Daniel MedinaGerman Aerospace Center (DLR) | DLR · Institute of Communications and Navigation
Daniel Medina
Doctor of Engineering
Daniel Medina is a research associate at DLR
About
50
Publications
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364
Citations
Citations since 2017
Introduction
Daniel Medina is a postdoctoral researcher at the Institute of Communications and Navigation of DLR. He received his PhD and M.S. in Computer Science and Technology from University Carlos III Madrid and his B.S. on Electrical Engineering from University of Malaga on 2022, 2016 and 2014 respectively. His research interests include estimation bounds, nonlinear filtering and robust estimation for navigation, with an emphasis on precise position and attitude estimation based on GNSS.
Publications
Publications (50)
Navigation problems are generally solved applying least-squares (LS) adjustments. Techniques based on LS can be shown to perform optimally when the system noise is Gaussian distributed and the parametric model is accurately known. Unfortunately, real world problems usually contain unexpectedly large errors, so-called outliers, that violate the nois...
Global Navigation Satellite Systems’ (GNSS) carrier phase observations are fundamental in the provision of precise navigation for modern applications in intelligent transport systems. Differential precise positioning requires the use of a base station nearby the vehicle location, while attitude determination requires the vehicle to be equipped with...
Performance lower bounds are known to be a fundamental design tool in parametric estimation theory. A plethora of deterministic bounds exist in the literature, ranging from the general Barankin bound to the well-known Cramér-Rao bound (CRB), the latter providing the optimal mean square error performance of locally unbiased estimators. In this contr...
Global navigation satellite systems (GNSSs) play a key role in intelligent transportation systems such as autonomous driving or unmanned systems navigation. In such applications, it is fundamental to ensure a reliable precise positioning solution able to operate in harsh propagation conditions such as urban environments and under multipath and othe...
State estimation is a fundamental task in many engineering fields, and therefore robust nonlinear filtering techniques able to cope with misspecified, uncertain and/or corrupted models must be designed for real-life applicability. In this contribution we explore nonlinear Gaussian filtering problems where measurements may be corrupted by outliers,a...
The use of carrier phase data play an important role for high-precision Global Navigation Satellite Systems (GNSS) positioning solutions, such as Real-Time Kinematic (RTK). Similarly, precise orientation information can be obtained with multi-antenna setups which exploit carrier phase observables. The availability of high precision navigation solut...
The development of artificial vision systems to support driving has been of great interest in recent years, especially after new learning models based on deep learning. In this work, a framework is proposed for detecting road speed anomalies, taking as reference the driving vehicle. The objective is to warn the driver in real-time that a vehicle is...
The development of artificial vision systems to support driving has been of great interest in recent years, especially after new learning models based on deep learning. In this work, a framework is proposed for detecting road speed anomalies, taking as reference the driving vehicle. The objective is to warn the driver in real-time that a vehicle is...
Global Navigation Satellite Systems (GNSS) constitute the main information supplier for outdoor positioning and timing. Unfortunately unintended and malicious radio-frequency interference constitutes a major concern for GNSS. Within the maritime domain, radio attacks deprive the skippers from navigation and lead to the failure of different interfac...
Understanding and representing traffic patterns are key to detecting anomalous trajectories in the transportation domain. However, some trajectories can exhibit heterogeneous maneuvering characteristics despite confining to normal patterns. Thus, we propose a novel graph-based trajectory representation and association scheme for extraction and conf...
Navigation information is an essential element for the functioning of robotic platforms and intelligent transportation systems. Among the existing technologies, Global Navigation Satellite Systems (GNSS) have established as the cornerstone for outdoor navigation, allowing for all-weather, all-time positioning and timing at a worldwide scale. GNSS i...
Next-generation navigation systems require precise and robust solutions, providing information about both the system position and its attitude, of particular interest in intelligent transportation systems and robotics applications. Within this context, Global Navigation Satellite Systems (GNSS) are the main source of positioning data and, in multip...
Precise navigation solutions are fundamental for new intelligent transportation systems and robotics applications, where attitude also plays an important role. Among the different technologies available, Global Navigation Satellite Systems (GNSS) are the main source of positioning data. In the GNSS context, carrier phase observations are mandatory...
The use of carrier phase data is the main driver for high-precision Global Navigation Satellite Systems (GNSS) positioning solutions, such as Real-Time Kinematic (RTK). However, carrier phase observations are ambiguous by an unknown number of cycles, and their use in RTK relies on the process of mapping real-valued ambiguities to integer ones, so-c...
Understanding and representing traffic patterns are key to detecting anomalies in the maritime domain. To this end, we propose a novel graph-based traffic representation and association scheme to cluster trajectories of vessels using automatic identification system (AIS) data. We utilize the (un)clustered data to train a recurrent neural network (R...
GNSS carrier phase observations are fundamental for safety-critical applications where the requirements of accuracy and availability are stringent. Unlike code observations, carrier phase measurements pose high precision at the cost of being ambiguous, since only their fractional part is measured by the receiver. The unknown number of integer cycle...
Planetary rovers increasingly rely on vision‐based components for autonomous navigation and mapping. Developing and testing these components requires representative optical conditions, which can be achieved by either field testing at planetary analog sites on Earth or using prerecorded data sets from such locations. However, the availability of rep...
The derivation of tight estimation lower bounds is a key player to design and assess the performance of new estimators. In this contribution, we derive a new compact Cramér-Rao bound (CRB) for the conditional signal model, where the deterministic parameter's vector includes a real positive amplitude and the signal phase. Then, such CRB is particula...
Recent advances in the field of intelligent robotic manipulation pursue providing robotic hands with touch sensitivity. Haptic perception encompasses the sensing modalities encountered in the sense of touch (e.g., tactile and kinesthetic sensations). This letter focuses on multimodal object recognition and proposes analytical and data-driven method...
The main objective of Global Navigation Satellite Systems (GNSS) is to precisely locate a receiver based on the reception of radio-frequency waveforms broadcasted by a set of satellites. Given delayed and Doppler shifted replicas of the known transmitted signals, the most widespread approach consists in a two-step algorithm. First, the delays and D...
The derivation of tight estimation lower bounds is a key tool to design and assess the performance of new estimators. In this contribution, first we derive a new compact Cramér-Rao bound (CRB) for the conditional signal model, where the deterministic parameter's vector includes a real positive amplitude and the signal phase. Then, the resulting CRB...
Global Navigation Satellite Systems (GNSS) constitute the cornerstone for outdoor positioning, which is essential information for prospective automated vehicles. The combination of GNSS with terrestrial ranging, for instance in the form of 5G or UWB, will make accurate positioning a reality even in urban canyon scenarios where GNSS is likely to fai...
Global Navigation Satellite Systems (GNSS) are the main source of position, navigation, and timing (PNT) information and will be a key player in the next-generation intelligent transportation systems and safety-critical applications, but several limitations need to be overcome to meet the stringent performance requirements. One of the open issues i...
Inland navigation and shipping is an important pillar of the European Transport System. To support the skipper during safety-critical operations, precise Position, Navigation and Time (PNT) data are required. This work discusses the role of PNT information for enabling inland waterways navigation assistance functions, such as bridge collision warni...
Global Navigation Satellite Systems (GNSS) have become the keystone and main information supplier for Positioning, Navigation and Timing (PNT) data. While providing an adequate open sky performance, the accuracy of standard code-based GNSS techniques is insufficient for applications requiring precise navigation. Additionally, GNSS positioning algor...
Navigation problems are generally solved applying least-squares (LS) adjustments. Techniques based on LS can be shown to perform optimally when the system noise is Gaussian distributed and the parametric model is accurately known. Unfortunately, real world problems usually contain unexpectedly large errors, so-called outliers, that violate the nois...
Attitude Determination (AD) constitutes an important navigation component for vehicles that require orientation information, such as spacecraft or ships. Global Navigation Satellite Systems (GNSS) enable resolving the orientation of a vehicle in a precise and absolute manner, by employing a setup of multiple GNSS antennas rigidly
mounted onboard th...
Attitude Determination (AD) constitutes a major navigation component for vehicles of large inertia, such as spacecrafts, ships or spacecrafts. Global Navigation Satellite Systems (GNSS) enable resolving the orientation of a vehicle in a precise and absolute manner, by employing a setup of multiple GNSS antennas rigidly mounted onboard the tracked v...
Currently Global Navigation Satellite Systems (GNSS) are the primary source for the determination of absolute position, velocity and time (PVT) for merchant vessel navigation. On a ship bridge a number of systems like Electronic Chart and Information Systems (ECDIS), automatic track control systems and the Automatic Identification System (AIS) are...
Global Navigation Satellite Systems (GNSS) plays a fundamental part on the maritime navigation. Beyond positioning, GNSS is key for the operation of multiple interfaces on the bridge of a ship, compromising the skipper skills to perform traditional navigation. Jamming attacks have been recognized as a major vulnerability for GNSS and their prolifer...
As Global Navigation Satellite Systems (GNSS) become increasingly important for the application of autonomous transportation, the characterization of the uncertainty present in GNSS signals has been a recurrent topic in the GNSS community. With multipath being the most pronounced source of error while navigating during challenging scenarios, charac...
Currently Global Navigation Satellite Systems (GNSSs) are the primary source for the determination of absolute position, navigation, and time (PNT) for merchant vessel navigation. Nevertheless, the performance of GNSSs can strongly degrade due to space weather events, jamming, and spoofing. Especially the increasing availability and adoption of low...
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 to multiple measurement faults (e.g., due to multipath). In this work, we design a tightly-cou...
Global Navigation Satellite Systems (GNSS) is the cornerstone for positioning and timing applications across land, sea and air. GNSS carrier phase observations can be used to determine the orientation of a vehicle when this is equipped with a setup of multiple GNSS antennas. Attitude determination seeks to find the rotation between two coordinate f...
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 update step of a classical Extended Kalman Filter (EKF) to consider different robust estimators...
Although classical Global Navigation Satellite Systems (GNSS) based positioning provides fairly good performance in open sky conditions, the performance of the single-constellation approaches under the presence of multipath and non-line-of-sight (NLOS) signals is often not sufficient to satisfy the stringent requirements of safety-critical applicat...
Over the last decade, context has become a key source of information for tracking problems. Context inference allows refining sensor modeling and target dynamics as well as the creation of motion constraints according to the physical and operational conditions of the scenario. This work presents two example applications: indoor and inland waterway...
As the Global Navigation Satellite Systems (GNSS) are increasingly used as the main source of Positioning, Navigation and Timing (PNT) information for maritime and inland water applications, it becomes of crucial importance to ensure the reliability and the accuracy of the GNSS-based navigation solution for certain challenging environments. The pre...
As the Global Navigation Satellite Systems (GNSS) are intensively used as main source of Position, Navigation and Timing (PNT) information for maritime and inland water navigation, it becomes increasingly important to ensure the reliability of GNSS-based navigation solutions for challenging environments. Although an intensive work has been done in...
As the Global Navigation Satellite Systems (GNSS) are intensively used as main source of Position, Navigation and Timing (PNT) information for maritime and inland water navigation, it becomes increasingly important to ensure the reliability of GNSS-based navigation solutions for challenging environments. Although an intensive work has been done in...
The work proposes a navigation system for pedestrian indoor localization. The system employs a cascaded architecture , where the information from the foot-mounted inertial unit is combined with the map-induced motion constraints. As the first stage, an Extended Kalman filter with a zero-velocity update (ZUPT) is used to get incremental heading and...
The work proposes a navigation system for pedestrian indoor localization. The system employs a cascaded architecture, where the information from the foot-mounted inertial unit is combined with the map-induced motion constraints. As the first stage, an Extended Kalman filter with a zerovelocity update (ZUPT) is used to get incremental heading and po...
Questions
Question (1)
As contemporary applications such as driverless cars or autonomous shipping are called to revolutionize Intelligent Transportation Systems (ITS), there is a growing need on the provision of precise, continuous and reliable navigation information. The Special Session on "Navigation and Localization for ITS" addresses the latest research on positioning solutions, Global Navigation Satellite Systems (GNSS), multi-sensor data fusion and localization methods, to enable both seamless navigation information, and next-generation localization systems. This Special Session will be held at the 24th Edition of the ITS flagship conference (ITSC) in Indianapolis, IN, United States.
The scientific community, as well as experts in the navigation and signal processing fields, are invited to submit contributions on the following (non-exhaustive) list of topics:
- Innovative uses of GNSS positioning.
- Exploiting signals of opportunity and/or active sensing (LiDAR/RADAR) for localization.
- Cooperative and swarm-based navigation methods.
- Localization in GNSS-denied or indoor scenarios.
Keep in mind the initial submission deadline, March 31, and track the conference website (https://2021.ieee-itsc.org/) for an eventual deadline extension.
More information on the special session can be found in: https://2021.ieee-itsc.org/special-sessions/. For further clarifications, do not hesitate in replying to this discussion or contact the special session proposers.
