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 20 of 86 for “"Inertial Navigation"”.
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Optimal Image-Aided Inertial Navigation
The utilization of cameras in integrated navigation systems is among the most recent scientific research and high-tech industry development. The research is motivated by the requirement of calibrating off-the-shelf cameras and the fusion of imaging and inertial sensors in poor GNSS environments. …
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Coordinate frames in inertial navigation
Thesis: Ph. D., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 1960
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Kalman filtering for aided inertial navigation system
… develops a Kalman filter which integrates the inertial navigation system of the Vorticity Control Unmanned Undersea Vehicle (VCUUV) with redundant navigation sensor measurements. The model for the Kalman filter uses redundant measurements in a feedback loop to better estimate navigation …
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Discrete-time observers for inertial navigation systems
… to compute the continuous-time states of inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction theory is used as the main analysis tool. The hierarchical structure of the system physics is sytematically exploited and the …
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Stochastic constraints for vision-aided inertial navigation
This thesis describes a new method to improve inertial navigation using feature-based constraints from one or more video cameras. The proposed method lengthens the period of time during which a human or vehicle can navigate in GPS-deprived environments. Our approach integrates well with existing …
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A new concept in strapdown inertial navigation.
Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics. Thesis. 1969. Sc.D.
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Unified error analysis of terrestrial inertial navigation systems.
Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics. Thesis. 1971. Sc.D.
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Autonomous visual-inertial navigation and absolute visual scale estimation
Made available in DSpace on 2016-03-02T20:24:16Z (GMT). No. of bitstreams: 2 DENG-THESIS-2015.pdf: 10264670 bytes, checksum: 79c01524ac593eb282a62d77039463b6 (MD5) LICENSE.txt: 4207 bytes, checksum: 906aa460aa653867500b8233c87788c2 (MD5) Previous issue date: 2015-12-08
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Deterministic sensor calibration methods for distributed inertial navigation systems
This Thesis was approved for publication on 2022-07-22 at 13:21.
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Inertial Navigation System Drift Reduction Using Scientific Machine Learning
Inertial Navigation Systems (INS) are crucial for accurate navigation in GPS-denied environments, but they suffer from drift errors that accumulate over time. This thesis introduces Scientific Machine Learning (SciML) as an innovative approach to mitigate INS drift by integrating physical models …
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A unified vision and inertial navigation system for planetary hoppers
… development over previously demonstrated vehicle navigation technologies is required to overcome the inherent challenges involved in navigating a hopping vehicle, especially in adverse terrain. While hoppers are in many ways similar to traditional landers and surface explorers, they incorporate …
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Estimation of Air Flow Angles Derived from an Inertial Navigation System
… of this study is to explore the use of an Inertial Navigation System as a primary method for measuring aircraft air flow angles in flight testing. The traditional methods used to measure air flow angles consist of sensors external to the aircraft, such as an air data boom or an angle of …
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Light pulse atom interferometry at short interrogation times for inertial navigation
… interferometry with cold atoms is a promising inertial sensing technology for high accuracy navigation. At present, laboratory atom interferometers match or surpass state of the art mechanical and optical inertial sensors in terms of sensitivity and long term stability. Conventional laboratory …
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Asymptotic stochastic analysis of a gravity model for inertial navigation systems
Inertial navigation systems require a precise knowledge of gravity to function properly. The inability of models to account for the small amplitude, short wavelength components of the gravity field leads to errors which are frequently viewed as random; these random errors can introduce a …
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Implementation of a Low Cost Micro Electro Mechanical Systems Inertial Navigation Solution
… purpose of this study is to develop a low cost navigation solution for General Aviation (GA) aircraft and flight testing aircraft. This low cost solution uses a Global Positioning System (GPS) coupled with an Inertial Navigation Solution (INS) to provide a more accurate, stable navigation …
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An improved model-based observer for inertial navigation for quadrotors with low cost IMUs
… thesis, we present a model-based observer for inertial navigation of quadrotors and other multirotor aircraft. We include in our model a Coriolis term that has been neglected in prior work. Doing so allows us to estimate the entire velocity vector in the quadrotor's frame of …
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A Novel Method to Locate Targets Using Active Vision and Robotic Inertial Navigation Data
… of cheap, simple vision sensors and robot inertial navigation data in order to accurately measure the location of a target in real world coordinates. This thesis will first develop an accurate waypoint driving algorithm that will either use dead reckoning or GPS/ compass sensors. We will …
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A Hardware-Minimal Unscented Kalman Filter Framework for Visual-Inertial Navigation of Small Unmanned Aircraft
… specially designed for a quadcopter carrying an Inertial Measurement Unit (IMU) and a downward-facing camera. The UKF fuses data from each of these sensors to track the position of the quadcopter over time. This work supports a number of similar efforts in the robotics and aerospace communities …
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