Level Actuator For Thermal-Fluid Control In Microchannels, Nurhak Erbas

Mechanical & Aerospace Engineering Theses & Dissertations

Effectiveness of an actuator is investigated for thermal-flow control in microchannels. First, simulations of a single actuator in a quiescent external medium are performed in order to study the parameters characterizing the synthetic jet flow from the actuator. For this purpose, a simplified, two-dimensional configuration is considered. The membrane motion is modeled in a realistic manner as a moving boundary in order to accurately compute the flow inside the actuator cavity. The geometric and actuation parameters of the actuator are investigated to define the effectiveness of the jet flow. The study is done initially at macro scales. Then, the flow …

Optimal Geometric Deployment Of A Ground Based Pseudolite Navigation System To Track A Landing Aircraft, Matthew P. Crawford

Theses and Dissertations

With much of the military and civilian communities becoming dependent on GPS technology to navigate it has become imperative that the navigation systems be tested in situations in which GPS does not work. This testing is especially necessary for precise tasks such as landing an aircraft. Currently, research is being conducted into using a pseudolite-based reference system to use as a truth model for the GPS jamming test. Pseudolite systems have been proven to provide sub-centimeter level accuracy in the horizontal plane; however in the vertical plane the position error is still in the decimeter to meter level range. This …

Characterization Of Uav Performance And Development Of A Formation Flight Controller For Multiple Small Uavs, Patrick A. Mccarthy

Theses and Dissertations

The Air Force Institute of Technology's (AFIT) Advanced Navigation Technology (ANT) Center has recently delved into the research topic of small Unmanned Aerial Vehicles (UAV). One area of particular interest is using multiple small UAVs cooperatively to improve mission efficiency, as well as perform missions that couldn't be performed using vehicles independently. However, many of these missions require that the UAVs operate in close proximity of each other. This research lays the foundation required to use the ANT Center's UAVs for multi-vehicle missions (e.g. cooperatively) by accomplishing two major goals. First, it develops test procedures that can be used to …

Methods For Aiding Height Determination In Pseudolite-Based Reference Systems Using Batch Least-Squares Estimation, John H. R. Amt

Theses and Dissertations

There are many situations in which GPS is either unable to provide the desired level of accuracy or is unavailable. Use of a pseudolite-based reference system for navigation can be a means for positioning during these times. While there are advantages in using a pseudolite-based reference system, there are still implementation issues and deficiencies that must be addressed. In many cases, a pseudolite system with ground-based transmitters has difficulty determining the height of the receiver accurately. This is due to the poor vertical observability inherent in the geometry of the system. A common approach in naval applications for solving the …

Estimation And Mitigation Of Unmodeled Errors For A Pseudolite Based Reference System, Jeremiah A. Shockley

Theses and Dissertations

Current flight reference systems rely heavily on the Global Positioning System (GPS), causing susceptibility to GPS jamming. Additionally, an increasing number of tests involve jamming the GPS signal. A need exists to develop a system capable of GPS-level accuracy during these outages. One promising solution is a ground-based pseudolite system capable of delivering sub-centimeter level accuracy, yet operating at non-GPS frequencies. This thesis attempts to determine the unknown errors in the Locata system, one such pseudolite-based system, to achieve the accuracy required. The development of a measurement simulation tool along with a Kalman filter algorithm provides confirmation of filter performance …

Bio-Inspired, Odor-Based Navigation, Maynard John Porter Iii

Theses and Dissertations

The ability of moths to locate a member of the opposite sex, by tracking a wind-borne plume of odor molecules, is an amazing reality. Numerous scenarios exist where having this capability embedded into ground-based or aerial vehicles would be invaluable. The main crux of this thesis investigation is the development of a navigation algorithm which gives a UAV the ability to track a chemical plume to its source. Inspiration from the male moth's, in particular Manduca sexta, ability to successfully track a female's pheromone plume was used in the design of both 2-D and 3-D navigation algorithms. The algorithms were …

Formation Flight Control For Aerial Refueling, Steven M. Ross

Theses and Dissertations

A controller is designed for an aircraft to autonomously fly formation during aerial refueling. Requirements for a refueling autopilot are stated. A six-degree-of-freedom model is developed for an F-16 lead aircraft and a Learjet LJ-25 wing aircraft. Bare airframe stability of both aircraft is investigated, and stability augmentation is performed. A Matlab Simulink® simulation is built to reproduce the sensor inputs that will be available to the wing aircraft in flight, including disturbances. Control frames are investigated to determine the optimum presentation of the error vector for control during the task of air refueling. Control laws are developed from the …

Evaluating The Correlation Characteristics Of Arbitrary Am And Fm Radio Signals For The Purpose Of Navigation, Bryan S. Kim

Theses and Dissertations

The Global Positioning System (GPS) provides position estimates on the Earth at anytime, anywhere and in any weather. However, to provide robust positioning, GPS requires an unobstructed path to satellite signals. As such, GPS performance generally degrades or becomes non-existent in environments such as large urban areas. This research investigates and analyzes the correlation characteristics of arbitrary AM and FM radio signals for the purpose of navigation. Simulations are conducted with different combinations of correlation methods (`fixed' or `varying'), modulation types (AM or FM), and signal types (song or voice). Out of the eight different variations considered, only two provided …

Nonlinear Model Predictive Control Technique For Unmanned Air Vehicles, Nathan Slegers, Jason Kyle, Mark Costello

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

A nonlinear model predictive control strategy is developed and subsequently specialized to autonomous aircraft that can be adequately modeled with a rigid 6-degrees-of-freedom representation. Whereas the general air vehicle dynamic equations are nonlinear and nonaffine in control, a closed-form solution for the optimal control input is enabled by expanding both the output and control in a truncated Taylor series. The closed-form solution for control is relatively simple to calculate and well suited to the real time embedded computing environment. An interesting feature of this control law is that the number of Taylor series expansion terms can be used to indirectly …

Effect Of Operator Control Configuration On Unmanned Aerial System Trainability, John Neumann

Electronic Theses and Dissertations

Unmanned aerial systems (UAS) carry no pilot on board, yet they still require live operators to handle critical functions such as mission planning and execution. Humans also interpret the sensor information provided by these platforms. This applies to all classes of unmanned aerial vehicles (UAV's), including the smaller portable systems used for gathering real-time reconnaissance during military operations in urban terrain. The need to quickly and reliably train soldiers to control small UAS operations demands that the human-system interface be intuitive and easy to master. In this study, participants completed a series of tests of spatial ability and were then …

Towards Monitoring Galileo: The European Gnss Supervisory Authority In Statu Nascendi = Zur Künftigen Überwachungsagentur Des Galileo Systems, Vers Une Autorité De Surveillance Du Système Galileo, Frans G. Von Der Dunk

Space, Cyber, and Telecommunications Law Program: Faculty Publications

There is little doubt that one of the most interesting and revolutionary, but also complicated and challenging space projects of today is Galileo, Europe’s own full-fledged second-generation navigation satellite system. Developed jointly by the European Union through the Commission and the European Space Agency, Galileo should by the end of the decade have thirty operational satellites in middle-earth-orbits providing timing, positioning and navigation signals across the globe.

From the very beginning Galileo was envisaged in particular by the Commission as a public-private-partnership (PPP). On the one hand, a private concessionaire should operate the system as of full operational capability (originally …