Relative Navigation of Micro Air Vehicles in GPS-Degraded Environments

Relative Navigation of Micro Air Vehicles in GPS-Degraded Environments

Most micro air vehicles rely heavily on reliable GPS measurements for proper estimation and control, and therefore struggle in GPS-degraded environments. When GPS is not available, the global position and heading of the vehicle is unobservable. This dissertation establishes the theoretical and pract...

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Bibliographic Details
Main Author: Wheeler, David Orton
Format: Others
Published: BYU ScholarsArchive 2017
Subjects:
GPS degradation
GPS denied
navigation
state estimation
observability
multiplicative extended Kalman filter
error state
sensor fusion
vision-aided INS
consistency
robocentric
multirotor
micro air vehicle
indoor flight
outdoor flight
simultaneous localization and mapping
place recognition
loop closure
pose graph optimization
obstacle avoidance
visual odometry
Electrical and Computer Engineering
Online Access:https://scholarsarchive.byu.edu/etd/6609
https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7609&context=etd

Internet

https://scholarsarchive.byu.edu/etd/6609
https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7609&context=etd

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