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Global Navigation Satellite Systems (GNSS) provide precise location, while Real Time Kinematics (RTK) allow mobile receivers (termed rovers), leveraging fixed stations, to correct errors in their Position Navigation and Timing (PNT)…
Estimation techniques to precisely localize a kinematic platform with GNSS observables can be broadly partitioned into two categories: differential, or undifferenced. The differential techniques (e.g., real-time kinematic (RTK)) have…
Aided inertial navigation system (INS), typically consisting of an inertial measurement unit (IMU) and an exteroceptive sensor, has been widely accepted as a feasible solution for navigation. Compared with vision-aided and LiDAR-aided INS,…
A vehicular pose estimation technique is presented that tightly couples multi-antenna carrier-phase differential GNSS (CDGNSS) with a low-cost MEMS inertial sensor and vehicle dynamics constraints. This work is the first to explore the use…
For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…
This paper considers the localization problem in a 5G-aided global navigation satellite system (GNSS) based on real-time kinematic (RTK) technique. Specifically, the user's position is estimated based on the hybrid measurements, including…
Global Navigation Satellite System (GNSS) is pervasive in navigation and positioning applications, where precise position and time referencing estimations are required. Conventional methods for GNSS positioning involve a two-step process,…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Recently, the usage of multi-rotor unmanned autonomous vehicles (UAV) for marine applications is receiving more attention in the literature. Usually,…
Global navigation satellite systems (GNSSs) are essential in providing localization and navigation services to most of the world due to their superior coverage. However, due to high pathloss and inevitable atmospheric effect, the…
Accurate navigation is essential for autonomous robots and vehicles. In recent years, the integration of the Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), and camera has garnered considerable attention due to…
We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…
Initializing the state of a sensorized platform can be challenging, as a limited set of measurements often provide low-informative constraints that are in addition highly non-linear. This may lead to poor initial estimates that may converge…
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…
Modern smartphones have all the sensing capabilities required for accurate and robust navigation and tracking. In specific environments some data streams may be absent, less reliable, or flat out wrong. In particular, the GNSS signal can…
Aiming at the problem that GNSS-RTK technology cannot effectively monitor landslides due to gross errors and high-frequency noise during landslide monitoring, a GNSS-RTK landslide monitoring system based on the improved Raida…
Global Navigation Satellite System (GNSS) receivers provide ubiquitous and precise position, navigation, and time (PNT) to a wide gamut of civilian and tactical infrastructures and devices. Due to the low GNSS received signal power, even…
In this paper, a new measurement system based on integration method is presented,which can provide all-weather dependability and higher precision for the measurement of FAST's feed support system. The measurement system consists of three…
Global Positioning System (GPS) navigation provides accurate positioning with global coverage, making it a reliable option in open areas with unobstructed sky views. However, signal degradation may occur in indoor spaces and urban canyons.…
The contribution describes a pedestrian navigation approach designed to improve localization accuracy in urban environments where GNSS performance is degraded, a problem that is especially critical for blind or low-vision users who depend…
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…