ION Webinars
ION Webinars provide timely, engaging presentations on topics of interest to the PNT community.
To be notified of future Webinars, sign up for our email list or follow us on social media.
Upcoming Webinars
Upcoming webinars will be posted here and on ION social media accounts.
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.
Register for the Webinar
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 |