Related papers: Time-correlated Window Carrier-phase Aided GNSS Po…
This paper presents the most thorough study to date of vehicular carrier-phase differential GNSS (CDGNSS) positioning performance in a deep urban setting unaided by complementary sensors. Using data captured during approximately 2 hours of…
Single-view RGB object pose estimators have reached a level of precision and efficiency that makes them good candidates for vision-based robot control. However, off-the-shelf methods lack temporal consistency and robustness that are…
We address the problem of robot localization using ground penetrating radar (GPR) sensors. Current approaches for localization with GPR sensors require a priori maps of the system's environment as well as access to approximate global…
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.…
This paper presents a terrestrial localization system based on 5G infrastructure as a viable alternative to GNSS, particularly in scenarios where GNSS signals are obstructed or unavailable. It discusses network planning aimed at enabling…
GNSS observations are carried out in static mode/ Differential global navigation satellite system (DGNSS) and dynamic mode / Real time Kinematics (RTK) mainly. RTK mode of observation is useful in case of navigation whereas in order to…
It is widely recognised that over-reliance on GNSS (e.g GPS) for time synchronisation represents an acute threat to modern society, and a diversity of alternatives are required to mitigate the threat of an outage. This paper proposes a GNSS…
It has been shown that cooperative localization is capable of improving both the positioning accuracy and coverage in scenarios where the global positioning system (GPS) has a poor performance. However, due to its potentially excessive…
After 30 years since the beginning of the Global Positioning System (GPS), or, more generally, Global Navigation Satellite System (GNSS) meteorology, this technique has proven to be a reliable method for retrieving atmospheric water vapor;…
This paper presents a high-precision positioning system that integrates ultra-wideband (UWB) time difference of arrival (TDoA) measurements, inertial measurement unit (IMU) data, and ultrasonic sensors through factor graph optimization. To…
Global Navigation Satellite Systems enable precise localization and timing even for highly mobile devices, but legacy implementations provide only limited support for the new generation of security-enhanced signals. Inertial Measurement…
In this paper, we propose a factor-graph-based cooperative positioning algorithm that uses RSS radio measurements and accounts for the directivity of the antennas. This is achieved by modeling the directivity with a parametric antenna…
Factor graphs are graphical models used to represent a wide variety of problems across robotics, such as Structure from Motion (SfM), Simultaneous Localization and Mapping (SLAM) and calibration. Typically, at their core, they have an…
Modern autonomous vehicles and robots utilize versatile sensors for localization and mapping. The fidelity of these maps is paramount, as an accurate environmental representation is a prerequisite for stable and precise localization. Factor…
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…
A vehicular pose estimation technique is presented that tightly couples multi-antenna carrier-phase differential GNSS (CDGNSS) with a low-cost MEMS inertial sensor and vehicle dynamics constraints. This work is the first to explore the use…
The global averaged civilian positioning accuracy is still at meter level for all existing Global Navigation Satellite Systems (GNSSs), and the performance is even worse in urban areas. At lower altitudes than satellites, high altitude…
Global Positioning System (GPS) is a satellite network that transmits regularly encoded information and makes it possible to pinpoint the exact location on Earth by measuring the distance between satellites and the receiver. While GPS…
The contribution describes a pedestrian navigation approach designed to improve localization accuracy in urban environments where GNSS performance is degraded, a problem that is especially critical for blind or low-vision users who depend…
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…