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 21 for “"Inertial Navigation Systems"”.
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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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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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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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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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Multi-rate Sensor Fusion for GPS Navigation Using Kalman Filtering
… position anywhere on the globe. Although GPS systems work well in open environments with no overhead obstructions, they are subject to large unavoidable errors when the reception from some of the satellites is blocked. This occurs frequently in urban environments, such as downtown New York …
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Autonomous Vehicle Pose Estimation in GNSS-Denied Areas Using Cross-Track Error Measurements
… of autonomous vehicles, enabling precise navigation and control in highly dynamic environments. This study presents a novel approach to vehicle pose estimation using cross-track error (CTE) measurements as supplemental inputs for GNSS denied environments. The proposed method leverages CTE, …
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Error Mitigation in Roughness Measurements
… exist. To measure the roads, terrain profiling systems are commonly used. Modern systems based on laser scanners and inertial navigation systems (INS) are able to measure thousands of data points per seconds over a wide path. However, because of the subsystems in the profiling systems, they are …
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An Underwater Vehicle Navigation System Using Acoustic and Inertial Sensors
… underwater tasks. Compared with other unmanned systems, the navigation and localization for UUVs are particularly challenging due to the unavailability of Global Positioning System (GPS) signals underwater and the complexity of the unstable environment. Alternative methods such as acoustic …
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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 pseudo-optimal control approach for a redundant degree-of-freedom in a gimbaled mechanical system
Unaided inertial navigation systems of sufficient quality allow a missile or other body to navigate freely for potentially long periods of time. The use of four gimbals in such systems allows for elimination of large platform excursions while avoiding the uncontrollable condition of gimbal lock. …
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Terrain relative localization for lunar entry, descent, and landing
… Due to limitations on the achievable accuracy of inertial navigation systems over long distances, relative navigation techniques are better suited to fill this need. Chief among these techniques is terrain relative navigation. Terrain relative navigation uses the surface features of a planetary …
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A robust INS/PnP fusion method for GNSS-denied navigation of small UAVs
… when low quality (consumer/automotive grade) inertial sensors are used or the measurement update is less frequent. The loose integration approach is proposed as an alternative for solving the divergent problem. The integration is loose in the sense that integration occurs at the level of …
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Data Acquisition and Processing Pipeline for E-Scooter Tracking Using 3d Lidar and Multi-Camera Setup
… Detection and Ranging (LIDAR) sensors as well as Inertial Navigation systems (INS) systems. One relatively common method for solving DATMO and SLAM involves utilizing a 3D LIDAR with multiple monocular cameras in conjunction with an inertial measurement unit (IMU) allows for redundancies to …
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Developing methods and algorithms of sensor fusion by IMUs applied to service robotics
The importance of research in Inertial Navigation Systems (INS) has been growing in recent years. Usually the IMU is used in inertial navigation, such as UAV, AGV, AUV, but it is also used in games, human movement reconstruction (the use of sensors in the studies of human movement is now quickly …
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Positioning In Indoor Environments Based on INS and RF Sensor Fusion
… technologies have been employed to develop systems which can efficiently perform the positioning task in such environments. However, most of the available systems are either large and expensive or insufficiently accurate to be reliable for some of the critical applications. This thesis …
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Dense, sonar-based reconstruction of underwater scenes
… a combination of differential global navigation satellite system (GNSS) receiver with an accurate attitude and heading reference system—to instrument the pose of a mapping sensor such as a multibeam sonar. For underwater platforms, the rapid attenuation of electromagnetic signals in …
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SLAM for structured environments using mechanically scanned imaging sonar
… of the maritime environment only grows, uncrewed systems present the future of safety, efficiency, and capability. For submerged operations, Autonomous Underwater Vehicles (AUVs) enable scientists, industry, and militaries to access remote, inhospitable locations and execute a variety of tasks …
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Modeling and simulation of Fluid-based gyroscope (Particle Imaging Velocimetry Gyroscope)
… Gyroscopes, as rotation sensors, are part of inertial navigation systems (INS), which also include motion sensors (accelerometers). As inertial sensors' accuracy has developed over time, they are now sufficient for navigation and guidance applications in terms of size, weight, cost, and …
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5G mmWave Integrated Positioning for Autonomous Vehicles in Urban Environments
… fusion to integrate 5G and OBMS positioning systems. Unlike tightly coupled (TC) approaches proposed in the literature, LC integration will not incur linearization errors due to the linear measurement model utilized. The proposed methodology achieves a 14-cm level of accuracy for more than …
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