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As rail transport moves toward higher degrees of automation under initiatives like the R2DATO project [1], accurate and reliable train localization has become essential. Global Satellite Navigation System (GNSS) is considered as a main…
Inertial sensors provide crucial feedback for control systems to determine motional status and make timely, automated decisions. Prior efforts tried to control the output of inertial sensors with acoustic signals. However, their approaches…
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…
A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the…
Global Navigation Satellite Systems (GNSS) are critical for Positioning, Navigation, and Timing (PNT) applications. However, GNSS are highly vulnerable to spoofing attacks, where adversaries transmit counterfeit signals to mislead…
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…
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…
We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM)…
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…
The common approach to inertial sensor calibration for navigation purposes has been to model the stochastic error signals of individual sensors independently, whether as components of a single inertial measurement unit (IMU) in different…
Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…
Applications of inertial measurement units are extremely diverse, and are expected to see a further increase in number due to current trends in robotics as well as recent advances in Micro Electromechanical sensors (MEMS). The traditional…
The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are…
While Global Navigation Satellite System (GNSS) is often used to provide global positioning if available, its intermittency and/or inaccuracy calls for fusion with other sensors. In this paper, we develop a novel GNSS-Visual-Inertial…
Civilian-GNSS is vulnerable to signal spoofing attacks, and countermeasures based on cryptographic authentication are being proposed to protect against these attacks. Both Galileo and GPS are currently testing broadcast authentication…
Autonomous vehicles and wheeled robots are widely used in many applications in both indoor and outdoor settings. In practical situations with limited GNSS signals or degraded lighting conditions, the navigation solution may rely only on…
Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching…
GNSS receivers are vulnerable to jamming and spoofing attacks, and numerous such incidents have been reported worldwide in the last decade. It is important to detect attacks fast and localize attackers, which can be hard if not impossible…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in…