相关论文: Upper-bounding bias errors in satellite navigation
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
Operation of radar equipment is one of the key facilities used by navigators to gather situational awareness about their surroundings. With an ever increasing need for always-running logistics and tighter shipping schedules, operators are…
Understanding the dynamics of complex systems is a central task in many different areas ranging form biology via epidemics to economics and engineering. Unexpected behaviour of dynamic systems or even systems failure is sometimes difficult…
Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial reading with satellite positioning in an…
Aerocapture is sensitive to trajectory errors, particularly for low-cost missions with imprecise navigation. For such missions, considering the probability of each failure mode when computing guidance commands can increase capture rate. A…
We consider multiple unmanned aerial vehicles (UAVs) serving a density of ground terminals (GTs) as base stations. The objective is to minimize the outage probability of GT-to-UAV transmissions. Optimal placement of UAVs under different UAV…
Navigation satellites are a core component of navigation satellite based systems such as GPS, GLONASS and Galileo which provide location and timing information for a variety of uses. Such satellites are designed for operating on orbit to…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
This paper jointly optimizes the flying location and wireless communication transmit power for an unmanned aerial vehicle (UAV) conducting covert operations. This is motivated by application scenarios such as military ground surveillance…
Ultra-wideband (UWB) technology has shown remarkable potential as a low-cost general solution for robot localization. However, limitations of the UWB signal for precise positioning arise from the disturbances caused by the environment…
In localization, an outage occurs if the positioning error exceeds a pre-defined threshold, $\epsilon_{\rm th}$. For time-of-arrival based localization, a key factor affecting the positioning error is the relative positions of the anchors,…
Over the past several years, the misidentification of SpaceX Starlink satellites as Unidentified Aerial Phenomena (UAP) by pilots and laypersons has generated unnecessary aviation risk and confusion. The many deployment and orbital…
Direction dependent calibration of widefield radio interferometers estimates the systematic errors along multiple directions in the sky. This is necessary because with most systematic errors that are caused by effects such as the ionosphere…
This paper introduces a novel approach to detect and address faulty or corrupted external sensors in the context of inertial navigation by leveraging a switching Kalman Filter combined with parameter augmentation. Instead of discarding the…
Autonomous hazard detection and avoidance is a key technology for future landing missions in unknown surface conditions. Current state-of-the-art stochastic algorithms assume simple Gaussian measurement noise on dense, high-fidelity digital…
We consider the use of multiple co-located satellites to improve the spectral efficiency of broadcast transmissions. In particular, we assume that two satellites transmit on overlapping geographical coverage areas, with overlapping…
The expected position error in many cases is far from feasible to be estimated experimentally using real satellite measurements which makes the model-based position dilution of precision (PDOP) crucial in positioning and navigation…
Wireless systems are of paramount importance for providing ubiquitous data transmission for smart cities. However, due to the broadcasting and openness of wireless channels, such systems face potential security challenges. UAV-assisted…
While synthetic aperture radar is widely adopted to provide high-resolution imaging at long distances using small arrays, the concept of coherent synthetic aperture communication (SAC) has not yet been explored. This article introduces the…
Spectral enhancement -- which aims to undo spectral broadening -- leads to integral equations which are ill-posed and require special regularisation techniques for their solution. Even when an optimal regularisation technique is used,…