Related papers: Experimental Validation of Sensor Fusion-based GNS…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…
Infrastructure-based sensing and real-time trajectory generation show promise for improving safety in high-risk roadway segments such as work zones, yet practical deployments are hindered by perspective distortion, complex geometry,…
Reliable positioning in GNSS-challenged environments remains a critical challenge for navigation systems. Tightly coupled GNSS/IMU fusion improves robustness but remains vulnerable to non-Gaussian noise and outliers. We present a robust and…
Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial reading with satellite positioning in an…
In this paper, we propose a fault detection and isolation based attack-aware multi-sensor integration algorithm for the detection of cyberattacks in autonomous vehicle navigation systems. The proposed algorithm uses an extended Kalman…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
A long-term accurate and robust localization system is essential for mobile robots to operate efficiently outdoors. Recent studies have shown the significant advantages of the wheel-mounted inertial measurement unit (Wheel-IMU)-based dead…
Accurate and robust localization is crucial for supporting high-level driving automation and safety. Modern localization solutions rely on various sensors, among which GPS has been and will continue to be essential. However, GPS can be…
This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…
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 the design, development, and experimental validation of MARVEL, an autonomous unmanned surface vehicle built for real-world testing of sensor fusion-based navigation algorithms in GNSS-denied environments. MARVEL was…
Global Navigation Satellite Systems (GNSS) applications are often hindered by various sources of error, with multipath interference being one of the most challenging, particularly in urban environments. In this work, we build on previous…
Deploying depth estimation networks in the real world requires high-level robustness against various adverse conditions to ensure safe and reliable autonomy. For this purpose, many autonomous vehicles employ multi-modal sensor systems,…
Sensor fusion of a MEMS IMU with a magnetometer is a popular system design, because such 9-DoF (degrees of freedom) systems are capable of achieving drift-free 3D orientation tracking. However, these systems are often vulnerable to ambient…
Multi-sensor fusion is essential for autonomous vehicle localization, as it is capable of integrating data from various sources for enhanced accuracy and reliability. The accuracy of the integrated location and orientation depends on the…
With the rapid development of intelligent vehicles and Advanced Driving Assistance Systems (ADAS), a mixed level of human driver engagements is involved in the transportation system. Visual guidance for drivers is essential under this…
In aviation, the impact of threats is becoming increasingly significant, particularly for global navigation satellite system (GNSS). Two relevant GNSS threats are represented by jamming and spoofing. In order to evaluate the technological…
The availability of cheap GNSS spoofers can prevent safe navigation and tracking of road users. It can lead to loss of assets, inaccurate fare estimation, enforcing the wrong speed limit, miscalculated toll tax, passengers reaching an…
Due to the vulnerability of civilian global positioning system (GPS) signals, the accuracy of phasor measurement units (PMUs) can be greatly compromised by GPS spoofing attacks (GSAs), which introduce phase shifts into true phase angle…
Many vehicle platforms typically use sensors such as LiDAR or camera for locally-referenced navigation with GPS for globally-referenced navigation. However, due to the unencrypted nature of GPS signals, all civilian users are vulner-able to…