DINA: Dynamic networks for trajectory determination in complex environments

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DINA, “Dynamic networks for trajectory determination in complex environments” (original title in Spanish “Redes Dinámicas para la determinación de trayectorias en entornos complejos”) is a research and development (R&D) project that aims at developing software to demonstrate, in an application relevant environment, the feasibility of trajectory determination with the dynamic network approach for mapping and post-mission trajectory reconstruction.

DINA mainly aims at time-Position-Velocity-Attitude (tPVA) determination with navigation satellite range measurements, inertial measurements and measurements made on “imaging sensor” data, where an “imaging sensor” can be a line, frame camera or a laser scanner. The project, focuses on post-mission processing for optimal precision, accuracy and reliability.

In DINA, the estimation of the tPVA parameters –i.e., position, velocity, attitude and other system and sensor calibration parameters– is achieved by the method of dynamic networks. This method was introduced in [Colomina and Blázquez, 2004] and [Colomina and Blázquez, 2005]. Dynamic networks generalize the concept of geodetic networks or, more to the point, the concept of network adjustment by least-squares. In classical network adjustment, the so-called observation equation is a stochastic equation (SE). In the new dynamic network concept, an observation equation can be a SE or a stochastic differential equation (SDE). With dynamic networks, for instance, inertial and odometer measurements, that are related to the tPVA parameters through SDEs, can be treated in exactly the same way as the classical measurements [whose models do not include derivatives]. Indoor sensor orientation, urban outdoor sensor orientation or kinematic gravimetry are examples of candidate applications of dynamic networks.

Dynamic networks can deal with any type of measurements, mathematical models and [time dependent and independent] parameters. From a parameter/state estimation point of view, techniques like Simultaneous Localization and Mapping (SLAM) are particular cases of dynamic networks.

DINA is funded by the Spanish Government R&D “Programa Torres Quevedo”  (PTQ). The PTQ is a rather exclusive programme for PhD degree holders to support the implementation of their research results and the beginning of their professional careers in private companies. The DINA project has been awarded to Dr. Marta Blázquez in 2012 for a 3-year period, from 2013 to 2016.

GeoNumerics (Castelldefels, Catalonia, Spain) is a research and development (R&D) intensive SME company specialised in geomatics and accurate navigation. The company licenses software, provides R&D services and participates in the institutional markets of advanced R&D projects. GeoNumerics was recently awarded the “Innovative SME” seal by the Spanish “Ministerio de Economía y Competitividad” (Ministry of Economy and Competitiveness).

Dr. Marta Blázquez is GeoNumerics' Scientific Programme Manager. She graduated in Applied Mathematics at the Technical University of Catalonia (UPC, Barcelona, Spain). Later on, she obtained a MSc in Airborne Photogrammetry and Remote Sensing from the Institute of Geomatics (IG, Castelldefels, Spain) and a PhD in Aerospace Science and Technology (UPC). Dr. Blázquez is  an expert in sensor orientation and calibration, in estimation methods and in multi-sensor trajectory determination.


Colomina,I., Blázquez,M., 2004. A unified approach to static and dynamic modelling in photogrammetry and remote sensing. International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. 35-B1, Comm. I, pp. 178-183.

Colomina,I., Blázquez,M., 2005. On the stochastic modelling and solution of time dependent networks. VI International Geomatic Week, 2005-02-088–11, Barcelona.


Acronym: DINA
Title: Dynamic networks for trajectory determination in complex environments
Period: 2013-11-05 to 2016-11-05.
Funding: Ministerio de Economía y Competitividad (MINECO), Gobierno de España, grant PTQ-12-05688, Subprograma Torres Quevedo, Programa Nacional de Contratación e Incorporación de Recursos Humanos de Investigación, Plan Nacional de Investigación Científica, Desarrollo e Innovación Tecnológica 2008-2011.