Les systèmes électroniques actuels intègrent de plus en plus de fonctionnalités nécessitant l'intégration de capteurs très variés. Ces systèmes hétérogènes sont complexes à intégrer notamment lorsque différentes technologies de fabrication sont nécessaires pour les capteurs.Les technologies de fabrication de MEMS avec un procédé CMOS-FSBM offrent un coût de production réduit et permettent d'intégrer sur un même substrat différents types de capteurs (magnétomètres et accéléromètres notamment). Ce procédé de fabrication implique cependant une détection résistive des capteurs avec tous les problèmes qui lui sont associés (faible sensibilité, offset important, bruit de l'électronique). A travers la réalisation de la première centrale inertielle sur une puce, cette thèse renforce l'intérêt d'une approche « CMOS-MEMS » pour la conception de systèmes multi-capteurs. Le système est basé sur une mesure incomplète du champ magnétique terrestre (axes X et Y) et sur la mesure complète du champ gravitationnel. Une électronique de conditionnement des capteurs performante a été développée adressant les principaux problèmes relatifs à une détection résistive permettant ainsi une optimisation de la résolution de chaque capteur. Enfin, deux algorithmes ont été développés pour la détermination de l'attitude à partir de la mesure des cinq capteurs montrant la faisabilité et l'intérêt d'un tel système. / Current electronic systems integrate more and more applications that require the integration of various kinds of sensors. The integration of such heterogeneous systems is complex especially when sensor fabrication processes differ from one to another. MEMS manufacturing processes based on CMOS-FSBM process promote a low-cost production and allow the integration of various types of sensors on the same die (e.g., magnetometers and accelerometers). However, this manufacturing process requires that sensors make use of resistive transduction with its associated drawbacks (low sensitivity, offset, electronic noise). Through the design and the implementation of the first inertial measurement unit (IMU) on a chip, this thesis demonstrates the interest of a “CMOS-MEMS” approach for the design of multi-sensor systems. The IMU is based on the incomplete measurement of the Earth magnetic field (X and Y axis) and the complete measurement of the gravity. An efficient front-end electronic has been developed addressing the most important issues of resistive transduction and thus allowing an optimization of sensor resolution. Finally, two attitude determination algorithms have been developed from the five sensor measurements showing the feasibility and the interest of such a system.

Doctor of Philosophy / Department of Biological & Agricultural Engineering / Naiqian Zhang / Soil surface roughness is a major factor influencing soil erosion by wind and water. Studying surface roughness requires accurate Digital Elevation Model (DEM) data. A vehicle-based laser measurement system was developed to generate high-resolution DEM data. The system consisted of five units: a laser line scanner to measure the surface elevation, a gyroscope sensor to monitor the attitude of the vehicle, a real-time kinematic GPS to provide the geographic positioning, a frame-rail mechanism to support the sensors, and a data-acquisition and control unit. A user interface program was developed to control the laser system and to collect the sensors data through a field laptop. Laboratory experiments were conducted to evaluate the performance of the laser sensor on different type of targets. The results indicated that the laser measurement on a white paper had the least variability than that on other targets. The laser distance measurement was calibrated using the data acquired on the white paper. Static accuracy tests of the gyroscope sensor on a platform that allowed two-axis rotations showed that angle measurement errors observed in combined pitch/roll rotations were larger than those in single rotations. Within ±30° of single rotations, the measurement errors for pitch and roll angles were within 0.8° and 0.4°, respectively. A model to study the effect of attitude measurement error on elevation measurement was also developed. DEM models were created by interpolating the raw laser data using a two-dimensional, three-nearest neighbor, distance-weighted algorithm. The DEM models can be used to identify shapes of different objects. The accuracy of the laser system in elevation measurement was evaluated by comparing the DEM data generated by the laser system for an unknown surface with that generated by a more accurate laser system for the same surface. Within four replications, the highest correlation coefficient between the measured and reference DEMs was 0.9371. The correlation coefficients among the four replications were greater than 0.948. After a median threshold filter and a median filter were applied to the raw laser data before and after the interpolation, respectively, the correlation coefficient between the measured and reference DEMs was improved to 0.954. Correlation coefficients of greater than 0.988 were achieved among the four replications. Grayscale images, which were created from the intensity data provided by the laser scanner, showed the potential to identify crop residues on soil surfaces. Results of an ambient light test indicated that neither sunlight nor fluorescent light affected the elevation measurement of the laser system. A rail vibration test showed that the linear rail slightly titled towards the laser scanner, which caused small variations in the pitch angle. A preliminary test on a bare soil surface was conducted to evaluate the capability of the laser system in measuring the DEM of geo-referenced surfaces. A cross-validation algorithm was developed to remove outliers. The results indicated that the system was capable of providing geo-referenced DEM data.

The use of Unmanned Aerial Vehicles (UAV) has exploded over the last decade with the constant need to reduce costs while maintaining capability. Despite the relentless development of electronics and battery technology there is a sustained need to reduce the size and weight of the on-board systems to free-up payload capacity. One method of reducing the energy storage requirement of UAVs is to utilise naturally occurring sources of energy found in the atmosphere. This thesis explores the use of static and semi-dynamic soaring to extract energy from naturally occurring shallow layer cumulus convection to improve range, endurance and average speed. A simulation model of an X-Models XCalibur electric motor-glider is used in combination with a refined 4D parametric atmospheric model to simulate soaring flight. The parametric atmospheric model builds on previous successful models with refinements to more accurately describe the weather in northern Europe. The implementation of the variation of the MacCready setting is discussed. Methods for generating efficient trajectories are evaluated and recommendations are made regarding implementation. For micro to small UAVs to be able to track the desired trajectories a highly accurate Attitude Heading Reference System (AHRS) is needed. Detailed analysis of the practical implementation of advanced attitude determination is used to enable optimal execution of the trajectories generated. The new attitude determination methods are compared to existing Kalman and complimentary type filters. Analysis shows the methods developed are capable of providing accurate attitude determination with extremely low computational requirements, even during extreme manoeuvring. The new AHRS techniques reduce the need for powerful on-board microprocessors. This new AHRS technique is used as a foundation to develop a robust navigation filter capable of providing improved drift performance, over traditional filters, in the temporary absence of global navigation satellite information. All these algorithms have been verified by flight tests using a mixture of manned and unmanned aerial vehicles and avionics developed specifically for this thesis.

General Aviation (GA) accidents constitute the majority of aviation related accidents. In the United States, there have been over 7,000 GA accidents compared to 190 airline accidents in the last 8 years. Flight data analysis has helped reduce the accident rate in commercial aviation. Similarly, safety analysis based on flight data can help GA be safer. The FAA mandates flight data recorders for multi-engine and turbine powered aircraft, but nearly 80% of General Aviation consists of single engine, of which only a small portion contain any form of data recording device. GA aircraft flight data recorders are costly for operating pilots. Low-cost flight recorders are few and rarely used in GA safety analysis due to lack of accuracy compared to the certified on-board equipment. In this thesis, I investigate the feasibility of using a low-cost Attitude and Heading Reference System (AHRS) to detect hazardous states in GA aircraft. I considered the case of roll angles and found that the low-cost device has significant measurement errors. I developed models to correct the roll angle error as well as methods to improve the detection of hazardous roll angles. I devised a method to evaluate the time accuracy along with the angle accuracy and showed that despite the errors, the low-cost device can provide partial hazardous state detection information.

Attitude and Heading angles are crucial parameters for navigation. Conventional navigation methods mostly uses IMU and GPS devices to calculate these angles. MEMS technology offers small sized, low cost IMU sensors with moderate performance. However, GPS cannot be used in underwater. Therefore, different aiding sensors are used in underwater vehicles in order to increase the accuracy. As the accuracy of devices increases, the cost of these devices also increases. In this thesis, rather than using GPS and high quality IMU sensors, low cost MEMS IMU sensor is used together with a magnetometer and a pressure sensor as aiding sensors. Considering the IMU error model and motion dynamics, two systems are designed and simulated using real data. The results seem to be satisfactory and using pressure sensor as an aiding sensor improves the attitude angles estimation.

No description available.

ROBEX is a unique research project combining Airbus Defence and Space’s robotics expertise with deep-sea exploration technology to discover more about the most extreme environments environments known to man. As a part of this project, a deep-sea glider called MOTH, is under development with the objective to determine whether gliders can be used as a platform for bathymetric and electromagnetic soundings of the seafloor as well as for new water column research. This master’s thesis aims to design and implement the MOTH glider’s control system. The glider will have an independent emergency system, a power unit, an on-board computer (OBC), actuators, navigation sensors and scientific measurement instruments which can be swopped between missions and are connected via remote terminal units. The selected OBC is a Linux embedded Axotec GX-6300 with RS232 and CAN bus interfaces, as selected in the electrical architecture, and the chosen operative system is Linux Debian. The glider communicates with GNS/Iridium antenna and also has an ethernet cable link for ground station operations and a future option of an acoustic transceiver. To control actuation, the glider is equipped with a rudder, a left and a right wing flap, a moveable mass and a buoyancy tank. It travels in sawtooth patterns and is therefore always descending, ascending or transitioning during operation and at times ascending all the way to the surface to transmit and receive data via satellite communication. A model based feedback controller for longitudinal control has been programmed based on the equations of motion described in this report. The modelled longitudinal trajectory is as desired until a transition point is reached, the model is, presumable because of the uncertainty of the model parameters, unstable as the actuators are unable to correct the pitch angle. An AHRS navigation sensor emulator and an OBC emulator have been programmed to simulate the communication between these two and the emulated system is well operating both as a continuous stream and for polling data. The emulator and the pitch controller, when updated parameter values are available, will be used for simulation and verification tests in the laboratory environment. The ROBEX alliance will, if the objectives with the MOTH glider are met, continue to design gliders with the aim to increase the maximum duration time and speed in order to reach greater depths of the oceans.

This paper describes, the development of a sensor fusion algorithm-based Kalman lter ar- chitecture, in combination with a low cost Inertial Measurement Unit (IMU) for an Attitude Heading Reference System (AHRS). A low cost IMU takes advantage of the use of MEMS technology enabling cheap, compact, low grade sensors. The use of low cost IMUs is primar- ily targeted towards Unmanned Aerial Vehicle (UAV) applications due to the requirements for small package size, light weight, and low energy consumption. The high dynamics nature of smaller airframes, coupled with the typical vibration induced noise of UAVs require an e cient, reliable, and robust AHRS for vehicle control. To eliminate the singularities at 90 on the pitch and roll axes, and to keep the computational e ciency high, quaternions are used for state attitude representation.

Because of climate change renewable energy field is becoming more and more relevant. Renewable energy can be gained from the sun, from wind but also from ocean waves. To support the research and development in this field reliably measured wave data is collected through a measurement system that shows the exact position of a buoy. The project consists of the design, development and implementation of such a measurement system. It is divided into three subtasks: The power supply based on a solar panel and a battery The measurement part including a sensor and its implementation to the circuit The deployment of a module for data transmission and communication between the measurement system and the on-shore computer The power supply is capable to power the system and to maintain the battery voltage. A suggested stronger power supply will be used in a later state of the project to increase the reliability. The results of the charging test are good. The power supply system is connected to the circuit and the battery charges. For the measurement system the altitude and heading reference system (AHRS) “Ellipse2-D” from SBG Systems has been selected and connected to an Arduino Mega 2560. The AHRS provides raw data and values processed by a Kalman filter. Both data sets are picked up by the microcontroller. The raw data is backed up on a secure digital memory card (SD-card). For the evaluation of the sensor unit, static and dynamic tests are applied to the sensor. In the end it can be seen that the measurement series are aligned with each other. The information from the Kalman model of the AHRS is transmitted with the Adeunis ARF868 ultra-long range (ULR) modem. The transmitter is linked to the Arduino Mega 2560 and the sensor data is transmitted to the receiver. The first field test already shows the reliability of the system for a range of about 3 km. The results of the tests are as expected and in the future this system will be implemented on a buoy.