Vinayak Nair / GNC

Project index

Projects

Engineering work in GNC, autonomy, structures, and embedded systems. Each entry follows a mission-spec format: problem, approach, result.

GHOST GPS-Denied Hardware Occlusion-Survivable Tracker

Active development
  • ROS2
  • ESKF
  • Raspberry Pi 4B
  • IMX296
  • PX4 SITL
  • MAVLink
  • Python

Problem

Autonomous platforms lose navigation accuracy in GPS-denied environments and need vision-based state estimation that's robust to sensor occlusion.

Approach

Dual-filter architecture — a 9-state camera platform attitude ESKF fused with AprilTag-based vision measurements, paired with a CV/CTRV/IMM target tracking filter. Runs on a Raspberry Pi 4B with an IMX296 global shutter camera and ICM-42688-P IMU, communicating with PX4 SITL over pure UDP MAVLink.

Result

~55% of software pipeline complete; hardware integration in progress. Demo video below.

GitHub

TAMU-SPIRIT ISS Capstone Project

Complete
  • NASA design review process
  • Systems engineering
  • ISS payload

Problem

[Placeholder — describe the specific design constraint or problem your subsystem addressed for the ISS-bound payload.]

Approach

[Placeholder — describe your role and methodology through SRR, PDR, and SCR design reviews.]

Result

[Placeholder — describe outcome, what passed review, and what was delivered.]

Monte Carlo GNC Simulation

Complete
  • Python
  • Monte Carlo
  • GNC
  • Sensor uncertainty

Problem

[Placeholder — what system or scenario was simulated.]

Approach

[Placeholder — 500 Monte Carlo runs, what parameters were varied.]

Result

[Placeholder — what the analysis showed.]

Inverted Pendulum PID Control

Complete
  • PID control
  • Hardware
  • Embedded systems

Problem

[Placeholder — describe the control challenge and system requirements.]

Approach

[Placeholder — controller design and tuning process.]

Result

[Placeholder — describe stabilization performance and validation results.]

BLNC Robotics — Motor Validation

Complete
  • Robotics
  • Motor validation
  • Embedded testing

Problem

[Placeholder — describe the motor characterization or validation requirement.]

Approach

[Placeholder — testing methodology and instrumentation used.]

Result

[Placeholder — quantify error reduction if possible.]

Project KESTREL Archived

Archived
  • Jetson Orin Nano
  • Pixhawk 6C
  • Vision-only EKF
  • Throw-launch UAV

Problem

Designing a throw-launch autonomous precision landing drone targeting sub-5cm CEP.

Approach

Vision-only EKF fusion for state estimation, full PDR/CDR-level design documentation.

Result

Reached full Critical Design Review readiness before being shelved due to budget constraints. Demonstrates full-cycle design discipline.