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This paper presents an algorithm for computing a pose solution based on constraining the Bundle Adjustment algorithm with a Digital Terrain Map. The approach is motivated by the difficulties observed when using previous schemes for solving realistic problems. Some specific implementation aspects are reviewed, and in particular an algorithm for approximating the sampled DTM with a smooth surface is...
Digital signal processing for Global Navigation Satellite System (GNSS) receivers is mostly based on the assumption that the noise at the receiver input is Gaussian. This assumption leads to a non-linear Least Squares (LS) problem where GNSS signal parameters are estimated by minimizing a quadratic cost function. The receiver performance can be however significantly degraded by non-Gaussian phenomena...
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