• Login
    View Item 
    •   SMARTech Home
    • Georgia Tech Theses and Dissertations
    • Georgia Tech Theses and Dissertations
    • View Item
    •   SMARTech Home
    • Georgia Tech Theses and Dissertations
    • Georgia Tech Theses and Dissertations
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Modularized filtering for navigation

    Thumbnail
    View/Open
    MACCHIAROLI-THESIS-2017.pdf (12.76Mb)
    Date
    2017-04-28
    Author
    Macchiaroli, Dominic James
    Metadata
    Show full item record
    Abstract
    This thesis presents a modular navigation filtering framework specialized for use in a research and development environment. The developed framework emphasizes flexibility and modularity of filter components over computational performance in order to minimize the engineering work required to reconfigure the design for a new application. Modularization is accomplished by exploiting the natural mathematical interfaces of the Kalman Filter and related variants, while exercising the design discipline to truly maintain filter component separation. This approach results in a framework that retains compatibility with many Kalman Filter variants as well as different system models. The filter framework is qualitatively tested with simple system and sensor model implementations in two types of Monte Carlo simulation. The first set of tests utilizes trajectory data generated from a crude random walk model to check system stability and tuning. The second set of tests evaluates system performance using more realistic trajectory data generated with the X-Plane flight simulator. The test results demonstrate adequate performance of the simple models and overall viability of the design. Lastly, several improvements are proposed to increase the utility of the framework.
    URI
    http://hdl.handle.net/1853/58344
    Collections
    • Georgia Tech Theses and Dissertations [23877]
    • School of Electrical and Computer Engineering Theses and Dissertations [3381]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    facebook instagram twitter youtube
    • My Account
    • Contact us
    • Directory
    • Campus Map
    • Support/Give
    • Library Accessibility
      • About SMARTech
      • SMARTech Terms of Use
    Georgia Tech Library266 4th Street NW, Atlanta, GA 30332
    404.894.4500
    • Emergency Information
    • Legal and Privacy Information
    • Human Trafficking Notice
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    © 2020 Georgia Institute of Technology