Related papers: Pose Graph Optimization for a MAV Indoor Localizat…
5G New Radio Time of Arrival (ToA) data has the potential to revolutionize indoor localization for micro aerial vehicles (MAVs). However, its performance under varying network setups, especially when combined with IMU data for real-time…
Indoor positioning is one of the core technologies of Internet of Things (IoT) and artificial intelligence (AI), and is expected to play a significant role in the upcoming era of AI. However, affected by the complexity of indoor…
The ubiquity, large bandwidth, and spatial diversity of the fifth generation (5G) cellular signal render it a promising candidate for accurate positioning in indoor environments where the global navigation satellite system (GNSS) signal is…
This paper presents a novel approach that integrates 5G Time of Arrival (ToA) measurements into ORB-SLAM3 to enable global localization and enhance mapping capabilities for indoor drone navigation. We extend ORB-SLAM3's optimization…
5G New Radio (NR) is a key enabler of accurate positioning in smart cities and smart factories. This paper presents the experimental results from three 5G positioning testbeds running open-source OpenAirInterface (OAI) gNB and Core Network…
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…
Owing to the ubiquity of cellular communication signals, positioning with the fifth generation (5G) signal has emerged as a promising solution in global navigation satellite system-denied areas. Unfortunately, although the widely employed…
Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…
The continuously increasing bandwidth and antenna aperture available in wireless networks laid the foundation for developing competitive positioning solutions relying on communications standards and hardware. However, poor propagation…
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…
In this article, we present an intelligent framework for 5G new radio (NR) indoor positioning under a monostatic configuration. The primary objective is to estimate both the angle of arrival and time of arrival simultaneously. This requires…
The integration of Multi-Rotor Aerial Vehicles (MRAVs) into 5G and 6G networks enhances coverage, connectivity, and congestion management. This fosters communication-aware robotics, exploring the interplay between robotics and…
This paper considers the challenge of localizing ground users with the help of a radio-equipped unmanned aerial vehicle (UAV) that collects measurements from users. We utilize time-of-arrival (ToA) measurements estimated from the radio…
Drones in many applications need the ability to fly fully or partially autonomously to accomplish their mission. To allow these fully/partially autonomous flights, first, the drone needs to be able to locate itself constantly. Then the…
We study the performance bounds of vehicle-to-vehicle (V2V) relative positioning for vehicles with multiple antenna arrays. The Cram\'{e}r-Rao bound for the estimation of the relative position and the orientation of the Tx vehicle is…
Joint communication and sensing allows the utilization of common spectral resources for communication and localization, reducing the cost of deployment. By using fifth generation (5G) New Radio (NR) (i.e., the 3rd Generation Partnership…
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…
Accurate positioning, navigation, and timing (PNT) is fundamental to the operation of modern technologies and a key enabler of autonomous systems. A very important component of PNT is the Global Navigation Satellite System (GNSS) which…
This paper explores an integrated approach for improved sensing and positioning with applications in air traffic management (ATM) and in the Advanced Surface Movement Guidance and Control System (A-SMGCS). The integrated approach includes…
We present a novel method of integrating image-based measurements into a drone navigation system for the automated inspection of wind turbines. We take a model-based tracking approach, where a 3D skeleton representation of the turbine is…