Projects

Primary Research Projects:



  1. Graph Based GNSS Signal Processing

    Sponsor: Air Force AFRL/RY through Mac-B

    Synopsis: The objective of this work is to see how recent advances within the graph optimization community can be leveraged for GNSS signal processing.

    Related Publications:

    ◍ Robust Navigation in GNSS Degraded Environment Using Graph Optimization. ION GNSS+ 2017

    Coming Soon:

    ◍ Evaluation of Precise Point Positioning Convergence with an Incremental Graph Optimizer. ION/IEEE PLANS 2018

    ◍ Robust GNSS Localization Without An Accurate Measurement Covariance Model. ION GNSS+ 2018



  2. INSIGHTS: Inertial Navigation Systems Integrated into the GIPSY-OASIS for High-Accuracy Tightly Coupled Solutions

    Sponsor: NASA Jet Propulsion Laboratory

    Synopsis: The objective of this work is to add inertial navigation system capability into JPL's state-of-the-art GNSS processing software, Real-Time GIPSY-X.

    Related Publications:

    ◍ Integration of Inertial Navigation into Real-Time GIPSY-X (RTGx)

    ◍ Characterization of Tightly-Coupled GNSS Precise Point Positioning Inertial Navigation within a Simulation Environment

    ◍ Precise Point Positioning Inertial Navigation Integration for Kinematic Airborne Applications

    ◍ Flight Data Assessment of Tightly-Coupled PPP/INS using Real-Time Products





Additional Projects:



  1. Fast Traversing Autonomous Rover for Mars Sample Collection

    Sponsor: NASA

    Synopsis: The objective of this work is to develop and experimentally validate key technologies needed for autonomous rover traversing on Mars analog terrains

    Contribution: My primary contribution is through the development of state estimation and navigation software



  2. Precision Pollination Robot

    Sponsor: National Robotics Initiative

    Synopsis: The objective of this work is to develop and experimentally validate the effectiveness of a robot to pollinate brambles in a greenhouse environment

    Contribution: My primary contribution is through the development of state estimation and navigation software. Below is an example of our robotic platform performing real-time SLAM in a structured environment --- one similar to a greenhouse.




  3. Sample Return Robot Centennial Challenge

    Sponsor: NASA

    Synopsis: The objective of this work was to design and implemented an autonomous rover with the capability to locate and retrieve specific sample types from various locations over a wide and varied terrain and return those samples to a designated zone in a reasonable amount of time without using Earth based technologies.

    Contribution: My primary contribution for the first year of the project was through the development and testing of algorithms to detect, classify, and track potential objects of interest.