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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…
This paper proposes a highly accurate trajectory estimation method for outdoor mobile robots using global navigation satellite system (GNSS) time differences of carrier phase (TDCP) measurements. By using GNSS TDCP, the relative 3D position…
Accurate and globally referenced global navigation satellite system (GNSS) based vehicular positioning can be achieved in outlier-free open areas. However, the performance of GNSS can be significantly degraded by outlier measurements, such…
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…
Accurate and consistent vehicle localization in urban areas is challenging due to the large-scale and complicated environments. In this paper, we propose onlineFGO, a novel time-centric graph-optimization-based localization method that…
Phased-array Bluetooth systems have emerged as a low-cost alternative for performing aided inertial navigation in GNSS-denied use cases such as warehouse logistics, drone landings, and autonomous docking. Basing a navigation system off of…
The execution of flight missions by unmanned aerial vehicles (UAV) primarily relies on navigation. In particular, the navigation pipeline has traditionally been divided into positioning and control, operating in a sequential loop. However,…
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…
A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to…
The development of vehicle-to-vehicle (V2V) communication facil-itates the study of cooperative positioning (CP) techniques for vehicular applications. The CP methods can improve the posi-tioning availability and accuracy by inter-vehicle…
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…
Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…
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…
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,…
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 geographic and spatio-temporal information based distributed cooperative positioning (GSTICP) algorithm for wireless networks that require three-dimensional (3D) coordinates and operate in the line-of-sight (LOS) and…
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…
Vessel navigation is influenced by various factors, such as dynamic environmental factors that change over time or static features such as vessel type or depth of the ocean. These dynamic and static navigational factors impose limitations…
High-precision positioning accuracy is among the key features of the future fifth-generation (5G-advanced) cellular networks to enable a wide variety of commercial, critical, and consumer use cases. 5G new radio (NR) systems have relied on…
Vehicular Networks are one of the enabling technologies for cooperative Intelligent Transportation Systems. For accurate and precise time synchronization in vehicular networks, Global Navigation Satellite System (GNSS) is getting increasing…