The main goal of this thesis is to extend the test scenarios of the ISTA in-house INS/GNSS/LiDAR-Simulation environment.

The driving idea behind using simulated observation of different sensors is to provide the developer with more flexibility, since it allows to generate and test different scenarios under different conditions, without living the desk. In addition, the observation of the supporting devices, such as GNSS, IMU or LiDAR can be used with optimal quality.

To this end the LiDAR-Observations can be simulated using an open source tool such as CARLA. This tool has been developed from the ground up to support development, training, and validation of autonomous driving systems. In addition to open-source code and protocols, CARLA provides open digital assets (urban layouts, buildings, vehicles) that were created for this purpose and can be used freely. The simulation platform supports flexible specification of sensor suites, environmental conditions, full control of all static and dynamic actors, maps generation and much more.

Up to know the processing chain consist, mainly in the following parts: The map generation, configuration of the Carla environment and the processing of data through the extended SIMSS tool. 


  • To get familiar with the CARLA simulator and the extended SIMSS tool.
  • Configuration of the CARLA environment according to different case scenarios (driving scenarios, configuration of sensors, etc…)
  • Enhancing of the UniBw map using Roadrunner for the selected area to be used in the driving scenario.
  • Design different scenarios that test the performance of the sensors in the SIMSS tool.
  • Analysis of the outcome of the extended ISTA-Simulator (SIMSS tool), which can be programmed in MATLAB.
  • The documentation of the processing chain.  

Requirements for the candidate are:

  • Interest to elaborate different sensor fusion topics!
  • Knowledge of LiDAR, GNSS and INS as a standalone sensors (or interest to self-learn how they work)
  • Basic knowledge of INS/GNSS integration
  • The ability to both work independently and to answer scientific questions

Contact Person:


Daniela Sanchez Morales

Institute of Space Technology and Space Applications (ISTA)

Faculty of Aerospace Engineering (LRT)

Universität der Bundeswehr München

Werner-Heisenberg-Weg 39, 85577 Neubiberg, Germany

Building 61, Room 1106

Phone: +49 89-6004-3056, Fax: +49 89-6004-2584