Date of Award
Master of Science
Department of Electrical and Computer Engineering
Clark N. Taylor, PhD
This research investigates the possibility of using the communication link between a mothership and daughter-ship UAV and an Extended Kalman Filter algorithm as a replacement of GPS, assuming a ranging link exists between the mothership and daughter-ship and that the mothership is GPS-enabled. A simulation study examines the viability of the approach and the effect of parameters such as distance, altitude, roll angle, speed, ranging sensor noise, and inertial measurement unit uncertainty were considered. The magnitude of the errors between predicted and measured position were examined and a range of acceptable flight parameters was formed.
DTIC Accession Number
Jacquin, Ethan W., "GPS-Denied Localization of Daughter-Ships in a Mother-Daughter Ship Collaborative Environment" (2021). Theses and Dissertations. 4989.