Navigation in GNSS-Denied Environments Using MEMS-Grade Sensors and Geophysical Anomalies: A UKF Approach
Published in Proceedings of the 2026 International Technical Meeting of the Institute of Navigation, 2026
An unscented Kalman filter approach to navigation in GNSS-denied environments, using geophysical anomaly maps — gravity, magnetic, and bathymetric — to bound the drift of a strapdown inertial navigation system mechanized on MEMS-grade sensors. The UKF formulation is the deterministic-sampling counterpart to the particle filter presented at Pacific PNT, and the two are compared on the same trajectories.
Recommended citation: Brodovsky, J. and Dames, P. (2026). "Navigation in GNSS-denied environments using MEMS-grade sensors and geophysical anomalies: A UKF approach." Proceedings of the 2026 International Technical Meeting of the Institute of Navigation, Anaheim, CA, pp. 155-164. https://doi.org/10.33012/2026.20508