Skip to Main Content
 

Global Search Box

 
 
 
 

Files

File List


thesis.pdf (18.46 MB)

ETD Abstract Container

Abstract Header

Development of a Low-Cost Solution for the Navigation of UAVs in GPS-Denied Environment

Ashraf, Shahrukh
http://rave.ohiolink.edu/etdc/view?acc_num=toledo1470181376

Abstract Details

2016, Master of Science, University of Toledo, Electrical Engineering.
Navigation is one of the most crucial tasks of an autonomous unmanned aerial vehicle (UAV). The ability of a UAV to navigate and fly precisely determines its utility and performance. The current navigation systems rely heavily on the Global Positioning System (GPS) and are prone to error because of GPS signal outages. However, advancements in onboard processing power have enabled inertial navigation algorithms to perform well during short GPS outages. This thesis proposes intelligent algorithms to provide the navigation capability during long GPS outages and through GPS-denied environments using optical flow and inertial sensors. Traditional optical flow measurement uses block matching for motion vector calculation that makes the measurement task computationally expensive and slow. This thesis proposes the application of artificial bee colony based block matching for faster optical flow measurement. To make the fusion of optical flow data with inertial sensors efficient, a modified form of Extended Kalman Filter (EKF) is employed. The modifications make the filter less noisy by dynamically assigning weights to multiple sensors. A high accuracy of approximately 95 percent for non-GPS navigation during experiments is achieved.
Hong Wang (Committee Chair)
Devabhaktuni Vijay (Committee Co-Chair)
Niamat Mohammed (Committee Member)
Javaid Ahmad (Committee Member)
96 p.
Electrical Engineering
Optical Flow sensor, Inertial Navigation System, UAV navigation, Navigation without GPS

Recommended Citations

Citations

  • Ashraf, S. (2016). Development of a Low-Cost Solution for the Navigation of UAVs in GPS-Denied Environment [Master's thesis, University of Toledo]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1470181376

    APA Style (7th edition)

  • Ashraf, Shahrukh. Development of a Low-Cost Solution for the Navigation of UAVs in GPS-Denied Environment. 2016. University of Toledo, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=toledo1470181376.

    MLA Style (8th edition)

  • Ashraf, Shahrukh. "Development of a Low-Cost Solution for the Navigation of UAVs in GPS-Denied Environment." Master's thesis, University of Toledo, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1470181376

    Chicago Manual of Style (17th edition)

toledo1470181376
432
© 2016, some rights reserved.Creative Commons License Development of a Low-Cost Solution for the Navigation of UAVs in GPS-Denied Environment by Shahrukh Ashraf is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by University of Toledo and OhioLINK.