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Matthew Rhudy

Graduate Research Assistant at Flight Controls System Lab

Department of Mechanical and Aerospace Engineering

Research and Work

-Global Positioning System/Inertial Navigation System (GPS/INS) Sensor Fusion
-Conditions for stability of a GPS/INS sensor fusion algorithm using the Extended Kalman Filter (EKF)
-Convergence and Initialization Error Analysis for GPS/ISN sensor fusion algorithms using both Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF)
-Attitude estimation for remote sensing
-Comparison of matrix square root operations for use within the UKF
-Sensitivity analysis of EKF and UKF with respect to various design parameters
-Noise covariance tuning
-Sampling rate
-GPS outages
-GPS time offset
-Acceleration due to gravity
-Initialization error
-Measurement uncertainties
Linearization techniques
-Baseline performance comparison of EKF and UKF under additive and non-additive process noise assumptions
-Flight Testing, Data Analysis, and Processing
-Time alignment of GPS and Netburner data using Pulse Per Second (PPS) signals
-Selection of diverse flight data for research analyses
-Development of binary flight data decoding programs
-Development of user-friendly flight data plotting programs
-Soldering of components onto Printed Circuit Boards (PCBs)

Teaching Experience

Advanced Mechatronics Instructor, Summer 2011

Statics Instructor, Spring 2010


Rhudy, M., Gu, Y., Gross, J., and Napolitano, M. R., “Sensitivity Analysis of EKF and UKF in GPS/INS Sensor Fusion,” AIAA Guidance, Navigation, and Control Conference, Portland, 2011.

Gross, J. N., Gu, Y., Rhudy, M., Barchesky, F. J., and Napolitano, M. R., “On-line Modeling and Calibration of Low-Cost Navigation Sensors,” AIAA Modeling and Simulation Technologies Conference, Portland, 2011.

Barchesky, F. J., Gross, J. N., Gu, Y., Rhudy, M., and Napolitano, M. R., “Development of GPS/INS Sensor Fusion Simulation Environment Using Flight Data,” AIAA Modeling and Simulation Technologies Conference, Portland, 2011.

Gross, J. N., Gu, Y., Rhudy, M. B., Gururajan, S., and Napolitano, M., “Flight Test Evaluation of GPS/INS Sensor Fusion Algorithms for Attitude Estimation,” accepted to IEEE Transactions on Aerospace Electronic Systems, June, 2011.

Allanach, J., Borodinsky, J., Vipperman, J., and Rhudy, M., “Improved system for detection, localization, and classification of military impulse noise,” J. Acoust. Soc. Am. Volume 127, Issue 3, pp. 1878, March 2010.

Rhudy, M. B., “Real Time Implementation of a Military Impulse Noise Classifier.” University of Pittsburgh, Master’s Thesis, 2009.

Rhudy, M., Bucci, B., Vipperman, J., Allanach, J., and Abraham, B., “Microphone Array Analysis Methods Using Cross-Correlations.” IMECE2009-10798, Proceedings of IMECE 09: 2009 ASME International Mechanical Engineering Congress, November 13-19, 2009, Lake Buena Vista, Florida.

Rhudy, M. B., and Bucci, B. A., “Microphone array techniques using cross-correlations,” The Journal of the Acoustical Society of America 126(4): 2197, October, 2009.