Sensor fusion for gnss denied navigation

Kailash Krishnaswamy, Sara Susca, Rob McCroskey, Pete Seiler, Jan Lukas, Ondrej Kotaba, Vibhor Bageshwar, Subhabrata Ganguli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations


We present technologies that are being developed to address the need for a navigation solution in the absence of Global Navigation Satellite Systems (GNSS) measurements. The navigation system uses sensors such as vision systems, RADARS and LIDARS with featureextraction, matching and motion estimation algorithms. We present experimental results of using Scale Invariant Feature Transform, Speeded Up Robust Features, and modified Harris feature extraction algorithms and compare the performance. We also present methods toextract lines and planes that can aid in navigation. For motion estimation we present results for Visual Odometry as well as Simultaneous Localization and Mapping navigation. We experimentally verify the algorithms in both a realtime linux framework as well as offline. We also present ongoing work in vision integrated navigation in an Attitude and Heading Reference System as well as an extended Kalman filter framework. All the methods we present in this paper are incremental navigation methods.

Original languageEnglish (US)
Title of host publication2008 IEEE/ION Position, Location and Navigation Symposium, PLANS
Number of pages11
StatePublished - Nov 10 2008
Event2008 IEEE/ION Position, Location and Navigation Symposium, PLANS - Monterey, CA, United States
Duration: May 5 2008May 8 2008

Publication series

NameRecord - IEEE PLANS, Position Location and Navigation Symposium


Other2008 IEEE/ION Position, Location and Navigation Symposium, PLANS
Country/TerritoryUnited States
CityMonterey, CA


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