ION Webinars

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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