Centre de documentation
scientifique

Investigation into the nonlinear Kalman filter to correct the INS/GNSS integrated navigation system / Konstantin Neusypin in GPS solutions, vol 27 n° 2 (April 2023)  

Public [article]  inGPS solutions > vol 27 n° 2 (April 2023) . - n° 91 Titre : Investigation into the nonlinear Kalman filter to correct the INS/GNSS integrated navigation system Type de document : Article/Communication Auteurs : Konstantin Neusypin, Auteur ; Andrey Kupriyanov, Auteur ; Andrey Maslennikov, Auteur ; et al., Auteur Année de publication : 2023 Article en page(s) : n° 91 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] couplage GNSS-INS [Termes IGN] filtrage non linéaire [Termes IGN] filtre adaptatif [Termes IGN] filtre de Kalman [Termes IGN] modèle d'erreur [Termes IGN] positionnement cinématique en temps réel [Termes IGN] système de navigation Résumé : (auteur) The integrated navigation system is the inertial navigation system (INS), corrected by global navigation satellite system (GNSS) data. The correction could be done algorithmically by utilizing nonlinear Kalman filtering (NKF). In practice, the NKF uses an INS error model as an a priori model that is not always adequate to handle the dynamics of the true and unknown INS error model. To eliminate such modeling errors, we propose a new INS/GPS correction approach with modified adaptive NKF. In the proposed NKF, instead of the a priori model, the model constructed during the pre-flight test for a particular INS is used. To realize this, the full algorithm includes an INS error model construction algorithm, a way of reduced measurement generation, and criteria for divergence detection. INS error model construction both during pre-flight test and during flight is done by the group method of data handling (GMDH). Flight experiments were performed for an empirical study of the INS error model and its effect on the total accuracy of computed navigational data. The navigational equipment was installed on the balloon—an airborne radio-transparent object. The results of the experiments validate the effectiveness and accuracy of the proposed INS/GPS correction approach. Numéro de notice : A2022-182 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-023-01433-5 Date de publication en ligne : 21/03/2023 En ligne : https://doi.org/10.1007/s10291-023-01433-5 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102951 [article]

Deep convolutional neural networks for scene understanding and motion planning for self-driving vehicles / Abdelhak Loukkal (2021)  

Public Titre : Deep convolutional neural networks for scene understanding and motion planning for self-driving vehicles Type de document : Thèse/HDR Auteurs : Abdelhak Loukkal, Auteur ; Yves Grandvalet, Directeur de thèse Editeur : Compiègne : Université de Technologie de Compiègne UTC Année de publication : 2021 Importance : 129 p. Format : 21 x 30 cm Note générale : Bibliographie Thèse présentée pour l’obtention du grade de Docteur de l’UTC, spécialité Informatique Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique [Termes IGN] compréhension de l'image [Termes IGN] données lidar [Termes IGN] données localisées 3D [Termes IGN] fusion de données multisource [Termes IGN] navigation autonome [Termes IGN] reconnaissance de formes [Termes IGN] réseau neuronal profond [Termes IGN] segmentation sémantique [Termes IGN] système de navigation [Termes IGN] véhicule automobile [Termes IGN] vision monoculaire [Termes IGN] vision par ordinateur Index. décimale : THESE Thèses et HDR Résumé : (Auteur) During this thesis, some perception approaches for self-driving vehicles were developed using de convolutional neural networks applied to monocular camera images and High-Definition map (HD-ma rasterized images. We focused on camera-only solutions instead of leveraging sensor fusion with rang sensors because cameras are the most cost-effective and discrete sensors. The objective was also to show th camera-based approaches can perform at par with LiDAR-based solutions on certain 3D vision tasks. Rea world data was used for training and evaluation of the developed approaches but simulation was als leveraged when annotated data was lacking or for safety reasons when evaluating driving capabilities. Cameras provide visual information in a projective space where the perspective effect does not preserve th distances homogeneity. Scene understanding tasks such as semantic segmentation are then often operated i the camera-view space and then projected to 3D using a precise depth sensor such as a LiDAR. Having thi scene understanding in the 3D space is useful because the vehicles evolve in the 3D world and the navigatio algorithms reason in this space. Our focus was then to leverage the geometric knowledge about the camer parameters and its position in the 3D world to develop an approach that allows scene understanding in the 3D space using only a monocular image as input. Neural networks have also proven to be useful for more than just perception and are more and more used fo the navigation and planning tasks that build on the perception outputs. Being able to output 3D scen understanding information from a monocular camera has also allowed us to explore the possibility of havin an end-to-end holistic neural network that takes a camera image as input, extracts intermediate semantic information in the 3D space and then lans the vehicle's trajectory. Note de contenu : 1. Introduction 1.1 General context 1.2 Framework and objectives 1.3 Organization and contributions of the thesis 2. Background and related work 2.1 Introduction 2.2 Autonomous driving perception datasets 2.3 Autonomous driving simulators 2.4 Semantic segmentation with CNNs 2.5 Monocular depth estimation with CNNs 2.6 Driving with imitation learning 2.7 Conclusion 3. Semantic segmentation using cartographic and depth maps 3.1 Introduction 3.2 Synthetic dataset 3.3 Proposed methods 3.4 Experiments 3.5 Conclusion 4. Disparity weighted loss for semantic segmentation 4.1 Introduction 4.2 Disparity weighting for semantic segmentation 4.3 Experiments 4.4 Conclusion 5. FlatMobileNet: Bird-Eye-View semantic masks from a monoc?ular camera 5.1 Introduction 5.2 Theoretical framework 5.3 FlatMobile network: footprint segmentation 5.4 Conclusion 6. Driving among flatmobiles 6.1 Introduction 6.2 Encoder-decoder LSTM for trajectory planning 6.3 Experimental evaluation 6.4 Conclusion 7. Conclusion 7.1 Contributions 7.2 Perspectives Numéro de notice : 26769 Affiliation des auteurs : non IGN Thématique : IMAGERIE/INFORMATIQUE Nature : Thèse française Note de thèse : Thèse de Doctorat : Informatique : Compiègne : 2021 Organisme de stage : Heuristique et Diagnostic des Systèmes Complexes HeuDiaSyC nature-HAL : Thèse DOI : sans Date de publication en ligne : 25/10/2021 En ligne : https://tel.hal.science/tel-03402541/ Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=99871

Satellites missions and technologies for geosciences / Vladislav Demyanov (2020)  

Public Titre : Satellites missions and technologies for geosciences Type de document : Monographie Auteurs : Vladislav Demyanov, Éditeur scientifique ; Jonathan Becedas, Éditeur scientifique Editeur : London [UK] : IntechOpen Année de publication : 2020 Importance : 182 p. Format : 16 x 24 cm ISBN/ISSN/EAN : 978-1-78985-301-8 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Technologies spatiales [Termes IGN] données GNSS [Termes IGN] géodésie spatiale [Termes IGN] mission spatiale [Termes IGN] nanosatellite [Termes IGN] observation de la Terre [Termes IGN] perturbation ionosphérique [Termes IGN] signal GPS [Termes IGN] système de navigation [Termes IGN] technologies spatiales [Termes IGN] télédétection spatiale [Termes IGN] temps réel [Termes IGN] teneur totale en électrons [Termes IGN] traitement du signal Résumé : (Editeur) Being a vital modern technology, satellite systems for navigation, telecommunication, and geosciences have developed rapidly in the last 25 years. Modern satellite technologies have become a base of our civilization and support our day-to-day activity in both practice and geosciences. This book is devoted to GNSS-remote sensing for ionosphere research, modeling and mitigation techniques to diminish the ionosphere and multipath impacts on GNSS, and survey of the modern satellite missions and technologies. We hope that the experts’ opinions presented in the book will be interesting for the research community and students in the area of satellites and space missions as well as in engineering and geoscience research. Note de contenu : 1. GNSS High-Rate Data and the Efficiency of Ionospheric Scintillation Indices 2. The Influence of the Lower Ionospheric Disturbances on the Operating Conditions of Navigation Satellite Systems 3. Real-Time Monitoring of Ionospheric Irregularities and TEC Perturbations 4. GPS Signal Multipath Error Mitigation Technique 5. The Impact of Space Radiation Environment on Satellites Operation in Near-Earth Space 6. Ionospheric Scintillation Modeling Needs and Tricks 7. Earth Observation Technologies: Low-End-Market Disruptive Innovation 8. A Survey on Small Satellite Technologies and Space Missions for Geodetic Applications 9. Nanosatellites and Applications to Commercial and Scientific Missions Numéro de notice : 26672 Affiliation des auteurs : non IGN Thématique : IMAGERIE/POSITIONNEMENT Nature : Recueil / ouvrage collectif DOI : 10.5772/intechopen.83246 Date de publication en ligne : 22/07/2020 En ligne : https://doi.org/10.5772/intechopen.83246 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=98951

An advanced GNSS code multipath detection and estimation algorithm / Negin Sokhandan in GPS solutions, vol 20 n° 4 (October 2016)  

Public [article]  inGPS solutions > vol 20 n° 4 (October 2016) . - pp 627 - 640 Titre : An advanced GNSS code multipath detection and estimation algorithm Type de document : Article/Communication Auteurs : Negin Sokhandan, Auteur ; James T. Curran, Auteur ; Ali Broumandan, Auteur ; Gérard Lachapelle, Auteur Année de publication : 2016 Article en page(s) : pp 627 - 640 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications de géodésie spatiale [Termes IGN] code GNSS [Termes IGN] méthode du maximum de vraisemblance (estimation) [Termes IGN] milieu urbain [Termes IGN] modèle de simulation [Termes IGN] positionnement par GNSS [Termes IGN] système de navigation [Termes IGN] trajet multiple Résumé : (Auteur) A novel maximum likelihood-based range estimation algorithm is designed to provide robustness to multipath, which is recognized as a dominant error source in DS-CDMA-based navigation systems. The detection–estimation problem is jointly solved to sequentially estimate the parameters of each individual multipath component and predict the existence of a next possible component. A comparison between contemporary maximum likelihood-based multipath estimation techniques and this new technique is provided. A selection of realistic channel simulation models is used to assess relative performance under different operating situations. A set of real GPS L1/CA data processing results are also presented to further assess the applicability of the proposed algorithm for urban navigation. Numéro de notice : A2016--025 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-015-0475-z En ligne : http://dx.doi.org/10.1007/s10291-015-0475-z Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=83926 [article]

Integrating indoor and outdoor spaces for pedestrian navigation guidance: A review / Ann Vanclooster in Transactions in GIS, vol 20 n° 4 (August 2016)  

Public [article]  inTransactions in GIS > vol 20 n° 4 (August 2016) . - pp 491 - 525 Titre : Integrating indoor and outdoor spaces for pedestrian navigation guidance: A review Type de document : Article/Communication Auteurs : Ann Vanclooster, Auteur ; Nico Van De Weghe, Auteur ; Philippe De Maeyer, Auteur Année de publication : 2016 Article en page(s) : pp 491 - 525 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] état de l'art [Termes IGN] intégration [Termes IGN] navigation pédestre [Termes IGN] piéton [Termes IGN] positionnement en intérieur [Termes IGN] système de navigation Résumé : (auteur) In light of the many improvements within 3D urban modeling and Location-Based Services, this article provides a timely review of the state-of-the-art on integrating indoor and outdoor spaces in pedestrian navigation guidance aids. With people moving seamlessly between buildings and surrounding areas, navigation guidance tools should extend from merely outdoor or indoor guidance, to provide support in the combined indoor-outdoor context. This article first examines the challenges and complexities of integrating indoor and outdoor spaces into a single navigation system. Next, by using objective selection criteria, 36 relevant studies were withheld and further reviewed on their specific developments in data model requirements, and algorithmic and context support for integrated IO navigation systems. This review shows that the challenges of dealing with both indoor and outdoor space structures, while taking into account pedestrian's freer use of space, currently complicate the proposition of a unified IO space concept for navigation. However, there are some ongoing developments (e.g. context definitions, algorithmic extensions, increased data availability, growing awareness of pedestrians’ perception during wayfinding) that will help to bring outdoor and indoor spaces closer together in the realm of combined geospatial analysis. Numéro de notice : A2016-992 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1111/tgis.12178 En ligne : http://dx.doi.org/10.1111/tgis.12178 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=83766 [article]

Galiléo : du projet à la réalité / P. Flament in CNES Mag, n° 56 (01/01/2013)  

Permalink

Spatial knowledge acquisition with mobile maps, augmented reality and voice in the context of GPS-based pedestrian navigation: results from a field test / H. Huang in Cartography and Geographic Information Science, vol 39 n° 2 (April 2012)  

Permalink

Mapping the 21st century: the 20th International Cartographic Conference, ICC 2001, Beijing, China, August 6 - 10, 2001, vol 5. Proceedings / L. Li (2001)

Permalink

La cartographie dépasse les frontières, 17ème Conférence Cartographique Internationale, 10eme Assemblée générale de l'ACI, Volume 1. Proceedings / Josep-Lluis Colomer i Alberich (1995)

Permalink

La cartographie dépasse les frontières, 17ème Conférence Cartographique Internationale, 10eme Assemblée générale de l'ACI, Volume 2. Proceedings / Josep-Lluis Colomer i Alberich (1995)

Permalink

Synthèse bathymétrique sur la ride médio-atlantique / M. Delobel (1995)

Permalink

Advances in cartography / Jean-Claude Müller (1991)

Permalink

Geographic information systems / David Ruxton Fraser Taylor (1991)

Permalink

GPS navigation for large-scale photography / P.H. Biggs in Photogrammetric Engineering & Remote Sensing, PERS, vol 55 n° 12 (december 1989)  

Permalink

vol 7 n°1 à 4 - March - December 1983 - IAG Symposium on marine geodesy, including sea gravimetry, [actes], Tokyo, 1982 (Bulletin de Marine geodesy)

Permalink