Vincent Calmettes

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The localization performance of a navigation system can be improved by coupling different types of sensors. The paper focuses on INS-GPS integration. INS and GPS measurements allow a non-linear state space model, which is appropriate to particle filtering, to be defined. This model being conditionally linear Gaussian, a Rao-Blackwellization procedure can be(More)
Multipath propagation causes major impairments to global positioning system (GPS) based navigation. Multipath results in biased GPS measurements, hence inaccurate position estimates. In this paper, multipath effects are considered as abrupt changes affecting the navigation system. A multiple model formulation is proposed whereby the changes are represented(More)
In this paper, we present the implementation of the acquisition algorithm of a versatile Global Navigation Satellite System (GNSS) receiver for satellite applications. For versatility purpose, the choice of the receiver algorithms has been motivated by 1) their capability to fulfill the application requirements with a moderate complexity, 2) their(More)
Satellite payloads are becoming much more complex with the evolution towards multimedia applications. Moreover satellite lifetime increases while standard and services evolve faster, necessitating a hardware platform that can evolves for not developing new systems on each change. The same problem occurs in terrestrial systems like mobile networks and a(More)
In urban canyons, non-line-of-sight (NLOS) multipath interferences affect position estimation based on global navigation satellite systems (GNSS). This paper proposes to model the effects of NLOS multipath interferences as mean value jumps contaminating the GNSS pseudo-range measurements. The marginalized likelihood ratio test (MLRT) is then investigated to(More)
Nowadays, accurate and reliable positioning systems are required in several applications such as safety of life or liability critical. The global positioning system (GPS) is the most common navigation system for almost any application involving localization, navigation or tracking. In particular, GPS is used intensively for automotive navigation. However,(More)
The designed rejection filter is of recursive prediction error (RPE) form and uses a special constrained model of infinite impulse response (IIR) with a minimal number of parameters. The socalled PIRANHA Filter is made up independent cascaded adaptive cells realising high rejection at certain frequencies. The convergent filter is characterised by highly(More)
This paper describes a full 6D localization algorithm based on probabilistic motion field. The motion field is obtained by an adaptation of the video compression algorithm known as Block-Matching which provides a sparse optical flow. Such a technique is very fast and allows real time applications. Image is decomposed in a grid of rectangular blocks. For(More)
Inertial navigation systems (INS) and global navigation satellite systems (GNSS) are often combined to ensure high accuracy navigation. The last generation of inertial measurement units referred to as micro-electro-mechanical systems (MEMS) might also be used in a lot of applications thanks to their relatively low cost. However, the information given by the(More)