Publications by Yannick Stebler

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

Implementation and Performance of a GPS/INS Tightly Coupled Assisted PLL Architecture Using MEMS Inertial Sensors

Pierre-André Farine, Yannick Stebler, Phillip Tomé, Youssef Tawk, Cyril Botteron

The use of global navigation satellite system receivers for navigation still presents many challenges in urban canyon and indoor environments, where satellite availability is typically reduced and received signals are attenuated. To improve the navigation ...

Mdpi Ag2014

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

Autarktic and inertial measurement based low-cost reconstruction of motorcycle forward speed

Jan Skaloud, Yannick Stebler

2013

Modeling and Processing Approaches for Integrated Inertial Navigation

Yannick Stebler

The challenge of estimating the position, velocity and orientation in space in a precise and reliable way, at any time, with and without reception of satellite signals, is the core subject of this dissertation. To this end, the use of Bayesian filters whic ...

EPFL2013

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

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

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 ...

Institute of Physics2011

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

Real-time registration of airborne laser data with sub-decimeter accuracy

Jan Skaloud, Yannick Stebler, Phillip Tomé

This paper presents a methodology for the precise registering of airborne laser data directly in flight with an accuracy that is sufficient for the majority of derived products, such as digital terrain models. We first present the strategy that integrates ...

2010

Contrôle de l'intégrité GPS en temps réel et géoréférencement direct par RTK-GPS pour le levé laser aéroporté

Yannick Stebler

Le manque d'informations sur la fiabilité des données acquises durant le vol constitue l'un des problèmes majeurs des systèmes laser aéroportés (ALS) actuels. Des erreurs ou des dégradations inacceptables de la qualité des données inertielles puis le géoré ...

2009

Airborne LiDAR In-flight Accuracy Estimation

Jan Skaloud, Yannick Stebler, Phillip Tomé

A flexible quality-monitoring tool that assesses data quality in-flight avoids costly problems that are currently detected only in post-processing. ...

2009