Publications associées à Fault Detection and Isolation in Multiple MEMS-IMUs Configurations

An Ultralow-Power Triaxial MEMS Accelerometer With High-Voltage Biasing and Electrostatic Mismatch Compensation

This article presents a triaxial micro electromechani-cal system (MEMS) capacitive accelerometer using a high-voltage biasing technique to achieve high resolution with ultralow power. The accelerometer system generates a differential pair of high voltages ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Optimization and Real-Time Aspects of Aircraft Model-Based Navigation

Gabriel François Laupré

The Vehicle Dynamic Model (VDM) based navigation of fixed-wing drones determines the airborne trajectory in conjunction with Inertial Measurement Unit (IMU) sensors. Without Global Navigation Satellite Systems (GNSS) signals, this method estimates navigati ...

EPFL2022

On the calibration aspects of MEMS-IMUs used in micro UAVs for sensor orientation

Jan Skaloud, Philipp Clausen

We introduce a three step procedure to improve attitude determination by MEMS-IMU sensors on board a small UAV. IMU pre-calibration is performed first and only once in the lab; second in a simplified version and for every switch-on in the field. Together, ...

IEEE/ION2020

Sensor and the Beast: Generalised Methods to Recognise Animal Behaviour and Quantify Energy Expenditure Using Inertial Sensors, and Applications

Pritish Chakravarty

How an animal allocates time and energy to different activities has repercussions for its survival, fitness, and response to changing environmental conditions. Fine-scale information on animal behaviour and energy expenditure can help develop better inform ...

EPFL2020

Construction of Dynamically-Dependent Stochastic Error Models

Jan Skaloud, Stéphane Guerrier, Philipp Clausen

Stochastic behavior of an instrument is often analyzed by constructing the Allan (or wavelet) variance signatures from an error signal. For inertial sensors, such a signature is conveniently obtained by recording data at rest. The analysis of this signal w ...

IEEE2018

Accurate Angular Velocity Estimation with an Event Camera

Davide Scaramuzza

We present an algorithm to estimate the rotational motion of an event camera. In contrast to traditional cameras, which produce images at a fixed rate, event cameras have independent pixels that respond asynchronously to brightness changes, with microsecon ...

2017

Application Of Vehicle Dynamic Modeling In Uavs For Precise Determination Of Exterior Orientation

Jan Skaloud, Mehran Khaghani

Advances in unmanned aerial vehicles (UAV) and especially micro aerial vehicle (MAV) technology together with increasing quality and decreasing price of imaging devices have resulted in growing use of MAVs in photogrammetry. The practicality of MAV mapping ...

Copernicus Gesellschaft Mbh2016

Automatic Identification and Calibration of Stochastic Parameters in Inertial Sensors

Jan Skaloud, Stéphane Guerrier

We present an algorithm for determining the nature of stochastic processes and their parameters based on the analysis of time series of inertial errors. The algorithm is suitable mainly (but not only) for situations where several stochastic processes are s ...

Wiley Periodicals, Inc2015

A Micro Aerial Vehicle with Precise Position and Attitude Sensors

Jan Skaloud, Romain Mabillard, Martin Rehak

This study shows the potential of navigation technologies in the field of position and orientation determination on a micro aerial vehicle (MAV), which weight does not exceed 5 kg. Although the MAV systems feature high flexibility and capability of flying ...

E Schweizerbartsche Verlagsbuchhandlung2014

Generalized Method of Wavelet Moments for Inertial Navigation Filter Design

Jan Skaloud, Stéphane Guerrier, Yannick Stebler

The integration of observations issued from a satellite-based system (GNSS) with an inertial navigation system (INS) is usually performed through a Bayesian filter such as the extended Kalman filter (EKF). The task of designing the navigation EKF is strong ...

Institute of Electrical and Electronics Engineers2014

Implementation and Performance of a GPS/INS Tightly Coupled Assisted PLL Architecture Using MEMS Inertial Sensors

Pierre-André Farine, Yannick Stebler, Phillip Tomé, Youssef Tawk, Cyril Botteron

The use of global navigation satellite system receivers for navigation still presents many challenges in urban canyon and indoor environments, where satellite availability is typically reduced and received signals are attenuated. To improve the navigation ...

Mdpi Ag2014

Detecting Planar Surface Using a Light-Field Camera with Application to Distinguishing Real Scenes From Printed Photos

Martin Vetterli, Alireza Ghasemi

We propose a novel approach for detecting printed photos from natural scenes using a light-field camera. Our approach exploits the extra information captured by a light-field camera and the multiple views of scene in order to infer a compact feature vector ...

Ieee2014

Advanced Algorithmic and Architecture Designs for Future Satellite Navigation Receivers

Youssef Tawk

The use of global navigation satellite system (GNSS) receivers for navigation still presents many challenges, in particular in urban canyon and indoor environments where satellite availability is reduced and received signals are usually much atten- uated. ...

EPFL2013

MEMS Inertial Sensor to Measure the Gravity Gradient Torque in Orbit

Kaustav Ghose

Since the dawn of the Space Age, over six thousand satellites have been launched into Earth orbit. The function of determining the orientation of a satellite in orbit, so that it can point its antennas and instruments in the required direction is known as ...

EPFL2012

Temporally aliased video microscopy: an undersampling method for in-plane modal analysis of microelectromechanical systems

Christophe Yamahata, Martinus Gijs, Marc Stranczl

A simple optical method is proposed for performing in-plane experimental modal analysis of micromachined structures with a conventional charge-coupled device (CCD) camera. The motion of a micromechanical device actuated by high frequency sinusoidal forces ...

Institute of Electrical and Electronics Engineers2012

An effortless procedure to align the local frame of an inertial measurement unit to the local frame of another motion capture system

Kamiar Aminian, Julien Favre, Julien Chardonnens

Inertial measurement units (IMUs) offer great opportunities to analyze segmental and joints kinematics. When combined with another motion capture system (MCS), for example, to validate new IMU-based applications or to develop mixed systems, it is necessary ...

Elsevier2012

Improving Modeling of MEMS-IMUs Operating in GNSS-denied Conditions

Jan Skaloud, Stéphane Guerrier, Yannick Stebler

Stochastic modeling is a challenging task for low- cost inertial sensors whose errors can have complex spectral structures. This makes the tuning process of the INS/GNSS Kalman filter often sensitive and difficult. We are currently investigating two approa ...

Inst Navigation2011

Optimization of two GPS/MEMS-IMU integration strategies with application to sports

Adrian Wägli, Jan Skaloud

The application of low-cost L1 GPS receivers integrated with micro-electro-mechanical system (MEMS) inertial measurement units (IMU) allows the continuous observation of position, velocity and orientation which opens new possibilities for comparison orf at ...

Springer Verlag2009

Vision-based control of near-obstacle flight

Jean-Christophe Zufferey, Dario Floreano, Antoine Beyeler

This paper presents a novel control strategy, which we call optiPilot, for autonomous flight in the vicinity of obstacles. Most existing autopilots rely on a complete 6-degree-of-freedom state estimation using a GPS and an Inertial Measurement Unit (IMU) a ...

2009

Vision-based control of near-obstacle flight

Antoine Beyeler

Lightweight micro unmanned aerial vehicles (micro-UAVs) capable of autonomous flight in natural and urban environments have a large potential for civil and commercial applications, including environmental monitoring, forest fire monitoring, homeland securi ...

EPFL2009