相关论文: Carrier-phase and IMU based GNSS Spoofing Detectio…

In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…

Global Navigation Satellite Systems (GNSS) are a widely used technology for positioning and navigation. GNSS positioning relies on pseudorange measurements from satellites to receivers. A pseudorange is the apparent distance between two…

A novel time synchronization attack (TSA) on wide area monitoring systems in smart grid has been identified in the first part of this paper. A cross layer detection mechanism is proposed to combat TSA in part II of this paper. In the…

For high-level Autonomous Vehicles (AV), localization is highly security and safety critical. One direct threat to it is GPS spoofing, but fortunately, AV systems today predominantly use Multi-Sensor Fusion (MSF) algorithms that are…

This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…

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…

This paper presents the most thorough study to date of vehicular carrier-phase differential GNSS (CDGNSS) positioning performance in a deep urban setting unaided by complementary sensors. Using data captured during approximately 2 hours of…

Robust control and maintenance of the grid relies on accurate data. Both PMUs and state estimators are prone to false data injection attacks. Thus, it is crucial to have a mechanism for fast and accurate detection of an agent maliciously…

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…

Gait phase estimation based on inertial measurement unit (IMU) signals facilitates precise adaptation of exoskeletons to individual gait variations. However, challenges remain in achieving high accuracy and robustness, particularly during…

Autonomous Vehicles (AVs) increasingly depend on Multi-Sensor Fusion (MSF) to combine complementary modalities such as cameras and LiDAR for robust perception. While this redundancy is intended to safeguard against single-sensor failures,…

Reliable positioning in dense urban environments remains challenging due to frequent GNSS signal blockage, multipath, and rapidly varying satellite geometry. While factor graph optimization (FGO)-based GNSS-IMU fusion has demonstrated…

It is well-known that GPS is vulnerable to signal spoofing attacks. Although several spoofing detection techniques exist, they are incapable of mitigation and recovery from stealthy attackers. In this work, we present SemperFi, a single…

In a spoofing attack, an attacker impersonates a legitimate user to access or modify data belonging to the latter. Typical approaches for spoofing detection in the physical layer declare an attack when a change is observed in certain…

Modern vehicles rely on electronic control units (ECUs) interconnected through the Controller Area Network (CAN), making in-vehicle communication a critical security concern. Machine learning (ML)-based intrusion detection systems (IDS) are…

Ground-based Augmentation System (GBAS) augments Global Navigation Satellite Systems (GNSS) to support the precision approach and landing of aircraft. To guarantee integrity, existing single-frequency GBAS utilizes position-domain geometry…

Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localization frameworks. This paper proposes the use of informative…

Global Navigation Satellite System (GNSS) receivers provide ubiquitous and precise position, navigation, and time (PNT) to a wide gamut of civilian and tactical infrastructures and devices. Due to the low GNSS received signal power, even…

Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GNSS, face limitations in visual-based localization due to…

LiDAR sensors are used widely in Autonomous Vehicles for better perceiving the environment which enables safer driving decisions. Recent work has demonstrated serious LiDAR spoofing attacks with alarming consequences. In particular,…