Related papers: Enhanced INS/GNSS State Estimation using GNSS-Base…
We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…
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…
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…
This paper presents a novel approach to vehicle positioning that operates without reliance on the global navigation satellite system (GNSS). Traditional GNSS approaches are vulnerable to interference in certain environments, rendering them…
Modern on-road navigation systems heavily depend on integrating speed measurements with inertial navigation systems (INS) and global navigation satellite systems (GNSS). Telemetry-based applications typically source speed data from the…
Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
Inertial measurement units are commonly used to estimate the attitude of moving objects. Numerous nonlinear filter approaches have been proposed for solving the inherent sensor fusion problem. However, when a large range of different…
A great surge in the development of global navigation satellite systems (GNSS) excavates the potential for prosperity in many state-of-the-art technologies, e.g., autonomous ground vehicle navigation. Nevertheless, the GNSS is vulnerable to…
Modern autonomous navigation for unmanned ground vehicles relies on different estimators to fuse inertial sensors and GNSS measurements. However, the constant noise covariance matrices often struggle to account for dynamic real-world…
GNSS localization is an important part of today's autonomous systems, although it suffers from non-Gaussian errors caused by non-line-of-sight effects. Recent methods are able to mitigate these effects by including the corresponding…
Precise, consistent, and reliable positioning is crucial for a multitude of uses. In order to achieve high precision global positioning services, multi-sensor fusion techniques, such as the Global Navigation Satellite System (GNSS)/Inertial…
We present a generalized velocity model to improve localization when using an Inertial Navigation System (INS). This algorithm was applied to correct the velocity of a smart phone based indoor INS system to increase the accuracy by…
In this work, we research and evaluate multiple pose-graph fusion strategies for vehicle localization. We focus on fusing a single absolute localization system, i.e. automotive-grade Global Navigation Satellite System (GNSS) at 1 Hertz,…
Global Navigation Satellite Systems enable precise localization and timing even for highly mobile devices, but legacy implementations provide only limited support for the new generation of security-enhanced signals. Inertial Measurement…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…
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…
Globally rising demand for transportation by rail is pushing existing infrastructure to its capacity limits, necessitating the development of accurate, robust, and high-frequency positioning systems to ensure safe and efficient train…
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…