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Full-Text Articles in Physical Sciences and Mathematics
Covariance Analysis Of Vision Aided Navigation By Bootstrapping, Andrew L. Relyea
Covariance Analysis Of Vision Aided Navigation By Bootstrapping, Andrew L. Relyea
Theses and Dissertations
Inertial Navigation System (INS) aiding using bearing measurements taken over time of stationary ground features is investigated. A cross country flight, in two and three dimensional space, is considered, as well as a vertical drop in three dimensional space. The objective is to quantify the temporal development of the uncertainty in the navigation states of an aircraft INS which is aided by taking bearing measurements of ground objects which have been geolocated using ownship position. It is shown that during wings level flight at constant speed and a fixed altitude, an aircraft that tracks ground objects and over time sequentially …
A Dempster-Shafer Method For Multi-Sensor Fusion, Bethany G. Foley
A Dempster-Shafer Method For Multi-Sensor Fusion, Bethany G. Foley
Theses and Dissertations
The Dempster-Shafer Theory, a generalization of the Bayesian theory, is based on the idea of belief and as such can handle ignorance. When all of the required information is available, many data fusion methods provide a solid approach. Yet, most do not have a good way of dealing with ignorance. In the absence of information, these methods must then make assumptions about the sensor data. However, the real data may not fit well within the assumed model. Consequently, the results are often unsatisfactory and inconsistent. The Dempster-Shafer Theory is not hindered by incomplete models or by the lack of prior …