Global ETD Search

1	Urban Terrain Multiple Target Tracking Using the Probability Hypothesis Density Particle Filter January 2011 (has links) abstract: The tracking of multiple targets becomes more challenging in complex environments due to the additional degrees of nonlinearity in the measurement model. In urban terrain, for example, there are multiple reflection path measurements that need to be exploited since line-of-sight observations are not always available. Multiple target tracking in urban terrain environments is traditionally implemented using sequential Monte Carlo filtering algorithms and data association techniques. However, data association techniques can be computationally intensive and require very strict conditions for efficient performance. This thesis investigates the probability hypothesis density (PHD) method for tracking multiple targets in urban environments. The PHD is based on the theory of random finite sets and it is implemented using the particle filter. Unlike data association methods, it can be used to estimate the number of targets as well as their corresponding tracks. A modified maximum-likelihood version of the PHD (MPHD) is proposed to automatically and adaptively estimate the measurement types available at each time step. Specifically, the MPHD allows measurement-to-nonlinearity associations such that the best matched measurement can be used at each time step, resulting in improved radar coverage and scene visibility. Numerical simulations demonstrate the effectiveness of the MPHD in improving tracking performance, both for tracking multiple targets and targets in clutter. / Dissertation/Thesis / M.S. Electrical Engineering 2011 Electrical Engineering Urban Terrain Multiple Target Tracking
2	Gpu Ray Traced Rendering And Image Fusion Based Visualization Of Urban Terrain For Enhanced Situation Awareness Sik, Lingling 01 January 2013 (has links) Urban activities involving planning, preparing for and responding to time critical situations often demands sound situational awareness of overall settings. Decision makers, who are tasked to respond effectively to emergencies, must be equipped with information on the details of what is happening, and must stay informed with updates as the event unfolds and remain attentive to the extent of impact the dynamics of the surrounding settings might have. Recent increases in the volumes of geo-spatial data such as satellite imageries, elevation maps, street-level photographs and real-time imageries from remote sensory devices affect the way decision makers make assessments in time-critical situations. When terrain related spatial information are presented accurately, timely, and are augmented with terrain analysis such as viewshed computations, enhanced situational understanding could be formed. Painting such enhanced situational pictures, however, demands efficient techniques to process and present volumes of geo-spatial data. Modern Graphics Processing Units (GPUs) have opened up a wide field of applications far beyond processing millions of polygons. This dissertation presents approaches that harness graphics rendering techniques and GPU programmability to visualize urban terrain with accuracy, viewshed analysis and real-time imageries. The GPU ray tracing and image fusion visualization techniques presented herein have the potential to aid in achieving enhanced urban situational awareness and understanding. Current state of the art polygon based terrain representations often use coarse representations for terrain features of less importance to improve rendering rate. This results in reduced geometrical accuracy for selective terrain features that are considered less critical to the visualization or simulation needs. Alternatively, to render highly accurate urban terrain, considerable computational effort is needed. A compromise between achieving real-time rendering rate and iv accurate terrain representations would have to be made. Likewise, computational tasks involved in terrain-related calculations such as viewshed analysis are highly computational intensive and are traditionally performed at a non-interactive rate. The first contribution of the research involves using GPU ray tracing, a rendering approach, conventionally not employed in the simulation community in favor of rasterization, to achieve accurate visualization and improved understanding of urban terrain. The efficiency of using GPU ray tracing is demonstrated in two areas, namely, in depicting complex, large scale terrain and in visualizing viewshed terrain effects at interactive rate. Another contribution entails designing a novel approach to create an efficient and real-time mapping system. The solution achieves updating and visualizing terrain textures using 2D georeferenced imageries for enhanced situational awareness. Fusing myriad of multi-view 2D inputs spatially for a complex 3D urban scene typically involves a large number of computationally demanding tasks such as image registrations, mosaickings and texture mapping. Current state of the art solutions essentially belongs to two groups. Each strives to either provide near real-time situational pictures in 2D or off-line complex 3D reconstructions for subsequent usages. The solution proposed in this research relies on using prior constructed synthetic terrains as backdrops to be updated with real-time geo-referenced images. The solution achieves speed in fusing information in 3D. Mapping geo-referenced images spatially in 3D puts them into context. It aids in conveying spatial relationships among the data. Prototypes to evaluate the effectiveness of the aforementioned techniques are also implemented. The benefits of augmenting situational displays with viewshed analysis and real-time geo-referenced images in relation to enhancing the user's situational awareness are also evaluated. Preliminary results v from user evaluation studies demonstrate the usefulness of the techniques in enhancing operators' performances, in relation to situational awareness and understanding. Modeling and simulation urban terrain database visualization Engineering
3	Stridsvagnar i urban miljö : Ställer användning av stridsvagnssystemet i urban miljö nya krav på systemet? / Tanks in urban terrain : Sets the use of tanks in urban terrain new demands on the system? Geranpayeh, Sam January 2011 (has links) Den svenska Försvarsmakten (FM) har förändrats och gått ifrån invasionsförsvar till insatsförsvar, detta har lett till att FM fokuserar på insatser utomlands och hotet skiljer sig insatser emellan. De konflikter som är aktuella idag och där de svenska styrkorna bidrar med resurser utspelar sig i länder där urban miljö med lågteknologisk motståndare förekommer. Motståndaren har med tiden lärt sig att hantera strider i urban miljö och uppträder i alla dimensioner. Man anser att strid i denna typ av miljö kommer att öka i framtiden. Stora nationer har stridit i urban miljö med framgång. Med tanke på var vi befinner oss idag när det gäller insatser av varierande grad har hotet ökat mot våra trupper vilket i sin tur har lett till ett större behov av skydd. Syftet med arbetet är att genom en kvalitativ textanalys (som är studiens tyngdpunkt) och en modellstudie påvisa hur man kan möta det nya hotet i urban terräng med hjälp av tekniska anpassningar på tyngre fordon som stridsvagnar. Under den beskrivande delen beskrivs hotbilden idag, erfarenheter från olika krig där stridsvagnar har nyttjats och stridsvagnens sårbarhet i urban miljö. Därefter behandlar modellstudien en tänkbar miljö och hot i syfte att ta fram den mest fördelaktiga anpassningen för att möta det nya hotet som utspelar sig i alla dimensioner. Resultatet visar att det största hotet som våra trupper utsätts för är den typ av hot där motståndare strävar efter att strida i urban miljö. Undersökningen visar att vi idag behöver mer skydd i form av pansar och de svenska stridsvagnarna behöver anpassas med olika system för att kunna möta dessa nya hot. / The Swedish Armed Forces (SAF) is currently in a phase of evolution transferring from being an old strategic defense to an expeditionary force. The SAF has forces deployed in several locations all over the world and the threat they meet is different from place to place, the conflicts often conducted by low-tech insurgents in urban terrain.The insurgents have learned how to fight in urban terrain and can operate in every dimension of the battlefield. It is believed that the battle in this type of environment will increase in future. Being where we are today in terms of operations the threat against our troops has increased which has led us to a greater need for protection.The purpose of this paper is that using a qualitative textual analysis and a model study to show how the new threat can be met in urban terrain with the help of technical adjustments on heavy vehicles such as tanks. At first the writer will describe the threat that is common in urban terrain today. Then the lessons learned from wars where tanks have been used and later on the tank’s vulnerability in urban terrain will be described. Thereafter, the model study will elaborate a potential environment and threat in order to highlight the most advantageous adjustment for tanks to meet the new threat.The result shows that the greatest threat that our troops are exposed to today is; battles that takes place in urban terrain. The study shows that we need more protection in form of armour. The Swedish tanks should be adapted with different systems to meet today’s threat in the urban terrain. Leopard II urban terrain Stridsvagn 122 urban miljö Strid i bebyggelse
4	Förluster och stridsavstånd vid övningar för SIB Olin, Max January 2020 (has links) The significance of urban areas for military operations is increasing due to the proliferation of cities and the amount of people living in them; armed forces must, to a higher degree, fight in these urban areas in the future. This essay highlights that, despite the increasing importance of urban areas for armed forces, there is a lack of developed theory regarding how armed forces fight in urban areas and how tactics, techniques, and procedures result in casualties. Using previous research on urban warfare, this essay posits three hypotheses and applies these on exercises from the Swedish Armed Forces’ training area for military operations in urban terrain. The results show that mortars are responsible for a large number of the casualties incurred during the exercises. When exercises involve vehicles the combat ranges, at which casualties are suffered, are longer in comparison to exercises without vehicles. A small percentage of casualties are suffered in close-quarters combat. Finally, the essay elaborates on the meaning of the results and offer some possible explanations that also are suitable for further research. It concludes that further research is warranted, especially regarding close-quarters combat and the use of hand grenades. SIB förluster stridsavstånd STA MOUT vapensystem military operations urban terrain Other Social Sciences Annan samhällsvetenskap
5	Förbättrat hörande, förbättat övane, förbättrat stridande : En analys av hur artificiellt ljud kan användas för att öka realismen vid stridsträning. / Improved hearing, improved training, improved warfighting Eriksson, Lars January 2011 (has links) Saab Training Systems är ett företag i Saab-koncernen som utvecklar, tillverkar och marknadsför produkter för militär utbildning. Ett av de centrala systemen i företagets produktportfölj är det instrumenterade stridsträningskonceptet GAMER, i vilket soldater kan öva dubbelsidig träning samtidigt som övningsledningen via ett centralt styrsystem kan övervaka och interagera i övningsförloppet. I och med den övergång som skett i många av världens försvarsmakter, från ett tungt territorialförsvar till ett välutbildat insatsförsvar har kraven på den enskilda soldatens förmågor höjts avsevärt. Samtidigt har det även skett en övergång gällande den generella hotbilden, från att tidigare ha utgjorts av en annan militärmakt, till paramilitära grupperingar som ofta bedriver en gerillaliknande krigsföring. Dessa två faktorer innebär att även förutsättningarna för soldatutbildningen har förändrats. Som ett led i anpassningen till dessa förändringar utreds i denna rapport möjligheterna att utveckla soldaternas audiella upplevelse i GAMER. Detta för att skapa ökade förutsättningar för en komplett upplevelsebaserad inlärning, som inte bara övar soldatens förmåga att använda sig av den taktiska information som ljudbilden förmedlar, utan även förbereder soldaterna på bästa sätt för den främmande miljö som dagens militära insatser ofta innebär. Inledningsvis genomförs en ljudcentrerad användningsfallsanalys av en uppsättning grundläggande övningsscenarion. Genom denna analys skapas en uppfattning om vilka ljud som är önskvärt att kunna reproducera i ett träningssystem. Detta jämförs sedan med de ljudåtergivningsfunktioner som redan finns i GAMER för att därmed kunna utröna vilka kompletterande ljudåtergivningsfunktioner som skulle vara önskvärt att införa i systemet. För att skapa maximala förutsättningar för en sådan vidareutveckling genomförs även en aktör-nätverksanalys på det sociotekniska nätverk som GAMER är en del av. Detta ökar möjligheten att framställa en produkt som inte bara är en teknikdeterministisk härledning, utan även tar hänsyn till faktorer som utvecklings- och produktionskostnad, intern know-how, kundkrav och konkurrenssituationen. Slutligen presenteras ett förslag för den fortsatta utvecklingen, som tagits fram utifrån de explicita och implicita krav som identifierats i analysprocessen. Lösningen som förordas är ett dynamiskt ljudstyrsystem som med indata från redan existerande funktioner i GAMER kan projicera artificiella ljudkällor på övningsområdet. Detta åstadkoms med ljudkanaler på fasta positioner på övningsområdet från vilka ljudkällorna reproduceras genom användning av vedertagen ljudåtergivningsteori. I förslaget ingår även en egenkonstruerad vidareutveckling av stereopanoreringstekniken vilken möjliggör ljudåtergivning för multipla rörliga övningsdeltagare. / The aim of this thesis is to investigate the possibilities to extend the use of artificial sound in the GAMER Combat Training System. This in order to enhance the experience based learning, which in turn will result in a better preparation for live missions and also increase the commercial value of the training system. The study is executed through a use case analysis of a set of basic urban combat training exercises to establish which sounds are desired to reproduce a realistic training environment. The result of the use case analysis is then compared with the present audio functionality of the system in order to determine which functions are in need of improvement or to be added. To create optimal conditions for the implementation of an enhanced audio functionality, further an actor-network theory based analysis was conducted on the socio-technical network surrounding the GAMER system. By doing this, not only the technical aspects was taken account for, but also factors s such as customer needs, internal interests and competing companies which all are certain to have an impact of the developmental process and thereby the success of the outcome. Finally an outline is presented for the continued development, which is compiled from the explicit and implicit requirements identified in the empirical analysis. The proposed solution is a dynamic audio control system which uses already existing input functions in order to project artificial sound sources on arbitrary positions within the training area. The projections are produced from static audio channels placed on strategic positions, using well-recognized theories for spatial sound restoration. The proposition also includes a further development of the stereo panning theory to enable realistic sound projections for multiple mobile exercise participants. Military operations in urban terrain combat training artificial sounds Militära operationer i urban terräng stridsträning artificiell ljudbild Information Systems
6	Strid i bebyggelse - Vilka faktorer möjliggör framgång Rask, Lars January 2018 (has links) Världen globaliseras och urbaniseras i en allt högre takt vilket innebär utmaningar för framtida försvarsmakter. Försvarsmakterna kommer mer frekvent att få lösa militära operationer genom strid i bebyggelse (SIB). Denna undersöknings ansats är att pröva Alice Hills teori om framgångsfaktorer som analyserats fram ur krigshistoriens militära operationer i kontexten SIB. Hills argumenterar för en mängd framgångsfaktorer. Denna undersökning prövar faktorerna utbildningsståndpunkt/stridserfarenhet, tillgång till infanteriförband, nyttjande av indirekt bekämpning och tredje parts inverkan på operationer. Dessa faktorer prövas i en jämförande fallstudie av operationerna i Fallujah 2004 Operation Vigilant Resolve (misslyckad operation) och Operation Phantom Fury (framgångsrik operation) vilka båda ingick i Operation Iraqi Freedom. De källor som har nyttjats för att genomföra teoriprövningen är Vincent L. Foulks, ”The Battle for Fallujah: Occupation, Resistance and Stalemate in the War in Iraq” och Bing Wests ”No True Glory: A Frontline Account of the Battle for Fallujah”. Resultatet av undersökningen stärker Hills teori om de fyra prövade framgångsfaktorerna. Fallstudien påvisar att ingående förband i Operation Vigilant Resolve (misslyckad operation) endast hade en grundlagd utbildningsståndpunkt i SIB samt att stora delar av förbanden saknade stridserfarenhet. Vidare påvisar undersökningen att det var låg numerär av infanteriförband och att mixen mellan infanteri och pansarförband medförde att infanteriförbanden inte kunde lösa uppgiften att skydda pansarförbanden i tillräcklig omfattning. I denna operation finns inget som bevisar att någon form att markgrupperad, indirekt bekämpning nyttjats. Tredje parts påverkan var stor givet förutsättningen att endast en mindre del av befolkning flytt staden Fallujah. Operation Phantom Fury påvisar det motsatta gentemot Operation Vigilant Resolve. Förbanden var bättre utbildade genom att de fått dra lärdom under genomförande under Operation Vigilant Resolve samt att de fått stridserfarenhet genom samma operation. Stor numerär av infanteri och en bättre mix av infanteri och pansarförband där infanteriet understöddes av pansarförbanden istället för tvärtom som var fallet vid Operation Vigilant Resolve. Operation nyttjade indirekt bekämpning i form av granatkastare och artilleri i stor omfattning. Den fjärde och sist prövande framgångsfaktorn, tredje parts inverkan på operationen påvisar att stora delar av staden Fallujah var utrymd vilket indirekt påverkar framförallt faktorn nyttjande av indirekt bekämpning. Sammanfattningsvis stärker denna teoriprövande fallstudie Hills förklaringskraft avseende de fyra utvalda framgångsfaktorerna. Detta ger en vetenskaplig grund att bygga framtidens förband kring där SIB kommer vara frekvent återkommande. Operation Iraqi Freedom Operation Vigilant Resolve Operation Phantom Fury Strid i bebyggelse (SIB) Future Wars Urban Operations Lessons learned Urban Warfare Urban Warfare Political Science Statsvetenskap
7	Obemannade sensorbärare i urban miljö : En komparativ studie mellan UAV och UGV för förband på stridsteknisk nivå / Unmanned sensor carriers in an urban environment : A comparative study between UAV and UGV for units on a tactical level Gustafsson, Andreas January 2018 (has links) Den urbana miljön är en av de mest komplexa miljöer som svenska förband ska kunna strida i. Bristfällig information, tredimensionellt hot, korta stridsavstånd och civila är bara några av de utmaningar soldater ställs inför i urban miljö. Vissa av dessa utmaningar skulle kunna minskas genom nyttjande av obemannade sensorer, som skulle kunna ge chefer en tydligare lägesbild. Studien har genomförts som en komparativ fallstudie, där ett representativt flygande system har jämförts med ett markgående. Syftet med studien är att utröna vilket system har störst militär nytta. Utgångspunkt för jämförelsen är en konceptmodell för militär nytta, där systemen jämförts inom tre dimensioner; militär effektivitet, militär lämplighet samt ekonomisk överkomlighet. Utfallet av studien tyder på att det markgående systemet, UGV, har en något högre militär nytta än det flygande systemet. Vidare påvisar studien att det finns tydliga skillnader i kravuppfyllnad beroende på var och i vilken strid som systemen används. Det flygande har en tydlig fördel utanför byggnader under anfallsstrid, medan det markgående har en fördel inne i byggnader. Studien påvisar även att båda systemen bidrar med militär nytta till förband i urban miljö. / The urban environment is one of the most difficult environments that Swedish units are supposed to fight in. Inadequate information, a three-dimensional threat, close range combat and civilians are just a few of the challenges that face soldiers in urban environment. Some of these challenges could be reduced by the use of unmanned sensors, which could enhance the situational awareness. This study has been conducted as a comparative case study, where a representative aerial system has been compared with a ground system. The aim of the study is to determine which system has the highest military utility. The study is based on a concept model for military utility that has compared the systems within three dimensions; military effectiveness, military suitability and affordability. The result of the study indicates that the ground system, UGV, has a slight advantage in military utility compared to the aerial system. Further the study indicates that there are apparent differences between the systems depending on where they are used and in what combat situation. The aerial system has a clear advantage when used outside buildings and in offensive actions, whereas the ground system has an advantage inside buildings. The study also shows that both systems contributes with military utility to units in urban terrain. UAV UGV military utility small unit tactics urban terrain intelligence situational awareness UAV UGV militär nytta stridsteknik urban terräng underrättelser lägesbild Övrig annan teknik
8	Path Planning for Unmanned Air and Ground Vehicles in Urban Environments Curtis, Andrew B. 05 February 2008 (has links) (PDF) Unmanned vehicle systems, specifically unmanned air vehicles (UAVs) and unmanned ground vehicles (UGVs), have become a popular research topic. This thesis discusses the potential of a UAV-UGV system used to track a human moving through complex urban terrain. This research focuses on path planning problems for both a UAV and a UGV, and presents effective solutions for both problems. In the UAV path planning problem, we desire to plan a path for a miniature fixed-wing UAV to fly through known urban terrain without colliding with any buildings. We present the Waypoint RRT (WRRT) algorithm, which accounts for UAV dynamics while planning a flyable, collision-free waypoint path for a UAV in urban terrain. Results show that this method is fast and robust, and is able to plan paths in difficult urban environments and other terrain maps as well. Simulation and hardware tests demonstrate that these paths are indeed flyable by a UAV. The UGV path planning problem focuses on planning a path to capture a moving target in an urban grid. We discuss using a target motion model based on Markov chains to predict future target locations. We then introduce the Capture and Propagate algorithm, which uses this target motion model to determine the probabilities of capturing the target in various numbers of steps and with various initial UGV moves. By applying some different cost functions, the result of this algorithm is used to choose an optimal first step for the UGV. Results demonstrate that this algorithm is at least as effective as planning a path directly to the current location of the target, and that in many cases, this algorithm performs better. We discuss these cases and verify them with simulation results. path planning urban terrain city UAV unmanned air vehicle trajectory tracking collision detection RRT waypoint UGV unmanned ground vehicle road graph motion graph Markov chain predictive motion model MAGICC Lab Electrical and Computer Engineering
9	Low Intensity Conflict: Contemporary Approaches and Strategic Thinking Searle, Deane January 2007 (has links) Low Intensity Conflict (LIC) is a significant feature of the contemporary world and it is a particular challenge to the armed forces of many states which are involved is such conflict, or are likely to become so. This thesis is not concerned with how such difficult conflict situations arise. Rather it is concerned with how, from the point of view of the state, they may be contained and ultimately brought to a satisfactory resolution. The work is thus concerned with the practicalities of ending LIC. More specifically, the purpose of this research is to establish a framework of doctrinal and military principles applicable to the prevention and resolution of LIC. The principles of this thesis are based in numerous historical examples of LIC and six in depth case studies. These distilled principles are analysed in two central chapters, and are then applied in two latter defence force chapters so as to ensure there practicality and resilience. Numerous defence academics and military practitioners have been consulted in the production of this thesis; their contribution has further reinforced the functionality of the principles examined in this research. The research illustrates the criticality of a holistic approach to LIC. The function of this approach is to guarantee the stability of the sovereign state, by unifying civil, police, intelligence and military services. The effectiveness of the military elements must also be ensured, as military force is central to the suppression of LIC. Consequently, the research makes strategic and operational prescriptions, so as to improve the capability of defence forces that are concerned with preventing or resolving LIC. low intensity conflict counterinsurgent counterinsurgency insurgent insurgency guerrilla small wars conflict combat urban conflict new zealand defence force australian defence force afghanistan iraq somalia chechnya east timor bougainville bosnia defence policy doctrine soviet russia red army airpower combined arms intelligence command control communications surveillance intervention peacekeeping peacebuilding peace enforcement strategy tactics infantry armour aviation non-urban terrain psychological war small scale operations combat service support civil military affairs urban dominance rapid dominance manoeuvre warfare nationalism restraint civil resolve operation enduring freedom operation anaconda suppressing fire joint warfare synergy strike target acquisition civil affairs public affairs operation iraqi freedom operation telic professionalism asymmetric warfare power projection sea power precision strike C4ISTAR C4ISR HUMINT logistics coalition post war environment internal security population security civil support unitary command expeditionary civil service personnel techniques standard operating procedures artillery protection manoeuvrability firepower visibility helicopters aircraft friendly fire initiative policy training light armoured vehicle light operational vehicle aviation navy air force army counter communications sea control maritime power projection rules of engagement engineers

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