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Ryan Lamoreaux

Impacts of Distributions and Trajectories
on Navigation Uncertainty Using Line of Sight Measurements to
Known Landmarks in GPS-Denied Environments

Thursday, September 21
9:00 AM • ENLAB 149B (ECE Conference Room)

Ryan Lamoreaux

Thesis Defense
Candidate for Masters in Electric Engineering

Advisor - Rajnikant Sharma

Electrical and Computer Engineering Utah State University


To date, Global Positioning Systems (GPS) occupy a crucial place in most navigation systems. Because reliable GPS is not universally available, navigation within GPS-denied environments is an area of deep interest in both military and civilian applications. Image-aided inertial navigation is one alternative navigational solution in GPS-denied environments. One form of image-aided navigation measures the bearing from the vehicle to a feature or landmark of known location using a monocular imager to deduct information about the vehicle's position and attitude. This work uncovers and explores several impacts of trajectories and feature distributions on the navigation information gained from this type of aiding measurement. In order to do so, a quadrotor system model is first presented. This model is implemented and then used to produce sensor data for several trajectories of varying shape and altitude. Next, navigation data is produced by running the sensor data through an Extended Kalman Filter (EKF). The patterns in this data are then categorized and presented. Finally, an equation describing the quantity of information in each measurement is derived and presented. The resulting equation is then used to explain some of the patterns in the data. Other uses of this equation are presented, including applications to path planning.