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Showing result 11 - 15 of 26 essays matching the above criteria.

  1. 11. Attitude Navigation using a Sigma-Point Kalman Filter in an Error State Formulation

    University essay from KTH/Rymd- och plasmafysik

    Author : Periklis-Konstantinos Diamantidis; [2017]
    Keywords : unscented Kalman filtering; information ltering; quaternions; attitude navigation; gyroscope modelling; error state formulation; sensor fusion;

    Abstract : Kalman filtering is a well-established method for fusing sensor data in order to accuratelyestimate unknown variables. Recently, the unscented Kalman filter (UKF) has beenused due to its ability to propagate the first and second moments of the probability distribution of an estimated state through a non-linear transformation. READ MORE

  3. 12. Model-Based Design, Development and Control of an Underwater Vehicle

    University essay from Linköpings universitet/Reglerteknik

    Author : Adam Aili; Erik Ekelund; [2016]
    Keywords : Model; Design; Development; Control; Underwater; Underwater vehicle; BlueROV; ROV; Fossen; Modelling; Parameter Estimation; Prediction-error method; Extended Kalman filter; EKF; Feedback linearisation; Attitude controller; Angular velocity controller;

    Abstract : With the rising popularity of ROVs and other UV solutions, more robust and high performance controllers have become a necessity. A model of the ROV or UV can be a valuable tool during control synthesis. The main objective of this thesis was to use a model in design and development of controllers for an ROV. READ MORE

  4. 13. A Comparison of Rotation Parameterisations for Bundle Adjustment

    University essay from Umeå universitet/Institutionen för datavetenskap

    Author : Nuerrennisahan Aimaiti; [2015]
    Keywords : ;

    Abstract : Bundle Adjustment is an iterative process where 3D information is estimated from 2D image measurements. Typically, the position of object points are estimated simultaneously with the position and orientation of the cameras. READ MORE

  5. 14. Design, Modeling and Control of an Octocopter

    University essay from KTH/Optimeringslära och systemteori

    Author : Oscar Oscarson; [2015]
    Keywords : ;

    Abstract : This master’s thesis project from the Department of Mathematics at KTH, Royal Institute of Technology, Stockholm, Sweden was carried out at Saab Dynamics, Linköping, Sweden. In this thesis, an octocopter was studied, which is a multirotor vehicle, a rotorcraft with more than two rotors. READ MORE

  6. 15. Circumnavigation with a group of quadrotor helicopters

    University essay from KTH/Reglerteknik

    Author : Johanna Orihuela Swartling; [2014]
    Keywords : ;

    Abstract : The primary goal of this thesis has been to implement Collective Circumnavigation. Given a group of unmanned aerial vehicles (UAVs) and the position of a target, the UAVs should approach the target and start circulating around it at a desired distance while forming a regular polygon. READ MORE