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Consideration of time-correlated errors in a Kalman filter applicable to GNSS / M.G. Potovello in Journal of geodesy, vol 83 n° 1 (January 2009)
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Titre : Consideration of time-correlated errors in a Kalman filter applicable to GNSS Type de document : Article/Communication Auteurs : M.G. Potovello, Auteur ; Kyle O'Keefe, Auteur ; Gérard Lachapelle, Auteur ; M.E. Cannon, Auteur Année de publication : 2009 Article en page(s) : pp 51 - 56 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale
[Termes IGN] bruit blanc
[Termes IGN] covariance
[Termes IGN] erreur corrélée au temps
[Termes IGN] filtre de Kalman
[Termes IGN] GPS en mode cinématique
[Termes IGN] GPS en mode différentiel
[Termes IGN] positionnement par GNSS
[Termes IGN] traitement différé
[Termes IGN] traitement du signalRésumé : (Auteur) An algorithm for considering time-correlated errors in a Kalman filter is presented. The algorithm differs from previous implementations in that it does not suffer from numerical problems; does not contain inherent time latency or require reinterpretation of Kalman filter parameters, and gives full consideration to additive white noise that is often still present but ignored in previous implementations. Simulation results indicate that the application of the new algorithm yields more realistic and therefore useful state and covariance information than the standard implementation. Results from a field test of the algorithm applied to the problem of kinematic differential GPS demonstrate that the algorithm provides slightly pessimistic covariance estimates whereas the standard Kalman filter provides optimistic covariance estimates. Copyright Springer Numéro de notice : A2009-181 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-008-0231-z En ligne : https://doi.org/10.1007/s00190-008-0231-z Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=29811
in Journal of geodesy > vol 83 n° 1 (January 2009) . - pp 51 - 56[article]Réservation
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Code-barres Cote Support Localisation Section Disponibilité 266-09011 RAB Revue Centre de documentation En réserve L003 Disponible 266-09012 RAB Revue Centre de documentation En réserve L003 Disponible Problèmes inverses en imagerie et en vision, 1. Volume 1 / A. Mohammad-Djafari (2009)
Titre de série : Problèmes inverses en imagerie et en vision, 1 Titre : Volume 1 Type de document : Monographie Auteurs : A. Mohammad-Djafari, Auteur ; A. Mohammad-Djafari, Éditeur scientifique Editeur : Paris : Lavoisier Année de publication : 2009 Collection : Traité IC2 - Information - Commande - Communication Sous-collection : Traité Signal et Image Importance : 267 p. Format : 16 x 24 cm ISBN/ISSN/EAN : 978-2-7462-1998-4 Note générale : Bibliographie Langues : Français (fre) Descripteur : [Vedettes matières IGN] Traitement d'image
[Termes IGN] chaîne de Markov
[Termes IGN] détection d'objet
[Termes IGN] détection de changement
[Termes IGN] détection de contours
[Termes IGN] estimation statistique
[Termes IGN] filtrage du bruit
[Termes IGN] problème inverseIndex. décimale : 35.20 Traitement d'image Résumé : (Editeur) La notion de problème inverse est maintenant devenue familière, en particulier dans les domaines de l'imagerie et de la vision par ordinateur. Parmi ces problèmes, on trouve le débruitage, la restauration par déconvolution, la segmentation, la reconstruction 2D ou 3D en tomographie X ou en imagerie micro-onde, la reconstruction de la surface d'un objet 3D en tomographie X ou à partir de ses ombres, la reconstruction de la surface d'une scène 3D à partir de plusieurs photos satellitaires, mais aussi la construction d'une image haute résolution à partir de plusieurs images de basse résolution (super-résolution), l'estimation de mouvement dans une séquence d'images ou encore la séparation de plusieurs images mélangées par des instruments de sensibilités ou de fonctions de transfert différentes. Tous ces sujets sont présentés dans les divers chapitres de ce livre tout en gardant une même méthodologie de l'inversion sous l'angle déterministe (moindres carrés, régularisation) ou probabiliste (modélisation markovienne et estimation bayésienne). Note de contenu : 1 - PROBLEMES INVERSES EN IMAGERIE ET EN VISION
2 - DEBRUITAGE ET DETECTION DE CONTOURS
3 - DECONVOLUTION AVEUGLE D'IMAGE
4 - MARKOV TRIPLETS ET SEGMENTATION D'IMAGES
5 - DETECTION D'OBJETS DANS UNE SCENE
6 - ESTIMATION DE MOUVEMENTNuméro de notice : 20394A Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Recueil / ouvrage collectif Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=41785 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 20394-02A 35.20 Livre Centre de documentation Télédétection Disponible 20394-01A 35.20 Livre Centre de documentation Télédétection Disponible
Titre : Regional gravity field modelling with radial basis functions Type de document : Thèse/HDR Auteurs : Tobias Wittwer, Auteur Editeur : Delft : Netherlands Geodetic Commission NGC Année de publication : 2009 Collection : Netherlands Geodetic Commission Publications on Geodesy, ISSN 0165-1706 num. 72 Importance : 190 p. Format : 17 x 24 cm ISBN/ISSN/EAN : 978-90-6132-315-0 Note générale : Bibliographie
Document téléchargeable sur le site de NCG : voir lien dans la noticeLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie physique
[Termes IGN] Antarctique
[Termes IGN] Canada
[Termes IGN] champ de pesanteur local
[Termes IGN] données GOCE
[Termes IGN] données GRACE
[Termes IGN] factorisation de Cholesky
[Termes IGN] filtre de Wiener
[Termes IGN] fonction de base radiale
[Termes IGN] Groenland
[Termes IGN] harmonique sphérique
[Termes IGN] levé gravimétrique
[Termes IGN] modèle de géopotentiel
[Termes IGN] modèle mathématiqueIndex. décimale : 30.42 Gravimétrie Résumé : (Auteur) Terrestrial gravimetry, airborne gravimetry, and the recent dedicated satellite gravity missions Challenging Minisatellite Payload (CHAMP), Gravity Recovery and Climate Experiment (GRACE), and Gravity and Ocean Circulation Explorer (GOCE) provide us with high-quality, high-resolution gravity data, which are used in many application areas such as
1. the computation of global static gravity fields, in support of precise orbit determination of many Earth observation satellites;
2. the quantification and interpretation of mass transport in the Earth system such as the shrinking of ice sheets, the shifting of ocean currents, and water storage variations;
3. the computation of high resolution regional and local gravity fields in support of height system realisation and the modelling of reservoirs and geophysical features.
Traditionally, for each data set (satellite, airborne, terrestrial) dedicated data processing schemes have been developed using different estimation principles, parametrisations, etc. The optimal combination of different data sets would benefit of a methodology that can be used for any type of data. Elements of this methodology comprise a uniform parametrisation, estimation principle, data weighting scheme, regularisation, and error propagation.
In the framework of this thesis, such a methodology is developed. It uses radial basis functions (RBFs) as parametrisation. They have parameters that allow us to tune their approximation properties as function of the data coverage and distribution and the signal variations. This makes them equally well suited for global and local parametrisation. Moreover, there exists an analytical relationship between a spherical harmonic representation and a radial basis function representation, which allows the latter to be transformed into the former, without any approximation error. Among others, this has the advantage that one can make use of existing processing tools, such as spectral analysis.
Although radial basis functions are not new in gravity field modelling, there are many important issues which have not yet been addressed or require further research. The main research question underlying this thesis is: "Are radial basis functions a suitable parametrisation for global and regional models of the mean and time-variable gravity field, and if so, how do they perform compared with spherical harmonic solutions?" Directly related to this is the question: "Are there situations where radial basis functions models outperform spherical harmonic solutions?" The answer to both questions is positive as will be shown in this thesis.
There are two important aspects that determine the quality of a gravity field model based on radial basis functions: 1) the spatial distribution of the radial basis functions, i.e. the basis function network design, and 2) the choice of the bandwidths of the radial basis functions. For both problems, semi-automatic algorithms have been developed. Data-adaptive network design and local refinement avoid respectively over- and under-parametrisation by fine-tuning the basis function network based on the data. The basis function bandwidth is determined by optimising the fit to the data including control data.
The computation of regional gravity fields constitutes a considerable numerical workload, especially since the methodology presented here does not use an iterative normal equation solver (e.g., the preconditioned conjugate gradient method). Instead, a Cholesky solver is used, which requires the assembly of the complete normal equation system. For this purpose the program is numerically optimised and fully parallelised for hybrid high performance computer architectures. This guarantees optimal performance on all types of parallel computers and handles the memory requirements.
The modelling of satellite data with radial basis functions is investigated using real data of the GRACE satellites collected over the period 2003-2006. An optimal Wiener filter has been developed for radial basis functions in line with the optimal Wiener filter approach previously developed at DEOS for spherical harmonic representations. Monthly GRACE gravity models computed using radial basis function are compared to spherical harmonic models, and validated using independent data provided by the Ice Cloud and Land Elevation Satellite (ICESat), radar altimetry satellites, and the global hydrological model PCR-GLOBWB. Two applications were considered: 1) mass variations over Greenland and Antarctica and 2) water storage variations in river basins. The results show that the radial basis function approach yields solutions that are of at least the same quality as global models using spherical harmonics. There is evidence that radial basis functions may provide better spatial resolution and more realistic amplitudes in particular in high-latitude areas. For instance, it will be shown that radial basis function solutions detected signal that could not be seen in spherical harmonic solutions.
Two test areas are used for regional gravity field modelling using real terrestrial data: An area in the northeastern USA and a larger area in eastern Canada. The results show that the data-adaptivity and local refinement algorithms developed in the framework of this thesis provide good solutions of constant quality regardless of the initially chosen grid spacing. The models are compared to the official regional geoid models GEOID03 and CGG05, respectively. In both cases, rms errors of several centimetres remain, which are attributed to different input data and processing strategies.
The combination of satellite and terrestrial data is tested using simulated global and regional data sets. It is shown that a joint inversion of the two data sets yields combined solutions which are significantly better than a solution using the traditional remove-restore approach. The addition of satellite data with the corresponding stochastic model compensates the reduced quality of the terrestrial data at long wavelengths.
The examples show that the regional modelling methodology presented here is a very flexible approach that can be applied to all types of gravity data and data distributions, regardless of application, data source, and area size. The quality of the solutions is at least equal to the solutions developed for the stand-alone inversion of individual data sets, while radial basis functions offer numerical benefits. As a result, this approach is already used for marine geoid modelling, and recommended for the modelling of airborne gravity data and data of the GOCE satellite, and for the joint inversion of satellite, airborne and ground-based gravity data.Note de contenu : Nomenclature
1 Introduction
1.1 Background
1.2 Motivation
1.2.1 Regional modelling from satellite data
1.2.2 Regional modelling from terrestrial data
1.2.3 Combined modelling of satellite and terrestrial data
1.2.4 Radial basis functions
1.3 Prior research on radial basis functions
1.4 Research objectives
1.5 Outline of thesis
2 Radial basis functions
2.1 Gravity field representations
2.1.1 Spherical harmonics
2.1.2 Radial basis functions
2.2 RBF types and behaviour in the spectral domain
2.3 Behaviour in the spatial domain
2.4 Relation of RBFs to a spherical harmonic representation
2.5 Choice of RBF characteristics
2.5.1 Choice of the kernel
2.5.2 Bandwidth selection
2.6 RBF network design
2.6.1 Grids
2.6.2 Adaptation to data
2.6.3 Local refinement
2.7 Multi-scale modelling
2.7.1 Introduction
2.7.2 Methodology
2.7.3 Filtering
3 Mathematical model and estimation principle
3.1 Functional model
3.2 Stochastic model
3.3 Least-squares estimation and regularisation
3.4 Solution strategies
3.4.1 Cholesky factorisation
3.4.2 Conjugate gradients
3.5 Variance component estimation .
3.5.1 Normal equations
3.5.2 Variance component estimation
3.5.3 Stochastic trace estimation
4 Numerical aspects
4.1 Numerical optimisation
4.1.1 Constant expressions in "do"-loops
4.1.2 Computation of the design matrix
4.1.3 Normalisation of coordinates
4.1.4 Normalisation of basis functions
4.2 Fast synthesis
4.3 Parallelisation
4.3.1 Problem description
4.3.2 Parallel computer architectures .
4.3.3 Parallelisation for shared memory computers
4.3.4 Parallelisation for distributed memory computers
4.3.5 Hybrid parallelisation
4.3.6 Results of parallelisation
4.4 Summary and conclusions
5 Gravity field modelling from satellite data
5.1 Functional model
5.1.1 Three-point range combination approach
5.1.2 Residual accelerations
5.1.3 Equivalent water heights
5.1.4 Trend and signal amplitude estimation
5.2 Stochastic model
5.3 Optimal filtering
5.3.1 Introduction
5.3.2 Signal covariance matrix computation
5.3.3 Noise level estimation
5.4 RBF network design
5.4.1 Grid choice
5.4.2 Data-adaptivity and local refinement
5.4.3 Parametrised area
5.5 Bandwidth selection
5.6 Results.
5.6.1 Comparison of unfiltered RBF and spherical harmonic solution
5.6.2 Models used for comparison
5.6.3 Recovery of ice mass loss in Greenland and Antarctica
5.6.4 Recovery of terrestrial water storage variations
5.7 Summary and conclusions
6 Local gravity field modelling from terrestrial data
6.1 Functional model
6.1.1 Functional model for gravity disturbances
6.1.2 Functional model for gravity anomalies
6.1.3 Functional model for height anomalies
6.2 RBF network design
6.2.1 Grid choice
6.2.2 Data-adaptivity and local refinement
6.2.3 Parametrised area
6.3 Bandwidth selection
6.4 Results
6.4.1 Northeastern USA
6.4.2 Canada
6.5 Summary and conclusions
7 Combined modelling of satellite and terrestrial data
7.1 Combination strategies
7.1.1 Remove-restore approach
7.1.2 High-pass filtering
7.1.3 Direct combination
7.1.4 Combination with satellite-only solution
7.2 RBF network design and bandwidth selection
7.3 Results
7.3.1 Global test
7.3.2 Regional test
7.4 Summary and conclusions
8 Summary, conclusions and recommendations
8.1 Summary and conclusions
8.2 Recommendations for further researchNuméro de notice : 15511 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Thèse étrangère Note de thèse : PhD thesis En ligne : https://www.ncgeo.nl/index.php/en/publicatiesgb/publications-on-geodesy/item/258 [...] Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=62744 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 15511-01 30.42 Livre Centre de documentation Géodésie Disponible Trajectory determination and analysis in sports by satellite and inertial navigation / Adrian Wägli (2009)
Titre : Trajectory determination and analysis in sports by satellite and inertial navigation Type de document : Thèse/HDR Auteurs : Adrian Wägli, Auteur ; Jan Skaloud, Directeur de thèse Editeur : Zurich : Schweizerischen Geodatischen Kommission / Commission Géodésique Suisse Année de publication : 2009 Collection : Geodätisch-Geophysikalische Arbeiten in der Schweiz, ISSN 0257-1722 num. 77 Importance : 173 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-908440-20-5 Note générale : Bibliographie
Doctoral thesisLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications de géodésie spatiale
[Termes IGN] filtrage du bruit
[Termes IGN] GPS-INS
[Termes IGN] modèle d'erreur
[Termes IGN] navigation inertielle
[Termes IGN] orientation
[Termes IGN] positionnement par GNSS
[Termes IGN] positionnement par GPS
[Termes IGN] précision décimétrique
[Termes IGN] sport
[Termes IGN] test de performance
[Termes IGN] trajectographie par GPS
[Termes IGN] trajet (mobilité)Index. décimale : 30.83 Applications océanographiques de géodésie spatiale Résumé : (Auteur) [Préface] The abundance and availability of small positioning devices offers new opportunities (and challenges) for the art and science of Kinematic Geodesy. Certainly, as the inventors of inertial navigation never dreamed of a full Inertial Measurement Units (IMUs) occupying space of few cubic millimeters, the designers of the Global Positioning System (GPS) never thought of placing miniature receivers on human beings. Yet, it is the variety of civil application that improves the measurement accuracy of the originally military technology by an order (or several orders) of magnitude. This can be achieved either by exploiting secondary signals or by proposing innovative algorithms.
The research of Adrian Wagli belongs to the latter category as it presents (with an excellent rigor) innovative algorithms and data processing approaches which turn signals from small GPS receivers and miniature but very imprecise Micro-electromechanical (MEMS)-IMU into a convincing measurement instrument capable of tracking the skier's 2-G turn with 0.01% accuracy. The amalgam of high precision and small instrumentation then allows tracing movement of athletes not once in a while, but continuously at 100 times per second. Thus, through the practically continuous measurements of 3D position, velocity and orientation, the sportsmen's performance parameters can be deduced. Using it in sports like alpine skiing is very challenging task due to the encountered dynamic and the mountain surroundings that block the reception of satellite signals. Therefore, if the technology finds its place in such relatively hostile conditions, it can be" surely used for other purposes in more benign environment. At the same time it represents a very motivating factor for the research undertaken at the country to which such sport belongs.
In his work, Adrian Wagli demonstrates for the first time that redundant configuration of low-cost MEMS-IMUs allows determining orientation better than 1 degree RMS and that the autonomous positioning of decimeter accuracy is feasible with these sensors up to 30-second long outages of GPS signals even in high dynamic. Although the thesis is application-driven, i.e. the work results in. several algorithms and software modules applicable to real scenarios; it contains, at the same time, a I number of novel concepts applicable to other domains of navigation and kinematic positioning. The nicely presented combination of theory and practice will therefore satisfy a wide spectrum of readers.Note de contenu : 1 Introduction
1.1 Context
1.2 Particularities Related to Sport Applications
1.3 Objectives
1.4 Methodology
2 From Sports to Navigation
2.1 Criteria of Sport Applications
2.1.1 Accuracy Requirements
2.2 Methods for Trajectory Determination
2.2.1 Imagery
2.2.2 Satellite and Inertial Navigation
2.2.3 Alternative Techniques Based on Position Fixing
2.2.4 Complementary Methods to Trajectory Determination
2.2.5 Summary
2.3 Instrumentation for Satellite and Inertial Navigation
2.3.1 Overview on GNSS and Processing Methods
2.3.2 Inertial Measurement Units
2.3.3 Other Aspects Related to System Architecture
3 Measurements, Models and Estimation Methods
3.1 Inertial Measurement Model
3.1.1 Generalized Error Model for Inertial Observations
3.1.2 Simplified Error Model for Inertial Observations
3.2 Magnetic Measurements
3.3 GPS Observations
3.3.1 Code Measurements
3.3.2 Carrier-Phase Measurements
3.3.3 Carrier-Phase Smoothing
3.3.4 Doppler Measurements
3.3.5 Differential GPS
3.4 GPS/INS Sensor Fusion
3.4.1 Integration Constraints
3.4.2 Integration Strategy Trade-offs
3.4.3 Kalman Filtering
3.4.4 Optimal Smoothing
3.5 Implementation of GPS Processing
3.5.1 Definition of the State Vector
3.5.2 Initialization
3.5.3 State Propagation
3.5.4 Measurement Updates
3.6 Implementation of GPS/INS Integration
3.6.1 Definition of the State Vector
3.6.2 Initialization
3.6.3 Strapdown Inertial Navigation
3.6.4 Measurement Updates
4 GPS/MEMS-IMU System Performance
4.1 Experimental Setup
4.2 GPS/MEMS-IMU Performance
4.2.1 Satellite Navigation
4.2.2 GPS/MEMS-IMU Integration
4.2.3 GPS/MEMS-IMU Integration during Reduced Satellite Reception
4.2.4 Benefits of RTS Smoothing
4.3 Benefits of UKF
4.3.1 Navigation Performance
4.3.2 Implementation Aspects
4.4 Magnetic Sensors
4.5 Orientation Initialization
4.5.1 Evaluation based on Simulations
4.5.2 Experimental Evaluation
5 MEMS-IMU Error Modeling
5.1 Static Evaluation by Allan Variance
5.2 Static Estimation of the Noise Parameters
5.3 Dynamic Error Model Investigation
5.3.1 Estimation of the Relative Alignment of the MEMS-IMU
5.3.2 Estimation of the Reference Values for the Inertial Sensor Errors
5.3.3 Error Model Analysis
5.3.4 Relevance to Kalmari Filtering
5.4 Investigation of more Complex Error Models
6 Performance Improvement through Redundant IMUs
6.1 INS Redundancy Approaches in Inertial Navigation
6.2 Geometrical Arrangement of Redundant IMUs
6.3 Noise Reduction and Direct Noise Estimation
6.3.1 Noise Reduction
6.3.2 Direct Noise Estimation
6.4 Fault Detection and Isolation
6.5 System and Observation Model for the Redundant IMU Integration
6.5.1 Synthetic IMU Integration
6.5.2 Extended IMU Mechanization
6.5.3 Geometrically-Constrained Mechanization
6.6 Navigation Performance Improvement
6.6.1 Algorithm Selection
6.6.2 Assessment Based on Experiments
6.6.3 Assessment Based on Emulation
6.6.4 Notes on the Observability
6.6.5 Orientation Initialization and Inertial Error Estimation
7 From Navigation to Performance Assessment in Sport
7.1 Trajectory Modeling Approaches
7.1.1 Cubic Splines Smoothing
7.1.2 Additional Kalman Filtering
7.1.3 Limitations of Trajectory Modeling .
7.2 Trajectory Matching
7.2.1 Problem Definition
7.2.2 Extension of Cubic Spline Smoothing
7.2.3 Eigenvector Approach for Feature-Based Correspondence
7.2.4 Position Accuracy Improvement through Trajectory Matching
7.2.5 Risk Related to Trajectory Matching
7.3 Trajectory Comparison
7.3.1 Spatial Trajectory Comparison Approach
7.3.2 Methodology for Trajectory Comparison
7.3.3 Alternative Methods for Trajectory Comparison
7.3.4 Visualization Aspects
7.4 Position-Based Chronornetry
7.5 Orientation Related Assessment - Skiing
7.6 Orientation Related Assessment - Motorcycling
7.6.1 Reference Frame Aspects
7.6.2 Computation of the Lateral Slipping of Tires
7.6.3 Evaluation of the Tire Characteristics
7.6.4 Other Perspectives
8 Conclusions and Perspectives
8.1 Conclusions
8.2 PerspectivesNuméro de notice : 15514 Affiliation des auteurs : non IGN Autre URL associée : URL EPFL Thématique : POSITIONNEMENT Nature : Thèse étrangère DOI : 10.5075/epfl-thesis-4288 En ligne : https://www.sgc.ethz.ch/sgc-volumes/sgk-77.pdf Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=62747 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 15514-01 30.83 Livre Centre de documentation Géodésie Disponible Evaluation du modèle d'erreur de capteurs MEMS-IMU / J.M. Bonnaz in XYZ, n° 117 (décembre 2008 - février 2009)
[article]
Titre : Evaluation du modèle d'erreur de capteurs MEMS-IMU Type de document : Article/Communication Auteurs : J.M. Bonnaz, Auteur Année de publication : 2008 Article en page(s) : pp 27 - 34 Note générale : Bibliographie Langues : Français (fre) Descripteur : [Vedettes matières IGN] Applications de géodésie spatiale
[Termes IGN] centrale inertielle
[Termes IGN] détecteur
[Termes IGN] filtre de Kalman
[Termes IGN] GPS-INS
[Termes IGN] modèle d'erreurRésumé : (Auteur) Les MEMS (Micro Electronic Mechanical Systems) ou microsystèmes sont des capteurs miniaturisés. Ils sont développés depuis une dizaine d'années et sont basés sur les microtechniques. La technologie des MEMS permet de produire de nouveaux systèmes inertiels : les MEMS-IMU. Ils sont généralement à base de silicium. Un MEMS-IMU est composé d'accéléromètres, de gyroscopes, de magnétomètres et de capteurs de température. Leur taille mais surtout leur coût (une dizaine de dollars) laissent entrevoir des possibilités novatrices dans le cadre d'applications inertielles. Les MEMS-IMU sont cependant entachés d'erreurs importantes. Leur comportement a encore été peu étudié et nous ne savons pas encore modéliser les erreurs qui affectent ces capteurs. L'objectif de cet article est de présenter une démarche visant à comprendre un peu mieux le comportement d'erreur de ces capteurs pour pouvoir le modéliser. Elle se base sur une comparaison de mesures réalisées dans différentes conditions par des MEMS-IMU et une centrale inertielle haut de gamme (LN200) que l'on considère comme référence. Les recherches présentées dans cet article mettent en évidence l'existence de biais et de facteurs d'échelle sur les MEMS-IMU. Sur des durées assez courtes, on observe que les dérives sont négligeables. Aussi cet article présente différentes méthodes d'estimation des erreurs avec leurs avantages et inconvénients. Copyright AFT Numéro de notice : A2008-493 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : sans Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=29562
in XYZ > n° 117 (décembre 2008 - février 2009) . - pp 27 - 34[article]Exemplaires(1)
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