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Theses

Techniques d'estimation du déplacement d'un véhicule sans GPS et autres exemples de conception de systèmes de navigation MEMS

Abstract : In this thesis, we explain the design and development of a GPS-free navigation system for automotive vehicles. This system uses magnetic field measurements performed onboard the vehicle in motion, and combines them with inertial measurements from other low costs MEMS sensors. It allows one to reconstruct the path of the vehicle from the initial condition in real time. A complete prototype is presented along with experimental results. The design of this system is based on an analysis of the observability of a classical model of the vehicle. This serves to establish how the various biases and shortcomings of the sensors can be estimated through Kalman filters arranged in two interconnection schemes: a partition of the state variables and a temporal interconnection. An analysis of convergence of the estimates is performed. In the final part of the manuscript, two other examples of MEMS-based navigation systems are described, including the AR.Drone quadrotor and experimental hybrid rockets for which the same design principles are applied.
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https://pastel.archives-ouvertes.fr/pastel-00755348
Contributor : Pierre-Jean Bristeau <>
Submitted on : Wednesday, November 21, 2012 - 10:00:33 AM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM
Long-term archiving on: : Friday, February 22, 2013 - 3:47:15 AM

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  • HAL Id : pastel-00755348, version 1

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Pierre-Jean Bristeau. Techniques d'estimation du déplacement d'un véhicule sans GPS et autres exemples de conception de systèmes de navigation MEMS. Automatique / Robotique. École Nationale Supérieure des Mines de Paris, 2011. Français. ⟨pastel-00755348⟩

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