Related papers: Mobile Localization in Non-Line-of-Sight Using Con…
To address PMU vulnerability against spoofing, we propose a set-valued state estimation technique known as Stochastic Reachability-based Distributed Kalman Filter (SR-DKF) that computes secure GPS timing across a network of receivers.…
Extensive use of unmanned aerial vehicles (UAVs) is expected to raise privacy and security concerns among individuals and communities. In this context, the detection and localization of UAVs will be critical for maintaining safe and secure…
The unscented Kalman filter is a nonlinear estimation algorithm commonly used in navigation applications. The prediction of the mean and covariance matrix is crucial to the stable behavior of the filter. This prediction is done by…
In this work we consider the state estimation problem in nonlinear/non-Gaussian systems. We introduce a framework, called the scaled unscented transform Gaussian sum filter (SUT-GSF), which combines two ideas: the scaled unscented Kalman…
This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint equivariant filter (MSCEqF, in analogy to the well known MSCKF). We define a symmetry group…
In the realm of Cyber-Physical System (CPS), accurately identifying attacks without detailed knowledge of the system's parameters remains a major challenge. When it comes to Advanced Driver Assistance Systems (ADAS), identifying the…
This paper focuses on the problem of localising a transmitting mobile station (MS) using multiple cooperative base stations (BSs). There are two technical difficulties: one is the data association between intermediate parameters and…
Ensemble Kalman filter (EnKF) is an important data assimilation method for high dimensional geophysical systems. Efficient implementation of EnKF in practice often involves the localization technique, which updates each component using only…
An unknown-position sensor can be localized if there are three or more anchors making time-of-arrival (TOA) measurements of a signal from it. However, the location errors can be very large due to the fact that some of the measurements are…
This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellite System (GNSS)-denied environments. The goal is to enable…
In this paper, in order to enhance the numerical stability of the unscented Kalman filter (UKF) used for power system dynamic state estimation, a new UKF with guaranteed positive semidifinite estimation error covariance (UKF-GPS) is…
We study the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer-to-peer framework where the vehicles/nodes can get pairwise multipath-degraded…
This paper investigates the use of depth images as localisation sensors for 3D map building. The localisation information is derived from the 3D data thanks to the ICP (Iterative Closest Point) algorithm. The covariance of the ICP, and thus…
The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…
This paper introduces a new approach to localize user devices located in non-line-of-sight (NLOS) areas using a passive, non-reconfigurable, and frequency-selective metasurface called metaprism. By analyzing the spatial filtering of…
Aiming to enhance the consistency and thus long-term accuracy of Extended Kalman Filters for terrestrial vehicle localization, this paper introduces the Manifold Error State Extended Kalman Filter (M-ESEKF). By representing the robot's pose…
Accurate estimation of the position of network nodes is essential, e.g., in localization, geographic routing, and vehicular networks. Unfortunately, typical positioning techniques based on ranging or on velocity and angular measurements are…
Fifth-generation (5G) networks are expected to provide high-precision positioning estimation utilizing mmWave signals in urban and downtown areas. In such areas, 5G base stations (BSs) will be densely deployed, allowing for line-of-sight…
Autonomous mobile robot competitions judge based on a robot's ability to quickly and accurately navigate the game field. This means accurate localization is crucial for creating an autonomous competition robot. Two common localization…
This paper proposes the cooperative use of zero velocity update (ZU) in a decentralized extended Kalman filter (DEKF) based localization algorithm for multi-robot systems. The filter utilizes inertial measurement unit (IMU), ultra-wideband…