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Upcoming Webinars

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A Robust Approach to Vision-Based Terrain-Aided Localization
Date: Wednesday, May 28 at 12:00 p.m. ET
Presenters: Dan Navon

Terrain-aided navigation, which combines radar altitude with a digital terrain map (DTM), was developed before the era of the Global Positioning System to prevent error growth resulting from inertial navigation. Recently, cameras and substantial computational power have become ubiquitous in flying platforms, prompting interest in studying whether the radar altimeter can be replaced by a visual sensor.

This paper presents a novel approach to vision-based terrain-aided localization by revisiting the correspondence and DTM (C-DTM) problem. We demonstrate that we can simplify the C-DTM problem by dividing it into a structure-from-motion (SFM) problem and then anchoring the solution to the terrain. The SFM problem can be solved using existing techniques such as feature detection, matching, and triangulation wrapped with a bundle adjustment algorithm. Anchoring is achieved by matching the point cloud to the terrain using ray-tracing and a variation of the iterative closest point method. One of the advantages of this two-step approach is that an innovative outlier filtering scheme can be included between the two stages to enhance overall robustness.

The resulting algorithm consistently demonstrated high precision and statistical independence in the presence of initial errors across various simulations. The impact of different filtering methods was also studied, showing an improvement of 50% compared with the unfiltered case.

The new algorithm has the potential to improve localization in real-world scenarios, making it a suitable candidate for pairing with an inertial navigation system and a Kalman f ilter to construct a comprehensive navigation system.

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Webinars

Webinar	Title	Presented By
2025
May 28	A Robust Approach to Vision-Based Terrain-Aided Localization	Dan Navon
April 21	Unveiling Starlink for PNT	Sharbel Kozhaya
March 26	Galileo High Accuracy Service: Tests in Different Operational Conditions	Dr. Ciro Gioia
January 16	Cooperative Localization for GNSS-Denied Subterranean Navigation: A UAV–UGV Team Approach	Dr. Jason Gross
2024
November 20	Satellite Ephemeris Parameterization Methods to Support Lunar Positioning, Navigation, and Timing Services	Keidai Iiyama
September 4	Authentication Security of Combinatorial Watermarking for GNSS Signal Authentication	Dr. Jason Anderson
June 26	Implementation and Accuracy of Doppler Navigation with LEO Satellites	Ariel Baron
May 1	Hong Kong UrbanNav: An Open-Source Multisensory Dataset for Benchmarking Urban Navigation Algorithms	Dr. Li-Ta Hsu
April 3	Fault-Free Integrity of Urban Driverless Vehicle Navigation with Multi-Sensor Integration: A Case Study in Downtown Chicago	Kana Nagai
February 28	Identifying Aerodynamics of Small Fixed-Wing Drones Using Inertial Measurements for Model-Based Navigation	Aman Sharma
January 31	GEODNET: Global Earth Observation Decentralized Network	Mike Horton
2023
December 6	RFI Mapped by Spaceborne GNSS-R Data	Dr. Clara Chew
November 1	Decimeter Positioning in an Urban Environment Through a Scalable Optical-Wireless Network	Dr. Christian Tiberius
September 27	Autonomous Lunar L1 Halo Orbit Navigation Using Optical Measurements to a Lunar Landmark	Dr. Mark B. Hinga
July 11	Resilient Smartphone Positioning Using Native Sensors and PPP Augmentation	Prof. Sunil Bisnath, Sihan Yang, and Ding Yi
June 27	2023 Autonomous Snowplow First Place Team	Ian Adams and Shane Riddle
May 24	Improved GPS-Based Single-Frequency Orbit Determination for the CYGNSS Spacecraft Using GipsyX	Alex Conrad
April 18	Low-Cost Inertial Aiding for Deep-Urban Tightly Coupled Multi-Antenna Precise GNSS	Prof. Todd Humphreys
March 9	Signal Quality Monitoring Based on Chip Domain Observables: Theory, Design, and Implementation	Prof. Xiaowei Cui and Prof. Mingquan Lu
February 27	Navigating the Suez Canal	Captain Morgan McManus
February 15	Resilience Monitoring for Multi-Filter All-Source Navigation Framework With Assurance	Major Jonathon Gipson, PhD
January 11	Commercial GNSS Radio Occultation on Aerial Platforms with Off-the-Shelf Receivers	Bryan Chan
2022
December 8	Detecting GNSS Jamming and Spoofing on Android Devices	Dr. Dennis Akos
November 15	Characterization and Performance Assessment of BeiDou-2 and BeiDou-3 Satellite Group Delays	Dr. Oliver Montenbruck
October 27	Impact of GNSS-Band Radio Interference on Operational Avionics	Dr. Michael Felux and Dr. Okuary Osechas
August 4	Mapping Bit to Symbol Unpredictability with Application to Galileo Open Service Navigation Message Authentication	Dr. Cillian O’Driscoll and Dr. Ignacio Fernández-Hernández
July 13	National Strategy for Ocean Mapping	Meredith Westington and CDR Briana Hillstrom
June 16	WAAS and the Ionosphere – A Historical Perspective: Monitoring Storms	Dr. Lawrence Sparks
April 27	Results on GNSS Spoofing Mitigation Using Multiple Receivers	Dr. Gustaf Hendeby
March 30	Urban positioning: 3D mapping-aided GNSS using dual-frequency pseudorange measurements from smartphones	Hoi-Fung Ng
Feb. 22	Using GPS Data to Understand the Relationship Between Mobility Behavior and Well-Being	Dr. Gabriella M. Harari
Feb. 7	First results from three years of GNSS interference monitoring from low Earth orbit	Dr. Todd E. Humphreys and Dr. Lakshay Narula
2021
December 14	Navigation using carrier Doppler shift from a LEO constellation: TRANSIT on steroids	Mark L. Psiaki
November 18	Data-driven protection levels for camera and 3D map-based safe urban localization	Shubh Gupta
October 28	Air Data Fault Detection and Isolation for Small UAS Using Integrity Monitoring Framework	Kerry Sun
October 18	How Insect Brains Perform Dead Reckoning	Dr. Barbara Webb
September 14	Performance assessment of GNSS diffraction models in urban areas	Guohao Zhang and Dr. Li-Ta Hsu
August 17	Overbounding the effect of uncertain Gauss-Markov noise in Kalman filtering	Dr. Steve Langel
July 23	GNSS Spoofing Detection through Spatial Processing	Dr. Fabian Rothmaier
June 28	Factor Graph Optimization for GNSS/INS Integration: A Comparison with the Extended Kalman Filter	Dr. Li-Ta Hsu
June 15	GAO Report, “Defense Navigation Capabilities”	Chi Mai and Jenn Beddor, U.S. GAO
May 27	Hurricane Hunters: Navigating a Plane through a Hurricane	Lt. Cmdr. Brian Richards
May 11	Multi‐slices navigation approach for unknown 3D environments using micro aerial vehicles	Dr. Haytham Mohamed
April 20	GNSS interference mitigation: A measurement and position domain assessment	Dr. Daniele Borio and Dr. Ciro Gioia
March 23	Navigation of the Mars 2020 Perseverance Rover from Earth to Jezero Crater	Dr. Gerhard Kruizinga
February 18	Effect of GPS III weighted voting on P(Y) receiver processing performance	Dr. Karl Kovach
2020
December 10	Automatic detection of ionospheric scintillation-like GNSS satellite oscillator anomaly using a machine-learning algorithm	Yunxiang (Leo) Liu and Dr. Y. Jade Morton
November 12	Residual-based multi-filter methodology for all-source fault detection, exclusion, and performance monitoring	Dr. Juan Jurado
October 22	Relative navigation of fixed-wing aircraft in GPS-denied environments	Dr. Kevin Brink
August 20	Multi-Constellation ARAIM Exploiting Satellite Motion	Dr. Mathieu Joerger
July 9	Improving Environment Detection by Behavior Association for Context-Adaptive Navigation	Dr. Han Gao
June 25	When GNSS fails, what will you do? MarRINav! Co-sponsored by ION, the Resilient Navigation and Timing Foundation, and the Royal Institute of Navigation	Jonathan Turner, Alan Grant and Dana Goward
May 28	Impact of Sample Correlation on SISRE Overbound for ARAIM	Dr. Santiago Perea
April 16	Flight Results of GPS-Based Attitude Determination for the Canadian CASSIOPE Satellite	Dr. André Hauschild
March 5	Gaussian-Pareto Overbounding of DGNSS Pseudoranges from CORS	Dr. Jordan D. Larson
2019
December 5	LTE Receiver Design and Multipath Analysis for Navigation in Urban Environments	Kimia Shamaei and Zak Kassas