Model-Based Control Using Model and Mechanization Fusion Techniques for Image-Aided Navigation - Softcover

Hendrix, Constance D

Softcover

ISBN 10: 1288334206 ISBN 13: 9781288334209

Publisher: Biblioscholar, 2012

Synopsis

Unmanned aerial vehicles are no longer used for just reconnaissance. Current requirements call for smaller autonomous vehicles that replace the human in high-risk activities. Many times these activities are performed in GPS-degraded environments. Without GPS providing today's most accurate navigation solution, autonomous navigation in tight areas is more difficult. Today, image-aided navigation is used and other methods are explored to more accurately navigate in such areas (e.g., indoors). This thesis explores the use of inertial measurements and navigation solution updates using cameras with a model-based Linear Quadratic Gaussian controller. To demonstrate the methods behind this research, the controller will provide inputs to a micro-sized helicopter that allows the vehicle to maintain hover. A new method for obtaining a more accurate navigation solution was devised, originating from the following basic setup.

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Edition details

• Publisher: Biblioscholar
• Publication date: 2012
• Language: English
• ISBN 10: 1288334206
• ISBN 13: 9781288334209
• Binding: Paperback
• Number of pages: 142