The goal of this project is to create a n intelligent quadrocopter to lift and fly by avoiding the obstacle in semi- autonomous flight to move from one place to other places . Quadrocopter is a platform that has four propellers in a move configuration. The UAV designed in this project is known as the Quadrocopter, has two distinguishing features, it makes use of 4 rotor s with propeller and 4 brushless DC mo tors making it fly from one place to other . The obstacle is detected...

Topics: Quadrocopter, Unmanned Aerial Vehicle, Position Estimation & Kalman Filtering

Accurate estimation and prediction of wireless signal strength holds the promise to improve a wide variety of applications in network-ing and unmanned systems. Current estimation approaches use either simplistic attenuation equations or detailed physical models that provide limited accuracy and may require a lengthy period of environmental assessment and computation. This dissertation presents a new, data-driven, stochastic framework for rapidly building accurate wireless connectivity maps. The...

Topics: Wireless Connectivity Maps, Random Fields, Kriging, Gaussian Process Models, `1 Regularized...

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Gaver, Donald Paul.;Jacobs, Patricia A.

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Topic: KALMAN FILTERING.,TIME SERIES ANALYSIS.,MATHEMATICAL PREDICTION.,APPROXIMATION(MATHEMATICS)

Naval Postgraduate School

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Gaver, Donald Paul.;Jacobs, Patricia A.

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Topics: KALMAN FILTERING., TIME SERIES ANALYSIS., MATHEMATICAL PREDICTION., APPROXIMATION(MATHEMATICS)

Advanced missile guidance laws may provide an air-to-air combat tactical advantage by increasing effective missile range. The current standard in missile guidance, proportional navigation (PN), is only optimal against a non-maneuvering target. Differential geometry (DG) guidance is optimized for a maneuvering target. Analysis of the DG guidance equation indicates noise degrades DG performance more than PN. This thesis evaluates the effect of Kalman filtered noise on PN and DG performance. A...

Topics: Missile guidance, proportional navigation guidance law, differential geometry guidance law, Kalman...

Cruise missiles (CMs) are getting more advanced. To cope with the rapidly growing CM threat, national air-defense systems use surface-to-air missiles (SAMs) as interceptors. To intercept a CM with a SAM, an optimal guidance law should be used. Simulations that represent reality as closely as possible show the effectiveness of the missile system in various scenarios. A three-degree-of-freedom, discrete-time, and three-dimensional simulation model that compares proportional navigation (PN),...

Topics: Cruise missile defense, surface-to-air missile, missile guidance, guidance law, proportional...

http://uf.catalog.fcla.edu/uf.jsp?st=UF030573201&ix=pm&I=0&V=D&pm=1

Topics: Kalman filtering, Stochastic processes.

[21], 191 leaves ; 28 cm

Topics: Kalman filtering, Observers (Control theory), Automatic control

Two methods of estimating the attitude position of a spacecraft are examined in this thesis: the extended Kalman filter (EKF) and the unscented Kalman filter (UKF). In particular, the UnScented QUaternion Estimator (USQUE) derived from [4] is implemented into a spacecraft model. For generalizations about the each of the filters, a simple problem is initially solved. These solutions display typical characteristics of each filter type. The UKF is very attractive in spacecraft attitude estimation,...

Topics: Space vehicles, Kalman filtering, Gyroscopes, Magnetometers, Engineering

Click here to view the University of Florida catalog record

Topics: Kalman filtering, Tracking radar, Automatic tracking

Click here to view the University of Florida catalog record

Topics: Kalman filtering, Analysis of covariance, Noise

Typescript

Topics: Aerodynamic measurements, Kalman filtering

Spacecraft attitude estimation and pointing accuracy have always been limited by imperfect sensors. The rate gyroscope is one of the most critical instruments used in spacecraft attitude estimation and unfortunately historical trends show this instrument degrades significantly with time. Degraded rate gyroscopes have impacted the missions for several NASA and ESA spacecraft, including the Hubble Telescope. A possible solution to this problem is using a mathematically modeled dynamic gyroscope...

Topics: Artificial satellites, Attitude, Kalman filtering, Gyroscopes, Kalman filter, Gibbs parameter,...

LosCon, the software program developed for the author's thesis and tested at sea, is designed to help the ASW commander regain tactical control in a loss of submarine contact situation. Persistent detection and cueing in the battlespace depend on utilizing contact reports from a network of combatant platform and offboard sensors. LosCon, an extended Kalman filter-based program modeled after MTST (Maneuvering Target Statistical Tracker), can integrate the sensor network very efficiently. Kalman...

Topics: Kalman filtering, Anti-submarine warfare, Thesis, Lost contact

A truly Autonomous Vehicle must be able to determine its global position in the absence of external transmitting devices. This requires the optimal integration of all available organic vehicle attitude and velocity sensors. This thesis investigates the extended Kalman filtering method to merge asynchronous heading, heading rate, velocity, and DGPS information to produce a single state vector. Different complexities of Kalman filters, with biases and currents, are investigated with data from...

Topics: UNDERWATER VEHICLES, KALMAN FILTERING, DATA FUSION, NA

This thesis examines ASW eFusion, an anti-submarine warfare (ASW) tactical decision aid (TDA) that utilizes Kalman filtering to improve battlespace awareness by simplifying and automating the track management process involved in anti-submarine warfare (ASW) watchstanding operations. While this program can currently help the ASW commander manage uncertainty and make better tactical decisions, the program has several limitations. Commander, Anti-Submarine Warfare Force U.S. Third Fleet/Commander,...

Topics: Operations research, Kalman filtering, Anti-submarine warfare

A control system was developed for autonomous visual tracking of a stationary target using a small unmanned aerial vehicle. The kinematic equations of this problem were developed, and the insight obtained from examination was applied in developing controllers for the system. This control system controlled the orientation of the camera to keep it constantly pointing at the target, and also controlled the trajectory of the aircraft in flight around the target. The initial control law that was...

Topics: Drone aircraft, Triangulation, Aerial triangulation, Kalman filtering, Unmanned aerial vehicle,...

Bell System Technical Journal, 61: 8. October 1982 pp 2081-2107. Quality Evaluation Plan Using Adaptive Kalman Filtering. (Phadke, M.S.)

Topics: qep, kalman, qmp, variance, rating, model, filtering, defect, adaptive, data, true defect, time...

The US Navy has identified a need for an autonomous, persistent, forward deployed system to Detect, Classify, and Locate submarines. In this context, we investigate a novel method for multiple sensor platforms acting cooperatively to locate an uncooperative target. Conventional tracking methods based on techniques such as Kalman filtering or particle filters have been used with great success for tracking targets from a single manned platform; the application of these methods can be difficult...

Topics: Underwater surveillance, Kalman filtering, Classification, Detectors, Uncertainty, Algorithms

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Walker, Randy G.

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"June 1996."

Topic: Remote submersibles,Kalman filtering,Underwater navigation,Global Positioning System

"June 1996."

Topics: Remote submersibles, Kalman filtering, Underwater navigation, Global Positioning System

Design requirements for a small satellite (NPSAT-1) Attitude Determination and Control Subsystem (ADCS) is a three-axis stabilized spacecraft which requires a control attitude of +/- 1.0 degrees and knowledge attitude of +/- 0.1 degree. Several design aspects are considered in development of attitude control systems for a small satellite, such as: spacecraft dynamics, space environment, disturbance torques, orbit type, and spacecraft complexity. The ideal spacecraft's attitude sensor is a rate...

Topics: Kalman filtering, Artificial satellites, Attitude control systems, Space vehicles, Gyroscopes

The performance of a sensor blending scheme for two different band-width sensors is significantly improved when a Kalman filter is used to blend the outputs vice classical control methods. This Kalman filter signal blender is designed and implemented in a computer program developed for this thesis. Several tracking scenarios are simulated and analyzed. These scenarios are representative of the input expected into the sensors on a Space Based Laser.

Topics: Kalman filtering, Lasers, Computer programs., Kalman filter, adaptive gating, sensor blending

Agent-Based Models in military simulation need a model for detection and tracking other agents. It has been suggested that statistical models, such as occupancy maps or particle filters, can be used for that purpose. An occupancy map is one possibility for this task. The more volume of space, however, in a simulation, the more the computational demand of using occupancy maps grow and the more benefit could be obtained by the ability to switch to a coarser granularity in at least some parts of...

Topics: Tracking radar, Mathematics, Kalman filtering, Digital computer simulation

The Phoenix Autonomous Underwater Vehicle must be able to accurately determine its position at all times. This requires: (1) GPS and differential GPS for surface navigation, (2) short baseline sonar ranging system for submerged navigation, and (3) mathematical modeling of position. This thesis describes a method of Kalman filtering to merge the GPS, differential GPS, short baseline sonar ranging, and the mathematical model to produce a single state vector of vehicle position and ocean currents....

Topics: Remote submersibles., Underwater navigation., Kalman filtering,

The study addressed itself to the problem of real-time implementation of the Kalman filter for estimating ballistic trajectories. The Kalman filter is an extremely effective algorithm for estimation of ballistic trajectories, although the computational requirements of ballistic trajectories, although the computational requirements of the fully implemented Kalman filter are quite severe. In this report, several approaches that may be used to modify the Kalman filtering algorithm in order to...

Topics: DTIC Archive, Dressler, Robert M, STANFORD RESEARCH INST MENLO PARK CA, *REENTRY VEHICLES, *KALMAN...

The computational requirements of the Kalman filter may become excessive when the measurement model includes a connection with both the present state and a previous state. Three aspects of this problem are studied. A performance analysis is presented and a performance index is defined as an aid in evaluating the performance of two classes of suboptimal filters which may be used to solve this problem. The two classes are suboptimality due to modeling variations and due to alternate gain...

Topics: DTIC Archive, Cline, Terry B, IOWA STATE UNIV AMES ENGINEERING RESEARCH INST, *NAVIGATION...

Pseudo state measurements are constructed to make the measurement (geometry) model linear in the state. In the past, linear measurements have often proved to give better state estimates than nonlinear measurements. They are nonlinear functions of the actual measurement model bias parameters and are constructed to be linear functions of the state variables or to vanish in the absence of model or measurement error. Some examples of constructing pseudo state measurements are given in the paper....

Topics: DTIC Archive, Whitcombe, David W, AEROSPACE CORP EL SEGUNDO CA ENGINEERING SCIENCE OPERATIONS,...

In recent years, the Kalman filter has been used extensively for passive target motion analysis (TMA) -- an application in which filter divergence is a common problem. Available methods for eliminating divergence ultimately involve increasing filter sensitivity by discounting the influence of past data. However, this procedure makes the filter more susceptible to random errors; therefore, to avoid unnecessary sacrificing of noise performance, adaptive control is required. In this report, the...

Topics: DTIC Archive, Aidala, Vincent J, NAVAL UNDERWATER SYSTEMS CENTER NEWPORT RI, *CONTROL THEORY,...

The two-dimensional (longitudinal) kinematics of air-to-air combat tracking with a lead computing optical sight system were simulated on an analog computer. Three pilots flew three different aircraft configurations on the fixed-base simulator at 3000- and 1000-foot ranges against a target driven to RMS accelerations of 3.5 G and 5.0 G by filtered, white, Gaussian noise. Averaged RMS data were recorded on attacker's elevator deflection, pitch rate, lead angle, line of sight to the target, and...

Topics: DTIC Archive, Harvey, Thomas R, AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF...

The report summarizes the image processing research activities performed by the University of Southern California during the period of 1 February 1973 to 28 February 1974 under contract. Research is oriented toward digital processing and transmission systems. Five task areas are reported on: (1) Image Coding Projects: the investigation of digital bandwidth reduction coding methods; (2) Image Restoration and Enhancement: the improvement of image fidelity and presentation format; (3) Image Data...

Topics: DTIC Archive, Pratt, William K, UNIVERSITY OF SOUTHERN CALIFORNIA LOS ANGELES IMAGE PROCESSING...

The report is a Kalman filter design study for the proposed Integrated Navigation Satellite/Inertial System (INI). Primary emphasis is placed upon determination of the best filter state variable vector and investigation of various measurement rates using external range measurements from a set of 27 non-synchronous satellites. The INI system errors are assumed to be represented by a 44 state linear system model, and the filter operates without benefit of an altimeter. A one-hour INI flight at...

Topics: DTIC Archive, Butler,Ronald Ray, AIR FORCE INSTITUTE OF TECHNOLOGY WRIGHT-PATTERSON AFB OH...

This report describes use of the Data Processing/HAPDAR Field Test Facility as an adjunct to Passive Jammer Locator experiments by Syracuse University Research Corporation (SURC) at White Sands Missile Range, N. M. The Data Processing/HAPDAR Facility consists of a specially programmed IBM 360/65 Computer operating with the Sperry Rand HAPDAR (Hardpoint Demonstration Array Radar) at WSMR. The Passive Jammer Locator experiments were performed by an ABMDA team with representatives from SURC,...

Topics: DTIC Archive, Campbell, L J, RCA GOVERNMENT SYSTEMS DIV MOORESTOWN NJ MISSILE AND SURFACE RADAR,...

In designing a suboptimal Kalman filter, the designer must decide how to simplify the system error model without causing the filter estimation errors to increase to unacceptable levels. Delection of certain error states and decoupling of error state dynamics are the two principal model simplifications that are commonly used in suboptimal filter design. Fore the most part, the decisions as to which error states can be deleted or decoupled are based on the designer's understanding of the physics...

Topics: DTIC Archive, DiFilippo,D J, Defence Research Establishment Ottawa Ottawa, kalman filtering,...

Tracking the variation in battery dynamics as a function of health is presently attracting attention in academia and industry due to the increased usage of expensive batteries in dynamic systems such as aircraft and electric cars. The online adaptation of battery models to account for age-dependent changes in dynamics is necessary to maintain accurate estimates of the remaining system operations that can be supported under battery power. A novel method for the adaptation of parameters in an...

Topics: DTIC Archive, Bole,Brian, SGT, Inc. Moffett Field United States, lithium ion batteries, kalman...

In the summer and fall of 2012, during the GLAD experiment in the Gulf of Mexico, the Consortium for Advanced Research on Transport of Hydrocarbon in the Environment (CARTHE) used several ocean models to assist the deployment of more than 300 surface drifters. The Navy Coastal Ocean Model (NCOM) at 1 km and 3 km resolutions, the US Navy operational NCOM at 3 km resolution (AMSEAS), and two versions of the Hybrid Coordinates Ocean Model (HYCOM) set at 4 km were running daily and delivering 72-h...

Topics: DTIC Archive, Coelho,Emanuel F, NAVAL RESEARCH LAB STENNIS DETACHMENT STENNIS SPACE CENTER MS...

It is well-known that stand-alone inertial navigation systems (INS) have their errors diverging with time. The traditional approach for solving such incovenience is to resort to position and velocity aiding such as global navigation satellite systems (GNSS) signals. However, misalignment errors in such fusion architecture are not observable in the absence of maneuvers. This investigation develops a novel sighting device (SD) model for vision-aided inertial navigation for use in psi-angle error...

Topics: DTIC Archive, Lustosa,Leandro R, Instituto Tecnologico de Aeronautica Sao Jose dos Campos Brazil,...

This report examines the application of factor graphs (graph-based architectures utilizing message passing) to the areas of continuous active sonar (CAS) and unmanned underwater vehicle signal processing. Closed-form factor graph formulations for detection, classification, and tracking are developed, and the effects on bistatic sonar performance of various categories of inter-vehicle messages are quantified. [This report is excerpted from the thesis submitted by Brandi N. Gross in partial...

Topics: DTIC Archive, Gross, Brandi N, Applied Research Laboratory, The Pennsylvania State University State...

This project demonstrates how the current limit of thermospheric mass density predictability can be extended by systematically integrating observations into a coupled thermosphere-ionosphere first-principles model. An ensemble data assimilation procedure, constructed with the NCAR Data Assimilation Research Testbed (DART) and the NCAR Thermosphere-Ionosphere Electrodynamics General Circulation Model (TIEGCM),can take advantage of the tight coupling between the ionosphere and thermosphere,...

Topics: DTIC Archive, Matsuo,Tomoko, Regents Of The University of Colorado Boulder United States,...

Achieving worldwide alternatives to GPS is a challenging engineering problem. Current GPS alternatives often suffer from limitations such as where and when the systems can operate. Navigation using the Earth's magnetic anomaly field, which is globally available at all times, shows promise to overcome many of these limitations. We present a navigation filter which uses the Earth's magnetic anomaly field as a navigation signal to aid an inertial navigation system (INS) in an aircraft. The filter...

Topics: DTIC Archive, Canciani,Aaron J, AFIT WPAFB United States, Magnetic anomalies, Magnetic anomaly...

Cameras, inertial measurement units (IMUs), and computational power have all become practical, and the demand for small and efficient navigation systems that do not rely on external infrastructure such as GPS is high. Combining visual information with inertial sensing is a challenging problem. The optimal-state-constraint extended Kalman filter (OSC-EKF) is a new method previously designed to optimally combine relative pose constraints from a monocular camera with the output of an IMU. This...

Topics: DTIC Archive, Maley,James M, US Army Research Laboratory Aberdeen Proving Ground United States,...

Nonlinear estimators based on the Kalman filter, the extended Kalman filter (EKF) and unscented Kalman filter (UKF) are commonly used in practical application. The Kalman filter is an optimal estimator for linear systems; the EKF and UKF are sub-optimal approximations of the Kalman filter. The EKF uses a first-order Taylor series approximation to linearize nonlinear models; the UKF uses an approximation of the states joint probability distribution. Long measurement intervals exacerbate...

Topics: DTIC Archive, Frontera,Paul J, NAVAL POSTGRADUATE SCHOOL MONTEREY CA MONTEREY United States, kalman...

Due to uncertainty in target locations, stochastic models are implemented to provide a representation of location distribution. The reliability of these models has a profound effect on the ability to successfully interdict these targets. A key factor in the reliability of a model is the incorporation of information updates. A common method for incorporating information updates is Kalman filtering. However, given the probable nonlinear and non-Gaussian nature of target movement models, the...

Topics: DTIC Archive, Nunez,Jesse A, Naval Postgraduate School Monterey United States, Simulations,...

Snake robots are highly articulated mechanisms that can thread through tightly packed volumes and access locations that people and machinery otherwise cannot access. These devices come in many forms, including locomoting snakes whose internal undulations allow them to maneuver in difficult to negotiate terrains, as well as fixed-base elephant trunks or probes that can reach into cluttered spaces with minimal invasion. The proposed work focuses on the latter of these devices as they have many...

Topics: DTIC Archive, Choset,Howard, robots, technology transfer, surgical equipment, control systems,...

The purpose of this symposium was to bring together DoD personnel involved in the application of modern control theory to Air Force Systems. 'Modern Control Theory' was defined by the sponsors to include at least the following technical areas: estimation theory, linear and nonlinear system theory, control theory (including classical design and optimal techniques), modeling, identification, time series analysis, and the numerical methods in these areas.

Topics: DTIC Archive, Audley, David R, AEROSPACE RESEARCH LABS WRIGHT-PATTERSON AFB OH, *CONTROL THEORY,...

The author of this note has been involved with the analysis of existing and future pulse doppler ambiguity resolution methods. The existing pulse doppler ambiguity resolution technique is supplied by R.C.A. and a future algorithm is presented by the author. The existing R.C.A. ambiguity resolution method has been tested and found to perform satisfactorily when the received data is scintillation free. These noise bursts produce extremely large estimation errors and poor convergence properties,...

Topics: DTIC Archive, Taylor, Fred J., TEXAS UNIV AT EL PASO DEPT OF ELECTRICAL ENGINEERING, *KALMAN...

This report is an evaluation of a proposed Kalman filter for an advanced manned aircraft. The evaluation is performed under simulated flight profiles which include straight and level and maneuvering flight. The aided inertial navigation system is represented by a 54-state linear system error model and the filter by a 17-state error model with decoupled horizontal and vertical channel mechanization. The simulated flight profiles include two hours of straight and level flight and one additional...

Topics: DTIC Archive, Hammett, Jerry E., AIR FORCE INST OF TECH WRIGHT-PATTERSONAFB OH SCHOOL OF...

A 61-state truth model is developed for the aircraft to satellite tracking problem. The equations for the Extended Kalman Filter are described and the truth model is examined and simplified to give a 12-state reduced order filter model of the system. Using the method of Covariance Analysis which is described, the performance of the 12-state filter model against the 61-state truth model is evaluated with the dynamics profile of a high altitude aircraft tracking a near earth satellite in a...

Topics: DTIC Archive, Mitchell, Robert A K, AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF...

This report summarizes the mathematical and computational foundations of modern fire control systems. The fundamentals of target models and Kalman estimators are developed in a tutorial disucssion. A new approach to fire control computations based upon a hybrid coordinate system is proposed and its advantages are cited. The structure of fire control system simulation software is provided, and supporting algorithms are documented.

Topics: DTIC Archive, Leathrum, James F, ARMY MATERIEL SYSTEMS ANALYSIS ACTIVITY ABERDEEN PROVING GROUND...

The thesis considers battle termination (a unit reaching its so-called 'breakpoint') in ground combat as a rational decision process. A commander's decision to break contact with an enemy force and withdraw from the battlefield is analyzed for company-size infantry units. Two approaches to terminate an engagement are presented. The first approach is based on extrapolation of observations on past battle history into the future with no assumption about combat dynamics. The second is based on the...

Topics: DTIC Archive, Adkins, Richard C., NAVAL POSTGRADUATE SCHOOL MONTEREY CA, *LAND WARFARE, *DECISION...