Related papers: 5G Multi-BS Positioning: A Decentralized Fusion Sc…
This paper addresses the issues of unmanned aerial vehicle (UAV) indoor navigation, specifically in areas where GPS and magnetometer sensor measurements are unavailable or unreliable. The proposed solution is to use an error state extended…
We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…
Multi-cell coordinated beamforming (MCBF), where multiple base stations (BSs) collaborate with each other in the beamforming design for mitigating the inter-cell interference, has been a subject drawing great attention recently. Most MCBF…
This paper proposes the cooperative use of zero velocity update (ZU) in a decentralized extended Kalman filter (DEKF) based localization algorithm for multi-robot systems. The filter utilizes inertial measurement unit (IMU), ultra-wideband…
Leakage in water systems results in significant daily water losses, degrading service quality, increasing costs, and aggravating environmental problems. Most leak localization methods rely solely on pressure data, missing valuable…
Positioning with 5G signals generally requires connection to several base stations (BSs), which makes positioning more demanding in terms of infrastructure than communications. To address this issue, there have been several theoretical…
The optimal fusion of estimates in a Distributed Kalman Filter (DKF) requires tracking of the complete network error covariance, problematic in terms of memory and communication. A scalable alternative is to fuse estimates under unknown…
Cellular-connected unmanned aerial vehicles (UAVs) represent a promising technology for extending the coverage of 5G and 6G networks in a cost-effective manner. Additionally, Massive multiple-input multiple-output (MIMO) serves as an…
Inertial motion capture systems widely use low-cost IMUs to obtain the orientation of human body segments, but these sensors alone are unable to estimate link positions. Therefore, this research used a SLAM method in conjunction with…
The problem of multisensor multitarget state estimation in the presence of constant but unknown sensor biases is investigated. The classical approach to this problem is to augment the state vector to include the states of all the targets…
This paper considers the distributed filtering problem for a class of stochastic uncertain systems under quantized data flowing over switching sensor networks. Employing the biased noisy observations of the local sensor and…
The unscented Kalman filter (UKF) is a commonly used algorithm capable of estimating the states of nonlinear dynamic systems. It carefully chooses a set of sample points, called sigma points that capture the nonlinear system states…
Fifth generation cellular systems support a broad range of services, including mobile broadband, critical and massive Internet of Things and are used in a variety of scenarios. In many of these scenarios, the main challenge is maintaining…
This paper represents the novel high precision localization approach for Automated Driving (AD) relative to 3D map. The AD maps are not necessarily flat. Hence, the problem of localization is solved here in 3D. The vehicle motion is modeled…
As 5G networks rapidly expand and 6G technologies emerge, characterized by dense deployments, millimeter-wave communications, and dynamic beamforming, the need for scalable simulation tools becomes increasingly critical. These tools must…
In this dissertation, we investigate the issue of robust localization in swarms of heterogeneous mobile agents with multiple and time-varying sensing modalities. Our focus is the development of filter-based and decoupled estimators under…
The fusion of camera sensor and inertial data is a leading method for ego-motion tracking in autonomous and smart devices. State estimation techniques that rely on non-linear filtering are a strong paradigm for solving the associated…
Global Positioning System (GPS) navigation provides accurate positioning with global coverage, making it a reliable option in open areas with unobstructed sky views. However, signal degradation may occur in indoor spaces and urban canyons.…
The sensing and positioning capabilities foreseen in 6G have great potential for technology advancements in various domains, such as future smart cities and industrial use cases. Channel charting has emerged as a promising technology in…
We study positioning of high-speed trains in 5G new radio (NR) networks by utilizing specific NR synchronization signals. The studies are based on simulations with 3GPP-specified radio channel models including path loss, shadowing and fast…