<p>Most of today’s microwave circuits are designed for specific function and specialneed. There is a growing trend to have flexible and reconfigurable circuits. Circuitsthat can be digitally programmed to achieve various functions based on specific needs. Realization of high frequency circuit blocks that can be dynamically reconfigured toachieve the desired performance seems to be challenging. However, with recentadvances in many areas of technology these demands can now be met.</p><p>Two concepts have been investigated in this thesis. The initial part presents thefeasibility of a flexible and programmable circuit (PROMFA) that can be utilized formultifunctional systems operating at microwave frequencies. Design details andPROMFA implementation is presented. This concept is based on an array of genericcells, which consists of a matrix of analog building blocks that can be dynamicallyreconfigured. Either each matrix element can be programmed independently or severalelements can be programmed collectively to achieve a specific function. The PROMFA circuit can therefore realize more complex functions, such as filters oroscillators. Realization of a flexible RF circuit based on generic cells is a new concept.In order to validate the idea, a test chip has been fabricated in a 0.2μm GaAs process, ED02AH from OMMIC^TM. Simulated and measured results are presented along withsome key applications like implementation of a widely tunable band pass filter and anactive corporate feed network.</p><p>The later part of the thesis covers the design and implementation of tunable andwideband highly linear LNAs that can be very useful for multistandard terminals suchas software defined radio (SDR). One of the key components in the design of a flexibleradio is low noise amplifier (LNA). Considering a multimode and multiband radiofront end, the LNA must provide adequate performance within a large frequency band.Optimization of LNA performance for a single frequency band is not suitable for thisapplication. There are two possible solutions for multiband and multimode radio frontends (a) Narrowband tunable LNAs (b) Wideband highly linear LNAs. A dual bandtunable LNA MMIC has been fabricated in 0.2μm GaAs process. A self tuningtechnique has also been proposed for the optimization of this LNA. This thesis alsopresents the design of a novel highly linear current mode LNA that can be used forwideband RF front ends for multistandard applications. Technology process for thiscircuit is 90nm CMOS.</p>

Most of today’s microwave circuits are designed for specific function and specialneed. There is a growing trend to have flexible and reconfigurable circuits. Circuitsthat can be digitally programmed to achieve various functions based on specific needs. Realization of high frequency circuit blocks that can be dynamically reconfigured toachieve the desired performance seems to be challenging. However, with recentadvances in many areas of technology these demands can now be met. Two concepts have been investigated in this thesis. The initial part presents thefeasibility of a flexible and programmable circuit (PROMFA) that can be utilized formultifunctional systems operating at microwave frequencies. Design details andPROMFA implementation is presented. This concept is based on an array of genericcells, which consists of a matrix of analog building blocks that can be dynamicallyreconfigured. Either each matrix element can be programmed independently or severalelements can be programmed collectively to achieve a specific function. The PROMFA circuit can therefore realize more complex functions, such as filters oroscillators. Realization of a flexible RF circuit based on generic cells is a new concept.In order to validate the idea, a test chip has been fabricated in a 0.2μm GaAs process, ED02AH from OMMICTM. Simulated and measured results are presented along withsome key applications like implementation of a widely tunable band pass filter and anactive corporate feed network. The later part of the thesis covers the design and implementation of tunable andwideband highly linear LNAs that can be very useful for multistandard terminals suchas software defined radio (SDR). One of the key components in the design of a flexibleradio is low noise amplifier (LNA). Considering a multimode and multiband radiofront end, the LNA must provide adequate performance within a large frequency band.Optimization of LNA performance for a single frequency band is not suitable for thisapplication. There are two possible solutions for multiband and multimode radio frontends (a) Narrowband tunable LNAs (b) Wideband highly linear LNAs. A dual bandtunable LNA MMIC has been fabricated in 0.2μm GaAs process. A self tuningtechnique has also been proposed for the optimization of this LNA. This thesis alsopresents the design of a novel highly linear current mode LNA that can be used forwideband RF front ends for multistandard applications. Technology process for thiscircuit is 90nm CMOS.

Autonomous navigation has the opportunity to make roads safer and help perform search and rescue missions by reducing human error. Odometry methods are essential to allow for autonomous navigation because they estimate how the robot will move based on the available sensors. This thesis aims to compare and evaluate the Cubature Kalman filter (CKF) based approach for visual-inertial odometry (VIO) to traditional Extended Kalman Filter (EKF) based methods on criteria such as the accuracy of the results. VIO methods use camera and IMU sensor for the predictions. The Multi-State-Constraint Kalman filter (MSCKF) was utilized as the foundation VIO approach to evaluate the underlying filter between EKF and CKF while maintaining the background conditions like visual tracking pipeline, IMU model, and measurement model constant. Evaluation metrics of absolute trajectory error (ATE) and relative error (RE) was used after tuning the filters on EuRoC and KAIST datasets. It is shown that, based on the existing implementation, the filters have no statistically significant difference in performance when predicting motion estimates, despite the fact that the absolute trajectory error of position for EKF estimation is lower. It is further shown that as the length of the trajectory increases, the estimation error for both filters rises unboundedly. Under the visual inertial framework of MSCKF, the CKF filter, which does not linearize the system, works equally as well as the well-established EKF filter and has the potential to perform better with more accurate nonlinear system and measurement models. / Autonom navigering har möjlighet att göra vägar säkrare och hjälpa till att utföra räddningsuppdrag genom att minska mänskliga fel. Odometrimetoder är viktiga för att möjliggöra autonom navigering eftersom de skattar hur roboten rör sig baserat på tillgängliga sensorer. Detta examensarbete syftar till att utvärdera Cubature Kalman filter (CKF) för visuell tröghetsodometri (VIO) och jämföra med traditionella Extended Kalman Filter (EKF) gällande bland annat noggrannhet. VIO-metoder använder kamera och IMU-sensor för skattningarna. MultiState Constraint Kalmanfiltret (MSCKF) användes som grund VIO-metoden för att utvärdera filteralgoritmerna EKF och CKF, samtidigt som de VIO-specifika delarna så som IMU-modell och mätmodell kunde förbli desamma. Utvärderingen gjordes baserat på absolut banfel (ATE) och relativa fel (RE) på EuRoC- och KAIST-datauppsättningar. Det visas att, baserat på den befintliga implementeringen, har filtren ingen statistiskt signifikant skillnad i prestanda när de förutsäger rörelsen, trots att det absoluta banafelet för positionen för EKF-uppskattning är lägre. Det visas vidare att när längden på banan ökar, ökar uppskattningsfelet för båda filtren obegränsat. Under MSCKFs visuella tröghetsramverk fungerar CKF-filtret, som inte linjäriserar systemet, lika bra som det väletablerade EKF-filtret och har potential att prestera bättre med mer exakta olinjära system och mätmodeller.