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Analyzing and Testing an RF Gyroscope for Nano-Drone Stabilization

ABG-101413 Master internship 5 months 560€
Grenoble Alpes University
Valence Auvergne-Rhône-Alpes France
  • Engineering sciences
  • Electronics
  • Telecommunications
Radio Frequency, RF, antena, simulation, signal processing, automation

Employer organisation

The LCIS is a multi-disciplinary research laboratory located in Valence, France, which brings together researchers in computer science, electronics and automation around embedded and communicating systems. The research work developed within the ORSYS team focuses on the use of radio frequency (RF) for both communication and measurement. ORSYS expertise covers various RF areas such as design,
optimization and measurement of wireless systems. Systems studied include RFID and UWB systems. The research relies on professional CAD tools for RF design and electromagnetic simulation, and an important set of RF intruments (arbitrary generators, spectrum analyzers, vector network analyzers and anechoic chambers...). The group's work is part of numerous academic and industrial collaborations both nationally and internationally.


Motion planning represents a critical requirement in control and coordination of dynamical systems, such as unmanned aerial vehicles (UAVs). To realize this task, a UAV relies on different sensors and actuators to stabilize its position and orientation in real time. The sensing part is traditionally composed with a Inertial Measurement Unit (IMU) which
can determine the acceleration in both translation (based on a 3-axis accelerometer) and rotation (based on a 3-axis gyroscope). From these data, the IMU can determine the orientation of the system. These IMU are classically designed with Microelectromechanical systems (MEMS).

When the UAV is controlled from a remote station, these information have to be sent by the quadcopter to the ground station which can then control the actuator by sending back
a command to the quadcopter motors to modify its position, orientation in real time.

This internship adopts a different approach where the IMU and the transmitter located on the UAV are not required. Instead the orientation estimaton is done directly at the ground station
using remote sensing. The objective of this internship is twofold: 1 determine the orientation of the quadcopter from the modulated backscattered field of the propellers (i.e., determine an analytical model linking yaw, pitch and roll to the scattered field); 2 develop a reliable control algorithm (i.e., which accounts for the delay and the necessary time response
induced by the RF measurement and processing) to solve the hoovering problem.

The performance of the proposed apprach will be tested and compared with classical methods based on IMU sensor and localization systems, some of them already available in the nano-drone platform.


Technical Skills
-Radio Frequency and Microwave engineering
-Numerical EM solvers (CST, HFSS...)
-RF instrumentation (Vector Network Analyzer, Spectrum Analyzer)
-Signal and data processing (Matlab)
-Good english skills

Starting date

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