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 27 for “"attitude estimation"”.
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An attitude estimation algorithm for a floated inertial reference
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1980.
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High-precision pointing and attitude estimation and control algorithms for hardware-constrained spacecraft
… algorithms for high-precision pointing and attitude estimation and control on hardware-constrained spacecraft. This includes small spacecraft, where tight mass, volume, power, and cost constraints exist, as well as spacecraft where certain hardware has failed. As a case study, the attitude …
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Hydrodynamic added mass determination and attitude estimation of the Seahog - a remotely-operated underwater vehicle
… of linear and angular position sensing. The attitude of an underwater vehicle is its angular position relative to an inertial frame. Using the standard format for underwater vehicles, these angles are typically known as roll (about an axis along the surge direction of the vehicle), pitch …
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Application of the backward-smoothing extended Kalman filter to attitude estimation and prediction using radar observations
The Lincoln Attitude Estimation System (LAES), a new tool being developed for the Space Situational Awareness Group (SSAG) at MIT Lincoln Laboratory, integrates several existing hardware and software systems, with a backward-smoothing extended Kalman filter (BSEKF). LAES is intended to determine …
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Discrete-time Stable Geometric Controller and Observer Designs for Unmanned Vehicles
… the second part, a nonlinear finite-time stable attitude estimation scheme for a rigid body that does not require knowledge of the dynamics is developed. The proposed scheme estimates the attitude and constant angular velocity bias vector from a minimum of two known linearly independent vectors …
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Improving attitude determination and control of resource-constrained CubeSats using unscented Kalman filtering
… Our objective in this thesis is to improve attitude estimation on CubeSats using Unscented Kalman filters. CubeSats have evolved from their relatively low complexity and low computational power beginnings. This progression motivates us to revisit attitude determination estimation approaches …
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Drift compensated inertial position sensor for healthcare patient monitoring
… peripheral bus protocols. I describe a simple attitude estimation filter and give a qualitative assessment of its performance.
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Semidenite representations with applications in estimation and inference
… including problems arising in spacecraft attitude estimation and in learning tree-structured statistical models. We construct explicit exact reformulations of two families of optimization problems in terms of semidenite optimization. The first family are linear optimization problems over …
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Enhanced Navigation Using Aerial Magnetic Field Mapping
… aerial magnetic field mapping and use in state estimation to the Virginia Tech Swing Space motion capture indoor facility. State estimation with magnetic field data acquired from a quadrotor is comparatively performed with Gaussian process regression, a multiplicative extended Kalman filter, and …
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Low-Cost Wearable Head-Up Display for Flight General Aviation
… is proposed for estimating the relative pitch attitude estimation of the pilot’s head. The method is evaluated on the ground and in flight, and is shown to be superior to other commercially available solutions. The HUD system is shown, through various test points, to make flying more intuitive …
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Design, analysis, and testing of a precision guidance, navigation, and control system for a dual-spinning Cubesat
… limb sensor, and magnetometer data to provide attitude estimation accuracy of approximately 20 arcminutes. Simulations show that the reaction wheels can consistently maintain pointing to within 30 arcminutes for orbits above 400 kilometers with the payload rotating at 0.83 hertz.
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Motion-Logger: An Attitude and Motion Sensing System
… and memory usage. Actual signal analysis and attitude estimation is carried out offline. The motion sensing system was developed for determining wheelchair-related falls as part of a major research effort carried out at the research center of the James A Haley VA Hospital Subject Safety …
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Dynamic programming applied to electromagnetic satellite actuation
… and RINGS. Finally, a method for position and attitude estimation for systems that use line-of-sight measurements that does not require the use of a model is developed. This method is useful for model validation of the models used in the dynamic programming formulation.
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Measurement covariance-constrained estimation for poorly modeled dynamic systems
An optimal estimation strategy is developed for post-experiment estimation of discretely measured dynamic systems which accounts for system model errors in a much more rigorous manner than Kalman filter-smoother type methods. The Kalman filter-smoother type methods, which currently dominate …
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Controlled particle systems for nonlinear filtering and global optimization
… Lie groups. Examples include the problem of attitude estimation and motion tracking in aerospace engineering, robotics and computer vision. In global optimization, the challenges typically arise from the presence of a large number of local minimizers as well as the computational scalability …
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Sensitivity Analyses of Optimized Attitude Estimators Using Sensor Fusion Solutions for Low-Cost MEMS Configurations
… sensitivity of four sensor fusion solutions for attitude estimation under multiple simulated flight conditions. There are three different hardware configurations between the four estimators. For this reason, each estimator is tuned to be experimentally optimal, as to provide a fair comparison …
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A dynamics based method for accelerometer-only navigation of a spinning projectile
… Kalman filter to estimate position, velocity, attitude, and angular rate, with twelve additional states included to estimate accelerometer biases. Assumptions about the dynamic behavior of the vehicle are used to assist in attitude estimation. These assumptions come in two parts. First, that …
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Vision-Assisted Control of a Hovering Air Vehicle in an Indoor Setting
… control method is applied for attitude stabilization and position control. A unique means of using an optic flow sensor for velocity and position estimation in an indoor setting is presented with flight results. Reliable hover flight and hallway following capabilities are …
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Avionics and control system development for mid-air rendezvous of two unmanned aerial vehicles
… in waypoint navigation. A simple, low-order attitude estimation was developed that combines aircraft kinematics, GPS and low-quality rate gyros. It is demonstrated in simulation that the performance of the proposed method is as good as other advanced complex methods when the aircraft bank …
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Safety cases for the formal verification of automatically generated code
… Project Constellation and on code for deep space attitude estimation generated by the AutoFilter system developed at NASA Ames.<br/>
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