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 10 of 10 for “"Terrain-Relative Navigation"”.
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Terrain-relative navigation for autonomous underwater vehicles
Navigation is a key technology for autonomous underwater vehicles (AUVs), and currently, it limits potential and existing vehicle capabilities and applications. This thesis presents a terrain-relative navigation system for AUVs that does not require the deployment of acoustic beacons or other …
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Terrain-relative navigation for autonomous underwater vehicles
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1997.
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Visual Terrain Relative Navigation: Pose Estimation, Neural Fields, and Verification
Visual Terrain Relative Navigation (TRN) is a method for GPS-denied absolute pose estimation using a prior terrain map and onboard camera. TRN is commonly desired for applications such as planetary landings, unmanned aerial vehicles (UAVs), and airdrops, where GPS is either unavailable or cannot be …
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Terrain relative localization for lunar entry, descent, and landing
… 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 body and an …
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Outlier-Robust Multi-View Triangulation Using Graduated Non-Convexity for Space Vehicle Navigation
Triangulation is used in terrain relative navigation (TRN) to identify the position of terrain features with respect to the spacecraft and to ultimately estimate the spacecraft’s pose during planetary landing and navigation. This thesis seeks to improve current multi-view triangulation methods to …
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A unified vision and inertial navigation system for planetary hoppers
… in-situ measurements in otherwise inaccessible terrain. However, significant 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 …
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Multisensor modeling underwater with uncertain information
… constraints: unstructured, three-dimensional terrain; high-bandwidth sensors providing redundant, overlapping coverage; lack of prior knowledge about the environment; and inherent inaccuracy or ambiguity in sensing and interpretation. The models are cast as a three-dimensional spatial …
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Utility-based map reduction for ground and flight vehicle navigation
Maps used for navigation often include a database of location descriptions for place-recognition (to enable localization or loop-closing), which permits bounded-error navigation performance. A standard localization system must describe the entire operational environment in its place-recognition …
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Lunar orbiter state estimation using neural network-based crater detection
Terrain relative navigation can improve the precision of a spacecraft's state estimate by providing supplementary measurements to correct for drift in the inertial navigation system. This thesis presents a crater detector, LunaNet, that uses a convolutional neural network and image processing …