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Termes IGN > 1- Outils - instruments et méthodes > instrument > instrument de navigation > centrale inertielle
centrale inertielleSynonyme(s)système de navigation inertielle ;Imu ;centrale inertielle de navigation ;centrale de navigation par inertie centrale à inertie |
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Robust deformation monitoring of bridge structures using MEMS accelerometers and image-assisted total stations / Mohammad Omidalizarandi (2020)
Titre : Robust deformation monitoring of bridge structures using MEMS accelerometers and image-assisted total stations Type de document : Thèse/HDR Auteurs : Mohammad Omidalizarandi, Auteur Editeur : Munich : Bayerische Akademie der Wissenschaften Année de publication : 2020 Collection : DGK - C, ISSN 0065-5325 num. 859 Importance : 260 p. Format : 21 x 30 cm Note générale : bibliographie
Diese Arbeit ist gleichzeitig veröffentlicht in: Wissenschaftliche Arbeiten der Fachrichtung Geodäsie und Geoinformatik der Universität Hannover, ISSN 0174-1454, Nr. 366Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications de géodésie spatiale
[Termes IGN] accéléromètre
[Termes IGN] algorithme espérance-maximisation
[Termes IGN] auscultation d'ouvrage
[Termes IGN] méthode robuste
[Termes IGN] microsystème électromécanique
[Termes IGN] pont
[Termes IGN] surveillance d'ouvrage
[Termes IGN] tachéomètre électronique
[Termes IGN] topométrie de précisionRésumé : (auteur) Today, short- and long-term structural health monitoring (SHM) of bridge structures has received considerable attention. However, permanent, cost-effective, and reliable monitoring are still challenging issues. From a surveying or civil engineer's point of view, vibration-based SHM is often carried out by inspecting the changes in the dynamic responses of bridge structures known as modal parameters, such as eigen frequencies, eigenforms and modal damping. The use of cost-effective micro-electro-mechanical-systems (MEMS) accelerometers with a high sampling frequency is becoming more affordable and feasible for the aforementioned monitoring task. Within this dissertation, a three-step scenario is proposed to choose a suitable MEMS accelerometer despite of its purchase price, measurement range and sampling frequency. Firstly, a robust calibration procedure is proposed and implemented to model MEMS related systematic errors such as biases, scale factors, and non-orthogonality angles between the axes. Secondly, a controlled excitation experiment is conducted by using a high-precision shaker. Thirdly, a statictest experiment is accomplished over a long period. Robust, accurate, and automatic estimation of the modal parameters is particularly challenging when vibration measurements are contaminated with a high coloured measurement noise, e.g., due to cost-effective MEMS acceleration data. This is even more challenging when the structure is continuously under imposed forces due to moving vehicles or wind. For this purpose, a robust and automatic vibration analysis procedure the so–called robust time domain modal parameter identification (RT-MPI) approach is proposed and implemented. It is a novel approach in the sense of automatic excitation (e.g. ambient) window selection, automatic and reliable identification of initial eigen frequencies even closely spaced ones as well as robustly and accurately estimating the modal parameters. To estimate frequencies, damping ratio coefficients, amplitudes, and phase shifts, an observation model consisting of a damped harmonic oscillation (DHO) model, an autoregressive model of coloured measurement noise and a stochastic model in the form of the heavy-tailed family of scaled t-distributions with unknown degree of freedom and scale factor, is employed. The aforementioned three parametric models are jointly adjusted by means of a generalised expectation maximisation (GEM) algorithm. The proposed RT-MPI algorithm is also able to estimate amplitudes in a metric unit and with a high accuracy for the recorded acceleration data by means of double integration of the DHO model. The eigenforms are characterised in a subsequent step, and by using the estimated parameters from the GEM algorithm. In addition, having amplitudes in the metric unit allows to characterise deflection eigen forms in their true scales for selected excitation windows within short time intervals. The deformation/displacement monitoring by merely using the MEMS accelerometer is challenging, since it suffers from accuracy degradation with time for absolute position/displacement estimates. Therefore, the MEMS accelerometers and an image-assisted total station (IATS) are fused by performing one-dimensional (1D) coordinate update within the Kalman filtering framework. To generate 1D displacement data from the IATS, video frames of a passive target, that is attached to a bridge structure, are captured by means of a telescope camera of the IATS. A passive target centroid detection algorithm is proposed and implemented, which is robust and reliable with respect to poor environmental conditions, such as low lighting, dusty situations, and skewed angle targets. Next, an angular conversion factor of the telescope camera is calibrated, which allows to convert the generated displacement data from pixel to metric unit.
Experiments are performed in four case studies including simulation, controlled excitation and two real applications of a footbridge structure and a synthetic bridge. The estimated modal parameters are compared and validated by their true values as well as their corresponding estimates obtained from reference sensors such as reference accelerometer, geophone, and laser tracker. Additionally, the estimated eigen frequencies and damping ratio coefficients are compared with a well-known covariance driven stochastic subspace identification (SSI-COV) approach. The results show that the MEMS accelerometers are suitable for identifying all occurring eigen frequencies of the bridge structures. Moreover, the vibration analysis procedure demonstrates that amplitudes are estimated in submillimetre range accuracy, frequencies with an accuracy of better than 0.1 Hz and damping ratio coefficients with an accuracy of better than 0.1 and 0.2%for modal and system damping, respectively. The analysis reveals the superiority of the proposed RT-MPI algorithm compared to the SSI-COV algorithm. Finally, a high accurate displacement time series at the level of submillimetre is generated by fusion of the IATS and the MEMS measurements.Numéro de notice : 17680 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Thèse étrangère En ligne : https://dgk.badw.de/fileadmin/user_upload/Files/DGK/docs/c-859.pdf Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=98021 Smoothing algorithms for navigation, localisation and mapping based on high-grade inertial sensors / Paul Chauchat (2020)
Titre : Smoothing algorithms for navigation, localisation and mapping based on high-grade inertial sensors Type de document : Thèse/HDR Auteurs : Paul Chauchat, Auteur ; Silvère Bonnabel, Directeur de thèse Editeur : Paris : Université Paris Sciences et Lettres Année de publication : 2020 Importance : 135 p. Format : 21 x 30 cm Note générale : bibliographie
Thèse de Doctorat de l'Université Paris Sciences et Lettres, Informatique temps réel, robotique, automatiqueLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] cadre conceptuel
[Termes IGN] cartographie et localisation simultanées
[Termes IGN] centrale inertielle
[Termes IGN] filtre de Kalman
[Termes IGN] itération
[Termes IGN] lissage de données
[Termes IGN] navigation inertielle
[Termes IGN] robotiqueIndex. décimale : THESE Thèses et HDR Résumé : (auteur) Mobile systems need to locate themselves ever more accurately, and in ever more complex situations. This is in particular true for autonomous systems, for which controlling the position error is a critical safety issue. To this end, they are endowed with various sensors, the data of which are fused to obtain an estimate of the vehicle’s location, either globally (with the GPS for instance), or locally, with respect to its surroundings (with cameras for instance). This thesis investigates algorithms for localisation by sensor fusion, namely filtering and especially smoothing, when the mobile is equipped with high-grade inertial sensors. The first part deals with the nonlinear consequences of the use of high-grade inertial sensors, and demonstrates how the nonlinear structure of both filtering and smoothing algorithms may be improved by leveraging the invariant filtering framework. The second part deals with the problems incurred by the linear solvers that are used at each step of nonlinear smoothing algorithms as a result of having highly precise sensors. It introduces a novel least-squares linear solver that solves the issues. Note de contenu : Introduction
I- From Invariant filtering to invariant smoothing
II- Navigation with highly precise sensors
ConclusionNuméro de notice : 28576 Affiliation des auteurs : non IGN Thématique : INFORMATIQUE/POSITIONNEMENT Nature : Thèse française Note de thèse : thèse de Doctorat : Informatique temps réel, robotique, automatique : Paris Sciences et Lettres : 2020 Organisme de stage : Centre de robotique (Paris) En ligne : https://pastel.archives-ouvertes.fr/tel-02887295/document Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97843 Adjustment options for a survey network with magnetic levitation gyro data in an immersed under-sea tunnel / Ji Ma in Survey review, vol 51 n° 367 (July 2019)
[article]
Titre : Adjustment options for a survey network with magnetic levitation gyro data in an immersed under-sea tunnel Type de document : Article/Communication Auteurs : Ji Ma, Auteur ; Zhiqiang Yang, Auteur ; Zhen Shi, Auteur ; et al., Auteur Année de publication : 2019 Article en page(s) : pp 373 - 386 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Topographie
[Termes IGN] compensation de coordonnées
[Termes IGN] gyroscope
[Termes IGN] lever souterrain
[Termes IGN] réseau géodésique spécifique
[Termes IGN] tunnelRésumé : (Auteur) Since gyro azimuths are affected by the complex environmental factors that are present in underground spaces, the adjustment model should take this into account. In general, gyro azimuths are considered to be errorless or equal precision observations in the adjustment model, which leads to the overestimation or underestimation of the weight of the gyro azimuths. To improve the precision of underground networks, measured with a magnetic levitation gyroscope, an adjustment for the survey network with individually weighted gyro observations is proposed. The proposed method was tested on an equivalent mock-up network of the tunnels associated with the Hong Kong-Zhuhai-Macau Bridge. The lateral breakthrough error and lateral standard deviation at the breakthrough point were calculated and compared. Our result shows that the lateral breakthrough error was 4.8 mm with the precision change ratio of 64.5% which suggested that the proposed method is able to improve the precision of the breakthrough point. Numéro de notice : A2019-365 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1080/00396265.2018.1563376 Date de publication en ligne : 03/01/2019 En ligne : https://doi.org/10.1080/00396265.2018.1563376 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=93454
in Survey review > vol 51 n° 367 (July 2019) . - pp 373 - 386[article]Correlated atom accelerometers for mapping the Earth gravity field from space / Thomas Lévèque (2019)
Titre : Correlated atom accelerometers for mapping the Earth gravity field from space Type de document : Article/Communication Auteurs : Thomas Lévèque, Auteur ; C. Fallet, Auteur ; Mioara Mandea, Auteur ; Richard Biancale, Auteur ; Jean-Michel Lemoine, Auteur ; Simon Tardivel, Auteur ; Marc Delpech, Auteur ; Guillaume Ramillien, Auteur ; Isabelle Panet , Auteur ; S. Bourgogne, Auteur ; Franck Pereira dos Santos, Auteur ; Ph. Bouyer, Auteur Editeur : Washington : Society of Photo-Optical Instrumentation Engineers SPIE Année de publication : 2019 Collection : SPIE Proceedings num. 11180 Projets : 1-Pas de projet / Conférence : ICSO 2018, International Conference on Space Optics 09/10/2018 12/10/2018 Chania Grèce Proceedings SPIE Importance : 9 p. Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale
[Termes IGN] accélération
[Termes IGN] accéléromètre
[Termes IGN] champ de pesanteur terrestre
[Termes IGN] mission spatialeRésumé : (auteur) The emergence of quantum technologies, including cold atom based accelerometers, offers an opportunity to improve the performances of space geodesy missions. In this context, CNES initiated an assessment study called GRICE (GRadiométrie à Interféromètres quantiques Corrélés pour l’Espace) in order to evaluate the impact of cold atom technologies to space geodesy and to the end users of the geodetic data. In this paper, we present a specific mission scenario for gravity field mapping based on a twin satellite concept. The mission uses a constellation of two satellites each equipped with a cold atom accelerometer. A laser link measures the distance between the two satellites and couples these two instruments in order to produce a correlated differential acceleration measurement. The main parameters, determining the performances of the payload, have been investigated. In addition, a preliminary study of mass, consumption and volume has been conducted to ensure the onboard feasibility of these instruments. A general study of the satellite architecture, including all the subsystems, has also been realized and is presented here. Numéro de notice : C2018-126 Affiliation des auteurs : LASTIG LAREG+Ext (2012-mi2018) Thématique : POSITIONNEMENT Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : 10.1117/12.2535951 En ligne : https://doi.org/10.1117/12.2535951 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=100045 Mise en place d’un système sondeur multifaisceaux dans une embarcation légère semi-rigide pour campagne de mesure bathymétrique et couplage avec un scanner terrestre, GNSS et INS / Alexandre Girard (2019)
Titre : Mise en place d’un système sondeur multifaisceaux dans une embarcation légère semi-rigide pour campagne de mesure bathymétrique et couplage avec un scanner terrestre, GNSS et INS Type de document : Mémoire Auteurs : Alexandre Girard, Auteur Editeur : Champs-sur-Marne : Ecole nationale des sciences géographiques ENSG Année de publication : 2019 Importance : 73 p. Format : 21 x 30 cm Note générale : Bibliographie
Master PPMD Photogrammétrie, Positionnement et Mesure de DéformationLangues : Français (fre) Descripteur : [Vedettes matières IGN] Bathymétrie
[Termes IGN] cartographie numérique
[Termes IGN] centrale inertielle
[Termes IGN] fond marin
[Termes IGN] récepteur GNSS
[Termes IGN] semis de points
[Termes IGN] sondeur monofaisceau
[Termes IGN] système de numérisation mobile
[Termes IGN] télémètre laser terrestreIndex. décimale : MPPMD Mémoires du mastère spécialisé Photogrammétrie, Positionnement et Mesures de Déformation Résumé : (Auteur) La demande de plus en plus importante de levés 3D bathymétrique de grande résolution et à des profondeurs toujours plus importantes demande une innovation constante aux acteurs du secteur. Cependant, au vu des profondeurs plus importantes, des précisions attendues plus fines, de l’environnement de travail plus complexe, un problème important se pose : le recalage entre les modèles 3D terrestre et bathymétrique. C’est à résoudre ce problème que mon stage s’attache en cherchant à coupler sondeur multifaisceaux et laser scanner terrestre pour la réalisation de levés simultanés. Avant d’en arriver là, deux systèmes que sont celui de la cartographie mobile terrestre et marine doivent être fonctionnels ce qui était le cas du système MBES. Par conséquent, ce mémoire évoque toute une phase de recherche sur la mise en place d’un MMS. En effet, pour pouvoir effectuer des mesures en mouvements avec un laser scanner, le montage d’un MMS est nécessaire et ce grâce au couplage d’appareils utilisés par le sondeur tels que l’INS et des récepteurs GNSS dans le but de connaître avec précision la trajectoire du mobile. Une fois ces deux systèmes fonctionnels, il est possible d’en faire une utilisation simultanée. Numéro de notice : 26220 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Mémoire de fin d'études IT Organisme de stage : OPSIA Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=94222 Odometer, low-cost inertial sensors, and four-GNSS data to enhance PPP and attitude determination / Zhouzheng Gao in GPS solutions, vol 22 n° 3 (July 2018)PermalinkNavigation hybride en couplage serré associant amers célestes et terrestres par la méthode du plan des sommets / Yves Robin-Jouan in XYZ, n° 155 (juin - août 2018)PermalinkNavigation des personnes aux moyens des technologies des smartphones et des données d’environnements cartographiés / Fadoua Taia Alaoui (2018)PermalinkPermalinkTight integration of INS/Stereo VO/Digital map for land vehicle navigation / Fei Liu in Photogrammetric Engineering & Remote Sensing, PERS, vol 84 n° 1 (January 2018)PermalinkPermalinkConcept of AHRS algorithm designed for platform independent IMU attitude alignment / Dariusz Tomaszewski in Reports on geodesy and geoinformatics, vol 104 n° 1 (December 2017)PermalinkLow-cost warning system for the monitoring of the Corinth Canal / George Hloupis in Applied geomatics, vol 9 n° 4 (December 2017)PermalinkConsumer mass market accelerometers for GNSS anti-spoofing / Sherman Lo in Inside GNSS, vol 12 n° 5 (September - October 2017)PermalinkImplementation of an IMU aided image stacking algorithm in a digital camera for Unmanned Aerial Vehicles / Ahmad Audi in Sensors, Vol 17 n°7 (july 2017)Permalink