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Jan Skaloud

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Related publications (100)

Page 3 of 5

Robust Tightly Coupled GNSS/INS Estimation for Navigation in Challenging Scenarios

Jan Skaloud, Omar Garcia Crespillo

The combination of Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS) has become the baseline of many transportation applications. In this work, we design a tightly-coupled integration between GNSS and INS where we modify the u ...

2017

Vision-aided inertial navigation system for robotic mobile mapping

Jan Skaloud, Fadi Atef Bayoud

A mapping system by vision-aided inertial navigation was developed for areas where GNSS signals are unreachable. In this framework, a methodology on the integration of vision and inertial sensors is presented, analysed and tested. The system employs the me ...

2008

Quality assessment of Airborne Image Spectrometry Data for the AVIRIS-4

Jan Skaloud, Laurent Valentin Jospin, Jesse Ray Murray Lahaye

The AVIRIS-4 is a state of the art imaging spectrometer developed by NASA-JPL for the consortium of Swiss universities ARES. Measurement campaigns using this instrument started in 2024. According to the agreement with NASA-JPL, all imagery produced by the ...

International Society for Photogrammetry and Remote Sensing2025

Wavelet-variance-based estimation for composite stochastic processes

Jan Skaloud, Stéphane Guerrier, Yannick Stebler

This article presents a new estimation method for the parameters of a time series model. We consider here composite Gaussian processes that are the sum of independent Gaussian processes which, in turn, explain an important aspect of the time series, as is ...

Amer Statistical Assoc2013

Construction of Dynamically-Dependent Stochastic Error Models

Jan Skaloud, Stéphane Guerrier, Philipp Clausen

Stochastic behavior of an instrument is often analyzed by constructing the Allan (or wavelet) variance signatures from an error signal. For inertial sensors, such a signature is conveniently obtained by recording data at rest. The analysis of this signal w ...

IEEE2018

An inertial sensor calibration platform to estimate and select error models

Jan Skaloud, Stéphane Guerrier

A new open-source software platform that, among others, allows to select models for inertial sensor stochastic calibration is presented in this paper. This platform consists in a package included in the statistical software R. The identification of stochas ...

IEEE2015

On the benefit of concurrent adjustment of active and passive optical sensors with GNSS & raw inertial data

Jan Skaloud, Davide Antonio Cucci, Kyriaki Mouzakidou

In airborne laser scanning a high-frequency trajectory solution is typically determined from inertial sensors and employed to directly geo-reference the acquired laser points. When low-cost MEMS inertial sensors are used, such as in lightweight unmanned ae ...

2022

Tightly Coupled GNSS/INS Integration based on Robust M-Estimators

Jan Skaloud

The combination of Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS) has become the baseline of many vehicular applications. However, in challenging GNSS scenarios, classical GNSS/INS integration estimators are very sensitive ...

2018

Turning Point - Trajectory Analysis for Skiers

Jan Skaloud, Adrian Ulrich Wägli

As with a growing number of athletes, competitive skiers are looking to GNSS technology to help evaluate and improve their performance. Positions logged during practice runs or races can be transformed into 3-D models of the exact trajectories skied to mea ...

2007

Model-based constraints for trajectory determination of quad-copters: Design, calibration & merits for direct orientation

Jan Skaloud, Davide Antonio Cucci, Kenneth Joseph Paul

This paper proposes a novel method to improve georeferencing of airborne laser scanning by improved trajectory estimation using Vehicle Dynamic Model. In Vehicle Dynamic Model (VDM), the relationship between the dynamics of the platform and control inputs ...

2023

Autarktic and Inertial Measurements based Low-cost Reconstruction of Motorcycle forward Speed

Jan Skaloud, Roger Filliger, Yannick Stebler

Although well established in the aviation community, low-cost and vehicle independent "black-box" technology for accident analysis, adapted to mass-market ground-based vehicles, is an emerging technology with growing importance. Whilst several produits sui ...

2013

Prediction of phase ambiguity resolution based on signal intensity and geometry

Jan Skaloud

The goal of this contribution was to develop a reliable quality indicator reflecting the potential success of differential carrier phase ambiguity resolution for kinematic Global Positioning System (GPS). The indicator must be operable without any communic ...

Springer Verlag2015

Model-Based Fusion of GNSS and Multiple-IMUs

Jan Skaloud, Aman Sharma

Autonomous navigation of drones in environments with intermittently poor GNSS reception remains a complex problem with small and lightweight sensors. Conventional kinematic frameworks, fusing inertial sensors with satellite positioning, often falter under ...

IEEE2024

Autonomous Navigation Of Small Uavs Based On Vehicle Dynamic Model

Jan Skaloud, Mehran Khaghani

This paper presents a novel approach to autonomous navigation for small UAVs, in which the vehicle dynamic model (VDM) serves as the main process model within the navigation filter. The proposed method significantly increases the accuracy and reliability o ...

Copernicus Gesellschaft Mbh2016

Autonomous and non-autonomous dynamic model based navigation system for unmanned vehicles

Jan Skaloud, Mehran Khaghani

A navigation system including a vehicle dynamic model (VDM) that serves as the main process model within a navigation filter is described. When used in an unmanned aerial vehicle (UAV), the navigation system may work in communication with inertial measurem ...

2016

An Eye for Landscapes - Rapid Aerial Mapping with Handheld Sensors

Jan Skaloud, Julien Vallet, Otto Kölbl

This portable system offers fast deployment with no recalibration and maps both vertical and horizontal features while maintaning optimal flight parameters. The geo-referenced image and 3D point-cloud data can be processed into digital terrain models, digi ...

2006

On the calibration aspects of MEMS-IMUs used in micro UAVs for sensor orientation

Jan Skaloud, Philipp Clausen

We introduce a three step procedure to improve attitude determination by MEMS-IMU sensors on board a small UAV. IMU pre-calibration is performed first and only once in the lab; second in a simplified version and for every switch-on in the field. Together, ...

IEEE/ION2020

HELIMAP: Rapid Large Scale Mapping Using Handheld LiDAR/CCD/GPS/INS Sensors on Helicopters

Jan Skaloud, Julien Vallet

The HELIMAP is a portable mapping system for quick helicopter deployment. It integrates high accuracy navigation sensors (GPS/INS) with Airborne Laser Scanner (ALS) and high-resolution digital (CCD) camera. This paper presents the system hardware and softw ...

2005

Towards Automated LiDAR Boresight Self-calibration

Jan Skaloud

This paper focuses on practical aspects when performing boresight calibration in airborne laser scanning using rigorous methodology implemented in LIBOR software. LIBOR technique, introduced by (Skaloud and Lichti, 2006), is based on expressing the boresig ...

2007

Precise Road Geometry for Integrated Transport Safety Systems

Jan Skaloud, Pierre-Yves Gilliéron, Hervé Gontran

A safer mobility is a key concern for the strategy of the European governments and automotive industries. At the moment, a new generation of Intelligent Integrated Transport Safety Systems (IITSS) offers a promising potential to address this issue. Such co ...

2005