| Characterization of Robotic Tail Orientation as a Function of Platform Position for Surf-Zone Robots |
Jun-2009 |
103 pages |
| Authors:
Courtney L Holland; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
 | The Naval Postgraduate School Small Robot Initiative is an ongoing effort to develop autonomous robotic platforms for military applications. The latest design in this series, a quadruped robot with a tail for stability and obstacle climbing, is currently under development in collaboration with Case Western Reserve University. Tail orientation as a function of robot platform attitude is tested for angle of bank climbs at 10 and 15 degrees. Data indicate ... |
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| The Integrative Studies of Genetic and Environmental Factors in Systemic Sclerosis |
May-2009 |
56 pages |
| Authors:
Xiaodong Zhou; TEXAS UNIV HEALTH SCIENCE CENTER AT HOUSTON
|
| During this second year of the project, we established multiple primary cell strains from normal controls and SSc patients. We performed stimulation assays with silica in 82 primary fibroblast strains. Our results showed that silica activate fibroblasts toward fibrotic changes. However, different fibroblast strains obtained from different individuals showed different responses in terms of the gene expression of the ECM components. Using longitudinal linear models in analysis of association between ... |
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| Onboard Stability Control System for a Flapping Wing Nano Air Vehicle |
24-Apr-2009 |
24 pages |
| Authors:
Jason Geder; NAVAL RESEARCH LAB WASHINGTON DC
|
| This paper describes the design and development of a feedback system for controlling the dynamics of a flapping wing nano air vehcile (NAV). A model of the vehicle dynamics and models of sensors and unique actuator mechanisms are built. An extended Kalman filter is designed to eliminate the effects of sensor bias on state estimation. Results of this study demonstrate stability and yield responses that are approaching desired performance capabilities. ... |
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| Hybrid Robust Multi-Objective Evolutionary Optimization Algorithm |
10-Mar-2009 |
38 pages |
| Authors:
George S Dulikravich; FLORIDA INTERNATIONAL UNIV MIAMI DEPT OF MECHANICAL ENGINEERING
|
| A hybrid robust multi-objective optimization algorithm and accompanying software were developed that: 1) utilize several evolutionary optimization algorithms, a set of rules for automatic switching among these algorithms in order to accelerate the overall convergence and avoid termination in a local minimum, 2) involve development of algorithms for multi-dimensional response surfaces (metamodels) that are fast, accurate and robust by utilizing wavelet-based artificial neural networks, polynomials of radial basis functions, and ... |
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| Failure Detection of a Pseudolite-Based Reference System Using Residual Monitoring |
Mar-2009 |
116 pages |
| Authors:
Michael A Ciampa; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
|
| Pseudolite measurements typically contain cycle slips and other errors that can affect reliability. Past work relied on the receiver-reported signal-to-noise (SNR) value to determine whether or not a cycle slip occurred. However it has been shown that even when the SNR is relatively high, a cycle clip can occur. To reduce the error in the pseudolite measurements, the pseudolite system was integrated with an inertial navigation system (INS). The integrated ... |
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| Stochastic Estimation and Control of Queues Within a Computer Network |
Mar-2009 |
99 pages |
| Authors:
Mingook Kim; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH DEPT OF ELECTRICAL AND COMPUTER ENGINEERING
|
| Captain Nathan C. Stuckey implemented the idea of the stochastic estimation and control for network in OPNET simulator. He used extended Kalman filter to estimate packet size and packet arrival rate of network queue to regulate queue size. To validate stochastic theory, network estimator and controller is designed by OPNET model. These models validated the transient queue behavior in OPNET and work of Kalman filter by predicting the queue size ... |
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| Using Predictive Rendering as a Vision-Aided Technique for Autonomous Aerial Refueling |
Mar-2009 |
90 pages |
| Authors:
Adam D Weaver; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING
|
| This research effort seeks to characterize a vision-aided approach for an Unmanned Aerial System (UAS) to autonomously determine relative position to another aircraft in a formation, specifically to address the autonomous aerial refueling problem. A system consisting of a monocular digital camera coupled with inertial sensors onboard the UAS is analyzed for feasibility of using this vision-aided approach. A three-dimensional rendering of the tanker aircraft is used to generate predicted ... |
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| Magnetic Field Aided Indoor Navigation |
Mar-2009 |
86 pages |
| Authors:
William F Storms; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
|
| Many current aiding methods do not work well in an indoor environment, like aiding using the Global Positioning System. The method presented in this research uses magnetic field intensity data from a three-axis magnetometer in order to estimate position using a maximum - likelihood approach. The position measurements are then combined with a motion model using a Kalman filter. The magnetic field navigation algorithm is tested using a combination of ... |
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| Probability of Kill for VLA ASROC Torpedo Launch |
Mar-2009 |
63 pages |
| Authors:
Stephen J Valerio; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| The purpose of this thesis is to generate a tactical decision aid (TDA) capable of calculating the probability of kill of a submarine when targeted with a vertical launched (VLA) anti-submarine rocket propelled torpedo (ASROC). In determining the submarine specific probability of kill (Pk), the Passive Contact Tracker and Kill Probability (PACT-AKP) TDA will calculate the submarine's position and its area of uncertainty (AOU) based on single or multiple ASW ... |
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| Image Processing for Multiple-Target Tracking on a Graphics Processing Unit |
Mar-2009 |
79 pages |
| Authors:
Michael A Tanner; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
|
| Multiple-target tracking (MTT) systems have been implemented on many di?erent platforms, however these solutions are often expensive and have long development times. Such MTT implementations require custom hardware yet o?er very little flexibility with ever changing data sets and target tracking requirements. This research explores how to supplement and enhance MTT performance with an existing graphics processing unit (GPU) on a general computing platform. Typical computers are already equipped with ... |
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| Fusion of Inertial Sensors and Orthogonal Frequency Division Multiplexed (OFDM) Signals of Opportunity for Unassisted Navigation |
Mar-2009 |
65 pages |
| Authors:
Jason G Crosby; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
|
| The advent of the global positioning system (GPS) has provided worldwide high-accuracy position measurements. However, GPS may be rendered unavailable by jamming, disruption of satellites, or simply by signal shadowing in urban environments. Thus, this thesis considers fusion of Inertial Navigation Systems (INS) and Orthogonal Frequency Division Multiplexed (OFDM) signals of opportunity (SOOP) for navigation. Typical signal of opportunity navigation involves the use of a reference receiver and uses time ... |
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| Performance Enhancements of Ranging Radio Aided Navigation |
Mar-2009 |
76 pages |
| Authors:
Patric J Ernsberger; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
|
| 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 ... |
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| Model-Based Control using Model and Mechanization Fusion Techniques for Image-Aided Navigation |
Mar-2009 |
141 pages |
| Authors:
Constance D Hendrix; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
|
| 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 ... |
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| Curvature Nonlinearity Measure and Filter Divergence Detector for Nonlinear Tracking Problems (Postprint) |
Jun-2008 |
9 pages |
| Authors:
Adnan Bubalo; Ruixin Niu; Pramod K Varshney; Mark Alford; Eric Jones; Maria Scalzo; AIR FORCE RESEARCH LAB ROME NY INFORMATION DIRECTORATE
|
| Experimental results show that for a weekly nonlinear tracking problem, the extended Kalman filter and the unscented Kalman filter are good choices, while a particle filter should be used for problems with strong nonlinearity. To quantitatively determine the nonlinearity of a nonlinear tracking problem, we propose two types of measures: one is the differential geometry curvature measure and the other is based on the normalized innovation squared (NIS) of the ... |
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| Advancing Autonomy on Man Portable Robots |
14-May-2008 |
17 pages |
| Authors:
Brandon Sights; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
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| The Integrative Studies of Genetic and Environmental Factors in Systemic Sclerosis |
01-May-2008 |
20 pages |
| Authors:
Xiaodong Zhou; TEXAS UNIV HEALTH SCIENCE CENTER AT HOUSTON
|
| During this first year of the project, we established 60 primary fibroblast strains from normal controls and SSc patients who have been genotyped with HLA markers. We performed stimulation assays with silica and/or carbon, titanium particles in 60 primary fibroblast strains. Our results showed that both silica and carbon particle can activate fibroblasts toward fibrotic changes. To develop a comprehensive statistical analysis in study of dynamic properties of fibroblasts, we ... |
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| Characterization and Implementation of a Real-World Target Tracking Algorithm on Field Programmable Gate Arrays with Kalman Filter Test Case |
01-Mar-2008 |
112 pages |
| Authors:
Benjamin Hancey; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
|
| A one dimensional Kalman Filter algorithm provided in Matlab is used as the basis for a Very High Speed Integrated Circuit Hardware Description Language (VHDL) model. The JAVA programming language is used to create the VHDL code that describes the Kalman filter in hardware which allows for maximum flexibility. A one-dimensional behavioral model of the Kalman Filter is described, as well as a one dimensional and synthesizable register transfer level ... |
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| Development and Flight Test of a Robust Optical-Inertial Navigation System Using Low-Cost Sensors |
01-Mar-2008 |
295 pages |
| Authors:
Michael B Nielsen; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
|
| This report develops and tests a precision navigation algorithm fusing optical and inertial measurements. This algorithm provides an alternative to the Global Positioning System (GPS) as a precision navigation source, enabling navigation in GPS denied environments, using low-cost sensors and equipment. A rigorous study of the fundamental nature of optical/inertial navigation is accomplished through the examination of the observability grammian of the underlying measurement equations. Through this analysis, a set ... |
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| Autonomous Underwater Vehicle Navigation |
01-Feb-2008 |
36 pages |
| Authors:
P A Miller; J Farrell; Y Zhao; V Djapic; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| This report considers the vehicle navigation problem for an autonomous underwater vehicle with six degrees of freedom. We approach this problem using an error state formulation of the Kalman filter. Integration of the vehicle's high-rate inertial measurement unit's accelerometers and gyros allow time propagation while other sensors provide measurement corrections. The low-rate aiding sensors include a Doppler velocity log, an acoustic long baseline system that provides round-trip travel times from ... |
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| Real Time Estimation and Prediction using Optimistic Simulation and Control Theory Techniques |
JAN 2008 |
44 pages |
| Authors:
Jeffrey Steinmen; Craig Lammers; WARPIV TECHNOLOGIES INC SAN DIEGO CA
|
| This paper describes a revolutionary approach to information processing that will increase warfighter productivity by orders of magnitude for problems requiring analysis, planning, optimization, and dynamic situation assessment and prediction in live operational environments. This technology, known as HyperWarpSpeed, breaks the four-dimensional barrier of space and time by extending modeling, simulation, and analysis capabilities into the fifth dimension. |
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| GNSS Clock Performance Analysis Using One-Way Carrier Phase and Network Methods |
01-Nov-2007 |
13 pages |
| Authors:
Francisco Gonzalez; Pierre Waller; KARLSRUHE UNIV (GERMANY) GEODETIC INST
|
| Analysis of GNSS clocks performance is traditionally carried out by network analysis techniques where orbits and all participant clocks are computed in a batch or Kalman Filter least-squares adjustment to a reference time scale and reference frame. Within the associated experimentation to the Galileo In Orbit Validation Element-A (Giove-A), GPS, and Giove-A satellite orbits and clocks are estimated by the Orbit Determination and Time Synchronization (ODTS) software from observations of ... |
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| Composite Clocks With 3-State Models |
01-Nov-2007 |
21 pages |
| Authors:
James R Wright; ANALYTICAL GRAPHICS INC EXTON PA
|
| Previous analyses of composite clocks have been presented with 2-state clock models for random clock phase and frequency deviations. But Kalman filter estimate errors due to 3-state clock frequency-drift deviations have not been previously presented. I have employed the 3-state Zucca-Tavella clock model to simulate an ensemble of four 3-state clocks. I have found a dominant common component for 3-state clock Kalman filter phase errors with the curvature of a ... |
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| Ensemble Time in GNSS - Performance Requirements and Algorithm Tests |
01-Nov-2007 |
|
| Authors:
Mattgias Suess; Alexandre Moudrak; E Frolova; GERMAN AEROSPACE CENTER (DLR) OBERPFAFFENHOFEN (GERMANY)
|
 | Any Global Navigation Satellite System (GNSS) relies on a highly stable and reliable System Time that has to meet high-performance requirements to enable GNSS services suitable for navigation and timing communities. The challenge is to guarantee this high performance continuously. The Kalman filter algorithm implemented in GPS, called the GPS Composite Clock, is a mature method to generate such a highly robust System Time. The algorithm estimates the time offsets ... |
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| Development and Evaluation of Fusion Techniques |
OCT 2007 |
94 pages |
| Authors:
Mark G. Alford; Maria L. Scalzo; Adnan Bubalo; Eric C. Jones; AIR FORCE RESEARCH LAB ROME NY INFORMATION DIRECTORATE
|
| The purpose of this effort was to investigate and develop promising innovative technologies that hold promise for improvements in the Air Force target tracking and fusion capabilities. The problem statement is that Nonlinear Non-Gaussian Processes (NNGP) present a major challenge in all types of military problems. This is because the real-world is nonlinear and non-Gaussian, despite assumptions made in most conventional fusion algorithms. This in-house program addressed this problem by ... |
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| Design and Initial In-Water Testing of Advanced Non-Linear Control Algorithms onto an Unmanned Underwater Vehicle (UUV) |
Oct-2007 |
9 pages |
| Authors:
Paul Miller; Vladimir Djapic; J A Farrell; Rich Arrieta; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA UNMANNED MARITIME VEHICLE LAB
|
| UUVs equipped with high-level control software have a variety of potential applications for Anti-Terrorism/Force Protection (ATFP) objectives. Desirable vehicle control capabilities include the ability to drive at very low, controllable speeds, the ability to maintain a set distance and attitude (pitch and roll) relative to some surface for optimal sensor (both sonar and video) effectiveness, and the ability for the operator to intervene to change the mission activities. Moreover, a ... |
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| Summary of the Discussion on the Prediction of Earth Orientation Parameters |
01-Sep-2007 |
|
| Authors:
W Wooden; NAVAL OBSERVATORY WASHINGTON DC
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| This panel discussion took place after Session 4 entitled Prediction, Combination, and Geophysical Interpretation of Earth Orientation Parameters. The panel, drawn from the membership of the IERS Working Group on Prediction (WGP), represented a broad cross section of the Earth Orientation Parameter (EOP) prediction community. W. Wooden, the chairperson of the WGP, served as moderator for the discussion. He introduced the panel members and explained that the purpose was to ... |
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| Computational Methods for Probabilistic Target Tracking Problems |
SEP 2007 |
47 pages |
| Authors:
Anthony G. Warrack; Alexandra Kurepa; NORTH CAROLINA AGRICULTURAL AND TECHNICAL STATE UNIV GREENSBORO
|
| The grant started in 2003. Initially a cohort of two graduate students and four sophomore undergraduate students was recruited. The students received special training in probabilistic and statistical methods pertaining to target -tracking problems. Particular topics included Kalman filtering, the EM Algorithm, smoothing methods, and density estimation. In the summer of 2004 the graduate students accompanied Dr. Warrack to The Naval Undersea Warfare Center, Newport, RI (NUWC-Newport), for a 10 ... |
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| Inertial Motion Tracking for Inserting Humans into a Networked Synthetic Environment |
31 AUG 2007 |
75 pages |
| Authors:
Eric R. Bachmann; Xiaoping Yun; Anne Brumfield; MIAMI UNIV OXFORD OH
|
| Inertial/Magnetic tracking is based on the use of sensors containing three orthogonally mounted angular rate sensors, three orthogonal linear accelerometers and three orthogonal magnetometers to determine independently the orientation of each link of an articulated rigid body. Inertial/magnetic orientation tracking could be applied to a broad range of problems which require real-time tracking of an articulated structure without being continuously dependent upon an artificially generated source. This research focuses on ... |
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| An Integrated Design Methodology for Nanosat Navigation Guidance and Control Systems |
14 AUG 2007 |
18 pages |
| Authors:
Demoz Gebre-Egziabher; MINNESOTA UNIV MINNEAPOLIS
|
| Minnesat is the micro-satellite that was designed by the University of Minnesota as part of UNP-4. The mission of Minnesat was to validate the use carrier phase GPS technology to mechanize a compact and accurate attitude determination system. In a broader sense, the objective of this work was to also demonstrate a design methodology for miniature spacecraft navigation, guidance and control systems which integrate the vehicle design process with that ... |
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| Cycling the Representer Algorithm for Variational Data Assimilation with a Nonlinear Reduced Gravity Ocean Model |
JUN 2007 |
12 pages |
| Authors:
Hans E. Ngodock; Scott R. Smith; Gregg A. Jacobs; NAVAL RESEARCH LAB STENNIS SPACE CENTER MS OCEANOGRAPHY DIV
|
| The representer method was used in a comparison study with the ensemble Kalman filter and smoother involving a 1.5 nonlinear reduced gravity idealized ocean model simulating the Loop Current (LC) and the Loop Current eddies (LCE) in the Gulf of Mexico. It was reported that the representer method was more accurate than its ensemble counterparts, yet it had difficulties fitting the data in the last month of the 4-month assimilation ... |
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| Cooperative Tracking for Persistent Littoral Undersea Surveillance |
Jun-2007 |
41 pages |
| Authors:
Robert D Scott; MASSACHUSETTS INST OF TECH CAMBRIDGE DEPT OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE
|
| The US Navy has identified a need for an autonomous, persistent, forward deployed system to Detect, Classify, and Locate submarines. In this context, we investigate a novel method for multiple sensor platforms acting cooperatively to locate an uncooperative target. Conventional tracking methods based on techniques such as Kalman filtering or particle filters have been used with great success for tracking targets from a single manned platform; the application of these ... |
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| Real-Time Implementation of an Asynchronous Vision-Based Target Tracking System for an Unmanned Aerial Vehicle |
JUN 2007 |
157 pages |
| Authors:
Michael A. Schenk; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| Currently, small unmanned aerial vehicles developed by NPS have been able to locate and track stationary and moving targets on the ground New methods of continuous target tracking are always being developed to improve speed and accuracy, ultimately aiding the user of the system. This thesis describes one such method, utilizing an open loop filter as well as an external correction source: Perspective View Nascent Technologies (PVNT). While the PVNT ... |
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| Modeling and Control of State-Affine Probabilistic Systems for Atomic-Scale Dynamics |
JUN 2007 |
56 pages |
| Authors:
Martha A. Gallivan; GEORGIA INST OF TECH ATLANTA SCHOOL OF CHEMICAL ENGINEERING
|
| Under this research grant, the framework and tools were developed for model reduction of atomic-scale many body systems. The state-affine mathematical structure of the original and reduced order models enabled the implementation of control through dynamic programming and estimation through an extended Kalman filter. The state of the high-dimensional stochastic system is first quantified using a high-dimensional pair correlation function. This state is then reduced using linear and nonlinear principal ... |
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| Multi-Robot FastSLAM for Large Domains |
MAR 2007 |
104 pages |
| Authors:
Choyong G. Koperski; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
|
| For a robot to build a map of its surrounding area, it must have accurate position information within the area, and to obtain accurate position information within the area, the robot needs to have an accurate map of the area. This circular problem is the Simultaneous Localization and Mapping (SLAM) problem. An efficient algorithm to solve it is FastSLAM, which is based on the Rao-Blackwellized particle filter. FastSLAM solves the ... |
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| Next-Generation Image and Sound Processing Strategies: Exploiting the Biological Model |
01 FEB 2007 |
9 pages |
| Authors:
Mel W. Bartlett; Norberto M. Grzywacz; Laurent Itti; Shri Narayanan; UNIVERSITY OF SOUTHERN CALIFORNIA LOS ANGELES
|
| The main objective of this project is to extend the technical state-of-the-art in mid-level visual and auditory signal processing using an integrative biologically inspired approach. Though our research and development efforts are focused on different levels of sensory information processing, from low-level sensory adaptation to object selection and recognition, all of our efforts described in this progress report intersect at the level of features: what low level sensory features to ... |
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| Geoacoustic Inversion by Mode Amplitude Perturbation |
FEB 2007 |
|
| Authors:
Travis L. Poole; WOODS HOLE OCEANOGRAPHIC INSTITUTION MA
|
| This thesis introduces an algorithm for inverting for the geoacoustic properties of the seafloor in shallow water. The input data required by the algorithm are estimates of the amplitudes of the normal modes excited by a low-frequency pure-tone sound source, and estimates of the water column sound speed profiles at the source and receiver positions. The algorithm makes use of perturbation results, and computes the small correction to an estimated ... |
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| AF/NGA GPS Monitor Station High-Performance Cesium Frequency Standard Stability 2005/2006: From NGA Kalman Filter Clock Estimates |
JAN 2007 |
17 pages |
| Authors:
Dennis M. Manning; NATIONAL GEOSPATIAL-INTELLIGENCE AGENCY (NGA) ST LOUIS MO
|
| Both the National Geospatial-Intelligence Agency (NGA) and the United States Air Force (USAF/AF) operate a worldwide network of GPS monitoring stations that utilizes high-performance cesium frequency standards (CFSs) and geodetic quality GPS receivers. The USAF stations are somewhat equatorial, whereas the NGA stations are primarily in both the Northern and Southern Hemispheres. The NGA Monitor Station Network (MSN) has been in operation since 1983 and the operation in St. Louis ... |
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| USNO Master Clock Design Enhancements |
JAN 2007 |
9 pages |
| Authors:
P. Koppang; J. Skinner; D. Johns; NAVAL OBSERVATORY WASHINGTON DC
|
| The authors have implemented several enhancements to the U.S. Naval Observatory (USNO) Master Clock system. Design changes to the system include the use of a Kalman filter for phase and frequency estimates, decreasing the time interval between steers, and the redesign of control parameters. The present control system utilizes "real-time" data estimates of the differences between the Master Clock and a time scale that combines hydrogen masers and commercial cesium ... |
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| Numerical Calculations for Passive Geolocation Scenarios |
JAN 2007 |
|
| Authors:
Don Koks; DEFENCE SCIENCE AND TECHNOLOGY ORGANISATION EDINBURGH (AUSTRALIA) ELECTRONIC WARFARE AND RADAR DIVISION
|
| This report reviews work done in gaining some familiarity with methods of passive geolocation, and a search for rules of thumb that might tell us how to optimize the geolocation for a given scenario. We first cover the main approaches to collecting angle of arrival data and point out typical accuracies. Following this is an account of the mathematics used to analyze this data to produce an estimate of an ... |
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| Advanced ESM Angle Tracker. Volume 1. Theoretical Foundations |
29 DEC 2006 |
42 pages |
| Authors:
Edward N. Khoury; NAVAL RESEARCH LAB WASHINGTON DC
|
| This report summarizes the NRL implementation of a filter used for ESM angle tracking. The filter is an Interactive Multiple Model (IMM) filter that uses three standard Kalman filters as a basis for filtering and predicting emitter bearing angle. Filter selection for the IMM is based on the expected variation of emitter trajectories and the imposed spherical coordinate system. The derivation of the IMM is well documented and is not ... |
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| An Investigation of a Dynamic Sensor Motion Strategy |
DEC 2006 |
15 pages |
| Authors:
Nathan P. Yerrick; David E. Jeffcoat; Abhishek Tiwari; AIR FORCE RESEARCH LAB EGLIN AFB FL MUNITIONS DIRECTORATE
|
| This paper considers a dynamic sensor coverage problem in which a single mobile sensor attempts to monitor multiple sites. Sensor motion is modeled using a discrete time, discrete state Markov process. State dynamics at each site are modeled as a linear system. A stochastic simulation is used to demonstrate previously derived theoretical conditions under which a single sensor is or is not sufficient to maintain a bounded estimate of the ... |
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| Analysis and Tuning of a Low Cost Inertial Navigation System in the ARIES AUV |
DEC 2006 |
140 pages |
| Authors:
Steven R. Vonheeder; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| Autonomous underwater vehicle navigation is a complex problem of state estimation. Accurate navigation is made difficult due to a lack of reference navigation aids or use of the Global Positioning System (GPS) that could establish the vehicles position. Accurate navigation is critical due to the level of autonomy and range of missions and environments into which an underwater vehicle may be deployed. Navigational accuracy depends not only on the initialization ... |
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| Energy-Aware Node Selection In A Distributed Sensor Network |
NOV 2006 |
8 pages |
| Authors:
Qiang Le; Lance M. Kaplan; James H. McClellan; HAMPTON UNIV VA DEPT OF ELECTRICAL ENGINEERING
|
| This work develops a resource management strategy for a wireless sensor network of bearings-only sensors. Specifically, the resource manager determines which nodes actively sense and communicate during each snapshot in order to achieve a tolerable level of geolocalization accuracy while attempting to maximize the effective lifetime of the network. This work compares three energy-related metrics. The traditional metric that summarizes the energy usage over a single snapshot consists of the ... |
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| Predictive Mover Detection and Tracking in Cluttered Environments |
NOV 2006 |
|
| Authors:
Luis Navarro-Serment; Christoph Mertz; Martial Hebert; CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
|
| This paper describes the design and experimental evaluation of a system that enables a vehicle to detect and track moving objects in real-time. The approach investigated in this work detects objects in LADAR scan lines and tracks these objects (people or vehicles) over time. The system can fuse data from multiple scanners for 360 deg. coverage. The resulting tracks are then used to predict the most likely future trajectories of ... |
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| Efficient Multi-Source Data Fusion for Decentralized Sensor Networks |
01 OCT 2006 |
47 pages |
| Authors:
PHILIP J. HANEY; Christopher M. Lloyd; BAE SYSTEMS MERRIMACK NH ADVANCED SYSTEMS AND TECHNOLOGY
|
| A highly-scalable, Bayesian approach to the problem of performing multi-source data fusion and target tracking in decentralized sensor networks is presented. Previous applications of decentralized data fusion have generally been restricted to uni-modal/uni-source sensor networks using Gaussian based approaches, such as the Kalman or information filter. However, with recent interest to employ complex, multimodal/ multi-source sensors which potentially exhibit observation and/or process non-linearities along with non-Gaussian distributions, the need to ... |
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| Robust Fusion of Multiple Microphone and Geophone Arrays in a Ground Sensor Network |
01 OCT 2006 |
|
| Authors:
D. Lindgren; H. Habberstad; M. Holmberg; A. Lauberts; SWEDISH DEFENCE RESEARCH AGENCY LINKOEPING
|
| A sensor network with arrays of microphones and geophones has been deployed along a track in the country. Together with a beam forming technique, the sensor arrays produce bearing estimates to passing vehicles. The bearing estimates are sent to, and fused by, a Kalman tracking filter. We report how we implemented this system with low-complexity distributed-type hardware and software components, and also indicate the level of performance to be expected ... |
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| Computing the Observed Information Matrix for Dynamic Mixture Models |
25 SEP 2006 |
87 pages |
| Authors:
Michael J. Walsh; NAVAL UNDERSEA WARFARE CENTER DIV NEWPORT RI
|
| The observed information matrix for an important class of finite mixture models, called dynamic mixture models, is derived in this report. Dynamic mixture models are useful probability models for random data originating from a number of distinct moving sources. The multiple-target tracking problem is one application of these models. For these models, the inverse of the observed information matrix is a consistent estimate of the error-covariance matrix for the mixture ... |
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| Theory of Effectiveness Measurement |
SEP 2006 |
188 pages |
| Authors:
Richard K. Bullock; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING AND MANAGEMENT
|
| Effectiveness measures provide decision makers feedback on the impact of deliberate actions and affect critical issues such as allocation of scarce resources, as well as whether to maintain or change existing strategy. Currently, however, there is no formal foundation for formulating effectiveness measures. This research presents a new framework for effectiveness measurement from both a theoretical and practical view. First, accepted effects-based principles, as well as fundamental measurement concepts are ... |
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| Narrowband Tracking Using a Markov Random Field Algorithm |
Sep-2006 |
7 pages |
| Authors:
Paul M Baggenstoss; NAVAL UNDERSEA WARFARE CENTER DIV NEWPORT RI
|
| We present an algorithm for formulating the narrowband (or target) tracking problem as a Markov Random Field (MRF) with discrete and continous-valued hidden state variables. We then derive a simplied algorithm to estimate the model state variables. An MRF exists whenever there is a collection of sites that statistically interact with their neighbors. This requires defining a neighborhood system for determining which sites are the neighboring sites - such as ... |
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| LQG/LTR Optimal Attitude Control of Small Flexible Spacecraft Using Free-Free Boundary Conditions |
03 AUG 2006 |
220 pages |
| Authors:
Joseph M. Fulton; COLORADO UNIV AT BOULDER DEPT OF AEROSPACE ENGINEERING SCIENCES
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| Due to the volume and power limitations of a small satellite, careful consideration must be taken while designing an attitude control system for 3-axis stabilization. Placing redundancy in the system proves difficult and utilizing power hungry, high accuracy, active actuators is not a viable option. Thus, it is customary to find dependable, passive actuators used in conjunction with small scale active control components. This document describes the application of Elastic ... |
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