Related papers: GNSS Outlier Mitigation Via Graduated Non-Convexit…
Reliable GNSS positioning in complex environments remains a critical challenge due to non-line-of-sight (NLOS) propagation, multipath effects, and frequent signal blockages. These effects can easily introduce large outliers into the raw…
Accurate and smooth global navigation satellite system (GNSS) positioning for pedestrians in urban canyons is still a challenge due to the multipath effects and the non-light-of-sight (NLOS) receptions caused by the reflections from…
State estimation methods using factor graph optimization (FGO) have garnered significant attention in global navigation satellite system (GNSS) research. FGO exhibits superior estimation accuracy compared with traditional state estimation…
Global navigation satellite systems (GNSS) are one of the utterly popular sources for providing globally referenced positioning for autonomous systems. However, the performance of the GNSS positioning is significantly challenged in urban…
In Global Navigation Satellite System (GNSS)-degraded environments, pseudolites (PLs) provide additional signal sources to enhance positioning performance, but their integration in optimization-based frameworks remains limited. This paper…
Global navigation satellite system (GNSS) positioning is widely used for urban navigation, but the covariance reported by the GNSS solver is often unreliable in urban canyons. Existing differentiable factor graph optimization (DFGO) methods…
This paper proposes an improved global navigation satellite system (GNSS) positioning method that explores the time correlation between consecutive epochs of the code and carrier phase measurements which significantly increases the…
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
Reliable and precise absolute positioning is necessary in the realm of Connected Automated Vehicles (CAV). Global Navigation Satellite Systems (GNSS) provides the foundation for absolute positioning. Recently enhanced Precise Point…
Precise positioning and navigation information has been increasingly important with the development of the consumer electronics market. Due to some deficits of Global Navigation Satellite System (GNSS), such as susceptible to interferences,…
In this paper, we propose a 3D LiDAR aided global navigation satellite system (GNSS) non-line-of-sight (NLOS) mitigation method caused by both static buildings and dynamic objects. A sliding window map describing the surrounding of the…
Accurate and robust vehicle localization in highly urbanized areas is challenging. Sensors are often corrupted in those complicated and large-scale environments. This paper introduces GNSS-FGO, an online and global trajectory estimator that…
Semidefinite Programming (SDP) and Sums-of-Squares (SOS) relaxations have led to certifiably optimal non-minimal solvers for several robotics and computer vision problems. However, most non-minimal solvers rely on least-squares…
The recently proposed factor graph optimization (FGO) is adopted to integrate GNSS/INS attracted lots of attention and improved the performance over the existing EKF-based GNSS/INS integrations. However, a comprehensive comparison of those…
We propose a novel approach to Graduated Non-Convexity (GNC) and demonstrate its efficacy through its application in robust pose graph optimization, a key component in SLAM backends. Traditional GNC methods often rely on heuristic methods…
Robust navigation in urban environments has received a considerable amount of both academic and commercial interest over recent years. This is primarily due to large commercial organizations such as Google and Uber stepping into the…
This paper presents a novel constrained Factor Graph Optimization (FGO)-based approach for networked inertial navigation in pedestrian localization. To effectively mitigate the drift inherent in inertial navigation solutions, we incorporate…
Accurate positioning, navigation, and timing (PNT) is fundamental to the operation of modern technologies and a key enabler of autonomous systems. A very important component of PNT is the Global Navigation Satellite System (GNSS) which…
Unmanned aerial vehicles (UAV) showed great potential in improving the efficiency of parcel delivery applications in the coming smart cities era. Unfortunately, the trustworthy positioning and control algorithms of the UAV are significantly…
Global Navigation Satellite Systems (GNSS) are widely used to provide position, velocity, and timing (PVT) information for various applications, including transportation, location-based communication services, and intelligent agriculture.…