Position and attitude determination



Position and attitude determination of moving platforms or subjects is the main-stream of the lab research activity. The laboratory expertise in algorithm development for real-time or post-mission positioning have been applied to precise trajectory determination of land or airborne vehicles and pedestrians. We make use of satellite based (GPS, Glonass, Galileo) positioning, inertial sensors, magnetic sensors, imagery and networked based positioning via Ultra-wide band or 802.x technology.


Particular focus is give to the following areas:

  • Navigation via radio signal and multi-path mitigation
  • GNSS and INS integration
  • Error modelling and estimation methods
  • Indoor navigation via image-base sensors


G. F. Laupré; M. Khaghani; J. Skaloud : Sensitivity to Time Delays in VDM-Based Navigation; Drones. 2019-01-14. DOI : 10.3390/drones3010011.
M. Khaghani; J. Skaloud : VDM-based UAV Attitude Determination in Absence of IMU Data. 2018-08-13. 2018 European Navigation Conference (ENC), Gothenburg, Sweden, May 14-17, 2018. p. 84-90. DOI : 10.1109/EURONAV.2018.8433243.
P. Clausen; J. Skaloud; S. Orso; S. Guerrier : Construction of dynamically-dependent stochastic error models, 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS). 2018-06. IEEE/ION Position, Location and Navigation Symposium (PLANS 2018), Monterey, CA, USA, 23-26 April, 2018. DOI : 10.1109/PLANS.2018.8373524.
M. Khaghani; J. Skaloud : Assessment of VDM-based autonomous navigation of a UAV under operational conditions; Robotics and Autonomous Systems. 2018-05-17. DOI : 10.1016/j.robot.2018.05.007.
P. Clausen; J. Skaloud; S. Guerrier : Construction of dynamically-dependent stochastic error models ; IEEE/ION Position, Location and Navigation Symposium (PLANS 2018), Monterey, CA, USA, 23-26 April 2018.
M. Khaghani / J. Skaloud (Dir.) : Vehicle Dynamic Model Based Navigation for Small UAVs. EPFL, 2018. DOI : 10.5075/epfl-thesis-8494.
P. Clausen; J. Skaloud; R. Molinari; J. Balamuta; S. Guerrier : An overview of a new sensor calibration platform. 2017-08. 4th IEEE International Workshop on Metrology for AeroSpace (MetroAeroSpace 2017), Padua, Italy, June 21-23, 2017. p. 364-368. DOI : 10.1109/MetroAeroSpace.2017.7999598.
D. A. Cucci; M. Rehak; J. Skaloud : Bundle adjustment with raw inertial observations; ISPRS Journal of Photogrammetry and Remote Sensing. 2017-05-23. DOI : 10.1016/j.isprsjprs.2017.05.008.
J. Skaloud; P. Clausen; S. Orso; S. Guerrier : Parameter Determination of Sensor Stochastic Models under Covariate Dependency ; European Geosciences Union General Assembly, Vienna, Austria, April 8 - 13, 2018.
M. Khaghani; J. Skaloud : Positioning Autonomy of a Fixed-Wing UAV through VDM/INS Integration with Experimental Results. 2017. p. 2332-2337.
P. Clausen; B. Luiset; J. Skaloud : Erhöhte Zuverlässigkeit der GPS Drohnennavigation dank einem integrierten Barometer ; AHORN 2016 – der Alpenraum und seine Herausforderungen im Bereich Orientierung, Navigation und Informationsaustausch, Garmisch-Partenkirchen, 17.-18. November 2016.
M. Khaghani; J. Skaloud : Application Of Vehicle Dynamic Modeling In Uavs For Precise Determination Of Exterior Orientation. 2016. p. 827-831. DOI : 10.5194/isprsarchives-XLI-B3-827-2016.
M. Khaghani; J. Skaloud : Autonomous Vehicle Dynamic Model-Based Navigation for Small UAVs; Navigation-Journal of the Institute of Navigation. 2016. DOI : 10.1002/navi.140.
M. Khaghani; J. Skaloud : Autonomous Navigation Of Small Uavs Based On Vehicle Dynamic Model. 2016. p. 117-122. DOI : 10.5194/isprsarchives-XL-3-W4-117-2016.
M. Khaghani; J. Skaloud : Evaluation of Wind Effects on UAV Autonomous Navigation Based on Vehicle Dynamic Model. 2016. p. 1432-1440.
D. A. Cucci; O. G. Crespillo; M. Khaghani : An analysis of a gyro-free inertial system for INS/GNSS navigation. 2016. p. 1-7. DOI : 10.1109/EURONAV.2016.7530560.
R. Molinari; J. Balamuta; S. Guerrier; J. Skaloud : Automatic and computationally efficient method for model selection in inertial sensor calibration. 2015. ION GNSS+, September 14-18.
S. Guerrier; J. Balamuta; R. Molinari; J. Skaloud : A computationally efficient platform for inertial sensor calibration. 2015. ION GNSS+, Tampa, Florida, USA, September 14-18.
Y. Stebler; S. Guerrier; J. Skaloud; M.-P. Victoria-Feser : Generalized Method of Wavelet Moments for Inertial Navigation Filter Design; IEEE Transactions on Aerospace and Electronic Systems. 2014. DOI : 10.1109/Taes.2014.120751.
J. Skaloud : Satellite Positioning for Sport-Performance Analysis: Challenges & Responses ; International Sport Convention 2014, Geneva, Switzerland, December 10-11, 2014.
S. Guerrier; J. Skaloud; Y. Stebler; M.-P. Victoria-Feser : Wavelet-variance-based estimation for composite stochastic processes; Journal of the American Statistical Association. 2013. DOI : 10.1080/01621459.2013.799920.
S. Guerrier; R. Molinari; J. Skaloud; M.-P. Victoria-Feser : An algorithm for automatic inertial sensor calibration. 2013. ION GNSS+, Nashville, Tennessee, USA, September 16-20, 2013.
P.-Y. Gilliéron; V. Chazal; M. Flamm; D. Von Der Mühll; M. Ruzicka-Rossier : Pedestrian Navigation for the Benefit of Mobility; Geopositioning and Mobility; UK: John Wiley & Sons, 2013. p. 155-201.
S. Girardclos; M. Hilbe; J. P. Corella; J.-L. Loizeau; K. Kremer et al. : Searching the Rhone delta channel in Lake Geneva since François-Alphonse Forel; Archives de Sciences. 2012.
S. Guerrier; A. Waegli; J. Skaloud; M.-P. Victoria-Feser : Fault Detection and Isolation in Multiple MEMS-IMUs Configurations; Ieee Transactions On Aerospace And Electronic Systems. 2012. DOI : 10.1109/TAES.2012.6237576.
P. Molina; I. Colomina; P. Victoria; J. Skaloud; W. Kornus et al. : Drones to the Rescue!; Inside GNSS. 2012.
Y. Stebler; S. Guerrier; J. Skaloud; M.-P. Victoria-Feser : A Framework for Inertial Sensor Calibration Using Complex Stochastic Error Models. 2012. ION/IEEE PLANS, Session A5, Myrtle Beach, SC, USA, April 2012. p. 849-861.
P. Molina; I. Colomina; T. Victoria; P. Freire; J. Bandeiras et al. : Integrity Aspects of Hybrid EGNOS-based Navigation on Support of Search And-Rescue Missions with UAVs. 2011. ION GNSS 2011, Portland, Oregon, USA, September 19-23, 2011. p. 8.
Y. Stebler; S. Guerrier; J. Skaloud; M.-P. Victoria-Feser : Improving Modeling of MEMS-IMUs Operating in GNSS-denied Conditions. 2011. ION GNSS 2011, Portland, Oregon, USA, September 19-23, 2011. p. 10.
D. Rouzaud; J. Skaloud : Rigorous Integration of Inertial Navigation with Optical Sensors by Dynamic Networks; Journal of Navigation. 2011.
Y. Stebler; S. Guerrier; J. Skaloud; M.-P. Victoria-Feser : Constrained expectation-maximization algorithm for stochastic inertial error modeling: study of feasibility; Measurement Science and Technology. 2011. DOI : 10.1088/0957-0233/22/8/085204.
P. Molina; I. Colomina; T. Vitoria; P. Freire; J. Skaloud et al. : CLOSE-SEARCH: ACCURATE AND SAFE EGNOS-SOL NAVIGATION FOR UAV-BASED LOW-COST SAR OPERATIONS. 2011. International Geomatic Week 2011, Barcelona, March 15-17, 2011.
P. Molina; I. Colomina; T. Vitoria; P. Freire; J. Skaloud et al. : The close-search project: uav-based search operations using thermal imaging and egnos-sol navigation. 2011. 4i4DM 2011 - GeoInformation For Disaster Management, Antalya, Spain, May 3-8, 2011.
J. Wu; P.-Y. Gilliéron; B. Merminod : A Split/Merge Approach for Landslide Monitoring via Terrestrial Laser Scanning. 2011. 3rd International Conference of Earth Observation of Global Changes (EOGC), Munich, Germany, April 13-15, 2011.
P.-Y. Gilliéron : Qualité de la localisation dans les applications mobiles. 2011.
V. J. T. Renaudin-Schouler; P.-Y. Gilliéron : Personal Robust Navigation in Challenging Applications; Journal of Navigation. 2011. DOI : 10.1017/S0373463310000408.
A. Wägli; J. Skaloud; S. Guerrier; M. E. Parés; I. Colomina : Noise reduction and estimation in multiple micro-electro-mechanical inertial systems; Measurement Science and Technology. 2010. DOI : 10.1088/0957-0233/21/6/065201.
F. Tappero : Low-cost optical-based indoor tracking device for detection and mitigation of NLOS effects. 2009. Eurosensors XXIII, Lausanne (Switzerland), September 6-9, 2009. p. 497-500. DOI : 10.1016/j.proche.2009.07.124.
F. Tappero; P. Schaer; B. Merminod : Decimeter-Level Positioning Engine for an Indoor Ultra-Wideband / Laser Scanner Positioning System. 2009. European Navigation Conference - Global Navigation Satellite Systems (ENC-GNSS), Napoli (Italy), May 3-6, 2009.
H. Fournier; J. Skaloud; A. Wägli : The use of wavelet transform for an automated initialization in GPS/MEMS-IMU integration. 2009. 13th IAIN World Congress, Stockholm (Sweden), October 27-30, 2009. p. 27-30.
Y. Stebler : Contrôle de l'intégrité GPS en temps réel et géoréférencement direct par RTK-GPS pour le levé laser aéroporté; Géomatique Suisse. 2009.
A. Waegli; A. Schorderet; C. Prongue; J. Skaloud : Accurate trajectory and orientation of a motorcycle derived from low-cost satellite and inertial measurement systems. 2008. ISEA 2008 Conference on Engineering of Sport 7, Biarritz, FRANCE, Jun 02-06, 2008. p. 223-230.
P. Gilliéron; V. Chazal; T. Delavy; M. Flamm; D. von der Mühll et al. : La navigation pédestre dans l'espace public: évaluation des besoins et esquisses de solutions. 2008.
V. Renaudin; B. Merminod; M. Kasser : Optimal Data Fusion for Pedestrian Navigation based on UWB and MEMS. 2008. PLANS 2008, Monterey, California (USA), May 5-8, 2008.
S. Pittet; V. Renaudin; B. Merminod : UWB and MEMS Based Indoor Navigation; Royal Institute of Navigation. 2008. DOI : 10.1017/S0373463308004797.
P. Tomé; F. Bonzon; B. Merminod; K. Aminian : Improving pedestrian dynamics modelling using fuzzy logic. 2008. PED2008 Conference in pedestrian navigation, Wuppertal (Germany), February 27-29, 2008. p. 503-508. DOI : 10.1007/978-3-642-04504-2_42.
A. Waegli; A. Schorderet; C. Prongué; J. Skaloud : Accurate Trajectory and Orientation of a Motorcycle derived from low-cost Satellite and Inertial Measurement Systems. 2008. 7th ISEA CONFERENCE 2008, Biarritz, June 2-6, 2008.
A. Waegli; S. Guerrier; J. Skaloud : Redundant MEMS-IMU integrated with GPS for Performance Assessment in Sports. 2008. IEEE/ION PLANS 2008, Monterey, California, May 5-8, 2008. p. 1260-1268. DOI : 10.1109/PLANS.2008.4570079.
V. Constantin; A. Waegli; J. Skaloud : Le filtre de Kalman unscented - outil performant en géodésie cinématique; Géomatique Suisse. 2008.
A. Waegli; F. Meyer; S. Ducret; J. Skaloud; R. Pesty : Assessment of Timing and Performance based on Trajectories from low-cost GPS/INS Positioning. 2007. International Congress on Science and Skiing, St. Christoph, Austria, December 14-20 2007.
V. Renaudin; O. Yalak; P. Tomé; B. Merminod : Inertial and RFID sensors for indoor navigation in case of emergency intervention. 2007. TimeNav'07, Geneva, May 29 - June 1, 2007.
A. Waegli; J.-M. Bonnaz; J. Skaloud : L'analyse de performance sportive à l'aide d'un système GPS/INS low-cost: évaluation de capteurs inertiels de type MEMS; XYZ. 2007.
A. Waegli; J. Skaloud : Turning Point - Trajectory Analysis for Skiers; Inside GNSS. 2007.
A. Waegli; J. Skaloud : Assessment of GPS/MEMS-IMU Integration Performance in Ski Racing. 2007. TimeNav'07, Geneva (Switzerland), May 29-June 1, 2007.
A. Waegli; J. Skaloud; P. Tomé; J.-M. Bonnaz : Assessment of the Integration Strategy between GPS and Body-Worn MEMS Sensors with Application to Sports. 2007. ION-GNSS 2007, Fort Worth (Texas, USA), September 25-28, 2007.
F. Barceló-Arroyo; M. Ciurana; I. Watt; F. Evenou; L. De Nardis et al. : Indoor location for safety application using wireless networks. 2007. 1st ERCIM Workshop on Mobility, Coimbra,, Portugal, 21st May 2007.
V. Renaudin; O. Yalak; P. Tomé; B. Merminod : Indoor Navigation of Emergency Agents; European Journal of Navigation. 2007.
V. Renaudin; B. Merminod; M. Kasser : Techniques de localisation intra-muros à transmission Ultra Large Bande; Revue XYZ. 2007.
F. Weimann; P. Tomé; A. Waegli; K. Aichhorn; O. Yalak et al. : SARHA – Development of a Sensor-Augmented GPS/EGNOS/Galileo Receiver for Urban and Indoor Environments. 2007. 7th Geomatic Week, Barcelona, Spain, 20-23 February 2007.
V. Renaudin; O. Yalak; P. Tomé : Hybridization of MEMS and Assisted GPS for Pedestrian Navigation; Inside GNSS. 2007.
F. Weimann; P. Tomé; E. Wasle; A. Waegli; O. Yalak et al. : Sensor-Augmented EGNOS/Galileo Receiver for Handheld Applications in Urban and Indoor Environments - SARHA. 2006. 3rd ESA Workshop on Satellite Navigation User Equipment Technologies (NAVITEC 2006), Noordwijk, The Netherlands, 11-13 December 2006.
I. SPASSOV; M. BIERLAIRE; B. MERMINOD : Map-matching for pedestrians via Bayesian inference. 2006. ENC GNSS 2006, Manchester, UK, 7-10 May 2006.
I. SPASSOV; M. BIERLAIRE; B. MERMINOD : Bayesian Inference for Autonomous Personal Localisation Indoors. 2006. International Symposium of Transport Simulation 2006, EPFL, Lausanne, Suisse, 4th-6th September 2006.
F. Barceló; F. Evennou; L. de Nardis; P. Tomé : Advances in indoor Location. 2006. LIAISON - ISHTAR Workshop, Athens, Greece, 28-29 September 2006.
H. Gontran : Custom GPS-Correction Server for Real-Time Trajectography. 2006. ION GNSS ´06, Fort Worth, Texas, USA, Sept. 26-29, 2006.
B. Ott; K. Sauer; A. Waegli : SARFOS - Search And Rescue Forward Operation Support System. 2005. ENC-GNSS 2005, Munich (Germany), July 19-22, 2005.
K. Legat : Der Alpenraum und seine Herausforderungen im Bereich Orientierung, Navigation und Informationsaustausch. 2005. AHORN, Innsbruck, November 24-25.
H. Gontran; M. Lehmann; J. Skaloud : Exploring Bidirectional GPRS Capabilities in GNSS Positioning. 2005. GNSS 2005, Munich (Germany), July 19-22.
F. A. Bayoud : Vision-Aided Inertial Navigation Using a Geomatics Approach. 2005. ION GNSS 2005, Long Beach (California), September 13-16.
F. A. Bayoud; J. Skaloud; B. Merminod : Integrating Photogrammetry and Inertial Sensors for Robotics Navigation and Mapping. 2005. Integrating Photogrammetry and Inertial Sensors for Robotics Navigation and Mapping, Vienna (Austria), October 3-5.
P.-Y. Gilliéron; I. Spassov; B. Merminod : Indoor Navigation Enhanced by Map-Matching; European Journal of Navigation. 2005.
P.-Y. Gilliéron; A. Waegli : Galileo et le prix de la mobilité; route et trafic. 2005.
P. Viret; J. Skaloud : Développement d'un système d'acquisition de données inertielles / GPS; La Revue Polytechnique. 2005.
P.-Y. Gilliéron; Q. Ladetto : Navigation pédestre dans un environnement construit; Navigation. 2005.
Q. Ladetto : De la navigation à la mensuration pédestre ... et inversement !; Géomatique Suisse. 2004.
F. A. Bayoud; J. Skaloud; B. Merminod : Photogrammetry-derived Navigation Parameters for INS Kalman Filter Updates. 2004. XXth ISPRS Congress, Istanbul (Turkey), July 14-23.
J. Skaloud; H. Gontran; B. Merminod : GSM-Distributed RTK for Precise Analysis of Speed Skiing. 2004.
P.-Y. Gilliéron; D. Büchel; I. Spassov; B. Merminod : Indoor Navigation Performance Analysis. 2004. GNSS 2004, Rotterdam (The Netherlands), May 17-19.
D. Büchel; P.-Y. Gilliéron : Navigation pédestre à l'intérieur des bâtiments; Géomatique Suisse. 2004.
J. Skaloud; P. Viret : GPS/INS Integration: From Modern Methods of Data Acquisition fo New Applications; European Journal of Navigation. 2004.
H. Gontran : Transmission en temps réel de corrections GPS; Flash Informatique. 2004.
H. Gontran; J. Skaloud : Techniques GPS-RTK appliquées à la trajectographie; Revue XYZ. 2004.
P.-Y. Gilliéron; Q. Ladetto; D. Büchel; I. Spassov; C. Hagin et al. : Navigation pédestre: le futur en marche; Géomatique (revue du Québec). 2004.
O. Perrin; M. Scramuzza; T. Buchanan; S. Soley; P.-Y. Gilliéron et al. : Challenging EGNOS in the Swiss Alps. 2003. GNSS 2003, Graz, Austria, April 22-25, 2003.
A. Waegli : The EGNOS Integrity Concept: Evaluation of the Ionospheric Corrections. 2003. ION-GPS 2003, Portland (Oregon), September 9-12, 2003.
P.-Y. Gilliéron; B. Merminod : Personal Navigation System for Indoor Applications. 2003. 11th IAIN World Congress, Berlin (Germany), October 21-24.
J. Skaloud; P. Limpach : Synergy of CP-DGPS, Accelerometry and Magnetic Sensors for recise Trajectography in Ski Racing. 2003.
F. Jin; B. Merminod; H. Dupraz; P.-Y. Gilliéron : Variance-Covariance perturbation analysis of a Linear Model; Survey Review. 2003.
P. Limpach; J. Skaloud : Trajectographie de courses de ski alpin avec GPS; Géomatique Suisse. 2003.
P. Limpach : Trajectographie de courses de ski alpin avec GPS; Travail pratique de diplôme, EPFL, Topométrie, section SSIE. 2003.
A. Waegli; P.-Y. Gilliéron : Le Concept d'intégrité d'EGNOS; Géomatique Suisse. 2003.
A. Waegli : Evaluation de mesures dynamiques pour la navigation aérienne dans le cadre du projet EGNOS. 2003.
F. Voisard : Développement d'un système d'information pour piétons; Géomatique Suisse. 2003.
O. Perrin; M. Scramuzza; T. Buchanan; S. Soley; P.-Y. Gilliéron et al. : Challenging EGNOS in the Swiss Alps; Global Navigation Satellite System, Graz, Austria. 2003.
F. Jin : Alignment Technique of High Precision; Working Report EPF-Lausanne. 2003.
Q. Ladetto; M. May; J. van Seeters; B. Merminod : In-door and out-door Navigation for the Blind: An integrated approach for a new product. 2002. ION GPS 2002, Portland (Oregon), September 24-27, 2002.
E. Orliac : Modèle du retard troposphérique pour la navigation satellitaire; Mensuration, Photogrammétrie, Génie rural. 2002.
Q. Ladetto; B. Merminod : In Step with INS Navigation for the Blind, Tracking Emergency Crews; GPS World. 2002.
J. Rouiller; D. Perrottet; Q. Ladetto; B. Merminod : Faciliter le déplacement des aveugles avec une carte numérique et une interface vocale; Mensuration, Photogrammétrie, Génie rural. 2002.
Q. Ladetto; J. van Seeters; S. Sokolowski; Z. Sagan; B. Merminod : Digital Magnetic Compass and Gyroscope for Dismounted Soldier Position & Navigation. 2002.