Publication

Behaviour of a DGPS/Inertial System in Urban Environment

Related publications (32)

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

EPFL2024

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Jan Skaloud, Gabriel François Laupré

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

2024

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

GNSS/INS Kalman Filter Integrity Monitoring with Uncertain Time Correlated Error Processes

Omar Garcia Crespillo

Safety-critical navigation applications require that estimation errors be reliably quantified and bounded. Over the last decade, significant effort has been put to guarantee a bounded position estimation by using Global Navigation Satellite Systems (GNSS) ...

EPFL2022

Optimal Stochastic Sensor Error Modeling based on Actual Impact on Quality of GNSS-INS Integrated Navigation

Jan Skaloud, Stéphane Guerrier, Mehran Khaghani

Proper modeling of stochastic errors in inertial sensors plays a crucial role in the achievable quality of GNSS-INS integration especially with low-cost inertial sensors. Generalized Method of Wavelet Moments (GMWM) can model the underlying process for suc ...

2019

An Inertial Sensor-Based Method for Estimating the Athlete's Relative Joint Center Positions and Center of Mass Kinematics in Alpine Ski Racing

Kamiar Aminian, Benedikt Fasel

For the purpose of gaining a deeper understanding of the relationship between external training load and health in competitive alpine skiing, an accurate and precise estimation of the athlete's kinematics is an essential methodological prerequisite. This s ...

Frontiers Media Sa2017

Estimation of the centre of mass kinematics in alpine ski racing using inertial and magnetic sensors

Kamiar Aminian, Benedikt Fasel

For performance analysis in alpine ski racing, an accurate and precise estimation of the centre of mass (CoM) kinematics is indispensable. Currently available systems satisfying this need are video-based stereo-photogrammetry or differential global navigat ...

2017

Robust Tightly Coupled GNSS/INS Estimation for Navigation in Challenging Scenarios

Jan Skaloud, Omar Garcia Crespillo, Michael Meurer

The combination of Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS) has become the baseline of many transportation applications. In this work, we design a tightly-coupled integration between GNSS and INS where we modify the u ...

2017

Three-Dimensional Body and Centre of Mass Kinematics in Alpine Ski Racing Using Differential GNSS and Inertial Sensors

Kamiar Aminian, Benedikt Fasel, Julien Chardonnens, Geo Boffi

A key point in human movement analysis is measuring the trajectory of a person’s center of mass (CoM). For outdoor applications, differential Global Navigation Satellite Systems (GNSS) can be used for tracking persons since they allow measuring the traject ...

MDPI2016

GNSS-Based Navigation for Lunar Missions

Vincenzo Capuano

Numerous applications, not only Earth-based, but also space-based, have strengthened the interest of the international scientific community in using Global Navigation Satellite Systems (GNSSs) as navigation systems for space missions that require good accu ...

EPFL2016

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