Date of Award:

Spring 2017

Document Type:

Thesis

Degree Name:

Master of Science (MS)

Department:

Electrical and Computer Engineering

Advisor/Chair:

Rajnikant Sharma

Abstract

The goal of this thesis is to extend the delayed Kalman filter so it can be used with non-linear systems and that it can handle randomized delays on the measurements. In the particular case of this study, the filter is used to estimates the states of an unmanned aerial system. The outputs of the filter are used to point an antenna and a camera towards a UAS. Different scenarios are simulated for the purpose of comparing the efficiency of this technique in various situations.

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