Etude de la calibration et de l'intégration sur mini-drone d'un système caméra-capteurs inertiels et magnétiques et ses applications

Abstract : This thesis deal with the issue of the calibration of a group of sensor composedof an inertial unit, a magnetometer and a camera. It aims at integratingthem into a very compact system : a mini-drone. First of all, this study outlinesthe constraints imposed by the application on the choice of the sensors andthe solutions considered to solve the measures synchronization issue. Afterstudying existing calibration techniques, a method for the calibration of allthe sensors (accelerometer, gyroscope, magnetometer and camera) is presented.The proposed solution allows to estimate the frame transformation between thedifferent sensors. It has the advantage of not requiring the use of any specialequipment. Furthermore, the integration of these sensors into a compact systemraises new difficulties. Under these conditions, the magnetic fields created bythe drone actuators disrupt magnetometer measurements. A new method isproposed to estimate and compensate for these magnetic disturbances. Thecompensation is dynamically adapted based on the state of the drone actuators.Finally, two applications of the system including an inertial unit and a cameraare presented : the construction of geo-referenced images mosaic and videostabilization. Both applications use measurements of inertial sensors and precisecalibration to perform a real-time processing for a very low computational cost.
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Julien Metge. Etude de la calibration et de l'intégration sur mini-drone d'un système caméra-capteurs inertiels et magnétiques et ses applications. Traitement du signal et de l'image [eess.SP]. Université de Bordeaux, 2014. Français. ⟨NNT : 2014BORD0358⟩. ⟨tel-01298510⟩

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