Augmented Cooper test: Biomechanical contributions to endurance performance

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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

Sensitivity to Time Delays in VDM-Based Navigation

Jan Skaloud, Gabriel François Laupré, Mehran Khaghani

A recently proposed navigation methodology for aerial platforms based on the vehicle dynamic model (VDM) has shown promising results in terms of navigation autonomy. Its practical realization requires that control inputs are related to the same absolute ti ...

2019

Calibration Aspects of INS Navigation

Philipp Clausen

The use of a Bayesian filter (e.g., Kalman filter) for the fusion of information from satellite positioning and inertial navigation is a common approach in many applications, where the knowledge of position, velocity, and attitude in space are of great int ...

EPFL2019

Wearable technology in stroke rehabilitation: towards improved diagnosis and treatment of upper-limb motor impairment

Friedhelm Christoph Hummel, Pablo Maceira Elvira, Traian Popa, Anne-Christine Schmid

Stroke is one of the main causes of long-term disability worldwide, placing a large burden on individuals and society. Rehabilitation after stroke consists of an iterative process involving assessments and specialized training, aspects often constrained by ...

BioMed Central2019

Integration of Wearable Sensors Into the Evaluation of Running Economy and Foot Mechanics in Elite Runners

Benoît Mariani, Mathieu Pascal Falbriard

Running economy, known as the steady-state oxygen consumption at a given submaximal intensity, has been proposed as one of the key factors differentiating East African runners from other running communities around the world. Kenyan runners have dominated m ...

LIPPINCOTT WILLIAMS & WILKINS2018

Vehicle Dynamic Model Based Navigation for Small UAVs

Mehran Khaghani

The dominant navigation system for small civilian UAVs today is based on integration of inertial navigation system (INS) and global navigation satellite system (GNSS). This strategy works well to navigate the UAV, as long as proper reception of GNSS signal ...

EPFL2018

Tightly Coupled GNSS/INS Integration based on Robust M-Estimators

Jan Skaloud, Michael Meurer

The combination of Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS) has become the baseline of many vehicular applications. However, in challenging GNSS scenarios, classical GNSS/INS integration estimators are very sensitive ...

2018

Assessment of VDM-based autonomous navigation of a UAV under operational conditions

Jan Skaloud, Mehran Khaghani

This paper presents extensions and practical realization of a previously proposed novel approach to navigation and sensor integration for small unmanned aerial vehicles (UAV). The proposed approach employs vehicle dynamic model (VDM) as process model withi ...

Elsevier2018

Parameter Estimation with GNSS-Reflectometry and GNSS Synthetic Aperture Techniques

Miguel Angel Ribot Sanfelix

Aside from intentional interference, multipath is the most significant error source for Global Navigation Satellite Systems (GNSS) receivers in many operational scenarios. In this thesis, we study the multipath estimation from two different perspectives: t ...

EPFL2018

VDM-based UAV Attitude Determination in Absence of IMU Data

Jan Skaloud, Mehran Khaghani

The capability of a previously proposed VDM (vehicle dynamic model) based navigation method for UAVs is assessed in attitude determination without IMU data. This method utilizes the VDM as main process model within the navigation filter and treats data fro ...

IEEE2018

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