ATENEA - Advanced Techniques for Navigation Receivers and Applications

Start: 01 January 2010
End: 31 December 2011
Funding: European
Status: Due
Division: Geomatics
Department: Geodesy and Navigation (GEON)
Code: TREN/FP/TR/247975

The ATENEA project aims to join deeply integrated GNSS/INS receiver architectures and LIDAR techniques to provide an advanced navigation solution. The approach is suitable for a wide range of surveying applications in difficult environments, being Urban Mapping selected as reference case.

Urban mapping by LIDAR images is already an active domain, but is today only viable using high-end systems with a unitary cost in the order of 800 K€. On the technical, level, LIDAR devices geolocation and reference for the scanned observables is provided nowadays by loosely coupled GPS receivers and INS, leading to lack of performance in urban scenarios with poor satellite visibility and harsh multipath conditions.

ATENEA will tackle the most challenging issues of this type of applications, showing how the use of Galileo signals, integrated positioning and observable processing can in one shot solve the more severe technical issues (robustness and continuity), increase accuracy and drastically reduce the system cost

The following technologies will be investigated within ATENEA to overcome these problems:

§ Deeply coupled GNSS/INS receiver design

Current state-of-the-art of hybridisation applications will be improved with ultra-tight integration of the inertial sensors, navigation processor and signal processing tracking loops, adding additional robustness under high user dynamics and SIS signal blockages. The novel ultra-tight integration developed in the project and the classical close and tight integration levels will be compared and evaluated for a set of applications, with emphasis on fast mapping in urban environments.

§ Galileo signals capabilities

Error in the pseudorange observables will be reduced to the minimum, using dedicated multipath and interference mitigation techniques and taking benefit of the new Galileo L1 MBOC and E5 AltBOC signals.

§ Integrated GNSS/INS/LIDAR navigation filter.

Finally, an innovative unique integrated navigation solution for the integration of observables from GNSS, IMU, and laser sensors is proposed, allowing to reduce the costs of the currently expensive LIDAR devices for precise laser scanning.


The different algorithms will be developed and tested in a SW environment, the ATENEA platform, developed upon the NAVEGA trajectory determination SW and the GRANADA simulator (developed by Deimos Space). A field campaign with real data will also be carried out, using EGNOS and Galileo early signals (GIOVE and IOV signals if available). The ATENEA developed technologies will be thus investigated down to a pre-industrialised solution ready to be integrated in a professional receiver. Links to the High End Professional Receiver Prototype projects will be established to facilitate this integration.


  • Deimos Space (Leader) (Madrid, Spain)
  • Politecnico di Torino (Torino, Italy)
  • GeoNumerics (Barcelona, Spain)
  • TopScan (Rheine, Germany)


  • Deimos-Space
  • Politecnico di Torino, Coord.