東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

Sensitivity study: The effects of b...

Haas, Brian Michael.

Linked to FindBook

Google Book

Amazon

博客來

Sensitivity study: The effects of beacon location errors on a vehicle's position and attitude estimation for a vision-based navigation system.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Sensitivity study: The effects of beacon location errors on a vehicle's position and attitude estimation for a vision-based navigation system./
Author:	Haas, Brian Michael.
Description:	95 p.
Notes:	Source: Masters Abstracts International, Volume: 44-01, page: 0524.
Contained By:	Masters Abstracts International44-01.
Subject:	Engineering, Mechanical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1426777
ISBN:	0542168944

Sensitivity study: The effects of beacon location errors on a vehicle's position and attitude estimation for a vision-based navigation system.
Haas, Brian Michael.

Sensitivity study: The effects of beacon location errors on a vehicle's position and attitude estimation for a vision-based navigation system. - 95 p.

Source: Masters Abstracts International, Volume: 44-01, page: 0524.

Thesis (M.S.)--State University of New York at Buffalo, 2005.

A sensitivity study is conducted for this thesis work where the effects of beacon location errors on the estimation of a vehicle's position and attitude are examined. Beacon location variation is introduced into the standard vision-based navigation (VISNAV) problem as zero-mean Gaussian noise. Two different simulations are carried out to study the effects of this noise on the estimation of a vehicle's position and attitude. The first simulation incorporates the Levenberg-Marquardt (LM) algorithm and the Monte Carlo method together to study the effects of beacon location variation on position and attitude estimation. The second simulation is time-based in nature and incorporates both the LM algorithm and the Gaussian Least Squares Differential-Correction (GLSDC) algorithm together to estimate both position and attitude for two different geometrical situations. A derivation of a measurement-error covariance matrix and incorporation of this covariance matrix into the estimation routine through the weighting matrix is presented in this thesis. The measurement-error covariance matrix accounts for the nonlinear noise addition of the beacon location variation for the measurement model of the VISNAV system.

ISBN: 0542168944Subjects--Topical Terms:

783786
Engineering, Mechanical.

Sensitivity study: The effects of beacon location errors on a vehicle's position and attitude estimation for a vision-based navigation system.
LDR:03003nmm 2200301 4500 001 1819289
005 20061004161559.5
008 130610s2005 eng d
020 $a 0542168944
035 $a (UnM)AAI1426777
035 $a AAI1426777
040 $a UnM $c UnM
100 1 $a Haas, Brian Michael. $3 1908578
245 1 0 $a Sensitivity study: The effects of beacon location errors on a vehicle's position and attitude estimation for a vision-based navigation system.
300 $a 95 p.
500 $a Source: Masters Abstracts International, Volume: 44-01, page: 0524.
500 $a Adviser: John L. Crassidis.
502 $a Thesis (M.S.)--State University of New York at Buffalo, 2005.
520 $a A sensitivity study is conducted for this thesis work where the effects of beacon location errors on the estimation of a vehicle's position and attitude are examined. Beacon location variation is introduced into the standard vision-based navigation (VISNAV) problem as zero-mean Gaussian noise. Two different simulations are carried out to study the effects of this noise on the estimation of a vehicle's position and attitude. The first simulation incorporates the Levenberg-Marquardt (LM) algorithm and the Monte Carlo method together to study the effects of beacon location variation on position and attitude estimation. The second simulation is time-based in nature and incorporates both the LM algorithm and the Gaussian Least Squares Differential-Correction (GLSDC) algorithm together to estimate both position and attitude for two different geometrical situations. A derivation of a measurement-error covariance matrix and incorporation of this covariance matrix into the estimation routine through the weighting matrix is presented in this thesis. The measurement-error covariance matrix accounts for the nonlinear noise addition of the beacon location variation for the measurement model of the VISNAV system.
520 $a Simulation results show that incorporating the measurement-error covariance matrix into the estimation routine improves the vehicle's position and attitude estimates for the Monte Carlo simulation and the time simulations. The study looks at the calculation of the measurement-error covariance matrix using the state estimates instead of the true values for the simulation. Results show that there are no significant differences with calculating the measurement-error covariance matrix using the state estimates or the true values. This valuable result shows that the measurement-error covariance matrix can be employed in the estimation algorithm for a real-time system where the vehicle's true position and attitude are not known and the only valuable information available is the state estimates.
590 $a School code: 0656.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, System Science. $3 1018128
650 4 $a Engineering, Aerospace. $3 1018395
690 $a 0548
690 $a 0790
690 $a 0538
710 2 0 $a State University of New York at Buffalo. $3 1017814
773 0 $t Masters Abstracts International $g 44-01.
790 1 0 $a Crassidis, John L., $e advisor
790 $a 0656
791 $a M.S.
792 $a 2005
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1426777