Accession Number:

ADA499625

Title:

Performance Enhancements of Ranging Radio Aided Navigation

Descriptive Note:

Master's thesis

Corporate Author:

AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT

Personal Author(s):

Report Date:

2009-03-01

Pagination or Media Count:

76.0

Abstract:

To accomplish Navigation in areas denied Global Navigation Satellite System GNSS, such as around buildings or in steep valleys, alternative methods must be used. Radio ranging systems have been a part of the navigation solution for years. To improve the position estimate it is believed that using vision, consumer grade inertial navigation systems, and any other measurement available can aid the navigation solution. To accomplish this, an extended Kalman filter was developed. It was configured as a centralized filter. This produced the optimal solution showing that as image measurements were added, the navigation solution did improve. To simulate this with multiple vehicle andor soldiers required a large state vector for the Kalman filter. To manage the large number of states and efficiently incorporate them into influence matrixs, a Rosetta stone was designed for state management.

Subject Categories:

  • Acoustic Detection and Detectors
  • Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE