Naval Postgraduate School

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Dec 14, 2012
12/12

by
Gaver, Donald Paul.Jacobs, Patricia A.

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Title from cover

Topic: KALMAN FILTERING.

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35

Oct 6, 2015
10/15

by
Gaver, Donald Paul.Jacobs, Patricia A.

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Title from cover

Topic: KALMAN FILTERING.

This thesis develops an architecture that facilitates the design and indoor testing of control algorithms implemented onboard quadrotor UAV's using an ultra-wideband (UWB) indoor positioning solution from Ubisense. Initially, details are provided on basic quadrotor dynamics, the setup of the indoor sensor environment, and the communication scheme. A thorough analysis is conducted on the accuracy and estimation lag of Ubisense UWB sensors for providing indoor position information to the...

Topics: Kalman filtering, Drone aircraft

Currently, small unmanned aerial vehicles developed by NPS have been able to locate and track stationary and moving targets on the ground. New methods of continuous target tracking are always being developed to improve speed and accuracy, ultimately aiding the user of the system. This thesis describes one such method, utilizing an open loop filter as well as an external correction source: Perspective View Nascent Technologies (PVNT). While the PVNT correction can theoretically improve the...

Topics: Mechanical engineering, Kalman filtering

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48

Oct 9, 2015
10/15

by
Dunham, Darin T

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Thesis advisor, Robert G. Hutchins

Topic: TARGET RECOGNITION,KALMAN FILTERING

Typescript

Topics: Aerodynamic measurements, Kalman filtering

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

Topics: Kalman filtering, Stochastic processes.

An algorithm has been developed for real-time forecasting of precipitation storm cell movement over water. The key to the algorithm is the Kalman filter tracking model which is continually updating the mean value and error covariance matrix of a cell's centroid position from past measurements. The algorithm was developed and applied to precipitation cells to evaluate the advantages of utilizing an optimal recursive processing program to assist in making short term tactical forecasts. This...

Topics: Kalman filtering, Precipitation forecasting

Thesis advisor, Robert G. Hutchins

Topics: TARGET RECOGNITION, KALMAN FILTERING

Groundwater contamination is one of the major environmental risks related to landfills. Basic information about the behavior of pollutants in soil-groundwater is needed in order to evaluate the migration of leachate from landfills and to establish efficient groundwater monitoring systems. However, in practice, it is very difficult to get exact subsurface data. Thus, modeling the behavior of pollutants during the flow of leachate through soil is important in predicting the fate of the...

Topics: Leachate Transport, Groundwater, Kalman Filtering, Particle Filtering

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

\"Human body motion tracking using inertial sensors requires an attitude estimation filter capable of tracking in all orientations. One way to represent orientation is to use Euler angles, but they have singularities and therefore are not suitable for human body tracking applications. Quaternions can be used to represent orientation without incurring singularities. A quaternion-based Kalman filter has been designed for this purpose and implemented in this thesis. Also, a new suboptimal...

Topics: Kalman filtering, Quaternions, Human locomotion, Factor analysis

Click here to view the University of Florida catalog record

Topics: Kalman filtering, Tracking radar, Automatic tracking

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, Analysis of covariance, Noise

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,

[21], 191 leaves ; 28 cm

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

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

Groundwater contamination is one of the major environmental risks related to landfills. Basic information about the behavior of pollutants in soil-groundwater is needed in order to evaluate the migration of leachate from landfills and to establish efficient groundwater monitoring systems. However, in practice, it is very difficult to get exact subsurface data. Thus, modeling the behavior of pollutants during the flow of leachate through soil is important in predicting the fate of the...

Topics: Leachate Transport, Groundwater, Kalman Filtering, Particle Filtering

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

In active sonar and radar applications measurements consist of range, bearing and often range rate - all nonlinear functions of the target state (usually modeled in Cartesian coordinates). The converted measurement Kalman filter (CMFK) first converts the range and bearing measurements into Cartesian coordinates to allow for the use of a linear Kalman filter. The extension of the CMKF to use range rate as a linear measurement however has been limited to cases with small bearing errors. The use...

Topics: DTIC Archive, CONNECTICUT UNIV STORRS, *KALMAN FILTERING, DETECTION, TRACKING

"June 1996."

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

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

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Jun 18, 2019
06/19

by
Brown, Robert Grover

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x, 502 p. : 26 cm. +

Topics: Kalman filtering, Random noise theory, Signal theory (Telecommunication)

Precise navigation with high update rates is essential for automatic landing of an unmanned aircraft. Individual sensors currently available - INS, AHRS, GPS, LORAN, etc. - cannot meet both requirements. The most accurate navigation sensor available today is the Global Positioning System or GPS. However, GPS updates only come once per second. INS, being an on-board sensor, is available as often as necessary. Unfortunately, it is subject to the Schuler cycle, biases, noise floor, and cross-axis...

Topics: Kalman filtering, Differential Global Positioning System, Inertial Navigation System, Modeling

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

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Oct 9, 2015
10/15

by
Gaver, Donald Paul.;Jacobs, Patricia A.

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Title from cover

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

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Oct 4, 2015
10/15

by
Walker, Randy G.

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"June 1996."

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

Extended Kalman filtering is used to provide estimates of the position and velocity of a target based upon observations of the target's bearing and range. Non-stationary noise is shown to degrade the performance of the filter and cause filter divergence. By estimating the noise power from the variance of the filter's residual we adapt the filter to compensate for varying noise power. This thesis also introduces the method of correlated maneuver gating to adapt the Kalman filter to target...

Topics: Kalman filtering., Kalman filter, Maneuver gating, Noise adaptation

The periodogram, the square of the magnitude of the Fourier Transform, is widely used to estimate the spectral content of sampled processes. The performance of the periodogram is degraded by spectral leakage. This is the consequence of processing finite-length data records. Classical means of enhancing periodogram performance are the use of tapered window functions and averaging of several periodograms. These methods smooth the spectral estimate, but at a loss of resolution. A non-stationary...

Topics: Kalman filtering, Signal processing, Kalman filter, periodogram, spectral analysis

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

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

Naval Postgraduate School

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346

Jan 16, 2013
01/13

by
Gaver, Donald Paul.;Jacobs, Patricia A.

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Title from cover

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

KALMAN- BUCY Statistical Filters

Topics: statistical filtering, Kalman filtering, Noise removal, Kalman-Bucy Filters, Control systems...

Software agents are an enabling technology that supports rapid, automated, distributed decision making. Many joint task environments provide reward that is based on the performance of the collective, making it difficult to assign reward accurately to individual agents based on their performance. Some method is needed to assign the proper amount of credit to each of the agents in a collective, referred to as structural credit assignment, in an effort to maximize global utility. Within the...

Topics: DTIC Archive, AIR FORCE RESEARCH LAB ROME NY INFORMATION DIRECTORATE, *MULTIAGENT SYSTEMS, KALMAN...

An adaptive autoregressive moving average (ARMA) modelling of nonstationary EEG by means of Kalman smoother is presented. The main advantage of the Kalman smoother approach compared to other adaptive algorithms such as LMS or RLS is that the tracking lag can be avoided. This advantage is clearly presented with simulations. Kalman smoother is also applied to tracking of alpha band characteristics of real EEG during an eyes open/closed test. The observed tracking ability of Kalman smoother,...

Topics: DTIC Archive, Tarvainen, M P, KUOPIO UNIV (FINLAND), *KALMAN FILTERING, *ELECTROENCEPHALOGRAPHY,...

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...

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,...

Our primary goal is to incorporate UV radiances from the SSULI and SSUSI instruments, which will be flown on the NPOSSE satellites, into the USU GAIM models. A secondary goal is to conduct GAIM simulations in order to elucidate the physics underlying equatorial spread F and plasma bubbles.

Topics: DTIC Archive, UTAH STATE UNIV LOGAN CENTER FOR ATMOSPHERIC AND SPACE SCIENCES, *RADIANCE, KALMAN...

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,...

A variety of ways exist to combine clocks with different characteristics in a timescale. At the US Naval Observatory, for example, a process called dynamic weighting is used, which generates a timescale from a frequency scale that weighs recent maser data relatively higher than older maser data. A Kalman Filter could assign different phase, frequency, and frequency drift process noises to the different clock types. In this paper we use an ensemble of cesium and maser clocks to construct a...

Topics: DTIC Archive, NAVAL OBSERVATORY WASHINGTON DC, *ATOMIC CLOCKS, CESIUM, KALMAN FILTERING, MASERS,...

This report describes a technique for assessing the state of a general-purpose system using partial probing. The technique utilizes an Unscented Kalman Filter (UKF) combined with in-process and post-process reasoning. While Kalman Filters (KF) Extended Kalman Filres (EKF), and UKF are typically applied to state-space systems, where an underlying theory provides the a-priori knowledge, this report suggests the application of UKF to monitor general-purpose software systems that do not have an...

Topics: DTIC Archive, NAVAL POSTGRADUATE SCHOOL MONTEREY CA, *COMPUTER PROGRAMS, ESTIMATES, KALMAN...

In this thesis, a multiple hypotheses tracking (MHT) algorithm is developed to successfully track multiple ballistic missiles within the boost phase. The success of previous work on the MHT algorithm and its application in other scientific fields enables this study to realize an efficient form of the algorithm and examine its feasibility in tracking multiple crossing ballistic missiles even though various accelerations due to staging are present. A framework is developed for the MHT, which...

Topics: Ballistics, Electrical engineering, Nonlinear systems, Flight, Guided missiles, Kalman filtering,...

At the present day, growing interest is paid to the development of more reliable surveillance systems for maritime situational awareness (MSA). The purpose is to detect, track and classify cooperative and non-cooperative targets. For this reason, great interest is given to low-power/cost High-Frequency Surface-Wave (HFSW) radars as an early-warning tool for over-the- horizon (OTH) applications. However, in HFSW radars there is a trade-off in terms of quality and cost, i.e. the radar system...

Topics: DTIC Archive, NATO UNDERSEA RESEARCH CENTRE LA SPEZIA (ITALY), *RADAR, ITALY, KALMAN FILTERING,...

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

This research effort focuses on the development of a unified, systematic, and formal approach to modeling and control of multi-agent systems, drawing inspiration from biological systems exhibiting swarm behavior. Previously developed works in the application of graph theory were further advanced and applied to a variety of different task-oriented multi-agent systems. New distributed on-board controllers were developed and implemented at the individual level, yielding collective results in...

Topics: DTIC Archive, DUKE UNIV DURHAM NC, *CONTROL SYSTEMS, *MULTIAGENT SYSTEMS, KALMAN FILTERING,...

Topics: DTIC Archive, DEFENCE RESEARCH AND DEVELOPMENT CANADA VALCARTIER (QUEBEC), *ACCURACY, *TARGET...

Accurate estimation and prediction of wireless signal strength holds the promise to improve a wide variety of applications in networking 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: DTIC Archive, NAVAL POSTGRADUATE SCHOOL MONTEREY CA, *WIRELESS COMMUNICATIONS, KALMAN FILTERING,...

In a test of whether a Kalman filter could provide viable frequencies for atomic clocks, as well phases for a mean timescale, both simulated and actual hydrogen maser frequency data were processed with a two-state Kalman filter involving the parameters frequency and frequency drift and incorporating noise measurements based on Hadamard variances. Separate clock solutions were then combined and integrated to generate a mean timescale for the ensemble. Results for sampling times of up to at least...

Topics: DTIC Archive, Breakiron, Lee A, NAVAL OBSERVATORY WASHINGTON DC, *TIME INTERVALS, *KALMAN...

A multi-sensor correlation processor with an alpha, beta and gamma tracker is introduced as the multi-sensor fusion track model to address the multi-target and maneuvering targets. The new system requires no algorithmic matrix inversion and can be proven to be mathematically equivalent to the popular multi-sensor fusion track model in accuracy. The new multi-sensor fusion track model consists of the sensors, I/O parameter transformation processor, multi-sensor correlation processor, the alph,...

Topics: DTIC Archive, Jeun, Buddy H, LOCKHEED MARTIN AERONAUTICAL SYSTEMS MARIETTA GA, *KALMAN FILTERING,...