Gianluca Falco

Gianluca Falco
Istituto Superiore Mario Boella (ISMB) | ISMB · Research Division of Navigation Technologies (NavSAS)

Ph.D. in Electronic and Communication engineering

About

56
Publications
27,466
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664
Citations
Additional affiliations
January 2008 - present
Istituto Superiore Mario Boella (ISMB)
Position
  • Researcher

Publications

Publications (56)
Article
Full-text available
Tight integration algorithms fusing Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) have become popular in many high-accuracy positioning and navigation applications. Despite their reliability, common integration architectures can still run into accuracy drops under challenging navigation settings. The growing computa...
Conference Paper
Several navigation filters have been developed since the early steps of Global Navigation Satellite Systems (GNSS) to provide high-accuracy Positioning, Navigation and Timing (PNT), and many solutions are available in the literature to support a plethora of applications. In the context of vehicular navigation and positioning, advanced state estimat...
Article
Full-text available
This paper provides a comparative performance analysis of different acquisition and tracking methods of GPS L1 C/A and GPS L5 signals testing their robustness to the presence of scintillations in the propagation environment. The paper compares the different acquisition methods in terms of probabilities of detection/false alarm, peak-to-noise floor...
Article
Full-text available
Nowadays, the Global Navigation Satellite Systems (GNSS) technology is not the primary means of navigation for civil aviation and Air Traffic Control, but its role is increasing. Consequently, the vulnerabilities of GNSSs to Radio Frequency Interference, including the dangerous intentional sources of interference (i.e., jamming and spoofing), raise...
Article
Full-text available
Precision Agriculture (PA) refers to applications asking for reliable and highly available precise positions, at centimeter level, in most of operational scenarios. Machinery guidance, automatic steering and controlled traffic farming enable machinery to move along repeatable tracks on the field, minimizing pass-to-pass errors and overlaps. In the...
Conference Paper
In the last decades, several positioning and navigation algorithms have been developed to enhance vehicular localization capabilities. Thanks to ad-hoc communication networks, the exchange of navigation data and positioning solutions has been exploited to the purpose. This trend has recently suggested the extension of state-of-the art navigation al...
Article
Full-text available
This paper proposes low-complexity measures to be deployed on most aircraft to enable the management of Global Navigation Satellite Systems (GNSS) interference, and in particularly of jamming and spoofing threats, in order to reach the Flightpath2050 safety and security targets. It is known that, if there is a jamming interference and GNSS navigati...
Conference Paper
This paper addresses a comparative analysis of both amplitude and phase scintillation effects on the carrier tracking stages processing GPS L1 C/A, L5-data and L5-pilot signals. Robust architectures that are optimized to operate in a harsh ionospheric environment are considered. Traditional Phase-Locked Loop (PLL) and Kalman filter based-PLL carrie...
Article
The Kalman filter (KF) theory is a fundamental milestone in signal processing and automatic control. This chapter discusses the main techniques related to Kalman filtering for satellite navigation. In particular, It explains the structure of the KF exploited in a global navigation satellite system (GNSS) receiver to compute the position of the user...
Conference Paper
The aim of this paper is to present a comparative study of different acquisition methods tailored to the GPS L5, with the particular focus to test their robustness to the presence of phase and amplitude scintillations in the propagation environment. The study exploits real GNSS signal affected by significant phase and amplitude scintillation effect...
Article
Full-text available
During the last decade, the number of applications for land transportation that depend on systems for accurate positioning has significantly increased. Unfortunately, systems based on low cost Global Navigation Satellite System (GNSS) components harshly suffer signal impairments due to the environment surrounding the antenna, but new designs based...
Conference Paper
In the modern automotive industry, the wide variety of Intelligent Transport System (ITS) services needs a positioning unit. The core of such unit is a Global Navigation Satellite System (GNSS) receiver hybridized or assisted by other sensors or data. In harsh environments, such as urban scenarios, the testing and performance assessment of these te...
Article
Full-text available
In modern GNSS receivers, using a Kalman filter in each signal tracking loop presents remarkable advantages in terms of accuracy and robustness against malicious noise sources, but poses critical issues in real-time applications due to the high computational cost. For this reason, we propose an efficient method to dramatically reduce the number of...
Conference Paper
Full-text available
The paper deals with the development of a Robust Position Unit (RPU) based on the real-time implementation of an advanced positioning algorithm. The RPU uses a tightly-coupled technique between a mass market single frequency GNSS chipset with a low cost Inertial Measurement Unit (IMU) based on Micro Electro-Mechanical Systems and an odometer. The t...
Article
Full-text available
Global Navigation Satellite Systems (GNSSs) remain the principal mean of positioning in many applications and systems, but in several types of environment, the performance of standalone receivers is degraded. Although many works show the benefits of the integration between GNSS and Inertial Navigation Systems (INSs), tightly-coupled architectures a...
Conference Paper
Since the setup of GNSS (Global Navigation Satellite System), receiver technique has been developing all this long way. Traditionally, A conventional system-level tacking loop normally consists of a FLL, a PLL, a DLL which are separately in charge of the continuous estimations of Doppler frequency, carrier phase, and code phase. All these three com...
Conference Paper
The availability and accuracy constraints that must be satisfied by GNSS-based positioning systems make the Kalman filter solution a key point in order to reach the required level of performance. For example, the update process of the filter requires a careful weighting of the GNSS measurements to work properly. This paper presents a method that in...
Conference Paper
Full-text available
L2C is a relatively new GPS signal which is part of the GPS modernization program. In April 2014, the Air Force began broadcasting a valid L2C CNAV navigation message. When combined with the L1 C/A legacy signal in a dual-frequency receiver, L2C enables interesting features such as improved reliability, PVT solution accuracy and robustness in weak...
Conference Paper
Full-text available
In a densely populated urban environment, heavy snow events during the winter season represent a critical issue for citizens and public administration. In some city and critical areas, is one of the scenarios which might benefit of smart advanced services able to run in efficient and cost-saving mode. The need to maintain the roads open and safe is...
Article
Full-text available
U nmanned aerial vehicles (UAV) are finding increased application in both domestic and governmental applications. Small UAVs (maximum take off weight less than 20 kilograms) comprise the category of the smallest and lightest platforms that also fly at lower altitudes (under less than 150 meters). Designs for this class of device have focused on cre...
Conference Paper
Full-text available
New GNSS tracking architectures are becoming of scientific interest since the last decade. The traditional DLL/PLL tracking-loops have been progressively substituted by KF/EKF scalar tracking and VDLL/VDFLL vector tracking methods. In this paper we will analyze in depth the performance of a KF scalar tracking and VDFLL vector in case of signal outa...
Article
Full-text available
In recent years, Kalman filter (KF)-based tracking loop architectures have gained much attention in the Global Navigation Satellite System field and have been widely investigated due to its robust and better performance compared with traditional architectures. However, less attention has been paid to the in-depth theoretical analysis of the trackin...
Conference Paper
Full-text available
This paper shows the design and development of a truly low cost attitude determination and navigation system based primarily on non-dedicated mass market GNSS receivers and antennas, aided by MEMS inertial sensors. GNSS/INS integration combines the advantages of absolute satellite-based positioning with the high dynamic performance and data rates o...
Conference Paper
Full-text available
Nowadays with the development of inertial sensors based on Micro-Electromechanical Systems (MEMS), embedded accelerometers and gyroscopes can be found in several devices and platforms ranging from watches, smart phones, video game consoles up to terrestrial navigation and unmanned aerial vehicles (UAVs), etc. Despite the wide range of applications...
Article
Full-text available
Advances in the development of micro-electromechanical systems (MEMS) have made possible the fabrication of cheap and small dimension accelerometers and gyroscopes, which are being used in many applications where the global positioning system (GPS) and the inertial navigation system (INS) integration is carried out, i.e., identifying track defects,...
Conference Paper
Full-text available
This paper presents the design of a truly low-cost multi-GNSS receivers /IMU navigation system that exploits the benefits of GNSS technology in attitude determination. The sensor package of the system consists of 4 single chipset receivers, 4 antennas, and one low grade MEMS IMU. Both parts, the GNSS and the IMU ones, are integrated by following a...
Conference Paper
Full-text available
In this paper, the structure of a tracking loop with Extended Kalman Filter (EKF) is analyzed. Particular emphasis is given to the NCO update rule, which is seldom mentioned or studied in previous literature. Furthermore, the structure of an EKF-based software receiver is proposed including the special modules dedicated to the initialization and ma...
Article
Full-text available
This paper considers estimation problems where inequality constraints are imposed on the outputs of linear systems and can be modeled by nonlinear functions. In this case, censoring functions can be designed to constrain measurements for use by filters and smoothers. It is established that the filter and smoother output estimates are unbiased, prov...
Article
Full-text available
The paper investigates approaches for loosely coupled GPS/INS integration. Error performance is calculated using a reference trajectory. A performance improvement can be obtained by exploiting additional map information (for example, a road boundary). A constrained solution has been developed and its performance compared with an unconstrained one....
Conference Paper
As more and more attention is received by the underlying passive potential of Global Navigation Satellite Systems (GNSS) signals, reflectometry and scatterometry are visited in this paper in order to assess water surface identification and aircraft altimetry performance. This is possible thanks to the high reflectivity of Global Positioning System...
Conference Paper
Full-text available
Thanks to advances in the development of Micro-Electromechanical Systems (MEMS), it has been possible to fabricate small dimension and cheap accelerometers and gyros, which are being used in many applications where the GPS/INS integration is carried out, as for example to identify track defects, navigation, geo-referencing, agriculture, etc. Althou...
Conference Paper
Full-text available
On the 20th of October 2011, the first two satellites of the Galileo constellation have been launched successfully. The possibility to have these two satellites in orbit represented a great opportunity for researchers to receive and monitor the first Galileo signals. After the satellite switch-on, we continuously monitored the signal broadcast by b...
Article
Full-text available
The minimum-variance smoother solution for input estimation is described and it is shown that the resulting estimates are unbiased. The smoothed input and state estimates are used to iteratively identify unknown process noise variances. The use of smoothed estimates, as opposed to filtered estimates, leads to improved approximate Cramér–Rao lower b...
Conference Paper
Full-text available
The advent of the first two satellites of the final Galileo constellation launched by Soyuz from Europe’s spaceport in French Guiana on October 21st is a major milestone for the European as well as global satellite navigation field. In fact, these two satellites pave the way for a much awaited set of experiments testing the benefits brought about b...
Conference Paper
Full-text available
The advent of the first two satellites of the final Galileo constellation launched by Soyuz from Europe’s spaceport in French Guiana on October 21st is a major milestone for the European as well as global satellite navigation field. In fact, these two satellites pave the way for a much awaited set of experiments testing the benefits brought about b...
Article
Full-text available
This paper deals with a Software Defined Radio (SDR) receiver capable to process GPS and Galileo signals jointly. A large set of possible solution can be implemented, with the main aim of assessing the performance of the receiver for the considered architectures. For this reason, software receivers, either real-time or non-real-time, are fundamenta...
Article
Full-text available
Many navigation problems involve constraints. For example, motor vehicle travel tends to be constrained by road and building boundaries. We consider filtering problems where censuring functions can be used to constrain the measurements. It is established that the ensuing filtered estimates are unbiased, provided that the underlying probability dens...
Article
Full-text available
The convergence of an expectation-maximization (EM) algorithm for state matrix estimation is investigated. It is shown for the expectation step that the design and observed error covariances are monotonically dependent on the residual error variances. For the maximization step, it is established that the residual error variances are monotonically d...
Article
In general, a Reference Station calculates differential corrections which are valid for that exact location (zero baseline) at that particular epoch (age of corrections zero). Some of the errors compensated for by the Reference Station vary with space and time, namely satellite ephemeris, tropospheric and ionospheric errors. Therefore, the correcti...
Article
With the launches of two GALILEO test satellites named GIOVE-A and GIOVE-B and the Chinese Compass-M1 new Global Navigation Satellite Systems (GNSS) are moving ahead. As soon as these satellites started to broadcast, several researchers tried to observe and decode the signals, using the limited amount of unclassified information. In some cases the...
Article
Full-text available
The present work concerns immersive virtual reality experiments for the mining industry. The experiments demonstrate efficacy of devices used for teleoperation of mining equipment. The visualisation is carried out using Unity3D 2.5 multiplatform game development tool that communicates with a .Net socket server allowing continuous data feeding from:...

Questions

Question (1)
Question
Dear all
if I have the SD carrier-phase measurements how can I compute the SD residuals? Do i need to calculate the SD residuals before fixing the integer ambiguity?

Projects

Project (1)
Project