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 41 for “"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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CDGPS-based relative navigation for multiple spacecraft
… use of Carrier-phase Differential GPS (CDGPS) in relative navigation filters for formation flying spacecraft. This work analyzes the relationship between the Extended Kalman Filter (EKF) design parameters and the resulting estimation accuracies, and in particular, the effect of the process and …
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Feature relative navigation for automous underwater vehicles
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1997.
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Relative navigation by means of passive rangings.
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1981.
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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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Body-relative navigation guidance using uncalibrated cameras
… system must rely on internal sensing to provide navigation guidance to the user. In order to address real-world situations, the method must provide spatially extended, temporally consistent navigation guidance, through cluttered and dynamic environments. While recent research has largely focused …
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The measurement sharing approach to community relative navigation
Thesis (Sc.D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1984.
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GNSS-based relative navigation for LEO nanosatellite laser communications
… The focus of this work is the initial Global Navigation Satellite System (GNSS) based relative navigation pointing process for LEO crosslinks and downlinks. In Chapter 2, the baseline CLICK pointing budgets are given for crosslink and downlink relative navigation based body pointing. For …
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Analysis of relative navigation architectures for formation flying spacecrafts
… also represent a challenge, especially for the navigation algorithms, which must provide an accurate estimate of the state of the fleet, with minimum requirements. Furthermore, as the number of satellites in the fleet increases, the computations to be performed increase dramatically, as well as …
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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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Hardware Testbed for Relative Navigation of Unmanned Vehicles Using Visual Servoing
… and submersible vehicles will require precise relative navigation capabilities to accomplish missions such as formation operations and autonomous rendezvous and docking. The development of relative navigation sensing and control techniques is quite challenging, in part because of the difficulty …
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Adaptive Extended Kalman Filtering Strategies for Autonomous Relative Navigation of Formation Flying Spacecraft
… the capabilities of onboard autonomous guidance, navigation and control systems, this thesis presents the development of two adaptive extended Kalman filter navigation algorithms for spacecraft formation flying. The proposed adaptive filters are capable of updating the internal noise …
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An investigation of factors which degrade phase accuracy in a VLF relative navigation system
A VLF relative navigation system makes use of the fact that, at any given point on the earth, phase delay of a received VLF signal is highly stable and predictable. As the receiver is physically moved, phase delay changes linearly with distance from the transmitting station, so that by keeping …
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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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Computer vision based navigation for spacecraft proximity operations
The use of computer vision for spacecraft relative navigation and proximity operations within an unknown environment is an enabling technology for a number of future commercial and scientific space missions. This thesis presents three first steps towards a larger research initiative to develop and …
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Autonomous Convoy Study of Unmanned Ground Vehicles using Visual Snakes
… between two or more craft, and therefore, relative navigation is a key issue to explore. Several high fidelity hardware simulations exist to produce accurate dynamics. However, these simulations are restricted by size, weight, and power needed to operate them. The use of a small Unmanned …
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Real time hardware in the loop simulation testbed of spacecraft formation flying
… consists of a real time SFF model, a real time relative navigation system, guidance and control algorithm, and GPS simulator. Different SFF models already developed by researchers have been studied for their potential use in a real time test bed. Due to the limitations associated with them a …
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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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Incorporation of GNSS multipath to improve autonomous rendezvous, docking and proximity operations in space
… on accurate, real-time knowledge of the relative position and velocity between two space vehicles. Unfortunately, Global Navigation Satellite System (GNSS) capabilities remain severely limited in close proximity to large space structures due to significant multipath effects and signal …
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