Position Location And Navigation (PLAN) Group

Welcome to our new web site. An archived version of our previous site is available here.

The Position, Location And Navigation (PLAN) Group is dedicated to the research, development and improvement of wireless positioning and navigation technologies for outdoor and indoor use. To this end, most of our work is encompassed in the following research areas:

GNSS Signal Processing

  • Signal acquisition and tracking algorithm development, including high accuracy
  • Multi-frequency, multi-systems signal processing enhancements
  • Impact of signal attenuation and High Sensitivity GNSS, including Assisted GNSS (AGNSS)

Sensor Augmentation

  • Tight and ultra-tight integration of GNSS with inertial and other sensors
  • Impact of oscillators on signal integration
  • Multi-sensor augmentation
  • Ground based RF ranging systems and augmentation


  • Software GNSS receiver development
  • Centimetre-level accuracy positioning and multi-frequency ambiguity resolution
  • Velocity and attitude determination
  • Atmospheric propagation effects
  • Indoor, pedestrian and vehicular navigation

Latest News

Thursday, August 26, 2021

Congratulations to Paul Gratton

Paul Gratton successfully defended his MSc. thesis “Evaluation of Kinematic GNSS PPP for Tropospheric Zenith Wet Delay Estimation in Mountainous Regions” this afternoon on Zoom. Paul impressed the committee and achieved the very rare “no revisions” decision so now he will have to work quickly to submit his final version by the end of next week.

Friday, August 20, 2021

Congratulations to Ehab Ghanem

Ehab Ghanem successfully defended his PhD thesis “Relative Position and Attitude Determination using Multiple UWB Ranges” today at UBC Okanagan in Kelowna. Ehab was partially sponsored by the NSERC Multi-Sensor-Systems CREATE project and visited Calgary for two major data collection campaigns, most recently in the Summer of 2019. Ehab’s thesis will be posted to the new PLAN group webpage and the UBC repository as soon as he completes his revisions.

Tuesday, April 20, 2021

Congratulations to Dongyu Zhang

Dongyu Zhang successfully defended her MSc. thesis “Ultra-Wideband Ranging for In-Vehicle Smartphone Positioning” on Zoom this afternoon. She will be returning to China next week and will complete her corrections while quarantining. Her thesis should be posted on the new group website in May. I hope we can take her out for lunch on a future visit to Calgary.

Friday, January 29, 2021

Congratulations to Maliha Monsur

Maliha Monsur successfully defended her MASc thesis “GPS/WiFi Integration for challenging environments using raw GNSS data” at UBC Okanagan this afternoon. Maliha was co-supervised by Kyle O’Keefe and Richard Klukas and spent one term of her master’s program in Calgary in 2018. She has recently moved from Kelowna to Vancouver and we wish her luck in her future endeavors.

Tuesday, January 12, 2021

Congratulations to Cheng Huang

Cheng Huang successfully defended his MSc thesis “Wheel Odometry Aided Visual-Inertial Odometry in Winter Urban Environments.” He has some minor corrections do by the end of the month and then his thesis will be the first to be posted on the new PLAN group website. Cheng joined the group in September 2018 and his work was partially supported by Dr. Gérard Lachapelle’s iCORE Chair in Wireless Location. Cheng has already started an internship with Leica in Calgary.

Sunday, November 15, 2020

PLAN Group Webpage Move and Archiving

Welcome to our new web site. An archived version of our previous side is available here

Tuesday, June 23, 2020

Congratulations to Sharareh Asal Nagdhi

Asal Nagdhi successfully defended her PhD this morning on a Zoom meeting. She has some minor revisions to complete in the next three weeks and hopefully, eventually, we can take her and the group for lunch at the Grad Lounge to celebrate. She joined the PLAN group in July 2016 and we have enjoyed working with her for the last 4 years. Her thesis: Improving Bluetooth-based Indoor Positioning Using Vision and Artificial Networks, will be posted on the group website in mid-July.

Recent Publications

Gratton, P., Banville, S., Lachapelle, G., and O’Keefe, K. (2021). “Kinematic Zenith Tropospheric Delay Estimation with GNSS PPP in Mountainous Areas.” Sensors, 21(17), 5709. [Publisher Link]

Monsur, M. (2021). "GPS/Wi-Fi integration for challenging environments using raw GNSS data". School of Engineering, University of British Columbia Okanagan. [Download]

Huang, C. (2021). "Wheel Odometry Aided Visual-Inertial Odometry in Winter Urban Environments". Department of Geomatics Engineering, University of Calgary. [Download]

Ghanem, E., O’Keefe, K., and Klukas, R. (2020). “Testing Vehicle-to-Vehicle Relative Position and Attitude Estimation using Multiple UWB Ranging.” 2020 IEEE 92nd Vehicular Technology Conference (VTC2020-Fall), 1–5. [Publisher Link]

Huang, C. , Jiang, Y. , and O'Keefe, K. (2020). “Wheel Odometry aided Visual-Inertial Odometry for Land Vehicle Navigation in Winter Urban Environments”. Proceedings of the 33rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2020), Institute of Navigation, St. Louis, MO, USA, 2237 - 2251. [Publisher Link]

Naghdi, S. (2020). “Improving Bluetooth-based Indoor Positioning Using Vision and Artificial Networks”. Department of Geomatics Engineering, University of Calgary, Calgary. [Download]

Lachapelle, G. (2020). “GPS Performance on Mountain Trails”. Technical Note, Department of Geomatics Engineering, University of Calgary.

Naghdi, S. , and O'Keefe, K. (2020). “Detecting and Correcting for Human Obstacles in BLE Trilateration Using Artificial Intelligence”. Sensors, MDPI, 20(5), 1350. [Publisher Link]