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Indoor location identification and navigation need to be as simple, seamless, and ubiquitous as its outdoor GPS-based counterpart is. It would be of great convenience to the mobile user to be able to continue navigating seamlessly as he or…
To provide backup and augmentation to global navigation satellite system (GNSS), Doppler shift from Low Earth Orbit (LEO) satellites can be employed as signals of opportunity (SOP) for position, navigation and timing (PNT). Since the…
This work introduces the problem of initial orbit determination (IOD) from only heading measurements. Such a problem occurs in practice when estimating the orbit of a spacecraft using visual odometry measurements from an optical camera.…
Spaceborne gravity gradients are proposed in this paper to provide autonomous orbit determination capabilities for near Earth satellites. The gravity gradients contain useful position information which can be extracted by matching the…
Simultaneous localization and tracking (SLAT) in sensor networks aims to determine the positions of sensor nodes and a moving target in a network, given incomplete and inaccurate range measurements between the target and each of the…
Maximum likelihood estimation (MLE) is a well-known estimation method used in many robotic and computer vision applications. Under Gaussian assumption, the MLE converts to a nonlinear least squares (NLS) problem. Efficient solutions to NLS…
The ability to accurately determine the rotation rate and spin axis of active satellites during deployment, during phases of uncertain operations (e.g. loss of control, potential fuel leaks) and particularly for defunct satellites to assess…
In recent years, LiDAR-based localization and mapping methods have achieved significant progress thanks to their reliable and real-time localization capability. Considering single LiDAR odometry often faces hardware failures and degeneracy…
Low Earth orbit (LEO) satellites are leveraged to support new position, navigation, and timing (PNT) service alternatives to GNSS. These alternatives require accurate propagation of satellite position and velocity with a realistic…
Satellite-based remote sensing has revolutionised the way we address global challenges. Huge quantities of Earth Observation (EO) data are generated by satellite sensors daily, but processing these large datasets for use in ML pipelines is…
We have used an existing, robotic, multi-lens, all-sky camera system, coupled to a dedicated data reduction pipeline, to automatically determine orbital parameters of satellites in Low Earth Orbit (LEO). Each of the fixed cameras has a…
An innovative orbit determination method which makes use of gravity gradients for Low-Earth-Orbiting satellites is proposed. The measurement principle of gravity gradiometry is briefly reviewed and the sources of measurement error are…
A multiple input, multiple output (MIMO) radar emits probings signals with multiple transmit antennas and records the reflections from targets with multiple receive antennas. Estimating the relative angles, delays, and Doppler shifts from…
Images are an important source of information for spacecraft navigation and for three-dimensional reconstruction of observed space objects. Both of these applications take the form of a triangulation problem when the camera has a known…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
The method of maximum likelihood estimation (MLE) is a widely used statistical approach for estimating the values of one or more unknown parameters of a probabilistic model based on observed data. In this tutorial, I briefly review the…
This work considers Maximum Likelihood Estimation (MLE) of a Toeplitz structured covariance matrix. In this regard, an equivalent reformulation of the MLE problem is introduced and two iterative algorithms are proposed for the optimization…
The problem of estimating the parameters of a moving target in multiple-input multiple-output (MIMO) radar is considered and a new approach for estimating the moving target parameters by making use of the phase information associated with…
In this paper, we present our spectrum sharing algorithm between a multi-input multi-output (MIMO) radar and Long Term Evolution (LTE) cellular system with multiple base stations (BS)s. We analyze the performance of MIMO radars in detecting…
Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…