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State estimation for unmanned aerial vehicles using IMU and UWB / Oussama Sifour 

Public ISBD Titre : State estimation for unmanned aerial vehicles using IMU and UWB Type de document : document électronique Auteurs : Oussama Sifour, Auteur ; Tadjine, Mohamed, Directeur de thèse ; S. Berkane, Directeur de thèse Editeur : [S.l.] : [s.n.] Année de publication : 2020 Importance : 1 fichier PDF (10Mo) Présentation : ill. Note générale : Mode d'accès : accès au texte intégral par intranet. Mémoire de Projet de Fin d’Études : Automatique : Alger, École Nationale Polytechnique : 2020 Bibliogr. f. 107 - 109 Langues : Anglais (eng) Mots-clés : UAV IMU UWB State  estimation Index. décimale : PA01520 Résumé : In this thesis, the state estimation problem for Unmanned aerial vehicles using vector measurements and range measurements was studied. Several nonlinear attitude observers relying on Inertial Measurements Unit (IMU) measurements were proposed and compared. Two full state (orientation, position and velocity) approaches for non accelerated vehicles relying on IMU and UWB measurements were proposed and compared. Reconstruction methods for position measurements were proposed when using less than 4 UWB anchors. Furthermore, two nonlinear full state observers for accelerated vehicles relying on IMU and range measurements were proposed, discussed and compared. Finally, all the full state estimation methods and observer were compared in different scenarios to help the reader decide and choose an estimation method according to needed performance and flight condition and scenario. State estimation for unmanned aerial vehicles using IMU and UWB [document électronique] / Oussama Sifour, Auteur ; Tadjine, Mohamed, Directeur de thèse ; S. Berkane, Directeur de thèse . - [S.l.] : [s.n.], 2020 . - 1 fichier PDF (10Mo) : ill. Mode d'accès : accès au texte intégral par intranet. Mémoire de Projet de Fin d’Études : Automatique : Alger, École Nationale Polytechnique : 2020 Bibliogr. f. 107 - 109 Langues : Anglais (eng) Mots-clés : UAV IMU UWB State  estimation Index. décimale : PA01520 Résumé : In this thesis, the state estimation problem for Unmanned aerial vehicles using vector measurements and range measurements was studied. Several nonlinear attitude observers relying on Inertial Measurements Unit (IMU) measurements were proposed and compared. Two full state (orientation, position and velocity) approaches for non accelerated vehicles relying on IMU and UWB measurements were proposed and compared. Reconstruction methods for position measurements were proposed when using less than 4 UWB anchors. Furthermore, two nonlinear full state observers for accelerated vehicles relying on IMU and range measurements were proposed, discussed and compared. Finally, all the full state estimation methods and observer were compared in different scenarios to help the reader decide and choose an estimation method according to needed performance and flight condition and scenario.

Exemplaires

Code-barres	Cote	Support	Localisation	Section	Disponibilité	Spécialité	Etat_Exemplaire
EP00069	PA01520	Ressources électroniques	Bibliothèque centrale	Projet Fin d'Etudes	Disponible	Automatique	Téléchargeable

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