Enabling Autonomous Operation of Micro Aerial Vehicles Through GPS to GPS-Denied Transitions

Enabling Autonomous Operation of Micro Aerial Vehicles Through GPS to GPS-Denied Transitions

Micro aerial vehicles and other autonomous systems have the potential to truly transform life as we know it, however much of the potential of autonomous systems remains unrealized because reliable navigation is still an unsolved problem with significant challenges. This dissertation presents solutio...

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Bibliographic Details
Main Author: Jackson, James Scott
Format: Others
Published: BYU ScholarsArchive 2019
Subjects:
GPS degradation
GPS denied
navigation
state estimation
observability
error state
sensor fusion
vision-aided INS
consistency
multirotor
micro air vehicle
indoor flight
outdoor flight
simultaneous localization and mapping (SLAM)
pose graph optimization
obstacle avoidance
visual odometry
Moving Horizon Estimation
Pseudorange
Linear Quadratic Regulator
LQR
MHE
Sliding Window
Optimization
Engineering
Online Access:https://scholarsarchive.byu.edu/etd/8709
https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=9709&context=etd

Internet

https://scholarsarchive.byu.edu/etd/8709
https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=9709&context=etd

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