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. Most recent focus is in the developing of navigation system that can operate accurately and robustly even in the absence of external (GPS, Glonass, Galileo) positioning means. Developing visual and Vehicle Dynamic based Navigation schemes that utilise both filtering and machine learning based algorithms and approaches
Particular focus is give to the following areas:
- GNSS and INS integration and filtering algorithms
- GNSS free (Vehicle Dynamic and Visual) Navigation schemes
- Error modelling and estimation methods
VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones
IEEE Robotics and Automation Letters. 2024-01-25. Vol. 9, num. 3, p. 2869 – 2876. DOI : 10.1109/LRA.2024.3358758.Wavelet-Based Moment-Matching Techniques for Inertial Sensor Calibration
IEEE Transactions on Instrumentation and Measurement. 2020-04-08. Vol. 69, num. 10, p. 7542-7551. DOI : 10.1109/TIM.2020.2984820.On the calibration aspects of MEMS-IMUs used in micro UAVs for sensor orientation
2020-06-09. IEEE-ION Position Location and Navigation Symposium (PLANS), Portland, Oregon, April 20-23, 2020. DOI : 10.1109/PLANS46316.2020.9110160.Optimal Stochastic Sensor Error Modeling based on Actual Impact on Quality of GNSS-INS Integrated Navigation
2019-09-20. ION GNSS+, Miami, Florida, US, September 16-20, 2019. p. 2566-2574. DOI : 10.33012/2019.17057.Sensitivity to Time Delays in VDM-Based Navigation
Drones. 2019-01-14. Vol. 3, num. 1, p. 11. DOI : 10.3390/drones3010011.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.Construction of dynamically-dependent stochastic error models
IEEE/ION Position, Location and Navigation Symposium (PLANS 2018), Monterey, CA, USA, 23-26 April 2018.Assessment of VDM-based autonomous navigation of a UAV under operational conditions
Robotics and Autonomous Systems. 2018-05-17. Vol. 106, num. 106, p. 152-164. DOI : 10.1016/j.robot.2018.05.007.Vehicle Dynamic Model Based Navigation for Small UAVs
EPFL, 2018.Bundle adjustment with raw inertial observations
ISPRS Journal of Photogrammetry and Remote Sensing. 2017-05-23. Vol. 130, p. 1-12. DOI : 10.1016/j.isprsjprs.2017.05.008.An overview of a new sensor calibration platform
2017-08-01. 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.Parameter Determination of Sensor Stochastic Models under Covariate Dependency
European Geosciences Union General Assembly, Vienna, Austria, April 8 – 13, 2018.An Overview of a New Sensor Calibration Platform
4th IEEE International Workshop on Metrology for Aerosapce, Padua, Italy, June 21 – 23, 2017.Positioning Autonomy of a Fixed-Wing UAV through VDM/INS Integration with Experimental Results
2017. p. 2332-2337.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.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.Autonomous Vehicle Dynamic Model-Based Navigation for Small UAVs
Navigation-Journal of the Institute of Navigation. 2016. Vol. 63, num. 3, p. 345-358. DOI : 10.1002/navi.140.Autonomous Navigation Of Small Uavs Based On Vehicle Dynamic Model
2016. p. 117-122. DOI : 10.5194/isprsarchives-XL-3-W4-117-2016.Evaluation of Wind Effects on UAV Autonomous Navigation Based on Vehicle Dynamic Model
2016. p. 1432-1440.An analysis of a gyro-free inertial system for INS/GNSS navigation
2016. p. 1-7. DOI : 10.1109/EURONAV.2016.7530560.Automatic and computationally efficient method for model selection in inertial sensor calibration
2015. ION GNSS+, September 14-18.A computationally efficient platform for inertial sensor calibration
2015. ION GNSS+, Tampa, Florida, USA, September 14-18.Generalized Method of Wavelet Moments for Inertial Navigation Filter Design
IEEE Transactions on Aerospace and Electronic Systems. 2014. Vol. 50, num. 3, p. 2269-2283. DOI : 10.1109/Taes.2014.120751.Satellite Positioning for Sport-Performance Analysis: Challenges & Responses
International Sport Convention 2014, Geneva, Switzerland, December 10-11, 2014.Wavelet-variance-based estimation for composite stochastic processes
Journal of the American Statistical Association. 2013. Vol. 108, num. 503, p. 1021-1030. DOI : 10.1080/01621459.2013.799920.An algorithm for automatic inertial sensor calibration
2013. ION GNSS+, Nashville, Tennessee, USA, September 16-20, 2013.Pedestrian Navigation for the Benefit of Mobility
Geopositioning and Mobility; UK: John Wiley & Sons, 2013. p. 155-201.Searching the Rhone delta channel in Lake Geneva since François-Alphonse Forel
Archives des Sciences. 2012. Vol. 65, p. 103-118. DOI : 10.5169/seals-738355.Fault Detection and Isolation in Multiple MEMS-IMUs Configurations
Ieee Transactions On Aerospace And Electronic Systems. 2012. Vol. 48, p. 2015-2031. DOI : 10.1109/TAES.2012.6237576.Drones to the Rescue!
Inside GNSS. 2012. Vol. July/August.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. DOI : 10.1109/PLANS.2012.6236827.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.Improving Modeling of MEMS-IMUs Operating in GNSS-denied Conditions
2011. ION GNSS 2011, Portland, Oregon, USA, September 19-23, 2011. p. 10.Rigorous Integration of Inertial Navigation with Optical Sensors by Dynamic Networks
Journal of Navigation. 2011. Vol. 58, num. 2, p. 141-152.Constrained expectation-maximization algorithm for stochastic inertial error modeling: study of feasibility
Measurement Science and Technology. 2011. Vol. 22, num. 8, p. 12. DOI : 10.1088/0957-0233/22/8/085204.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.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.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.Qualité de la localisation dans les applications mobiles
2011
Personal Robust Navigation in Challenging Applications
Journal of Navigation. 2011. Vol. 64, num. 02, p. 235-249. DOI : 10.1017/S0373463310000408.Noise reduction and estimation in multiple micro-electro-mechanical inertial systems
Measurement Science and Technology. 2010. Vol. 21, num. 6, p. 065201. DOI : 10.1088/0957-0233/21/6/065201.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.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.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.Contrôle de l’intégrité GPS en temps réel et géoréférencement direct par RTK-GPS pour le levé laser aéroporté
Géomatique Suisse. 2009. num. 3, p. 100-103. DOI : 10.5169/seals-236592.La navigation pédestre dans l’espace public: évaluation des besoins et esquisses de solutions
2008
Optimal Data Fusion for Pedestrian Navigation based on UWB and MEMS
2008. PLANS 2008, Monterey, California (USA), May 5-8, 2008. DOI : 10.1109/PLANS.2008.4570054.UWB and MEMS Based Indoor Navigation
Royal Institute of Navigation. 2008. Vol. 61, num. 3, p. 369-384. DOI : 10.1017/S0373463308004797.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.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. p. 223-230. DOI : 10.1007/978-2-287-09411-8_27.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.Le filtre de Kalman unscented – outil performant en géodésie cinématique
Géomatique Suisse. 2008. Vol. 1, p. 12-17. DOI : 10.5169/seals-236495.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.Inertial and RFID sensors for indoor navigation in case of emergency intervention
2007. TimeNav’07, Geneva, May 29 – June 1, 2007.L’analyse de performance sportive à l’aide d’un système GPS/INS low-cost: évaluation de capteurs inertiels de type MEMS
XYZ. 2007. Vol. 113, p. 19-24.Turning Point – Trajectory Analysis for Skiers
Inside GNSS. 2007. Vol. Spring 2007, p. 24-34.Assessment of GPS/MEMS-IMU Integration Performance in Ski Racing
2007. TimeNav’07, Geneva (Switzerland), May 29-June 1, 2007.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.Indoor location for safety application using wireless networks
2007. 1st ERCIM Workshop on Mobility, Coimbra,, Portugal, 21st May 2007.Indoor Navigation of Emergency Agents
European Journal of Navigation. 2007. Vol. 5, num. 3, p. 36-45.Techniques de localisation intra-muros à transmission Ultra Large Bande
Revue XYZ. 2007. Vol. 111, p. 15-19.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.Hybridization of MEMS and Assisted GPS for Pedestrian Navigation
Inside GNSS. 2007. Vol. January/February, p. 34-42.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.Map-matching for pedestrians via Bayesian inference
2006. ENC GNSS 2006, Manchester, UK, 7-10 May 2006.Bayesian Inference for Autonomous Personal Localisation Indoors
2006. International Symposium of Transport Simulation 2006, EPFL, Lausanne, Suisse, 4th-6th September 2006.Advances in indoor Location
2006. LIAISON – ISHTAR Workshop, Athens, Greece, 28-29 September 2006.Custom GPS-Correction Server for Real-Time Trajectography
2006. ION GNSS ´06, Fort Worth, Texas, USA, Sept. 26-29, 2006.SARFOS – Search And Rescue Forward Operation Support System
2005. ENC-GNSS 2005, Munich (Germany), July 19-22, 2005.Der Alpenraum und seine Herausforderungen im Bereich Orientierung, Navigation und Informationsaustausch
2005. AHORN, Innsbruck, November 24-25.Exploring Bidirectional GPRS Capabilities in GNSS Positioning
2005. GNSS 2005, Munich (Germany), July 19-22.Vision-Aided Inertial Navigation Using a Geomatics Approach
2005. ION GNSS 2005, Long Beach (California), September 13-16.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.Indoor Navigation Enhanced by Map-Matching
European Journal of Navigation. 2005. Vol. 3, num. 3.Galileo et le prix de la mobilité
route et trafic. 2005. Vol. 3, p. 19-22.Développement d’un système d’acquisition de données inertielles / GPS
Revue Polytechnique. 2005. Vol. 1688, num. 1/05, p. 13-15.Navigation pédestre dans un environnement construit
Navigation. 2005. Vol. 53, p. 49-63.De la navigation à la mensuration pédestre … et inversement !
Géomatique Suisse. 2004. num. 11, p. 660-663. DOI : 10.5169/seals-236174.Photogrammetry-derived Navigation Parameters for INS Kalman Filter Updates
2004. XXth ISPRS Congress, Istanbul (Turkey), July 14-23.GSM-Distributed RTK for Precise Analysis of Speed Skiing
2004.Indoor Navigation Performance Analysis
2004. GNSS 2004, Rotterdam (The Netherlands), May 17-19.Navigation pédestre à l’intérieur des bâtiments
Géomatique Suisse. 2004. num. 11, p. 664-668. DOI : 10.5169/seals-236175.GPS/INS Integration: From Modern Methods of Data Acquisition fo New Applications
European Journal of Navigation. 2004. Vol. 2, num. 4, p. 40-44.Transmission en temps réel de corrections GPS
Flash Informatique. 2004. p. 03..Techniques GPS-RTK appliquées à la trajectographie
Revue XYZ. 2004. Vol. 99, p. 25-30.Navigation pédestre: le futur en marche
Géomatique (revue du Québec). 2004. Vol. 31, num. 1, p. 6-13.Challenging EGNOS in the Swiss Alps
2003. GNSS 2003, Graz, Austria, April 22-25, 2003.The EGNOS Integrity Concept: Evaluation of the Ionospheric Corrections
2003. ION-GPS 2003, Portland (Oregon), September 9-12, 2003.Personal Navigation System for Indoor Applications
2003. 11th IAIN World Congress, Berlin (Germany), October 21-24.Synergy of CP-DGPS, Accelerometry and Magnetic Sensors for recise Trajectography in Ski Racing
2003.Variance-Covariance perturbation analysis of a Linear Model
Survey Review. 2003. Vol. 37, num. 289, p. 246-257. DOI : 10.1179/sre.2003.37.289.246.Trajectographie de courses de ski alpin avec GPS
Géomatique Suisse. 2003. num. 7, p. 389-392. DOI : 10.5169/seals-236038.Trajectographie de courses de ski alpin avec GPS
2003.Le Concept d’intégrité d’EGNOS
Géomatique Suisse. 2003. num. 11, p. 616-621. DOI : 10.5169/seals-236061.Evaluation de mesures dynamiques pour la navigation aérienne dans le cadre du projet EGNOS
2003
Développement d’un système d’information pour piétons
Géomatique Suisse. 2003. num. 7, p. 384-388. DOI : 10.5169/seals-236037.Challenging EGNOS in the Swiss Alps
2003. Global Navigation Satellite System, Graz, Austria, 22-25 April 2003.Alignment Technique of High Precision
2003