Related papers: Supporting GNSS Baseband Using Smartphone IMU and …
Maps are essential for diverse applications, such as vehicle navigation and autonomous robotics. Both require spatial models for effective route planning and localization. This paper addresses the challenge of road graph construction for…
With the rapid development of wearable technology, devices like smartphones, smartwatches, and headphones equipped with IMUs have become essential for applications such as pedestrian positioning. However, traditional pedestrian dead…
We present a system for the boresighting of sensors using inertial measurement devices as the basis for developing a range of dynamic real-time sensor fusion applications. The proof of concept utilizes a COTS FPGA platform for sensor fusion…
While 3D Gaussian Splatting (3DGS) enabled photorealistic mapping, its integration into SLAM has largely followed traditional camera-centric pipelines. As a result, they inherit well-known weaknesses such as high computational load, failure…
Communication, Navigation, and Surveillance (CNS) is the backbone of the Air Traffic Management (ATM) and Unmanned Aircraft System (UAS) Traffic Management (UTM) systems, ensuring safe and efficient operations of modern and future aviation.…
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…
3D Gaussian Splatting (3DGS) has recently emerged as a powerful representation of geometry and appearance for dense Simultaneous Localization and Mapping (SLAM). Through rapid, differentiable rasterization of 3D Gaussians, many 3DGS SLAM…
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…
The rapid growth of cislunar activities, including lunar landings, the Lunar Gateway, and in-space refueling stations, requires advances in cost-efficient trajectory design and reliable integration of navigation and remote sensing.…
We propose a simple method for estimating crystal oscillator g-sensitivity in inertially aided Global Navigation Satellite System (GNSS) receivers. It does not require any specific equipment, like GNSS signal simulators or rate tables. The…
The planet Earth has hundreds of impact events, with some occurrences causing both in terms of human casualty as well as economic losses. Such attitudes of earth pushed the frontiers to develop innovative monitoring strategies for the earth…
Intelligent transportation systems (ITS) localization is of significant importance as it provides fundamental position and orientation for autonomous operations like intelligent vehicles. Integrating diverse and complementary sensors such…
Modern navigation systems rely critically on GNSS, which in many cases is unavailable or unreliable (e.g. due to jamming or spoofing). For this reason there is great interest in augmenting backup navigation systems such as inertial…
Although Global Navigation Satellite Systems (GNSS) provide a general solution for bike tracking outdoors, there still exist complex riding environments where only inertial navigation systems work, such as urban canyons. Despite decades of…
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…
Achieving the highest levels of autonomy within autonomous vehicles (AVs) requires a precise and dependable positioning solution that is not influenced by the environment. 5G mmWave signals have been extensively studied in the literature to…
This research introduces an innovative method for the early screening of cardiorespiratory diseases based on an acquisition protocol, which leverages commodity smartphone's Inertial Measurement Units (IMUs) and deep learning techniques. We…
Millimeter-wave radar provides robust perception in visually degraded environments. However, radar-inertial state estimation is inherently susceptible to drift. Because radar yields only sparse, body-frame velocity measurements, it provides…
The desirability of the mid-band frequency range (1 - 10 GHz) for federal and commercial applications, combined with the growing applications for commercial indoor use-cases, such as factory automation, opens up a new approach to spectrum…
Most data-driven ionospheric forecasting models operate on gridded products, which do not preserve the time-varying sampling structure of satellite-based sensing. We instead model the ionosphere as a dynamic graph over ionospheric pierce…