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Physical Sciences and Mathematics Commons™
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Full-Text Articles in Physical Sciences and Mathematics
Atmospheric Polarization And Solar Position As Kalman Updates To A Navigation Solution, Thomas J. Wheeler
Atmospheric Polarization And Solar Position As Kalman Updates To A Navigation Solution, Thomas J. Wheeler
Theses and Dissertations
Simulation and physical testing of a sensor that measures relative position of the Sun and polarization of light in the atmosphere as a navigational aid in a Kalman filter.
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 …