Related papers: Consumer INS Coupled with Carrier Phase Measuremen…
With the introduction of Navigation Message Authentication (NMA), future Global Navigation Satellite Systems (GNSSs) prevent spoofing by simulation, i.e., the generation of forged satellite signals based on public information. However,…
Information cross-validation can be a powerful tool to detect manipulated, dubious GNSS data. A promising approach is to leverage time obtained over networks a mobile device can connect to, and detect discrepancies between the GNSS-provided…
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…
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…
Low-power and cost-effective IoT sensing nodes enable scalable monitoring of different environments. Some of these environments impose rough and extreme operating conditions, requiring continuous adaptation and reconfiguration of physical…
In this paper, we perform a thorough observability analysis for linearized inertial navigation systems (INS) aided by exteroceptive range and/or bearing sensors (such as cameras, LiDAR and sonars) with different geometric features (points,…
Autonomous robots relying on radio frequency (RF)-based localization such as global navigation satellite system (GNSS), ultra-wide band (UWB), and 5G integrated sensing and communication (ISAC) are vulnerable to spoofing and sensor…
Modern navigation solutions are largely dependent on the performances of the standalone inertial sensors, especially at times when no external sources are available. During these outages, the inertial navigation solution is likely to…
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…
The fundamental performance metrics of an intelligent reflective surface (IRS)-aided wireless system are presented. By optimizing the IRS phase-shift matrix, the received signal-to-noise ratio (SNR) is maximized at the destination in the…
Visual-Inertial odometry (VIO) is known to suffer from drifting especially over long-term runs. In this paper, we present GVINS, a non-linear optimization based system that tightly fuses GNSS raw measurements with visual and inertial…
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…
In this study, a sensor fusion based GNSS spoofing attack detection framework is presented that consists of three concurrent strategies for an autonomous vehicle (AV): (i) prediction of location shift, (ii) detection of turns (left or…
Reconfigurable intelligent surfaces (RIS) and index modulation (IM) represent key technologies for enabling reliable wireless communication with high energy efficiency. However, to fully take advantage of these technologies in practical…
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…
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…
Nowadays, smartphones are not utilized for communications only. Smartphones are equipped with a lot of sensors that can be utilized for different purposes. For example, inertial sensors have been used extensively in recent years for…
ISAC systems introduce new privacy risks because an unintended sensing node may exploit the shared radio waveform to infer transmitter-related information even when the communication payload remains secure. This paper investigates…
Precise relative navigation is a critical enabler for distributed satellites to achieve new mission objectives impossible for a monolithic spacecraft. Carrier phase differential GPS (CDGPS) with integer ambiguity resolution (IAR) is a…
For massive multiple-input multiple-output (MIMO) systems, linear minimum mean-square error (MMSE) detection has been shown to achieve near-optimal performance but suffers from excessively high complexity due to the large-scale matrix…