相关论文: Carrier-phase and IMU based GNSS Spoofing Detectio…
Traditional land vehicle gravity measurement heavily rely on high-precision satellite navigation positioning information. However, the operational range of satellite navigation is limited, and it cannot maintain the required level of…
As connected and autonomous vehicles proliferate, the Controller Area Network (CAN) bus has become the predominant communication standard for in-vehicle networks due to its speed and efficiency. However, the CAN bus lacks basic security…
Rising complexity of in-vehicle electronics is enabling new capabilities like autonomous driving and active safety. However, rising automation also increases risk of security threats which is compounded by lack of in-built security measures…
Wear and tear detection in fleet and shared vehicle systems is a critical challenge, particularly in rental and car-sharing services, where minor damage, such as dents, scratches, and underbody impacts, often goes unnoticed or is detected…
A crucial function for automated vehicle technologies is accurate localization. Lane-level accuracy is not readily available from low-cost Global Navigation Satellite System (GNSS) receivers because of factors such as multipath error and…
Time-of-flight (ToF) distance measurement devices such as ultrasonics, LiDAR and radar are widely used in autonomous vehicles for environmental perception, navigation and assisted braking control. Despite their relative importance in making…
We present a high-fidelity Mixed Reality sensor emulation framework for testing and evaluating the resilience of Unmanned Aerial Vehicles (UAVs) against false data injection (FDI) attacks. The proposed approach can be utilized to assess the…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…
Stealthy false data injection attacks on cyber-physical systems introduce erroneous measurements onto sensors with the intent to degrade system performance. An intelligent attacker can design stealthy attacks with knowledge of the system…
Modern vehicles rely on scores of electronic control units (ECUs) broadcasting messages over a few controller area networks (CANs). Bereft of security features, in-vehicle CANs are exposed to cyber manipulation and multiple researches have…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
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…
This paper proposes an improved global navigation satellite system (GNSS) positioning method that explores the time correlation between consecutive epochs of the code and carrier phase measurements which significantly increases the…
This paper considers a resilient state estimation framework for unmanned aerial vehicles (UAVs) that integrates a Kalman filter-like state estimator and an attack detector. When an attack is detected, the state estimator uses only IMU…
Purpose: This paper aims to enhance bearing fault diagnosis in industrial machinery by introducing a novel method that combines Graph Attention Network (GAT) and Long Short-Term Memory (LSTM) networks. This approach captures both spatial…
We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…
To improve the control of wearable robotics for gait assistance, we present an approach for continuous locomotion mode recognition as well as gait phase and stair slope estimation based on artificial neural networks that include time…
This paper presents a new masquerade attack called the cloaking attack and provides formal analyses for clock skew-based Intrusion Detection Systems (IDSs) that detect masquerade attacks in the Controller Area Network (CAN) in automobiles.…
In regions where global navigation satellite systems (GNSS) signals are unavailable, such as underground areas and tunnels, GNSS simulators can be deployed for transmitting simulated GNSS signals. Then, a GNSS receiver in the simulator…
In this paper, we propose a 3D LiDAR aided global navigation satellite system (GNSS) non-line-of-sight (NLOS) mitigation method caused by both static buildings and dynamic objects. A sliding window map describing the surrounding of the…