相关论文: 5G Multi-BS Positioning: A Decentralized Fusion Sc…

This paper describes a novel tracking filter, designed primarily for use in collision avoidance systems on autonomous surface vehicles (ASVs). The proposed methodology leverages real-time kinematic information broadcast via the Automatic…

In this paper, we propose a novel Kalman Filter (KF)-based uplink (UL) joint communication and sensing (JCAS) scheme, which can significantly reduce the range and location estimation errors due to the clock asynchronism between the base…

Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their…

Indoor localization and Location Based Services (LBS) can greatly benefit from the widescale proliferation of communication devices. The basic requirements of a system that can provide the aforementioned services are energy efficiency,…

Infrastructure-based sensing and real-time trajectory generation show promise for improving safety in high-risk roadway segments such as work zones, yet practical deployments are hindered by perspective distortion, complex geometry,…

This paper investigates the use of depth images as localisation sensors for 3D map building. The localisation information is derived from the 3D data thanks to the ICP (Iterative Closest Point) algorithm. The covariance of the ICP, and thus…

Deep learning (DL) methods have been shown to improve the performance of several use cases for the fifth-generation (5G) New radio (NR) air interface. In this paper we investigate user equipment (UE) positioning using the channel state…

We propose a distributed cooperative positioning algorithm using the extended Kalman filter (EKF) based spatio-temporal data fusion (STDF) for a wireless network composed of sparsely distributed high-mobility nodes. Our algorithm first…

Fueled by applications in sensor networks, these years have witnessed a surge of interest in distributed estimation and filtering. A new approach is hereby proposed for the Distributed Kalman Filter (DKF) by integrating a local covariance…

Reliable multi-source fusion is crucial for robust perception in autonomous systems. However, evaluating fusion performance independently of detection errors remains challenging. This work introduces a systematic evaluation framework that…

A Conventional centralized state estimators exhibit limited robustness in large-scale grids and face practical deployment hurdles. To overcome these challenges, this paper proposes a decentralized maximum generalized Student's t-kernel…

The automotive and railway industries are rapidly transforming with a strong drive towards automation and digitalization, with the goal of increased convenience, safety, efficiency, and sustainability. Since assisted and fully automated…

Efficient uplink processing in distributed massive multiple-input multiple-output (D-mMIMO) systems requires both effective local combining and scalable decoding to significantly mitigate inter-user interference. Recent zero-forcing…

A stable square-root approach has been recently proposed for the unscented Kalman filter (UKF) and fifth-degree cubature Kalman filter (5D-CKF) as well as for the mixed-type methods consisting of the extended Kalman filter (EKF) time update…

Precise frequency and phase synchronization are among the important aspects in a coherent distributed phased array antenna system, and are among the most challenging to achieve for microwave frequencies and above. We propose a high accuracy…

In this work, we propose a Deep neural network-assisted Particle Filter-based (DePF) approach to address the Mobile User (MU) joint synchronization and localization (sync\&loc) problem in ultra dense networks. In particular, DePF deploys an…

Drones may be more advantageous than fixed cameras for quality control applications in industrial facilities, since they can be redeployed dynamically and adjusted to production planning. The practical scenario that has motivated this…

In this work, we investigate the performance of a joint sensing and communication (JSC) network consisting of multiple base stations (BSs) that cooperate through a fusion center (FC) to exchange information about the sensed environment…

Massive multi-user (MU) multiple-input multiple-output (MIMO) promises significant gains in spectral efficiency compared to traditional, small-scale MIMO technology. Linear equalization algorithms, such as zero forcing (ZF) or minimum…

Intelligent transportation systems (ITS) localization is of significant importance as it provides fundamental position and orientation for autonomous operations like intelligent vehicles. Integrating diverse and complementary sensors such…