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Navigation, Guidance, Control and Dynamics Commons™

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2017

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Articles 31 - 39 of 39

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

Combined Stereo Vision And Inertial Navigation For Automated Aerial Refueling, Daniel T. Johnson Mar 2017

Combined Stereo Vision And Inertial Navigation For Automated Aerial Refueling, Daniel T. Johnson

Theses and Dissertations

This paper describes the design of an EKF to obtain the precise relative position of two aircraft in a refueling maneuver while operating in GPS denied environments. The EKF uses the INS already present in both aircraft as well as the stereo camera system organic to new tanker systems. The aircraft trajectories are generated according to authentic refueling profiles with flight dynamics software and executed in a 3D virtual environment to enable deterministic simulation of the stereo camera system and to demonstrate the effectiveness of the combined system in a refueling scenario. Results show the system can achieve sufficient accuracy …

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P26. Global Exponential Stabilization On So(3), Soulaimane Berkane Mar 2017

P26. Global Exponential Stabilization On So(3), Soulaimane Berkane

Western Research Forum

Global Exponential Stabilization on SO(3)

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Collision Avoidance And Navigation Of Uas Using Vision-Based Proportional Navigation, Matthew J. Clark Mar 2017

Collision Avoidance And Navigation Of Uas Using Vision-Based Proportional Navigation, Matthew J. Clark

Doctoral Dissertations and Master's Theses

Electro-optical devices have received considerable interest due to their light weight, low cost, and low algorithm requirements with respect to computational power. In this thesis, vision-based guidance laws are developed to provide sense and avoid capabilities for unmanned aerial vehicles (UAVs) operating in complex environments with multiple static and dynamic collision threats. These collision avoidance guidance laws are based on the principle of proportional navigation (Pro-Nav), which states that a UAV is on a collision course with another vehicle or object if the line-of-sight (LOS) angles to the object remain constant. The guidance laws are designed for use with monocular …

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Professional Pilot Commercial Off-The-Shelf (Cots) Efb Usage, Policies And Reliability, Tyler A. Babb Feb 2017

Professional Pilot Commercial Off-The-Shelf (Cots) Efb Usage, Policies And Reliability, Tyler A. Babb

International Journal of Aviation, Aeronautics, and Aerospace

Electronic Flight Bags (EFBs) have flooded the aviation industry. Commercial off-the-shelf (COTS) tablets are now commonly used by pilots as EFBs. Operators use EFBs for ease of use, faster access to information, to remove weight from the aircraft, and to increase pilots’ quality of life. Identifying trends in EFB usage among professional pilots could benefit operators and universities with flight training programs. EFB policies and procedures may vary among operators but achieve FAA compliance. This study identified these policies and procedures. The types of devices and software vary, and identifying these devices and software could be useful. This research used …

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Cockpit In The Systems Engineering Lenses, Aysen K. Taylor, Charles B. Keating, T. Steven Cotter Jan 2017

Cockpit In The Systems Engineering Lenses, Aysen K. Taylor, Charles B. Keating, T. Steven Cotter

Engineering Management & Systems Engineering Faculty Publications

The commercial transport aircraft of today vary greatly from early aircraft in regards to how they are controlled and the feedback provided from the machine to the human operator. Automation has improved operational precision and efficiency but at the cost of providing less feedback. Pilots are the last line of defense and current technology cannot provide the human ability to solve novel problems for which no computer logic can be written. The automated cockpits of today have may sub-components that interact in a manner often opaque and unpredictable when a sensor or sub-component fails or even in situations where no …

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Atmospheric Entry, Dillon A. Martin Jan 2017

Atmospheric Entry, Dillon A. Martin

Honors Undergraduate Theses

The development of atmospheric entry guidance methods is crucial to achieving the requirements for future missions to Mars; however, many missions implement a unique controller which are spacecraft specific. Here we look at the implementation of neural networks as a baseline controller that will work for a variety of different spacecraft. To accomplish this, a simulation is developed and validated with the Apollo controller. A feedforward neural network controller is then analyzed and compared to the Apollo case.

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Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven Jan 2017

Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven

Theses and Dissertations--Mechanical and Aerospace Engineering

This thesis presents a real-time autonomous guidance and control method for a quadrotor in a GPS-denied environment. The quadrotor autonomously seeks a destination while it avoids obstacles whose shape and position are initially unknown. We implement the obstacle avoidance and destination seeking methods using off-the-shelf sensors, including a vision-sensing camera. The vision-sensing camera detects the positions of points on the surface of obstacles. We use this obstacle position data and a potential-field method to generate velocity commands. We present a backstepping controller that uses the velocity commands to generate the quadrotor's control inputs. In indoor experiments, we demonstrate that the …

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Long And Short-Range Air Navigation On Spherical Earth, Nihad E. Daidzic Jan 2017

Long And Short-Range Air Navigation On Spherical Earth, Nihad E. Daidzic

International Journal of Aviation, Aeronautics, and Aerospace

Global range air navigation implies non-stop flight between any two airports on Earth. Such effort would require airplanes with the operational air range of at least 12,500 NM which is about 40-60% longer than anything existing in commercial air transport today. Air transportation economy requires flying shortest distance, which in the case of spherical Earth are Orthodrome arcs. Rhumb-line navigation has little practical use in long-range flights, but has been presented for historical reasons and for comparison. Database of about 50 major international airports from every corner of the world has been designed and used in testing and route validation. …

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Indoor Mapping Drone, Benjamin J. Plevny, Andrew Armstrong, Miguel Lopez, Davidson Okpara Jan 2017

Indoor Mapping Drone, Benjamin J. Plevny, Andrew Armstrong, Miguel Lopez, Davidson Okpara

Williams Honors College, Honors Research Projects

This project addresses the need for an autonomous indoor mapping system that will create a 3D map of an unknown physical environment in real time. The aerial system moves and avoids obstacles autonomously, without the need for human remote control or observation. An aerial system produces a map of an unknown indoor environment by transmitting data received from the aerial device’s sensors. The transmission occurs over a wireless channel from the aerial device to a remote server for processing and storage of the data. As the transmission is done in real time, the aerial system does not require hardware for …

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