Related papers: CredibleDFGO: Differentiable Factor Graph Optimiza…
Global navigation satellite systems (GNSS) are one of the utterly popular sources for providing globally referenced positioning for autonomous systems. However, the performance of the GNSS positioning is significantly challenged in urban…
State estimation methods using factor graph optimization (FGO) have garnered significant attention in global navigation satellite system (GNSS) research. FGO exhibits superior estimation accuracy compared with traditional state estimation…
Accurate and globally referenced global navigation satellite system (GNSS) based vehicular positioning can be achieved in outlier-free open areas. However, the performance of GNSS can be significantly degraded by outlier measurements, such…
Accurate and smooth global navigation satellite system (GNSS) positioning for pedestrians in urban canyons is still a challenge due to the multipath effects and the non-light-of-sight (NLOS) receptions caused by the reflections from…
Accurate and consistent vehicle localization in urban areas is challenging due to the large-scale and complicated environments. In this paper, we propose onlineFGO, a novel time-centric graph-optimization-based localization method that…
In Global Navigation Satellite System (GNSS)-degraded environments, pseudolites (PLs) provide additional signal sources to enhance positioning performance, but their integration in optimization-based frameworks remains limited. This paper…
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…
We propose Deep Neural Coregionalization, a scalable framework for uncertainty-aware multivariate geostatistics. DNC models multivariate spatial effects through spatially varying latent factors and loadings, assigning deep Gaussian process…
Global Navigation Satellite Systems (GNSS) are vital for reliable urban positioning. However, multipath and non-line-of-sight reception often introduce large measurement errors that degrade accuracy. Learning-based methods for predicting…
Unmanned aerial vehicles (UAV) showed great potential in improving the efficiency of parcel delivery applications in the coming smart cities era. Unfortunately, the trustworthy positioning and control algorithms of the UAV are significantly…
This paper presents the full requirements analysis, design, development, and testing of high-precision navigation flight software for Distributed Space Systems (DSS) using Carrier Phase Differential GNSS (CDGNSS). Five main contributions…
Multipath and non-line-of-sight (NLOS) signals are the major causes of poor accuracy of a global navigation satellite system (GNSS) in urban areas. Despite the wide usage of the GNSS in populated urban areas, it is difficult to suggest a…
Deep Neural Networks (DNNs) are a promising tool for Global Navigation Satellite System (GNSS) positioning in the presence of multipath and non-line-of-sight errors, owing to their ability to model complex errors using data. However,…
The recently proposed factor graph optimization (FGO) is adopted to integrate GNSS/INS attracted lots of attention and improved the performance over the existing EKF-based GNSS/INS integrations. However, a comprehensive comparison of those…
In urban environments, global navigation satellite system (GNSS) positioning is often compromised by signal blockages and multipath effects caused by buildings, leading to significant positioning errors. To address this issue, this study…
Global Navigation Satellite System/Inertial Navigation System (GNSS/INS)/Vision integration based on factor graph optimization (FGO) has recently attracted extensive attention in navigation and robotics community. Integrity monitoring (IM)…
Accurate and robust vehicle localization in highly urbanized areas is challenging. Sensors are often corrupted in those complicated and large-scale environments. This paper introduces GNSS-FGO, an online and global trajectory estimator that…
Global Navigation Satellite Systems (GNSS) are widely used to provide position, velocity, and timing (PVT) information for various applications, including transportation, location-based communication services, and intelligent agriculture.…
Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satellite availability. Existing methods for this alignment task…
Global Navigation Satellite System (GNSS) is essential for autonomous driving systems, unmanned vehicles, and various location-based technologies, as it provides the precise geospatial information necessary for navigation and situational…