Related papers: Performance Analysis for Autonomous Vehicle 5G-Ass…
Accurate outdoor localization in Non-Line-of-Sight (NLoS) environments remains a critical challenge for wireless communication and sensing systems. Existing methods, including positioning based on the Global Navigation Satellite System…
Millimeter-wave (mmWave) systems in the 30--300 GHz bands are among the fundamental enabling technologies of 5G and beyond 5G, providing large bandwidths, not only for high data rate communication, but also for precise positioning services,…
Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…
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…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
Cellular-connected unmanned aerial vehicles (UAVs) in 5G NR networks experience propagation and interference conditions that vary significantly with altitude and differ substantially from those experienced by terrestrial users. This is…
Global Positioning System (GPS) navigation provides accurate positioning with global coverage, making it a reliable option in open areas with unobstructed sky views. However, signal degradation may occur in indoor spaces and urban canyons.…
The Global Navigation Satellite System (GNSS) provides critical positioning information globally, but its accuracy in dense urban environments is often compromised by multipath and non-line-of-sight errors. Road network data can be used to…
Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…
A Global Navigation Satellite System (GNSS) uses a constellation of satellites around the earth for accurate navigation, timing, and positioning. Natural phenomena like space weather introduce irregularities in the Earth's ionosphere,…
Accurate, continuous, and reliable positioning is a critical component of achieving autonomous driving. However, in complex urban canyon environments, the vulnerability of a stand-alone sensor and non-line-of-sight (NLOS) caused by high…
In conventional global navigation satellite system (GNSS) receivers, usually full pseudorange measurements are required to complete a single point position fix. However, to obtain full pseudorange measurements takes longer time than for…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
Global navigation satellite systems (GNSS) are vulnerable to spoofing attacks, with adversarial signals manipulating the location or time information of receivers, potentially causing severe disruptions. The task of discerning the spoofing…
In this work, we present LocGAN, our localization approach based on a geo-referenced aerial imagery and LiDAR grid maps. Currently, most self-localization approaches relate the current sensor observations to a map generated from previously…
Satellite Communication systems are a promising solution to extend and complement terrestrial networks in unserved or under-served areas. This aspect is reflected by recent commercial and standardisation endeavours. In particular, 3GPP…
Autonomous unmanned aerial vehicle (UAV) inertial navigation exhibits an extreme dependency on the availability of global navigation satellite systems (GNSS) signals, without which it incurs in a slow but unavoidable position drift that may…
In this article, we investigate the cost-effective 5G-enabled vehicular networks to support emerging vehicular applications, such as autonomous driving, in-car infotainment and location-based road services. To this end, self-sustaining…
Accurate positioning is a key enabler for emerging 5G applications. While the standardized Location Management Function (LMF) operates centrally within the core network, its scalability and latency limitations hinder low-latency and…
Global navigation satellite system (GNSS) interference poses a serious threat to reliable positioning, especially in indoor and multipath-rich environments where source localization is highly challenging. In this paper, we formulate GNSS…