Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 14 of 14 for “"GNSS Denied"”.
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Place recognition for GNSS-denied autonomous multi-robot search and rescue
… without Global Navigation Satellite System (GNSS) coverage, as absolute pose measurements are unavailable. This thesis explores solutions to the place recognition problem for UAVs under a dense forest canopy. The perception and communication challenges in a forest environment are explored for …
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A robust INS/PnP fusion method for GNSS-denied navigation of small UAVs
This thesis presents three INS/VISNAV integration architectures to deal with prob- lem when operating UAVs. The first two integration architectures are called tight and loose INS/VISNAV integration, respectively. The tight and loose integration strategies are not new and have been used before. The …
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Autonomous Vehicle Pose Estimation in GNSS-Denied Areas Using Cross-Track Error Measurements
… (CTE) measurements as supplemental inputs for GNSS denied environments. The proposed method leverages CTE, a measure of lateral deviation from a desired trajectory, to estimate the vehicle’s position and orientation in real-time using an extended Kalman filter (EKF) framework. By integrating …
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Deep Learning-Enhanced Autonomous Aerial and Ground Robotics Using UWB and Lidar in GNSS-Denied Environments
Over the last decade, advancements in Unmanned Aerial Vehicle (UAV) technology and Artificial Intelligence (AI) have led to significant improvements in navigation and positioning, yet widespread adoption remains limited due to challenges in integrating various technologies and ensuring reliable …
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Terrain aware tactical motion planning and control algorithms for off-road UGVs in GNSS denied hostile environments
… paths, and produce feasible trajectories under GNSS-denied conditions. The research advances autonomous off-road navigation by offering scalable algorithms that enhance tactical decision-making, with potential applications in military reconnaissance, disaster response, and extraterrestrial …
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Development of a Data Collection System for Tightly Integrated GNSS, IMU, Radar, and LiDAR Navigation
… can safely rely on multiple sensors including GNSS, IMU, Radar and LiDAR to navigate with high accuracy, integrity, continuity, and availability in complex urban environments. Many existing data sets, collected with multi-sensor platforms, focus on validating different variations of visual …
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DEEP-LEARNING LOCAL FEATURES FOR PHOTOGRAMMETRIC APPLICATIONS AND VISUAL POSITIONING
… and change detection; 4) precise positioning in GNSS-denied environments. In the PhD work, new workflows and processing methods have been implemented and validated taking into consideration the accuracy and metric aspects of the Geomatic community.
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Map-Based Localization for Unmanned Aerial Vehicle Navigation
… pose estimation when navigating in indoor and GNSS-denied / GNSS-degraded outdoor environments. The possibility of crashing in these environments is high, as spaces are confined, with many moving obstacles. There are many solutions for localization in GNSS-denied environments, and many …
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Toward reliable localization: exploring infrared fiducial markers and multi-imu fusion as alternative sensor modalities
… as means to enhance localization robustness in GNSS- and vision-degraded settings. Vision-based navigation systems, which commonly rely on visible-spectrum cameras and fiducial markers (e.g., AprilTags or ArUco markers), are widely used for estimating position and orientation. However, their …
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Uncertainty Quantification of Tightly Integrated LiDAR/IMU Localization Algorithms
… in Global Navigation Satellite System (GNSS)-denied environments. The methods quantify uncertainty in sensors and algorithms that exploit the complementary properties of light detection and ranging (LiDAR) and inertial measuring units (IMU). This dissertation describes the following four …
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DEVELOPMENT OF TECHNOLOGIES AND METHODS OF ANALYSIS FOR THE FUNCTIONAL EVALUATION OF PERFORMANCE IN FOOTBALL
… combining Global Navigation Satellite System (GNSS) positioning with high-frequency Inertial Measurement Unit (IMU) sensors to capture both athletic and technical performance metrics in ecological match conditions. The research addresses three fundamental challenges in wearable-based football …
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Vision-Based Aerial Navigation Using Satellite Offline Maps
While Global Navigation Satellite System (GNSS) technology combined with advanced augmentation techniques provides high accuracy, its reliance on signal integrity leaves safety-critical applications vulnerable to spoofing and jamming. To address this, a lightweight vision-based localization module …
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Practical investigations in robot localization using ultra-wideband sensors
Made available in DSpace on 2021-09-17T01:13:41Z (GMT). No. of bitstreams: 3 WRIGHT-THESIS-2021.pdf: 45609799 bytes, checksum: 439b4bdb74e822cbda9343111030ecba (MD5) THESIS_NAWW.docx: 469786325 bytes, checksum: 3836a8b433cc05dd39b21ca875405ae8 (MD5) LICENSE.txt: 4212 bytes, checksum: …
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Evaluating UAV Visual-Inertial Odometry Trajectory Error and Feature-Level Metrics over Repetitive Floor Patterns
… where Global Navigation Satellite System (GNSS) signals are unavailable. VIO systems that rely on visual feature tracking are susceptible to performance degradation when operating over surfaces containing repetitive visual textures, where visually similar features can produce ambiguous …