Related papers: 5G-Aided RTK Positioning in GNSS-Deprived Environm…
In this work, we investigate user equipment (UE) positioning assisted by deep learning (DL) in 5G and beyond networks. As compared to state of the art positioning algorithms used in today's networks, radio signal fingerprinting and machine…
A Global Navigation Satellite System (GNSS) uses a constellation of satellites around the earth for accurate navigation, timing, and positioning. Natural phenomena like space weather introduce irregularities in the Earth's ionosphere,…
Robust, high-precision global localization is fundamental to a wide range of outdoor robotics applications. Conventional fusion methods use low-accuracy pseudorange based GNSS measurements ($>>5m$ errors) and can only yield a coarse…
This paper presents a novel approach for localising a GPS (Global Positioning System)-denied Unmanned Aerial Vehicle (UAV) with the aid of a GPS-equipped UAV in three-dimensional space. The GPS-equipped UAV makes discrete-time broadcasts of…
This work proposes a framework for the robust design of UAV-assisted wireless networks that combine 3D trajectory optimization with user mobility prediction to address dynamic resource allocation challenges. We proposed a sparse…
The roll-out phase of the next generation of mobile networks (5G) has started and operators are required to devise deployment solutions while pursuing localization accuracy maximization. Enabling location-based services is expected to be a…
We present an ambiguity resolution method for Global Navigation Satellite System (GNSS)-based attitude determination. A GNSS attitude model with nonlinear constraints is used to rigorously incorporate a priori information. Given the…
In autonomous robotic systems, precise localization is a prerequisite for safe navigation. However, in complex urban environments, GNSS positioning often suffers from signal occlusion and multipath effects, leading to unreliable absolute…
Recently, round-trip time (RTT) measured by a fine-timing measurement protocol has received great attention in the area of WiFi positioning. It provides an acceptable ranging accuracy in favorable environments when a line-of-sight (LOS)…
Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…
Annotating automotive radar data is a difficult task. This article presents an automated way of acquiring data labels which uses a highly accurate and portable global navigation satellite system (GNSS). The proposed system is discussed…
Accurate information about the location and orientation of a camera in mobile devices is central to the utilization of location-based services (LBS). Most of such mobile devices rely on GPS data but this data is subject to inaccuracy due to…
The integration of non-terrestrial networks (NTN) into 5G new radio (NR) enables a new class of positioning capabilities based on cellular signals transmitted by Low-Earth Orbit (LEO) satellites. In this paper, we investigate joint…
Location information is expected to be the key to meeting the needs of communication and context-aware services in 6G systems. User localization is achieved based on delay and/or angle estimation using uplink or downlink pilot signals.…
We consider the problem of estimating the 3D orientation of a user, using the downlink mmWave signals received from multiple base stations. We show that the received signals from several base stations, having known positions, can be used to…
This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellite System (GNSS)-denied environments. The goal is to enable…
This paper presents a method for motion planning under uncertainty to deal with situations where ambiguous data associations result in a multimodal hypothesis on the robot state. In the global localization problem, sometimes referred to as…
This paper investigates user equipment (UE) assisted device-free networked sensing in the sixth-generation (6G) integrated sensing and communication (ISAC) system, where one base station (BS) and multiple UEs, such as unmanned aerial…
In urban areas, the quality of global navigation satellite system (GNSS) signals deteriorates, leading to reduced positioning accuracy. To address this issue, 3D-mapping-aided (3DMA) techniques, such as shadow matching and zonotope shadow…
Signals of opportunity (SOPs) are a promising technique that can be used for relative positioning in areas where global navigation satellite system (GNSS) information is unreliable or unavailable. This technique processes features of the…