Fusion de données inertielles et magnétiques pour l’estimation de l’attitude sous contrainte énergétique d’un corps rigide accéléré

Aida Makni 1, 2
2 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : In this PhD. thesis we deal with attitude estimation of accelerated rigid body moving in the 3D space using quaternion parameterization. This problem has been widely studied in the literature in various application areas. The main objective of the thesis is to propose new methods for data fusion to combine inertial gyros) and magnetic measurements. The first challenge concerns the attitude estimation during dynamic cases, in which external acceleration of the body is not negligible compared to the Gravity. Two main approaches are proposed in this context. Firstly, a quatenion-based adaptive Kalman filter (q-AKF) was designed in order to compensate for such external acceleration. Precisely, a smart detector is designed to decide whether the body is in static or dynamic case. Then, the covariance matrix of the external acceleration is estimated to tune the filter gain. Second, we developed descriptor filter based on a new formulation of the dynamic model where the process model is fed by accelerometer measurements while observation model is fed by gyros and magnetometer measurements. Such modeling gives rise to a descriptor system. The resulting model allows taking the external acceleration of the body into account in a very efficient way. The second challenge is related to the energy consumption issue of gyroscope, considered as the most power consuming sensor. We study the way to reduce the gyro measurements acquisition by switching on/off the sensor while maintaining an acceptable attitude estimation. The effciency of the proposed methods is evaluated by means of numerical simulations and experimental tests.
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Submitted on : Thursday, May 19, 2016 - 2:30:54 PM
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Aida Makni. Fusion de données inertielles et magnétiques pour l’estimation de l’attitude sous contrainte énergétique d’un corps rigide accéléré. Traitement du signal et de l'image [eess.SP]. Université Grenoble Alpes, 2016. Français. ⟨NNT : 2016GREAT025⟩. ⟨tel-01318310⟩

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