Implementation of a 3D Imaging Sensor Aided Inertial Measurement Unit Navigation System

 
 
 
 

Implementation of a 3D Imaging Sensor Aided Inertial Measurement Unit Navigation System

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dc.contributor.advisor Uijt de Haag, Maarten en_US
dc.contributor.author Venable, Donald T. en_US
dc.date.accessioned 2009-04-10T09:57:58Z
dc.date.available 2009-04-10T09:57:58Z
dc.date.created 2008 en_US
dc.date.issued 2009-04-10T09:57:58Z
dc.identifier.uri http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1218764810 en_US
dc.identifier.uri http://hdl.handle.net/2374.OX/108421
dc.description This thesis describes an implementation of a 3D imaging sensor aided Inertial Measurement Unit navigation system. The thesis describes previous efforts in the area of alternative navigation, and describes current 3D imaging navigation techniques. The thesis then describes a method of extracting planar surfaces from acquired 3D data. Also described is methodology describing the association of planar surfaces between 3D camera frames. The method of calculating a position solution from extracted and associated planar surfaces is described, along with the implementation of a complimentary Kalman filter to provide a tightly integrated navigation solution between the 3D imaging sensor and the Inertial Measurement Unit. Two tests were performed with the proposed methodology, and an accurate navigation solution was demonstrated to be obtainable. en_US
dc.format application/pdf en_US
dc.format 111p. en_US
dc.rights unrestricted en_US
dc.rights Copyright and permissions information available at the source archive en_US
dc.subject Flash Lidar en_US
dc.subject histogramming en_US
dc.subject navigation en_US
dc.subject feature extraction en_US
dc.subject feature association en_US
dc.subject en_US
dc.title Implementation of a 3D Imaging Sensor Aided Inertial Measurement Unit Navigation System en_US
dc.type Electronic Thesis or Dissertation en_US
dc.degree.name MS en_US
dc.degree.level masters en_US
dc.degree.discipline Electrical Engineering (Engineering and Technology) en_US
dc.degree.grantor Ohio University en_US
dc.contributor.publisher Ohio University / OhioLINK en_US

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