Data normalization

By data normalization we understand all the data processing required to obtain geographic information form positioning and perception sensors. Within this topic we have focused on sensor positioning and orientation, perception sensor calibration and data co-registration.

 

Sensor positioning & orientation

 In this topic we aim to go a step beyond on by directly applying the three geodetic pillars: correct modelling, data redundancy and data heterogeneity.

Rigorous modelling

Rigorous modeling refers to the identification of models that approximate the physical reality beyond the sensitivity of current technology within the appropriate application context. Mathematical modeling must be both functional and stochastic. They are mutually dependent as correctness in the stochastic aspect uses to be related to simplicity in the functional formulation.

Examples of this approach are our works modelling CSAC atomic clock, a wide range of inertial sensors and all the models included in the GEMMA testbed.

Latest relevant publications:

, , , CSAC Characterization and Its Impact on GNSS Clock Augmentation Performance , Sensors, Vol. 17, No. 2, February 2017.

, , I. Colomina, GEMMA: a generic, extensible and modular multi-sensor navigation analysis system , ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume III-3, pp. 433-440. XXIII ISPRS Congress, 12-19 July 2016, Prague (Czech Republic), July 2016.

P. Garcia, IMU calibration platform , Supervisors: O. Casas (UPC), D. Calero (CTTC), July 2016.

, , I. Colomina, On the generation of realistic simulated inertial measurements , in Proceedings of the ISS Gyro Symposium, September 2015, Karlsruhe (Germany)

Related projects:

GEMMA

Geo-lab

 

 Sensor redundancy

We aim improving accuracy, precision and reliability of sensor positioning and orientation through and optimal method based on redundant systems. The use of redundant systems has multiple advantages. We’d like to highlight the system noise reduction and the single fault detection and isolation.

Nowadays there are several groups working on this topic but it is still an open issue since there is not a consolidated solution for the surveying community. We are working on an approach easily transferable to the industry and the technical community.

Relevant publications:

J. Montaño, M. Wis, J. Antonio Pulido, A. Latorre, P. Molina, , , I. Colomina, Validation of inertial and imaging navigation techniques for space applications with UAVs , in Proceedings of the International Space System Engineering Conference (DASIA 2015), 19-21 May 2015, Barcelona (Spain).

Related projects:

Perigeo

GAL


Multi-sensor navigation

We aim at reviewing current processing approaches for navigation and cartography taking into account the new COTS sensors and the new European satellite programs.

Relevant publications:

Fernandez, E., Calero, D., Parés, M.E., “A study on PPP clock augmentation using a CSAC ” submitted to the 6th International Colloquium on Scientific and Fundamental Aspects of GNSS / Galileo, 25-27 October in Valencia.

, , , Positioning performance of Chip-Scale Atomic Clock GNSS augmentation systems , in Proceedings of the Navitec 2016, 14-16 December 2016, Noordwijk (The Netherlands).

J. Montaño, M. Wis, J. Antonio Pulido, A. Latorre, P. Molina, , , I. Colomina, Validation of inertial and imaging navigation techniques for space applications with UAVs , in Proceedings of the International Space System Engineering Conference (DASIA 2015), 19-21 May 2015, Barcelona (Spain).

Related projects:

Perigeo

GINSEC

 

Sensor calibration

Under construction

 

Co-registration

Under construction