Date of Award


Document Type


Degree Name

Master of Science


Department of Electrical and Computer Engineering

First Advisor

Michael J. Veth, PhD.


This thesis documents the development of the Vision-Aided Navigation using Statistical Predictive Rendering (VANSPR) algorithm which seeks to enhance the endgame navigation solution possible by inertial measurements alone. The eventual goal is a precision weapon that does not rely on GPS, functions autonomously, thrives in complex 3-D environments, and is impervious to jamming. The predictive rendering is performed by viewpoint manipulation of computer-generated of target objects. A navigation solution is determined by an Unscented Kalman Filter (UKF) which corrects positional errors by comparing camera images with a collection of statistically significant virtual images. Results indicate that the test algorithm is a viable method of aiding an inertial-only navigation system to achieve the precision necessary for most tactical strikes. On 14 flight test runs, the average positional error was 166 feet at endgame, compared with an inertial-only error of 411 feet.

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DTIC Accession Number