22/09/2017 - LASSENA AVIO-505 won the Best of Session (IMA-4) Award at DASC’17
Congratulation to AVIO-505 team! The paper “Direct RF Sampling Transceiver Architecture Applied to VHF Radio, ACARS, and ELTs” won the Best of... (+ de détail)
22/09/2017 - Congratulations,Neda Navidi! Best Paper Award in ICCSTE 2017.
Congratulations to Mme. Neda Navidi who was presented the Best Paper Award in ICCSTE 2017 (Vancouve,Canada,August 7-8,2017). Mme. Neda Navidi is... (+ de détail)
22/09/2017 - Congratulations! Best Student Paper Award in ICNS 2017
Congratulations to Mr. Abdessamad Amrhar who was presented the Best Student Paper Award in ICNS 2017( Herdon, VA,USA, April 18-20, 2017). We also... (+ de détail)
26/09/2015 - Adrien Mixte passed successfully his master oral exam !
Congratulations to Adrien Mixed which received honors for his defense on August 28, 2015. His project, ibNav, focused on the development of a... (+ de détail)
26/09/2015 - Mr. Marc-Antoine Fortin made his PhD oral exam successfully and distinction « Excellence »
Congratulations to Mr. Marc-Antoine Fortin who made his PhD oral exam successfully. The works of mister Fortin's master's degree, subject the title... (+ de détail)
26/09/2015 - Mrs.Neda Navidi gets the Best Poster Award attributed by the UAV-g 2015
Congratulations to Mrs. Neda Navidi who gets the Best Poster Award during the UAV-g 2015 conference, in Toronto, Canada, the September 2nd 2015.... (+ de détail)
22/05/2015 - LASSENA’s work awarded at 2015 ICNS
The work entitled "Integrated Direct RF Sampling Front-end for VHF Avionics Systems" has been recognized as the Best Future Communications Paper... (+ de détail)
20/10/2014 - LASSENA’s work awarded at 33rd DASC
The work entitled "DME/DME Navigation using a Single Low-Cost SDR and Sequential Operation" has been recognized as the Best Paper of the Session... (+ de détail)
09/10/2014 - New research project awarded by NSERC in the field of protection against satellite interference: AVIO-601
Recently, Professor René Jr. Landry from the Department of Electrical Engineering of ÉTS has obtained a Collaborative Research and Development... (+ de détail)
24/09/2014 - Stéphane Ehouman has obtained the second prize at ReSMiQ Innovation Day
Congratulations to Mr. Stéphane Ehouman who has obtained the second prize at ReSMiQ Innovation Day competition celebrated on September 18, 2014.... (+ de détail)
27/08/2014 - Mohammad Honarparvar passed successfully his Ph.D. oral exam (DGA-1033)
Congratulations to Mr. Mohammad Honarparvar who passed the Ph.D. oral examination part of his DGA-1033. Mohammad's thesis is entitled : "Design of... (+ de détail)
27/06/2014 - AMOOS Conferences
The LASSENA is pleased to invite you to international conferences about AMOOS project, Autonomous Mission for On-Orbit Servicing, of the 2014 ISU... (+ de détail)
20/06/2013 - Performance improvements of a navigation algorithm INS / GPS low cost used in urban areas
To provide a solution robust and accurate navigation , GPS receivers must operate in optimal conditions , that is to say have a direct line of... (+ de détail)
08/04/2013 - Marinvent and ETS successfully develop a wireless prototyping process for Marinvent’s APM through Engage project
Montreal, Quebec, Monday, April 8, 2013 – Marinvent announces today the successful completion of its Airfoil Performance Monitor (APM)-Engage... (+ de détail)
13/03/2013 - LASSENA’s participation at the 8th day of discoveries in 2013
Wednesday, March 13th was held the 8th edition of the discoveries day. On this day held a poster contest on research projects students master's... (+ de détail)
06/06/2012 - Philippe Lavoie made his defense viva(master’s degree) successfully and distinction "excellence"
Congratulations to Philippe Lavoie who made his viva (master's degree) successfully. The works of mister Lavoie's master's degree, subject the title... (+ de détail)
23/11/2011 - Software radios for highly integrated system architecture
The project aims at establishing new methods and techniques of processing of the digital signals for universal effective and strong plans of... (+ de détail)
22/11/2011 - The collaboration AÉROÉTS - Marinvent Corporation
The collaboration AÉROÉTS - Marinvent Corporation is a unique initiative establishing a consortium offering services of university and industrial... (+ de détail)
30/09/2011 - Embarked systems for the aerospace industry, a key specialization for the industry
The Department of electric engineering is proud to announce the creation of the new concentration embarked Systems for the aerospace industry of... (+ de détail)
03/05/2010 - Mister Kaveh Mollaiyan takes successfully his doctoral written examination
Congratulations to mister Kaveh Mollaiyan who took successfully his examination written by PhD. Mister . Mollaiyan's thesis is entitled: "... (+ de détail)
23/04/2010 - Mister Ramdane Ait-Aoudia pursues his works in the GRN of the LACIME within the framework of a training course S3
M. Ramdane Ait-Aoudia poursuit ses travaux au GRN du LACIME dans le cadre d'un stage S3 d'un projet en collaboration avec la compagnie iMetrik. Les... (+ de détail)
14/08/2009 - Mister Guillaume Lamontagne takes successfully his master’s degree in electric engineering
Mister Guillaume Lamontagne passed successfully his oral defense within the framework of his master's degree in electric engineering. Under the... (+ de détail)
10/06/2008 - ÉTS in space
A group of professors of the Laboratory of communications and integration of the microelectronics ( LACIME) of the ÉTS collaborated in the... (+ de détail)
Photo RLandry
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René Jr. Landry
CV TL Laboratories Teaching Research Research trainee
Informations on the project
Title 45- Algorithms and methods to increase the robustness and precision of an Attitude Determination System (ADS) using low cost MEMS sensors.

1. General information
This component of the research program shall be undertaken by a PhD candidate to develop advanced algorithms and calibration methods so that commercial grade MEMS inertial sensors can be used to acquire precise attitude for an Army soldier-navigation-solution (SNS).

2. Research Project Proposal
Principle objective of this research program is to develop advanced attitude estimation algorithms and inertial MEMS sensor calibration methods to establish attitude estimation limits on low cost commercial grade MEMS inertial sensor triad assemblies. To achieve these objectives, a PhD student shall gain expertise over a period of three years in several disciplines namely: nonlinear estimation, Bayesian calibration methodologies for creation of high accuracy/fidelity inertial sensor error models, application of nonlinear geometric control theory for attitude stabilization and precision performance. Some benefits outlined here of using MEMS inertial sensors for this research project are: 1) a smaller footprint, 2) lower weight and power consumption, 3) higher volume of production at a lower cost, 4) lower part count resulting in lower system maintenance. These are attractive attributes for product development particularly for a soldier-navigation-solution (SNS) whose need is expressed by SSTRM research program. Research emphasis shall be placed on the development of estimation algorithms solely dependent on inertial sensors without the need for external aiding sources which typically increases costs, system size, weight and power requirements.

Using inertial and magnetic measurements: angular rates from gyros, incremental velocity changes from accelerometers and earth’s magnetic field vector respectively, an algorithm shall be formulated by combining a nonlinear attitude estimator perhaps using concepts from fuzzy logic, implemented as a quaternion entity for computational efficiency. An adaptive nonlinear control loop shall be designed to exploit the dynamical environment of such sensors whose gains can be tuned in real-time as the dynamical conditions experienced by these sensors changes via the soldiers trajectory. Standard tests shall be designed to assess the attitude performance of these algorithms and compared with baseline performance metrics of a conventional Kalman filter approach. Algorithm performance shall be demonstrated with and without external aiding sources to justify technical feasibility and technology commercialization for the intended product.

To satisfy schedule and cost constraints, this PhD student shall also have an opportunity to develop expertise in the use of Matlab/Simulink toolset considered a de-facto standard worldwide for modern engineering product analysis and synthesis using Model Based Design (MBD) methodologies, for the purposes of rapid prototyping, requirements analysis, software verification and validation per conventional commercial and military standards. Computational loading analysis of these models should be quantified so that cost benefit analysis can be performed for the selection of hardware platforms using the above tools.

Some outcomes of this research program could be but not limited to: 1) to develop an algorithms that can provide reasonable attitude estimates without additional aiding when required, 2) develop high fidelity sensor error inertial models using Bayesian calibration methodologies, 3) design a generic nonlinear sensor adaptive control system that can be reused seamlessly for other plant models, 4) expansion of Matlab/Simulink proprietary toolset capabilities currently available at ETS laboratories.

A suggested chronological research roadmap is provided subject to minor alterations as required. First the doctoral student needs to explore previous work (literature review) in the area of attitude estimation, then develop a detailed calibration procedure for the purposes of creating high fidelity sensor error models, to remove/calibrate in-house sensor biases, scale factor, broadband noise, misalignments and other unobservable modeling errors whilst using conventional and Bayesian modeling methods. Initial sensor parameters can be established by using manufacturer’s specification data sheets or alternatively measuring sensor outputs and conducting Allan variance analysis techniques to quantify the type of noise these sensors exhibit. Followed by, based on preprocessing of sensor measurements an algorithm such as a complementary nonlinear filter shall be developed to estimate the noise of these pre-calibrated inertial sensors in the special orthogonal group, finally a nonlinear attitude control system shall be designed to keep this system stable under various dynamical conditions. This research program shall conclude with an extensive report documenting and demonstrating test results with simulated and real world data sets, these results shall be compared with currently available standard Kalman filter algorithms for attitude estimation to demonstrate enhanced precision and robustness of low cost MEMS attitude sensing systems.

To transform this research effort into a commercially viable proposition for technology transfer, a cost benefit analysis and market needs analysis for military and commercial sectors should be provided for low cost attitude sensing systems, to justify the initial investment of costs by the government and industry partners. A suggested product diversification portfolio plan should also be provided so that multiple product lines can be created from this common core technology developed by our PhD student under the supervision of ETS faculty.

In conclusion this research opportunity at ETS provides our doctoral student to investigate and learn theoretical intricacies involved with the unobservable and uncontrollable aspects of this dynamical sensor inertial IMU model, it exposes the student with modern scientific tools that are available at the students disposal and how they can be successfully used to solve this innovative and an important research problem as expressed by SSTRM by using advanced modern differential geometric nonlinear control theory successfully applied to solve problems of such low cost physical systems.

3. Importance for the partner
Capstone report has listed new technologies which are important for the Canadian Soldier. Numerica Technologies is working on a larger project of ETS actual project contribution. The determination of the position of a target for a soldier is of great importance for our partner. The soldier should be equipped with light devices, efficient technologies, precise and robust embedded systems. To achieve this main goal, precise and robust attitude determination algorithm should be developed. Such attitude determination system should have all these qualifications so that the soldier will use it with minimal complexity. For example only, the end result device may be integrated within the helmet of the soldier. An optical monocular lenses could be deployed with a cross target in the center of the optical such that the soldier can fix his desired object/target. The electronic within the system should be capable of computing in real-time the precise attitude and position of the target such that this information could be relayed to other team element part of the soldier infrastructure. ETS will play a portion of this role to focus its research on attitude determination (Project Phase I). The ranging determination and analysis will be cover by another research group of Numerica.

4. Interaction with industry
The student will work in collaboration with his professor, professional research engineer, the rest of the team and our partner collaborator. He will spend 50% of his time in the industry partner Numerica whose office is based in Montreal. The main industrial project supervisor will be Mr. Pierre Gosselin

5. Deliverables and Schedule

Year #1:

First version of literature review report (DGA-1031 : Report #1)

Year #2 :

Final research proposal (DGA-1033: Report #2)

Analysis and simulation results (Report #3)

Year #3 :

Comparison of algorithms and selection of best candidate (Report #4)

Implementation on prototype with performance analysis (Report #5)

PhD thesis

Note: First year of PhD student will be focused on PhD examination for (DGA-1031, DGA-1032 and DGA-1033)

Ideal duration : 3 years
Type of trainee Doctorate
Apply for this research project (trainee)

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