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Estimation d'attitude et diagnostic d'une centrale d'attitude par des outils ensemblistes

Abstract : Attitude estimation is one of the prominent problem encountered in various application areas such as Aerial and submarine robotics, bio-medical applications (elderly people monitoring, rehabilitation) but also, video game and augmented reality. The main objective of this PhD is to assess the capabilities of set-membership estimation in the field of attitude estimation when triaxes accelerometer (A) magnetometer (M) and rate gyros (G) are used. Quasi-static movements are first considered. In this case AM measurements are taken into account. Then the dynamic case is considered with AGM measurement taken into account in the set-membership estimation algorithm. The problem of attitude parametrisation is also studied as it will have a strong in uence on the computational time. The algorithms proposed during this work have been validated with simulated and real data. The second part of the report deals with Fault Detection and Isolation based upon set-membership approaches. The algorithms that have been developed in the first part of this work have been adapted to cope with diagnosis of a faulty sensor within the Inertial Measurement Unit.
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Submitted on : Thursday, April 28, 2011 - 1:19:23 PM
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  • HAL Id : tel-00585525, version 2

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Hoang Van Nguyen. Estimation d'attitude et diagnostic d'une centrale d'attitude par des outils ensemblistes. Automatique / Robotique. Université de Grenoble, 2011. Français. ⟨NNT : 2011GRENT011⟩. ⟨tel-00585525v2⟩

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