Date of Award
Spring 2024
Access Type
Thesis - Open Access
Degree Name
Master of Science in Aerospace Engineering
Department
Aerospace Engineering
Committee Chair
Hever Moncayo
First Committee Member
Richard Prazenica
Second Committee Member
Richard Stansbury
College Dean
James W. Gregory
Abstract
In the modern world, various missions are being carried out under the assistance of autonomous flight vehicles due to their ability to operate in a wide range of flight conditions. Regardless, these autonomous vehicles are prone to GPS signal loss in urban environments due to obstructions that cause scintillation, multi-path, and shadowing. These effects that decrease the GPS functionality can deteriorate the accuracy of GPS positioning causing losses in signal tracking leading to a decrease in navigation performance. These effects are modeled into the simulation environment and are used as part of the path planning algorithm to provide better navigation strategies. This thesis aims to provide an implementation of A* algorithm in combination with RRT* path planning algorithm to detect and avoid areas with degraded GPS signals. The trajectory generation will consider a quadcopter vehicle dynamics when generating paths. A model of the quadcopter is used to illustrate the validation of this approach in a simulation environment with the GPS model integrated.
Scholarly Commons Citation
Raminedi, Ayush, "Implementation Of Path Planning Methods To Detect And Avoid GPS Signal Degradation In Urban Environments" (2024). Doctoral Dissertations and Master's Theses. 808.
https://commons.erau.edu/edt/808
Included in
Aeronautical Vehicles Commons, Aviation Safety and Security Commons, Navigation, Guidance, Control and Dynamics Commons, Robotics Commons
