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Inertial and 3D-odometry fusion in rough terrain Towards real 3D navigation

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Coordinating Agile Systems through the Model-based Execution of Temporal Plans

Thomas Léauté

Agile autonomous systems are emerging, such as unmanned aerial vehicles (UAVs), that must robustly perform tightly coordinated time-critical missions; for example, military surveillance or search-and-rescue scenarios. In the space domain, execution of temp ...

Massachusetts Institute of Technology (MIT)2005

Indoor Navigation Enhanced by Map-Matching

Pierre-Yves Gilliéron, Bertrand Merminod

In this paper, we present the development and the implementation of algorithms to access map databases by a user equipped with a pedestrian navigation system. ...

2005

Indoor Navigation Performance Analysis

Pierre-Yves Gilliéron, Bertrand Merminod

INDOOR NAVIGATION PERFORMANCE ANALYSIS 1. Context of indoor navigation The objective of this research is to define and to implement a dedicated data model for indoor applications. Based on this specific model, route guidance and navigation algorithms ca ...

enc gnss 20042004

Indoor Navigation Performance Analysis

Pierre-Yves Gilliéron, Bertrand Merminod

Context of indoor navigation The objective of this research is to define and to implement a dedicated data model for indoor applications. Based on this specific model, route guidance and navigation algorithms can be integrated in order to develop applic ...

2004

SKY-SAILOR Design of an autonomous solar powered martian airplane

Roland Siegwart

For more than two decades, Mars has been of great interest for scientific exploration, using orbiting spacecrafts or landers. Orbiters like Mars Express cover large areas and give images of the surface with a resolution limited to several meters. Rovers ...

2004

GPS/INS integration for pedestrian navigation

This research has been sponsored by the Centre Suisse d'Electronique et de Microtechnique (CSEM) in Neuchâtel, Switzerland. It introduces a system and the algorithms for Pedestrian Navigation using a combination of sensors. The main objective is to localis ...

EPFL2003

Multi-resolution SLAM for Real World Navigation

Roland Siegwart, Adriana Tapus, Kai Oliver Arras

In this paper a hierarchical multi-resolution approach allowing for high precision and distinctiveness is presented. The method combines topological and metric paradigm. The metric approach, based on the Kalman Filter, uses a new concept to avoid the probl ...

2003

In-door and out-door Navigation for the Blind: An integrated approach for a new product

Bertrand Merminod, Quentin Ladetto

When satellite are available, the localisation of a pedestrian is fairly straightforward. However in cities or indoors, dead reckoning systems are necessary to determine the user's position. Our current research focuses on the development of algorithms and ...

2002

Detection and filtering of short-term (1/f) noise in inertial sensors

Jan Skaloud

Systematic and random errors inherently present in all inertial sensors contribute to the long-term divergence of the navigation solution of an Inertial Navigation System (INS). To keep such long-term divergence under control while taking advantage of thei ...

Cambridge University Press1999

Integrating Multiple GPS Receivers With a Low Cost IMU For Aircraft Attitude Determination

Phillip Tomé, Telmo Cunha

Many airborne applications, such as altimetry or photogrammetry without ground control points, strongly rely on the precise evaluation of the aircraft’s attitude. This paper presents an approach to the attitude determination problem, where a system combini ...

1999

Inertial and 3D-odometry fusion in rough terrain  Towards real 3D navigation

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Inertial and 3D-odometry fusion in rough terrain Towards real 3D navigation