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 50 for “"Position estimation"”.
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Improving the robustness of GPS direct position estimation
Global Positioning System (GPS) receivers are increasingly used for positioning in urban environments and precise timing in critical infrastructures. These scenarios are challenging for GPS receivers because building reflection and obstruction contribute to GPS signal degradation in urban …
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Aircraft position estimation using lenticular sheet generated optical patterns
… used with machine vision to determine relative position between two objects. If a lenticular sheet of a given period is mounted above periodically spaced lines sharing the same period, lines will appear on the lenticular sheet which translate along the lenticular sheet in a direction …
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GPS multi-receiver direct position estimation for aerial applications
… In this regard, we propose Multi-Receiver Direct Position Estimation (MR-DPE), which operates a network of DPE receivers to enhance GPS measurement certainty in degraded signal environments. A DPE receiver directly estimates navigation solutions in the PVT domain with a maximum-likelihood …
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Embedded object detection and position estimation for RoboCup Small Size League
… the robot has to detect and estimate the position of other objects on the field so it can score goals and move without colliding with other robots. Object detection models often use monocular images as the input, but calculating the relative position of an object given a monocular image is …
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Joint position estimation, packet routing and sleep scheduling in wireless sensor networks
… Connected k-Neighbourhood (ECKN), a joint position estimation, packet routing, and sleep scheduling solution that combines some overlap- ping features. I propose a localization algorithm that performs trilateration using the position of a mobile sink and of neighbour nodes to estimate the …
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Map-Building and Position Estimation in Mobile Robots Using Self-Organizing Maps
The area in which this thesis is based on, is referred to as Adaptive Robotics. The main objective of this approach is to synthesize agents that evolve or develop their skills autonomously through interaction with a natural or artificial environment. The research aims at identifying the possibility …
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Steering control and Kalman filter position estimation comparison for an autonomous underwater vehicle
Autonomous vehicles for sub-sea exploration are gaining in popularity. They offer longer operational time, can reach a wider and deeper area of the sea with low risk of failure. The control system and the localization system are two of the most important components that ensure the success of the …
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Development and analysis of a parallelized direct position estimation-based GPS receiver implementation
Theoretical results conclude that one-step Direct Position Estimation (DPE)-based Global Navigation Satellite System (GNSS) receivers can achieve more accurate localization than their two-step counterparts. However, numerical solutions to DPE equations and approximations made for those equations …
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Influence of various troposphere modelling and estimation techniques on precise position estimation of permanent GPS arrays
… influence of tropospheric gradient parameters estimation on station position, precision and accuracy, in order to ascertain the optimal combination to use in routine processing of TrigNet station.
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Position Estimation in Switched Reluctance Motor Drives Using the First Switching Harmonics of Phase Voltage and Current
Position estimation using only active phase voltage and current is presented to perform high accuracy position sensorless control of a SRM drive. By extracting the amplitude of the first switching harmonic terms of phase voltage and current for a PWM period through Fourier analysis, flux-linkage …
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Position estimation of an outer rotor permanent magnet synchronous machine using linear hall-effect sensors and neural networks
… a new method for estimating the angular position for an outer rotor permanent magnet synchronous machine (PMSM). PMSMs are increasingly used as prime movers in electric vehicles such as cars and bicycles, and the precise control of these machines requires reliable feedback of the …
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Single-Phase, Single-Switch, Sensorless Switched Reluctance Motor Drive Utilizing a Minimal Artificial Neural Net
… implementation in embedded sys- tems. Real time estimation at high speeds using these ANNs is diffcult due to the high number of operations required to process the ANN controller. An insuffcient availability of time between two sampling intervals limits the available computation time for both …
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Vision-Based Control and Flight Optimization of a Rotorcraft UAV
… to estimate the relative motion of the UAV. The position estimate functions as a GPS equivalent to enable the rotorcraft to maneuver without the aid of GPS. Flight tests were performed with obstacles and over concrete, asphalt, and grass in daylight conditions with a safe landing area determined …
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Algorithms for indoor localization based on IEEE 802.15.4-2011 UWB and inertial sensors
… This architecture not only implements the position estimation of the object by fusing the UWB and inertial measurements, but enables the nodes in the localization network to mutually share positional and other useful information via the UWB channel. The hybrid system has been demonstrated …
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SENSORLESS CONTROL OF BRUSHLESS PERMANENT-MAGNET MACHINES FOR POWER TOOL APPLICATION
… Although, there exists challenges to develop position-sensorless based vector control of PMSM operating in wide speed range covering both constant-torque and constant-power regions. The research objective is to maintain and improve its control robustness and adaptability to variations of …
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Real-time Evaluation of Vision-based Navigation for Autonomous Landing of a Rotorcraft Unmanned Aerial Vehicle in a Non-cooperative Environment
… with unknown terrain and a lack of GPS or other positioning aids. Examples of these types of non-cooperative environments could range from remote mountainous regions to an urban building rooftop or a cluttered parking lot. The research of this thesis builds upon an approach that was initiated at …
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Design and implementation of an indoor mobile navigation system
… arrow on a map. Both the direction and the position of the navigation arrow are updated in real-time as CricketNav steers the users through a dynamically computed path. To support CricketNav, we developed a modular data processing architecture for the Cricket location system, and an API for …
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Terrain Aided Navigation for Autonomous Underwater Vehicles with Local Gaussian Processes
… result, the AUV requires alternative methods for position estimation. This thesis describes a terrain-aided navigation approach for an AUV where, with the help of a prior depth map, the AUV localizes itself using altitude measurements from a multibeam DVL. The AUV simultaneously builds a …
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Machine Learning-Aided Aerospace Applications with Generative Adversarial Networks
… including point cloud-based attitude and position estimation of non-cooperative targets, geomagnetic navigation, and pilot behavior estimation. Through a detailed study of these applications, this research aims to showcase the versatility and efficiency of GANs in addressing specific …
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Towards a Visual Simultaneous Localization and Mapping System for Computationally Constrained Systems
… BRISK is shown to achieve similar relative pose estimation performance than SURF while being an order of magnitude faster. This work also discusses a simple back-end pose-graph optimization approach using libg2o. The back end system improved the position estimation as well as detected loop …
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