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Publications

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Patents

Theses

Journal papers

Achille Capelli, Franziska Koch, Patrick Henkel, Markus Lamm, Florian Appel, Christoph Marty and Jürg Schweizer: „GNSS signal-based snow water equivalent determination for different snowpack conditions along a steep elevation gradient“ in: The Cryosphere, vol. 16, no. 2, pp. 505 – 531, 2022.
Samieh Alissa, Martin Håkansson, Patrick Henkel, Ulrich Mittmann, Johannes Hüffmeier, and Robert Rylander: „Low bandwidth network-RTK correction dissemination for high accuracy maritime navigation“, in: TransNav: International Journal on Marine Navigation and Safety of Sea, vol.15, no. 1, pp. 171 – 179, Mar. 2021.
Franziska Koch, Patrick Henkel, Florian Appel, Lino Schmid, Heike Bach, Markus Lamm, Monika Prasch, Jürg Schweizer, and Wolfram Mauser: „Retrieval of snow water equivalent, liquid water content, and snow height of dry and wet snow by combining GPS signal attenuation and time delay„, in Water Resources Research, vol. 55, issue 5, pp. 4465 – 4487, May 2019.
Florian Appel, Franziska Koch, Anja Rösel, Philipp Klug, Patrick Henkel, Markus Lamm, Wolfram Mauser, and Heike Bach: „Advances in Snow Hydrology using a Combined Approach of GNSS In Situ Stations, Hydrological Modeling and Earth Observation – A Case Study in Canada„, in Geosciences, vol. 9, nr. 1, pp. 1 – 19, Jan. 2019.
Patrick Henkel and Bigyan Banjara: „Precise Positioning in Alpine Areas with Troposphere and Multipath Estimation„, in: IEEE Sensors Journal, vol. 18, nr. 20, pp. 8397 – 8409, Oct. 2018.
Patrick Henkel, Dimitrios Psychas, Christoph Günther and Urs Hugentobler: „Estimation of satellite position, clock and phase bias corrections„, in: Journal of Geodesy, vol. 92, nr. 10, pp. 1199 – 1217, Oct. 2018.
Patrick Henkel, Franziska Koch, Florian Appel, Heike Bach, Monika Prasch, Lino Schmid, Jürg Schweizer, and Wolfram Mauser: „Snow Water Equivalent of Dry Snow Derived From GNSS Carrier Phases„, in: IEEE Transactions on Geoscience and Remote Sensing, vol. 56, iss. 6, pp. 3561 – 3572, Jun. 2018.
Patrick Henkel: „Calibration of Magnetometers with GNSS Receivers and Magnetometer-Aided GNSS Ambiguity Fixing„, in: Sensors, vol. 17, no. 6, pp. 1324 ff., Jun. 2017.
Patrick S. Henkel: „Tightly coupled precise point positioning and attitude determination“, in: IEEE Transactions on Aerospace and Electronic Systems (TAES), vol. 51, no. 4, pp. 3182 – 3197, Oct. 2015.
Gabriele Giorgi and Patrick Henkel: „Ionospheric bias detection in carrier phase–only ground-based augmentation systems„, in: IEEE Transactions on Aerospace and Electronic Systems (TAES), vol. 51, no. 3, pp. 1853 – 1866, Jul. 2015.
Andreas Brack, Patrick Henkel and Christoph Günther: „Sequential Best Integer Equivariant Estimation for GNSS„, in: Navigation, vol. 61, iss. 2, pp. 149-158, Summer 2014.
Patrick Henkel and Christoph Günther: „Reliable Integer Ambiguity Resolution: Multi-Frequency Code Carrier Linear Combinations and Statistical A Priori Knowledge of Attitude„, in: Navigation (invited paper), vol. 59, nr. 1, pp. 61-75, 2012.
Christoph Günther and Patrick Henkel: „Integer Ambiguity Resolution for Satellite Navigation„, in: IEEE Transactions on Signal Processing, vol. 60, nr. 7, pp. 3387-3393, 2012.
Zhibo Wen, Patrick Henkel and Christoph Günther: „Multi-Stage Satelllite Phase and Code Bias Estimation„, in: European Journal of Navigation, 2012.
Zhibo Wen, Patrick Henkel and Christoph Günther: „Multi-Stage Satelllite Phase and Code Bias Estimation„, in: Automatika, vol. 53, nr. 4, pp. 373-381, 2012.
Christoph Günther and Patrick Henkel: „Reduced noise, ionosphere-free carrier smoothed code„, in: IEEE Transactions on Aerospace and Electronics System (TAES), vol. 46, iss. 1, pp. 323-334, 2010.
Patrick Henkel and Christoph Günther: „Reliable Integer Ambiguity Resolution with Multi-Frequency Code Carrier Linear Combinations„, in: Journal of Global Positioning Systems (invited paper), vol. 9, nr. 2, pp. 92-103, 2010.
Patrick Henkel and Christoph Günther: „Partial integer decorrelation for optimum trade-off between variance reduction and bias amplification„, in: Journal of Geodesy, vol. 84, no. 1, pp. 51-63, 2009.
Patrick Henkel: „Geometry-free linear combinations for Galileo„, in: Acta Astronautica, vol. 65, pp. 1487-1499, 2009.
Patrick Henkel, Kaspar Giger and Christoph Günther: „Multi-satellite, multi-frequency Vector Phase Locked Loop for Robust Carrier Tracking„, in: IEEE Journal of Selected Topics in Signal Processing (J-STSP), Special Issue on Advanced Signal Processing for GNSS and Robust Navigation, vol. 3, iss. 4, pp. 674-681, 2009.
Patrick Henkel and Christoph Günther: „Joint L/C-Band Code and Carrier Phase Linear Combinations for Galileo„, in: International Journal of Navigation and Observation, vol. 2008, Hindawi publ., 8 pages, Jan. 2008.

Conference papers

Patrick Henkel, Sai Parimi, Jan Fischer, Ulrich Mittmann, and Robert Bensch: „Precise Positioning for Autonomous Driving
in both Indoor and Outdoor Environments“, in: ION ITM, Januar 2024
Patrick Henkel, Medeea Horvat and Luka Sachße: „Intersection of Error Ellipsoids from At Least Two Positioning Sensors for Improved Sensor Fusion„, in: ION Proc. of Intern. Technical Meeting (ITM), Long Beach, CA, USA, Jan. 2023.
Pedro Pintor, Emilio González, Ana Senado, Philipp Bohlig, Andreas Sperl, Patrick Henkel, Javier Simón, Carmelo Hernández, Javier de Blas, Juan Vázquez: Galileo High Accuracy Service (HAS) Algorithm and Receiver Development and Testing, in: ION Proc. of 35th Intern. Techn. Meeting (ION GNSS+), pp. 836 – 851, Denver, CO, USA, Sep. 2022.
Patrick Henkel, Markus Lamm, Ulrich Mittmann, Torsten Fritzel, Rüdiger Strauß, Hans-Jürgen Steiner and Matthias John: „Verification of RTK Positioning of UAVs with Laser Tracker„, in: IEEE Proc. of 16th European Conference on Antennas and Propagation (EuCAP), Madrid, Spain, Apr. 2022.
Hans-Jürgen Steiner, Rüdiger Strauß, Markus Lamm and Patrick Henkel: „UAV-based Near-Field Antenna Measurements at 20 MHz of a Reference Ground-Plane Antenna„, in: IEEE Proc. of Conference on Antenna Measurements and Applications (CAMA), Antibes Juan-Les-Pins, France, pp. 48 – 50, 2021.
Patrick Henkel: „Precise Point Positioning for Next-Generation GNSS„, in: Proc. of European Navigation Conference (ENC), Dresden, Germany, 11 pp., Nov. 2020.
Patrick Henkel, Andreas Sperl, Ulrich Mittmann, Torsten Fritzel, Rüdiger Strauß and Hans Steiner: „Precise 6D RTK Positioning System for UAV-based Near Field Antenna Measurements„, in: IEEE Proc. of 14th European Conference on Antennas and Propagation (EuCAP), pp. 1 – 5, Copenhagen, Denmark, Mar. 2020.
Christoph Bamann and Patrick Henkel: „Visual-Inertial Odometry with Sparse Map Constraints for Planetary Swarm Exploration„, in: IEEE Proc. of Intern. Conf. on Industrial Cyber Physical Systems (ICPS), pp. 290 – 295, Taipei, Taiwan, May 2019.
Patrick Henkel, Andreas Sperl, Ulrich Mittmann, Robert Bensch and Paul Färber: „Precise Positioning of Robots with Fusion of GNSS, INS, Odometry, LPS and Vision„, in: IEEE Proc. of Aerospace Conference, pp. 1 – 6, Big Sky, MT, USA, Mar. 2019.
Patrick Henkel, Andreas Sperl, Ulrich Mittmann, Robert Bensch, Paul Färber and Christoph Günther: „Precise Positioning of Robots with Fusion of GNSS, INS, Odometry, Barometer, Local Positioning System and Visual Localization“, in: Proc. of 31st ION GNSS+, pp. 3078 – 3087, Miami, Florida, USA, Sep. 2018.
Patrick Henkel: „Precise Point Positioning with Kepler„, in: IEEE Proc. of 90th Vehicular Technology Conference (VTC), pp. 1 – 5, Honolulu, HI, USA, Sep. 2019.
Michael Heinrich, Andreas Sperl, Ulrich Mittmann and Patrick Henkel: „Reliable Multi-GNSS Real-Time Kinematic Positioning“, in: IEEE Proc. of 60th ELMAR Symp., pp. 103 – 108, Zadar, Croatia, Sep. 2018.
Markus Lamm, Franziska Koch, Florian Appel and Patrick Henkel: „Estimation of Snow Parameters with GPS and Galileo„. in: IEEE Proc. of 60th ELMAR Symp., pp. 109 – 112, Zadar, Croatia, Sep. 2018.
Julius Krause and Patrick Henkel: „Integration of barometric height into RTK positioning for Fast Ambiguity Refixing„. in: IEEE Proc. of 60th ELMAR Symp., pp. 113 – 116, Zadar, Croatia, Sep. 2018.
Patrick Henkel and Christoph Günther: „Cascaded Real-Time Kinematic Positioning with Multi-Frequency Linear Combinations„, in: IEEE Proc. of 60th ELMAR Symp., pp. 117 – 120, Zadar, Croatia, Sep. 2018.
Patrick Henkel, Alexander Blum and Christoph Günther: Precise RTK Positioning with GNSS, INS, Barometer and Vision (invited paper), Proc. of 30th ION GNSS+, pp. 2290 – 2303, Portland, Oregon, Sep. 2017.
Patrick Henkel, Dimitrios Psychas and Christoph Günther: „Satellite Phase Bias Estimation with Global Networks and High-Dimensional Integer Ambiguity Fixing“, in: Proc. of 30th ION GNSS+, pp. 3985 – 3996, Portland, OR, USA, Sep. 2017.
Patrick Henkel and Houcem Hentati: „Reliable RTK Positioning with Tight Coupling of 6 Low-Cost Sensors“, in: Proc. of ION GNSS+, Portland, OR, USA, pp. 733 – 741, Sep. 2016.
Patrick Henkel, Ulrich Mittmann and Michele Iafrancesco: „Real-Time Kinematic Positioning with GPS and GLONASS„, in: IEEE Proc. of 24-th European Signal Processing Conference (EUSIPCO), pp. 1 – 5, Budapest, Hungary, Sep. 2016.
Patrick Henkel, Michele Iafrancesco and Andreas Sperl: „Precise Point Positioning with Multipath Estimation„, in: Proc. of ION/ IEEE Position, Location and Navigation Symposium (PLANS), pp. 144 – 149, Savannah, Georgia, USA, 6 pp., Apr. 2016.
Patrick Henkel and Andreas Sperl: „Real-Time Kinematic Positioning of Unmanned Air Vehicles„, in: IEEE Prof. of Aerospace Conference, pp. 1 – 7, Big Sky, MT, USA, Mar. 2016.
Patrick Henkel and Andreas Sperl: „Precise RTK Positioning with GPS/ INS Tight Coupling and Multipath Estimation„, Proc. of ION International Technical Meeting, Monterey, CA, USA, pp. 1015 – 1023, Jan. 2016.
Patrick Henkel and Patrick Burger: „Multi-Sensor Fusion of GNSS receivers, inertial sensors and cameras for Precise and Reliable Positioning„, in: Proc. of Conference on Future Automotive Technology (COFAT), Fürstenfeldbruck, Germany, pp. 1-5, Apr. 2015.
Zhibo Wen, Yuiji Zhu and Patrick Henkel: „Estimation of Code Ionospheric Biases using Kriging method„, in: IEEE Proc. of Aerospace Conference, pp. 1 – 8, Big Sky, MT, USA, Mar. 2015.
Patrick Henkel and Michele Iafrancesco: „Tightly coupled Position and Attitude Determination with two low-cost GNSS receivers„, in: IEEE Proc. of 11-th Intern. Symp. on Wireless Communication Systems (ISWCS), pp. 895 – 900, Barcelona, Spain, Aug. 2014.
Patrick Henkel, Philipp Berthold and Christoph Günther: „Tightly coupled Position and Attitude Determination with two low-cost GNSS receivers, a gyroscope, and an accelerometer„, in: Proc. of Intern. Symp. on Certification of GNSS Systems and Services (CERGAL), Dresden, Germany, Jul. 2014.
Patrick Henkel, Philipp Berthold and Jane Jean Kiam: „Calibration of Magnetic Field Sensors with two mass-market GNSS receivers„, in: Proc. of 12-th IEEE Workshop on Positioning, Navigation and Communication (WPNC), pp. 1-5, Mar. 2014.
Jane Jean Kiam, Juan Manuel Cárdenas and Patrick Henkel: „Cooperative RTK positioning for rowing boats with Low-cost GPS receivers„, in: Proc. of ION ITM, San Diego, USA, Jan. 2014.
Chen Zhu, Christoph Bamann, Patrick Henkel and Christoph Günther: „Autonomous Robots Grouping in Swarm Exploration based on Adaptive Camera Common Field-of-View Detection„, in: IEEE/ RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, Nov. 2013.
Patrick Henkel and Christoph Günther: „Attitude determination with low-cost GPS/INS„, in: Proc. of the 26-th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+), pp. 2015 – 2023, Nashville, TN, USA, Sep. 2013.
Sebastian Knogl, Patrick Henkel and Christoph Günther: „Attitude estimation based on multibeam antenna signals power levels„, in: Proc. of 55-th IEEE Symposium ELMAR, pp. 341 – 344, Zadar, Croatia, Sep. 2013.
Zhibo Wen, Patrick Henkel and Christoph Günther: „Precise point positioning with estimation of code multipath subset„, in: Proc. of 55-th IEEE Symposium, pp. 345 – 348, Zadar, Croatia, Sep. 2013.
Chen Zhu, Siwei Zhang, Armin Damann, Stephan Sand, Patrick Henkel and Christoph Günther: „Return-to-base navigation of robotic swarms in Mars exploration using DoA estimation„, in: Proc. of 55-th IEEE Symposium ELMAR, pp. 349 – 352, Zadar, Croatia, Sep. 2013.
Patrick Henkel and Jane Jean Kiam: „Maximum A Posteriori Probability Estimation of Integer Ambiguities and Baseline„, in: Proc. of 55-th IEEE Symposium ELMAR, pp. 353-356, Zadar, Croatia, Sep. 2013.
Patrick Henkel and Naoya Oku: „Cycle slip detection and correction for heading determination with low-cost GPS/ INS receivers„, in: IAG Proc. of VIII Hotine Marussi Symposium, Rome, Italy, Jun. 2013.
Andreas Brack, Patrick Henkel and Christoph Günther: „Sequential Best Integer Equivariant Estimation for Geodetic Network Solutions„, in: Proc. of ION ITM, San Diego, USA, pp. 310-317, Jan. 2013.
Sebastian Knogl, Patrick Henkel and Christoph Günther, Precise Positioning and Orbit Estimation for Geostationary Data Relays, Proc. of Navitec, Noordwijk, The Netherlands, Dec. 2012.
Zhibo Wen, Patrick Henkel, Andreas Brack and Christoph Günther, Satellite Bias Determination with Global Reference Station Network and Best-Integer Equivariant Estimation, Proc. of ION GNSS, Nashville, USA, Sep. 2012.
Patrick Henkel, Juan Manuel Cárdenas and Patryk Jurkowski, Cascaded Heading Estimation with Phase Coasting, Proc. of 54-th IEEE Symposium ELMAR, pp. 283-286, Zadar, Croatia, Sep. 2012.
Zhibo Wen, Patrick Henkel, Andreas Brack and Christoph Günther, Best-Integer Equivariant Estimation for Precise Point Positioning, Proc. of 54-th IEEE Symposium ELMAR, pp. 279-282, Zadar, Croatia, Sep. 2012.
Sebastian Knogl, Patrick Henkel and Christoph Günther, Accuracy Bounds for Positioning of Geostationary Data Relays using LEO Satellites, Proc. of 54-th IEEE Symposium ELMAR, pp. 275-278, Zadar, Croatia, Sep. 2012.
Gabriele Giorgi, Patrick Henkel and Christoph Günther, Testing of a Statistical Approach for Local Ionospheric Disturbances Detection, Proc. of ION/ IEEE Position, Location and Navigation Symp. (PLANS), pp. 167-173, Myrtle Beach, USA, Apr. 2012.
Patryk Jurkowski, Patrick Henkel and Christoph Günther, GNSS based Attitude Determination with Statistical and Deterministic Baseline A Priori Information, Proc. of ION Int. Techn. Meeting (ION-ITM), Newport Beach, USA, pp. 1164-1213, Jan. 2012.
Zhibo Wen, Patrick Henkel, Mathieu Davaine and Christoph Günther, Satellite Phase and Code Bias Estimation with Cascaded Kalman Filter, Proc. of Europ. Nav. Conf., London, UK, Okt. 2011.
Patrick Henkel, Patryk Jurkowski and Christoph Günther, Differential Integer Ambiguity Resolution with Gaussian a priori knowledge and Kalman filtering, Proc. of 24th ION GNSS, Portland, USA, pp. 3881-3888, Sep. 2011.
Zhibo Wen, Patrick Henkel and Christoph Günther, Reliable Estimation of Phase Biases of GPS Satellites with a Local Reference Network, Proc. of 53rd Int. IEEE Symp. ELMAR, Zadar, Croatia, pp. 321-324, Sep. 2011.
Sebastian Knogl, Patrick Henkel and Christoph Günther, Precise Positioning of a Geostationary Data Relay using LEO Satellites, Proc. of 53rd Int. IEEE Symp. ELMAR, Zadar, Croatia, pp. 325-328, Sep. 2011.
Patrick Henkel, Reduction and Optimization of Almanac Transmission for GNSS Satellites, Proc. of 53rd Int. IEEE Symp. ELMAR, Zadar, Croatia, pp. 329-332, Sep. 2011.
Patrick Henkel and Patryk Jurkowski, Reliable Integer Ambiguity Resolution: Soft constraints on the baseline length and direction, and New Multi-frequency Code Carrier Linear Combinations, In International Association of Geodesy Symposia 139, DOI 10.1007/978-3-642-37222-3__78, Springer, 2014.
Patrick Henkel and Chen Zhu, Carrier phase integer ambiguity resolution with inequality constraints, Proc. of IEEE Stat. Sign. Proc. Worksh., Nice, France, pp. 409-412, Jun. 2011.
Patryk Jurkowski, Patrick Henkel, Grace Gao and Christoph Günther, Integer Ambiguity Resolution with Tight and Soft Baseline Constraints for Freight Stabilization at Helicopters and Cranes, Proc. of ION Int. Techn. Meeting, San Diego, USA, pp. 336-346, Jan. 2011.
Patrick Henkel and Christoph Günther, Reliable Carrier Phase Positioning with Multi-Frequency Code Carrier Linear Combinations, Proc. of 23rd ION Int. Techn. Meeting (ION-GNSS), Portland, USA, pp. 185-195, Sep. 2010.
Patrick Henkel, Zhibo Wen and Christoph Günther, Estimation of satellite and receiver biases on multiple Galileo frequencies with a Kalman filter, Proceedings of the 2010 International Technical Meeting of the Institute of Navigation, San Diego, CA, USA, pp. 1067-1074, Jan. 2010.
Kaspar Giger, Patrick Henkel and Christoph Günther, Joint satellite code and carrier tracking, Proceedings of the 2010 International Technical Meeting of the Institute of Navigation, San Diego, CA, USA, pp. 636-645, Jan. 2010.
Markus Rippl, Susanne Schlötzer and Patrick Henkel, High integrity carrier phase based positioning for precision landing using a robust nonlinear filter, Proceedings of the 2010 International Technical Meeting of the Institute of Navigation, San Diego, CA, USA, pp. 577-590, Jan. 2010.
Patrick Henkel, Zhibo Wen and Christoph Günther, Estimation of code and phase biases on multiple frequencies with a Kalman filter, Proc. of 4th European Workshop on GNSS Signals and Signal Processing, Oberpfaffenhofen, Germany, Dec. 2009.
Kaspar Giger, Patrick Henkel and Christoph Günther, Multifrequency, multisatellite carrier tracking, Proc. of 4th European Workshop on GNSS Signals and Signal Processing, Oberpfaffenhofen, Germany, Dec. 2009.
Patrick Henkel, Bootstrapping with Partial Integer Decorrelation and Multi-frequency combinations of Galileo measurements in the presence of Biases, Intern. Association of Geodesy Scientific Assembly (IAG), Buenoes Aires, Argentina, Sep. 2009.
Patrick Henkel, Grace Gao, Todd Walter and Christoph Günther, Robust Multi-Carrier, Multi-Satellite Vector Phase Locked Loop with Wideband Ionospheric Correction and Integrated Weighted RAIM, Proc. of European Navigation Conference (ENC), Naples, Italy, May 2009.
Patrick Henkel, Victor Gomez and Christoph Günther, Modified LAMBDA for precise carrier phase positioning with multiple frequencies in the presence of biases, ION Intern. Techn. Meeting (ITM), Anaheim, USA, pp. 642-651, Jan. 2009.
Patrick Henkel and Christoph Günther, Precise Point Positioning with multiple Galileo frequencies, Proc. of ION/ IEEE Position, Location and Navigation Symposium (PLANS), Monterey, USA, pp. 592-599, May 2008.
Patrick Henkel, Kaspar Giger and Christoph Günther, Multi-Carrier Vector Phase Locked Loop for Robust Carrier Tracking, Proc. of European Navigation Conference (ENC), Toulouse, France, Apr. 2008.
Patrick Henkel and Christoph Günther, Schätzung der Trägerphasenmehrdeutigkeit bei Galileo, Proc. der 10. ITG-Fachgruppensitzung Signalverarbeitung in der Navigation, Oberpfaffenhofen, Oct. 2007.
Patrick Henkel, Geometry-free linear combinations for Galileo, Proc. of 58th International Astronautical Congress (IAC), 1st prize of international student contest (Pierre Contensou Medal), Hyderabad, India, Sep. 2007.
Matthias Süß, Patrick Henkel and Yuan Lu, Steering of the reference timescale for German Galileo test environment, European Frequency and Time Forum (EFTF), Geneva, Switzerland, May 2007.
Patrick Henkel, Doping of Extended Mappings for Signal Shaping, Proc. of 65th IEEE Vehicular Technology Conference (VTC), Dublin, Ireland, May 2007.
Patrick Henkel and Christoph Günther, Sets of robust full-rank linear combinations for wide-area differential ambiguity fixing, Proc. of 2nd Workshop on GNSS Signals and Signal Processing, Noordwijk (ESTEC), The Netherlands, 5 pp., Apr. 2007.
Patrick Henkel and Christoph Günther, Three frequency linear combinations for Galileo, Proc. of 4th IEEE Workshop on Positioning, Navigation and Communication (WPNC ’07), Hannover, Germany, pp. 239-245, Mar. 2007.
Patrick Henkel and Christoph Günther, Integrity Analysis of Cascade Integer Resolution with Decorrelation Transformations, Proc. of ION National Technical Meeting (NTM), San Diego, USA, pp. 903-910, Jan. 2007.
Patrick Henkel, Extended Mappings for Bit-Interleaved Coded Modulation, 17th IEEE Symposium on Personal, Indoor and Mobile Communications (PIMRC), Helsinki, Finland, Sep. 2006.
Patrick Henkel, Integrity of differential carrier phase positioning, 14th Joint Conference on Coding and Communications (JCCC), Sölden, Austria, Mar. 2006.
Frank Schreckenbach and Patrick Henkel, Signal Shaping using Non-Unique Symbol Mappings, Proc. of 43rd Annual Allerton Conference on Communication, Control, and Computing, Monticello, USA, Sep. 2005.
Frank Schreckenbach, Patrick Henkel, Norbert Görtz and Gerhard Bauch, Analysis and Design of Mappings for Iterative Decoding of BICM, Proc. of 11th National Symposium on Radio Sciences URSI, Poznan, Poland, pp. 82-87, Apr. 2005.

Patents

Patrick Henkel, Andreas Sperl and Michael Heinrich: „Apparatus for Precise Positioning, Mapping or Object Detection„, European patent application, patent appl. no.: EP 20000278, appl. date: 10.08.2020.
Patrick Henkel and Robert Bensch: „Verfahren zur hochgenauen Positionsbestimmung und aktuellen Kartenerstellung mit Sensorfusion„, German patent application, patent appl. no.: DE 10 2019 000 804.9, appl. date: 05.02.2019, disclosure date: 06.08.2020.
Patrick Henkel and André Bauerhin: „Method for Determination of Absolute Position of a Global Navigation Satellite System Receiver with High Accuracy Corrections„, European patent application, patent appl. no.: EP 20183243.3, appl. date: 30.06.2020.
Patrick Henkel, Franziska Koch, Florian Appel and Wolfram Mauser: „Verfahren zur Bestimmung von Schneeparametern„, Swiss patent application, patent appl. no.: 00827/17, appl. date: 23.06.2017.
Patrick Henkel, Franziska Koch, Florian Appel and Wolfram Mauser: „Verfahren zur Bestimmung von Schneeparametern„, German patent application, patent appl. no.: 10 2017 110 994.3, appl. date: 19.05.2017.
Patrick Henkel, Ulrich Mittmann and Michele Iafrancesco: „Verfahren zur Bestimmung der Mehrdeutigkeiten von Differenzmessungen von Trägerphasen von frequenzmultiplexten Signalen„, German patent, patent no.: 10 2016 010 439, issuance date: 19.07.2018, patent appl. no.: 10 2016 010 439.2, appl. date: 27.08.2016.
Patrick Henkel and Philipp Berthold: „Method for Determining the Position and Attitude of a Moving Object using Low-Cost Receivers: Tightly Coupled Precise Point Positioning and Attitude Determination with Two Low-Cost GNSS Receivers„, European patent application, patent appl. no.: EP 14 176 425.8, appl. date: 09.07.2014; European publication no.: EP2966477 (A1), publication date: 13.01.2016.
Juan Manuel Cárdenas and Patrick Henkel: „Method for Determining a Baseline between Two Receivers„, European patent application, patent appl. no.: EP 12 199 772.0, appl. date: 28.12.2012; European publication no.: EP2749900 (A1), publication date: 02.07.2014.
Patrick Henkel and Patryk Jurkowski: „Method for Determining the Heading of a Moving Object„, European patent, patent appl. no.: EP 12 153 398.8, appl. date: 31.01.2012; European publication no.: EP2624013 (A1), publication date: 07.08.2013; issued as EP2624013 (B1), issuance date: 19.11.2014, validated in DE, GB and FR.
Patrick Henkel and Patryk Jurkowski: „Method and Apparatus for Determining the Relative Position Between Two Receivers of a Satellite Navigation System: Maximum A Posteriori Probability Ambiguity Estimation with Soft Baseline Length and Orientation Constraints„, European patent, patent appl. no.: EP 12 152 354.2, appl. date: 24.01.2011; European publication no.: EP2479588 (A2), publication date: 25.07.2012; European publication no.: EP2479588 (A3), publication date: 28.08.2013, patent no. EP2479588B1, issuance date of patent: 16.01.2019.
Patrick Henkel and Patryk Jurkowski: „Method and Apparatus for Determining the Relative Position Between Two Receivers and Use of the Apparatus for Stabilizing Suspended Loads„, European patent, patent appl. no.: 10 2010 038 257.4, appl. date: 18.10.2010; international patent appl. no.: PCT / EP2011 / 067554, appl. date: 07.10.2011; world publication no.: WO2012052307 (A1), publication date: 26.04.2012, further published as EP2630515 (A1), DE102011001296 (A1), CA2814882 (A1), patent no.: EP 2 630 515 B1, issuance date: 13.11.2019.

Theses

Philipp Bohlig: Tightly Coupled Precise Point Positioning with an Inertial Navigation System and Odometry, Master thesis, Technische Universität München, Germany, Oct. 2020.
Lisa Raphaela Huber: Integration of Auxiliary Sensors into LiDAR SLAM with additional focus on Global SLAM Pose Graph Optimization Techniques, Master thesis, Technische Universität München, Germany, Feb. 2020.
Medeea Ariana Horvat: Visual SLAM using Artificial Visual Markers, Bachelor thesis, Technische Universität München, Germany, Nov. 2019.
Julius Krause: Integration of Barometric Height into RTK Positioning for Reliable Ambiguity Fixing, Master thesis, Technische Universität München, München, Germany, Oct. 2018.
Jakob Giez: Integration of Galileo into RTK Positioning and Snow Parameter Estimation, Bachelor thesis, Technische Universität München, Germany, Jul. 2018.
Paul Färber: Integration of Visual Odometry into ANavS Multi-Sensor Fusion, Master thesis, Technische Universität München, München, Germany, Jul. 2018.
Michael Heinrich: Development of a Multi-Sensor Hardware Platform for Precise Positioning of Autonomous Vehicles, Master thesis, Technische Universität München, München, Germany, Mar. 2018.
Michael Löb: Tightly Coupled full 3D Attitude for RTK, Master thesis, Technische Universität München, München, Germany, Jul. 2016.
Ulrich Mittmann: Joint GPS/ GLONASS Ambiguity Resolution with a Low-cost GNSS Receiver, Master thesis, Technische Universität München, München, Germany, Aug. 2016.
Andreas Sperl: Joint RTK and Attitude Determination, Master thesis, Technische Universität München, Germany, Sep. 2015.
Michele Iafrancesco: GPS/INS tightly coupled position and attitude determination with low-cost sensors, Master thesis, Technische Universität München, Germany, September 2015
Patrick Burger: Tightly coupled sensor fusion with camera images, satellite images, GPS and INS, Master thesis, Technische Universität München, Munich, Germany, 19.12.2014.
Philipp Berthold: Multi-Sensor Fusion Framework for Autonomous Systems, Master thesis, Technische Universität München, Munich, Germany, 19.12.2014.
Peter Reiser: Design of a GNSS test track with a base station, Forschungspraxis, Technische Universität München, Munich, Germany, 16.12.2014.
Qingchen Zhang: Statistics of Tightly coupled Position and Attitude determination, Master thesis, Technische Universität München, Munich, Germany, 15.10.2014.
Michele Iafrancesco: Tightly coupled Position and Attitude determination with two low-cost GNSS receivers, Forschungspraxis, Technische Universität München, Munich, Germany, Oct. 2014.
Andreas Sperl: Time synchronization for GPS/ INS tight coupling and calibration of magnetic field sensor with an extended Kalman filter, Forschungspraxis, Technische Universität München, Munich, Germany, Sep. 2014.
Nataliya Mishukova, RTK and PPP with Galileo and GPS, Master thesis, Technische Universität München, Munich, Germany, 20.12.2013.
Philipp Berthold, Calibration of magnetic field sensor with GPS and development of an embedded RTK system, Forschungspraxis, Technische Universität München, Munich, Germany, 20.12.2013.
Naoya Julien Oku, Integration of a Low-Cost Inertial Measurement Unit in a GPS Based Heading Estimation System, Studienarbeit, Technische Universität München, Munich, Germany, 20.12.2013.
Jean Jean Kiam, Low-cost GPS-based Compass with Reliable Ambigiuity Resolution and Cycle Slip Correction, Master thesis, Technische Universität München, Munich, Germany, 16.09.2013. awarded with the VDI Prize 2013.
Juan Manuel Cárdenas, Precise attitude determination with low-cost GNSS receivers, Master thesis, Technische Universität München, Munich, Germany, 15.03.2013.
Juan José Pimento Emiliani, Joint heading estimation with low-cost GNSS boards and Inertial Sensors, Master thesis, Technische Universität München, Munich, Germany, 07.01.2013.
Carl Felix Hammes, Heading estimation with Novatel’s low-cost OEMStar receiver, Bachelor thesis, Technische Universität München, Munich, Germany, 03.12.2012.
Patryk Jurkowski, Reliable attitude determination with GNSS: Gaussian a priori knowledge and Kalman filtering, Diplomarbeit, Technische Universität München, Munich, Germany, 18.11.2011.
Patryk Jurkowski, Baseline constrained ambiguity resolution with multiple frequencies, Bachelor thesis, Technische Universität München, Munich, Germany, 15.11.2010.
Patrick Henkel, Reliable Carrier Phase Positioning, PhD thesis, Technische Universität München, Munich, Germany, 24.11.2010. awarded with the Vodafone Dissertation Award 2011.

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- Knowledge Base/Download
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