Reliable strategies for implementing model-based navigation on fixed-wing drones

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Related publications (30)

Calibration Aspects of INS Navigation

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

Pedestrian Image Generation for Self-driving Cars

Alexandre Massoud Alahi, Saeed Saadatnejad

Pedestrian image generation in the desired pose can be used in a wide range of applications e.g., person re-identification and tracking which are among the fundamental challenges in self-driving cars. This is a hard task because it should be invariant to a ...

2019

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

IEEE2019

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

Resilience and agency in mature sustainability transitions. Theoretical conceptualisation and empirical analysis of actor- & system-level dynamics in sociotechnical energy systems

Susan Marie Mühlemeier

In Switzerland, Germany and Austria, as in many European countries, the transition of the energy sector towards more sustainability is a long-term transition process, unfolding since decades. It however only reached the regime level in recent years and the ...

EPFL2019

When Sheep Shop: Measuring Herding Effects in Product Ratings with Natural Experiments

Robert West, Gael Lederrey

As online shopping becomes ever more prevalent, customers rely increasingly on product rating websites for making purchase decisions. The reliability of online ratings, however, is potentially compromised by the so-called herding effect: when rating a prod ...

2018

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

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

An adaptive GNSS-based reduced dynamic approach for real time autonomous navigation from the Earth to the Moon

Pierre-André Farine, Cyril Botteron, Vincenzo Capuano, Paul David Blunt, Endrit Shehaj

In this research study we describe our last effort in further improving the achievable Global Navigation Satellite System (GNSS) based navigation performance in an Earth-Moon Transfer Orbit (MTO). The GNSS-based orbital filter we implemented previously wit ...

2017

Positioning Autonomy of a Fixed-Wing UAV through VDM/INS Integration with Experimental Results

Jan Skaloud, Mehran Khaghani

In this paper, practical realization of a previously proposed VDM based integrated navigation for UAVs is presented. This method utilizes the vehicle dynamic model (VDM) fed by autopilot control commands as main process model within the navigation filter a ...

2017

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Resilience and agency in mature sustainability transitions. Theoretical conceptualisation and empirical analysis of actor- & system-level dynamics in sociotechnical energy systems

Susan Marie Mühlemeier

EPFL2019