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Accession Number ADA562501
Title Automated Aerial Refueling Position Estimation Using a Scanning LiDAR.
Publication Date Mar 2012
Media Count 114p
Personal Author I. J. Curro
Abstract This research examines the application of using a scanning Light Detection and Ranging(LiDAR) to perform Automated Aerial Refueling(AAR). Speci cally this thesis presents two algorithms to determine the relative position between the tanker and receiver aircraft. These two algorithms require a model of the tanker aircraft and the relative attitude between the aircraft. The rst algorithm ts the measurements to the model of the aircraft using a modi ed Iterative Closest Point (ICP) algorithm. The second algorithm uses the model to predict LiDAR scans and compare them to actual measurements while perturbing the estimated location of the tanker. Each algorithm was tested with simulated LiDAR data before real data became available from test ights. The data collected from this test ight was used to determine the accuracy of the two algorithms with real LiDAR data. After correcting for modeling errors the accuracy of each algorithm is about a Mean Radial Spherical Error of 40cm.
Keywords Accuracy
Air force research
Aircraft models
Algorithms
Flight testing
Functional analysis
Iterative closest point
Optical radar
Optical scanning
Refueling in flight
Tanker aircraft
Theses
Transformations


 
Source Agency Non Paid ADAS
NTIS Subject Category 51B - Aeronautics
63C - Infrared & Ultraviolet Detection
Corporate Author Air Force Inst. of Tech., Wright-Patterson AFB, OH. Graduate School of Engineering and Management.
Document Type Thesis
Title Note Master's thesis.
NTIS Issue Number 1225
Contract Number DACA99-99-C-9999

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