相关论文: An Open-Source Gazebo Plugin for GNSS Multipath Si…
This paper proposes a novel positioning technique suitable for use in mobile robots in urban environments in which large global navigation satellite system (GNSS) positioning errors occur because of multipath signals. During GNSS…
Global navigation satellite systems provide accurate positioning nearly worldwide. However, in the urban canyons of dense cities, buildings block and reflect the signals, causing multipath errors. To mitigate multipath errors, knowledge of…
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…
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…
The contribution describes a pedestrian navigation approach designed to improve localization accuracy in urban environments where GNSS performance is degraded, a problem that is especially critical for blind or low-vision users who depend…
Multipath and non-line-of-sight (NLOS) signals are the major causes of poor accuracy of a global navigation satellite system (GNSS) in urban areas. Despite the wide usage of the GNSS in populated urban areas, it is difficult to suggest a…
Global Navigation Satellite System (GNSS) signals are vulnerable to jamming, particularly in urban areas where multipath and shadowing distort received power. Previous data-driven approaches achieved reasonable localization but poorly…
Global Navigation Satellite Systems (GNSS) applications are often hindered by various sources of error, with multipath interference being one of the most challenging, particularly in urban environments. In this work, we build on previous…
Human mobility datasets have seen increasing adoption in the past decade, enabling diverse applications that leverage the high precision of measured trajectories relative to other human mobility datasets. However, there are concerns about…
The global averaged civilian positioning accuracy is still at meter level for all existing Global Navigation Satellite Systems (GNSSs), and the performance is even worse in urban areas. At lower altitudes than satellites, high altitude…
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…
This paper presents an approach to tackle the problem of tram localization through utilizing a custom processing of Global Navigation Satellite System (GNSS) observables and the track map. The method is motivated by suboptimal performance…
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…
GNSS and LiDAR odometry are complementary as they provide absolute and relative positioning, respectively. Their integration in a loosely-coupled manner is straightforward but is challenged in urban canyons due to the GNSS signal…
Landslide monitoring and simulation play an important role in urban safety assessment and disaster prevention. Existing landslide simulation pipelines typically rely on digital elevation model and mesh-based representations, which are…
Synthesizing large-scale, explorable, and geometrically accurate 3D urban scenes is a challenging yet valuable task for immersive and embodied applications. The challenge lies in the lack of large-scale and high-quality real-world 3D scans…
Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS), research in point cloud registration, visual feature…
This article describes a software package called ROS georegistration intended for use with the Robot Operating System (ROS) and the Gazebo 3D simulation environment. ROSgeoregistration provides tools for the simulation, test and deployment…
In urban areas, the quality of global navigation satellite system (GNSS) signals deteriorates, leading to reduced positioning accuracy. To address this issue, 3D-mapping-aided (3DMA) techniques, such as shadow matching and zonotope shadow…
Risk-aware urban localization with the Global Navigation Satellite System (GNSS) remains an unsolved problem with frequent misdetection of the user's street or side of the street. Significant advances in 3D map-aided GNSS use grid-based…