相关论文: Constrained Wrapped Least Squares: A Tool for High…
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.…
A novel instantaneous GNSS ambiguity resolution approach which makes use of only single-frequency carrier phase measurements for ultra-short baseline attitude determination is proposed. The Monte Carlo sampling method is employed to obtain…
This paper considers the attitude determination problem based on the global navigation satellite system (GNSS) and fifth-generation (5G) measurement fusion to address the shortcomings of standalone GNSS and 5G techniques in deep urban…
Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude…
Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…
This paper presents a generic trajectory planning method for wheeled robots with fixed steering axes while the steering angle of each wheel is constrained. In the existing literatures, All-Wheel-Steering (AWS) robots, incorporating modes…
We study the problem of variable selection in convex nonparametric least squares (CNLS). Whereas the least absolute shrinkage and selection operator (Lasso) is a popular technique for least squares, its variable selection performance is…
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,…
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…
The compressed sensing (CS) model can represent the signal recovery process of a large number of radar systems. The detection problem of such radar systems has been studied in many pieces of literature through the technology of debiased…
Wireless sensor network has recently received much attention due to its broad applicability and ease-of-installation. This paper is concerned with a distributed state estimation problem, where all sensor nodes are required to achieve a…
High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…
Using actual flight data from a 50-cm-class microsatellite whose mission and operations have already been completed, this study re-evaluates satellite attitude determination performance and the error characteristics of onboard attitude…
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when…
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…
Attitude estimation is often a prerequisite for control of the attitude or orientation of mechanical systems. Current attitude estimation algorithms use coordinate representations for the group of rigid body orientations. All coordinate…
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…
This paper presents a generalization of the "weighted least-squares" (WLS), named "weighted pairing least-squares" (WPLS), which uses a rectangular weight matrix and is suitable for data alignment problems. Two fast solving methods,…