Related papers: Reliable GNSS Localization Against Multiple Faults…
This paper presents a sensor fusion based Global Navigation Satellite System (GNSS) spoofing attack detection framework for autonomous vehicles (AV) that consists of two concurrent strategies: (i) detection of vehicle state using predicted…
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…
This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active…
In this paper, we address the problem of registering multiple point clouds corrupted with high anisotropic localization noise. Our approach follows the widely used framework of Gaussian mixture model (GMM) reconstruction with an…
Reliable positioning in GNSS-challenged environments remains a critical challenge for navigation systems. Tightly coupled GNSS/IMU fusion improves robustness but remains vulnerable to non-Gaussian noise and outliers. We present a robust and…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
This study focuses on the critical aspect of robust state estimation for the safe navigation of an Autonomous Vehicle (AV). Existing literature primarily employs two prevalent techniques for state estimation, namely filtering-based and…
Global Navigation Satellite Systems (GNSS) underpin positioning, navigation, and timing (PNT), yet their low-power signals are easily blocked or disrupted, leaving gaps in PNT availability in contested environments (e.g. maritime settings)…
Particle Marginal Metropolis-Hastings (PMMH) is a general approach to Bayesian inference when the likelihood is intractable, but can be estimated unbiasedly. Our article develops an efficient PMMH method that scales up better to higher…
In this work, we research and evaluate multiple pose-graph fusion strategies for vehicle localization. We focus on fusing a single absolute localization system, i.e. automotive-grade Global Navigation Satellite System (GNSS) at 1 Hertz,…
We proposed a fusion mechanism for the distributed cooperative map matching (CMM) within the vehicular ad-hoc network. This mechanism makes the information from each node reachable within the network by other nodes without direct…
Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…
Global Navigation Satellite Systems (GNSS) provide the backbone of Positioning, Navigation, and Timing (PNT) but remain vulnerable to interference. Low Earth Orbit (LEO) constellations within Fifth-Generation (5G) Non-Terrestrial Networks…
Integrating Global Navigation Satellite Systems (GNSS) in Simultaneous Localization and Mapping (SLAM) systems draws increasing attention to a global and continuous localization solution. Nonetheless, in dense urban environments, GNSS-based…
This paper tackles the problem of finding the optimal non-coherent detector for the reacquisition of weak Global Navigation Satellite System (GNSS) signals in the presence of bits and phase uncertainty. Two solutions are derived based on…
As urban populations continue to grow, cities face numerous challenges in managing parking and determining occupancy. This issue is particularly pronounced in university campuses, where students need to find vacant parking spots quickly and…
Civilian Global Navigation Satellite Systems (GNSS) vulnerabilities are a threat to a wide gamut of critical systems. GNSS receivers, as part of the encompassing platform, can leverage external information to detect GNSS attacks.…
Cooperative localization with map matching has been shown to reduce Global Navigation Satellite System (GNSS) localization error from several meters to sub-meter level by fusing the GNSS measurements of four vehicles in our previous work.…
Navigating and localizing in partially observable, stochastic environments with magnetic anomalies presents significant challenges, especially when balancing the accuracy of state estimation and the stability of localization. Traditional…
In this paper, a probabilistic method for map matching localisation based on magnetometery measurement and total magnetic intensity maps is described. We show that the method is able to effectively address the challenge issues associated…