Related papers: Experimental Validation of Sensor Fusion-based GNS…
Accurately estimating vehicle velocity via smartphone is critical for mobile navigation and transportation. This paper introduces a cutting-edge framework for velocity estimation that incorporates temporal learning models, utilizing…
Location-based service (LBS) applications proliferate and support transportation, entertainment, and more. Modern mobile platforms, with smartphones being a prominent example, rely on terrestrial and satellite infrastructures (e.g., global…
For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudorange measurements and determining when the estimated position…
We introduce Ground-Fusion, a low-cost sensor fusion simultaneous localization and mapping (SLAM) system for ground vehicles. Our system features efficient initialization, effective sensor anomaly detection and handling, real-time dense…
By using various sensors to measure the surroundings and sharing local sensor information with the surrounding vehicles through wireless networks, connected and automated vehicles (CAVs) are expected to increase safety, efficiency, and…
Global Navigation Satellite Systems (GNSS) are integrated into many devices. However, civilian GNSS signals are usually not cryptographically protected. This makes attacks that forge signals relatively easy. Considering modern devices often…
Low-cost inertial navigation systems (INS) are prone to sensor biases and measurement noise, which lead to rapid degradation of navigation accuracy during global positioning system (GPS) outages. To address this challenge and improve…
This paper presents a multi-sensor fusion strategy for a novel road-matching method designed to support real-time navigational features within advanced driving-assistance systems. Managing multihypotheses is a useful strategy for the…
The global navigation satellite systems (GNSS) play a vital role in transport systems for accurate and consistent vehicle localization. However, GNSS observations can be distorted due to multipath effects and non-line-of-sight (NLOS)…
GNSS are indispensable for various applications, but they are vulnerable to spoofing attacks. The original receiver autonomous integrity monitoring (RAIM) was not designed for securing GNSS. In this context, RAIM was extended with wireless…
In this work, we research and evaluate multiple pose-graph fusion strategies for vehicle localization. We focus on fusing a single absolute localization system, i.e. automotive-grade Global Navigation Satellite System (GNSS) at 1 Hertz,…
Autonomous vehicles (AVs) are more vulnerable to network attacks due to the high connectivity and diverse communication modes between vehicles and external networks. Deep learning-based Intrusion detection, an effective method for detecting…
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS…
Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…
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…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…
With the rise of location-based service (LBS) applications that rely on terrestrial and satellite infrastructures (e.g., GNSS and crowd-sourced Wi-Fi, Bluetooth, cellular, and IP databases) for positioning, ensuring their integrity and…
The vulnerability of the Global Positioning System (GPS) against spoofing is known for quite some time. Also, the positioning and navigation of most semi-autonomous and autonomous drones are dependent on Global Navigation Satellite System…
GNSS localization is an important part of today's autonomous systems, although it suffers from non-Gaussian errors caused by non-line-of-sight effects. Recent methods are able to mitigate these effects by including the corresponding…