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High-precision navigation and positioning systems are critical for applications in autonomous vehicles and mobile mapping, where robust and continuous localization is essential. To test and enhance the performance of algorithms, some…
Recently, the emergence of 3D Gaussian Splatting (3DGS) has drawn significant attention in the area of 3D map reconstruction and visual SLAM. While extensive research has explored 3DGS for indoor trajectory tracking using visual sensor…
Global Navigation Satellite Systems (GNSS) provide Positioning, Navigation, and Timing (PNT) information to over 4 billion devices worldwide. Despite its pervasive use in safety critical and high precision applications, GNSS remains…
We present a robust control and estimation framework for quadrotors operating in Global Navigation Satellite System(GNSS)-denied, non-inertial environments where inertial sensors such as Inertial Measurement Units (IMUs) become unreliable…
The vulnerabilities associated with modern systems relying on Global Navigation Satellite Systems (GNSS) due to intentional and unintentional interference is an increasing threat. Since radio frequency interference (RFI) significantly…
Intelligent reflecting surface (IRS), which consists of a large number of tunable reflective elements, is capable of enhancing the wireless propagation environment in a cellular network by intelligently reflecting the electromagnetic waves…
The U.S. global position system (GPS) is one of the existing global navigation satellite systems (GNSS) that provides position and time information for users in civil, commercial and military backgrounds. Because of its reliance on many…
Strapdown inertial navigation systems are sensitive to the quality of the data provided by the accelerometer and gyroscope. Low-grade IMUs in handheld smart-devices pose a problem for inertial odometry on these devices. We propose a scheme…
While camera-based capture systems remain the gold standard for recording human motion, learning-based tracking systems based on sparse wearable sensors are gaining popularity. Most commonly, they use inertial sensors, whose propensity for…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
As the worlds predominant navigation system GPS is critical to modern life, finding applications in diverse areas like information security, healthcare, marketing, and power and water grid management. Unfortunately this diversification has…
Global Navigation Satellite Systems (GNSS) provide global positioning and timing. Multiple receivers with known reference positions (stations) can assist mobile receivers (rovers) in obtaining GNSS corrections and achieve centimeter-level…
Extending the sensitivity of terrestrial gravitational-wave detectors below 20 Hz is a long-standing challenge, limited by ground motion and inertial sensing noise. In this letter, we demonstrate ultra-high-vacuum compatible inertial…
The use of wearable technology for posture monitoring has been expanding due to its low-intrusiveness and compliance with daily use requirements. However, there are still open challenges limiting its widespread use, especially when dealing…
The development and evaluation of Lidar-Inertial Odometry (LIO) and Simultaneous Localization and Mapping (SLAM) systems requires a precise ground truth. The Global Navigation Satellite System (GNSS) is often used as a foundation for this,…
In regions where global navigation satellite systems (GNSS) signals are unavailable, such as underground areas and tunnels, GNSS simulators can be deployed for transmitting simulated GNSS signals. Then, a GNSS receiver in the simulator…
This paper proposes to use a newly-derived transformed inertial navigation system (INS) mechanization to fuse INS with other complementary navigation systems. Through formulating the attitude, velocity and position as one group state of…
Stealthy false data injection attacks on cyber-physical systems introduce erroneous measurements onto sensors with the intent to degrade system performance. An intelligent attacker can design stealthy attacks with knowledge of the system…
Sensitive and accurate rotation sensing is a critical requirement for applications such as inertial navigation [1], north-finding [2], geophysical analysis [3], and tests of general relativity [4]. One effective technique used for rotation…
Harnessing the potential of quantum sensors to assist in navigation requires enabling their operation in complex, dynamic environments and integrating them within existing navigation systems. While cross-couplings from platform dynamics…