Global Positioning System (GPS) has been used as a primary source of navigation in land
and airborne applications. However, challenging environments cause GPS signal blockage …

The Global Positioning System (GPS) is a satellite-based radio navigation system that has
been used for the last two decades as a primary source of navigation information in …

Large systems are typically partitioned into many subsystems to reduce computational load.
For this reason, the Interlaced Extended Kalman Filter (IEKF) was created, in which each …

A crucial task for automatic explorations is the ability for a robot to real-time estimate its
position in an unknown environment. To this end, the robot is required to simultaneously …

In this paper, we present a novel algorithm for implementing linear time invariant controllers
in computationally constrained environments. The algorithm transforms a linear time …

In recent years, there have been improvements in the methods of obtaining fluid dynamic
data, which has led to the generation of vast amounts of data. Extracting the useful …

The two main challenges offered by Simultaneous Localization and Mapping (SLAM) are
that of observability and extending state estimation to exploration. This thesis explores and …

There are several algorithms for optimal fusion of GNSS and INS data, the major ones being
various forms of Kalman filter (KF), particle filter (PF) and artificial intelligence (AI) …

A structure-from-motion implementation for enclosed environments is presented. The
various aspects covered include a discussion on optimised luminance computations—a …