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On constrained integrated total Kalman filter for integrated direct geo-referencing / Vahid Mahboub in Survey review, vol 51 n° 364 (January 2019)  

Public [article]  inSurvey review > vol 51 n° 364 (January 2019) . - pp 26 - 34 Titre : On constrained integrated total Kalman filter for integrated direct geo-referencing Type de document : Article/Communication Auteurs : Vahid Mahboub, Auteur ; Mohammad Saadatseresht, Auteur ; Alireza A. Ardalan, Auteur Année de publication : 2019 Article en page(s) : pp 26 - 34 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement du signal [Termes IGN] filtrage du bruit [Termes IGN] filtre de Kalman [Termes IGN] géoréférencement direct [Termes IGN] GPS-INS [Termes IGN] invariant [Termes IGN] matrice de covariance [Termes IGN] modèle dynamique Résumé : (Auteur) A constrained integrated total Kalman filter algorithm is developed. It considers a quadratic constraint which may appear in some problems of integrated direct geo-referencing in particular when INS data is used as system equations of a Kalman filter algorithm. In such a case one encounters with a dynamic errors-in-variables (DEIV) model for system equations, although DEIV model has been already considered for equations of the Kalman filter algorithm and a solution namely integrated total Kalman filter (ITKF) has been given to it. Also this algorithm can be simplified to unconstraint case which is useful for some problems. It considers DEIV model for both observation equations and system equations of the Kalman filter algorithm. The predicted residuals for all variables including the random noise at the first epoch, the observational noise, the random system noise and the corresponding noise of two coefficient matrixes (in the system equations and the observation equations) besides the variance matrix of the unknown parameters are obtained. In two numerical examples, integrated direct geo-referencing problem is solved for a GPS-INS system. Numéro de notice : A2019-186 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1080/00396265.2017.1341736 Date de publication en ligne : 30/06/2017 En ligne : https://doi.org/10.1080/00396265.2017.1341736 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=92617 [article]

Simultaneous characterization of objects temperature and radiative properties through multispectral infrared thermography / Thibaud Toullier (2019)  

Public Titre : Simultaneous characterization of objects temperature and radiative properties through multispectral infrared thermography Titre original : Caractérisation conjointe de la température et des propriétés radiatives des objets par thermographie infrarouge multispectrale Type de document : Thèse/HDR Auteurs : Thibaud Toullier, Auteur ; Laurent Mevel, Directeur de thèse ; Jean Dumoulin, Directeur de thèse Editeur : Rennes : Université de Rennes 1 Année de publication : 2019 Importance : 233 p. Format : 21 x 30 cm Note générale : bibliographie Thèse de Doctorat Mathématique et Sciences et Technologies de l’Information et de la Communication, Spécialité Signal, Image, Vision, Université de Rennes 1 Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image [Termes IGN] construction [Termes IGN] contrôle thermique [Termes IGN] données météorologiques [Termes IGN] données multicapteurs [Termes IGN] estimation bayesienne [Termes IGN] filtre de Kalman [Termes IGN] image multibande [Termes IGN] image thermique [Termes IGN] méthode de Monte-Carlo par chaînes de Markov [Termes IGN] Python (langage de programmation) [Termes IGN] rayonnement solaire [Termes IGN] scène 3D [Termes IGN] surveillance d'ouvrage [Termes IGN] thermographie Résumé : (auteur) The latest technological improvements in low-cost infrared cameras have brought new opportunities for long-term infrastructures monitoring. The accurate measurement of surfaces' temperatures is facing the lack of knowledge of radiatives properties of the scene. By using multi-sensors instrumentation, the measurement model can be refined to get a better estimate of the temperature. To overcome a lack of sensors instrumentation, it is shown that online and free available climatic data can be used. Then, Bayesian methods to estimate simultaneously the emissivity and temperature have been developed and compared to literature's methods. A radiative exchange simulator of 3D scenes have been developed to compare those different methods on numerical data. This software uses the hardware acceleration as well as a GPGPU approach to reduce the computation time. As a consequence, obtained numerical results emphasized an advanced use of multi-spectral infrared thermography for the monitoring of structures. This simultaneous estimation enables to have an estimate of the temperature by infrared thermography with a known uncertainty. Note de contenu : Introduction 1- Context and problem positioning 2- Bibliographical study 3- In-situ long-term thermal monitoring of structures: environmental measurements bias compensation 4- Study and development of an infrared multispectral images simulator 5- Proposed and studied methods for the simultaneous estimation of temperature and emissivity Conclusion and future work Numéro de notice : 25705 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse française Note de thèse : Thèse de Doctorat : Signal, Image, Vision : Rennes 1 : 2019 nature-HAL : Thèse DOI : sans En ligne : https://hal.archives-ouvertes.fr/tel-02389051 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=94850

Differential positioning based on the orthogonal transformation algorithm with GNSS multi-system / Xiao Liang in GPS solutions, vol 22 n° 3 (July 2018)  

Public [article]  inGPS solutions > vol 22 n° 3 (July 2018) Titre : Differential positioning based on the orthogonal transformation algorithm with GNSS multi-system Type de document : Article/Communication Auteurs : Xiao Liang, Auteur ; Zhigang Huang, Auteur ; Honglei Qin, Auteur Année de publication : 2018 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Termes IGN] ambiguïté entière [Termes IGN] erreur instrumentale [Termes IGN] erreur systématique [Termes IGN] filtre de Kalman [Termes IGN] méthode des moindres carrés [Termes IGN] positionnement différentiel [Termes IGN] résolution d'ambiguïté [Termes IGN] simple différence [Vedettes matières IGN] Traitement de données GNSS Résumé : (Auteur) Combining global navigation satellite systems (GNSSs) will significantly increase the number of visible satellites and, thus, will improve the geometry of observed satellites, resulting in improved positioning reliability and accuracy. We focus on GNSS multi-system differential positioning based on a single-system orthogonal transformation algorithm. The orthogonal transformation algorithm using single-difference measurements is proposed to avoid the high correlation between measurements and the unnecessary prominence to the reference satellite in double-difference positioning. In addition, the algorithm uses a more straightforward recursive least squares method to avoid the effect of uncertainties of the Kalman filter. We discuss the model differences between combined system positioning and single-system positioning and verify that the combining observations of different systems should start to be used after clock biases have been reduced, respectively. Moreover, as to rising and setting of satellites in multi-system differential positioning, we propose to use matrix transform to separate the setting satellites of combined systems at an epoch. This can avoid the correlation of initial integer ambiguity vectors of different systems. The experimental results show that the proposed method can handle the change of satellites automatically and combine multiple systems for reliable and accuracy differential positioning. The method especially outperforms the basic single-system orthogonal transformation positioning and traditional multi-system double-difference positioning in a complex environment. Numéro de notice : A2018-371 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-018-0754-6 Date de publication en ligne : 02/07/2018 En ligne : https://doi.org/10.1007/s10291-018-0754-6 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=90763 [article]

GPS receiver phase biases estimable in PPP-RTK networks : dynamic characterization and impact analysis / Baocheng Zhang in Journal of geodesy, vol 92 n° 6 (June 2018)  

Public [article]  inJournal of geodesy > vol 92 n° 6 (June 2018) . - pp 659 – 674 Titre : GPS receiver phase biases estimable in PPP-RTK networks : dynamic characterization and impact analysis Type de document : Article/Communication Auteurs : Baocheng Zhang, Auteur ; Teng Liu, Auteur ; Yunbin Yuan, Auteur Année de publication : 2018 Article en page(s) : pp 659 – 674 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] caractérisation [Termes IGN] données GPS [Termes IGN] erreur systématique [Termes IGN] filtre de Kalman [Termes IGN] filtre passe-bas [Termes IGN] GPS en mode cinématique [Termes IGN] impact sur les données [Termes IGN] phase GPS [Termes IGN] positionnement cinématique en temps réel [Termes IGN] positionnement ponctuel précis [Termes IGN] récepteur bifréquence Résumé : (Auteur) The integer ambiguity resolution enabled precise point positioning (PPP-RTK) has been proven advantageous in a wide range of applications. The realization of PPP-RTK concerns the isolation of satellite phase biases (SPBs) and other corrections from a network of Global Positioning System (GPS) reference receivers. This is generally based on Kalman filter in order to achieve real-time capability, in which proper modeling of the dynamics of various types of unknowns remains crucial. This paper seeks to gain insight into how to reasonably deal with the dynamic behavior of the estimable receiver phase biases (RPBs). Using dual-frequency GPS data collected at six colocated receivers over days 50–120 of 2015, we analyze the 30-s epoch-by-epoch estimates of L1 and wide-lane (WL) RPBs for each receiver pair. The dynamics observed in these estimates are a combined effect of three factors, namely the random measurement noise, the multipath and the ambient temperature. The first factor can be overcome by turning to a real-time filter and the second by considering the use of a sidereal filtering. The third factor has an effect only on the WL, and this effect appears to be linear. After accounting for these three factors, the low-pass-filtered, sidereal-filtered, epoch-by-epoch estimates of L1 RPBs follow a random walk process, whereas those of WL RPBs are constant over time. Properly modeling the dynamics of RPBs is vital, as it ensures the best convergence of the Kalman-filtered, between-satellite single-differenced SPB estimates to their correct values and, in turn, shortens the time-to-first-fix at user side. Numéro de notice : A2018-151 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-017-1085-z Date de publication en ligne : 13/11/2017 En ligne : https://doi.org/10.1007/s00190-017-1085-z Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=89764 [article]

Design and implementation of a model predictive observer for AHRS / Jafar Keighobadi in GPS solutions, vol 22 n° 1 (January 2018)  

Public [article]  inGPS solutions > vol 22 n° 1 (January 2018) Titre : Design and implementation of a model predictive observer for AHRS Type de document : Article/Communication Auteurs : Jafar Keighobadi, Auteur ; Hamid Vosoughi, Auteur ; Javad Faraji, Auteur Année de publication : 2018 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] angle d'Euler [Termes IGN] attitude and heading reference system AHRS [Termes IGN] erreur instrumentale [Termes IGN] erreur systématique [Termes IGN] estimateur [Termes IGN] filtre de Kalman [Termes IGN] GPS-INS [Termes IGN] microsystème électromécanique [Termes IGN] véhicule Résumé : (auteur) A GPS-aided Inertial Navigation System (GAINS) is used to determine the orientation‚ position and velocity of ground and aerial vehicles. The data measured by Inertial Navigation System (INS) and GPS are commonly integrated through an Extended Kalman Filter (EKF). Since the EKF requires linearized models and complete knowledge of predefined stochastic noises‚ the estimation performance of this filter is attenuated by unmodeled nonlinearity and bias uncertainties of MEMS inertial sensors. The Attitude Heading Reference System (AHRS) is applied based on the quaternion and Euler angles methods. A moving horizon-based estimator such as Model Predictive Observer (MPO) enables us to approximate and estimate linear systems affected by unknown uncertainties. The main objective of this research is to present a new MPO method based on the duality principle between controller and observer of dynamic systems and its implementation in AHRS mode of a low-cost INS aided by a GPS. Asymptotic stability of the proposed MPO is proven by applying Lyapunov’s direct method. The field test of a GAINS is performed by a ground vehicle to assess the long-time performance of the MPO method compared with the EKF. Both the EKF and MPO estimators are applied in AHRS mode of the MEMS GAINS for the purpose of real-time performance comparison. Furthermore‚ we use flight test data of the GAINS for evaluation of the estimation filters. The proposed MPO based on both the Euler angles and quaternion methods yields better estimation performances compared to the classic EKF. Numéro de notice : A2018-017 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-017-0696-4 En ligne : https://doi.org/10.1007/s10291-017-0696-4 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=89114 [article]

Navigation des personnes aux moyens des technologies des smartphones et des données d’environnements cartographiés / Fadoua Taia Alaoui (2018)  

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Parameter estimation with GNSS-reflectometry and GNSS synthetic aperture techniques / Miguel Angel Ribot Sanfelix (2018)  

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Tight integration of INS/Stereo VO/Digital map for land vehicle navigation / Fei Liu in Photogrammetric Engineering & Remote Sensing, PERS, vol 84 n° 1 (January 2018)  

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Utilisation des réseaux de capteurs Géocubes pour la mesure de déformation des volcans en temps réel par GNSS / Mohamed-Amjad Lasri (2018)  

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Vehicle dynamic model based navigation for small UAVs / Mehran Khaghani (2018)  

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Robust wavelet-based inertial sensor error mitigation for tightly coupled GPS/BDS/INS integration during signal outages / Jian Wang in Survey review, vol 49 n° 357 (December 2017)  

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Ionospheric and receiver DCB-constrained multi-GNSS single-frequency PPP integrated with MEMS inertial measurements / Zhouzheng Gao in Journal of geodesy, vol 91 n° 11 (November 2017)  

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GLONASS inter-frequency phase bias rate estimation by single-epoch or Kalman filter algorithm / Yi Bin Yao in GPS solutions, vol 21 n° 4 (October 2017)  

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Assessing the performance of multi-GNSS precise point positioning in Asia-Pacific region / X. Zhao in Survey review, vol 49 n° 354 (September 2017)  

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Determination of the ionospheric foF2 using a stand-alone GPS receiver / Dudy D Wijaya in Journal of geodesy, vol 91 n° 9 (September 2017)  

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