Related papers: 5G-Aided RTK Positioning in GNSS-Deprived Environm…
Current GNSS systems rely on global reference frames which are fixed to the Earth (via the ground stations) so their precision and stability in time are limited by our knowledge of the Earth dynamics. These drawbacks could be avoided by…
Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…
The integration of sensing capabilities into 5G New Radio (5G NR) networks offers an opportunity to enable the detection of airborne objects without the need for dedicated radars. This paper investigates the feasibility of using…
Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude…
For land use monitoring, the main problems are robust positioning in urban canyons and strong terrain reliefs with the use of GPS system only. Indeed, satellite signal reflection and shielding in urban canyons and strong terrain relief…
This paper considers the problem of ground user localization based on received signal strength (RSS) measurements obtained by an unmanned aerial vehicle (UAV). We treat UAV-user link channel model parameters and antenna radiation pattern of…
This paper deals with the problem of localization in a cellular network in a dense urban scenario. Global Navigation Satellite Systems (GNSS) typically perform poorly in urban environments, where the likelihood of line-of-sight conditions…
In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…
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…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
In this paper we describe the recent 3GPP Release 16 specification for positioning in 5G networks. It specifies positioning signals, measurements, procedures, and architecture to meet requirements from a plethora of regulatory, commercial…
Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location…
In this article, the prospects and enabling technologies for high-efficiency device positioning and location-aware communications in emerging 5G networks are reviewed. We will first describe some key technical enablers and demonstrate by…
It is commonly expected that future fifth generation (5G) networks will be deployed with a high spatial density of access nodes (ANs) in order to meet the envisioned capacity requirements of the upcoming wireless networks. Densification is…
In this paper, a cooperative localization algorithm is proposed that considers the existence of obstacles in mobilityassisted wireless sensor networks (WSNs). In this scheme, a mobile anchor (MA) node cooperates with static sensor nodes and…
The advent of 5G positioning techniques by 3GPP has unlocked possibilities for applications in public safety, vehicular systems, and location-based services. However, these applications demand accurate and reliable positioning performance,…
This study analyzes the performance of positioning techniques based on configuration changes of 5G New Radio signals. In 5G networks, a terminal position is determined from the Time of Arrival of Positioning Reference Signals transmitted by…
Robust navigation in urban environments has received a considerable amount of both academic and commercial interest over recent years. This is primarily due to large commercial organizations such as Google and Uber stepping into the…
We present a statistical framework for estimating global navigation satellite system (GNSS) non-ionospheric differential time delay bias. The biases are estimated by examining differences of measured line integrated electron densities (TEC)…
With the advent of extremely large-scale MIMO (XL-MIMO), mmWave/THz bands and ultra-wideband transmission, future 6G systems demand real-time positioning with centimeter or even millimeter level accuracy. This paper addresses the pronounced…