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. 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

Synthetic Wind Estimation for Small Fixed-Wing Drones

A. Sharma; G. F. Laupré; P. Longobardi; J. Skaloud 

Atmosphere. 2024. Vol. 15, num. 11. DOI : 10.3390/atmos15111339.

Model-Based Fusion of GNSS and Multiple-IMUs

A. Sharma; S. Gilgien; J. Skaloud 

2024. 11th International Workshop on Metrology for AeroSpace (MetroAeroSpace), Lublin, Poland, 2024-06-03-2024-06-05. DOI : 10.1109/metroaerospace61015.2024.10591587.

Linear Estimation of Deterministic Accelerometer Errors

J. Burkhard; A. Sharma; J. Skaloud 

Navigation-Journal Of The Institute Of Navigation. 2024. Vol. 71, num. 3. DOI : 10.33012/navi.656.

Identifying Aerodynamics of Delta-Wing Drones for Model-Based Navigation: A Comparative Study

P. Longobardi; J. Skaloud; A. Sharma 

IEEE Access. 2024. Vol. 12, p. 91649 – 91663. DOI : 10.1109/access.2024.3421579.

Aerodynamic modeling of a delta-wing UAV for model-based navigation

P. Longobardi; J. Skaloud 

CEAS Aeronautical Journal. 2024. Vol. 15, p. 283 – 301. DOI : 10.1007/s13272-024-00727-9.

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

G. F. Laupré; A. Sharma; J. Skaloud 

IEEE Robotics and Automation Letters. 2024. Vol. 9, num. 3, p. 2869 – 2876. DOI : 10.1109/LRA.2024.3358758.

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

G. F. Laupré; L. Pirlet; J. Skaloud 

The Journal of Navigation (RIN). 2023.  p. 1 – 19. DOI : 10.1017/S0373463323000267.

Identifying aerodynamics of small fixed-wing drones using inertial measurements for model-based navigation

A. Sharma; G. F. Laupré; J. Skaloud 

NAVIGATION. 2023. Vol. 70, num. 4, p. 34. DOI : 10.33012/navi.611.

On the calibration aspects of MEMS-IMUs used in micro UAVs for sensor orientation

P. Clausen; J. Skaloud 

2020. IEEE-ION Position Location and Navigation Symposium (PLANS), Portland, Oregon, April 20-23, 2020. DOI : 10.1109/PLANS46316.2020.9110160.

Wavelet-Based Moment-Matching Techniques for Inertial Sensor Calibration

S. Guerrier; J. Jurando; M. Khaghani; G. Bakali; M. Karemera et al. 

IEEE Transactions on Instrumentation and Measurement. 2020. Vol. 69, num. 10, p. 7542 – 7551. DOI : 10.1109/TIM.2020.2984820.

Optimal Stochastic Sensor Error Modeling based on Actual Impact on Quality of GNSS-INS Integrated Navigation

M. Khaghani; S. Guerrier; J. Skaloud; Y. Zhang 

2019. ION GNSS+, Miami, Florida, US, September 16-20, 2019. p. 2566 – 2574. DOI : 10.33012/2019.17057.

Traduire les données en images

D. Rodighiero 

Journée d’étude : Imagination, imaginaire et images des (big) data, Université de Lille, France, 2019-01-24.

Sensitivity to Time Delays in VDM-Based Navigation

G. F. Laupré; M. Khaghani; J. Skaloud 

Drones. 2019. Vol. 3, num. 1, p. 11. DOI : 10.3390/drones3010011.

VDM-based UAV Attitude Determination in Absence of IMU Data

M. Khaghani; J. Skaloud 

2018. 2018 European Navigation Conference (ENC), Gothenburg, Sweden, May 14-17, 2018. p. 84 – 90. DOI : 10.1109/EURONAV.2018.8433243.

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

M. Khaghani; J. Skaloud 

Robotics and Autonomous Systems. 2018. Vol. 106, num. 106, p. 152 – 164. DOI : 10.1016/j.robot.2018.05.007.

Construction of dynamically-dependent stochastic error models

P. Clausen; J. Skaloud; S. Guerrier 

IEEE/ION Position, Location and Navigation Symposium (PLANS 2018), Monterey, CA, USA, 23-26 April 2018.

Vehicle Dynamic Model Based Navigation for Small UAVs

M. Khaghani / J. Skaloud (Dir.)  

EPFL, 2018. 

An overview of a new sensor calibration platform

P. Clausen; J. Skaloud; R. Molinari; J. Balamuta; S. Guerrier 

2017. 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.

An Overview of a New Sensor Calibration Platform

P. Clausen; S. Guerrier; J. Skaloud 

4th IEEE International Workshop on Metrology for Aerosapce, Padua, Italy, June 21 – 23, 2017.

Bundle adjustment with raw inertial observations

D. A. Cucci; M. Rehak; J. Skaloud 

ISPRS Journal of Photogrammetry and Remote Sensing. 2017. Vol. 130, p. 1 – 12. DOI : 10.1016/j.isprsjprs.2017.05.008.