Trajectory determination and analysis in sports by satellite and inertial navigation

This research presents methods for performance analysis in sports through the integration of Global Positioning System (GPS) measurements with Inertial Navigation System (INS). The described approach focuses on strapdown inertial navigation using Micro-Electro-Mechanical System (MEMS) Inertial Measurement Units (IMU). A simple inertial error model is proposed and its relevance is proven by comparison to reference data. The concept is then extended to a setup employing several MEMS-IMUs in parallel. The performance of the system is validated with experiments in skiing and motorcycling. The position accuracy achieved with the integrated system varies from decimeter level with dual-frequency differential GPS (DGPS) to 0.7 m for low-cost, single-frequency DGPS. Unlike the position, the velocity accuracy (0.2 m/s) and orientation accuracy (1 – 2 deg) are almost insensitive to the choice of the receiver hardware. The orientation performance, however, is improved by 30 – 50% when integrating four MEMS-IMUs in skew-redundant configuration. Later part of this research introduces a methodology for trajectory comparison. It is shown that trajectories based on dual-frequency GPS positions can be directly modeled and compared using cubic spline smoothing, while those derived from single-frequency DGPS require additional filtering and matching.

Methodology for the digital calibration of analog circuits and systems

Marc Pastre

This thesis presents a complete methodology for the digital calibration of analog circuits. It shows how to relax the extreme design constraints in analog circuits, allowing the realization of high-precision systems even with low-performance components. In addition, three applications of the methodology are proposed. To start with, an in-depth analysis of existing compensation techniques for analog circuit imperfections is carried out. The M/2+M sub-binary digital-to-analog converter is thoroughly studied, and the use of this very low-area circuit in conjunction with a successive approximations algorithm for digital compensation is described. A complete methodology based on this compensation circuit and algorithm is then proposed. The detection and correction of analog circuit imperfections is studied, and a simulation tool allowing the transparent simulation of analog circuits with automatic compensation blocks is introduced. An additional up/down converter is suggested for the compensation of continuoustime analog signal processing circuits. The first application shows how the sub-binary M/2+M structure can be employed as a conventional digital-to-analog converter if two calibration and radix conversion algorithms are implemented. The second application, a SOI 1T DRAM, is then presented. An automatic reference current generation for memory reading is described. A digital algorithm chooses a suitable value which compensates several circuit imperfections together, from the sense amplifier offset to the dispersion of the memory read currents. The third application is the calibration of the sensitivity of a current measurement microsystem based on a Hall magnetic field sensor. An integrated reference generates a magnetic field for calibration. Using a variant of the chopper modulation, the spinning current technique, combined with a second modulation of the reference signal, the sensitivity of the complete system is continuously measured without interrupting normal operation. Modulation and demodulation schemes allowing the joint processing of both external and reference magnetic fields are proposed. Additional circuit techniques for extracting the very low reference signal are presented. The implementation of the microsystem is then discussed. The realization of the blocks composing the system is detailed, and circuit issues are presented. Finally, measurements validate the calibration principle. A thermal drift lower than 50 ppm/°C is achieved. This is 6 to 10 times less than in state-ofthe-art implementations. Furthermore, the calibration technique also compensates drifts due to mechanical stresses and ageing.

EPFL2005

Real Time Aircraft Position+Attitude of Airborne Sensors

Telmo Cunha, Phillip Tomé

The determination of instantaneous positions with high accuracy using differential GPS techniques is of great importance for several applications, like airborne topographic mapping, airborne gravimetry and altimetry. In some of these applications long baselines are involved creating additional problems in the correct determination of the position of the sensors. The determination of the attitude of the aircraft is also of great importance in this context. This paper presents a technique that, taking advantage of the integration of GPS and inertial measurements, produces real time positions. The demand for real time positioning introduces some more constraints, which must be taken into account from the start of the algorithm development to the end of its implementation. A methodology for processing GPS and raw data from an inertial measurement unit (IMU) was implemented in a feedback integrated structure. The position determination is based on real time DGPS with L1 and L2 carrier phase ambiguity fixing, using on-line IMU processed data to validate and increase the positions reliability, especially during GPS outages and when the aircraft is far away from the nearest GPS reference station. By processing L1 and L2 carrier phase measurements in differential mode between a pair of the aircraft GPS antennas (without resorting to ground reference station data), a partial estimate of the aircraft attitude is obtained. This is critical to align the low cost inertial platform in heading either when the aircraft is stopped or in flight. In addition, the DGPS absolute positions are used to update the IMU data in real time. By using the proposed methodology it was possible to explore the entire potential of a low cost IMU/GPS system. The position and attitude values are obtained from all the measurements through an extended Kalman filter. Decimeter accuracy was achieved for the positions. For the orientation of the aircraft an accuracy of 0.01º (1) for roll and pitch and 0.1º (1 sigma) for heading was achieved. The performance and the results obtained with this system using data from an airborne campaign that took place in Portugal are discussed.

1999

A GPS/INS System for Positioning and Orientation of Airborne Sensors: Results from flight tests in Portugal

Telmo Cunha, Phillip Tomé

Efficient systems for determining the precise position and orientation of airborne sensors will have a great impact in different remote sensing activities, with consequences in their productivity and therefore substantially increasing their cost effectiveness. In the scope of national and international projects, the authors have developed and tested an airborne system built with multiple GPS receivers and a low cost inertial unit. The methodology is based on the integrated processing of raw inertial measurements and GPS data collected from two receivers on board the aircraft and one, or possibly more, reference stations. The algorithm for processing GPS and IMU (Inertial Measurement Unit) raw data was implemented in an integrated feedback loop. The position determination is based on DGPS with OTF ambiguity fixing, using on-line processed inertial data to validate and increase position reliability, especially during GPS outages and when the aircraft is far away from the nearest GPS reference station. For the attitude angles, the IMU raw data is processed using absolute GPS position/velocity updates for continuous alignment. Also, by processing L1 and L2 carrier phase measurements in differential mode between two GPS antennas on the aircraft (without resorting to ground reference station data), a partial estimate of the aircraft attitude is obtained. This is critical to align the low cost inertial platform in heading either when the aircraft is stopped or in stable flight. The inertial system also provides high rate (DGPS filtered) position and velocity estimates that can be valuable during GPS signal outages and for the robustness of the ambiguity fixing procedures. By using the proposed methodology it was possible to explore the entire potential of a low cost GPS/IMU system. The position and attitude values are obtained from all the measurements through an Extended Kalman Filter. Decimeter accuracy was achieved for the positions, while the estimated accuracy for the aircraft orientation is 0.01º for roll and pitch and 0.05º for heading (maximum values). The basic idea was to develop a low cost system that can supply position and attitude with a level of accuracy and reliability similar to more expensive systems, such us gimbaled and ring laser gyro based inertial systems. The final tests of this GPS/IMU system took place during this summer. The inclusion of a radio link between a reference station and the aircraft enabled the system to operate in real time. It proved to be successful in navigating the aircraft during all flight phases, including runway approach and landing. Furthermore, aerial photographs were taken in order to have an independent evaluation of the system accuracy. Results from the airborne campaigns and the performance of this system are presented. Its potential for different applications is discussed.

1999

Methodology for the digital calibration of analog circuits and systems

Marc Pastre

EPFL2005

Real Time Aircraft Position+Attitude of Airborne Sensors

Telmo Cunha, Phillip Tomé

1999

A GPS/INS System for Positioning and Orientation of Airborne Sensors: Results from flight tests in Portugal

Telmo Cunha, Phillip Tomé

1999