Related papers: GNSS Array-Based Multipath Detection Employing UKF…
Robust, high-precision global localization is fundamental to a wide range of outdoor robotics applications. Conventional fusion methods use low-accuracy pseudorange based GNSS measurements ($>>5m$ errors) and can only yield a coarse…
We propose Unified Model of Saliency and Scanpaths (UMSS) -- a model that learns to predict visual saliency and scanpaths (i.e. sequences of eye fixations) on information visualisations. Although scanpaths provide rich information about the…
In millimeter-wave (mmWave) systems, beamforming is needed to overcome harsh channel environments. As a promising beamforming solution, lens antenna array (LAA) implementation can provide a cost-effective solution without notable…
Global navigation satellite systems (GNSS) face significant challenges in urban and sub-urban areas due to non-line-of-sight (NLOS) propagation, multipath effects, and low received power levels, resulting in highly non-linear and…
This paper develops, implements, and validates a powerful single-antenna carrier-phase-based test to detect Global Navigation Satellite Systems (GNSS) spoofing attacks on ground vehicles equipped with a low-cost inertial measurement unit…
This work presents a novel adaptive framework for simultaneously estimating spacecraft attitude and sensor misalignment. Uncorrected star tracker misalignment can introduce significant pointing errors that compromise mission objectives in…
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…
In this paper, we consider the collaborative attitude estimation problem for a multi-agent system. The agents are equipped with sensors that provide directional measurements and relative attitude measurements. We present a bottom-up…
In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…
This paper introduces an innovative approach to Simultaneous Localization and Mapping (SLAM) using the Unscented Kalman Filter (UKF) in a dynamic environment. The UKF is proven to be a robust estimator and demonstrates lower sensitivity to…
An essential function for automated vehicle technologies is accurate localization. It is difficult, however, to achieve lane-level accuracy with low-cost Global Navigation Satellite System (GNSS) receivers due to the biased noisy…
Autonomous proximity operations, such as active debris removal and on-orbit servicing, require high-fidelity relative navigation solutions that remain robust in the presence of parametric uncertainty. Standard estimation frameworks…
Due to the state trajectory-independent features of invariant Kalman filtering (InEKF), it has attracted widespread attention in the research community for its significantly improved state estimation accuracy and convergence under…
Reliable positioning in GNSS-challenged environments remains a critical challenge for navigation systems. Tightly coupled GNSS/IMU fusion improves robustness but remains vulnerable to non-Gaussian noise and outliers. We present a robust and…
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…
Adopting a joint approach towards state estimation and integrity monitoring results in unbiased integrity monitoring unlike traditional approaches. So far, a joint approach was used in Particle RAIM [l] for GNSS measurements only. In our…
In Visual SLAM, achieving accurate feature matching consumes a significant amount of time, severely impacting the real-time performance of the system. This paper proposes an accelerated method for Visual SLAM by integrating GMS (Grid-based…
Accurate and robust relative pose estimation is crucial for enabling challenging Active Debris Removal (ADR) missions targeting tumbling derelict satellites such as ESA's ENVISAT. This work presents a complete pipeline integrating advanced…
This paper is the second part of a series of studies discussing a novel attitude determination method for nano-satellites. Our approach is based on the utilization of thermal imaging sensors to determine the direction of the Sun and the…
In recent years, 3D mapping for indoor environments has undergone considerable research and improvement because of its effective applications in various fields, including robotics, autonomous navigation, and virtual reality. Building an…