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dc.contributor.advisorYakimenko, Oleg
dc.contributor.advisorDecker, Ryan
dc.contributor.authorHan, Keng Siew Aloysius
dc.dateSep-17
dc.date.accessioned2017-11-07T23:39:27Z
dc.date.available2017-11-07T23:39:27Z
dc.date.issued2017-09
dc.identifier.urihttp://hdl.handle.net/10945/56131
dc.descriptionApproved for public release; distribution is unlimiteden_US
dc.description.abstractWithout corrective updates from the Global Positioning System, navigational capabilities are degraded significantly when the inertial navigation system becomes the only source of an unmanned aerial vehicle’s movement estimate. Today, unmanned vehicles are easily equipped with a variety of passive sensors, such as video cameras, due to their increasingly lower prices and improvements in sensor resolution. The concept of using an image-matching technique on an input video camera stream was demonstrated earlier with real flight data using a single low-grade onboard sensor. This technique works by matching the stream of data from the camera with a pre-stored depository of geo-referenced reference images to estimate the current attitude and position of an unmanned aerial vehicle (UAV). Preliminary results indicated that unfiltered position estimates can be accurate to the order of roughly 100 meters when flying at two kilometers above the surface and unfiltered orientation estimates are accurate to within a few degrees. This thesis examines developed algorithms on a suite of video data, seeking to reduce the errors in estimating attitude and position of a UAV. The data sets collected at King City and Camp Roberts, California, are also studied to discover the effect of altitude, terrain pattern, elevation map, light conditions, age of reference data and other parameters on estimation. This thesis concludes that in the absence of other sources of navigational information, imagery from a camera is a viable option to provide positional information to a UAV.en_US
dc.description.urihttp://archive.org/details/testndevaluation1094556131
dc.publisherMonterey, California: Naval Postgraduate Schoolen_US
dc.rightsCopyright is reserved by the copyright owner.en_US
dc.titleTest and evaluation of an image-matching navigation system for a UAS operating in a GPS-denied environmenten_US
dc.typeThesisen_US
dc.contributor.departmentSystems Engineering (SE)
dc.subject.authorimage-matching algorithmen_US
dc.subject.authorGPS-denied environmenten_US
dc.subject.authorUASen_US
dc.subject.authorUAVen_US
dc.description.serviceCivilian, Defence Science and Technology Agencyen_US
etd.thesisdegree.nameMaster of Science in Systems Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineSystems Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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