Date of Award
Master of Science
Department of Electrical and Computer Engineering
Scott Nykl, PhD.
This paper describes the design of an EKF to obtain the precise relative position of two aircraft in a refueling maneuver while operating in GPS denied environments. The EKF uses the INS already present in both aircraft as well as the stereo camera system organic to new tanker systems. The aircraft trajectories are generated according to authentic refueling profiles with flight dynamics software and executed in a 3D virtual environment to enable deterministic simulation of the stereo camera system and to demonstrate the effectiveness of the combined system in a refueling scenario. Results show the system can achieve sufficient accuracy utilizing only SMV and INS measurements, though the system is capable of incorporating GPS measurements when available for an additional increase in accuracy.
DTIC Accession Number
Johnson, Daniel T., "Combined Stereo Vision and Inertial Navigation for Automated Aerial Refueling" (2017). Theses and Dissertations. 1577.