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A signal-processing approach to terrain following for remote-sensing remotely piloted aerial systems

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dc.contributor.author Skelly, Robert Mark William
dc.date.accessioned 2020-03-20T01:11:16Z
dc.date.available 2020-03-20T01:11:16Z
dc.date.copyright 2020 en_US
dc.date.issued 2020-03-19
dc.identifier.uri http://hdl.handle.net/1828/11630
dc.description.abstract Recent advances in technology have enabled an explosion of interest in compact remotely piloted aerial systems (RPAS). RPAS are of particular interest to remote sensing scientists, as they provide an accessible, low-cost way to perform surveys over small sites at extremely high levels of detail. The interaction between low flight altitude and high relative terrain relief introduces safety, efficiency and data-quality issues which can only be resolved by closely following the terrain. A terrain following system would ensure that specific measures of data quality -- point density, the signal-to-noise ratio and scale distortion -- are held as near as possible to constant. Safety and efficiency would be addressed by ensuring that a terrain following trajectory does not contain gradients or inflections that exceed the vehicle's dynamic limits, in particular its maximum acceleration and velocity. This research develops a forward-looking, predictive terrain following system using a signal-processing approach, in which the terrain itself is conceived as a signal and filtered appropriately to extract a trajectory which achieves these objectives. en_US
dc.language English eng
dc.language.iso en en_US
dc.rights Available to the World Wide Web en_US
dc.subject remote sensing en_US
dc.subject remotely piloted aerial system en_US
dc.subject rpas en_US
dc.subject unmanned aerial vehicle en_US
dc.subject uav en_US
dc.subject lidar en_US
dc.subject hyperspectral en_US
dc.subject savitzky-golay en_US
dc.subject signal processing en_US
dc.title A signal-processing approach to terrain following for remote-sensing remotely piloted aerial systems en_US
dc.type Thesis en_US
dc.contributor.supervisor Niemann, K. O.
dc.degree.department Department of Geography en_US
dc.degree.level Master of Science M.Sc. en_US
dc.description.scholarlevel Graduate en_US


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