Pour assurer une énergie électrique de qualité et de façon permanente, il existe des systèmes électroniques d’alimentation spécifiques. Il s’agit des Alimentations Sans Interruptions (ASI). Une ASI comme tout autre système peut tomber en panne ce qui peut entrainer une perte de redondance. Cette perte induit une maintenance corrective donc une forme d’indisponibilité ce qui représente un coût. Nous proposons dans cette thèse de travailler sur deux composants parmi les plus sensibles dans les ASI à savoir les condensateurs électrolytiques et les batteries au plomb. Dans une première phase, nous présentons, les systèmes de surveillance existants pour ces deux composants en soulignant leurs principaux inconvénients. Ceci nous permet de proposer le cahier des charges à mettre en œuvre. Pour les condensateurs électrolytiques, nous détaillons les différentes étapes de caractérisation et de vieillissement ainsi que la procédure expérimentale de vieillissement standard accéléré et les résultats associés. D’autre part, nous présentons les résultats de simulation du système de surveillance et de prédiction de pannes retenu. Nous abordons la validation expérimentale en décrivant le système développé. Nous détaillons les cartes électroniques conçues, les algorithmes mis en œuvre et leurs contraintes d’implémentation respectifs pour une réalisation temps réel. Enfin, pour les batteries au plomb étanches, nous présentons les résultats de simulation du système de surveillance retenu permettant d’obtenir le SOC et le SOH. Nous détaillons la procédure expérimentale de vieillissement en cycles de charge et décharge de la batterie nécessaire pour avoir un modèle électrique simple et précis. Nous expliquons les résultats expérimentaux de vieillissement pour finir avec des propositions d’amélioration de notre système afin d’obtenir un SOH plus précis. / To ensure power quality and permanently, some electronic system supplies exist. These supplies are the Uninterrupted Power Supplies (UPS). An UPS like any other system may have some failures. This can be a cause of redundancy loss. This load loss causes a maintenance downtime which may represent a high cost. We propose in this thesis to work on two of the most sensitive components in the UPS namely electrolytic capacitors and lead acid batteries. In a first phase, we present the existing surveillance systems for these two components, highlighting their main drawbacks. This allows us to propose the specifications which have to be implemented for this system. For electrolytic capacitors, we detail different stages of characterization ; the aging accelerated standard experimental procedure and their associated results. On the other hand, we present the simulation results of monitoring and failure prediction system retained. We discuss the experimental validation, describing the developed system. We detail the electronic boards designed, implemented algorithms and their respective constraints for a real time implementation. Finally, for lead acid batteries, we present the simulation results of the monitoring system adopted to obtain the SOC and SOH. We describe the aging experimental procedure of charging and discharging cycles of the batteries needed to find a simple and accurate electric models. We explain the aging experimental results and in the end we give suggestions for improving our system to get a more accurate SOH.

L'imagerie par résonance magnétique (IRM) est un outil remarquable pour le diagnostic clinique, aussi bien pour l'imagerie cérébrale que pour l'imagerie cardiaque et abdominale. En IRM cardiaque, deux problèmes sont récurrents : la non reproductibilité des cycles cardiaques et le mouvement respiratoire. L'IRM cardiaque morphologique est généralement faite avec une séquence composée d'une préparation longue, visant à annuler le signal du sang pour accentuer le contraste au niveau du myocarde, et de l?acquisition à proprement parler. Ces acquisitions sont généralement faites en mésodiastole (phase de relaxation passive du coeur) ce qui permet de satisfaire les contraintes liées à l'annulation du sang et d'éviter les problèmes liés aux non reproductibilités des cycles cardiaques car la mésodiastole est longue. Il est donc difficile de satisfaire les contraintes liées à l?annulation du sang pour faire les acquisitions en télésystole (phase où le coeur est contracté) à cause des non reproductibilités cardiaques car la télésystole est courte. Afin de passer outre ces limitations et de pouvoir acquérir ces mêmes images morphologiques en télésystole, nous proposons une nouvelle méthode adaptative qui permet à la fois de placer la fenêtre d'acquisition de manière optimale et de satisfaire les contraintes liées à l'annulation du sang. Une application de cette méthode a également été mise en place pour estimer et comparer les temps de relaxation transversale (T2) entre télésystole et mésodiastole. Pour la gestion prospective du mouvement respiratoire, le point crucial est d'estimer les mouvements en temps réel en perturbant au minimum les signaux de résonance magnétique. Pour ce faire nous proposons une méthode basée sur l'estimation paramétrique des mouvements en temps réel à partir des signaux physiologiques disponibles (ceintures respiratoires et ECG). Cette méthode a été testée et les résultats montrent son intérêt et sa fiabilité par rapport aux erreurs faites au niveau du mouvement. Une méthode de reconstruction incluant les mouvements a également été utilisée pendant ces travaux afin de faire de l'imagerie en télésystole en respiration libre et d'utiliser d'autres types de capteurs respiratoires comme certains signaux de résonance magnétique. Ainsi pendant ces travaux, des méthodes adaptatives ont été mises en place afin de mieux gérer le mouvement et de prendre en compte les spécificités de chaque patient. Ces travaux ouvrent la voie de l'imagerie par résonance magnétique adaptative pleinement fonctionnelle dans un contexte clinique / Magnetic resonance imaging (MRI) is a valuable tool for the clinical diagnosis for brain imaging as well as cardiac and abdominal imaging. In cardiac MRI, there are two challenging issues: the non reproducibility of cardiac cycles and respiratory motion. Morphological cardiac MRI is generally performed with a pulse sequence composed of a long preparation, to cancel the blood signal and thus enhance the contrast of the myocardium, and the acquisition itself. These acquisitions are performed during the mid-diastolic rest (relaxation period of the heart) to satisfy constraints to cancel the blood signal and to avoid problems linked to the cardiac non reproducibility because the mid-diastolic rest is long. Consequently, to acquire images in end-systolic rest (when the heart is fully contracted) while taking into account constraints to cancel the blood signal is not straight forward due to cardiac non reproducibility because the end-systolic rest is short. To overcome these limitations and to acquire images in end-systolic rest, a new adaptive method is introduced that allows to optimally placing acquisition windows while taking constraint for the cancellation of the blood signal into account. This method was applied to measure and compare transverse relaxation time (T2) between end-systolic and mid-diastolic rests. For prospective respiratory motion correction, the crucial point is to estimate motion in real-time without perturbing MR signal used for imaging. In order to solve this issue, a new method is introduced aiming at estimating motion parameters in real-time based on physiological signals such as respiratory bellows and ECG. This method is evaluated and results show its interest and its reliability regarding motion estimation errors. A reconstructions algorithm is also used in order to perform cardiac imaging during the end-systolic rest in free breathing and to use different kind of respiratory motion sensors such as MR signals. Hence, during this research work, several adaptive method were developed to get a better management of motion and to take into account specificity of each patient. These works open the way of fully functional adaptive magnetic resonance imaging in a clinical situation

La résolution d'un problème d'estimation de l'état d'un système nécessite de disposer d'un modèle régissant l'évolution des variables d'état et de mesurer de manière directe ou indirecte l'ensemble ou une partie de ces variables d'état. Les travaux exposés dans ce mémoire de thèse portent sur la problématique d'estimation en présence de méconnaissances de modèle et de pertes de capteurs. La première partie de ce travail constitue la synthèse d'un dispositif d'estimation d'état pour systèmes non linéaires. Cela consiste à sélectionner un estimateur d'état et convenablement le régler, puis à concevoir algorithmiquement, à partir d'un critère introduit pour la circonstance, une redondance matérielle visant à compenser la perte de certains capteurs. La seconde partie de ce travail porte sur la conception, à l'aide de la variance d'Allan, d'un sous-modèle permettant de compenser les incertitudes d'un modèle d'état, ce sous-modèle étant utilisable par un filtre de Kalman. Ce travail a été exploité pour tenir compte de dérives gyroscopiques dans le cadre d'une navigation inertielle hybridée avec des mesures GPS par un filtre de Kalman contraint. Les résultats obtenus, issus d'expériences sur deux trajectoires d'avion, ont montré un comportement sain et robuste de l'approche proposée / To solve the problem of estimating the state of a system, it is necessary to have at one's disposal a model governing the dynamic of the state variables and to measure directly or indirectly all or a part of these variables. The work presented in this thesis deals with the estimation issue in the presence of model uncertainties and sensor losses. The first part of this work represents the synthesis of a state estimation device for nonlinear systems. It consists in selecting a state estimator and properly tuning it. Then, thanks to a criterion introduced for the occasion, it consists in algorithmically designing a hardware redundancy aiming at compensating for some sensor losses. The second part of this work deals with the conception of a sub-model compensating for some model uncertainties. This sub-model, designed by using the Allan variance, is usable by a Kalman filter. This work has been used to take into account some gyroscopical drifts in a GPS-INS integrated navigation based on a constrained Kalman filter. The results obtained, coming from experiments on two plane trajectories, showed a safe and robust behaviour of the proposed method

Ce mémoire traite de la modélisation électrique des accumulateurs lithium-ion, de l’estimation de leur état de charge (SOC) et de leur état de santé (SOH). Le premier chapitre revient sur les généralités concernant la technologie lithium-ion : caractéristiques, performances, constitution de l’élément de stockage, choix et nature des électrodes, conséquences qui en découlent d’un point de vue énergétique. Le principe de fonctionnement et les équations générales des phénomènes électrochimiques sont aussi développés. Des exemples d’application dans différents secteurs industriels sont ensuite proposés pour plusieurs gammes de puissance et d’énergie. Le second volet aborde la modélisation électrique des accumulateurs lithium-ion. Pour une meilleure compréhension des phénomènes complexes mis en jeu au sein des batteries, des éléments de modélisation physique sont exposés. Puis nous envisageons une synthèse des différents modèles de nature électrique rencontrés dans la littérature. Sur la base de campagnes de mesures menées sur un élément lithium-ion de 6,8 Ah, nous proposons, dans un troisième chapitre, notre propre modèle électrique équivalent valable pour les phases de décharge et de relaxation. En particulier nous déclinons plusieurs solutions pour distribuer l’énergie et rendre compte des différents effets de ligne. Les outils de caractérisation et les procédures d’extractions des paramètres sont traités en détail. Dans un dernier chapitre nous étudions les possibilités d’estimer en ligne l’état de charge (SOC) et l’état de santé (SOH) d’un élément lithium-ion en cours d’exploitation. Après un bref rappel des méthodes académiques et industrielles actuelles, nous nous orientons vers l’emploi d’un filtre de Kalman. Afin d’estimer ses performances par rapport au coulombmètre, nous proposons un modèle et un algorithme que nous évaluons par simulation et testons sur élément réel / This dissertation of thesis deals with the electrical modelling of lithium-ion accumulators and the determination of both state-of-charge (SOC) and state-of-health (SOH). The first chapter is focused on generalities about lithium-ion technology: characteristics, qualities, constitution of the storage device, choice and nature of the electrodes and their consequences on energetical features. The principle and the general equations of the electrochemical phenomena are developed as well. Application examples from different industrial areas are displayed for several power and energy ranges. The second section is about the electrical modelling of lithium-ion accumulators. With a view to better understand the complex electrochemical phenomena, elements of physical modelling are proposed. Then, the synthesis of different electrical models released in the press is considered. On the basis of experimental campaigns lead on a 6.8 Ah lithium-element, we proposed, in a third chapter, our own equivalent electrical model suitable for both discharge phases and relaxation period. In particular, we depict several alternatives to distribute the energy and describe the different line effects. Both characterization tools and parameters extraction procedure are clearly detailed. In the last section, we tackle both SOC and SOH on-line determination. After a short review of academicals and industrial solutions, we rapidly head towards the use of a Kalman filter. In order to compare its features versus the coulombmeter, we propose a model and an algorithm, numerical simulations and experimental tests are performed

Nos travaux de recherches présentés dans ce manuscrit ont pour objectif, l'optimisation des performances des algorithmes de suivi des formants. Pour ce faire, nous avons commencé par l'analyse des différentes techniques existantes utilisées dans le suivi automatique des formants. Cette analyse nous a permis de constater que l'estimation automatique des formants reste délicate malgré l'emploi de diverses techniques complexes. Vue la non disponibilité des bases de données de référence en langue arabe, nous avons élaboré un corpus phonétiquement équilibré en langue arabe tout en élaborant un étiquetage manuel phonétique et formantique. Ensuite, nous avons présenté nos deux nouvelles approches de suivi de formants dont la première est basée sur l'estimation des crêtes de Fourier (maxima de spectrogramme) ou des crêtes d'ondelettes (maxima de scalogramme) en utilisant comme contrainte de suivi le calcul de centre de gravité de la combinaison des fréquences candidates pour chaque formant, tandis que la deuxième approche de suivi est basée sur la programmation dynamique combinée avec le filtrage de Kalman. Finalement, nous avons fait une étude exploratrice en utilisant notre corpus étiqueté manuellement comme référence pour évaluer quantitativement nos deux nouvelles approches par rapport à d'autres méthodes automatiques de suivi de formants. Nous avons testé la première approche par détection des crêtes ondelette, utilisant le calcul de centre de gravité, sur des signaux synthétiques ensuite sur des signaux réels de notre corpus étiqueté en testant trois types d'ondelettes complexes (CMOR, SHAN et FBSP). Suite à ces différents tests, il apparaît que le suivi de formants et la résolution des scalogrammes donnés par les ondelettes CMOR et FBSP sont meilleurs qu'avec l'ondelette SHAN. Afin d'évaluer quantitativement nos deux approches, nous avons calculé la différence moyenne absolue et l'écart type normalisée. Nous avons fait plusieurs tests avec différents locuteurs (masculins et féminins) sur les différentes voyelles longues et courtes et la parole continue en prenant les signaux étiquetés issus de la base élaborée comme référence. Les résultats de suivi ont été ensuite comparés à ceux de la méthode par crêtes de Fourier en utilisant le calcul de centre de gravité, de l'analyse LPC combinée à des bancs de filtres de Mustafa Kamran et de l'analyse LPC dans le logiciel Praat. D'après les résultats obtenus sur les voyelles /a/ et /A/, nous avons constaté que le suivi fait par la méthode ondelette avec CMOR est globalement meilleur que celui des autres méthodes Praat et Fourier. Cette méthode donne donc un suivi de formants (F1, F2 et F3) pertinent et plus proche de suivi référence. Les résultats des méthodes Fourier et ondelette sont très proches dans certains cas puisque toutes les deux présentent moins d'erreurs que la méthode Praat pour les cinq locuteurs masculins ce qui n'est pas le cas pour les autres voyelles où il y a des erreurs qui se présentent parfois sur F2 et parfois sur F3. D'après les résultats obtenus sur la parole continue, nous avons constaté que dans le cas des locuteurs masculins, les résultats des deux nouvelles approches sont notamment meilleurs que ceux de la méthode LPC de Mustafa Kamran et ceux de Praat même si elles présentent souvent quelques erreurs sur F3. Elles sont aussi très proches de la méthode par détection de crêtes de Fourier utilisant le calcul de centre de gravité. Les résultats obtenus dans le cas des locutrices féminins confirment la tendance observée sur les locuteurs / Our research work presented in this thesis aims the optimization of the performance of formant tracking algorithms. We began by analyzing different existing techniques used in the automatic formant tracking. This analysis showed that the automatic formant estimation remains difficult despite the use of complex techniques. For the non-availability of database as reference in Arabic, we have developed a phonetically balanced corpus in Arabic while developing a manual phonetic and formant tracking labeling. Then we presented our two new automatic formant tracking approaches which are based on the estimation of Fourier ridges (local maxima of spectrogram) or wavelet ridges (local maxima of scalogram) using as a tracking constraint the calculation of center of gravity of a set of candidate frequencies for each formant, while the second tracking approach is based on dynamic programming combined with Kalman filtering. Finally, we made an exploratory study using manually labeled corpus as a reference to quantify our two new approaches compared to other automatic formant tracking methods. We tested the first approach based on wavelet ridges detection, using the calculation of the center of gravity on synthetic signals and then on real signals issued from our database by testing three types of complex wavelets (CMOR, SHAN and FBSP). Following these tests, it appears that formant tracking and scalogram resolution given by CMOR and FBSP wavelets are better than the SHAN wavelet. To quantitatively evaluate our two approaches, we calculated the absolute difference average and standard deviation. We made several tests with different speakers (male and female) on various long and short vowels and continuous speech signals issued from our database using it as a reference. The formant tracking results are compared to those of Fourier ridges method calculating the center of gravity, LPC analysis combined with filter banks method of Kamran.M and LPC analysis integrated in Praat software. According to the results of the vowels / a / and / A /, we found that formant tracking by the method with wavelet CMOR is generally better than other methods. Therefore, this method provides a correct formant tracking (F1, F2 and F3) and closer to the reference. The results of Fourier and wavelet methods are very similar in some cases since both have fewer errors than the method Praat. These results are proven for the five male speakers which is not the case for the other vowels where there are some errors which are present sometimes in F2 and sometimes in F3. According to the results obtained on continuous speech, we found that in the case of male speakers, the result of both approaches are particularly better than those of Kamran.M method and those of Praat even if they are often few errors in F3. They are also very close to the Fourier ridges method using the calculation of center of gravity. The results obtained in the case of female speakers confirm the trend observed over the male speakers

Esta tese apresenta novos algoritmos que resolvem problemas de estimativas filtrada, suavizadora e preditora para sistemas singulares no tempo discreto usando apenas argumentos determinísticos. Cada capítulo aborda inicialmente as estimativas para o sistema nominal e em seguida, as versões robustas para o sistema com incertezas limitadas. Os resultados encontrados podem ser aplicados tanto em sistemas invariantes como variantes no tempo discreto, utilizando a mesma estrutura do filtro de Kalman. Nos últimos anos, uma quantidade significativa de trabalhos envolvendo estimativas singulares foi publicada enfocando apenas a estimativa filtrada sob a justificativa de que a estimativa preditora era de significativa complexidade quando modelada pelo método dos mínimos quadrados. Por este motivo, poucos trabalhos, como NIKOUKHAH et al. (1992) e ZHANG et al. (1998), deduziram a estimativa preditora. Este último artigo apresentou também um algoritmo para a estimativa suavizadora, mas usando o modelo de inovação ARMA. No entanto, até onde foi possível identificar, nenhum trabalho até agora resolveu o problema de estimativa robusta, considerando incertezas nos parâmetros, para sistemas singulares. Para a dedução das estimativas singulares robustas, esta tese tomou como base SAYED (2001), que deduz o filtro de Kalman robusto com incertezas limitadas utilizando uma abordagem determinística, o chamado filtro BDU. Os filtros robustos para sistemas singulares apresentados nesta tese, são mais abrangentes que os apresentados em SAYED (2001). Quando particularizados para o espaço de estados sem incertezas, todos os filtros se assemelham ao filtro de Kalman. / New algorithms to optimal recursive filtering, smoothed and prediction for general time-invariant or time-variant descriptor systems are proposed in this thesis. The estimation problem is addressed as an optimal deterministic trajectory fitting. This problem is solved using exclusively deterministic arguments for systems with or without uncertainties. Kalman type recursive algorithms for robust filtered, predicted and smoothed estimations are derived. In the last years, many papers have paid attention to the estimation problems of linear singular systems. Unfortunately, all those works were concentrated only on the study of filtering problems, for nominal systems. The predicted and smoothed filters are more involved and were considered only by few works : NIKOUKHAH et al. (1992) and ZHANG et al. (1998) had proposed a unified approach for filtering, prediction and smoothing problems which were derived by using the projection formula and were calculated based on the ARMA innovation model, but they had not considered the uncertainties. In this thesis its applied for descriptor systems a robust procedure for usual state space systems developed by SAYED (2001), called BDU filter. It is obtained a robust descriptor Kalman type recursions for filtered, predicted and smoothed estimates. Considering the nominal state space, all descriptor filters developed in this work collapse to the Kalman filter.

Dans les systèmes de transmission multiporteuses et impliquant plusieurs utilisateurs, deux phénomènes viennent perturber la réception et la détection de symboles : le canal de propagation et le décalage des fréquences porteuses (DFP). Cette thèse traite de techniques d’égalisation et de synchronisation en fréquence reposant sur des techniques de type Kalman telles que le filtrage de Kalman étendu (EKF) du 1er ou du 2nd ordre, le filtrage de Kalman étendu itératif ou le filtrage de Kalman par sigma point (SPKF). Pour relaxer les hypothèses de Gaussianité sur les bruits de mesure et de modèle dans la représentation dans l’espace d’état, des approches de type H[infini] sont aussi étudiées.Ces méthodes sont ensuite exploitées dans des systèmes de type OFDMA ou OFDM-IDMA et sont combinées avec d’autres approches (MMSE-SD, tests statistiques, etc.) pour mettre en œuvre des récepteurs pouvant être notamment robustes à des interférences large bande, comme c’est le cas dans des applications de radio intelligence. / Multicarrier modulation is the common feature of high-data rate mobile wirelesssystems. In that case, two phenomena disturb the symbol detection. Firstly,due to the relative transmitter-receiver motion and a difference between the localoscillator (LO) frequency at the transmitter and the receiver, a carrier frequencyoffset (CFO) affects the received signal. This leads to an intercarrier interference(ICI). Secondly, several versions of the transmitted signal are received due to thewireless propagation channel. These unwanted phenomena must be taken intoaccount when designing a receiver. As estimating the multipath channel and theCFO is essential, this PhD deals with several CFO and channel estimation methodsbased on optimal filtering.Firstly, as the estimation issue is nonlinear, we suggest using the extended Kalmanfilter (EKF). It is based on a local linearization of the equations around the laststate estimate. However, this approach requires a linearization based on calculationsof Jacobians and Hessians matrices and may not be a sufficient descriptionof the nonlinearity. For these reasons, we can consider the sigma-point Kalmanfilter (SPKF), namely the unscented Kalman Filter (UKF) and the central differenceKalman filter (CDKF). The UKF is based on the unscented transformationwhereas the CDKF is based on the second order Sterling polynomial interpolationformula. Nevertheless, the above methods require an exact and accurate apriori system model as well as perfect knowledge of the additive measurementnoisestatistics. Therefore, we propose to use the H∞ filtering, which is known tobe more robust to uncertainties than Kalman filtering. As the state-space representationof the system is non-linear, we first evaluate the “extended H∞ filter”,which is based on a linearization of the state-space equations like the EKF. As analternative, the “unscented H∞ filter”, which has been recently proposed in theliterature, is implemented by embedding the unscented transformation into the“extended H∞ filter” and carrying out the filtering by using the statistical linearerror propagation approach.The above techniques have been implemented in different multicarrier contexts:Firstly, we address the estimation of the multiple CFOs and channels by meansof a control data in an uplink orthogonal frequency division multiple access(OFDMA) system. To reduce the amount of control data, the optimal filteringtechniques are combined in an iterative way with the so-called minimum meansquare error successive detector (MMSE-SD) to obtain an estimator that doesnot require pilot subcarriers.

Pour un terminal mobile alimenté sur batterie, le rendement de l’amplificateur de puissance (AP) doit êtreoptimisé. Cette optimisation peut rendre non-linéaire la fonction d’amplification de l’AP. Pour compenser lesdistorsions introduites par le caractère non-linéaire de l’AP, un détecteur numérique fondé sur un modèle deVolterra peut être utilisé. Le comportement de l’AP et le canal étant modélisé par le modèle de Volterra, uneapproche par filtrage de Kalman (FK) permet d’estimer conjointement les noyaux de Volterra et les symbolestransmis. Dans ce travail, nous proposons de traiter cette problématique dans le cadre d’une liaison montantedans un contexte radio intelligente (RI). Dans ce cas, des contraintes supplémentaires doivent être prises encompte. En effet, étant donné que la RI peut changer de bande de fréquence de fonctionnement, les nonlinéaritésde l’AP peuvent varier en fonction du temps. Par conséquent, nous proposons de concevoir une postdistorsionnumérique fondée sur une modélisation par modèles multiples combinant plusieurs estimateurs àbase de FK. Les différents FK permettant de prendre en compte les différentes dynamiques du modèle.Ainsi, les variations temporelles des noyaux de Volterra peuvent être suivies tout en gardant des estimationsprécises lorsque ces noyaux sont statiques. Le cas d’un signal monoporteuse est adressé et validé par desrésultats de simulation. Enfin, la pertinence de l’approche proposée est confirmée par des mesures effectuéessur un AP large bande (300-3000) MHz. / For a battery driven terminal, the power amplifier (PA) efficiency must be optimized. Consequently,non-linearities may appear at the PA output in the transmission chain. To compensatethese distortions, one solution consists in using a digital post-distorter based on aVolterra model of both the PA and the channel and a Kalman filter (KF) based algorithm tojointly estimate the Volterra kernels and the transmitted symbols. Here, we suggest addressingthis issue when dealing with uplink cognitive radio (CR) system. In this case, additionalconstraints must be taken into account. Since the CR terminal may switch from one subbandto another, the PA non-linearities may vary over time. Therefore, we propose to designa digital post-distorter based on an interacting multiple model combining various KF basedestimators using different model parameter dynamics. This makes it possible to track thetime variations of the Volterra kernels while keeping accurate estimates when those parametersare static. Furthermore, the single carrier case is addressed and validated by simulationresults. In addition, the relevance of the proposed approach is confirmed by measurementscarried on a (300-3000) MHz broadband PA.

This thesis contributes new algorithms and implementations for particle filter-based target tracking. From an algorithmic perspective, modifications that improve a batch-based acoustic direction-of-arrival (DOA), multi-target, particle filter tracker are presented. The main improvements are reduced execution time and increased robustness to target maneuvers. The key feature of the batch-based tracker is an image template-matching approach that handles data association and clutter in measurements. The particle filter tracker is compared to an extended Kalman filter~(EKF) and a Laplacian filter and is shown to perform better for maneuvering targets. Using an approach similar to the acoustic tracker, a radar range-only tracker is also developed. This includes developing the state update and observation models, and proving observability for a batch of range measurements. From an implementation perspective, this thesis provides new low-power and real-time implementations for particle filters. First, to achieve a very low-power implementation, two mixed-mode implementation strategies that use analog and digital components are developed. The mixed-mode implementations use analog, multiple-input translinear element (MITE) networks to realize nonlinear functions. The power dissipated in the mixed-mode implementation of a particle filter-based, bearings-only tracker is compared to a digital implementation that uses the CORDIC algorithm to realize the nonlinear functions. The mixed-mode method that uses predominantly analog components is shown to provide a factor of twenty improvement in power savings compared to a digital implementation. Next, real-time implementation strategies for the batch-based acoustic DOA tracker are developed. The characteristics of the digital implementation of the tracker are quantified using digital signal processor (DSP) and field-programmable gate array (FPGA) implementations. The FPGA implementation uses a soft-core or hard-core processor to implement the Newton search in the particle proposal stage. A MITE implementation of the nonlinear DOA update function in the tracker is also presented.

Autonomous navigation is the determination of satellites position and velocity vectors onboard the satellite, using the measurements available onboard. The orbital information of a satellite needs to be obtained to support different house keeping operations such as routine tracking for health monitoring, payload data processing and annotation, orbit manoeuver planning, and prediction of intrusion in various sensors' field of view by celestial bodies like Sun, Moon etc. Determination of the satellites orbital parameters is done in a number of ways using a variety of measurements. These measurements may originate from ground based systems as range and range rate measurements, or from another satellite as in the case of GPS (Global Positioning System) and TDUSS (Tracking Data Relay Satellite Systems), or from the same satellite by using sensors like horizon sensor^ sun sensor, star tracker, landmark tracker etc. Depending upon the measurement errors, sampling rates, and adequacy of the estimation scheme, the navigation accuracy can be anywhere in the range of 10m - 10 kms in absolute location. A wide variety of tracking sensors have been proposed in the literature for autonomous navigation. They are broadly classified as (1) Satellite-satellite tracking, (2) Ground- satellite tracking, (3) fully autonomous tracking. Of the various navigation sensors, it may be cost effective to use existing onboard sensors which are well proven in space. Hence, in the current thesis, the Horizon scanner is employed as the primary navigation sensor-. It has been shown in the literature that by using horizon sensors and gyros, a high accuracy pointing of the order of .01 - .03 deg can be achieved in the case of low earth orbits. Motivated by such a fact, the current thesis deals with autonomous orbit determination using measurements from the horizon sensors with the assumption that the attitude is known to the above quoted accuracies. The horizon scanners are mounted on either side of the yaw axis in the pitch yaw plane at an angle of 70 deg with respect to the yaw axis. The Field Of View (FOV) moves about the scanner axis on a cone of 45 deg half cone angle. During each scan, the FOV generates two horizon points, one at the space-Earth entry and the other at the Earth-space exit. The horizon points, therefore, lie• on the edge of the Earth disc seen by the satellite. For a spherical earth, a minimum of three such horizon points are needed to estimate the angular radius and the center of the circular horizon disc. Since a total of four horizon points are available from a pair of scanners, they can be used to extract the satellite-earth distance and direction.These horizon points are corrupted by noise due to uncertainties in the Earth's radiation pattern, detector mechanism, the truncation and roundoff errors due to digitisation of the measurements. Owing to the finite spin rate of the scanning mechanism, the measurements are available at discrete time intervals. Thus a filtering algorithm with appropriate state dynamics becomes essential to handle the •noise in the measurements, to obtain the best estimate and to propagate the state between the measurements. The orbit of a low earth satellite can be represented by either a state vector (position and velocity vectors in inertial frame) or Keplerian elements. The choice depends upon the available processors, functions and the end use of the estimated orbit information. It is shown in the thesis that position and velocity vectors in inertial frame or the position vector in local reference frame, do result in a simplified, state representation. By using the f and g series method for inertial position and velocity, the state propagation is achieved in linear form. i.e. Xk+1 = AXK where X is the state (position, velocity) and A the state transition matrix derived from 'f' and 'g' series. The configuration of a 3 axis stabilised spacecraft with two horizon scanners is used to simulate the measurements. As a step towards establishing the feasibility of extracting the orbital parameters, the governing equations are formulated to compute the satellite-earth vector from the four horizon points generated by a pair of Horizon Scanners in the presence of measurement noise. Using these derived satellite-earth vectors as measurements, Kalman filter equations are developed, where both the state and measurements equations are linear. Based on simulations, it is shown that a position accuracy of about 2 kms can be achieved. Additionally, the effect of sudden disturbances like substantial slewing of the solar panels prior and after the payload operations are also analysed. It is shown that a relatively simple Low Pass Filter (LPF) in the measurements loop with a cut-off frequency of 10 Wo (Wo = orbital frequency) effectively suppresses the high frequency effects from sudden disturbances which otherwise camouflage the navigational information content of the signal. Then Kalman filter can continue to estimate the orbit with the same kind of accuracy as before without recourse to re-tuning of covariance matrices. Having established the feasibility of extracting the orbit information, the next step is to treat the measurements in its original form, namely, the non-linear form. The entry or exit timing pulses generated by the scanner when multiplied by the scan rate yield entry or exit azimuth angles in the scanner frame of reference, which in turn represents an effective measurement variable. These azimuth angles are obtained as inverse trigonometric functions of the satellite-earth vector. Thus the horizon scanner measurements are non-linear functions of the orbital state. The analytical equations for the horizon points as seen in the body frame are derived, first for a spherical earth case. To account for the oblate shape of the earth, a simple one step correction algorithm is developed to calculate the horizon points. The horizon points calculated from this simple algorithm matches well with the ones from accurate model within a bound of 5%. Since the horizon points (measurements) are non-linear functions of the state, an Extended Kalman Filter (EKF) is employed for state estimation. Through various simulation runs, it is observed that the along track state has got poor observability when the four horizon points are treated as measurements in their original form, as against the derived satellite-earth vector in the earlier strategy. This is also substantiated by means of condition number of the observability matrix. In order to examine this problem in detail, the observability of the three modes such as along-track, radial, and cross-track components (i.e. the local orbit frame of reference) are analysed. This difficulty in observability is obviated when an additional sensor is used in the roll-yaw plane. Subsequently the simulation studies are carried out with two scanners in pitch-yaw plane and one scanner in the roll-yaw plane (ie. a total of 6 horizon points at each time). Based on the simulations, it is shown that the achievable accuracy in absolute position is about 2 kms.- Since the scanner in the roll-yaw plane is susceptible to dazzling by Sun, the effect of data breaks due to sensor inhibition is also analysed. It is further established that such data breaks do not improve the accuracy of the estimates of the along-track component during the transient phase. However, filter does not diverge during this period. Following the analysis of the' filter performance, influence of Earth's oblateness on the measurement model studied. It is observed that the error in horizon points, due to spherical Earth approximation behave like a sinusoid of twice the orbital frequency alongwith a bias of about 0.21° in the case of a 900 kms sun synchronous orbit. The error in the 6 horizon points is shown to give rise to 6 sinusoids. Since the measurement model for a spherical earth is the simplest one, the feasibility of estimating these sinusoids along with the orbital state forms the next part of the thesis. Each sinusoid along with the bias is represented as a 3 state recursive equation in the following form where i refers to the ith sinusoid and T the sampling interval. The augmented or composite state variable X consists of bias, Sine and Cosine components of the sinusoids. The 6 sinusoids together with the three dimensional orbital position vector in local coordinate frame then lead to a 21 state augmented Kalman Filter. With the 21 state filter, observability problems are experienced. Hence the magnetic field strength, which is a function of radial distance as measured by an onboard magnetometer is proposed as additional measurement. Subsequently, on using 6 horizon point measurements and the radial distance measurements obtained from a magnetometer and taking advantage of relationships between sinusoids, it is shown that a ten state filter (ie. 3 local orbital states, one bias and 3 zero mean sinusoids) can effectively function as an onboard orbit filter. The filter performance is investigated for circular as well as low eccentricity orbits. The 10-state filter is shown to exhibit a lag while following the radial component in case of low eccentricity orbits. This deficiency is overcome by introducing two more states, namely the radial velocity and acceleration thus resulting in a 12-state filter. Simulation studies reveal that the 12-state filter performance is very good for low eccentricity orbits. The lag observed in 10-state filter is totally removed. Besides, the 12-state filter is able to follow the changes in orbit due to orbital manoeuvers which are part of orbit acquisition plans for any mission.