Publications de Stéphane Guerrier

Publications associées (16)

Optimal Stochastic Sensor Error Modeling based on Actual Impact on Quality of GNSS-INS Integrated Navigation

Jan Skaloud, Stéphane Guerrier, Mehran Khaghani

Proper modeling of stochastic errors in inertial sensors plays a crucial role in the achievable quality of GNSS-INS integration especially with low-cost inertial sensors. Generalized Method of Wavelet Moments (GMWM) can model the underlying process for suc ...

2019

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

Generalized Method of Wavelet Moments for Inertial Navigation Filter Design

Jan Skaloud, Stéphane Guerrier, Yannick Stebler

The integration of observations issued from a satellite-based system (GNSS) with an inertial navigation system (INS) is usually performed through a Bayesian filter such as the extended Kalman filter (EKF). The task of designing the navigation EKF is strong ...

Institute of Electrical and Electronics Engineers2014

Constrained expectation-maximization algorithm for stochastic inertial error modeling: study of feasibility

Jan Skaloud, Stéphane Guerrier, Yannick Stebler

Stochastic modeling is a challenging task for low-cost sensors whose errors can have complex spectral structures. This makes the tuning process of the INS/GNSS Kalman filter often sensitive and difficult. For example, first-order Gauss–Markov processes are ...

IOP Publishing2011

An overview of a new sensor calibration platform

Jan Skaloud, Stéphane Guerrier, Philipp Clausen

Inertial sensors are increasingly being employed in different types of applications. The reduced cost and the extremely small size makes them the number-one-choice in miniature embedded devices like phones, watches, and small unmanned aerial vehicles. The ...

2017

Wavelet-Based Moment-Matching Techniques for Inertial Sensor Calibration

Jan Skaloud, Stéphane Guerrier, Mehran Khaghani

The task of inertial sensor calibration has required the development of various techniques to take into account the sources of measurement error coming from such devices. The calibration of the stochastic errors of these sensors has been the focus of incre ...

2020

Improving Modeling of MEMS-IMUs Operating in GNSS-denied Conditions

Jan Skaloud, Stéphane Guerrier, Yannick Stebler

Stochastic modeling is a challenging task for low- cost inertial sensors whose errors can have complex spectral structures. This makes the tuning process of the INS/GNSS Kalman filter often sensitive and difficult. We are currently investigating two approa ...

Inst Navigation2011

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

A computationally efficient platform for inertial sensor calibration

Jan Skaloud, Stéphane Guerrier

This paper presents the new open-source statistical software package for inertial sensor calibration. This platform is based on the Generalized Method of Wavelet Moments that was recently proposed to estimate simple and composite stochastic models that are ...

2015

An Approach for Observing and Modeling Errors in MEMS-Based Inertial Sensors Under Vehicle Dynamic

Jan Skaloud, Stéphane Guerrier, Yannick Stebler

This paper studies the error behavior of low-cost inertial sensors in dynamic conditions. After proposing a method for error observations per sensor (i.e., gyroscope or accelerometer) and axes, their properties are estimated via the methodology of generali ...

Institute of Electrical and Electronics Engineers2015

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

Automatic Identification and Calibration of Stochastic Parameters in Inertial Sensors

Jan Skaloud, Stéphane Guerrier

We present an algorithm for determining the nature of stochastic processes and their parameters based on the analysis of time series of inertial errors. The algorithm is suitable mainly (but not only) for situations where several stochastic processes are s ...

Wiley Periodicals, Inc2015

Generalization of point-to-point matching for rigorous optimization in kinematic laser scanning

Jan Skaloud, Stéphane Guerrier, Aurélien Arnaud Brun

In the scope of rigorous sensor fusion in kinematic laser scanning, we present a qualitative improvement of an automated retrieval method of lidar-to-lidar 3D correspondences in terms of accuracy and speed, where correspondences are locally refined shifts ...

Elsevier BV2025

Noise reduction and estimation in multiple micro-electro-mechanical inertial systems

Jan Skaloud, Stéphane Guerrier, Adrian Ulrich Wägli

This research studies the reduction and the estimation of the noise level within a redundant configuration of low-cost (MEMS-type) inertial measurement units (IMUs). Firstly, independent observations between units and sensors are assumed and the theoretica ...

IOP Publishing2010

Fault Detection and Isolation in Multiple MEMS-IMUs Configurations

Jan Skaloud, Stéphane Guerrier, Adrian Ulrich Wägli

This research presents methods for detecting and isolating faults in multiple micro-electro-mechanical system inertial measurement unit (MEMS-IMU) configurations. First, geometric configurations with n sensor triads are investigated. It is proved that the ...

Institute of Electrical and Electronics Engineers2012

Use of a New Online Calibration Platform With Applications to Inertial Sensors

Jan Skaloud, Stéphane Guerrier, Philipp Clausen

2018