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 38 for “"Inertial navigation system."”.
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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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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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A personal inertial-navigation system based on multiple distributed, nine-degrees-of-freedom, inertial measurement units
The use of inertial-measurement units (IMUs) for personal navigation is investigated in this thesis. IMUs lack a position-finding algorithm that optimally blends sensor data to achieve high accuracy in a GPS-denied environment. In this research, software and a methodology for tracking position …
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Navigation using Radio-Frequency Observables from LEO Constellations with Possible Aiding from an Inertial Navigation System
… This work aids in the creation of a navigation system independent of current GNSS. A tightly-coupled carrier Doppler shift/INS filter is developed to determine the feasibility of using signals of opportunity from LEO satellites for navigation purposes. This portion of the work makes …
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Optimal Kalman Filter Integration of a Global Positioning System Receiver and an LN-94 Inertial Navigation System
… integration of a Phase III Global Positioning System (GPS) five-channel receiver and an LN-94 Inertial Navigation System (INS). The GPS provides highly accurate position and velocity information in low dynamic environments. An INS provides position and velocity information with lower accuracy …
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Estimation of the local vertical state for a guided munition shell with an embedded GPS/micro-mechanical inertial navigation system
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1995.
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Embedded avionics with Kalman state estimation for a novel micro-scale unmanned aerial vehicle
An inertial navigation system leveraging Kalman estimation techniques and quaternion dynamics is developed for deployment to a micro-scale unmanned aerial vehicle (UAV). The capabilities, limitations, and requirements of existing navigation solutions motivate the need for an integrated solution …
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Notkun tregðuskynjara (e. IMU) til að finna staðsetningu handbolta á flugi
… sé vænlegt að nota sjálfbirgt tregðukerfi (e. Inertial Navigation System without Aid) til þess að sjá staðsetningu og hraða handbolta á flugi.
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Terrain relative localization for lunar entry, descent, and landing
As exploration of the solar system continues, the need for the capability to land a spacecraft very accurately on a planetary body has become apparent. Due to limitations on the achievable accuracy of inertial navigation systems over long distances, relative navigation techniques are better suited …
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Indoor Location Tracking and Orientation Estimation Using a Particle Filter, INS, and RSSI
… indication (RSSI) in conjunction with an inertial navigation system (INS) to provide location estimations without the use of GPS in a Particle Filter with a small development microcontroller and base station. The paper goes over the topics used in this thesis and the results.</p>
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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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Underwater & out of sight : towards ubiquity in underwater robotics
… a consequence of two factors. Firstly, reliable navigation on conventional AUVs has been achieved through the use of a sophisticated sensor system, namely the Doppler velocity log (DVL)-aided inertial navigation system (INS), which drives up vehicle cost, power use and size.
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An analysis of ICBM navigation using optical observations of existing space objects
… investigates the potential of a space-based navigation concept known as Skymark to improve upon the accuracy of inertially-guided intercontinental ballistic missiles (ICBMs). The concept is to use an optical tracker to take line-of-sight measurements to nearby space objects with known …
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Test and evaluation of an image-matching navigation system for a UAS operating in a GPS-denied environment
… corrective updates from the Global Positioning System, navigational capabilities are degraded significantly when the inertial navigation system becomes the only source of an unmanned aerial vehicle’s movement estimate. Today, unmanned vehicles are easily equipped with a variety of passive …
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Improved Terrain Measurement System for Estimation of Global Terrain Features, Surface Roughness, and Texture
… and repeatability of terrain measurement systems. Traditional terrain measurement systems are tailored for a measuring a specific scale and resolution and hence application scope. These systems tend to focus on surface roughness alone and reject either fine macrotexture or large-scale …
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Simplified Analysis of IMU Sensor Corruptions on Existing Pendulation Control System For Ship-Mounted Crane
… we analyze an existing Pendulation Control System (PCS) developed by Sandia National Laboratories that reduces the payload's pendulation movement during transport. This system measures the ship motion through a complex inertial navigation system using an IMU and dual GPS receivers. In trying …
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Navigation and manipulation for autonomous underwater dismantling of offshore structures
… Underwater Vehicles (AUVs) for decommissioning: navigation, attachment, and manipulation. First, the Iterative Closest Point method (ICP) is investigated as a means to correct position drift of an inertial navigation system, by using a previously obtained coarse map. Using real sonar data from a …
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Detection of oceanic convection utilizing submarine-observed acceleration
… of using submarine-recorded acceleration and navigational data to detect deep convection in the ocean was explored by comparing actual submarine observations of vertical velocity with vertical velocity of a hypothetical submarine driven through a field of oceanic turbulence predicted by …
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