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Attitude determination is a popular application of Global Navigation Satellite Systems (GNSS). Many methods have been developed to solve the attitude determination problem with different performance offerings. We develop a constrained…
A Gaussian error assumption is commonly adopted in the pseudorange measurement model for global navigation satellite system (GNSS) positioning, which leads to the conventional least squares (LS) estimator. In urban environments, however,…
The global navigation satellite systems (GNSS) play a vital role in transport systems for accurate and consistent vehicle localization. However, GNSS observations can be distorted due to multipath effects and non-line-of-sight (NLOS)…
Global Navigation Satellite Systems (GNSS)-based positioning plays a crucial role in various applications, including navigation, transportation, logistics, mapping, and emergency services. Traditional GNSS positioning methods are…
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…
In the Global Navigation Satellite System (GNSS) context, the growing number of available satellites has lead to many challenges when it comes to choosing the most accurate pseudorange contributions, given the strong impact of biased…
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…
For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudorange measurements and determining when the estimated position…
5G positioning is a very promising area that presents many opportunities and challenges. Many existing techniques rely on multiple anchor nodes and line-of-sight (LOS) paths, or single reference node and single-bounce non-LOS (NLOS) paths.…
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…
Standalone Global Navigation Satellite Systems (GNSS) are known to provide positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are…
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…
In urban environments, where line-of-sight signals from GNSS satellites are frequently blocked by high-rise objects, GNSS receivers are subject to large errors in measuring satellite ranges. Heuristic methods are commonly used to estimate…
The positioning accuracy of the mobile laser scanning (MLS) system can reach the level of centimeter under the conditions where GPS works normally. However, in GPS-denied environments this accuracy can be reduced to the decimeter or even…
Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…
Data fields sampled on irregularly spaced points arise in many applications in the sciences and engineering. For regular grids, Convolutional Neural Networks (CNNs) have been successfully used to gaining benefits from weight sharing and…
This paper provides a least squares formulation for the training of a 2-layer convolutional neural network using quadratic activation functions, a 2-norm loss function, and no regularization term. Using this method, an analytic expression…
This paper proposes a novel positioning technique suitable for use in mobile robots in urban environments in which large global navigation satellite system (GNSS) positioning errors occur because of multipath signals. During GNSS…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
Global navigation satellite systems (GNSSs) are essential in providing localization and navigation services to most of the world due to their superior coverage. However, due to high pathloss and inevitable atmospheric effect, the…