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Vehicle Dynamic Model Based Navigation for Small UAVs

Publications associées (151)

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

Roland Siegwart, Pierre Lamon

Many algorithms related to localization need good pose prediction in order to produce accurate results. This is especially the case for data association algorithms, where false feature matches can lead to the localization system failure. In rough terrain, ...

2004

Photogrammetry-derived Navigation Parameters for INS Kalman Filter Updates

Jan Skaloud, Bertrand Merminod, Fadi Atef Bayoud

In this paper, a GPS-independent mobile navigation and mapping system is introduced. This system employs the photogrammetric intersection to determine the coordinates of the surrounding objects and then it uses these newly known objects to compute its own ...

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

Enhanced Navigation System for Road Telematics

Pierre-Yves Gilliéron

Navigation systems are becoing standard in-vehicle equipment. In the future these technologies will take place in new systems called Intelligent Integrated Road Safety Systems. Reaching this high level of integration and these requirements needs more preci ...

2003

Challenging EGNOS in the Swiss Alps

Pierre-Yves Gilliéron

In view of the operational validation of EGNOS, some early tests are being performed with the EGNOS System Test Bed (ESTB). This prototype has been broadcasting an EGNOS-like signal since early 2000. The performance of ESTB is reduced compared to the full ...

2003

Capteurs et algorithmes pour la localisation autonome en mode pédestre

Quentin Ladetto

The challenge of knowing one's position in a precise and reliable way, at any time, with and without reception of satellite signals, represents an area fairly explored for the navigation of vehicles. To widen this service to the pedestrians requires a diff ...

EPFL2003

Personal Navigation System for Indoor Applications

Pierre-Yves Gilliéron, Bertrand Merminod

Navigation is usually associated with marine and aviation domains. Except for some lighthouses for orientation or landmarks near the coast, navigation instruments are essential because routes are virtual. Therefore, current position of ships and aircrafts ...

2003

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

Tightly Coupled GPS and Dead-Reckoning Navigation for Fleet Management Applications

Phillip Tomé, Telmo Cunha

This article discusses the problem of GPS integration with dead-reckoning sensors for land vehicle navigation applications. The discussion follows the results of the development and implementation of navigation systems for management of fleets, one of them ...

2002

Digital Magnetic Compass and Gyroscope Integration for Pedestrian Navigation

Bertrand Merminod, Quentin Ladetto

When satellite signals are available, the localisation of a pedestrian is fairly straightforward. However, in cities or indoors, dead reckoning systems are necessary. Our current research focuses on the development of algorithms for pedestrian navigation i ...

2002