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dc.contributor.authorEddy, Joshua Galenen
dc.date.accessioned2017-06-07T08:00:58Zen
dc.date.available2017-06-07T08:00:58Zen
dc.date.issued2017-06-06en
dc.identifier.othervt_gsexam:12249en
dc.identifier.urihttp://hdl.handle.net/10919/77927en
dc.description.abstractThis thesis presents the development and implementation of a software framework for estimating the position of a drone during flight. This framework is based on an algorithm known as the Unscented Kalman Filter (UKF), a recursive method of estimating the state of a highly nonlinear system, such as an aircraft. In this thesis, we present a UKF formulation specially designed for a quadcopter carrying an Inertial Measurement Unit (IMU) and a downward-facing camera. The UKF fuses data from each of these sensors to track the position of the quadcopter over time. This work supports a number of similar efforts in the robotics and aerospace communities to navigate in GPS-denied environments with minimal hardware and minimal computational complexity. The software framework explored in this thesis provides a means for roboticists to easily implement similar UKF-based state estimators for a wide variety of systems, including surface vessels, undersea vehicles, and automobiles. We test the system's effectiveness by comparing its position estimates to those of a commercial motion capture system and then discuss possible applications.en
dc.format.mediumETDen
dc.publisherVirginia Techen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectUnscented Kalman Filteren
dc.subjectSLAMen
dc.subjectState Estimationen
dc.subjectLocalizationen
dc.subjectVisual-Inertial Navigationen
dc.subjectUnmanned Aircraften
dc.titleA Hardware-Minimal Unscented Kalman Filter Framework for Visual-Inertial Navigation of Small Unmanned Aircraften
dc.typeThesisen
dc.contributor.departmentAerospace and Ocean Engineeringen
dc.description.degreeMaster of Scienceen
thesis.degree.nameMaster of Scienceen
thesis.degree.levelmastersen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.disciplineAerospace Engineeringen
dc.contributor.committeechairKochersberger, Kevin B.en
dc.contributor.committeememberFarhood, Mazen H.en
dc.contributor.committeememberWoolsey, Craig A.en


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